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VRBRAIN: Added missing files. Added *.vbrain files to git ignore.
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| Original file line number | Diff line number | Diff line change |
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@@ -11,6 +11,7 @@ | |
| *.pyc | ||
| *.tlog | ||
| *.tlog.raw | ||
| *.vbrain | ||
| *.zip | ||
| .*.swo | ||
| .*.swp | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,148 @@ | ||
| #!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 | ||
| # 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 | ||
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||
| if rm /fs/microsd/APM/boot.log | ||
| then | ||
| echo "[APM] Removed old boot.log" | ||
| fi | ||
| set logfile /fs/microsd/APM/BOOT.LOG | ||
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||
| if [ ! -f /bin/ArduPilot ] | ||
| then | ||
| echo "[APM] /bin/ArduPilot not found" | ||
| sh /etc/init.d/rc.error | ||
| fi | ||
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| if mkdir /fs/microsd/APM > /dev/null | ||
| then | ||
| echo "[APM] Created APM directory" | ||
| fi | ||
|
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||
| 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 | ||
|
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||
| if hmc5883 start | ||
| then | ||
| echo "[APM] HMC5883 started OK" | ||
| else | ||
| echo "[APM] HMC5883 start failed" | ||
| sh /etc/init.d/rc.error | ||
| fi | ||
|
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||
| if mpu6000 start | ||
| then | ||
| echo "[APM] MPU6000 started OK" | ||
| else | ||
| echo "[APM] MPU6000 start failed" | ||
| sh /etc/init.d/rc.error | ||
| fi | ||
|
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||
| 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 | ||
|
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||
| 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 | ||
|
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||
| 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 | ||
|
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| 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 | ||
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| set sketch NONE | ||
| set deviceA /dev/ttyACM0 | ||
| set deviceC /dev/ttyS2 | ||
|
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||
| 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 | ||
|
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||
| echo "[APM] Exiting from nsh shell" | ||
| exit | ||
|
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||
| echo "[APM] Script finished" | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,121 @@ | ||
| #!nsh | ||
|
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| # APM startup script for NuttX on VRBRAIN | ||
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| # 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 | ||
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| if [ ! -f /bin/ArduPilot ] | ||
| then | ||
| echo "[APMNS] /bin/ArduPilot not found" | ||
| sh /etc/init.d/rc.error | ||
| fi | ||
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| echo "[APMNS] Starting UORB" | ||
| if uorb start | ||
| then | ||
| echo "[APMNS] UORB started OK" | ||
| else | ||
| sh /etc/init.d/rc.error | ||
| fi | ||
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| echo "[APMNS] Starting ADC" | ||
| if adc start | ||
| then | ||
| echo "[APMNS] ADC started OK" | ||
| else | ||
| sh /etc/init.d/rc.error | ||
| fi | ||
|
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| 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 | ||
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| if hmc5883 start | ||
| then | ||
| echo "[APMNS] HMC5883 started OK" | ||
| else | ||
| echo "[APMNS] HMC5883 start failed" | ||
| sh /etc/init.d/rc.error | ||
| fi | ||
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| if mpu6000 start | ||
| then | ||
| echo "[APMNS] MPU6000 started OK" | ||
| else | ||
| echo "[APMNS] MPU6000 start failed" | ||
| sh /etc/init.d/rc.error | ||
| fi | ||
|
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||
| 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 | ||
|
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||
| 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 | ||
|
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||
| 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 | ||
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| 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 | ||
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| set sketch NONE | ||
| set deviceA /dev/ttyACM0 | ||
| set deviceC /dev/ttyS2 | ||
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| 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 | ||
|
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| echo "[APMNS] Exiting from nsh shell" | ||
| exit | ||
|
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||
| echo "[APMNS] Script finished" | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| echo "Error in startup" | ||
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| tone_alarm MNCC | ||
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| nshterm /dev/ttyACM0 & | ||
| sleep 1 | ||
| nshterm /dev/ttyS0 & | ||
| sleep 1 | ||
| exit |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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. | ||
| # | ||
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| # | ||
| # 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 | ||
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| # | ||
| # 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 | ||
|
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| # | ||
| # 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 | ||
|
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| # | ||
| # 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 | ||
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| 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 |