mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 10:33:35 +08:00
support up to PWM 14
- generate PWM_MAIN 1-14
- generate PWM_AUX 1-8
- generate PWM_EXTRA 1-8
- px4io and pwm_out directly read configuration parameters
- only available and active physical outputs are actually shown for configuration
- overall saves flash despite adding many new parameters
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
cdd6df4e27
commit
318c7e83b3
@@ -21,8 +21,6 @@ if [ $AUTOCNF = yes ]
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then
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param set CBRK_IO_SAFETY 22027
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param set FAILSAFE 100
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param set MC_ROLL_P 2.2
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param set MC_ROLLRATE_P 0.06
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param set MC_ROLLRATE_I 0.2
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@@ -226,13 +226,11 @@ then
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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: pwm_out mode_pwm"
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tune_control play -t 18 # tune 18 = PROG_PX4IO_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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# for DShot do not configure pwm values
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@@ -246,74 +244,7 @@ then
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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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# Set disarmed, min and max PWM_AUX values.
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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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#
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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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#
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# Per channel min settings.
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#
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pwm min -c 1 -p p:PWM_AUX_MIN1 -d ${OUTPUT_AUX_DEV}
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pwm min -c 2 -p p:PWM_AUX_MIN2 -d ${OUTPUT_AUX_DEV}
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pwm min -c 3 -p p:PWM_AUX_MIN3 -d ${OUTPUT_AUX_DEV}
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pwm min -c 4 -p p:PWM_AUX_MIN4 -d ${OUTPUT_AUX_DEV}
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pwm min -c 5 -p p:PWM_AUX_MIN5 -d ${OUTPUT_AUX_DEV}
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pwm min -c 6 -p p:PWM_AUX_MIN6 -d ${OUTPUT_AUX_DEV}
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pwm min -c 7 -p p:PWM_AUX_MIN7 -d ${OUTPUT_AUX_DEV}
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pwm min -c 8 -p p:PWM_AUX_MIN8 -d ${OUTPUT_AUX_DEV}
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#
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# Per channel max settings.
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#
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pwm max -c 1 -p p:PWM_AUX_MAX1 -d ${OUTPUT_AUX_DEV}
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pwm max -c 2 -p p:PWM_AUX_MAX2 -d ${OUTPUT_AUX_DEV}
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pwm max -c 3 -p p:PWM_AUX_MAX3 -d ${OUTPUT_AUX_DEV}
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pwm max -c 4 -p p:PWM_AUX_MAX4 -d ${OUTPUT_AUX_DEV}
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pwm max -c 5 -p p:PWM_AUX_MAX5 -d ${OUTPUT_AUX_DEV}
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pwm max -c 6 -p p:PWM_AUX_MAX6 -d ${OUTPUT_AUX_DEV}
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pwm max -c 7 -p p:PWM_AUX_MAX7 -d ${OUTPUT_AUX_DEV}
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pwm max -c 8 -p p:PWM_AUX_MAX8 -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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#
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# Per channel failsafe settings.
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#
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pwm failsafe -c 1 -p p:PWM_AUX_FAIL1 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 2 -p p:PWM_AUX_FAIL2 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 3 -p p:PWM_AUX_FAIL3 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 4 -p p:PWM_AUX_FAIL4 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 5 -p p:PWM_AUX_FAIL5 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 6 -p p:PWM_AUX_FAIL6 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 7 -p p:PWM_AUX_FAIL7 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 8 -p p:PWM_AUX_FAIL8 -d ${OUTPUT_AUX_DEV}
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fi
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fi
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fi
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@@ -327,74 +258,7 @@ then
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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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#
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# Per channel min settings.
