mirror of https://github.com/ArduPilot/ardupilot
458 lines
9.4 KiB
Plaintext
458 lines
9.4 KiB
Plaintext
#!nsh
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# APM startup script for NuttX on PX4
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# To disable APM startup add a /fs/microsd/APM/nostart file
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# To enable mkblctrl startup add a /fs/microsd/APM/mkblctrl file
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# To enable mkblctrl_+ startup add a /fs/microsd/APM/mkblctrl_+ file
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# To enable mkblctrl_x startup add a /fs/microsd/APM/mkblctrl_x file
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# To enable PWM on FMUv1 on ttyS1 add a /fs/microsd/APM/AUXPWM.en file
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set deviceA /dev/ttyACM0
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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 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/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 "binfs already mounted"
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else
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echo "Mounting binfs"
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if mount -t binfs /dev/null /bin
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then
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echo "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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set sketch NONE
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if rm /fs/microsd/APM/boot.log
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then
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echo "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 "/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 "Created APM directory"
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fi
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if [ -f /bin/lsm303d ]
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then
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echo "Detected FMUv2 board"
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set BOARD FMUv2
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else
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echo "Detected FMUv1 board"
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set BOARD FMUv1
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fi
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if [ $BOARD == FMUv1 ]
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then
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set deviceC /dev/ttyS2
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if [ -f /fs/microsd/APM/AUXPWM.en ]
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then
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set deviceD /dev/null
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else
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set deviceD /dev/ttyS1
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fi
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else
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set deviceC /dev/ttyS1
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set deviceD /dev/ttyS2
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fi
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if uorb start
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then
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echo "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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# start mkblctrl driver if configured
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if [ -f /fs/microsd/APM/mkblctrl ]
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then
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echo "Setting up mkblctrl driver"
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echo "Setting up mkblctrl driver" >> $logfile
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mkblctrl -d /dev/pwm_output
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fi
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if [ -f /fs/microsd/APM/mkblctrl_+ ]
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then
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echo "Setting up mkblctrl driver +"
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echo "Setting up mkblctrl driver +" >> $logfile
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mkblctrl -mkmode + -d /dev/pwm_output
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fi
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if [ -f /fs/microsd/APM/mkblctrl_x ]
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then
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echo "Setting up mkblctrl driver x"
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echo "Setting up mkblctrl driver x" >> $logfile
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mkblctrl -mkmode x -d /dev/pwm_output
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fi
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echo "Trying PX4IO board"
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# try the px4io start twice. Some FMUv2 board don't
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# come up the first time
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set HAVE_PX4IO false
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if px4io start norc
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then
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set HAVE_PX4IO true
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else
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# it may be in bootloader mode
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echo Loading /etc/px4io/px4io.bin
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tone_alarm MBABGP
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if px4io update /etc/px4io/px4io.bin
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then
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echo "upgraded PX4IO firmware OK"
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tone_alarm MSPAA
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else
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echo "Failed to upgrade PX4IO firmware"
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tone_alarm MNGGG
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fi
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sleep 1
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if px4io start norc
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then
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set HAVE_PX4IO true
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# play happy tune again
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tone_alarm 1
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fi
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fi
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if [ $HAVE_PX4IO == true ]
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then
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echo "PX4IO board OK"
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if px4io checkcrc /etc/px4io/px4io.bin
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then
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echo "PX4IO CRC OK"
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else
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echo "PX4IO CRC failure"
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echo "PX4IO CRC failure" >> $logfile
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tone_alarm MBABGP
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if px4io safety_on
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then
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echo "PX4IO disarm OK"
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else
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echo "PX4IO disarm failed"
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fi
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sleep 1
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if px4io forceupdate 14662 /etc/px4io/px4io.bin
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then
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sleep 1
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if px4io start norc
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then
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echo "PX4IO restart OK"
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echo "PX4IO restart OK" >> $logfile
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tone_alarm MSPAA
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else
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echo "PX4IO restart failed"
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echo "PX4IO restart failed" >> $logfile
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tone_alarm MNGGG
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sh /etc/init.d/rc.error
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fi
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else
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echo "PX4IO update failed"
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echo "PX4IO update failed" >> $logfile
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tone_alarm MNGGG
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fi
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fi
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else
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echo "No PX4IO board found"
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echo "No PX4IO board found" >> $logfile
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if [ $BOARD == FMUv2 ]
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then
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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 [ $BOARD == FMUv1 -a $deviceD == /dev/ttyS1 ]
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then
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echo "Setting FMU mode_serial"
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fmu mode_serial
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else
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if fmu mode_pwm4
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then
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echo "Set FMU mode_pwm4"
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fi
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fi
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echo "Starting APM sensors"
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if ms5611 start
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then
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echo "ms5611 started OK"
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else
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echo "no ms5611 found"
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echo "No ms5611 found" >> $logfile
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sh /etc/init.d/rc.error
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fi
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if adc start
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then
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echo "adc started OK"
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else
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echo "No adc" >> $logfile
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sh /etc/init.d/rc.error
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fi
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if [ $BOARD == FMUv1 ]
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then
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echo "Starting FMUv1 sensors"
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if hmc5883 -C -T start
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then
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echo "hmc5883 started OK"
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else
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echo "hmc5883 start failed"
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echo "hmc5883 start failed" >> $logfile
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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 "mpu6000 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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if l3gd20 start
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then
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echo "l3gd20 started OK"
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else
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echo "No l3gd20"
