delete PWM_SERVO_ARM

src/drivers/drv_pwm_output.h

@@ -137,9 +137,6 @@ typedef uint16_t	servo_position_t;
  */
 #define _PWM_SERVO_BASE		0x2a00
 
-/** arm all servo outputs handle by this driver */
-#define PWM_SERVO_ARM		_PX4_IOC(_PWM_SERVO_BASE, 0)
-
 /** disarm all servo outputs (stop generating pulses) */
 #define PWM_SERVO_DISARM	_PX4_IOC(_PWM_SERVO_BASE, 1)
 

src/drivers/pca9685_pwm_out/main.cpp

@@ -490,7 +490,6 @@ int PCA9685Wrapper::ioctl(cdev::file_t *filep, int cmd, unsigned long arg)
 
 	case PWM_SERVO_SET_ARM_OK:
 	case PWM_SERVO_CLEAR_ARM_OK:
-	case PWM_SERVO_ARM:
 	case PWM_SERVO_DISARM:
 		break;
 

src/drivers/pwm_out/PWMOut.cpp

@@ -411,10 +411,6 @@ bool PWMOut::update_pwm_out_state(bool on)
 bool PWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated)
 {
-	if (_test_mode) {
-		return false;
-	}
-
 	/* output to the servos */
 	if (_pwm_initialized) {
 		for (size_t i = 0; i < num_outputs; i++) {
@@ -761,10 +757,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 	lock();
 
 	switch (cmd) {
-	case PWM_SERVO_ARM:
-		update_pwm_out_state(true);
-		break;
-
 	case PWM_SERVO_SET_ARM_OK:
 	case PWM_SERVO_CLEAR_ARM_OK:
 		break;
@@ -1137,165 +1129,8 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 	return ret;
 }
 
-int PWMOut::test(const char *dev)
-{
-	int	 fd;
-	unsigned servo_count = 0;
-	unsigned pwm_value = 1000;
-	int	 direction = 1;
-	int  ret;
-	int   rv = -1;
-
-	fd = ::open(dev, O_RDWR);
-
-	if (fd < 0) {
-		PX4_ERR("open fail");
-		return -1;
-	}
-
-	if (::ioctl(fd, PWM_SERVO_SET_MODE, PWM_SERVO_ENTER_TEST_MODE) < 0) {
-		PX4_ERR("Failed to Enter pwm test mode");
-		goto err_out_no_test;
-	}
-
-	if (::ioctl(fd, PWM_SERVO_ARM, 0) < 0) {
-		PX4_ERR("servo arm failed");
-		goto err_out;
-	}
-
-	if (::ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count) != 0) {
-		PX4_ERR("Unable to get servo count");
-		goto err_out;
-	}
-
-	PX4_INFO("Testing %u servos", servo_count);
-
-	struct pollfd fds;
-
-	fds.fd = 0; /* stdin */
-
-	fds.events = POLLIN;
-
-	PX4_INFO("Press CTRL-C or 'c' to abort.");
-
-	for (;;) {
-		/* sweep all servos between 1000..2000 */
-		servo_position_t servos[servo_count];
-
-		for (unsigned i = 0; i < servo_count; i++) {
-			servos[i] = pwm_value;
-		}
-
-		for (unsigned i = 0; i < servo_count;	i++) {
-			if (::ioctl(fd, PWM_SERVO_SET(i), servos[i]) < 0) {
-				PX4_ERR("servo %u set failed", i);
-				goto err_out;
-			}
-		}
-
-		if (direction > 0) {
-			if (pwm_value < 2000) {
-				pwm_value++;
-
-			} else {
-				direction = -1;
-			}
-
-		} else {
-			if (pwm_value > 1000) {
-				pwm_value--;
-
-			} else {
-				direction = 1;
-			}
-		}
-
-		/* readback servo values */
-		for (unsigned i = 0; i < servo_count; i++) {
-			servo_position_t value;
-
-			if (::ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&value)) {
-				PX4_ERR("error reading PWM servo %u", i);
-				goto err_out;
-			}
-
-			if (value != servos[i]) {
-				PX4_ERR("servo %u readback error, got %" PRIu16 " expected %" PRIu16, i, value, servos[i]);
-				goto err_out;
-			}
-		}
-
-		/* Check if user wants to quit */
-		char c;
-		ret = ::poll(&fds, 1, 0);
-
-		if (ret > 0) {
-
-			::read(0, &c, 1);
-
-			if (c == 0x03 || c == 0x63 || c == 'q') {
-				PX4_INFO("User abort");
-				break;
-			}
-		}
-	}
-
-	rv = 0;
-
-err_out:
-
-	if (::ioctl(fd, PWM_SERVO_SET_MODE, PWM_SERVO_EXIT_TEST_MODE) < 0) {
-		PX4_ERR("Failed to Exit pwm test mode");
-	}
-
-err_out_no_test:
-	::close(fd);
-	return rv;
-}
-
 int PWMOut::custom_command(int argc, char *argv[])
 {
-
-	int ch = 0;
-	int myoptind = 0;
-	const char *myoptarg = nullptr;
-	const char *dev = PX4FMU_DEVICE_PATH;
-
-	while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) {
-		switch (ch) {
-		case 'd':
-			if (nullptr == strstr(myoptarg, "/dev/")) {
-				PX4_WARN("device %s not valid", myoptarg);
-				print_usage(nullptr);
-				return 1;
-			}
-
-			dev = myoptarg;
-			break;
-		}
-	}
-
-	if (myoptind >= argc) {
-		print_usage(nullptr);
-		return 1;
-	}
-
-	const char *verb = argv[myoptind];
-
-	/* start pwm_out if not running */
-	if (!is_running()) {
-
-		int ret = PWMOut::task_spawn(argc, argv);
-
-		if (ret) {
-			return ret;
-		}
-	}
-
-	if (!strcmp(verb, "test")) {
-		return test(dev);
-	}
-
 	return print_usage("unknown command");
 }
 
