mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
76 lines
4.2 KiB
Markdown
76 lines
4.2 KiB
Markdown
# PX4 系统控制台
|
||
|
||
The PX4 _System Console_ provides low-level access to the system, debug output and analysis of the system boot process.
|
||
|
||
:::tip
|
||
The console should be used for debugging if the system won't boot.
|
||
The [MAVLink Shell](../debug/mavlink_shell.md) may otherwise be more suitable, as it is much easier to set up and can be used for [many of the same tasks](../debug/consoles.md#console_vs_shell).
|
||
:::
|
||
|
||
## System Console vs. Shells
|
||
|
||
The console is made available through a (board-specific) UART that can be connected to a computer USB port using a [3.3V FTDI](https://www.digikey.com/en/products/detail/TTL-232R-3V3/768-1015-ND/1836393) cable.
|
||
This allows the console to be accessed using a terminal application.
|
||
|
||
Pixhawk controller manufacturers are expected to expose the console UART and SWD (JTAG) debug interfaces through a dedicated _debug port_ that complies with the [Pixhawk Connector Standard](#pixhawk_debug_port).
|
||
Unfortunately some boards predate this standard or a non-compliant.
|
||
|
||
:::info
|
||
Developers targeting a number of different boards may wish to use a [debug adapter](../debug/swd_debug.md#debug-adapters) to simplify connecting boards to FTDI cables and [debug probes](../debug/swd_debug.md#debug-probes-for-px4-hardware).
|
||
:::
|
||
|
||
Connect the 6-pos JST SH 1:1 cable to the Dronecode probe or connect the individual pins of the cable to a FTDI cable like this:
|
||
|
||
### Connecting via Dronecode Probe
|
||
|
||
The System Console UART pinouts/debug ports are typically documented in the affected [autopilot overview pages](../flight_controller/index.md).
|
||
For example, see [mRo Pixhawk](../flight_controller/mro_pixhawk.md#console-port) and [Pixracer](../flight_controller/pixracer.md#debug-port).
|
||
|
||
### Pixhawk Debug Port {#pixhawk_debug_port}
|
||
|
||
Pixhawk flight controllers usually come with a [Pixhawk Connector Standard Debug Port](../debug/swd_debug.md#pixhawk-connector-standard-debug-ports) which will be either the 10 pin [Pixhawk Debug Full](../debug/swd_debug.md#pixhawk-debug-full) or 6 pin [Pixhawk Debug Mini](../debug/swd_debug.md#pixhawk-debug-mini) port.
|
||
|
||
These ports have pins for console TX and RX which can connect to an FTDI cable.
|
||
The mapping for the [Pixhawk Debug Mini](../debug/swd_debug.md#pixhawk-debug-mini) to FTDI is shown below.
|
||
|
||
| Connecting via FTDI 3.3V Cable | - | FTDI | - |
|
||
| ---------------------------------------------- | ---------------------------- | ---- | -------------------------------- |
|
||
| 1（红） | + 5v (红色) | | N/C |
|
||
| 2 | UART7 Tx | 5 | FTDI RX （黄色） |
|
||
| 3 | UART7 Rx | 4 | FTDI TX （橙色） |
|
||
| 4（黑） | SWDIO | | N/C |
|
||
| 6 | SWCLK | | N/C |
|
||
| 6 | GND | 1 | FTDI GND (黑色) |
|
||
|
||
The [SWD Debug Port](../debug/swd_debug.md) page and individual flight controller pages have more information about debug port pinouts.
|
||
|
||
## 打开控制台
|
||
|
||
After the console connection is wired up, use the default serial port tool of your choice or the defaults described below:
|
||
|
||
### Linux / Mac OS: Screen
|
||
|
||
下载 <a href="http://www.chiark.greenend.org.uk/~sgtatham/putty/download.html">PuTTY</a> 并启动它。
|
||
|
||
```sh
|
||
sudo apt-get install screen
|
||
```
|
||
|
||
- 串口：pixhawk v1/pixracer 使用 57600 波特率
|
||
|
||
Connect screen at BAUDRATE baud, 8 data bits, 1 stop bit to the right serial port (use `ls /dev/tty*` and watch what changes when unplugging / replugging the USB device). Common names are `/dev/ttyUSB0` and `/dev/ttyACM0` for Linux and `/dev/tty.usbserial-ABCBD` for Mac OS.
|
||
|
||
```sh
|
||
screen /dev/ttyXXX BAUDRATE 8N1
|
||
```
|
||
|
||
### Windows: PuTTY
|
||
|
||
Download [PuTTY](https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html) and start it.
|
||
|
||
Then select 'serial connection' and set the port parameters to:
|
||
|
||
- 57600 波特率
|
||
- 8 数据位
|
||
- 1 个停止位
|