pixhawk启动脚本分析
Nuttx系统启动是由ardupilot/mk/PX4/ROMFS/init.d里的rcS和rc.APM完成的。笔者阅读了rcS和rc.APM,该脚本类似C语言,并做了相关注释。主要是一些设备自检,启动各模块,最后启动进入ArduPilot_main,开始运行程序。本节只介绍启动脚本,程序的启动与整体运行下节再分析。
rcS
rcS
#!nsh由nsh进行解析的脚本
#
# PX4FMU startup script.
#
# This script is responsible for:这个脚本是为了回应
#
# - mounting the microSD card (if present)安装SD卡
# - running the user startup script from the microSDcard (if present)从SD卡中运行用户启动脚本
# - detecting the configuration of the systemand picking a suitable查找系统配置并选择一个合适的启动脚
# startup script to continue with 本继续运行
#
# Note: DO NOT add configuration-specificcommands to this script;
# add them to the per-configuration scripts instead.
##
# Default to auto-start mode. An initscript on the microSD card
# can change this to prevent automatic startupof the flight script.
#
set MODE autostart 模式设置为自动开始 MODE跟USB应该是环境变量
set USB autoconnect USB自动连接 在Linux中也是用set去给一个环境变量赋值的##if rgbled start 亮灯的设置,有就亮白灯
thenset HAVE_RGBLED 1#show startup white rgbled rgb 16 16 16
elseset HAVE_RGBLED 0
fi#
# Try to mount the microSD card.尝试挂载SD卡
#
echo "[init]looking for microSD..."echo是打印的命令
if mount -t vfat/dev/mmcsd0 /fs/microsdmount [-t vfstype] [-ooptions] device dir.
then -t vfstype指定文件系统的类型,通常不必指定,fat32文件系统:vfatecho"[init] card mounted at /fs/microsd" /dev/mmcsd0指SD卡 /fs/microsd指挂载目录set HAVE_MICROSD 1# Startplaying the startup tune 产生启动语调,表示启动成功tone_alarm1
elseset HAVE_MICROSD 0echo"Trying format of microSD"tone_alarm MBAGPifmkfatfs /dev/mmcsd0 格式化SD卡thenecho "microSD card formatted"if mount -t vfat /dev/mmcsd0 /fs/microsd 挂载SD卡thenecho "formatsucceeded"set HAVE_MICROSD 1tone_alarm 1elseecho "mountfailed"tone_alarm MNBG 挂载失败的语调if [ $HAVE_RGBLED == 1]thenrgbled rgb 16 0 0 挂载失败的灯fifielse 格式化失败echo"format failed"tone_alarm MNBGG 挂载失败的语调if [ $HAVE_RGBLED == 1 ]thenrgbled rgb 16 0 0 挂载失败的灯fifi
fi#
# Look for an initscript on the microSD card. 寻找初始化脚本
#
# To prevent automatic startup in the currentflight mode,为了避免自动启动当前飞行模式,脚本应该设置成
# the script should set MODE to some othervalue. 其他值
#
if [ -f /fs/microsd/etc/rc ] 查找/fs/microsd/etc/rc这个路径的rc文件
thenecho"[init] reading /fs/microsd/etc/rc"sh /fs/microsd/etc/rc 执行rc文件 sh是用来执行nsh脚本的一个命令
fi
# Also consider rc.txt files
if [ -f /fs/microsd/etc/rc.txt ]查找/fs/microsd/etc/rc.txt这个路径的rc文件
thenecho"[init] reading /fs/microsd/etc/rc.txt"sh /fs/microsd/etc/rc.txt 执行rc.txt文件
fi#
# Check for USB host
#
if [ $USB != autoconnect] 判断USB不是自动连接
thenecho"[init] not connecting USB"
elseif sercon 初始化USB串口thenecho"[init] USB interface connected"elseecho"[init] No USB connected"fi
fiif [ $HAVE_MICROSD == 0 ] 判断是否有SD卡
thenifusb_connectedthenecho "Opening USB nsh"elseecho "booting with no microSD"set HAVE_MICROSD 1fi
fi# if this is an APM build then there will be arc.APM script如果这是APM build,那么会有rc.APM脚本文件
