Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[fw/altos] / src / drivers / ao_companion.c

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 44868fb646e48faa232ff9192c162c6d3deb06ce..2315b63f43d5a87ad91ea095386da5d838f4e283 100644 (file)
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -28,11 +28,13 @@
 #error HAS_COMPANION not set in ao_companion.c
 #endif
 
+#define AO_COMPANION_SPI_SPEED ao_spi_speed(200000)
+
 #define COMPANION_SELECT()     do {                    \
                ao_spi_get_bit(AO_COMPANION_CS_PORT,    \
                               AO_COMPANION_CS_PIN,     \
                               AO_COMPANION_SPI_BUS,    \
-                              AO_SPI_SPEED_200kHz);    \
+                              AO_COMPANION_SPI_SPEED); \
        } while (0)
 
 #define COMPANION_DESELECT()   do {                    \
@@ -53,12 +55,12 @@ ao_companion_send_command(uint8_t command)
 {
        ao_companion_command.command = command;
        ao_companion_command.flight_state = ao_flight_state;
-       ao_companion_command.tick = ao_time();
+       ao_companion_command.tick = (uint16_t) 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.accel = (int16_t) ao_accel;
+       ao_companion_command.speed = (int16_t) ao_speed;
+       ao_companion_command.height = (int16_t) ao_height;
        ao_companion_command.motor_number = ao_motor_number;
        ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
 }
@@ -93,7 +95,7 @@ ao_companion_notify(void)
        COMPANION_DESELECT();
 }
 
-void
+static void
 ao_companion(void)
 {
        uint8_t i;
@@ -113,7 +115,7 @@ ao_companion(void)
        ao_exit();
 }
 
-void
+static void
 ao_companion_status(void) 
 {
        uint8_t i;