X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_companion.c;h=2315b63f43d5a87ad91ea095386da5d838f4e283;hb=c783aafd89777626c362e15c47360b399d03c45d;hp=5f07e8b06cf8827e71e031b215c30a1aedbbc97d;hpb=f491eec1b950e4ad35a535db254a27a3dd2ad430;p=fw%2Faltos

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 5f07e8b0..2315b63f 100644
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -3,7 +3,8 @@
  *
  * 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
@@ -27,39 +28,39 @@
 #error HAS_COMPANION not set in ao_companion.c
 #endif
 
+#define AO_COMPANION_SPI_SPEED	ao_spi_speed(200000)
+
 #define COMPANION_SELECT()	do {			\
 		ao_spi_get_bit(AO_COMPANION_CS_PORT,	\
 			       AO_COMPANION_CS_PIN,	\
-			       AO_COMPANION_CS,		\
 			       AO_COMPANION_SPI_BUS,	\
-			       AO_SPI_SPEED_200kHz);	\
+			       AO_COMPANION_SPI_SPEED);	\
 	} while (0)
 
 #define COMPANION_DESELECT()	do {			\
 		ao_spi_put_bit(AO_COMPANION_CS_PORT,	\
 			       AO_COMPANION_CS_PIN,	\
-			       AO_COMPANION_CS,		\
 			       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)
 {
 	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);
 }
@@ -94,7 +95,7 @@ ao_companion_notify(void)
 	COMPANION_DESELECT();
 }
 
-void
+static void
 ao_companion(void)
 {
 	uint8_t	i;
@@ -106,7 +107,7 @@ ao_companion(void)
 		    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();
@@ -114,8 +115,8 @@ ao_companion(void)
 	ao_exit();
 }
 
-void
-ao_companion_status(void) __reentrant
+static void
+ao_companion_status(void) 
 {
 	uint8_t	i;
 	printf("Companion running: %d\n", ao_companion_running);
@@ -133,17 +134,17 @@ ao_companion_status(void) __reentrant
 	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)
 {
-	ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, AO_COMPANION_CS, 1);
+	ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, 1);
 	ao_cmd_register(&ao_companion_cmds[0]);
 	ao_add_task(&ao_companion_task, ao_companion, "companion");
 }