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#
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pwm min -c 1 -p p:PWM_MAIN_MIN1
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pwm min -c 2 -p p:PWM_MAIN_MIN2
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pwm min -c 3 -p p:PWM_MAIN_MIN3
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pwm min -c 4 -p p:PWM_MAIN_MIN4
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pwm min -c 5 -p p:PWM_MAIN_MIN5
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pwm min -c 6 -p p:PWM_MAIN_MIN6
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pwm min -c 7 -p p:PWM_MAIN_MIN7
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pwm min -c 8 -p p:PWM_MAIN_MIN8
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#
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# Per channel max settings.
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#
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pwm max -c 1 -p p:PWM_MAIN_MAX1
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pwm max -c 2 -p p:PWM_MAIN_MAX2
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pwm max -c 3 -p p:PWM_MAIN_MAX3
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pwm max -c 4 -p p:PWM_MAIN_MAX4
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pwm max -c 5 -p p:PWM_MAIN_MAX5
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pwm max -c 6 -p p:PWM_MAIN_MAX6
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pwm max -c 7 -p p:PWM_MAIN_MAX7
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pwm max -c 8 -p p:PWM_MAIN_MAX8
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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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#
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# Per channel failsafe settings.
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#
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pwm failsafe -c 1 -p p:PWM_MAIN_FAIL1
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pwm failsafe -c 2 -p p:PWM_MAIN_FAIL2
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pwm failsafe -c 3 -p p:PWM_MAIN_FAIL3
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pwm failsafe -c 4 -p p:PWM_MAIN_FAIL4
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pwm failsafe -c 5 -p p:PWM_MAIN_FAIL5
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pwm failsafe -c 6 -p p:PWM_MAIN_FAIL6
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pwm failsafe -c 7 -p p:PWM_MAIN_FAIL7
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pwm failsafe -c 8 -p p:PWM_MAIN_FAIL8
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fi
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if [ $EXTRA_MIXER_MODE != none ]
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@@ -420,7 +284,6 @@ 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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echo "ERROR [init] Failed loading mixer: ${MIXER_EXTRA_FILE}" >> $LOG_FILE
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tune_control play -t 20
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fi
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@@ -431,75 +294,7 @@ then
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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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# Set disarmed, min and max PWM values.
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if [ $PWM_EXTRA_DISARM != none ]
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then
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pwm disarmed -c ${PWM_EXTRA_OUT} -p ${PWM_EXTRA_DISARM}
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fi
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if [ $PWM_EXTRA_MIN != none ]
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then
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pwm min -c ${PWM_EXTRA_OUT} -p ${PWM_EXTRA_MIN}
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fi
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if [ $PWM_EXTRA_MAX != none ]
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then
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pwm max -c ${PWM_EXTRA_OUT} -p ${PWM_EXTRA_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_EXTRA_DIS1 -d ${OUTPUT_EXTRA_DEV}
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pwm disarmed -c 2 -p p:PWM_EXTRA_DIS2 -d ${OUTPUT_EXTRA_DEV}
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pwm disarmed -c 3 -p p:PWM_EXTRA_DIS3 -d ${OUTPUT_EXTRA_DEV}
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pwm disarmed -c 4 -p p:PWM_EXTRA_DIS3 -d ${OUTPUT_EXTRA_DEV}
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pwm disarmed -c 5 -p p:PWM_EXTRA_DIS5 -d ${OUTPUT_EXTRA_DEV}
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pwm disarmed -c 6 -p p:PWM_EXTRA_DIS3 -d ${OUTPUT_EXTRA_DEV}
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pwm disarmed -c 7 -p p:PWM_EXTRA_DIS7 -d ${OUTPUT_EXTRA_DEV}
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pwm disarmed -c 8 -p p:PWM_EXTRA_DIS8 -d ${OUTPUT_EXTRA_DEV}
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#
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# Per channel min settings.
