Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[fw/altos] / src / drivers / ao_gps_skytraq.c

diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c
index c483382e03539405814b6178d04bfa29848cf655..193f20dc4eb4a6af61651534d1816857a7e8355c 100644 (file)
--- a/src/drivers/ao_gps_skytraq.c
+++ b/src/drivers/ao_gps_skytraq.c
@@ -33,20 +33,20 @@
 #define ao_gps_set_speed       ao_serial1_set_speed
 #endif
 
-__xdata uint8_t ao_gps_new;
-__xdata uint8_t ao_gps_mutex;
-static __data char ao_gps_char;
-static __data uint8_t ao_gps_cksum;
-static __data uint8_t ao_gps_error;
+uint8_t ao_gps_new;
+uint8_t ao_gps_mutex;
+static char ao_gps_char;
+static uint8_t ao_gps_cksum;
+static uint8_t ao_gps_error;
 
-__pdata uint16_t ao_gps_tick;
-__xdata struct ao_telemetry_location   ao_gps_data;
-__xdata struct ao_telemetry_satellite  ao_gps_tracking_data;
+uint16_t ao_gps_tick;
+struct ao_telemetry_location   ao_gps_data;
+struct ao_telemetry_satellite  ao_gps_tracking_data;
 
-static __pdata uint16_t                                ao_gps_next_tick;
-static __pdata struct ao_telemetry_location    ao_gps_next;
-static __pdata uint8_t                         ao_gps_date_flags;
-static __pdata struct ao_telemetry_satellite   ao_gps_tracking_next;
+static uint16_t                                ao_gps_next_tick;
+static struct ao_telemetry_location    ao_gps_next;
+static uint8_t                         ao_gps_date_flags;
+static struct ao_telemetry_satellite   ao_gps_tracking_next;
 
 #define STQ_S 0xa0, 0xa1
 #define STQ_E 0x0d, 0x0a
@@ -60,7 +60,7 @@ static __pdata struct ao_telemetry_satellite  ao_gps_tracking_next;
     STQ_S, 0,15, id, a,b,c,d,e,f,g,h,i,j,k,l,m,n, \
     (id^a^b^c^d^e^f^g^h^i^j^k^l^m^n), STQ_E
 
-static __code uint8_t ao_gps_config[] = {
+static const uint8_t ao_gps_config[] = {
        SKYTRAQ_MSG_8(0x08, 1, 0, 1, 0, 1, 0, 0, 0), /* configure nmea */
        /* gga interval */
        /* gsa interval */
@@ -107,7 +107,7 @@ ao_gps_skip_sep(void)
                ao_gps_lexchar();
 }
 
-__data static uint8_t ao_gps_num_width;
+static uint8_t ao_gps_num_width;
 
 static int16_t
 ao_gps_decimal(uint8_t max_width)
@@ -162,11 +162,11 @@ ao_gps_hex(void)
 }
 
 static int32_t
-ao_gps_parse_pos(uint8_t deg_width) __reentrant
+ao_gps_parse_pos(uint8_t deg_width) 
 {
-       static __pdata uint16_t d;
-       static __pdata uint8_t  m;
-       static __pdata uint16_t f;
+       static uint16_t d;
+       static uint8_t  m;
+       static uint16_t f;
        char c;
 
        d = ao_gps_decimal(deg_width);
@@ -298,7 +298,7 @@ ao_nmea_gga(void)
                ao_mutex_get(&ao_gps_mutex);
                ao_gps_new |= AO_GPS_NEW_DATA;
                ao_gps_tick = ao_gps_next_tick;
-               ao_xmemcpy(&ao_gps_data, PDATA_TO_XDATA(&ao_gps_next), sizeof (ao_gps_data));
+               ao_xmemcpy(&ao_gps_data, &ao_gps_next, sizeof (ao_gps_data));
                ao_mutex_put(&ao_gps_mutex);
                ao_wakeup(&ao_gps_new);
        }
@@ -357,7 +357,7 @@ ao_nmea_gsv(void)
        else if (done) {
                ao_mutex_get(&ao_gps_mutex);
                ao_gps_new |= AO_GPS_NEW_TRACKING;
-               ao_xmemcpy(&ao_gps_tracking_data, PDATA_TO_XDATA(&ao_gps_tracking_next), sizeof(ao_gps_tracking_data));
+               ao_xmemcpy(&ao_gps_tracking_data, &ao_gps_tracking_next, sizeof(ao_gps_tracking_data));
                ao_mutex_put(&ao_gps_mutex);
                ao_wakeup(&ao_gps_new);
        }
@@ -414,7 +414,7 @@ ao_nmea_rmc(void)
 #define ao_skytraq_sendstruct(s) ao_skytraq_sendbytes((s), sizeof(s))
 
 static void
-ao_skytraq_sendbytes(__code uint8_t *b, uint8_t l)
+ao_skytraq_sendbytes(const uint8_t *b, uint8_t l)
 {
        while (l--) {
                uint8_t c = *b++;
@@ -462,7 +462,7 @@ ao_gps_nmea_parse(void)
 static uint8_t ao_gps_updating;
 
 void
-ao_gps(void) __reentrant
+ao_gps(void) 
 {
        ao_gps_set_speed(AO_SERIAL_SPEED_9600);
 
@@ -486,9 +486,9 @@ ao_gps(void) __reentrant
        }
 }
 
-__xdata struct ao_task ao_gps_task;
+struct ao_task ao_gps_task;
 
-static __code uint8_t ao_gps_115200[] = {
+static const uint8_t ao_gps_115200[] = {
        SKYTRAQ_MSG_3(5,0,5,0)  /* Set to 115200 baud */
 };
 
@@ -500,7 +500,7 @@ ao_gps_set_speed_delay(uint8_t speed) {
 }
 
 static void
-gps_update(void) __reentrant
+gps_update(void) 
 {
        ao_gps_updating = 1;
        ao_task_minimize_latency = 1;
@@ -517,7 +517,7 @@ gps_update(void) __reentrant
                ao_gps_putchar(ao_usb_getchar());
 }
 
-__code struct ao_cmds ao_gps_cmds[] = {
+const struct ao_cmds ao_gps_cmds[] = {
        { ao_gps_show,  "g\0Display GPS" },
        { gps_update,   "U\0Update GPS firmware" },
        { 0, NULL },