altos: Replace ao_xmem functions with direct mem calls

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

diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index ae33173fb3aae92eee14aaf13c5f996c526181cf..99fc45348347410fd5c8835114122a0a8d0d147a 100644 (file)
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -333,12 +333,12 @@ ao_send_configuration(void)
 #endif
 
                telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
-               ao_xmemcpy (telemetry.configuration.callsign,
-                           ao_config.callsign,
-                           AO_MAX_CALLSIGN);
-               ao_xmemcpy (telemetry.configuration.version,
-                           ao_version,
-                           AO_MAX_VERSION);
+               memcpy (telemetry.configuration.callsign,
+                       ao_config.callsign,
+                       AO_MAX_CALLSIGN);
+               memcpy (telemetry.configuration.version,
+                       ao_version,
+                       AO_MAX_VERSION);
                ao_telemetry_config_cur = ao_telemetry_config_max;
                ao_telemetry_send();
        }
@@ -350,6 +350,18 @@ static int8_t ao_telemetry_gps_max;
 static int8_t ao_telemetry_loc_cur;
 static int8_t ao_telemetry_sat_cur;
 
+static inline void *
+telemetry_bits(struct ao_telemetry_location *l)
+{
+       return ((uint8_t *) l) + offsetof(struct ao_telemetry_location, flags);
+}
+
+static inline int
+telemetry_size(void)
+{
+       return sizeof(struct ao_telemetry_location) - offsetof(struct ao_telemetry_location, flags);
+}
+
 static void
 ao_send_location(void)
 {
@@ -357,9 +369,9 @@ ao_send_location(void)
        {
                telemetry.generic.type = AO_TELEMETRY_LOCATION;
                ao_mutex_get(&ao_gps_mutex);
-               ao_xmemcpy(&telemetry.location.flags,
-                      &ao_gps_data.flags,
-                      27);
+               memcpy(telemetry_bits(&telemetry.location),
+                      telemetry_bits(&ao_gps_data),
+                      telemetry_size());
                telemetry.location.tick = ao_gps_tick;
                ao_mutex_put(&ao_gps_mutex);
                ao_telemetry_loc_cur = ao_telemetry_gps_max;
@@ -375,7 +387,7 @@ ao_send_satellite(void)
                telemetry.generic.type = AO_TELEMETRY_SATELLITE;
                ao_mutex_get(&ao_gps_mutex);
                telemetry.satellite.channels = ao_gps_tracking_data.channels;
-               ao_xmemcpy(&telemetry.satellite.sats,
+               memcpy(&telemetry.satellite.sats,
                       &ao_gps_tracking_data.sats,
                       AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
                ao_mutex_put(&ao_gps_mutex);
@@ -399,7 +411,7 @@ ao_send_companion(void)
                telemetry.companion.update_period = ao_companion_setup.update_period;
                telemetry.companion.channels = ao_companion_setup.channels;
                ao_mutex_get(&ao_companion_mutex);
-               ao_xmemcpy(&telemetry.companion.companion_data,
+               memcpy(&telemetry.companion.companion_data,
                       ao_companion_data,
                       ao_companion_setup.channels * 2);
                ao_mutex_put(&ao_companion_mutex);