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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-22 01:12:31 +00:00
60 lines
1.1 KiB
Bash
60 lines
1.1 KiB
Bash
#!/bin/sh
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#
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# PX4 FMUv5X specific board sensors init
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#------------------------------------------------------------------------------
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board_adc start
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# Start Digital power monitors
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ina226 -X -b 1 -t 1 -k start
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ina226 -X -b 2 -t 2 -k start
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if ver hwtypecmp V5X90 V5X91 V5Xa0 V5Xa1
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then
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#SKYNODE base fmu board orientation
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# Internal SPI BMI088
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bmi088 -A -R 2 -s start
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bmi088 -G -R 2 -s start
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# Internal SPI bus ICM42688p
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icm42688p -R 4 -s start
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# Internal SPI bus ICM-20602 (hard-mounted)
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icm20602 -R 8 -s start
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# Internal magnetometer on I2c
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bmm150 -I -R 6 start
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else
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#FMUv5Xbase board orientation
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# Internal SPI BMI088
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bmi088 -A -R 4 -s start
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bmi088 -G -R 4 -s start
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# Internal SPI bus ICM42688p
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icm42688p -R 6 -s start
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# Internal SPI bus ICM-20602 (hard-mounted)
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icm20602 -R 10 -s start
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# Internal magnetometer on I2c
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bmm150 -I start
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fi
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# Possible internal Baro
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# Disable startup of internal baros if param is set to false
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if param compare SENS_INT_BARO_EN 1
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then
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bmp388 -I -a 0x77 start
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if ver hwtypecmp V5X91 V5Xa1
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then
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bmp388 -X -b 2 start
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else
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bmp388 -I start
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fi
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fi
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