altos: add ao_time_ns API

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

diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index 7b526902169abc46cbb2f7bc61fbcab8e525c293..d00deffab2161b80e0333f6524567deefdb87052 100644 (file)
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -26,6 +26,8 @@
 #define HAS_TICK 1
 #endif
 
+#if HAS_TICK || defined(AO_TIMER_HOOK)
+
 #if HAS_TICK
 volatile AO_TICK_TYPE ao_tick_count;
 
@@ -35,16 +37,36 @@ ao_time(void)
        return ao_tick_count;
 }
 
+uint64_t
+ao_time_ns(void)
+{
+       AO_TICK_TYPE    before, after;
+       uint32_t        cvr;
+
+       do {
+               before = ao_tick_count;
+               cvr = stm_systick.cvr;
+               after = ao_tick_count;
+       } while (before != after);
+
+       return (uint64_t) after * (1000000000ULL / AO_HERTZ) +
+               (uint64_t) cvr * (1000000000ULL / AO_SYSTICK);
+}
+
+#endif
+
 #if AO_DATA_ALL
-volatile __data uint8_t        ao_data_interval = 1;
-volatile __data uint8_t        ao_data_count;
+volatile uint8_t       ao_data_interval = 1;
+volatile uint8_t       ao_data_count;
 #endif
 
 void stm_systick_isr(void)
 {
        ao_validate_cur_stack();
        if (stm_systick.csr & (1 << STM_SYSTICK_CSR_COUNTFLAG)) {
+#if HAS_TICK
                ++ao_tick_count;
+#endif
 #if HAS_TASK_QUEUE
                if (ao_task_alarm_tick && (int16_t) (ao_tick_count - ao_task_alarm_tick) >= 0)
                        ao_task_check_alarm((uint16_t) ao_tick_count);