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

#!nsh
#
# Standard startup script for sensor drivers.
#

if ver hwcmp AEROFC_V1 OMNIBUS_F4SD
then
	# Aero FC uses separate driver
else
	if ver hwcmp CRAZYFLIE
	then
		# Crazyflie uses separate driver
	else
		# Configure all I2C buses to 100 KHz as they
		# are all external or slow
		fmu i2c 1 100000
		fmu i2c 2 100000
	fi

	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

	# External SPI
	ms5611 -S start

	# Internal SPI (auto detect ms5611 or ms5607)
	ms5611 -T 0 -s start

	# Blacksheep telemetry
	bst start

	adc start
fi

if ver hwcmp NXPHLITE_V3
then
	# Internal I2C (baro)
	mpl3115a2 -I start

	# Internal SPI (accel + mag)
	fxos8701cq start -a 8 -R 0

	# Internal SPI (gyro)
	fxas21002c start -R 0
fi

if ver hwcmp AUAV_X21
then
	# External I2C bus
	hmc5883 -C -T -X start
	lis3mdl -X start

	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
	mpu6000 -R 2 -T 20608 start

	# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
	mpu6000 -R 2 -T 20602 start

	# Internal SPI bus mpu9250 is rotated 90 deg yaw
	mpu9250 -R 2 start
fi

if ver hwcmp PX4FMU_V2
then
	# V2 build hwtypecmp is always false
	set BOARD_FMUV3 0

	# External I2C bus
	hmc5883 -C -T -X start
	lis3mdl -X start

	# Internal I2C bus
	hmc5883 -C -T -I -R 4 start

	# Internal SPI bus ICM-20608-G
	mpu6000 -T 20608 start

	# 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

	# 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

		# external L3GD20H is rotated 180 degrees yaw
		l3gd20 -X -R 4 start

		# external LSM303D is rotated 270 degrees yaw
		lsm303d -X -R 6 start

		if [ $BOARD_FMUV3 == 20 ]
		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
		then
			# On the PixhawkMini the mpu9250 has been disabled due to HW errata
		else
			mpu9250 start
		fi

		l3gd20 start
		lsm303d start
	fi

	unset BOARD_FMUV3
fi

if ver hwcmp PX4_SAME70XPLAINED_V1
then
	# External I2C bus
	hmc5883 -C -T -X start

	# Internal SPI bus mpu9250 is rotated 90 deg yaw
	mpu9250 -R 2 start
fi

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

	if hmc5883 -C -T -S -R 2 start
	then
		# hmc5883 internal SPI bus is rotated 90 deg yaw
	else
		if lis3mdl start
		then
			# lis3mdl internal SPI bus is rotated 90 deg yaw
		else
			# BMI055 gyro internal SPI bus
			bmi055 -G start
		fi
	fi

	# 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.

	if mpu6000 -R 2 -T 20602 start
	then
		# ICM20602 internal SPI bus ICM-20608-G is rotated 90 deg yaw
	else
		if mpu6000 -R 2 -T 20608 start
		then
			# ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw
		else
			# BMI055 accel internal SPI bus
			bmi055 -A start
		fi
	fi

	# Start either MPU9250 or BMI160. 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.

	if mpu9250 -R 2 start
	then
		# mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw
	else
		# BMI160 internal SPI bus
		bmi160 start
	fi
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 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 AEROFC_V1
then
	ms5611 -T 0 start
	mpu9250 -s -R 14 start

	# Possible external compasses
	hmc5883 -X start

	ist8310 -C -b 1 -R 4 start
	aerofc_adc start
	ll40ls start i2c
fi

if ver hwcmp OMNIBUS_F4SD
then
	mpu6000 -R 12 -s start

	# Possible external compasses
	hmc5883 -X start

	bmp280 start

	adc start
fi

if ver hwcmp PX4FMU_V4PRO
then
	# Internal SPI bus ICM-20608-G
	mpu6000 -R 2 -T 20608 start

	# Internal SPI bus ICM-20602
	mpu6000 -R 2 -T 20602 start

	# Internal SPI bus mpu9250
	mpu9250 -R 2 start

	# Internal SPI bus
	lis3mdl -R 0 start

	# Possible external compasses
	hmc5883 -C -T -X start
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

if ver hwcmp AEROCORE2
then
	l3gd20 -R 12 start
	lsm303d start
fi

#
# Optional drivers
#

if [ ${VEHICLE_TYPE} == fw -o ${VEHICLE_TYPE} == vtol ]
then
	if param compare CBRK_AIRSPD_CHK 0
	then
		sdp3x_airspeed start -a

		# 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

		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
	sf0x start
fi

# lightware i2c lidar sensor
if param greater SENS_EN_SF1XX 0
then
	sf1xx start
fi

# mb12xx sonar sensor
if param greater SENS_EN_MB12XX 0
then
	mb12xx start
fi

# teraranger one tof sensor
if param greater SENS_EN_TRANGER 0
then
	teraranger start
fi

# 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
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
	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

# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
usleep 20000
sensors start