mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-29 00:23:34 +08:00
Niklas Hauser
43d859313b
Detects and configures it correctly for the Auterion INA226-based power modules.
120 lines
2.3 KiB
Bash
120 lines
2.3 KiB
Bash
#!/bin/sh
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#
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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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board_adc start -n
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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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if ver hwtypecmp V5X000000 V5X000001 V5X004000 V5X004001 V5X005001
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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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else
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#SKYNODE base fmu board orientation
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if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
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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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# Auto start power monitors
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pm_selector_auterion 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 V5X000000 V5X001000 V5X008000 V5X009000 V5X00a000
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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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unset HAVE_PM2
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