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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/systemcmds/pwm/pwm.cpp
+2 -57
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@@ -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) {