From d1dc300081e373a8a8175bbf11ae9a926a79b8d6 Mon Sep 17 00:00:00 2001 From: stac Date: Sat, 11 Sep 2010 23:06:25 +0000 Subject: [PATCH] ahrscomms: remove unused sync and switch_proto messages git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1582 ebee16cc-31ac-478f-84a7-5cbb03baadba --- flight/AHRS/ahrs.c | 10 ------- flight/PiOS/Common/pios_opahrs.c | 23 --------------- flight/PiOS/inc/pios_opahrs_proto.h | 45 ++++------------------------- 3 files changed, 6 insertions(+), 72 deletions(-) diff --git a/flight/AHRS/ahrs.c b/flight/AHRS/ahrs.c index 863b8736c..5749ff396 100644 --- a/flight/AHRS/ahrs.c +++ b/flight/AHRS/ahrs.c @@ -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(); diff --git a/flight/PiOS/Common/pios_opahrs.c b/flight/PiOS/Common/pios_opahrs.c index 581028d53..1e366e1e2 100644 --- a/flight/PiOS/Common/pios_opahrs.c +++ b/flight/PiOS/Common/pios_opahrs.c @@ -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; diff --git a/flight/PiOS/inc/pios_opahrs_proto.h b/flight/PiOS/inc/pios_opahrs_proto.h index a66a87402..c3b93c436 100644 --- a/flight/PiOS/inc/pios_opahrs_proto.h +++ b/flight/PiOS/inc/pios_opahrs_proto.h @@ -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,