From ea10d55d71b25b4440c6b4dc139dda519a0d2797 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 14 Dec 2013 15:08:56 +0100
Subject: Auto-update of IO firmware, shorter preflight check alarm

---
 ROMFS/px4fmu_common/init.d/rcS | 47 ++++++++++++++++++++++++++++++++----------
 1 file changed, 36 insertions(+), 11 deletions(-)

(limited to 'ROMFS/px4fmu_common')

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index f1df99048..f551c1aa8 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -8,6 +8,8 @@
 #
 set MODE autostart
 
+set logfile /fs/microsd/bootlog.txt
+
 #
 # Try to mount the microSD card.
 #
@@ -147,26 +149,49 @@ then
 		nshterm /dev/ttyACM0 &
 	fi
 
-	
 	#
 	# Upgrade PX4IO firmware
 	#
-	if px4io detect
+
+	if [ -f /etc/extras/px4io-v2_default.bin ]
+	then
+		set io_file /etc/extras/px4io-v2_default.bin
+	else
+		set io_file /etc/extras/px4io-v1_default.bin
+	fi
+
+	if px4io start
 	then
-		echo "PX4IO running, not upgrading"
+		echo "PX4IO OK"
+		echo "PX4IO OK" >> $logfile
+	fi
+	
+	if px4io checkcrc $io_file
+	then
+		echo "PX4IO CRC OK"
+		echo "PX4IO CRC OK" >> $logfile
 	else
-		echo "Attempting to upgrade PX4IO"
-		if px4io update
+		echo "PX4IO CRC failure"
+		echo "PX4IO CRC failure" >> $logfile
+		tone_alarm MBABGP
+		if px4io forceupdate 14662 $io_file
 		then
-			if [ -d /fs/microsd ]
+			usleep 200000
+			if px4io start
 			then
-				echo "Flashed PX4IO Firmware OK" > /fs/microsd/px4io.log
+				echo "PX4IO restart OK"
+				echo "PX4IO restart OK" >> $logfile
+				tone_alarm MSPAA
+			else
+				echo "PX4IO restart failed"
+				echo "PX4IO restart failed" >> $logfile
+				tone_alarm MNGGG
+				sh /etc/init.d/rc.error
 			fi
-
-			# Allow IO to safely kick back to app
-			usleep 200000
 		else
-			echo "No PX4IO to upgrade here"
+			echo "PX4IO update failed"
+			echo "PX4IO update failed" >> $logfile
+			tone_alarm MNGGG
 		fi
 	fi
 	
-- 
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