RockpiS/dev/libmraa

2022-08-02T09:52:20Z

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[[rockpiS | ROCK Pi S]] > [[rockpiS/dev | Development]] > [[rockpiS/dev/libmraa | Install Libmraa ]]

=== Libmraa on ROCK Pi S ===

This guide describes how to use libmraa on ROCK Pi S.

==== Install essential packages ====

Package libmraa is in the Radxa APT bionic-stable and buster-stable repositories.

Execute the following commands to add Radxa APT

rock@rockpis:~$ export DISTRO=bionic-stable # for Bionic

or

rock@rockpis:~$ export DISTRO=buster-stable # for Buster
rock@rockpis:~$ echo "deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main" | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list

Get the pub key

rock@rockpis:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -

Install essential packages:

rock@rockpis:~$ sudo apt-get update
rock@rockpis:~$ sudo apt-get install -y rockchip-overlay libmraa # libmraa version: >=0.4
rock@rockpis:~$ sudo apt-get install -y linux-4.4-rock-pi-s-latest # ROCK Pi S kernel version: >= 4.4.143-47

Install compiler:
rock@rockpis:~$ sudo apt install -y build-essential

==== Enable interface ====

See ROCK Pi S [[rockpiS/hardware/gpio | GPIO pintout]]. ROCK Pi S has a 26-pin colorful expansion header. Each pin is distinguished by color. mraa define is shown below:

===== Hardware V1.2 =====

16 GPIO:
PIN03 GPIO2_A2
PIN05 GPIO2_B0
PIN07 GPIO2_B3
PIN09 GPIO4_C4
PIN11 GPIO4_C2
PIN12 GPIO4_A3
PIN13 GPIO4_C6
PIN15 GPIO4_C5
PIN16 GPIO4_D2
PIN18 GPIO4_D4
PIN19 GPIO1_B0
PIN21 GPIO1_A7
PIN22 GPIO4_D5
PIN23 GPIO1_B1
PIN24 GPIO1_B2
PIN26 GPIO1_B2

3 I2C:
PIN23 I2C'''0'''_SDA
PIN24 I2C'''0'''_SCL
PIN3 I2C'''1'''_SCL
PIN5 I2C'''1'''_SDA
PIN13 I2C'''3'''_SDA
PIN15 I2C'''3'''_SCL

1 SPI:
PIN19 SPI'''2'''TX //must disable i2c0
PIN21 SPI'''2'''RX //must disable i2c0
PIN23 SPI'''2'''CLK
PIN24 SPI'''2'''CSN

3 UART:
PIN8 UART'''0'''_TX
PIN10 UART'''0'''_RX
PIN23 UART'''1'''_TX
PIN24 UART'''1'''_RX
PIN19 UART'''2'''_RX
PIN21 UART'''2'''_TX

2 PWM:
PIN11 PWM'''2'''
PIN13 PWM'''3'''

1 ADC:
PIN26 ADC_IN0 //the measure voltage must lower than 1.8v

For those ROCK Pi S system images released after March 1st, 2020, the configuration file is /boot/uEnv.txt. For more details, follow this guide, [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].

For those ROCK Pi S system images released before March 1st, 2020, the configuration file is /boot/hw_intfc.conf.

===== Hardware V1.3=====

28 GPIO:
PIN03 GPIO2_A2
PIN05 GPIO2_B0
PIN07 GPIO2_B3
PIN08 GPIO2_A1
PIN09 GPIO4_C4
PIN11 GPIO4_C2
PIN12 GPIO4_A3
PIN13 GPIO4_C6
PIN15 GPIO4_C5
PIN16 GPIO4_D2
PIN18 GPIO4_D4
PIN19 GPIO1_B0
PIN21 GPIO1_A7
PIN22 GPIO4_D5
PIN23 GPIO1_B1
PIN24 GPIO1_D1
PIN28 GPIO2_B5
PIN30 GPIO2_B6
PIN32 GPIO2_B7
PIN34 GPIO2_C0
PIN39 GPIO3_B5
PIN40 GPIO3_B4
PIN41 GPIO3_B3
PIN42 GPIO3_B2
PIN43 GPIO2_B4
PIN44 GPIO2_B3
PIN45 GPIO2_B0
PIN46 GPIO2_A6