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#
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pwm min -c 1 -p p:PWM_EXTRA_MIN1 -d ${OUTPUT_EXTRA_DEV}
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pwm min -c 2 -p p:PWM_EXTRA_MIN2 -d ${OUTPUT_EXTRA_DEV}
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pwm min -c 3 -p p:PWM_EXTRA_MIN3 -d ${OUTPUT_EXTRA_DEV}
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pwm min -c 4 -p p:PWM_EXTRA_MIN4 -d ${OUTPUT_EXTRA_DEV}
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pwm min -c 5 -p p:PWM_EXTRA_MIN5 -d ${OUTPUT_EXTRA_DEV}
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pwm min -c 6 -p p:PWM_EXTRA_MIN6 -d ${OUTPUT_EXTRA_DEV}
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pwm min -c 7 -p p:PWM_EXTRA_MIN7 -d ${OUTPUT_EXTRA_DEV}
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pwm min -c 8 -p p:PWM_EXTRA_MIN8 -d ${OUTPUT_EXTRA_DEV}
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#
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# Per channel max settings.
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#
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pwm max -c 1 -p p:PWM_EXTRA_MAX1 -d ${OUTPUT_EXTRA_DEV}
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pwm max -c 2 -p p:PWM_EXTRA_MAX2 -d ${OUTPUT_EXTRA_DEV}
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pwm max -c 3 -p p:PWM_EXTRA_MAX3 -d ${OUTPUT_EXTRA_DEV}
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pwm max -c 4 -p p:PWM_EXTRA_MAX4 -d ${OUTPUT_EXTRA_DEV}
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pwm max -c 5 -p p:PWM_EXTRA_MAX5 -d ${OUTPUT_EXTRA_DEV}
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pwm max -c 6 -p p:PWM_EXTRA_MAX6 -d ${OUTPUT_EXTRA_DEV}
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pwm max -c 7 -p p:PWM_EXTRA_MAX7 -d ${OUTPUT_EXTRA_DEV}
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pwm max -c 8 -p p:PWM_EXTRA_MAX8 -d ${OUTPUT_EXTRA_DEV}
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if [ $FAILSAFE_EXTRA != none ]
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then
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pwm failsafe -c ${PWM_EXTRA_OUT} -p ${FAILSAFE} -d ${OUTPUT_EXTRA_DEV}
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fi
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#
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# Per channel failsafe settings.
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#
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pwm failsafe -c 1 -p p:PWM_EXTRA_FAIL1 -d ${OUTPUT_EXTRA_DEV}
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pwm failsafe -c 2 -p p:PWM_EXTRA_FAIL2 -d ${OUTPUT_EXTRA_DEV}
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pwm failsafe -c 3 -p p:PWM_EXTRA_FAIL3 -d ${OUTPUT_EXTRA_DEV}
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pwm failsafe -c 4 -p p:PWM_EXTRA_FAIL4 -d ${OUTPUT_EXTRA_DEV}
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pwm failsafe -c 5 -p p:PWM_EXTRA_FAIL5 -d ${OUTPUT_EXTRA_DEV}
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pwm failsafe -c 6 -p p:PWM_EXTRA_FAIL6 -d ${OUTPUT_EXTRA_DEV}
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pwm failsafe -c 7 -p p:PWM_EXTRA_FAIL7 -d ${OUTPUT_EXTRA_DEV}
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pwm failsafe -c 8 -p p:PWM_EXTRA_FAIL8 -d ${OUTPUT_EXTRA_DEV}
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fi
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unset OUTPUT_CMD
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@@ -24,9 +24,6 @@ set R /
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set AUTOCNF no
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set AUX_MODE pwm
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set DATAMAN_OPT ""
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set FAILSAFE none
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set FAILSAFE_AUX none
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set FAILSAFE_EXTRA none
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set FCONFIG /fs/microsd/etc/config.txt
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set FEXTRAS /fs/microsd/etc/extras.txt
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set FMU_MODE pwm
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@@ -580,8 +577,6 @@ unset R
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unset AUTOCNF
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unset AUX_MODE
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unset DATAMAN_OPT
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unset FAILSAFE
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unset FAILSAFE_AUX
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unset FCONFIG
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unset FEXTRAS
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unset FMU_MODE
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