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delete PWM_SERVO_GET_TRIM_PWM

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This commit is contained in:
Daniel Agar
2022-01-03 18:10:24 -05:00
parent 8de59dad32
commit d3301ba826
5 changed files with 2 additions and 56 deletions
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src/drivers/drv_pwm_output.h
-3
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@@ -188,9 +188,6 @@ typedef uint16_t servo_position_t;
/** get the maximum PWM value the output will send */
#define PWM_SERVO_GET_MAX_PWM _PX4_IOC(_PWM_SERVO_BASE, 19)
/** get the TRIM value the output will send */
#define PWM_SERVO_GET_TRIM_PWM _PX4_IOC(_PWM_SERVO_BASE, 21)
/** force safety switch off (to disable use of safety switch) */
#define PWM_SERVO_SET_FORCE_SAFETY_OFF _PX4_IOC(_PWM_SERVO_BASE, 25)
src/drivers/pwm_out/PWMOut.cpp
-14
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@@ -855,20 +855,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
}
break;
case PWM_SERVO_GET_TRIM_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
if (_mixing_output.mixers() == nullptr) {
memset(pwm, 0, sizeof(pwm_output_values));
PX4_WARN("warning: trim values not valid - no mixer loaded");
} else {
pwm->channel_count = _mixing_output.mixers()->get_trims((int16_t *)pwm->values);
}
}
break;
#if defined(DIRECT_PWM_OUTPUT_CHANNELS) && DIRECT_PWM_OUTPUT_CHANNELS >= 14
case PWM_SERVO_SET(13):
src/drivers/pwm_out_sim/PWMSim.cpp
-11
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@@ -176,17 +176,6 @@ PWMSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
break;
}
case PWM_SERVO_GET_TRIM_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) {
pwm->values[i] = (_mixing_output.maxValue(i) + _mixing_output.minValue(i)) / 2;
}
pwm->channel_count = OutputModuleInterface::MAX_ACTUATORS;
break;
}
case PWM_SERVO_GET_MAX_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
src/drivers/px4io/px4io.cpp
-16
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@@ -1735,22 +1735,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
}
break;
case PWM_SERVO_GET_TRIM_PWM: {
PX4_DEBUG("PWM_SERVO_GET_TRIM_PWM");
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
if (_mixing_output.mixers() == nullptr) {
memset(pwm, 0, sizeof(pwm_output_values));
PX4_WARN("warning: trim values not valid - no mixer loaded");
} else {
pwm->channel_count = _mixing_output.mixers()->get_trims((int16_t *)pwm->values);
}
break;
}
case PWM_SERVO_GET_COUNT:
PX4_DEBUG("PWM_SERVO_GET_COUNT");
*(unsigned *)arg = _max_actuators;
src/systemcmds/pwm/pwm.cpp
+2 -12
View File
@@ -765,8 +765,6 @@ err_out_no_test:
struct pwm_output_values max_pwm;
struct pwm_output_values trim_pwm;
ret = px4_ioctl(fd, PWM_SERVO_GET_FAILSAFE_PWM, (unsigned long)&failsafe_pwm);
if (ret != OK) {
@@ -795,13 +793,6 @@ err_out_no_test:
return 1;
}
ret = px4_ioctl(fd, PWM_SERVO_GET_TRIM_PWM, (unsigned long)&trim_pwm);
if (ret != OK) {
PX4_ERR("PWM_SERVO_GET_TRIM_PWM");
return 1;
}
/* print current servo values */
for (unsigned i = 0; i < servo_count; i++) {
servo_position_t spos;
@@ -819,9 +810,8 @@ err_out_no_test:
}
printf(" failsafe: %d, disarmed: %" PRIu16 " us, min: %" PRIu16 " us, max: %" PRIu16 " us, trim: %5.2f)",
failsafe_pwm.values[i], disarmed_pwm.values[i], min_pwm.values[i], max_pwm.values[i],
(double)((int16_t)(trim_pwm.values[i]) / 10000.0f));
printf(" failsafe: %d, disarmed: %" PRIu16 " us, min: %" PRIu16 " us, max: %" PRIu16 " us)",
failsafe_pwm.values[i], disarmed_pwm.values[i], min_pwm.values[i], max_pwm.values[i]);
printf("\n");
} else {