px4-firmware/ROMFS/px4fmu_common/init.d/rc.sensors

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#!nsh
#
# Standard startup script for sensor drivers.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
###############################################################################
# Begin Setup for board specific configurations. #
###############################################################################
if ! ver hwcmp AEROFC_V1 OMNIBUS_F4SD
then
if ! ver hwcmp CRAZYFLIE
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then
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# Configure all I2C buses to 100 KHz as they
# are all external or slow
fmu i2c 1 100000
fmu i2c 2 100000
fi
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if ver hwcmp PX4FMU_V4
then
# We know there are sketchy boards out there
# as chinese companies produce Pixracers without
# fully understanding the critical parts of the
# schematic and BOM, leading to sensor brownouts
# on boot. Original Pixracers following the
# open hardware design do not require this.
fmu sensor_reset 50
fi
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# External SPI
ms5611 -S start
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# Internal SPI (auto detect ms5611 or ms5607)
ms5611 -T 0 -s start
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# Blacksheep telemetry
bst start
adc start
fi
if ver hwcmp AEROFC_V1
then
ms5611 -T 0 start
mpu9250 -s -R 14 start
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# Possible external compasses
hmc5883 -X start
ist8310 -C -b 1 -R 4 start
aerofc_adc start
ll40ls start i2c
fi
if ver hwcmp AEROCORE2
then
l3gd20 -R 12 start
lsm303d start
fi
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if ver hwcmp AUAV_X21
then
# External I2C bus
hmc5883 -C -T -X start
lis3mdl -X start
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# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
mpu6000 -R 2 -T 20608 start
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# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
mpu6000 -R 2 -T 20602 start
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# Internal SPI bus mpu9250 is rotated 90 deg yaw
mpu9250 -R 2 start
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fi
if ver hwcmp AV_X_V1
then
adis16477 -R 8 start
#adis16497 start
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lps22hb -S start
lsm303agr -R 4 start
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ms4525_airspeed -T 4515 -b 3 start
fi
if ver hwcmp CRAZYFLIE
then
# Onboard I2C
mpu9250 -R 12 start
# I2C bypass of mpu
lps25h start
# Optical flow deck
vl53lxx start
pmw3901 start
fi
if ver hwcmp NXPHLITE_V3
then
# External I2C bus
hmc5883 -C -X start
# Onboard I2C (baro) but an external bus on V3 RC15
mpl3115a2 -X start
# Internal SPI (accel + mag)
fxos8701cq start -a 8 -R 0
# Internal SPI (gyro)
fxas21002c start -R 0
fi
# V2 build hwtypecmp is always false
set BOARD_FMUV3 0
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if ver hwcmp PX4FMU_V2
then
# External I2C bus
hmc5883 -C -T -X start
lis3mdl -X start
ist8310 -C start
# Internal I2C bus
hmc5883 -C -T -I -R 4 start
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# Internal SPI bus ICM-20608-G
mpu6000 -T 20608 start
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# V3 build hwtypecmp supports V2|V2M|V30
if ver hwtypecmp V30
then
# Check for Pixhawk 2.0 cube
# external MPU6K is rotated 180 degrees yaw
if mpu6000 -S -R 4 start
then
set BOARD_FMUV3 20
else
# Check for Pixhawk 2.1 cube
# external MPU9250 is rotated 180 degrees yaw
if mpu9250 -S -R 4 start
then
set BOARD_FMUV3 21
fi
fi
fi
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# Check if a Pixhack (which reports as V2M) is present
if ver hwtypecmp V2M
then
# Pixhawk Mini doesn't have these sensors,
# so if they are found we know its a Pixhack
# external MPU6K is rotated 180 degrees yaw
if mpu6000 -S -R 4 start
then
set BOARD_FMUV3 20
else
# Check for Pixhack 3.1
# external MPU9250 is rotated 180 degrees yaw
if mpu9250 -S -R 4 start
then
set BOARD_FMUV3 21
fi
fi
fi
if [ $BOARD_FMUV3 != 0 ]
then
# sensor heating is available, but we disable it for now
param set SENS_EN_THERMAL 0
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# external L3GD20H is rotated 180 degrees yaw
l3gd20 -X -R 4 start
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# external LSM303D is rotated 270 degrees yaw
lsm303d -X -R 6 start
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if [ $BOARD_FMUV3 == 20 ]
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then
# v2.0 internal MPU6000 is rotated 180 deg roll, 270 deg yaw
mpu6000 -R 14 start
# v2.0 Has internal hmc5883 on SPI1
hmc5883 -C -T -S -R 8 start
fi
if [ $BOARD_FMUV3 == 21 ]
then
# v2.1 internal MPU9250 is rotated 180 deg roll, 270 deg yaw
mpu9250 -R 14 start
fi
else
# $BOARD_FMUV3 == 0 -> FMUv2
mpu6000 start
# As we will use the external mag and the ICM-20608-G
# V2 build hwtypecmp is always false
# V3 build hwtypecmp supports V2|V2M|V30
if ! ver hwtypecmp V2M
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then
mpu9250 start
# else: On the PixhawkMini the mpu9250 has been disabled due to HW errata
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fi
l3gd20 start
lsm303d start
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fi
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fi
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if ver hwcmp PX4_SAME70XPLAINED_V1
then
# 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
then
# External I2C bus
hmc5883 -C -T -X start
lis3mdl -X start
bmp280 -I start
# expansion i2c used for BMM150 rotated by 90deg
bmm150 -R 2 start
# hmc5883 internal SPI bus is rotated 90 deg yaw
if ! hmc5883 -C -T -S -R 2 start
then
# lis3mdl internal SPI bus is rotated 90 deg yaw
if ! lis3mdl start
then
# BMI055 gyro internal SPI bus
bmi055 -G start
fi
fi
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# Start either ICM2060X or BMI055. They are both connected to the same SPI bus and use the same
