https://wiki.radxa.com/mw/api.php?action=feedcontributions&feedformat=atom&user=Zzl Radxa Wiki - User contributions [en] 2026-06-17T10:07:51Z User contributions MediaWiki 1.23.3 https://wiki.radxa.com/RockpiN10/dev/libmraa RockpiN10/dev/libmraa 2020-10-12T06:51:07Z <p>Zzl: /* Troubleshooting */</p> <hr /> <div>{{rockpiN10_header}}<br /> <br /> {{Languages|rockpiN10/dev/libmraa}}<br /> <br /> [[rockpiN10 | ROCK Pi N10]] &gt; [[rockpiN10/dev | Development]] &gt; [[rockpiN10/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi N10 ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi N10.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa is in the Radxa APT bionic-stable and buster-stable repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> rock@rockpin10:~$ export DISTRO=bionic-testing # for Bionic<br /> <br /> or<br /> <br /> rock@rockpin10:~$ export DISTRO= buster-testing # for Buster<br /> rock@rockpin10:~$ echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key<br /> <br /> rock@rockpin10:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> <br /> rock@rockpin10:~$ sudo apt-get update<br /> rock@rockpin10:~$ sudo apt-get install -y rockchip-overlay rockpin10-dtbo libmraa # libmraa version: &gt;=0.4<br /> rock@rockpin10:~$ sudo apt-get install -y linux-4.4-rockpin10-latest # ROCK Pi N10 kernel version: &gt;= 4.4.167-14<br /> <br /> Install compiler:<br /> rock@rockpin10:~$ sudo apt install -y build-essential<br /> <br /> ==== Enable interface ====<br /> <br /> See ROCK Pi N10 [[rockpiN10/hardware/gpio | GPIO pintout]]. ROCK Pi N10 has a 40-pin colorful expansion header. Each pin is distinguished by color. mraa define is shown below: <br /> <br /> ===== Hardware V11 =====<br /> <br /> 25 GPIO:<br /> PIN03 GPIO2_A7<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B5<br /> PIN08 GPIO4_C4<br /> PIN10 GPIO4_C3<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO0_B1<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO0_B0<br /> PIN18 GPIO2_A6<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO3_D4<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN29 GPIO2_B2<br /> PIN31 GPIO2_B1<br /> PIN32 GPIO3_D5<br /> PIN33 GPIO2_D5<br /> PIN35 GPIO2_A4<br /> PIN36 GPIO2_A2<br /> PIN37 GPIO3_D6<br /> PIN38 GPIO2_A3<br /> PIN40 GPIO1_A2 <br /> <br /> 3 I2C:<br /> PIN27 I2C'''2'''_SDA<br /> PIN28 I2C'''2'''_SCL<br /> PIN29 I2C'''6'''_SCL<br /> PIN31 I2C'''6'''_SDA<br /> PIN3 I2C'''7'''_SDA<br /> PIN5 I2C'''7'''_SCL<br /> <br /> 1 SPI:<br /> PIN19 SPI'''1'''TX //must disable UART4<br /> PIN21 SPI'''1'''RX //must disable UART4<br /> PIN23 SPI'''1'''CLK<br /> PIN24 SPI'''1'''CSN<br /> <br /> 2 UART:<br /> PIN8 UART'''2'''_TX<br /> PIN10 UART'''2'''_RX<br /> PIN19 UART'''4'''_TX //must disable SPI1<br /> PIN21 UART'''4'''_RX //must disable SPI1<br /> <br /> 2 PWM:<br /> PIN11 PWM'''0'''<br /> PIN13 PWM'''1'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN1 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi N10 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].<br /> <br /> For those ROCK Pi N10 system images released before March 1st, 2020, the configuration file is /boot/hw_intfc.conf.<br /> <br /> <br /> ==== Test ====<br /> <br /> 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.<br /> <br /> And we copy them to home directory.<br /> <br /> rock@rockpin10:~/mraa-examples$ cp -av /usr/local/share/mraa/examples/c /home/rock/mraa-examples<br /> <br /> You should pay more attention to the Black Bold words when modifying configuration file /boot/uEnv.txt.<br /> <br /> ===== GPIO test =====<br /> <br /> rock@rockpin10:~$ mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 SDA7: GPIO I2C <br /> 04 5V: <br /> 05 SCL7: GPIO I2C <br /> 06 GND: <br /> 07 GPIO0_B5: GPIO <br /> 08 TXD2: GPIO UART <br /> 09 GND: <br /> 10 RXD2: GPIO UART <br /> 11 PWM0: GPIO PWM <br /> 12 GPIO0_B1: GPIO <br /> 13 PWM1: GPIO PWM <br /> 14 GND: <br /> 15 GPIO4_C5: GPIO <br /> 16 GPIO0_B0: GPIO <br /> 17 3V3: <br /> 18 GPIO2_A6: GPIO <br /> 19 SPI1TX,TXD4: GPIO SPI UART <br /> 20 GND: <br /> 21 SPI1RX,RXD4: GPIO SPI UART <br /> 22 GPIO3_D4: GPIO <br /> 23 SPI1CLK: GPIO SPI <br /> 24 SPI1CS: GPIO SPI <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> 27 SDA2: GPIO I2C <br /> 28 SCL2: GPIO I2C <br /> 29 SCL6,SPI2RX: GPIO I2C SPI <br /> 30 GND: <br /> 31 SDA6,SPI2TX: GPIO I2C SPI <br /> 32 GPIO3_D5: GPIO <br /> 33 GPIO4_D5: GPIO <br /> 34 GND: <br /> 35 GPIO2_A4: GPIO <br /> 36 GPIO2_A2: GPIO <br /> 37 GPIO3_D6: GPIO <br /> 38 GPIO2_A3: GPIO <br /> 39 GND: <br /> 40 GPIO1_A2: GPIO<br /> root@rockpin10:~# mraa-gpio set 40 1 #pin40 pull high<br /> root@rockpin10:~# mraa-gpio set 40 0 #pin40 pull high<br /> <br /> ===== PWM test =====<br /> <br /> ROCK Pi N10 V1.1 provides 2 PWM, PWM0 and PWM1. It is necessary to enable PWM0 and PWM1 at the same time if you need PWM function.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpin10:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3399pro-rockpi-n10-linux.dtb '''rk3399pro-pwm0''' '''rk3399pro-pwm1'''<br /> overlays=rk3399pro-console-on-uart2<br /> rootuuid=11958cc2-af5a-4e6f-9ad4-2b3baef3eebe<br /> initrdsize=0x5649ac<br /> kernelversion=4.4.167-14-rockchip-g53bdb2fa44e8<br /> initrdimg=initrd.img-4.4.167-14-rockchip-g53bdb2fa44e8<br /> kernelimg=vmlinuz-4.4.167-14-rockchip-g53bdb2fa44e8<br /> <br /> <br /> Modify the macro PWM in /home/rock/mraa-examples/pwm.c as follows to test PWM0. To test PWM2, change '''#define PWM 11''' to '''#define PWM 13'''.<br /> <br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpin10:~/mraa-examples$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpin10:~/mraa-examples$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== I2C test =====<br /> ROCK Pi N10 V1.1 provides 3 I2C,There are I2C2 ,I2C6, I2C7. If you need the I2C function, you can turn on one or more of them.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpin10:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3399pro-rockpi-n10-linux.dtb '''rk3399pro-i2c2''' '''rk3399pro-i2c6''' '''rk3399pro-i2c7'''<br /> overlays=rk3399pro-console-on-uart2<br /> rootuuid=11958cc2-af5a-4e6f-9ad4-2b3baef3eebe<br /> initrdsize=0x5649ac<br /> kernelversion=4.4.167-14-rockchip-g53bdb2fa44e8<br /> initrdimg=initrd.img-4.4.167-14-rockchip-g53bdb2fa44e8<br /> kernelimg=vmlinuz-4.4.167-14-rockchip-g53bdb2fa44e8<br /> <br /> We use MPU6050 tets i2c.<br /> Modify the macro MPU6050 in '''/home/rock/mraa-examples/i2c_mpu6050.c''' ,as follows to test I2C2. To test I2C6 and I2C7, change '''#define I2C_BUS 0''' to '''#define I2C_BUS 1''' or'''#define I2C_BUS 2''' .<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> '''#define I2C_BUS 0'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o i2c_mpu6050 i2c_mpu6050.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050<br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> <br /> ===== UART test =====<br /> ROCK Pi n10 V1.1 provides 2 UART,There are '''uart2''' ,'''uart4'''. If you need the uatr function, you can turn on one or more of them.<br /> <br /> Firstly, Disable console and enable '''uart2''' for uart test.modify the '''/boot/uEnv.txt''' file to add the following<br /> <br /> root@rockpin10:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3399pro-rockpi-n10-linux.dtb '''rk3399pro-uart2''' '''rk3399pro-uart4''' <br /> '''console='''<br /> overlays=rk3399pro-console-on-uart2<br /> rootuuid=11958cc2-af5a-4e6f-9ad4-2b3baef3eebe<br /> initrdsize=0x5649ac<br /> kernelversion=4.4.167-14-rockchip-g53bdb2fa44e8<br /> initrdimg=initrd.img-4.4.167-14-rockchip-g53bdb2fa44e8<br /> kernelimg=vmlinuz-4.4.167-14-rockchip-g53bdb2fa44e8<br /> <br /> Here set console to NULL value.<br /> <br /> then reboot . use ssh connect to rockpin10,we must have 2 windows,one is for send data,anothor is for receive.<br /> <br /> send command follow:<br /> rock@rockpin10:~$ sudo mraa-uart dev 0 baud 1500000 send radxa<br /> <br /> Another window sets the baud 1500000 and receives the data <br /> <br /> radxa<br /> <br /> receive command follow:<br /> rock@rockpin10:~$ sudo mraa-uart dev 0 baud 1500000 recv 1000<br /> radxa<br /> <br /> <br /> ===== SPI test =====<br /> <br /> Firstly, modify the '''/boot/uEnv.txt''' file.<br /> root@rockpin10:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3399pro-rockpi-n10-linux.dtb '''rk3399pro-spi-spidev''' <br /> overlays=rk3399pro-console-on-uart2<br /> rootuuid=11958cc2-af5a-4e6f-9ad4-2b3baef3eebe<br /> initrdsize=0x5649ac<br /> kernelversion=4.4.167-14-rockchip-g53bdb2fa44e8<br /> initrdimg=initrd.img-4.4.167-14-rockchip-g53bdb2fa44e8<br /> kernelimg=vmlinuz-4.4.167-14-rockchip-g53bdb2fa44e8<br /> <br /> then execute command, sync, followed by '''reboot'''.<br /> <br /> Create file test-spi.c and add the following contents.<br /> <br /> rock@rockpin10:~/mraa-examples$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> '''#define SPI_BUS 2'''<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpin10:~/mraa-examples$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> Then short pin19 and pin21 and run test-spi<br /> <br /> rock@rockpin10:~/mraa-examples$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> <br /> ===== ADC test =====<br /> <br /> connect signal you want to measure, and then compile mraa example c file, aio.c, to test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpin10:~/mraa-examples$ gcc -o aio aio.c -lmraa<br /> rock@rockpin10:~/mraa-examples$ sudo ./aio<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> &lt;/pre&gt;<br /> <br /> ==== Development ====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].<br /> <br /> ==== Troubleshooting ====<br /> <br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiN10</div> Zzl https://wiki.radxa.com/RockpiN10/dev/libmraa RockpiN10/dev/libmraa 2020-10-12T06:50:54Z <p>Zzl: /* Troubleshooting */</p> <hr /> <div>{{rockpiN10_header}}<br /> <br /> {{Languages|rockpiN10/dev/libmraa}}<br /> <br /> [[rockpiN10 | ROCK Pi N10]] &gt; [[rockpiN10/dev | Development]] &gt; [[rockpiN10/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi N10 ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi N10.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa is in the Radxa APT bionic-stable and buster-stable repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> rock@rockpin10:~$ export DISTRO=bionic-testing # for Bionic<br /> <br /> or<br /> <br /> rock@rockpin10:~$ export DISTRO= buster-testing # for Buster<br /> rock@rockpin10:~$ echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key<br /> <br /> rock@rockpin10:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> <br /> rock@rockpin10:~$ sudo apt-get update<br /> rock@rockpin10:~$ sudo apt-get install -y rockchip-overlay rockpin10-dtbo libmraa # libmraa version: &gt;=0.4<br /> rock@rockpin10:~$ sudo apt-get install -y linux-4.4-rockpin10-latest # ROCK Pi N10 kernel version: &gt;= 4.4.167-14<br /> <br /> Install compiler:<br /> rock@rockpin10:~$ sudo apt install -y build-essential<br /> <br /> ==== Enable interface ====<br /> <br /> See ROCK Pi N10 [[rockpiN10/hardware/gpio | GPIO pintout]]. ROCK Pi N10 has a 40-pin colorful expansion header. Each pin is distinguished by color. mraa define is shown below: <br /> <br /> ===== Hardware V11 =====<br /> <br /> 25 GPIO:<br /> PIN03 GPIO2_A7<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B5<br /> PIN08 GPIO4_C4<br /> PIN10 GPIO4_C3<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO0_B1<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO0_B0<br /> PIN18 GPIO2_A6<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO3_D4<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN29 GPIO2_B2<br /> PIN31 GPIO2_B1<br /> PIN32 GPIO3_D5<br /> PIN33 GPIO2_D5<br /> PIN35 GPIO2_A4<br /> PIN36 GPIO2_A2<br /> PIN37 GPIO3_D6<br /> PIN38 GPIO2_A3<br /> PIN40 GPIO1_A2 <br /> <br /> 3 I2C:<br /> PIN27 I2C'''2'''_SDA<br /> PIN28 I2C'''2'''_SCL<br /> PIN29 I2C'''6'''_SCL<br /> PIN31 I2C'''6'''_SDA<br /> PIN3 I2C'''7'''_SDA<br /> PIN5 I2C'''7'''_SCL<br /> <br /> 1 SPI:<br /> PIN19 SPI'''1'''TX //must disable UART4<br /> PIN21 SPI'''1'''RX //must disable UART4<br /> PIN23 SPI'''1'''CLK<br /> PIN24 SPI'''1'''CSN<br /> <br /> 2 UART:<br /> PIN8 UART'''2'''_TX<br /> PIN10 UART'''2'''_RX<br /> PIN19 UART'''4'''_TX //must disable SPI1<br /> PIN21 UART'''4'''_RX //must disable SPI1<br /> <br /> 2 PWM:<br /> PIN11 PWM'''0'''<br /> PIN13 PWM'''1'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN1 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi N10 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].<br /> <br /> For those ROCK Pi N10 system images released before March 1st, 2020, the configuration file is /boot/hw_intfc.conf.<br /> <br /> <br /> ==== Test ====<br /> <br /> 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.<br /> <br /> And we copy them to home directory.<br /> <br /> rock@rockpin10:~/mraa-examples$ cp -av /usr/local/share/mraa/examples/c /home/rock/mraa-examples<br /> <br /> You should pay more attention to the Black Bold words when modifying configuration file /boot/uEnv.txt.<br /> <br /> ===== GPIO test =====<br /> <br /> rock@rockpin10:~$ mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 SDA7: GPIO I2C <br /> 04 5V: <br /> 05 SCL7: GPIO I2C <br /> 06 GND: <br /> 07 GPIO0_B5: GPIO <br /> 08 TXD2: GPIO UART <br /> 09 GND: <br /> 10 RXD2: GPIO UART <br /> 11 PWM0: GPIO PWM <br /> 12 GPIO0_B1: GPIO <br /> 13 PWM1: GPIO PWM <br /> 14 GND: <br /> 15 GPIO4_C5: GPIO <br /> 16 GPIO0_B0: GPIO <br /> 17 3V3: <br /> 18 GPIO2_A6: GPIO <br /> 19 SPI1TX,TXD4: GPIO SPI UART <br /> 20 GND: <br /> 21 SPI1RX,RXD4: GPIO SPI UART <br /> 22 GPIO3_D4: GPIO <br /> 23 SPI1CLK: GPIO SPI <br /> 24 SPI1CS: GPIO SPI <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> 27 SDA2: GPIO I2C <br /> 28 SCL2: GPIO I2C <br /> 29 SCL6,SPI2RX: GPIO I2C SPI <br /> 30 GND: <br /> 31 SDA6,SPI2TX: GPIO I2C SPI <br /> 32 GPIO3_D5: GPIO <br /> 33 GPIO4_D5: GPIO <br /> 34 GND: <br /> 35 GPIO2_A4: GPIO <br /> 36 GPIO2_A2: GPIO <br /> 37 GPIO3_D6: GPIO <br /> 38 GPIO2_A3: GPIO <br /> 39 GND: <br /> 40 GPIO1_A2: GPIO<br /> root@rockpin10:~# mraa-gpio set 40 1 #pin40 pull high<br /> root@rockpin10:~# mraa-gpio set 40 0 #pin40 pull high<br /> <br /> ===== PWM test =====<br /> <br /> ROCK Pi N10 V1.1 provides 2 PWM, PWM0 and PWM1. It is necessary to enable PWM0 and PWM1 at the same time if you need PWM function.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpin10:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3399pro-rockpi-n10-linux.dtb '''rk3399pro-pwm0''' '''rk3399pro-pwm1'''<br /> overlays=rk3399pro-console-on-uart2<br /> rootuuid=11958cc2-af5a-4e6f-9ad4-2b3baef3eebe<br /> initrdsize=0x5649ac<br /> kernelversion=4.4.167-14-rockchip-g53bdb2fa44e8<br /> initrdimg=initrd.img-4.4.167-14-rockchip-g53bdb2fa44e8<br /> kernelimg=vmlinuz-4.4.167-14-rockchip-g53bdb2fa44e8<br /> <br /> <br /> Modify the macro PWM in /home/rock/mraa-examples/pwm.c as follows to test PWM0. To test PWM2, change '''#define PWM 11''' to '''#define PWM 13'''.<br /> <br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpin10:~/mraa-examples$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpin10:~/mraa-examples$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== I2C test =====<br /> ROCK Pi N10 V1.1 provides 3 I2C,There are I2C2 ,I2C6, I2C7. If you need the I2C function, you can turn on one or more of them.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpin10:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3399pro-rockpi-n10-linux.dtb '''rk3399pro-i2c2''' '''rk3399pro-i2c6''' '''rk3399pro-i2c7'''<br /> overlays=rk3399pro-console-on-uart2<br /> rootuuid=11958cc2-af5a-4e6f-9ad4-2b3baef3eebe<br /> initrdsize=0x5649ac<br /> kernelversion=4.4.167-14-rockchip-g53bdb2fa44e8<br /> initrdimg=initrd.img-4.4.167-14-rockchip-g53bdb2fa44e8<br /> kernelimg=vmlinuz-4.4.167-14-rockchip-g53bdb2fa44e8<br /> <br /> We use MPU6050 tets i2c.<br /> Modify the macro MPU6050 in '''/home/rock/mraa-examples/i2c_mpu6050.c''' ,as follows to test I2C2. To test I2C6 and I2C7, change '''#define I2C_BUS 0''' to '''#define I2C_BUS 1''' or'''#define I2C_BUS 2''' .<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> '''#define I2C_BUS 0'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o i2c_mpu6050 i2c_mpu6050.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050<br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> <br /> ===== UART test =====<br /> ROCK Pi n10 V1.1 provides 2 UART,There are '''uart2''' ,'''uart4'''. If you need the uatr function, you can turn on one or more of them.<br /> <br /> Firstly, Disable console and enable '''uart2''' for uart test.modify the '''/boot/uEnv.txt''' file to add the following<br /> <br /> root@rockpin10:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3399pro-rockpi-n10-linux.dtb '''rk3399pro-uart2''' '''rk3399pro-uart4''' <br /> '''console='''<br /> overlays=rk3399pro-console-on-uart2<br /> rootuuid=11958cc2-af5a-4e6f-9ad4-2b3baef3eebe<br /> initrdsize=0x5649ac<br /> kernelversion=4.4.167-14-rockchip-g53bdb2fa44e8<br /> initrdimg=initrd.img-4.4.167-14-rockchip-g53bdb2fa44e8<br /> kernelimg=vmlinuz-4.4.167-14-rockchip-g53bdb2fa44e8<br /> <br /> Here set console to NULL value.<br /> <br /> then reboot . use ssh connect to rockpin10,we must have 2 windows,one is for send data,anothor is for receive.<br /> <br /> send command follow:<br /> rock@rockpin10:~$ sudo mraa-uart dev 0 baud 1500000 send radxa<br /> <br /> Another window sets the baud 1500000 and receives the data <br /> <br /> radxa<br /> <br /> receive command follow:<br /> rock@rockpin10:~$ sudo mraa-uart dev 0 baud 1500000 recv 1000<br /> radxa<br /> <br /> <br /> ===== SPI test =====<br /> <br /> Firstly, modify the '''/boot/uEnv.txt''' file.<br /> root@rockpin10:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3399pro-rockpi-n10-linux.dtb '''rk3399pro-spi-spidev''' <br /> overlays=rk3399pro-console-on-uart2<br /> rootuuid=11958cc2-af5a-4e6f-9ad4-2b3baef3eebe<br /> initrdsize=0x5649ac<br /> kernelversion=4.4.167-14-rockchip-g53bdb2fa44e8<br /> initrdimg=initrd.img-4.4.167-14-rockchip-g53bdb2fa44e8<br /> kernelimg=vmlinuz-4.4.167-14-rockchip-g53bdb2fa44e8<br /> <br /> then execute command, sync, followed by '''reboot'''.<br /> <br /> Create file test-spi.c and add the following contents.<br /> <br /> rock@rockpin10:~/mraa-examples$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> '''#define SPI_BUS 2'''<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpin10:~/mraa-examples$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> Then short pin19 and pin21 and run test-spi<br /> <br /> rock@rockpin10:~/mraa-examples$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> <br /> ===== ADC test =====<br /> <br /> connect signal you want to measure, and then compile mraa example c file, aio.c, to test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpin10:~/mraa-examples$ gcc -o aio aio.c -lmraa<br /> rock@rockpin10:~/mraa-examples$ sudo ./aio<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> &lt;/pre&gt;<br /> <br /> ==== Development ====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].<br /> <br /> ==== Troubleshooting ====<br /> <br /> * Refer [[RockpiN10/getting_started/ ]]<br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiN10</div> Zzl https://wiki.radxa.com/RockpiN10/dev/libmraa RockpiN10/dev/libmraa 2020-10-12T06:48:32Z <p>Zzl: </p> <hr /> <div>{{rockpiN10_header}}<br /> <br /> {{Languages|rockpiN10/dev/libmraa}}<br /> <br /> [[rockpiN10 | ROCK Pi N10]] &gt; [[rockpiN10/dev | Development]] &gt; [[rockpiN10/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi N10 ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi N10.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa is in the Radxa APT bionic-stable and buster-stable repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> rock@rockpin10:~$ export DISTRO=bionic-testing # for Bionic<br /> <br /> or<br /> <br /> rock@rockpin10:~$ export DISTRO= buster-testing # for Buster<br /> rock@rockpin10:~$ echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key<br /> <br /> rock@rockpin10:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> <br /> rock@rockpin10:~$ sudo apt-get update<br /> rock@rockpin10:~$ sudo apt-get install -y rockchip-overlay rockpin10-dtbo libmraa # libmraa version: &gt;=0.4<br /> rock@rockpin10:~$ sudo apt-get install -y linux-4.4-rockpin10-latest # ROCK Pi N10 kernel version: &gt;= 4.4.167-14<br /> <br /> Install compiler:<br /> rock@rockpin10:~$ sudo apt install -y build-essential<br /> <br /> ==== Enable interface ====<br /> <br /> See ROCK Pi N10 [[rockpiN10/hardware/gpio | GPIO pintout]]. ROCK Pi N10 has a 40-pin colorful expansion header. Each pin is distinguished by color. mraa define is shown below: <br /> <br /> ===== Hardware V11 =====<br /> <br /> 25 GPIO:<br /> PIN03 GPIO2_A7<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B5<br /> PIN08 GPIO4_C4<br /> PIN10 GPIO4_C3<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO0_B1<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO0_B0<br /> PIN18 GPIO2_A6<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO3_D4<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN29 GPIO2_B2<br /> PIN31 GPIO2_B1<br /> PIN32 GPIO3_D5<br /> PIN33 GPIO2_D5<br /> PIN35 GPIO2_A4<br /> PIN36 GPIO2_A2<br /> PIN37 GPIO3_D6<br /> PIN38 GPIO2_A3<br /> PIN40 GPIO1_A2 <br /> <br /> 3 I2C:<br /> PIN27 I2C'''2'''_SDA<br /> PIN28 I2C'''2'''_SCL<br /> PIN29 I2C'''6'''_SCL<br /> PIN31 I2C'''6'''_SDA<br /> PIN3 I2C'''7'''_SDA<br /> PIN5 I2C'''7'''_SCL<br /> <br /> 1 SPI:<br /> PIN19 SPI'''1'''TX //must disable UART4<br /> PIN21 SPI'''1'''RX //must disable UART4<br /> PIN23 SPI'''1'''CLK<br /> PIN24 SPI'''1'''CSN<br /> <br /> 2 UART:<br /> PIN8 UART'''2'''_TX<br /> PIN10 UART'''2'''_RX<br /> PIN19 UART'''4'''_TX //must disable SPI1<br /> PIN21 UART'''4'''_RX //must disable SPI1<br /> <br /> 2 PWM:<br /> PIN11 PWM'''0'''<br /> PIN13 PWM'''1'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN1 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi N10 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].<br /> <br /> For those ROCK Pi N10 system images released before March 1st, 2020, the configuration file is /boot/hw_intfc.conf.<br /> <br /> <br /> ==== Test ====<br /> <br /> 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.<br /> <br /> And we copy them to home directory.<br /> <br /> rock@rockpin10:~/mraa-examples$ cp -av /usr/local/share/mraa/examples/c /home/rock/mraa-examples<br /> <br /> You should pay more attention to the Black Bold words when modifying configuration file /boot/uEnv.txt.<br /> <br /> ===== GPIO test =====<br /> <br /> rock@rockpin10:~$ mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 SDA7: GPIO I2C <br /> 04 5V: <br /> 05 SCL7: GPIO I2C <br /> 06 GND: <br /> 07 GPIO0_B5: GPIO <br /> 08 TXD2: GPIO UART <br /> 09 GND: <br /> 10 RXD2: GPIO UART <br /> 11 PWM0: GPIO PWM <br /> 12 GPIO0_B1: GPIO <br /> 13 PWM1: GPIO PWM <br /> 14 GND: <br /> 15 GPIO4_C5: GPIO <br /> 16 GPIO0_B0: GPIO <br /> 17 3V3: <br /> 18 GPIO2_A6: GPIO <br /> 19 SPI1TX,TXD4: GPIO SPI UART <br /> 20 GND: <br /> 21 SPI1RX,RXD4: GPIO SPI UART <br /> 22 GPIO3_D4: GPIO <br /> 23 SPI1CLK: GPIO SPI <br /> 24 SPI1CS: GPIO SPI <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> 27 SDA2: GPIO I2C <br /> 28 SCL2: GPIO I2C <br /> 29 SCL6,SPI2RX: GPIO I2C SPI <br /> 30 GND: <br /> 31 SDA6,SPI2TX: GPIO I2C SPI <br /> 32 GPIO3_D5: GPIO <br /> 33 GPIO4_D5: GPIO <br /> 34 GND: <br /> 35 GPIO2_A4: GPIO <br /> 36 GPIO2_A2: GPIO <br /> 37 GPIO3_D6: GPIO <br /> 38 GPIO2_A3: GPIO <br /> 39 GND: <br /> 40 GPIO1_A2: GPIO<br /> root@rockpin10:~# mraa-gpio set 40 1 #pin40 pull high<br /> root@rockpin10:~# mraa-gpio set 40 0 #pin40 pull high<br /> <br /> ===== PWM test =====<br /> <br /> ROCK Pi N10 V1.1 provides 2 PWM, PWM0 and PWM1. It is necessary to enable PWM0 and PWM1 at the same time if you need PWM function.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpin10:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3399pro-rockpi-n10-linux.dtb '''rk3399pro-pwm0''' '''rk3399pro-pwm1'''<br /> overlays=rk3399pro-console-on-uart2<br /> rootuuid=11958cc2-af5a-4e6f-9ad4-2b3baef3eebe<br /> initrdsize=0x5649ac<br /> kernelversion=4.4.167-14-rockchip-g53bdb2fa44e8<br /> initrdimg=initrd.img-4.4.167-14-rockchip-g53bdb2fa44e8<br /> kernelimg=vmlinuz-4.4.167-14-rockchip-g53bdb2fa44e8<br /> <br /> <br /> Modify the macro PWM in /home/rock/mraa-examples/pwm.c as follows to test PWM0. To test PWM2, change '''#define PWM 11''' to '''#define PWM 13'''.<br /> <br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpin10:~/mraa-examples$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpin10:~/mraa-examples$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== I2C test =====<br /> ROCK Pi N10 V1.1 provides 3 I2C,There are I2C2 ,I2C6, I2C7. If you need the I2C function, you can turn on one or more of them.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpin10:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3399pro-rockpi-n10-linux.dtb '''rk3399pro-i2c2''' '''rk3399pro-i2c6''' '''rk3399pro-i2c7'''<br /> overlays=rk3399pro-console-on-uart2<br /> rootuuid=11958cc2-af5a-4e6f-9ad4-2b3baef3eebe<br /> initrdsize=0x5649ac<br /> kernelversion=4.4.167-14-rockchip-g53bdb2fa44e8<br /> initrdimg=initrd.img-4.4.167-14-rockchip-g53bdb2fa44e8<br /> kernelimg=vmlinuz-4.4.167-14-rockchip-g53bdb2fa44e8<br /> <br /> We use MPU6050 tets i2c.<br /> Modify the macro MPU6050 in '''/home/rock/mraa-examples/i2c_mpu6050.c''' ,as follows to test I2C2. To test I2C6 and I2C7, change '''#define I2C_BUS 0''' to '''#define I2C_BUS 1''' or'''#define I2C_BUS 2''' .<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> '''#define I2C_BUS 0'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o i2c_mpu6050 i2c_mpu6050.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050<br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> <br /> ===== UART test =====<br /> ROCK Pi n10 V1.1 provides 2 UART,There are '''uart2''' ,'''uart4'''. If you need the uatr function, you can turn on one or more of them.<br /> <br /> Firstly, Disable console and enable '''uart2''' for uart test.modify the '''/boot/uEnv.txt''' file to add the following<br /> <br /> root@rockpin10:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3399pro-rockpi-n10-linux.dtb '''rk3399pro-uart2''' '''rk3399pro-uart4''' <br /> '''console='''<br /> overlays=rk3399pro-console-on-uart2<br /> rootuuid=11958cc2-af5a-4e6f-9ad4-2b3baef3eebe<br /> initrdsize=0x5649ac<br /> kernelversion=4.4.167-14-rockchip-g53bdb2fa44e8<br /> initrdimg=initrd.img-4.4.167-14-rockchip-g53bdb2fa44e8<br /> kernelimg=vmlinuz-4.4.167-14-rockchip-g53bdb2fa44e8<br /> <br /> Here set console to NULL value.<br /> <br /> then reboot . use ssh connect to rockpin10,we must have 2 windows,one is for send data,anothor is for receive.<br /> <br /> send command follow:<br /> rock@rockpin10:~$ sudo mraa-uart dev 0 baud 1500000 send radxa<br /> <br /> Another window sets the baud 1500000 and receives the data <br /> <br /> radxa<br /> <br /> receive command follow:<br /> rock@rockpin10:~$ sudo mraa-uart dev 0 baud 1500000 recv 1000<br /> radxa<br /> <br /> <br /> ===== SPI test =====<br /> <br /> Firstly, modify the '''/boot/uEnv.txt''' file.<br /> root@rockpin10:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3399pro-rockpi-n10-linux.dtb '''rk3399pro-spi-spidev''' <br /> overlays=rk3399pro-console-on-uart2<br /> rootuuid=11958cc2-af5a-4e6f-9ad4-2b3baef3eebe<br /> initrdsize=0x5649ac<br /> kernelversion=4.4.167-14-rockchip-g53bdb2fa44e8<br /> initrdimg=initrd.img-4.4.167-14-rockchip-g53bdb2fa44e8<br /> kernelimg=vmlinuz-4.4.167-14-rockchip-g53bdb2fa44e8<br /> <br /> then execute command, sync, followed by '''reboot'''.<br /> <br /> Create file test-spi.c and add the following contents.<br /> <br /> rock@rockpin10:~/mraa-examples$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> '''#define SPI_BUS 2'''<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpin10:~/mraa-examples$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> Then short pin19 and pin21 and run test-spi<br /> <br /> rock@rockpin10:~/mraa-examples$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> <br /> ===== ADC test =====<br /> <br /> connect signal you want to measure, and then compile mraa example c file, aio.c, to test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpin10:~/mraa-examples$ gcc -o aio aio.c -lmraa<br /> rock@rockpin10:~/mraa-examples$ sudo ./aio<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> &lt;/pre&gt;<br /> <br /> ==== Development ====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].<br /> <br /> ==== Troubleshooting ====<br /> <br /> * Refer [[RockpiN10/getting_started/troubleshooting | Troubleshooting page]]<br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiN10</div> Zzl https://wiki.radxa.com/RockpiN10/dev/libmraa RockpiN10/dev/libmraa 2020-10-12T06:20:10Z <p>Zzl: </p> <hr /> <div>{{rockpiN10_header}}<br /> <br /> {{Languages|rockpiN10/dev/libmraa}}<br /> <br /> [[rockpiN10 | ROCK Pi N10]] &gt; [[rockpiN10/dev | Development]] &gt; [[rockpiN10/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi N10 ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi N10.