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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Start rc.baseboard
This commit is contained in:
alexklimaj
parent
2bd1ac005f
commit
673e5898ea
@ -39,6 +39,7 @@ px4_add_romfs_files(
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rc.balloon_apps
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rc.balloon_defaults
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rc.boat_defaults
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rc.baseboard
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rc.fw_apps
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rc.fw_defaults
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rc.heli_defaults
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65
ROMFS/px4fmu_common/init.d/rc.baseboard
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65
ROMFS/px4fmu_common/init.d/rc.baseboard
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@ -0,0 +1,65 @@
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#!/bin/sh
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#
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# Standard startup script for baseboard sensor drivers.
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#
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###############################################################################
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# Begin Baseboard drivers #
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###############################################################################
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set HAVE_PM2 yes
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if ver hwtypecmp V6X005000 V6X005001 V6X005003 V6X005004
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then
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set HAVE_PM2 no
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fi
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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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if [ $HAVE_PM2 = yes ]
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then
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ina226 -X -b 2 -t 2 -k start
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fi
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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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if [ $HAVE_PM2 = yes ]
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then
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ina228 -X -b 2 -t 2 -k start
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fi
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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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if [ $HAVE_PM2 = yes ]
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then
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ina238 -X -b 2 -t 2 -k start
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fi
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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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if ver hwtypecmp V6X000000 V6X001000
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then
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bmp388 -I start
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else
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if ver hwtypecmp V6X002001
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then
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icp201xx -X start
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else
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bmp388 -X start
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fi
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fi
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# Baro on I2C3
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ms5611 -X start
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unset HAVE_PM2
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@ -2,12 +2,7 @@
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#
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# ARK FMUARKV6X specific board sensors init
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#------------------------------------------------------------------------------
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set HAVE_PM2 yes
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if ver hwtypecmp ARKV6X005000 ARKV6X005001 ARKV6X005002 ARKV6X005003 ARKV6X005004
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then
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set HAVE_PM2 no
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fi
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if param compare -s ADC_ADS1115_EN 1
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then
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ads1115 start -X
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@ -15,38 +10,6 @@ else
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board_adc start
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fi
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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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if [ $HAVE_PM2 = yes ]
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then
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ina226 -X -b 2 -t 2 -k start
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fi
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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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if [ $HAVE_PM2 = yes ]
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then
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ina228 -X -b 2 -t 2 -k start
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fi
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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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if [ $HAVE_PM2 = yes ]
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then
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ina238 -X -b 2 -t 2 -k start
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fi
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fi
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# Internal SPI bus IIM42652
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iim42652 -R 3 -s -b 1 start
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@ -59,13 +22,18 @@ icm42688p -R 6 -s -b 3 start
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# Internal magnetometer on I2c
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bmm150 -I start
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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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bmp388 -I start
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# Baro on I2C3
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ms5611 -X start
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#
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# baseboard sensors: rc.baseboard
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#
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set BASEBOARD_SENSORS ${R}etc/init.d/rc.baseboard
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if [ -f $BASEBOARD_SENSORS ]
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then
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echo "Baseboard sensors: ${BASEBOARD_SENSORS}"
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. $BASEBOARD_SENSORS
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fi
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unset BASEBOARD_SENSORS
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unset HAVE_PM2
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. ${R}etc/init.d/rc.baseboard
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@ -3,12 +3,6 @@
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# PX4 FMUv5X specific board sensors init
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#------------------------------------------------------------------------------
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set HAVE_PM2 yes
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if ver hwtypecmp V5X005000 V5X005001 V5X005002
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then
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set HAVE_PM2 no
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fi
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if param compare -s ADC_ADS1115_EN 1
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then
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ads1115 start -X
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@ -17,38 +11,6 @@ else
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board_adc start
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fi
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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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if [ $HAVE_PM2 = yes ]
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then
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ina226 -X -b 2 -t 2 -k start
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fi
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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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if [ $HAVE_PM2 = yes ]
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then
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ina228 -X -b 2 -t 2 -k start
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fi
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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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if [ $HAVE_PM2 = yes ]
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then
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ina238 -X -b 2 -t 2 -k start
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fi
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fi
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if ver hwtypecmp V5X000000 V5X000001 V5X000002 V5X001000 V5X004000 V5X004001 V5X004002 V5X005001 V5X005002
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then
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#FMUv5Xbase board orientation
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@ -96,9 +58,6 @@ else
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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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@ -113,4 +72,16 @@ then
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fi
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fi
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unset HAVE_PM2
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#
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# baseboard sensors: rc.baseboard
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#
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set BASEBOARD_SENSORS ${R}etc/init.d/rc.baseboard
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if [ -f $BASEBOARD_SENSORS ]
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then
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echo "Baseboard sensors: ${BASEBOARD_SENSORS}"
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. $BASEBOARD_SENSORS
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fi
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unset BASEBOARD_SENSORS
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. ${R}etc/init.d/rc.baseboard
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@ -2,12 +2,7 @@
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#
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# PX4 FMUv6X specific board sensors init
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#------------------------------------------------------------------------------
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set HAVE_PM2 yes
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if ver hwtypecmp V6X005000 V6X005001 V6X005003 V6X005004
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then
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set HAVE_PM2 no
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fi
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if param compare -s ADC_ADS1115_EN 1
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then
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ads1115 start -X
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@ -15,38 +10,6 @@ else
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board_adc start
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fi
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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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if [ $HAVE_PM2 = yes ]
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then
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ina226 -X -b 2 -t 2 -k start
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fi
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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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if [ $HAVE_PM2 = yes ]
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then
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ina228 -X -b 2 -t 2 -k start
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fi
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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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if [ $HAVE_PM2 = yes ]
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then
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ina238 -X -b 2 -t 2 -k start
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fi
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fi
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if ver hwtypecmp V6X000004 V6X001004 V6X004004 V6X005004
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then
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# Internal SPI bus ICM20649
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@ -77,9 +40,6 @@ else
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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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if ver hwtypecmp V6X002001
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then
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@ -100,7 +60,15 @@ else
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fi
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fi
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# Baro on I2C3
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ms5611 -X start
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#
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# baseboard sensors: rc.baseboard
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#
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set BASEBOARD_SENSORS ${R}etc/init.d/rc.baseboard
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if [ -f $BASEBOARD_SENSORS ]
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then
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echo "Baseboard sensors: ${BASEBOARD_SENSORS}"
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. $BASEBOARD_SENSORS
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fi
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unset BASEBOARD_SENSORS
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unset HAVE_PM2
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. ${R}etc/init.d/rc.baseboard
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