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 570b9e409bbdd7f1245900d383a344d8a4b53a67..5f07e8b06cf8827e71e031b215c30a1aedbbc97d 100644 (file)
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -23,6 +23,10 @@
 #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 +106,7 @@ 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();