altos: Go back to recording sensor data in globals

[fw/altos] / src / drivers / ao_mpu6000.c

diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index e8c80f12428943bf365977a03dbc9695656003ac..495967057336ef8930263467cb3cbdfc15850e4f 100644 (file)
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -225,7 +225,7 @@ ao_mpu6000_setup(void)
        errors += ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z, "z");
 
        if (errors)
-               ao_panic(AO_PANIC_SELF_TEST);
+               ao_panic(AO_PANIC_SELF_TEST_MPU6000);
 
        /* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
        ao_mpu6000_reg_write(MPU6000_CONFIG,
@@ -240,13 +240,15 @@ ao_mpu6000_setup(void)
        ao_mpu6000_configured = 1;
 }
 
+struct ao_mpu6000_sample       ao_mpu6000_current;
+
 static void
 ao_mpu6000(void)
 {
        ao_mpu6000_setup();
        for (;;)
        {
-               ao_mpu6000_sample((struct ao_mpu6000_sample *) &ao_data_ring[ao_data_head].mpu6000);
+               ao_mpu6000_sample(&ao_mpu6000_current);
                ao_arch_critical(
                        AO_DATA_PRESENT(AO_DATA_MPU6000);
                        AO_DATA_WAIT();