Switch from GPLv2 to GPLv2+

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

diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index 34f9edb90b084d40b5fbee14cdca7d313a03d30c..f86a51169293e78a4fb930f8e132f19557c378e7 100644 (file)
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -17,6 +18,9 @@
 
 #include "ao.h"
 #include <ao_task.h>
+#if HAS_FAKE_FLIGHT
+#include <ao_fake_flight.h>
+#endif
 
 #ifndef HAS_TICK
 #define HAS_TICK 1
@@ -38,6 +42,7 @@ volatile __data uint8_t       ao_data_count;
 
 void stm_systick_isr(void)
 {
+       ao_validate_cur_stack();
        if (stm_systick.csr & (1 << STM_SYSTICK_CSR_COUNTFLAG)) {
                ++ao_tick_count;
 #if HAS_TASK_QUEUE
@@ -47,11 +52,19 @@ 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
        }
 }