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