forked from Archive/PX4-Autopilot
137 lines
2.7 KiB
Plaintext
Executable File
137 lines
2.7 KiB
Plaintext
Executable File
#!nsh
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#
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# PX4FMU 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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# Start playing the startup tune
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#
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tone_alarm start
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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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else
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echo "[init] no microSD card found"
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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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#
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# If we are still in flight mode, work out what airframe
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# configuration we have and start up accordingly.
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#
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if [ $MODE != autostart ]
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then
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echo "[init] automatic startup cancelled by user script"
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else
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echo "[init] detecting attached hardware..."
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#
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# Assume that we are PX4FMU in standalone mode
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#
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set BOARD PX4FMU
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#
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# Are we attached to a PX4IOAR (AR.Drone carrier board)?
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#
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if boardinfo test name PX4IOAR
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then
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set BOARD PX4IOAR
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if [ -f /etc/init.d/rc.PX4IOAR ]
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then
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echo "[init] reading /etc/init.d/rc.PX4IOAR"
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usleep 500
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sh /etc/init.d/rc.PX4IOAR
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fi
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else
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echo "[init] PX4IOAR not detected"
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fi
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#
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# Are we attached to a PX4IO?
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#
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if boardinfo test name PX4IO
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then
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set BOARD PX4IO
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if [ -f /etc/init.d/rc.PX4IO ]
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then
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echo "[init] reading /etc/init.d/rc.PX4IO"
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usleep 500
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sh /etc/init.d/rc.PX4IO
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fi
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else
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echo "[init] PX4IO not detected"
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fi
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#
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# Looks like we are stand-alone
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#
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if [ $BOARD == PX4FMU ]
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then
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echo "[init] no expansion board detected"
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if [ -f /etc/init.d/rc.standalone ]
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then
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echo "[init] reading /etc/init.d/rc.standalone"
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sh /etc/init.d/rc.standalone
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fi
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fi
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#
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# We may not reach here if the airframe-specific script exits the shell.
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#
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echo "[init] startup done."
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fi
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