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boards: centralize optional external I2C sensor start

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- configured with new parameter SENS_EXT_I2C_PRB
This commit is contained in:
Daniel Agar
2020-06-10 09:04:13 -04:00
parent 13d983d305
commit 6f6efd60b7
26 changed files with 63 additions and 217 deletions
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ROMFS/px4fmu_common/init.d/rc.sensors
+39 -27
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@@ -21,31 +21,6 @@ fi
# Begin Optional drivers # # Begin Optional drivers #
############################################################################### ###############################################################################
if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
then
if param compare CBRK_AIRSPD_CHK 0
then
sdp3x_airspeed start -X
sdp3x_airspeed start -X -a 0x22
# 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 -X -b 2
else
ms5525_airspeed start -X
fi
ms4525_airspeed start -X
ets_airspeed start -X
fi
fi
if param compare -s SENS_EN_BATT 1 if param compare -s SENS_EN_BATT 1
then then
batt_smbus start -X batt_smbus start -X
@@ -120,10 +95,47 @@ then
paw3902 -S start paw3902 -S start
fi fi
# probe for optional external I2C devices
if param compare SENS_EXT_I2C_PRB 1
then
# compasses
ak09916 -X -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw
hmc5883 -T -X start
ist8308 -X start
ist8310 -X start
lis2mdl -X start
lis3mdl -X start
qmc5883 -X start
rm3100 -X start
# differential pressure sensors
if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
then
if param compare CBRK_AIRSPD_CHK 0
then
sdp3x_airspeed start -X
sdp3x_airspeed start -X -a 0x22
# 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 -X -b 2
else
ms5525_airspeed start -X
fi
ms4525_airspeed start -X
ets_airspeed start -X
fi
fi
fi
############################################################################### ###############################################################################
# End Optional drivers # # End Optional drivers #
############################################################################### ###############################################################################
# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
usleep 20000
sensors start sensors start
boards/airmind/mindpx-v2/init/rc.board_sensors
-4
View File
@@ -5,10 +5,6 @@
adc start adc start
# External I2C bus
hmc5883 -T -X start
qmc5883 -X start
# Internal I2C bus # Internal I2C bus
hmc5883 -T -I -R 12 start hmc5883 -T -I -R 12 start
qmc5883 -I -R 12 start qmc5883 -I -R 12 start
boards/av/x-v1/init/rc.board_sensors
-5
View File
@@ -18,8 +18,3 @@ then
# try to start adis16497 only if pmw3901 isn't enabled, or parameter doesn't exists # try to start adis16497 only if pmw3901 isn't enabled, or parameter doesn't exists
adis16497 -S start adis16497 -S start
fi fi
# Possible external compasses
ist8310 -X start
hmc5883 -T -X start
qmc5883 -X start
boards/bitcraze/crazyflie/init/rc.board_defaults
+2 -2
View File
@@ -14,6 +14,6 @@ fi
if [ $AUTOCNF = yes ] if [ $AUTOCNF = yes ]
