X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_hmc5883.c;h=f761671a1d3e0dac1cbbe90be7a0408e6ae928d0;hb=f4c812bef76a2cd95f675cb27ea89059561ceec7;hp=ade6c263d84236823d7d366cdb1c42b8b18348c8;hpb=5ed88fb72c3e3ecf3333c700d838667db71cfbdc;p=fw%2Faltos

diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index ade6c263..f761671a 100644
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -70,19 +70,16 @@ ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
 {
 	uint16_t	*d = (uint16_t *) sample;
 	int		i = sizeof (*sample) / 2;
-	uint8_t		single = HMC5883_MODE_SINGLE;
 
 	ao_hmc5883_done = 0;
 	ao_exti_enable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
 	ao_hmc5883_reg_write(HMC5883_MODE, HMC5883_MODE_SINGLE);
 
-	ao_alarm(AO_MS_TO_TICKS(10));
-	cli();
+	ao_arch_block_interrupts();
 	while (!ao_hmc5883_done)
-		if (ao_sleep(&ao_hmc5883_done))
+		if (ao_sleep_for(&ao_hmc5883_done, AO_MS_TO_TICKS(10)))
 			++ao_hmc5883_missed_irq;
-	sei();
-	ao_clear_alarm();
+	ao_arch_release_interrupts();
 
 	ao_hmc5883_read(HMC5883_X_MSB, (uint8_t *) sample, sizeof (struct ao_hmc5883_sample));
 #if __BYTE_ORDER == __LITTLE_ENDIAN
@@ -109,7 +106,7 @@ ao_hmc5883_setup(void)
 	ao_i2c_put(AO_HMC5883_I2C_INDEX);
 
 	if (!present)
-		ao_panic(AO_PANIC_SELF_TEST);
+		ao_panic(AO_PANIC_SELF_TEST_HMC5883);
 
 	ao_hmc5883_reg_write(HMC5883_CONFIG_A,
 			     (HMC5883_CONFIG_A_MA_8 << HMC5883_CONFIG_A_MA) |
@@ -123,12 +120,14 @@ ao_hmc5883_setup(void)
 	return 1;
 }
 
+struct ao_hmc5883_sample ao_hmc5883_current;
+
 static void
 ao_hmc5883(void)
 {
 	ao_hmc5883_setup();
 	for (;;) {
-		ao_hmc5883_sample((struct ao_hmc5883_sample *) &ao_data_ring[ao_data_head].hmc5883);
+		ao_hmc5883_sample(&ao_hmc5883_current);
 		ao_arch_critical(
 			AO_DATA_PRESENT(AO_DATA_HMC5883);
 			AO_DATA_WAIT();