mirror of https://github.com/ArduPilot/ardupilot
VRBRAIN: Added missing files. Added *.vbrain files to git ignore.
This commit is contained in:
Emile Castelnuovo
Andrew Tridgell
parent
7fe4847b6c
commit
1d28acd182
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@ -11,6 +11,7 @@
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*.pyc
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*.tlog
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*.tlog.raw
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*.vbrain
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*.zip
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.*.swo
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.*.swp
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@ -0,0 +1,148 @@
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#!nsh
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# APM startup script for NuttX on VRBRAIN
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# To disable APM startup add a /fs/microsd/APM/nostart file
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# check for an old file called APM, caused by
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# a bug in an earlier firmware release
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if [ -f /fs/microsd/APM ]
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then
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echo "[APM] APM file found - renaming"
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mv /fs/microsd/APM /fs/microsd/APM.old
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fi
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if [ -f /fs/microsd/APM/nostart ]
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then
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echo "[APM] APM/nostart found - skipping APM startup"
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sh /etc/init.d/rc.error
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fi
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# mount binfs so we can find the built-in apps
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if [ -f /bin/reboot ]
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then
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echo "[APM] binfs already mounted"
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else
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echo "[APM] Mounting binfs"
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if mount -t binfs /dev/null /bin
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then
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echo "[APM] binfs mounted OK"
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else
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sh /etc/init.d/rc.error
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fi
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fi
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if rm /fs/microsd/APM/boot.log
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then
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echo "[APM] Removed old boot.log"
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fi
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set logfile /fs/microsd/APM/BOOT.LOG
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if [ ! -f /bin/ArduPilot ]
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then
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echo "[APM] /bin/ArduPilot not found"
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sh /etc/init.d/rc.error
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fi
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if mkdir /fs/microsd/APM > /dev/null
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then
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echo "[APM] Created APM directory"
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fi
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echo "[APM] Starting UORB"
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if uorb start
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then
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echo "[APM] UORB started OK"
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else
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sh /etc/init.d/rc.error
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fi
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echo "[APM] Starting ADC"
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if adc start
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then
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echo "[APM] ADC started OK"
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else
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sh /etc/init.d/rc.error
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fi
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echo "[APM] Starting APM sensors"
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if ms5611 start
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then
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echo "[APM] MS5611 started OK"
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else
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echo "[APM] MS5611 start failed"
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sh /etc/init.d/rc.error
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fi
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if hmc5883 start
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then
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echo "[APM] HMC5883 started OK"
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else
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echo "[APM] HMC5883 start failed"
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sh /etc/init.d/rc.error
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fi
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if mpu6000 start
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then
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echo "[APM] MPU6000 started OK"
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else
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echo "[APM] MPU6000 start failed"
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sh /etc/init.d/rc.error
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fi
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echo "[APM] Starting MTD driver"
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if mtd start /fs/mtd
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then
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echo "[APM] MTD driver started OK"
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else
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echo "[APM] MTD driver start failed"
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sh /etc/init.d/rc.error
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fi
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echo "[APM] MTD driver read test"
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if mtd readtest /fs/mtd
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then
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echo "[APM] MTD driver readtest OK"
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else
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echo "[APM] MTD driver failed to read"
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sh /etc/init.d/rc.error
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fi
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echo "[APM] Starting VROUTPUT driver"
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vroutput mode_pwm
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#if vroutput mode_pwm
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#then
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# echo "[APM] VROUTPUT driver started OK"
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#else
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# echo "[APM] VROUTPUT driver start failed"
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# sh /etc/init.d/rc.error
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#fi
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echo "[APM] Starting VRINPUT driver"
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vrinput start
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#if vrinput start
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#then
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# echo "[APM] VRINPUT driver started OK"
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#else
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# echo "[APM] VRINPUT driver start failed"
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# sh /etc/init.d/rc.error
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#fi
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set sketch NONE
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set deviceA /dev/ttyACM0
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set deviceC /dev/ttyS2
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echo "[APM] Starting ArduPilot" $deviceA $deviceC
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if ArduPilot -d $deviceA -d2 $deviceC start
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then
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echo "[APM] ArduPilot started OK"
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else
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echo "[APM] ArduPilot start failed"
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sh /etc/init.d/rc.error
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fi
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echo "[APM] Exiting from nsh shell"
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exit
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echo "[APM] Script finished"
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@ -0,0 +1,121 @@
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#!nsh
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# APM startup script for NuttX on VRBRAIN
