# 模块参考：驱动
子分类
# MCP23009
Source: drivers/gpio/mcp23009 (opens new window)
# 用法
MCP23009 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 37
[-D <val>] Direction
default: 0
[-O <val>] Output
default: 0
[-P <val>] Pullups
default: 0
[-U <val>] Update Interval [ms]
default: 0
stop
status print status info
# adc
Source: drivers/adc/board_adc (opens new window)
# 描述
ADC 驱动。
# 用法
adc <command> [arguments...]
Commands:
start
test
[-n] Do not publish ADC report, only system power
stop
status print status info
# ads1115
Source: drivers/adc/ads1115 (opens new window)
# 描述
Driver to enable an external ADS1115 (opens new window) ADC connected via I2C.
The driver is included by default in firmware for boards that do not have an internal analog to digital converter, such as PilotPi or CUAV Nora (search for CONFIG_DRIVERS_ADC_ADS1115 in board configuration files).
It is enabled/disabled using the ADC_ADS1115_EN parameter, and is disabled by default. If enabled, internal ADCs are not used.
# 用法
ads1115 <command> [arguments...]
Commands:
start
[-I] 内部I2C总线(们)
[-X] 外部I2C 总线(们)
[-b <val>] 指定板总线(default=all) (外部SPI: n条总线
(default=1))
[-f <val>] 总线频率单位kHz
[-q] 安静启动 (没有设备发现时不输出消息)
[-a <val>] I2C 地址
默认: 72
stop
status 打印状态信息
# atxxxx
Source: drivers/osd/atxxxx (opens new window)
# 描述
例如挂载在OmnibusF4SD板上的针对 ATXXXX 芯片的OSD驱动。
可以通过 OSD_ATXXXX_CFG 参数使能.
# 描述
atxxxx <command> [arguments...]
Commands:
start
[-s] 内部 SPI 总线(们)
[-S] 外部SPI 总线(们)
[-b <val>] 指定板总线 (默认=all) (外部 SPI: n 条总线
(默认=1))
[-c <val>] 片选引脚 (对于内部SPI) 或者索引(对于外部SPI)
[-m <val>] SPI 模式
[-f <val>] 总线频率单位kHz
[-q] 安静启动 (没有发现设备时无消息输出)
stop
status 打印状态信息
# batmon
Source: drivers/smart_battery/batmon (opens new window)
# 用法
用于智能电池的BQ40Z50电量统计芯片
# 示例
To start at address 0x0B, on bus 4
batt_smbus -X write_flash 19069 2 27 0
# 描述
batmon <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 11
man_info Prints manufacturer info.
unseal 解锁设备的flash来使能 write_flash 命令
seal 锁住设备的flash来失能 write_flash 命令.
suspend 从调度循环中挂起该设备
# batt_smbus
Source: drivers/batt_smbus (opens new window)
# 用法
This will enable capturing on the 4th pin. Then do:
# 用法
To write to flash to set parameters. address, number_of_bytes, byte0, ... , byteN
batt_smbus -X write_flash 19069 2 27 0
# 示例
batt_smbus <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 11
man_info Prints manufacturer info.
unseal Unseals the devices flash memory to enable write_flash
commands.
seal Seals the devices flash memory to disable write_flash commands.
suspend Suspends the driver from rescheduling the cycle.
resume Resumes the driver from suspension.
write_flash Writes to flash. The device must first be unsealed with the
unseal command.
[address] The address to start writing.
[number of bytes] Number of bytes to send.
[data[0]...data[n]] One byte of data at a time separated by spaces.
stop
status print status info
# bst
Source: drivers/telemetry/bst (opens new window)
# 描述
bst <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 118
stop
status print status info
# crsf_rc
Source: drivers/rc/crsf_rc (opens new window)
# 描述
This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data
# 描述
crsf_rc <command> [arguments...]
Commands:
start
[-d <val>] RC device
values: <file:dev>, default: /dev/ttyS3
stop
status print status info
# sf1xx
Source: drivers/dshot (opens new window)
# 描述
This is the DShot output driver. It is similar to the fmu driver, and can be used as drop-in replacement to use DShot as ESC communication protocol instead of PWM.
