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tap_esc: removed unused NO_VERIFY_CONFIG

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alessandro 2018-04-12 11:12:17 +02:00 committed by Beat Küng
parent edf6f6c97a
commit b49ccb889c
2 changed files with 0 additions and 55 deletions
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2
src/drivers/boards/aerofc-v1/board_config.h
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@ -142,8 +142,6 @@
/*
* ESCs do not respond
*/
#define BOARD_TAP_ESC_NO_VERIFY_CONFIG 1
#define BOARD_TAP_ESC_MODE 1
#define MEMORY_CONSTRAINED_SYSTEM

53
src/drivers/tap_esc/tap_esc.cpp
View File

@ -64,10 +64,6 @@
#include "drv_tap_esc.h"
#if !defined(BOARD_TAP_ESC_NO_VERIFY_CONFIG)
# define BOARD_TAP_ESC_NO_VERIFY_CONFIG 0
#endif
#if !defined(BOARD_TAP_ESC_MODE)
# define BOARD_TAP_ESC_MODE 0
#endif
@ -310,55 +306,6 @@ TAP_ESC::init()
return ret;
}
#if !BOARD_TAP_ESC_NO_VERIFY_CONFIG
/* Verify All ESC got the config */
for (uint8_t cid = 0; cid < _channels_count; cid++) {
/* Send the InfoRequest querying CONFIG_BASIC */
EscPacket packet_info = {0xfe, sizeof(InfoRequest), ESCBUS_MSG_ID_REQUEST_INFO};
InfoRequest &info_req = packet_info.d.reqInfo;
info_req.channelID = cid;
info_req.requestInfoType = REQEST_INFO_BASIC;
ret = tap_esc_common::send_packet(_uart_fd, packet_info, cid);
if (ret < 0) {
return ret;
}
/* Get a response */
int retries = 10;
bool valid = false;
while (retries--) {
tap_esc_common::read_data_from_uart(_uart_fd, &uartbuf);
if (!tap_esc_common::parse_tap_esc_feedback(&uartbuf, &_packet)) {
valid = (_packet.msg_id == ESCBUS_MSG_ID_CONFIG_INFO_BASIC
&& _packet.d.rspConfigInfoBasic.channelID == cid
&& 0 == memcmp(&_packet.d.rspConfigInfoBasic.resp, &config, sizeof(ConfigInfoBasicRequest)));
break;
} else {
/* Give it time to come in */
usleep(1000);
}
}
if (!valid) {
return -EIO;
}
}
#endif
/* To Unlock the ESC from the Power up state we need to issue 10
* ESCBUS_MSG_ID_RUN request with all the values 0;
*/