# from an EXTERNAL_SCRIPTS build option rc.APM脚本文件来自EXTERNAL_SCRIPTS(外部脚本)build选项中
if [ -f /etc/init.d/rc.APM -a $HAVE_MICROSD == 1-a ! -f /fs/microsd/APM/nostart ]
thenechoRunning rc.APM# ifAPM startup is successful then nsh will exitsh /etc/init.d/rc.APM 执行/etc/init.d/rc.APM文件
elsenshterm /dev/ttyACM0&
fi
其实我们完全把它当作一个 Linux脚本来阅读就可以了。
MODE跟 USB应该是环境变量,在Linux中也是用 set去给一个环境变量赋值的。然后去启动 “rgbled”,这是由 “Firmware”提供的。我们很容易猜到这是用来控制那个高亮的 LED灯的。然后才是挂载 SD卡,文件系统为 vfat,挂载目录为 /fs/microsd。 SD卡挂载上来之后就去执行 SD卡中的脚本 “/fs/microsd/etc/rc”,所以我们就知道 sh是用来执行 nsh脚本的一个命令。应该来说 “/fs/microsd/etc/rc.txt”也是一个脚本,要不然也不会使用 sh命令了。 sercon你需要去看下源码才知道这是用来初始化 USB串口的。而最后则是通过调用 /etc/init.d/rc.APM脚本来真正初始化飞控。
rc.APM
#!nsh 由nsh进行解析的脚本# APM startup script for NuttX on PX4 APM的Nuttx系统启动脚本# To disable APM startup add a /fs/microsd/APM/nostart file
# To enable mkblctrlstartup add a /fs/microsd/APM/mkblctrl file
# To enable mkblctrl_+ startup add a /fs/microsd/APM/mkblctrl_+file
# To enable mkblctrl_x startup add a /fs/microsd/APM/mkblctrl_xfile
# To enable PWM on FMUv1 on ttyS1 add a /fs/microsd/APM/AUXPWM.enfileset deviceA /dev/ttyACM0# check for an old file called APM, caused by 核查一个叫APM旧的文件
# a bug in an earlier firmware release 它由firmware发布,为了应对之前的一个bug
if [ -f /fs/microsd/APM ]
thenecho"APM file found - renaming"mv /fs/microsd/APM /fs/microsd/APM.old 将/fs/microsd/APM命名为/fs/microsd/APM.old
fiif [ -f /fs/microsd/APM/nostart]是否找到/fs/microsd/APM/nostart文件
thenecho"APM/nostart found - skipping APMstartup"sh /etc/init.d/rc.error 执行/etc/init.d/rc.error
fi# mount binfsso we can find the built-in apps挂载binfs(built_in_files)文件,这样就可以找到built-in应
if [ -f /bin/reboot ] 查找/bin/reboot文件 用程序
thenecho"binfs already mounted"
elseecho"Mounting binfs"ifmount -t binfs /dev/null/bin 将binfs挂载到/bin目录下thenecho "binfs mounted OK"elsesh /etc/init.d/rc.error 执行/etc/init.d/rc.errorfi
fiset sketch NONE 设置环境变量sketch为NONE
if rm /fs/microsd/APM/boot.log 删除(remove)/fs/microsd/APM/boot.log
thenecho"removed old boot.log"
fi
set logfile /fs/microsd/APM/BOOT.LOG 将logfile文件设置成/fs/microsd/APM/BOOT.LOG文件if [ ! -f /bin/ArduPilot ] 查找/bin/ArduPilot文件
thenecho"/bin/ardupilot not found"sh /etc/init.d/rc.error
fiif mkdir /fs/microsd/APM >/dev/null 生成/fs/microsd/APM/dev/null目录(猜测)
thenecho"Created APM directory"
fi
这部分是我划出来的第一部分。先设置串口,然后一堆跟SD卡相关的命令。其实我们将一张空的SD卡放进去也是可以正常工作的。可能这里最让人感兴趣的就是“ArduPilot”了,因为APM工程就叫“ArduPilot”。在 g_builtins数组中也有这样一行信息:
{"ArduPilot",SCHED_PRIORITY_DEFAULT, 4096, ArduPilot_main},
也就是说 PX4将 APM原来的主程序设计成了 Nuttx中的一个命令。但其实我们在使用 Linux系统的时候,可执行文件其实就等同命令。这个命令跟其他命令还是有很大不同的,这个我们后面再讨论。
if [ -f /bin/px4io ] 查找/bin/px4io文件
thenif [ -f/bin/lsm303d ] 查找/bin/lsm303dthenecho"Detected FMUv2 board"setBOARD FMUv2 将BOARD设置成FMUv2elseecho"Detected FMUv1 board"setBOARD FMUv1 将BOARD设置成FMUv1fi
elseecho"Detected FMUv4 board"setBOARD FMUv4 将BOARD设置成FMUv4
fiif [ $BOARD == FMUv1 ] 从这开始是对deviceC和D的设置
