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e7722b11eb
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).
313 lines
6.5 KiB
Bash
313 lines
6.5 KiB
Bash
#!/bin/sh
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#
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# Script to configure control interfaces.
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#
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#
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# NOTE: environment variable references:
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# If the dollar sign ('$') is followed by a left bracket ('{') then the
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# variable name is terminated with the right bracket character ('}').
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# Otherwise, the variable name goes to the end of the argument.
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#
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set OUTPUT_CMD pwm_out
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set MIXER_AUX_FILE none
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set MIXER_EXTRA_FILE none
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set OUTPUT_DEV none
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set OUTPUT_AUX_DEV /dev/pwm_output1
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set OUTPUT_EXTRA_DEV /dev/pwm_output0
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#
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# If mount (gimbal) control is enabled and output mode is AUX, set the aux
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# mixer to mount (override the airframe-specific MIXER_AUX setting).
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#
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if param greater -s MNT_MODE_IN -1
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then
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if param compare -s MNT_MODE_OUT 0
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then
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set MIXER_AUX mount
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fi
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fi
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# USE_IO is set to 'no' for all boards w/o px4io driver or SYS_USE_IO disabled
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if [ $USE_IO = no ]
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then
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set AUX_MODE none
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fi
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#
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# Set the default output mode if none was set.
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#
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if [ $OUTPUT_MODE = none ]
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then
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if [ $USE_IO = yes ]
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then
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# Enable IO output only if IO is present.
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if [ $IO_PRESENT = yes ]
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then
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set OUTPUT_MODE io
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if param greater -s DSHOT_CONFIG 0
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then
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set OUTPUT_CMD dshot
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fi
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fi
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else
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if param greater -s DSHOT_CONFIG 0
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then
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set OUTPUT_MODE dshot
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set OUTPUT_CMD dshot
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else
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set OUTPUT_MODE pwm_out
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fi
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fi
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fi
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#
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# If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
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#
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if [ $OUTPUT_MODE != none ]
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then
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if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]
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then
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if ! pwm_out_sim start -m $OUTPUT_MODE
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then
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tune_control play error
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fi
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fi
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if [ $OUTPUT_MODE = $OUTPUT_CMD ]
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then
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if ! $OUTPUT_CMD mode_$FMU_MODE
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then
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echo "$OUTPUT_CMD start failed"
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tune_control play error
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fi
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fi
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if [ $OUTPUT_MODE = uavcan_esc ]
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then
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if param compare UAVCAN_ENABLE 0
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then
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param set UAVCAN_ENABLE 3
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fi
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fi
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if [ $OUTPUT_MODE = io ]
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then
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. ${R}etc/init.d/rc.io
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fi
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#
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# Start IO for RC input if needed.
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#
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if [ $IO_PRESENT = yes ]
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then
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if [ $OUTPUT_MODE != io ]
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then
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. ${R}etc/init.d/rc.io
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fi
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fi
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fi
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if [ $MIXER != none -a $MIXER != skip ]
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then
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#
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# Load main mixer.
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#
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if [ $MIXER_AUX = none -a $USE_IO = yes ]
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then
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set MIXER_AUX ${MIXER}
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fi
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if [ "$MIXER_FILE" = none ]
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then
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if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix ]
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then
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# Use the mixer file from the SD-card if it exists.
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set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix
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else
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# Try out the old convention, for backward compatibility.
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if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.mix ]
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then
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set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.mix
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else
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set MIXER_FILE /etc/mixers/${MIXER}.main.mix
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fi
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fi
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fi
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set OUTPUT_DEV /dev/pwm_output0
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if [ $OUTPUT_MODE = uavcan_esc ]
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then
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set OUTPUT_DEV /dev/uavcan/esc
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fi
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if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
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then
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echo "INFO [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
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else
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echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}"
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tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
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fi
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else
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if [ $MIXER != skip ]
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then
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echo "ERROR [init] Mixer undefined"
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tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
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fi
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fi
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if [ $MIXER_AUX != none -a $AUX_MODE != none ]
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then
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#
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# Load aux mixer.
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#
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if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
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then
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set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
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else
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if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
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then
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set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
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fi
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fi
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if [ $MIXER_AUX_FILE != none ]
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then
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if $OUTPUT_CMD mode_${AUX_MODE}
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then
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# Append aux mixer to main device.
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if param greater SYS_HITL 0
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then
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if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
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then
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echo "INFO [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
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else
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echo "ERROR [init] Failed appending mixer: ${MIXER_AUX_FILE}"
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fi
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fi
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if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
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then
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if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
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then
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echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
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else
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echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
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fi
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else
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echo "INFO [init] setting PWM_AUX_OUT none"
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set PWM_AUX_OUT 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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fi
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# for DShot do not configure pwm values
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if [ $OUTPUT_CMD != dshot ]
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then
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# Set min / max for aux out and rates.
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if [ $PWM_AUX_OUT != none ]
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then
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# Set PWM_AUX output frequency.
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if [ $PWM_AUX_RATE != none ]
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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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fi
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fi
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fi
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fi
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if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
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then
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#
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# Load aux mixer.
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#
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if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
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then
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set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
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else
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if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
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then
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set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
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fi
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fi
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if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
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then
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echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
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# Set PWM_AUX output frequency.
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if [ $PWM_AUX_RATE != none ]
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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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else
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echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
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fi
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fi
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if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
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then
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if [ $PWM_OUT != none ]
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then
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# Set PWM output frequency.
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if [ $PWM_MAIN_RATE != none ]
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then
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pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
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fi
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fi
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fi
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if [ $EXTRA_MIXER_MODE != none ]
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then
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if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix ]
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then
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# Use the mixer file from the SD-card if it exists.
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set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix
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else
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# Try out the old convention, for backward compatibility.
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if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix ]
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then
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set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix
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else
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set MIXER_EXTRA_FILE /etc/mixers/${MIXER_EXTRA}.aux.mix
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fi
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fi
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if mixer load ${OUTPUT_EXTRA_DEV} ${MIXER_EXTRA_FILE}
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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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tune_control play -t 20
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fi
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if [ $PWM_EXTRA_OUT != none ]
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then
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# Set PWM output frequency.
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if [ $PWM_EXTRA_RATE != none ]
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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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fi
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fi
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unset OUTPUT_CMD
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unset MIXER_AUX_FILE
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unset MIXER_EXTRA_FILE
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unset OUTPUT_DEV
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unset OUTPUT_AUX_DEV
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unset OUTPUT_EXTRA_DEV
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