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98 lines
2.2 KiB
98 lines
2.2 KiB
#!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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set USB autoconnect |
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set NSH_ERROR_UART1 /dev/ttyACM0 |
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set NSH_ERROR_UART2 /dev/ttyS0 |
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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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set HAVE_MICROSD 1 |
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# Start playing the startup tune |
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if [ -f /etc/tones/startup ] |
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then |
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tone_alarm /etc/tones/startup |
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else |
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tone_alarm 1 |
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fi |
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else |
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set HAVE_MICROSD 0 |
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tone_alarm MNBGG |
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fi |
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# Look for an additional init script that allows changing the default |
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# behavior. Settings may be overriden in the following order: |
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# |
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# board-specific file |
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# etc/rc on microSD card |
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# etc/rc.txt on microSD card |
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if [ -f /etc/init.d/rc.board ] |
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then |
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echo "[init] reading /etc/init.d/rc.board" |
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sh /etc/init.d/rc.board |
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fi |
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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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if [ $HAVE_MICROSD == 0 ] |
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then |
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if usb_connected |
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then |
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echo "Opening USB nsh" |
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else |
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echo "booting with no microSD" |
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set HAVE_MICROSD 1 |
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fi |
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fi |
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# if this is an APM build then there will be a rc.APM script |
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# from an EXTERNAL_SCRIPTS build option |
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if [ -f /etc/init.d/rc.APM -a $HAVE_MICROSD == 1 -a ! -f /fs/microsd/APM/nostart ] |
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then |
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echo Running rc.APM |
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# if APM startup is successful then nsh will exit |
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sh /etc/init.d/rc.APM |
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else |
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nshterm /dev/ttyACM0 & |
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fi
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