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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-31 07:11:36 +08:00
flochir
ab9e9793a0
* Integrated preliminary ICM20948 support into MPU9250 driver. Fixed temperature conversion for MPU9250/ICM20948. * Included missing check for PX4_I2C_OBDEV_MPU9250 in main.cpp. * Added explicit bus for internal MPU9250 on Pixhawk 2.1 to avoid implicit start of an externally attached device with wrong orientation.
113 lines
2.3 KiB
Plaintext
113 lines
2.3 KiB
Plaintext
#!nsh
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#
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# Standard startup script for sensor drivers.
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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if ! ver hwcmp AEROFC_V1 OMNIBUS_F4SD
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then
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if ! ver hwcmp BITCRAZE_CRAZYFLIE
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then
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# Configure all I2C buses to 100 KHz as they
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# are all external or slow
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fmu i2c 1 100000
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fmu i2c 2 100000
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fi
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# External SPI
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ms5611 -S start
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# Internal SPI (auto detect ms5611 or ms5607)
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ms5611 -T 0 -s start
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# Blacksheep telemetry
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bst start
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adc start
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fi
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###############################################################################
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# Begin Optional drivers #
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###############################################################################
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if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
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then
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if param compare CBRK_AIRSPD_CHK 0
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then
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sdp3x_airspeed start -a
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# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
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# detected as MS5525 because the chip manufacturer was so
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# clever to assign the same I2C address and skip a WHO_AM_I
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# register.
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if [ $BOARD_FMUV3 = 21 ]
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then
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ms5525_airspeed start -b 2
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else
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ms5525_airspeed start -a
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fi
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ms4525_airspeed start -a
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ets_airspeed start -a
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fi
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fi
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# Sensors on the PWM interface bank
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if param compare SENS_EN_LL40LS 1
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then
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if pwm_input start
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then
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ll40ls start pwm
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fi
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fi
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# Lidar-Lite on I2C
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if param compare SENS_EN_LL40LS 2
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then
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ll40ls start i2c
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fi
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# mb12xx sonar sensor
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if param greater SENS_EN_MB12XX 0
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then
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mb12xx start -a
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fi
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# pga460 sonar sensor
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if param greater SENS_EN_PGA460 0
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then
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pga460 start
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fi
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# Lightware i2c lidar sensor
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if param greater SENS_EN_SF1XX 0
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then
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sf1xx start -a
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fi
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# Heater driver for temperature regulated IMUs.
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if param compare SENS_EN_THERMAL 1
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then
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heater start
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fi
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# Teraranger one tof sensor
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if param greater SENS_EN_TRANGER 0
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then
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teraranger start -a
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fi
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# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
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mpu9250 -X -M -R 6 start
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###############################################################################
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# End Optional drivers #
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###############################################################################
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# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
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usleep 20000
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sensors start
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