3 I2C:
PIN23 I2C'''0'''_SDA //must disable SPI2 UART1
PIN24 I2C'''0'''_SCL //must disable SPI2 UART1
PIN3 I2C'''1'''_SCL
PIN5 I2C'''1'''_SDA
PIN13 I2C'''3'''m0_SDA
PIN15 I2C'''3'''m0_SCL
PIN40 I2C'''3'''m1_SDA //must disable SPI1 UART3
PIN39 I2C'''3'''m1_SCL //must disable SPI1 UART3

2 SPI:
PIN19 SPI'''2'''TX //must disable i2c0 UART1
PIN21 SPI'''2'''RX //must disable i2c0 UART1
PIN23 SPI'''2'''CLK
PIN24 SPI'''2'''CSN
PIN40 SPI'''1'''TX //must disable i2c3 UART3
PIN42 SPI'''1'''RX //must disable i2c3 UART3
PIN41 SPI'''1'''CLK
PIN39 SPI'''1'''CSN

4 UART:
PIN8 UART'''0'''_TX
PIN10 UART'''0'''_RX
PIN23 UART'''1'''_TX
PIN24 UART'''1'''_RX
PIN19 UART'''2'''_RX //must disable SPI2 i2c0
PIN21 UART'''2'''_TX //must disable SPI2 i2c0
PIN40 UART'''3'''_RX //must disable SPI1 i2c3
PIN39 UART'''3'''_TX //must disable SPI1 i2c3

2 PWM:
PIN11 PWM'''2'''
PIN13 PWM'''3'''

1 ADC:
PIN26 ADC_IN0 //the measure voltage must lower than 1.8v

For those ROCK Pi S system images released after March 1st, 2020, the configuration file is /boot/uEnv.txt. For more details, follow this guide, [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].

For those ROCK Pi S system images released before March 1st, 2020, the configuration file is /boot/hw_intfc.conf.

==== Test ====

Package libmraa provides some examples for testing spi, uart, i2c, gpio, etc. We way use the c files in /usr/local/share/mraa/examples/c.

And we copy them to home directory.

rock@rockpis:~/mraa-examples$ cp -av /usr/local/share/mraa/examples/c /home/rock/mraa-examples

You should pay more attention to the Black Bold words when modifying configuration file /boot/uEnv.txt.

===== GPIO test =====

Use '''mraa-gpio tool''' to test

root@rockpis:~# mraa-gpio list
01 3V3:
02 5V:
03 I2C_SDA: GPIO I2C
04 5V:
05 I2C_SCL: GPIO I2C
06 GND:
07 I2S0_8CH_MC: GPIO
08 UART0_TX: GPIO UART
09 GND:
10 UART0_RX: GPIO UART
11 PWM2,I2C3_S: GPIO I2C PWM
12 I2S0_8CH_SC: GPIO
13 PWM3,I2C3_S: GPIO I2C PWM
14 GND:
15 SPDIF_TX: GPIO
16 I2S0_8CH_SD: GPIO
17 3V3:
18 I2S0_8CH_SD: GPIO
19 UART1_RTSN,: GPIO SPI UART
20 GND:
21 UART1_CTSN,: GPIO SPI UART
22 I2S0_8CH_LR: GPIO
23 UART1_RX,I2: GPIO I2C SPI UART
24 UART1_TX,I2: GPIO I2C SPI UART
25 GND:
26 ADC_IN0: AIO
root@rockpis:~# mraa-gpio set 15 1 #pin15 pull high
root@rockpis:~# mraa-gpio set 15 0 #pin15 pull low

===== PWM test =====

ROCK Pi S V1.2 provides 2 PWM, PWM2 and PWM3. It is necessary to enable PWM1, PWM2 and PWM3 at the same time if you need PWM function.

