mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 23:49:00 +08:00
[ardrone] Auto startup and configure paparazzi
Added the possibility to auto startup paparazzi sdk or raw version. Automaticly configures the drone with the airframe file.
This commit is contained in:
fvantienen
Felix Ruess
+23
-12
@@ -78,35 +78,46 @@ elf: $(OBJDIR)/$(TARGET).elf
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# Program the device and start it.
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load upload program: $(OBJDIR)/$(TARGET).elf
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# If it is not the SDK version, then kill program.elf
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ifneq ($(BOARD_TYPE), sdk)
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-echo "killall -9 program.elf" | telnet $(HOST)
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endif
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# Kill the application
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-echo "killall -9 $(TARGET).elf" | telnet $(HOST)
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# Upload the modules and start the application
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# Make the target dir and edit the config
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-{ \
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echo "mkdir -p $(TARGET_DIR)"; \
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echo "mkdir -p $(TARGET_DIR)"; \
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echo "if grep -q \"start_paparazzi *= \" /data/config.ini; then sed -i 's/\(start_paparazzi *= *\).*/\\\1$(ARDRONE2_START_PAPARAZZI)/g' /data/config.ini; else echo \"start_paparazzi = $(ARDRONE2_START_PAPARAZZI)\" >> /data/config.ini; fi"; \
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echo "if grep -q \"wifi_mode *= \" /data/config.ini; then sed -i 's/\(wifi_mode *= *\).*/\\\1$(ARDRONE2_WIFI_MODE)/g' /data/config.ini; else echo \"wifi_mode = $(ARDRONE2_WIFI_MODE)\" >> /data/config.ini; fi"; \
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echo "if grep -q \"ssid_single_player *= \" /data/config.ini; then sed -i 's/\(ssid_single_player *= *\).*/\\\1$(ARDRONE2_SSID)/g' /data/config.ini; else echo \"ssid_single_player = $(ARDRONE2_SSID)\" >> /data/config.ini; fi"; \
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echo "if grep -q \"static_ip_address_base *= \" /data/config.ini; then sed -i 's/\(static_ip_address_base *= *\).*/\\\1$(ARDRONE2_IP_ADDRESS_BASE)/g' /data/config.ini; else echo \"static_ip_address_base = $(ARDRONE2_IP_ADDRESS_BASE)\" >> /data/config.ini; fi"; \
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echo "if grep -q \"static_ip_address_probe *= \" /data/config.ini; then sed -i 's/\(static_ip_address_probe *= *\).*/\\\1$(ARDRONE2_IP_ADDRESS_PROBE)/g' /data/config.ini; else echo \"static_ip_address_probe = $(ARDRONE2_IP_ADDRESS_PROBE)\" >> /data/config.ini; fi"; \
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} | telnet $(HOST)
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# Upload the drivers and new application
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{ \
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echo "binary"; \
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echo "put $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko /$(SUB_DIR)/cdc-acm.ko"; \
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echo "put $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/check_update.sh check_update.sh"; \
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echo "put $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/wifi_setup.sh wifi_setup.sh"; \
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echo "put $(OBJDIR)/$(TARGET).elf /$(SUB_DIR)/$(TARGET).elf"; \
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echo "quit"; \
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} | ftp -n $(HOST)
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# Upload the modules and start the application
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-{ \
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echo "cd $(TARGET_DIR)"; \
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echo "insmod cdc-acm.ko"; \
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echo "chmod 777 $(TARGET).elf"; \
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echo "./$(TARGET).elf > /dev/null 2>&1 &"; \
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-{ \
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echo "mv /data/video/check_update.sh /bin/"; \
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echo "mv /data/video/wifi_setup.sh /bin/"; \
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echo "chmod 777 /bin/check_update.sh" \
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echo "chmod 777 /bin/wifi_setup.sh" \
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echo "insmod $(TARGET_DIR)/cdc-acm.ko"; \
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echo "chmod 777 $(TARGET_DIR)/$(TARGET).elf"; \
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echo "$(TARGET_DIR)/$(TARGET).elf > /dev/null 2>&1 &"; \
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} | telnet $(HOST)
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ifeq ($(ARDRONE2_REBOOT),1)
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-{ \
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echo "reboot"; \
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} | telnet $(HOST)
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endif
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# Link: create ELF output file from object files.