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echo "No l3gd20" >> $logfile
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fi
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else
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echo "Starting FMUv2 sensors"
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if hmc5883 -C -T -X start
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then
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echo "Have external hmc5883"
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else
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echo "No external hmc5883"
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fi
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if hmc5883 -C -T -I -R 4 start
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then
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echo "Have internal hmc5883"
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else
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echo "No internal hmc5883"
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fi
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# external MPU6000 is rotated YAW_180 from standard
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if mpu6000 -X -R 4 start
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then
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echo "Found MPU6000 external"
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set HAVE_FMUV3 true
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else
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if mpu9250 -X -R 4 start
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then
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echo "Found MPU9250 external"
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set HAVE_FMUV3 true
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else
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echo "No MPU6000 or MPU9250 external"
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set HAVE_FMUV3 false
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fi
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fi
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if [ $HAVE_FMUV3 == true ]
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then
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# external L3GD20 is rotated YAW_180 from standard
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if l3gd20 -X -R 4 start
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then
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echo "l3gd20 external started OK"
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else
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echo "No l3gd20"
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sh /etc/init.d/rc.error
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fi
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# external LSM303D is rotated YAW_270 from standard
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if lsm303d -X -R 6 start
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then
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echo "lsm303d external started OK"
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else
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echo "No lsm303d"
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sh /etc/init.d/rc.error
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fi
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# internal MPU6000 is rotated ROLL_180_YAW_270 from standard
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if mpu6000 -R 14 start
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then
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echo "Found MPU6000 internal"
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else
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if mpu9250 -R 14 start
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then
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echo "Found MPU9250 internal"
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else
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echo "No MPU6000 or MPU9250"
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echo "No MPU6000 or MPU9250" >> $logfile
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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 hmc5883 -C -T -S -R 8 start
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then
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echo "Found SPI hmc5883"
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fi
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else
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if mpu6000 start
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then
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echo "Found MPU6000"
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else
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if mpu9250 start
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then
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echo "Found MPU9250"
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else
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echo "No MPU6000 or MPU9250"
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echo "No MPU9250" >> $logfile
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fi
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fi
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if l3gd20 start
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then
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echo "l3gd20 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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if lsm303d start
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then
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echo "lsm303d 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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fi
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fi
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# optional ETS airspeed sensor
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if ets_airspeed start
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then
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echo "Found ETS airspeed sensor"
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fi
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if meas_airspeed start
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then
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echo "Found MEAS airspeed sensor"
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fi
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# optional Range Finder sensor
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if ll40ls -X start
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then
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echo "Found external ll40ls sensor"
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fi
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if ll40ls -I start
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then
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echo "Found internal ll40ls sensor"
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fi
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if trone start
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then
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echo "Found trone sensor"
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fi
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if mb12xx start
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then
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echo "Found mb12xx sensor"
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fi
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# optional PX4Flow sensor
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if px4flow start
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then
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echo "Found px4flow sensor"
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fi
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# optional PWM input driver
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if pwm_input start
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then
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echo "started pwm_input driver"
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fi
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echo "Trying PX4IO board"
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if mtd start /fs/mtd
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then
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echo "started mtd driver OK"
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else
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echo "failed to start mtd driver"
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echo "failed to start mtd driver" >> $logfile
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sh /etc/init.d/rc.error
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fi
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if mtd readtest /fs/mtd
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then
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echo "mtd readtest OK"
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else
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echo "failed to read mtd"
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echo "failed to read mtd" >> $logfile
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sh /etc/init.d/rc.error
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fi
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if [ -f /bin/uavcan ]
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then
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if uavcan start 1
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then
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echo "started uavcan OK"
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else
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echo "failed to start uavcan"
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fi
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fi
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# optional oreo leds
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if oreoled start autoupdate
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then
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echo "oreoled started OK"
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fi
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# optional smbus battery monitor
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if batt_smbus -b 2 start
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then
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echo "Found batt_smbus"
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fi
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# optional irlock
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if irlock start
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then
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echo "irlock started"
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fi
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if [ $BOARD == FMUv2 ]
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then
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# the ramtron on FMUv2 is very fast and can handle trillions of
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# writes. This full rw test on each boot ensures it is working
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# properly. We have one board that failed this, so
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# the test is arguably worth having
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if mtd rwtest /fs/mtd
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then
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echo "mtd rwtest OK"
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else
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echo "failed to test mtd"
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echo "failed to test mtd" >> $logfile
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sh /etc/init.d/rc.error
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fi
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fi
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echo Starting ArduPilot $deviceA $deviceC $deviceD
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if ArduPilot -d $deviceA -d2 $deviceC -d3 $deviceD start
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then
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echo ArduPilot 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 "rc.APM finished"
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