LP-593 firmwareIAP cleanup, remove code for old AHRS

Author: f5soh

flight/modules/FirmwareIAP/firmwareiap.c

@@ -2,7 +2,8 @@
  ******************************************************************************
  *
  * @file       firmwareiap.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2018.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      In Application Programming module to support firmware upgrades by
  *                              providing a means to enter the bootloader.
  *
@@ -47,7 +48,7 @@
 #define IAP_STATE_STEP_2    2
 #define IAP_STATE_RESETTING 3
 
-#define RESET_DELAY         500 /* delay between sending reset ot INS */
+#define RESET_DELAY         500
 
 #define TICKS2MS(t) ((t) / portTICK_RATE_MS)
 #define MS2TICKS(m) ((m) * portTICK_RATE_MS)
@@ -128,7 +129,6 @@ int32_t FirmwareIAPStart()
 static uint8_t iap_state = IAP_STATE_READY;
 static void FirmwareIAPCallback(UAVObjEvent *ev)
 {
-    const struct pios_board_info *bdinfo = &pios_board_info_blob;
     static uint32_t last_time = 0;
     uint32_t this_time;
     uint32_t delta;
@@ -138,26 +138,13 @@ static void FirmwareIAPCallback(UAVObjEvent *ev)
     }
 
     FirmwareIAPObjData data;
-    FirmwareIAPObjGet(&data);
 
     if (ev->obj == FirmwareIAPObjHandle()) {
         // Get the input object data
         FirmwareIAPObjGet(&data);
         this_time = get_time();
         delta     = this_time - last_time;
         last_time = this_time;
-        if ((data.BoardType == bdinfo->board_type) && (data.crc != PIOS_BL_HELPER_CRC_Memory_Calc())) {
-            PIOS_BL_HELPER_FLASH_Read_Description(data.Description, FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
-            PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
-            data.BoardRevision = bdinfo->board_rev;
-            data.BootloaderRevision = bdinfo->bl_rev;
-            data.crc = PIOS_BL_HELPER_CRC_Memory_Calc();
-            FirmwareIAPObjSet(&data);
-        }
-        if ((data.ArmReset == 1) && (iap_state != IAP_STATE_RESETTING)) {
-            data.ArmReset = 0;
-            FirmwareIAPObjSet(&data);
-        }
         switch (iap_state) {
         case IAP_STATE_READY:
             if (data.Command == IAP_CMD_STEP_1) {
@@ -240,7 +227,7 @@ static uint32_t get_time(void)
 }
 
 /**
- * Executed by event dispatcher callback to reset INS before resetting OP
+ * Executed by event dispatcher callback to reset Board
  */
 static void resetTask(__attribute__((unused)) UAVObjEvent *ev)
 {
@@ -252,18 +239,8 @@ static void resetTask(__attribute__((unused)) UAVObjEvent *ev)
     PIOS_LED_Toggle(PIOS_LED_ALARM);
 #endif /* PIOS_LED_ALARM */
 
-    FirmwareIAPObjData data;
-    FirmwareIAPObjGet(&data);
-
     if ((portTickType)(xTaskGetTickCount() - lastResetSysTime) > RESET_DELAY / portTICK_RATE_MS) {
         lastResetSysTime = xTaskGetTickCount();
-        data.BoardType   = 0xFF;
-        data.ArmReset    = 1;
-        data.crc = reset_count; /* Must change a value for this to get to INS */
-        FirmwareIAPObjSet(&data);
-        ++reset_count;
-        if (reset_count > 3) {
-            PIOS_SYS_Reset();
-        }
+        PIOS_SYS_Reset();
     }
 }

flight/modules/FirmwareIAP/inc/firmwareiap.h

@@ -1,9 +1,10 @@
 /**
  ******************************************************************************
  *
- * @file       firmwareiap.c
+ * @file       firmwareiap.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Example module to be used as a template for actual modules.
+ * @brief      In Application Programming module to support firmware upgrades by
+ *                              providing a means to enter the bootloader.
  *
  * @see        The GNU Public License (GPL) Version 3
  *