forked from Archive/PX4-Autopilot
move fmu-v4 init to rc.board
This commit is contained in:
Daniel Agar
parent
25799c6e75
commit
d940f500f6
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@ -11,12 +11,6 @@ then
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mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
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fi
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if ver hwcmp PX4_FMU_V4
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then
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# Pixracer: start MAVLink on Wifi (ESP8266 port)
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mavlink start -r 20000 -b 921600 -d /dev/ttyS0
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fi
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if ver hwcmp AV_X_V1
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then
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# AV-X: start MAVLink to companion (connected to TX2)
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@ -22,17 +22,6 @@ then
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fmu i2c 2 100000
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fi
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if ver hwcmp PX4_FMU_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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@ -255,55 +244,6 @@ then
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fi
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fi
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if ver hwcmp PX4_FMU_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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ist8310 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 PX4_FMU_V4PRO
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then
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# Internal SPI bus ICM-20608-G
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@ -339,13 +339,13 @@ else
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if [ $AUTOCNF = yes ]
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then
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# Run FMU as task on Pixracer and on boards with enough RAM.
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if ver hwcmp PX4_FMU_V4 PX4_FMU_V4PRO PX4_FMU_V5
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if ver hwcmp PX4_FMU_V4PRO PX4_FMU_V5
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then
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param set SYS_FMU_TASK 1
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fi
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# Disable safety switch by default on Pixracer and OmnibusF4SD.
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if ver hwcmp PX4_FMU_V4 OMNIBUS_F4SD
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# Disable safety switch by default on OmnibusF4SD.
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if ver hwcmp OMNIBUS_F4SD
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then
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param set CBRK_IO_SAFETY 22027
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fi
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@ -514,15 +514,6 @@ else
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#
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sh /etc/init.d/rc.serial
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if ver hwcmp PX4_FMU_V4
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then
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# Run FrSky Telemetry on Pixracer on the FrSky port if not enabled already
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if param compare TEL_FRSKY_CONFIG 0
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then
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frsky_telemetry start -d /dev/ttyS6 -t 15
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fi
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fi
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#
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# Configure vehicle type specific parameters.
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# Note: rc.vehicle_setup is the entry point for rc.interface,
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@ -1,6 +1,6 @@
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#!nsh
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#
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# Standard startup script for PX4FMU v2, v3, v4 onboard sensor drivers.
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# Standard startup script for onboard sensor drivers.
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#
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# Configure all I2C buses to 100 KHz as they
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@ -82,33 +82,6 @@ then
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fi
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fi
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if ver hwcmp PX4_FMU_V4
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then
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# External I2C bus
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if hmc5883 -C -T -X start
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then
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fi
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if lis3mdl -R 2 start
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then
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fi
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# 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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fi
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# Internal SPI bus ICM-20608-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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fi
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# 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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fi
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fi
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if ver hwcmp AIRMIND_MINDPX_V2
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then
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# External I2C bus
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@ -0,0 +1,92 @@
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#!nsh
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#
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# PX4 FMUv4 specific board init
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#
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#------------------------------------------------------------------------------
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#
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# UART mapping on FMUv5:
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#
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# UART1 /dev/ttyS0 wifi
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# USART2 /dev/ttyS1 TELEM1 (flow control)
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# USART3 /dev/ttyS2 TELEM2 (flow control)
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# UART4
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# UART7 CONSOLE
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# UART8 /dev/ttyS6 SERIAL4/TELEM4
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#
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#------------------------------------------------------------------------------
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#
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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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if [ $AUTOCNF = yes ]
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then
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# Disable safety switch by default
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param set CBRK_IO_SAFETY 22027
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param set SYS_FMU_TASK 1
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fi
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set MIXER_AUX none
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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 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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# Pixracer: start MAVLink on Wifi (ESP8266 port)
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mavlink start -r 20000 -b 921600 -d /dev/ttyS0
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# Run FrSky Telemetry on Pixracer on the FrSky port if not enabled already
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if param compare TEL_FRSKY_CONFIG 0
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then
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frsky_telemetry start -d /dev/ttyS6 -t 15
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fi
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