§ 1.4 Ubuntu下编辑串口设备udev规则
1. 查询设备信息
把电脑上插上了两个CH340转换芯片。
查询目前所有的
/dev/ttyUSB
开头的设备
ls -al /dev/ttyUSB*
输出日志：
$ ls -al /dev/ttyUSB* crw-rw-rw- 1 kyle users 188, 0 Aug 5 22:27 /dev/ttyUSB0 crw-rw-rw- 1 kyle users 188, 1 Aug 5 23:16 /dev/ttyUSB1
可以看到当前有两个USB设备。
1.1 lsusb - 查询设备 USB ID号
lsusb
输出日志：
kyle@deepsense:/etc/udev/rules.d$ lsusb Bus 002 Device 011: ID 2bc5:0670 Orbbec 3D Technology International, Inc Orbbec(R) Gemini(TM) Bus 002 Device 012: ID 152d:0578 JMicron Technology Corp. / JMicron USA Technology Corp. JMS578 SATA 6Gb/s Bus 002 Device 004: ID 2109:0817 VIA Labs, Inc. USB3.0 Hub Bus 002 Device 003: ID 2109:0817 VIA Labs, Inc. USB3.0 Hub Bus 002 Device 005: ID 0bda:8153 Realtek Semiconductor Corp. RTL8153 Gigabit Ethernet Adapter Bus 002 Device 002: ID 05e3:0626 Genesys Logic, Inc. USB3.1 Hub Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub Bus 001 Device 002: ID 05e3:0610 Genesys Logic, Inc. Hub Bus 001 Device 006: ID 1532:0098 Razer USA, Ltd Razer DeathAdder Essential ---------------这个是第1个CH340的设备-------------- Bus 001 Device 011: ID 1a86:7523 QinHeng Electronics CH340 serial converter Bus 001 Device 005: ID 2109:2817 VIA Labs, Inc. USB2.0 Hub ---------------这个是第2个CH340的设备-------------- Bus 001 Device 008: ID 1a86:7523 QinHeng Electronics CH340 serial converter Bus 001 Device 004: ID 24ae:4005 Shenzhen Rapoo Technology Co., Ltd. Rapoo Gaming Keyboard Bus 001 Device 003: ID 2109:2817 VIA Labs, Inc. USB2.0 Hub Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
其中CH340的设备信息如下：
Bus 001 Device 008: ID 1a86:7523 QinHeng Electronics CH340 serial converter
其中CH340 USB ID号为：
-
idVendor厂家ID号1a86 -
idProduct产品ID号7523
但是如果设备里面有多个CH340，每一个CH340的USB ID
idVendor
与
idProduct
都是相等的。
因此不能通过USB ID号来识别。
1.2 udevadm - 查询USB设备的父链路
让每个不同设备固定插入到特定的USB口，则可以根据设备插到某个特定的父链路信息来标记唯一的设备。
1.2.1 查看设备1的父链路信息
查看
/dev/ttyUSB0
的父链路信息
udevadm info --attribute-walk --name=/dev/ttyUSB0
输出日志：
$ udevadm info --attribute-walk --name=/dev/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. >>>>>>>>>>>>>>>>>> 当前设备信息 <<<<<<<<<<<<<<<<<<<<<< looking at device '/devices/pci0000:00/0000:00:14.0/usb1/1-11/1-11.1/1-11.1:1.0/ttyUSB0/tty/ttyUSB0': KERNEL=="ttyUSB0" SUBSYSTEM=="tty" DRIVER=="" ATTR{power/async}=="disabled" ATTR{power/control}=="auto" ATTR{power/runtime_active_kids}=="0" ATTR{power/runtime_active_time}=="0" ATTR{power/runtime_enabled}=="disabled" ATTR{power/runtime_status}=="unsupported" ATTR{power/runtime_suspended_time}=="0" ATTR{power/runtime_usage}=="0" >>>>>>>>>>>>>>>>>> 第1个父设备信息 <<<<<<<<<<<<<<<<<<<<<< looking at parent device '/devices/pci0000:00/0000:00:14.0/usb1/1-11/1-11.1/1-11.1:1.0/ttyUSB0': KERNELS=="ttyUSB0" SUBSYSTEMS=="usb-serial" DRIVERS=="ch341-uart" ATTRS{port_number}=="0" ATTRS{power/async}=="enabled" ATTRS{power/control}=="auto" ATTRS{power/runtime_active_kids}=="0" ATTRS{power/runtime_active_time}=="0" ATTRS{power/runtime_enabled}=="disabled" ATTRS{power/runtime_status}=="unsupported" ATTRS{power/runtime_suspended_time}=="0" ATTRS{power/runtime_usage}=="0" >>>>>>>>>>>>>>>>>> 第2个父设备信息 <<<<<<<<<<<<<<<<<<<<<< looking at parent device '/devices/pci0000:00/0000:00:14.0/usb1/1-11/1-11.1/1-11.1:1.0': KERNELS=="1-11.1:1.0" SUBSYSTEMS=="usb" DRIVERS=="ch341" ATTRS{authorized}=="1" ATTRS{bAlternateSetting}==" 0" ATTRS{bInterfaceClass}=="ff" ATTRS{bInterfaceNumber}=="00" ATTRS{bInterfaceProtocol}=="02" ATTRS{bInterfaceSubClass}=="01" ATTRS{bNumEndpoints}=="03" ATTRS{power/async}=="enabled" ATTRS{power/runtime_active_kids}=="0" ATTRS{power/runtime_enabled}=="enabled" ATTRS{power/runtime_status}=="suspended" ATTRS{power/runtime_usage}=="0" ATTRS{supports_autosuspend}=="1" ... 其他父设备信息 略 ...
