mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 01:33:33 +08:00
Fresh import of the PX4 firmware sources.
This commit is contained in:
px4dev
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/img
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+102
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#
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# Makefile to generate a PX4FMU ROMFS image.
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#
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# In normal use, 'make install' will generate a new ROMFS header and place it
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# into the px4fmu configuration in the appropriate location.
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#
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#
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# Directories of interest
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#
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SRCROOT ?= $(dir $(lastword $(MAKEFILE_LIST)))
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BUILDROOT ?= $(SRCROOT)/img
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ROMFS_HEADER ?= $(SRCROOT)/../nuttx/configs/px4fmu/include/nsh_romfsimg.h
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#
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# List of files to install in the ROMFS, specified as <source>~<destination>
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#
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ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \
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$(SRCROOT)/scripts/rc.sensors~init.d/rc.sensors \
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$(SRCROOT)/scripts/rc.logging~init.d/rc.logging \
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$(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \
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$(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
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$(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR
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#
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# Add the PX4IO firmware to the spec if someone has dropped it into the
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# source directory, or otherwise specified its location.
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#
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# Normally this is only something you'd do when working on PX4IO; most
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# users will upgrade with firmware off the microSD card.
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#
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PX4IO_FIRMWARE ?= $(SRCROOT)/px4io.bin
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ifneq ($(wildcard $(PX4IO_FIRMWARE)),)
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ROMFS_FSSPEC += $(PX4IO_FIRMWARE)~px4io.bin
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endif
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################################################################################
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# No user-serviceable parts below
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################################################################################
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#
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# Just the source files from the ROMFS spec, so that we can fail cleanly if they don't
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# exist
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#
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ROMFS_SRCFILES = $(foreach spec,$(ROMFS_FSSPEC),$(firstword $(subst ~, ,$(spec))))
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#
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# Just the destination directories from the ROMFS spec
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#
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ROMFS_DIRS = $(sort $(dir $(foreach spec,$(ROMFS_FSSPEC),$(lastword $(subst ~, ,$(spec))))))
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#
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# Intermediate products
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#
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ROMFS_IMG = $(BUILDROOT)/romfs.img
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ROMFS_WORKDIR = $(BUILDROOT)/romfs
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#
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# Convenience target for rebuilding the ROMFS header
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#
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all: $(ROMFS_HEADER)
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$(ROMFS_HEADER): $(ROMFS_IMG) $(dir $(ROMFS_HEADER))
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@echo Generating the ROMFS header...
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@(cd $(dir $(ROMFS_IMG)) && xxd -i $(notdir $(ROMFS_IMG))) > $@
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$(ROMFS_IMG): $(ROMFS_WORKDIR)
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@echo Generating the ROMFS image...
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@genromfs -f $@ -d $(ROMFS_WORKDIR) -V "NSHInitVol"
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$(ROMFS_WORKDIR): $(ROMFS_SRCFILES)
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@echo Rebuilding the ROMFS work area...
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@rm -rf $(ROMFS_WORKDIR)
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@mkdir -p $(ROMFS_WORKDIR)
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@for dir in $(ROMFS_DIRS) ; do mkdir -p $(ROMFS_WORKDIR)/$$dir; done
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@for spec in $(ROMFS_FSSPEC) ; do \
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echo $$spec | sed -e 's%^.*~% %' ;\
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`echo "cp $$spec" | sed -e 's%~% $(ROMFS_WORKDIR)/%'` ;\
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done
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$(BUILDROOT):
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@mkdir -p $(BUILDROOT)
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clean:
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@rm -rf $(BUILDROOT)
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distclean: clean
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@rm -f $(PX4IO_FIRMWARE) $(ROMFS_HEADER)
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.PHONY: all install clean distclean
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#
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# Hacks and fixups
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#
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SYSTYPE = $(shell uname)
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ifeq ($(SYSTYPE),Darwin)
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# PATH inherited by Eclipse may not include toolchain install location
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export PATH := $(PATH):/usr/local/bin
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endif
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#!nsh
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#
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# Flight startup script for PX4FMU with PX4IO carrier board.
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#
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echo "[init] doing PX4IO startup..."
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#
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# Start the ORB
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#
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uorb start
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#
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# Start the sensors.
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#
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sh /etc/init.d/rc.sensors
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#
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# Start MAVLink
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#
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mavlink -d /dev/ttyS0 -b 57600 &
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#
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# Start the commander.
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#
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# XXX this should be '<command> start'.
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#
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commander &
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#
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# Start the attitude estimator
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#
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# XXX this should be '<command> start'.
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#
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attitude_estimator_bm &
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#position_estimator &
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#
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# Configure PX4FMU for operation with PX4IO
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#
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# XXX arguments?
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#
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px4fmu start
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#
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# Start the fixed-wing controller
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#
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# XXX this should be '<command> start'.
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#
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fixedwing_control &
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#
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# Fire up the PX4IO interface.
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#
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px4io start
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#
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# Start looking for a GPS.
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#
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# XXX this should not need to be backgrounded
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#
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gps -d /dev/ttyS3 -m all &
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#
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# Start logging to microSD if we can
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#
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sh /etc/init.d/rc.logging
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#
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# startup is done; we don't want the shell because we
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# use the same UART for telemetry (dumb).
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#
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echo "[init] startup done, exiting."
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exit
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#!nsh
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#
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# Flight startup script for PX4FMU on PX4IOAR carrier board.
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#
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echo "[init] doing PX4IOAR startup..."
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#
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# Start the ORB
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#
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uorb start
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#
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# Start the sensors.
