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altos: Update sensor data atomically
[fw/altos]
/
src
/
drivers
/
ao_hmc5883.c
diff --git
a/src/drivers/ao_hmc5883.c
b/src/drivers/ao_hmc5883.c
index f668fb66e7435f720a08d20cb8d87291326ebb48..9f1131d6b607671883f2c933a35279e5ae59539b 100644
(file)
--- a/
src/drivers/ao_hmc5883.c
+++ b/
src/drivers/ao_hmc5883.c
@@
-126,13
+126,15
@@
struct ao_hmc5883_sample ao_hmc5883_current;
static void
ao_hmc5883(void)
{
static void
ao_hmc5883(void)
{
+ struct ao_hmc5883_sample sample;
ao_hmc5883_setup();
for (;;) {
ao_hmc5883_setup();
for (;;) {
- ao_hmc5883_sample(&ao_hmc5883_current);
- ao_arch_critical(
- AO_DATA_PRESENT(AO_DATA_HMC5883);
- AO_DATA_WAIT();
- );
+ ao_hmc5883_sample(&sample);
+ ao_arch_block_interrupts();
+ ao_hmc5883_current = sample;
+ AO_DATA_PRESENT(AO_DATA_HMC5883);
+ AO_DATA_WAIT();
+ ao_arch_release_interrupts();
}
}
}
}