모듈 참조: 드라이버

하위 카테고리:

• 관성 센서
• 거리 센서
• Ins
• 항속 센서
• 기압계
• Transponder
• Rpm Sensor
• Optical Flow
• Camera
• Magnetometer

MCP23009

Source: drivers/gpio/mcp23009

사용법

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

소스: drivers/adc/board_adc

설명

ADC 드라이버

사용법

adc <command> [arguments...]
 Commands:
   start

   test
     [-n]        Do not publish ADC report, only system power

   stop

   status        print status info

ads1115

소스: drivers/adc/ads1115

설명

Driver to enable an external ADS1115 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.

사용법

ads1115 <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: 72

   stop

   status        print status info

atxxxx

소스: drivers/osd/atxxxx

설명

예를 들어 OmnibusF4SD 보드에 장착된 ATXXXX 칩용 OSD 드라이버.

OSD_ATXXXX_CFG 매개변수로 활성화합니다.

사용법

atxxxx <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 index (for external SPI)
                 default: 1
     [-m <val>]  SPI mode
     [-f <val>]  bus frequency in kHz
     [-q]        quiet startup (no message if no device found)

   stop

   status        print status info

batmon

소스: drivers/smart_battery/batmon

설명

BatMon 지원 스마트 배터리와 SMBUS 통신용 드라이버 설정/사용 정보: https://rotoye.com/batmon-tutorial/

예

주소 0x0B에서 시작하려면 버스 4에서

batmon start -X -a 11 -b 4

사용법

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.

   suspend       Suspends the driver from rescheduling the cycle.

   resume        Resumes the driver from suspension.

   stop

   status        print status info

batt_smbus

소스: drivers/batt_smbus

설명

BQ40Z50 연료 게이지 IC용 스마트 배터리 드라이버.

예

매개변수를 설정하기 위해 플래시에 쓰기. 주소, number_of_bytes, byte0, ..., byteN

batt_smbus -X write_flash 19069 2 27 0

사용법

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

소스: drivers/telemetry/bst

사용법

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

설명

This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data

사용법

crsf_rc <command> [arguments...]
 Commands:
   start
     [-d <val>]  RC device
                 values: <file:dev>, default: /dev/ttyS3

   stop

   status        print status info

dshot

소스: drivers/dshot

설명

이것은 DShot 출력 드라이버입니다. fmu 드라이버와 유사하며, PWM 대신 ESC 통신 프로토콜로 DShot을 사용하기 위하여 사용할 수 있습니다.

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).

모터 1 영구 역회전 :

• DShot150, DShot300, DShot600, DShot1200
• 별도의 UART를 통한 텔레메트리와 esc_status 메시지로 게시
• CLI를 통해 DShot 명령 보내기

예

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.

사용법

dshot <command> [arguments...]
 Commands:
   start         Start the task (without any mode set, use any of the mode_*
                 cmds)

 All of the mode_* commands will start the module if not running already

   mode_gpio

   mode_pwm      Select all available pins as PWM

   mode_pwm14

   mode_pwm12

   mode_pwm8

   mode_pwm6

   mode_pwm5

   mode_pwm5cap1

   mode_pwm4

   mode_pwm4cap1

   mode_pwm4cap2

   mode_pwm3

   mode_pwm3cap1

   mode_pwm2

   mode_pwm2cap2

   mode_pwm1

   telemetry     Enable Telemetry on a UART
     <device>    UART device

   reverse       Reverse motor direction
     [-m <val>]  Motor index (1-based, default=all)

   normal        Normal motor direction
     [-m <val>]  Motor index (1-based, default=all)

   save          Save current settings
     [-m <val>]  Motor index (1-based, default=all)

   3d_on         Enable 3D mode
     [-m <val>]  Motor index (1-based, default=all)

