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VRBRAIN: Added missing files. Added *.vbrain files to git ignore.

master
Emile Castelnuovo 11 years ago committed by Andrew Tridgell
parent
7fe4847b6c
commit
1d28acd182
5 changed files with 381 additions and 0 deletions
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  1. 1
      .gitignore
  2. 148
      mk/VRBRAIN/ROMFS/init.d/rc.APM
  3. 121
      mk/VRBRAIN/ROMFS/init.d/rc.APMNS
  4. 14
      mk/VRBRAIN/ROMFS/init.d/rc.error
  5. 97
      mk/VRBRAIN/ROMFS/init.d/rcS

1
.gitignore vendored
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@ -11,6 +11,7 @@
*.pyc *.pyc
*.tlog *.tlog
*.tlog.raw *.tlog.raw
*.vbrain
*.zip *.zip
.*.swo .*.swo
.*.swp .*.swp

148
mk/VRBRAIN/ROMFS/init.d/rc.APM
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@ -0,0 +1,148 @@
#!nsh
# APM startup script for NuttX on VRBRAIN
# To disable APM startup add a /fs/microsd/APM/nostart file
# check for an old file called APM, caused by
# a bug in an earlier firmware release
if [ -f /fs/microsd/APM ]
then
echo "[APM] APM file found - renaming"
mv /fs/microsd/APM /fs/microsd/APM.old
fi
if [ -f /fs/microsd/APM/nostart ]
then
echo "[APM] APM/nostart found - skipping APM startup"
sh /etc/init.d/rc.error
fi
# mount binfs so we can find the built-in apps
if [ -f /bin/reboot ]
then
echo "[APM] binfs already mounted"
else
echo "[APM] Mounting binfs"
if mount -t binfs /dev/null /bin
then
echo "[APM] binfs mounted OK"
else
sh /etc/init.d/rc.error
fi
fi
if rm /fs/microsd/APM/boot.log
then
echo "[APM] Removed old boot.log"
fi
set logfile /fs/microsd/APM/BOOT.LOG
if [ ! -f /bin/ArduPilot ]
then
echo "[APM] /bin/ArduPilot not found"
sh /etc/init.d/rc.error
fi
if mkdir /fs/microsd/APM > /dev/null
then
echo "[APM] Created APM directory"
fi
echo "[APM] Starting UORB"
if uorb start
then
echo "[APM] UORB started OK"
else
sh /etc/init.d/rc.error
fi
echo "[APM] Starting ADC"
if adc start
then
echo "[APM] ADC started OK"
else
sh /etc/init.d/rc.error
fi
echo "[APM] Starting APM sensors"
if ms5611 start
then
echo "[APM] MS5611 started OK"
else
echo "[APM] MS5611 start failed"
sh /etc/init.d/rc.error
fi
if hmc5883 start
then
echo "[APM] HMC5883 started OK"
else
echo "[APM] HMC5883 start failed"
sh /etc/init.d/rc.error
fi
if mpu6000 start
then
echo "[APM] MPU6000 started OK"
else
echo "[APM] MPU6000 start failed"
sh /etc/init.d/rc.error
fi
echo "[APM] Starting MTD driver"
if mtd start /fs/mtd
then
echo "[APM] MTD driver started OK"
else
echo "[APM] MTD driver start failed"
sh /etc/init.d/rc.error
fi
echo "[APM] MTD driver read test"
if mtd readtest /fs/mtd
then
echo "[APM] MTD driver readtest OK"
else
echo "[APM] MTD driver failed to read"
sh /etc/init.d/rc.error
fi
echo "[APM] Starting VROUTPUT driver"
vroutput mode_pwm
#if vroutput mode_pwm
#then
# echo "[APM] VROUTPUT driver started OK"
#else
# echo "[APM] VROUTPUT driver start failed"
# sh /etc/init.d/rc.error
#fi
echo "[APM] Starting VRINPUT driver"
vrinput start
#if vrinput start
#then
# echo "[APM] VRINPUT driver started OK"
#else
# echo "[APM] VRINPUT driver start failed"
# sh /etc/init.d/rc.error
#fi
set sketch NONE
set deviceA /dev/ttyACM0
set deviceC /dev/ttyS2
echo "[APM] Starting ArduPilot" $deviceA $deviceC
if ArduPilot -d $deviceA -d2 $deviceC start
then
echo "[APM] ArduPilot started OK"
else
echo "[APM] ArduPilot start failed"
sh /etc/init.d/rc.error
fi
echo "[APM] Exiting from nsh shell"
exit
echo "[APM] Script finished"

