X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_companion.c;h=0f405253c2991207a021281788e9d50788cec074;hb=2fa87754c5c11bb86e9b1878580c3d4f4b2463f5;hp=85d68c44151c4de4029af86318ad9914d10b906a;hpb=08a4ed8fe794a2b2b52147bd5535fe0954822e95;p=fw%2Faltos

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 85d68c44..0f405253 100644
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -18,7 +18,7 @@
 #include <ao.h>
 #include <ao_companion.h>
 
-#ifdef MEGAMETRUM
+#ifdef TELEMEGA
 #define ao_spi_slow(b)
 #define ao_spi_fast(b)
 #endif
@@ -53,6 +53,10 @@ ao_companion_send_command(uint8_t command)
 	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);
 }
 
@@ -64,7 +68,7 @@ ao_companion_get_setup(void)
 	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
@@ -112,10 +116,15 @@ ao_companion_status(void) __reentrant
 {
 	uint8_t	i;
 	printf("Companion running: %d\n", ao_companion_running);
-	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);
-	printf("data:");
+	if (!ao_companion_running)
+		return;
+	printf("device: %d\n"
+	       "update period: %d\n"
+	       "channels: %d\n"
+	       "data:",
+	       ao_companion_setup.board_id,
+	       ao_companion_setup.update_period,
+	       ao_companion_setup.channels);
 	for(i = 0; i < ao_companion_setup.channels; i++)
 		printf(" %5u", ao_companion_data[i]);
 	printf("\n");
@@ -131,7 +140,7 @@ static __xdata struct ao_task ao_companion_task;
 void
 ao_companion_init(void)
 {
-	ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, 1);
+	ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, AO_COMPANION_CS, 1);
 	ao_cmd_register(&ao_companion_cmds[0]);
 	ao_add_task(&ao_companion_task, ao_companion, "companion");
 }