mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-22 01:12:31 +00:00
102003c664
Using the hwvercmp on FMUv2 HW derivatives built with px4fmu_v3_default
to ues a more targeted startup approach:
1) Detect V3 and V2M
2) On V3 use the external mpu9250 to further discriminate between 2.0
and 2.1. Then only start the devices that are on that version of
the board.
3) Due to HW errata on PixhawkMini deprecate mpu9250.
The mpu9250 will not start reliably on the PixhawkMini
Since we have an ICM20608 and an External Mag the
mpu9250 is not to be used.
508 lines
7.2 KiB
Plaintext
508 lines
7.2 KiB
Plaintext
#!nsh
|
|
#
|
|
# Standard startup script for PX4FMU v1, v2, v3, v4 onboard sensor drivers.
|
|
#
|
|
|
|
if ver hwcmp PX4FMU_V1
|
|
then
|
|
if ms5611 start
|
|
then
|
|
fi
|
|
else
|
|
if ver hwcmp AEROFC_V1
|
|
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
|
|
if ms5611 -S start
|
|
then
|
|
fi
|
|
|
|
# Internal SPI
|
|
if ms5611 -s start
|
|
then
|
|
fi
|
|
|
|
# Blacksheep telemetry
|
|
if bst start
|
|
then
|
|
fi
|
|
fi
|
|
fi
|
|
|
|
if ver hwcmp AEROFC_V1
|
|
then
|
|
# Aero FC uses separate driver
|
|
else
|
|
if adc start
|
|
then
|
|
fi
|
|
fi
|
|
|
|
if ver hwcmp AUAV_X21
|
|
then
|
|
# External I2C bus
|
|
if hmc5883 -C -T -X start
|
|
then
|
|
fi
|
|
|
|
# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
|
|
if mpu6000 -R 2 -T 20608 start
|
|
then
|
|
fi
|
|
|
|
# Internal SPI bus mpu9250 is rotated 90 deg yaw
|
|
if mpu9250 -R 2 start
|
|
then
|
|
fi
|
|
fi
|
|
|
|
if ver hwcmp PX4FMU_V2
|
|
then
|
|
# External I2C bus
|
|
if hmc5883 -C -T -X start
|
|
then
|
|
fi
|
|
|
|
# External I2C bus
|
|
if lis3mdl -X start
|
|
then
|
|
fi
|
|
|
|
# Internal I2C bus
|
|
if hmc5883 -C -T -I -R 4 start
|
|
then
|
|
fi
|
|
|
|
# Internal SPI bus ICM-20608-G
|
|
if mpu6000 -T 20608 start
|
|
then
|
|
fi
|
|
|
|
# V2 build hwtypecmp is always false
|
|
set BOARD_FMUV3 0
|
|
# 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
|
|
|
|
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
|
|
if l3gd20 -X -R 4 start
|
|
then
|
|
fi
|
|
|
|
# external LSM303D is rotated 270 degrees yaw
|
|
if lsm303d -X -R 6 start
|
|
then
|
|
fi
|
|
|
|
if [ $BOARD_FMUV3 == 20 ]
|
|
then
|
|
# v2.0 internal MPU6000 is rotated 180 deg roll, 270 deg yaw
|
|
if mpu6000 -R 14 start
|
|
then
|
|
fi
|
|
# v2.0 Has internal hmc5883 on SPI1
|
|
if hmc5883 -C -T -S -R 8 start
|
|
then
|
|
fi
|
|
|
|
fi
|
|
if [ $BOARD_FMUV3 == 21 ]
|
|
then
|
|
# v2.1 internal MPU9250 is rotated 180 deg roll, 270 deg yaw
|
|
if mpu9250 -R 14 start
|
|
then
|
|
fi
|
|
fi
|
|
|
|
else
|
|
# $BOARD_FMUV3 == 0 -> FMUv2
|
|
|
|
if mpu6000 start
|
|
then
|
|
fi
|
|
|
|
# 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
|
|
if mpu9250 start
|
|
then
|
|
fi
|
|
fi
|
|
|
|
if l3gd20 start
|
|
then
|
|
fi
|
|
|
|
if lsm303d start
|
|
then
|
|
fi
|
|
fi
|
|
fi
|
|
|
|
if ver hwcmp PX4FMU_V4
|
|
then
|
|
# External I2C bus
|
|
if hmc5883 -C -T -X start
|
|
then
|
|
fi
|
|
|
|
if lis3mdl -R 2 start
|
|
then
|
|
fi
|
|
|
|
# Internal SPI bus is rotated 90 deg yaw
|
|
if hmc5883 -C -T -S -R 2 start
|
|
then
|
|
fi
|
|
|
|
# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
|
|
if mpu6000 -R 2 -T 20608 start
|
|
then
|
|
fi
|
|
|
|
# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
|
|
if mpu6000 -R 2 -T 20602 start
|
|
then
|
|
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.
