mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 06:03:33 +08:00
107 lines
1.9 KiB
Bash
107 lines
1.9 KiB
Bash
#!/bin/sh
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#
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# PX4 FMUv6X specific board sensors init
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#------------------------------------------------------------------------------
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set HAVE_PM2 yes
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if ver hwtypecmp V6X005000 V6X005001 V6X005003 V6X005004
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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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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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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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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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fi
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if ver hwtypecmp V6X000004 V6X001004 V6X004004 V6X005004
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then
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# Internal SPI bus ICM20649
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icm20649 -s -R 6 start
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else
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# Internal SPI BMI088
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bmi088 -A -R 4 -s start
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bmi088 -G -R 4 -s start
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fi
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# Internal SPI bus ICM42688p
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icm42688p -R 6 -s start
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if ver hwtypecmp V6X000003 V6X001003 V6X003003 V6X000004 V6X001004 V6X004003 V6X004004 V6X005003 V6X005004
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then
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# Internal SPI bus ICM-42670-P (hard-mounted)
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icm42670p -R 10 -s start
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else
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# Internal SPI bus ICM-20649 (hard-mounted)
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icm20649 -R 14 -s start
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fi
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# Internal magnetometer on I2c
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if ver hwtypecmp V6X002001
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then
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rm3100 -I -b 4 start
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else
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bmm150 -I start
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fi
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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 ver hwtypecmp V6X002001
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then
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icp201xx -I -a 0x64 start
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else
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bmp388 -I -a 0x77 start
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fi
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if ver hwtypecmp V6X000000 V6X001000
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then
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bmp388 -I start
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else
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if ver hwtypecmp V6X002001
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then
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icp201xx -X start
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else
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bmp388 -X start
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fi
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fi
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# Baro on I2C3
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ms5611 -X start
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unset HAVE_PM2
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