altos: Extend GPS altitudes to at least 24 bits everywhere

[fw/altos] / src / kernel / ao_log.h

diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 87fa0d4d3a323c3645050f451f6731d526ee0607..080cfb02177af09053382e7074d14d7035673b92 100644 (file)
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -29,7 +29,7 @@
  * by sleeping on this variable.
  */
 extern __xdata uint16_t ao_flight_number;
-
+extern __xdata uint8_t ao_log_mutex;
 extern __pdata uint32_t ao_log_current_pos;
 extern __pdata uint32_t ao_log_end_pos;
 extern __pdata uint32_t ao_log_start_pos;
@@ -176,8 +176,8 @@ struct ao_log_record {
                int32_t         gps_latitude;
                int32_t         gps_longitude;
                struct {
-                       int16_t         altitude;
-                       uint16_t        unused;
+                       uint16_t        altitude_low;
+                       int16_t         altitude_high;
                } gps_altitude;
                struct {
                        uint16_t        svid;
@@ -246,7 +246,7 @@ struct ao_log_mega {
                struct {
                        int32_t         latitude;       /* 4 */
                        int32_t         longitude;      /* 8 */
-                       int16_t         altitude;       /* 12 */
+                       uint16_t        altitude_low;   /* 12 */
                        uint8_t         hour;           /* 14 */
                        uint8_t         minute;         /* 15 */
                        uint8_t         second;         /* 16 */
@@ -261,7 +261,8 @@ struct ao_log_mega {
                        uint8_t         hdop;           /* 27 */
                        uint8_t         vdop;           /* 28 */
                        uint8_t         mode;           /* 29 */
-               } gps;  /* 30 */
+                       int16_t         altitude_high;  /* 30 */
+               } gps;  /* 32 */
                /* AO_LOG_GPS_SAT */
                struct {
                        uint16_t        channels;       /* 4 */
@@ -273,6 +274,11 @@ struct ao_log_mega {
        } u;
 };
 
+#define AO_LOG_MEGA_GPS_ALTITUDE(l)    ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
+#define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a)      (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
+                                                ((l)->u.gps.altitude_high = (a) >> 16), \
+                                                (l)->u.gps.altitude_low = (a))
+
 struct ao_log_metrum {
        char                    type;                   /* 0 */
        uint8_t                 csum;                   /* 1 */
@@ -306,8 +312,9 @@ struct ao_log_metrum {
                struct {
                        int32_t         latitude;       /* 4 */
                        int32_t         longitude;      /* 8 */
-                       int16_t         altitude;       /* 12 */
-               } gps;          /* 14 */
+                       uint16_t        altitude_low;   /* 12 */
+                       int16_t         altitude_high;  /* 14 */
+               } gps;          /* 16 */
                /* AO_LOG_GPS_TIME */
                struct {
                        uint8_t         hour;           /* 4 */
@@ -381,7 +388,7 @@ struct ao_log_gps {
                struct {
                        int32_t         latitude;       /* 4 */
                        int32_t         longitude;      /* 8 */
-                       int16_t         altitude;       /* 12 */
+                       uint16_t        altitude_low;   /* 12 */
                        uint8_t         hour;           /* 14 */
                        uint8_t         minute;         /* 15 */
                        uint8_t         second;         /* 16 */
@@ -396,7 +403,7 @@ struct ao_log_gps {
                        uint8_t         hdop;           /* 27 */
                        uint8_t         vdop;           /* 28 */
                        uint8_t         mode;           /* 29 */
-                       uint8_t         state;          /* 30 */
+                       int16_t         altitude_high;  /* 30 */
                } gps;  /* 31 */
                /* AO_LOG_GPS_SAT */
                struct {