forked from Archive/PX4-Autopilot
boards: centralize optional external I2C sensor start
- configured with new parameter SENS_EXT_I2C_PRB
This commit is contained in:
parent
13d983d305
commit
6f6efd60b7
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@ -21,31 +21,6 @@ fi
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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 -X
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sdp3x_airspeed start -X -a 0x22
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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 -X -b 2
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else
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ms5525_airspeed start -X
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fi
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ms4525_airspeed start -X
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ets_airspeed start -X
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fi
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fi
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if param compare -s SENS_EN_BATT 1
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then
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batt_smbus start -X
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@ -120,10 +95,47 @@ then
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paw3902 -S start
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fi
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# probe for optional external I2C devices
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if param compare SENS_EXT_I2C_PRB 1
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then
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# compasses
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ak09916 -X -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw
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hmc5883 -T -X start
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ist8308 -X start
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ist8310 -X start
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lis2mdl -X start
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lis3mdl -X start
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qmc5883 -X start
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rm3100 -X start
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# differential pressure sensors
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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 -X
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sdp3x_airspeed start -X -a 0x22
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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 -X -b 2
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else
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ms5525_airspeed start -X
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fi
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ms4525_airspeed start -X
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ets_airspeed start -X
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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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# 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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@ -5,10 +5,6 @@
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adc start
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# External I2C bus
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hmc5883 -T -X start
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qmc5883 -X start
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# Internal I2C bus
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hmc5883 -T -I -R 12 start
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qmc5883 -I -R 12 start
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@ -18,8 +18,3 @@ then
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# try to start adis16497 only if pmw3901 isn't enabled, or parameter doesn't exists
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adis16497 -S start
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fi
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# Possible external compasses
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ist8310 -X start
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hmc5883 -T -X start
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qmc5883 -X start
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@ -14,6 +14,6 @@ fi
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if [ $AUTOCNF = yes ]
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then
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# don't probe external I2C
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param set SENS_EXT_I2C_PRB 0
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fi
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@ -17,10 +17,3 @@ ms5611 -s -b 4 start
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# SPI6 (internal)
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icm20649 -s -b 6 -R 2 start
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ms5611 -s -b 6 start
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# Possible external compasses
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ist8310 -X start
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hmc5883 -T -X start
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qmc5883 -X start
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lis3mdl -X start
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@ -12,9 +12,3 @@ icm20649 -s -b 1 start
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ms5611 -s -b 4 start
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icm20602 -s -b 4 -R 12 start
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icm20948 -s -b 4 -R 10 -M start
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# Possible external compasses
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ist8310 -X start
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hmc5883 -T -X start
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qmc5883 -X start
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lis3mdl -X start
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@ -12,9 +12,3 @@ icm20649 -s -b 1 start
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ms5611 -s -b 4 start
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icm20602 -s -b 4 -R 12 start
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icm20948 -s -b 4 -R 10 -M start
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# Possible external compasses
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ist8310 -X start
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hmc5883 -T -X start
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qmc5883 -X start
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lis3mdl -X start
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@ -7,19 +7,11 @@ adc start
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# Internal SPI bus ICM-20689
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icm20689 -R 2 -s start
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# Internal SPI bus BMI088 accel
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# Internal SPI bus BMI088 accel/gyro
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bmi088 -A -R 10 -s start
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# Internal SPI bus BMI088 gyro
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bmi088 -G -R 10 -s start
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# Possible external compasses
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ist8310 -X start
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hmc5883 -T -X start
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qmc5883 -X start
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lis3mdl -X start
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# Possible internal compass
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# internal compass
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ist8310 -I start
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# Baro on internal SPI
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@ -13,8 +13,3 @@ fi
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# Onboard Baro
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bmp280 -X start
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# Possible external compasses
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ist8310 -X start
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hmc5883 -T -X start
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qmc5883 -X start
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@ -12,9 +12,6 @@ fi
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mpu9250 -s -R 0 start
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# Possible external compasses
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hmc5883 -X start
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ist8310 -I -R 4 start
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ll40ls start -X
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@ -15,19 +15,9 @@ icm20602 -R 12 -s start
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# Internal SPI bus ICM-42688
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icm42688p -R 12 -s start
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# Internal SPI bus BMI088 accel
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# Internal SPI bus BMI088 accel/gyro
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bmi088 -A -R 4 -s start
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# Internal SPI bus BMI088 gyro
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bmi088 -G -R 4 -s start
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# Possible external compasses
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ist8310 -X start
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hmc5883 -T -X start
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qmc5883 -X start
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# Internal I2C Baro
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bmp388 -I start
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# External RM3100
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rm3100 -X start
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@ -17,10 +17,3 @@ icm20948 -s -R 8 -M start
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# Interal DPS310 (barometer)
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dps310 -s start
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# Possible external compasses
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ist8310 -X start
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hmc5883 -T -X start
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qmc5883 -X start
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lis3mdl -X start
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rm3100 -X start
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@ -13,9 +13,3 @@ icm20602 -s -R 8 start
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# Internal SPI bus mpu9250
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mpu9250 -s -R 8 start
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# Possible external compasses
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ist8310 -X start
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hmc5883 -T -X start
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qmc5883 -X start
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lis3mdl -X start
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@ -5,12 +5,6 @@
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adc start
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# External I2C bus
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hmc5883 -T -X start
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lis3mdl -X start
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ist8310 -X start
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qmc5883 -X start
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# Internal SPI bus ICM-20608-G
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icm20608g -s -R 8 start
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@ -5,12 +5,6 @@
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adc start
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# Possible external compasses
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hmc5883 -X start
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lis3mdl -X start
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ist8310 -X start
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qmc5883 -X start
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# Internal Mag I2C bus roll 180, yaw 90
