forked from Archive/PX4-Autopilot
228 lines
4.1 KiB
Bash
228 lines
4.1 KiB
Bash
#!/bin/sh
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#
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# Standard startup script for sensor drivers.
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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###############################################################################
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# Begin Optional drivers #
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###############################################################################
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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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fi
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# Start batmon driver if enabled using BATMON_DRIVER_EN
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if param compare -s BATMON_DRIVER_EN 1
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then
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batmon start -X #start on external bus
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fi
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# Sensors on the PWM interface bank
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if param compare -s SENS_EN_LL40LS 1
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then
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if pwm_input start
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then
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ll40ls_pwm start
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fi
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fi
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# External automatic trigger system
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if param compare FD_EXT_ATS_EN 1
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then
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pwm_input start
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fi
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# Lidar-Lite on I2C
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if param compare -s SENS_EN_LL40LS 2
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then
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ll40ls start -X
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fi
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# mappydot lidar sensor
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if param compare -s SENS_EN_MPDT 1
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then
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mappydot start -X
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fi
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# mb12xx sonar sensor
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if param greater -s SENS_EN_MB12XX 0
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then
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mb12xx start -X
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fi
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# pga460 sonar sensor
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if param greater -s SENS_EN_PGA460 0
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then
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pga460 start
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fi
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# Lightware i2c lidar sensor
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if param greater -s SENS_EN_SF1XX 0
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then
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lightware_laser_i2c start -X
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fi
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# Sensor HY-SRF05 or HC-SR05 ultrasonic sensor
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if param compare -s SENS_EN_SR05 1
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then
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srf05 start
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fi
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# Heater driver for temperature regulated IMUs.
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if param compare -s SENS_EN_THERMAL 1
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then
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heater start
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fi
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# Teraranger one tof sensor
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if param greater -s SENS_EN_TRANGER 0
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then
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teraranger start -X
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fi
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# paa3905 optical flow sensor (external SPI)
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if param greater -s SENS_EN_PAA3905 0
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then
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paa3905 -S start
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fi
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# paw3902 optical flow sensor (external SPI)
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if param greater -s SENS_EN_PAW3902 0
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then
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paw3902 -S start
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fi
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# pmw3901 optical flow sensor (external SPI)
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if param greater -s SENS_EN_PMW3901 0
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then
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pmw3901 -S start
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fi
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# vl53l0x i2c distance sensor
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if param compare -s SENS_EN_VL53L0X 1
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then
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vl53l0x start -X
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fi
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# vl53l1x i2c distance sensor
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if param compare -s SENS_EN_VL53L1X 1
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then
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vl53l1x start -X
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fi
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# tf02 pro i2c distance sensor
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if param compare -s SENS_EN_TF02PRO 1
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then
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tf02pro start -X
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fi
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# ADIS16448 spi external IMU
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if param compare -s SENS_EN_ADIS164X 1
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then
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if param compare -s SENS_OR_ADIS164X 0
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then
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adis16448 -S start
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fi
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if param compare -s SENS_OR_ADIS164X 4
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then
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adis16448 -S start -R 4
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fi
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fi
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# ADIS16507 spi external IMU
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if param greater -s SENS_EN_ADIS165X 0
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then
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adis16507 -S start
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fi
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# Eagle Tree airspeed sensor external I2C
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if param compare -s SENS_EN_ETSASPD 1
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then
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ets_airspeed start -X
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fi
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# Sensirion SDP3X differential pressure sensor external I2C
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if param compare -s SENS_EN_SDP3X 1
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then
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if ! sdp3x start -X
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then
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# try another common address
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sdp3x start -X -a 0x22
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fi
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fi
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# TE MS4515 differential pressure sensor external I2C
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if param compare -s SENS_EN_MS4515 1
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then
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ms4515 start -X
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fi
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# TE MS4525DO differential pressure sensor external I2C
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if param compare -s SENS_EN_MS4525DO 1
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then
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ms4525do start -X
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fi
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# TE MS5525DSO differential pressure sensor external I2C
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if param compare -s SENS_EN_MS5525DS 1
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then
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ms5525dso start -X
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fi
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# TE ASP5033 differential pressure sensor external I2C
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if param compare -s SENS_EN_ASP5033 1
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then
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asp5033 start -X
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fi
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# SHT3x temperature and hygrometer sensor, external I2C
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if param compare -s SENS_EN_SHT3X 1
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then
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sht3x start -X
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sht3x start -X -a 0x45
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fi
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# IR-LOCK sensor external I2C
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if param compare -s SENS_EN_IRLOCK 1
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then
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irlock start -X
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fi
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# SPL06 sensor external I2C
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if param compare -s SENS_EN_SPL06 1
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then
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spl06 -X start
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spl06 -X -a 0x77 start
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fi
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# PCF8583 counter (RPM sensor)
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if param compare -s SENS_EN_PCF8583 1
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then
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pcf8583 start -X
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pcf8583 start -X -a 0x51
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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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icm20948_i2c_passthrough -X -q start
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# compasses
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hmc5883 -T -X -q start
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ist8308 -X -q start
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ist8310 -X -q start
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lis2mdl -X -q start
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if ! lis3mdl -X -q start
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then
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lis3mdl -X -q -a 0x1c start
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fi
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qmc5883l -X -q start
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rm3100 -X -q start
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# start last (wait for possible icm20948 passthrough mode)
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ak09916 -X -q start
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fi
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