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Migrate LOGGER_BUF argument to rc.logging, group OUTPUT_MODE instances closer together by relocating UAVCAN logic block in rcS, and alphabetize hardware specific logic in rc.sensors.

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This commit is contained in:
mcsauder
2018-07-19 22:32:11 -06:00
committed by Beat Küng
parent 5ae39229b8
commit ec16a4d063
3 changed files with 129 additions and 106 deletions
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21
ROMFS/px4fmu_common/init.d/rc.logging
View File

@@ -5,6 +5,26 @@
#
set LOGGER_ARGS ""
set LOGGER_BUF 14
if param greater UAVCAN_ENABLE 1
then
# Reduce logger buffer to free up some RAM for UAVCAN servers.
set LOGGER_BUF 6
fi
###############################################################################
# Begin Setup for board specific configurations. #
###############################################################################
if ver hwcmp PX4FMU_V5
then
set LOGGER_BUF 64
fi
###############################################################################
# End Setup for board specific configurations. #
###############################################################################
if param compare SDLOG_MODE 1
then
@@ -24,3 +44,4 @@ fi
logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
unset LOGGER_ARGS
unset LOGGER_BUF

128
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@@ -3,6 +3,10 @@
# Standard startup script for sensor drivers.
#
###############################################################################
# Begin Setup for board specific configurations. #
###############################################################################
if ver hwcmp AEROFC_V1 OMNIBUS_F4SD
then
# Aero FC uses separate driver
@@ -40,16 +44,23 @@ else
adc start
fi
if ver hwcmp NXPHLITE_V3
if ver hwcmp AEROFC_V1
then
# Internal I2C (baro)
mpl3115a2 -I start
ms5611 -T 0 start
mpu9250 -s -R 14 start
# Internal SPI (accel + mag)
fxos8701cq start -a 8 -R 0
# Possible external compasses
hmc5883 -X start
# Internal SPI (gyro)
fxas21002c start -R 0
ist8310 -C -b 1 -R 4 start
aerofc_adc start
ll40ls start i2c
fi
if ver hwcmp AEROCORE2
then
l3gd20 -R 12 start
lsm303d start
fi
if ver hwcmp AUAV_X21
@@ -68,6 +79,45 @@ then
mpu9250 -R 2 start
fi
if ver hwcmp AV_X_V1
then
adis16477 -R 8 start
#adis16497 start
lps22hb start
lsm303agr -R 4 start
#ms4525_airspeed start
fi
if ver hwcmp CRAZYFLIE
then
# Onboard I2C
mpu9250 -R 12 start
# I2C bypass of mpu
lps25h start
# Optical flow deck
vl53lxx start
pmw3901 start
fi
if ver hwcmp NXPHLITE_V3
then
# Internal I2C (baro)
mpl3115a2 -I start
# Internal SPI (accel + mag)
fxos8701cq start -a 8 -R 0
# Internal SPI (gyro)
fxas21002c start -R 0
fi
if ver hwcmp PX4FMU_V2
then
# V2 build hwtypecmp is always false
@@ -245,33 +295,6 @@ then
l3gd20 -R 14 start
fi
if ver hwcmp CRAZYFLIE
then
# Onboard I2C
mpu9250 -R 12 start
# I2C bypass of mpu
lps25h start
# Optical flow deck
vl53lxx start
pmw3901 start
fi
if ver hwcmp AEROFC_V1
then
ms5611 -T 0 start
mpu9250 -s -R 14 start
# Possible external compasses
hmc5883 -X start
ist8310 -C -b 1 -R 4 start
aerofc_adc start
ll40ls start i2c
fi
if ver hwcmp OMNIBUS_F4SD
then
mpu6000 -R 12 -s start
@@ -329,28 +352,13 @@ then
ist8310 -C -b 5 start
fi
if ver hwcmp AV_X_V1
then
adis16477 -R 8 start
###############################################################################
# End Setup for board specific configurations. #
###############################################################################
#adis16497 start
lps22hb start
lsm303agr -R 4 start
#ms4525_airspeed start
fi
if ver hwcmp AEROCORE2
then
l3gd20 -R 12 start
lsm303d start
fi
#
# Optional drivers
#
###############################################################################
# Begin Optional drivers #
###############################################################################
if [ ${VEHICLE_TYPE} == fw -o ${VEHICLE_TYPE} == vtol ]
then
@@ -391,13 +399,13 @@ then
ll40ls start i2c
fi
# lightware serial lidar sensor
# Lightware serial lidar sensor
if param greater SENS_EN_SF0X 0
then
sf0x start
fi
# lightware i2c lidar sensor
# Lightware i2c lidar sensor
if param greater SENS_EN_SF1XX 0
then
sf1xx start -a
@@ -409,7 +417,7 @@ then
mb12xx start -a
fi
# teraranger one tof sensor
# Teraranger one tof sensor
if param greater SENS_EN_TRANGER 0
then
teraranger start -a
@@ -458,6 +466,10 @@ then
fi
fi
###############################################################################
# End Optional drivers #
###############################################################################
# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
usleep 20000
sensors start

