AP_GPS: replaced "int" with "int16_t" and "long" with "int32_t"

libraries/AP_GPS/AP_GPS_406.cpp

@@ -45,11 +45,11 @@ AP_GPS_406::_configure_gps(void)
     const uint8_t gps_checksum[] 	= {0xA8, 0xAA, 0xAD, 0xAF, 0xC1};
     const uint8_t gps_ender[]		= {0xB0, 0xB3};
 
-    for(int z = 0; z < 2; z++) {
+    for(int16_t z = 0; z < 2; z++) {
-        for(int x = 0; x < 5; x++) {
+        for(int16_t x = 0; x < 5; x++) {
             _port->write(gps_header, sizeof(gps_header));	// Prints the msg header, is the same header for all msg..
             _port->write(gps_payload[x]);					// Prints the payload, is not the same for every msg
-            for(int y = 0; y < 6; y++)						// Prints 6 zeros
+            for(int16_t y = 0; y < 6; y++)						// Prints 6 zeros
                 _port->write((uint8_t)0);
             _port->write(gps_checksum[x]);					// Print the Checksum
             _port->write(gps_ender[0]);						// Print the Ender of the string, is same on all msg's.

libraries/AP_GPS/AP_GPS_IMU.cpp

@@ -17,11 +17,11 @@
                 update() : Call this funcion as often as you want to ensure you read the incomming gps data
 
         Properties:
-                lattitude : lattitude * 10000000 (long value)
+                lattitude : lattitude * 10000000 (int32_t value)
-                longitude : longitude * 10000000 (long value)
+                longitude : longitude * 10000000 (int32_t value)
-                altitude :      altitude * 100 (meters) (long value)
+                altitude :      altitude * 100 (meters) (int32_t value)
-                ground_speed : Speed (m/s) * 100 (long value)
+                ground_speed : Speed (m/s) * 100 (int32_t value)
-                ground_course : Course (degrees) * 100 (long value)
+                ground_course : Course (degrees) * 100 (int32_t value)
                 new_data : 1 when a new data is received.
                                                         You need to write a 0 to new_data when you read the data
                 fix : 1: GPS NO fix, 2: 2D fix, 3: 3D fix.
@@ -56,12 +56,12 @@ bool
 AP_GPS_IMU::read(void)
 {
     byte data;
-    int numc = 0;
+    int16_t numc = 0;
 
     numc = _port->available();
 
     if (numc > 0) {
-        for (int i=0; i<numc; i++) {    // Process bytes received
+        for (int16_t i=0; i<numc; i++) {    // Process bytes received
 
             data = _port->read();
 
@@ -169,30 +169,30 @@ void AP_GPS_IMU::join_data(void)
     //In this case all the message im using are in class 1, to know more about classes check PAGE 60 of DataSheet.
 
     //Storing IMU roll
-    roll_sensor = *(int *)&buffer[0];
+    roll_sensor = *(int16_t *)&buffer[0];
 
     //Storing IMU pitch
-    pitch_sensor = *(int *)&buffer[2];
+    pitch_sensor = *(int16_t *)&buffer[2];
 
     //Storing IMU heading (yaw)
-    ground_course = *(int *)&buffer[4];
+    ground_course = *(int16_t *)&buffer[4];
     imu_ok = true;
 }
 
 void AP_GPS_IMU::join_data_xplane()
 {
     //Storing IMU roll
-    roll_sensor = *(int *)&buffer[0];
+    roll_sensor = *(int16_t *)&buffer[0];
 
 
     //Storing IMU pitch
-    pitch_sensor = *(int *)&buffer[2];
+    pitch_sensor = *(int16_t *)&buffer[2];
 
     //Storing IMU heading (yaw)
-    ground_course = *(unsigned int *)&buffer[4];
+    ground_course = *(uint16_t *)&buffer[4];
 
     //Storing airspeed
-    airspeed = *(int *)&buffer[6];
+    airspeed = *(int16_t *)&buffer[6];
 
     imu_ok = true;
 
@@ -200,17 +200,17 @@ void AP_GPS_IMU::join_data_xplane()
 
 void AP_GPS_IMU::GPS_join_data(void)
 {
-    longitude = *(long *)&buffer[0];        // degrees * 10e7
+    longitude = *(int32_t *)&buffer[0];        // degrees * 10e7
-    latitude  = *(long *)&buffer[4];
+    latitude  = *(int32_t *)&buffer[4];
 
     //Storing GPS Height above the sea level
-    altitude = (long)*(int *)&buffer[8] * 10;
+    altitude = (int32_t)*(int16_t *)&buffer[8] * 10;
 