Firstly, modify the /boot/uEnv.txt file to add the following

root@rockpis:~# cat /boot/uEnv.txt
verbosity=7
'''overlay_prefix=rockchip'''
'''rootfstype=ext4'''
fdtfile=rockchip/rk3308-rock-pi-s.dtb
overlays=rk3308-console-on-uart0 '''rk3308-pwm1 rk3308-pwm2 rk3308-pwm3'''
rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848
initrdsize=0x64d1d4
kernelversion=4.4.143-47-rockchip-g495ff574976c
initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c
kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c

Modify the macro PWM in /home/rock/mraa-examples/pwm.c as follows to test PWM2. To test PWM3, change '''#define PWM 11''' to '''#define PWM 13'''.

'''/* PWM declaration */'''
'''#define PWM 11'''

Save and compile pwm.c
rock@rockpis:~/mraa-examples$ gcc -o pwm pwm.c -lmraa
rock@rockpis:~/mraa-examples$ sudo ./pwm
PWM value is 0.010015
PWM value is 0.019985
PWM value is 0.030000
PWM value is 0.040014
PWM value is 0.049984
PWM value is 0.059999

===== I2C test =====
ROCK Pi S V1.2 provides 3 I2C,There are I2C0 ,I2C1, I2C3.
ROCK Pi S V1.3 provides 3 I2C,There are I2C0 ,I2C1, I2C3m0,I2C3m1.
If you need the I2C function, you can turn on one or more of them,but you can just choose one between I2C3m0 and I2C3m1 .

Firstly, modify the /boot/uEnv.txt file to add the following

root@rockpis:~# cat /boot/uEnv.txt
verbosity=7
'''overlay_prefix=rockchip'''
'''rootfstype=ext4'''
fdtfile=rockchip/rk3308-rock-pi-s.dtb
overlays=rk3308-console-on-uart0 '''rk3308-i2c0 rk3308-i2c1 rk3308-i2c3-m0'''
rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848
initrdsize=0x64d1d4
kernelversion=4.4.143-47-rockchip-g495ff574976c
initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c
kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c

We use MPU6050 tets i2c.
Modify the macro MPU6050 in '''/home/rock/mraa-examples/i2c_mpu6050.c''' ,as follows to test I2C0. To test I2C1 and I2C3, change '''#define I2C_BUS 0''' to '''#define I2C_BUS 1''' or'''#define I2C_BUS 3''' .

/* mraa header */
#include "mraa/i2c.h"
'''#define I2C_BUS 0'''

rock@rockpis:~/mraa-examples$ gcc -o i2c_mpu6050 i2c_mpu6050.c -lmraa
rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050
accel: x:0 y:0 z:0
gyro: x:-10 y:1 z:7

accel: x:0 y:0 z:0
gyro: x:107 y:-12 z:69

accel: x:0 y:0 z:0
gyro: x:6 y:136 z:-50

accel: x:0 y:0 z:0
gyro: x:-5 y:48 z:-103

accel: x:0 y:0 z:0
gyro: x:3 y:3 z:5

===== UART test =====
ROCK Pi S V1.2 provides 3 UART,There are '''uart0''' ,'''uart1''', '''uart2'''.
ROCK Pi S V1.3 provides 4 UART,There are '''uart0''' ,'''uart1''', '''uart2''', '''uart3''' .
If you need the uart function, you can turn on one or more of them.

