X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_pyro.c;h=b11d1080a54fbc1a7c25f5cb23a8eae492a7cf23;hb=5e24d637a8af09bf64beb7fcf7be4c13eee76a43;hp=3044d56517aa06fceaf198fb31a4165e5d6b9370;hpb=be38fb88d11bda1ba1caca38220773d3abcede19;p=fw%2Faltos

diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index 3044d565..b11d1080 100644
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.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
@@ -74,7 +75,8 @@ uint16_t	ao_pyro_fired;
 #endif
 
 #if PYRO_DBG
-#define DBG(...)	do { printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } while (0)
+int pyro_dbg;
+#define DBG(...)	do { if (pyro_dbg) printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } while (0)
 #else
 #define DBG(...)
 #endif
@@ -375,9 +377,7 @@ ao_pyro(void)
 		ao_sleep(&ao_flight_state);
 
 	for (;;) {
-		ao_alarm(AO_MS_TO_TICKS(100));
-		ao_sleep(&ao_pyro_wakeup);
-		ao_clear_alarm();
+		ao_sleep_for(&ao_pyro_wakeup, AO_MS_TO_TICKS(100));
 		if (ao_flight_state >= ao_flight_landed)
 			break;
 		any_waiting = ao_pyro_check();