thensetdeviceC /dev/ttyS2if [ -f/fs/microsd/APM/AUXPWM.en]then To enablePWM on FMUv1 on ttyS1 add a /fs/microsd/APM/AUXPWM.en filesetdeviceD /dev/nullelsesetdeviceD /dev/ttyS1fi
elsesetdeviceC /dev/ttyS1setdeviceD /dev/ttyS2
fiif uorb start uorb是否被设置为start
thenecho"uorb started OK"
elsesh /etc/init.d/rc.error
fi
从这里我们可以看到FMUv1跟 FMUv2的差别在于 lsm303d这颗传感器。通过这颗传感器我们可以用肉眼进行区分。当然它们所使用的串口不同这个可能就无法直接看到了。
我看了下 uorb的源码,源码中有这样一条注释:“Start/load the driver”,我没太搞懂这里 “driver”是什么,只是它用到了一个变量:PX4IO *g_dev = nullptr;,由此也只能确定这是跟 IO板相关的,更具体的就不知道了。
# start mkblctrldriver if configured 启动mkblctrl驱动,如果mkblctrl被配置了
if [ -f /fs/microsd/APM/mkblctrl]
thenecho"Setting up mkblctrl driver"echo"Setting up mkblctrl driver">> $logfile 写入logfilemkblctrl -d /dev/pwm_output
fiif [ -f /fs/microsd/APM/mkblctrl_+ ]
then Toenable mkblctrl_+ startup add a /fs/microsd/APM/mkblctrl_+ fileecho"Setting up mkblctrl driver +"echo"Setting up mkblctrl driver +">> $logfilemkblctrl -mkmode +-d /dev/pwm_output
fiif [ -f /fs/microsd/APM/mkblctrl_x ]
then Toenable mkblctrl_x startup add a /fs/microsd/APM/mkblctrl_x fileecho"Setting up mkblctrl driver x"echo"Setting up mkblctrl driver x">> $logfilemkblctrl -mkmode x-d /dev/pwm_output
fi
这一段我想应该是比较好理解的,就算我们不去看这个命令,因为这里是在设置机型。if [ -f /bin/px4io ]
thenecho"Trying PX4IO board"# trythe px4io start twice. Some FMUv2 board don't再次启动px4io,因为有些FMUv2板第一次启动会不成功# comeup the first timesetHAVE_PX4IO falseif px4iostart norc px4是否启动正常thensetHAVE_PX4IO true 将HAVE_PX4IO设置为trueelse# itmay be in bootloader mode 此时应该在bootloader模式echoLoading /etc/px4io/px4io.bin 下载/etc/px4io/px4io.bin文件到板中tone_alarm MBABGP 发出MBABGP的提示语调ifpx4io update /etc/px4io/px4io.bin 判断px4是否跟新成/etc/px4io/px4io.binthenecho"upgraded PX4IO firmware OK"tone_alarm MSPAA 发出MSPAA的提示语调elseecho"Failed to upgrade PX4IO firmware"tone_alarm MNGGG 发出MNGGG的提示语调fisleep1ifpx4io start norc px4是否启动正常thenset HAVE_PX4IO true 将HAVE_PX4IO设置为true#play happy tune againtone_alarm1 发出1号提示语调fifi
else 找不到/bin/px4iosetHAVE_PX4IO falseecho"No PX4IO support"
fiif [ $HAVE_PX4IO == true ]
thenecho"PX4IO board OK"ifpx4io checkcrc /etc/px4io/px4io.bin 校验/etc/px4io/px4io.bin通过CRC校验判断是否需要更新的thenecho "PX4IO CRC OK"elseecho "PX4IO CRC failure"echo "PX4IO CRC failure" >> $logfile tone_alarm MBABGP 发出MBABGP的提示语调ifpx4io safety_on thenecho "PX4IO disarm OK"elseecho "PX4IO disarm failed"fisleep 1ifpx4io forceupdate 14662 /etc/px4io/px4io.bin 强制跟新/etc/px4io/px4io.binthensleep 1if px4io start norc px4是否启动正常thenecho "PX4IO restart OK"echo "PX4IO restart OK" >> $logfile 写入logfiletone_alarm MSPAAelseecho "PX4IO restart failed"echo "PX4IO restart failed" >> $logfile tone_alarm MNGGGsh /etc/init.d/rc.error 执行/etc/init.d/rc.errorfielseecho "PX4IO update failed"echo "PX4IO update failed" >> $logfile tone_alarm MNGGGfifi
else HAVE_PX4IO=falseecho"No PX4IO board found"echo "No PX4IO board found">> $logfileif [$BOARD == FMUv2 ] FMUv4不需要PX4IO,通过/bin/lsm303d传感器文件,判断是FMUv2还是FMUv1thensh/etc/init.d/rc.errorfi
