#!/bin/sh
#
# PX4 board sensors init
#------------------------------------------------------------------------------
#
# UART mapping on Tropic Community:
#
# LPUART5       /dev/ttyS0      CONSOLE
# LPUART3       /dev/ttyS1      GPS
# LPUART2       /dev/ttyS2      TELEM1
# LPUART4       /dev/ttyS3      TELEM2
# LPUART8       /dev/ttyS4      RC
#
#------------------------------------------------------------------------------

set INA_CONFIGURED no

if param compare -s ADC_ADS1115_EN 1
then
	ads1115 start -X
else
	board_adc start
fi


if param compare SENS_EN_INA226 1
then
	# Start Digital power monitors
	ina226 -X -b 1 -t 1 -k start
	set INA_CONFIGURED yes
fi

if param compare SENS_EN_INA228 1
then
	# Start Digital power monitors
	ina228 -X -b 1 -t 1 -k start
	set INA_CONFIGURED yes
fi

if param compare SENS_EN_INA238 1
then
	# Start Digital power monitors
	ina238 -X -b 1 -t 1 -k start
	set INA_CONFIGURED yes
fi

if [ $INA_CONFIGURED = no ]
then
	# INA226, INA228, INA238 auto-start
	i2c_launcher start -b 1
fi

# Internal SPI bus ICM42688p
icm42688p -R 2 -b 3 -s start

# Internal on IMU SPI BMI088
bmi088 -A -R 2 -b 4 -s start
bmi088 -G -R 2 -b 4 -s start

# Internal magnetometer on I2c
bmm150 -I -b 4 -R 6 -a 18 start

# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
ist8310 -X -b 1 -R 10 start

# Possible internal Baro

# Disable startup of internal baros if param is set to false
if param compare SENS_INT_BARO_EN 1
then
	bmp388 -I -b 4 start
fi

unset INA_CONFIGURED