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142 lines
5.9 KiB
Markdown
142 lines
5.9 KiB
Markdown
# Налаштування послідовного порту
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This topic shows how to determine the mapping between USART/UART serial port device names (e.g. "ttyS0") and the associated ports on a flight controller, such as `TELEM1`, `TELEM2`, `GPS1`, `RC SBUS`, `Debug console`.
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Інструкції використовуються для генерації таблиць відповідності портів серійного зв'язку у документації контролера польоту.
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For example: [Pixhawk 4 > Serial Port Mapping](../flight_controller/pixhawk4.md#serial-port-mapping).
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:::info
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The function assigned to each port does not _have to_ match the name (in most cases), and is set using a [Serial Port Configuration](../peripherals/serial_configuration.md).
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Usually the port function is configured to match the name, which is why the port labelled `GPS1` will work with a GPS out of the box.
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:::
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## NuttX на STMxxyyy
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<!-- instructions from DavidS here: https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
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У цьому розділі показано, як отримати зіставлення для збірок NuttX на архітектурах STMxxyyy, перевіряючи файли конфігурації плати.
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Інструкції використовують FMUv5, але можуть бути аналогічно розширені для інших версій FMU або плат NuttX.
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### default.px4board
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The **default.px4board** lists a number of serial port mappings (search for the text "SERIAL_PORTS").
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From [/boards/px4/fmu-v5/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/default.px4board):
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```
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CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
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CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
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CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
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CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
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```
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Alternatively you can launch boardconfig using `make px4_fmu-v5 boardconfig` and access the serial port menu
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```
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Serial ports --->
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(/dev/ttyS0) GPS1 tty port
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() GPS2 tty port
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() GPS3 tty port
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() GPS4 tty port
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() GPS5 tty port
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(/dev/ttyS1) TEL1 tty port
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(/dev/ttyS2) TEL2 tty port
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() TEL3 tty port
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(/dev/ttyS3) TEL4 tty port
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() TEL5 tty port
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```
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### nsh/defconfig
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The _nsh/defconfig_ allows you to determine which ports are defined, whether they are UART or USARTs, and the mapping between USART/UART and device.
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You can also determine which port is used for the [serial/debug console](../debug/system_console.md).
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Open the board's defconfig file, for example: [/boards/px4/fmu-v5/nuttx-config/nsh/defconfig](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/nuttx-config/nsh/defconfig#L215-L221)
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Search for the text "ART" until you find a section like with entries formatted like `CONFIG_STM32xx_USARTn=y` (where `xx` is a processor type and `n` is a port number).
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Наприклад:
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```
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CONFIG_STM32F7_UART4=y
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CONFIG_STM32F7_UART7=y
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CONFIG_STM32F7_UART8=y
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CONFIG_STM32F7_USART1=y
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CONFIG_STM32F7_USART2=y
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CONFIG_STM32F7_USART3=y
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CONFIG_STM32F7_USART6=y
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```
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Записи показують, які порти визначено, і чи вони є UART або USART.
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Скопіюйте вищенаведений розділ і перегрупуйте його числово за "n".
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Increment the device number _ttyS**n**_ alongside (zero based) to get the device-to-serial-port mapping.
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```
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ttyS0 CONFIG_STM32F7_USART1=y
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ttyS1 CONFIG_STM32F7_USART2=y
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ttyS2 CONFIG_STM32F7_USART3=y
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ttyS3 CONFIG_STM32F7_UART4=y
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ttyS4 CONFIG_STM32F7_USART6=y
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ttyS5 CONFIG_STM32F7_UART7=y
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ttyS6 CONFIG_STM32F7_UART8=y
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```
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To get the DEBUG console mapping we search the [defconfig file](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/nuttx-config/nsh/defconfig#L212) for `SERIAL_CONSOLE`.
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Нижче ми бачимо, що консоль знаходиться на UART7:
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```
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CONFIG_UART7_SERIAL_CONSOLE=y
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```
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### board_config.h
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For flight controllers that have an IO board, determine the PX4IO connection from **board_config.h** by searching for `PX4IO_SERIAL_DEVICE`.
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For example, [/boards/px4/fmu-v5/src/board_config.h](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/src/board_config.h#L59):
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```
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#define PX4IO_SERIAL_DEVICE "/dev/ttyS6"
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#define PX4IO_SERIAL_TX_GPIO GPIO_UART8_TX
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#define PX4IO_SERIAL_RX_GPIO GPIO_UART8_RX
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#define PX4IO_SERIAL_BASE STM32_UART8_BASE
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```
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So the PX4IO is on `ttyS6` (we can also see that this maps to UART8, which we already knew from the preceding section).
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### Підсумовуючи все це разом,
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Остаточне відображення таке:
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```
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ttyS0 CONFIG_STM32F7_USART1=y GPS1
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ttyS1 CONFIG_STM32F7_USART2=y TEL1
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ttyS2 CONFIG_STM32F7_USART3=y TEL2
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ttyS3 CONFIG_STM32F7_UART4=y TEL4
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ttyS4 CONFIG_STM32F7_USART6=y
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ttyS5 CONFIG_STM32F7_UART7=y DEBUG
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ttyS6 CONFIG_STM32F7_UART8=y PX4IO
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```
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In the [flight controller docs](../flight_controller/pixhawk4.md#serial-port-mapping) the resulting table is:
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| UART | Пристрій | Порт |
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| ------ | ---------- | --------------------------------------------- |
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| UART1 | /dev/ttyS0 | GPS |
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| USART2 | /dev/ttyS1 | TELEM1 (керування потоком) |
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| USART3 | /dev/ttyS2 | TELEM2 (керування потоком) |
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| UART4 | /dev/ttyS3 | TELEM4 |
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| USART6 | /dev/ttyS4 | RC SBUS |
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| UART7 | /dev/ttyS5 | Debug Console |
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| UART8 | /dev/ttyS6 | PX4IO |
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## Інші архітектури
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:::info
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Contributions welcome!
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:::
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## Дивіться також
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- [Serial Port Configuration](../peripherals/serial_configuration.md)
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- [MAVLink Telemetry (OSD/GCS)](../peripherals/mavlink_peripherals.md)
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