first cut at turnon scripts for EasyTimer v2

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

diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index f86a51169293e78a4fb930f8e132f19557c378e7..481b81ef1142b244500f544bc46975594fddc091 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;
 
@@ -35,22 +37,39 @@ 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;
-#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);
 #endif
+               ao_task_check_alarm();
 #if AO_DATA_ALL
-               if (++ao_data_count == ao_data_interval) {
+               if (++ao_data_count == ao_data_interval && ao_data_interval) {
                        ao_data_count = 0;
 #if HAS_FAKE_FLIGHT
                        if (ao_fake_flight_active)
@@ -90,6 +109,7 @@ ao_timer_init(void)
        stm_systick.csr = ((1 << STM_SYSTICK_CSR_ENABLE) |
                           (1 << STM_SYSTICK_CSR_TICKINT) |
                           (STM_SYSTICK_CSR_CLKSOURCE_HCLK_8 << STM_SYSTICK_CSR_CLKSOURCE));
+       stm_nvic.shpr15_12 |= (uint32_t) AO_STM_NVIC_CLOCK_PRIORITY << 24;
 }
 
 #endif
@@ -105,7 +125,7 @@ ao_clock_init(void)
        while (!(stm_rcc.cr & (1 << STM_RCC_CR_MSIRDY)))
                ao_arch_nop();
 
-       stm_rcc.cfgr = (stm_rcc.cfgr & ~(STM_RCC_CFGR_SW_MASK << STM_RCC_CFGR_SW)) |
+       stm_rcc.cfgr = (stm_rcc.cfgr & ~(uint32_t) (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 */
@@ -129,7 +149,7 @@ ao_clock_init(void)
 #if AO_HSE_BYPASS
        stm_rcc.cr |= (1 << STM_RCC_CR_HSEBYP);
 #else
-       stm_rcc.cr &= ~(1 << STM_RCC_CR_HSEBYP);
+       stm_rcc.cr &= ~(uint32_t) (1 << STM_RCC_CR_HSEBYP);
 #endif
        /* Enable HSE clock */
        stm_rcc.cr |= (1 << STM_RCC_CR_HSEON);
@@ -148,7 +168,7 @@ ao_clock_init(void)
 #define STM_RCC_CFGR_PLLSRC_TARGET_CLOCK       (0 << STM_RCC_CFGR_PLLSRC)
 #endif
 
-#if !AO_HSE || HAS_ADC
+#if !AO_HSE || HAS_ADC || HAS_ADC_SINGLE
        /* Enable HSI RC clock 16MHz */
        stm_rcc.cr |= (1 << STM_RCC_CR_HSION);
        while (!(stm_rcc.cr & (1 << STM_RCC_CR_HSIRDY)))
@@ -205,8 +225,8 @@ ao_clock_init(void)
        stm_rcc.cfgr = cfgr;
 
        /* Disable the PLL */
-       stm_rcc.cr &= ~(1 << STM_RCC_CR_PLLON);
-       while (stm_rcc.cr & (1 << STM_RCC_CR_PLLRDY))
+       stm_rcc.cr &= ~(1UL << STM_RCC_CR_PLLON);
+       while (stm_rcc.cr & (1UL << STM_RCC_CR_PLLRDY))
                asm("nop");
        
        /* PLLVCO to 96MHz (for USB) -> PLLMUL = 6, PLLDIV = 4 */
@@ -218,7 +238,7 @@ ao_clock_init(void)
        cfgr |= (AO_RCC_CFGR_PLLDIV << STM_RCC_CFGR_PLLDIV);
 
        /* PLL source */
-       cfgr &= ~(1 << STM_RCC_CFGR_PLLSRC);
+       cfgr &= ~(1UL << STM_RCC_CFGR_PLLSRC);
        cfgr |= STM_RCC_CFGR_PLLSRC_TARGET_CLOCK;
 
        stm_rcc.cfgr = cfgr;