altos: Remove support for !HAS_TASK_QUEUE

[fw/altos] / src / stmf0 / ao_timer.c

diff --git a/src/stmf0/ao_timer.c b/src/stmf0/ao_timer.c
index 5c05e4f187c09017876b1dfd476ed6a9259e7e9d..b0b6ec0a07e878d5f6c5dab4658468f7588c5f1f 100644 (file)
--- a/src/stmf0/ao_timer.c
+++ b/src/stmf0/ao_timer.c
@@ -35,19 +35,32 @@ 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);
+}
+
 #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)
 {
        if (stm_systick.csr & (1 << STM_SYSTICK_CSR_COUNTFLAG)) {
                ++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) {
                        ao_data_count = 0;
@@ -86,6 +99,7 @@ ao_timer_set_adc_interval(uint8_t interval)
 void
 ao_timer_init(void)
 {
+       stm_systick.csr = 0;
        stm_systick.rvr = SYSTICK_RELOAD;
        stm_systick.cvr = 0;
        stm_systick.csr = ((1 << STM_SYSTICK_CSR_ENABLE) |
@@ -277,9 +291,6 @@ ao_clock_init(void)
        /* Enable 1 wait state so the CPU can run at 48MHz */
        stm_flash.acr |= (STM_FLASH_ACR_LATENCY_1 << STM_FLASH_ACR_LATENCY);
 
-       /* Enable power interface clock */
-       stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_PWREN);
-
        /* HCLK to 48MHz -> AHB prescaler = /1 */
        cfgr = stm_rcc.cfgr;
        cfgr &= ~(STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE);