X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_companion.c;h=f82558a3343e6e3890bf71d49a45a11fa84ae5cd;hb=2507b9f29d25f77de249103805087a704069c625;hp=570b9e409bbdd7f1245900d383a344d8a4b53a67;hpb=5c9172ba5681ff93d63c9c263a453d0025170045;p=fw%2Faltos

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 570b9e40..f82558a3 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
@@ -23,6 +24,10 @@
 #define ao_spi_fast(b)
 #endif
 
+#if !HAS_COMPANION
+#error HAS_COMPANION not set in ao_companion.c
+#endif
+
 #define COMPANION_SELECT()	do {			\
 		ao_spi_get_bit(AO_COMPANION_CS_PORT,	\
 			       AO_COMPANION_CS_PIN,	\
@@ -102,8 +107,7 @@ ao_companion(void)
 		    break;
 	}
 	while (ao_companion_running) {
-		ao_alarm(ao_companion_setup.update_period);
-		if (ao_sleep(DATA_TO_XDATA(&ao_flight_state)))
+		if (ao_sleep_for(DATA_TO_XDATA(&ao_flight_state), ao_companion_setup.update_period))
 			ao_companion_get_data();
 		else
 			ao_companion_notify();