From 67a6e651d67d36c2ff766e5d5aaad918c646fc7e Mon Sep 17 00:00:00 2001
From: Eugene Shamaev <Eugene.Shamaev@gmail.com>
Date: Thu, 13 Apr 2017 20:49:42 +0300
Subject: [PATCH] AP_BoardConfig: removal of legacy UAVCAN support
---
libraries/AP_BoardConfig/AP_BoardConfig.h | 10 ----------
libraries/AP_BoardConfig/px4_drivers.cpp | 10 ----------
2 files changed, 20 deletions(-)
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index 24eb761333..e2a0e6bc97 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -5,16 +5,6 @@
#include <AP_Param/AP_Param.h>
#include <sys/ioctl.h>
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
-
-#define _UAVCAN_IOCBASE (0x4000) // IOCTL base for module UAVCAN
-#define _UAVCAN_IOC(_n) (_IOC(_UAVCAN_IOCBASE, _n))
-
-#define UAVCAN_IOCG_NODEID_INPROGRESS _UAVCAN_IOC(1) // query if node identification is in progress
-#define UAVCAN_IOCS_HARDPOINT_SET _UAVCAN_IOC(10) // control hardpoint (e.g. OpenGrab EPM)
-
-#endif
-
extern "C" typedef int (*main_fn_t)(int argc, char **);
class AP_BoardConfig {
diff --git a/libraries/AP_BoardConfig/px4_drivers.cpp b/libraries/AP_BoardConfig/px4_drivers.cpp
index 283add393c..6a20552e57 100644
--- a/libraries/AP_BoardConfig/px4_drivers.cpp
+++ b/libraries/AP_BoardConfig/px4_drivers.cpp
@@ -52,16 +52,6 @@ extern "C" {
int tone_alarm_main(int, char **);
};
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
-/*
- this is needed for the code to wait for CAN startup
- */
-#define _UAVCAN_IOCBASE (0x4000) // IOCTL base for module UAVCAN
-#define _UAVCAN_IOC(_n) (_IOC(_UAVCAN_IOCBASE, _n))
-
-#define UAVCAN_IOCG_NODEID_INPROGRESS _UAVCAN_IOC(1) // query if node identification is in progress
-#endif
-
/*
setup PWM pins
*/