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134 lines
2.6 KiB
134 lines
2.6 KiB
#!/bin/sh
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#
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# PX4 FMUv6xrt specific board sensors init
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#------------------------------------------------------------------------------
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#
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# UART mapping on PX4 FMU-V6XRT:
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#
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# LPUART1 /dev/ttyS0 CONSOLE
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# LPUART3 /dev/ttyS1 GPS
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# LPUART4 /dev/ttyS2 TELEM1
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# LPUART5 /dev/ttyS3 GPS2
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# LPUART6 /dev/ttyS4 PX4IO
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# LPUART8 /dev/ttyS5 TELEM2
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# LPUART10 /dev/ttyS6 TELEM3
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# LPUART11 /dev/ttyS7 EXT2
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#
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#------------------------------------------------------------------------------
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set HAVE_PM2 yes
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set INA_CONFIGURED no
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if mft query -q -k MFT -s MFT_PM2 -v 0
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then
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set HAVE_PM2 no
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fi
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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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board_adc start -n
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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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if [ $HAVE_PM2 = yes ]
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then
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ina226 -X -b 2 -t 2 -k start
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fi
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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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if [ $HAVE_PM2 = yes ]
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then
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ina228 -X -b 2 -t 2 -k start
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fi
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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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if [ $HAVE_PM2 = yes ]
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then
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ina238 -X -b 2 -t 2 -k start
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fi
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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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if [ $HAVE_PM2 = yes ]
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then
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i2c_launcher start -b 2
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fi
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fi
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if ver hwtypecmp V6XRT000 V6XRT001
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then
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# Internal SPI bus ICM42686p (hard-mounted)
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icm42688p -6 -R 12 -b 1 -s start
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# Internal on IMU SPI BMI088
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bmi088 -A -R 4 -s start
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bmi088 -G -R 4 -s start
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# Internal on IMU SPI bus ICM42688p
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icm42688p -R 6 -b 2 -s start
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fi
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if ver hwtypecmp V6XRT002
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then
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# Internal SPI bus icm45686 (hard-mounted)
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icm45686 -R 12 -b 1 -s start
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# Internal on IMU SPI BMI088
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bmi088 -A -R 4 -s start
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bmi088 -G -R 4 -s start
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# Internal on IMU SPI bus icm45686
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icm45686 -R 6 -b 2 -s start
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fi
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if ver hwtypecmp V6XRT000
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then
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# Internal magnetometer on I2c
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bmm150 -I start
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fi
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if ver hwtypecmp V6XRT001 V6XRT002
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then
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# Internal magnetometer on I2c
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bmm350 -I start
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fi
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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 3 -a 0x77 start
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fi
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bmp388 -X -b 2 start
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unset INA_CONFIGURED
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unset HAVE_PM2
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