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa is in the Radxa APT bionic-stable and buster-stable repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> rock@rockpin10:~$ export DISTRO=bionic-testing # for Bionic<br /> <br /> or<br /> <br /> rock@rockpin10:~$ export DISTRO= buster-testing # for Buster<br /> rock@rockpin10:~$ echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key<br /> <br /> rock@rockpin10:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> <br /> rock@rockpin10:~$ sudo apt-get update<br /> rock@rockpin10:~$ sudo apt-get install -y rockchip-overlay rockpin10-dtbo libmraa # libmraa version: &gt;=0.4<br /> rock@rockpin10:~$ sudo apt-get install -y linux-4.4-rockpin10-latest # ROCK Pi N10 kernel version: &gt;= 4.4.167-14<br /> <br /> Install compiler:<br /> rock@rockpin10:~$ sudo apt install -y build-essential<br /> <br /> ==== Enable interface ====<br /> <br /> See ROCK Pi N10 [[rockpiN10/hardware/gpio | GPIO pintout]]. ROCK Pi N10 has a 40-pin colorful expansion header. Each pin is distinguished by color. mraa define is shown below: <br /> <br /> ===== Hardware V11 =====<br /> <br /> 25 GPIO:<br /> PIN03 GPIO2_A7<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B5<br /> PIN08 GPIO4_C4<br /> PIN10 GPIO4_C3<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO0_B1<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO0_B0<br /> PIN18 GPIO2_A6<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO3_D4<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN29 GPIO2_B2<br /> PIN31 GPIO2_B1<br /> PIN32 GPIO3_D5<br /> PIN33 GPIO2_D5<br /> PIN35 GPIO2_A4<br /> PIN36 GPIO2_A2<br /> PIN37 GPIO3_D6<br /> PIN38 GPIO2_A3<br /> PIN40 GPIO1_A2 <br /> <br /> 3 I2C:<br /> PIN27 I2C'''2'''_SDA<br /> PIN28 I2C'''2'''_SCL<br /> PIN29 I2C'''6'''_SCL<br /> PIN31 I2C'''6'''_SDA<br /> PIN3 I2C'''7'''_SDA<br /> PIN5 I2C'''7'''_SCL<br /> <br /> 1 SPI:<br /> PIN19 SPI'''1'''TX //must disable UART4<br /> PIN21 SPI'''1'''RX //must disable UART4<br /> PIN23 SPI'''1'''CLK<br /> PIN24 SPI'''1'''CSN<br /> <br /> 2 UART:<br /> PIN8 UART'''2'''_TX<br /> PIN10 UART'''2'''_RX<br /> PIN19 UART'''4'''_TX //must disable SPI1<br /> PIN21 UART'''4'''_RX //must disable SPI1<br /> <br /> 2 PWM:<br /> PIN11 PWM'''0'''<br /> PIN13 PWM'''1'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN1 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi N10 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].<br /> <br /> For those ROCK Pi N10 system images released before March 1st, 2020, the configuration file is /boot/hw_intfc.conf.</div> Zzl https://wiki.radxa.com/RockpiN10/dev/libmraa RockpiN10/dev/libmraa 2020-10-12T04:04:14Z <p>Zzl: Created page with &quot;{{rockpiN10_header}} {{Languages|rockpiN10/dev/libmraa}} ROCK Pi N10 &gt; Development &gt; Install Libmraa =...&quot;</p> <hr /> <div>{{rockpiN10_header}}<br /> <br /> {{Languages|rockpiN10/dev/libmraa}}<br /> <br /> [[rockpiN10 | ROCK Pi N10]] &gt; [[rockpiN10/dev | Development]] &gt; [[rockpiN10/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi N10 ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi N10.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa is in the Radxa APT bionic-stable and buster-stable repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> rock@rockpin10:~$ export DISTRO=bionic-testing # for Bionic<br /> <br /> or<br /> <br /> rock@rockpin10:~$ export DISTRO= buster-testing # for Buster<br /> rock@rockpin10:~$ echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key<br /> <br /> rock@rockpin10:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> <br /> rock@rockpin10:~$ sudo apt-get update<br /> rock@rockpin10:~$ sudo apt-get install -y rockchip-overlay rockpin10-dtbo libmraa # libmraa version: &gt;=0.4<br /> rock@rockpin10:~$ sudo apt-get install -y linux-4.4-rockpin10-latest # ROCK Pi N10 kernel version: &gt;= 4.4.167-14<br /> <br /> Install compiler:<br /> rock@rockpin10:~$ sudo apt install -y build-essential<br /> <br /> ==== Enable interface ====<br /> <br /> See ROCK Pi N10 [[rockpiN10/hardware/gpio | GPIO pintout]]. ROCK Pi N10 has a 40-pin colorful expansion header. Each pin is distinguished by color. mraa define is shown below: <br /> <br /> ===== Hardware V11 =====</div> Zzl https://wiki.radxa.com/RockpiN10/dev RockpiN10/dev 2020-10-12T03:50:16Z <p>Zzl: </p> <hr /> <div>{{rockpiN10_header}}<br /> <br /> {{Languages|rockpiN10/dev}}<br /> <br /> [[rockpiN10 | ROCK Pi N10]] &gt; [[rockpiN10/dev | Development]]<br /> <br /> This page describe development tips for ROCK Pi N10.<br /> <br /> * [[rockpiN10/dev/Debian | Build Debian]]<br /> * [[rockpiN10/dev/kernel-4.4 | Build vendor kernel(Rockchip 4.4)]]<br /> * [[rockpiN10/dev/usb-install | Install from USB]]<br /> * [[rockpiN10/dev/usb-install-for-android-image | Install Android image from USB]]<br /> * [[RockpiN10/dev/serial-console | Serial Console]](NPU&amp;CPU)<br /> * [[rockpiN10/dev/NPU-booting | NPU Booting]]<br /> * [[rockpiN10/dev/libmraa | Install Libmraa ]]</div> Zzl https://wiki.radxa.com/RockpiE/dev/usbnet RockpiE/dev/usbnet 2020-10-12T03:45:55Z <p>Zzl: Created page with &quot;{{rockpiE_header}} {{Languages|rockpiE/dev/adb}} ROCK Pi E &gt; Development &gt; USB Device Network] === Requirement ==...&quot;</p> <hr /> <div>{{rockpiE_header}}<br /> {{Languages|rockpiE/dev/adb}}<br /> [[rockpiE | ROCK Pi E]] &gt; [[rockpiE/dev | Development]] &gt; [[rockpiE/dev/usbnet | USB Device Network]]]<br /> <br /> === Requirement ===<br /> * ROCK Pi E mainboard<br /> * eMMC module<br /> * Power adapter<br /> * USB Male A to Dupont cable.<br /> ** One port is Male A type and the other includes three Dupont lines.<br /> ** Hardware connection<br /> {| class=&quot;wikitable&quot;<br /> |-<br /> ! ROCK Pi E 40-pin Header || USB Interface || USB Male A to Dupont Cable<br /> |-<br /> | PIN#18 || Data+ || Green wire<br /> |-<br /> | PIN#16 || Data- || White wire<br /> |-<br /> | PIN#14 || GND || Black wire<br /> |}<br /> <br /> [[File:rock-pi-e-usb-mala-a-to-dupont-cable.jpg | 500px ]]<br /> <br /> === Software preparation ===<br /> <br /> * Kernel version<br /> <br /> USB gadget driver must be enabled to configure usb net. You need to update the kernel to at least version 4.4.194-16 rockchip.<br /> <br /> * Stop conflicting services<br /> <br /> So far, Dupont cable OTG port only supports one Gadget function. To use use USB net, here need to stop rockchip-adbd service.<br /> <br /> &lt;pre&gt;<br /> root@rockpie:~# systemctl stop rockchip-adbd<br /> root@rockpie:~# systemctl disable rockchip-adbd<br /> root@rockpie:~# reboot<br /> &lt;/pre&gt;<br /> <br /> === Load kernel module===<br /> <br /> * Connect the ROCK Pi E to PC with a Male A type and the other includes three Dupont lines cable.<br /> * Install kernel module on ROCK Pi S<br /> <br /> &lt;pre&gt;<br /> root@rockpis:~# modprobe g_ether<br /> &lt;/pre&gt;<br /> <br /> dmesg shoule output the folowing:<br /> &lt;pre&gt;<br /> root@rockpis:~# dmesg -c<br /> [ 25.792177] using random self ethernet address<br /> [ 25.792239] using random host ethernet address<br /> [ 25.794179] usb0: HOST MAC fe:fc:51:10:b2:fa<br /> [ 25.794444] usb0: MAC 82:21:a8:1b:f3:4a<br /> [ 25.794539] using random self ethernet address<br /> [ 25.794589] using random host ethernet address<br /> [ 25.794787] g_ether gadget: Ethernet Gadget, version: Memorial Day 2008<br /> [ 25.794819] g_ether gadget: g_ether ready<br /> [ 25.797133] dwc2 ff400000.usb: bound driver g_ether<br /> [ 25.988410] dwc2 ff400000.usb: new device is high-speed<br /> [ 26.068210] dwc2 ff400000.usb: new device is high-speed<br /> [ 26.132742] dwc2 ff400000.usb: new address 39<br /> [ 26.154634] g_ether gadget: high-speed config #1: CDC Ethernet (ECM)<br /> &lt;/pre&gt;<br /> <br /> Bring up the usb0 device<br /> <br /> &lt;pre&gt;<br /> root@rockpie:~# ifconfig usb0 up<br /> &lt;/pre&gt;<br /> <br /> Now you should have usb0 on ROCK Pi E enabled.<br /> <br /> On the host PC Ubuntu 16.04, the '''dmesg''' gives something like below:<br /> <br /> &lt;pre&gt;<br /> radxa@x86_64_pc:~$ sudo dmesg -c<br /> [974637.533636] usb 1-4.1: new high-speed USB device number 121 using xhci_hcd<br /> [974637.635515] usb 1-4.1: New USB device found, idVendor=0525, idProduct=a4a2<br /> [974637.635520] usb 1-4.1: New USB device strings: Mfr=1, Product=2, SerialNumber=0<br /> [974637.635523] usb 1-4.1: Product: RNDIS/Ethernet Gadget<br /> [974637.635525] usb 1-4.1: Manufacturer: Linux 4.4.143-46-rockchip-gef70dd2c725e with ff400000.usb<br /> [974637.636655] cdc_subset: probe of 1-4.1:1.0 failed with error -22<br /> [974637.637971] cdc_ether 1-4.1:1.0 usb0: register 'cdc_ether' at usb-0000:00:14.0-4.1, CDC Ethernet Device, 8a:11:bc:e7:60:26<br /> [974637.650141] cdc_ether 1-4.1:1.0 enp0s20f0u4u1: renamed from usb0<br /> [974637.678705] IPv6: ADDRCONF(NETDEV_UP): enp0s20f0u4u1: link is not ready<br /> [974637.694633] IPv6: ADDRCONF(NETDEV_UP): enp0s20f0u4u1: link is not ready<br /> &lt;/pre&gt;<br /> <br /> '''enp0s20f0u4u1''' is the &quot;USB network card&quot; for ROCK Pi E. '''ifconfig enp0s20f0u4u1''' gives us the info about it.<br /> <br /> === Setup USB Network ===<br /> <br /> On ROCK Pi E.<br /> <br /> &lt;pre&gt;<br /> root@rockpie:~# IP=10.0.1.1<br /> root@rockpie:~# HOST_IP=10.0.1.2<br /> root@rockpie:~# ifconfig usb0 $IP netmask 255.255.255.0<br /> root@rockpie:~# route<br /> &lt;/pre&gt;<br /> <br /> On host PC<br /> <br /> &lt;pre&gt;<br /> radxa@x86_64_pc:~$ HOST_IP=10.0.1.2<br /> radxa@x86_64_pc:~$ sudo ifconfig enp0s20f0u4u1 $HOST_IP netmask 255.255.255.0<br /> &lt;/pre&gt;<br /> <br /> Test the network, on ROCK Pi E<br /> <br /> &lt;pre&gt;<br /> root@rockpie:~# ping $HOST_IP<br /> &lt;/pre&gt;<br /> <br /> Test network traffic, on host PC<br /> <br /> &lt;pre&gt;<br /> radxa@x86_64_pc:~$ iperf -s<br /> ------------------------------------------------------------<br /> Server listening on TCP port 5001<br /> TCP window size: 128 KByte (default)<br /> ------------------------------------------------------------<br /> [ 4] local 10.0.1.2 port 5001 connected with 10.0.1.1 port 48264<br /> [ ID] Interval Transfer Bandwidth<br /> [ 4] 0.0-10.0 sec 113 MBytes 94.6 Mbits/sec<br /> &lt;/pre&gt;<br /> <br /> Test network traffic, on ROCK Pi E:<br /> <br /> &lt;pre&gt;<br /> root@rockpie:~# iperf -c $HOST_IP<br /> ------------------------------------------------------------<br /> Client connecting to 10.0.1.2, TCP port 5001<br /> TCP window size: 85.0 KByte (default)<br /> ------------------------------------------------------------<br /> [ 3] local 10.0.1.1 port 48264 connected with 10.0.1.2 port 5001<br /> [ ID] Interval Transfer Bandwidth<br /> [ 3] 0.0-10.0 sec 113 MBytes 94.8 Mbits/sec<br /> &lt;/pre&gt;<br /> <br /> === Troubleshooting ===<br /> <br /> * Refer [[RockpiE/getting_started/troubleshooting | Troubleshooting page]]<br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiE</div> Zzl https://wiki.radxa.com/RockpiE/dev/adb RockpiE/dev/adb 2020-10-10T01:51:52Z <p>Zzl: </p> <hr /> <div>{{rockpiE_header}}<br /> {{Languages|rockpiE/dev/adb}}<br /> [[rockpiE | ROCK Pi E]] &gt; [[rockpiE/dev | Development]] &gt; [[rockpiE/dev/adb | Using adb]]<br /> <br /> === Requirement ===<br /> * ROCK Pi E mainboard<br /> * eMMC module<br /> * Power adapter<br /> * USB Male A to Dupont cable.<br /> ** One port is Male A type and the other includes three Dupont lines.<br /> ** Hardware connection<br /> {| class=&quot;wikitable&quot;<br /> |-<br /> ! ROCK Pi E 40-pin Header || USB Interface || USB Male A to Dupont Cable<br /> |-<br /> | PIN#18 || Data+ || Green wire<br /> |-<br /> | PIN#16 || Data- || White wire<br /> |-<br /> | PIN#14 || GND || Black wire<br /> |}<br /> <br /> [[File:rock-pi-e-usb-mala-a-to-dupont-cable.jpg | 500px ]]<br /> <br /> ===Hardware support===<br /> <br /> Support hardware platform:<br /> * ROCK Pi S V1.1<br /> * ROCK Pi S V1.2<br /> <br /> You'd better follow the installation steps.<br /> <br /> === Installation ===<br /> <br /> ==== Windows ====<br /> <br /> Refer [[Rock/windows_adb | Windows ADB]]<br /> <br /> ==== Linux ====<br /> <br /> Refer [[Rock/linux_adb | Linux ADB]]<br /> <br /> ===ADB Usage===<br /> <br /> When you have adb driver installed on PC, below are some common used adb commands: <br /> <br /> ====Check adb devices====<br /> <br /> $ adb devices<br /> List of devices attached <br /> 0123456789ABCDEF device<br /> <br /> ====Login/Shell====<br /> <br /> $ adb shell<br /> # <br /> <br /> And type /bin/bash followed by Enter key to switch to bash shell.<br /> <br /> $ adb shell<br /> # /bin/bash<br /> root@rockpie:/# <br /> root@rockpie:/# <br /> <br /> ====Transmit files from PC to ROCK Pi E====<br /> <br /> $ adb push &lt;local path&gt; &lt;remote path&gt;<br /> <br /> Example:<br /> <br /> On PC, input the following in Terminal<br /> <br /> $ adb push /tmp/meet-rockpie.md /home/rock<br /> 0 KB/s (26 bytes in 0.045s)<br /> <br /> Check on ROCK Pi E<br /> <br /> root@rockpis:/home/rock# cat meet-rockpie.md <br /> How do you do! ROCK Pi E!<br /> <br /> ====Transmit files from ROCK Pi E to PC====<br /> <br /> $ adb pull &lt;remote path&gt; &lt;local path&gt;<br /> <br /> Example:<br /> <br /> $ adb pull /home/rock/meet-pc.md /tmp/<br /> 0 KB/s (19 bytes in 0.086s)<br /> <br /> $ cat /tmp/meet-pc.md <br /> How do you do! PC!<br /> <br /> === FAQs ===<br /> <br /> === Troubleshooting ===<br /> <br /> If adb device is not detected on host PC, try to [[RockpiS/ssh | ssh]] or use [[rockpiE/dev/serial-console | serial console]] first and try the following:<br /> <br /> Firstly, update rockchip-overlay and kernel packages.<br /> <br /> $ sudo apt-get install -y rockchip-overlay <br /> $ sudo apt-get install -y linux-4.4-rockpie<br /> <br /> Secondly, install rockchip-adb package.<br /> <br /> $ sudo apt-get install -y rockchip-adbd<br /> <br /> Finally, start rockchip service<br /> <br /> $ sudo systemctl start rockchip-adbd<br /> <br /> === Usage of rockchi-adb service ===<br /> <br /> Start rockchip-adb service<br /> <br /> $ sudo systemctl start rockchip-adbd<br /> <br /> Stop rockchip-adb service<br /> <br /> $ sudo systemctl stop rockchip-adbd<br /> <br /> Reload rockchip-adb service<br /> <br /> $ sudo systemctl reload rockchip-adbd<br /> or<br /> $ sudo systemctl restart rockchip-adbd<br /> <br /> <br /> If you still have issue with adb, start a new post on the forum. https://forum.radxa.com/c/dev</div> Zzl https://wiki.radxa.com/RockpiE/dev/adb RockpiE/dev/adb 2020-10-10T01:47:59Z <p>Zzl: </p> <hr /> <div>{{rockpiE_header}}<br /> {{Languages|rockpiE/dev/adb}}<br /> [[rockpiE | ROCK Pi E]] &gt; [[rockpiE/dev | Development]] &gt; [[rockpiE/dev/adb | Using adb]]<br /> <br /> === Requirement ===<br /> * ROCK Pi E mainboard<br /> * eMMC module<br /> * Power adapter<br /> * USB Male A to Dupont cable.<br /> ** One port is Male A type and the other includes three Dupont lines.<br /> ** Hardware connection<br /> {| class=&quot;wikitable&quot;<br /> |-<br /> ! ROCK Pi E 40-pin Header || USB Interface || USB Male A to Dupont Cable<br /> |-<br /> | PIN#18 || Data+ || Green wire<br /> |-<br /> | PIN#16 || Data- || White wire<br /> |-<br /> | PIN#14 || GND || Black wire<br /> |}<br /> <br /> [[File:rock-pi-e-usb-mala-a-to-dupont-cable.jpg | 500px ]]<br /> <br /> ===Hardware support===<br /> <br /> Support hardware platform:<br /> * ROCK Pi S V1.1<br /> * ROCK Pi S V1.2<br /> <br /> You'd better follow the installation steps.<br /> <br /> === Installation ===<br /> <br /> ==== Windows ====<br /> <br /> Refer [[Rock/windows_adb | Windows ADB]]<br /> <br /> ==== Linux ====<br /> <br /> Refer [[Rock/linux_adb | Linux ADB]]<br /> <br /> ===ADB Usage===<br /> <br /> When you have adb driver installed on PC, below are some common used adb commands: <br /> <br /> ====Check adb devices====<br /> <br /> $ adb devices<br /> List of devices attached <br /> 0123456789ABCDEF device<br /> <br /> ====Login/Shell====<br /> <br /> $ adb shell<br /> # <br /> <br /> And type /bin/bash followed by Enter key to switch to bash shell.<br /> <br /> $ adb shell<br /> # /bin/bash<br /> root@rockpie:/# <br /> root@rockpie:/# <br /> <br /> ====Transmit files from PC to ROCK Pi E====<br /> <br /> $ adb push &lt;local path&gt; &lt;remote path&gt;<br /> <br /> Example:<br /> <br /> On PC, input the following in Terminal<br /> <br /> $ adb push /tmp/meet-rockpie.md /home/rock<br /> 0 KB/s (26 bytes in 0.045s)<br /> <br /> Check on ROCK Pi E<br /> <br /> root@rockpis:/home/rock# cat meet-rockpie.md <br /> How do you do! ROCK Pi E!<br /> <br /> ====Transmit files from ROCK Pi E to PC====<br /> <br /> $ adb pull &lt;remote path&gt; &lt;local path&gt;<br /> <br /> Example:<br /> <br /> $ adb pull /home/rock/meet-pc.md /tmp/<br /> 0 KB/s (19 bytes in 0.086s)<br /> <br /> $ cat /tmp/meet-pc.md <br /> How do you do! PC!<br /> <br /> === FAQs ===<br /> <br /> === Troubleshooting ===<br /> <br /> If adb device is not detected on host PC, try to [[RockpiS/ssh | ssh]] or use [[rockpiE/dev/serial-console | serial console]] first and try the following:<br /> <br /> Firstly, update rockchip-overlay and kernel packages.<br /> <br /> $ sudo apt-get install -y rockchip-overlay # &gt;= 2.2<br /> $ sudo apt-get install -y linux-4.4-rockpis # &gt;= 4.4.143-34-rockchip<br /> <br /> Secondly, install rockchip-adb package.<br /> <br /> $ sudo apt-get install -y rockchip-adb # &gt;= 0.3<br /> <br /> Finally, start rockchip service<br /> <br /> $ sudo systemctl start rockchip-adb</div> Zzl https://wiki.radxa.com/RockpiE/dev/adb RockpiE/dev/adb 2020-10-10T01:44:57Z <p>Zzl: </p> <hr /> <div>{{rockpiE_header}}<br /> {{Languages|rockpiE/dev/adb}}<br /> [[rockpiE | ROCK Pi E]] &gt; [[rockpiE/dev | Development]] &gt; [[rockpiE/dev/adb | Using adb]]<br /> <br /> === Requirement ===<br /> * ROCK Pi E mainboard<br /> * eMMC module<br /> * Power adapter<br /> * USB Male A to Dupont cable.<br /> ** One port is Male A type and the other includes three Dupont lines.<br /> ** Hardware connection<br /> {| class=&quot;wikitable&quot;<br /> |-<br /> ! ROCK Pi E 40-pin Header || USB Interface || USB Male A to Dupont Cable<br /> |-<br /> | PIN#18 || Data+ || Green wire<br /> |-<br /> | PIN#16 || Data- || White wire<br /> |-<br /> | PIN#14 || GND || Black wire<br /> |}<br /> <br /> [[File:rock-pi-e-usb-mala-a-to-dupont-cable.jpg | 500px ]]<br /> <br /> ===Hardware support===<br /> <br /> Support hardware platform:<br /> * ROCK Pi S V1.1<br /> * ROCK Pi S V1.2<br /> <br /> You'd better follow the installation steps.<br /> <br /> === Installation ===<br /> <br /> ==== Windows ====<br /> <br /> Refer [[Rock/windows_adb | Windows ADB]]<br /> <br /> ==== Linux ====<br /> <br /> Refer [[Rock/linux_adb | Linux ADB]]<br /> <br /> ===ADB Usage===<br /> <br /> When you have adb driver installed on PC, below are some common used adb commands: <br /> <br /> ====Check adb devices====<br /> <br /> $ adb devices<br /> List of devices attached <br /> 0123456789ABCDEF device<br /> <br /> ====Login/Shell====<br /> <br /> $ adb shell<br /> # <br /> <br /> And type /bin/bash followed by Enter key to switch to bash shell.<br /> <br /> $ adb shell<br /> # /bin/bash<br /> root@rockpie:/# <br /> root@rockpie:/# <br /> <br /> ====Transmit files from PC to ROCK Pi E====<br /> <br /> $ adb push &lt;local path&gt; &lt;remote path&gt;<br /> <br /> Example:<br /> <br /> On PC, input the following in Terminal<br /> <br /> $ adb push /tmp/meet-rockpie.md /home/rock<br /> 0 KB/s (26 bytes in 0.045s)<br /> <br /> Check on ROCK Pi E<br /> <br /> root@rockpis:/home/rock# cat meet-rockpie.md <br /> How do you do! ROCK Pi E!<br /> <br /> ====Transmit files from ROCK Pi E to PC====<br /> <br /> $ adb pull &lt;remote path&gt; &lt;local path&gt;<br /> <br /> Example:<br /> <br /> $ adb pull /home/rock/meet-pc.md /tmp/<br /> 0 KB/s (19 bytes in 0.086s)<br /> <br /> $ cat /tmp/meet-pc.md <br /> How do you do! PC!<br /> <br /> === FAQs ===<br /> <br /> === Troubleshooting ===<br /> <br /> If adb device is not detected on host PC, try to [[RockpiS/ssh | ssh]] or use [[RockpiS/dev/serial-console | serial console]] first and try the following:<br /> <br /> Firstly, update rockchip-overlay and kernel packages.<br /> <br /> $ sudo apt-get install -y rockchip-overlay # &gt;= 2.2<br /> $ sudo apt-get install -y linux-4.4-rockpis # &gt;= 4.4.143-34-rockchip<br /> <br /> Secondly, install rockchip-adb package.<br /> <br /> $ sudo apt-get install -y rockchip-adb # &gt;= 0.3<br /> <br /> Finally, start rockchip service<br /> <br /> $ sudo systemctl start rockchip-adb</div> Zzl https://wiki.radxa.com/RockpiE/dev/adb RockpiE/dev/adb 2020-10-10T01:32:57Z <p>Zzl: Created page with &quot;{{rockpiE_header}} {{Languages|rockpiE/dev/adb}} ROCK Pi E &gt; Development &gt; Using adb === Requirement === * ROCK Pi E...&quot;</p> <hr /> <div>{{rockpiE_header}}<br /> {{Languages|rockpiE/dev/adb}}<br /> [[rockpiE | ROCK Pi E]] &gt; [[rockpiE/dev | Development]] &gt; [[rockpiE/dev/adb | Using adb]]<br /> <br /> === Requirement ===<br /> * ROCK Pi E mainboard<br /> * eMMC module<br /> * Power adapter<br /> * USB Male A to Dupont cable.<br /> ** One port is Male A type and the other includes three Dupont lines.<br /> ** Hardware connection<br /> {| class=&quot;wikitable&quot;<br /> |-<br /> ! ROCK Pi E 40-pin Header || USB Interface || USB Male A to Dupont Cable<br /> |-<br /> | PIN#18 || Data+ || Green wire<br /> |-<br /> | PIN#16 || Data- || White wire<br /> |-<br /> | PIN#14 || GND || Black wire<br /> |}<br /> <br /> [[File:rock-pi-e-usb-mala-a-to-dupont-cable.jpg | 500px ]]</div> Zzl https://wiki.radxa.com/RockpiE/dev RockpiE/dev 2020-10-09T11:24:49Z <p>Zzl: </p> <hr /> <div>{{rockpiE_header}}<br /> <br /> {{Languages|rockpiE/dev}}<br /> <br /> [[rockpiE | ROCK Pi E]] &gt; [[rockpiE/dev | Development]]<br /> <br /> This page describe development tips for ROCK Pi E.<br /> <br /> * [[rockpiE/dev/usb-install | USB Intallation]]-How to use PC tools to install image on ROCK Pi E<br /> * [[rockpiE/dev/Debian | Build Debian]]<br /> * [[Yocto-layer-for-radxa-boards | Build Yocto ]]<br /> * [[rockpiE/dev/kernel-4.4 | Build vendor kernel(Rockchip 4.4)]]<br /> * [[rockpiE/dev/serial-console | Serial Console]]<br /> * [[rockpiE/dev/device-serial-number | Device Serial Number]]<br /> * [[rockpiE/dev/libmraa | Using Libmraa ]]<br /> * [[rockpiE/dev/adb | Using adb]]<br /> * [[rockpiE/dev/usbnet | USB Device Network]]</div> Zzl https://wiki.radxa.com/RockpiE/dev RockpiE/dev 2020-10-09T08:06:15Z <p>Zzl: </p> <hr /> <div>{{rockpiE_header}}<br /> <br /> {{Languages|rockpiE/dev}}<br /> <br /> [[rockpiE | ROCK Pi E]] &gt; [[rockpiE/dev | Development]]<br /> <br /> This page describe development tips for ROCK Pi E.<br /> <br /> * [[rockpiE/dev/usb-install | USB Intallation]]-How to use PC tools to install image on ROCK Pi E<br /> * [[rockpiE/dev/Debian | Build Debian]]<br /> * [[Yocto-layer-for-radxa-boards | Build Yocto ]]<br /> * [[rockpiE/dev/kernel-4.4 | Build vendor kernel(Rockchip 4.4)]]<br /> * [[rockpiE/dev/serial-console | Serial Console]]<br /> * [[rockpiE/dev/device-serial-number | Device Serial Number]]<br /> * [[rockpiE/dev/libmraa | Using Libmraa ]]</div> Zzl https://wiki.radxa.com/RockpiE/dev RockpiE/dev 2020-10-09T08:05:26Z <p>Zzl: </p> <hr /> <div>{{rockpiE_header}}<br /> <br /> {{Languages|rockpiE/dev}}<br /> <br /> [[rockpiE | ROCK Pi E]] &gt; [[rockpiE/dev | Development]]<br /> <br /> This page describe development tips for ROCK Pi E.<br /> <br /> * [[rockpiE/dev/usb-install | USB Intallation]]-How to use PC tools to install image on ROCK Pi E<br /> * [[rockpiE/dev/Debian | Build Debian]]<br /> * [[Yocto-layer-for-radxa-boards | Build Yocto ]]<br /> * [[rockpiE/dev/kernel-4.4 | Build vendor kernel(Rockchip 4.4)]]<br /> * [[rockpiE/dev/serial-console | Serial Console]]<br /> * [[rockpiE/dev/device-serial-number | Device Serial Number]]<br /> * [[rockpiE/dev/libmraa | Using Libmraa ]]<br /> * [[rockpiE/dev/usb-otg | Using OTG for ROCK PI E ]]</div> Zzl https://wiki.radxa.com/RockpiS/network-management RockpiS/network-management 2020-05-07T07:54:24Z <p>Zzl: /* Introduction */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/usbnet}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[RockpiS/network-management | ROCK Pi S Network Management]]<br /> <br /> This guide describes how to manage the network on ROCK Pi S.<br /> <br /> === Introduction ===<br /> Rockpis static address settings.First, install some dependency packages<br /> sudo apt-get install netplan.io<br /> Create the '''01-netcfg.yaml''' file in the folder /etc/netplan. If there is no netplan folder, you need to create.<br /> sudo mkdir /etc/netplan<br /> sudo touch /etc/netplan/01-netcfg.yaml<br /> Add the following to the file '''01-netcfg.yaml'''<br /> rock@rockpis:/etc/netplan$ cat 01-netcfg.yaml <br /> network:<br /> version: 2<br /> renderer: networkd<br /> ethernets:<br /> eth0:<br /> addresses:<br /> - 192.168.2.135/24<br /> gateway4: 192.168.2.1<br /> nameservers:<br /> search: [mydomain, otherdomain]<br /> addresses: [192.168.2.1, 255.255.255.0]<br /> <br /> Execute the following command for the configuration to take effect<br /> sudo netplan apply<br /> then reboot,IP address is what you set.<br /> <br /> === Troubleshooting ===<br /> <br /> * Refer [[RockpiS/getting_started/troubleshooting | Troubleshooting page]]<br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiS</div> Zzl https://wiki.radxa.com/RockpiS/network-management RockpiS/network-management 2020-05-07T07:53:48Z <p>Zzl: </p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/usbnet}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[RockpiS/network-management | ROCK Pi S Network Management]]<br /> <br /> This guide describes how to manage the network on ROCK Pi S.<br /> <br /> === Introduction ===<br /> Rockpis static address settings.First, install some dependency packages<br /> sudo apt-get install netplan.io<br /> Create the'''01-netcfg.yaml''' file in the folder /etc/netplan.If there is no netplan folder, you need to create.<br /> sudo mkdir /etc/netplan<br /> sudo touch /etc/netplan/01-netcfg.yaml<br /> Add the following to the file '''01-netcfg.yaml'''<br /> rock@rockpis:/etc/netplan$ cat 01-netcfg.yaml <br /> network:<br /> version: 2<br /> renderer: networkd<br /> ethernets:<br /> eth0:<br /> addresses:<br /> - 192.168.2.135/24<br /> gateway4: 192.168.2.1<br /> nameservers:<br /> search: [mydomain, otherdomain]<br /> addresses: [192.168.2.1, 255.255.255.0]<br /> <br /> Execute the following command for the configuration to take effect<br /> sudo netplan apply<br /> then reboot,IP address is what you set.<br /> <br /> <br /> === Troubleshooting ===<br /> <br /> * Refer [[RockpiS/getting_started/troubleshooting | Troubleshooting page]]<br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiS</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-23T08:23:41Z <p>Zzl: /* UART test */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> rock@rockpis:~$ export DISTRO=bionic-testing # for Bionic<br /> <br /> or<br /> <br /> rock@rockpis:~$ export DISTRO=buster-testing # for Buster<br /> rock@rockpis:~$ echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key<br /> <br /> rock@rockpis:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> <br /> rock@rockpis:~$ sudo apt-get update<br /> rock@rockpis:~$ sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa # libmraa version: &gt;=0.4<br /> rock@rockpis:~$ sudo apt-get install -y linux-4.4-rockpis-latest # ROCK Pi S kernel version: &gt;= 4.4.143-47<br /> <br /> ==== Enable interface ====<br /> <br /> 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: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> &lt;/pre&gt;<br /> <br /> ==== Test ====<br /> <br /> 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.<br /> <br /> And we copy them to home directory.<br /> <br /> rock@rockpis:~/mraa-examples$ cp -av /usr/local/share/mraa/examples/c /home/rock/mraa-examples<br /> <br /> You should pay more attention to the Black Bold words when modifying configuration file /boot/uEnv.txt.<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:~# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:~# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:~# mraa-gpio set 15 0 #pin15 pull high<br /> <br /> ===== PWM test =====<br /> <br /> 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.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-pwm1 rk3308-pwm2 rk3308-pwm3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> <br /> 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'''.<br /> <br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== I2C test =====<br /> ROCK Pi S V1.2 provides 3 I2C,There are I2C0 ,I2C1, I2C3. If you need the I2C function, you can turn on one or more of them.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-i2c0 rk3308-i2c1 rk3308-i2c3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> We use MPU6050 tets i2c.<br /> 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''' .