Merge pull request #6487 from iNavFlight/de_remove_uib

Remove unused UAV_INTERCONNECT
iNavFlight · Jan 9, 2021 · 0b387d6 · 0b387d6
2 parents 4d0a3fe + ef34fc2
commit 0b387d6
Show file tree

Hide file tree

Showing 18 changed files with 8 additions and 1,040 deletions.
diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
@@ -406,8 +406,6 @@ main_sources(COMMON_SRC
     rx/sumd.h
     rx/sumh.c
     rx/sumh.h
-    rx/uib_rx.c
-    rx/uib_rx.h
     rx/xbus.c
     rx/xbus.h
 
@@ -435,10 +433,6 @@ main_sources(COMMON_SRC
     sensors/temperature.c
     sensors/temperature.h
 
-    uav_interconnect/uav_interconnect.h
-    uav_interconnect/uav_interconnect_bus.c
-    uav_interconnect/uav_interconnect_rangefinder.c
-
     blackbox/blackbox.c
     blackbox/blackbox.h
     blackbox/blackbox_encoding.c

diff --git a/src/main/drivers/opflow/opflow_virtual.c b/src/main/drivers/opflow/opflow_virtual.c
@@ -23,7 +23,7 @@
  */
 
 /*
- * This is a bridge driver between a sensor reader that operates at high level (on top of UART or UIB)
+ * This is a bridge driver between a sensor reader that operates at high level (i.e. on top of UART)
  */
 
 #include <stdbool.h>

diff --git a/src/main/drivers/rangefinder/rangefinder_virtual.c b/src/main/drivers/rangefinder/rangefinder_virtual.c
@@ -23,7 +23,7 @@
  */
 
 /*
- * This is a bridge driver between a sensor reader that operates at high level (on top of UART or UIB)
+ * This is a bridge driver between a sensor reader that operates at high level (i.e. on top of UART)
  */
 
 #include <stdbool.h>

diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
@@ -148,8 +148,6 @@
 
 #include "telemetry/telemetry.h"
 
-#include "uav_interconnect/uav_interconnect.h"
-
 #ifdef USE_HARDWARE_REVISION_DETECTION
 #include "hardware_revision.h"
 #endif
@@ -570,10 +568,6 @@ void init(void)
     }
 #endif
 
-#ifdef USE_UAV_INTERCONNECT
-    uavInterconnectBusInit();
-#endif
-
 #if defined(USE_CMS) && defined(USE_SPEKTRUM_CMS_TELEMETRY) && defined(USE_TELEMETRY_SRXL)
     // Register the srxl Textgen telemetry sensor as a displayport device
     cmsDisplayPortRegister(displayPortSrxlInit());

diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c
@@ -91,8 +91,6 @@
 
 #include "config/feature.h"
 
-#include "uav_interconnect/uav_interconnect.h"
-
 void taskHandleSerial(timeUs_t currentTimeUs)
 {
     UNUSED(currentTimeUs);
@@ -365,9 +363,6 @@ void fcTasksInit(void)
     setTaskEnabled(TASK_VTXCTRL, true);
 #endif
 #endif
-#ifdef USE_UAV_INTERCONNECT
-    setTaskEnabled(TASK_UAV_INTERCONNECT, uavInterconnectBusIsInitialized());
-#endif
 #ifdef USE_RCDEVICE
     setTaskEnabled(TASK_RCDEVICE, rcdeviceIsEnabled());
 #endif
@@ -572,16 +567,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
     [TASK_OPFLOW] = {
         .taskName = "OPFLOW",
         .taskFunc = taskUpdateOpticalFlow,
-        .desiredPeriod = TASK_PERIOD_HZ(100),   // I2C/SPI sensor will work at higher rate and accumulate, UIB/UART sensor will work at lower rate w/o accumulation
-        .staticPriority = TASK_PRIORITY_MEDIUM,
-    },
-#endif
-
-#ifdef USE_UAV_INTERCONNECT
-    [TASK_UAV_INTERCONNECT] = {
-        .taskName = "UIB",
-        .taskFunc = uavInterconnectBusTask,
-        .desiredPeriod = 1000000 / 500,          // 500 Hz
+        .desiredPeriod = TASK_PERIOD_HZ(100),   // I2C/SPI sensor will work at higher rate and accumulate, UART sensor will work at lower rate w/o accumulation
         .staticPriority = TASK_PRIORITY_MEDIUM,
     },
 #endif