121
mk/VRBRAIN/ROMFS/init.d/rc.APMNS
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@ -0,0 +1,121 @@
#!nsh
# APM startup script for NuttX on VRBRAIN
# mount binfs so we can find the built-in apps
if [ -f /bin/reboot ]
then
echo "[APMNS] binfs already mounted"
else
echo "[APMNS] Mounting binfs"
if mount -t binfs /dev/null /bin
then
echo "[APMNS] binfs mounted OK"
else
sh /etc/init.d/rc.error
fi
fi
if [ ! -f /bin/ArduPilot ]
then
echo "[APMNS] /bin/ArduPilot not found"
sh /etc/init.d/rc.error
fi
echo "[APMNS] Starting UORB"
if uorb start
then
echo "[APMNS] UORB started OK"
else
sh /etc/init.d/rc.error
fi
echo "[APMNS] Starting ADC"
if adc start
then
echo "[APMNS] ADC started OK"
else
sh /etc/init.d/rc.error
fi
echo "[APMNS] Starting APM sensors"
if ms5611 start
then
echo "[APMNS] MS5611 started OK"
else
echo "[APMNS] MS5611 start failed"
sh /etc/init.d/rc.error
fi
if hmc5883 start
then
echo "[APMNS] HMC5883 started OK"
else
echo "[APMNS] HMC5883 start failed"
sh /etc/init.d/rc.error
fi
if mpu6000 start
then
echo "[APMNS] MPU6000 started OK"
else
echo "[APMNS] MPU6000 start failed"
sh /etc/init.d/rc.error
fi
echo "[APMNS] Starting MTD driver"
if mtd start /fs/mtd
then
echo "[APMNS] MTD driver started OK"
else
echo "[APMNS] MTD driver start failed"
sh /etc/init.d/rc.error
fi
echo "[APMNS] MTD driver read test"
if mtd readtest /fs/mtd
then
echo "[APMNS] MTD driver readtest OK"
else
echo "[APMNS] MTD driver failed to read"
sh /etc/init.d/rc.error
fi
echo "[APMNS] Starting VROUTPUT driver"
vroutput mode_pwm
#if vroutput mode_pwm
#then
# echo "[APMNS] VROUTPUT driver started OK"
#else
# echo "[APMNS] VROUTPUT driver start failed"
# sh /etc/init.d/rc.error
#fi
echo "[APMNS] Starting VRINPUT driver"
vrinput start
#if vrinput start
#then
# echo "[APMNS] VRINPUT driver started OK"
#else
# echo "[APMNS] VRINPUT driver start failed"
# sh /etc/init.d/rc.error
#fi
set sketch NONE
set deviceA /dev/ttyACM0
set deviceC /dev/ttyS2
echo "[APMNS] Starting ArduPilot" $deviceA $deviceC
if ArduPilot -d $deviceA -d2 $deviceC start
then
echo "[APMNS] ArduPilot started OK"
else
echo "[APMNS] ArduPilot start failed"
sh /etc/init.d/rc.error
fi
echo "[APMNS] Exiting from nsh shell"
exit
echo "[APMNS] Script finished"

14
mk/VRBRAIN/ROMFS/init.d/rc.error
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@ -0,0 +1,14 @@
echo "Error in startup"
tone_alarm MNCC
nshterm /dev/ttyACM0 &
sleep 1
nshterm /dev/ttyS0 &
sleep 1
exit

97
mk/VRBRAIN/ROMFS/init.d/rcS
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@ -0,0 +1,97 @@
#!nsh
#
# VRBRAIN startup script.
#
# This script is responsible for:
#
# - mounting the microSD card (if present)
# - running the user startup script from the microSD card (if present)
# - detecting the configuration of the system and picking a suitable
# startup script to continue with
#
# Note: DO NOT add configuration-specific commands to this script;
# add them to the per-configuration scripts instead.
#
#
# Default to auto-start mode. An init script on the microSD card
# can change this to prevent automatic startup of the flight script.
#
set MODE autostart
set USB autoconnect
#
# Try to mount the microSD card.
#
echo "[init] looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "[init] card mounted at /fs/microsd"
set HAVE_MICROSD 1
# Start playing the startup tune
tone_alarm start
else
echo "[init] no microSD card found"
set HAVE_MICROSD 0
# Play SOS
tone_alarm 2
fi
#
# Look for an init script on the microSD card.
#
# To prevent automatic startup in the current flight mode,
# the script should set MODE to some other value.
#
if [ -f /fs/microsd/etc/rc ]
then
echo "[init] reading /fs/microsd/etc/rc"
sh /fs/microsd/etc/rc
fi
# Also consider rc.txt files
if [ -f /fs/microsd/etc/rc.txt ]
then
echo "[init] reading /fs/microsd/etc/rc.txt"
sh /fs/microsd/etc/rc.txt
fi
#
# Check for USB host
#
if [ $USB != autoconnect ]
then
echo "[init] not connecting USB"
else
if sercon
then
echo "[init] USB interface connected"
else
echo "[init] No USB connected"
fi
fi
if [ $HAVE_MICROSD == 1 ]
then
if [ ! -f /fs/microsd/APM/nostart ]
then
if [ -f /etc/init.d/rc.APM ]
then
echo "[init] Running rc.APM"
# if APM startup is successful then nsh will exit
sh /etc/init.d/rc.APM
else
nshterm /dev/ttyACM0 &
fi
else
nshterm /dev/ttyACM0 &
fi
else
if [ -f /etc/init.d/rc.APMNS ]
then
echo "[init] Running rc.APM without SD"
# if APM startup is successful then nsh will exit
sh /etc/init.d/rc.APMNS
else
nshterm /dev/ttyACM0 &
fi
fi
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