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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
4ac7853479
* auterion autostarter: Added autostart for PWM_EXPANDER, generalized code, renamed module * auterion autostarter: Enable on v6s, robustify error handling * review comments
91 lines
1.6 KiB
Bash
91 lines
1.6 KiB
Bash
#!/bin/sh
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#
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# Auterion FMUv6X specific board sensors init
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#------------------------------------------------------------------------------
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set HAVE_PM2 yes
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set INA_CONFIGURED no
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if mft query -q -k MFT -s MFT_PM2 -v 0
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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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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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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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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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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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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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# Auterion's INA238 uses a shunt value of 0.0003 instead of 0.0005.
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param set-default INA238_SHUNT 0.0003
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# Internal SPI BMI088
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bmi088 -A -R 6 -s start
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bmi088 -G -R 6 -s start
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# Internal SPI bus ICM42688p
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icm42688p -R 12 -s start
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# Internal SPI bus ICM20602
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icm20602 -R 6 -s start
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# Internal magnetometer on I2C
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bmm150 -I -R 0 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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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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fi
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#external baro
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bmp388 -X start
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unset INA_CONFIGURED
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unset HAVE_PM2
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