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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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4ac7853479
* auterion autostarter: Added autostart for PWM_EXPANDER, generalized code, renamed module * auterion autostarter: Enable on v6s, robustify error handling * review comments
82 lines
1.4 KiB
Bash
82 lines
1.4 KiB
Bash
#!/bin/sh
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#
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# Forward is where the MIPI and ESC connectors are
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#
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# Auterion FMUv6S specific board sensors init
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#------------------------------------------------------------------------------
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# For system_power and battery_status
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board_adc start
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# IMU3 on SPI3, ROTATION_NONE=0
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bmi088 -A -R 0 -s start
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bmi088 -G -R 0 -s start
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# MAG on I2C4, ROTATION_ROLL_180=8
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if ver hwtypecmp V6S013 V6S015
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then
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bmm150 -I -R 8 start
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else
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bmm350 -I -R 8 start
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fi
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# BARO on I2C4
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bmp388 -I -b 4 -a 0x77 start
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# External sensors on I2C1
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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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# Disable analog monitoring
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param set BAT1_V_CHANNEL -2
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set INA_CONFIGURED yes
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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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# Disable analog monitoring
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param set BAT1_V_CHANNEL -2
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set INA_CONFIGURED yes
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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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# Disable analog monitoring
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param set BAT1_V_CHANNEL -2
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set INA_CONFIGURED yes
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fi
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# Auterion auto starter
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auterion_autostarter start
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if param compare BAT1_V_CHANNEL -2
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then
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if [ "$INA_CONFIGURED" != "yes" ]
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then
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param set BAT1_V_CHANNEL -1
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fi
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fi
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# External compass IST8310 on I2C1
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ist8310 -X -b 1 -R 10 start
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# Start an external PWM generator
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if param greater PCA9685_EN_BUS 0
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then
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pca9685_pwm_out start
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fi
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