Peripherals Hardware

Hardware Peripherals

{% hint style="warning" %} These APIs are likely to change in future API versions. Key functionality will remain. {% endhint %}

Accessing hardware connected to Skynode can be achieved by mapping the correct device file into the app container.

{% hint style="danger" %} The UART port on Skynode is connected to the FMU and can thus not be used to connect serial peripherals to apps. To connect UART payloads to Skynode, use a UART-to-USB adapter chip, like the FTDI series of chips. {% endhint %}

Libusb devices

Devices that can be mounted with libusb user-space drivers can be mapped like this

• Map /dev from the host to your containter
• Add c 189:* rmw cgroup rule

This can be done like this, by using the compose-override functionality in auterion-app.yml:

yaml compose-override: services: my-service: # Replace with the name of your service volumes: - /dev:/dev device_cgroup_rules: - 'c 189:* rmw'

Serial-to-USB devices

Similarly to libusb devices, serial to usb devices can be mapped like so

compose-override:
    services:
        my-service:    # Replace with the name of your service
            volumes:
                - /dev:/dev
            device_cgroup_rules:
                - 'c 166:* rmw'  # For CDC / ACM devices
                - 'c 188:* rmw'  # For tty devices (FTDI)

Video for Linux (v4l) devices

Similarly to the other devices types, these devices can be mapped like so

yaml compose-override: services: my-service: # Replace with the name of your service volumes: - /dev:/dev device_cgroup_rules: - 'c 81:* rmw'

{% hint style="danger" %} There is currently no managed access de-confliction for devices. When a device gets opened by one app, other apps can not open this device anymore. {% endhint %}