     //Storing Speed
-    speed_3d = ground_speed = (float)*(int *)&buffer[10];
+    speed_3d = ground_speed = (float)*(int16_t *)&buffer[10];
 
     //We skip the gps ground course because we use yaw value from the IMU for ground course
-    time = *(long *)&buffer[14];
+    time = *(int32_t *)&buffer[14];
 
     imu_health = buffer[15];
 
@@ -234,5 +234,5 @@ void AP_GPS_IMU::checksum(unsigned char  data)
 /****************************************************************
  * Unused
  ****************************************************************/
-void AP_GPS_IMU::setHIL(long _time, float _latitude, float _longitude, float _altitude,
+void AP_GPS_IMU::setHIL(uint32_t _time, float _latitude, float _longitude, float _altitude,
                         float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats) {};

libraries/AP_GPS/AP_GPS_IMU.h

@@ -15,14 +15,14 @@ public:
     virtual bool read(void);
 
     // Properties
-    long    roll_sensor;            // how much we're turning in deg * 100
+    int32_t roll_sensor;            // how much we're turning in deg * 100
-    long    pitch_sensor;           // our angle of attack in deg * 100
+    int32_t pitch_sensor;           // our angle of attack in deg * 100
-    int     airspeed;
+    int16_t airspeed;
     float   imu_health;
     uint8_t imu_ok;
 
     // Unused
-    virtual void setHIL(long time, float latitude, float longitude, float altitude,
+    virtual void setHIL(uint32_t time, float latitude, float longitude, float altitude,
                         float ground_speed, float ground_course, float speed_3d, uint8_t num_sats);
 
 private:

libraries/AP_GPS/AP_GPS_MTK.cpp

@@ -52,11 +52,11 @@ bool
 AP_GPS_MTK::read(void)
 {
     uint8_t	data;
-    int		numc;
+    int16_t	numc;
     bool	parsed = false;
 
     numc = _port->available();
-    for (int i = 0; i < numc; i++) {	// Process bytes received
+    for (int16_t i = 0; i < numc; i++) {	// Process bytes received
 
         // read the next byte
         data = _port->read();
@@ -138,8 +138,8 @@ restart:
             num_sats		= _buffer.msg.satellites;
 
             // time from gps is UTC, but convert here to msToD
-            long time_utc	= _swapl(&_buffer.msg.utc_time);
+            int32_t time_utc	= _swapl(&_buffer.msg.utc_time);
-            long temp = (time_utc/10000000);
+            int32_t temp = (time_utc/10000000);
             time_utc -= temp*10000000;
             time = temp * 3600000;
             temp = (time_utc/100000);

libraries/AP_GPS/AP_GPS_MTK16.cpp

@@ -59,11 +59,11 @@ bool
 AP_GPS_MTK16::read(void)
 {
     uint8_t 	data;
-    int 		numc;
+    int16_t		numc;
     bool		parsed = false;
 
     numc = _port->available();
-    for (int i = 0; i < numc; i++) {	// Process bytes received
+    for (int16_t i = 0; i < numc; i++) {	// Process bytes received
 
         // read the next byte
         data = _port->read();
@@ -136,8 +136,8 @@ restart:
             date			= _buffer.msg.utc_date;
 
             // time from gps is UTC, but convert here to msToD
-            long time_utc	= _buffer.msg.utc_time;
+            int32_t time_utc	= _buffer.msg.utc_time;
-            long temp = (time_utc/10000000);
+            int32_t temp = (time_utc/10000000);
             time_utc -= temp*10000000;
             time = temp * 3600000;
             temp = (time_utc/100000);
@@ -157,11 +157,11 @@ restart:
 
             /*	Waiting on clarification of MAVLink protocol!
             if(!_offset_calculated && parsed) {
-            	long tempd1 = date;
+				int32_t tempd1 = date;
-            	long day 	= tempd1/10000;
+				int32_t day 	= tempd1/10000;
             	tempd1 		-= day * 10000;
-            	long month	= tempd1/100;
+				int32_t month	= tempd1/100;
-            	long year	= tempd1 - month * 100;
+				int32_t year	= tempd1 - month * 100;
             	_time_offset = _calc_epoch_offset(day, month, year);
             	_epoch = UNIX_EPOCH;
             	_offset_calculated = TRUE;

libraries/AP_GPS/AP_GPS_NMEA.cpp

@@ -115,7 +115,7 @@ void AP_GPS_NMEA::init(enum GPS_Engine_Setting nav_setting)
 