@@ -1365,7 +1200,6 @@ By default the module runs on a work queue with a callback on the uORB actuator_
 
 	PRINT_MODULE_USAGE_NAME("pwm_out", "driver");
 	PRINT_MODULE_USAGE_COMMAND("start");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Test outputs");
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 
 	return 0;

src/drivers/pwm_out/PWMOut.hpp

@@ -101,8 +101,6 @@ public:
 	static bool trylock_module() { return (pthread_mutex_trylock(&pwm_out_module_mutex) == 0); }
 	static void unlock_module() { pthread_mutex_unlock(&pwm_out_module_mutex); }
 
-	static int test(const char *dev);
-
 	int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
 
 	int init() override;

src/drivers/pwm_out_sim/PWMSim.cpp

@@ -94,9 +94,6 @@ PWMSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 	lock();
 
 	switch (cmd) {
-	case PWM_SERVO_ARM:
-		break;
-
 	case PWM_SERVO_DISARM:
 		break;
 

src/drivers/px4io/px4io.cpp

@@ -1622,12 +1622,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 
 	/* regular ioctl? */
 	switch (cmd) {
-	case PWM_SERVO_ARM:
-		PX4_DEBUG("PWM_SERVO_ARM");
-		/* set the 'armed' bit */
-		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FMU_ARMED);
-		break;
-
 	case PWM_SERVO_SET_ARM_OK:
 		PX4_DEBUG("PWM_SERVO_SET_ARM_OK");
 		/* set the 'OK to arm' bit */

src/systemcmds/esc_calib/esc_calib.cpp

@@ -278,14 +278,6 @@ extern "C" __EXPORT int esc_calib_main(int argc, char *argv[])
 		goto cleanup;
 	}
 
-	/* tell IO/FMU that the system is armed (it will output values if safety is off) */
-	ret = ioctl(fd, PWM_SERVO_ARM, 0);
-
-	if (ret != OK) {
-		PX4_ERR("PWM_SERVO_ARM");
-		goto cleanup;
-	}
-
 	printf("Outputs armed");
 
 

src/systemcmds/motor_ramp/motor_ramp.cpp

@@ -344,12 +344,6 @@ int prepare(int fd, unsigned long *max_channels)
 		return 1;
 	}
 
-	/* tell IO/FMU that the system is armed (it will output values if safety is off) */
-	if (px4_ioctl(fd, PWM_SERVO_ARM, 0) != OK) {
-		PX4_ERR("PWM_SERVO_ARM");
-		return 1;
-	}
-
 	return 0;
 }
 

src/systemcmds/pwm/pwm.cpp

@@ -111,7 +111,6 @@ $ pwm test -c 13 -p 1200
 
 
 	PRINT_MODULE_USAGE_NAME("pwm", "command");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("arm", "Arm output");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("disarm", "Disarm output");
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print current configuration of all channels");
@@ -306,28 +305,7 @@ pwm_main(int argc, char *argv[])
 
 	oneshot = !strcmp(command, "oneshot");
 
-	if (!strcmp(command, "arm")) {
+	if (!strcmp(command, "disarm")) {
-		/* tell safety that its ok to disable it with the switch */
-		ret = px4_ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
-
-		if (ret != OK) {
-			err(1, "PWM_SERVO_SET_ARM_OK");
-		}
-
-		/* tell IO that the system is armed (it will output values if safety is off) */
-		ret = px4_ioctl(fd, PWM_SERVO_ARM, 0);
-
-		if (ret != OK) {
-			err(1, "PWM_SERVO_ARM");
-		}
-
-		if (print_verbose) {
-			PX4_INFO("Outputs armed");
-		}
-
-		return 0;
-
-	} else if (!strcmp(command, "disarm")) {
 		/* disarm, but do not revoke the SET_ARM_OK flag */
 		ret = px4_ioctl(fd, PWM_SERVO_DISARM, 0);