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

@@ -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();

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;

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 {
+struct opahrs_msg_v0_req_versions {
-  uint32_t cookie;
-} __attribute__((__packed__));
-
-struct opahrs_msg_v0_req_serial {
 } __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,