   3d_off        Disable 3D mode
     [-m <val>]  Motor index (1-based, default=all)

   beep1         Send Beep pattern 1
     [-m <val>]  Motor index (1-based, default=all)

   beep2         Send Beep pattern 2
     [-m <val>]  Motor index (1-based, default=all)

   beep3         Send Beep pattern 3
     [-m <val>]  Motor index (1-based, default=all)

   beep4         Send Beep pattern 4
     [-m <val>]  Motor index (1-based, default=all)

   beep5         Send Beep pattern 5
     [-m <val>]  Motor index (1-based, default=all)

   esc_info      Request ESC information
     -m <val>    Motor index (1-based)

   stop

   status        print status info

fake_gps

소스: examples/fake_imu

설명

사용법

fake_gps <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

fake_imu

소스: examples/fake_magnetometer

설명

사용법

fake_imu <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

fake_magnetometer

Source: examples/fake_magnetometer

설명

Publish the earth magnetic field as a fake magnetometer (sensor_mag). Requires vehicle_attitude and vehicle_gps_position.

사용법

fake_magnetometer <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

ft_technologies_serial

Source: drivers/wind_sensor/ft_technologies

설명

Serial bus driver for the FT Technologies Digital Wind Sensor FT742. This driver is required to operate alongside a RS485 to UART signal transfer module.

Most boards are configured to enable/start the driver on a specified UART using the SENS_FTX_CFG parameter.

예

Attempt to start driver on a specified serial device.

ft_technologies_serial start -d /dev/ttyS1

Stop driver

ft_technologies_serial stop

Usage

ft_technologies_serial <command> [arguments...]
 Commands:
   start         Start driver
     -d <val>    Serial device

   stop          Stop driver

gimbal

Source: modules/gimbal

Description

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 page.

예

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

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).

예

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

설명

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

예

Usage

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

Description

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.

Usage

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 3)
                 default: 1
     [-T <val>]  Type
                 values: VBATT|VREG, default: VBATT

   stop

   status        print status info

ina226

Source: drivers/power_monitor/ina226

Description

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.

Usage

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 3)
                 default: 1

   stop

   status        print status info

ina228

Source: drivers/power_monitor/ina228

Description

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.

Usage

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 3)
                 default: 1

   stop

   status        print status info

ina238

Source: drivers/power_monitor/ina238

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.

사용법

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 3)
                 default: 1

   stop

   status        print status info

iridiumsbd

Source: drivers/telemetry/iridiumsbd

Description

IridiumSBD driver.

Creates a virtual serial port that another module can use for communication (e.g. mavlink).

Usage

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

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

설명

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

사용법

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

msp_osd

Source: drivers/osd/msp_osd

설명

MSP telemetry streamer

Implementation

Converts uORB messages to MSP telemetry packets

예

CLI usage example:

msp_osd

Usage

msp_osd <command> [arguments...]
 Commands:
   stop

   status        print status info

newpixel

Source: drivers/lights/neopixel

설명

This module is responsible for driving interfasing to the Neopixel Serial LED

예

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

사용법

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

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

설명

This is a PCA9685 PWM output driver.

It runs on I2C workqueue which is asynchronous with FC control loop, fetching the latest mixing result and write them to PCA9685 at its scheduling ticks.

It can do full 12bits output as duty-cycle mode, while also able to output precious pulse width that can be accepted by most ESCs and servos.

예

It is typically started with:

pca9685_pwm_out start -a 0x40 -b 1

사용법

pca9685_pwm_out <command> [arguments...]
 Commands:
   start         Start the task
     [-a <val>]  7-bits I2C address of PCA9685
                 values: <addr>, default: 0x40
     [-b <val>]  bus that pca9685 is connected to
                 default: 1

   stop

   status        print status info

pm_selector_auterion

Source: drivers/power_monitor/pm_selector_auterion

설명

Driver for starting and auto-detecting different power monitors.

사용법

pm_selector_auterion <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

pmw3901

Source: drivers/optical_flow/pmw3901

사용법

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

설명

This implements capturing PPS information from the GNSS module and calculates the drift between PPS and Real-time clock.

