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delete PWM_SERVO_SET_DISARMED_PWM

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This commit is contained in:
Daniel Agar
2022-01-10 09:51:11 -05:00
parent 551a31ce2f
commit b7ed4fd3e0
8 changed files with 2 additions and 309 deletions
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src/drivers/drv_pwm_output.h
-3
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@@ -173,9 +173,6 @@ typedef uint16_t servo_position_t;
/** get the PWM value for failsafe */
#define PWM_SERVO_GET_FAILSAFE_PWM _PX4_IOC(_PWM_SERVO_BASE, 13)
/** set the PWM value when disarmed - should be no PWM (zero) by default */
#define PWM_SERVO_SET_DISARMED_PWM _PX4_IOC(_PWM_SERVO_BASE, 14)
/** get the PWM value when disarmed */
#define PWM_SERVO_GET_DISARMED_PWM _PX4_IOC(_PWM_SERVO_BASE, 15)
src/drivers/pwm_out/PWMOut.cpp
-44
View File
@@ -761,50 +761,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
break;
}
case PWM_SERVO_SET_DISARMED_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.disarmedValue(i) = PWM_HIGHEST_MAX;
}
#if PWM_LOWEST_MIN > 0
else if (pwm->values[i] < PWM_LOWEST_MIN) {
_mixing_output.disarmedValue(i) = PWM_LOWEST_MIN;
}
#endif
else {
_mixing_output.disarmedValue(i) = pwm->values[i];
}
}
/*
* update the counter
* this is needed to decide if disarmed PWM output should be turned on or not
*/
_num_disarmed_set = 0;
for (unsigned i = 0; i < FMU_MAX_ACTUATORS; i++) {
if (_mixing_output.disarmedValue(i) > 0) {
_num_disarmed_set++;
}
}
break;
}
case PWM_SERVO_GET_DISARMED_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
src/drivers/px4io/px4io.cpp
-20
View File
@@ -1666,26 +1666,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
break;
}
case PWM_SERVO_SET_DISARMED_PWM: {
PX4_DEBUG("PWM_SERVO_SET_DISARMED_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.disarmedValue(i) = math::constrain(pwm->values[i], (uint16_t)PWM_LOWEST_MIN, (uint16_t)PWM_HIGHEST_MAX);
}
}
updateDisarmed();
break;
}
case PWM_SERVO_GET_DISARMED_PWM: {
PX4_DEBUG("PWM_SERVO_GET_DISARMED_PWM");
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;