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altos/telelco: Infrastructure changes for drag racing
[fw/altos]
/
src
/
drivers
/
ao_companion.c
diff --git
a/src/drivers/ao_companion.c
b/src/drivers/ao_companion.c
index 570b9e409bbdd7f1245900d383a344d8a4b53a67..5f07e8b06cf8827e71e031b215c30a1aedbbc97d 100644
(file)
--- a/
src/drivers/ao_companion.c
+++ b/
src/drivers/ao_companion.c
@@
-23,6
+23,10
@@
#define ao_spi_fast(b)
#endif
#define ao_spi_fast(b)
#endif
+#if !HAS_COMPANION
+#error HAS_COMPANION not set in ao_companion.c
+#endif
+
#define COMPANION_SELECT() do { \
ao_spi_get_bit(AO_COMPANION_CS_PORT, \
AO_COMPANION_CS_PIN, \
#define COMPANION_SELECT() do { \
ao_spi_get_bit(AO_COMPANION_CS_PORT, \
AO_COMPANION_CS_PIN, \
@@
-102,8
+106,7
@@
ao_companion(void)
break;
}
while (ao_companion_running) {
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();
ao_companion_get_data();
else
ao_companion_notify();