altos: Optimize fetching of ADC data in flight code

[fw/altos] / src / ao_flight.c

diff --git a/src/ao_flight.c b/src/ao_flight.c
index e99692a3f21d51df219e819c4413a4ce8db5423b..637acd52c69e4b0db6c1cba00e3dc3beebbd1bf3 100644 (file)
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -146,16 +146,19 @@ ao_flight(void)
        ao_raw_pres = 0;
        ao_flight_tick = 0;
        for (;;) {
-               ao_sleep(&ao_adc_ring);
+               ao_wakeup(DATA_TO_XDATA(&ao_flight_adc));
+               ao_sleep(DATA_TO_XDATA(&ao_adc_head));
                while (ao_flight_adc != ao_adc_head) {
                        __pdata uint8_t ticks;
                        __pdata int16_t ao_vel_change;
+                       __xdata struct ao_adc *ao_adc;
                        ao_flight_prev_tick = ao_flight_tick;
 
                        /* Capture a sample */
-                       ao_raw_accel = ao_adc_ring[ao_flight_adc].accel;
-                       ao_raw_pres = ao_adc_ring[ao_flight_adc].pres;
-                       ao_flight_tick = ao_adc_ring[ao_flight_adc].tick;
+                       ao_adc = &ao_adc_ring[ao_flight_adc];
+                       ao_flight_tick = ao_adc->tick;
+                       ao_raw_accel = ao_adc->accel;
+                       ao_raw_pres = ao_adc->pres;
 
                        ao_flight_accel -= ao_flight_accel >> 4;
                        ao_flight_accel += ao_raw_accel >> 4;