#error HAS_COMPANION not set in ao_companion.c
#endif
+#define AO_COMPANION_SPI_SPEED ao_spi_speed(AO_COMPANION_SPI_BUS, 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 { \
{
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);
}
COMPANION_DESELECT();
}
-void
+static void
ao_companion(void)
{
uint8_t i;
ao_exit();
}
-void
+static void
ao_companion_status(void)
{
uint8_t i;