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200 lines
3.6 KiB
200 lines
3.6 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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############################################################################### |
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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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# Start batmon driver if enabled using BATMON_DRIVER_EN |
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if param compare -s BATMON_DRIVER_EN 1 |
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then |
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batmon start -X #start on external bus |
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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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# paa3905 optical flow sensor (external SPI) |
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if param greater -s SENS_EN_PAA3905 0 |
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then |
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paa3905 -S start |
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fi |
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# paw3902 optical flow sensor (external SPI) |
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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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# pmw3901 optical flow sensor (external SPI) |
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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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# 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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# ADIS16448 spi external IMU |
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if param compare -s SENS_EN_ADIS164X 1 |
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then |
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if param compare -s SENS_OR_ADIS164X 0 |
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then |
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adis16448 -S start |
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fi |
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if param compare -s SENS_OR_ADIS164X 4 |
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then |
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adis16448 -S start -R 4 |
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fi |
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fi |
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# Eagle Tree airspeed sensor external I2C |
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if param compare -s SENS_EN_ETSASPD 1 |
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then |
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ets_airspeed start -X |
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fi |
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# Sensirion SDP3X differential pressure sensor external I2C |
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if param compare -s SENS_EN_SDP3X 1 |
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then |
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if ! sdp3x start -X |
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then |
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# try another common address |
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sdp3x start -X -a 0x22 |
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fi |
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fi |
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# TE MS4515 differential pressure sensor external I2C |
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if param compare -s SENS_EN_MS4515 1 |
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then |
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ms4515 start -X |
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fi |
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# TE MS4525DO differential pressure sensor external I2C |
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if param compare -s SENS_EN_MS4525DO 1 |
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then |
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ms4525do start -X |
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fi |
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# TE MS5525DSO differential pressure sensor external I2C |
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if param compare -s SENS_EN_MS5525DS 1 |
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then |
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ms5525dso start -X |
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fi |
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# SHT3x temperature and hygrometer sensor, external I2C |
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if param compare -s SENS_EN_SHT3X 1 |
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then |
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sht3x start -X |
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sht3x start -X -a 0x45 |
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fi |
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# IR-LOCK sensor external I2C |
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if param compare -s SENS_EN_IRLOCK 1 |
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then |
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irlock start -X |
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fi |
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# SPL06 sensor external I2C |
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if param compare -s SENS_EN_SPL06 1 |
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then |
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spl06 -X start |
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spl06 -X -a 0x77 start |
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fi |
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# PCF8583 counter (RPM sensor) |
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if param compare -s SENS_EN_PCF8583 1 |
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then |
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pcf8583 start -X |
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pcf8583 start -X -a 0x51 |
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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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icm20948_i2c_passthrough -X -q start |
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# compasses |
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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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# start last (wait for possible icm20948 passthrough mode) |
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ak09916 -X -q start |
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fi
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