On startup, the module tries to occupy all available pins for DShot output. It skips all pins already in use (e.g. by a camera trigger module).
It supports:
- DShot150, DShot300, DShot600, DShot1200
- 通过独立的串口遥控，并且发布esc_status消息
- 通过命令行接口发送 DShot 命令
# 示例
Permanently reverse motor 1:
dshot reverse -m 1
dshot save -m 1
After saving, the reversed direction will be regarded as the normal one. So to reverse again repeat the same commands.
# 实现
dshot <command> [arguments...]
mc_att_control <command> [arguments...]
Commands:
start
stop
status 打印状态信息
# fmu mode_pwm
Source: examples/fake_gps (opens new window)
# 示例
# 用法
fake_gps <command> [arguments...]
Commands:
start
stop
status print status info
# fake_imu
Source: examples/fake_imu (opens new window)
# 描述
# 描述
fake_imu <command> [arguments...]
Commands:
start
stop
status print status info
# gps
Source: examples/fake_magnetometer (opens new window)
# 描述
Publish the earth magnetic field as a fake magnetometer (sensor_mag). Requires vehicle_attitude and vehicle_gps_position.
# 描述
fake_magnetometer <command> [arguments...]
mc_att_control <command> [arguments...]
Commands:
start
stop
status 打印状态信息
# gimbal
Source: modules/gimbal (opens new window)
# 描述
Mount/gimbal Gimbal control driver. It maps several different input methods (eg. RC or MAVLink) to a configured output (eg. AUX channels or MAVLink).
Documentation how to use it is on the gimbal_control (opens new window) page.
# 示例
Test the output by setting a angles (all omitted axes are set to 0):
gimbal test pitch -45 yaw 30
# Usage
gimbal <command> [arguments...]
Commands:
start
status
primary-control Set who is in control of gimbal
<sysid> <compid> MAVLink system ID and MAVLink component ID
test Test the output: set a fixed angle for one or multiple axes
(gimbal must be running)
roll|pitch|yaw <angle> Specify an axis and an angle in degrees
stop
status print status info
# gps
Source: drivers/gps (opens new window)
# Description
GPS driver module that handles the communication with the device and publishes the position via uORB. It supports multiple protocols (device vendors) and by default automatically selects the correct one.
The module supports a secondary GPS device, specified via -e parameter. The position will be published on the second uORB topic instance, but it's currently not used by the rest of the system (however the data will be logged, so that it can be used for comparisons).
# Implementation
There is a thread for each device polling for data. The GPS protocol classes are implemented with callbacks so that they can be used in other projects as well (eg. QGroundControl uses them too).
# 示例
Starting 2 GPS devices (the main GPS on /dev/ttyS3 and the secondary on /dev/ttyS4):
gps start -d /dev/ttyS3 -e /dev/ttyS4
Initiate warm restart of GPS device
gps reset warm
# Usage
gps <command> [arguments...]
Commands:
start
[-d <val>] GPS device
values: <file:dev>, default: /dev/ttyS3
[-b <val>] Baudrate (can also be p:<param_name>)
default: 0
[-e <val>] Optional secondary GPS device
values: <file:dev>
[-g <val>] Baudrate (secondary GPS, can also be p:<param_name>)
default: 0
[-i <val>] GPS interface
values: spi|uart, default: uart
[-j <val>] secondary GPS interface
values: spi|uart, default: uart
[-p <val>] GPS Protocol (default=auto select)
values: ubx|mtk|ash|eml|fem|nmea
stop
status print status info
reset Reset GPS device
cold|warm|hot Specify reset type
# gz_bridge
Source: modules/simulation/gz_bridge (opens new window)
# Description
# 描述
gz_bridge <command> [arguments...]
Commands:
start
-m <val> Fuel model name
-p <val> Model Pose
-n <val> Model name
-i <val> PX4 instance
[-w <val>] World name
stop
status print status info
# ina220
Source: drivers/power_monitor/ina220 (opens new window)
# 实现
Driver for the INA220 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
For example, one instance can run on Bus 2, address 0x41, and one can run on Bus 2, address 0x43.
