X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_companion.c;h=7e02939bf7bc0c01bca788bce526da7ee1172115;hb=f4c812bef76a2cd95f675cb27ea89059561ceec7;hp=a3167956fd9ca25d464a42426e570e214e9dd7f1;hpb=0cfd22baa6af44e053428c30c1a95cf5551b68af;p=fw%2Faltos

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index a3167956..7e02939b 100644
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -18,7 +18,7 @@
 #include <ao.h>
 #include <ao_companion.h>
 
-#ifdef MEGAMETRUM
+#ifdef TELEMEGA
 #define ao_spi_slow(b)
 #define ao_spi_fast(b)
 #endif
@@ -53,6 +53,10 @@ ao_companion_send_command(uint8_t command)
 	ao_companion_command.tick = ao_time();
 	ao_companion_command.serial = ao_serial_number;
 	ao_companion_command.flight = ao_flight_number;
+	ao_companion_command.accel = ao_accel;
+	ao_companion_command.speed = ao_speed;
+	ao_companion_command.height = ao_height;
+	ao_companion_command.motor_number = ao_motor_number;
 	ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
 }
 
@@ -63,8 +67,8 @@ ao_companion_get_setup(void)
 	ao_companion_send_command(AO_COMPANION_SETUP);
 	ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS);
 	COMPANION_DESELECT();
-	return (ao_companion_setup.board_id ==
-		~ao_companion_setup.board_id_inverse);
+	return ((int16_t) ao_companion_setup.board_id ==
+		(int16_t) (uint16_t) (~ao_companion_setup.board_id_inverse));
 }
 
 static void
@@ -98,8 +102,7 @@ ao_companion(void)
 		    break;
 	}
 	while (ao_companion_running) {
-		ao_alarm(ao_companion_setup.update_period);
-		if (ao_sleep(DATA_TO_XDATA(&ao_flight_state)))
+		if (ao_sleep_for(DATA_TO_XDATA(&ao_flight_state), ao_companion_setup.update_period))
 			ao_companion_get_data();
 		else
 			ao_companion_notify();
@@ -112,10 +115,15 @@ ao_companion_status(void) __reentrant
 {
 	uint8_t	i;
 	printf("Companion running: %d\n", ao_companion_running);
-	printf("device: %d\n", ao_companion_setup.board_id);
-	printf("update period: %d\n", ao_companion_setup.update_period);
-	printf("channels: %d\n", ao_companion_setup.channels);
-	printf("data:");
+	if (!ao_companion_running)
+		return;
+	printf("device: %d\n"
+	       "update period: %d\n"
+	       "channels: %d\n"
+	       "data:",
+	       ao_companion_setup.board_id,
+	       ao_companion_setup.update_period,
+	       ao_companion_setup.channels);
 	for(i = 0; i < ao_companion_setup.channels; i++)
 		printf(" %5u", ao_companion_data[i]);
 	printf("\n");