86
ROMFS/px4fmu_common/init.d/rcS
View File

@@ -29,7 +29,6 @@ set FMU_MODE pwm
set IO_FILE ""
set IO_PRESENT no
set LOG_FILE /fs/microsd/bootlog.txt
set LOGGER_BUF 14
set MAVLINK_F default
set MAVLINK_COMPANION_DEVICE /dev/ttyS2
set MAV_TYPE none
@@ -215,20 +214,6 @@ else
# Begin setup for board specific configurations. #
###############################################################################
if ver hwcmp PX4FMU_V5
then
set LOGGER_BUF 64
fi
if ver hwcmp CRAZYFLIE
then
if param compare SYS_AUTOSTART 0
then
param set SYS_AUTOSTART 4900
set AUTOCNF yes
fi
fi
if ver hwcmp AEROCORE2
then
set DATAMAN_OPT "-f /fs/mtd_dataman"
@@ -248,6 +233,15 @@ else
set DATAMAN_OPT -i
fi
if ver hwcmp CRAZYFLIE
then
if param compare SYS_AUTOSTART 0
then
param set SYS_AUTOSTART 4900
set AUTOCNF yes
fi
fi
if ver hwcmp NXPHLITE_V3
then
param set SYS_FMU_TASK 1
@@ -285,18 +279,18 @@ else
#
if [ $AUTOCNF == yes ]
then
# Disable safety switch by default on Pixracer and OmnibusF4SD
if ver hwcmp PX4FMU_V4 OMNIBUS_F4SD
then
param set CBRK_IO_SAFETY 22027
fi
# Run FMU as task on Pixracer and on boards with enough RAM.
if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO PX4FMU_V5
then
param set SYS_FMU_TASK 1
fi
# Disable safety switch by default on Pixracer and OmnibusF4SD
if ver hwcmp PX4FMU_V4 OMNIBUS_F4SD
then
param set CBRK_IO_SAFETY 22027
fi
if ver hwcmp OMNIBUS_F4SD
then
param set SYS_FMU_TASK 1
@@ -390,32 +384,6 @@ else
commander start
fi
#
# Check if UAVCAN is enabled, default to it for ESCs.
#
if param greater UAVCAN_ENABLE 0
then
# Start core UAVCAN module.
if uavcan start
then
if param greater UAVCAN_ENABLE 1
then
# Reduce logger buffer to free up some RAM for UAVCAN servers.
set LOGGER_BUF 6
# Start UAVCAN firmware update server and dynamic node ID allocation server.
uavcan start fw
if param greater UAVCAN_ENABLE 2
then
set OUTPUT_MODE uavcan_esc
fi
fi
else
tone_alarm ${TUNE_ERR}
fi
fi
# Sensors on the PWM interface bank.
if param compare SENS_EN_LL40LS 1
then
@@ -442,6 +410,29 @@ else
camera_feedback start
fi
#
# Check if UAVCAN is enabled, default to it for ESCs.
#
if param greater UAVCAN_ENABLE 0
then
# Start core UAVCAN module.
if uavcan start
then
if param greater UAVCAN_ENABLE 1
then
# Start UAVCAN firmware update server and dynamic node ID allocation server.
uavcan start fw
if param greater UAVCAN_ENABLE 2
then
set OUTPUT_MODE uavcan_esc
fi
fi
else
tone_alarm ${TUNE_ERR}
fi
fi
#
# Set default output if not set.
#
@@ -611,7 +602,6 @@ unset FMU_MODE
unset IO_FILE
unset IO_PRESENT
unset LOG_FILE
unset LOGGER_BUF
unset MAVLINK_F
unset MAVLINK_COMPANION_DEVICE
unset MAV_TYPE