mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-24 20:23:34 +08:00
David Sidrane
e35be68fd4
Since the only device on the bus is the barro, int or ext does not apply. This will be fixed on the rev > RC15. This defines an alias that can be used to condition the buss logic connection logic px4_i2c_bus_external to return external.
477 lines
9.5 KiB
Plaintext
477 lines
9.5 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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###############################################################################
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# Begin Setup for board specific configurations. #
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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 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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if ver hwcmp PX4FMU_V4
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then
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# We know there are sketchy boards out there
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# as chinese companies produce Pixracers without
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# fully understanding the critical parts of the
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# schematic and BOM, leading to sensor brownouts
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# on boot. Original Pixracers following the
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# open hardware design do not require this.
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fmu sensor_reset 50
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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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if ver hwcmp AEROFC_V1
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then
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ms5611 -T 0 start
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mpu9250 -s -R 14 start
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# Possible external compasses
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hmc5883 -X start
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ist8310 -C -b 1 -R 4 start
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aerofc_adc start
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ll40ls start i2c
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fi
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if ver hwcmp AEROCORE2
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then
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l3gd20 -R 12 start
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lsm303d start
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fi
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if ver hwcmp AUAV_X21
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then
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# External I2C bus
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hmc5883 -C -T -X start
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lis3mdl -X start
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# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
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mpu6000 -R 2 -T 20608 start
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# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
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mpu6000 -R 2 -T 20602 start
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# Internal SPI bus mpu9250 is rotated 90 deg yaw
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mpu9250 -R 2 start
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fi
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if ver hwcmp AV_X_V1
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then
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adis16477 -R 8 start
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#adis16497 start
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lps22hb -S start
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lsm303agr -R 4 start
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ms4525_airspeed -T 4515 -b 3 start
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fi
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if ver hwcmp CRAZYFLIE
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then
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# Onboard I2C
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mpu9250 -R 12 start
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# I2C bypass of mpu
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lps25h start
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# Optical flow deck
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vl53lxx start
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pmw3901 start
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fi
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if ver hwcmp NXPHLITE_V3
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then
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# External I2C bus
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hmc5883 -C -X start
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# Onboard I2C (baro) but an external bus on V3 RC15
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mpl3115a2 -X start
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# Internal SPI (accel + mag)
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fxos8701cq start -a 8 -R 0
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# Internal SPI (gyro)
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fxas21002c start -R 0
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fi
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# V2 build hwtypecmp is always false
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set BOARD_FMUV3 0
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if ver hwcmp PX4FMU_V2
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then
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# External I2C bus
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hmc5883 -C -T -X start
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lis3mdl -X start
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ist8310 -C start
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# Internal I2C bus
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hmc5883 -C -T -I -R 4 start
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# Internal SPI bus ICM-20608-G
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mpu6000 -T 20608 start
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# V3 build hwtypecmp supports V2|V2M|V30
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if ver hwtypecmp V30
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then
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# Check for Pixhawk 2.0 cube
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# external MPU6K is rotated 180 degrees yaw
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if mpu6000 -S -R 4 start
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then
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set BOARD_FMUV3 20
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else
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# Check for Pixhawk 2.1 cube
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# external MPU9250 is rotated 180 degrees yaw
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if mpu9250 -S -R 4 start
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then
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set BOARD_FMUV3 21
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fi
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fi
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fi
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# Check if a Pixhack (which reports as V2M) is present
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if ver hwtypecmp V2M
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then
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# Pixhawk Mini doesn't have these sensors,
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# so if they are found we know its a Pixhack
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# external MPU6K is rotated 180 degrees yaw
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if mpu6000 -S -R 4 start
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then
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set BOARD_FMUV3 20
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else
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# Check for Pixhack 3.1
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# external MPU9250 is rotated 180 degrees yaw
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if mpu9250 -S -R 4 start
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then
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set BOARD_FMUV3 21
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fi
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fi
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fi
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if [ $BOARD_FMUV3 != 0 ]
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then
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# sensor heating is available, but we disable it for now
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param set SENS_EN_THERMAL 0
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# external L3GD20H is rotated 180 degrees yaw
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l3gd20 -X -R 4 start
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# external LSM303D is rotated 270 degrees yaw
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lsm303d -X -R 6 start
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if [ $BOARD_FMUV3 == 20 ]
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then
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# v2.0 internal MPU6000 is rotated 180 deg roll, 270 deg yaw
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mpu6000 -R 14 start
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# v2.0 Has internal hmc5883 on SPI1
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hmc5883 -C -T -S -R 8 start
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fi
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if [ $BOARD_FMUV3 == 21 ]
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then
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# v2.1 internal MPU9250 is rotated 180 deg roll, 270 deg yaw
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mpu9250 -R 14 start
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fi
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else
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# $BOARD_FMUV3 == 0 -> FMUv2
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mpu6000 start
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# As we will use the external mag and the ICM-20608-G
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# V2 build hwtypecmp is always false
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# V3 build hwtypecmp supports V2|V2M|V30
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if ! ver hwtypecmp V2M
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then
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mpu9250 start
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# else: On the PixhawkMini the mpu9250 has been disabled due to HW errata
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fi
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l3gd20 start
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lsm303d start
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fi
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fi
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if ver hwcmp PX4_SAME70XPLAINED_V1
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then
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# External I2C bus
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hmc5883 -C -T -X start
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# Internal SPI bus mpu9250 is rotated 90 deg yaw
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mpu9250 -R 2 start
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fi
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if ver hwcmp PX4FMU_V4
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then
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# External I2C bus
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hmc5883 -C -T -X start
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lis3mdl -X start
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bmp280 -I start
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# expansion i2c used for BMM150 rotated by 90deg
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bmm150 -R 2 start
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# hmc5883 internal SPI bus is rotated 90 deg yaw
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if ! hmc5883 -C -T -S -R 2 start
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then
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# lis3mdl internal SPI bus is rotated 90 deg yaw
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if ! lis3mdl start
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then
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# BMI055 gyro internal SPI bus
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bmi055 -G start
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fi
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fi
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# Start either ICM2060X or BMI055. They are both connected to the same SPI bus and use the same
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# chip select pin. There are different boards with either one of them and the WHO_AM_I register
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# will prevent the incorrect driver from a successful initialization.