<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> '''#define I2C_BUS 0'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o i2c_mpu6050 i2c_mpu6050.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050<br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== UART test =====<br /> ROCK Pi S V1.2 provides 3 UART,There are '''uart0''' ,'''uart1''', '''uart2'''. If you need the uatr function, you can turn on one or more of them.<br /> <br /> Firstly, Disable console and enable '''uart0''' for uart test.modify the '''/boot/uEnv.txt''' file to add the following<br /> root@rockpis:~# cat /boot/uEnv.txt <br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-uart0 rk3308-uart1 rk3308-uart2<br /> rootuuid=c3800af9-fa58-4fb3-bb56-e52fd04837ba<br /> initrdsize=0x5c96c3<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> then reboot . use ssh connect to rockpis,we must have 2 windows,one is for send data,anothor is for receive.<br /> <br /> send command follow:<br /> rock@rockpis:~$ sudo mraa-uart dev 0 baud 1500000 send radxa<br /> <br /> Another window sets the baud 1500000 and receives the data <br /> radxa<br /> <br /> receive command follow:<br /> rock@rockpis:~$ sudo mraa-uart dev 0 baud 1500000 recv 1000<br /> radxa<br /> <br /> ===== SPI test =====<br /> <br /> Firstly, modify the '''/boot/uEnv.txt''' file.<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> then execute command, sync, followed by '''reboot'''.<br /> <br /> Create file test-spi.c and add the following contents.<br /> <br /> rock@rockpis:~/mraa-examples$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> '''#define SPI_BUS 2'''<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~/mraa-examples$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> Then short pin19 and pin21 and run test-spi<br /> <br /> rock@rockpis:~/mraa-examples$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> ===== ADC test =====<br /> <br /> connect signal you want to measure, and then compile mraa example c file, aio.c, to test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~/mraa-examples$ gcc aio aio.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./aio<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> &lt;/pre&gt;<br /> <br /> ==== Development ====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].<br /> <br /> ==== Troubleshooting ====<br /> <br /> * Refer [[RockpiS/getting_started/troubleshooting | Troubleshooting page]]<br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiS</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-23T08:13:25Z <p>Zzl: /* UART test */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> rock@rockpis:~$ export DISTRO=bionic-testing # for Bionic<br /> <br /> or<br /> <br /> rock@rockpis:~$ export DISTRO=buster-testing # for Buster<br /> rock@rockpis:~$ echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key<br /> <br /> rock@rockpis:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> <br /> rock@rockpis:~$ sudo apt-get update<br /> rock@rockpis:~$ sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa # libmraa version: &gt;=0.4<br /> rock@rockpis:~$ sudo apt-get install -y linux-4.4-rockpis-latest # ROCK Pi S kernel version: &gt;= 4.4.143-47<br /> <br /> ==== Enable interface ====<br /> <br /> 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: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> &lt;/pre&gt;<br /> <br /> ==== Test ====<br /> <br /> 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.<br /> <br /> And we copy them to home directory.<br /> <br /> rock@rockpis:~/mraa-examples$ cp -av /usr/local/share/mraa/examples/c /home/rock/mraa-examples<br /> <br /> You should pay more attention to the Black Bold words when modifying configuration file /boot/uEnv.txt.<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:~# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:~# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:~# mraa-gpio set 15 0 #pin15 pull high<br /> <br /> ===== PWM test =====<br /> <br /> 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.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-pwm1 rk3308-pwm2 rk3308-pwm3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> <br /> 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'''.<br /> <br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== I2C test =====<br /> ROCK Pi S V1.2 provides 3 I2C,There are I2C0 ,I2C1, I2C3. If you need the I2C function, you can turn on one or more of them.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-i2c0 rk3308-i2c1 rk3308-i2c3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> We use MPU6050 tets i2c.<br /> 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''' .<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> '''#define I2C_BUS 0'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o i2c_mpu6050 i2c_mpu6050.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050<br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== UART test =====<br /> ROCK Pi S V1.2 provides 3 UART,There are '''uart0''' ,'''uart1''', '''uart2'''. If you need the uatr function, you can turn on one or more of them.<br /> <br /> Firstly, Disable console and enable uart0 for uart test.modify the '''/boot/uEnv.txt''' file to add the following<br /> root@rockpis:~# cat /boot/uEnv.txt <br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-uart0 rk3308-uart1 rk3308-uart2<br /> rootuuid=c3800af9-fa58-4fb3-bb56-e52fd04837ba<br /> initrdsize=0x5c96c3<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> ===== SPI test =====<br /> <br /> Firstly, modify the '''/boot/uEnv.txt''' file.<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> then execute command, sync, followed by '''reboot'''.<br /> <br /> Create file test-spi.c and add the following contents.<br /> <br /> rock@rockpis:~/mraa-examples$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> '''#define SPI_BUS 2'''<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~/mraa-examples$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> Then short pin19 and pin21 and run test-spi<br /> <br /> rock@rockpis:~/mraa-examples$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> ===== ADC test =====<br /> <br /> connect signal you want to measure, and then compile mraa example c file, aio.c, to test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~/mraa-examples$ gcc aio aio.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./aio<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> &lt;/pre&gt;<br /> <br /> ==== Development ====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].<br /> <br /> ==== Troubleshooting ====<br /> <br /> * Refer [[RockpiS/getting_started/troubleshooting | Troubleshooting page]]<br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiS</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-23T08:12:53Z <p>Zzl: /* UART test */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> rock@rockpis:~$ export DISTRO=bionic-testing # for Bionic<br /> <br /> or<br /> <br /> rock@rockpis:~$ export DISTRO=buster-testing # for Buster<br /> rock@rockpis:~$ echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key<br /> <br /> rock@rockpis:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> <br /> rock@rockpis:~$ sudo apt-get update<br /> rock@rockpis:~$ sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa # libmraa version: &gt;=0.4<br /> rock@rockpis:~$ sudo apt-get install -y linux-4.4-rockpis-latest # ROCK Pi S kernel version: &gt;= 4.4.143-47<br /> <br /> ==== Enable interface ====<br /> <br /> 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: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> &lt;/pre&gt;<br /> <br /> ==== Test ====<br /> <br /> 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.<br /> <br /> And we copy them to home directory.<br /> <br /> rock@rockpis:~/mraa-examples$ cp -av /usr/local/share/mraa/examples/c /home/rock/mraa-examples<br /> <br /> You should pay more attention to the Black Bold words when modifying configuration file /boot/uEnv.txt.<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:~# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:~# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:~# mraa-gpio set 15 0 #pin15 pull high<br /> <br /> ===== PWM test =====<br /> <br /> 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.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-pwm1 rk3308-pwm2 rk3308-pwm3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> <br /> 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'''.<br /> <br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== I2C test =====<br /> ROCK Pi S V1.2 provides 3 I2C,There are I2C0 ,I2C1, I2C3. If you need the I2C function, you can turn on one or more of them.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-i2c0 rk3308-i2c1 rk3308-i2c3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> We use MPU6050 tets i2c.<br /> 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''' .<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> '''#define I2C_BUS 0'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o i2c_mpu6050 i2c_mpu6050.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050<br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== UART test =====<br /> ROCK Pi S V1.2 provides 3 UART,There are '''uart0''' ,'''uart1''', '''uart2'''. If you need the uatr function, you can turn on one or more of them.<br /> <br /> Firstly, Disable console and enable uart2 for uart test.modify the '''/boot/uEnv.txt''' file to add the following<br /> root@rockpis:~# cat /boot/uEnv.txt <br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-uart0 rk3308-uart1 rk3308-uart2<br /> rootuuid=c3800af9-fa58-4fb3-bb56-e52fd04837ba<br /> initrdsize=0x5c96c3<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> ===== SPI test =====<br /> <br /> Firstly, modify the '''/boot/uEnv.txt''' file.<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> then execute command, sync, followed by '''reboot'''.<br /> <br /> Create file test-spi.c and add the following contents.<br /> <br /> rock@rockpis:~/mraa-examples$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> '''#define SPI_BUS 2'''<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~/mraa-examples$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> Then short pin19 and pin21 and run test-spi<br /> <br /> rock@rockpis:~/mraa-examples$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> ===== ADC test =====<br /> <br /> connect signal you want to measure, and then compile mraa example c file, aio.c, to test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~/mraa-examples$ gcc aio aio.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./aio<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> &lt;/pre&gt;<br /> <br /> ==== Development ====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].<br /> <br /> ==== Troubleshooting ====<br /> <br /> * Refer [[RockpiS/getting_started/troubleshooting | Troubleshooting page]]<br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiS</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-23T08:10:43Z <p>Zzl: /* UART test */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> rock@rockpis:~$ export DISTRO=bionic-testing # for Bionic<br /> <br /> or<br /> <br /> rock@rockpis:~$ export DISTRO=buster-testing # for Buster<br /> rock@rockpis:~$ echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key<br /> <br /> rock@rockpis:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> <br /> rock@rockpis:~$ sudo apt-get update<br /> rock@rockpis:~$ sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa # libmraa version: &gt;=0.4<br /> rock@rockpis:~$ sudo apt-get install -y linux-4.4-rockpis-latest # ROCK Pi S kernel version: &gt;= 4.4.143-47<br /> <br /> ==== Enable interface ====<br /> <br /> 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: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> &lt;/pre&gt;<br /> <br /> ==== Test ====<br /> <br /> 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.<br /> <br /> And we copy them to home directory.<br /> <br /> rock@rockpis:~/mraa-examples$ cp -av /usr/local/share/mraa/examples/c /home/rock/mraa-examples<br /> <br /> You should pay more attention to the Black Bold words when modifying configuration file /boot/uEnv.txt.<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:~# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:~# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:~# mraa-gpio set 15 0 #pin15 pull high<br /> <br /> ===== PWM test =====<br /> <br /> 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.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-pwm1 rk3308-pwm2 rk3308-pwm3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> <br /> 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'''.<br /> <br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== I2C test =====<br /> ROCK Pi S V1.2 provides 3 I2C,There are I2C0 ,I2C1, I2C3. If you need the I2C function, you can turn on one or more of them.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-i2c0 rk3308-i2c1 rk3308-i2c3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> We use MPU6050 tets i2c.<br /> 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''' .<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> '''#define I2C_BUS 0'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o i2c_mpu6050 i2c_mpu6050.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050<br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== UART test =====<br /> ROCK Pi S V1.2 provides 3 UART,There are '''uart0''' ,'''uart1''', '''uart2'''. If you need the uatr function, you can turn on one or more of them.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> root@rockpis:~# cat /boot/uEnv.txt <br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-uart0 rk3308-uart1 rk3308-uart2<br /> rootuuid=c3800af9-fa58-4fb3-bb56-e52fd04837ba<br /> initrdsize=0x5c96c3<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> ===== SPI test =====<br /> <br /> Firstly, modify the '''/boot/uEnv.txt''' file.<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> then execute command, sync, followed by '''reboot'''.<br /> <br /> Create file test-spi.c and add the following contents.<br /> <br /> rock@rockpis:~/mraa-examples$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> '''#define SPI_BUS 2'''<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~/mraa-examples$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> Then short pin19 and pin21 and run test-spi<br /> <br /> rock@rockpis:~/mraa-examples$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> ===== ADC test =====<br /> <br /> connect signal you want to measure, and then compile mraa example c file, aio.c, to test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~/mraa-examples$ gcc aio aio.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./aio<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> &lt;/pre&gt;<br /> <br /> ==== Development ====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].<br /> <br /> ==== Troubleshooting ====<br /> <br /> * Refer [[RockpiS/getting_started/troubleshooting | Troubleshooting page]]<br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiS</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-23T08:06:01Z <p>Zzl: /* I2C test */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> rock@rockpis:~$ export DISTRO=bionic-testing # for Bionic<br /> <br /> or<br /> <br /> rock@rockpis:~$ export DISTRO=buster-testing # for Buster<br /> rock@rockpis:~$ echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key<br /> <br /> rock@rockpis:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> <br /> rock@rockpis:~$ sudo apt-get update<br /> rock@rockpis:~$ sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa # libmraa version: &gt;=0.4<br /> rock@rockpis:~$ sudo apt-get install -y linux-4.4-rockpis-latest # ROCK Pi S kernel version: &gt;= 4.4.143-47<br /> <br /> ==== Enable interface ====<br /> <br /> 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: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> &lt;/pre&gt;<br /> <br /> ==== Test ====<br /> <br /> 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.<br /> <br /> And we copy them to home directory.<br /> <br /> rock@rockpis:~/mraa-examples$ cp -av /usr/local/share/mraa/examples/c /home/rock/mraa-examples<br /> <br /> You should pay more attention to the Black Bold words when modifying configuration file /boot/uEnv.txt.<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:~# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:~# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:~# mraa-gpio set 15 0 #pin15 pull high<br /> <br /> ===== PWM test =====<br /> <br /> 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.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-pwm1 rk3308-pwm2 rk3308-pwm3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> <br /> 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'''.<br /> <br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== I2C test =====<br /> ROCK Pi S V1.2 provides 3 I2C,There are I2C0 ,I2C1, I2C3. If you need the I2C function, you can turn on one or more of them.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-i2c0 rk3308-i2c1 rk3308-i2c3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> We use MPU6050 tets i2c.<br /> 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''' .<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> '''#define I2C_BUS 0'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o i2c_mpu6050 i2c_mpu6050.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050<br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== UART test =====<br /> Disable console and enable uart2 for uart test<br /> <br /> ===== SPI test =====<br /> <br /> Firstly, modify the '''/boot/uEnv.txt''' file.<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> then execute command, sync, followed by '''reboot'''.<br /> <br /> Create file test-spi.c and add the following contents.<br /> <br /> rock@rockpis:~/mraa-examples$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> '''#define SPI_BUS 2'''<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~/mraa-examples$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> Then short pin19 and pin21 and run test-spi<br /> <br /> rock@rockpis:~/mraa-examples$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> ===== ADC test =====<br /> <br /> connect signal you want to measure, and then compile mraa example c file, aio.c, to test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~/mraa-examples$ gcc aio aio.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./aio<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> &lt;/pre&gt;<br /> <br /> ==== Development ====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].<br /> <br /> ==== Troubleshooting ====<br /> <br /> * Refer [[RockpiS/getting_started/troubleshooting | Troubleshooting page]]<br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiS</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-23T08:05:05Z <p>Zzl: /* UART test */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> rock@rockpis:~$ export DISTRO=bionic-testing # for Bionic<br /> <br /> or<br /> <br /> rock@rockpis:~$ export DISTRO=buster-testing # for Buster<br /> rock@rockpis:~$ echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key<br /> <br /> rock@rockpis:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> <br /> rock@rockpis:~$ sudo apt-get update<br /> rock@rockpis:~$ sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa # libmraa version: &gt;=0.4<br /> rock@rockpis:~$ sudo apt-get install -y linux-4.4-rockpis-latest # ROCK Pi S kernel version: &gt;= 4.4.143-47<br /> <br /> ==== Enable interface ====<br /> <br /> 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: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> &lt;/pre&gt;<br /> <br /> ==== Test ====<br /> <br /> 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.<br /> <br /> And we copy them to home directory.<br /> <br /> rock@rockpis:~/mraa-examples$ cp -av /usr/local/share/mraa/examples/c /home/rock/mraa-examples<br /> <br /> You should pay more attention to the Black Bold words when modifying configuration file /boot/uEnv.txt.<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:~# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:~# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:~# mraa-gpio set 15 0 #pin15 pull high<br /> <br /> ===== PWM test =====<br /> <br /> 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.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-pwm1 rk3308-pwm2 rk3308-pwm3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> <br /> 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'''.<br /> <br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== I2C test =====<br /> ROCK Pi S V1.2 provides 3 I2C,There are I2C0 ,I2C1, I2C3. If you need the I2C function, you can turn on one or more of them。<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-i2c0 rk3308-i2c1 rk3308-i2c3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> We use MPU6050 tets i2c.<br /> 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''' .<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> '''#define I2C_BUS 0'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o i2c_mpu6050 i2c_mpu6050.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050<br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== UART test =====<br /> Disable console and enable uart2 for uart test<br /> <br /> ===== SPI test =====<br /> <br /> Firstly, modify the '''/boot/uEnv.txt''' file.<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> then execute command, sync, followed by '''reboot'''.<br /> <br /> Create file test-spi.c and add the following contents.<br /> <br /> rock@rockpis:~/mraa-examples$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> '''#define SPI_BUS 2'''<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~/mraa-examples$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> Then short pin19 and pin21 and run test-spi<br /> <br /> rock@rockpis:~/mraa-examples$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> ===== ADC test =====<br /> <br /> connect signal you want to measure, and then compile mraa example c file, aio.c, to test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~/mraa-examples$ gcc aio aio.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./aio<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> &lt;/pre&gt;<br /> <br /> ==== Development ====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].<br /> <br /> ==== Troubleshooting ====<br /> <br /> * Refer [[RockpiS/getting_started/troubleshooting | Troubleshooting page]]<br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiS</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-23T07:21:19Z <p>Zzl: /* I2C test */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> rock@rockpis:~$ export DISTRO=bionic-testing # for Bionic<br /> <br /> or<br /> <br /> rock@rockpis:~$ export DISTRO=buster-testing # for Buster<br /> rock@rockpis:~$ echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key<br /> <br /> rock@rockpis:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> <br /> rock@rockpis:~$ sudo apt-get update<br /> rock@rockpis:~$ sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa # libmraa version: &gt;=0.4<br /> rock@rockpis:~$ sudo apt-get install -y linux-4.4-rockpis-latest # ROCK Pi S kernel version: &gt;= 4.4.143-47<br /> <br /> ==== Enable interface ====<br /> <br /> 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: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> &lt;/pre&gt;<br /> <br /> ==== Test ====<br /> <br /> 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.<br /> <br /> And we copy them to home directory.<br /> <br /> rock@rockpis:~/mraa-examples$ cp -av /usr/local/share/mraa/examples/c /home/rock/mraa-examples<br /> <br /> You should pay more attention to the Black Bold words when modifying configuration file /boot/uEnv.txt.<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:~# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:~# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:~# mraa-gpio set 15 0 #pin15 pull high<br /> <br /> ===== PWM test =====<br /> <br /> 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.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-pwm1 rk3308-pwm2 rk3308-pwm3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> <br /> 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'''.<br /> <br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== I2C test =====<br /> ROCK Pi S V1.2 provides 3 I2C,There are I2C0 ,I2C1, I2C3. If you need the I2C function, you can turn on one or more of them。<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-i2c0 rk3308-i2c1 rk3308-i2c3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> We use MPU6050 tets i2c.<br /> 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''' .<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> '''#define I2C_BUS 0'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o i2c_mpu6050 i2c_mpu6050.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050<br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== UART test =====<br /> <br /> ===== SPI test =====<br /> <br /> Firstly, modify the '''/boot/uEnv.txt''' file.<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> then execute command, sync, followed by '''reboot'''.<br /> <br /> Create file test-spi.c and add the following contents.<br /> <br /> rock@rockpis:~/mraa-examples$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> '''#define SPI_BUS 2'''<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~/mraa-examples$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> Then short pin19 and pin21 and run test-spi<br /> <br /> rock@rockpis:~/mraa-examples$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> ===== ADC test =====<br /> <br /> connect signal you want to measure, and then compile mraa example c file, aio.c, to test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~/mraa-examples$ gcc aio aio.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./aio<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> &lt;/pre&gt;<br /> <br /> ==== Development ====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].<br /> <br /> ==== Troubleshooting ====<br /> <br /> * Refer [[RockpiS/getting_started/troubleshooting | Troubleshooting page]]<br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiS</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-23T07:19:00Z <p>Zzl: /* I2C test */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> rock@rockpis:~$ export DISTRO=bionic-testing # for Bionic<br /> <br /> or<br /> <br /> rock@rockpis:~$ export DISTRO=buster-testing # for Buster<br /> rock@rockpis:~$ echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key<br /> <br /> rock@rockpis:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> <br /> rock@rockpis:~$ sudo apt-get update<br /> rock@rockpis:~$ sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa # libmraa version: &gt;=0.4<br /> rock@rockpis:~$ sudo apt-get install -y linux-4.4-rockpis-latest # ROCK Pi S kernel version: &gt;= 4.4.143-47<br /> <br /> ==== Enable interface ====<br /> <br /> 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: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> &lt;/pre&gt;<br /> <br /> ==== Test ====<br /> <br /> 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.<br /> <br /> And we copy them to home directory.<br /> <br /> rock@rockpis:~/mraa-examples$ cp -av /usr/local/share/mraa/examples/c /home/rock/mraa-examples<br /> <br /> You should pay more attention to the Black Bold words when modifying configuration file /boot/uEnv.txt.<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:~# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:~# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:~# mraa-gpio set 15 0 #pin15 pull high<br /> <br /> ===== PWM test =====<br /> <br /> 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.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-pwm1 rk3308-pwm2 rk3308-pwm3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> <br /> 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'''.<br /> <br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== I2C test =====<br /> ROCK Pi S V1.2 provides 3 I2C,There are I2C0 ,I2C1, I2C3. If you need the I2C function, you can turn on one or more of them。<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-i2c0 rk3308-i2c1 rk3308-i2c3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> We use MPU6050 tets i2c.<br /> 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''' .<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> '''#define I2C_BUS 0'''<br /> <br /> Run the compiled file<br /> rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050<br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== UART test =====<br /> <br /> ===== SPI test =====<br /> <br /> Firstly, modify the '''/boot/uEnv.txt''' file.<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> then execute command, sync, followed by '''reboot'''.