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PX4: added automatic IO firmware update

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This commit is contained in:
Andrew Tridgell 2013-12-14 16:14:28 +11:00
parent db254866e5
commit 1144b4f3d7
1 changed files with 58 additions and 58 deletions
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116
mk/PX4/ROMFS/init.d/rc.APM
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@ -4,7 +4,10 @@
# To disable APM startup add a /fs/microsd/APM/nostart file
# To enable mkblctrl startup add a /fs/microsd/APM/mkblctrl file
# To enable mavlink on ttys0 add a /fs/microsd/APM/mavlink-ttys0 file
# To enable uartD on FMUv1 on ttyS1 add a /fs/microsd/APM/uartD.en
# file
# enable uartD by default on PX4v1
set deviceA /dev/ttyACM0
@ -45,34 +48,6 @@ then
sh /etc/init.d/rc.error
fi
########################
# PX4IO upgrade handling
echo checking for /etc/px4io/px4io.bin
if [ -f /etc/px4io/px4io.bin ]
then
echo "Checking for new px4io firmware"
if cmp /etc/px4io/px4io.bin /fs/microsd/px4io.loaded
then
echo "No new px4io firmware"
else
echo Loading /etc/px4io/px4io.bin
tone_alarm MBABGP
echo Loading /etc/px4io/px4io.bin > /fs/microsd/px4io_update.log
if px4io update /etc/px4io/px4io.bin
then
cp /etc/px4io/px4io.bin /fs/microsd/px4io.loaded
echo Loaded /etc/px4io/px4io.bin OK >> /fs/microsd/px4io_update.log
tone_alarm MSPAA
else
echo Failed loading /etc/px4io/px4io.bin >> /fs/microsd/px4io_update.log
echo "check Safety Button" >> /fs/microsd/APM/px4io_update.log
echo "Failed to upgrade PX4IO firmware"
tone_alarm MNGGG
fi
fi
fi
if mkdir /fs/microsd/APM > /dev/null
then
echo "Created APM directory"
@ -87,16 +62,18 @@ else
set BOARD FMUv1
fi
if [ -f /fs/microsd/APM/mavlink-ttys0 ]
if [ $BOARD == FMUv1 ]
then
set deviceC /dev/ttyS0
else
if [ $BOARD == FMUv1 ]
set deviceC /dev/ttyS2
if [ -f /fs/microsd/APM/uartD.en ]
then
set deviceC /dev/ttyS2
set deviceD /dev/ttyS1
else
set deviceC /dev/ttyS1
set deviceD /dev/null
fi
else
set deviceC /dev/ttyS1
set deviceD /dev/ttyS2
fi
if uorb start
@ -114,8 +91,18 @@ if px4io start
then
set HAVE_PX4IO true
else
tone_alarm MNGG
sleep 2
# it may be in bootloader mode
echo Loading /etc/px4io/px4io.bin
tone_alarm MBABGP
if px4io update /etc/px4io/px4io.bin
then
echo "upgraded PX4IO firmware OK"
tone_alarm MSPAA
else
echo "Failed to upgrade PX4IO firmware"
tone_alarm MNGGG
fi
sleep 1
if px4io start
then
set HAVE_PX4IO true
@ -128,12 +115,33 @@ if [ $HAVE_PX4IO == true ]
then
echo "PX4IO board OK"
echo "PX4IO board OK" >> $logfile
echo "Setting FMU mode_pwm"
fmu mode_pwm
if [ $BOARD == FMUv1 -a $deviceC == /dev/ttyS1 ]
if px4io checkcrc /etc/px4io/px4io.bin
then
# ttyS1 is used for PWM output for 4 extra channels
set deviceC /dev/ttyS2
echo "PX4IO CRC OK"
echo "PX4IO CRC OK" >> $logfile
else
echo "PX4IO CRC failure"
echo "PX4IO CRC failure" >> $logfile
tone_alarm MBABGP
if px4io forceupdate 14662 /etc/px4io/px4io.bin
then
sleep 1
if px4io start
then
echo "PX4IO restart OK"
echo "PX4IO restart OK" >> $logfile
tone_alarm MSPAA
else
echo "PX4IO restart failed"
echo "PX4IO restart failed" >> $logfile
tone_alarm MNGGG
sh /etc/init.d/rc.error
fi
else
echo "PX4IO update failed"
echo "PX4IO update failed" >> $logfile
tone_alarm MNGGG
fi
fi
else
echo "No PX4IO board found"
@ -152,15 +160,15 @@ else
echo "Setting up mkblctrl driver" >> $logfile
mkblctrl -mkmode x
fi
fi
echo "Setting up PX4FMU direct mode"
fmu mode_pwm
if [ $BOARD == FMUv1 -a $deviceC == /dev/ttyS1 ]
then
# ttyS1 is used for PWM output when there
# is no IO board
set deviceC /dev/ttyS2
fi
if [ $BOARD == FMUv1 -a $deviceD == /dev/ttyS1 ]
then
echo "Setting FMU mode_serial"
fmu mode_serial
else
echo "Setting FMU mode_pwm"
fmu mode_pwm
fi
@ -261,14 +269,6 @@ else
sh /etc/init.d/rc.error
fi
# if starting on the console, tell nsh to exit
# this prevents it from chewing bytes
if [ $deviceC == /dev/ttyS0 ]
then
echo "Exiting from nsh shell"
exit
fi
echo "rc.APM finished"
echo "rc.APM finished" >> $logfile