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
@@ -7,7 +7,7 @@ tables:
     values: ["NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "FAKE"]
     enum: accelerationSensor_e
   - name: rangefinder_hardware
-    values: ["NONE", "HCSR04", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "UIB", "BENEWAKE"]
+    values: ["NONE", "HCSR04", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "UNUSED", "BENEWAKE"]
     enum: rangefinderType_e
   - name: mag_hardware
     values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "FAKE"]
@@ -22,7 +22,7 @@ tables:
     values: ["NONE", "AUTO", "MS4525", "ADC", "VIRTUAL", "FAKE", "MSP"]
     enum: pitotSensor_e
   - name: receiver_type
-    values: ["NONE", "PPM", "SERIAL", "MSP", "SPI", "UIB"]
+    values: ["NONE", "PPM", "SERIAL", "MSP", "SPI", "UNUSED"]
     enum: rxReceiverType_e
   - name: serial_rx
     values: ["SPEK1024", "SPEK2048", "SBUS", "SUMD", "SUMH", "XB-B", "XB-B-RJ01", "IBUS", "JETIEXBUS", "CRSF", "FPORT", "SBUS_FAST", "FPORT2", "SRXL2", "GHST"]

diff --git a/src/main/io/serial.h b/src/main/io/serial.h
@@ -44,7 +44,7 @@ typedef enum {
     FUNCTION_RCDEVICE                   = (1 << 10), // 1024
     FUNCTION_VTX_SMARTAUDIO             = (1 << 11), // 2048
     FUNCTION_VTX_TRAMP                  = (1 << 12), // 4096
-    FUNCTION_UAV_INTERCONNECT           = (1 << 13), // 8192
+    FUNCTION_UNUSED_1                   = (1 << 13), // 8192: former UAV_INTERCONNECT
     FUNCTION_OPTICAL_FLOW               = (1 << 14), // 16384
     FUNCTION_LOG                        = (1 << 15), // 32768
     FUNCTION_RANGEFINDER                = (1 << 16), // 65536

diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c
@@ -64,7 +64,6 @@
 #include "rx/srxl2.h"
 #include "rx/sumd.h"
 #include "rx/sumh.h"
-#include "rx/uib_rx.h"
 #include "rx/xbus.h"
 #include "rx/ghst.h"
 
@@ -330,12 +329,6 @@ void rxInit(void)
             break;
 #endif
 
-#ifdef USE_RX_UIB
-        case RX_TYPE_UIB:
-            rxUIBInit(rxConfig(), &rxRuntimeConfig);
-            break;
-#endif
-
 #ifdef USE_RX_SPI
         case RX_TYPE_SPI:
             if (!rxSpiInit(rxConfig(), &rxRuntimeConfig)) {

diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h
@@ -65,7 +65,7 @@ typedef enum {
     RX_TYPE_SERIAL      = 2,
     RX_TYPE_MSP         = 3,
     RX_TYPE_SPI         = 4,
-    RX_TYPE_UIB         = 5
+    RX_TYPE_UNUSED_1    = 5
 } rxReceiverType_e;
 
 typedef enum {

diff --git a/src/main/rx/uib_rx.c b/src/main/rx/uib_rx.c
diff --git a/src/main/rx/uib_rx.h b/src/main/rx/uib_rx.h
diff --git a/src/main/scheduler/scheduler.h b/src/main/scheduler/scheduler.h
@@ -101,9 +101,6 @@ typedef enum {
 #ifdef USE_OPFLOW
     TASK_OPFLOW,
 #endif
-#ifdef USE_UAV_INTERCONNECT
-    TASK_UAV_INTERCONNECT,
-#endif
 #ifdef USE_RCDEVICE
     TASK_RCDEVICE,
 #endif

diff --git a/src/main/sensors/rangefinder.c b/src/main/sensors/rangefinder.c
@@ -53,8 +53,6 @@
 
 #include "scheduler/scheduler.h"
 
-#include "uav_interconnect/uav_interconnect.h"
-
 rangefinder_t rangefinder;
 
 #define RANGEFINDER_HARDWARE_TIMEOUT_MS         500     // Accept 500ms of non-responsive sensor, report HW failure otherwise
@@ -142,15 +140,6 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
 #endif
             break;
 
-        case RANGEFINDER_UIB:
-#if defined(USE_RANGEFINDER_UIB)
-            if (uibRangefinderDetect(dev)) {
-                rangefinderHardware = RANGEFINDER_UIB;
-                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_UIB_TASK_PERIOD_MS));
-            }
-#endif
-            break;
-
         case RANGEFINDER_BENEWAKE:
 #if defined(USE_RANGEFINDER_BENEWAKE)
             if (virtualRangefinderDetect(dev, &rangefinderBenewakeVtable)) {

diff --git a/src/main/sensors/rangefinder.h b/src/main/sensors/rangefinder.h
@@ -28,7 +28,7 @@ typedef enum {
     RANGEFINDER_HCSR04I2C   = 3,
     RANGEFINDER_VL53L0X     = 4,
     RANGEFINDER_MSP         = 5,
-    RANGEFINDER_UIB         = 6,
+    RANGEFINDER_UNUSED      = 6,    // Was UIB
     RANGEFINDER_BENEWAKE    = 7,
 } rangefinderType_e;
 

diff --git a/src/main/target/common.h b/src/main/target/common.h
@@ -87,8 +87,6 @@
 #define USE_DYNAMIC_FILTERS
 #define USE_GYRO_KALMAN
 #define USE_EXTENDED_CMS_MENUS
-#define USE_UAV_INTERCONNECT
-#define USE_RX_UIB
 #define USE_HOTT_TEXTMODE
 
 // NAZA GPS support for F4+ only