Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 08:38:36 -04:00
Code Issues Packages Projects Releases Wiki Activity

INS: switch to SREG = oldSREG pattern for interrupt mask/restore

Browse Source
This commit is contained in:
Andrew Tridgell 2012-11-20 22:30:25 +11:00
parent 4673ecfdf2
commit 3646b4b846
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
View File

@ -243,6 +243,7 @@ bool AP_InertialSensor_MPU6000::update( void )
while (_count == 0) /* nop */;
// disable interrupts for mininum time
uint8_t oldSREG = SREG;
cli();
for (int i=0; i<7; i++) {
sum[i] = _sum[i];
@ -254,7 +255,7 @@ bool AP_InertialSensor_MPU6000::update( void )
// record sample time
_delta_time_micros = _last_sample_time_micros - _delta_time_start_micros;
_delta_time_start_micros = _last_sample_time_micros;
sei();
SREG = oldSREG;
count_scale = 1.0 / count;