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.SECONDARY : $(OBJDIR)/$(TARGET).elf
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@@ -15,11 +15,17 @@ $(TARGET).ARCHDIR = $(ARCH)
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# -----------------------------------------------------------------------
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USER=foobar
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HOST=192.168.1.1
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HOST?=192.168.1.1
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SUB_DIR=raw
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FTP_DIR=/data/video
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TARGET_DIR=$(FTP_DIR)/$(SUB_DIR)
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# -----------------------------------------------------------------------
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ARDRONE2_START_PAPARAZZI ?= 0
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ARDRONE2_WIFI_MODE ?= 0
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ARDRONE2_SSID ?= ardrone2_paparazzi
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ARDRONE2_IP_ADDRESS_BASE ?= 192.168.1.
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ARDRONE2_IP_ADDRESS_PROBE ?= 1
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# -----------------------------------------------------------------------
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# The GPS sensor is connected trough USB so we have to define the device
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GPS_PORT ?= UART1
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@@ -20,6 +20,12 @@ SUB_DIR=sdk
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FTP_DIR=/data/video
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TARGET_DIR=$(FTP_DIR)/$(SUB_DIR)
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# -----------------------------------------------------------------------
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ARDRONE2_START_PAPARAZZI ?= 0
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ARDRONE2_WIFI_MODE ?= 0
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ARDRONE2_SSID ?= ardrone2_paparazzi
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ARDRONE2_IP_ADDRESS_BASE ?= 192.168.1.
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ARDRONE2_IP_ADDRESS_PROBE ?= 1
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# -----------------------------------------------------------------------
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# The GPS sensor is connected trough USB so we have to define the device
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GPS_PORT ?= UART1
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@@ -68,10 +68,11 @@ static struct {
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int fd;
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void electrical_init(void) {
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// First we try to kill the program.elf if it is running (done here because initializes first)
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system("killall -9 program.elf");
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// Initialize 12c device for power
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fd = open( "/dev/i2c-1", O_RDWR );
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if ( ioctl( fd, I2C_SLAVE_FORCE, 0x4a) < 0 ) {
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fprintf( stderr, "Failed to set slave address: %m\n" );
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}
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Executable
+96
@@ -0,0 +1,96 @@
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#!/bin/sh
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UPDATE_DIR=/update
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UPDATE_PATH=$UPDATE_DIR/ardrone2_update.plf
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VERSION_PATH=$UPDATE_DIR/version.txt
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ERR_PATH=$UPDATE_DIR/err.log
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echo "Check if need to start paparazzi ..."
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START_PAPARAZZI=`grep start_paparazzi /data/config.ini | awk -F "=" '{ gsub(/ */,"",$2); print $2}'`
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case $START_PAPARAZZI in
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1)
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START_PAPARAZZI=raw
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;;
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2)
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START_PAPARAZZI=sdk
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;;
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*)
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START_PAPARAZZI=no
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;;
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esac
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echo "START_PAPARAZZI=$START_PAPARAZZI"
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echo "Copy version.txt file in ftp directory"
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cp /firmware/version.txt $VERSION_PATH
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PELF_ARGS=$(cat /tmp/.program.elf.arguments | tr '\n' ' ')
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echo "Check if update is necessary ..."
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if [ -e $UPDATE_PATH ] ; then
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VERSION=`cat $VERSION_PATH`
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if [ -e $ERR_PATH ] ; then
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CHECK_ERR=`cat $ERR_PATH`
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if [ "$CHECK_ERR" = "NEED_TO_FLASH" ] ; then
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CHECK_PLF=`/bin/checkplf $UPDATE_PATH $VERSION`
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if [ "$CHECK_PLF" = "NEED_TO_FLASH" ] ; then
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echo "ERR=FLASH_KO" > $ERR_PATH
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else
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/bin/checkplf $UPDATE_PATH $VERSION > $ERR_PATH
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fi
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else
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/bin/checkplf $UPDATE_PATH $VERSION > $ERR_PATH
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fi
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else
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/bin/checkplf $UPDATE_PATH $VERSION > $ERR_PATH
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fi
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CHECK_ERR=`cat $ERR_PATH`
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if [ "$CHECK_ERR" = "NEED_TO_FLASH" ] ; then
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echo "File $UPDATE_PATH exists... Start updating..."
