X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_companion.c;h=d6fbb6b7480de528c322eac0f778a671b9d44d85;hp=0ebe8429124966790244e0a2fa5083782a0525a6;hb=c11427819ca24bb77523496309b5b6f699d126c5;hpb=a4a841828924ee37f5201d4ff0aec38459f2d802

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 0ebe8429..d6fbb6b7 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
@@ -18,15 +19,18 @@
 #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,	\
-			       AO_COMPANION_CS,		\
 			       AO_COMPANION_SPI_BUS,	\
 			       AO_SPI_SPEED_200kHz);	\
 	} while (0)
@@ -34,16 +38,15 @@
 #define COMPANION_DESELECT()	do {			\
 		ao_spi_put_bit(AO_COMPANION_CS_PORT,	\
 			       AO_COMPANION_CS_PIN,	\
-			       AO_COMPANION_CS,		\
 			       AO_COMPANION_SPI_BUS);	\
 	} while (0)
 
-__xdata struct ao_companion_command		ao_companion_command;
-__xdata struct ao_companion_setup		ao_companion_setup;
+struct ao_companion_command		ao_companion_command;
+struct ao_companion_setup		ao_companion_setup;
 
-__xdata uint16_t	ao_companion_data[AO_COMPANION_MAX_CHANNELS];
-__pdata uint8_t		ao_companion_running;
-__xdata uint8_t		ao_companion_mutex;
+uint16_t	ao_companion_data[AO_COMPANION_MAX_CHANNELS];
+uint8_t		ao_companion_running;
+uint8_t		ao_companion_mutex;
 
 static void
 ao_companion_send_command(uint8_t command)
@@ -67,8 +70,8 @@ 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
@@ -90,7 +93,7 @@ ao_companion_notify(void)
 	COMPANION_DESELECT();
 }
 
-void
+static void
 ao_companion(void)
 {
 	uint8_t	i;
@@ -102,8 +105,7 @@ 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();
@@ -111,8 +113,8 @@ ao_companion(void)
 	ao_exit();
 }
 
-void
-ao_companion_status(void) __reentrant
+static void
+ao_companion_status(void) 
 {
 	uint8_t	i;
 	printf("Companion running: %d\n", ao_companion_running);
@@ -130,17 +132,17 @@ ao_companion_status(void) __reentrant
 	printf("\n");
 }
 
-__code struct ao_cmds ao_companion_cmds[] = {
+const struct ao_cmds ao_companion_cmds[] = {
 	{ ao_companion_status,	"L\0Companion link status" },
 	{ 0, NULL },
 };
 
-static __xdata struct ao_task ao_companion_task;
+static struct ao_task ao_companion_task;
 
 void
 ao_companion_init(void)
 {
-	ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, AO_COMPANION_CS, 1);
+	ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, 1);
 	ao_cmd_register(&ao_companion_cmds[0]);
 	ao_add_task(&ao_companion_task, ao_companion, "companion");
 }