How to can I contorl UART, I2C, and GPIO at Snapdragon flight in PX4 source code

1

please help me.

I want to connect Some Sensor(Sonar, Infraed) to ‘snapdragon flight board’ by I2C, UART, GPIO ( J9, J12 Connector ).
I use build command as ‘make eagle_legacy_default’.

I looked at Sensor & Uart ESC Source Driver Code. To find example source code using I2C, UART and GPIO at PX4
→ /src/modules/sensors/sensors_init.cpp → use uart by sdk/flight_controller/hexagon/libs/libuart_esc.so
→ /src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp → use i2c by sdk/flight_controller/hexagon/libs/****.so

However, all parts using I2C, UART and GPIO are in library( sdk/flight_controller/hexagon/libs/****.so ) .
I can not find example source code using I2C, UART and GPIO at PX4.

Let me know how I can control Sensor( Sonar and Infraed ) in PX4 by I2C, UART and GPIO → ex ) example source code.

Thank you , help me.

2

We’re using DriverFramework for Snapdragon:

and then wrappers which bind it to PX4:
https://github.com/PX4/Firmware/tree/master/src/platforms/posix/drivers

See the df_xx_wrapper folders.