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Code Issues Releases Activity

ahrscomms: provide helper function for simple requests

Browse Source 
This cleans up some of the boiler plate code that is
repeasted for simple (empty) requests that expect a
response.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1584 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
stac 2010-09-11 23:06:28 +00:00 committed by stac
parent 7ecbb5f5b8
commit 6bf3038f3f
2 changed files with 22 additions and 38 deletions
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50
flight/PiOS/Common/pios_opahrs.c
View File

@ -160,26 +160,31 @@ static enum opahrs_result opahrs_msg_v1_recv_rsp (enum opahrs_msg_v1_tag tag, st
return OPAHRS_RESULT_TIMEOUT;
}
enum opahrs_result PIOS_OPAHRS_GetSerial(struct opahrs_msg_v1 *rsp)
static enum opahrs_result PIOS_OPAHRS_v1_simple_req (enum opahrs_msg_v1_tag req_type, struct opahrs_msg_v1 * rsp, enum opahrs_msg_v1_tag rsp_type)
{
struct opahrs_msg_v1 req;
enum opahrs_result rc;
if (!rsp) {
return -1;
}
/* Make up an empty request */
opahrs_msg_v1_init_user_tx (&req, req_type);
/* Make up a serial number request */
opahrs_msg_v1_init_user_tx (&req, OPAHRS_MSG_V1_REQ_SERIAL);
/* Send the message until it is received */
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req (&req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
if ((rc == OPAHRS_RESULT_OK) && rsp) {
/* We need a specific kind of reply, go get it */
return opahrs_msg_v1_recv_rsp (rsp_type, rsp);
}
return opahrs_msg_v1_recv_rsp (OPAHRS_MSG_V1_RSP_SERIAL, rsp);
return rc;
}
enum opahrs_result PIOS_OPAHRS_GetSerial(struct opahrs_msg_v1 *rsp)
{
if (!rsp) return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v1_simple_req (OPAHRS_MSG_V1_REQ_SERIAL,
rsp,
OPAHRS_MSG_V1_RSP_SERIAL));
}
enum opahrs_result PIOS_OPAHRS_resync(void)
@ -226,24 +231,11 @@ enum opahrs_result PIOS_OPAHRS_resync(void)
enum opahrs_result PIOS_OPAHRS_GetAttitudeRaw(struct opahrs_msg_v1 *rsp)
{
struct opahrs_msg_v1 req;
enum opahrs_result rc;
if (!rsp) return OPAHRS_RESULT_FAILED;
if (!rsp) {
return -1;
}
/* Make up an attituderaw request */
opahrs_msg_v1_init_user_tx (&req, OPAHRS_MSG_V1_REQ_ATTITUDERAW);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req (&req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v1_recv_rsp (OPAHRS_MSG_V1_RSP_ATTITUDERAW, rsp);
return (PIOS_OPAHRS_v1_simple_req (OPAHRS_MSG_V1_REQ_ATTITUDERAW,
rsp,
OPAHRS_MSG_V1_RSP_ATTITUDERAW));
}
extern enum opahrs_result PIOS_OPAHRS_SetAlgorithm(struct opahrs_msg_v1 *req)

10
flight/PiOS/inc/pios_opahrs_proto.h
View File

@ -91,16 +91,11 @@ struct opahrs_msg_v0_req_fwup_verify {
} __attribute__((__packed__));
union opahrs_msg_v0_req {
/* Mandatory for all bootloader and all application loads */
struct opahrs_msg_v0_req_nop nop;
struct opahrs_msg_v0_req_versions versions;
struct opahrs_msg_v0_req_serial serial;
struct opahrs_msg_v0_req_reset reset;
struct opahrs_msg_v0_req_boot boot;
/* Only implemented by the application */
/* Only implemented by bootloaders */
struct opahrs_msg_v0_req_serial serial;
struct opahrs_msg_v0_req_fwup_start fwup_start;
struct opahrs_msg_v0_req_fwup_data fwup_data;
struct opahrs_msg_v0_req_fwup_verify fwup_verify;
@ -121,10 +116,7 @@ struct opahrs_msg_v0_rsp_fwup_status {
union opahrs_msg_v0_rsp {
struct opahrs_msg_v0_rsp_versions versions;
/* Mandatory for all bootloader and all application loads */
struct opahrs_msg_v0_rsp_serial serial;
/* Only implemented by bootloaders */
struct opahrs_msg_v0_rsp_fwup_status fwup_status;
} __attribute__((__packed__));