mirror of https://github.com/ArduPilot/ardupilot
141 lines
3.2 KiB
Plaintext
141 lines
3.2 KiB
Plaintext
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#!nsh
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#
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# VRBRAIN startup script.
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#
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# This script is responsible for:
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#
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# - mounting the microSD card (if present)
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# - running the user startup script from the microSD card (if present)
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# - detecting the configuration of the system and picking a suitable
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# startup script to continue with
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#
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# Note: DO NOT add configuration-specific commands to this script;
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# add them to the per-configuration scripts instead.
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#
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#
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# Default to auto-start mode. An init script on the microSD card
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# can change this to prevent automatic startup of the flight script.
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#
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set MODE autostart
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set USB autoconnect
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#
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#
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if rgbled start
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then
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set HAVE_RGBLED 1
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# show startup white
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rgbled rgb 16 16 16
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else
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set HAVE_RGBLED 0
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fi
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#
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# Try to mount the microSD card.
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#
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echo "[init] looking for microSD..."
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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echo "[init] card mounted at /fs/microsd"
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set HAVE_MICROSD 1
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# Start playing the startup tune
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if [ -f /etc/tones/startup ]
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then
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tone_alarm /etc/tones/startup
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else
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tone_alarm 1
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fi
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else
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set HAVE_MICROSD 0
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echo "Trying format of microSD"
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tone_alarm MBAGP
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if mkfatfs /dev/mmcsd0
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then
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echo "microSD card formatted"
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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echo "format succeeded"
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set HAVE_MICROSD 1
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if [ -f /etc/tones/startup ]
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then
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tone_alarm /etc/tones/startup
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else
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tone_alarm 1
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fi
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else
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echo "mount failed"
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tone_alarm MNBG
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if [ $HAVE_RGBLED == 1 ]
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then
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rgbled rgb 16 0 0
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fi
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fi
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else
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echo "format failed"
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tone_alarm MNBGG
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if [ $HAVE_RGBLED == 1 ]
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then
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rgbled rgb 16 0 0
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fi
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fi
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fi
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#
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# Look for an init script on the microSD card.
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#
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# To prevent automatic startup in the current flight mode,
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# the script should set MODE to some other value.
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#
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if [ -f /fs/microsd/etc/rc ]
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then
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echo "[init] reading /fs/microsd/etc/rc"
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sh /fs/microsd/etc/rc
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fi
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# Also consider rc.txt files
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if [ -f /fs/microsd/etc/rc.txt ]
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then
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echo "[init] reading /fs/microsd/etc/rc.txt"
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sh /fs/microsd/etc/rc.txt
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fi
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#
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# Check for USB host
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#
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if [ $USB != autoconnect ]
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then
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echo "[init] not connecting USB"
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else
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if sercon
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then
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echo "[init] USB interface connected"
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else
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echo "[init] No USB connected"
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fi
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fi
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if [ $HAVE_MICROSD == 0 ]
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then
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if usb_connected
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then
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echo "Opening USB nsh"
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else
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echo "booting with no microSD"
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set HAVE_MICROSD 1
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fi
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fi
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# if this is an APM build then there will be a rc.APM script
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# from an EXTERNAL_SCRIPTS build option
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if [ -f /etc/init.d/rc.APM -a $HAVE_MICROSD == 1 -a ! -f /fs/microsd/APM/nostart ]
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then
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echo Running rc.APM
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# if APM startup is successful then nsh will exit
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sh /etc/init.d/rc.APM
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else
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nshterm /dev/ttyACM0 &
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fi
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