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171 lines
3.2 KiB
171 lines
3.2 KiB
#!nsh |
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# |
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# Script to configure control interface |
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# |
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set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers |
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if [ $MIXER != none -a $MIXER != skip ] |
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then |
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# |
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# Load main mixer |
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# |
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if [ $MIXER_AUX == none -a $USE_IO == yes ] |
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then |
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set MIXER_AUX $MIXER.aux |
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fi |
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# Use the mixer file from the SD-card if it exists |
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if [ -f $SDCARD_MIXERS_PATH/$MIXER.main.mix ] |
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then |
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set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.main.mix |
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# Try out the old convention, for backward compatibility |
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else |
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if [ -f $SDCARD_MIXERS_PATH/$MIXER.mix ] |
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then |
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set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.mix |
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else |
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set MIXER_FILE /etc/mixers/$MIXER.main.mix |
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fi |
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fi |
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if [ $OUTPUT_MODE == mkblctrl ] |
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then |
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set OUTPUT_DEV /dev/mkblctrl0 |
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else |
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set OUTPUT_DEV /dev/pwm_output0 |
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fi |
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if [ $OUTPUT_MODE == uavcan_esc ] |
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then |
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set OUTPUT_DEV /dev/uavcan/esc |
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fi |
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if mixer load $OUTPUT_DEV $MIXER_FILE |
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then |
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echo "[i] Mixer: $MIXER_FILE on $OUTPUT_DEV" |
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else |
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echo "[i] Error loading mixer: $MIXER_FILE" |
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echo "ERROR: Could not load mixer: $MIXER_FILE" >> $LOG_FILE |
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tone_alarm $TUNE_ERR |
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fi |
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unset MIXER_FILE |
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else |
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if [ $MIXER != skip ] |
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then |
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echo "[i] Mixer not defined" |
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echo "ERROR: Mixer not defined" >> $LOG_FILE |
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tone_alarm $TUNE_ERR |
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fi |
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fi |
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if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ] |
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then |
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if [ $PWM_OUT != none ] |
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then |
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# |
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# Set PWM output frequency |
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# |
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if [ $PWM_RATE != none ] |
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then |
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pwm rate -c $PWM_OUT -r $PWM_RATE |
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fi |
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# |
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# Set disarmed, min and max PWM values |
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# |
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if [ $PWM_DISARMED != none ] |
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then |
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pwm disarmed -c $PWM_OUT -p $PWM_DISARMED |
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fi |
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if [ $PWM_MIN != none ] |
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then |
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pwm min -c $PWM_OUT -p $PWM_MIN |
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fi |
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if [ $PWM_MAX != none ] |
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then |
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pwm max -c $PWM_OUT -p $PWM_MAX |
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fi |
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fi |
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if [ $FAILSAFE != none ] |
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then |
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pwm failsafe -d $OUTPUT_DEV $FAILSAFE |
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fi |
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fi |
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# check if should load secondary mixer |
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if [ $MIXER_AUX != none ] |
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then |
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# |
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# Load aux mixer |
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# |
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set MIXER_AUX_FILE none |
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set OUTPUT_AUX_DEV /dev/pwm_output1 |
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if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.aux.mix ] |
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then |
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set MIXER_AUX_FILE $SDCARD_MIXERS_PATH/$MIXER_AUX.aux.mix |
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else |
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if [ -f /etc/mixers/$MIXER_AUX.aux.mix ] |
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then |
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set MIXER_AUX_FILE /etc/mixers/$MIXER_AUX.aux.mix |
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fi |
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fi |
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if [ $MIXER_AUX_FILE != none -a $FMU_MODE == pwm ] |
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then |
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if fmu mode_pwm |
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then |
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if mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE |
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then |
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echo "[i] Mixer: $MIXER_AUX_FILE on $OUTPUT_AUX_DEV" |
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else |
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echo "[i] Error loading mixer: $MIXER_AUX_FILE" |
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echo "ERROR: Could not load mixer: $MIXER_AUX_FILE" >> $LOG_FILE |
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fi |
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else |
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echo "ERROR: Could not start: fmu mode_pwm" >> $LOG_FILE |
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tone_alarm $TUNE_ERR |
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fi |
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if [ $PWM_AUX_OUT != none ] |
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then |
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# |
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# Set PWM_AUX output frequency |
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# |
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if [ $PWM_AUX_RATE != none ] |
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then |
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pwm rate -c $PWM_AUX_OUT -r $PWM_AUX_RATE -d $OUTPUT_AUX_DEV |
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fi |
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# |
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# Set disarmed, min and max PWM_AUX values |
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# |
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if [ $PWM_AUX_DISARMED != none ] |
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then |
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pwm disarmed -c $PWM_AUX_OUT -p $PWM_AUX_DISARMED -d $OUTPUT_AUX_DEV |
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fi |
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if [ $PWM_AUX_MIN != none ] |
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then |
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pwm min -c $PWM_AUX_OUT -p $PWM_AUX_MIN -d $OUTPUT_AUX_DEV |
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fi |
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if [ $PWM_AUX_MAX != none ] |
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then |
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pwm max -c $PWM_AUX_OUT -p $PWM_AUX_MAX -d $OUTPUT_AUX_DEV |
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fi |
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fi |
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if [ $FAILSAFE_AUX != none ] |
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then |
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pwm failsafe -d $OUTPUT_AUX_DEV $FAILSAFE |
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fi |
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fi |
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fi |
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unset OUTPUT_DEV
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