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delete PWM_SERVO_SET, PWM_SERVO_SET_MODE, systemcmds/motor_ramp, and pwm_out test

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This commit is contained in:
Daniel Agar
2022-01-10 09:51:11 -05:00
parent df44df2df6
commit d077ca15fb
39 changed files with 4 additions and 1119 deletions
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src/drivers/px4io/px4io.cpp
+1 -43
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@@ -429,7 +429,7 @@ bool PX4IO::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
{
SmartLock lock_guard(_lock);
if (!_test_fmu_fail && !_in_test_mode) {
if (!_test_fmu_fail) {
/* output to the servos */
io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, outputs, num_outputs);
}
@@ -1755,32 +1755,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
ret = dsm_bind_ioctl(arg);
break;
case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS - 1): {
/* TODO: we could go lower for e.g. TurboPWM */
unsigned channel = cmd - PWM_SERVO_SET(0);
/* PWM needs to be either 0 or in the valid range. */
if ((arg != 0) && ((channel >= _max_actuators) ||
(arg < PWM_LOWEST_MIN) ||
(arg > PWM_HIGHEST_MAX))) {
ret = -EINVAL;
} else {
if (!_test_fmu_fail && _in_test_mode) {
/* send a direct PWM value */
ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, channel, arg);
} else {
/* Just silently accept the ioctl without doing anything
* in test mode. */
ret = OK;
}
}
break;
}
case PWM_SERVO_GET(0) ... PWM_SERVO_GET(PWM_OUTPUT_MAX_CHANNELS - 1): {
unsigned channel = cmd - PWM_SERVO_GET(0);
@@ -1816,22 +1790,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
break;
}
case PWM_SERVO_SET_MODE: {
// reset all channels to disarmed when entering/leaving test mode, so that we don't
// accidentially use values from previous tests
pwm_output_values pwm_disarmed;
if (io_reg_get(PX4IO_PAGE_DISARMED_PWM, 0, pwm_disarmed.values, _max_actuators) == 0) {
for (unsigned i = 0; i < _max_actuators; ++i) {
io_reg_set(PX4IO_PAGE_DIRECT_PWM, i, pwm_disarmed.values[i]);
}
}
_in_test_mode = (arg == PWM_SERVO_ENTER_TEST_MODE);
ret = (arg == PWM_SERVO_ENTER_TEST_MODE || PWM_SERVO_EXIT_TEST_MODE) ? 0 : -EINVAL;
}
break;
case MIXERIOCRESET:
PX4_DEBUG("MIXERIOCRESET");
_mixing_output.resetMixerThreadSafe();