If the INA220 module is not powered, then by default, initialization of the driver will fail. To change this, use the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without this flag set, the battery must be plugged in before starting the driver.
# 示例
ina220 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 65
[-k] if initialization (probing) fails, keep retrying periodically
[-t <val>] battery index for calibration values (1 or 2)
default: 1
[-T <val>] Type
values: VBATT|VREG, default: VBATT
stop
status print status info
# ina226
Source: drivers/power_monitor/ina226 (opens new window)
# 描述
Driver for the INA226 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
For example, one instance can run on Bus 2, address 0x41, and one can run on Bus 2, address 0x43.
If the INA226 module is not powered, then by default, initialization of the driver will fail. To change this, use the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without this flag set, the battery must be plugged in before starting the driver.
# 描述
ina226 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 65
[-k] if initialization (probing) fails, keep retrying periodically
[-t <val>] battery index for calibration values (1 or 2)
default: 1
stop
status print status info
# ina228
Source: drivers/power_monitor/ina228 (opens new window)
# 描述
Driver for the INA228 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
For example, one instance can run on Bus 2, address 0x45, and one can run on Bus 2, address 0x45.
If the INA228 module is not powered, then by default, initialization of the driver will fail. To change this, use the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without this flag set, the battery must be plugged in before starting the driver.
# 使用
ina228 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 69
[-k] if initialization (probing) fails, keep retrying periodically
[-t <val>] battery index for calibration values (1 or 2)
default: 1
stop
status print status info
# ina238
Source: drivers/power_monitor/ina238 (opens new window)
# Description
Driver for the INA238 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
For example, one instance can run on Bus 2, address 0x45, and one can run on Bus 2, address 0x45.
If the INA238 module is not powered, then by default, initialization of the driver will fail. To change this, use the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without this flag set, the battery must be plugged in before starting the driver.
# Usage
ina238 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 69
[-k] if initialization (probing) fails, keep retrying periodically
[-t <val>] battery index for calibration values (1 or 2)
default: 1
stop
status print status info
# iridiumsbd
Source: drivers/telemetry/iridiumsbd (opens new window)
# 描述
IridiumSBD driver.
Creates a virtual serial port that another module can use for communication (e.g. mavlink).
# 描述
iridiumsbd <command> [arguments...]
Commands:
start
-d <val> Serial device
values: <file:dev>
[-v] Enable verbose output
test
[s|read|AT <cmd>] Test command
stop
status print status info
# irlock
Source: drivers/irlock (opens new window)
# Usage
irlock <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 84
stop
status print status info
# linux_pwm_out
Source: drivers/linux_pwm_out (opens new window)
# Description
Linux PWM output driver with board-specific backend implementation.
# Usage
linux_pwm_out <command> [arguments...]
Commands:
start
stop
status print status info
# lsm303agr
Source: drivers/magnetometer/lsm303agr (opens new window)
# Usage
lsm303agr <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-R <val>] Rotation
default: 0
stop
status print status info
# modal_io
Source: drivers/actuators/modal_io (opens new window)
# 描述
This module is responsible for...
# Implementation
By default the module runs on a work queue with a callback on the uORB actuator_controls topic.
# 示例
It is typically started with:
todo
# 描述
modal_io <command> [arguments...]
Commands:
start Start the task
reset Send reset request to ESC
-i <val> ESC ID, 0-3
version Send version request to ESC
-i <val> ESC ID, 0-3
version-ext Send extended version request to ESC
-i <val> ESC ID, 0-3
rpm Closed-Loop RPM test control request
-i <val> ESC ID, 0-3
-r <val> RPM, -32,768 to 32,768
-n <val> Command repeat count, 0 to INT_MAX
-t <val> Delay between repeated commands (microseconds), 0 to INT_MAX
pwm Open-Loop PWM test control request
-i <val> ESC ID, 0-3
-r <val> Duty Cycle value, 0 to 800
-n <val> Command repeat count, 0 to INT_MAX
-t <val> Delay between repeated commands (microseconds), 0 to INT_MAX
tone Send tone generation request to ESC
-i <val> ESC ID, 0-3
-p <val> Period of sound, inverse frequency, 0-255
-d <val> Duration of the sound, 0-255, 1LSB = 13ms
-v <val> Power (volume) of sound, 0-100
led Send LED control request
-l <val> Bitmask 0x0FFF (12 bits) - ESC0 (RGB) ESC1 (RGB) ESC2 (RGB)
ESC3 (RGB)
stop
status print status info
# msp_osd
Source: drivers/osd/msp_osd (opens new window)
# 描述
MSP telemetry streamer
# Implementation
Converts uORB messages to MSP telemetry packets
# 示例
CLI usage example:
msp_osd
# Usage
msp_osd <command> [arguments...]
