mirror of https://github.com/ArduPilot/ardupilot
60 lines
1.8 KiB
Bash
60 lines
1.8 KiB
Bash
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#!/bin/bash
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# This script enables the Chip Select (since it's negated it should be put to low value)
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# of the sensor passed as a parameter
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MPU6000_CS_PIN=113 # Corresponds with P9_28
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MPU9250_CS_PIN=49 # Corresponds with P9_28
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MS5611_CS_PIN=7 # Corresponds with P9_42
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# activate all the GPIOs and force them to untake the bus
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echo "Disabling MPU6000 CS"
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echo $MPU6000_CS_PIN > /sys/class/gpio/export 2> /dev/null
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echo out > /sys/class/gpio/"gpio"$MPU6000_CS_PIN/direction
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echo 1 > /sys/class/gpio/"gpio"$MPU6000_CS_PIN/value
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echo "Disabling MPU9250 CS"
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echo $MPU9250_CS_PIN > /sys/class/gpio/export 2> /dev/null
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echo out > /sys/class/gpio/"gpio"$MPU9250_CS_PIN/direction
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echo 1 > /sys/class/gpio/"gpio"$MPU9250_CS_PIN/value
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echo "Disabling MS5611 CS"
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echo $MS5611_CS_PIN > /sys/class/gpio/export 2> /dev/null
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echo out > /sys/class/gpio/"gpio"$MS5611_CS_PIN/direction
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echo 1 > /sys/class/gpio/"gpio"$MS5611_CS_PIN/value
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if [ $# -eq 0 ]
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then
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echo "No arguments supplied. Please provide one of the following sensors: mpu6000, mpu9250, ms5611"
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echo " source enable_cs.sh <sensor> "
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return 0
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fi
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if [ $1 == "mpu6000" ]
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then
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CS_PIN=$MPU6000_CS_PIN
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echo out > /sys/class/gpio/"gpio"$CS_PIN/direction
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echo 0 > /sys/class/gpio/"gpio"$CS_PIN/value
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echo "Enabling MPU6000 CS"
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elif [ $1 == "mpu9250" ]
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then
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CS_PIN=$MPU9250_CS_PIN
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echo out > /sys/class/gpio/"gpio"$CS_PIN/direction
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echo 0 > /sys/class/gpio/"gpio"$CS_PIN/value
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echo "Enabling MPU9250 CS"
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elif [ $1 == "ms5611" ]
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then
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CS_PIN=$MS5611_CS_PIN
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echo out > /sys/class/gpio/"gpio"$CS_PIN/direction
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echo 0 > /sys/class/gpio/"gpio"$CS_PIN/value
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echo "Enabling MS5611 CS"
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else
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echo "Sensor supplied invaled. Please provide one of the following sensors: mpu6000, mpu9250, ms5611"
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echo " source enable_cs.sh <sensor> "
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return 0
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fi
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# to verify do:
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# cat /sys/class/gpio/"gpio"$CS_PIN/value
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