#endif
#define COMPANION_SELECT() do { \
+ uint8_t pause; \
ao_spi_get_bit(AO_COMPANION_CS_PORT, \
AO_COMPANION_CS_PIN, \
AO_COMPANION_CS, \
AO_COMPANION_SPI_BUS, \
AO_SPI_SPEED_200kHz); \
+ for (pause = 0; pause < 100; pause++) \
+ ao_arch_nop(); \
} while (0)
#define COMPANION_DESELECT() do { \
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);
+ if (!ao_companion_running)
+ return;
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);