fi
这里看似很长的一段脚本,其实质做了一件事情:更新IO板的固件。这么长的脚本处理了两种情况:一、IO板没有固件;二,IO板有固件但不是最新的。更新固件是通过 px4io命令来完成的,如果我们想知道固件是如何更新的可以去阅读该命令的源码。固件更新其实我们在分析 IO板的启动的时候已经知道是通过 CRC校验判断是否需要更新的。
if [ $BOARD == FMUv1 -a $deviceD == /dev/ttyS1 ] 判断板子是否是FMUV1,deviceD是否对应/dev/ttyS1
thenecho "Setting FMU mode_serial"fmu mode_serial 将fmu设置为串口模式
elseiffmu mode_pwm4 将fmu设置为pwm模式thenecho "Set FMU mode_pwm4"fi
fi
我粗略看了下 fmu的源码,没看明白这一段是干嘛的。
if mtd start /fs/mtd MTD(memory technology device内存技术设备)用于访问memory设备(ROM,Flash)的子系统
then linux中MTD的主要目的是为了使新的memory设备的驱动更加简单,为此它在硬件和上层之间提供了一个echo"started mtd driver OK" 抽象的接口,MTD的所有源代码在/driver/mtd子目录中
elseecho"failed to start mtd driver"echo"failed to start mtd driver" >> $logfilesh/etc/init.d/rc.error
fiif mtd readtest /fs/mtd
thenecho"mtd readtest OK" 读mtd测试
elseecho"failed to read mtd"echo"failed to read mtd" >> $logfilesh/etc/init.d/rc.error
fiif [ $BOARD == FMUv2 -o $BOARD == FMUv4 ]
then# theramtron on FMUv2 is very fast and can handle trillions of 之前有个设备读写失败了,所以进行读#writes. This full rw test on each boot ensures it is working 写测试,确保读写没问题#properly. We have one board that failed this, so# thetest is arguably worth havingif mtdrwtest /fs/mtd mtd读写测试thenecho"mtd rwtest OK"elseecho"failed to test mtd"echo"failed to test mtd" >> $logfilesh/etc/init.d/rc.error fi
fi
对mtd进行读写测试,确保这方面没问题。这部分脚本是对mtd的操作,根据对Linux的了解,我觉得这里应该跟存储设备相关。虽然没有mount操作,但我仍然觉得这里可能是挂载存储设备,具体的仍然要到源码中去找寻答案。
echo "Starting APM sensors"if ms5611 start启动ms5611
thenecho"ms5611 started OK"
elseecho"no ms5611 found"echo"No ms5611 found" >> $logfilesh/etc/init.d/rc.error
fiif adc start 启动adc
thenecho"adc started OK"
elseecho"No adc" >> $logfilesh/etc/init.d/rc.error
fiif [ $BOARD == FMUv1 ] 板子为FMUv1
thenecho"Starting FMUv1 sensors"ifhmc5883 -C -T -X start 启动hmc5883thenecho "Have external hmc5883"elseecho "No external hmc5883"fiifhmc5883 -C -T -I startthenecho "Have internal hmc5883"elseecho "No internal hmc5883"fiifmpu6000 start 启动mpu6000thenecho "mpu6000 startedOK"elsesh/etc/init.d/rc.errorfiifl3gd20 start 启动l3gd20thenecho "l3gd20 started OK"elseecho "No l3gd20"echo "No l3gd20" >> $logfilefi
fiif [ $BOARD == FMUv2 ] 板子为FMUv2
thenecho"Starting FMUv2 sensors"ifhmc5883 -C -T -X startthenecho "Have external hmc5883"elseecho "No external hmc5883"fiifhmc5883 -C -T -I -R 4 startthenecho "Have internal hmc5883"elseecho "No internal hmc5883"fi#external MPU6000 is rotated YAW_180 from standardifmpu6000 -X -R 4 startthenecho "Found MPU6000 external"setHAVE_FMUV3 trueelseifmpu9250 -X -R 4 startthenecho "Found MPU9250 external"set HAVE_FMUV3 trueelseecho "No MPU6000 or MPU9250 external"set HAVE_FMUV3 falsefifiif [$HAVE_FMUV3 == true ]then#external L3GD20 is rotated YAW_180 from standardifl3gd20 -X -R 4 startthenecho "l3gd20 external started OK"elseecho "No l3gd20"sh /etc/init.d/rc.errorfi#external LSM303D is rotated YAW_270 from standardiflsm303d -a 16 -X -R 6 startthenecho "lsm303d external started OK"elseecho "No lsm303d"sh /etc/init.d/rc.errorfi#internal MPU6000 is rotated ROLL_180_YAW_270 from standardifmpu6000 -R 14 startthenecho "Found MPU6000 internal"elseif mpu9250 -R 14 startthenecho "Found MPU9250 internal"elseecho "No MPU6000 or MPU9250"echo "No MPU6000 or MPU9250" >> $logfilesh /etc/init.d/rc.errorfifiifhmc5883 -C -T -S -R 8 startthenecho "Found SPI hmc5883"fielseifmpu6000 startthenecho "Found MPU6000"elseif mpu9250 startthenecho "FoundMPU9250"elseecho "No MPU6000 orMPU9250"echo "No MPU9250">> $logfilefifiifl3gd20 startthenecho "l3gd20 started OK"elsesh /etc/init.d/rc.errorfiiflsm303d -a 16 startthenecho "lsm303d started OK"elsesh /etc/init.d/rc.errorfifi
fiif [ $BOARD == FMUv4 ] 板子为FMUv4
thenecho"Starting FMUv4 sensors"ifhmc5883 -C -T -X startthenecho "Have external hmc5883"elseecho "No external hmc5883"fiifhmc5883 -C -T -S -R 2 startthenecho "Have SPI hmc5883"elseecho "No SPI hmc5883"fiifmpu6000 -R 2 -T 20608 startthenecho "Found ICM-20608 internal"fiifmpu9250 -R 2 startthenecho "Found mpu9250 internal"fi
fi
从 echo那一句很容易看出这里是在启动传感器。当然,我暂时是不会去研究这些传感器是干嘛用的,只以看流程为主。从这段脚本我们也可以看出 V1跟 V2的一些区别,即 V1是内置罗盘,并且上电校准。但是 V2可以使用外置罗盘,而且上电过程是不校准的。至于陀螺为什么会有内部和外部的区别这个我没想通,也没有找到相关资料,这或许就要到源码中去寻找答案了。而源码肯定是要去看的。
# optional ETS airspeed sensor 空速计
if ets_airspeed start
thenecho"Found ETS airspeed sensor"
fiif meas_airspeed start
thenecho"Found MEAS airspeed sensor"
elseifmeas_airspeed start -b 2thenecho "Found MEAS airspeed sensor (bus2)"fi
fi# optional Range Finder sensor 测距仪
if ll40ls -X start
thenecho"Found external ll40ls sensor"
fiif ll40ls -I start
thenecho"Found internal ll40ls sensor"
fiif trone start
thenecho"Found trone sensor"
fiif mb12xx start
thenecho"Found mb12xx sensor"
fi# optional PX4Flow sensor 光流
if [ -f /bin/px4flow ]
thenifpx4flow startthenecho"Found px4flow sensor"fi
fi# optional PWM input driver pwm输入驱动
if pwm_input start
thenecho"started pwm_input driver"
fi# optional oreo leds oled屏
if [ -f /bin/oreoled ]
theniforeoled start autoupdatethenecho "oreoledstarted OK"fi
fi# optional smbus battery monitor 电池总线监视器
if batt_smbus -b 2 start
thenecho"Found batt_smbus"
fi# optional irlock irlock暂时不知道是什么
if irlock start
thenecho"irlock started"
fiecho Starting ArduPilot $deviceA $deviceC$deviceD
if ArduPilot -d $deviceA -d2 $deviceC -d3$deviceD start 启动deviceA、deviceC、deviceD
thenecho ArduPilot started OK
elsesh/etc/init.d/rc.error
fiecho "rc.APM finished"
最后还有一个人脚本: /etc/init.d/rc.error,在出错的时候我们经常看到这个脚本。
rc.error
echo "Error in startup"tone_alarm MNCCif [ $HAVE_RGBLED == 1 ]
thenrgbled rgb16 0 0
finshterm/dev/ttyACM0 & 启动/dev/ttyACM0
sleep 1
nshterm/dev/ttyS0 & 启动/dev/ttyS0
sleep 1
exit
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