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314 lines
6.7 KiB
314 lines
6.7 KiB
#!nsh |
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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 MIXER_AUX_FILE none |
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set OUTPUT_AUX_DEV /dev/pwm_output1 |
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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 compare MNT_MODE_IN -1 |
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then |
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if param compare 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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if ver hwcmp AEROFC_V1 AV_X_V1 CRAZYFLIE MINDPX_V2 NXPHLITE_V3 PX4FMU_V4 OMNIBUS_F4SD SITL |
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then |
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set MIXER_AUX none |
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fi |
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if [ $USE_IO == no ] |
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then |
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set MIXER_AUX none |
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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 ] |
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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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fi |
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else |
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set OUTPUT_MODE fmu |
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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 ] |
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then |
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if [ $OUTPUT_MODE == mkblctrl ] |
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then |
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if [ $MKBLCTRL_MODE == x ] |
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then |
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set MKBLCTRL_ARG "-mkmode x" |
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fi |
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if [ $MKBLCTRL_MODE == + ] |
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then |
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set MKBLCTRL_ARG "-mkmode +" |
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fi |
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if ! mkblctrl $MKBLCTRL_ARG |
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then |
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# Error tune. |
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tune_control play -t 2 |
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fi |
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fi |
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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 |
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then |
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# Error tune. |
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tune_control play -t 2 |
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fi |
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fi |
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if [ $OUTPUT_MODE == fmu ] |
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then |
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if ! fmu mode_$FMU_MODE $FMU_ARGS |
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then |
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echo "FMU start failed" >> $LOG_FILE |
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# Error tune. |
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tune_control play -t 2 |
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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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if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ] |
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then |
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sh /etc/init.d/rc.io |
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fi |
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# |
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# Start IO for 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 [ $OUTPUT_MODE != io ] |
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then |
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sh /etc/init.d/rc.io |
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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 [ -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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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 [ $OUTPUT_MODE == tap_esc ] |
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then |
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set OUTPUT_DEV /dev/tap_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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echo "ERROR [init] Failed loading 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 "ERROR [init] Mixer undefined" |
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echo "ERROR [init] Mixer undefined" >> $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 [ $MIXER_AUX != none -a $AUX_MODE != 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 [ $MIXER_AUX_FILE != none ] |
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then |
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if fmu mode_${AUX_MODE} $FMU_ARGS |
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then |
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# Append aux mixer to main device. |
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if param compare SYS_HITL 1 |
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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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echo "ERROR [init] Failed appending mixer: ${MIXER_AUX_FILE}" >> $LOG_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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echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}" >> $LOG_FILE |
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fi |
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else |
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set PWM_AUX_OUT none |
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set FAILSAFE_AUX none |
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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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set PWM_AUX_OUT none |
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set FAILSAFE_AUX none |
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fi |
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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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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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# |
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# Per channel disarmed settings. |
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# |
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pwm disarmed -c 1 -p p:PWM_AUX_DIS1 -d ${OUTPUT_AUX_DEV} |
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pwm disarmed -c 2 -p p:PWM_AUX_DIS2 -d ${OUTPUT_AUX_DEV} |
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pwm disarmed -c 3 -p p:PWM_AUX_DIS3 -d ${OUTPUT_AUX_DEV} |
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pwm disarmed -c 4 -p p:PWM_AUX_DIS4 -d ${OUTPUT_AUX_DEV} |
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pwm disarmed -c 5 -p p:PWM_AUX_DIS5 -d ${OUTPUT_AUX_DEV} |
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pwm disarmed -c 6 -p p:PWM_AUX_DIS6 -d ${OUTPUT_AUX_DEV} |
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pwm disarmed -c 7 -p p:PWM_AUX_DIS7 -d ${OUTPUT_AUX_DEV} |
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pwm disarmed -c 8 -p p:PWM_AUX_DIS8 -d ${OUTPUT_AUX_DEV} |
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if [ $FAILSAFE_AUX != none ] |
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then |
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pwm failsafe -c ${PWM_AUX_OUT} -p ${FAILSAFE} -d ${OUTPUT_AUX_DEV} |
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fi |
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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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# Set PWM output frequency. |
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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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# Set disarmed, min and max PWM values. |
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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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# |
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# Per channel disarmed settings. |
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# |
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pwm disarmed -c 1 -p p:PWM_MAIN_DIS1 |
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pwm disarmed -c 2 -p p:PWM_MAIN_DIS2 |
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pwm disarmed -c 3 -p p:PWM_MAIN_DIS3 |
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pwm disarmed -c 4 -p p:PWM_MAIN_DIS4 |
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pwm disarmed -c 5 -p p:PWM_MAIN_DIS5 |
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pwm disarmed -c 6 -p p:PWM_MAIN_DIS6 |
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pwm disarmed -c 7 -p p:PWM_MAIN_DIS7 |
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pwm disarmed -c 8 -p p:PWM_MAIN_DIS8 |
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if [ $FAILSAFE != none ] |
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then |
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pwm failsafe -c ${PWM_OUT} -p ${FAILSAFE} -d ${OUTPUT_DEV} |
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fi |
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fi |
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unset MIXER_AUX_FILE |
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unset OUTPUT_AUX_DEV
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