altos: Mark local functions 'static'

[fw/altos] / src / drivers / ao_hmc5883.c

diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index f761671a1d3e0dac1cbbe90be7a0408e6ae928d0..55a193ac5adb58236acb51be0e3a3f9eb78fe5e5 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
@@ -34,7 +35,7 @@ ao_hmc5883_reg_write(uint8_t addr, uint8_t data)
        d[1] = data;
        ao_i2c_get(AO_HMC5883_I2C_INDEX);
        ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE);
-       ao_i2c_send(d, 2, AO_HMC5883_I2C_INDEX, TRUE);
+       ao_i2c_send(d, 2, AO_HMC5883_I2C_INDEX, true);
        ao_i2c_put(AO_HMC5883_I2C_INDEX);
        ao_hmc5883_addr = addr + 1;
 }
@@ -45,10 +46,10 @@ ao_hmc5883_read(uint8_t addr, uint8_t *data, uint8_t len)
        ao_i2c_get(AO_HMC5883_I2C_INDEX);
        if (addr != ao_hmc5883_addr) {
                ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE);
-               ao_i2c_send(&addr, 1, AO_HMC5883_I2C_INDEX, FALSE);
+               ao_i2c_send(&addr, 1, AO_HMC5883_I2C_INDEX, false);
        }
        ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
-       ao_i2c_recv(data, len, AO_HMC5883_I2C_INDEX, TRUE);
+       ao_i2c_recv(data, len, AO_HMC5883_I2C_INDEX, true);
        ao_i2c_put(AO_HMC5883_I2C_INDEX);
        ao_hmc5883_addr = 0xff;
 }
@@ -65,7 +66,7 @@ ao_hmc5883_isr(void)
 
 static uint32_t        ao_hmc5883_missed_irq;
 
-void
+static void
 ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
 {
        uint16_t        *d = (uint16_t *) sample;
@@ -102,7 +103,7 @@ ao_hmc5883_setup(void)
 
        ao_i2c_get(AO_HMC5883_I2C_INDEX);
        present = ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
-       ao_i2c_recv(&d, 1, AO_HMC5883_I2C_INDEX, TRUE);
+       ao_i2c_recv(&d, 1, AO_HMC5883_I2C_INDEX, true);
        ao_i2c_put(AO_HMC5883_I2C_INDEX);
 
        if (!present)
@@ -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();
        }
 }
 
@@ -140,10 +143,8 @@ static struct ao_task ao_hmc5883_task;
 static void
 ao_hmc5883_show(void)
 {
-       struct ao_data  sample;
-       ao_data_get(&sample);
-       printf ("X: %d Y: %d Z: %d missed irq: %lu\n",
-               sample.hmc5883.x, sample.hmc5883.y, sample.hmc5883.z, ao_hmc5883_missed_irq);
+       printf ("X: %d Z: %d Y: %d missed irq: %lu\n",
+               ao_hmc5883_current.x, ao_hmc5883_current.z, ao_hmc5883_current.y, ao_hmc5883_missed_irq);
 }
 
 static const struct ao_cmds ao_hmc5883_cmds[] = {