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pinst_trigger
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echo "Rebooting..."
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reboot
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else
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if [ "$CHECK_ERR" = "VERSION_OK" ] ; then
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echo "Version OK"
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elif [ "$CHECK_ERR" = "ERR=FLASH_KO" ] ; then
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echo "Error during Updating... Removing..."
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else
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echo "File $UPDATE_PATH not valid... Removing..."
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fi
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# Cleaning update directory
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rm -Rf $UPDATE_DIR/*
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cp /firmware/version.txt $VERSION_PATH
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echo "Start Drone software..."
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inetd
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# Check what to start
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if [ "$START_PAPARAZZI" = "raw" ] ; then
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(/data/video/raw/ap.elf; gpio 181 -d ho 1) &
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elif [ "$START_PAPARAZZI" = "sdk" ] ; then
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(/data/video/sdk/ap.elf; gpio 181 -d ho 1) &
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else
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(/bin/program.elf ${PELF_ARGS}; gpio 181 -d ho 1) &
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fi
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fi
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else
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echo "File $UPDATE_PATH doesn't exists... Start Drone software..."
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# Cleaning update directory
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rm -Rf $UPDATE_DIR/*
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cp /firmware/version.txt $VERSION_PATH
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inetd
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# Check what to start
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if [ "$START_PAPARAZZI" = "raw" ] ; then
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(/bin/program.elf ${PELF_ARGS}; gpio 181 -d ho 1) &
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sleep 10
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(/data/video/raw/ap.elf; gpio 181 -d ho 1) &
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elif [ "$START_PAPARAZZI" = "sdk" ] ; then
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(/bin/program.elf ${PELF_ARGS}; gpio 181 -d ho 1) &
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sleep 10
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(/data/video/sdk/ap.elf; gpio 181 -d ho 1) &
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else
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(/bin/program.elf ${PELF_ARGS}; gpio 181 -d ho 1) &
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fi
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fi
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Executable
+201
@@ -0,0 +1,201 @@
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#!/bin/sh
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#
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# Script to see if an IP adress is already used or not
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#
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# Getting SSID from config.ini file.
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#initializing random generator
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cat /data/random_mac.txt > /dev/urandom
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/bin/random_mac > /data/random_mac.txt
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#echo 2 > /proc/cpu/alignment
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export NETIF=ath0
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export WORKAREA="/lib/firmware"
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export ATH_PLATFORM="parrot-omap-sdio"
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export ATH_MODULE_ARGS="ifname=$NETIF"
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# Switch Wifi mode depending on value into /data/config.ini
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#
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WIFI_MODE=`grep wifi_mode /data/config.ini | awk -F "=" '{ gsub(/ */,"",$2); print $2}'`
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case $WIFI_MODE in
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0)
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WIFI_MODE=master
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;;
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1)
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WIFI_MODE=ad-hoc
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;;
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2)
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WIFI_MODE=managed
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;;
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*)
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WIFI_MODE=master
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;;
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esac
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if [ -s /factory/mac_address.txt ]
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then
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MAC_ADDR=`cat /factory/mac_address.txt`
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else
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MAC_ADDR=`cat /data/random_mac.txt`
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fi
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loadAR6000.sh -i $NETIF --setmac $MAC_ADDR
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# Waiting 2s for the wifi chip to be ready
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sleep 2
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AR6K_PID=`ps_procps -A -T -c | grep AR6K | awk '{print $1}'`
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SDIO_PID=`ps_procps -A -T -c | grep ksdioirqd | awk '{print $1}'`
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#Changing wifi priority
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chrt -p -r 25 $SDIO_PID
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chrt -p -r 24 $AR6K_PID
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# Disabling powersaving
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wmiconfig -i $NETIF --power maxperf
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# Disabling 802.11n aggregation
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wmiconfig -i $NETIF --allow_aggr 0 0
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# enabling WMM
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wmiconfig -i $NETIF --setwmm 1
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i=0
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while [ ! -n "$SSID" ] && [ $i -lt 10 ]
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do
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i=`expr $i + 1`
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SSID=`grep ssid_single_player /data/config.ini | awk -F "=" '{print $2}'`
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# Removing leading and trailing spaces
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SSID=`echo $SSID`
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sleep 1
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done
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if [ -n "$SSID" ]
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then
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echo "SSID=$SSID"
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else
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#default SSID.