<br /> <br /> Create file test-spi.c and add the following contents.<br /> <br /> rock@rockpis:~/mraa-examples$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> '''#define SPI_BUS 2'''<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~/mraa-examples$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> Then short pin19 and pin21 and run test-spi<br /> <br /> rock@rockpis:~/mraa-examples$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> ===== ADC test =====<br /> <br /> connect signal you want to measure, and then compile mraa example c file, aio.c, to test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~/mraa-examples$ gcc aio aio.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./aio<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> &lt;/pre&gt;<br /> <br /> ==== Development ====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].<br /> <br /> ==== Troubleshooting ====<br /> <br /> * Refer [[RockpiS/getting_started/troubleshooting | Troubleshooting page]]<br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiS</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-23T07:16:45Z <p>Zzl: </p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> rock@rockpis:~$ export DISTRO=bionic-testing # for Bionic<br /> <br /> or<br /> <br /> rock@rockpis:~$ export DISTRO=buster-testing # for Buster<br /> rock@rockpis:~$ echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key<br /> <br /> rock@rockpis:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> <br /> rock@rockpis:~$ sudo apt-get update<br /> rock@rockpis:~$ sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa # libmraa version: &gt;=0.4<br /> rock@rockpis:~$ sudo apt-get install -y linux-4.4-rockpis-latest # ROCK Pi S kernel version: &gt;= 4.4.143-47<br /> <br /> ==== Enable interface ====<br /> <br /> 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: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> &lt;/pre&gt;<br /> <br /> ==== Test ====<br /> <br /> 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.<br /> <br /> And we copy them to home directory.<br /> <br /> rock@rockpis:~/mraa-examples$ cp -av /usr/local/share/mraa/examples/c /home/rock/mraa-examples<br /> <br /> You should pay more attention to the Black Bold words when modifying configuration file /boot/uEnv.txt.<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:~# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:~# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:~# mraa-gpio set 15 0 #pin15 pull high<br /> <br /> ===== PWM test =====<br /> <br /> 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.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-pwm1 rk3308-pwm2 rk3308-pwm3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> <br /> 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'''.<br /> <br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== I2C test =====<br /> ROCK Pi S V1.2 provides 3 I2C,There are I2C0 ,I2C1, I2C3. If you need the I2C function, you can turn on one or more of them。<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-i2c0 rk3308-i2c1 rk3308-i2c3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> We use MPU6050 tets i2c.<br /> 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''' .<br /> <br /> Run the compiled file<br /> rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050<br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== UART test =====<br /> <br /> ===== SPI test =====<br /> <br /> Firstly, modify the '''/boot/uEnv.txt''' file.<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> then execute command, sync, followed by '''reboot'''.<br /> <br /> Create file test-spi.c and add the following contents.<br /> <br /> rock@rockpis:~/mraa-examples$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> '''#define SPI_BUS 2'''<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~/mraa-examples$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> Then short pin19 and pin21 and run test-spi<br /> <br /> rock@rockpis:~/mraa-examples$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> ===== ADC test =====<br /> <br /> connect signal you want to measure, and then compile mraa example c file, aio.c, to test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~/mraa-examples$ gcc aio aio.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./aio<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> &lt;/pre&gt;<br /> <br /> ==== Development ====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].<br /> <br /> ==== Troubleshooting ====<br /> <br /> * Refer [[RockpiS/getting_started/troubleshooting | Troubleshooting page]]<br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiS</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-23T07:06:02Z <p>Zzl: /* I2C test */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> rock@rockpis:~$ export DISTRO=bionic-testing # for Bionic<br /> <br /> or<br /> <br /> rock@rockpis:~$ export DISTRO=buster-testing # for Buster<br /> rock@rockpis:~$ echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key<br /> <br /> rock@rockpis:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> <br /> rock@rockpis:~$ sudo apt-get update<br /> rock@rockpis:~$ sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa # libmraa version: &gt;=0.4<br /> rock@rockpis:~$ sudo apt-get install -y linux-4.4-rockpis-latest # ROCK Pi S kernel version: &gt;= 4.4.143-47<br /> <br /> ==== Enable interface ====<br /> <br /> 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: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> &lt;/pre&gt;<br /> <br /> ==== Test ====<br /> <br /> 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.<br /> <br /> And we copy them to home directory.<br /> <br /> rock@rockpis:~/mraa-examples$ cp -av /usr/local/share/mraa/examples/c /home/rock/mraa-examples<br /> <br /> You should pay more attention to the Black Bold words when modifying configuration file /boot/uEnv.txt.<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:~# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:~# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:~# mraa-gpio set 15 0 #pin15 pull high<br /> <br /> ===== PWM test =====<br /> <br /> 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.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-pwm1 rk3308-pwm2 rk3308-pwm3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> <br /> 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'''.<br /> <br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== I2C test =====<br /> <br /> We use MPU6050 tets i2c.<br /> 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''' .<br /> <br /> Run the compiled file<br /> rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050<br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== UART test =====<br /> <br /> ===== SPI test =====<br /> <br /> Firstly, modify the '''/boot/uEnv.txt''' file.<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> then execute command, sync, followed by '''reboot'''.<br /> <br /> Create file test-spi.c and add the following contents.<br /> <br /> rock@rockpis:~/mraa-examples$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> '''#define SPI_BUS 2'''<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~/mraa-examples$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> Then short pin19 and pin21 and run test-spi<br /> <br /> rock@rockpis:~/mraa-examples$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> ===== ADC test =====<br /> <br /> connect signal you want to measure, and then compile mraa example c file, aio.c, to test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~/mraa-examples$ gcc aio aio.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./aio<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> &lt;/pre&gt;<br /> <br /> ==== Development ====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].<br /> <br /> ==== Troubleshooting ====<br /> <br /> * Refer [[RockpiS/getting_started/troubleshooting | Troubleshooting page]]<br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiS</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-22T01:32:25Z <p>Zzl: /* PWM test */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> rock@rockpis:~$ export DISTRO=bionic-testing # for Bionic<br /> <br /> or<br /> <br /> rock@rockpis:~$ export DISTRO=buster-testing # for Buster<br /> rock@rockpis:~$ echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key<br /> <br /> rock@rockpis:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> <br /> rock@rockpis:~$ sudo apt-get update<br /> rock@rockpis:~$ sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa # libmraa version: &gt;=0.4<br /> rock@rockpis:~$ sudo apt-get install -y linux-4.4-rockpis-latest # ROCK Pi S kernel version: &gt;= 4.4.143-47<br /> <br /> ==== Enable interface ====<br /> <br /> 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: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> &lt;/pre&gt;<br /> <br /> ==== Test ====<br /> <br /> 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.<br /> <br /> And we copy them to home directory.<br /> <br /> rock@rockpis:~/mraa-examples$ cp -av /usr/local/share/mraa/examples/c /home/rock/mraa-examples<br /> <br /> You should pay more attention to the Black Bold words when modifying configuration file /boot/uEnv.txt.<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:~# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:~# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:~# mraa-gpio set 15 0 #pin15 pull high<br /> <br /> ===== PWM test =====<br /> <br /> 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.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> &lt;pre&gt;<br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-pwm1 rk3308-pwm2 rk3308-pwm3''' <br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> &lt;/pre&gt;<br /> <br /> 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'''.<br /> <br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== I2C test =====<br /> <br /> Use mraa-i2c tool to test. Here we use I2C MPU6050<br /> rock@rockpis:~/mraa-examples$ cat i2c_mpu6050.c <br /> /* standard headers */<br /> #include &lt;endian.h&gt;<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdio.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> <br /> '''#define I2C_BUS 1'''<br /> <br /> /* register definitions */<br /> #define MPU6050_ADDR 0x68<br /> #define MPU6050_REG_PWR_MGMT_1 0x6b<br /> #define MPU6050_REG_RAW_ACCEL_X 0x3b<br /> #define MPU6050_REG_RAW_ACCEL_Y 0x3d<br /> #define MPU6050_REG_RAW_ACCEL_Z 0x3f<br /> #define MPU6050_REG_RAW_GYRO_X 0x43<br /> #define MPU6050_REG_RAW_GYRO_Y 0x45<br /> #define MPU6050_REG_RAW_GYRO_Z 0x47<br /> <br /> /* bit definitions */<br /> #define MPU6050_RESET 0x80<br /> #define MPU6050_SLEEP (1 &lt;&lt; 6)<br /> #define MPU6050_PLL_GYRO_X (1 &lt;&lt; 1)<br /> <br /> /* accelerometer scale factor for (+/-)2g */<br /> #define MPU6050_ACCEL_SCALE 16384.0<br /> <br /> /* gyroscope scale factor for (+/-)250/s */<br /> #define MPU6050_GYRO_SCALE 131.0<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int16_t<br /> i2c_read_word(mraa_i2c_context dev, uint8_t command)<br /> {<br /> return be16toh(mraa_i2c_read_word_data(dev, command));<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_i2c_context i2c;<br /> uint8_t data;<br /> int16_t accel_data[3];<br /> int16_t gyro_data[3];<br /> int ret;<br /> <br /> /* install signal handler */<br /> signal(SIGINT, sig_handler);<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize I2C bus */<br /> i2c = mraa_i2c_init(I2C_BUS);<br /> if (i2c == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize I2C\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set slave address */<br /> status = mraa_i2c_address(i2c, MPU6050_ADDR);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* reset the sensor */<br /> status = mraa_i2c_write_byte_data(i2c, MPU6050_RESET, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> /* configure power management register */<br /> ret = mraa_i2c_read_byte_data(i2c, MPU6050_REG_PWR_MGMT_1);<br /> if (ret == -1) {<br /> return EXIT_FAILURE;<br /> }<br /> <br /> data = ret;<br /> data |= MPU6050_PLL_GYRO_X;<br /> data &amp;= ~(MPU6050_SLEEP);<br /> <br /> status = mraa_i2c_write_byte_data(i2c, data, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> while (flag) {<br /> /* read raw accel data */<br /> accel_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_X) / MPU6050_ACCEL_SCALE;<br /> accel_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Y) / MPU6050_ACCEL_SCALE;<br /> accel_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Z) / MPU6050_ACCEL_SCALE;<br /> <br /> /* read raw gyro data */<br /> gyro_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_X) / MPU6050_GYRO_SCALE;<br /> gyro_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Y) / MPU6050_GYRO_SCALE;<br /> gyro_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Z) / MPU6050_GYRO_SCALE;<br /> <br /> fprintf(stdout, &quot;accel: x:%d y:%d z:%d\n&quot;, accel_data[0], accel_data[1], accel_data[2]);<br /> fprintf(stdout, &quot;gyro: x:%d y:%d z:%d\n\n&quot;, gyro_data[0], gyro_data[1], gyro_data[2]);<br /> <br /> sleep(2);<br /> }<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> rock@rockpis:~/mraa-examples$ gcc i2c_mpu6050 i2c_mpu6050.c -lmraa<br /> <br /> Run the compiled file<br /> rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050<br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== UART test =====<br /> <br /> ===== SPI test =====<br /> <br /> Firstly, modify the '''/boot/uEnv.txt''' file.<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> then execute command, sync, followed by '''reboot'''.<br /> <br /> Create file test-spi.c and add the following contents.<br /> <br /> rock@rockpis:~/mraa-examples$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> '''#define SPI_BUS 2'''<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~/mraa-examples$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> Then short pin19 and pin21 and run test-spi<br /> <br /> rock@rockpis:~/mraa-examples$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> ===== ADC test =====<br /> <br /> connect signal you want to measure, and then compile mraa example c file, aio.c, to test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~/mraa-examples$ gcc aio aio.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./aio<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> &lt;/pre&gt;<br /> <br /> ==== Development ====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].<br /> <br /> ==== Troubleshooting ====<br /> <br /> * Refer [[RockpiS/getting_started/troubleshooting | Troubleshooting page]]<br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiS</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-22T01:10:46Z <p>Zzl: /* PWM test */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> rock@rockpis:~$ export DISTRO=bionic-testing # for Bionic<br /> <br /> or<br /> <br /> rock@rockpis:~$ export DISTRO=buster-testing # for Buster<br /> rock@rockpis:~$ echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key<br /> <br /> rock@rockpis:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> <br /> rock@rockpis:~$ sudo apt-get update<br /> rock@rockpis:~$ sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa # libmraa version: &gt;=0.4<br /> rock@rockpis:~$ sudo apt-get install -y linux-4.4-rockpis-latest # ROCK Pi S kernel version: &gt;= 4.4.143-47<br /> <br /> ==== Enable interface ====<br /> <br /> 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: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> &lt;/pre&gt;<br /> <br /> ==== Test ====<br /> <br /> 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.<br /> <br /> And we copy them to home directory.<br /> <br /> rock@rockpis:~/mraa-examples$ cp -av /usr/local/share/mraa/examples/c /home/rock/mraa-examples<br /> <br /> You should pay more attention to the Black Bold words when modifying configuration file /boot/uEnv.txt.<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:~# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:~# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:~# mraa-gpio set 15 0 #pin15 pull high<br /> <br /> ===== PWM test =====<br /> <br /> 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.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> &lt;pre&gt;<br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-pwm1 rk3308-pwm2 rk3308-pwm3 <br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> &lt;/pre&gt;<br /> <br /> 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'''.<br /> <br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== I2C test =====<br /> <br /> Use mraa-i2c tool to test. Here we use I2C MPU6050<br /> rock@rockpis:~/mraa-examples$ cat i2c_mpu6050.c <br /> /* standard headers */<br /> #include &lt;endian.h&gt;<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdio.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> <br /> '''#define I2C_BUS 1'''<br /> <br /> /* register definitions */<br /> #define MPU6050_ADDR 0x68<br /> #define MPU6050_REG_PWR_MGMT_1 0x6b<br /> #define MPU6050_REG_RAW_ACCEL_X 0x3b<br /> #define MPU6050_REG_RAW_ACCEL_Y 0x3d<br /> #define MPU6050_REG_RAW_ACCEL_Z 0x3f<br /> #define MPU6050_REG_RAW_GYRO_X 0x43<br /> #define MPU6050_REG_RAW_GYRO_Y 0x45<br /> #define MPU6050_REG_RAW_GYRO_Z 0x47<br /> <br /> /* bit definitions */<br /> #define MPU6050_RESET 0x80<br /> #define MPU6050_SLEEP (1 &lt;&lt; 6)<br /> #define MPU6050_PLL_GYRO_X (1 &lt;&lt; 1)<br /> <br /> /* accelerometer scale factor for (+/-)2g */<br /> #define MPU6050_ACCEL_SCALE 16384.0<br /> <br /> /* gyroscope scale factor for (+/-)250/s */<br /> #define MPU6050_GYRO_SCALE 131.0<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int16_t<br /> i2c_read_word(mraa_i2c_context dev, uint8_t command)<br /> {<br /> return be16toh(mraa_i2c_read_word_data(dev, command));<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_i2c_context i2c;<br /> uint8_t data;<br /> int16_t accel_data[3];<br /> int16_t gyro_data[3];<br /> int ret;<br /> <br /> /* install signal handler */<br /> signal(SIGINT, sig_handler);<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize I2C bus */<br /> i2c = mraa_i2c_init(I2C_BUS);<br /> if (i2c == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize I2C\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set slave address */<br /> status = mraa_i2c_address(i2c, MPU6050_ADDR);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* reset the sensor */<br /> status = mraa_i2c_write_byte_data(i2c, MPU6050_RESET, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> /* configure power management register */<br /> ret = mraa_i2c_read_byte_data(i2c, MPU6050_REG_PWR_MGMT_1);<br /> if (ret == -1) {<br /> return EXIT_FAILURE;<br /> }<br /> <br /> data = ret;<br /> data |= MPU6050_PLL_GYRO_X;<br /> data &amp;= ~(MPU6050_SLEEP);<br /> <br /> status = mraa_i2c_write_byte_data(i2c, data, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> while (flag) {<br /> /* read raw accel data */<br /> accel_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_X) / MPU6050_ACCEL_SCALE;<br /> accel_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Y) / MPU6050_ACCEL_SCALE;<br /> accel_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Z) / MPU6050_ACCEL_SCALE;<br /> <br /> /* read raw gyro data */<br /> gyro_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_X) / MPU6050_GYRO_SCALE;<br /> gyro_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Y) / MPU6050_GYRO_SCALE;<br /> gyro_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Z) / MPU6050_GYRO_SCALE;<br /> <br /> fprintf(stdout, &quot;accel: x:%d y:%d z:%d\n&quot;, accel_data[0], accel_data[1], accel_data[2]);<br /> fprintf(stdout, &quot;gyro: x:%d y:%d z:%d\n\n&quot;, gyro_data[0], gyro_data[1], gyro_data[2]);<br /> <br /> sleep(2);<br /> }<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> rock@rockpis:~/mraa-examples$ gcc i2c_mpu6050 i2c_mpu6050.c -lmraa<br /> <br /> Run the compiled file<br /> rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050<br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== UART test =====<br /> <br /> ===== SPI test =====<br /> <br /> Firstly, modify the '''/boot/uEnv.txt''' file.<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> then execute command, sync, followed by '''reboot'''.<br /> <br /> Create file test-spi.c and add the following contents.<br /> <br /> rock@rockpis:~/mraa-examples$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> '''#define SPI_BUS 2'''<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~/mraa-examples$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> Then short pin19 and pin21 and run test-spi<br /> <br /> rock@rockpis:~/mraa-examples$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> ===== ADC test =====<br /> <br /> connect signal you want to measure, and then compile mraa example c file, aio.c, to test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~/mraa-examples$ gcc aio aio.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./aio<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> &lt;/pre&gt;<br /> <br /> ==== Development ====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].<br /> <br /> ==== Troubleshooting ====<br /> <br /> * Refer [[RockpiS/getting_started/troubleshooting | Troubleshooting page]]<br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiS</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-22T01:09:45Z <p>Zzl: /* PWM test */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> rock@rockpis:~$ export DISTRO=bionic-testing # for Bionic<br /> <br /> or<br /> <br /> rock@rockpis:~$ export DISTRO=buster-testing # for Buster<br /> rock@rockpis:~$ echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key<br /> <br /> rock@rockpis:~$ wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> <br /> rock@rockpis:~$ sudo apt-get update<br /> rock@rockpis:~$ sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa # libmraa version: &gt;=0.4<br /> rock@rockpis:~$ sudo apt-get install -y linux-4.4-rockpis-latest # ROCK Pi S kernel version: &gt;= 4.4.143-47<br /> <br /> ==== Enable interface ====<br /> <br /> 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: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> &lt;/pre&gt;<br /> <br /> ==== Test ====<br /> <br /> 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.<br /> <br /> And we copy them to home directory.<br /> <br /> rock@rockpis:~/mraa-examples$ cp -av /usr/local/share/mraa/examples/c /home/rock/mraa-examples<br /> <br /> You should pay more attention to the Black Bold words when modifying configuration file /boot/uEnv.txt.<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:~# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:~# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:~# mraa-gpio set 15 0 #pin15 pull high<br /> <br /> ===== PWM test =====<br /> <br /> 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.<br /> <br /> Firstly, modify the /boot/uEnv.txt file to add the following<br /> <br /> &lt;pre&gt;<br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-pwm1 rk3308-pwm2 rk3308-pwm3'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> &lt;/pre&gt;<br /> <br /> 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'''.<br /> <br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> <br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa-examples$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== I2C test =====<br /> <br /> Use mraa-i2c tool to test. Here we use I2C MPU6050<br /> rock@rockpis:~/mraa-examples$ cat i2c_mpu6050.c <br /> /* standard headers */<br /> #include &lt;endian.h&gt;<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdio.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> <br /> '''#define I2C_BUS 1'''<br /> <br /> /* register definitions */<br /> #define MPU6050_ADDR 0x68<br /> #define MPU6050_REG_PWR_MGMT_1 0x6b<br /> #define MPU6050_REG_RAW_ACCEL_X 0x3b<br /> #define MPU6050_REG_RAW_ACCEL_Y 0x3d<br /> #define MPU6050_REG_RAW_ACCEL_Z 0x3f<br /> #define MPU6050_REG_RAW_GYRO_X 0x43<br /> #define MPU6050_REG_RAW_GYRO_Y 0x45<br /> #define MPU6050_REG_RAW_GYRO_Z 0x47<br /> <br /> /* bit definitions */<br /> #define MPU6050_RESET 0x80<br /> #define MPU6050_SLEEP (1 &lt;&lt; 6)<br /> #define MPU6050_PLL_GYRO_X (1 &lt;&lt; 1)<br /> <br /> /* accelerometer scale factor for (+/-)2g */<br /> #define MPU6050_ACCEL_SCALE 16384.0<br /> <br /> /* gyroscope scale factor for (+/-)250/s */<br /> #define MPU6050_GYRO_SCALE 131.0<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int16_t<br /> i2c_read_word(mraa_i2c_context dev, uint8_t command)<br /> {<br /> return be16toh(mraa_i2c_read_word_data(dev, command));<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_i2c_context i2c;<br /> uint8_t data;<br /> int16_t accel_data[3];<br /> int16_t gyro_data[3];<br /> int ret;<br /> <br /> /* install signal handler */<br /> signal(SIGINT, sig_handler);<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize I2C bus */<br /> i2c = mraa_i2c_init(I2C_BUS);<br /> if (i2c == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize I2C\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set slave address */<br /> status = mraa_i2c_address(i2c, MPU6050_ADDR);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* reset the sensor */<br /> status = mraa_i2c_write_byte_data(i2c, MPU6050_RESET, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> /* configure power management register */<br /> ret = mraa_i2c_read_byte_data(i2c, MPU6050_REG_PWR_MGMT_1);<br /> if (ret == -1) {<br /> return EXIT_FAILURE;<br /> }<br /> <br /> data = ret;<br /> data |= MPU6050_PLL_GYRO_X;<br /> data &amp;= ~(MPU6050_SLEEP);<br /> <br /> status = mraa_i2c_write_byte_data(i2c, data, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> while (flag) {<br /> /* read raw accel data */<br /> accel_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_X) / MPU6050_ACCEL_SCALE;<br /> accel_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Y) / MPU6050_ACCEL_SCALE;<br /> accel_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Z) / MPU6050_ACCEL_SCALE;<br /> <br /> /* read raw gyro data */<br /> gyro_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_X) / MPU6050_GYRO_SCALE;<br /> gyro_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Y) / MPU6050_GYRO_SCALE;<br /> gyro_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Z) / MPU6050_GYRO_SCALE;<br /> <br /> fprintf(stdout, &quot;accel: x:%d y:%d z:%d\n&quot;, accel_data[0], accel_data[1], accel_data[2]);<br /> fprintf(stdout, &quot;gyro: x:%d y:%d z:%d\n\n&quot;, gyro_data[0], gyro_data[1], gyro_data[2]);<br /> <br /> sleep(2);<br /> }<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> rock@rockpis:~/mraa-examples$ gcc i2c_mpu6050 i2c_mpu6050.c -lmraa<br /> <br /> Run the compiled file<br /> rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050<br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== UART test =====<br /> <br /> ===== SPI test =====<br /> <br /> Firstly, modify the '''/boot/uEnv.txt''' file.<br /> <br /> root@rockpis:~# cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> initrdsize=0x64d1d4<br /> kernelversion=4.4.143-47-rockchip-g495ff574976c<br /> initrdimg=initrd.img-4.4.143-47-rockchip-g495ff574976c<br /> kernelimg=vmlinuz-4.4.143-47-rockchip-g495ff574976c<br /> <br /> then execute command, sync, followed by '''reboot'''.<br /> <br /> Create file test-spi.c and add the following contents.<br /> <br /> rock@rockpis:~/mraa-examples$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> '''#define SPI_BUS 2'''<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~/mraa-examples$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> Then short pin19 and pin21 and run test-spi<br /> <br /> rock@rockpis:~/mraa-examples$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> ===== ADC test =====<br /> <br /> connect signal you want to measure, and then compile mraa example c file, aio.c, to test.<br /> <br /> &lt;pre&gt;<br /> rock@rockpis:~/mraa-examples$ gcc aio aio.c -lmraa<br /> rock@rockpis:~/mraa-examples$ sudo ./aio<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> &lt;/pre&gt;<br /> <br /> ==== Development ====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].<br /> <br /> ==== Troubleshooting ====<br /> <br /> * Refer [[RockpiS/getting_started/troubleshooting | Troubleshooting page]]<br /> * Post your issue on the forum: https://forum.radxa.com/c/rockpiS</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-21T08:18:18Z <p>Zzl: /* test pwm */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> export DISTRO=bionic-testing # for Bionic<br /> # or<br /> export DISTRO=buster-testing # for Buster<br /> <br /> echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa<br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> rock@rockpis:/boot$ cat uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf24<br /> <br /> ==== Test ====<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> First, modify the / boot/uEnv.txt file to add the following<br /> rock@rockpis:~/mraa/src/arm$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-pwm1''' <br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf243b9655a<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> <br /> Folder '''/mraa/examples/c/pwm.c''' has examples of testing PWM,Modify the PWM pin in pwm.c as follows<br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa/examples/c$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpis:~/mraa/examples/c$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== test i2c =====<br /> Use mraa-i2c tool to test,here we use I2C MPU6050<br /> root@rockpis:/home/rock/c# cat i2c_mpu6050.c <br /> /* standard headers */<br /> #include &lt;endian.h&gt;<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdio.