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Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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Hamish Willee
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Ramon Roche
Ramon Roche
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# 驱动开发
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PX4 device drivers are based on the [Device](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/drivers/device) framework.
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## 创建驱动程序
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PX4 almost exclusively consumes data from [uORB](../middleware/uorb.md). 常见外设类型的驱动程序必须发布正确的 uORB 消息（例如: 陀螺仪、加速度计、压力传感器等）。
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The best approach for creating a new driver is to start with a similar driver as a template (see [src/drivers](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers)).
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:::info
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More detailed information about working with specific I/O buses and sensors may be available in [Sensor and Actuator Buses](../sensor_bus/index.md) section.
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:::
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:::info
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Publishing the correct uORB topics is the only pattern that drivers _must_ follow.
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:::
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## 核心架构
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PX4 is a [reactive system](../concept/architecture.md) and uses [uORB](../middleware/uorb.md) publish/subscribe to transport messages. File handles are not required or used for the core operation of the system. Two main APIs are used:
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- Publish / subscribe 系统具有文件、网络或共享内存后端，具体取决于系统 PX4 运行。
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- The global device registry, which can be used to enumerate devices and get/set their configuration. This can be as simple as a linked list or map to the file system. 这可以像链接列表或映射到文件系统一样简单。
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## 设备ID
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For the example of three magnetometers on a system, use the flight log (.px4log) to dump the parameters. The three parameters encode the sensor IDs and <code>MAG_PRIME</code> identifies which magnetometer is selected as the primary sensor. Each MAGx_ID is a 24bit number and should be padded left with zeros for manual decoding. 这三个参数解码传感器的 ID， 并且 <code>MAG_PRIME</code> 区分那个磁力计作为主传感器。
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The order of sensors (e.g. if there is a `/dev/mag0` and an alternate `/dev/mag1`) does not determine priority - the priority is instead stored as part of the published uORB topic.
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### 解码示例
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This is the internal HMC5983 connected via SPI, bus 1, slave select slot 5. It will show up in the log file as <code>IMU1.MagX</code>. The three parameters encode the sensor IDs and `MAG_PRIME` identifies which magnetometer is selected as the primary sensor. Each MAGx_ID is a 24bit number and should be padded left with zeros for manual decoding.
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```
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CAL_MAG0_ID = 73225.0
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CAL_MAG1_ID = 66826.0
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CAL_MAG2_ID = 263178.0
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CAL_MAG_PRIME = 73225.0
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```
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This is the external HMC5983 connected via I2C, bus 1 at address `0x1E`: It will show up in the log file as `IMU.MagX`.
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```
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# device ID 73225 in 24-bit binary:
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00000001 00011110 00001 001
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# decodes to:
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HMC5883 0x1E bus 1 I2C
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```
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根据此格式，设备 ID 是一个24bit 数字。 It will show up in the log file as `IMU1.MagX`.
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```
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# device ID 66826 in 24-bit binary:
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00000001 00000101 00001 010
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# decodes to:
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HMC5883 dev 5 bus 1 SPI
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```
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And this is the internal MPU9250 magnetometer connected via SPI, bus 1, slave select slot 4. It will show up in the log file as `IMU2.MagX`.
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```
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# device ID 263178 in 24-bit binary:
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00000100 00000100 00001 010
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#decodes to:
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MPU9250 dev 4 bus 1 SPI
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```
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### 设备 ID 编码
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The device ID is a 24bit number according to this format. Note that the first fields are the least significant bits in the decoding example above.
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```C
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struct DeviceStructure {
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enum DeviceBusType bus_type : 3;
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uint8_t bus: 5; // which instance of the bus type
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uint8_t address; // address on the bus (eg. I2C address)
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uint8_t devtype; // device class specific device type
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};
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```
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The `bus_type` is decoded according to:
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```C
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enum DeviceBusType {
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DeviceBusType_UNKNOWN = 0,
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DeviceBusType_I2C = 1,
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DeviceBusType_SPI = 2,
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DeviceBusType_UAVCAN = 3,
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};
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```
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and `devtype` is decoded according to:
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```C
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#define DRV_MAG_DEVTYPE_HMC5883 0x01
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#define DRV_MAG_DEVTYPE_LSM303D 0x02
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#define DRV_MAG_DEVTYPE_ACCELSIM 0x03
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#define DRV_MAG_DEVTYPE_MPU9250 0x04
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#define DRV_ACC_DEVTYPE_LSM303D 0x11
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#define DRV_ACC_DEVTYPE_BMA180 0x12
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#define DRV_ACC_DEVTYPE_MPU6000 0x13
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#define DRV_ACC_DEVTYPE_ACCELSIM 0x14
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#define DRV_ACC_DEVTYPE_GYROSIM 0x15
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#define DRV_ACC_DEVTYPE_MPU9250 0x16
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#define DRV_GYR_DEVTYPE_MPU6000 0x21
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#define DRV_GYR_DEVTYPE_L3GD20 0x22
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#define DRV_GYR_DEVTYPE_GYROSIM 0x23
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#define DRV_GYR_DEVTYPE_MPU9250 0x24
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#define DRV_RNG_DEVTYPE_MB12XX 0x31
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#define DRV_RNG_DEVTYPE_LL40LS 0x32
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```
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## 调试
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For general debugging topics see: [Debugging/Logging](../debug/index.md).
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### 使用操纵杆
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Drivers (and other modules) output minimally verbose logs strings by default (e.g. for `PX4_DEBUG`, `PX4_WARN`, `PX4_ERR`, etc.).
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Log verbosity is defined at build time using the `RELEASE_BUILD` (default), `DEBUG_BUILD` (verbose) or `TRACE_BUILD` (extremely verbose) macros.
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Change the logging level using `COMPILE_FLAGS` in the driver `px4_add_module` function (**CMakeLists.txt**).
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The code fragment below shows the required change to enable DEBUG_BUILD level debugging for a single module or driver.
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```
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px4_add_module(
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MODULE templates__module
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MAIN module
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```
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```
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COMPILE_FLAGS
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-DDEBUG_BUILD
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```
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```
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SRCS
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module.cpp
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DEPENDS
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modules__uORB
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)
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```
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:::tip
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Verbose logging can also be enabled on a per-file basis, by adding `#define DEBUG_BUILD` at the very top of a .cpp file (before any includes).
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:::
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