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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
create board specific init script and use with fmu-v5
This commit is contained in:
Daniel Agar
parent
94d4f0391a
commit
25799c6e75
@ -126,6 +126,20 @@ if(config_bl_file)
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)
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endif()
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if(EXISTS "${PX4_BOARD_DIR}/init/rc.board")
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add_custom_command(OUTPUT ${romfs_gen_root_dir}/init.d/rc.board
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COMMAND ${CMAKE_COMMAND} -E copy ${PX4_BOARD_DIR}/init/rc.board ${romfs_gen_root_dir}/init.d/rc.board
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DEPENDS
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${PX4_BOARD_DIR}/init/rc.board
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${romfs_gen_root_dir}/init.d/rcS
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COMMENT "ROMFS: copying rc.board"
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)
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list(APPEND extras_dependencies
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${romfs_gen_root_dir}/init.d/rc.board
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)
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endif()
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add_custom_command(OUTPUT romfs_extras.stamp
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COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/extras/
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COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras/
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@ -5,7 +5,6 @@
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#
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set LOGGER_ARGS ""
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set LOGGER_BUF 14
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if param greater UAVCAN_ENABLE 1
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then
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@ -17,7 +16,7 @@ fi
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# Begin Setup for board specific configurations. #
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###############################################################################
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if ver hwcmp PX4_FMU_V5 AV_X_V1
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if ver hwcmp AV_X_V1
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then
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set LOGGER_BUF 64
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fi
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@ -44,4 +43,3 @@ fi
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logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
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unset LOGGER_ARGS
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unset LOGGER_BUF
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@ -325,35 +325,6 @@ then
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rm3100 start
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fi
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if ver hwcmp PX4_FMU_V5
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then
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# Internal SPI bus ICM-20602
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mpu6000 -R 8 -s -T 20602 start
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# Internal SPI bus ICM-20689
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mpu6000 -R 8 -z -T 20689 start
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# Internal SPI bus BMI055 accel
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bmi055 -A -R 10 start
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# Internal SPI bus BMI055 gyro
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bmi055 -G -R 10 start
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# Possible external compasses
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hmc5883 -C -T -X start
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# Possible external compasses
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ist8310 -C -b 1 start
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ist8310 -C -b 2 start
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# Possible internal compass
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ist8310 -C -b 5 start
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# Possible pmw3901 optical flow sensor
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pmw3901 start
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fi
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if ver hwcmp ATMEL_SAME70XPLAINED_V1
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then
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# External I2C bus
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@ -27,18 +27,6 @@ set +e
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#
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#------------------------------------------------------------------------------
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#
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# UART mapping on FMUv5:
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#
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# UART1 /dev/ttyS0 GPS
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# USART2 /dev/ttyS1 TELEM1 (flow control)
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# USART3 /dev/ttyS2 TELEM2 (flow control)
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# UART4 /dev/ttyS3 TELEM4
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# USART6 /dev/ttyS4 TELEM3 (flow control)
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# UART7 /dev/ttyS5
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# UART8 /dev/ttyS6 CONSOLE
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#
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#------------------------------------------------------------------------------
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#
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# UART mapping on OMNIBUSF4SD:
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#
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# USART1 /dev/ttyS0 SerialRX
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@ -63,6 +51,7 @@ set +e
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# it wastes flash
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#
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set AUX_MODE pwm
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set BOARD_RC /etc/init.d/rc.board
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set DATAMAN_OPT ""
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set FAILSAFE none
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set FAILSAFE_AUX none
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@ -74,6 +63,7 @@ set FMU_MODE pwm
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set IOFW "/etc/extras/px4_io-v2_default.bin"
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set IO_PRESENT no
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set LOG_FILE /fs/microsd/bootlog.txt
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set LOGGER_BUF 14
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set MAV_TYPE none
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set MIXER none
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set MIXER_AUX none
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@ -275,6 +265,15 @@ else
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# Begin setup for board specific configurations. #
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###############################################################################
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#
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# run boards rc.board if available
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#
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if [ -f $BOARD_RC ]
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then
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echo "Board init: ${BOARD_RC}"
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sh $BOARD_RC
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fi
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if ver hwcmp GUMSTIX_AEROCORE2
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then
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set DATAMAN_OPT "-f /fs/mtd_dataman"
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@ -565,7 +564,7 @@ else
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#
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# Launch the flow sensor as a background task.
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#
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if ver hwcmp PX4_FMU_V2 PX4_FMU_V4 PX4_FMU_V4PRO AIRMIND_MINDPX_V2 PX4_FMU_V5 OMNIBUS_F4SD
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if ver hwcmp PX4_FMU_V2 PX4_FMU_V4 PX4_FMU_V4PRO AIRMIND_MINDPX_V2 OMNIBUS_F4SD
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then
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px4flow start &
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fi
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@ -598,6 +597,7 @@ unset FMU_MODE
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unset IOFW
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unset IO_PRESENT
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unset LOG_FILE
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unset LOGGER_BUF
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unset MAV_TYPE
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unset MIXER
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unset MIXER_AUX
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52
boards/px4/fmu-v5/init/rc.board
Normal file
52
boards/px4/fmu-v5/init/rc.board
Normal file
@ -0,0 +1,52 @@
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#!nsh
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#
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# PX4 FMUv5 specific board init
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#
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#------------------------------------------------------------------------------
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#
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# UART mapping on FMUv5:
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#
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# UART1 /dev/ttyS0 GPS
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# USART2 /dev/ttyS1 TELEM1 (flow control)
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# USART3 /dev/ttyS2 TELEM2 (flow control)
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# UART4 /dev/ttyS3 TELEM4
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# USART6 /dev/ttyS4 TELEM3 (flow control)
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# UART7 /dev/ttyS5
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# UART8 /dev/ttyS6 CONSOLE
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#
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#------------------------------------------------------------------------------
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#
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if [ $AUTOCNF = yes ]
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then
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param set SYS_FMU_TASK 1
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fi
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set LOGGER_BUF 64
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# Internal SPI bus ICM-20602
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mpu6000 -R 8 -s -T 20602 start
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# Internal SPI bus ICM-20689
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mpu6000 -R 8 -z -T 20689 start
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# Internal SPI bus BMI055 accel
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bmi055 -A -R 10 start
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# Internal SPI bus BMI055 gyro
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bmi055 -G -R 10 start
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# Possible external compasses
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hmc5883 -C -T -X start
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# Possible external compasses
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ist8310 -C -b 1 start
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ist8310 -C -b 2 start
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# Possible internal compass
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ist8310 -C -b 5 start
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# Possible pmw3901 optical flow sensor
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pmw3901 start
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px4flow start &
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