mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-03-16 08:29:15 +01:00
OP-21/Flight Bootloader - Changes to make it independent of RTOS
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1570 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
zedamota
zedamota
parent
2b70ed53f7
commit
aa1af2b9f3
@ -41,296 +41,319 @@
|
||||
*/
|
||||
void PIOS_OPAHRS_Init(void)
|
||||
{
|
||||
PIOS_SPI_SetClockSpeed(PIOS_OPAHRS_SPI, PIOS_SPI_PRESCALER_8);
|
||||
PIOS_SPI_SetClockSpeed(PIOS_OPAHRS_SPI, PIOS_SPI_PRESCALER_8);
|
||||
}
|
||||
|
||||
static int32_t opahrs_msg_txrx (const uint8_t * tx, uint8_t * rx, uint32_t len)
|
||||
{
|
||||
int32_t rc;
|
||||
|
||||
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
|
||||
vTaskDelay(20 / portTICK_RATE_MS);
|
||||
rc = PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, tx, rx, len, NULL);
|
||||
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
|
||||
return (rc);
|
||||
int32_t rc;
|
||||
|
||||
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
vTaskDelay(20 / portTICK_RATE_MS);
|
||||
#else
|
||||
PIOS_DELAY_WaitmS(20);
|
||||
#endif
|
||||
rc = PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, tx, rx, len, NULL);
|
||||
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
|
||||
return (rc);
|
||||
}
|
||||
|
||||
static enum opahrs_result opahrs_msg_v1_send_req (const struct opahrs_msg_v1 * req)
|
||||
{
|
||||
int32_t rc;
|
||||
struct opahrs_msg_v1 link_rx;
|
||||
|
||||
for (uint8_t retries = 0; retries < 20; retries++) {
|
||||
struct opahrs_msg_v1 * rsp = &link_rx;
|
||||
|
||||
if ((rc = opahrs_msg_txrx((const uint8_t *)req, (uint8_t *)rsp, sizeof(*rsp))) < 0) {
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
}
|
||||
|
||||
/* Make sure we got a sane response by checking the magic */
|
||||
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) ||
|
||||
(rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
}
|
||||
|
||||
switch (rsp->head.type) {
|
||||
case OPAHRS_MSG_TYPE_LINK:
|
||||
switch (rsp->payload.link.state) {
|
||||
case OPAHRS_MSG_LINK_STATE_BUSY:
|
||||
case OPAHRS_MSG_LINK_STATE_INACTIVE:
|
||||
/* Wait for a small delay and retry */
|
||||
vTaskDelay(20 / portTICK_RATE_MS);
|
||||
continue;
|
||||
case OPAHRS_MSG_LINK_STATE_READY:
|
||||
/* Peer was ready when we Tx'd so they have now Rx'd our message */
|
||||
return OPAHRS_RESULT_OK;
|
||||
}
|
||||
break;
|
||||
case OPAHRS_MSG_TYPE_USER_V0:
|
||||
case OPAHRS_MSG_TYPE_USER_V1:
|
||||
/* Wait for a small delay and retry */
|
||||
vTaskDelay(50 / portTICK_RATE_MS);
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
return OPAHRS_RESULT_TIMEOUT;
|
||||
int32_t rc;
|
||||
struct opahrs_msg_v1 link_rx;
|
||||
|
||||
for (uint8_t retries = 0; retries < 20; retries++) {
|
||||
struct opahrs_msg_v1 * rsp = &link_rx;
|
||||
|
||||
if ((rc = opahrs_msg_txrx((const uint8_t *)req, (uint8_t *)rsp, sizeof(*rsp))) < 0) {
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
}
|
||||
|
||||
/* Make sure we got a sane response by checking the magic */
|
||||
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) ||
|
||||
(rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
}
|
||||
|
||||
switch (rsp->head.type) {
|
||||
case OPAHRS_MSG_TYPE_LINK:
|
||||
switch (rsp->payload.link.state) {
|
||||
case OPAHRS_MSG_LINK_STATE_BUSY:
|
||||
case OPAHRS_MSG_LINK_STATE_INACTIVE:
|
||||
/* Wait for a small delay and retry */
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
vTaskDelay(20 / portTICK_RATE_MS);
|
||||
#else
|
||||
PIOS_DELAY_WaitmS(20);
|
||||
#endif
|
||||
continue;
|
||||
case OPAHRS_MSG_LINK_STATE_READY:
|
||||
/* Peer was ready when we Tx'd so they have now Rx'd our message */
|
||||
return OPAHRS_RESULT_OK;
|
||||
}
|
||||
break;
|
||||
case OPAHRS_MSG_TYPE_USER_V0:
|
||||
case OPAHRS_MSG_TYPE_USER_V1:
|
||||
/* Wait for a small delay and retry */
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
vTaskDelay(50 / portTICK_RATE_MS);
|
||||
#else
|
||||
PIOS_DELAY_WaitmS(50);
|
||||
#endif
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
return OPAHRS_RESULT_TIMEOUT;
|
||||
}
|
||||
|
||||
static enum opahrs_result opahrs_msg_v1_recv_rsp (enum opahrs_msg_v1_tag tag, struct opahrs_msg_v1 * rsp)
|
||||
{
|
||||
struct opahrs_msg_v1 link_tx;
|
||||
|
||||
opahrs_msg_v1_init_link_tx(&link_tx, OPAHRS_MSG_LINK_TAG_NOP);
|
||||
|
||||
for (uint8_t retries = 0; retries < 20; retries++) {
|
||||
if (opahrs_msg_txrx((const uint8_t *)&link_tx, (uint8_t *)rsp, sizeof(*rsp)) < 0) {
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
}
|
||||
|
||||
/* Make sure we got a sane response by checking the magic */
|
||||
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) ||
|
||||
(rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
}
|
||||
|
||||
switch (rsp->head.type) {
|
||||
case OPAHRS_MSG_TYPE_LINK:
|
||||
switch (rsp->payload.link.state) {
|
||||
case OPAHRS_MSG_LINK_STATE_BUSY:
|
||||
/* Wait for a small delay and retry */
|
||||
vTaskDelay(20 / portTICK_RATE_MS);
|
||||
continue;
|
||||
case OPAHRS_MSG_LINK_STATE_INACTIVE:
|
||||
case OPAHRS_MSG_LINK_STATE_READY:
|
||||
/* somehow, we've missed our response */
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
}
|
||||
break;
|
||||
case OPAHRS_MSG_TYPE_USER_V0:
|
||||
/* This isn't the type we expected */
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
break;
|
||||
case OPAHRS_MSG_TYPE_USER_V1:
|
||||
if (rsp->payload.user.t == tag) {
|
||||
return OPAHRS_RESULT_OK;
|
||||
} else {
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return OPAHRS_RESULT_TIMEOUT;
|
||||
struct opahrs_msg_v1 link_tx;
|
||||
|
||||
opahrs_msg_v1_init_link_tx(&link_tx, OPAHRS_MSG_LINK_TAG_NOP);
|
||||
|
||||
for (uint8_t retries = 0; retries < 20; retries++) {
|
||||
if (opahrs_msg_txrx((const uint8_t *)&link_tx, (uint8_t *)rsp, sizeof(*rsp)) < 0) {
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
}
|
||||
|
||||
/* Make sure we got a sane response by checking the magic */
|
||||
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) ||
|
||||
(rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
}
|
||||
|
||||
switch (rsp->head.type) {
|
||||
case OPAHRS_MSG_TYPE_LINK:
|
||||
switch (rsp->payload.link.state) {
|
||||
case OPAHRS_MSG_LINK_STATE_BUSY:
|
||||
/* Wait for a small delay and retry */
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
vTaskDelay(20 / portTICK_RATE_MS);
|
||||
#else
|
||||
PIOS_DELAY_WaitmS(20);
|
||||
#endif
|
||||
continue;
|
||||
case OPAHRS_MSG_LINK_STATE_INACTIVE:
|
||||
case OPAHRS_MSG_LINK_STATE_READY:
|
||||
/* somehow, we've missed our response */
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
}
|
||||
break;
|
||||
case OPAHRS_MSG_TYPE_USER_V0:
|
||||
/* This isn't the type we expected */
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
break;
|
||||
case OPAHRS_MSG_TYPE_USER_V1:
|
||||
if (rsp->payload.user.t == tag) {
|
||||
return OPAHRS_RESULT_OK;
|
||||
} else {
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return OPAHRS_RESULT_TIMEOUT;
|
||||
}
|
||||
|
||||
enum opahrs_result PIOS_OPAHRS_GetSerial(struct opahrs_msg_v1 *rsp)
|
||||
{
|
||||
struct opahrs_msg_v1 req;
|
||||
enum opahrs_result rc;
|
||||
|
||||