|
|
|
|
# Internal SPI bus mpu9250 is rotated 90 deg yaw
|
|
if mpu9250 -R 2 start
|
|
then
|
|
fi
|
|
|
|
# Internal SPI bus BMI160
|
|
if bmi160 start
|
|
then
|
|
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.
|
|
|
|
# Internal SPI bus BMI055_ACC
|
|
if bmi055 -A start
|
|
then
|
|
fi
|
|
|
|
# Internal SPI bus BMI055_GYR
|
|
if bmi055 -G start
|
|
then
|
|
fi
|
|
|
|
# expansion i2c used for BMM150 rotated by 90deg
|
|
if bmm150 -R 2 start
|
|
then
|
|
fi
|
|
|
|
# expansion i2c used for BMP280
|
|
if bmp280 -I start
|
|
then
|
|
fi
|
|
fi
|
|
|
|
if ver hwcmp PX4FMU_V1
|
|
then
|
|
# FMUv1
|
|
if mpu6000 start
|
|
then
|
|
fi
|
|
|
|
if l3gd20 start
|
|
then
|
|
fi
|
|
|
|
# MAG selection
|
|
if param compare SENS_EXT_MAG 2
|
|
then
|
|
if hmc5883 -C -I start
|
|
then
|
|
fi
|
|
else
|
|
# Use only external as primary
|
|
if param compare SENS_EXT_MAG 1
|
|
then
|
|
if hmc5883 -C -X start
|
|
then
|
|
fi
|
|
else
|
|
# auto-detect the primary, prefer external
|
|
if hmc5883 start
|
|
then
|
|
fi
|
|
fi
|
|
fi
|
|
fi
|
|
|
|
if ver hwcmp MINDPX_V2
|
|
then
|
|
# External I2C bus
|
|
if hmc5883 -C -T -X start
|
|
then
|
|
fi
|
|
|
|
# Internal I2C bus
|
|
if hmc5883 -C -T -I -R 12 start
|
|
then
|
|
fi
|
|
|
|
if mpu6000 -s -R 8 start
|
|
then
|
|
fi
|
|
|
|
if mpu9250 -s -R 8 start
|
|
then
|
|
fi
|
|
|
|
if lsm303d -R 10 start
|
|
then
|
|
fi
|
|
|
|
if l3gd20 -R 14 start
|
|
then
|
|
fi
|
|
fi
|
|
|
|
if ver hwcmp CRAZYFLIE
|
|
then
|
|
# Onboard I2C
|
|
if mpu9250 -R 12 start
|
|
then
|
|
fi
|
|
|
|
# I2C bypass of mpu
|
|
if lps25h start
|
|
then
|
|
fi
|
|
fi
|
|
|
|
if ver hwcmp AEROFC_V1
|
|
then
|
|
if ms5611 -T 0 start
|
|
then
|
|
fi
|
|
|
|
if mpu9250 -s -R 14 start
|
|
then
|
|
fi
|
|
|
|
# Possible external compasses
|
|
if hmc5883 -X start
|
|
then
|
|
fi
|
|
|
|
if ist8310 -C -b 1 -R 4 start
|
|
then
|
|
fi
|
|
|
|
if aerofc_adc start
|
|
then
|
|
fi
|
|
|
|
if ll40ls start i2c
|
|
then
|
|
fi
|
|
fi
|
|
|
|
if ver hwcmp PX4FMU_V4PRO
|
|
then
|
|
# Internal SPI bus ICM-20608-G
|
|
if mpu6000 -R 2 -T 20608 start
|
|
then
|
|
fi
|
|
|
|
# Internal SPI bus ICM-20602
|
|
if mpu6000 -R 2 -T 20602 start
