Merge remote-tracking branch 'mjb/master'

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

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 85d68c44151c4de4029af86318ad9914d10b906a..c749adea9de2f2da295bf2aa64f28c9642ed1103 100644 (file)
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -53,6 +53,10 @@ ao_companion_send_command(uint8_t command)
        ao_companion_command.tick = ao_time();
        ao_companion_command.serial = ao_serial_number;
        ao_companion_command.flight = ao_flight_number;
+       ao_companion_command.accel = ao_accel;
+       ao_companion_command.speed = ao_speed;
+       ao_companion_command.height = ao_height;
+       ao_companion_command.motor_number = ao_motor_number;
        ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
 }
 
@@ -64,7 +68,7 @@ ao_companion_get_setup(void)
        ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS);
        COMPANION_DESELECT();
        return (ao_companion_setup.board_id ==
-               ~ao_companion_setup.board_id_inverse);
+               (uint16_t) ~ao_companion_setup.board_id_inverse);
 }
 
 static void
@@ -112,6 +116,8 @@ ao_companion_status(void) __reentrant
 {
        uint8_t i;
        printf("Companion running: %d\n", ao_companion_running);
+       if (!ao_companion_running)
+               return;
        printf("device: %d\n", ao_companion_setup.board_id);
        printf("update period: %d\n", ao_companion_setup.update_period);
        printf("channels: %d\n", ao_companion_setup.channels);
@@ -131,7 +137,7 @@ static __xdata struct ao_task ao_companion_task;
 void
 ao_companion_init(void)
 {
-       ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, 1);
+       ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, AO_COMPANION_CS, 1);
        ao_cmd_register(&ao_companion_cmds[0]);
        ao_add_task(&ao_companion_task, ao_companion, "companion");
 }