Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[fw/altos] / src / drivers / ao_companion.c

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 5f07e8b06cf8827e71e031b215c30a1aedbbc97d..44868fb646e48faa232ff9192c162c6d3deb06ce 100644 (file)
--- 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
@@ -30,7 +31,6 @@
 #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);    \
        } while (0)
@@ -38,16 +38,15 @@
 #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)
@@ -106,7 +105,7 @@ 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();
@@ -115,7 +114,7 @@ ao_companion(void)
 }
 
 void
-ao_companion_status(void) __reentrant
+ao_companion_status(void) 
 {
        uint8_t i;
        printf("Companion running: %d\n", ao_companion_running);
@@ -133,17 +132,17 @@ 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");
 }