X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_companion.c;h=bda7805f30219c8cbd57bf22299e2c26bfa82b1f;hb=22b5d1a98a86ac4d2d0ef12565a01e3591f9afb9;hp=3967090b55d04fa37c1ae5c87a0dc7cfe8c8c955;hpb=c6e57291d91f1f6c4de5c54a5cfd3eef66d9f830;p=fw%2Faltos

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 3967090b..bda7805f 100644
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -28,18 +28,18 @@
 #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_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)
 
@@ -55,12 +55,12 @@ 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);
 }
@@ -95,7 +95,7 @@ ao_companion_notify(void)
 	COMPANION_DESELECT();
 }
 
-void
+static void
 ao_companion(void)
 {
 	uint8_t	i;
@@ -115,7 +115,7 @@ ao_companion(void)
 	ao_exit();
 }
 
-void
+static void
 ao_companion_status(void) 
 {
 	uint8_t	i;
@@ -144,7 +144,7 @@ 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");
 }