then then
# don't probe external I2C
param set SENS_EXT_I2C_PRB 0
fi fi
boards/cuav/x7pro/init/rc.board_sensors
-7
View File
@@ -17,10 +17,3 @@ ms5611 -s -b 4 start
# SPI6 (internal) # SPI6 (internal)
icm20649 -s -b 6 -R 2 start icm20649 -s -b 6 -R 2 start
ms5611 -s -b 6 start ms5611 -s -b 6 start
# Possible external compasses
ist8310 -X start
hmc5883 -T -X start
qmc5883 -X start
lis3mdl -X start
boards/hex/cube-orange/init/rc.board_sensors
-6
View File
@@ -12,9 +12,3 @@ icm20649 -s -b 1 start
ms5611 -s -b 4 start ms5611 -s -b 4 start
icm20602 -s -b 4 -R 12 start icm20602 -s -b 4 -R 12 start
icm20948 -s -b 4 -R 10 -M start icm20948 -s -b 4 -R 10 -M start
# Possible external compasses
ist8310 -X start
hmc5883 -T -X start
qmc5883 -X start
lis3mdl -X start
boards/hex/cube-yellow/init/rc.board_sensors
-6
View File
@@ -12,9 +12,3 @@ icm20649 -s -b 1 start
ms5611 -s -b 4 start ms5611 -s -b 4 start
icm20602 -s -b 4 -R 12 start icm20602 -s -b 4 -R 12 start
icm20948 -s -b 4 -R 10 -M start icm20948 -s -b 4 -R 10 -M start
# Possible external compasses
ist8310 -X start
hmc5883 -T -X start
qmc5883 -X start
lis3mdl -X start
boards/holybro/durandal-v1/init/rc.board_sensors
+2 -10
View File
@@ -7,19 +7,11 @@ adc start
# Internal SPI bus ICM-20689 # Internal SPI bus ICM-20689
icm20689 -R 2 -s start icm20689 -R 2 -s start
# Internal SPI bus BMI088 accel # Internal SPI bus BMI088 accel/gyro
bmi088 -A -R 10 -s start bmi088 -A -R 10 -s start
# Internal SPI bus BMI088 gyro
bmi088 -G -R 10 -s start bmi088 -G -R 10 -s start
# Possible external compasses # internal compass
ist8310 -X start
hmc5883 -T -X start
qmc5883 -X start
lis3mdl -X start
# Possible internal compass
ist8310 -I start ist8310 -I start
# Baro on internal SPI # Baro on internal SPI
boards/holybro/kakutef7/init/rc.board_sensors
-5
View File
@@ -13,8 +13,3 @@ fi
# Onboard Baro # Onboard Baro
bmp280 -X start bmp280 -X start
# Possible external compasses
ist8310 -X start
hmc5883 -T -X start
qmc5883 -X start
boards/intel/aerofc-v1/init/rc.board_sensors
-3
View File
@@ -12,9 +12,6 @@ fi
mpu9250 -s -R 0 start mpu9250 -s -R 0 start
# Possible external compasses
hmc5883 -X start
ist8310 -I -R 4 start ist8310 -I -R 4 start
ll40ls start -X ll40ls start -X
boards/modalai/fc-v1/init/rc.board_sensors
+1 -11
View File
@@ -15,19 +15,9 @@ icm20602 -R 12 -s start
# Internal SPI bus ICM-42688 # Internal SPI bus ICM-42688
icm42688p -R 12 -s start icm42688p -R 12 -s start
# Internal SPI bus BMI088 accel # Internal SPI bus BMI088 accel/gyro
bmi088 -A -R 4 -s start bmi088 -A -R 4 -s start
# Internal SPI bus BMI088 gyro
bmi088 -G -R 4 -s start bmi088 -G -R 4 -s start
# Possible external compasses
ist8310 -X start
hmc5883 -T -X start
qmc5883 -X start
# Internal I2C Baro # Internal I2C Baro
bmp388 -I start bmp388 -I start
# External RM3100
rm3100 -X start
boards/mro/ctrl-zero-f7/init/rc.board_sensors
-7
View File
@@ -17,10 +17,3 @@ icm20948 -s -R 8 -M start
# Interal DPS310 (barometer) # Interal DPS310 (barometer)
dps310 -s start dps310 -s start
# Possible external compasses
ist8310 -X start
hmc5883 -T -X start
qmc5883 -X start
lis3mdl -X start
rm3100 -X start
boards/mro/x21-777/init/rc.board_sensors
-6
View File
@@ -13,9 +13,3 @@ icm20602 -s -R 8 start
# Internal SPI bus mpu9250 # Internal SPI bus mpu9250
mpu9250 -s -R 8 start mpu9250 -s -R 8 start
# Possible external compasses
ist8310 -X start
hmc5883 -T -X start
qmc5883 -X start
lis3mdl -X start
