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delete PWM_SERVO_SET_ARM_OK

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This commit is contained in:
Daniel Agar 2022-01-04 12:12:42 -05:00
parent e1c32c10ad
commit 52b69f2f54
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GPG Key ID: FD3CBA98017A69DE
7 changed files with 0 additions and 28 deletions
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3
src/drivers/drv_pwm_output.h
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@ -155,9 +155,6 @@ typedef uint16_t servo_position_t;
/** check the selected update rates */
#define PWM_SERVO_GET_SELECT_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 7)
/** set the 'ARM ok' bit, which activates the safety switch */
#define PWM_SERVO_SET_ARM_OK _PX4_IOC(_PWM_SERVO_BASE, 8)
/** clear the 'ARM ok' bit, which deactivates the safety switch */
#define PWM_SERVO_CLEAR_ARM_OK _PX4_IOC(_PWM_SERVO_BASE, 9)

1
src/drivers/pca9685_pwm_out/main.cpp
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@ -488,7 +488,6 @@ int PCA9685Wrapper::ioctl(cdev::file_t *filep, int cmd, unsigned long arg)
break;
case PWM_SERVO_SET_ARM_OK:
case PWM_SERVO_CLEAR_ARM_OK:
break;

1
src/drivers/pwm_out/PWMOut.cpp
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@ -757,7 +757,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
lock();
switch (cmd) {
case PWM_SERVO_SET_ARM_OK:
case PWM_SERVO_CLEAR_ARM_OK:
break;

6
src/drivers/px4io/px4io.cpp
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@ -1621,12 +1621,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
/* regular ioctl? */
switch (cmd) {
case PWM_SERVO_SET_ARM_OK:
PX4_DEBUG("PWM_SERVO_SET_ARM_OK");
/* set the 'OK to arm' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_IO_ARM_OK);
break;
case PWM_SERVO_CLEAR_ARM_OK:
PX4_DEBUG("PWM_SERVO_CLEAR_ARM_OK");
/* clear the 'OK to arm' bit */

1
src/drivers/uavcan/uavcan_main.cpp
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@ -866,7 +866,6 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
lock();
switch (cmd) {
case PWM_SERVO_SET_ARM_OK:
case PWM_SERVO_CLEAR_ARM_OK:
// these are no-ops, as no safety switch
break;

10
src/systemcmds/esc_calib/esc_calib.cpp
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@ -270,16 +270,6 @@ extern "C" __EXPORT int esc_calib_main(int argc, char *argv[])
goto cleanup;
}
/* tell IO/FMU that its ok to disable its safety with the switch */
ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
if (ret != OK) {
PX4_ERR("PWM_SERVO_SET_ARM_OK");
goto cleanup;
}
printf("Outputs armed");
/* wait for user confirmation */
printf("\nHigh PWM set: %d\n"

6
src/systemcmds/motor_ramp/motor_ramp.cpp
View File

@ -338,12 +338,6 @@ int prepare(int fd, unsigned long *max_channels)
return 1;
}
/* tell IO/FMU that its ok to disable its safety with the switch */
if (px4_ioctl(fd, PWM_SERVO_SET_ARM_OK, 0) != OK) {
PX4_ERR("PWM_SERVO_SET_ARM_OK");
return 1;
}
return 0;
}