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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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3
src/drivers/drv_pwm_output.h
View File

@ -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)

34
src/drivers/pwm_out/PWMOut.cpp
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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;

21
src/drivers/px4io/px4io.cpp
View File

@ -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;

59
src/systemcmds/pwm/pwm.cpp
View File

@ -128,7 +128,6 @@ $ pwm test -c 13 -p 1200
PRINT_MODULE_USAGE_COMMAND_DESCR("oneshot", "Configure Oneshot125 (rate is set to 0)");
PRINT_MODULE_USAGE_COMMAND_DESCR("failsafe", "Set Failsafe PWM value");
PRINT_MODULE_USAGE_COMMAND_DESCR("disarmed", "Set Disarmed PWM value");
PRINT_MODULE_USAGE_COMMAND_DESCR("min", "Set Minimum PWM value");
PRINT_MODULE_USAGE_COMMAND_DESCR("max", "Set Maximum PWM value");
@ -137,10 +136,10 @@ $ pwm test -c 13 -p 1200
PRINT_MODULE_USAGE_COMMAND_DESCR("steps", "Run 5 steps from 0 to 100%");
PRINT_MODULE_USAGE_PARAM_COMMENT("The commands 'failsafe', 'disarmed', 'min', 'max' and 'test' require a PWM value:");
PRINT_MODULE_USAGE_PARAM_COMMENT("The commands 'disarmed', 'min', 'max' and 'test' require a PWM value:");
PRINT_MODULE_USAGE_PARAM_INT('p', -1, 0, 4000, "PWM value (eg. 1100)", false);
PRINT_MODULE_USAGE_PARAM_COMMENT("The commands 'rate', 'oneshot', 'failsafe', 'disarmed', 'min', 'max', 'test' and 'steps' "
PRINT_MODULE_USAGE_PARAM_COMMENT("The commands 'rate', 'oneshot', 'disarmed', 'min', 'max', 'test' and 'steps' "
"additionally require to specify the channels with one of the following commands:");
PRINT_MODULE_USAGE_PARAM_STRING('c', nullptr, nullptr, "select channels in the form: 1234 (1 digit per channel, 1=first)",
true);
@ -559,60 +558,6 @@ pwm_main(int argc, char *argv[])
return 0;
} else if (!strcmp(command, "failsafe")) {
if (set_mask == 0) {
usage("no channels set");
return 1;
}
if (pwm_value < 0) {
return 0;
}
if (pwm_value == 0) {
usage("failsafe: no PWM provided");
return 1;
}
struct pwm_output_values pwm_values {};
pwm_values.channel_count = servo_count;
/* first get current state before modifying it */
ret = px4_ioctl(fd, PWM_SERVO_GET_FAILSAFE_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
PX4_ERR("failed get failsafe values");
return 1;
}
for (unsigned i = 0; i < servo_count; i++) {
if (set_mask & 1 << i) {
pwm_values.values[i] = pwm_value;
if (print_verbose) {
PX4_INFO("Channel %d: failsafe PWM: %d", i + 1, pwm_value);
}
}
}
if (pwm_values.channel_count == 0) {
usage("failsafe: no PWM channels");
return 1;
} else {
ret = px4_ioctl(fd, PWM_SERVO_SET_FAILSAFE_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
PX4_ERR("BAD input VAL");
return 1;
}
}
return 0;
} else if (!strcmp(command, "test")) {
if (set_mask == 0) {