rc.board_sensors
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#!/bin/sh
#
# PX4 FMUv3 specific board sensors init
#------------------------------------------------------------------------------
rgbled start -I
rgbled_ncp5623c start -I
board_adc start
# Internal I2C bus
hmc5883 -T -I -R 4 start
# Internal SPI (auto detect ms5611 or ms5607)
if ! ms5611 -T 5607 -s -b 1 start
then
ms5611 -s -b 1 start
fi
set BOARD_FMUV3 0
# V3 build hwtypecmp supports V2|V2M|V30
if ver hwtypecmp V30
then
# Check for Pixhawk 2.0 cube (isolated IMU on SPI4)
# mpu6000 on v2.0, mpu9250 on v2.1
if mpu6000 -s -b 4 -R 10 start
then
set BOARD_FMUV3 20
else
# Check for Pixhawk 2.1 cube
# isolated/external mpu9250 (SPI4)
if mpu9250 -s -b 4 -R 10 start
then
set BOARD_FMUV3 21
fi
fi
fi
# Check if a Pixhack (which reports as V2M) is present
if ver hwtypecmp V2M
then
# Internal SPI bus ICM-20608-G
icm20608g -s -b 1 -R 14 start
# Pixhawk Mini doesn't have these sensors,
# so if they are found we know its a Pixhack
# mppu6000 internal (SPI1)
if mpu6000 -s -b 1 -R 10 start
then
set BOARD_FMUV3 20
else
# Check for Pixhack 3.1
# mpu9250 external (SPI4)
if mpu9250 -s -b 1 -R 10 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-default SENS_EN_THERMAL 0
# l3gd20 (external/isolated SPI4)
l3gd20 -s -b 4 -R 4 start
# lsm303d (external/isolated SPI4)
lsm303d -s -b 4 -R 6 start
# ms5611 (external/isolated SPI4)
ms5611 -s -b 4 start
if [ $BOARD_FMUV3 = 20 ]
then
# v2.0 internal mpu6000
mpu6000 -s -b 1 start
# v2.0 Has internal hmc5883 on SPI1
hmc5883 -T -s -b 1 -R 8 start
fi
if [ $BOARD_FMUV3 = 21 ]
then
# v2.1 mpu9250 on SPI1
mpu9250 -s -b 1 start
fi
else
# $BOARD_FMUV3 = 0 -> FMUv2
mpu6000 -s -b 1 -R 14 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
mpu9250 -s -b 1 -R 14 start
# else: On the PixhawkMini the mpu9250 has been disabled due to HW errata
fi
l3gd20 -s -b 1 start
lsm303d -s -b 1 start
fi
unset BOARD_FMUV3