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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Julian Oes
70b48dd41c
This adds support for the 4. hardware variant of the CubeOrange+ featuring 3 ICM45686. Signed-off-by: Julian Oes <julian@oes.ch>
40 lines
929 B
Bash
40 lines
929 B
Bash
#!/bin/sh
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#
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# Board specific sensors init
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#------------------------------------------------------------------------------
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board_adc start
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# Variants
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# 1. Isolated {ICM42688p, ICM20948(with mag)}, body-fixed {ICM20649}
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# 2. Isolated {ICM42688p, ICM42688p}, body-fixed {ICM20649, ICM45686, AK09918}
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# 3. Isolated {ICM42688p, ICM42688p}, body-fixed {ICM45686, AK09918}
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# 4. Isolated {ICM45686, ICM45686}, body-fixed {ICM45686, AK09918}
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# SPI4 is isolated, SPI1 is body-fixed
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# SPI4, isolated
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ms5611 -s -b 4 start
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if icm42688p -s -b 4 -R 10 -q start -c 15
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if ! icm20948 -s -b 4 -R 10 -M -q start
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then
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icm42688p -s -b 4 -R 6 start -c 13
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fi
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else
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icm45686 -s -b 4 -R 10 start -c 15
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icm45686 -s -b 4 -R 6 start -c 13
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fi
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# SPI1, body-fixed
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if icm45686 -s -b 1 -R 3 -q start
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then
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# if we detected the ICM45686 we also ought to have an AK09918
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ak09916 start -I -R 13
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else
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icm20649 -s -b 1 start
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fi
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ms5611 -s -b 1 start
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