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> <br /> #define I2C_BUS 1<br /> <br /> /* register definitions */<br /> #define MPU6050_ADDR 0x68<br /> #define MPU6050_REG_PWR_MGMT_1 0x6b<br /> #define MPU6050_REG_RAW_ACCEL_X 0x3b<br /> #define MPU6050_REG_RAW_ACCEL_Y 0x3d<br /> #define MPU6050_REG_RAW_ACCEL_Z 0x3f<br /> #define MPU6050_REG_RAW_GYRO_X 0x43<br /> #define MPU6050_REG_RAW_GYRO_Y 0x45<br /> #define MPU6050_REG_RAW_GYRO_Z 0x47<br /> <br /> /* bit definitions */<br /> #define MPU6050_RESET 0x80<br /> #define MPU6050_SLEEP (1 &lt;&lt; 6)<br /> #define MPU6050_PLL_GYRO_X (1 &lt;&lt; 1)<br /> <br /> /* accelerometer scale factor for (+/-)2g */<br /> #define MPU6050_ACCEL_SCALE 16384.0<br /> <br /> /* gyroscope scale factor for (+/-)250/s */<br /> #define MPU6050_GYRO_SCALE 131.0<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int16_t<br /> i2c_read_word(mraa_i2c_context dev, uint8_t command)<br /> {<br /> return be16toh(mraa_i2c_read_word_data(dev, command));<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_i2c_context i2c;<br /> uint8_t data;<br /> int16_t accel_data[3];<br /> int16_t gyro_data[3];<br /> int ret;<br /> <br /> /* install signal handler */<br /> signal(SIGINT, sig_handler);<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize I2C bus */<br /> i2c = mraa_i2c_init(I2C_BUS);<br /> if (i2c == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize I2C\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set slave address */<br /> status = mraa_i2c_address(i2c, MPU6050_ADDR);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* reset the sensor */<br /> status = mraa_i2c_write_byte_data(i2c, MPU6050_RESET, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> /* configure power management register */<br /> ret = mraa_i2c_read_byte_data(i2c, MPU6050_REG_PWR_MGMT_1);<br /> if (ret == -1) {<br /> return EXIT_FAILURE;<br /> }<br /> <br /> data = ret;<br /> data |= MPU6050_PLL_GYRO_X;<br /> data &amp;= ~(MPU6050_SLEEP);<br /> <br /> status = mraa_i2c_write_byte_data(i2c, data, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> while (flag) {<br /> /* read raw accel data */<br /> accel_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_X) / MPU6050_ACCEL_SCALE;<br /> accel_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Y) / MPU6050_ACCEL_SCALE;<br /> accel_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Z) / MPU6050_ACCEL_SCALE;<br /> <br /> /* read raw gyro data */<br /> gyro_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_X) / MPU6050_GYRO_SCALE;<br /> gyro_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Y) / MPU6050_GYRO_SCALE;<br /> gyro_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Z) / MPU6050_GYRO_SCALE;<br /> <br /> fprintf(stdout, &quot;accel: x:%d y:%d z:%d\n&quot;, accel_data[0], accel_data[1], accel_data[2]);<br /> fprintf(stdout, &quot;gyro: x:%d y:%d z:%d\n\n&quot;, gyro_data[0], gyro_data[1], gyro_data[2]);<br /> <br /> sleep(2);<br /> }<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc i2c_mpu6050.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== test uart =====<br /> enable uart1 for uart test<br /> root@rockpis:/home/rock# cat /boot/hw_intfc.conf<br /> <br /> # Hardware Interface Config<br /> <br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=off<br /> intfc:i2c1=off<br /> intfc:i2c2=off<br /> intfc:i2c3=off<br /> <br /> intfc:pwm1=off<br /> intfc:pwm2=off<br /> intfc:pwm3=off<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=off<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> <br /> # Dummy spi device on SPI0 for test. Need set: intfc:spi0=on<br /> #intfc:dtoverlay=devspi0<br /> <br /> # Dummy spi device on SPI2 for test. Need set: intfc:spi2=on<br /> #intfc:dtoverlay=devspi2<br /> <br /> # Use /dev/ttyS0. Need set: intfc:uart0=on<br /> #intfc:dtoverlay=rk3308-uart0<br /> <br /> # Use /dev/ttyS1. Need set: intfc:uart1=on<br /> intfc:dtoverlay=rk3308-uart1<br /> <br /> # Use /dev/ttyS2. Need set: intfc:uart2=on<br /> intfc:dtoverlay=rk3308-uart2<br /> <br /> then reboot and use serial port PIN23 and PIN24<br /> <br /> send command follow:<br /> sudo mraa-uart dev 0 baud 1500000 send data<br /> <br /> receive command follow:<br /> sudo mraa-uart dev 0 baud 1500000 recv 1000<br /> <br /> the receive window will show<br /> date<br /> <br /> ===== test spi =====<br /> First, modify the '''/ boot/uEnv.txt''' file to add the following<br /> rock@rockpis:/boot$ cat uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf243b9655a<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> <br /> then '''reboot'''<br /> <br /> use c to test spi,compile spi.c,if use spi1,must disable<br /> <br /> rock@rockpis:~$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> #define SPI_BUS 2<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> then short pin19 and pin21 and run a.out<br /> rock@rockpis:~$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> <br /> ===== test adc =====<br /> connect signal you want to measure,and then compile mraa examplec file to test.<br /> <br /> Folder '''/mraa/examples/c/aio.c''' has examples of testing ADC，compiling it and executing<br /> rock@rockpis:~/mraa/examples/c$ gcc aio.c -lmraa<br /> rock@rockpis:~/mraa/examples/c$ ./a.out<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-21T08:17:36Z <p>Zzl: /* test adc */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> export DISTRO=bionic-testing # for Bionic<br /> # or<br /> export DISTRO=buster-testing # for Buster<br /> <br /> echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa<br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> rock@rockpis:/boot$ cat uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf24<br /> <br /> ==== Test ====<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> First, modify the / boot/uEnv.txt file to add the following<br /> rock@rockpis:~/mraa/src/arm$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-pwm1''' <br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf243b9655a<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> <br /> Folder /mraa/examples/c/pwm.c has examples of testing PWM,Modify the PWM pin in pwm.c as follows<br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa/examples/c$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpis:~/mraa/examples/c$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== test i2c =====<br /> Use mraa-i2c tool to test,here we use I2C MPU6050<br /> root@rockpis:/home/rock/c# cat i2c_mpu6050.c <br /> /* standard headers */<br /> #include &lt;endian.h&gt;<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdio.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> <br /> #define I2C_BUS 1<br /> <br /> /* register definitions */<br /> #define MPU6050_ADDR 0x68<br /> #define MPU6050_REG_PWR_MGMT_1 0x6b<br /> #define MPU6050_REG_RAW_ACCEL_X 0x3b<br /> #define MPU6050_REG_RAW_ACCEL_Y 0x3d<br /> #define MPU6050_REG_RAW_ACCEL_Z 0x3f<br /> #define MPU6050_REG_RAW_GYRO_X 0x43<br /> #define MPU6050_REG_RAW_GYRO_Y 0x45<br /> #define MPU6050_REG_RAW_GYRO_Z 0x47<br /> <br /> /* bit definitions */<br /> #define MPU6050_RESET 0x80<br /> #define MPU6050_SLEEP (1 &lt;&lt; 6)<br /> #define MPU6050_PLL_GYRO_X (1 &lt;&lt; 1)<br /> <br /> /* accelerometer scale factor for (+/-)2g */<br /> #define MPU6050_ACCEL_SCALE 16384.0<br /> <br /> /* gyroscope scale factor for (+/-)250/s */<br /> #define MPU6050_GYRO_SCALE 131.0<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int16_t<br /> i2c_read_word(mraa_i2c_context dev, uint8_t command)<br /> {<br /> return be16toh(mraa_i2c_read_word_data(dev, command));<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_i2c_context i2c;<br /> uint8_t data;<br /> int16_t accel_data[3];<br /> int16_t gyro_data[3];<br /> int ret;<br /> <br /> /* install signal handler */<br /> signal(SIGINT, sig_handler);<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize I2C bus */<br /> i2c = mraa_i2c_init(I2C_BUS);<br /> if (i2c == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize I2C\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set slave address */<br /> status = mraa_i2c_address(i2c, MPU6050_ADDR);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* reset the sensor */<br /> status = mraa_i2c_write_byte_data(i2c, MPU6050_RESET, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> /* configure power management register */<br /> ret = mraa_i2c_read_byte_data(i2c, MPU6050_REG_PWR_MGMT_1);<br /> if (ret == -1) {<br /> return EXIT_FAILURE;<br /> }<br /> <br /> data = ret;<br /> data |= MPU6050_PLL_GYRO_X;<br /> data &amp;= ~(MPU6050_SLEEP);<br /> <br /> status = mraa_i2c_write_byte_data(i2c, data, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> while (flag) {<br /> /* read raw accel data */<br /> accel_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_X) / MPU6050_ACCEL_SCALE;<br /> accel_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Y) / MPU6050_ACCEL_SCALE;<br /> accel_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Z) / MPU6050_ACCEL_SCALE;<br /> <br /> /* read raw gyro data */<br /> gyro_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_X) / MPU6050_GYRO_SCALE;<br /> gyro_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Y) / MPU6050_GYRO_SCALE;<br /> gyro_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Z) / MPU6050_GYRO_SCALE;<br /> <br /> fprintf(stdout, &quot;accel: x:%d y:%d z:%d\n&quot;, accel_data[0], accel_data[1], accel_data[2]);<br /> fprintf(stdout, &quot;gyro: x:%d y:%d z:%d\n\n&quot;, gyro_data[0], gyro_data[1], gyro_data[2]);<br /> <br /> sleep(2);<br /> }<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc i2c_mpu6050.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== test uart =====<br /> enable uart1 for uart test<br /> root@rockpis:/home/rock# cat /boot/hw_intfc.conf<br /> <br /> # Hardware Interface Config<br /> <br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=off<br /> intfc:i2c1=off<br /> intfc:i2c2=off<br /> intfc:i2c3=off<br /> <br /> intfc:pwm1=off<br /> intfc:pwm2=off<br /> intfc:pwm3=off<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=off<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> <br /> # Dummy spi device on SPI0 for test. Need set: intfc:spi0=on<br /> #intfc:dtoverlay=devspi0<br /> <br /> # Dummy spi device on SPI2 for test. Need set: intfc:spi2=on<br /> #intfc:dtoverlay=devspi2<br /> <br /> # Use /dev/ttyS0. Need set: intfc:uart0=on<br /> #intfc:dtoverlay=rk3308-uart0<br /> <br /> # Use /dev/ttyS1. Need set: intfc:uart1=on<br /> intfc:dtoverlay=rk3308-uart1<br /> <br /> # Use /dev/ttyS2. Need set: intfc:uart2=on<br /> intfc:dtoverlay=rk3308-uart2<br /> <br /> then reboot and use serial port PIN23 and PIN24<br /> <br /> send command follow:<br /> sudo mraa-uart dev 0 baud 1500000 send data<br /> <br /> receive command follow:<br /> sudo mraa-uart dev 0 baud 1500000 recv 1000<br /> <br /> the receive window will show<br /> date<br /> <br /> ===== test spi =====<br /> First, modify the '''/ boot/uEnv.txt''' file to add the following<br /> rock@rockpis:/boot$ cat uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf243b9655a<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> <br /> then '''reboot'''<br /> <br /> use c to test spi,compile spi.c,if use spi1,must disable<br /> <br /> rock@rockpis:~$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> #define SPI_BUS 2<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> then short pin19 and pin21 and run a.out<br /> rock@rockpis:~$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> <br /> ===== test adc =====<br /> connect signal you want to measure,and then compile mraa examplec file to test.<br /> <br /> Folder '''/mraa/examples/c/aio.c''' has examples of testing ADC，compiling it and executing<br /> rock@rockpis:~/mraa/examples/c$ gcc aio.c -lmraa<br /> rock@rockpis:~/mraa/examples/c$ ./a.out<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-21T08:17:17Z <p>Zzl: /* test adc */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> export DISTRO=bionic-testing # for Bionic<br /> # or<br /> export DISTRO=buster-testing # for Buster<br /> <br /> echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa<br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> rock@rockpis:/boot$ cat uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf24<br /> <br /> ==== Test ====<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> First, modify the / boot/uEnv.txt file to add the following<br /> rock@rockpis:~/mraa/src/arm$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-pwm1''' <br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf243b9655a<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> <br /> Folder /mraa/examples/c/pwm.c has examples of testing PWM,Modify the PWM pin in pwm.c as follows<br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa/examples/c$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpis:~/mraa/examples/c$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== test i2c =====<br /> Use mraa-i2c tool to test,here we use I2C MPU6050<br /> root@rockpis:/home/rock/c# cat i2c_mpu6050.c <br /> /* standard headers */<br /> #include &lt;endian.h&gt;<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdio.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> <br /> #define I2C_BUS 1<br /> <br /> /* register definitions */<br /> #define MPU6050_ADDR 0x68<br /> #define MPU6050_REG_PWR_MGMT_1 0x6b<br /> #define MPU6050_REG_RAW_ACCEL_X 0x3b<br /> #define MPU6050_REG_RAW_ACCEL_Y 0x3d<br /> #define MPU6050_REG_RAW_ACCEL_Z 0x3f<br /> #define MPU6050_REG_RAW_GYRO_X 0x43<br /> #define MPU6050_REG_RAW_GYRO_Y 0x45<br /> #define MPU6050_REG_RAW_GYRO_Z 0x47<br /> <br /> /* bit definitions */<br /> #define MPU6050_RESET 0x80<br /> #define MPU6050_SLEEP (1 &lt;&lt; 6)<br /> #define MPU6050_PLL_GYRO_X (1 &lt;&lt; 1)<br /> <br /> /* accelerometer scale factor for (+/-)2g */<br /> #define MPU6050_ACCEL_SCALE 16384.0<br /> <br /> /* gyroscope scale factor for (+/-)250/s */<br /> #define MPU6050_GYRO_SCALE 131.0<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int16_t<br /> i2c_read_word(mraa_i2c_context dev, uint8_t command)<br /> {<br /> return be16toh(mraa_i2c_read_word_data(dev, command));<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_i2c_context i2c;<br /> uint8_t data;<br /> int16_t accel_data[3];<br /> int16_t gyro_data[3];<br /> int ret;<br /> <br /> /* install signal handler */<br /> signal(SIGINT, sig_handler);<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize I2C bus */<br /> i2c = mraa_i2c_init(I2C_BUS);<br /> if (i2c == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize I2C\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set slave address */<br /> status = mraa_i2c_address(i2c, MPU6050_ADDR);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* reset the sensor */<br /> status = mraa_i2c_write_byte_data(i2c, MPU6050_RESET, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> /* configure power management register */<br /> ret = mraa_i2c_read_byte_data(i2c, MPU6050_REG_PWR_MGMT_1);<br /> if (ret == -1) {<br /> return EXIT_FAILURE;<br /> }<br /> <br /> data = ret;<br /> data |= MPU6050_PLL_GYRO_X;<br /> data &amp;= ~(MPU6050_SLEEP);<br /> <br /> status = mraa_i2c_write_byte_data(i2c, data, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> while (flag) {<br /> /* read raw accel data */<br /> accel_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_X) / MPU6050_ACCEL_SCALE;<br /> accel_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Y) / MPU6050_ACCEL_SCALE;<br /> accel_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Z) / MPU6050_ACCEL_SCALE;<br /> <br /> /* read raw gyro data */<br /> gyro_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_X) / MPU6050_GYRO_SCALE;<br /> gyro_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Y) / MPU6050_GYRO_SCALE;<br /> gyro_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Z) / MPU6050_GYRO_SCALE;<br /> <br /> fprintf(stdout, &quot;accel: x:%d y:%d z:%d\n&quot;, accel_data[0], accel_data[1], accel_data[2]);<br /> fprintf(stdout, &quot;gyro: x:%d y:%d z:%d\n\n&quot;, gyro_data[0], gyro_data[1], gyro_data[2]);<br /> <br /> sleep(2);<br /> }<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc i2c_mpu6050.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== test uart =====<br /> enable uart1 for uart test<br /> root@rockpis:/home/rock# cat /boot/hw_intfc.conf<br /> <br /> # Hardware Interface Config<br /> <br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=off<br /> intfc:i2c1=off<br /> intfc:i2c2=off<br /> intfc:i2c3=off<br /> <br /> intfc:pwm1=off<br /> intfc:pwm2=off<br /> intfc:pwm3=off<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=off<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> <br /> # Dummy spi device on SPI0 for test. Need set: intfc:spi0=on<br /> #intfc:dtoverlay=devspi0<br /> <br /> # Dummy spi device on SPI2 for test. Need set: intfc:spi2=on<br /> #intfc:dtoverlay=devspi2<br /> <br /> # Use /dev/ttyS0. Need set: intfc:uart0=on<br /> #intfc:dtoverlay=rk3308-uart0<br /> <br /> # Use /dev/ttyS1. Need set: intfc:uart1=on<br /> intfc:dtoverlay=rk3308-uart1<br /> <br /> # Use /dev/ttyS2. Need set: intfc:uart2=on<br /> intfc:dtoverlay=rk3308-uart2<br /> <br /> then reboot and use serial port PIN23 and PIN24<br /> <br /> send command follow:<br /> sudo mraa-uart dev 0 baud 1500000 send data<br /> <br /> receive command follow:<br /> sudo mraa-uart dev 0 baud 1500000 recv 1000<br /> <br /> the receive window will show<br /> date<br /> <br /> ===== test spi =====<br /> First, modify the '''/ boot/uEnv.txt''' file to add the following<br /> rock@rockpis:/boot$ cat uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf243b9655a<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> <br /> then '''reboot'''<br /> <br /> use c to test spi,compile spi.c,if use spi1,must disable<br /> <br /> rock@rockpis:~$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> #define SPI_BUS 2<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> then short pin19 and pin21 and run a.out<br /> rock@rockpis:~$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> <br /> ===== test adc =====<br /> connect signal you want to measure,and then compile mraa examplec file to test.<br /> <br /> Folder ''/mraa/examples/c/aio.c'' has examples of testing ADC，compiling it and executing<br /> rock@rockpis:~/mraa/examples/c$ gcc aio.c -lmraa<br /> rock@rockpis:~/mraa/examples/c$ ./a.out<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-21T08:16:57Z <p>Zzl: /* test adc */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> export DISTRO=bionic-testing # for Bionic<br /> # or<br /> export DISTRO=buster-testing # for Buster<br /> <br /> echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa<br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> rock@rockpis:/boot$ cat uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf24<br /> <br /> ==== Test ====<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> First, modify the / boot/uEnv.txt file to add the following<br /> rock@rockpis:~/mraa/src/arm$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-pwm1''' <br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf243b9655a<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> <br /> Folder /mraa/examples/c/pwm.c has examples of testing PWM,Modify the PWM pin in pwm.c as follows<br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa/examples/c$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpis:~/mraa/examples/c$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== test i2c =====<br /> Use mraa-i2c tool to test,here we use I2C MPU6050<br /> root@rockpis:/home/rock/c# cat i2c_mpu6050.c <br /> /* standard headers */<br /> #include &lt;endian.h&gt;<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdio.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> <br /> #define I2C_BUS 1<br /> <br /> /* register definitions */<br /> #define MPU6050_ADDR 0x68<br /> #define MPU6050_REG_PWR_MGMT_1 0x6b<br /> #define MPU6050_REG_RAW_ACCEL_X 0x3b<br /> #define MPU6050_REG_RAW_ACCEL_Y 0x3d<br /> #define MPU6050_REG_RAW_ACCEL_Z 0x3f<br /> #define MPU6050_REG_RAW_GYRO_X 0x43<br /> #define MPU6050_REG_RAW_GYRO_Y 0x45<br /> #define MPU6050_REG_RAW_GYRO_Z 0x47<br /> <br /> /* bit definitions */<br /> #define MPU6050_RESET 0x80<br /> #define MPU6050_SLEEP (1 &lt;&lt; 6)<br /> #define MPU6050_PLL_GYRO_X (1 &lt;&lt; 1)<br /> <br /> /* accelerometer scale factor for (+/-)2g */<br /> #define MPU6050_ACCEL_SCALE 16384.0<br /> <br /> /* gyroscope scale factor for (+/-)250/s */<br /> #define MPU6050_GYRO_SCALE 131.0<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int16_t<br /> i2c_read_word(mraa_i2c_context dev, uint8_t command)<br /> {<br /> return be16toh(mraa_i2c_read_word_data(dev, command));<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_i2c_context i2c;<br /> uint8_t data;<br /> int16_t accel_data[3];<br /> int16_t gyro_data[3];<br /> int ret;<br /> <br /> /* install signal handler */<br /> signal(SIGINT, sig_handler);<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize I2C bus */<br /> i2c = mraa_i2c_init(I2C_BUS);<br /> if (i2c == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize I2C\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set slave address */<br /> status = mraa_i2c_address(i2c, MPU6050_ADDR);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* reset the sensor */<br /> status = mraa_i2c_write_byte_data(i2c, MPU6050_RESET, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> /* configure power management register */<br /> ret = mraa_i2c_read_byte_data(i2c, MPU6050_REG_PWR_MGMT_1);<br /> if (ret == -1) {<br /> return EXIT_FAILURE;<br /> }<br /> <br /> data = ret;<br /> data |= MPU6050_PLL_GYRO_X;<br /> data &amp;= ~(MPU6050_SLEEP);<br /> <br /> status = mraa_i2c_write_byte_data(i2c, data, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> while (flag) {<br /> /* read raw accel data */<br /> accel_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_X) / MPU6050_ACCEL_SCALE;<br /> accel_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Y) / MPU6050_ACCEL_SCALE;<br /> accel_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Z) / MPU6050_ACCEL_SCALE;<br /> <br /> /* read raw gyro data */<br /> gyro_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_X) / MPU6050_GYRO_SCALE;<br /> gyro_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Y) / MPU6050_GYRO_SCALE;<br /> gyro_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Z) / MPU6050_GYRO_SCALE;<br /> <br /> fprintf(stdout, &quot;accel: x:%d y:%d z:%d\n&quot;, accel_data[0], accel_data[1], accel_data[2]);<br /> fprintf(stdout, &quot;gyro: x:%d y:%d z:%d\n\n&quot;, gyro_data[0], gyro_data[1], gyro_data[2]);<br /> <br /> sleep(2);<br /> }<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc i2c_mpu6050.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== test uart =====<br /> enable uart1 for uart test<br /> root@rockpis:/home/rock# cat /boot/hw_intfc.conf<br /> <br /> # Hardware Interface Config<br /> <br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=off<br /> intfc:i2c1=off<br /> intfc:i2c2=off<br /> intfc:i2c3=off<br /> <br /> intfc:pwm1=off<br /> intfc:pwm2=off<br /> intfc:pwm3=off<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=off<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> <br /> # Dummy spi device on SPI0 for test. Need set: intfc:spi0=on<br /> #intfc:dtoverlay=devspi0<br /> <br /> # Dummy spi device on SPI2 for test. Need set: intfc:spi2=on<br /> #intfc:dtoverlay=devspi2<br /> <br /> # Use /dev/ttyS0. Need set: intfc:uart0=on<br /> #intfc:dtoverlay=rk3308-uart0<br /> <br /> # Use /dev/ttyS1. Need set: intfc:uart1=on<br /> intfc:dtoverlay=rk3308-uart1<br /> <br /> # Use /dev/ttyS2. Need set: intfc:uart2=on<br /> intfc:dtoverlay=rk3308-uart2<br /> <br /> then reboot and use serial port PIN23 and PIN24<br /> <br /> send command follow:<br /> sudo mraa-uart dev 0 baud 1500000 send data<br /> <br /> receive command follow:<br /> sudo mraa-uart dev 0 baud 1500000 recv 1000<br /> <br /> the receive window will show<br /> date<br /> <br /> ===== test spi =====<br /> First, modify the '''/ boot/uEnv.txt''' file to add the following<br /> rock@rockpis:/boot$ cat uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf243b9655a<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> <br /> then '''reboot'''<br /> <br /> use c to test spi,compile spi.c,if use spi1,must disable<br /> <br /> rock@rockpis:~$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> #define SPI_BUS 2<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> then short pin19 and pin21 and run a.out<br /> rock@rockpis:~$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> <br /> ===== test adc =====<br /> connect signal you want to measure,and then compile mraa examplec file to test.<br /> <br /> Folder /mraa/examples/c/aio.c has examples of testing ADC，compiling it and executing<br /> rock@rockpis:~/mraa/examples/c$ gcc aio.c -lmraa<br /> rock@rockpis:~/mraa/examples/c$ ./a.out<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-21T08:10:38Z <p>Zzl: /* test pwm */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> export DISTRO=bionic-testing # for Bionic<br /> # or<br /> export DISTRO=buster-testing # for Buster<br /> <br /> echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa<br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> rock@rockpis:/boot$ cat uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf24<br /> <br /> ==== Test ====<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> First, modify the / boot/uEnv.txt file to add the following<br /> rock@rockpis:~/mraa/src/arm$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-pwm1''' <br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf243b9655a<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> <br /> Folder /mraa/examples/c/pwm.c has examples of testing PWM,Modify the PWM pin in pwm.c as follows<br /> '''/* PWM declaration */'''<br /> '''#define PWM 11'''<br /> Save and compile pwm.c<br /> rock@rockpis:~/mraa/examples/c$ gcc -o pwm pwm.c -lmraa<br /> rock@rockpis:~/mraa/examples/c$ sudo ./pwm <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> <br /> ===== test i2c =====<br /> Use mraa-i2c tool to test,here we use I2C MPU6050<br /> root@rockpis:/home/rock/c# cat i2c_mpu6050.c <br /> /* standard headers */<br /> #include &lt;endian.h&gt;<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdio.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> <br /> #define I2C_BUS 1<br /> <br /> /* register definitions */<br /> #define MPU6050_ADDR 0x68<br /> #define MPU6050_REG_PWR_MGMT_1 0x6b<br /> #define MPU6050_REG_RAW_ACCEL_X 0x3b<br /> #define MPU6050_REG_RAW_ACCEL_Y 0x3d<br /> #define MPU6050_REG_RAW_ACCEL_Z 0x3f<br /> #define MPU6050_REG_RAW_GYRO_X 0x43<br /> #define MPU6050_REG_RAW_GYRO_Y 0x45<br /> #define MPU6050_REG_RAW_GYRO_Z 0x47<br /> <br /> /* bit definitions */<br /> #define MPU6050_RESET 0x80<br /> #define MPU6050_SLEEP (1 &lt;&lt; 6)<br /> #define MPU6050_PLL_GYRO_X (1 &lt;&lt; 1)<br /> <br /> /* accelerometer scale factor for (+/-)2g */<br /> #define MPU6050_ACCEL_SCALE 16384.0<br /> <br /> /* gyroscope scale factor for (+/-)250/s */<br /> #define MPU6050_GYRO_SCALE 131.0<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int16_t<br /> i2c_read_word(mraa_i2c_context dev, uint8_t command)<br /> {<br /> return be16toh(mraa_i2c_read_word_data(dev, command));<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_i2c_context i2c;<br /> uint8_t data;<br /> int16_t accel_data[3];<br /> int16_t gyro_data[3];<br /> int ret;<br /> <br /> /* install signal handler */<br /> signal(SIGINT, sig_handler);<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize I2C bus */<br /> i2c = mraa_i2c_init(I2C_BUS);<br /> if (i2c == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize I2C\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set slave address */<br /> status = mraa_i2c_address(i2c, MPU6050_ADDR);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* reset the sensor */<br /> status = mraa_i2c_write_byte_data(i2c, MPU6050_RESET, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> /* configure power management register */<br /> ret = mraa_i2c_read_byte_data(i2c, MPU6050_REG_PWR_MGMT_1);<br /> if (ret == -1) {<br /> return EXIT_FAILURE;<br /> }<br /> <br /> data = ret;<br /> data |= MPU6050_PLL_GYRO_X;<br /> data &amp;= ~(MPU6050_SLEEP);<br /> <br /> status = mraa_i2c_write_byte_data(i2c, data, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> while (flag) {<br /> /* read raw accel data */<br /> accel_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_X) / MPU6050_ACCEL_SCALE;<br /> accel_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Y) / MPU6050_ACCEL_SCALE;<br /> accel_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Z) / MPU6050_ACCEL_SCALE;<br /> <br /> /* read raw gyro data */<br /> gyro_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_X) / MPU6050_GYRO_SCALE;<br /> gyro_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Y) / MPU6050_GYRO_SCALE;<br /> gyro_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Z) / MPU6050_GYRO_SCALE;<br /> <br /> fprintf(stdout, &quot;accel: x:%d y:%d z:%d\n&quot;, accel_data[0], accel_data[1], accel_data[2]);<br /> fprintf(stdout, &quot;gyro: x:%d y:%d z:%d\n\n&quot;, gyro_data[0], gyro_data[1], gyro_data[2]);<br /> <br /> sleep(2);<br /> }<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc i2c_mpu6050.