Commands:
stop
status print status info
# newpixel
Source: drivers/lights/neopixel (opens new window)
# 描述
This module is responsible for driving interfasing to the Neopixel Serial LED
# 示例
It is typically started with:
neopixel -n 8
To drive all available leds.
# Usage
newpixel <command> [arguments...]
Commands:
stop
status print status info
# paa3905
Source: drivers/optical_flow/paa3905 (opens new window)
# 描述
paa3905 <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-Y <val>] custom yaw rotation (degrees)
default: 0
stop
status print status info
# paw3902
Source: drivers/optical_flow/paw3902 (opens new window)
# Usage
paw3902 <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-Y <val>] custom yaw rotation (degrees)
default: 0
stop
status print status info
# pca9685_pwm_out
Source: drivers/pca9685_pwm_out (opens new window)
# 描述
This module is responsible for generate pwm pulse with PCA9685 chip.
It listens on the actuator_controls topics, does the mixing and writes the PWM outputs.
# Implementation
This module depends on ModuleBase and OutputModuleInterface. IIC communication is based on CDev::I2C
# 示例
It is typically started with:
pca9685_pwm_out start -a 64 -b 1
The number X can be acquired by executing pca9685_pwm_out status when this driver is running.
# 描述
pca9685_pwm_out <command> [arguments...]
Commands:
start Start the task
[-a <val>] device address on this bus
default: 64
[-b <val>] bus that pca9685 is connected to
default: 1
[-r <val>] schedule rate limit
default: 400
stop
status print status info
# pm_selector_auterion
Source: drivers/power_monitor/pm_selector_auterion (opens new window)
# 描述
Driver for starting and auto-detecting different power monitors.
# 描述
pm_selector_auterion <command> [arguments...]
Commands:
start
stop
status print status info
# pmw3901
Source: drivers/optical_flow/pmw3901 (opens new window)
# 描述
pmw3901 <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-R <val>] Rotation
default: 0
stop
status print status info
# pps_capture
Source: drivers/pps_capture (opens new window)
# 描述
This implements capturing PPS information from the GNSS module and calculates the drift between PPS and Real-time clock.
# 描述
pps_capture <command> [arguments...]
Commands:
start
stop
status print status info
# pwm_out
Source: drivers/pwm_out (opens new window)
# 描述
This module is responsible for driving the output pins. For boards without a separate IO chip (eg. Pixracer), it uses the main channels. On boards with an IO chip (eg. Pixhawk), it uses the AUX channels, and the px4io driver is used for main ones.
# 描述
pwm_out <command> [arguments...]
Commands:
start
stop
status print status info
# pwm_out_sim
Source: modules/simulation/pwm_out_sim (opens new window)
# 描述
Driver for simulated PWM outputs.
Its only function is to take actuator_control uORB messages, mix them with any loaded mixer and output the result to the actuator_output uORB topic.
It is used in SITL and HITL.
# 描述
pwm_out_sim <command> [arguments...]
Commands:
start Start the module
[-m <val>] Mode
values: hil|sim, default: sim
stop
status print status info
# px4flow
Source: drivers/optical_flow/px4flow (opens new window)
# 描述
px4flow <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 66
stop
status print status info
# px4io
Source: drivers/px4io (opens new window)
# 描述
Output driver communicating with the IO co-processor.
# 描述
px4io <command> [arguments...]
