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rcS: fine-grained storage settings
This commit is contained in:
alexcekay
Alexander Lerach
parent
0954e43708
commit
20cad48707
@ -193,6 +193,7 @@ endif()
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# board custom init files
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set(OPTIONAL_BOARD_RC)
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list(APPEND OPTIONAL_BOARD_RC
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rc.board_early
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rc.board_defaults
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rc.board_sensors
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rc.board_extras
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@ -31,11 +31,20 @@ set PARAM_FILE ""
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set PARAM_BACKUP_FILE ""
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set RC_INPUT_ARGS ""
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set STORAGE_AVAILABLE no
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set STORAGE_CHECK yes
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set SDCARD_EXT_PATH /fs/microsd/ext_autostart
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set SDCARD_FORMAT no
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set STARTUP_TUNE 1
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set VEHICLE_TYPE none
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# Fine-grained feature gates.
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set USE_HARDFAULT_LOG no
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set USE_EXTERNAL_AIRFRAMES no
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set USE_PARAM_BACKUPS no
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set USE_PARAM_IMPORT_DEBUG no
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set USE_TASK_WATCHDOG no
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set USE_ALT_UPDATE_DIRS no
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# Airframe parameter versioning
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# Value set to 1 by default but can optionally be overridden in the airframe configuration startup script.
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# Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one.
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@ -48,53 +57,81 @@ set PARAM_DEFAULTS_VER 1
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ver all
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#
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# Try to mount the microSD card.
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# Optional early board init: rc.board_early
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# Can be used for setting env vars for rcS.
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#
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if [ -b "/dev/mmcsd0" ]
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set BOARD_RC_EARLY ${R}etc/init.d/rc.board_early
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if [ -f $BOARD_RC_EARLY ]
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then
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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if [ -f "/fs/microsd/.format" ]
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then
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echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
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set SDCARD_FORMAT yes
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rm /fs/microsd/.format
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umount /fs/microsd
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. $BOARD_RC_EARLY
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fi
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unset BOARD_RC_EARLY
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else
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#
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# Try to mount/check storage (rc.board_early can disable this).
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#
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if [ $STORAGE_CHECK = yes ]
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then
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#
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# Try to mount the microSD card.
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#
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if [ -b "/dev/mmcsd0" ]
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then
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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if [ -f "/fs/microsd/.format" ]
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then
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echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
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set SDCARD_FORMAT yes
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rm /fs/microsd/.format
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umount /fs/microsd
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else
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set STORAGE_AVAILABLE yes
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fi
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fi
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if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
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then
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echo "INFO [init] formatting /dev/mmcsd0"
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set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
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if mkfatfs -F 32 /dev/mmcsd0
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then
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echo "INFO [init] card formatted"
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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set STORAGE_AVAILABLE yes
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set STARTUP_TUNE 14 # tune 14 = SD_INIT
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else
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echo "ERROR [init] card mount failed"
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fi
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else
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echo "ERROR [init] format failed"
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fi
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fi
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else
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# Is there a device mounted for storage
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if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
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then
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set STORAGE_AVAILABLE yes
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fi
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fi
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if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
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then
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echo "INFO [init] formatting /dev/mmcsd0"
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set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
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if mkfatfs -F 32 /dev/mmcsd0
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then
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echo "INFO [init] card formatted"
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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set STORAGE_AVAILABLE yes
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set STARTUP_TUNE 14 # tune 14 = SD_INIT
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else
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echo "ERROR [init] card mount failed"
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fi
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else
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echo "ERROR [init] format failed"
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fi
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fi
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else
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# Is there a device mounted for storage
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if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
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then
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set STORAGE_AVAILABLE yes
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fi
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fi
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if [ $STORAGE_AVAILABLE = yes ]
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then
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set USE_HARDFAULT_LOG yes
