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53 lines
959 B
Plaintext
53 lines
959 B
Plaintext
#!nsh
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#
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# UAVCAN initialization script.
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#
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#
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# Mirriring the UAVCAN_ENABLE param value to an eponymous environment variable.
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# TODO there should be a smarter way.
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#
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set UAVCAN_ENABLE 0
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if param compare UAVCAN_ENABLE 1
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then
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set UAVCAN_ENABLE 1
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fi
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if param compare UAVCAN_ENABLE 2
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then
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set UAVCAN_ENABLE 2
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fi
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echo "[i] UAVCAN_ENABLE is $UAVCAN_ENABLE"
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#
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# Starting stuff according to UAVCAN_ENABLE value
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#
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if [ $UAVCAN_ENABLE -ge 1 ]
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then
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if uavcan start
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then
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echo "[i] UAVCAN started"
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else
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echo "[i] ERROR: Could not start UAVCAN"
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tone_alarm $TUNE_ERR
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fi
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fi
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if [ $UAVCAN_ENABLE -ge 2 ]
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then
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if uavcan start fw
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then
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echo "[i] UAVCAN servers started"
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else
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echo "[i] ERROR: Could not start UAVCAN servers"
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tone_alarm $TUNE_ERR
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fi
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fi
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if [ $UAVCAN_ENABLE -ge 1 ]
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then
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# First sensor publisher to initialize takes lowest instance ID
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# This delay ensures that UAVCAN-interfaced sensors will be allocated on lowest instance IDs
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sleep 8
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fi
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