#include <ao.h>
#include <ao_companion.h>
-#ifdef MEGAMETRUM
+#ifdef TELEMEGA
#define ao_spi_slow(b)
#define ao_spi_fast(b)
#endif
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);
}
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);
+ (uint16_t) ~ao_companion_setup.board_id_inverse);
}
static void
{
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");
void
ao_companion_init(void)
{
- ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, 1);
+ ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, AO_COMPANION_CS, 1);
ao_cmd_register(&ao_companion_cmds[0]);
ao_add_task(&ao_companion_task, ao_companion, "companion");
}