if (!rsp) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* 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 */
|
||||
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_SERIAL, rsp);
|
||||
struct opahrs_msg_v1 req;
|
||||
enum opahrs_result rc;
|
||||
|
||||
if (!rsp) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* 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 */
|
||||
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_SERIAL, rsp);
|
||||
}
|
||||
|
||||
enum opahrs_result PIOS_OPAHRS_resync(void)
|
||||
{
|
||||
struct opahrs_msg_v1 req;
|
||||
struct opahrs_msg_v1 rsp;
|
||||
|
||||
enum opahrs_result rc = OPAHRS_RESULT_FAILED;
|
||||
|
||||
opahrs_msg_v1_init_link_tx(&req, OPAHRS_MSG_LINK_TAG_NOP);
|
||||
|
||||
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
|
||||
vTaskDelay(20 / portTICK_RATE_MS);
|
||||
|
||||
for (uint32_t i = 0; i < sizeof(req); i++) {
|
||||
/* Tx a shortened (by one byte) message to walk through all byte positions */
|
||||
opahrs_msg_v1_init_rx(&rsp);
|
||||
PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, (uint8_t *)&req, (uint8_t *)&rsp, sizeof(req)-1, NULL);
|
||||
|
||||
/* Good magic means we're sync'd */
|
||||
if ((rsp.head.magic == OPAHRS_MSG_MAGIC_HEAD) &&
|
||||
(rsp.tail.magic == OPAHRS_MSG_MAGIC_TAIL)) {
|
||||
/* We need to shift out one more byte to compensate for the short tx */
|
||||
PIOS_SPI_TransferByte(PIOS_OPAHRS_SPI, 0x00);
|
||||
rc = OPAHRS_RESULT_OK;
|
||||
break;
|
||||
}
|
||||
vTaskDelay(10 / portTICK_RATE_MS);
|
||||
}
|
||||
|
||||
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
|
||||
//vTaskDelay(5 / portTICK_RATE_MS);
|
||||
|
||||
return rc;
|
||||
struct opahrs_msg_v1 req;
|
||||
struct opahrs_msg_v1 rsp;
|
||||
|
||||
enum opahrs_result rc = OPAHRS_RESULT_FAILED;
|
||||
|
||||
opahrs_msg_v1_init_link_tx(&req, OPAHRS_MSG_LINK_TAG_NOP);
|
||||
|
||||
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
vTaskDelay(20 / portTICK_RATE_MS);
|
||||
#else
|
||||
PIOS_DELAY_WaitmS(20);
|
||||
#endif
|
||||
|
||||
for (uint32_t i = 0; i < sizeof(req); i++) {
|
||||
/* Tx a shortened (by one byte) message to walk through all byte positions */
|
||||
opahrs_msg_v1_init_rx(&rsp);
|
||||
PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, (uint8_t *)&req, (uint8_t *)&rsp, sizeof(req)-1, NULL);
|
||||
|
||||
/* Good magic means we're sync'd */
|
||||
if ((rsp.head.magic == OPAHRS_MSG_MAGIC_HEAD) &&
|
||||
(rsp.tail.magic == OPAHRS_MSG_MAGIC_TAIL)) {
|
||||
/* We need to shift out one more byte to compensate for the short tx */
|
||||
PIOS_SPI_TransferByte(PIOS_OPAHRS_SPI, 0x00);
|
||||
rc = OPAHRS_RESULT_OK;
|
||||
break;
|
||||
}
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
vTaskDelay(10 / portTICK_RATE_MS);
|
||||
#else
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
#endif
|
||||
}
|
||||
|
||||
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
|
||||
//vTaskDelay(5 / portTICK_RATE_MS);
|
||||
|
||||
return rc;
|
||||
}
|
||||
|
||||
enum opahrs_result PIOS_OPAHRS_Sync(struct opahrs_msg_v1 *rsp)
|
||||
{
|
||||
struct opahrs_msg_v1 req;
|
||||
enum opahrs_result rc;
|
||||
|
||||
if (!rsp) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Make up a sync request */
|
||||
opahrs_msg_v1_init_user_tx (&req, OPAHRS_MSG_V1_REQ_SYNC);
|
||||
req.payload.user.v.req.sync.cookie = 0xDEADBEEF;
|
||||
|
||||
/* 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_SYNC, rsp);
|
||||
struct opahrs_msg_v1 req;
|
||||
enum opahrs_result rc;
|
||||
|
||||
if (!rsp) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Make up a sync request */
|
||||
