altos: Replace ao_xmem functions with direct mem calls

[fw/altos] / src / product / ao_terraui.c

diff --git a/src/product/ao_terraui.c b/src/product/ao_terraui.c
index 8875ff487b7438040a9f8dd9478f8428e1f2bb61..102abb910a3d8e1050e8823aa2b3450aa1f5a843 100644 (file)
--- a/src/product/ao_terraui.c
+++ b/src/product/ao_terraui.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
@@ -16,17 +17,18 @@
  */
 
 #include "ao.h"
+#include <ao_flight.h>
 #include <math.h>
 
-static __xdata struct ao_telemetry_sensor              ao_tel_sensor;
-static __xdata struct ao_telemetry_location            ao_tel_location;
-static __xdata struct ao_telemetry_configuration       ao_tel_config;
-static __xdata int16_t                                         ao_tel_max_speed;
-static __xdata int16_t                                 ao_tel_max_height;
+static struct ao_telemetry_sensor              ao_tel_sensor;
+static struct ao_telemetry_location            ao_tel_location;
+static struct ao_telemetry_configuration       ao_tel_config;
+static int16_t                                         ao_tel_max_speed;
+static int16_t                                 ao_tel_max_height;
 static int8_t ao_tel_rssi;
 
-static __xdata char ao_lcd_line[17];
-static __xdata char ao_state_name[] = "SIPBFCDMLI";
+static char ao_lcd_line[17];
+static char ao_state_name[] = "SIPBFCDMLI";
 
 static void
 ao_terraui_line(uint8_t addr)
@@ -83,7 +85,7 @@ ao_terraui_logging(void)
        return '-';
 }
 
-static __code char ao_progress[4] = { '\011', '\012', '\014', '\013' };
+static const char ao_progress[4] = { '\011', '\012', '\014', '\013' };
 
 static uint8_t ao_telem_progress;
 static uint8_t ao_gps_progress;
@@ -163,7 +165,7 @@ static int16_t mag(int32_t d)
 static int32_t
 dist(int32_t d)
 {
-       __pdata uint32_t m;
+       uint32_t m;
        uint8_t neg = 0;
 
        if (d < 0) {
@@ -182,7 +184,7 @@ dist(int32_t d)
        return d;
 }
 
-static __code uint8_t cos_table[] = {
+static const uint8_t cos_table[] = {
    0, /*  0 */
    0, /*  1 */
    0, /*  2 */
@@ -240,7 +242,7 @@ static __code uint8_t cos_table[] = {
    1, /* 54 */
 };
 
-static __code uint8_t tan_table[] = {
+static const uint8_t tan_table[] = {
     0, /*  0 */
     4, /*  1 */
     9, /*  2 */
@@ -288,7 +290,7 @@ static __code uint8_t tan_table[] = {
   247, /* 44 */
 };
        
-int16_t ao_atan2(int32_t dy, int32_t dx) __reentrant
+int16_t ao_atan2(int32_t dy, int32_t dx) 
 {
        int8_t  m = 1;
        int16_t a = 0;
@@ -332,10 +334,10 @@ int16_t ao_atan2(int32_t dy, int32_t dx) __reentrant
        return t * m + a;
 }
 
-static __pdata int32_t lon_dist, lat_dist;
-static __pdata uint32_t        ground_dist, range;
-static __pdata uint8_t dist_in_km;
-static __pdata int16_t bearing, elevation;
+static int32_t lon_dist, lat_dist;
+static uint32_t        ground_dist, range;
+static uint8_t dist_in_km;
+static int16_t bearing, elevation;
 
 static void
 ao_terraui_lat_dist(void)
@@ -344,7 +346,7 @@ ao_terraui_lat_dist(void)
 }
 
 static void
-ao_terraui_lon_dist(void) __reentrant
+ao_terraui_lon_dist(void) 
 {
        uint8_t c = cos_table[ao_gps_data.latitude >> 24];
        lon_dist = ao_tel_location.longitude;
@@ -416,7 +418,7 @@ ao_terraui_recover(void)
 }
 
 static void
-ao_terraui_coord(int32_t c, char plus, char minus, char extra) __reentrant
+ao_terraui_coord(int32_t c, char plus, char minus, char extra) 
 {
        uint16_t        d;
        uint8_t         m;
@@ -446,7 +448,7 @@ ao_terraui_remote(void)
 }
 
 static void
-ao_terraui_local(void) __reentrant
+ao_terraui_local(void) 
 {
        ao_terraui_coord(ao_gps_data.latitude, 'n', 's',
                         ao_terraui_local_gps());
@@ -455,11 +457,11 @@ ao_terraui_local(void) __reentrant
        ao_terraui_line(AO_LCD_ADDR(1,0));
 }
 
