altos/stm32f4: Add usart driver for usart6

[fw/altos] / src / stm / ao_adc_stm.c

diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c
index 77f121dcae435289faa3a71cba15627143d905b0..2399e6a281bf7196f1e75474d89fb84d77b056c6 100644 (file)
--- 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;