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Sensor startup: Simplify and fix Pixhawk 2.1

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This change simplifies the sensor startup and fixes the detection of airspeed sensors on Pixhawk 2.1
This commit is contained in:
Lorenz Meier
2017-08-06 20:09:52 +02:00
parent c81dd46b02
commit 45f2a52a7d
1 changed files with 82 additions and 231 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/rc.sensors
+82 -231
View File
@@ -5,9 +5,7 @@
if ver hwcmp PX4FMU_V1
then
if ms5611 start
then
fi
ms5611 start
else
if ver hwcmp AEROFC_V1
then
@@ -35,19 +33,13 @@ else
fi
# External SPI
if ms5611 -S start
then
fi
ms5611 -S start
# Internal SPI
if ms5611 -s start
then
fi
ms5611 -s start
# Blacksheep telemetry
if bst start
then
fi
bst start
fi
fi
@@ -55,50 +47,34 @@ if ver hwcmp AEROFC_V1
then
# Aero FC uses separate driver
else
if adc start
then
fi
adc start
fi
if ver hwcmp AUAV_X21
then
# External I2C bus
if hmc5883 -C -T -X start
then
fi
hmc5883 -C -T -X start
# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
if mpu6000 -R 2 -T 20608 start
then
fi
mpu6000 -R 2 -T 20608 start
# Internal SPI bus mpu9250 is rotated 90 deg yaw
if mpu9250 -R 2 start
then
fi
mpu9250 -R 2 start
fi
if ver hwcmp PX4FMU_V2
then
# External I2C bus
if hmc5883 -C -T -X start
then
fi
hmc5883 -C -T -X start
# External I2C bus
if lis3mdl -X start
then
fi
lis3mdl -X start
# Internal I2C bus
if hmc5883 -C -T -I -R 4 start
then
fi
hmc5883 -C -T -I -R 4 start
# Internal SPI bus ICM-20608-G
if mpu6000 -T 20608 start
then
fi
mpu6000 -T 20608 start
# V2 build hwtypecmp is always false
set BOARD_FMUV3 0
@@ -126,41 +102,29 @@ then
param set SENS_EN_THERMAL 0
# external L3GD20H is rotated 180 degrees yaw
if l3gd20 -X -R 4 start
then
fi
l3gd20 -X -R 4 start
# external LSM303D is rotated 270 degrees yaw
if lsm303d -X -R 6 start
then
fi
lsm303d -X -R 6 start
if [ $BOARD_FMUV3 == 20 ]
then
# v2.0 internal MPU6000 is rotated 180 deg roll, 270 deg yaw
if mpu6000 -R 14 start
then
fi
mpu6000 -R 14 start
# v2.0 Has internal hmc5883 on SPI1
if hmc5883 -C -T -S -R 8 start
then
fi
hmc5883 -C -T -S -R 8 start
fi
if [ $BOARD_FMUV3 == 21 ]
