altos: Remove *_TO_DATA macros

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

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 0ebe8429124966790244e0a2fa5083782a0525a6..598b5815570bc4ded79d5ce219aed1ef5abb0951 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
@@ -18,11 +19,15 @@
 #include <ao.h>
 #include <ao_companion.h>
 
-#ifdef MEGAMETRUM
+#ifdef TELEMEGA
 #define ao_spi_slow(b)
 #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,     \
@@ -67,8 +72,8 @@ ao_companion_get_setup(void)
        ao_companion_send_command(AO_COMPANION_SETUP);
        ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS);
        COMPANION_DESELECT();
-       return (ao_companion_setup.board_id ==
-               (uint16_t) ~ao_companion_setup.board_id_inverse);
+       return ((int16_t) ao_companion_setup.board_id ==
+               (int16_t) (uint16_t) (~ao_companion_setup.board_id_inverse));
 }
 
 static void
@@ -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(&ao_flight_state, ao_companion_setup.update_period))
                        ao_companion_get_data();
                else
                        ao_companion_notify();