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Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos
[fw/altos]
/
src
/
drivers
/
ao_gps_ublox.c
diff --git
a/src/drivers/ao_gps_ublox.c
b/src/drivers/ao_gps_ublox.c
index 2556d314547b08cd91a2a3971bf0166a7697a5ff..57cbf22a77b50245975955925096ba85ac9723f5 100644
(file)
--- a/
src/drivers/ao_gps_ublox.c
+++ b/
src/drivers/ao_gps_ublox.c
@@
-115,8
+115,8
@@
static void ao_ublox_put_i8(int8_t c)
static void ao_ublox_put_u16(uint16_t c)
{
static void ao_ublox_put_u16(uint16_t c)
{
- ao_ublox_put_u8(c);
- ao_ublox_put_u8(
c>>8
);
+ ao_ublox_put_u8(
(uint8_t)
c);
+ ao_ublox_put_u8(
(uint8_t) (c>>8)
);
}
#if 0
}
#if 0
@@
-128,10
+128,10
@@
static void ao_ublox_put_i16(int16_t c)
static void ao_ublox_put_u32(uint32_t c)
{
static void ao_ublox_put_u32(uint32_t c)
{
- ao_ublox_put_u8(c);
- ao_ublox_put_u8(
c>>8
);
- ao_ublox_put_u8(
c>>16
);
- ao_ublox_put_u8(
c>>24
);
+ ao_ublox_put_u8(
(uint8_t)
c);
+ ao_ublox_put_u8(
(uint8_t) (c>>8)
);
+ ao_ublox_put_u8(
(uint8_t) (c>>16)
);
+ ao_ublox_put_u8(
(uint8_t) (c>>24)
);
}
static void ao_ublox_put_i32(int32_t c)
}
static void ao_ublox_put_i32(int32_t c)
@@
-160,7
+160,7
@@
static void ublox_u16(uint8_t offset)
uint16_t val;
val = data_byte();
uint16_t val;
val = data_byte();
- val |=
data_byte () << 8
;
+ val |=
(uint16_t) ((uint16_t) data_byte () << 8)
;
*ptr = val;
}
*ptr = val;
}
@@
-515,8
+515,8
@@
ao_ublox_putstart(uint8_t class, uint8_t id, uint16_t len)
ao_gps_putchar(0x62);
ao_ublox_put_u8(class);
ao_ublox_put_u8(id);
ao_gps_putchar(0x62);
ao_ublox_put_u8(class);
ao_ublox_put_u8(id);
- ao_ublox_put_u8(len);
- ao_ublox_put_u8(
len >> 8
);
+ ao_ublox_put_u8(
(uint8_t)
len);
+ ao_ublox_put_u8(
(uint8_t) (len >> 8)
);
}
static void
}
static void
@@
-659,7
+659,7
@@
ao_gps(void)
/* Length */
ao_ublox_len = header_byte();
/* Length */
ao_ublox_len = header_byte();
- ao_ublox_len |=
header_byte() << 8
;
+ ao_ublox_len |=
(uint16_t) ((uint16_t) header_byte() << 8)
;
ao_gps_dbg(DBG_PROTO, "%6u class %02x id %02x len %d\n", packet_start_tick, class, id, ao_ublox_len);
ao_gps_dbg(DBG_PROTO, "%6u class %02x id %02x len %d\n", packet_start_tick, class, id, ao_ublox_len);
@@
-738,7
+738,7
@@
ao_gps(void)
ao_gps_data.latitude = nav_posllh.lat;
ao_gps_data.longitude = nav_posllh.lon;
ao_gps_data.latitude = nav_posllh.lat;
ao_gps_data.longitude = nav_posllh.lon;
- ao_gps_data.year =
nav_timeutc.year - 2000
;
+ ao_gps_data.year =
(uint8_t) (nav_timeutc.year - 2000)
;
ao_gps_data.month = nav_timeutc.month;
ao_gps_data.day = nav_timeutc.day;
ao_gps_data.month = nav_timeutc.month;
ao_gps_data.day = nav_timeutc.day;
@@
-748,13
+748,13
@@
ao_gps(void)
/* we report dop scaled by 10, but ublox provides dop scaled by 100
*/
/* we report dop scaled by 10, but ublox provides dop scaled by 100
*/
- ao_gps_data.pdop =
nav_dop.pdop / 10
;
- ao_gps_data.hdop =
nav_dop.hdop / 10
;
- ao_gps_data.vdop =
nav_dop.vdop / 10
;
+ ao_gps_data.pdop =
(uint8_t) (nav_dop.pdop / 10)
;
+ ao_gps_data.hdop =
(uint8_t) (nav_dop.hdop / 10)
;
+ ao_gps_data.vdop =
(uint8_t) (nav_dop.vdop / 10)
;
- ao_gps_data.ground_speed = nav_velned.g_speed;
- ao_gps_data.climb_rate = -nav_velned.vel_d;
- ao_gps_data.course =
nav_velned.heading / 200000
;
+ ao_gps_data.ground_speed =
(uint16_t)
nav_velned.g_speed;
+ ao_gps_data.climb_rate = -
(int16_t)
nav_velned.vel_d;
+ ao_gps_data.course =
(uint8_t) (nav_velned.heading / 200000)
;
ao_gps_tracking_data.channels = 0;
ao_gps_tracking_data.channels = 0;