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minor airspeed sensor startup improvements #7903

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merged 1 commit into from
Oct 5, 2017
+122 −356
Merged

minor airspeed sensor startup improvements #7903

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138 changes: 78 additions & 60 deletions ROMFS/px4fmu_common/init.d/rc.sensors
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
#!nsh
#
# Standard startup script for PX4FMU v2, v3, v4 onboard sensor drivers.
# Standard startup script for sensor drivers.
#

if ver hwcmp AEROFC_V1
Expand Down Expand Up @@ -68,8 +68,6 @@ if ver hwcmp PX4FMU_V2
then
# External I2C bus
hmc5883 -C -T -X start

# External I2C bus
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Should we leave this as is to avoid the rebase when FMUv1 comes out?

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Yes I suppose so.

lis3mdl -X start

# Internal I2C bus
Expand Down Expand Up @@ -117,6 +115,7 @@ then
hmc5883 -C -T -S -R 8 start

fi

if [ $BOARD_FMUV3 == 21 ]
then
# v2.1 internal MPU9250 is rotated 180 deg roll, 270 deg yaw
Expand All @@ -133,7 +132,7 @@ then
# V3 build hwtypecmp supports V2|V2M|V30
if ver hwtypecmp V2M
then
# On the PixhawkMini the mpu9250 has been disabled due to HW errata
# On the PixhawkMini the mpu9250 has been disabled due to HW errata
else
mpu9250 start
fi
Expand All @@ -156,51 +155,63 @@ if ver hwcmp PX4FMU_V4
then
# External I2C bus
hmc5883 -C -T -X start
lis3mdl -X start
bmp280 -I start

lis3mdl -R 2 start

# Internal SPI bus is rotated 90 deg yaw
hmc5883 -C -T -S -R 2 start

# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
mpu6000 -R 2 -T 20608 start
# expansion i2c used for BMM150 rotated by 90deg
bmm150 -R 2 start

# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
mpu6000 -R 2 -T 20602 start
if hmc5883 -C -T -S -R 2 start
then
# hmc5883 internal SPI bus is rotated 90 deg yaw
else
if lis3mdl -R 2 start
then
# lis3mdl internal SPI bus is rotated 90 deg yaw
else
# BMI055 gyro internal SPI bus
bmi055 -G start
fi
fi

# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same
# 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 mpu9250 is rotated 90 deg yaw
mpu9250 -R 2 start

# Internal SPI bus BMI160
bmi160 start
if mpu6000 -R 2 -T 20602 start
then
# ICM20602 internal SPI bus ICM-20608-G is rotated 90 deg yaw
else
if mpu6000 -R 2 -T 20608 start
then
# ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw
else
# BMI055 accel internal SPI bus
bmi055 -A start
fi
fi

# Start either ICM2060X or BMI055. They are both connected to the same SPI bus and use the same
# 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 BMI055_ACC
bmi055 -A start

# Internal SPI bus BMI055_GYR
bmi055 -G start

# expansion i2c used for BMM150 rotated by 90deg
bmm150 -R 2 start

# expansion i2c used for BMP280
bmp280 -I start
if mpu9250 -R 2 start
then
# mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw
else
# BMI160 internal SPI bus
bmi160 start
fi
fi

if ver hwcmp MINDPX_V2
then
# External I2C bus
hmc5883 -C -T -X start

# Internal I2C bus
hmc5883 -C -T -I -R 12 start

mpu6000 -s -R 8 start
mpu9250 -s -R 8 start
lsm303d -R 10 start
Expand All @@ -219,16 +230,13 @@ fi
if ver hwcmp AEROFC_V1
then
ms5611 -T 0 start

mpu9250 -s -R 14 start

# Possible external compasses
hmc5883 -X start

ist8310 -C -b 1 -R 4 start

aerofc_adc start

ll40ls start i2c
fi

Expand Down Expand Up @@ -287,25 +295,40 @@ fi
# Optional drivers
#

sdp3x_airspeed start
sdp3x_airspeed start -b 2

# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
# detected as MS5525 because the chip manufacturer was so
# clever to assign the same I2C address and skip a WHO_AM_I
# register.
if [ $BOARD_FMUV3 == 21 ]
if [ ${VEHICLE_TYPE} == fw -o ${VEHICLE_TYPE} == vtol ]
then
ms5525_airspeed start -b 2
else
ms5525_airspeed start
fi
if param compare CBRK_AIRSPD_CHK 0
then
if sdp3x_airspeed start
then
else
sdp3x_airspeed start -b 2
fi

ms4525_airspeed start
ms4525_airspeed start -b 2
# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
# detected as MS5525 because the chip manufacturer was so
# clever to assign the same I2C address and skip a WHO_AM_I
# register.
if [ $BOARD_FMUV3 == 21 ]
then
ms5525_airspeed start -b 2
else
ms5525_airspeed start
fi

ets_airspeed start
ets_airspeed start -b 1
if ms4525_airspeed start
then
else
ms4525_airspeed start -b 2
fi

if ets_airspeed start
then
else
ets_airspeed start -b 1
fi
fi
fi

# Sensors on the PWM interface bank
if param compare SENS_EN_LL40LS 1
Expand All @@ -323,34 +346,29 @@ then
fi

# lightware serial lidar sensor
if param compare SENS_EN_SF0X 0
if param greater SENS_EN_SF0X 0
then
else
sf0x start
fi

# lightware i2c lidar sensor
if param compare SENS_EN_SF1XX 0
if param greater SENS_EN_SF1XX 0
then
else
sf1xx start
fi

# mb12xx sonar sensor
if param compare SENS_EN_MB12XX 1
if param greater SENS_EN_MB12XX 0
then
mb12xx start
fi

# teraranger one tof sensor
if param compare SENS_EN_TRANGER 0
if param greater SENS_EN_TRANGER 0
then
else
teraranger start
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
sensors start
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