#!/bin/sh
#
# Forward is where the MIPI and ESC connectors are
#
# Auterion FMUv6S specific board sensors init
#------------------------------------------------------------------------------

# For system_power and battery_status
board_adc start

# IMU3 on SPI3, ROTATION_NONE=0
bmi088 -A -R 0 -s start
bmi088 -G -R 0 -s start

# MAG on I2C4, ROTATION_ROLL_180=8
if ver hwtypecmp V6S013 V6S015
then
	bmm150 -I -R 8 start
else
	bmm350 -I -R 8 start
fi

# BARO on I2C4
bmp388 -I -b 4 -a 0x77 start


# External sensors on I2C1

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

	# Disable analog monitoring
	param set BAT1_V_CHANNEL -2

	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

	# Disable analog monitoring
	param set BAT1_V_CHANNEL -2

	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

	# Disable analog monitoring
	param set BAT1_V_CHANNEL -2

	set INA_CONFIGURED yes
fi

if param compare BAT1_V_CHANNEL -2
then
	if [ "$INA_CONFIGURED" != "yes" ]
	then
		param set BAT1_V_CHANNEL -1
	fi
fi

# External compass IST8310 on I2C1
ist8310 -X -b 1 -R 10 start

# Start an external PWM generator
if param greater PCA9685_EN_BUS 0
then
	pca9685_pwm_out start -b 1
fi