altos: Fake flight code changes in kernel and stm

[fw/altos] / src / stm / ao_timer.c

diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index 5cf1e4a87dd37ab88be0c562e38ff1b78f699384..8db62e76a806b6ff51e49ecb3e23d0cc087aab72 100644 (file)
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -17,6 +17,9 @@
 
 #include "ao.h"
 #include <ao_task.h>
+#if HAS_FAKE_FLIGHT
+#include <ao_fake_flight.h>
+#endif
 
 #ifndef HAS_TICK
 #define HAS_TICK 1
@@ -47,11 +50,19 @@ void stm_systick_isr(void)
 #if AO_DATA_ALL
                if (++ao_data_count == ao_data_interval) {
                        ao_data_count = 0;
-                       ao_adc_poll();
+#if HAS_FAKE_FLIGHT
+                       if (ao_fake_flight_active)
+                               ao_fake_flight_poll();
+                       else
+#endif
+                               ao_adc_poll();
 #if (AO_DATA_ALL & ~(AO_DATA_ADC))
                        ao_wakeup((void *) &ao_data_count);
 #endif
                }
+#endif
+#ifdef AO_TIMER_HOOK
+               AO_TIMER_HOOK;
 #endif
        }
 }
@@ -90,7 +101,15 @@ ao_clock_init(void)
        /* Switch to MSI while messing about */
        stm_rcc.cr |= (1 << STM_RCC_CR_MSION);
        while (!(stm_rcc.cr & (1 << STM_RCC_CR_MSIRDY)))
-               asm("nop");
+               ao_arch_nop();
+
+       stm_rcc.cfgr = (stm_rcc.cfgr & ~(STM_RCC_CFGR_SW_MASK << STM_RCC_CFGR_SW)) |
+               (STM_RCC_CFGR_SW_MSI << STM_RCC_CFGR_SW);
+
+       /* wait for system to switch to MSI */
+       while ((stm_rcc.cfgr & (STM_RCC_CFGR_SWS_MASK << STM_RCC_CFGR_SWS)) !=
+              (STM_RCC_CFGR_SWS_MSI << STM_RCC_CFGR_SWS))
+               ao_arch_nop();
 
        /* reset SW, HPRE, PPRE1, PPRE2, MCOSEL and MCOPRE */
        stm_rcc.cfgr &= (uint32_t)0x88FFC00C;
@@ -141,7 +160,6 @@ ao_clock_init(void)
        stm_flash.acr |= (1 << STM_FLASH_ACR_PRFEN);
 
        /* Enable 1 wait state so the CPU can run at 32MHz */
-       /* (haven't managed to run the CPU at 32MHz yet, it's at 16MHz) */
        stm_flash.acr |= (1 << STM_FLASH_ACR_LATENCY);
 
        /* Enable power interface clock */