X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_hmc5883.c;h=782d03f447e7a79a619b0e79b4814c0fcb4c9ae2;hb=2fa87754c5c11bb86e9b1878580c3d4f4b2463f5;hp=dbeb66b818905e4ac2c455744c4c71c8f3bd30bb;hpb=572e1664938c7ce6c308b36779f6a412959e03f1;p=fw%2Faltos

diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index dbeb66b8..782d03f4 100644
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -19,7 +19,7 @@
 #include <ao_hmc5883.h>
 #include <ao_exti.h>
 
-uint8_t	ao_hmc5883_valid;
+#if HAS_HMC5883
 
 static uint8_t	ao_hmc5883_configured;
 
@@ -77,11 +77,11 @@ ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
 	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))
 			++ao_hmc5883_missed_irq;
-	sei();
+	ao_arch_release_interrupts();
 	ao_clear_alarm();
 
 	ao_hmc5883_read(HMC5883_X_MSB, (uint8_t *) sample, sizeof (struct ao_hmc5883_sample));
@@ -109,7 +109,7 @@ 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) |
@@ -130,14 +130,11 @@ ao_hmc5883(void)
 {
 	ao_hmc5883_setup();
 	for (;;) {
-		struct ao_hmc5883_sample ao_hmc5883_next;
-
-		ao_hmc5883_sample(&ao_hmc5883_next);
+		ao_hmc5883_sample(&ao_hmc5883_current);
 		ao_arch_critical(
-			ao_hmc5883_current = ao_hmc5883_next;
-			ao_hmc5883_valid = 1;
+			AO_DATA_PRESENT(AO_DATA_HMC5883);
+			AO_DATA_WAIT();
 			);
-		ao_delay(0);
 	}
 }
 
@@ -146,11 +143,10 @@ static struct ao_task ao_hmc5883_task;
 static void
 ao_hmc5883_show(void)
 {
-	struct ao_hmc5883_sample	sample;
-
-	sample = ao_hmc5883_current;
+	struct ao_data	sample;
+	ao_data_get(&sample);
 	printf ("X: %d Y: %d Z: %d missed irq: %lu\n",
-		sample.x, sample.y, sample.z, ao_hmc5883_missed_irq);
+		sample.hmc5883.x, sample.hmc5883.y, sample.hmc5883.z, ao_hmc5883_missed_irq);
 }
 
 static const struct ao_cmds ao_hmc5883_cmds[] = {
@@ -162,7 +158,6 @@ void
 ao_hmc5883_init(void)
 {
 	ao_hmc5883_configured = 0;
-	ao_hmc5883_valid = 0;
 
 	ao_enable_port(AO_HMC5883_INT_PORT);
 	ao_exti_setup(AO_HMC5883_INT_PORT,
@@ -173,3 +168,5 @@ ao_hmc5883_init(void)
 	ao_add_task(&ao_hmc5883_task, ao_hmc5883, "hmc5883");
 	ao_cmd_register(&ao_hmc5883_cmds[0]);
 }
+
+#endif