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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
cb71aea7fa
* Starts pwm_voltage_apply * Enable Septentrio modules * Enable IIM42653 IMU * Enable SCH16T IMU Signed-off-by: Ramon Roche <mrpollo@gmail.com>
105 lines
1.9 KiB
Bash
105 lines
1.9 KiB
Bash
#!/bin/sh
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#
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# ZeroOne X6 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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if ver hwtypecmp ZeroOneX6000
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then
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# Internal SPI bus icm45686 with SPIX
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icm45686 -b 2 -s -R 6 start //X6 & X6 air
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bmi088 -A -R 4 -s start //X6
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bmi088 -G -R 4 -s start //X6
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# Internal SPI bus icm45686 with SPIX
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icm45686 -b 1 -s -R 8 start //X6 & X6 air
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fi
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if ver hwtypecmp ZeroOneX6001 //X6 PRO
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then
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# Internal SPI bus IIM42653 with SPIX
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iim42653 -b 2 -s -R 6 start
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bmi088 -A -R 4 -s start
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bmi088 -G -R 4 -s start
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# Internal SPI bus IIM42653 with SPIX
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iim42653 -b 1 -s -R 8 start
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fi
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rm3100 -I -b 4 start
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# Internal magnetometer on I2c
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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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# Internal compass
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ist8310 start -I -a 0x0E -R 12
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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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icp201xx -I -a 0x64 start
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fi
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icp201xx -X start
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#external baro
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unset INA_CONFIGURED
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unset HAVE_PM2
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