# chip select pin. There are different boards with either one of them and the WHO_AM_I register
# will prevent the incorrect driver from a successful initialization.
# ICM20602 internal SPI bus ICM-20608-G is rotated 90 deg yaw
if ! mpu6000 -R 2 -T 20602 start
then
# ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw
if ! mpu6000 -R 2 -T 20608 start
then
# BMI055 accel internal SPI bus
bmi055 -A start
fi
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
# will prevent the incorrect driver from a successful initialization.
# mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw
if ! mpu9250 -R 2 start
then
# BMI160 internal SPI bus
bmi160 start
fi
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fi
if ver hwcmp MINDPX_V2
then
# External I2C bus
hmc5883 -C -T -X start
# Internal I2C bus
hmc5883 -C -T -I -R 12 start
mpu6000 -s -R 8 start
mpu9250 -s -R 8 start
lsm303d -R 10 start
l3gd20 -R 14 start
fi
if ver hwcmp OMNIBUS_F4SD
then
if ! mpu6000 -R 12 -s start
then
# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
mpu6000 -R 12 -T 20602 -s start
fi
# Possible external compasses
hmc5883 -X start
bmp280 start
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adc start
fi
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if ver hwcmp PX4FMU_V4PRO
then
# Internal SPI bus ICM-20608-G
mpu6000 -R 2 -T 20608 start
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# Internal SPI bus ICM-20602
mpu6000 -R 2 -T 20602 start
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# Internal SPI bus mpu9250
mpu9250 -R 2 start
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# Internal SPI bus
lis3mdl -R 0 start
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# Possible external compasses
hmc5883 -C -T -X start
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fi
if ver hwcmp PX4FMU_V5
then
# Internal SPI bus ICM-20602
mpu6000 -R 8 -s -T 20602 start
# Internal SPI bus ICM-20689
mpu6000 -R 8 -z -T 20689 start
# Internal SPI bus BMI055 accel
bmi055 -A -R 10 start
# Internal SPI bus BMI055 gyro
bmi055 -G -R 10 start
# Possible external compasses
hmc5883 -C -T -X start
# Possible external compasses
ist8310 -C -b 1 start
ist8310 -C -b 2 start
# Possible internal compass
ist8310 -C -b 5 start
fi
###############################################################################
# End Setup for board specific configurations. #
###############################################################################
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###############################################################################
# Begin Optional drivers #
###############################################################################
if [ ${VEHICLE_TYPE} == fw -o ${VEHICLE_TYPE} == vtol ]
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then
if param compare CBRK_AIRSPD_CHK 0
then
sdp3x_airspeed start -a
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# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
# detected as MS5525 because the chip manufacturer was so
# clever to assign the same I2C address and skip a WHO_AM_I
# register.
if [ $BOARD_FMUV3 == 21 ]
then
ms5525_airspeed start -b 2
else
ms5525_airspeed start -a
fi
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ms4525_airspeed start -a
ets_airspeed start -a
fi
fi
# Sensors on the PWM interface bank
if param compare SENS_EN_LL40LS 1
then
if pwm_input start
then
ll40ls start pwm
fi
fi
# Lidar-Lite on I2C
if param compare SENS_EN_LL40LS 2
then
ll40ls start i2c
fi
# Lightware serial lidar sensor
if param greater SENS_EN_SF0X 0
then
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sf0x start
fi
# Lightware i2c lidar sensor
if param greater SENS_EN_SF1XX 0
then
sf1xx start -a
fi
# mb12xx sonar sensor
if param greater SENS_EN_MB12XX 0
then
mb12xx start -a
fi
# Teraranger one tof sensor
if param greater SENS_EN_TRANGER 0
then
teraranger start -a
fi
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# Benewake TFMini
if param greater SENS_EN_TFMINI 0
then
if ver hwcmp PX4FMU_V2 PX4FMU_V4PRO
then
# start the driver on serial 4/5
tfmini start -d /dev/ttyS6
else
if ver hwcmp AEROFC_V1
then
# start the driver on telemetry
tfmini start -d /dev/ttyS3
else
if param compare SYS_COMPANION 0
then
# start on default mavlink companion device
tfmini start -d /dev/ttyS2
fi
fi
fi
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fi
# LeddarOne
if param greater SENS_EN_LEDDAR1 0
then
if ver hwcmp PX4FMU_V2 PX4FMU_V4PRO
then
# start the driver on serial 4/5
leddar_one -d /dev/ttyS6 start
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fi
if ver hwcmp AEROFC_V1
then
# start the driver on telemetry
leddar_one -d /dev/ttyS3 start
else
if param compare SYS_COMPANION 0
then
# start on default mavlink companion device
leddar_one -d /dev/ttyS2 start
fi
fi
fi
###############################################################################
# End Optional drivers #
###############################################################################
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)
usleep 20000
sensors start