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# ICM20602 internal SPI bus ICM-20608-G is rotated 90 deg yaw
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if ! mpu6000 -R 2 -T 20602 start
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then
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# ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw
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if ! mpu6000 -R 2 -T 20608 start
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then
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# BMI055 accel internal SPI bus
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bmi055 -A start
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fi
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fi
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# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same
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# chip select pin. There are different boards with either one of them and the WHO_AM_I register
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# will prevent the incorrect driver from a successful initialization.
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# mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw
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if ! mpu9250 -R 2 start
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then
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# BMI160 internal SPI bus
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bmi160 start
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fi
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fi
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if ver hwcmp MINDPX_V2
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then
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# External I2C bus
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hmc5883 -C -T -X start
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# Internal I2C bus
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hmc5883 -C -T -I -R 12 start
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mpu6000 -s -R 8 start
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mpu9250 -s -R 8 start
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lsm303d -R 10 start
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l3gd20 -R 14 start
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fi
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if ver hwcmp OMNIBUS_F4SD
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then
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if ! mpu6000 -R 12 -s start
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then
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# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
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mpu6000 -R 12 -T 20602 -s start
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fi
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# Possible external compasses
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hmc5883 -X start
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bmp280 start
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adc start
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fi
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if ver hwcmp PX4FMU_V4PRO
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then
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# Internal SPI bus ICM-20608-G
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mpu6000 -R 2 -T 20608 start
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# Internal SPI bus ICM-20602
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mpu6000 -R 2 -T 20602 start
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# Internal SPI bus mpu9250
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mpu9250 -R 2 start
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# Internal SPI bus
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lis3mdl -R 0 start
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# Possible external compasses
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hmc5883 -C -T -X start
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fi
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if ver hwcmp PX4FMU_V5
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then
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# Internal SPI bus ICM-20602
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mpu6000 -R 8 -s -T 20602 start
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# Internal SPI bus ICM-20689
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mpu6000 -R 8 -z -T 20689 start
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# Internal SPI bus BMI055 accel
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bmi055 -A -R 10 start
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# Internal SPI bus BMI055 gyro
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bmi055 -G -R 10 start
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# Possible external compasses
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hmc5883 -C -T -X start
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# Possible external compasses
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ist8310 -C -b 1 start
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ist8310 -C -b 2 start
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# Possible internal compass
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ist8310 -C -b 5 start
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fi
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###############################################################################
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# End Setup for board specific configurations. #
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###############################################################################
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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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# Lightware serial lidar sensor
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if param greater SENS_EN_SF0X 0
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then
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sf0x 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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# 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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# 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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# Benewake TFMini
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if param greater SENS_EN_TFMINI 0
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then
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if ver hwcmp PX4FMU_V2 PX4FMU_V4PRO
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then
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# start the driver on serial 4/5
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tfmini start -d /dev/ttyS6
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else
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if ver hwcmp AEROFC_V1
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then
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# start the driver on telemetry
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tfmini start -d /dev/ttyS3
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else
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if param compare SYS_COMPANION 0
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then
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# start on default mavlink companion device
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tfmini start -d /dev/ttyS2
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fi
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fi
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fi
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fi
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# LeddarOne
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if param greater SENS_EN_LEDDAR1 0
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then
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if ver hwcmp PX4FMU_V2 PX4FMU_V4PRO
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then
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# start the driver on serial 4/5
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leddar_one -d /dev/ttyS6 start
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fi
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if ver hwcmp AEROFC_V1
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then
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# start the driver on telemetry
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leddar_one -d /dev/ttyS3 start
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else
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if param compare SYS_COMPANION 0
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then
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# start on default mavlink companion device
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leddar_one -d /dev/ttyS2 start
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fi
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fi
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fi
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###############################################################################
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# End Optional drivers #
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###############################################################################
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unset BOARD_FMUV3
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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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