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

[fw/altos] / src / kernel / ao_sample.c

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index f8012e3455c48f8bf0b81888f2621366cd0e32ac..9cba36c1004b37ec31717e7c4431e08ede4bf615 100644 (file)
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -35,63 +35,63 @@
 #define ACCEL_TYPE int16_t
 #endif
 
-__pdata uint16_t       ao_sample_tick;         /* time of last data */
-__pdata pres_t         ao_sample_pres;
-__pdata alt_t          ao_sample_alt;
-__pdata alt_t          ao_sample_height;
+uint16_t       ao_sample_tick;         /* time of last data */
+pres_t         ao_sample_pres;
+alt_t          ao_sample_alt;
+alt_t          ao_sample_height;
 #if HAS_ACCEL
-__pdata accel_t                ao_sample_accel;
+accel_t                ao_sample_accel;
 #endif
 #if HAS_GYRO
-__pdata accel_t                ao_sample_accel_along;
-__pdata accel_t                ao_sample_accel_across;
-__pdata accel_t                ao_sample_accel_through;
-__pdata gyro_t         ao_sample_roll;
-__pdata gyro_t         ao_sample_pitch;
-__pdata gyro_t         ao_sample_yaw;
-__pdata angle_t                ao_sample_orient;
-__pdata angle_t                ao_sample_orients[AO_NUM_ORIENT];
-__pdata uint8_t                ao_sample_orient_pos;
+accel_t                ao_sample_accel_along;
+accel_t                ao_sample_accel_across;
+accel_t                ao_sample_accel_through;
+gyro_t         ao_sample_roll;
+gyro_t         ao_sample_pitch;
+gyro_t         ao_sample_yaw;
+angle_t                ao_sample_orient;
+angle_t                ao_sample_orients[AO_NUM_ORIENT];
+uint8_t                ao_sample_orient_pos;
 #endif
 
-__data uint8_t         ao_sample_data;
+uint8_t                ao_sample_data;
 
 /*
  * Sensor calibration values
  */
 
-__pdata pres_t         ao_ground_pres;         /* startup pressure */
-__pdata alt_t          ao_ground_height;       /* MSL of ao_ground_pres */
+pres_t         ao_ground_pres;         /* startup pressure */
+alt_t          ao_ground_height;       /* MSL of ao_ground_pres */
 
 #if HAS_ACCEL
-__pdata accel_t                ao_ground_accel;        /* startup acceleration */
-__pdata accel_t                ao_accel_2g;            /* factory accel calibration */
-__pdata int32_t                ao_accel_scale;         /* sensor to m/s² conversion */
+accel_t                ao_ground_accel;        /* startup acceleration */
+accel_t                ao_accel_2g;            /* factory accel calibration */
+int32_t                ao_accel_scale;         /* sensor to m/s² conversion */
 #endif
 
 #if HAS_GYRO
-__pdata accel_t                ao_ground_accel_along;
-__pdata accel_t                ao_ground_accel_across;
-__pdata accel_t                ao_ground_accel_through;
-__pdata int32_t                ao_ground_pitch;
-__pdata int32_t                ao_ground_yaw;
-__pdata int32_t                ao_ground_roll;
+accel_t                ao_ground_accel_along;
+accel_t                ao_ground_accel_across;
+accel_t                ao_ground_accel_through;
+int32_t                ao_ground_pitch;
+int32_t                ao_ground_yaw;
+int32_t                ao_ground_roll;
 #endif
 
-static __pdata uint8_t ao_preflight;           /* in preflight mode */
+static uint8_t ao_preflight;           /* in preflight mode */
 
-static __pdata uint16_t        nsamples;
-__pdata int32_t ao_sample_pres_sum;
+static uint16_t        nsamples;
+int32_t ao_sample_pres_sum;
 #if HAS_ACCEL
-__pdata int32_t ao_sample_accel_sum;
+int32_t ao_sample_accel_sum;
 #endif
 #if HAS_GYRO
-__pdata int32_t ao_sample_accel_along_sum;
-__pdata int32_t ao_sample_accel_across_sum;
-__pdata int32_t        ao_sample_accel_through_sum;
-__pdata int32_t ao_sample_pitch_sum;
-__pdata int32_t ao_sample_yaw_sum;
-__pdata int32_t        ao_sample_roll_sum;
+int32_t ao_sample_accel_along_sum;
+int32_t ao_sample_accel_across_sum;
+int32_t        ao_sample_accel_through_sum;
+int32_t ao_sample_pitch_sum;
+int32_t ao_sample_yaw_sum;
+int32_t        ao_sample_roll_sum;
 static struct ao_quaternion ao_rotation;
 #endif
 
@@ -277,7 +277,7 @@ ao_sample_preflight(void)
                ao_accel_scale = to_fix_32(GRAVITY * 2 * 16) / ao_accel_2g;
 #endif
                ao_sample_preflight_set();
-               ao_preflight = FALSE;
+               ao_preflight = false;
        }
 }
 
@@ -321,10 +321,10 @@ static gyro_t inline ao_gyro(void) {
 uint8_t
 ao_sample(void)
 {
-       ao_wakeup(DATA_TO_XDATA(&ao_sample_data));
-       ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
+       ao_wakeup(&ao_sample_data);
+       ao_sleep((void *) &ao_data_head);
        while (ao_sample_data != ao_data_head) {
-               __xdata struct ao_data *ao_data;
+               struct ao_data *ao_data;
 
                /* Capture a sample */
                ao_data = (struct ao_data *) &ao_data_ring[ao_sample_data];
@@ -398,5 +398,5 @@ ao_sample_init(void)
        ao_sample_set_all_orients();
 #endif
        ao_sample_data = ao_data_head;
-       ao_preflight = TRUE;
+       ao_preflight = true;
 }