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AP_IOMCU: iofirmware: remove saftey PWM

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This commit is contained in:
Iampete1 2021-08-29 13:17:40 +01:00 committed by Andrew Tridgell
parent c1a2379504
commit cc03b2975c
3 changed files with 1 additions and 16 deletions
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11
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
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@ -607,15 +607,6 @@ bool AP_IOMCU_FW::handle_code_write()
break; break;
} }
case PAGE_SAFETY_PWM: {
uint16_t offset = rx_io_packet.offset, num_values = rx_io_packet.count;
if (offset + num_values > sizeof(reg_safety_pwm.pwm)/2) {
return false;
}
memcpy((&reg_safety_pwm.pwm[0])+offset, &rx_io_packet.regs[0], num_values*2);
break;
}
case PAGE_FAILSAFE_PWM: { case PAGE_FAILSAFE_PWM: {
uint16_t offset = rx_io_packet.offset, num_values = rx_io_packet.count; uint16_t offset = rx_io_packet.offset, num_values = rx_io_packet.count;
if (offset + num_values > sizeof(reg_failsafe_pwm.pwm)/2) { if (offset + num_values > sizeof(reg_failsafe_pwm.pwm)/2) {
@ -750,7 +741,7 @@ void AP_IOMCU_FW::fill_failsafe_pwm(void)
if (reg_status.flag_safety_off) { if (reg_status.flag_safety_off) {
reg_direct_pwm.pwm[i] = reg_failsafe_pwm.pwm[i]; reg_direct_pwm.pwm[i] = reg_failsafe_pwm.pwm[i];
} else { } else {
reg_direct_pwm.pwm[i] = reg_safety_pwm.pwm[i]; reg_direct_pwm.pwm[i] = 0;
} }
} }
if (mixing.enabled) { if (mixing.enabled) {

5
libraries/AP_IOMCU/iofirmware/iofirmware.h
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@ -94,11 +94,6 @@ public:
uint16_t pwm[IOMCU_MAX_CHANNELS]; uint16_t pwm[IOMCU_MAX_CHANNELS];
} reg_failsafe_pwm; } reg_failsafe_pwm;
// PAGE_SAFETY_PWM
struct {
uint16_t pwm[IOMCU_MAX_CHANNELS];
} reg_safety_pwm;
// output rates // output rates
struct { struct {
uint16_t freq; uint16_t freq;

1
libraries/AP_IOMCU/iofirmware/ioprotocol.h
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@ -54,7 +54,6 @@ enum iopage {
PAGE_SETUP = 50, PAGE_SETUP = 50,
PAGE_DIRECT_PWM = 54, PAGE_DIRECT_PWM = 54,
PAGE_FAILSAFE_PWM = 55, PAGE_FAILSAFE_PWM = 55,
PAGE_SAFETY_PWM = 108,
PAGE_MIXING = 200, PAGE_MIXING = 200,
}; };