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107 lines
1.9 KiB
107 lines
1.9 KiB
#!nsh |
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# APM startup script for NuttX on VRBRAIN |
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# To disable APM startup add a /fs/microsd/APM/nostart file |
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# check for an old file called APM, caused by |
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# a bug in an earlier firmware release |
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if [ -f /fs/microsd/APM ] |
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then |
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echo "APM file found - renaming" |
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mv /fs/microsd/APM /fs/microsd/APM.old |
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fi |
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if [ -f /fs/microsd/APM/nostart ] |
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then |
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echo "APM/nostart found - skipping APM startup" |
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sh /etc/init.d/rc.error |
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fi |
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# mount binfs so we can find the built-in apps |
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if [ -f /bin/reboot ] |
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then |
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echo "binfs already mounted" |
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else |
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echo "Mounting binfs" |
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if mount -t binfs /dev/null /bin |
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then |
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echo "binfs mounted OK" |
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else |
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sh /etc/init.d/rc.error |
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fi |
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fi |
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set sketch NONE |
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if rm /fs/microsd/APM/boot.log |
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then |
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echo "removed old boot.log" |
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fi |
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set logfile /fs/microsd/APM/BOOT.LOG |
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if [ ! -f /bin/ArduPilot ] |
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then |
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echo "/bin/ardupilot not found" |
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sh /etc/init.d/rc.error |
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fi |
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if mkdir /fs/microsd/APM > /dev/null |
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then |
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echo "Created APM directory" |
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fi |
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echo "Starting uORB" |
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if uorb start |
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then |
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echo "uorb started OK" |
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else |
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sh /etc/init.d/rc.error |
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fi |
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echo "Starting ADC" |
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if adc start |
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then |
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echo "ADC started OK" |
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else |
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sh /etc/init.d/rc.error |
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fi |
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echo "Starting MTD driver" |
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if mtd start /fs/mtd |
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then |
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echo "MTD driver started OK" |
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else |
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echo "MTD driver start failed" |
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sh /etc/init.d/rc.error |
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fi |
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echo "MTD driver read test" |
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if mtd readtest /fs/mtd |
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then |
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echo "MTD driver readtest OK" |
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else |
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echo "MTD driver failed to read" |
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sh /etc/init.d/rc.error |
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fi |
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echo "FMU mode PWM" |
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if fmu mode_pwm |
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then |
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echo "Set FMU mode_pwm" |
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fi |
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echo "Starting ArduPilot" |
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if ArduPilot start |
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then |
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echo "ArduPilot started OK" |
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else |
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echo "ArduPilot start failed" |
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sh /etc/init.d/rc.error |
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fi |
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echo "Exiting from nsh shell" |
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exit |
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echo "rc.APM finished" |
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