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SSID=ardrone2_wifi
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echo "SSID=\"$SSID\""
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fi
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RANDOM_CHAN=auto
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echo "Creating $WIFI_MODE Network $SSID"
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iwconfig $NETIF mode $WIFI_MODE
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iwconfig $NETIF essid "$SSID"
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if [ "$WIFI_MODE" != "managed" ]
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then
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# Allowing ACS to select only channels 1 & 6
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wmiconfig -i $NETIF --acsdisablehichannels 1
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iwconfig $NETIF channel $RANDOM_CHAN
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iwconfig $NETIF rate auto
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iwconfig $NETIF commit
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else
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# The Wifi connection freezes when in managed mode if there is no keepalive
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wmiconfig -i ath0 --setkeepalive 1
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fi
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wmiconfig -i $NETIF --dtim 1
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wmiconfig -i $NETIF --commit
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OK=0
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BASE_ADRESS=`grep static_ip_address_base /data/config.ini | awk -F "=" '{print $2}'`
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PROBE=`grep static_ip_address_probe /data/config.ini | awk -F "=" '{print $2}'`
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# Removing leading and trailing spaces
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BASE_ADRESS=`echo $BASE_ADRESS`
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PROBE=`echo $PROBE`
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# Default base address
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if [ -n "$BASE_ADRESS" ]
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then
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echo "BASE_ADRESS=$BASE_ADRESS"
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else
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#default BASE_ADDRESS.
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BASE_ADRESS=192.168.1.
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echo "BASE_ADRESS=\"$BASE_ADRESS\""
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fi
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# Default probe
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if [ -n "$PROBE" ]
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then
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echo "PROBE=$PROBE"
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else
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#default PROBE.
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PROBE=1
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echo "PROBE=\"$PROBE\""
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fi
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while [ $OK -eq 0 ]
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do
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#configuring interface.
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ifconfig $NETIF $BASE_ADRESS$PROBE
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arping -I $NETIF -q -f -D -w 2 $BASE_ADRESS$PROBE
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if [ $? -eq 1 ]
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then
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if [ -s /data/old_adress.txt ]
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then
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# Testing previously given adress.
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PROBE=`cat /data/old_adress.txt`
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else
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#generating random odd IP address
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PROBE=`/bin/random_ip`
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fi
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/bin/random_ip > /data/old_adress.txt
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else
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echo $PROBE > /data/old_adress.txt
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OK=1
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fi
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done
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#Configuring DHCP server.
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echo "Using address $BASE_ADRESS$PROBE"
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echo "start $BASE_ADRESS`expr $PROBE + 1`" > /tmp/udhcpd.conf
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echo "end $BASE_ADRESS`expr $PROBE + 4`" >> /tmp/udhcpd.conf
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echo "interface $NETIF" >> /tmp/udhcpd.conf
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echo "decline_time 1" >> /tmp/udhcpd.conf
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echo "conflict_time 1" >> /tmp/udhcpd.conf
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echo "opt router $BASE_ADRESS$PROBE" >> /tmp/udhcpd.conf
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echo "opt subnet 255.255.255.0" >> /tmp/udhcpd.conf
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echo "opt lease 1200" >> /tmp/udhcpd.conf
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/bin/pairing_setup.sh
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# Saving random info for initialization at next reboot
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echo $MAC_ADDR `date` `/bin/random_mac` > /dev/urandom
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/bin/random_mac > /data/random_mac.txt
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telnetd -l /bin/sh
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# Check if not booting in master mode
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if [ "$WIFI_MODE" != "managed" ]
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then
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udhcpd /tmp/udhcpd.conf
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fi
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# Adding route for multicast-packet
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route add -net 224.0.0.0 netmask 240.0.0.0 dev $NETIF
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# Allow reconnection to dirty TCP ports
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echo "1" > /proc/sys/net/ipv4/tcp_tw_reuse
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echo "1" > /proc/sys/net/ipv4/tcp_tw_recycle
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# Starting the daemon which responds to the AUTH messages from FreeFlight if not in master mode
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if [ "$WIFI_MODE" != "managed" ]
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then
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/bin/parrotauthdaemon
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fi
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