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== test uart =====<br /> enable uart1 for uart test<br /> root@rockpis:/home/rock# cat /boot/hw_intfc.conf<br /> <br /> # Hardware Interface Config<br /> <br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=off<br /> intfc:i2c1=off<br /> intfc:i2c2=off<br /> intfc:i2c3=off<br /> <br /> intfc:pwm1=off<br /> intfc:pwm2=off<br /> intfc:pwm3=off<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=off<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> <br /> # Dummy spi device on SPI0 for test. Need set: intfc:spi0=on<br /> #intfc:dtoverlay=devspi0<br /> <br /> # Dummy spi device on SPI2 for test. Need set: intfc:spi2=on<br /> #intfc:dtoverlay=devspi2<br /> <br /> # Use /dev/ttyS0. Need set: intfc:uart0=on<br /> #intfc:dtoverlay=rk3308-uart0<br /> <br /> # Use /dev/ttyS1. Need set: intfc:uart1=on<br /> intfc:dtoverlay=rk3308-uart1<br /> <br /> # Use /dev/ttyS2. Need set: intfc:uart2=on<br /> intfc:dtoverlay=rk3308-uart2<br /> <br /> then reboot and use serial port PIN23 and PIN24<br /> <br /> send command follow:<br /> sudo mraa-uart dev 0 baud 1500000 send data<br /> <br /> receive command follow:<br /> sudo mraa-uart dev 0 baud 1500000 recv 1000<br /> <br /> the receive window will show<br /> date<br /> <br /> ===== test spi =====<br /> First, modify the '''/ boot/uEnv.txt''' file to add the following<br /> rock@rockpis:/boot$ cat uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf243b9655a<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> <br /> then '''reboot'''<br /> <br /> use c to test spi,compile spi.c,if use spi1,must disable<br /> <br /> rock@rockpis:~$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> #define SPI_BUS 2<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> then short pin19 and pin21 and run a.out<br /> rock@rockpis:~$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> <br /> ===== test adc =====<br /> connect signal you want to measure,and then compile mraa examplec file to test.<br /> <br /> Folder / mraa / examples / C has examples of testing ADC，compiling it and executing<br /> rock@rockpis:~/mraa/examples/c$ gcc aio.c -lmraa<br /> rock@rockpis:~/mraa/examples/c$ ./a.out<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> <br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-21T08:02:54Z <p>Zzl: /* test pwm */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> export DISTRO=bionic-testing # for Bionic<br /> # or<br /> export DISTRO=buster-testing # for Buster<br /> <br /> echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa<br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> rock@rockpis:/boot$ cat uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf24<br /> <br /> ==== Test ====<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> First, modify the / boot/uEnv.txt file to add the following<br /> rock@rockpis:~/mraa/src/arm$ cat /boot/uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-pwm1''' <br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf243b9655a<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> <br /> ===== test i2c =====<br /> Use mraa-i2c tool to test,here we use I2C MPU6050<br /> root@rockpis:/home/rock/c# cat i2c_mpu6050.c <br /> /* standard headers */<br /> #include &lt;endian.h&gt;<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdio.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> <br /> #define I2C_BUS 1<br /> <br /> /* register definitions */<br /> #define MPU6050_ADDR 0x68<br /> #define MPU6050_REG_PWR_MGMT_1 0x6b<br /> #define MPU6050_REG_RAW_ACCEL_X 0x3b<br /> #define MPU6050_REG_RAW_ACCEL_Y 0x3d<br /> #define MPU6050_REG_RAW_ACCEL_Z 0x3f<br /> #define MPU6050_REG_RAW_GYRO_X 0x43<br /> #define MPU6050_REG_RAW_GYRO_Y 0x45<br /> #define MPU6050_REG_RAW_GYRO_Z 0x47<br /> <br /> /* bit definitions */<br /> #define MPU6050_RESET 0x80<br /> #define MPU6050_SLEEP (1 &lt;&lt; 6)<br /> #define MPU6050_PLL_GYRO_X (1 &lt;&lt; 1)<br /> <br /> /* accelerometer scale factor for (+/-)2g */<br /> #define MPU6050_ACCEL_SCALE 16384.0<br /> <br /> /* gyroscope scale factor for (+/-)250/s */<br /> #define MPU6050_GYRO_SCALE 131.0<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int16_t<br /> i2c_read_word(mraa_i2c_context dev, uint8_t command)<br /> {<br /> return be16toh(mraa_i2c_read_word_data(dev, command));<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_i2c_context i2c;<br /> uint8_t data;<br /> int16_t accel_data[3];<br /> int16_t gyro_data[3];<br /> int ret;<br /> <br /> /* install signal handler */<br /> signal(SIGINT, sig_handler);<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize I2C bus */<br /> i2c = mraa_i2c_init(I2C_BUS);<br /> if (i2c == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize I2C\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set slave address */<br /> status = mraa_i2c_address(i2c, MPU6050_ADDR);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* reset the sensor */<br /> status = mraa_i2c_write_byte_data(i2c, MPU6050_RESET, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> /* configure power management register */<br /> ret = mraa_i2c_read_byte_data(i2c, MPU6050_REG_PWR_MGMT_1);<br /> if (ret == -1) {<br /> return EXIT_FAILURE;<br /> }<br /> <br /> data = ret;<br /> data |= MPU6050_PLL_GYRO_X;<br /> data &amp;= ~(MPU6050_SLEEP);<br /> <br /> status = mraa_i2c_write_byte_data(i2c, data, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> while (flag) {<br /> /* read raw accel data */<br /> accel_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_X) / MPU6050_ACCEL_SCALE;<br /> accel_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Y) / MPU6050_ACCEL_SCALE;<br /> accel_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Z) / MPU6050_ACCEL_SCALE;<br /> <br /> /* read raw gyro data */<br /> gyro_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_X) / MPU6050_GYRO_SCALE;<br /> gyro_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Y) / MPU6050_GYRO_SCALE;<br /> gyro_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Z) / MPU6050_GYRO_SCALE;<br /> <br /> fprintf(stdout, &quot;accel: x:%d y:%d z:%d\n&quot;, accel_data[0], accel_data[1], accel_data[2]);<br /> fprintf(stdout, &quot;gyro: x:%d y:%d z:%d\n\n&quot;, gyro_data[0], gyro_data[1], gyro_data[2]);<br /> <br /> sleep(2);<br /> }<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc i2c_mpu6050.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== test uart =====<br /> enable uart1 for uart test<br /> root@rockpis:/home/rock# cat /boot/hw_intfc.conf<br /> <br /> # Hardware Interface Config<br /> <br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=off<br /> intfc:i2c1=off<br /> intfc:i2c2=off<br /> intfc:i2c3=off<br /> <br /> intfc:pwm1=off<br /> intfc:pwm2=off<br /> intfc:pwm3=off<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=off<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> <br /> # Dummy spi device on SPI0 for test. Need set: intfc:spi0=on<br /> #intfc:dtoverlay=devspi0<br /> <br /> # Dummy spi device on SPI2 for test. Need set: intfc:spi2=on<br /> #intfc:dtoverlay=devspi2<br /> <br /> # Use /dev/ttyS0. Need set: intfc:uart0=on<br /> #intfc:dtoverlay=rk3308-uart0<br /> <br /> # Use /dev/ttyS1. Need set: intfc:uart1=on<br /> intfc:dtoverlay=rk3308-uart1<br /> <br /> # Use /dev/ttyS2. Need set: intfc:uart2=on<br /> intfc:dtoverlay=rk3308-uart2<br /> <br /> then reboot and use serial port PIN23 and PIN24<br /> <br /> send command follow:<br /> sudo mraa-uart dev 0 baud 1500000 send data<br /> <br /> receive command follow:<br /> sudo mraa-uart dev 0 baud 1500000 recv 1000<br /> <br /> the receive window will show<br /> date<br /> <br /> ===== test spi =====<br /> First, modify the '''/ boot/uEnv.txt''' file to add the following<br /> rock@rockpis:/boot$ cat uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf243b9655a<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> <br /> then '''reboot'''<br /> <br /> use c to test spi,compile spi.c,if use spi1,must disable<br /> <br /> rock@rockpis:~$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> #define SPI_BUS 2<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> then short pin19 and pin21 and run a.out<br /> rock@rockpis:~$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> <br /> ===== test adc =====<br /> connect signal you want to measure,and then compile mraa examplec file to test.<br /> <br /> Folder / mraa / examples / C has examples of testing ADC，compiling it and executing<br /> rock@rockpis:~/mraa/examples/c$ gcc aio.c -lmraa<br /> rock@rockpis:~/mraa/examples/c$ ./a.out<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> <br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-21T07:53:03Z <p>Zzl: /* Hardware V12 */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> export DISTRO=bionic-testing # for Bionic<br /> # or<br /> export DISTRO=buster-testing # for Buster<br /> <br /> echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa<br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/uEnv.txt''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> rock@rockpis:/boot$ cat uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf24<br /> <br /> ==== Test ====<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> <br /> <br /> ===== test i2c =====<br /> Use mraa-i2c tool to test,here we use I2C MPU6050<br /> root@rockpis:/home/rock/c# cat i2c_mpu6050.c <br /> /* standard headers */<br /> #include &lt;endian.h&gt;<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdio.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> <br /> #define I2C_BUS 1<br /> <br /> /* register definitions */<br /> #define MPU6050_ADDR 0x68<br /> #define MPU6050_REG_PWR_MGMT_1 0x6b<br /> #define MPU6050_REG_RAW_ACCEL_X 0x3b<br /> #define MPU6050_REG_RAW_ACCEL_Y 0x3d<br /> #define MPU6050_REG_RAW_ACCEL_Z 0x3f<br /> #define MPU6050_REG_RAW_GYRO_X 0x43<br /> #define MPU6050_REG_RAW_GYRO_Y 0x45<br /> #define MPU6050_REG_RAW_GYRO_Z 0x47<br /> <br /> /* bit definitions */<br /> #define MPU6050_RESET 0x80<br /> #define MPU6050_SLEEP (1 &lt;&lt; 6)<br /> #define MPU6050_PLL_GYRO_X (1 &lt;&lt; 1)<br /> <br /> /* accelerometer scale factor for (+/-)2g */<br /> #define MPU6050_ACCEL_SCALE 16384.0<br /> <br /> /* gyroscope scale factor for (+/-)250/s */<br /> #define MPU6050_GYRO_SCALE 131.0<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int16_t<br /> i2c_read_word(mraa_i2c_context dev, uint8_t command)<br /> {<br /> return be16toh(mraa_i2c_read_word_data(dev, command));<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_i2c_context i2c;<br /> uint8_t data;<br /> int16_t accel_data[3];<br /> int16_t gyro_data[3];<br /> int ret;<br /> <br /> /* install signal handler */<br /> signal(SIGINT, sig_handler);<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize I2C bus */<br /> i2c = mraa_i2c_init(I2C_BUS);<br /> if (i2c == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize I2C\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set slave address */<br /> status = mraa_i2c_address(i2c, MPU6050_ADDR);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* reset the sensor */<br /> status = mraa_i2c_write_byte_data(i2c, MPU6050_RESET, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> /* configure power management register */<br /> ret = mraa_i2c_read_byte_data(i2c, MPU6050_REG_PWR_MGMT_1);<br /> if (ret == -1) {<br /> return EXIT_FAILURE;<br /> }<br /> <br /> data = ret;<br /> data |= MPU6050_PLL_GYRO_X;<br /> data &amp;= ~(MPU6050_SLEEP);<br /> <br /> status = mraa_i2c_write_byte_data(i2c, data, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> while (flag) {<br /> /* read raw accel data */<br /> accel_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_X) / MPU6050_ACCEL_SCALE;<br /> accel_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Y) / MPU6050_ACCEL_SCALE;<br /> accel_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Z) / MPU6050_ACCEL_SCALE;<br /> <br /> /* read raw gyro data */<br /> gyro_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_X) / MPU6050_GYRO_SCALE;<br /> gyro_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Y) / MPU6050_GYRO_SCALE;<br /> gyro_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Z) / MPU6050_GYRO_SCALE;<br /> <br /> fprintf(stdout, &quot;accel: x:%d y:%d z:%d\n&quot;, accel_data[0], accel_data[1], accel_data[2]);<br /> fprintf(stdout, &quot;gyro: x:%d y:%d z:%d\n\n&quot;, gyro_data[0], gyro_data[1], gyro_data[2]);<br /> <br /> sleep(2);<br /> }<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc i2c_mpu6050.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== test uart =====<br /> enable uart1 for uart test<br /> root@rockpis:/home/rock# cat /boot/hw_intfc.conf<br /> <br /> # Hardware Interface Config<br /> <br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=off<br /> intfc:i2c1=off<br /> intfc:i2c2=off<br /> intfc:i2c3=off<br /> <br /> intfc:pwm1=off<br /> intfc:pwm2=off<br /> intfc:pwm3=off<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=off<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> <br /> # Dummy spi device on SPI0 for test. Need set: intfc:spi0=on<br /> #intfc:dtoverlay=devspi0<br /> <br /> # Dummy spi device on SPI2 for test. Need set: intfc:spi2=on<br /> #intfc:dtoverlay=devspi2<br /> <br /> # Use /dev/ttyS0. Need set: intfc:uart0=on<br /> #intfc:dtoverlay=rk3308-uart0<br /> <br /> # Use /dev/ttyS1. Need set: intfc:uart1=on<br /> intfc:dtoverlay=rk3308-uart1<br /> <br /> # Use /dev/ttyS2. Need set: intfc:uart2=on<br /> intfc:dtoverlay=rk3308-uart2<br /> <br /> then reboot and use serial port PIN23 and PIN24<br /> <br /> send command follow:<br /> sudo mraa-uart dev 0 baud 1500000 send data<br /> <br /> receive command follow:<br /> sudo mraa-uart dev 0 baud 1500000 recv 1000<br /> <br /> the receive window will show<br /> date<br /> <br /> ===== test spi =====<br /> First, modify the '''/ boot/uEnv.txt''' file to add the following<br /> rock@rockpis:/boot$ cat uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf243b9655a<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> <br /> then '''reboot'''<br /> <br /> use c to test spi,compile spi.c,if use spi1,must disable<br /> <br /> rock@rockpis:~$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> #define SPI_BUS 2<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> then short pin19 and pin21 and run a.out<br /> rock@rockpis:~$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> <br /> ===== test adc =====<br /> connect signal you want to measure,and then compile mraa examplec file to test.<br /> <br /> Folder / mraa / examples / C has examples of testing ADC，compiling it and executing<br /> rock@rockpis:~/mraa/examples/c$ gcc aio.c -lmraa<br /> rock@rockpis:~/mraa/examples/c$ ./a.out<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> <br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-04-21T07:50:02Z <p>Zzl: /* Libmraa on ROCK Pi S */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT bionic-testing and buster-testing repositories.<br /> <br /> Execute the following commands to add Radxa APT<br /> <br /> export DISTRO=bionic-testing # for Bionic<br /> # or<br /> export DISTRO=buster-testing # for Buster<br /> <br /> echo &quot;deb http://apt.radxa.com/$DISTRO/ ${DISTRO%-*} main&quot; | sudo tee -a /etc/apt/sources.list.d/apt-radxa-com.list<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa<br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''3'''_SDA<br /> PIN15 I2C'''3'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' and so overlays=, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].<br /> <br /> For those ROCK Pi S system images released before March 1st, 2020, modify '''/boot/hw_intfc.conf''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3''' for test.<br /> <br /> rock@rockpis:/boot$ cat uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 rk3308-i2c0 rk3308-i2c1 rk3308-i2c3<br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf24<br /> <br /> <br /> ==== Test ====<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> <br /> <br /> ===== test i2c =====<br /> Use mraa-i2c tool to test,here we use I2C MPU6050<br /> root@rockpis:/home/rock/c# cat i2c_mpu6050.c <br /> /* standard headers */<br /> #include &lt;endian.h&gt;<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdio.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> <br /> #define I2C_BUS 1<br /> <br /> /* register definitions */<br /> #define MPU6050_ADDR 0x68<br /> #define MPU6050_REG_PWR_MGMT_1 0x6b<br /> #define MPU6050_REG_RAW_ACCEL_X 0x3b<br /> #define MPU6050_REG_RAW_ACCEL_Y 0x3d<br /> #define MPU6050_REG_RAW_ACCEL_Z 0x3f<br /> #define MPU6050_REG_RAW_GYRO_X 0x43<br /> #define MPU6050_REG_RAW_GYRO_Y 0x45<br /> #define MPU6050_REG_RAW_GYRO_Z 0x47<br /> <br /> /* bit definitions */<br /> #define MPU6050_RESET 0x80<br /> #define MPU6050_SLEEP (1 &lt;&lt; 6)<br /> #define MPU6050_PLL_GYRO_X (1 &lt;&lt; 1)<br /> <br /> /* accelerometer scale factor for (+/-)2g */<br /> #define MPU6050_ACCEL_SCALE 16384.0<br /> <br /> /* gyroscope scale factor for (+/-)250/s */<br /> #define MPU6050_GYRO_SCALE 131.0<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int16_t<br /> i2c_read_word(mraa_i2c_context dev, uint8_t command)<br /> {<br /> return be16toh(mraa_i2c_read_word_data(dev, command));<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_i2c_context i2c;<br /> uint8_t data;<br /> int16_t accel_data[3];<br /> int16_t gyro_data[3];<br /> int ret;<br /> <br /> /* install signal handler */<br /> signal(SIGINT, sig_handler);<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize I2C bus */<br /> i2c = mraa_i2c_init(I2C_BUS);<br /> if (i2c == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize I2C\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set slave address */<br /> status = mraa_i2c_address(i2c, MPU6050_ADDR);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* reset the sensor */<br /> status = mraa_i2c_write_byte_data(i2c, MPU6050_RESET, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> /* configure power management register */<br /> ret = mraa_i2c_read_byte_data(i2c, MPU6050_REG_PWR_MGMT_1);<br /> if (ret == -1) {<br /> return EXIT_FAILURE;<br /> }<br /> <br /> data = ret;<br /> data |= MPU6050_PLL_GYRO_X;<br /> data &amp;= ~(MPU6050_SLEEP);<br /> <br /> status = mraa_i2c_write_byte_data(i2c, data, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> while (flag) {<br /> /* read raw accel data */<br /> accel_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_X) / MPU6050_ACCEL_SCALE;<br /> accel_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Y) / MPU6050_ACCEL_SCALE;<br /> accel_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Z) / MPU6050_ACCEL_SCALE;<br /> <br /> /* read raw gyro data */<br /> gyro_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_X) / MPU6050_GYRO_SCALE;<br /> gyro_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Y) / MPU6050_GYRO_SCALE;<br /> gyro_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Z) / MPU6050_GYRO_SCALE;<br /> <br /> fprintf(stdout, &quot;accel: x:%d y:%d z:%d\n&quot;, accel_data[0], accel_data[1], accel_data[2]);<br /> fprintf(stdout, &quot;gyro: x:%d y:%d z:%d\n\n&quot;, gyro_data[0], gyro_data[1], gyro_data[2]);<br /> <br /> sleep(2);<br /> }<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc i2c_mpu6050.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== test uart =====<br /> enable uart1 for uart test<br /> root@rockpis:/home/rock# cat /boot/hw_intfc.conf<br /> <br /> # Hardware Interface Config<br /> <br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=off<br /> intfc:i2c1=off<br /> intfc:i2c2=off<br /> intfc:i2c3=off<br /> <br /> intfc:pwm1=off<br /> intfc:pwm2=off<br /> intfc:pwm3=off<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=off<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> <br /> # Dummy spi device on SPI0 for test. Need set: intfc:spi0=on<br /> #intfc:dtoverlay=devspi0<br /> <br /> # Dummy spi device on SPI2 for test. Need set: intfc:spi2=on<br /> #intfc:dtoverlay=devspi2<br /> <br /> # Use /dev/ttyS0. Need set: intfc:uart0=on<br /> #intfc:dtoverlay=rk3308-uart0<br /> <br /> # Use /dev/ttyS1. Need set: intfc:uart1=on<br /> intfc:dtoverlay=rk3308-uart1<br /> <br /> # Use /dev/ttyS2. Need set: intfc:uart2=on<br /> intfc:dtoverlay=rk3308-uart2<br /> <br /> then reboot and use serial port PIN23 and PIN24<br /> <br /> send command follow:<br /> sudo mraa-uart dev 0 baud 1500000 send data<br /> <br /> receive command follow:<br /> sudo mraa-uart dev 0 baud 1500000 recv 1000<br /> <br /> the receive window will show<br /> date<br /> <br /> ===== test spi =====<br /> First, modify the '''/ boot/uEnv.txt''' file to add the following<br /> rock@rockpis:/boot$ cat uEnv.txt<br /> verbosity=7<br /> overlay_prefix=rockchip<br /> rootfstype=ext4<br /> fdtfile=rockchip/rk3308-rock-pi-s.dtb<br /> overlays=rk3308-console-on-uart0 '''rk3308-spi-spidev'''<br /> '''param_spidev_spi_bus=2'''<br /> initrdsize=0x62c6be<br /> kernelversion=4.4.143-39-rockchip-gdaf243b9655a<br /> initrdimg=initrd.img-4.4.143-39-rockchip-gdaf243b9655a<br /> kernelimg=vmlinuz-4.4.143-39-rockchip-gdaf243b9655a<br /> rootuuid=37055840-4ec4-444f-979b-9e47ee4bd848<br /> <br /> then '''reboot'''<br /> <br /> use c to test spi,compile spi.c,if use spi1,must disable<br /> <br /> rock@rockpis:~$ cat test-spi.c <br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/spi.h&quot;<br /> <br /> /* SPI declaration */<br /> #define SPI_BUS 2<br /> <br /> /* SPI frequency in Hz */<br /> #define SPI_FREQ 10000000<br /> int<br /> main(int argc, char** argv)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_spi_context spi;<br /> int i, j;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize SPI bus */<br /> spi = mraa_spi_init(SPI_BUS);<br /> if (spi == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize SPI\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set SPI frequency */<br /> status = mraa_spi_frequency(spi, SPI_FREQ);<br /> if (status != MRAA_SUCCESS)<br /> goto err_exit;<br /> <br /> /* set big endian mode */<br /> status = mraa_spi_lsbmode(spi, 0);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> j = 10;<br /> while(j) {<br /> j--;<br /> printf(&quot;0x%x\n&quot;,mraa_spi_write(spi, 0xaa));<br /> }<br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop spi */<br /> mraa_spi_stop(spi);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> rock@rockpis:~$ gcc -o test-spi test-spi.c -lmraa<br /> <br /> then short pin19 and pin21 and run a.out<br /> rock@rockpis:~$ sudo ./test-spi <br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> 0xaa<br /> MRAA: SUCCESS<br /> <br /> <br /> ===== test adc =====<br /> connect signal you want to measure,and then compile mraa examplec file to test.<br /> <br /> Folder / mraa / examples / C has examples of testing ADC，compiling it and executing<br /> rock@rockpis:~/mraa/examples/c$ gcc aio.c -lmraa<br /> rock@rockpis:~/mraa/examples/c$ ./a.out<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> ADC A0 read 1A5 - 421<br /> ADC A0 read float - 0.41153<br /> <br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl https://wiki.radxa.com/RockpiE RockpiE 2020-04-09T09:39:57Z <p>Zzl: </p> <hr /> <div>{{rockpiE_header}}<br /> {{Languages|rockpiE}}<br /> <br /> __NOTOC__<br /> <br /> &lt;div class=&quot;col-md-12 &quot;&gt;<br /> &lt;div class=&quot;col-md-8&quot;&gt;<br /> <br /> = ROCK Pi E=<br /> <br /> E for Ethernets.<br /> <br /> This is the documentation for ROCK Pi E, written by Radxa Team with community contributions.<br /> <br /> ROCK Pi E is a Rockchip RK3328 based SBC(Single Board Computer) by Radxa. It equips a 64bits quad core processor, USB 3.0, dual ethernets, wireless connectivity at the size of 2.5x2.2 inch(56x65mm), making it perfect for IoT and network applications. ROCK Pi E comes in various ram sizes from 512MB to 4GB DDR3, and uses uSD card for OS and storage as well as supporting eMMC module. Optionally, ROCK Pi E supports PoE, additional HAT is required. <br /> <br /> <br /> &lt;/div&gt;<br /> <br /> &lt;div class=&quot;col-md-4&quot;&gt;<br /> [[File:ROCKPI_E_Text.png | 500px ]]<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> <br /> &lt;div class=&quot;col-md-12 &quot;&gt;<br /> <br /> &lt;div class=&quot;col-md-6&quot;&gt;<br /> &lt;div class=&quot;panel panel-mango-white&quot;&gt; <br /> &lt;div class=&quot;panel-heading&quot;&gt; &lt;h3 class=&quot;panel-title&quot;&gt;&lt;i class=&quot;fa fa-star&quot;&gt;&lt;/i&gt; [[community_updates | What's new]]&lt;/h3&gt; &lt;/div&gt;<br /> &lt;div class=&quot;panel-body&quot;&gt;<br /> {{community_updates}}<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> <br /> &lt;div class=&quot;col-md-6&quot;&gt;<br /> &lt;div class=&quot;panel panel-hearts-white&quot;&gt; <br /> &lt;div class=&quot;panel-heading&quot;&gt; &lt;h3 class=&quot;panel-title&quot;&gt;&lt;i class=&quot;fa fa-hand-o-up&quot;&gt;&lt;/i&gt; [[RockpiE/getting_started | Setup/Quick start ]]&lt;/h3&gt; &lt;/div&gt;<br /> &lt;div class=&quot;panel-body&quot;&gt;<br /> * [[RockpiE/getting_started | Getting started with ROCK Pi E]]<br /> * [[RockpiE/hardware/rockpiE#gpio | GPIO pinout]]<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> <br /> &lt;/div&gt;&lt;div class=&quot;clearfix&quot;&gt;&lt;/div&gt;<br /> <br /> &lt;div class=&quot;col-md-12 &quot;&gt;<br /> <br /> &lt;div class=&quot;col-md-6 &quot;&gt;<br /> &lt;div class=&quot;panel panel-midnight-white&quot;&gt;<br /> &lt;div class=&quot;panel-heading&quot;&gt;&lt;h3 class=&quot;panel-title&quot;&gt;&lt;i class=&quot;fa fa-download&quot;&gt;&lt;/i&gt; [[RockpiE/install | Installation]]&lt;/h3&gt;&lt;/div&gt;<br /> &lt;div class=&quot;panel-body&quot;&gt;<br /> Installing an operating system on your ROCK PI E, including microSD card, eMMC module, USB drive, etc.<br /> <br /> * [[RockpiE/install/microSD | Install on microSD card]]<br /> * [[RockpiE/install/eMMC | Install on eMMC module]]<br /> * [[RockpiE/radxa-apt | Update from Radxa Apt]]<br /> * [[RockpiE/partitions | Partition table]]<br /> [[RockpiE/install| &gt; More...]]<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> <br /> &lt;div class=&quot;col-md-6 &quot;&gt;<br /> &lt;div class=&quot;panel panel-mango-white&quot;&gt;<br /> &lt;div class=&quot;panel-heading&quot;&gt;&lt;h3 class=&quot;panel-title&quot;&gt;&lt;i class=&quot;fa fa-cog&quot;&gt;&lt;/i&gt; [[RockpiE/dev | Development]]&lt;/h3&gt;&lt;/div&gt;<br /> &lt;div class=&quot;panel-body&quot;&gt;<br /> Information about Linux development<br /> * [[RockpiE/dev/usb-install | USB Intallation]]-How to use PC tools to install image on ROCK Pi E<br /> * [[RockpiE/dev/Debian | Build Debian]]<br /> * [[RockpiE/dev/kernel-4.4 | Build vendor kernel(Rockchip 4.4)]]<br /> * [[RockpiE/dev/serial-console | Serial Console]]<br /> * [[rockpiE/dev/device-serial-number | Device Serial Number]]<br /> [[RockpiE/dev| &gt; More...]]<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> <br /> &lt;/div&gt;&lt;div class=&quot;clearfix&quot;&gt;&lt;/div&gt;<br /> <br /> &lt;div class=&quot;col-md-12 &quot;&gt;<br /> <br /> &lt;div class=&quot;col-md-6 &quot;&gt;<br /> &lt;div class=&quot;panel panel-cello-white&quot;&gt;<br /> &lt;div class=&quot;panel-heading&quot;&gt;&lt;h3 class=&quot;panel-title&quot;&gt;&lt;i class=&quot;fa fa-hdd-o&quot;&gt;&lt;/i&gt; [[RockpiE/hardware|Hardware]] &lt;/h3&gt;&lt;/div&gt;<br /> &lt;div class=&quot;panel-body&quot;&gt;<br /> Technical specifications about the ROCK Pi E hardware, including WI-FI module, LCD module, etc.<br /> <br /> * [[RockpiE/hardware/rockpiE | Main board]] - Hardware introduction of the ROCK Pi E<br /> * [[RockpiE/hardware/gpio | GPIO]] - GPIO pinout&amp;numbers<br /> * [[rockpiE/hardware/models | Models and SKU]]<br /> * [https://wiki.radxa.com/Device-tree-overlays Device Tree Overlays]<br /> * [[RockpiE/hardware/display | Display]]<br /> <br /> [[RockpiE/hardware| &gt; More...]]