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delete PWM_SERVO_SET_FAILSAFE_PWM

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This commit is contained in:
Daniel Agar
2022-01-03 17:37:50 -05:00
parent daa925137c
commit 551a31ce2f
4 changed files with 2 additions and 115 deletions
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src/drivers/drv_pwm_output.h
-3
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@@ -170,9 +170,6 @@ typedef uint16_t servo_position_t;
/** start DSM bind */
#define DSM_BIND_START _PX4_IOC(_PWM_SERVO_BASE, 10)
/** set the PWM value for failsafe */
#define PWM_SERVO_SET_FAILSAFE_PWM _PX4_IOC(_PWM_SERVO_BASE, 12)
/** get the PWM value for failsafe */
#define PWM_SERVO_GET_FAILSAFE_PWM _PX4_IOC(_PWM_SERVO_BASE, 13)
src/drivers/pwm_out/PWMOut.cpp
-34
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@@ -750,40 +750,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
*(uint32_t *)arg = _pwm_alt_rate_channels;
break;
case PWM_SERVO_SET_FAILSAFE_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
/* discard if too many values are sent */
if (pwm->channel_count > FMU_MAX_ACTUATORS || _mixing_output.useDynamicMixing()) {
ret = -EINVAL;
break;
}
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] == 0) {
/* ignore 0 */
} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
_mixing_output.failsafeValue(i) = PWM_HIGHEST_MAX;
}
#if PWM_LOWEST_MIN > 0
else if (pwm->values[i] < PWM_LOWEST_MIN) {
_mixing_output.failsafeValue(i) = PWM_LOWEST_MIN;
}
#endif
else {
_mixing_output.failsafeValue(i) = pwm->values[i];
}
}
break;
}
case PWM_SERVO_GET_FAILSAFE_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
src/drivers/px4io/px4io.cpp
-21
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@@ -1652,27 +1652,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
*(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES);
break;
case PWM_SERVO_SET_FAILSAFE_PWM: {
PX4_DEBUG("PWM_SERVO_SET_FAILSAFE_PWM");
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
{
return -E2BIG;
}
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] != 0 && !_mixing_output.useDynamicMixing()) {
_mixing_output.failsafeValue(i) = math::constrain(pwm->values[i], (uint16_t)PWM_LOWEST_MIN, (uint16_t)PWM_HIGHEST_MAX);
}
}
updateFailsafe();
break;
}
case PWM_SERVO_GET_FAILSAFE_PWM: {
PX4_DEBUG("PWM_SERVO_GET_FAILSAFE_PWM");
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;