PX4: clean up whitespace in startup scripts
This commit is contained in:
Jonathan Challinger
Andrew Tridgell
parent
d2ca2d2e0e
commit
246cf113df
@ -14,75 +14,75 @@ set deviceA /dev/ttyACM0
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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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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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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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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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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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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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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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echo "Created APM directory"
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fi
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if [ -f /bin/px4io ]
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then
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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 [ -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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else
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echo "Detected FMUv4 board"
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set BOARD FMUv4
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echo "Detected FMUv4 board"
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set BOARD FMUv4
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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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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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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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@ -116,34 +116,34 @@ fi
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if [ -f /bin/px4io ]
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then
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echo "Trying PX4IO board"
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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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# 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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# play happy tune again
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tone_alarm 1
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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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fi
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else
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set HAVE_PX4IO false
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echo "No PX4IO support"
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@ -157,7 +157,7 @@ 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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echo "PX4IO CRC failure" >> $logfile
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tone_alarm MBABGP
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if px4io safety_on
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@ -171,22 +171,22 @@ then
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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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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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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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@ -195,19 +195,19 @@ else
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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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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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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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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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@ -250,19 +250,19 @@ 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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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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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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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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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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@ -282,16 +282,16 @@ then
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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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echo "mpu6000 started OK"
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else
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sh /etc/init.d/rc.error
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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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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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echo "No l3gd20"
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echo "No l3gd20" >> $logfile
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fi
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fi
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@ -331,61 +331,61 @@ 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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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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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 -a 16 -X -R 6 start
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then
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echo "lsm303d external started OK"
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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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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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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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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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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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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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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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echo "l3gd20 started OK"
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else
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sh /etc/init.d/rc.error
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sh /etc/init.d/rc.error
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fi
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if lsm303d -a 16 start
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then
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echo "lsm303d started OK"
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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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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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@ -409,12 +409,12 @@ then
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if mpu6000 -R 2 -T 20608 start
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then
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echo "Found ICM-20608 internal"
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echo "Found ICM-20608 internal"
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fi
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if mpu9250 -R 2 start
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then
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echo "Found mpu9250 internal"
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echo "Found mpu9250 internal"
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fi
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fi
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@ -458,10 +458,10 @@ fi
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# optional PX4Flow sensor
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if [ -f /bin/px4flow ]
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then
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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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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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fi
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# optional PWM input driver
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@ -27,11 +27,11 @@ set USB autoconnect
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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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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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set HAVE_RGBLED 0
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fi
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#
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@ -40,38 +40,38 @@ fi
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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 1
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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 1
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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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tone_alarm 1
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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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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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tone_alarm 1
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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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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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@ -82,14 +82,14 @@ fi
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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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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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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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@ -97,34 +97,34 @@ fi
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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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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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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
|
||||
echo "Opening USB nsh"
|
||||
else
|
||||
echo "booting with no microSD"
|
||||
set HAVE_MICROSD 1
|
||||
fi
|
||||
if usb_connected
|
||||
then
|
||||
echo "Opening USB nsh"
|
||||
else
|
||||
echo "booting with no microSD"
|
||||
set HAVE_MICROSD 1
|
||||
fi
|
||||
fi
|
||||
|
||||
# if this is an APM build then there will be a rc.APM script
|
||||
# from an EXTERNAL_SCRIPTS build option
|
||||
if [ -f /etc/init.d/rc.APM -a $HAVE_MICROSD == 1 -a ! -f /fs/microsd/APM/nostart ]
|
||||
then
|
||||
echo Running rc.APM
|
||||
# if APM startup is successful then nsh will exit
|
||||
sh /etc/init.d/rc.APM
|
||||
echo Running rc.APM
|
||||
# if APM startup is successful then nsh will exit
|
||||
sh /etc/init.d/rc.APM
|
||||
else
|
||||
nshterm /dev/ttyACM0 &
|
||||
nshterm /dev/ttyACM0 &
|
||||
fi
|
||||
|
||||
Loading…
Reference in New Issue
Block a user