X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_data.c;h=f8d8e7f1b66a2b1b950c5ee1e496731de4c41f27;hb=291eddc6376dc414a32aab51d4ee7c4212e3e69d;hp=6a3d02a130087140eb43e9cdbc6f58d7992b7d3e;hpb=24167015705ae831692b95735968b04a876f935e;p=fw%2Faltos

diff --git a/src/kernel/ao_data.c b/src/kernel/ao_data.c
index 6a3d02a1..f8d8e7f1 100644
--- a/src/kernel/ao_data.c
+++ b/src/kernel/ao_data.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -15,22 +16,31 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
+#ifndef AO_FLIGHT_TEST
 #include <ao.h>
 #include <ao_data.h>
+#endif
 
-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