Firstly, Disable console and enable '''uart0''' for uart test.modify the '''/boot/uEnv.txt''' file to add the following

root@rockpis:~# cat /boot/uEnv.txt
verbosity=7
'''overlay_prefix=rockchip'''
'''rootfstype=ext4'''
fdtfile=rockchip/rk3308-rock-pi-s.dtb
'''overlays=rk3308-uart0 rk3308-uart1 rk3308-uart2 rk3308-uart3'''
'''console='''
rootuuid=c3800af9-fa58-4fb3-bb56-e52fd04837ba
initrdsize=0x5c96c3
kernelversion=4.4.143-47-rockchip-g495ff574976c
initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c
kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c

Here set console to NULL value.

then reboot . use '''ssh''' connect to rockpis,we must have '''2 windows''',one is for send data,anothor is for receive.

send command follow:
rock@rockpis:~$ sudo mraa-uart '''dev 0''' baud 1500000 send radxa

Another window sets the baud 1500000 and receives the data

radxa

receive command follow:
rock@rockpis:~$ sudo mraa-uart '''dev 0''' baud 1500000 recv 1000
radxa

===== SPI test =====

Firstly, modify the '''/boot/uEnv.txt''' file.

root@rockpis:~# cat /boot/uEnv.txt
verbosity=7
overlay_prefix=rockchip
rootfstype=ext4
fdtfile=rockchip/rk3308-rock-pi-s.dtb
overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''
'''param_spidev_spi_bus=2'''
rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848
initrdsize=0x64d1d4
kernelversion=4.4.143-47-rockchip-g495ff574976c
initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c
kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c

then execute command, sync, followed by '''reboot'''.

Create file test-spi.c and add the following contents.

rock@rockpis:~/mraa-examples$ cat test-spi.c
#include <signal.h>
#include <stdlib.h>
#include <unistd.h>

/* mraa header */
#include "mraa/spi.h"

/* SPI declaration */
'''#define SPI_BUS 2'''

/* SPI frequency in Hz */
#define SPI_FREQ 10000000
int
main(int argc, char** argv)
{
mraa_result_t status = MRAA_SUCCESS;
mraa_spi_context spi;
int i, j;

/* initialize mraa for the platform (not needed most of the times) */
mraa_init();

//! [Interesting]
/* initialize SPI bus */
spi = mraa_spi_init(SPI_BUS);
if (spi == NULL) {
fprintf(stderr, "Failed to initialize SPI\n");
mraa_deinit();
return EXIT_FAILURE;
}

/* set SPI frequency */
status = mraa_spi_frequency(spi, SPI_FREQ);
if (status != MRAA_SUCCESS)
goto err_exit;

/* set big endian mode */
status = mraa_spi_lsbmode(spi, 0);
if (status != MRAA_SUCCESS) {
goto err_exit;
}

j = 10;
while(j) {
j--;
printf("0x%x\n",mraa_spi_write(spi, 0xaa));
}
err_exit:
mraa_result_print(status);

/* stop spi */
mraa_spi_stop(spi);

/* deinitialize mraa for the platform (not needed most of the times) */
mraa_deinit();

return EXIT_FAILURE;
}
rock@rockpis:~/mraa-examples$ gcc -o test-spi test-spi.c -lmraa

Then short pin19 and pin21 and run test-spi

rock@rockpis:~/mraa-examples$ sudo ./test-spi
0xaa
0xaa
0xaa
0xaa
0xaa
0xaa
0xaa
0xaa
0xaa
0xaa
MRAA: SUCCESS

===== ADC test =====

connect signal you want to measure, and then compile mraa example c file, aio.c, to test.

<pre>
rock@rockpis:~/mraa-examples$ gcc -o aio aio.c -lmraa
rock@rockpis:~/mraa-examples$ sudo ./aio
ADC A0 read 1A5 - 421
ADC A0 read float - 0.41153
ADC A0 read 1A5 - 421
ADC A0 read float - 0.41153
ADC A0 read 1A5 - 421
ADC A0 read float - 0.41153
ADC A0 read 1A5 - 421
ADC A0 read float - 0.41153
</pre>

==== Development ====

More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].

==== Troubleshooting ====

* Refer [[RockpiS/getting_started/troubleshooting | Troubleshooting page]]
* Post your issue on the forum: https://forum.radxa.com/c/rockpiS

Radxa Wiki - User contributions [en]

RockpiS/dev/libmraa