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Code Issues Releases Activity

ahrscomms: remove unused sync and switch_proto messages

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1582 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
stac 2010-09-11 23:06:25 +00:00 committed by stac
parent 80c92ba54b
commit d1dc300081
3 changed files with 6 additions and 72 deletions
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10
flight/AHRS/ahrs.c
View File

@ -678,16 +678,6 @@ void process_spi_request(void)
//dump_spi_message(PIOS_COM_AUX, "+", (uint8_t *)&user_rx_v1, sizeof(user_rx_v1));
switch (user_rx_v1.payload.user.t) {
case OPAHRS_MSG_V1_REQ_SYNC:
opahrs_msg_v1_init_user_tx (&user_tx_v1, OPAHRS_MSG_V1_RSP_SYNC);
user_tx_v1.payload.user.v.rsp.sync.i_am_a_bootloader = FALSE;
user_tx_v1.payload.user.v.rsp.sync.hw_version = 1;
user_tx_v1.payload.user.v.rsp.sync.bl_version = 2;
user_tx_v1.payload.user.v.rsp.sync.fw_version = 3;
user_tx_v1.payload.user.v.rsp.sync.cookie = user_rx_v1.payload.user.v.req.sync.cookie;
dump_spi_message(PIOS_COM_AUX, "S", (uint8_t *)&user_tx_v1, sizeof(user_tx_v1));
lfsm_user_set_tx_v1 (&user_tx_v1);
break;
case OPAHRS_MSG_V1_REQ_RESET:
PIOS_DELAY_WaitmS(user_rx_v1.payload.user.v.req.reset.reset_delay_in_ms);
PIOS_SYS_Reset();

23
flight/PiOS/Common/pios_opahrs.c
View File

@ -224,29 +224,6 @@ enum opahrs_result PIOS_OPAHRS_resync(void)
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);
}
enum opahrs_result PIOS_OPAHRS_GetAttitudeRaw(struct opahrs_msg_v1 *rsp)
{
struct opahrs_msg_v1 req;

45
flight/PiOS/inc/pios_opahrs_proto.h
View File

@ -67,18 +67,18 @@ struct opahrs_msg_link {
struct opahrs_msg_v0_req_nop {
} __attribute__((__packed__));
struct opahrs_msg_v0_req_sync {
uint32_t cookie;
} __attribute__((__packed__));
struct opahrs_msg_v0_req_serial {
struct opahrs_msg_v0_req_versions {
} __attribute__((__packed__));
struct opahrs_msg_v0_req_reset {
uint32_t reset_delay_in_ms;
} __attribute__((__packed__));
struct opahrs_msg_v0_req_switch_proto {
struct opahrs_msg_v0_req_boot {
uint32_t boot_delay_in_ms;
} __attribute__((__packed__));
struct opahrs_msg_v0_req_serial {
} __attribute__((__packed__));
struct opahrs_msg_v0_req_fwup_start {
@ -93,12 +93,10 @@ struct opahrs_msg_v0_req_fwup_verify {
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_sync sync;
struct opahrs_msg_v0_req_serial serial;
struct opahrs_msg_v0_req_reset reset;
/* Only implemented by the application */
struct opahrs_msg_v0_req_switch_proto switch_proto;
/* Only implemented by bootloaders */
struct opahrs_msg_v0_req_fwup_start fwup_start;
@ -106,16 +104,6 @@ union opahrs_msg_v0_req {
struct opahrs_msg_v0_req_fwup_verify fwup_verify;
} __attribute__((__packed__));
struct opahrs_msg_v0_rsp_sync {
uint8_t i_am_a_bootloader;
uint8_t hw_version;
uint16_t bl_version;
uint32_t fw_version;
uint32_t cookie;
uint32_t alternate_proto_version;
} __attribute__((__packed__));
struct opahrs_msg_v0_rsp_serial {
uint8_t serial_bcd[24];
} __attribute__((__packed__));
@ -125,7 +113,6 @@ struct opahrs_msg_v0_rsp_fwup_status {
union opahrs_msg_v0_rsp {
/* Mandatory for all bootloader and all application loads */
struct opahrs_msg_v0_rsp_sync sync;
struct opahrs_msg_v0_rsp_serial serial;
/* Only implemented by bootloaders */
@ -134,16 +121,13 @@ union opahrs_msg_v0_rsp {
enum opahrs_msg_v0_tag {
OPAHRS_MSG_V0_REQ_NOP = 0x00,
OPAHRS_MSG_V0_REQ_SYNC,
OPAHRS_MSG_V0_REQ_RESET,
OPAHRS_MSG_V0_REQ_SERIAL,
OPAHRS_MSG_V0_REQ_SWITCH_PROTO,
OPAHRS_MSG_V0_REQ_FWUP_START,
OPAHRS_MSG_V0_REQ_FWUP_DATA,
OPAHRS_MSG_V0_REQ_FWUP_VERIFY,
OPAHRS_MSG_V0_RSP_SYNC,
OPAHRS_MSG_V0_RSP_SERIAL,
OPAHRS_MSG_V0_RSP_FWUP_STATUS,
};
@ -173,10 +157,6 @@ struct opahrs_msg_v0 {
struct opahrs_msg_v1_req_nop {
} __attribute__((__packed__));
struct opahrs_msg_v1_req_sync {
uint32_t cookie;
} __attribute__((__packed__));
struct opahrs_msg_v1_req_reset {
uint32_t reset_delay_in_ms;
} __attribute__((__packed__));
@ -227,7 +207,6 @@ struct opahrs_msg_v1_req_calibration {
union opahrs_msg_v1_req {
struct opahrs_msg_v1_req_nop nop;
struct opahrs_msg_v1_req_sync sync;
struct opahrs_msg_v1_req_reset reset;
struct opahrs_msg_v1_req_serial serial;
struct opahrs_msg_v1_req_update update;
@ -237,15 +216,6 @@ union opahrs_msg_v1_req {
struct opahrs_msg_v1_req_calibration calibration;
} __attribute__((__packed__));
struct opahrs_msg_v1_rsp_sync {
uint8_t i_am_a_bootloader;
uint8_t hw_version;
uint16_t bl_version;
uint32_t fw_version;
uint32_t cookie;
} __attribute__((__packed__));
struct opahrs_msg_v1_rsp_serial {
uint8_t serial_bcd[25];
} __attribute__((__packed__));
@ -307,7 +277,6 @@ struct opahrs_msg_v1_rsp_calibration {
} __attribute__((__packed__));
union opahrs_msg_v1_rsp {
struct opahrs_msg_v1_rsp_sync sync;
struct opahrs_msg_v1_rsp_serial serial;
struct opahrs_msg_v1_rsp_north north;
struct opahrs_msg_v1_rsp_algorithm algorithm;
@ -318,7 +287,6 @@ union opahrs_msg_v1_rsp {
enum opahrs_msg_v1_tag {
OPAHRS_MSG_V1_REQ_NOP = 0x02000000,
OPAHRS_MSG_V1_REQ_SYNC,
OPAHRS_MSG_V1_REQ_RESET,
OPAHRS_MSG_V1_REQ_SERIAL,
OPAHRS_MSG_V1_REQ_NORTH,
@ -327,7 +295,6 @@ enum opahrs_msg_v1_tag {
OPAHRS_MSG_V1_REQ_ATTITUDERAW,
OPAHRS_MSG_V1_REQ_CALIBRATION,
OPAHRS_MSG_V1_RSP_SYNC,
OPAHRS_MSG_V1_RSP_SERIAL,
OPAHRS_MSG_V1_RSP_NORTH,
OPAHRS_MSG_V1_RSP_ALGORITHM,