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117 lines
2.3 KiB
117 lines
2.3 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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fmu i2c 1 100000 |
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fmu i2c 2 100000 |
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fi |
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# External SPI |
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ms5611 -S start |
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# Internal SPI (auto detect ms5611 or ms5607) |
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ms5611 -T 0 -s start |
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# Blacksheep telemetry |
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bst start |
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adc start |
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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 [ ${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 -a |
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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 -b 2 |
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else |
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ms5525_airspeed start -a |
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fi |
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ms4525_airspeed start -a |
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ets_airspeed start -a |
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fi |
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fi |
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if param compare 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 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 start pwm |
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fi |
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fi |
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# Lidar-Lite on I2C |
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if param compare SENS_EN_LL40LS 2 |
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then |
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ll40ls start i2c |
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fi |
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# mb12xx sonar sensor |
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if param greater SENS_EN_MB12XX 0 |
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then |
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mb12xx start -a |
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fi |
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# pga460 sonar sensor |
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if param greater 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 SENS_EN_SF1XX 0 |
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then |
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sf1xx start -a |
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fi |
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# Heater driver for temperature regulated IMUs. |
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if param compare 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 SENS_EN_TRANGER 0 |
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then |
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teraranger start -a |
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fi |
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# ICM20948 as external magnetometer on I2C (e.g. Here GPS) |
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icm20948 -X -M -R 6 start |
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############################################################################### |
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# End Optional drivers # |
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############################################################################### |
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# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire) |
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usleep 20000 |
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sensors start
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