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#
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sh /etc/init.d/rc.sensors
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#
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# Start MAVLink
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#
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mavlink -d /dev/ttyS0 -b 57600 &
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#
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# Start the commander.
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#
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# XXX this should be '<command> start'.
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#
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commander &
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#
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# Start the attitude estimator
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#
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# XXX this should be '<command> start'.
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#
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attitude_estimator_bm &
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#position_estimator &
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#
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# Configure PX4FMU for operation with PX4IOAR
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#
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# XXX arguments?
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#
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px4fmu start
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#
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# Fire up the AR.Drone controller.
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#
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# XXX this should be '<command> start'.
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#
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ardrone_control -d /dev/ttyS1 -m attitude &
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#
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# Start looking for a GPS.
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#
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# XXX this should not need to be backgrounded
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#
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gps -d /dev/ttyS3 -m all &
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#
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# Start logging to microSD if we can
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#
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sh /etc/init.d/rc.logging
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#
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# startup is done; we don't want the shell because we
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# use the same UART for telemetry (dumb).
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#
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echo "[init] startup done, exiting."
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exit
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@@ -0,0 +1,10 @@
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#!nsh
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#
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# Test jig startup script
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#
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echo "[testing] doing production test.."
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tests jig
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echo "[testing] testing done"
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#!nsh
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#
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# Initialise logging services.
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#
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if [ -d /fs/microsd ]
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then
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# XXX this should be '<command> start'.
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# sdlog &
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fi
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#!nsh
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#
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# Standard startup script for PX4FMU onboard sensor drivers.
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#
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#
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# Start sensor drivers here.
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#
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#ms5611 start
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#
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# Start the sensor collection task.
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#
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# XXX should be 'sensors start'
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#
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sensors &
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#
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# Test sensor functionality
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#
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# XXX integrate with 'sensors start' ?
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#
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#if sensors quicktest
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#then
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# echo "[init] sensor initialisation FAILED."
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# reboot
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#fi
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#!nsh
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#
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# Flight startup script for PX4FMU standalone configuration.
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#
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echo "[init] doing standalone PX4FMU startup..."
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#
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# Start the ORB
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#
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#uorb start
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#
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# Start the sensors.
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#
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#sh /etc/init.d/rc.sensors
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#
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# Start MAVLink
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#
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# mavlink -d /dev/ttyS0 -b 57600 &
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#
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# Start the commander.
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#
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# XXX this should be 'commander start'.
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#
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#commander &
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#
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# Start the attitude estimator
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#
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# XXX this should be '<command> start'.
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#
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#attitude_estimator_bm &
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#position_estimator &
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#
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# Start the fixed-wing controller.
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#
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# XXX should this be looking for configuration to decide
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# whether the board is configured for fixed-wing use?
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#
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# XXX this should be 'fixedwing_control start'.
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#
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#fixedwing_control &
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#
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# Configure FMU for standalone mode
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#
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# XXX arguments?
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#
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#px4fmu start
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#
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# Start looking for a GPS.
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#
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# XXX this should not need to be backgrounded
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#
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#gps -d /dev/ttyS3 -m all &
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#
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# Start logging to microSD if we can
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#
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sh /etc/init.d/rc.logging
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echo "[init] startup done"
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Executable
+120
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#!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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#
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# Default to auto-start mode. An init script on the microSD card
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# can change this to prevent automatic startup of the flight script.
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#
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set MODE autostart
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set USB_ALLOWED yes
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set USB no
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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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else
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echo "[init] no microSD card found"
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fi
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#
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# Look for an init script on the microSD card.
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#
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# To prevent automatic startup in the current flight mode,
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# the script should set MODE to some other value.
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#
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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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#
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# Check for USB host
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#
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if [ $USB_ALLOWED == yes ]
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then
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if sercon
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then
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echo "[init] USB interface connected"
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fi
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fi
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#
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# If we are still in flight mode, work out what airframe
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# configuration we have and start up accordingly.
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#
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if [ $MODE != autostart ]
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then
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echo "[init] automatic startup cancelled by user script"
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else
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echo "[init] detecting attached hardware..."
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#
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# Assume that we are PX4FMU in standalone mode
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#
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set BOARD PX4FMU
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#
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# Are we attached to a PX4IOAR (AR.Drone carrier board)?
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#
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if boardinfo -t 7
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then
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set BOARD PX4IOAR
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if [ -f /etc/init.d/rc.PX4IOAR ]
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then
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echo "[init] reading /etc/init.d/rc.PX4IOAR"
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sh /etc/init.d/rc.PX4IOAR
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fi
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else
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echo "[init] PX4IOAR not detected"
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fi
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#
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# Are we attached to a PX4IO?
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#
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if boardinfo -t 6
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then
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set BOARD PX4IO
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if [ -f /etc/init.d/rc.PX4IO ]
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then
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echo "[init] reading /etc/init.d/rc.PX4IO"
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sh /etc/init.d/rc.PX4IO
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fi
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else
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echo "[init] PX4IO not detected"
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fi
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#
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# Looks like we are stand-alone
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#
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if [ $BOARD == PX4FMU ]
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then
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echo "[init] no expansion board detected"
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if [ -f /etc/init.d/rc.standalone ]
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then
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echo "[init] reading /etc/init.d/rc.standalone"
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sh /etc/init.d/rc.standalone
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fi
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fi
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#
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# We may not reach here if the airframe-specific script exits the shell.
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#
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echo "[init] startup done."
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||||
fi
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||||
Reference in New Issue
Block a user