-static __pdata uint8_t ao_set_freq;
-static __pdata uint32_t ao_set_freq_orig;
+static uint8_t ao_set_freq;
+static uint32_t ao_set_freq_orig;
 
 static void
-ao_terraui_freq(void) __reentrant
+ao_terraui_freq(void) 
 {
        uint16_t        MHz;
        uint16_t        frac;
@@ -506,7 +508,7 @@ ao_terraui_freq_button(char b) {
        ao_radio_recv_abort();
 }
 
-static __code void (*__code ao_terraui_page[])(void) = {
+static const void (*const ao_terraui_page[])(void) = {
        ao_terraui_startup,
        ao_terraui_info,
        ao_terraui_pad,
@@ -519,8 +521,8 @@ static __code void (*__code ao_terraui_page[])(void) = {
 
 #define NUM_PAGE       (sizeof (ao_terraui_page)/sizeof (ao_terraui_page[0]))
 
-static __pdata uint8_t ao_current_page = 0;
-static __pdata uint8_t ao_shown_about = 3;
+static uint8_t ao_current_page = 0;
+static uint8_t ao_shown_about = 3;
 
 static void
 ao_terraui(void)
@@ -538,9 +540,7 @@ ao_terraui(void)
                else
                        ao_terraui_page[ao_current_page]();
 
-               ao_alarm(AO_SEC_TO_TICKS(1));
-               b = ao_button_get();
-               ao_clear_alarm();
+               b = ao_button_get(AO_SEC_TO_TICKS(1));
 
                if (b > 0) {
                        ao_beep_for(AO_BEEP_HIGH, AO_MS_TO_TICKS(10));
@@ -575,7 +575,7 @@ ao_terraui(void)
        }
 }
 
-__xdata static struct ao_task ao_terraui_task;
+static struct ao_task ao_terraui_task;
 
 static void
 ao_terramonitor(void)
@@ -588,17 +588,17 @@ ao_terramonitor(void)
             monitor = ao_monitor_ring_next(monitor))
        {
                while (monitor == ao_monitor_head)
-                       ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
+                       ao_sleep(&ao_monitor_head);
                if (ao_monitoring != sizeof (union ao_telemetry_all))
                        continue;
                if (!(ao_monitor_ring[monitor].all.status & PKT_APPEND_STATUS_1_CRC_OK))
                        continue;
-               ao_tel_rssi = (ao_monitor_ring[monitor].all.rssi >> 1) - 74;
+               ao_tel_rssi = AO_RSSI_FROM_RADIO(ao_monitor_ring[monitor].all.rssi);
                switch (ao_monitor_ring[monitor].all.telemetry.generic.type) {
                case AO_TELEMETRY_SENSOR_TELEMETRUM:
                case AO_TELEMETRY_SENSOR_TELEMINI:
                case AO_TELEMETRY_SENSOR_TELENANO:
-                       ao_xmemcpy(&ao_tel_sensor, &ao_monitor_ring[monitor], sizeof (ao_tel_sensor));
+                       memcpy(&ao_tel_sensor, &ao_monitor_ring[monitor], sizeof (ao_tel_sensor));
                        if (ao_tel_sensor.state < ao_flight_boost) {
                                ao_tel_max_speed = 0;
                                ao_tel_max_height = 0;
@@ -611,15 +611,15 @@ ao_terramonitor(void)
                        ao_telem_progress = (ao_telem_progress + 1) & 0x3;
                        break;
                case AO_TELEMETRY_LOCATION:
-                       ao_xmemcpy(&ao_tel_location, &ao_monitor_ring[monitor], sizeof (ao_tel_location));
+                       memcpy(&ao_tel_location, &ao_monitor_ring[monitor], sizeof (ao_tel_location));
                        break;
                case AO_TELEMETRY_CONFIGURATION:
-                       ao_xmemcpy(&ao_tel_config, &ao_monitor_ring[monitor], sizeof (ao_tel_config));
+                       memcpy(&ao_tel_config, &ao_monitor_ring[monitor], sizeof (ao_tel_config));
                }
        }
 }
 
-__xdata static struct ao_task ao_terramonitor_task;
+static struct ao_task ao_terramonitor_task;
 
 static void
 ao_terragps(void)
@@ -628,13 +628,13 @@ ao_terragps(void)
 
        for (;;) {
                while (ao_gps_tick == gps_tick)
-                       ao_sleep(&ao_gps_data);
+                       ao_sleep(&ao_gps_new);
                gps_tick = ao_gps_tick;
                ao_gps_progress = (ao_gps_progress + 1) & 3;
        }
 }
 
-__xdata static struct ao_task ao_terragps_task;
+static struct ao_task ao_terragps_task;
 
 void
 ao_terraui_init(void)