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delete PWM_SERVO_SET_TERMINATION_FAILSAFE

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This commit is contained in:
Daniel Agar
2022-01-04 12:15:22 -05:00
parent d6dde9b79e
commit e1c32c10ad
3 changed files with 0 additions and 47 deletions
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src/drivers/drv_pwm_output.h
-3
View File
@@ -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)
/** make failsafe non-recoverable (termination) if it occurs */
#define PWM_SERVO_SET_TERMINATION_FAILSAFE _PX4_IOC(_PWM_SERVO_BASE, 27)
/*
*
*
src/drivers/px4io/px4io.cpp
-15
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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_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);
src/systemcmds/pwm/pwm.cpp
-29
View File
@@ -109,11 +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_ARG("on|off", "Turn on or off", false);
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);
@@ -690,30 +685,6 @@ pwm_main(int argc, char *argv[])
}
}
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;
}