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43 lines
1.1 KiB
43 lines
1.1 KiB
#!/bin/sh
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#
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# Board specific sensors init
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#------------------------------------------------------------------------------
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board_adc start
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# Variants
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# 1. Isolated {ICM42688p, ICM20948(with mag)}, body-fixed {ICM20649}
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# 2. Isolated {ICM42688p, ICM42688p}, body-fixed {ICM20649, ICM45686, AK09918}
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# 3. Isolated {ICM42688p, ICM42688p}, body-fixed {ICM45686, AK09918}
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# 4. Isolated {ICM45686, ICM45686}, body-fixed {ICM45686, AK09918}
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# SPI4 is isolated, SPI1 is body-fixed
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# SPI4, isolated
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ms5611 -s -b 4 start
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if icm42688p -s -b 4 -R 10 -q start -c 15
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then
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# We need to use the temperature of the first isolated IMU for heater control.
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param set-default SENS_TEMP_ID 2490402
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if ! icm20948 -s -b 4 -R 10 -M -q start
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then
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icm42688p -s -b 4 -R 6 start -c 13
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fi
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else
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icm45686 -s -b 4 -R 10 start -c 15
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icm45686 -s -b 4 -R 6 start -c 13
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param set-default SENS_TEMP_ID 3407906
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fi
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# SPI1, body-fixed
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if icm45686 -s -b 1 -R 3 -q start
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then
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# if we detected the ICM45686 we also ought to have an AK09918
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ak09916 start -I -R 13
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else
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icm20649 -s -b 1 start
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fi
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ms5611 -s -b 1 start
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