then
# v2.1 internal MPU9250 is rotated 180 deg roll, 270 deg yaw
if mpu9250 -R 14 start
then
fi
mpu9250 -R 14 start
fi
else
# $BOARD_FMUV3 == 0 -> FMUv2
if mpu6000 start
then
fi
mpu6000 start
# As we will use the external mag and the ICM-20608-G
# V2 build hwtypecmp is always false
@@ -169,115 +133,75 @@ then
then
# On the PixhawkMini the mpu9250 has been disabled due to HW errata
else
if mpu9250 start
then
fi
mpu9250 start
fi
if l3gd20 start
then
fi
if lsm303d start
then
fi
l3gd20 start
lsm303d start
fi
fi
if ver hwcmp PX4FMU_V4
then
# External I2C bus
if hmc5883 -C -T -X start
then
fi
hmc5883 -C -T -X start
if lis3mdl -R 2 start
then
fi
lis3mdl -R 2 start
# Internal SPI bus is rotated 90 deg yaw
if hmc5883 -C -T -S -R 2 start
then
fi
hmc5883 -C -T -S -R 2 start
# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
if mpu6000 -R 2 -T 20608 start
then
fi
mpu6000 -R 2 -T 20608 start
# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
if mpu6000 -R 2 -T 20602 start
then
fi
mpu6000 -R 2 -T 20602 start
# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same
# chip select pin. There are different boards with either one of them and the WHO_AM_I register
# will prevent the incorrect driver from a successful initialization.
# Internal SPI bus mpu9250 is rotated 90 deg yaw
if mpu9250 -R 2 start
then
fi
mpu9250 -R 2 start
# Internal SPI bus BMI160
if bmi160 start
then
fi
bmi160 start
# Start either ICM2060X or BMI055. They are both connected to the same SPI bus and use the same
# chip select pin. There are different boards with either one of them and the WHO_AM_I register
# will prevent the incorrect driver from a successful initialization.
# Internal SPI bus BMI055_ACC
if bmi055 -A start
then
fi
bmi055 -A start
# Internal SPI bus BMI055_GYR
if bmi055 -G start
then
fi
bmi055 -G start
# expansion i2c used for BMM150 rotated by 90deg
if bmm150 -R 2 start
then
fi
bmm150 -R 2 start
# expansion i2c used for BMP280
if bmp280 -I start
then
fi
bmp280 -I start
fi
if ver hwcmp PX4FMU_V1
then
# FMUv1
if mpu6000 start
then
fi
if l3gd20 start
then
fi
mpu6000 start
l3gd20 start
# MAG selection
if param compare SENS_EXT_MAG 2
then
if hmc5883 -C -I start
then
fi
hmc5883 -C -I start
else
# Use only external as primary
if param compare SENS_EXT_MAG 1
then
if hmc5883 -C -X start
then
fi
hmc5883 -C -X start
else
# auto-detect the primary, prefer external
if hmc5883 start
then
fi
hmc5883 start
fi
fi
fi
@@ -285,128 +209,75 @@ fi
if ver hwcmp MINDPX_V2
then
# External I2C bus
if hmc5883 -C -T -X start
then
fi
hmc5883 -C -T -X start
# Internal I2C bus
if hmc5883 -C -T -I -R 12 start
then
fi
if mpu6000 -s -R 8 start
then
fi
if mpu9250 -s -R 8 start
then
fi
if lsm303d -R 10 start
then
fi
if l3gd20 -R 14 start
then
fi
hmc5883 -C -T -I -R 12 start
mpu6000 -s -R 8 start
mpu9250 -s -R 8 start
lsm303d -R 10 start
l3gd20 -R 14 start
fi
if ver hwcmp CRAZYFLIE
then
# Onboard I2C
if mpu9250 -R 12 start
then
fi
mpu9250 -R 12 start
# I2C bypass of mpu
if lps25h start
then
fi
lps25h start
fi
if ver hwcmp AEROFC_V1
then
if ms5611 -T 0 start
then
fi
ms5611 -T 0 start
if mpu9250 -s -R 14 start
then
fi
mpu9250 -s -R 14 start
# Possible external compasses
if hmc5883 -X start
then
fi
hmc5883 -X start
if ist8310 -C -b 1 -R 4 start
then
fi
ist8310 -C -b 1 -R 4 start
if aerofc_adc start
then
fi
aerofc_adc start
if ll40ls start i2c
then
fi
ll40ls start i2c
fi
if ver hwcmp PX4FMU_V4PRO
then
# Internal SPI bus ICM-20608-G
if mpu6000 -R 2 -T 20608 start
then
fi
mpu6000 -R 2 -T 20608 start
# Internal SPI bus ICM-20602
if mpu6000 -R 2 -T 20602 start
then
fi
mpu6000 -R 2 -T 20602 start
# Internal SPI bus mpu9250
if mpu9250 -R 2 start
then
fi
mpu9250 -R 2 start
# Internal SPI bus
if lis3mdl -R 0 start
then
fi
lis3mdl -R 0 start
# Possible external compasses
if hmc5883 -C -T -X start
then
fi
hmc5883 -C -T -X start
fi
if ver hwcmp PX4FMU_V5
then
# Internal SPI bus ICM-20602
if mpu6000 -R 8 -s -T 20602 start
then
fi
mpu6000 -R 8 -s -T 20602 start
# Internal SPI bus ICM-20689
if mpu6000 -R 8 -z -T 20689 start
then
fi
mpu6000 -R 8 -z -T 20689 start
# Internal SPI bus BMI055 accel
if bmi055 -A -R 10 start
then
fi
bmi055 -A -R 10 start
# Internal SPI bus BMI055 gyro
if bmi055 -G -R 10 start
then
fi
bmi055 -G -R 10 start
# Possible external compasses
if hmc5883 -C -T -X start
then
fi
hmc5883 -C -T -X start
fi
if ver hwcmp AEROCORE2
@@ -419,85 +290,65 @@ fi
# Optional drivers
#
if sdp3x_airspeed start
sdp3x_airspeed start
sdp3x_airspeed start -b 2
# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
# detected as MS5525 because the chip manufacturer was so
# clever to assign the same I2C address and skip a WHO_AM_I
# register.
if [ $BOARD_FMUV3 == 21 ]
then
ms5525_airspeed start -b 2
else
ms5525_airspeed start
fi
if ms5525_airspeed start
then
fi
ms4525_airspeed start
ms4525_airspeed start -b 2
if ms5525_airspeed start -b 2
then
fi
if ms4525_airspeed start
then
fi
if ms4525_airspeed start -b 2
then
fi
if ets_airspeed start
then
fi
if ets_airspeed start -b 1
then
fi
ets_airspeed start
ets_airspeed start -b 1
# Sensors on the PWM interface bank
if param compare SENS_EN_LL40LS 1
then
if pwm_input start
then
if ll40ls start pwm
then
fi
ll40ls start pwm
fi
fi
# Lidar-Lite on I2C
if param compare SENS_EN_LL40LS 2
then
if ll40ls start i2c
then
fi
ll40ls start i2c
fi
# lightware serial lidar sensor
if param compare SENS_EN_SF0X 0
then
else
if sf0x start
then
fi
sf0x start
fi
# lightware i2c lidar sensor
if param compare SENS_EN_SF1XX 0
then
else
if sf1xx start
then
fi
sf1xx start
fi
# mb12xx sonar sensor
if param compare SENS_EN_MB12XX 1
then
if mb12xx start
then
fi
mb12xx start
fi
# teraranger one tof sensor
if param compare SENS_EN_TRONE 1
then
if trone start
then
fi
trone start
fi
# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)