altos: Add bit-bang i2c driver

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

diff --git a/src/kernel/ao_gps_report.c b/src/kernel/ao_gps_report.c
index 07201ac235b69cd1656979fae18aaa94327c2d73..01226ba5c8b224343e62145072e49a6589a5f8c2 100644 (file)
--- a/src/kernel/ao_gps_report.c
+++ b/src/kernel/ao_gps_report.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
@@ -20,9 +21,9 @@
 void
 ao_gps_report(void)
 {
-       static __xdata struct ao_log_record             gps_log;
-       static __xdata struct ao_telemetry_location     gps_data;
-       static __xdata struct ao_telemetry_satellite    gps_tracking_data;
+       static struct ao_log_record             gps_log;
+       static struct ao_telemetry_location     gps_data;
+       static struct ao_telemetry_satellite    gps_tracking_data;
        uint8_t date_reported = 0;
        uint8_t new;
 
@@ -31,9 +32,9 @@ ao_gps_report(void)
                        ao_sleep(&ao_gps_new);
                ao_mutex_get(&ao_gps_mutex);
                if (new & AO_GPS_NEW_DATA)
-                       ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
+                       memcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
                if (new & AO_GPS_NEW_TRACKING)
-                       ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
+                       memcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
                ao_gps_new = 0;
                ao_mutex_put(&ao_gps_mutex);
 
@@ -44,24 +45,28 @@ ao_gps_report(void)
                        gps_log.u.gps_time.minute = gps_data.minute;
                        gps_log.u.gps_time.second = gps_data.second;
                        gps_log.u.gps_time.flags = gps_data.flags;
-                       ao_log_data(&gps_log);
+                       ao_log_write(&gps_log);
                        gps_log.type = AO_LOG_GPS_LAT;
                        gps_log.u.gps_latitude = gps_data.latitude;
-                       ao_log_data(&gps_log);
+                       ao_log_write(&gps_log);
                        gps_log.type = AO_LOG_GPS_LON;
                        gps_log.u.gps_longitude = gps_data.longitude;
-                       ao_log_data(&gps_log);
+                       ao_log_write(&gps_log);
                        gps_log.type = AO_LOG_GPS_ALT;
-                       gps_log.u.gps_altitude.altitude = gps_data.altitude;
-                       gps_log.u.gps_altitude.unused = 0xffff;
-                       ao_log_data(&gps_log);
+                       gps_log.u.gps_altitude.altitude_low = gps_data.altitude_low;
+#if HAS_WIDE_GPS
+                       gps_log.u.gps_altitude.altitude_high = gps_data.altitude_high;
+#else
+                       gps_log.u.gps_altitude.altitude_high = 0xffff;
+#endif
+                       ao_log_write(&gps_log);
                        if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
                                gps_log.type = AO_LOG_GPS_DATE;
                                gps_log.u.gps_date.year = gps_data.year;
                                gps_log.u.gps_date.month = gps_data.month;
                                gps_log.u.gps_date.day = gps_data.day;
                                gps_log.u.gps_date.extra = 0;
-                               date_reported = ao_log_data(&gps_log);
+                               date_reported = ao_log_write(&gps_log);
                        }
                }
                if (new & AO_GPS_NEW_TRACKING) {
@@ -73,14 +78,14 @@ ao_gps_report(void)
                                        if ((gps_log.u.gps_sat.svid = gps_tracking_data.sats[c].svid))
                                        {
                                                gps_log.u.gps_sat.c_n = gps_tracking_data.sats[c].c_n_1;
-                                               ao_log_data(&gps_log);
+                                               ao_log_write(&gps_log);
                                        }
                        }
                }
        }
 }
 
-__xdata struct ao_task ao_gps_report_task;
+struct ao_task ao_gps_report_task;
 
 void
 ao_gps_report_init(void)