 bool AP_GPS_NMEA::read(void)
 {
-    int numc;
+    int16_t numc;
     bool parsed = false;
 
     numc = _port->available();
@@ -167,7 +167,7 @@ bool AP_GPS_NMEA::_decode(char c)
 //
 // internal utilities
 //
-int AP_GPS_NMEA::_from_hex(char a)
+int16_t AP_GPS_NMEA::_from_hex(char a)
 {
     if (a >= 'A' && a <= 'F')
         return a - 'A' + 10;
@@ -197,7 +197,7 @@ uint32_t AP_GPS_NMEA::_parse_degrees()
 {
     char *p, *q;
     uint8_t deg = 0, min = 0;
-    unsigned int frac_min = 0;
+    uint16_t frac_min = 0;
 	int32_t ret = 0;
 
     // scan for decimal point or end of field
@@ -224,7 +224,7 @@ uint32_t AP_GPS_NMEA::_parse_degrees()
     // ten-thousandths of a minute
     if (*p == '.') {
         q = p + 1;
-        for (int i = 0; i < 5; i++) {
+        for (int16_t i = 0; i < 5; i++) {
             frac_min = (int32_t)(frac_min * 10);
             if (isdigit(*q))
                 frac_min += *q++ - '0';

libraries/AP_GPS/AP_GPS_NMEA.h

@@ -88,7 +88,7 @@ private:
     /// @param	a		The character to be converted
     /// @returns		The value of the character as a hex digit
     ///
-    int 			_from_hex(char a);
+    int16_t 			_from_hex(char a);
 
     /// Parses the current term as a NMEA-style decimal number with
     /// up to two decimal digits.
@@ -129,14 +129,14 @@ private:
     // The result of parsing terms within a message is stored temporarily until
     // the message is completely processed and the checksum validated.
     // This avoids the need to buffer the entire message.
-    long 			_new_time;				///< time parsed from a term
+    int32_t			_new_time;				///< time parsed from a term
-    long 			_new_date;				///< date parsed from a term
+    int32_t 			_new_date;				///< date parsed from a term
-    long 			_new_latitude;			///< latitude parsed from a term
+    int32_t 			_new_latitude;			///< latitude parsed from a term
-    long 			_new_longitude;			///< longitude parsed from a term
+    int32_t 			_new_longitude;			///< longitude parsed from a term
-    long 			_new_altitude;			///< altitude parsed from a term
+    int32_t 			_new_altitude;			///< altitude parsed from a term
-    long			_new_speed;				///< speed parsed from a term
+    int32_t			_new_speed;				///< speed parsed from a term
-    long			_new_course;			///< course parsed from a term
+    int32_t			_new_course;			///< course parsed from a term
-    int 			_new_hdop;				///< HDOP parsed from a term
+    int16_t 			_new_hdop;				///< HDOP parsed from a term
     uint8_t			_new_satellite_count;	///< satellite count parsed from a term
 
     /// @name	Init strings

libraries/AP_GPS/AP_GPS_SIRF.cpp

@@ -56,7 +56,7 @@ bool
 AP_GPS_SIRF::read(void)
 {
     uint8_t		data;
-    int 		numc;
+    int16_t		numc;
     bool		parsed = false;
 
     numc = _port->available();

libraries/AP_GPS/AP_GPS_UBLOX.cpp

@@ -63,11 +63,11 @@ bool
 AP_GPS_UBLOX::read(void)
 {
     uint8_t		data;
-    int 		numc;
+    int16_t		numc;
     bool		parsed = false;
 
     numc = _port->available();
-    for (int i = 0; i < numc; i++) {	// Process bytes received
+    for (int16_t i = 0; i < numc; i++) {	// Process bytes received
 
         // read the next byte
         data = _port->read();

libraries/AP_GPS/GPS.h

@@ -25,7 +25,7 @@ public:
     ///
     void			update(void);
 
-    void (*callback)(unsigned long t);
+    void (*callback)(uint32_t t);
 
     /// GPS status codes
     ///
@@ -161,7 +161,7 @@ protected:
     ///						long in the wrong byte order
     /// @returns			endian-swapped value
     ///
-    long			_swapl(const void *bytes);
+    int32_t				_swapl(const void *bytes);
 
     /// perform an endian swap on an int
     ///
@@ -215,12 +215,12 @@ private:
 	float _velocity_east;
 };
 
-inline long
+inline int32_t
 GPS::_swapl(const void *bytes)
 {
     const uint8_t	*b = (const uint8_t *)bytes;
     union {
-        long	v;
+        int32_t	v;
         uint8_t b[4];
     } u;