opahrs_msg_v1_init_user_tx (&req, OPAHRS_MSG_V1_REQ_SYNC);
|
||||
req.payload.user.v.req.sync.cookie = 0xDEADBEEF;
|
||||
|
||||
/* 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_SYNC, rsp);
|
||||
}
|
||||
|
||||
enum opahrs_result PIOS_OPAHRS_GetAttitudeRaw(struct opahrs_msg_v1 *rsp)
|
||||
{
|
||||
struct opahrs_msg_v1 req;
|
||||
enum opahrs_result rc;
|
||||
|
||||
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);
|
||||
struct opahrs_msg_v1 req;
|
||||
enum opahrs_result rc;
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
extern enum opahrs_result PIOS_OPAHRS_SetAlgorithm(struct opahrs_msg_v1 *req)
|
||||
{
|
||||
struct opahrs_msg_v1 rsp;
|
||||
enum opahrs_result rc;
|
||||
|
||||
if (!req) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Make up an attituderaw request */
|
||||
opahrs_msg_v1_init_user_tx (req, OPAHRS_MSG_V1_REQ_ALGORITHM);
|
||||
|
||||
/* 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_ALGORITHM, &rsp);
|
||||
struct opahrs_msg_v1 rsp;
|
||||
enum opahrs_result rc;
|
||||
|
||||
if (!req) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Make up an attituderaw request */
|
||||
opahrs_msg_v1_init_user_tx (req, OPAHRS_MSG_V1_REQ_ALGORITHM);
|
||||
|
||||
/* 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_ALGORITHM, &rsp);
|
||||
}
|
||||
|
||||
enum opahrs_result PIOS_OPAHRS_SetMagNorth(struct opahrs_msg_v1 *req)
|
||||
{
|
||||
struct opahrs_msg_v1 rsp;
|
||||
enum opahrs_result rc;
|
||||
|
||||
if (!req) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Make up an attituderaw request */
|
||||
opahrs_msg_v1_init_user_tx (req, OPAHRS_MSG_V1_REQ_NORTH);
|
||||
|
||||
/* 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_NORTH, &rsp);
|
||||
struct opahrs_msg_v1 rsp;
|
||||
enum opahrs_result rc;
|
||||
|
||||
if (!req) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Make up an attituderaw request */
|
||||
opahrs_msg_v1_init_user_tx (req, OPAHRS_MSG_V1_REQ_NORTH);
|
||||
|
||||
/* 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_NORTH, &rsp);
|
||||
}
|
||||
|
||||
enum opahrs_result PIOS_OPAHRS_SetGetUpdate(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp)
|
||||
{
|
||||
enum opahrs_result rc;
|
||||
|
||||
if (!req) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Make up an attituderaw request */
|
||||
opahrs_msg_v1_init_user_tx (req, OPAHRS_MSG_V1_REQ_UPDATE);
|
||||
|
||||
/* 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_UPDATE, rsp);
|
||||
enum opahrs_result rc;
|
||||
|
||||
if (!req) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Make up an attituderaw request */
|
||||
opahrs_msg_v1_init_user_tx (req, OPAHRS_MSG_V1_REQ_UPDATE);
|
||||
|
||||
/* 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_UPDATE, rsp);
|
||||
}
|
||||
|
||||
enum opahrs_result PIOS_OPAHRS_SetGetCalibration(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp)
|
||||
{
|
||||
enum opahrs_result rc;
|
||||
|
||||
if (!req) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Make up an attituderaw request */
|
||||
opahrs_msg_v1_init_user_tx (req, OPAHRS_MSG_V1_REQ_CALIBRATION);
|
||||
|
||||
/* 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_CALIBRATION, rsp);
|
||||
}
|
||||
enum opahrs_result rc;
|
||||
|
||||
if (!req) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Make up an attituderaw request */
|
||||
opahrs_msg_v1_init_user_tx (req, OPAHRS_MSG_V1_REQ_CALIBRATION);
|
||||
|
||||
/* 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_CALIBRATION, rsp);
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_OPAHRS */
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user