我有两个激光雷达。在我的代码中，我需要提供激光雷达端口：ttyUSB0/ttyUSB1 等...
我有这个 udev 规则。( /etc/udev/rules.d/rplidar.rules)
rplidar.rules
# set the udev rule , make the device_port be fixed by rplidar
#
KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0777", SYMLINK+="rplidar"
通过这样做，我只需调用port=rplidar我的代码即可。但现在我有两个具有相同 idVendor 和 idProduct 的 rplidar，我该如何区分它们并为第二个 lidar 创建附加规则？
当我只插入一个设备时，我这样做
$ udevadm info -a -n /ttyUSB0
Udevadm info starts with the device specified by the devpath and then
walks up the chain of parent devices. It prints for every device
found, all possible attributes in the udev rules key format.
A rule to match, can be composed by the attributes of the device
and the attributes from one single parent device.
looking at device '/devices/pci0000:00/0000:00:14.0/usb1/1-1/1-1.1/1-1.1:1.0/ttyUSB0/tty/ttyUSB0':
KERNEL=="ttyUSB0"
SUBSYSTEM=="tty"
DRIVER==""
looking at parent device '/devices/pci0000:00/0000:00:14.0/usb1/1-1/1-1.1/1-1.1:1.0/ttyUSB0':
KERNELS=="ttyUSB0"
SUBSYSTEMS=="usb-serial"
DRIVERS=="cp210x"
ATTRS{port_number}=="0"
looking at parent device '/devices/pci0000:00/0000:00:14.0/usb1/1-1/1-1.1/1-1.1:1.0':
KERNELS=="1-1.1:1.0"
SUBSYSTEMS=="usb"
DRIVERS=="cp210x"
ATTRS{authorized}=="1"
ATTRS{bAlternateSetting}==" 0"
ATTRS{bInterfaceClass}=="ff"
ATTRS{bInterfaceNumber}=="00"
ATTRS{bInterfaceProtocol}=="00"
ATTRS{bInterfaceSubClass}=="00"
ATTRS{bNumEndpoints}=="02"
ATTRS{interface}=="CP2102 USB to UART Bridge Controller"
ATTRS{supports_autosuspend}=="1"
looking at parent device '/devices/pci0000:00/0000:00:14.0/usb1/1-1/1-1.1':
KERNELS=="1-1.1"
SUBSYSTEMS=="usb"
DRIVERS=="usb"
ATTRS{authorized}=="1"
ATTRS{avoid_reset_quirk}=="0"
ATTRS{bConfigurationValue}=="1"
ATTRS{bDeviceClass}=="00"
ATTRS{bDeviceProtocol}=="00"
ATTRS{bDeviceSubClass}=="00"
ATTRS{bMaxPacketSize0}=="64"
ATTRS{bMaxPower}=="100mA"
ATTRS{bNumConfigurations}=="1"
ATTRS{bNumInterfaces}==" 1"
ATTRS{bcdDevice}=="0100"
ATTRS{bmAttributes}=="80"
ATTRS{busnum}=="1"
ATTRS{configuration}==""
ATTRS{devnum}=="28"
ATTRS{devpath}=="1.1"
ATTRS{idProduct}=="ea60"
ATTRS{idVendor}=="10c4"
ATTRS{ltm_capable}=="no"
ATTRS{manufacturer}=="Silicon Labs"
ATTRS{maxchild}=="0"
ATTRS{product}=="CP2102 USB to UART Bridge Controller"
ATTRS{quirks}=="0x0"
ATTRS{removable}=="unknown"
ATTRS{serial}=="0001"
ATTRS{speed}=="12"
ATTRS{urbnum}=="17"
ATTRS{version}==" 1.10"
looking at parent device '/devices/pci0000:00/0000:00:14.0/usb1/1-1':
KERNELS=="1-1"
SUBSYSTEMS=="usb"
