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153 lines
2.7 KiB
153 lines
2.7 KiB
#!/bin/sh
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#
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# PX4 FMUv6X specific board sensors init
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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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# Keep nesting shallow
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if ver hwtypecmp V6X006 V6X008
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then
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if ver hwtypecmp V6X006
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then
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# Internal SPI bus ICM45686
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adis16470 -s -R 0 start
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iim42652 -s -R 6 start
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icm45686 -s -R 10 start
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else
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# Internal SPI bus 3x ICM45686
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icm45686 -b 3 -s -R 0 start
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icm45686 -b 2 -s -R 0 start
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icm45686 -b 1 -s -R 10 start
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fi
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else
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if ver hwtypecmp V6X004
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then
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# Internal SPI bus ICM20649
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icm20649 -s -R 6 start
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else
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# Internal SPI BMI088
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if ver hwtypecmp V6X010
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then
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bmi088 -A -R 0 -s start
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bmi088 -G -R 0 -s start
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else
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bmi088 -A -R 4 -s start
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bmi088 -G -R 4 -s start
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fi
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fi
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# Internal SPI bus ICM42688p
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if ver hwtypecmp V6X010
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then
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icm42688p -R 14 -s start
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else
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icm42688p -R 6 -s start
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fi
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if ver hwtypecmp V6X003 V6X004
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then
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# Internal SPI bus ICM-42670-P (hard-mounted)
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icm42670p -R 10 -s start
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else
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# Internal SPI bus ICM-20649 (hard-mounted)
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icm20649 -R 14 -s start
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fi
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fi
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# Internal magnetometer on I2c
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if ver hwtypecmp V6X001
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then
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rm3100 -I -b 4 start
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else
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# Internal magnetometer on I2C
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bmm150 -I -R 0 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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if param compare SENS_INT_BARO_EN 1
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then
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if ver hwtypecmp V6X001 V6X006 V6X008
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then
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icp201xx -I -a 0x64 start
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else
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bmp388 -I -a 0x77 start
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fi
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fi
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#external baro
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if ver hwtypecmp V6X001
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then
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icp201xx -X start
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else
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bmp388 -X start
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fi
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# Don't try to start external baro on I2C3 as it can conflict with the MS5525DSO airspeed sensor.
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#ms5611 -X start
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unset INA_CONFIGURED
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unset HAVE_PM2
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