在第二个父设备信息那，可以看到内核编号
KERNELS
为
1-11.1:1.0
注：内核编号与设备插哪个USB口有关系，因为我用了USB拓展坞，所以内核编号要长一些
1.2.2 查看设备2的父链路信息
查看
/dev/ttyUSB1
的父链路信息
udevadm info --attribute-walk --name=/dev/ttyUSB1
输出日志：
$ udevadm info --attribute-walk --name=/dev/ttyUSB1 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. >>>>>>>>>>>>>>>>>> 当前设备信息 <<<<<<<<<<<<<<<<<<<<<< looking at device '/devices/pci0000:00/0000:00:14.0/usb1/1-11/1-11.3/1-11.3:1.0/ttyUSB1/tty/ttyUSB1': KERNEL=="ttyUSB1" SUBSYSTEM=="tty" DRIVER=="" ATTR{power/async}=="disabled" ATTR{power/control}=="auto" ATTR{power/runtime_active_kids}=="0" ATTR{power/runtime_active_time}=="0" ATTR{power/runtime_enabled}=="disabled" ATTR{power/runtime_status}=="unsupported" ATTR{power/runtime_suspended_time}=="0" ATTR{power/runtime_usage}=="0" >>>>>>>>>>>>>>>>>> 第1个父设备信息 <<<<<<<<<<<<<<<<<<<<<< looking at parent device '/devices/pci0000:00/0000:00:14.0/usb1/1-11/1-11.3/1-11.3:1.0/ttyUSB1': KERNELS=="ttyUSB1" SUBSYSTEMS=="usb-serial" DRIVERS=="ch341-uart" ATTRS{port_number}=="0" ATTRS{power/async}=="enabled" ATTRS{power/control}=="auto" ATTRS{power/runtime_active_kids}=="0" ATTRS{power/runtime_active_time}=="0" ATTRS{power/runtime_enabled}=="disabled" ATTRS{power/runtime_status}=="unsupported" ATTRS{power/runtime_suspended_time}=="0" ATTRS{power/runtime_usage}=="0" >>>>>>>>>>>>>>>>>> 第2个父设备信息 <<<<<<<<<<<<<<<<<<<<<< looking at parent device '/devices/pci0000:00/0000:00:14.0/usb1/1-11/1-11.3/1-11.3:1.0': KERNELS=="1-11.3:1.0" SUBSYSTEMS=="usb" DRIVERS=="ch341" ATTRS{authorized}=="1" ATTRS{bAlternateSetting}==" 0" ATTRS{bInterfaceClass}=="ff" ATTRS{bInterfaceNumber}=="00" ATTRS{bInterfaceProtocol}=="02" ATTRS{bInterfaceSubClass}=="01" ATTRS{bNumEndpoints}=="03" ATTRS{power/async}=="enabled" ATTRS{power/runtime_active_kids}=="0" ATTRS{power/runtime_enabled}=="enabled" ATTRS{power/runtime_status}=="suspended" ATTRS{power/runtime_usage}=="0" ATTRS{supports_autosuspend}=="1" ... 其他父设备信息 略 ...