Commands:
start
checkcrc Check CRC for a firmware file against current code on IO
<filename> Firmware file
update Update IO firmware
[<filename>] Firmware file
debug set IO debug level
<debug_level> 0=disabled, 9=max verbosity
bind DSM bind
dsm2|dsmx|dsmx8 protocol
sbus1_out enable sbus1 out
sbus2_out enable sbus2 out
test_fmu_fail test: turn off IO updates
test_fmu_ok re-enable IO updates
stop
status print status info
# rc_input
Source: drivers/rc_input (opens new window)
# 描述
This module does the RC input parsing and auto-selecting the method. Supported methods are:
- PPM
- SBUS
- DSM
- SUMD
- ST24
- TBS Crossfire (CRSF)
# 描述
rc_input <command> [arguments...]
Commands:
start
[-d <val>] RC device
values: <file:dev>, default: /dev/ttyS3
bind Send a DSM bind command (module must be running)
stop
status print status info
# rgbled
Source: drivers/lights/rgbled_ncp5623c (opens new window)
# 描述
rgbled <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 57
[-o <val>] RGB PWM Assignment
default: 123
stop
status print status info
# rgbled_is31fl3195
Source: drivers/lights/rgbled_is31fl3195 (opens new window)
# 描述
rgbled_is31fl3195 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 84
[-o <val>] RGB PWM Assignment
default: 123
[-i <val>] Current Band
default: 0.5
stop
status print status info
# rgbled_lp5562
Source: drivers/lights/rgbled_lp5562 (opens new window)
# 描述
Driver for LP5562 (opens new window) LED driver connected via I2C.
This used in some GPS modules by Holybro for PX4 status notification
The driver is included by default in firmware (KConfig key DRIVERS_LIGHTS_RGBLED_LP5562) and is always enabled.
# 描述
rgbled_lp5562 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 48
[-u <val>] Current in mA
default: 17.5
stop
status print status info
# safety_button
Source: drivers/safety_button (opens new window)
# 描述
This module is responsible for the safety button. Pressing the safety button 3 times quickly will trigger a GCS pairing request.
# 描述
safety_button <command> [arguments...]
Commands:
start
stop
status print status info
# sht3x
Source: drivers/hygrometer/sht3x (opens new window)
# 描述
SHT3x Temperature and Humidity Sensor Driver by Senserion.
# 示例
CLI usage example:
sht3x start -X
Start the sensor driver on the external bus
sht3x status
Print driver status
sht3x values
Print last measured values
sht3x reset
Reinitialize senzor, reset flags
# 描述
sht3x <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 68
[-k] if initialization (probing) fails, keep retrying periodically
stop
status print status info
values Print actual data
reset Reinitialize sensor
# tap_esc
Source: drivers/tap_esc (opens new window)
# 描述
This module controls the TAP_ESC hardware via UART. It listens on the actuator_controls topics, does the mixing and writes the PWM outputs.
# Implementation
Currently the module is implemented as a threaded version only, meaning that it runs in its own thread instead of on the work queue.
# Example
The module is typically started with:
tap_esc start -d /dev/ttyS2 -n <1-8>
# 描述
tap_esc <command> [arguments...]
Commands:
start Start the task
[-d <val>] Device used to talk to ESCs
values: <device>
[-n <val>] Number of ESCs
default: 4
# tone_alarm
Source: drivers/tone_alarm (opens new window)
# 描述
This module is responsible for the tone alarm.
# 描述
tone_alarm <command> [arguments...]
mc_att_control <command> [arguments...]
Commands:
start
stop
status 打印状态信息
# uwb
Source: drivers/uwb/uwb_sr150 (opens new window)
# 描述
Driver for NXP UWB_SR150 UWB positioning system. This driver publishes a uwb_distance message whenever the UWB_SR150 has a position measurement available.
# Example
Start the driver with a given device:
uwb start -d /dev/ttyS2
# 描述
uwb <command> [arguments...]
Commands:
start
-d <val> Name of device for serial communication with UWB
values: <file:dev>
-b <val> Baudrate for serial communication
values: <int>
stop
status
# voxlpm
Source: drivers/power_monitor/voxlpm (opens new window)
# 描述
voxlpm [arguments...]
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 68
[-T <val>] Type
values: VBATT|P5VDC|P12VDC, default: VBATT
[-k] if initialization (probing) fails, keep retrying periodically
stop
status print status info