사용법

pps_capture <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

pwm_out

Source: drivers/pwm_out

설명

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.

사용법

pwm_out <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

pwm_out_sim

Source: modules/simulation/pwm_out_sim

설명

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.

사용법

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

사용법

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

설명

Output driver communicating with the IO co-processor.

사용법

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

   supported     Returns 0 if px4io is supported

   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

설명

This module does the RC input parsing and auto-selecting the method. Supported methods are:

• PPM
• SBUS
• DSM
• SUMD
• ST24
• TBS Crossfire (CRSF)

사용법

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

사용법

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

사용법

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

설명

Driver for LP5562 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.

사용법

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

roboclaw

Source: drivers/roboclaw

설명

This driver communicates over UART with the Roboclaw motor driver. It performs two tasks:

• Control the motors based on the OutputModuleInterface.
• Read the wheel encoders and publish the raw data in the wheel_encoders uORB topic

In order to use this driver, the Roboclaw should be put into Packet Serial mode (see the linked documentation), and your flight controller's UART port should be connected to the Roboclaw as shown in the documentation. The driver needs to be enabled using the parameter RBCLW_SER_CFG, the baudrate needs to be set correctly and the address RBCLW_ADDRESS needs to match the ESC configuration.

The command to start this driver is: $ roboclaw start <UART device> <baud rate>

사용법

roboclaw <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

safety_button

Source: drivers/safety_button

설명

This module is responsible for the safety button. Pressing the safety button 3 times quickly will trigger a GCS pairing request.

사용법

safety_button <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

septentrio

Source: drivers/gnss/septentrio

설명

GPS driver module that handles the communication with Septentrio devices and publishes the position via uORB.

The module supports a secondary GPS device, specified via -e parameter. The position will be published on the second uORB topic instance. It can be used for logging and heading computation.

예

Starting 2 GPS devices (main one on /dev/ttyS3, secondary on /dev/ttyS4)

septentrio start -d /dev/ttyS3 -e /dev/ttyS4

Initiate warm restart of GPS device

gps reset warm

Usage

septentrio <command> [arguments...]
 Commands:
   start
     -d <val>    Primary Septentrio receiver
                 values: <file:dev>
     [-b <val>]  Primary baud rate
                 default: 0
     [-e <val>]  Secondary Septentrio receiver
                 values: <file:dev>
     [-g <val>]  Secondary baud rate
                 default: 0

   stop

   status        print status info

   reset         Reset connected receiver
     cold|warm|hot Specify reset type

sht3x

Source: drivers/hygrometer/sht3x

Description

SHT3x Temperature and Humidity Sensor Driver by Senserion.

Examples

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

사용법

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

설명

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>

사용법

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

설명

This module is responsible for the tone alarm.

사용법

tone_alarm <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

uwb

Source: drivers/uwb/uwb_sr150

Description

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

사용법

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

voxl2_io

Source: drivers/voxl2_io

Description

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.

Usage

voxl2_io <command> [arguments...]
 Commands:
   start         Start the task
     -v          Verbose messages
     -d          Disable PWM
     -e          Disable RC
     -p <val>    UART port

   calibrate_escs Calibrate ESCs min/max range

   calibrate_escs Calibrate ESCs min/max range

   pwm           Open-Loop PWM test control request
     -c <val>    PWM OUTPUT Channel, 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

   stop

   status        print status info

voxl_esc

Source: drivers/actuators/voxl_esc

Description

This module is responsible for...

Implementation

By default the module runs on a work queue with a callback on the uORB actuator_controls topic.

Examples

It is typically started with:

todo

Usage

voxl_esc <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

voxlpm

Source: drivers/power_monitor/voxlpm

Usage

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

zenoh

Source: modules/zenoh

Description

Zenoh demo bridge

Usage

zenoh <command> [arguments...]
 Commands:
   start

   stop

   status

   config