boards/mro/x21/init/rc.board_sensors
-6
View File
@@ -5,12 +5,6 @@
adc start adc start
# External I2C bus
hmc5883 -T -X start
lis3mdl -X start
ist8310 -X start
qmc5883 -X start
# Internal SPI bus ICM-20608-G # Internal SPI bus ICM-20608-G
icm20608g -s -R 8 start icm20608g -s -R 8 start
boards/nxp/fmuk66-v3/init/rc.board_sensors
-6
View File
@@ -5,12 +5,6 @@
adc start adc start
# Possible external compasses
hmc5883 -X start
lis3mdl -X start
ist8310 -X start
qmc5883 -X start
# Internal Mag I2C bus roll 180, yaw 90 # Internal Mag I2C bus roll 180, yaw 90
bmm150 -I -R 10 start bmm150 -I -R 10 start
boards/nxp/fmurt1062-v1/init/rc.board_sensors
+2 -17
View File
@@ -23,26 +23,11 @@ icm20602 -R 2 -s start
# Internal SPI bus ICM-20689 # Internal SPI bus ICM-20689
icm20689 -R 2 -s start icm20689 -R 2 -s start
# Internal SPI bus BMI055 accel # Internal SPI bus BMI055 accel/gyro
bmi055 -A -R 10 -s start bmi055 -A -R 10 -s start
# Internal SPI bus BMI055 gyro
bmi055 -G -R 10 -s start bmi055 -G -R 10 -s start
# Possible external compasses # internal compass
ist8310 -X start
hmc5883 -T -X start
qmc5883 -X start
lis3mdl -X start
# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
if ! icm20948 -X -R 6 start
then
# external emulated AK09916 (Here2) is rotated 270 degrees yaw
ak09916 -X -R 6 start
fi
# Possible internal compass
ist8310 -I start ist8310 -I start
# Baro on internal SPI # Baro on internal SPI
boards/omnibus/f4sd/init/rc.board_sensors
-3
View File
@@ -11,7 +11,4 @@ then
icm20602 -s -R 6 start icm20602 -s -R 6 start
fi fi
# Possible external compasses
hmc5883 -X start
bmp280 -s start bmp280 -s start
boards/px4/fmu-v2/init/rc.board_sensors
-14
View File
@@ -7,13 +7,6 @@ rgbled start -I
adc start adc start
# External I2C bus
hmc5883 -T -X start
lis3mdl -X start
ist8310 -X start
qmc5883 -X start
rm3100 -X start
# Internal I2C bus # Internal I2C bus
hmc5883 -T -I -R 4 start hmc5883 -T -I -R 4 start
@@ -71,13 +64,6 @@ then
# sensor heating is available, but we disable it for now # sensor heating is available, but we disable it for now
param set SENS_EN_THERMAL 0 param set SENS_EN_THERMAL 0
# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
if ! icm20948 -X -R 6 start
then
# external emulated AK09916 (Here2) is rotated 270 degrees yaw
ak09916 -X -R 6 start
fi
# l3gd20 (external/isolated SPI4) # l3gd20 (external/isolated SPI4)
l3gd20 -s -b 4 -R 4 start l3gd20 -s -b 4 -R 4 start
boards/px4/fmu-v3/init/rc.board_sensors
-14
View File
@@ -7,13 +7,6 @@ rgbled start -I
adc start adc start
# External I2C bus
hmc5883 -T -X start
lis3mdl -X start
ist8310 -X start
qmc5883 -X start
rm3100 -X start
# Internal I2C bus # Internal I2C bus
hmc5883 -T -I -R 4 start hmc5883 -T -I -R 4 start
@@ -71,13 +64,6 @@ then
# sensor heating is available, but we disable it for now # sensor heating is available, but we disable it for now
param set SENS_EN_THERMAL 0 param set SENS_EN_THERMAL 0
# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
if ! icm20948 -X -R 6 start
then
# external emulated AK09916 (Here2) is rotated 270 degrees yaw
ak09916 -X -R 6 start
fi
# l3gd20 (external/isolated SPI4) # l3gd20 (external/isolated SPI4)
l3gd20 -s -b 4 -R 4 start l3gd20 -s -b 4 -R 4 start
boards/px4/fmu-v4/init/rc.board_sensors
-8
View File
@@ -13,14 +13,6 @@ adc start
# open hardware design do not require this. # open hardware design do not require this.
pwm_out sensor_reset 50 pwm_out sensor_reset 50
# External I2C bus
hmc5883 -T -X start