在第二个父设备信息那，可以看到内核编号
KERNELS
为
1-11.3:1.0
注：内核编号与设备插哪个USB口有关系，因为我用了USB拓展坞，所以内核编号要长一些
2. 编辑udev规则
2.1 查看udev规则列表
cd /etc/udev/rules.d
查看规则列表
2.2 创建夹爪的udev规则
sudo touch 99-deepsense-gripper2f.rules
编辑规则文件
sudo gedit 99-deepsense-gripper2f.rules
夹爪设备当前插的端口，内核编号
KERNELS
为
1-11.3:1.0
。
填写如下内容，修改
KERNELS
不添加
:
后的编号。创建一个设备的软链接叫做
deepsense-gripper2f
。用
/dev/deepsense-gripper2f
替代
/dev/ttyUSB*
。
KERNEL=="ttyUSB*", KERNELS=="1-11.3", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", MODE:="0777", SYMLINK+="deepsense-gripper2f"
关闭文件，刷新
udev
规则。
sudo service udev reload
sudo service udev restart
2.3 验证配置成功
两个设备同时热拔插下，之后二者上电顺序随机。注意需要再插到原来的USB端口上。
ls -l /dev | grep ttyUSB
输出日志：
$ ls -l /dev | grep ttyUSB lrwxrwxrwx 1 root root 7 Aug 6 00:55 deepsense-gripper2f -> ttyUSB0 crw-rw-rw- 1 kyle users 188, 0 Aug 6 00:55 ttyUSB0 crw-rw-rw- 1 kyle users 188, 1 Aug 6 00:55 ttyUSB1
按照不同的设备上电的顺序，输出日志也有可能是：
$ ls -l /dev | grep ttyUSB lrwxrwxrwx 1 root root 7 Aug 6 00:55 deepsense-gripper2f -> ttyUSB1 crw-rw-rw- 1 kyle users 188, 0 Aug 6 00:55 ttyUSB0 crw-rw-rw- 1 kyle users 188, 1 Aug 6 00:55 ttyUSB1
之后就可以直接使用端口号
/dev/deepsense-gripper2f
连接夹爪了。
查看
/dev/deepsense-gripper2f
的父链路信息
udevadm info --attribute-walk --name=/dev/deepsense-gripper2f
输出日志：
$ udevadm info --attribute-walk --name=/dev/deepsense-gripper2f 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/usb1/1-11/1-11.3/1-11.3:1.0/ttyUSB1/tty/ttyUSB1': KERNEL=="ttyUSB1" SUBSYSTEM=="tty" DRIVER=="" ATTR{power/async}=="disabled" ATTR{power/control}=="auto" ATTR{power/runtime_active_kids}=="0" ATTR{power/runtime_active_time}=="0" ATTR{power/runtime_enabled}=="disabled" ATTR{power/runtime_status}=="unsupported" ATTR{power/runtime_suspended_time}=="0" ATTR{power/runtime_usage}=="0" looking at parent device '/devices/pci0000:00/0000:00:14.0/usb1/1-11/1-11.3/1-11.3:1.0/ttyUSB1': KERNELS=="ttyUSB1" SUBSYSTEMS=="usb-serial" DRIVERS=="ch341-uart" ATTRS{port_number}=="0" ATTRS{power/async}=="enabled" ATTRS{power/control}=="auto" ATTRS{power/runtime_active_kids}=="0" ATTRS{power/runtime_active_time}=="0" ATTRS{power/runtime_enabled}=="disabled" ATTRS{power/runtime_status}=="unsupported" ATTRS{power/runtime_suspended_time}=="0" ATTRS{power/runtime_usage}=="0" looking at parent device '/devices/pci0000:00/0000:00:14.0/usb1/1-11/1-11.3/1-11.3:1.0': >>>>>>>>>>>>>>>>>>>>>> 这里可以看到 内核为1-11.3 <<<<<<<<<<<<<<<<<<<<<< KERNELS=="1-11.3:1.0" SUBSYSTEMS=="usb" DRIVERS=="ch341" ATTRS{authorized}=="1" ATTRS{bAlternateSetting}==" 0" ATTRS{bInterfaceClass}=="ff" ATTRS{bInterfaceNumber}=="00" ATTRS{bInterfaceProtocol}=="02" ATTRS{bInterfaceSubClass}=="01" ATTRS{bNumEndpoints}=="03" ATTRS{power/async}=="enabled" ATTRS{power/runtime_active_kids}=="0" ATTRS{power/runtime_enabled}=="enabled" ATTRS{power/runtime_status}=="suspended" ATTRS{power/runtime_usage}=="0" ATTRS{supports_autosuspend}=="1"
3. 参考文章
Linux 笔记 | Ubuntu 使用udev绑定ttyUSB端口
http://keaa.net/linux-udev.html
Linux_udev规则