create board specific init script and use with fmu-v5

ROMFS/CMakeLists.txt

@@ -126,6 +126,20 @@ if(config_bl_file)
 		)
 endif()
 
+if(EXISTS "${PX4_BOARD_DIR}/init/rc.board")
+	add_custom_command(OUTPUT ${romfs_gen_root_dir}/init.d/rc.board
+		COMMAND ${CMAKE_COMMAND} -E copy ${PX4_BOARD_DIR}/init/rc.board ${romfs_gen_root_dir}/init.d/rc.board
+		DEPENDS
+			${PX4_BOARD_DIR}/init/rc.board
+			${romfs_gen_root_dir}/init.d/rcS
+		COMMENT "ROMFS: copying rc.board"
+		)
+
+	list(APPEND extras_dependencies
+		${romfs_gen_root_dir}/init.d/rc.board
+		)
+endif()
+
 add_custom_command(OUTPUT romfs_extras.stamp
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/extras/
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras/

ROMFS/px4fmu_common/init.d/rc.logging

@@ -5,7 +5,6 @@
 #
 
 set LOGGER_ARGS ""
-set LOGGER_BUF  14
 
 if param greater UAVCAN_ENABLE 1
 then
@@ -17,7 +16,7 @@ fi
 #               Begin Setup for board specific configurations.                #
 ###############################################################################
 
-if ver hwcmp PX4_FMU_V5 AV_X_V1
+if ver hwcmp AV_X_V1
 then
 	set LOGGER_BUF 64
 fi
@@ -44,4 +43,3 @@ fi
 logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
 
 unset LOGGER_ARGS
-unset LOGGER_BUF

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -325,35 +325,6 @@ then
 	rm3100 start
 fi
 
-if ver hwcmp PX4_FMU_V5
-then
-
-	# Internal SPI bus ICM-20602
-	mpu6000 -R 8 -s -T 20602 start
-
-	# Internal SPI bus ICM-20689
-	mpu6000 -R 8 -z -T 20689 start
-
-	# Internal SPI bus BMI055 accel
-	bmi055 -A -R 10 start
-
-	# Internal SPI bus BMI055 gyro
-	bmi055 -G -R 10 start
-
-	# Possible external compasses
-	hmc5883 -C -T -X start
-
-	# Possible external compasses
-	ist8310 -C -b 1 start
-	ist8310 -C -b 2 start
-
-	# Possible internal compass
-	ist8310 -C -b 5 start
-
-	# Possible pmw3901 optical flow sensor
-	pmw3901 start
-fi
-
 if ver hwcmp ATMEL_SAME70XPLAINED_V1
 then
 	# External I2C bus

ROMFS/px4fmu_common/init.d/rcS

@@ -27,18 +27,6 @@ set +e
 #
 #------------------------------------------------------------------------------
 #
-# UART mapping on FMUv5:
-#
-# UART1         /dev/ttyS0      GPS
-# USART2        /dev/ttyS1      TELEM1 (flow control)
-# USART3        /dev/ttyS2      TELEM2 (flow control)
-# UART4         /dev/ttyS3      TELEM4
-# USART6        /dev/ttyS4      TELEM3 (flow control)
-# UART7         /dev/ttyS5
-# UART8         /dev/ttyS6      CONSOLE
-#
-#------------------------------------------------------------------------------
-#
 # UART mapping on OMNIBUSF4SD:
 #
 # USART1        /dev/ttyS0      SerialRX
@@ -63,6 +51,7 @@ set +e
 # it wastes flash
 #
 set AUX_MODE pwm
+set BOARD_RC /etc/init.d/rc.board
 set DATAMAN_OPT ""
 set FAILSAFE none
 set FAILSAFE_AUX none
@@ -74,6 +63,7 @@ set FMU_MODE pwm
 set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOG_FILE /fs/microsd/bootlog.txt
+set LOGGER_BUF  14
 set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
@@ -275,6 +265,15 @@ else
 	#               Begin setup for board specific configurations.                #
 	###############################################################################
 
+	#
+	# run boards rc.board if available
+	#
+	if [ -f $BOARD_RC ]
+	then
+		echo "Board init: ${BOARD_RC}"
+		sh $BOARD_RC
+	fi
+
 	if ver hwcmp GUMSTIX_AEROCORE2
 	then
 		set DATAMAN_OPT "-f /fs/mtd_dataman"
@@ -565,7 +564,7 @@ else
 	#
 	# Launch the flow sensor as a background task.
 	#
-	if ver hwcmp PX4_FMU_V2 PX4_FMU_V4 PX4_FMU_V4PRO AIRMIND_MINDPX_V2 PX4_FMU_V5 OMNIBUS_F4SD
+	if ver hwcmp PX4_FMU_V2 PX4_FMU_V4 PX4_FMU_V4PRO AIRMIND_MINDPX_V2 OMNIBUS_F4SD
 	then
 		px4flow start &
 	fi
@@ -598,6 +597,7 @@ unset FMU_MODE
 unset IOFW
 unset IO_PRESENT
 unset LOG_FILE
+unset LOGGER_BUF
 unset MAV_TYPE
 unset MIXER
 unset MIXER_AUX

boards/px4/fmu-v5/init/rc.board

@@ -0,0 +1,52 @@
+#!nsh
+#
+# PX4 FMUv5 specific board init
+#
+#------------------------------------------------------------------------------
+#
+# UART mapping on FMUv5:
+#
+# UART1         /dev/ttyS0      GPS
+# USART2        /dev/ttyS1      TELEM1 (flow control)
+# USART3        /dev/ttyS2      TELEM2 (flow control)
+# UART4         /dev/ttyS3      TELEM4
+# USART6        /dev/ttyS4      TELEM3 (flow control)
+# UART7         /dev/ttyS5
+# UART8         /dev/ttyS6      CONSOLE
+#
+#------------------------------------------------------------------------------
+#
+
+if [ $AUTOCNF = yes ]
+then
+	param set SYS_FMU_TASK 1
+fi
+
+set LOGGER_BUF 64
+
+# Internal SPI bus ICM-20602
+mpu6000 -R 8 -s -T 20602 start
+
+# Internal SPI bus ICM-20689
+mpu6000 -R 8 -z -T 20689 start
+
+# Internal SPI bus BMI055 accel
+bmi055 -A -R 10 start
+
+# Internal SPI bus BMI055 gyro
+bmi055 -G -R 10 start
+
+# Possible external compasses
+hmc5883 -C -T -X start
+
+# Possible external compasses
+ist8310 -C -b 1 start
+ist8310 -C -b 2 start
+
+# Possible internal compass
+ist8310 -C -b 5 start
+
+# Possible pmw3901 optical flow sensor
+pmw3901 start
+
+px4flow start &