Difference between revisions of "RockpiS/dev/libmraa"

Revision as of 12:05, 21 April 2020

English

       ROCK Pi S >  Development >  Install Libmraa

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

3 I2C:

   PIN23      I2C0_SDA
   PIN24      I2C0_SCL
   PIN3       I2C1_SCL
   PIN5       I2C1_SDA
   PIN13      I2C3_SDA
   PIN15      I2C3_SCL

1 SPI:

   PIN19      SPI2TX        //must disable i2c0
   PIN21      SPI2RX        //must disable i2c0
   PIN23      SPI2CLK
   PIN24      SPI2CSN

3 UART:

   PIN8       UART0_TX
   PIN10      UART0_RX
   PIN23      UART1_TX
   PIN24      UART1_RX
   PIN19      UART2_RX
   PIN21      UART2_TX

2 PWM:

   PIN11      PWM2
   PIN13      PWM3

1 ADC:

   PIN26      ADC_IN0          //the measure voltage must lower than 1.8v

For those ROCK Pi S system images released after March 1st, 2020, to enable pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c3 and so overlays=, need to follow Device tree overlays.

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.

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

Test

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

And we copy them to home directory.

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

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

test gpio

Use mraa-gpio tool to test

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

PWM test

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

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

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

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

 /* PWM declaration */
 #define PWM 11

Save and compile pwm.c

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

I2C test

Use mraa-i2c tool to test. Here we use I2C MPU6050

   rrock@rockpis:~/mraa-examples$ cat i2c_mpu6050.c 
   /* standard headers */
   #include <endian.h>
   #include <signal.h>
   #include <stdio.h>
   #include <stdlib.h>
   #include <unistd.h>
   
   /* mraa header */
   #include "mraa/i2c.h"
   
   #define I2C_BUS 1
   
   /* register definitions */
   #define MPU6050_ADDR 0x68
   #define MPU6050_REG_PWR_MGMT_1 0x6b
   #define MPU6050_REG_RAW_ACCEL_X 0x3b
   #define MPU6050_REG_RAW_ACCEL_Y 0x3d
   #define MPU6050_REG_RAW_ACCEL_Z 0x3f
   #define MPU6050_REG_RAW_GYRO_X 0x43
   #define MPU6050_REG_RAW_GYRO_Y 0x45
   #define MPU6050_REG_RAW_GYRO_Z 0x47
   
   /* bit definitions */
   #define MPU6050_RESET 0x80
   #define MPU6050_SLEEP (1 << 6)
   #define MPU6050_PLL_GYRO_X (1 << 1)
   
   /* accelerometer scale factor for (+/-)2g */
   #define MPU6050_ACCEL_SCALE 16384.0
   
   /* gyroscope scale factor for (+/-)250/s */
   #define MPU6050_GYRO_SCALE 131.0
   
   volatile sig_atomic_t flag = 1;
   
   void
   sig_handler(int signum)
   {
       if (signum == SIGINT) {
           fprintf(stdout, "Exiting...\n");
           flag = 0;
       }
   }
   
   int16_t
   i2c_read_word(mraa_i2c_context dev, uint8_t command)
   {
       return be16toh(mraa_i2c_read_word_data(dev, command));
   }
       
   int
   main(void)
   {
       mraa_result_t status = MRAA_SUCCESS;
       mraa_i2c_context i2c;
       uint8_t data;
       int16_t accel_data[3];
       int16_t gyro_data[3];
       int ret;
   
       /* install signal handler */
       signal(SIGINT, sig_handler);
            
       /* initialize mraa for the platform (not needed most of the times) */
       mraa_init();
   
       //! [Interesting]
       /* initialize I2C bus */
       i2c = mraa_i2c_init(I2C_BUS);
       if (i2c == NULL) {
           fprintf(stderr, "Failed to initialize I2C\n");
           mraa_deinit();
           return EXIT_FAILURE;
       }
   
       /* set slave address */
       status = mraa_i2c_address(i2c, MPU6050_ADDR);
       if (status != MRAA_SUCCESS) {
           goto err_exit;
       }
   
       /* reset the sensor */
       status = mraa_i2c_write_byte_data(i2c, MPU6050_RESET, MPU6050_REG_PWR_MGMT_1);
       if (status != MRAA_SUCCESS) {
           goto err_exit;
       }
   
       sleep(5);
    
       /* configure power management register */
       ret = mraa_i2c_read_byte_data(i2c, MPU6050_REG_PWR_MGMT_1);
       if (ret == -1) {
           return EXIT_FAILURE;
       }
   
       data = ret;
       data |= MPU6050_PLL_GYRO_X;
       data &= ~(MPU6050_SLEEP);
   
       status = mraa_i2c_write_byte_data(i2c, data, MPU6050_REG_PWR_MGMT_1);
       if (status != MRAA_SUCCESS) {
       goto err_exit;
   }
   
       sleep(5);
   
       while (flag) {
           /* read raw accel data */
           accel_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_X) / MPU6050_ACCEL_SCALE;
           accel_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Y) / MPU6050_ACCEL_SCALE;
           accel_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_ACCEL_Z) / MPU6050_ACCEL_SCALE;
   
