Daniel Agar
6 years ago
5 changed files with 96 additions and 106 deletions
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#!nsh |
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# |
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# PX4 FMUv4 specific board init |
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# |
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#------------------------------------------------------------------------------ |
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# |
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# UART mapping on FMUv5: |
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# |
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# UART1 /dev/ttyS0 wifi |
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# USART2 /dev/ttyS1 TELEM1 (flow control) |
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# USART3 /dev/ttyS2 TELEM2 (flow control) |
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# UART4 |
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# UART7 CONSOLE |
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# UART8 /dev/ttyS6 SERIAL4/TELEM4 |
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# |
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#------------------------------------------------------------------------------ |
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# |
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|
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# We know there are sketchy boards out there |
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# as chinese companies produce Pixracers without |
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# fully understanding the critical parts of the |
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# schematic and BOM, leading to sensor brownouts |
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# on boot. Original Pixracers following the |
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# open hardware design do not require this. |
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fmu sensor_reset 50 |
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if [ $AUTOCNF = yes ] |
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then |
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# Disable safety switch by default |
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param set CBRK_IO_SAFETY 22027 |
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param set SYS_FMU_TASK 1 |
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fi |
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set MIXER_AUX none |
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# External I2C bus |
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hmc5883 -C -T -X start |
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lis3mdl -X start |
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ist8310 start |
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bmp280 -I start |
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# expansion i2c used for BMM150 rotated by 90deg |
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bmm150 -R 2 start |
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# hmc5883 internal SPI bus is rotated 90 deg yaw |
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if ! hmc5883 -C -T -S -R 2 start |
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then |
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# lis3mdl internal SPI bus is rotated 90 deg yaw |
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if ! lis3mdl start |
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then |
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# BMI055 gyro internal SPI bus |
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bmi055 -G start |
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fi |
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fi |
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|
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# Start either ICM2060X or BMI055. They are both connected to the same SPI bus and use the same |
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# chip select pin. There are different boards with either one of them and the WHO_AM_I register |
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# will prevent the incorrect driver from a successful initialization. |
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|
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# ICM20602 internal SPI bus ICM-20608-G is rotated 90 deg yaw |
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if ! mpu6000 -R 2 -T 20602 start |
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then |
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# ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw |
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if ! mpu6000 -R 2 -T 20608 start |
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then |
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# BMI055 accel internal SPI bus |
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bmi055 -A start |
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fi |
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fi |
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|
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# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same |
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# chip select pin. There are different boards with either one of them and the WHO_AM_I register |
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# will prevent the incorrect driver from a successful initialization. |
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|
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# mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw |
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if ! mpu9250 -R 2 start |
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then |
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# BMI160 internal SPI bus |
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bmi160 start |
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fi |
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# Pixracer: start MAVLink on Wifi (ESP8266 port) |
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mavlink start -r 20000 -b 921600 -d /dev/ttyS0 |
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# Run FrSky Telemetry on Pixracer on the FrSky port if not enabled already |
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if param compare TEL_FRSKY_CONFIG 0 |
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then |
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frsky_telemetry start -d /dev/ttyS6 -t 15 |
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fi |
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