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92 lines
1.8 KiB
92 lines
1.8 KiB
#!/bin/sh |
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# |
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# PX4 FMUv5X specific board sensors init |
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#------------------------------------------------------------------------------ |
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board_adc start |
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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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ina226 -X -b 2 -t 2 -k start |
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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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ina228 -X -b 2 -t 2 -k start |
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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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ina238 -X -b 2 -t 2 -k start |
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fi |
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if ver hwtypecmp V5X90 V5X91 V5X92 V5Xa0 V5Xa1 V5Xa2 |
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then |
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#SKYNODE base fmu board orientation |
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if ver hwtypecmp V5X90 V5X91 V5Xa0 V5Xa1 |
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then |
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# Internal SPI BMI088 |
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bmi088 -A -R 2 -s start |
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bmi088 -G -R 2 -s start |
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else |
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# Internal SPI bus ICM20649 |
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icm20649 -s -R 4 start |
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fi |
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# Internal SPI bus ICM42688p |
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icm42688p -R 4 -s start |
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# Internal SPI bus ICM-20602 (hard-mounted) |
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icm20602 -R 8 -s start |
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# Internal magnetometer on I2c |
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bmm150 -I -R 6 start |
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else |
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#FMUv5Xbase board orientation |
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if ver hwtypecmp V5X00 V5X01 |
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then |
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# Internal 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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else |
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# Internal SPI bus ICM20649 |
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icm20649 -s -R 6 start |
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fi |
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# Internal SPI bus ICM42688p |
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icm42688p -R 6 -s start |
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# Internal SPI bus ICM-20602 (hard-mounted) |
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icm20602 -R 10 -s start |
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# Internal magnetometer on I2c |
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bmm150 -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 -a 0x77 start |
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if ver hwtypecmp V5X00 V5X90 V5Xa0 |
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then |
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bmp388 -I start |
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else |
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bmp388 -X -b 2 start |
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fi |
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fi
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