From f557f8ad9f7717541886e7e9fe93da22323afb10 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 4 Jan 2022 11:54:16 -0500 Subject: [PATCH] delete PWM_SERVO_SET_FORCE_SAFETY_ON --- src/drivers/drv_pwm_output.h | 3 --- src/drivers/pca9685_pwm_out/main.cpp | 1 - src/drivers/pwm_out/PWMOut.cpp | 1 - src/drivers/px4io/px4io.cpp | 17 ----------------- 4 files changed, 22 deletions(-) diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index e8c6685691..d7cbacc45d 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -212,9 +212,6 @@ typedef uint16_t servo_position_t; /** make failsafe non-recoverable (termination) if it occurs */ #define PWM_SERVO_SET_TERMINATION_FAILSAFE _PX4_IOC(_PWM_SERVO_BASE, 27) -/** force safety switch on (to enable use of safety switch) */ -#define PWM_SERVO_SET_FORCE_SAFETY_ON _PX4_IOC(_PWM_SERVO_BASE, 28) - /** set auxillary output mode */ #define PWM_SERVO_ENTER_TEST_MODE 18 #define PWM_SERVO_EXIT_TEST_MODE 19 diff --git a/src/drivers/pca9685_pwm_out/main.cpp b/src/drivers/pca9685_pwm_out/main.cpp index 7031615d62..f1de91ed97 100644 --- a/src/drivers/pca9685_pwm_out/main.cpp +++ b/src/drivers/pca9685_pwm_out/main.cpp @@ -491,7 +491,6 @@ int PCA9685Wrapper::ioctl(cdev::file_t *filep, int cmd, unsigned long arg) case PWM_SERVO_SET_ARM_OK: case PWM_SERVO_SET_FORCE_SAFETY_OFF: case PWM_SERVO_CLEAR_ARM_OK: - case PWM_SERVO_SET_FORCE_SAFETY_ON: case PWM_SERVO_ARM: case PWM_SERVO_DISARM: break; diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp index d26f24a441..733fc51485 100644 --- a/src/drivers/pwm_out/PWMOut.cpp +++ b/src/drivers/pwm_out/PWMOut.cpp @@ -768,7 +768,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg) case PWM_SERVO_SET_ARM_OK: case PWM_SERVO_CLEAR_ARM_OK: case PWM_SERVO_SET_FORCE_SAFETY_OFF: - case PWM_SERVO_SET_FORCE_SAFETY_ON: break; case PWM_SERVO_DISARM: diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index c5d077b304..0aac650b9b 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1863,12 +1863,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg) ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC); break; - case PWM_SERVO_SET_FORCE_SAFETY_ON: - PX4_DEBUG("PWM_SERVO_SET_FORCE_SAFETY_ON"); - /* force safety switch on */ - ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC); - break; - case PWM_SERVO_SET_FORCE_FAILSAFE: PX4_DEBUG("PWM_SERVO_SET_FORCE_FAILSAFE"); @@ -2479,17 +2473,6 @@ int PX4IO::custom_command(int argc, char *argv[]) return 0; } - if (!strcmp(verb, "safety_on")) { - int ret = get_instance()->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_ON, 0); - - if (ret != OK) { - PX4_ERR("failed to enable safety (%i)", ret); - return 1; - } - - return 0; - } - if (!strcmp(verb, "debug")) { if (argc <= 1) { PX4_ERR("usage: px4io debug LEVEL");