X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fstm%2Fao_adc_stm.c;h=2399e6a281bf7196f1e75474d89fb84d77b056c6;hb=c6e57291d91f1f6c4de5c54a5cfd3eef66d9f830;hp=77f121dcae435289faa3a71cba15627143d905b0;hpb=1085ec5d57e0ed5d132f2bbdac1a0b6a32c0ab4a;p=fw%2Faltos

diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c
index 77f121dc..2399e6a2 100644
--- a/src/stm/ao_adc_stm.c
+++ b/src/stm/ao_adc_stm.c
@@ -57,6 +57,9 @@ static void ao_adc_done(int index)
 #endif
 #if HAS_MPU6000
 		ao_data_ring[ao_data_head].mpu6000 = ao_mpu6000_current;
+#endif
+#if HAS_MPU9250
+		ao_data_ring[ao_data_head].mpu9250 = ao_mpu9250_current;
 #endif
 		ao_data_ring[ao_data_head].tick = ao_tick_count;
 		ao_data_head = ao_data_ring_next(ao_data_head);
@@ -97,7 +100,7 @@ ao_adc_poll(void)
  * Fetch a copy of the most recent ADC data
  */
 void
-ao_adc_get(__xdata struct ao_adc *packet)
+ao_adc_get(struct ao_adc *packet)
 {
 #if HAS_FLIGHT
 	uint8_t	i = ao_data_ring_prev(ao_sample_data);
@@ -174,7 +177,7 @@ static const char *ao_adc_name[AO_NUM_ADC] = {
 #endif
 
 static void
-ao_adc_dump(void) __reentrant
+ao_adc_dump(void) 
 {
 	struct ao_data	packet;
 #ifndef AO_ADC_DUMP
@@ -200,7 +203,7 @@ ao_adc_dump(void) __reentrant
 #endif
 }
 
-__code struct ao_cmds ao_adc_cmds[] = {
+const struct ao_cmds ao_adc_cmds[] = {
 	{ ao_adc_dump,	"a\0Display current ADC values" },
 	{ 0, NULL },
 };
@@ -377,7 +380,7 @@ ao_adc_init(void)
 #if AO_NUM_ADC > 18
 #error "need to finish stm_adc.sqr settings"
 #endif
-	
+
 	/* Turn ADC on */
 	stm_adc.cr2 = AO_ADC_CR2_VAL;