#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_send_command(AO_COMPANION_SETUP);
ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS);
COMPANION_DESELECT();
- return (ao_companion_setup.board_id ==
- (uint16_t) ~ao_companion_setup.board_id_inverse);
+ return ((int16_t) ao_companion_setup.board_id ==
+ (int16_t) (uint16_t) (~ao_companion_setup.board_id_inverse));
}
static void
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();