mirror of https://github.com/ArduPilot/ardupilot
101 lines
2.1 KiB
Plaintext
101 lines
2.1 KiB
Plaintext
#!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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else
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echo "[init] no microSD card found"
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set HAVE_MICROSD 0
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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/bootloader.bin ]
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then
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bl_update /fs/microsd/bootloader.bin
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rm /fs/microsd/bootloader.bin
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else
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fi
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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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