drivers/ublox: Clean up some debug mode code

[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 22af413a0098008f2ed7dd1e1fa44834ef0c54f9..607e9ea9402fcc4bd5f6da92246edbe76bce8fa2 100644 (file)
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -26,11 +26,11 @@
 
 #include <stdarg.h>
 
-__xdata uint8_t ao_gps_new;
-__xdata uint8_t ao_gps_mutex;
-__pdata uint16_t ao_gps_tick;
-__xdata struct ao_telemetry_location   ao_gps_data;
-__xdata struct ao_telemetry_satellite  ao_gps_tracking_data;
+uint8_t ao_gps_new;
+uint8_t ao_gps_mutex;
+AO_TICK_TYPE ao_gps_tick;
+struct ao_telemetry_location   ao_gps_data;
+struct ao_telemetry_satellite  ao_gps_tracking_data;
 
 #undef AO_SERIAL_SPEED_UBLOX
 
@@ -58,17 +58,18 @@ struct ao_ublox_cksum {
        uint8_t a, b;
 };
 
-static __pdata struct ao_ublox_cksum ao_ublox_cksum;
-static __pdata uint16_t ao_ublox_len;
+static struct ao_ublox_cksum ao_ublox_cksum;
+static uint16_t ao_ublox_len;
 
 #if AO_UBLOX_DEBUG
 
-static uint8_t ao_gps_dbg_enable;
 
 #define DBG_PROTO      1
 #define DBG_CHAR       2
 #define DBG_INIT       4
 
+static uint8_t ao_gps_dbg_enable = DBG_PROTO|DBG_CHAR|DBG_INIT;
+
 static void ao_gps_dbg(int level, char *format, ...) {
        va_list a;
 
@@ -115,8 +116,8 @@ static void ao_ublox_put_i8(int8_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
@@ -128,10 +129,10 @@ static void ao_ublox_put_i16(int16_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)
@@ -152,30 +153,30 @@ static uint8_t data_byte(void)
        return header_byte();
 }
 
-static char __xdata *ublox_target;
+static char *ublox_target;
 
 static void ublox_u16(uint8_t offset)
 {
-       uint16_t __xdata *ptr = (uint16_t __xdata *) (ublox_target + offset);
+       uint16_t *ptr = (uint16_t *) (void *) (ublox_target + offset);
        uint16_t val;
 
        val = data_byte();
-       val |= data_byte () << 8;
+       val |= (uint16_t) ((uint16_t) data_byte () << 8);
        *ptr = val;
 }
 
 static void ublox_u8(uint8_t offset)
 {
-       uint8_t __xdata *ptr = (uint8_t __xdata *) (ublox_target + offset);
+       uint8_t *ptr = (uint8_t *) (ublox_target + offset);
        uint8_t val;
 
        val = data_byte ();
        *ptr = val;
 }
 
-static void ublox_u32(uint8_t offset) __reentrant
+static void ublox_u32(uint8_t offset) 
 {
-       uint32_t __xdata *ptr = (uint32_t __xdata *) (ublox_target + offset);
+       uint32_t *ptr = (uint32_t *) (void *) (ublox_target + offset);
        uint32_t val;
 
        val = ((uint32_t) data_byte ());
@@ -203,7 +204,7 @@ struct ublox_packet_parse {
 };
 
 static void
-ao_ublox_parse(void __xdata *target, const struct ublox_packet_parse *parse) __reentrant
+ao_ublox_parse(void *target, const struct ublox_packet_parse *parse) 
 {
        uint8_t i, offset;
 
@@ -515,8 +516,8 @@ 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_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
@@ -610,11 +611,13 @@ ao_gps_set_rate(uint8_t rate)
 }
 
 void
-ao_gps(void) __reentrant
+ao_gps(void) 
 {
        uint8_t                 class, id;
        struct ao_ublox_cksum   cksum;
        uint8_t                 i;
+       AO_TICK_TYPE            packet_start_tick;
+       AO_TICK_TYPE            solution_tick = 0;
 
        ao_gps_setup();
 
@@ -645,6 +648,8 @@ ao_gps(void) __reentrant
                /* Locate the begining of the next record */
                while (ao_ublox_byte() != (uint8_t) 0xb5)
                        ;
+               packet_start_tick = ao_tick_count;
+
                if (ao_ublox_byte() != (uint8_t) 0x62)
                        continue;
 
@@ -655,9 +660,9 @@ ao_gps(void) __reentrant
 
                /* 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, "class %02x id %02x len %d\n", 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);
 
                if (ao_ublox_len > 1023)
                        continue;
@@ -679,6 +684,7 @@ ao_gps(void) __reentrant
                                if (ao_ublox_len != 52)
                                        break;
                                ao_ublox_parse_nav_sol();
+                               solution_tick = packet_start_tick;
                                break;
                        case UBLOX_NAV_SVINFO:
                                if (ao_ublox_len < 8)
@@ -715,7 +721,7 @@ ao_gps(void) __reentrant
                        switch (id) {
                        case UBLOX_NAV_TIMEUTC:
                                ao_mutex_get(&ao_gps_mutex);
-                               ao_gps_tick = ao_time();
+                               ao_gps_tick = solution_tick;
 
                                ao_gps_data.flags = 0;
                                ao_gps_data.flags |= AO_GPS_RUNNING;
@@ -733,7 +739,7 @@ ao_gps(void) __reentrant
                                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;
 
@@ -743,13 +749,13 @@ ao_gps(void) __reentrant
 
                                /* 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;
 
@@ -783,12 +789,12 @@ ao_gps(void) __reentrant
 #if AO_UBLOX_DEBUG
 static void ao_gps_option(void)
 {
-       ao_cmd_hex();
+       uint8_t r = (uint8_t) ao_cmd_hex();
        if (ao_cmd_status != ao_cmd_success) {
                ao_cmd_status = ao_cmd_success;
                ao_gps_show();
        } else {
-               ao_gps_dbg_enable = ao_cmd_lex_i;
+               ao_gps_dbg_enable = r;
                printf ("gps debug set to %d\n", ao_gps_dbg_enable);
        }
 }
@@ -796,12 +802,12 @@ static void ao_gps_option(void)
 #define ao_gps_option ao_gps_show
 #endif
 
-__code struct ao_cmds ao_gps_cmds[] = {
+const struct ao_cmds ao_gps_cmds[] = {
        { ao_gps_option,        "g\0Display GPS" },
        { 0, NULL },
 };
 
-__xdata struct ao_task ao_gps_task;
+struct ao_task ao_gps_task;
 
 void
 ao_gps_init(void)