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pwm_out, dshot: remove mode_* handling and capture ioctl's

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They now use all unused pins, whereas camera_capture, camera_trigger and
pwm_input modules start before to reserve their pins.
This commit is contained in:
Beat Küng
2021-09-08 12:14:38 +02:00
committed by Daniel Agar
parent 062dd28f4d
commit 1ee423e3c8
10 changed files with 71 additions and 2263 deletions
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ROMFS/px4fmu_common/init.d/rcS
+8 -55
View File
@@ -22,10 +22,8 @@ set +e
#
set R /
set AUTOCNF no
set AUX_MODE pwm
set FCONFIG /fs/microsd/etc/config.txt
set FEXTRAS /fs/microsd/etc/extras.txt
set FMU_MODE pwm
set FRC /fs/microsd/etc/rc.txt
set IOFW "/etc/extras/px4_io-v2_default.bin"
set IO_PRESENT no
@@ -376,52 +374,9 @@ else
commander start
fi
# Sensors on the PWM interface bank.
if param compare -s SENS_EN_LL40LS 1
then
# Clear pins 5 and 6.
set FMU_MODE pwm4
set AUX_MODE pwm4
fi
# Check if ATS is enabled
if param compare FD_EXT_ATS_EN 1
then
# Clear pins 5 and 6.
set FMU_MODE pwm4
set AUX_MODE pwm4
fi
if param greater -s TRIG_MODE 0
then
if param compare TRIG_PINS_EX 0
then
# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
if param compare TRIG_PINS 56
then
# clear pins 5 and 6
set FMU_MODE pwm4
set AUX_MODE pwm4
else
if param compare TRIG_PINS 78
then
# clear pins 7 and 8
set FMU_MODE pwm6
set AUX_MODE pwm6
else
set FMU_MODE none
set AUX_MODE none
fi
fi
else
if param compare TRIG_PINS_EX 12288
then
set FMU_MODE pwm12
set AUX_MODE pwm12
fi
fi
camera_trigger start
camera_feedback start
fi
@@ -449,14 +404,7 @@ else
rc_input start $RC_INPUT_ARGS
fi
#
# Configure vehicle type specific parameters.
# Note: rc.vehicle_setup is the entry point for rc.interface,
# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
#
. ${R}etc/init.d/rc.vehicle_setup
# Camera capture driver
# Camera capture driver (before pwm_out)
if param greater -s CAM_CAP_FBACK 0
then
if camera_capture start
@@ -465,6 +413,13 @@ else
fi
fi
#
# Configure vehicle type specific parameters.
# Note: rc.vehicle_setup is the entry point for rc.interface,
# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
#
. ${R}etc/init.d/rc.vehicle_setup
#
# Start the navigator.
#
@@ -564,10 +519,8 @@ fi
#
unset R
unset AUTOCNF
unset AUX_MODE
unset FCONFIG
unset FEXTRAS
unset FMU_MODE
unset FRC
unset IO_PRESENT
unset IOFW