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284 lines
5.8 KiB
284 lines
5.8 KiB
#!/bin/sh |
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# |
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# Script to configure control interfaces. |
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# |
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# |
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# NOTE: environment variable references: |
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# If the dollar sign ('$') is followed by a left bracket ('{') then the |
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# variable name is terminated with the right bracket character ('}'). |
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# Otherwise, the variable name goes to the end of the argument. |
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# |
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set OUTPUT_CMD pwm_out |
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set MIXER_AUX_FILE none |
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set MIXER_EXTRA_FILE none |
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set OUTPUT_DEV none |
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set OUTPUT_AUX_DEV /dev/pwm_output1 |
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set OUTPUT_EXTRA_DEV /dev/pwm_output0 |
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# set these before starting the modules |
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if [ $PWM_AUX_OUT != none ] |
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then |
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param set PWM_AUX_OUT ${PWM_AUX_OUT} |
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fi |
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if [ $PWM_OUT != none ] |
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then |
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param set PWM_MAIN_OUT ${PWM_OUT} |
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fi |
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# |
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# If mount (gimbal) control is enabled and output mode is AUX, set the aux |
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# mixer to mount (override the airframe-specific MIXER_AUX setting). |
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# |
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if param greater -s MNT_MODE_IN -1 |
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then |
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if param compare -s MNT_MODE_OUT 0 |
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then |
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set MIXER_AUX mount |
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fi |
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fi |
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# |
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# Set the default output mode if none was set. |
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# |
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if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ] |
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then |
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if [ $USE_IO = yes ] |
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then |
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# Enable IO output only if IO is present. |
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if [ $IO_PRESENT = yes ] |
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then |
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set OUTPUT_MODE io |
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if param greater -s DSHOT_CONFIG 0 |
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then |
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set OUTPUT_CMD dshot |
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fi |
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fi |
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else |
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if param greater -s DSHOT_CONFIG 0 |
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then |
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set OUTPUT_MODE dshot |
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set OUTPUT_CMD dshot |
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else |
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set OUTPUT_MODE pwm_out |
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fi |
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fi |
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fi |
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# |
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# If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output. |
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# |
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if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ] |
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then |
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if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ] |
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then |
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if ! pwm_out_sim start -m $OUTPUT_MODE |
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then |
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tune_control play error |
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fi |
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fi |
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if [ $OUTPUT_MODE = uavcan_esc ] |
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then |
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if param compare UAVCAN_ENABLE 0 |
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then |
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param set UAVCAN_ENABLE 3 |
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fi |
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fi |
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# |
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# Start IO for PWM output or RC input if needed. |
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# |
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if [ $IO_PRESENT = yes ] |
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then |
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if ! px4io start |
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then |
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echo "PX4IO start failed" |
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tune_control play -t 18 # PROG_PX4IO_ERR |
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fi |
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fi |
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if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ] |
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then |
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if param compare SYS_CTRL_ALLOC 1 |
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then |
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pwm_out start |
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dshot start |
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else |
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if ! $OUTPUT_CMD start |
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then |
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echo "$OUTPUT_CMD start failed" |
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tune_control play error |
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fi |
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fi |
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fi |
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fi |
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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 ${MIXER} |
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fi |
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if [ "$MIXER_FILE" = none ] |
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then |
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if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix ] |
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then |
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# Use the mixer file from the SD-card if it exists. |
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set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix |
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else |
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# Try out the old convention, for backward compatibility. |
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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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fi |
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set OUTPUT_DEV /dev/pwm_output0 |
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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 "INFO [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}" |
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else |
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echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}" |
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tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR |
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fi |
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else |
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if [ $MIXER != skip ] |
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then |
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echo "ERROR [init] Mixer undefined" |
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tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR |
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fi |
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fi |
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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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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 ] |
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then |
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# Append aux mixer to main device. |
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if param greater SYS_HITL 0 |
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then |
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if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE} |
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then |
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echo "INFO [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}" |
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else |
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echo "ERROR [init] Failed appending mixer: ${MIXER_AUX_FILE}" |
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fi |
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fi |
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if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ] |
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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 "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}" |
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else |
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echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}" |
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fi |
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else |
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echo "INFO [init] setting PWM_AUX_OUT none" |
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set PWM_AUX_OUT none |
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fi |
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# for DShot do not configure pwm values |
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if [ $OUTPUT_CMD != dshot ] |
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then |
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# Set min / max for aux out and rates. |
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if [ $PWM_AUX_OUT != none ] |
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then |
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# Set PWM_AUX output frequency. |
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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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fi |
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fi |
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fi |
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fi |
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if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ] |
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then |
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if [ $PWM_OUT != none -a $PWM_MAIN_RATE != none ] |
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then |
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# Set PWM output frequency. |
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if ! param compare SYS_CTRL_ALLOC 1 |
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then |
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pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE} |
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fi |
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fi |
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fi |
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if [ $EXTRA_MIXER_MODE != none ] |
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then |
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if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix ] |
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then |
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# Use the mixer file from the SD-card if it exists. |
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set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix |
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else |
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# Try out the old convention, for backward compatibility. |
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if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix ] |
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then |
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set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix |
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else |
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set MIXER_EXTRA_FILE /etc/mixers/${MIXER_EXTRA}.aux.mix |
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fi |
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fi |
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if mixer load ${OUTPUT_EXTRA_DEV} ${MIXER_EXTRA_FILE} |
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then |
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echo "INFO [init] Mixer: ${MIXER_EXTRA_FILE} on ${OUTPUT_EXTRA_DEV}" |
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else |
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echo "ERROR [init] Failed loading mixer: ${MIXER_EXTRA_FILE}" |
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tune_control play -t 20 |
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fi |
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if [ $PWM_EXTRA_OUT != none ] |
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then |
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# Set PWM output frequency. |
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if [ $PWM_EXTRA_RATE != none ] |
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then |
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pwm rate -c ${PWM_EXTRA_OUT} -r ${PWM_EXTRA_RATE} |
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fi |
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fi |
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fi |
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unset OUTPUT_CMD |
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unset MIXER_AUX_FILE |
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unset MIXER_EXTRA_FILE |
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unset OUTPUT_DEV |
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unset OUTPUT_AUX_DEV |
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unset OUTPUT_EXTRA_DEV
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