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48 lines
1002 B
48 lines
1002 B
#!nsh |
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# |
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# UAVCAN initialization script. |
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# |
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# |
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# Mirriring the UAVCAN_ENABLE param value to an eponymous environment variable. |
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# TODO there should be a smarter way. |
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# |
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set UAVCAN_ENABLE 0 |
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if param compare UAVCAN_ENABLE 1 |
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then |
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set UAVCAN_ENABLE 1 |
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fi |
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if param compare UAVCAN_ENABLE 2 |
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then |
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set UAVCAN_ENABLE 2 |
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fi |
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echo "[i] UAVCAN_ENABLE is $UAVCAN_ENABLE" |
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# |
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# Starting stuff according to UAVCAN_ENABLE value |
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# |
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if [ $UAVCAN_ENABLE -ge 1 ] |
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then |
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if uavcan start |
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then |
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# First sensor publisher to initialize takes lowest instance ID |
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# This delay ensures that UAVCAN-interfaced sensors would be allocated on lowest instance IDs |
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sleep 1 |
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echo "[i] UAVCAN started" |
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else |
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echo "[i] ERROR: Could not start UAVCAN" |
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tone_alarm $TUNE_ERR |
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fi |
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fi |
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if [ $UAVCAN_ENABLE -ge 2 ] |
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then |
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if uavcan start fw |
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then |
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echo "[i] UAVCAN servers started" |
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else |
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echo "[i] ERROR: Could not start UAVCAN servers" |
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tone_alarm $TUNE_ERR |
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fi |
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fi
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