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154 lines
3.1 KiB
154 lines
3.1 KiB
#!/bin/sh |
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# |
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# Standard startup script for sensor drivers. |
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# |
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# NOTE: Script variables are declared/initialized/unset in the rcS script. |
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# |
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if ! ver hwcmp AEROFC_V1 OMNIBUS_F4SD |
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then |
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if ! ver hwcmp BITCRAZE_CRAZYFLIE |
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then |
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# Configure all I2C buses to 100 KHz as they |
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# are all external or slow |
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# TODO: move this |
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pwm_out i2c 1 100000 |
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pwm_out i2c 2 100000 |
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fi |
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fi |
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############################################################################### |
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# Begin Optional drivers # |
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############################################################################### |
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if param compare -s SENS_EN_BATT 1 |
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then |
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batt_smbus start -X |
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fi |
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# Sensors on the PWM interface bank |
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if param compare -s SENS_EN_LL40LS 1 |
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then |
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if pwm_input start |
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then |
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ll40ls_pwm start |
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fi |
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fi |
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# External automatic trigger system |
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if param compare FD_EXT_ATS_EN 1 |
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then |
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pwm_input start |
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fi |
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# Lidar-Lite on I2C |
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if param compare -s SENS_EN_LL40LS 2 |
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then |
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ll40ls start -X |
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fi |
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# mappydot lidar sensor |
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if param compare -s SENS_EN_MPDT 1 |
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then |
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mappydot start -X |
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fi |
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# mb12xx sonar sensor |
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if param greater -s SENS_EN_MB12XX 0 |
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then |
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mb12xx start -X |
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fi |
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# pga460 sonar sensor |
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if param greater -s SENS_EN_PGA460 0 |
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then |
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pga460 start |
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fi |
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# Lightware i2c lidar sensor |
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if param greater -s SENS_EN_SF1XX 0 |
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then |
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lightware_laser_i2c start -X |
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fi |
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# Sensor HY-SRF05 or HC-SR05 ultrasonic sensor |
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if param compare -s SENS_EN_SR05 1 |
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then |
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srf05 start |
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fi |
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# Heater driver for temperature regulated IMUs. |
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if param compare -s SENS_EN_THERMAL 1 |
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then |
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heater start |
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fi |
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# Teraranger one tof sensor |
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if param greater -s SENS_EN_TRANGER 0 |
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then |
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teraranger start -X |
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fi |
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# Possible external pmw3901 optical flow sensor |
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if param greater -s SENS_EN_PMW3901 0 |
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then |
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pmw3901 -S start |
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fi |
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# Possible external paw3902 optical flow sensor |
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if param greater -s SENS_EN_PAW3902 0 |
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then |
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paw3902 -S start |
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fi |
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# vl53l1x i2c distance sensor |
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if param compare -s SENS_EN_VL53L1X 1 |
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then |
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vl53l1x start -X |
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fi |
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# probe for optional external I2C devices |
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if param compare SENS_EXT_I2C_PRB 1 |
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then |
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# compasses |
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ak09916 -X -R 6 -q start # external AK09916 (Here2) is rotated 270 degrees yaw |
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hmc5883 -T -X -q start |
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ist8308 -X -q start |
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ist8310 -X -q start |
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lis2mdl -X -q start |
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lis3mdl -X -q start |
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qmc5883l -X -q start |
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rm3100 -X -q start |
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# differential pressure sensors |
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if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ] |
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then |
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if param compare CBRK_AIRSPD_CHK 0 |
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then |
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sdp3x_airspeed start -X -q |
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sdp3x_airspeed start -X -a 0x22 -q |
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# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly |
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# detected as MS5525 because the chip manufacturer was so |
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# clever to assign the same I2C address and skip a WHO_AM_I |
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# register. |
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if [ $BOARD_FMUV3 = 21 ] |
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then |
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ms5525_airspeed start -X -b 2 -q |
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else |
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ms5525_airspeed start -X -q |
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fi |
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ms4525_airspeed start -X -q |
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ets_airspeed start -X -q |
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fi |
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fi |
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fi |
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############################################################################### |
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# End Optional drivers # |
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############################################################################### |
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sensors start
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