DRIVERS=="usb"
ATTRS{authorized}=="1"
ATTRS{avoid_reset_quirk}=="0"
ATTRS{bConfigurationValue}=="1"
ATTRS{bDeviceClass}=="09"
ATTRS{bDeviceProtocol}=="02"
ATTRS{bDeviceSubClass}=="00"
ATTRS{bMaxPacketSize0}=="64"
ATTRS{bMaxPower}=="0mA"
ATTRS{bNumConfigurations}=="1"
ATTRS{bNumInterfaces}==" 1"
ATTRS{bcdDevice}=="0286"
ATTRS{bmAttributes}=="e0"
ATTRS{busnum}=="1"
ATTRS{configuration}==""
ATTRS{devnum}=="13"
ATTRS{devpath}=="1"
ATTRS{idProduct}=="2744"
ATTRS{idVendor}=="0424"
ATTRS{ltm_capable}=="no"
ATTRS{manufacturer}=="Microchip Tech"
ATTRS{maxchild}=="4"
ATTRS{product}=="USB2744"
ATTRS{quirks}=="0x0"
ATTRS{removable}=="removable"
ATTRS{speed}=="480"
ATTRS{urbnum}=="331"
ATTRS{version}==" 2.10"
looking at parent device '/devices/pci0000:00/0000:00:14.0/usb1':
KERNELS=="usb1"
SUBSYSTEMS=="usb"
DRIVERS=="usb"
ATTRS{authorized}=="1"
ATTRS{authorized_default}=="1"
ATTRS{avoid_reset_quirk}=="0"
ATTRS{bConfigurationValue}=="1"
ATTRS{bDeviceClass}=="09"
ATTRS{bDeviceProtocol}=="01"
ATTRS{bDeviceSubClass}=="00"
ATTRS{bMaxPacketSize0}=="64"
ATTRS{bMaxPower}=="0mA"
ATTRS{bNumConfigurations}=="1"
ATTRS{bNumInterfaces}==" 1"
ATTRS{bcdDevice}=="0413"
ATTRS{bmAttributes}=="e0"
ATTRS{busnum}=="1"
ATTRS{configuration}==""
ATTRS{devnum}=="1"
ATTRS{devpath}=="0"
ATTRS{idProduct}=="0002"
ATTRS{idVendor}=="1d6b"
ATTRS{interface_authorized_default}=="1"
ATTRS{ltm_capable}=="no"
ATTRS{manufacturer}=="Linux 4.13.0-38-generic xhci-hcd"
ATTRS{maxchild}=="16"
ATTRS{product}=="xHCI Host Controller"
ATTRS{quirks}=="0x0"
ATTRS{removable}=="unknown"
ATTRS{serial}=="0000:00:14.0"
ATTRS{speed}=="480"
ATTRS{urbnum}=="75264"
ATTRS{version}==" 2.00"
looking at parent device '/devices/pci0000:00/0000:00:14.0':
KERNELS=="0000:00:14.0"
SUBSYSTEMS=="pci"
DRIVERS=="xhci_hcd"
ATTRS{broken_parity_status}=="0"
ATTRS{class}=="0x0c0330"
ATTRS{consistent_dma_mask_bits}=="64"
ATTRS{d3cold_allowed}=="1"
ATTRS{device}=="0xa12f"
ATTRS{dma_mask_bits}=="64"
ATTRS{driver_override}=="(null)"
ATTRS{enable}=="1"
ATTRS{irq}=="126"
ATTRS{local_cpulist}=="0-7"
ATTRS{local_cpus}=="ff"
ATTRS{msi_bus}=="1"
ATTRS{numa_node}=="-1"
ATTRS{revision}=="0x31"
ATTRS{subsystem_device}=="0x201f"
ATTRS{subsystem_vendor}=="0x1043"
ATTRS{vendor}=="0x8086"
looking at parent device '/devices/pci0000:00':
KERNELS=="pci0000:00"
SUBSYSTEMS==""
DRIVERS==""
答案1
从 siliconelab 获取编程器并编辑 CP2102 USB 至 UART 桥接控制器参数。速度非常快，大约 5 分钟每个设备都有自己的名称和序列号...
我们使用的exe是：install_USBXpress_SDK.exe