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74 lines
1.6 KiB
74 lines
1.6 KiB
#!/bin/sh
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#
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# PX4 board sensors init
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#------------------------------------------------------------------------------
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#
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# UART mapping on Tropic Community:
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#
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# LPUART5 /dev/ttyS0 CONSOLE
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# LPUART3 /dev/ttyS1 GPS
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# LPUART2 /dev/ttyS2 TELEM1
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# LPUART4 /dev/ttyS3 TELEM2
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# LPUART8 /dev/ttyS4 RC
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#
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#------------------------------------------------------------------------------
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set INA_CONFIGURED no
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if param compare -s ADC_ADS1115_EN 1
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then
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ads1115 start -X
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else
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board_adc start
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fi
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if param compare SENS_EN_INA226 1
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then
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# Start Digital power monitors
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ina226 -X -b 1 -t 1 -k start
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set INA_CONFIGURED yes
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fi
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if param compare SENS_EN_INA228 1
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then
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# Start Digital power monitors
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ina228 -X -b 1 -t 1 -k start
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set INA_CONFIGURED yes
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fi
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if param compare SENS_EN_INA238 1
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then
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# Start Digital power monitors
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ina238 -X -b 1 -t 1 -k start
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set INA_CONFIGURED yes
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fi
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if [ $INA_CONFIGURED = no ]
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then
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# INA226, INA228, INA238 auto-start
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i2c_launcher start -b 1
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fi
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# Internal SPI bus ICM42688p
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icm42688p -R 2 -b 3 -s start
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# Internal on IMU SPI BMI088
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bmi088 -A -R 2 -b 4 -s start
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bmi088 -G -R 2 -b 4 -s start
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# Internal magnetometer on I2c
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bmm150 -I -b 4 -R 6 -a 18 start
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# 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)
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ist8310 -X -b 1 -R 10 start
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# Possible internal Baro
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# Disable startup of internal baros if param is set to false
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if param compare SENS_INT_BARO_EN 1
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then
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bmp388 -I -b 4 start
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fi
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unset INA_CONFIGURED
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