|
|
then
|
|
fi
|
|
|
|
# Internal SPI bus mpu9250
|
|
if mpu9250 -R 2 start
|
|
then
|
|
fi
|
|
|
|
# Internal SPI bus
|
|
if lis3mdl -R 0 start
|
|
then
|
|
fi
|
|
|
|
# Possible external compasses
|
|
if hmc5883 -C -T -X start
|
|
then
|
|
fi
|
|
fi
|
|
|
|
if ver hwcmp PX4FMU_V5
|
|
then
|
|
|
|
# Internal SPI bus ICM-20602
|
|
if mpu6000 -R 8 -s -T 20602 start
|
|
then
|
|
fi
|
|
|
|
# Internal SPI bus ICM-20689
|
|
if mpu6000 -R 8 -z -T 20689 start
|
|
then
|
|
fi
|
|
|
|
# Internal SPI bus BMI055 accel
|
|
if bmi055 -A -R 10 start
|
|
then
|
|
fi
|
|
|
|
# Internal SPI bus BMI055 gyro
|
|
if bmi055 -G -R 10 start
|
|
then
|
|
fi
|
|
|
|
# Possible external compasses
|
|
if hmc5883 -C -T -X start
|
|
then
|
|
fi
|
|
fi
|
|
|
|
if ver hwcmp AEROCORE2
|
|
then
|
|
l3gd20 -R 12 start
|
|
lsm303d start
|
|
fi
|
|
|
|
#
|
|
# Optional drivers
|
|
#
|
|
|
|
if sdp3x_airspeed start
|
|
then
|
|
fi
|
|
|
|
if ms5525_airspeed start
|
|
then
|
|
fi
|
|
|
|
if ms5525_airspeed start -b 2
|
|
then
|
|
fi
|
|
|
|
if ms4525_airspeed start
|
|
then
|
|
fi
|
|
|
|
if ms4525_airspeed start -b 2
|
|
then
|
|
fi
|
|
|
|
if ets_airspeed start
|
|
then
|
|
fi
|
|
|
|
if ets_airspeed start -b 1
|
|
then
|
|
fi
|
|
|
|
# Sensors on the PWM interface bank
|
|
if param compare SENS_EN_LL40LS 1
|
|
then
|
|
if pwm_input start
|
|
then
|
|
if ll40ls start pwm
|
|
then
|
|
fi
|
|
fi
|
|
fi
|
|
|
|
# Lidar-Lite on I2C
|
|
if param compare SENS_EN_LL40LS 2
|
|
then
|
|
if ll40ls start i2c
|
|
then
|
|
fi
|
|
fi
|
|
|
|
# lightware serial lidar sensor
|
|
if param compare SENS_EN_SF0X 0
|
|
then
|
|
else
|
|
if sf0x start
|
|
then
|
|
fi
|
|
fi
|
|
|
|
# lightware i2c lidar sensor
|
|
if param compare SENS_EN_SF1XX 0
|
|
then
|
|
else
|
|
if sf1xx start
|
|
then
|
|
fi
|
|
fi
|
|
|
|
# mb12xx sonar sensor
|
|
if param compare SENS_EN_MB12XX 1
|
|
then
|
|
if mb12xx start
|
|
then
|
|
fi
|
|
fi
|
|
|
|
# teraranger one tof sensor
|
|
if param compare SENS_EN_TRONE 1
|
|
then
|
|
if trone start
|
|
then
|
|
fi
|
|
fi
|
|
|
|
# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
|
|
usleep 20000
|
|
if sensors start
|
|
then
|
|
fi
|