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

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This commit is contained in:
Andrew Tridgell 2012-11-20 22:30:25 +11:00
parent e331634bc5
commit f843705da3
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -243,6 +243,7 @@ bool AP_InertialSensor_MPU6000::update( void )
while (_count == 0) /* nop */; while (_count == 0) /* nop */;
// disable interrupts for mininum time // disable interrupts for mininum time
uint8_t oldSREG = SREG;
cli(); cli();
for (int i=0; i<7; i++) { for (int i=0; i<7; i++) {
sum[i] = _sum[i]; sum[i] = _sum[i];
@ -254,7 +255,7 @@ bool AP_InertialSensor_MPU6000::update( void )
// record sample time // record sample time
_delta_time_micros = _last_sample_time_micros - _delta_time_start_micros; _delta_time_micros = _last_sample_time_micros - _delta_time_start_micros;
_delta_time_start_micros = _last_sample_time_micros; _delta_time_start_micros = _last_sample_time_micros;
sei(); SREG = oldSREG;
count_scale = 1.0 / count; count_scale = 1.0 / count;