<br /> <br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> <br /> &lt;div class=&quot;col-md-6 &quot;&gt;<br /> &lt;div class=&quot;panel panel-gunmetal-white&quot;&gt;<br /> &lt;div class=&quot;panel-heading&quot;&gt;&lt;h3 class=&quot;panel-title&quot;&gt;&lt;i class=&quot;fa fa-linux&quot;&gt;&lt;/i&gt; [[RockpiE/Debian Working With Linux | Working With Linux ]]&lt;/h3&gt;&lt;/div&gt;<br /> &lt;div class=&quot;panel-body&quot;&gt;<br /> Fundamental Linux usage for beginners and more advanced information for power users.<br /> * [[RockpiE/Debian | Debian]]<br /> * [[RockpiE/radxa-apt | Radxa APT]]<br /> * [[RockpiE/downloads | Images official/3rd party/community]]<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> <br /> &lt;/div&gt;&lt;div class=&quot;clearfix&quot;&gt;&lt;/div&gt;<br /> <br /> &lt;div class=&quot;col-md-12 &quot;&gt;<br /> <br /> &lt;div class=&quot;col-md-6 &quot;&gt;<br /> &lt;div class=&quot;panel panel-cocktail-white&quot;&gt;<br /> &lt;div class=&quot;panel-heading&quot;&gt;&lt;h3 class=&quot;panel-title&quot;&gt;&lt;i class=&quot;fa fa-question&quot;&gt;&lt;/i&gt; [[RockpiE/FAQs | FAQs]]&lt;/h3&gt;&lt;/div&gt;<br /> &lt;div class=&quot;panel-body&quot;&gt;<br /> * Answers to frequently asked technical questions<br /> * Answers to sale of ROCK Pi E<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> <br /> &lt;div class=&quot;col-md-6 &quot;&gt;<br /> &lt;div class=&quot;panel panel-cocktail-white&quot;&gt;<br /> &lt;div class=&quot;panel-heading&quot;&gt;&lt;h3 class=&quot;panel-title&quot;&gt;&lt;i class=&quot;fa fa-users&quot;&gt;&lt;/i&gt; Community&lt;/h3&gt;&lt;/div&gt;<br /> &lt;div class=&quot;panel-body&quot;&gt;<br /> * Forum: http://forum.radxa.com<br /> * [[Rockpi4/contribute | How to contribute to this wiki, refer ROCK Pi 4 contribution page]]<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> <br /> &lt;/div&gt;&lt;div class=&quot;clearfix&quot;&gt;&lt;/div&gt;</div> Zzl https://wiki.radxa.com/RockpiE RockpiE 2020-04-09T09:36:19Z <p>Zzl: </p> <hr /> <div>{{rockpiE_header}}<br /> {{Languages|rockpiE}}<br /> <br /> __NOTOC__<br /> <br /> &lt;div class=&quot;col-md-12 &quot;&gt;<br /> &lt;div class=&quot;col-md-8&quot;&gt;<br /> <br /> = ROCK Pi E=<br /> <br /> E for Ethernets.<br /> <br /> This is the documentation for ROCK Pi E, written by Radxa Team with community contributions.<br /> <br /> ROCK Pi E is a Rockchip RK3328 based SBC(Single Board Computer) by Radxa. It equips a 64bits quad core processor, USB 3.0, dual ethernets, wireless connectivity at the size of 2.5x2.2 inch(56x65mm), making it perfect for IoT and network applications. ROCK Pi E comes in various ram sizes from 512MB to 4GB DDR3, and uses uSD card for OS and storage as well as supporting eMMC module. Optionally, ROCK Pi E supports PoE, additional HAT is required. <br /> <br /> <br /> &lt;/div&gt;<br /> <br /> &lt;div class=&quot;col-md-4&quot;&gt;<br /> [[File:ROCKPI_E_Text.png | 500px ]]<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> <br /> &lt;div class=&quot;col-md-12 &quot;&gt;<br /> <br /> &lt;div class=&quot;col-md-6&quot;&gt;<br /> &lt;div class=&quot;panel panel-mango-white&quot;&gt; <br /> &lt;div class=&quot;panel-heading&quot;&gt; &lt;h3 class=&quot;panel-title&quot;&gt;&lt;i class=&quot;fa fa-star&quot;&gt;&lt;/i&gt; [[community_updates | What's new]]&lt;/h3&gt; &lt;/div&gt;<br /> &lt;div class=&quot;panel-body&quot;&gt;<br /> {{community_updates}}<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> <br /> &lt;div class=&quot;col-md-6&quot;&gt;<br /> &lt;div class=&quot;panel panel-hearts-white&quot;&gt; <br /> &lt;div class=&quot;panel-heading&quot;&gt; &lt;h3 class=&quot;panel-title&quot;&gt;&lt;i class=&quot;fa fa-hand-o-up&quot;&gt;&lt;/i&gt; [[RockpiE/getting_started | Setup/Quick start ]]&lt;/h3&gt; &lt;/div&gt;<br /> &lt;div class=&quot;panel-body&quot;&gt;<br /> * [[RockpiE/getting_started | Getting started with ROCK Pi E]]<br /> * [[RockpiE/hardware/rockpiE#gpio | GPIO pinout]]<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> <br /> &lt;/div&gt;&lt;div class=&quot;clearfix&quot;&gt;&lt;/div&gt;<br /> <br /> &lt;div class=&quot;col-md-12 &quot;&gt;<br /> <br /> &lt;div class=&quot;col-md-6 &quot;&gt;<br /> &lt;div class=&quot;panel panel-midnight-white&quot;&gt;<br /> &lt;div class=&quot;panel-heading&quot;&gt;&lt;h3 class=&quot;panel-title&quot;&gt;&lt;i class=&quot;fa fa-download&quot;&gt;&lt;/i&gt; [[RockpiE/install | Installation]]&lt;/h3&gt;&lt;/div&gt;<br /> &lt;div class=&quot;panel-body&quot;&gt;<br /> Installing an operating system on your ROCK PI E, including microSD card, eMMC module, USB drive, etc.<br /> <br /> * [[RockpiE/install/microSD | Install on microSD card]]<br /> * [[RockpiE/install/eMMC | Install on eMMC module]]<br /> * [[RockpiE/radxa-apt | Update from Radxa Apt]]<br /> * [[RockpiE/partitions | Partition table]]<br /> [[RockpiE/install| &gt; More...]]<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> <br /> &lt;div class=&quot;col-md-6 &quot;&gt;<br /> &lt;div class=&quot;panel panel-mango-white&quot;&gt;<br /> &lt;div class=&quot;panel-heading&quot;&gt;&lt;h3 class=&quot;panel-title&quot;&gt;&lt;i class=&quot;fa fa-cog&quot;&gt;&lt;/i&gt; [[RockpiE/dev | Development]]&lt;/h3&gt;&lt;/div&gt;<br /> &lt;div class=&quot;panel-body&quot;&gt;<br /> Information about Linux development<br /> * [[RockpiE/dev/Debian | USB Intallation]]-How to use PC tools to install image on ROCK Pi E<br /> * [[RockpiE/dev/Debian | Build Debian]]<br /> * [[RockpiE/dev/kernel-4.4 | Build vendor kernel(Rockchip 4.4)]]<br /> * [[RockpiE/dev/serial-console | Serial Console]]<br /> * [[rockpiE/dev/device-serial-number | Device Serial Number]]<br /> [[RockpiE/dev| &gt; More...]]<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> <br /> &lt;/div&gt;&lt;div class=&quot;clearfix&quot;&gt;&lt;/div&gt;<br /> <br /> &lt;div class=&quot;col-md-12 &quot;&gt;<br /> <br /> &lt;div class=&quot;col-md-6 &quot;&gt;<br /> &lt;div class=&quot;panel panel-cello-white&quot;&gt;<br /> &lt;div class=&quot;panel-heading&quot;&gt;&lt;h3 class=&quot;panel-title&quot;&gt;&lt;i class=&quot;fa fa-hdd-o&quot;&gt;&lt;/i&gt; [[RockpiE/hardware|Hardware]] &lt;/h3&gt;&lt;/div&gt;<br /> &lt;div class=&quot;panel-body&quot;&gt;<br /> Technical specifications about the ROCK Pi E hardware, including WI-FI module, LCD module, etc.<br /> <br /> * [[RockpiE/hardware/rockpiE | Main board]] - Hardware introduction of the ROCK Pi E<br /> * [[RockpiE/hardware/gpio | GPIO]] - GPIO pinout&amp;numbers<br /> * [[rockpiE/hardware/models | Models and SKU]]<br /> * [https://wiki.radxa.com/Device-tree-overlays Device Tree Overlays]<br /> * [[RockpiE/hardware/display | Display]]<br /> <br /> [[RockpiE/hardware| &gt; More...]]<br /> <br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> <br /> &lt;div class=&quot;col-md-6 &quot;&gt;<br /> &lt;div class=&quot;panel panel-gunmetal-white&quot;&gt;<br /> &lt;div class=&quot;panel-heading&quot;&gt;&lt;h3 class=&quot;panel-title&quot;&gt;&lt;i class=&quot;fa fa-linux&quot;&gt;&lt;/i&gt; [[RockpiE/Debian Working With Linux | Working With Linux ]]&lt;/h3&gt;&lt;/div&gt;<br /> &lt;div class=&quot;panel-body&quot;&gt;<br /> Fundamental Linux usage for beginners and more advanced information for power users.<br /> * [[RockpiE/Debian | Debian]]<br /> * [[RockpiE/radxa-apt | Radxa APT]]<br /> * [[RockpiE/downloads | Images official/3rd party/community]]<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> <br /> &lt;/div&gt;&lt;div class=&quot;clearfix&quot;&gt;&lt;/div&gt;<br /> <br /> &lt;div class=&quot;col-md-12 &quot;&gt;<br /> <br /> &lt;div class=&quot;col-md-6 &quot;&gt;<br /> &lt;div class=&quot;panel panel-cocktail-white&quot;&gt;<br /> &lt;div class=&quot;panel-heading&quot;&gt;&lt;h3 class=&quot;panel-title&quot;&gt;&lt;i class=&quot;fa fa-question&quot;&gt;&lt;/i&gt; [[RockpiE/FAQs | FAQs]]&lt;/h3&gt;&lt;/div&gt;<br /> &lt;div class=&quot;panel-body&quot;&gt;<br /> * Answers to frequently asked technical questions<br /> * Answers to sale of ROCK Pi E<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> <br /> &lt;div class=&quot;col-md-6 &quot;&gt;<br /> &lt;div class=&quot;panel panel-cocktail-white&quot;&gt;<br /> &lt;div class=&quot;panel-heading&quot;&gt;&lt;h3 class=&quot;panel-title&quot;&gt;&lt;i class=&quot;fa fa-users&quot;&gt;&lt;/i&gt; Community&lt;/h3&gt;&lt;/div&gt;<br /> &lt;div class=&quot;panel-body&quot;&gt;<br /> * Forum: http://forum.radxa.com<br /> * [[Rockpi4/contribute | How to contribute to this wiki, refer ROCK Pi 4 contribution page]]<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> &lt;/div&gt;<br /> <br /> &lt;/div&gt;&lt;div class=&quot;clearfix&quot;&gt;&lt;/div&gt;</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-02-27T07:42:18Z <p>Zzl: /* test uart */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT buster-testing repository. Edit file /etc/apt/sources.list.d/apt-radxa-com.list and add the following:<br /> <br /> For Debian Buster<br /> deb http://apt.radxa.com/buster-testing/ buster main<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa-rockpis<br /> <br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''2'''_SDA<br /> PIN15 I2C'''2'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> modify '''/boot/hw_intfc.conf''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c2''' for test<br /> root@rockpis:/# cat boot/hw_intfc.conf<br /> # Hardware Interface Config<br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=on<br /> intfc:i2c1=on<br /> intfc:i2c2=on<br /> intfc:i2c3=on<br /> <br /> intfc:pwm1=on<br /> intfc:pwm2=on<br /> intfc:pwm3=on<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=on<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> root@rockpis:/#<br /> <br /> then '''reboot'''<br /> <br /> ==== Test ====<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> use c to test pwm.c,compile pwm.c<br /> root@rockpis:/home/rock/c# cat pwm.c<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/pwm.h&quot;<br /> <br /> /* PWM declaration */<br /> #define PWM 11<br /> <br /> /* PWM period in us */<br /> #define PWM_FREQ 200<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_pwm_context pwm;<br /> float value = 0.0f;<br /> float output;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> pwm = mraa_pwm_init(PWM);<br /> if (pwm == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize PWM\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set PWM period */<br /> status = mraa_pwm_period_us(pwm, PWM_FREQ);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* enable PWM */<br /> status = mraa_pwm_enable(pwm, 1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> while (flag) {<br /> value = value + 0.01f;<br /> <br /> /* write PWM duty cyle */<br /> status = mraa_pwm_write(pwm, value);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> usleep(50000);<br /> <br /> if (value &gt;= 1.0f) {<br /> value = 0.0f;<br /> }<br /> <br /> /* read PWM duty cyle */<br /> output = mraa_pwm_read(pwm);<br /> fprintf(stdout, &quot;PWM value is %f\n&quot;, output);<br /> }<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc pwm.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> PWM value is 0.070014<br /> PWM value is 0.079984<br /> PWM value is 0.089999<br /> PWM value is 0.100014<br /> PWM value is 0.109983<br /> <br /> ===== test i2c =====<br /> Use mraa-i2c tool to test,here we use I2C MPU6050<br /> root@rockpis:/home/rock/c# cat i2c_mpu6050.c <br /> /* standard headers */<br /> #include &lt;endian.h&gt;<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdio.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> <br /> #define I2C_BUS 1<br /> <br /> /* register definitions */<br /> #define MPU6050_ADDR 0x68<br /> #define MPU6050_REG_PWR_MGMT_1 0x6b<br /> #define MPU6050_REG_RAW_ACCEL_X 0x3b<br /> #define MPU6050_REG_RAW_ACCEL_Y 0x3d<br /> #define MPU6050_REG_RAW_ACCEL_Z 0x3f<br /> #define MPU6050_REG_RAW_GYRO_X 0x43<br /> #define MPU6050_REG_RAW_GYRO_Y 0x45<br /> #define MPU6050_REG_RAW_GYRO_Z 0x47<br /> <br /> /* bit definitions */<br /> #define MPU6050_RESET 0x80<br /> #define MPU6050_SLEEP (1 &lt;&lt; 6)<br /> #define MPU6050_PLL_GYRO_X (1 &lt;&lt; 1)<br /> <br /> /* accelerometer scale factor for (+/-)2g */<br /> #define MPU6050_ACCEL_SCALE 16384.0<br /> <br /> /* gyroscope scale factor for (+/-)250/s */<br /> #define MPU6050_GYRO_SCALE 131.0<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int16_t<br /> i2c_read_word(mraa_i2c_context dev, uint8_t command)<br /> {<br /> return be16toh(mraa_i2c_read_word_data(dev, command));<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_i2c_context i2c;<br /> uint8_t data;<br /> int16_t accel_data[3];<br /> int16_t gyro_data[3];<br /> int ret;<br /> <br /> /* install signal handler */<br /> signal(SIGINT, sig_handler);<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize I2C bus */<br /> i2c = mraa_i2c_init(I2C_BUS);<br /> if (i2c == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize I2C\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set slave address */<br /> status = mraa_i2c_address(i2c, MPU6050_ADDR);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* reset the sensor */<br /> status = mraa_i2c_write_byte_data(i2c, MPU6050_RESET, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> /* configure power management register */<br /> ret = mraa_i2c_read_byte_data(i2c, MPU6050_REG_PWR_MGMT_1);<br /> if (ret == -1) {<br /> return EXIT_FAILURE;<br /> }<br /> <br /> data = ret;<br /> data |= MPU6050_PLL_GYRO_X;<br /> data &amp;= ~(MPU6050_SLEEP);<br /> <br /> status = mraa_i2c_write_byte_data(i2c, data, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> while (flag) {<br /> /* read raw accel data */<br /> accel_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_X) / MPU6050_ACCEL_SCALE;<br /> accel_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Y) / MPU6050_ACCEL_SCALE;<br /> accel_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Z) / MPU6050_ACCEL_SCALE;<br /> <br /> /* read raw gyro data */<br /> gyro_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_X) / MPU6050_GYRO_SCALE;<br /> gyro_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Y) / MPU6050_GYRO_SCALE;<br /> gyro_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Z) / MPU6050_GYRO_SCALE;<br /> <br /> fprintf(stdout, &quot;accel: x:%d y:%d z:%d\n&quot;, accel_data[0], accel_data[1], accel_data[2]);<br /> fprintf(stdout, &quot;gyro: x:%d y:%d z:%d\n\n&quot;, gyro_data[0], gyro_data[1], gyro_data[2]);<br /> <br /> sleep(2);<br /> }<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc i2c_mpu6050.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== test uart =====<br /> enable uart1 for uart test<br /> root@rockpis:/home/rock# cat /boot/hw_intfc.conf<br /> <br /> # Hardware Interface Config<br /> <br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=off<br /> intfc:i2c1=off<br /> intfc:i2c2=off<br /> intfc:i2c3=off<br /> <br /> intfc:pwm1=off<br /> intfc:pwm2=off<br /> intfc:pwm3=off<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=off<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> <br /> # Dummy spi device on SPI0 for test. Need set: intfc:spi0=on<br /> #intfc:dtoverlay=devspi0<br /> <br /> # Dummy spi device on SPI2 for test. Need set: intfc:spi2=on<br /> #intfc:dtoverlay=devspi2<br /> <br /> # Use /dev/ttyS0. Need set: intfc:uart0=on<br /> #intfc:dtoverlay=rk3308-uart0<br /> <br /> # Use /dev/ttyS1. Need set: intfc:uart1=on<br /> intfc:dtoverlay=rk3308-uart1<br /> <br /> # Use /dev/ttyS2. Need set: intfc:uart2=on<br /> intfc:dtoverlay=rk3308-uart2<br /> <br /> then reboot and use serial port PIN23 and PIN24<br /> <br /> send command follow:<br /> sudo mraa-uart dev 0 baud 1500000 send data<br /> <br /> receive command follow:<br /> sudo mraa-uart dev 0 baud 1500000 recv 1000<br /> <br /> the receive window will show<br /> date<br /> <br /> ===== test spi =====<br /> <br /> ===== test adc =====<br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-02-25T09:06:47Z <p>Zzl: /* test i2c */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT buster-testing repository. Edit file /etc/apt/sources.list.d/apt-radxa-com.list and add the following:<br /> <br /> For Debian Buster<br /> deb http://apt.radxa.com/buster-testing/ buster main<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa-rockpis<br /> <br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''2'''_SDA<br /> PIN15 I2C'''2'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> modify '''/boot/hw_intfc.conf''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c2''' for test<br /> root@rockpis:/# cat boot/hw_intfc.conf<br /> # Hardware Interface Config<br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=on<br /> intfc:i2c1=on<br /> intfc:i2c2=on<br /> intfc:i2c3=on<br /> <br /> intfc:pwm1=on<br /> intfc:pwm2=on<br /> intfc:pwm3=on<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=on<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> root@rockpis:/#<br /> <br /> then '''reboot'''<br /> <br /> ==== Test ====<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> use c to test pwm.c,compile pwm.c<br /> root@rockpis:/home/rock/c# cat pwm.c<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/pwm.h&quot;<br /> <br /> /* PWM declaration */<br /> #define PWM 11<br /> <br /> /* PWM period in us */<br /> #define PWM_FREQ 200<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_pwm_context pwm;<br /> float value = 0.0f;<br /> float output;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> pwm = mraa_pwm_init(PWM);<br /> if (pwm == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize PWM\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set PWM period */<br /> status = mraa_pwm_period_us(pwm, PWM_FREQ);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* enable PWM */<br /> status = mraa_pwm_enable(pwm, 1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> while (flag) {<br /> value = value + 0.01f;<br /> <br /> /* write PWM duty cyle */<br /> status = mraa_pwm_write(pwm, value);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> usleep(50000);<br /> <br /> if (value &gt;= 1.0f) {<br /> value = 0.0f;<br /> }<br /> <br /> /* read PWM duty cyle */<br /> output = mraa_pwm_read(pwm);<br /> fprintf(stdout, &quot;PWM value is %f\n&quot;, output);<br /> }<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc pwm.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> PWM value is 0.070014<br /> PWM value is 0.079984<br /> PWM value is 0.089999<br /> PWM value is 0.100014<br /> PWM value is 0.109983<br /> <br /> ===== test i2c =====<br /> Use mraa-i2c tool to test,here we use I2C MPU6050<br /> root@rockpis:/home/rock/c# cat i2c_mpu6050.c <br /> /* standard headers */<br /> #include &lt;endian.h&gt;<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdio.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> <br /> #define I2C_BUS 1<br /> <br /> /* register definitions */<br /> #define MPU6050_ADDR 0x68<br /> #define MPU6050_REG_PWR_MGMT_1 0x6b<br /> #define MPU6050_REG_RAW_ACCEL_X 0x3b<br /> #define MPU6050_REG_RAW_ACCEL_Y 0x3d<br /> #define MPU6050_REG_RAW_ACCEL_Z 0x3f<br /> #define MPU6050_REG_RAW_GYRO_X 0x43<br /> #define MPU6050_REG_RAW_GYRO_Y 0x45<br /> #define MPU6050_REG_RAW_GYRO_Z 0x47<br /> <br /> /* bit definitions */<br /> #define MPU6050_RESET 0x80<br /> #define MPU6050_SLEEP (1 &lt;&lt; 6)<br /> #define MPU6050_PLL_GYRO_X (1 &lt;&lt; 1)<br /> <br /> /* accelerometer scale factor for (+/-)2g */<br /> #define MPU6050_ACCEL_SCALE 16384.0<br /> <br /> /* gyroscope scale factor for (+/-)250/s */<br /> #define MPU6050_GYRO_SCALE 131.0<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int16_t<br /> i2c_read_word(mraa_i2c_context dev, uint8_t command)<br /> {<br /> return be16toh(mraa_i2c_read_word_data(dev, command));<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_i2c_context i2c;<br /> uint8_t data;<br /> int16_t accel_data[3];<br /> int16_t gyro_data[3];<br /> int ret;<br /> <br /> /* install signal handler */<br /> signal(SIGINT, sig_handler);<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize I2C bus */<br /> i2c = mraa_i2c_init(I2C_BUS);<br /> if (i2c == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize I2C\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set slave address */<br /> status = mraa_i2c_address(i2c, MPU6050_ADDR);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* reset the sensor */<br /> status = mraa_i2c_write_byte_data(i2c, MPU6050_RESET, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> /* configure power management register */<br /> ret = mraa_i2c_read_byte_data(i2c, MPU6050_REG_PWR_MGMT_1);<br /> if (ret == -1) {<br /> return EXIT_FAILURE;<br /> }<br /> <br /> data = ret;<br /> data |= MPU6050_PLL_GYRO_X;<br /> data &amp;= ~(MPU6050_SLEEP);<br /> <br /> status = mraa_i2c_write_byte_data(i2c, data, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> while (flag) {<br /> /* read raw accel data */<br /> accel_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_X) / MPU6050_ACCEL_SCALE;<br /> accel_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Y) / MPU6050_ACCEL_SCALE;<br /> accel_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Z) / MPU6050_ACCEL_SCALE;<br /> <br /> /* read raw gyro data */<br /> gyro_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_X) / MPU6050_GYRO_SCALE;<br /> gyro_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Y) / MPU6050_GYRO_SCALE;<br /> gyro_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Z) / MPU6050_GYRO_SCALE;<br /> <br /> fprintf(stdout, &quot;accel: x:%d y:%d z:%d\n&quot;, accel_data[0], accel_data[1], accel_data[2]);<br /> fprintf(stdout, &quot;gyro: x:%d y:%d z:%d\n\n&quot;, gyro_data[0], gyro_data[1], gyro_data[2]);<br /> <br /> sleep(2);<br /> }<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc i2c_mpu6050.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> accel: x:0 y:0 z:0<br /> gyro: x:-10 y:1 z:7<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:107 y:-12 z:69<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:6 y:136 z:-50<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:-5 y:48 z:-103<br /> <br /> accel: x:0 y:0 z:0<br /> gyro: x:3 y:3 z:5<br /> <br /> ===== test uart =====<br /> <br /> ===== test spi =====<br /> <br /> ===== test adc =====<br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-02-25T09:01:47Z <p>Zzl: /* test i2c */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT buster-testing repository. Edit file /etc/apt/sources.list.d/apt-radxa-com.list and add the following:<br /> <br /> For Debian Buster<br /> deb http://apt.radxa.com/buster-testing/ buster main<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa-rockpis<br /> <br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''2'''_SDA<br /> PIN15 I2C'''2'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> modify '''/boot/hw_intfc.conf''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c2''' for test<br /> root@rockpis:/# cat boot/hw_intfc.conf<br /> # Hardware Interface Config<br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=on<br /> intfc:i2c1=on<br /> intfc:i2c2=on<br /> intfc:i2c3=on<br /> <br /> intfc:pwm1=on<br /> intfc:pwm2=on<br /> intfc:pwm3=on<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=on<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> root@rockpis:/#<br /> <br /> then '''reboot'''<br /> <br /> ==== Test ====<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> use c to test pwm.c,compile pwm.c<br /> root@rockpis:/home/rock/c# cat pwm.c<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/pwm.h&quot;<br /> <br /> /* PWM declaration */<br /> #define PWM 11<br /> <br /> /* PWM period in us */<br /> #define PWM_FREQ 200<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_pwm_context pwm;<br /> float value = 0.0f;<br /> float output;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> pwm = mraa_pwm_init(PWM);<br /> if (pwm == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize PWM\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set PWM period */<br /> status = mraa_pwm_period_us(pwm, PWM_FREQ);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* enable PWM */<br /> status = mraa_pwm_enable(pwm, 1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> while (flag) {<br /> value = value + 0.01f;<br /> <br /> /* write PWM duty cyle */<br /> status = mraa_pwm_write(pwm, value);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> usleep(50000);<br /> <br /> if (value &gt;= 1.0f) {<br /> value = 0.0f;<br /> }<br /> <br /> /* read PWM duty cyle */<br /> output = mraa_pwm_read(pwm);<br /> fprintf(stdout, &quot;PWM value is %f\n&quot;, output);<br /> }<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc pwm.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> PWM value is 0.070014<br /> PWM value is 0.079984<br /> PWM value is 0.089999<br /> PWM value is 0.100014<br /> PWM value is 0.109983<br /> <br /> ===== test i2c =====<br /> Use mraa-i2c tool to test,here we use I2C MPU6050<br /> root@rockpis:/home/rock/c# cat i2c_mpu6050.c <br /> /* standard headers */<br /> #include &lt;endian.h&gt;<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdio.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> <br /> #define I2C_BUS 1<br /> <br /> /* register definitions */<br /> #define MPU6050_ADDR 0x68<br /> #define MPU6050_REG_PWR_MGMT_1 0x6b<br /> #define MPU6050_REG_RAW_ACCEL_X 0x3b<br /> #define MPU6050_REG_RAW_ACCEL_Y 0x3d<br /> #define MPU6050_REG_RAW_ACCEL_Z 0x3f<br /> #define MPU6050_REG_RAW_GYRO_X 0x43<br /> #define MPU6050_REG_RAW_GYRO_Y 0x45<br /> #define MPU6050_REG_RAW_GYRO_Z 0x47<br /> <br /> /* bit definitions */<br /> #define MPU6050_RESET 0x80<br /> #define MPU6050_SLEEP (1 &lt;&lt; 6)<br /> #define MPU6050_PLL_GYRO_X (1 &lt;&lt; 1)<br /> <br /> /* accelerometer scale factor for (+/-)2g */<br /> #define MPU6050_ACCEL_SCALE 16384.0<br /> <br /> /* gyroscope scale factor for (+/-)250/s */<br /> #define MPU6050_GYRO_SCALE 131.0<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int16_t<br /> i2c_read_word(mraa_i2c_context dev, uint8_t command)<br /> {<br /> return be16toh(mraa_i2c_read_word_data(dev, command));<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_i2c_context i2c;<br /> uint8_t data;<br /> int16_t accel_data[3];<br /> int16_t gyro_data[3];<br /> int ret;<br /> <br /> /* install signal handler */<br /> signal(SIGINT, sig_handler);<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize I2C bus */<br /> i2c = mraa_i2c_init(I2C_BUS);<br /> if (i2c == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize I2C\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set slave address */<br /> status = mraa_i2c_address(i2c, MPU6050_ADDR);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* reset the sensor */<br /> status = mraa_i2c_write_byte_data(i2c, MPU6050_RESET, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> /* configure power management register */<br /> ret = mraa_i2c_read_byte_data(i2c, MPU6050_REG_PWR_MGMT_1);<br /> if (ret == -1) {<br /> return EXIT_FAILURE;<br /> }<br /> <br /> data = ret;<br /> data |= MPU6050_PLL_GYRO_X;<br /> data &amp;= ~(MPU6050_SLEEP);<br /> <br /> status = mraa_i2c_write_byte_data(i2c, data, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> while (flag) {<br /> /* read raw accel data */<br /> accel_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_X) / MPU6050_ACCEL_SCALE;<br /> accel_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Y) / MPU6050_ACCEL_SCALE;<br /> accel_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Z) / MPU6050_ACCEL_SCALE;<br /> <br /> /* read raw gyro data */<br /> gyro_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_X) / MPU6050_GYRO_SCALE;<br /> gyro_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Y) / MPU6050_GYRO_SCALE;<br /> gyro_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Z) / MPU6050_GYRO_SCALE;<br /> <br /> fprintf(stdout, &quot;accel: x:%d y:%d z:%d\n&quot;, accel_data[0], accel_data[1], accel_data[2]);<br /> fprintf(stdout, &quot;gyro: x:%d y:%d z:%d\n\n&quot;, gyro_data[0], gyro_data[1], gyro_data[2]);<br /> <br /> sleep(2);<br /> }<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc i2c_mpu6050.