X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_companion.c;h=598b5815570bc4ded79d5ce219aed1ef5abb0951;hp=6e0bd2ec15691a95f89bfbfeb59b08c517657def;hb=6023ff81f1bbd240169b9548209133d3b02d475f;hpb=1887ca3d7d4a0259686f8c1e68d1e47c47b4ab84

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 6e0bd2ec..598b5815 100644
--- 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 ==
-		~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();
@@ -116,10 +120,15 @@ ao_companion_status(void) __reentrant
 {
 	uint8_t	i;
 	printf("Companion running: %d\n", ao_companion_running);
-	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);
-	printf("data:");
+	if (!ao_companion_running)
+		return;
+	printf("device: %d\n"
+	       "update period: %d\n"
+	       "channels: %d\n"
+	       "data:",
+	       ao_companion_setup.board_id,
+	       ao_companion_setup.update_period,
+	       ao_companion_setup.channels);
 	for(i = 0; i < ao_companion_setup.channels; i++)
 		printf(" %5u", ao_companion_data[i]);
 	printf("\n");