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set USE_EXTERNAL_AIRFRAMES yes
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set USE_PARAM_BACKUPS yes
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set USE_PARAM_IMPORT_DEBUG yes
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set USE_ALT_UPDATE_DIRS yes
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set PARAM_FILE /fs/microsd/params
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set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
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fi
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if [ $USE_HARDFAULT_LOG = yes ]
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then
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if hardfault_log check
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then
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@ -104,7 +141,15 @@ then
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hardfault_log reset
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fi
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fi
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fi
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if [ $USE_TASK_WATCHDOG = yes ]
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then
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task_watchdog start
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fi
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if [ $USE_ALT_UPDATE_DIRS = yes ]
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then
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# Check for an update of the ext_autostart folder, and replace the old one with it
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if [ -e /fs/microsd/ext_autostart_new ]
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then
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@ -112,9 +157,6 @@ then
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rm -r $SDCARD_EXT_PATH
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mv /fs/microsd/ext_autostart_new $SDCARD_EXT_PATH
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fi
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set PARAM_FILE /fs/microsd/params
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set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
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fi
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#
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@ -155,8 +197,11 @@ else
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if [ -d "/fs/microsd" ]
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then
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# try to make a backup copy
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cp $PARAM_FILE /fs/microsd/param_import_fail.bson
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if [ $USE_PARAM_IMPORT_DEBUG = yes ]
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then
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# save copy of the failed param file for debugging
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cp $PARAM_FILE /fs/microsd/param_import_fail.bson
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fi
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# try importing from backup file
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if [ -f $PARAM_BACKUP_FILE ]
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@ -174,11 +219,14 @@ else
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param status
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dmesg >> /fs/microsd/param_import_fail.txt &
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if [ $USE_PARAM_IMPORT_DEBUG = yes ]
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then
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dmesg >> /fs/microsd/param_import_fail.txt &
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fi
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fi
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fi
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if [ $STORAGE_AVAILABLE = yes ]
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if [ $USE_PARAM_BACKUPS = yes ]
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then
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param select-backup $PARAM_BACKUP_FILE
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fi
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@ -234,12 +282,12 @@ else
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if [ ${VEHICLE_TYPE} = none ]
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then
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# Run external airframe script on SD card
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if [ $STORAGE_AVAILABLE = yes ]
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# Run external airframe script on SD card or EEPROM-backed storage
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if [ $USE_EXTERNAL_AIRFRAMES = yes ]
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then
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. ${R}etc/init.d/rc.autostart_ext
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else
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echo "ERROR [init] SD not mounted, skipping external airframe"
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echo "ERROR [init] no external airframe storage, skipping"
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fi
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fi
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@ -679,9 +727,16 @@ unset PARAM_BACKUP_FILE
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unset PARAM_DEFAULTS_VER
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unset RC_INPUT_ARGS
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unset STORAGE_AVAILABLE
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unset STORAGE_CHECK
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unset SDCARD_EXT_PATH
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unset SDCARD_FORMAT
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unset STARTUP_TUNE
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unset USE_HARDFAULT_LOG
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unset USE_EXTERNAL_AIRFRAMES
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unset USE_PARAM_BACKUPS
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unset USE_PARAM_IMPORT_DEBUG
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unset USE_TASK_WATCHDOG
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unset USE_ALT_UPDATE_DIRS
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unset VEHICLE_TYPE
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#
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@ -34,8 +34,5 @@ nshterm /dev/ttyS3 &
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# Start the time_persistor to cyclically store the RTC in FRAM
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time_persistor start
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# Start the task_watchdog as we do not have the logger watchdog
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task_watchdog start
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# Start the ESC telemetry
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dshot telemetry -d /dev/ttyS5 -x
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19
boards/auterion/fmu-v6s/init/rc.board_early
Normal file
19
boards/auterion/fmu-v6s/init/rc.board_early
Normal file
@ -0,0 +1,19 @@
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#!/bin/sh
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#
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# Board early init.
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#
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# On FRAM boards STORAGE_AVAILABLE=yes will set the USE_* flags. Additional
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# enable required for task watchdog as this is not a generally used feature.
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# On EEPROM boards: Only airframes and params are needed.
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#
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if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
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then
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# Start the task_watchdog as we do not have the logger watchdog
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set USE_TASK_WATCHDOG yes
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else
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set PARAM_FILE /fs/microsd/params
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set STORAGE_CHECK no
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set USE_EXTERNAL_AIRFRAMES yes
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set USE_ALT_UPDATE_DIRS yes
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fi
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