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> ===== test uart =====<br /> <br /> ===== test spi =====<br /> <br /> ===== test adc =====<br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-02-25T09:00:19Z <p>Zzl: /* test i2c */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT buster-testing repository. Edit file /etc/apt/sources.list.d/apt-radxa-com.list and add the following:<br /> <br /> For Debian Buster<br /> deb http://apt.radxa.com/buster-testing/ buster main<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa-rockpis<br /> <br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''2'''_SDA<br /> PIN15 I2C'''2'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> modify '''/boot/hw_intfc.conf''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c2''' for test<br /> root@rockpis:/# cat boot/hw_intfc.conf<br /> # Hardware Interface Config<br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=on<br /> intfc:i2c1=on<br /> intfc:i2c2=on<br /> intfc:i2c3=on<br /> <br /> intfc:pwm1=on<br /> intfc:pwm2=on<br /> intfc:pwm3=on<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=on<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> root@rockpis:/#<br /> <br /> then '''reboot'''<br /> <br /> ==== Test ====<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> use c to test pwm.c,compile pwm.c<br /> root@rockpis:/home/rock/c# cat pwm.c<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/pwm.h&quot;<br /> <br /> /* PWM declaration */<br /> #define PWM 11<br /> <br /> /* PWM period in us */<br /> #define PWM_FREQ 200<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_pwm_context pwm;<br /> float value = 0.0f;<br /> float output;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> pwm = mraa_pwm_init(PWM);<br /> if (pwm == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize PWM\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set PWM period */<br /> status = mraa_pwm_period_us(pwm, PWM_FREQ);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* enable PWM */<br /> status = mraa_pwm_enable(pwm, 1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> while (flag) {<br /> value = value + 0.01f;<br /> <br /> /* write PWM duty cyle */<br /> status = mraa_pwm_write(pwm, value);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> usleep(50000);<br /> <br /> if (value &gt;= 1.0f) {<br /> value = 0.0f;<br /> }<br /> <br /> /* read PWM duty cyle */<br /> output = mraa_pwm_read(pwm);<br /> fprintf(stdout, &quot;PWM value is %f\n&quot;, output);<br /> }<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc pwm.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> PWM value is 0.070014<br /> PWM value is 0.079984<br /> PWM value is 0.089999<br /> PWM value is 0.100014<br /> PWM value is 0.109983<br /> <br /> ===== test i2c =====<br /> Use mraa-i2c tool to test,here we use I2C MPU6050<br /> root@rockpis:/home/rock/c# cat i2c_mpu6050.c <br /> /* standard headers */<br /> #include &lt;endian.h&gt;<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdio.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/i2c.h&quot;<br /> <br /> #define I2C_BUS 1<br /> <br /> /* register definitions */<br /> #define MPU6050_ADDR 0x68<br /> #define MPU6050_REG_PWR_MGMT_1 0x6b<br /> #define MPU6050_REG_RAW_ACCEL_X 0x3b<br /> #define MPU6050_REG_RAW_ACCEL_Y 0x3d<br /> #define MPU6050_REG_RAW_ACCEL_Z 0x3f<br /> #define MPU6050_REG_RAW_GYRO_X 0x43<br /> #define MPU6050_REG_RAW_GYRO_Y 0x45<br /> #define MPU6050_REG_RAW_GYRO_Z 0x47<br /> <br /> /* bit definitions */<br /> #define MPU6050_RESET 0x80<br /> #define MPU6050_SLEEP (1 &lt;&lt; 6)<br /> #define MPU6050_PLL_GYRO_X (1 &lt;&lt; 1)<br /> <br /> /* accelerometer scale factor for (+/-)2g */<br /> #define MPU6050_ACCEL_SCALE 16384.0<br /> <br /> /* gyroscope scale factor for (+/-)250/s */<br /> #define MPU6050_GYRO_SCALE 131.0<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int16_t<br /> i2c_read_word(mraa_i2c_context dev, uint8_t command)<br /> {<br /> return be16toh(mraa_i2c_read_word_data(dev, command));<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_i2c_context i2c;<br /> uint8_t data;<br /> int16_t accel_data[3];<br /> int16_t gyro_data[3];<br /> int ret;<br /> <br /> /* install signal handler */<br /> signal(SIGINT, sig_handler);<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> /* initialize I2C bus */<br /> i2c = mraa_i2c_init(I2C_BUS);<br /> if (i2c == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize I2C\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set slave address */<br /> status = mraa_i2c_address(i2c, MPU6050_ADDR);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* reset the sensor */<br /> status = mraa_i2c_write_byte_data(i2c, MPU6050_RESET, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> /* configure power management register */<br /> ret = mraa_i2c_read_byte_data(i2c, MPU6050_REG_PWR_MGMT_1);<br /> if (ret == -1) {<br /> return EXIT_FAILURE;<br /> }<br /> <br /> data = ret;<br /> data |= MPU6050_PLL_GYRO_X;<br /> data &amp;= ~(MPU6050_SLEEP);<br /> <br /> status = mraa_i2c_write_byte_data(i2c, data, MPU6050_REG_PWR_MGMT_1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> sleep(5);<br /> <br /> while (flag) {<br /> /* read raw accel data */<br /> accel_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_X) / MPU6050_ACCEL_SCALE;<br /> accel_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Y) / MPU6050_ACCEL_SCALE;<br /> accel_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Z) / MPU6050_ACCEL_SCALE;<br /> <br /> /* read raw gyro data */<br /> gyro_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_X) / MPU6050_GYRO_SCALE;<br /> gyro_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Y) / MPU6050_GYRO_SCALE;<br /> gyro_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Z) / MPU6050_GYRO_SCALE;<br /> <br /> fprintf(stdout, &quot;accel: x:%d y:%d z:%d\n&quot;, accel_data[0], accel_data[1], accel_data[2]);<br /> fprintf(stdout, &quot;gyro: x:%d y:%d z:%d\n\n&quot;, gyro_data[0], gyro_data[1], gyro_data[2]);<br /> <br /> sleep(2);<br /> }<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* stop i2c */<br /> mraa_i2c_stop(i2c);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> ===== test uart =====<br /> <br /> ===== test spi =====<br /> <br /> ===== test adc =====<br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-02-25T08:46:11Z <p>Zzl: /* test i2c */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT buster-testing repository. Edit file /etc/apt/sources.list.d/apt-radxa-com.list and add the following:<br /> <br /> For Debian Buster<br /> deb http://apt.radxa.com/buster-testing/ buster main<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa-rockpis<br /> <br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''2'''_SDA<br /> PIN15 I2C'''2'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> modify '''/boot/hw_intfc.conf''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c2''' for test<br /> root@rockpis:/# cat boot/hw_intfc.conf<br /> # Hardware Interface Config<br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=on<br /> intfc:i2c1=on<br /> intfc:i2c2=on<br /> intfc:i2c3=on<br /> <br /> intfc:pwm1=on<br /> intfc:pwm2=on<br /> intfc:pwm3=on<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=on<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> root@rockpis:/#<br /> <br /> then '''reboot'''<br /> <br /> ==== Test ====<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> use c to test pwm.c,compile pwm.c<br /> root@rockpis:/home/rock/c# cat pwm.c<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/pwm.h&quot;<br /> <br /> /* PWM declaration */<br /> #define PWM 11<br /> <br /> /* PWM period in us */<br /> #define PWM_FREQ 200<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_pwm_context pwm;<br /> float value = 0.0f;<br /> float output;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> pwm = mraa_pwm_init(PWM);<br /> if (pwm == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize PWM\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set PWM period */<br /> status = mraa_pwm_period_us(pwm, PWM_FREQ);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* enable PWM */<br /> status = mraa_pwm_enable(pwm, 1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> while (flag) {<br /> value = value + 0.01f;<br /> <br /> /* write PWM duty cyle */<br /> status = mraa_pwm_write(pwm, value);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> usleep(50000);<br /> <br /> if (value &gt;= 1.0f) {<br /> value = 0.0f;<br /> }<br /> <br /> /* read PWM duty cyle */<br /> output = mraa_pwm_read(pwm);<br /> fprintf(stdout, &quot;PWM value is %f\n&quot;, output);<br /> }<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc pwm.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> PWM value is 0.070014<br /> PWM value is 0.079984<br /> PWM value is 0.089999<br /> PWM value is 0.100014<br /> PWM value is 0.109983<br /> <br /> ===== test i2c =====<br /> Use mraa-i2c tool to test,here we use I2C MPU6050<br /> <br /> ===== test uart =====<br /> <br /> ===== test spi =====<br /> <br /> ===== test adc =====<br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-02-25T08:40:59Z <p>Zzl: /* Hardware V10 */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT buster-testing repository. Edit file /etc/apt/sources.list.d/apt-radxa-com.list and add the following:<br /> <br /> For Debian Buster<br /> deb http://apt.radxa.com/buster-testing/ buster main<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa-rockpis<br /> <br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V12 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''2'''_SDA<br /> PIN15 I2C'''2'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> modify '''/boot/hw_intfc.conf''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c2''' for test<br /> root@rockpis:/# cat boot/hw_intfc.conf<br /> # Hardware Interface Config<br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=on<br /> intfc:i2c1=on<br /> intfc:i2c2=on<br /> intfc:i2c3=on<br /> <br /> intfc:pwm1=on<br /> intfc:pwm2=on<br /> intfc:pwm3=on<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=on<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> root@rockpis:/#<br /> <br /> then '''reboot'''<br /> <br /> ==== Test ====<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> use c to test pwm.c,compile pwm.c<br /> root@rockpis:/home/rock/c# cat pwm.c<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/pwm.h&quot;<br /> <br /> /* PWM declaration */<br /> #define PWM 11<br /> <br /> /* PWM period in us */<br /> #define PWM_FREQ 200<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_pwm_context pwm;<br /> float value = 0.0f;<br /> float output;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> pwm = mraa_pwm_init(PWM);<br /> if (pwm == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize PWM\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set PWM period */<br /> status = mraa_pwm_period_us(pwm, PWM_FREQ);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* enable PWM */<br /> status = mraa_pwm_enable(pwm, 1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> while (flag) {<br /> value = value + 0.01f;<br /> <br /> /* write PWM duty cyle */<br /> status = mraa_pwm_write(pwm, value);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> usleep(50000);<br /> <br /> if (value &gt;= 1.0f) {<br /> value = 0.0f;<br /> }<br /> <br /> /* read PWM duty cyle */<br /> output = mraa_pwm_read(pwm);<br /> fprintf(stdout, &quot;PWM value is %f\n&quot;, output);<br /> }<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc pwm.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> PWM value is 0.070014<br /> PWM value is 0.079984<br /> PWM value is 0.089999<br /> PWM value is 0.100014<br /> PWM value is 0.109983<br /> <br /> ===== test i2c =====<br /> <br /> ===== test uart =====<br /> <br /> ===== test spi =====<br /> <br /> ===== test adc =====<br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-02-25T08:39:22Z <p>Zzl: /* ===== test i2c ===== */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT buster-testing repository. Edit file /etc/apt/sources.list.d/apt-radxa-com.list and add the following:<br /> <br /> For Debian Buster<br /> deb http://apt.radxa.com/buster-testing/ buster main<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa-rockpis<br /> <br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V10 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''2'''_SDA<br /> PIN15 I2C'''2'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> modify '''/boot/hw_intfc.conf''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c2''' for test<br /> root@rockpis:/# cat boot/hw_intfc.conf<br /> # Hardware Interface Config<br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=on<br /> intfc:i2c1=on<br /> intfc:i2c2=on<br /> intfc:i2c3=on<br /> <br /> intfc:pwm1=on<br /> intfc:pwm2=on<br /> intfc:pwm3=on<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=on<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> root@rockpis:/#<br /> <br /> then '''reboot'''<br /> <br /> ==== Test ====<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> use c to test pwm.c,compile pwm.c<br /> root@rockpis:/home/rock/c# cat pwm.c<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/pwm.h&quot;<br /> <br /> /* PWM declaration */<br /> #define PWM 11<br /> <br /> /* PWM period in us */<br /> #define PWM_FREQ 200<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_pwm_context pwm;<br /> float value = 0.0f;<br /> float output;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> pwm = mraa_pwm_init(PWM);<br /> if (pwm == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize PWM\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set PWM period */<br /> status = mraa_pwm_period_us(pwm, PWM_FREQ);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* enable PWM */<br /> status = mraa_pwm_enable(pwm, 1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> while (flag) {<br /> value = value + 0.01f;<br /> <br /> /* write PWM duty cyle */<br /> status = mraa_pwm_write(pwm, value);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> usleep(50000);<br /> <br /> if (value &gt;= 1.0f) {<br /> value = 0.0f;<br /> }<br /> <br /> /* read PWM duty cyle */<br /> output = mraa_pwm_read(pwm);<br /> fprintf(stdout, &quot;PWM value is %f\n&quot;, output);<br /> }<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc pwm.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> PWM value is 0.070014<br /> PWM value is 0.079984<br /> PWM value is 0.089999<br /> PWM value is 0.100014<br /> PWM value is 0.109983<br /> <br /> ===== test i2c =====<br /> <br /> ===== test uart =====<br /> <br /> ===== test spi =====<br /> <br /> ===== test adc =====<br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-02-25T08:38:56Z <p>Zzl: /* test I2C */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT buster-testing repository. Edit file /etc/apt/sources.list.d/apt-radxa-com.list and add the following:<br /> <br /> For Debian Buster<br /> deb http://apt.radxa.com/buster-testing/ buster main<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa-rockpis<br /> <br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V10 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''2'''_SDA<br /> PIN15 I2C'''2'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> modify '''/boot/hw_intfc.conf''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c2''' for test<br /> root@rockpis:/# cat boot/hw_intfc.conf<br /> # Hardware Interface Config<br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=on<br /> intfc:i2c1=on<br /> intfc:i2c2=on<br /> intfc:i2c3=on<br /> <br /> intfc:pwm1=on<br /> intfc:pwm2=on<br /> intfc:pwm3=on<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=on<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> root@rockpis:/#<br /> <br /> then '''reboot'''<br /> <br /> ==== Test ====<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> use c to test pwm.c,compile pwm.c<br /> root@rockpis:/home/rock/c# cat pwm.c<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/pwm.h&quot;<br /> <br /> /* PWM declaration */<br /> #define PWM 11<br /> <br /> /* PWM period in us */<br /> #define PWM_FREQ 200<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_pwm_context pwm;<br /> float value = 0.0f;<br /> float output;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> pwm = mraa_pwm_init(PWM);<br /> if (pwm == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize PWM\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set PWM period */<br /> status = mraa_pwm_period_us(pwm, PWM_FREQ);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* enable PWM */<br /> status = mraa_pwm_enable(pwm, 1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> while (flag) {<br /> value = value + 0.01f;<br /> <br /> /* write PWM duty cyle */<br /> status = mraa_pwm_write(pwm, value);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> usleep(50000);<br /> <br /> if (value &gt;= 1.0f) {<br /> value = 0.0f;<br /> }<br /> <br /> /* read PWM duty cyle */<br /> output = mraa_pwm_read(pwm);<br /> fprintf(stdout, &quot;PWM value is %f\n&quot;, output);<br /> }<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc pwm.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> PWM value is 0.070014<br /> PWM value is 0.079984<br /> PWM value is 0.089999<br /> PWM value is 0.100014<br /> PWM value is 0.109983<br /> <br /> == ===== test i2c ===== ==<br /> <br /> ===== test uart =====<br /> <br /> ===== test spi =====<br /> <br /> ===== test adc =====<br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-02-25T08:37:24Z <p>Zzl: /* test gpio */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT buster-testing repository. Edit file /etc/apt/sources.list.d/apt-radxa-com.list and add the following:<br /> <br /> For Debian Buster<br /> deb http://apt.radxa.com/buster-testing/ buster main<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa-rockpis<br /> <br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V10 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''2'''_SDA<br /> PIN15 I2C'''2'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> modify '''/boot/hw_intfc.conf''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c2''' for test<br /> root@rockpis:/# cat boot/hw_intfc.conf<br /> # Hardware Interface Config<br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=on<br /> intfc:i2c1=on<br /> intfc:i2c2=on<br /> intfc:i2c3=on<br /> <br /> intfc:pwm1=on<br /> intfc:pwm2=on<br /> intfc:pwm3=on<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=on<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> root@rockpis:/#<br /> <br /> then '''reboot'''<br /> <br /> ==== Test ====<br /> <br /> ===== test gpio =====<br /> <br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> use c to test pwm.c,compile pwm.c<br /> root@rockpis:/home/rock/c# cat pwm.c<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/pwm.h&quot;<br /> <br /> /* PWM declaration */<br /> #define PWM 11<br /> <br /> /* PWM period in us */<br /> #define PWM_FREQ 200<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_pwm_context pwm;<br /> float value = 0.0f;<br /> float output;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> pwm = mraa_pwm_init(PWM);<br /> if (pwm == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize PWM\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set PWM period */<br /> status = mraa_pwm_period_us(pwm, PWM_FREQ);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* enable PWM */<br /> status = mraa_pwm_enable(pwm, 1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> while (flag) {<br /> value = value + 0.01f;<br /> <br /> /* write PWM duty cyle */<br /> status = mraa_pwm_write(pwm, value);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> usleep(50000);<br /> <br /> if (value &gt;= 1.0f) {<br /> value = 0.0f;<br /> }<br /> <br /> /* read PWM duty cyle */<br /> output = mraa_pwm_read(pwm);<br /> fprintf(stdout, &quot;PWM value is %f\n&quot;, output);<br /> }<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc pwm.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> PWM value is 0.070014<br /> PWM value is 0.079984<br /> PWM value is 0.089999<br /> PWM value is 0.100014<br /> PWM value is 0.109983<br /> ===== test I2C =====<br /> <br /> ===== test uart =====<br /> <br /> ===== test spi =====<br /> <br /> ===== test adc =====<br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-02-25T08:35:51Z <p>Zzl: /* Test */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT buster-testing repository. Edit file /etc/apt/sources.list.d/apt-radxa-com.list and add the following:<br /> <br /> For Debian Buster<br /> deb http://apt.radxa.com/buster-testing/ buster main<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa-rockpis<br /> <br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V10 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''2'''_SDA<br /> PIN15 I2C'''2'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> modify '''/boot/hw_intfc.conf''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c2''' for test<br /> root@rockpis:/# cat boot/hw_intfc.conf<br /> # Hardware Interface Config<br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=on<br /> intfc:i2c1=on<br /> intfc:i2c2=on<br /> intfc:i2c3=on<br /> <br /> intfc:pwm1=on<br /> intfc:pwm2=on<br /> intfc:pwm3=on<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=on<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> root@rockpis:/#<br /> <br /> then '''reboot'''<br /> <br /> ==== Test ====<br /> ===== test gpio =====<br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> use c to test pwm.c,compile pwm.c<br /> root@rockpis:/home/rock/c# cat pwm.c<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/pwm.h&quot;<br /> <br /> /* PWM declaration */<br /> #define PWM 11<br /> <br /> /* PWM period in us */<br /> #define PWM_FREQ 200<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_pwm_context pwm;<br /> float value = 0.0f;<br /> float output;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> pwm = mraa_pwm_init(PWM);<br /> if (pwm == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize PWM\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set PWM period */<br /> status = mraa_pwm_period_us(pwm, PWM_FREQ);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* enable PWM */<br /> status = mraa_pwm_enable(pwm, 1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> while (flag) {<br /> value = value + 0.01f;<br /> <br /> /* write PWM duty cyle */<br /> status = mraa_pwm_write(pwm, value);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> usleep(50000);<br /> <br /> if (value &gt;= 1.0f) {<br /> value = 0.0f;<br /> }<br /> <br /> /* read PWM duty cyle */<br /> output = mraa_pwm_read(pwm);<br /> fprintf(stdout, &quot;PWM value is %f\n&quot;, output);<br /> }<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc pwm.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> PWM value is 0.070014<br /> PWM value is 0.079984<br /> PWM value is 0.089999<br /> PWM value is 0.100014<br /> PWM value is 0.109983<br /> ===== test I2C =====<br /> <br /> ===== test uart =====<br /> <br /> ===== test spi =====<br /> <br /> ===== test adc =====<br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl https://wiki.radxa.com/RockpiS/dev/libmraa RockpiS/dev/libmraa 2020-02-25T08:34:25Z <p>Zzl: /* test pwm */</p> <hr /> <div>{{rockpiS_header}}<br /> <br /> {{Languages|rockpiS/dev/libmraa}}<br /> <br /> [[rockpiS | ROCK Pi S]] &gt; [[rockpiS/dev | Development]] &gt; [[rockpiS/dev/libmraa | Install Libmraa ]]<br /> <br /> === Libmraa on ROCK Pi S ===<br /> <br /> This guide describes how to use libmraa on ROCK Pi S.<br /> <br /> ==== Install essential packages ====<br /> <br /> Package libmraa-rockpis is in the Radxa APT buster-testing repository. Edit file /etc/apt/sources.list.d/apt-radxa-com.list and add the following:<br /> <br /> For Debian Buster<br /> deb http://apt.radxa.com/buster-testing/ buster main<br /> <br /> Get the pub key <br /> wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -<br /> <br /> Install essential packages:<br /> sudo apt-get update<br /> sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa-rockpis<br /> <br /> ==== Enable interface ====<br /> 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 follow: <br /> <br /> ===== Hardware V10 =====<br /> <br /> 16 GPIO:<br /> PIN03 GPIO2_A2<br /> PIN05 GPIO2_B0<br /> PIN07 GPIO2_B3<br /> PIN09 GPIO4_C4<br /> PIN11 GPIO4_C2<br /> PIN12 GPIO4_A3<br /> PIN13 GPIO4_C6<br /> PIN15 GPIO4_C5<br /> PIN16 GPIO4_D2<br /> PIN18 GPIO4_D4<br /> PIN19 GPIO1_B0<br /> PIN21 GPIO1_A7<br /> PIN22 GPIO4_D5<br /> PIN23 GPIO1_B1<br /> PIN24 GPIO1_B2<br /> PIN26 GPIO1_B2<br /> <br /> 3 I2C:<br /> PIN23 I2C'''0'''_SDA<br /> PIN24 I2C'''0'''_SCL<br /> PIN3 I2C'''1'''_SCL<br /> PIN5 I2C'''1'''_SDA<br /> PIN13 I2C'''2'''_SDA<br /> PIN15 I2C'''2'''_SCL<br /> <br /> <br /> 1 SPI:<br /> PIN19 SPI'''2'''TX //must disable i2c0<br /> PIN21 SPI'''2'''RX //must disable i2c0<br /> PIN23 SPI'''2'''CLK<br /> PIN24 SPI'''2'''CSN<br /> <br /> 3 UART:<br /> PIN8 UART'''0'''_TX<br /> PIN10 UART'''0'''_RX<br /> PIN23 UART'''1'''_TX<br /> PIN24 UART'''1'''_RX<br /> PIN19 UART'''2'''_RX<br /> PIN21 UART'''2'''_TX<br /> <br /> 2 PWM:<br /> PIN11 PWM'''2'''<br /> PIN13 PWM'''3'''<br /> <br /> 1 ADC:<br /> PIN26 ADC_IN0 //the measure voltage must lower than 1.8v<br /> <br /> modify '''/boot/hw_intfc.conf''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c2''' for test<br /> root@rockpis:/# cat boot/hw_intfc.conf<br /> # Hardware Interface Config<br /> # Set &quot;on&quot; to enable the optional hardware interfaces while set &quot;off&quot; to disable.<br /> <br /> intfc:i2c0=on<br /> intfc:i2c1=on<br /> intfc:i2c2=on<br /> intfc:i2c3=on<br /> <br /> intfc:pwm1=on<br /> intfc:pwm2=on<br /> intfc:pwm3=on<br /> <br /> intfc:spi0=off<br /> intfc:spi2=off<br /> <br /> intfc:uart0=on<br /> intfc:uart1=on<br /> intfc:uart2=on<br /> <br /> # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.<br /> <br /> # Serial console on UART0<br /> intfc:dtoverlay=console-on-ttyS0<br /> <br /> # waveshare 3.5inch lcd (B v2) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35b-v2<br /> <br /> # waveshare 3.5inch lcd (C) on SPI2. Need set:<br /> # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on<br /> #intfc:dtoverlay=spi2-waveshare35c<br /> root@rockpis:/#<br /> <br /> then '''reboot'''<br /> <br /> ==== Test ====<br /> ===== test gpio =====<br /> Use '''mraa-gpio tool''' to test<br /> <br /> root@rockpis:/# mraa-gpio list<br /> 01 3V3: <br /> 02 5V: <br /> 03 I2C_SDA: GPIO I2C <br /> 04 5V: <br /> 05 I2C_SCL: GPIO I2C <br /> 06 GND: <br /> 07 I2S0_8CH_MC: GPIO <br /> 08 UART0_TX: GPIO UART <br /> 09 GND: <br /> 10 UART0_RX: GPIO UART <br /> 11 PWM2,I2C3_S: GPIO I2C PWM <br /> 12 I2S0_8CH_SC: GPIO <br /> 13 PWM3,I2C3_S: GPIO I2C PWM <br /> 14 GND: <br /> 15 SPDIF_TX: GPIO <br /> 16 I2S0_8CH_SD: GPIO <br /> 17 3V3: <br /> 18 I2S0_8CH_SD: GPIO <br /> 19 UART1_RTSN,: GPIO SPI UART <br /> 20 GND: <br /> 21 UART1_CTSN,: GPIO SPI UART <br /> 22 I2S0_8CH_LR: GPIO <br /> 23 UART1_RX,I2: GPIO I2C SPI UART <br /> 24 UART1_TX,I2: GPIO I2C SPI UART <br /> 25 GND: <br /> 26 ADC_IN0: AIO <br /> root@rockpis:/# mraa-gpio set 15 1 #pin15 pull high<br /> root@rockpis:/# mraa-gpio set 15 0 #pin15 pull high<br /> root@rockpis:/#<br /> <br /> ===== test pwm =====<br /> use c to test pwm.c,compile pwm.c<br /> root@rockpis:/home/rock/c# cat pwm.c<br /> #include &lt;signal.h&gt;<br /> #include &lt;stdlib.h&gt;<br /> #include &lt;unistd.h&gt;<br /> <br /> /* mraa header */<br /> #include &quot;mraa/pwm.h&quot;<br /> <br /> /* PWM declaration */<br /> #define PWM 11<br /> <br /> /* PWM period in us */<br /> #define PWM_FREQ 200<br /> <br /> volatile sig_atomic_t flag = 1;<br /> <br /> void<br /> sig_handler(int signum)<br /> {<br /> if (signum == SIGINT) {<br /> fprintf(stdout, &quot;Exiting...\n&quot;);<br /> flag = 0;<br /> }<br /> }<br /> <br /> int<br /> main(void)<br /> {<br /> mraa_result_t status = MRAA_SUCCESS;<br /> mraa_pwm_context pwm;<br /> float value = 0.0f;<br /> float output;<br /> <br /> /* initialize mraa for the platform (not needed most of the times) */<br /> mraa_init();<br /> <br /> //! [Interesting]<br /> pwm = mraa_pwm_init(PWM);<br /> if (pwm == NULL) {<br /> fprintf(stderr, &quot;Failed to initialize PWM\n&quot;);<br /> mraa_deinit();<br /> return EXIT_FAILURE;<br /> }<br /> <br /> /* set PWM period */<br /> status = mraa_pwm_period_us(pwm, PWM_FREQ);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> /* enable PWM */<br /> status = mraa_pwm_enable(pwm, 1);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> while (flag) {<br /> value = value + 0.01f;<br /> <br /> /* write PWM duty cyle */<br /> status = mraa_pwm_write(pwm, value);<br /> if (status != MRAA_SUCCESS) {<br /> goto err_exit;<br /> }<br /> <br /> usleep(50000);<br /> <br /> if (value &gt;= 1.0f) {<br /> value = 0.0f;<br /> }<br /> <br /> /* read PWM duty cyle */<br /> output = mraa_pwm_read(pwm);<br /> fprintf(stdout, &quot;PWM value is %f\n&quot;, output);<br /> }<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> //! [Interesting]<br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_SUCCESS;<br /> <br /> err_exit:<br /> mraa_result_print(status);<br /> <br /> /* close PWM */<br /> mraa_pwm_close(pwm);<br /> <br /> /* deinitialize mraa for the platform (not needed most of the times) */<br /> mraa_deinit();<br /> <br /> return EXIT_FAILURE;<br /> }<br /> <br /> root@rockpis:/home/rock/c# gcc pwm.c -lmraa<br /> root@rockpis:/home/rock/c#<br /> <br /> Run the compiled file<br /> root@rockpis:/home/rock/c# ./a.out <br /> PWM value is 0.010015<br /> PWM value is 0.019985<br /> PWM value is 0.030000<br /> PWM value is 0.040014<br /> PWM value is 0.049984<br /> PWM value is 0.059999<br /> PWM value is 0.070014<br /> PWM value is 0.079984<br /> PWM value is 0.089999<br /> PWM value is 0.100014<br /> PWM value is 0.109983<br /> <br /> ===== test uart =====<br /> <br /> ===== test spi =====<br /> <br /> ===== test adc =====<br /> <br /> ====Development====<br /> <br /> More introduction of libmraa can look at [http://iotdk.intel.com/docs/master/mraa/index.html libmraa official website].</div> Zzl