lis3mdl -X start
ist8310 -X start
qmc5883 -X start
rm3100 -X start
# Internal SPI # Internal SPI
ms5611 -s start ms5611 -s start
boards/px4/fmu-v4pro/init/rc.board_sensors
-7
View File
@@ -21,10 +21,3 @@ lis3mdl -s -R 0 start
# Internal SPI # Internal SPI
ms5611 -s start ms5611 -s start
# Possible external compasses
hmc5883 -T -X start
lis3mdl -X start
ist8310 -X start
qmc5883 -X start
rm3100 -X start
boards/px4/fmu-v5/init/rc.board_sensors
+2 -20
View File
@@ -11,30 +11,12 @@ icm20602 -s -R 2 start
# Internal SPI bus ICM-20689 # Internal SPI bus ICM-20689
icm20689 -s -R 2 start icm20689 -s -R 2 start
# Internal SPI bus BMI055 accel # Internal SPI bus BMI055 accel/gyro
bmi055 -A -R 10 -s start bmi055 -A -R 10 -s start
# Internal SPI bus BMI055 gyro
bmi055 -G -R 10 -s start bmi055 -G -R 10 -s start
# Possible external compasses # internal compass
ist8310 -X start
hmc5883 -T -X start
qmc5883 -X start
lis3mdl -X start
# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
if ! icm20948 -X -R 6 start
then
# external emulated AK09916 (Here2) is rotated 270 degrees yaw
ak09916 -X -R 6 start
fi
# Possible internal compass
ist8310 -I start ist8310 -I start
# Baro on internal SPI # Baro on internal SPI
ms5611 -s start ms5611 -s start
# External RM3100
rm3100 -X start
boards/px4/fmu-v5x/init/rc.board_sensors
+1 -11
View File
@@ -15,17 +15,10 @@ icm20602 -R 2 -s start
# Internal SPI bus ISM300DLC # Internal SPI bus ISM300DLC
ism330dlc -s start ism330dlc -s start
# Internal SPI bus BMI088 accel # Internal SPI bus BMI088 accel/gyro
bmi088 -A -R 12 -s start bmi088 -A -R 12 -s start
# Internal SPI bus BMI088 gyro
bmi088 -G -R 12 -s start bmi088 -G -R 12 -s start
# Possible external compasses
ist8310 -X start
hmc5883 -T -X start
qmc5883 -X start
# Possible internal compass # Possible internal compass
bmm150 -I start bmm150 -I start
@@ -35,6 +28,3 @@ bmp388 -I -a 0x77 start
# Baro on I2C3 # Baro on I2C3
ms5611 -X start ms5611 -X start
# External RM3100
rm3100 -X start
boards/px4/fmu-v6x/init/rc.board_sensors
+1 -11
View File
@@ -15,17 +15,10 @@ icm20649 -R 2 -s start
# Internal SPI bus ISM300DLC # Internal SPI bus ISM300DLC
ism330dlc -s start ism330dlc -s start
# Internal SPI bus BMI088 accel # Internal SPI bus BMI088 accel/gyro
bmi088 -A -R 12 -s start bmi088 -A -R 12 -s start
# Internal SPI bus BMI088 gyro
bmi088 -G -R 12 -s start bmi088 -G -R 12 -s start
# Possible external compasses
ist8310 -X start
hmc5883 -T -X start
qmc5883 -X start
# Possible internal compass # Possible internal compass
bmm150 -I start bmm150 -I start
@@ -35,6 +28,3 @@ bmp388 -I -a 0x77 start
# Baro on I2C3 # Baro on I2C3
ms5611 -X start ms5611 -X start
# External RM3100
rm3100 -X start
boards/uvify/core/init/rc.board_defaults
+2 -1
View File
@@ -9,5 +9,6 @@ then
# Disable safety switch by default # Disable safety switch by default
param set CBRK_IO_SAFETY 22027 param set CBRK_IO_SAFETY 22027
# don't probe external I2C
param set SENS_EXT_I2C_PRB 0
fi fi
src/modules/sensors/sensor_params.c
+11
View File
@@ -191,3 +191,14 @@ PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
* @group Sensors * @group Sensors
*/ */
PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1); PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
/**
* External I2C probe.
*
* Probe for optional external I2C devices.
*
* @boolean
* @category system
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_EXT_I2C_PRB, 1);