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bmm150 -I -R 10 start
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@ -23,26 +23,11 @@ icm20602 -R 2 -s start
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# Internal SPI bus ICM-20689
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icm20689 -R 2 -s start
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# Internal SPI bus BMI055 accel
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# Internal SPI bus BMI055 accel/gyro
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bmi055 -A -R 10 -s start
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# Internal SPI bus BMI055 gyro
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bmi055 -G -R 10 -s start
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# Possible external compasses
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ist8310 -X start
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hmc5883 -T -X start
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qmc5883 -X start
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lis3mdl -X start
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# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
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if ! icm20948 -X -R 6 start
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then
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# external emulated AK09916 (Here2) is rotated 270 degrees yaw
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ak09916 -X -R 6 start
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fi
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# Possible internal compass
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# internal compass
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ist8310 -I start
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# Baro on internal SPI
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@ -11,7 +11,4 @@ then
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icm20602 -s -R 6 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 -s start
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@ -7,13 +7,6 @@ rgbled start -I
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adc start
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# External I2C bus
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hmc5883 -T -X start
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lis3mdl -X start
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ist8310 -X start
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qmc5883 -X start
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rm3100 -X start
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# Internal I2C bus
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hmc5883 -T -I -R 4 start
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@ -71,13 +64,6 @@ 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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# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
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if ! icm20948 -X -R 6 start
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then
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# external emulated AK09916 (Here2) is rotated 270 degrees yaw
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ak09916 -X -R 6 start
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fi
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# l3gd20 (external/isolated SPI4)
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l3gd20 -s -b 4 -R 4 start
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@ -7,13 +7,6 @@ rgbled start -I
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adc start
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# External I2C bus
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hmc5883 -T -X start
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lis3mdl -X start
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ist8310 -X start
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qmc5883 -X start
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rm3100 -X start
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# Internal I2C bus
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hmc5883 -T -I -R 4 start
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@ -71,13 +64,6 @@ 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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# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
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if ! icm20948 -X -R 6 start
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then
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# external emulated AK09916 (Here2) is rotated 270 degrees yaw
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ak09916 -X -R 6 start
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fi
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# l3gd20 (external/isolated SPI4)
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l3gd20 -s -b 4 -R 4 start
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@ -13,14 +13,6 @@ adc start
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# open hardware design do not require this.
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pwm_out sensor_reset 50
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# External I2C bus
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hmc5883 -T -X start
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lis3mdl -X start
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ist8310 -X start
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qmc5883 -X start
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rm3100 -X start
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# Internal SPI
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ms5611 -s start
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@ -21,10 +21,3 @@ lis3mdl -s -R 0 start
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# Internal SPI
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ms5611 -s start
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# Possible external compasses
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hmc5883 -T -X start
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lis3mdl -X start
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ist8310 -X start
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qmc5883 -X start
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rm3100 -X start
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@ -11,30 +11,12 @@ icm20602 -s -R 2 start
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# Internal SPI bus ICM-20689
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icm20689 -s -R 2 start
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# Internal SPI bus BMI055 accel
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# Internal SPI bus BMI055 accel/gyro
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bmi055 -A -R 10 -s start
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# Internal SPI bus BMI055 gyro
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bmi055 -G -R 10 -s start
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# Possible external compasses
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ist8310 -X start
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hmc5883 -T -X start
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qmc5883 -X start
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lis3mdl -X start
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# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
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if ! icm20948 -X -R 6 start
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then
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# external emulated AK09916 (Here2) is rotated 270 degrees yaw
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ak09916 -X -R 6 start
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fi
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# Possible internal compass
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# internal compass
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ist8310 -I start
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# Baro on internal SPI
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ms5611 -s start
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# External RM3100
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rm3100 -X start
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@ -15,17 +15,10 @@ icm20602 -R 2 -s start
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# Internal SPI bus ISM300DLC
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ism330dlc -s start
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# Internal SPI bus BMI088 accel
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# Internal SPI bus BMI088 accel/gyro
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bmi088 -A -R 12 -s start
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# Internal SPI bus BMI088 gyro
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bmi088 -G -R 12 -s start
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# Possible external compasses
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ist8310 -X start
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hmc5883 -T -X start
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qmc5883 -X start
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# Possible internal compass
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bmm150 -I start
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@ -35,6 +28,3 @@ bmp388 -I -a 0x77 start
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# Baro on I2C3
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ms5611 -X start
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# External RM3100
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rm3100 -X start
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@ -15,17 +15,10 @@ icm20649 -R 2 -s start
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# Internal SPI bus ISM300DLC
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ism330dlc -s start
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# Internal SPI bus BMI088 accel
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# Internal SPI bus BMI088 accel/gyro
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bmi088 -A -R 12 -s start
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# Internal SPI bus BMI088 gyro
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bmi088 -G -R 12 -s start
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# Possible external compasses
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ist8310 -X start
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hmc5883 -T -X start
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qmc5883 -X start
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# Possible internal compass
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bmm150 -I start
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@ -35,6 +28,3 @@ bmp388 -I -a 0x77 start
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# Baro on I2C3
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ms5611 -X start
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# External RM3100
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rm3100 -X start
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@ -9,5 +9,6 @@ then
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# Disable safety switch by default
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param set CBRK_IO_SAFETY 22027
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# don't probe external I2C
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param set SENS_EXT_I2C_PRB 0
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fi
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@ -191,3 +191,14 @@ PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
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* @group Sensors
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*/
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PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
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/**
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* External I2C probe.
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*
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* Probe for optional external I2C devices.
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*
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* @boolean
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* @category system
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* @group Sensors
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*/
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PARAM_DEFINE_INT32(SENS_EXT_I2C_PRB, 1);
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