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delete unused PWM IOCTLs

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This commit is contained in:
Daniel Agar
2022-09-09 09:14:09 -04:00
parent bcdd2203d3
commit ce337a3d80
35 changed files with 198 additions and 1331 deletions
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src/modules/simulation/pwm_out_sim/PWMSim.cpp
-126
View File
@@ -42,7 +42,6 @@
#include <px4_platform_common/sem.hpp>
PWMSim::PWMSim(bool hil_mode_enabled) :
CDev(PWM_OUTPUT0_DEVICE_PATH),
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default)
{
_mixing_output.setAllDisarmedValues(PWM_SIM_DISARMED_MAGIC);
@@ -51,8 +50,6 @@ PWMSim::PWMSim(bool hil_mode_enabled) :
_mixing_output.setAllMaxValues(PWM_SIM_PWM_MAX_MAGIC);
_mixing_output.setIgnoreLockdown(hil_mode_enabled);
CDev::init();
}
void
@@ -66,8 +63,6 @@ PWMSim::Run()
return;
}
SmartLock lock_guard(_lock);
_mixing_output.update();
// check for parameter updates
@@ -121,127 +116,6 @@ PWMSim::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigne
return false;
}
int
PWMSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
SmartLock lock_guard(_lock);
int ret = OK;
switch (cmd) {
case PWM_SERVO_ARM:
break;
case PWM_SERVO_DISARM:
break;
case PWM_SERVO_SET_MIN_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (i < OutputModuleInterface::MAX_ACTUATORS && false) {
_mixing_output.minValue(i) = pwm->values[i];
}
}
break;
}
case PWM_SERVO_SET_MAX_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (i < OutputModuleInterface::MAX_ACTUATORS && false) {
_mixing_output.maxValue(i) = pwm->values[i];
}
}
break;
}
case PWM_SERVO_SET_UPDATE_RATE:
// PWMSim does not limit the update rate
break;
case PWM_SERVO_SET_SELECT_UPDATE_RATE:
break;
case PWM_SERVO_GET_DEFAULT_UPDATE_RATE:
*(uint32_t *)arg = 9999;
break;
case PWM_SERVO_GET_UPDATE_RATE:
*(uint32_t *)arg = 9999;
break;
case PWM_SERVO_GET_SELECT_UPDATE_RATE:
*(uint32_t *)arg = 0;
break;
case PWM_SERVO_GET_FAILSAFE_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) {
pwm->values[i] = _mixing_output.failsafeValue(i);
}
pwm->channel_count = OutputModuleInterface::MAX_ACTUATORS;
break;
}
case PWM_SERVO_GET_DISARMED_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) {
pwm->values[i] = _mixing_output.disarmedValue(i);
}
pwm->channel_count = OutputModuleInterface::MAX_ACTUATORS;
break;
}
case PWM_SERVO_GET_MIN_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) {
pwm->values[i] = _mixing_output.minValue(i);
}
pwm->channel_count = OutputModuleInterface::MAX_ACTUATORS;
break;
}
case PWM_SERVO_GET_MAX_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) {
pwm->values[i] = _mixing_output.maxValue(i);
}
pwm->channel_count = OutputModuleInterface::MAX_ACTUATORS;
break;
}
case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): {
// no restrictions on output grouping
unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0);
*(uint32_t *)arg = (1 << channel);
break;
}
case PWM_SERVO_GET_COUNT:
*(unsigned *)arg = OutputModuleInterface::MAX_ACTUATORS;
break;
default:
ret = -ENOTTY;
break;
}
return ret;
}
int
PWMSim::task_spawn(int argc, char *argv[])
{
src/modules/simulation/pwm_out_sim/PWMSim.hpp
+1 -4
View File
@@ -52,10 +52,9 @@
#define PARAM_PREFIX "HIL_ACT"
#endif
using namespace time_literals;
class PWMSim : public cdev::CDev, public ModuleBase<PWMSim>, public OutputModuleInterface
class PWMSim : public ModuleBase<PWMSim>, public OutputModuleInterface
{
public:
PWMSim(bool hil_mode_enabled);
@@ -72,8 +71,6 @@ public:
/** @see ModuleBase::print_status() */
int print_status() override;
int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated) override;