altos: Remove *_TO_DATA macros

[fw/altos] / src / kernel / ao_flight.c

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 7b3cb9fa6411055667c4fb82844c6582029a4c1b..170396ff160ab41473f656d8b125d9b8f593b623 100644 (file)
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -48,7 +48,8 @@
 /* Main flight thread. */
 
 __pdata enum ao_flight_state   ao_flight_state;        /* current flight state */
-__pdata uint16_t               ao_boost_tick;          /* time of launch detect */
+__pdata uint16_t               ao_boost_tick;          /* time of most recent boost detect */
+__pdata uint16_t               ao_launch_tick;         /* time of first boost detect */
 __pdata uint16_t               ao_motor_number;        /* number of motors burned so far */
 
 #if HAS_SENSOR_ERRORS
@@ -174,7 +175,7 @@ ao_flight(void)
 #endif
                        }
                        /* wakeup threads due to state change */
-                       ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+                       ao_wakeup(&ao_flight_state);
 
                        break;
                case ao_flight_pad:
@@ -199,7 +200,7 @@ ao_flight(void)
                                )
                        {
                                ao_flight_state = ao_flight_boost;
-                               ao_boost_tick = ao_sample_tick;
+                               ao_launch_tick = ao_boost_tick = ao_sample_tick;
 
                                /* start logging data */
                                ao_log_start();
@@ -218,7 +219,7 @@ ao_flight(void)
                                ao_wakeup(&ao_gps_new);
 #endif
 
-                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+                               ao_wakeup(&ao_flight_state);
                        }
                        break;
                case ao_flight_boost:
@@ -243,7 +244,7 @@ ao_flight(void)
                                ao_flight_state = ao_flight_coast;
 #endif
                                ++ao_motor_number;
-                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+                               ao_wakeup(&ao_flight_state);
                        }
                        break;
 #if HAS_ACCEL
@@ -256,7 +257,7 @@ ao_flight(void)
                        if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
                        {
                                ao_flight_state = ao_flight_coast;
-                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+                               ao_wakeup(&ao_flight_state);
                        } else
                                goto check_re_boost;
                        break;
@@ -269,7 +270,7 @@ ao_flight(void)
                         * number of seconds.
                         */
                        if (ao_config.apogee_lockout) {
-                               if ((int16_t) (ao_sample_tick - ao_boost_tick) <
+                               if ((int16_t) (ao_sample_tick - ao_launch_tick) <
                                    AO_SEC_TO_TICKS(ao_config.apogee_lockout))
                                        break;
                        }
@@ -305,7 +306,7 @@ ao_flight(void)
 
                                /* and enter drogue state */
                                ao_flight_state = ao_flight_drogue;
-                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+                               ao_wakeup(&ao_flight_state);
                        }
 #if HAS_ACCEL
                        else {
@@ -314,7 +315,7 @@ ao_flight(void)
                                if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
                                        ao_boost_tick = ao_sample_tick;
                                        ao_flight_state = ao_flight_boost;
-                                       ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+                                       ao_wakeup(&ao_flight_state);
                                }
                        }
 #endif
@@ -351,7 +352,7 @@ ao_flight(void)
                                ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 
                                ao_flight_state = ao_flight_main;
-                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+                               ao_wakeup(&ao_flight_state);
                        }
                        break;
 
@@ -378,7 +379,7 @@ ao_flight(void)
                                        ao_timer_set_adc_interval(0);
 #endif
 
-                                       ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+                                       ao_wakeup(&ao_flight_state);
                                }
                                ao_interval_min_height = ao_interval_max_height = ao_avg_height;
                                ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;