forked from Archive/PX4-Autopilot
235 lines
3.3 KiB
Plaintext
235 lines
3.3 KiB
Plaintext
#!nsh
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#
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# PX4FMU startup script for test hackery.
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#
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set unit_test_failure 0
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uorb start
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if rgbled start
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then
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rgbled rgb 20 20 255
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fi
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if sercon
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then
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echo "[i] USB interface connected"
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# Try to get an USB console
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nshterm /dev/ttyACM0 &
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fi
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#
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# Try to mount the microSD card.
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#
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mount -t vfat /dev/mmcsd0 /fs/microsd
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if [ $? == 0 ]
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then
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echo "[i] card mounted at /fs/microsd"
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# Start playing the startup tune
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tone_alarm start
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else
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echo "[i] no microSD card found"
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# Play SOS
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tone_alarm error
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fi
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#
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# Start a minimal system
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#
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#
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# Load parameters
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#
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set PARAM_FILE /fs/microsd/params
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if mtd start
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then
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set PARAM_FILE /fs/mtd_params
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fi
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param select $PARAM_FILE
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if param load
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then
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echo "[param] Loaded: $PARAM_FILE"
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else
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echo "[param] FAILED loading $PARAM_FILE"
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fi
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if [ -f /etc/extras/px4io-v2_default.bin ]
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then
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set io_file /etc/extras/px4io-v2_default.bin
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else
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set io_file /etc/extras/px4io-v1_default.bin
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fi
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if px4io start
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then
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echo "PX4IO OK"
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else
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set unit_test_failure 1
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set unit_test_failure_list "${unit_test_failure_list} px4io_start"
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fi
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if px4io checkcrc $io_file
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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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tone_alarm MBABGP
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if px4io forceupdate 14662 $io_file
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then
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if px4io start
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then
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echo "PX4IO restart OK"
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tone_alarm MSPAA
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else
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echo "PX4IO restart failed"
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tone_alarm MNGGG
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set unit_test_failure 1
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set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
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fi
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else
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echo "PX4IO update failed"
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tone_alarm MNGGG
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set unit_test_failure 1
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set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
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fi
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fi
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#
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# The presence of this file suggests we're running a mount stress test
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#
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if [ -f /fs/microsd/mount_test_cmds.txt ]
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then
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tests mount
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fi
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#
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# Run unit tests at board boot, reporting failure as needed.
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# Add new unit tests using the same pattern as below.
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#
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if mavlink_tests
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then
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else
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set unit_test_failure 1
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set unit_test_failure_list "${unit_test_failure_list} mavlink_tests"
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fi
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if commander_tests
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then
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else
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set unit_test_failure 1
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set unit_test_failure_list "${unit_test_failure_list} commander_tests"
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fi
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if uorb test
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then
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else
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set unit_test_failure 1
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set unit_test_failure_list "${unit_test_failure_list} uorb_tests"
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fi
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# Start all sensors on all boards
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ms5611 start
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adc start
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if mpu6000 -X start
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then
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fi
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if mpu6000 start
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then
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fi
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if l3gd20 -X start
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then
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fi
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if l3gd20 start
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then
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fi
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# MAG selection
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if param compare SENS_EXT_MAG 2
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then
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if hmc5883 -I start
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then
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fi
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else
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# Use only external as primary
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if param compare SENS_EXT_MAG 1
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then
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if hmc5883 -X start
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then
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fi
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else
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# auto-detect the primary, prefer external
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if hmc5883 start
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then
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fi
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fi
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fi
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if ver hwcmp PX4FMU_V2
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then
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if lsm303d -X start
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then
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fi
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if lsm303d start
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then
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fi
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if ms5611 -X start
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then
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fi
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fi
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if meas_airspeed start
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then
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else
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if ets_airspeed start
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then
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else
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if ets_airspeed start -b 1
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then
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fi
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fi
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fi
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if sensors start
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then
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fi
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# Check for flow sensor
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if px4flow start
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then
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fi
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if ll40ls start
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then
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fi
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if tests all
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then
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else
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set unit_test_failure 1
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set unit_test_failure_list "${unit_test_failure_list} system_tests"
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fi
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if [ $unit_test_failure == 0 ]
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then
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echo
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echo "All Unit Tests PASSED"
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rgbled rgb 20 255 20
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else
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echo
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echo "Some Unit Tests FAILED:${unit_test_failure_list}"
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rgbled rgb 255 20 20
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fi
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ver all
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free
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