*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
#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, \
AO_COMPANION_SPI_BUS); \
} while (0)
-__xdata struct ao_companion_command ao_companion_command;
-__xdata struct ao_companion_setup ao_companion_setup;
+struct ao_companion_command ao_companion_command;
+struct ao_companion_setup ao_companion_setup;
-__xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
-__pdata uint8_t ao_companion_running;
-__xdata uint8_t ao_companion_mutex;
+uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
+uint8_t ao_companion_running;
+uint8_t ao_companion_mutex;
static void
ao_companion_send_command(uint8_t command)
break;
}
while (ao_companion_running) {
- if (ao_sleep_for(DATA_TO_XDATA(&ao_flight_state), ao_companion_setup.update_period))
+ if (ao_sleep_for(&ao_flight_state, ao_companion_setup.update_period))
ao_companion_get_data();
else
ao_companion_notify();
}
void
-ao_companion_status(void) __reentrant
+ao_companion_status(void)
{
uint8_t i;
printf("Companion running: %d\n", ao_companion_running);
printf("\n");
}
-__code struct ao_cmds ao_companion_cmds[] = {
+const struct ao_cmds ao_companion_cmds[] = {
{ ao_companion_status, "L\0Companion link status" },
{ 0, NULL },
};
-static __xdata struct ao_task ao_companion_task;
+static struct ao_task ao_companion_task;
void
ao_companion_init(void)