X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_companion.c;h=bda7805f30219c8cbd57bf22299e2c26bfa82b1f;hb=323a6a44083f865c90c12e93775ac2dbf9352de3;hp=d6fbb6b7480de528c322eac0f778a671b9d44d85;hpb=c11427819ca24bb77523496309b5b6f699d126c5;p=fw%2Faltos

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index d6fbb6b7..bda7805f 100644
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -28,11 +28,13 @@
 #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 {			\
@@ -53,12 +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);
 }