PX4-Autopilot/ROMFS/px4fmu_common/init.d/rc.interface

#!/bin/sh
#
# Script to configure control interfaces.
#
#
# NOTE: environment variable references:
#  If the dollar sign ('$') is followed by a left bracket ('{') then the
#  variable name is terminated with the right bracket character ('}').
#  Otherwise, the variable name goes to the end of the argument.
#

set OUTPUT_CMD pwm_out
set MIXER_AUX_FILE none
set MIXER_EXTRA_FILE none

set OUTPUT_DEV none
set OUTPUT_AUX_DEV /dev/pwm_output1
set OUTPUT_EXTRA_DEV /dev/pwm_output0

# set these before starting the modules
param set PWM_AUX_OUT ${PWM_AUX_OUT}
param set PWM_MAIN_OUT ${PWM_OUT}

#
# If mount (gimbal) control is enabled and output mode is AUX, set the aux
# mixer to mount (override the airframe-specific MIXER_AUX setting).
#
if param greater -s MNT_MODE_IN -1
then
        if param compare -s MNT_MODE_OUT 0
        then
                set MIXER_AUX mount
        fi
fi

#
# Set the default output mode if none was set.
#
if [ $OUTPUT_MODE = none ]
then
	if [ $USE_IO = yes ]
	then
		# Enable IO output only if IO is present.
		if [ $IO_PRESENT = yes ]
		then
			set OUTPUT_MODE io
			if param greater -s DSHOT_CONFIG 0
			then
				set OUTPUT_CMD dshot
			fi
		fi
	else
		if param greater -s DSHOT_CONFIG 0
		then
			set OUTPUT_MODE dshot
			set OUTPUT_CMD dshot
		else
			set OUTPUT_MODE pwm_out
		fi
	fi
fi

#
# If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
#
if [ $OUTPUT_MODE != none ]
then

	if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]
	then
		if ! pwm_out_sim start -m $OUTPUT_MODE
		then
			tune_control play error
		fi
	fi

	if [ $OUTPUT_MODE = uavcan_esc ]
	then
		if param compare UAVCAN_ENABLE 0
		then
			param set UAVCAN_ENABLE 3
		fi
	fi

	#
	# Start IO for PWM output or RC input if needed.
	#
	if [ $IO_PRESENT = yes ]
	then
		if ! px4io start
		then
			echo "PX4IO start failed"
			tune_control play -t 18 # PROG_PX4IO_ERR
		fi
	fi

	if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
	then
		if ! $OUTPUT_CMD start
		then
			echo "$OUTPUT_CMD start failed"
			tune_control play error
		fi
	fi
fi

if [ $MIXER != none -a $MIXER != skip ]
then
	#
	# Load main mixer.
	#
	if [ $MIXER_AUX = none -a $USE_IO = yes ]
	then
		set MIXER_AUX ${MIXER}
	fi

	if [ "$MIXER_FILE" = none ]
	then
		if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix ]
		then
			# Use the mixer file from the SD-card if it exists.
			set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix
		else
			# Try out the old convention, for backward compatibility.
			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
	fi

	set OUTPUT_DEV /dev/pwm_output0

	if [ $OUTPUT_MODE = uavcan_esc ]
	then
		set OUTPUT_DEV /dev/uavcan/esc
	fi

	if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
	then
		echo "INFO  [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"

	else
		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}"
		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
	fi

else
	if [ $MIXER != skip ]
	then
		echo "ERROR  [init] Mixer undefined"
		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
	fi
fi

if [ $MIXER_AUX != none ]
then
	#
	# Load aux mixer.
	#
	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
	then
		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
	else

		if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
		then
			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
		fi
	fi

	if [ $MIXER_AUX_FILE != none ]
	then
		# Append aux mixer to main device.
		if param greater SYS_HITL 0
		then
			if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
			then
				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
			else
				echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
			fi
		fi
		if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
		then
			if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
			then
				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
			else
				echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
			fi
		else
			echo "INFO  [init] setting PWM_AUX_OUT none"
			set PWM_AUX_OUT none
		fi

		# for DShot do not configure pwm values
		if [ $OUTPUT_CMD != dshot ]
		then
			# Set min / max for aux out and rates.
			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
			fi
		fi
	fi
fi

if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
then
	if [ $PWM_OUT != none ]
	then
		# Set PWM output frequency.
		if [ $PWM_MAIN_RATE != none ]
		then
			pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
		fi
	fi
fi

if [ $EXTRA_MIXER_MODE != none ]
then

	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix ]
	then
		# Use the mixer file from the SD-card if it exists.
		set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix
	else
		# Try out the old convention, for backward compatibility.
		if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix ]
		then
			set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix
		else
			set MIXER_EXTRA_FILE /etc/mixers/${MIXER_EXTRA}.aux.mix
		fi
	fi


	if mixer load ${OUTPUT_EXTRA_DEV} ${MIXER_EXTRA_FILE}
	then
		echo "INFO  [init] Mixer: ${MIXER_EXTRA_FILE} on ${OUTPUT_EXTRA_DEV}"
	else
		echo "ERROR  [init] Failed loading mixer: ${MIXER_EXTRA_FILE}"
		tune_control play -t 20
	fi

	if [ $PWM_EXTRA_OUT != none ]
	then
		# Set PWM output frequency.
		if [ $PWM_EXTRA_RATE != none ]
		then
			pwm rate -c ${PWM_EXTRA_OUT} -r ${PWM_EXTRA_RATE}
		fi
	fi
fi

unset OUTPUT_CMD
unset MIXER_AUX_FILE
unset MIXER_EXTRA_FILE

unset OUTPUT_DEV
unset OUTPUT_AUX_DEV
unset OUTPUT_EXTRA_DEV