X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_data.c;h=77cd98e40cdc577bbfd7d998cdfb9f21b1fb5887;hb=9df66f7589b663899e2c729b884eed4b64e5d4da;hp=35d42b8f02fa10aff483622df37df828815f61fc;hpb=1085ec5d57e0ed5d132f2bbdac1a0b6a32c0ab4a;p=fw%2Faltos

diff --git a/src/kernel/ao_data.c b/src/kernel/ao_data.c
index 35d42b8f..77cd98e4 100644
--- a/src/kernel/ao_data.c
+++ b/src/kernel/ao_data.c
@@ -19,19 +19,26 @@
 #include <ao.h>
 #include <ao_data.h>
 
-volatile __xdata struct ao_data	ao_data_ring[AO_DATA_RING];
-volatile __data uint8_t		ao_data_head;
-volatile __data uint8_t		ao_data_present;
+volatile struct ao_data	ao_data_ring[AO_DATA_RING];
+volatile uint8_t		ao_data_head;
+volatile uint8_t		ao_data_present;
 
 #ifndef ao_data_count
 void
-ao_data_get(__xdata struct ao_data *packet)
+ao_data_get(struct ao_data *packet)
 {
-#if HAS_FLIGHT
-	uint8_t	i = ao_data_ring_prev(ao_sample_data);
-#else
 	uint8_t	i = ao_data_ring_prev(ao_data_head);
-#endif
 	memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data));
 }
 #endif
+
+#if HAS_ACCEL
+accel_t
+ao_data_accel(volatile struct ao_data *packet) {
+	accel_t raw;
+	raw = ao_data_accel_raw(packet);
+	if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
+		raw = ao_data_accel_invert(raw);
+	return raw;
+}
+#endif