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59 lines
1.8 KiB
Markdown
59 lines
1.8 KiB
Markdown
# 使串口驱动为用户可配置。
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本主题介绍了如何设置一个串行驱动程序，使其能够被最终用户配置(通过参数) 在飞行控制器板的任何可配置串行端口上运行。
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## 操作前提
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假定驱动程序已经存在，并使用命令语法在shell中启动:
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```sh
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<driver_name> start -d <serial_port> [-b <baudrate> | -b p:<param_name>]
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```
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上述命令中：
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- `-d`: serial port name.
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- `-b`: Baud rate (optional) if the driver supports multiple baud rates.
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If supported, the driver must allow you to specify the rate as both a bare baudrate and as a parameter name in the form `-b p:<param_name>` (which can be parsed with `px4_get_parameter_value()`).
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:::tip
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See the [gps driver](https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/gps/gps.cpp#L1023) for an example.
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:::
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## 使驱动程序可配置
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使驱动程序可配置：
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1. Create a YAML module configuration file:
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- Add a new file in the driver's source directory named **module.yaml**
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- Insert the following text and adjust as needed:
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```cmake
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module_name: uLanding Radar
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serial_config:
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- command: ulanding_radar start -d ${SERIAL_DEV} -b p:${BAUD_PARAM}
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port_config_param:
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name: SENS_ULAND_CFG
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group: Sensors
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```
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::: info
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The full documentation of the module configuration file can be found in the [validation/module_schema.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/validation/module_schema.yaml) file.
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This is also used to validate all configuration files in CI.
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:::
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2. Add the module configuration to the **CMakeLists.txt** file for the driver module:
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```cmake
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px4_add_module(
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MODULE drivers__ulanding
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MAIN ulanding_radar
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SRCS
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ulanding.cpp
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MODULE_CONFIG
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module.yaml
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)
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```
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