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 0f405253c2991207a021281788e9d50788cec074..7e02939bf7bc0c01bca788bce526da7ee1172115 100644 (file)
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -67,8 +67,8 @@ 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 +102,7 @@ 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();