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 dbeb66b818905e4ac2c455744c4c71c8f3bd30bb..782d03f447e7a79a619b0e79b4814c0fcb4c9ae2 100644 (file)
--- 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