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delete PWM_SERVO_SET_DISABLE_LOCKDOWN/PWM_SERVO_GET_DISABLE_LOCKDOWN

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This commit is contained in:
Daniel Agar
2022-01-10 09:51:11 -05:00
parent b7ed4fd3e0
commit 649d3e3f55
2 changed files with 0 additions and 77 deletions
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src/drivers/drv_pwm_output.h
-6
View File
@@ -191,12 +191,6 @@ typedef uint16_t servo_position_t;
/** get the TRIM value the output will send */
#define PWM_SERVO_GET_TRIM_PWM _PX4_IOC(_PWM_SERVO_BASE, 21)
/** set the lockdown override flag to enable outputs in HIL */
#define PWM_SERVO_SET_DISABLE_LOCKDOWN _PX4_IOC(_PWM_SERVO_BASE, 23)
/** get the lockdown override flag to enable outputs in HIL */
#define PWM_SERVO_GET_DISABLE_LOCKDOWN _PX4_IOC(_PWM_SERVO_BASE, 24)
/** 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/px4io/px4io.cpp
-71
View File
@@ -178,7 +178,6 @@ private:
static int checkcrc(int argc, char *argv[]);
static int bind(int argc, char *argv[]);
static int lockdown(int argc, char *argv[]);
static int monitor();
static constexpr int PX4IO_MAX_ACTUATORS = 8;
@@ -1757,16 +1756,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
*(unsigned *)arg = _max_actuators;
break;
case PWM_SERVO_SET_DISABLE_LOCKDOWN:
PX4_DEBUG("PWM_SERVO_SET_DISABLE_LOCKDOWN");
_lockdown_override = arg;
break;
case PWM_SERVO_GET_DISABLE_LOCKDOWN:
PX4_DEBUG("PWM_SERVO_GET_DISABLE_LOCKDOWN");
*(unsigned *)arg = _lockdown_override;
break;
case PWM_SERVO_SET_FORCE_SAFETY_OFF:
PX4_DEBUG("PWM_SERVO_SET_FORCE_SAFETY_OFF");
/* force safety swith off */
@@ -2174,60 +2163,6 @@ int PX4IO::monitor()
return 0;
}
int PX4IO::lockdown(int argc, char *argv[])
{
if (argc > 1 && !strcmp(argv[1], "disable")) {
PX4_WARN("WARNING: ACTUATORS WILL BE LIVE IN HIL! PROCEED?");
PX4_WARN("Press 'y' to enable, any other key to abort.");
/* check if user wants to abort */
char c;
struct pollfd fds;
int ret;
hrt_abstime start = hrt_absolute_time();
const unsigned long timeout = 5000000;
while (hrt_elapsed_time(&start) < timeout) {
fds.fd = 0; /* stdin */
fds.events = POLLIN;
ret = ::poll(&fds, 1, 0);
if (ret > 0) {
if (::read(0, &c, 1) > 0) {
if (c != 'y') {
return 0;
} else if (c == 'y') {
break;
}
}
}
px4_usleep(10000);
}
if (hrt_elapsed_time(&start) > timeout) {
PX4_ERR("TIMEOUT! ABORTED WITHOUT CHANGES.");
return 1;
}
get_instance()->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 1);
PX4_WARN("ACTUATORS ARE NOW LIVE IN HIL!");
} else {
get_instance()->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 0);
PX4_WARN("ACTUATORS ARE NOW SAFE IN HIL.");
}
return 0;
}
int PX4IO::task_spawn(int argc, char *argv[])
{
device::Device *interface = get_interface();
@@ -2431,10 +2366,6 @@ int PX4IO::custom_command(int argc, char *argv[])
return bind(argc - 1, argv + 1);
}
if (!strcmp(verb, "lockdown")) {
return lockdown(argc, argv);
}
if (!strcmp(verb, "sbus1_out")) {
int ret = get_instance()->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 1);
@@ -2497,8 +2428,6 @@ Output driver communicating with the IO co-processor.
PRINT_MODULE_USAGE_COMMAND_DESCR("monitor", "continuously monitor status");
PRINT_MODULE_USAGE_COMMAND_DESCR("bind", "DSM bind");
PRINT_MODULE_USAGE_ARG("dsm2|dsmx|dsmx8", "protocol", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("lockdown", "enable (or disable) lockdown");
PRINT_MODULE_USAGE_ARG("disable", "disable lockdown", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("sbus1_out", "enable sbus1 out");
PRINT_MODULE_USAGE_COMMAND_DESCR("sbus2_out", "enable sbus2 out");
PRINT_MODULE_USAGE_COMMAND_DESCR("test_fmu_fail", "test: turn off IO updates");