Merge remote-tracking branch 'mjb/master'

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

diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index ade6c263d84236823d7d366cdb1c42b8b18348c8..782d03f447e7a79a619b0e79b4814c0fcb4c9ae2 100644 (file)
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -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) |
@@ -123,12 +123,14 @@ ao_hmc5883_setup(void)
        return 1;
 }
 
+struct ao_hmc5883_sample ao_hmc5883_current;
+
 static void
 ao_hmc5883(void)
 {
        ao_hmc5883_setup();
        for (;;) {
-               ao_hmc5883_sample((struct ao_hmc5883_sample *) &ao_data_ring[ao_data_head].hmc5883);
+               ao_hmc5883_sample(&ao_hmc5883_current);
                ao_arch_critical(
                        AO_DATA_PRESENT(AO_DATA_HMC5883);
                        AO_DATA_WAIT();