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delete PWM_SERVO_SET_FORCE_FAILSAFE

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This commit is contained in:
Daniel Agar 2022-01-04 12:11:21 -05:00
parent 212525a78e
commit d6dde9b79e
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GPG Key ID: FD3CBA98017A69DE
3 changed files with 0 additions and 44 deletions
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3
src/drivers/drv_pwm_output.h
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@ -197,9 +197,6 @@ typedef uint16_t servo_position_t;
/** get the lockdown override flag to enable outputs in HIL */
#define PWM_SERVO_GET_DISABLE_LOCKDOWN _PX4_IOC(_PWM_SERVO_BASE, 24)
/** force failsafe mode (failsafe values are set immediately even if failsafe condition not met) */
#define PWM_SERVO_SET_FORCE_FAILSAFE _PX4_IOC(_PWM_SERVO_BASE, 26)
/** make failsafe non-recoverable (termination) if it occurs */
#define PWM_SERVO_SET_TERMINATION_FAILSAFE _PX4_IOC(_PWM_SERVO_BASE, 27)

15
src/drivers/px4io/px4io.cpp
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@ -1844,21 +1844,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
*(unsigned *)arg = _lockdown_override;
break;
case PWM_SERVO_SET_FORCE_FAILSAFE:
PX4_DEBUG("PWM_SERVO_SET_FORCE_FAILSAFE");
/* force failsafe mode instantly */
if (arg == 0) {
/* clear force failsafe flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE, 0);
} else {
/* set force failsafe flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE);
}
break;
case PWM_SERVO_SET_TERMINATION_FAILSAFE:
PX4_DEBUG("PWM_SERVO_SET_TERMINATION_FAILSAFE");

26
src/systemcmds/pwm/pwm.cpp
View File

@ -109,8 +109,6 @@ $ pwm rate -a -r 400
PRINT_MODULE_USAGE_NAME("pwm", "command");
PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print current configuration of all channels");
PRINT_MODULE_USAGE_COMMAND_DESCR("forcefail", "Force Failsafe mode. "
"PWM outputs are set to failsafe values.");
PRINT_MODULE_USAGE_ARG("on|off", "Turn on or off", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("terminatefail", "Enable Termination Failsafe mode. "
"While this is true, "
@ -694,30 +692,6 @@ pwm_main(int argc, char *argv[])
return 0;
} else if (!strcmp(command, "forcefail")) {
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_FORCE_FAILSAFE, 1);
} else {
/* disable failsafe */
ret = px4_ioctl(fd, PWM_SERVO_SET_FORCE_FAILSAFE, 0);
}
if (ret != OK) {
PX4_ERR("FAILED setting forcefail %s", argv[2]);
}
}
return 0;
} else if (!strcmp(command, "terminatefail")) {
if (argc < 3) {