X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_hmc5883.c;h=c33aa536fde6578d8aaed0bac73454b181fcf93b;hp=782d03f447e7a79a619b0e79b4814c0fcb4c9ae2;hb=bea42e45952df85d61428662caefbb100465a585;hpb=84d35e4cbd7ea2f681c43496b9b9db84f9dd923f

diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index 782d03f4..c33aa536 100644
--- 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
@@ -70,19 +71,16 @@ ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
 {
 	uint16_t	*d = (uint16_t *) sample;
 	int		i = sizeof (*sample) / 2;
-	uint8_t		single = HMC5883_MODE_SINGLE;
 
 	ao_hmc5883_done = 0;
 	ao_exti_enable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
 	ao_hmc5883_reg_write(HMC5883_MODE, HMC5883_MODE_SINGLE);
 
-	ao_alarm(AO_MS_TO_TICKS(10));
 	ao_arch_block_interrupts();
 	while (!ao_hmc5883_done)
-		if (ao_sleep(&ao_hmc5883_done))
+		if (ao_sleep_for(&ao_hmc5883_done, AO_MS_TO_TICKS(10)))
 			++ao_hmc5883_missed_irq;
 	ao_arch_release_interrupts();
-	ao_clear_alarm();
 
 	ao_hmc5883_read(HMC5883_X_MSB, (uint8_t *) sample, sizeof (struct ao_hmc5883_sample));
 #if __BYTE_ORDER == __LITTLE_ENDIAN
@@ -128,13 +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();
 	}
 }
 
@@ -143,10 +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[] = {