将串口驱动程序设计为用户可配置

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。

操作前提

假定驱动程序已经存在，并使用命令语法在shell中启动:

<driver_name> start -d <serial_port> [-b <baudrate> | -b p:<param_name>]

上述命令中：

• -d: serial port name.
• -b: Baud rate (optional) if the driver supports multiple baud rates. 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()). :::tip See the gps driver for an example. :::

使驱动程序可配置

使驱动程序可配置：

1. Create a YAML module configuration file:

   • Add a new file in the driver's source directory named module.yaml

   • Insert the following text and adjust as needed:

     module_name: uLanding Radar
     serial_config:
         - command: ulanding_radar start -d ${SERIAL_DEV} -b p:${BAUD_PARAM}
           port_config_param:
             name: SENS_ULAND_CFG
             group: Sensors

     The full documentation of the module configuration file can be found in the validation/module_schema.yaml file. This is also used to validate all configuration files in CI.

:::

1. Add the module configuration to the CMakeLists.txt file for the driver module:

   px4_add_module(
    MODULE drivers__ulanding
    MAIN ulanding_radar
    SRCS
        ulanding.cpp
    MODULE_CONFIG
        module.yaml
    )