           /* read raw gyro data */
           gyro_data[0] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_X) / MPU6050_GYRO_SCALE;
           gyro_data[1] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Y) / MPU6050_GYRO_SCALE;
           gyro_data[2] = i2c_read_word(i2c, MPU6050_REG_RAW_GYRO_Z) / MPU6050_GYRO_SCALE;
   
           fprintf(stdout, "accel: x:%d y:%d z:%d\n", accel_data[0], accel_data[1], accel_data[2]);
           fprintf(stdout, "gyro: x:%d y:%d z:%d\n\n", gyro_data[0], gyro_data[1], gyro_data[2]);
   
           sleep(2);
       }
       
       /* stop i2c */
       mraa_i2c_stop(i2c);
   
       //! [Interesting]
       /* deinitialize mraa for the platform (not needed most of the times) */
       mraa_deinit();
    
       return EXIT_SUCCESS;
     
   err_exit:
       mraa_result_print(status);
    
       /* stop i2c */
       mraa_i2c_stop(i2c);
    
       /* deinitialize mraa for the platform (not needed most of the times) */
       mraa_deinit();
   
       return EXIT_FAILURE;
   }
   
   rock@rockpis:~/mraa-examples$ gcc i2c_mpu6050 i2c_mpu6050.c -lmraa

Run the compiled file

   rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050
   accel: x:0 y:0 z:0
   gyro: x:-10 y:1 z:7
   
   accel: x:0 y:0 z:0
   gyro: x:107 y:-12 z:69
   
   accel: x:0 y:0 z:0
   gyro: x:6 y:136 z:-50
   
   accel: x:0 y:0 z:0
   gyro: x:-5 y:48 z:-103
     
   accel: x:0 y:0 z:0
   gyro: x:3 y:3 z:5

UART test

SPI test

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

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

then execute command, sync, followed by reboot.

use c to test spi,compile spi.c,if use spi1,must disable

  rock@rockpis:~$ cat test-spi.c 
  #include <signal.h>
  #include <stdlib.h>
  #include <unistd.h>
  
  /* mraa header */
  #include "mraa/spi.h"
  
  /* SPI declaration */
  #define SPI_BUS 2
  
  /* SPI frequency in Hz */
  #define SPI_FREQ 10000000
  int
  main(int argc, char** argv)
  {
      mraa_result_t status = MRAA_SUCCESS;
      mraa_spi_context spi;
      int i, j;
  
      /* initialize mraa for the platform (not needed most of the times) */
      mraa_init();
  
      //! [Interesting]
      /* initialize SPI bus */
      spi = mraa_spi_init(SPI_BUS);
      if (spi == NULL) {
          fprintf(stderr, "Failed to initialize SPI\n");
          mraa_deinit();
          return EXIT_FAILURE;
      }
  
      /* set SPI frequency */
      status = mraa_spi_frequency(spi, SPI_FREQ);
      if (status != MRAA_SUCCESS)
          goto err_exit;
  
      /* set big endian mode */
      status = mraa_spi_lsbmode(spi, 0);
      if (status != MRAA_SUCCESS) {
          goto err_exit;
      }
     
      j = 10;
      while(j) {
    	j--;
          printf("0x%x\n",mraa_spi_write(spi, 0xaa));
      }
  err_exit:
      mraa_result_print(status);
  
      /* stop spi */
      mraa_spi_stop(spi);
  
      /* deinitialize mraa for the platform (not needed most of the times) */
      mraa_deinit();
  
       return EXIT_FAILURE;
  }
  rock@rockpis:~$ gcc -o test-spi test-spi.c -lmraa

then short pin19 and pin21 and run a.out

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

ADC test

connect signal you want to measure,and then compile mraa examplec file to test.

Folder /mraa/examples/c/aio.c has examples of testing ADC，compiling it and executing

  rock@rockpis:~/mraa/examples/c$ gcc aio.c -lmraa
  rock@rockpis:~/mraa/examples/c$ ./a.out
  ADC A0 read 1A5 - 421
  ADC A0 read float - 0.41153
  ADC A0 read 1A5 - 421
  ADC A0 read float - 0.41153
  ADC A0 read 1A5 - 421
  ADC A0 read float - 0.41153
  ADC A0 read 1A5 - 421
  ADC A0 read float - 0.41153

Development

More introduction of libmraa can look at libmraa official website.

Troubleshooting

Refer Troubleshooting page
Post your issue on the forum: https://forum.radxa.com/c/rockpiS

Difference between revisions of "RockpiS/dev/libmraa"

Revision as of 12:05, 21 April 2020

Contents

Libmraa on ROCK Pi S

Install essential packages

Enable interface

Hardware V12