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delete PWM_SERVO_SET_TERMINATION_FAILSAFE

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This commit is contained in:
Daniel Agar 2022-01-03 18:08:17 -05:00
parent 1739ecc981
commit 8de59dad32
3 changed files with 0 additions and 46 deletions
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3
src/drivers/drv_pwm_output.h
View File

@ -194,9 +194,6 @@ typedef uint16_t servo_position_t;
/** force safety switch off (to disable use of safety switch) */
#define PWM_SERVO_SET_FORCE_SAFETY_OFF _PX4_IOC(_PWM_SERVO_BASE, 25)
/** make failsafe non-recoverable (termination) if it occurs */
#define PWM_SERVO_SET_TERMINATION_FAILSAFE _PX4_IOC(_PWM_SERVO_BASE, 27)
/** force safety switch on (to enable use of safety switch) */
#define PWM_SERVO_SET_FORCE_SAFETY_ON _PX4_IOC(_PWM_SERVO_BASE, 28)

15
src/drivers/px4io/px4io.cpp
View File

@ -1768,21 +1768,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
break;
case PWM_SERVO_SET_TERMINATION_FAILSAFE:
PX4_DEBUG("PWM_SERVO_SET_TERMINATION_FAILSAFE");
/* if failsafe occurs, do not allow the system to recover */
if (arg == 0) {
/* clear termination failsafe flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE, 0);
} else {
/* set termination failsafe flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE);
}
break;
case DSM_BIND_START:
/* bind a DSM receiver */
ret = dsm_bind_ioctl(arg);

28
src/systemcmds/pwm/pwm.cpp
View File

@ -115,10 +115,6 @@ $ pwm test -c 13 -p 1200
PRINT_MODULE_USAGE_COMMAND_DESCR("disarm", "Disarm output");
PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print current configuration of all channels");
PRINT_MODULE_USAGE_COMMAND_DESCR("terminatefail", "Enable Termination Failsafe mode. "
"While this is true, "
"any failsafe that occurs will be unrecoverable (even if recovery conditions are met).");
PRINT_MODULE_USAGE_ARG("on|off", "Turn on or off", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("rate", "Configure PWM rates");
PRINT_MODULE_USAGE_PARAM_INT('r', -1, 50, 400, "PWM Rate in Hz (0 = Oneshot, otherwise 50 to 400Hz)", false);
@ -856,30 +852,6 @@ err_out_no_test:
}
}
return 0;
} else if (!strcmp(command, "terminatefail")) {
if (argc < 3) {
PX4_ERR("arg missing [on|off]");
return 1;
} else {
if (!strcmp(argv[2], "on")) {
/* force failsafe */
ret = px4_ioctl(fd, PWM_SERVO_SET_TERMINATION_FAILSAFE, 1);
} else {
/* disable failsafe */
ret = px4_ioctl(fd, PWM_SERVO_SET_TERMINATION_FAILSAFE, 0);
}
if (ret != OK) {
PX4_ERR("FAILED setting termination failsafe %s", argv[2]);
}
}
return 0;
}