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pwm_out multi-instance support

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PX4 uses banks of 8 outputs as a logical structure. Boards that have
more outputs than 8 get multiple instances. This is an arbitrary choice
that helps with overall structure and enables the mixing of different
device classes (like FMU, IO or UAVCAN).
This commit is contained in:
Daniel Agar
2021-02-26 23:35:02 -05:00
committed by Lorenz Meier
parent c1c0a62be5
commit e7722b11eb
5 changed files with 258 additions and 79 deletions
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34
ROMFS/px4fmu_common/init.d/rc.interface
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@@ -32,7 +32,7 @@ fi
# USE_IO is set to 'no' for all boards w/o px4io driver or SYS_USE_IO disabled
if [ $USE_IO = no ]
then
set MIXER_AUX none
set AUX_MODE none
fi
#
@@ -147,6 +147,7 @@ then
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
@@ -199,6 +200,7 @@ then
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
else
@@ -223,6 +225,36 @@ then
fi
fi
if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
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 load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
then
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
# 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
else
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
fi
fi
if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
then
if [ $PWM_OUT != none ]