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# mount binfs so we can find the built-in apps
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if [ -f /bin/reboot ]
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then
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echo "[APMNS] binfs already mounted"
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else
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echo "[APMNS] Mounting binfs"
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if mount -t binfs /dev/null /bin
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then
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echo "[APMNS] binfs mounted OK"
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else
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sh /etc/init.d/rc.error
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fi
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fi
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if [ ! -f /bin/ArduPilot ]
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then
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echo "[APMNS] /bin/ArduPilot not found"
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sh /etc/init.d/rc.error
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fi
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echo "[APMNS] Starting UORB"
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if uorb start
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then
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echo "[APMNS] UORB started OK"
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else
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sh /etc/init.d/rc.error
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fi
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echo "[APMNS] Starting ADC"
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if adc start
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then
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echo "[APMNS] ADC started OK"
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else
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sh /etc/init.d/rc.error
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fi
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echo "[APMNS] Starting APM sensors"
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if ms5611 start
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then
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echo "[APMNS] MS5611 started OK"
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else
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echo "[APMNS] MS5611 start failed"
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sh /etc/init.d/rc.error
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fi
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if hmc5883 start
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then
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echo "[APMNS] HMC5883 started OK"
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else
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echo "[APMNS] HMC5883 start failed"
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sh /etc/init.d/rc.error
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fi
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if mpu6000 start
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then
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echo "[APMNS] MPU6000 started OK"
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else
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echo "[APMNS] MPU6000 start failed"
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sh /etc/init.d/rc.error
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fi
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echo "[APMNS] Starting MTD driver"
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if mtd start /fs/mtd
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then
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echo "[APMNS] MTD driver started OK"
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else
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echo "[APMNS] MTD driver start failed"
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sh /etc/init.d/rc.error
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fi
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echo "[APMNS] MTD driver read test"
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if mtd readtest /fs/mtd
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then
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echo "[APMNS] MTD driver readtest OK"
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else
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echo "[APMNS] MTD driver failed to read"
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sh /etc/init.d/rc.error
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fi
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echo "[APMNS] Starting VROUTPUT driver"
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vroutput mode_pwm
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#if vroutput mode_pwm
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#then
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# echo "[APMNS] VROUTPUT driver started OK"
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#else
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# echo "[APMNS] VROUTPUT driver start failed"
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# sh /etc/init.d/rc.error
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#fi
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echo "[APMNS] Starting VRINPUT driver"
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vrinput start
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#if vrinput start
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#then
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# echo "[APMNS] VRINPUT driver started OK"
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#else
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# echo "[APMNS] VRINPUT driver start failed"
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# sh /etc/init.d/rc.error
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#fi
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set sketch NONE
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set deviceA /dev/ttyACM0
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set deviceC /dev/ttyS2
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echo "[APMNS] Starting ArduPilot" $deviceA $deviceC
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if ArduPilot -d $deviceA -d2 $deviceC start
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then
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echo "[APMNS] ArduPilot started OK"
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else
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echo "[APMNS] ArduPilot start failed"
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sh /etc/init.d/rc.error
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fi
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echo "[APMNS] Exiting from nsh shell"
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exit
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echo "[APMNS] Script finished"
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@ -0,0 +1,14 @@
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echo "Error in startup"
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tone_alarm MNCC
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nshterm /dev/ttyACM0 &
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sleep 1
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nshterm /dev/ttyS0 &
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sleep 1
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exit
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@ -0,0 +1,97 @@
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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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# 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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tone_alarm start
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else
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echo "[init] no microSD card found"
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set HAVE_MICROSD 0
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# Play SOS
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tone_alarm 2
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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 == 1 ]
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then
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if [ ! -f /fs/microsd/APM/nostart ]
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then
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if [ -f /etc/init.d/rc.APM ]
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then
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echo "[init] 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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else
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nshterm /dev/ttyACM0 &
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fi
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else
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if [ -f /etc/init.d/rc.APMNS ]
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then
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echo "[init] Running rc.APM without SD"
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# if APM startup is successful then nsh will exit
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sh /etc/init.d/rc.APMNS
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else
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nshterm /dev/ttyACM0 &
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fi
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fi
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