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Move UART mapping comments back to top level rcS script. Deprecate PWM_ACHDIS and replace with PWM_AUX_OUT and set PWM_AUX_DIS value directly in vtol airframe config files. Replace tone_alarm instances with tune_control and default tune enums, and relocate an OUTPUT_MODE == fmu logic block in rcS.

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This commit is contained in:
mcsauder
2018-07-24 18:44:55 +02:00
committed by Beat Küng
parent 4818e3abe0
commit ee3e34cd06
12 changed files with 113 additions and 123 deletions
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ROMFS/px4fmu_common/init.d/rcS
+56 -19
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@@ -13,6 +13,37 @@ set +e
#
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#
#------------------------------------------------------------------------------
#
# UART mapping on FMUv2/3/4:
#
# UART1 /dev/ttyS0 IO debug (except v4, there ttyS0 is the wifi)
# USART2 /dev/ttyS1 TELEM1 (flow control)
# USART3 /dev/ttyS2 TELEM2 (flow control)
# UART4
# UART7 CONSOLE
# UART8 SERIAL4
#
#------------------------------------------------------------------------------
#
# UART mapping on FMUv5:
#
# UART1 /dev/ttyS0 GPS
# USART2 /dev/ttyS1 TELEM1 (flow control)
# USART3 /dev/ttyS2 TELEM2 (flow control)
# UART4 /dev/ttyS3 TELEM4
# USART6 /dev/ttyS4 TELEM3 (flow control)
# UART7 /dev/ttyS5
# UART8 /dev/ttyS6 CONSOLE
#
#------------------------------------------------------------------------------
#
# UART mapping on OMNIBUSF4SD:
#
# USART1 /dev/ttyS0 SerialRX
# USART4 /dev/ttyS1 TELEM1
# USART6 /dev/ttyS2 GPS
#
#
# Set default paramter values
@@ -38,7 +69,6 @@ set MK_MODE none
set MKBLCTRL_ARG ""
set OUTPUT_MODE none
set PARAM_FILE /fs/microsd/params
set PWM_ACHDIS none
set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
set PWM_AUX_MAX p:PWM_AUX_MAX
set PWM_AUX_MIN p:PWM_AUX_MIN
@@ -49,7 +79,6 @@ set PWM_MAX p:PWM_MAX
set PWM_MIN p:PWM_MIN
set PWM_OUT none
set PWM_RATE p:PWM_RATE
set TUNE_ERR "ML<<CP4CP4CP4CP4CP4"
set USE_IO no
set VEHICLE_TYPE none
@@ -76,7 +105,9 @@ if mount -t vfat /dev/mmcsd0 /fs/microsd
then
if hardfault_log check
then
tone_alarm error
# Error tune.
tune_control play -t 2
if hardfault_log commit
then
hardfault_log reset
@@ -92,7 +123,7 @@ else
echo "INFO [init] card formatted"
else
echo "ERROR [init] format failed"
tone_alarm MNBG
tune_control play -m MNBG
set LOG_FILE /dev/null
fi
else
@@ -107,8 +138,8 @@ else
# Run no SD alarm.
if [ $LOG_FILE == /dev/null ]
then
# Play SOS.
tone_alarm error
# Error tune.
tune_control play -t 2
fi
fi
@@ -131,7 +162,7 @@ else
tone_alarm start
#
# play startup tone.
# Play startup tone.
#
tune_control play -t 1
@@ -316,7 +347,7 @@ else
then
set IO_PRESENT yes
else
tone_alarm MLL32CP8MB
tune_control play -m MLL32CP8MB
if px4io start
then
@@ -336,16 +367,18 @@ else
if px4io checkcrc ${IO_FILE}
then
echo "PX4IO CRC OK after updating" >> $LOG_FILE
tone_alarm MLL8CDE
tune_control play -m MLL8CDE
set IO_PRESENT yes
else
echo "PX4IO update failed" >> $LOG_FILE
tone_alarm ${TUNE_ERR}
# Error tune.
tune_control play -t 2
fi
else
echo "PX4IO update failed" >> $LOG_FILE
tune_control play -m ${TUNE_ERR}
# Error tune.
tune_control play -t 2
fi
fi
fi
@@ -361,7 +394,8 @@ else
if [ $USE_IO == yes -a $IO_PRESENT == no ]
then
echo "PX4IO not found" >> $LOG_FILE
tune_control play -m ${TUNE_ERR}
# Error tune.
tune_control play -t 2
fi
#
@@ -429,7 +463,8 @@ else
fi
fi
else
tone_alarm ${TUNE_ERR}
# Error tune.
tune_control play -t 2
fi
fi
@@ -475,7 +510,8 @@ else
if mkblctrl $MKBLCTRL_ARG
then
else
tune_control play -m ${TUNE_ERR}
# Error tune.
tune_control play -t 2
fi
fi
@@ -484,7 +520,8 @@ else
if pwm_out_sim start
then
else
tune_control play -m ${TUNE_ERR}
# Error tune.
tune_control play -t 2
fi
fi
@@ -499,7 +536,8 @@ else
then
else
echo "FMU start failed" >> $LOG_FILE
tune_control play -m ${TUNE_ERR}
# Error tune.
tune_control play -t 2
fi
fi
@@ -524,7 +562,8 @@ else
then
else
echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
tune_control play -m ${TUNE_ERR}
# Error tune.
tune_control play -t 2
fi
fi
fi
@@ -612,7 +651,6 @@ unset MKBLCTRL_ARG
unset OUTPUT_DEV
unset OUTPUT_MODE
unset PARAM_FILE
unset PWM_ACHDIS
unset PWM_AUX_DISARMED
unset PWM_AUX_MAX
unset PWM_AUX_MIN
@@ -623,7 +661,6 @@ unset PWM_RATE
unset PWM_DISARMED
unset PWM_MAX
unset PWM_MIN
unset TUNE_ERR
unset USE_IO
unset VEHICLE_TYPE