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 f761671a1d3e0dac1cbbe90be7a0408e6ae928d0..9f1131d6b607671883f2c933a35279e5ae59539b 100644 (file)
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.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
@@ -125,13 +126,15 @@ struct ao_hmc5883_sample ao_hmc5883_current;
 static void
 ao_hmc5883(void)
 {
+       struct ao_hmc5883_sample        sample;
        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();
        }
 }