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Difference between revisions of "Rockpi4/dev/libmraa"

< Rockpi4‎ | dev
(→‎SPI Test)
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If need debug console, you could uncomment '''intfc:dtoverlay=console-on-ttyS2'''.
 
If need debug console, you could uncomment '''intfc:dtoverlay=console-on-ttyS2'''.
 +
 +
When SPI-1 and SPI-2 are enabled, and devspi1, devspi2 dtbo are added. The following two devices are created.
 +
 +
    ls /dev/spidev*
 +
    /dev/spidev1.0 /dev/spidev2.0
  
 
Example for SPI-1 bus test.
 
Example for SPI-1 bus test.
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     0xaa
 
     0xaa
 
     ......
 
     ......
 +
 
==== PWM test ====
 
==== PWM test ====
  

Revision as of 12:25, 14 September 2022

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       ROCK Pi 4 >  Development >  Install Libmraa

Install Libmraa

Below is the instructions of how to install libmraa.

Install essential packages

Edit file /etc/apt/sources.list and add the following:

  • For Debian Buster 
   deb http://apt.radxa.com/buster-testing/ buster main
  • For Debian Bullseye 
   deb http://apt.radxa.com/bullseye-testing/ bullseye main
  • For Ubuntu Focal 
   deb http://apt.radxa.com/focal-testing/ focal main

Get the pub key

  • For Debian Buster 
   wget -O -  apt.radxa.com/buster-testing/public.key | sudo apt-key add -
  • For Debian Bullseye 
   wget -O -  apt.radxa.com/bullseye-testing/public.key | sudo apt-key add -
  • For Ubuntu Focal 
   wget -O -  apt.radxa.com/focal-testing/public.key | sudo apt-key add -

Update 

   sudo apt-get update

Install essential packages: 

   sudo apt-get install -y rockchip-overlay && sudo apt-get install -y rockpi4-dtbo

Enable interface

See ROCK 4 GPIO pinout. ROCK 4 has a 40-pin expansion header. Each pin is distinguished by color. mraa define follow:

27 GPIO: 

   PIN03    GPIO2_A2
   PIN05    GPIO2_B0
   PIN07    GPIO2_B3
   PIN08    GPIO4_C4
   PIN10    GPIO4_C3
   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
   PIN27    GPIO2_A0
   PIN28    GPIO2_A1
   PIN29    GPIO2_B2
   PIN31    GPIO2_B1
   PIN32    GPIO3_C0
   PIN33    GPIO2_B4
   PIN35    GPIO4_A5
   PIN36    GPIO4_A4
   PIN37    GPIO4_D6
   PIN38    GPIO4_A6
   PIN40    GPIO4_A7

2 I2C: 

   PIN3       I2C7_SDA
   PIN5       I2C7_SCL
   PIN27      I2C2_SCL
   PIN28      I2C2_SCL
   PIN29      I2C6_SCL
   PIN31      I2C6_SDA

2 SPI: 

   PIN19      SPI1TX                    //must disable uart4
   PIN21      SPI1RX                    //must disable uart4
   PIN23      SPI1_CLK
   PIN24      SPI1_CS
   PIN29      SPI2TX                   //must disable i2c6
   PIN31      SPI2RX                   //must disable i2c6
   PIN7       SPI2_CLK
   PIN33      SPI2_CS

1 UART: 

   PIN8       UART2_TX
   PIN10      UART2_RX
   PIN19      UART4_TX
   PIN21      UART4_RX

2 PWM: 

   PIN11      PWM0
   PIN13      PWM1

1 ADC: 

   PIN13      ADC0       //the measure voltage must lower than 1.8v

Modify /boot/hw_intfc.conf to enable pwm0,pwm1,uart2,uart4,i2c2,i2c6,i2c7 for test 

   rock@rockpi-4b:~$ cat boot/hw_intfc.conf    
   # Hardware Interface Config   
   # For more details, check https://wiki.radxa.com/Rockpi4/hardware/devtree_overlays.  
   # Set "on" to enable the optional hardware interfaces while set "off" to disable.
   
   intfc:pwm0=off
   intfc:pwm1=off
   intfc:uart2=off
   intfc:uart4=off
   intfc:spi1=off
   intfc:spi2=off
   intfc:i2c2=off
   intfc:i2c6=off
   intfc:i2c7=off
   
   # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.
   
   #intfc:dtoverlay=at24c02
   #intfc:dtoverlay=two-color-led
   #intfc:dtoverlay=console-on-ttyS2
   #intfc:dtoverlay=console-on-ttyS4
   #intfc:dtoverlay=devspi1
   #intfc:dtoverlay=devspi2
   rock@rockpi-4b:~$

then reboot to make them effective.

Install libmraa

   rock@rockpi-4b:~$ sudo apt-get install libmraa

Test

GPIO Test

Use mraa-gpio tool to test 

   rock@rockpi-4b:~$ mraa-gpio list 
   01         3V3: 
   02          5V: 
   03        SDA7: GPIO I2C  
   04          5V: 
   05        SCL7: GPIO I2C  
   06         GND: 
   07    SPI2_CLK: GPIO SPI  
   08        TXD2: GPIO UART 
   09         GND: 
   10        RXD2: GPIO UART 
   11        PWM0: GPIO PWM  
   12    GPIO4_A3: GPIO 
   13        PWM1: GPIO PWM  
   14         GND: 
   15    GPIO4_C5: GPIO 
   16    GPIO4_D2: GPIO 
   17         3V3: 
   18    GPIO4_D4: GPIO 
   19 SPI1TX,TXD4: GPIO SPI  UART 
   20         GND: 
   21 SPI1RX,RXD4: GPIO SPI  UART 
   22    GPIO4_D5: GPIO 
   23     SPI1CLK: GPIO SPI  
   24      SPI1CS: GPIO SPI  
   25         GND: 
   26     ADC_IN0: AIO  
   27        SDA2: GPIO I2C  
   28        SCL2: GPIO I2C  
   29 SCL6,SPI2RX: GPIO I2C  SPI  
   30         GND: 
   31 SDA6,SPI2TX: GPIO I2C  SPI  
   32    GPIO3_C0: GPIO 
   33      SPI2CS: GPIO SPI  
   34         GND: 
   35    GPIO4_A5: GPIO 
   36    GPIO4_A4: GPIO 
   37    GPIO4_D6: GPIO 
   38    GPIO4_A6: GPIO 
   39         GND: 
   40    GPIO4_A7: GPIO 
   rock@rockpi-4b:~$ 
   rock@rockpi-4b:~$  sudo mraa-gpio set 40 1  //pin40 pull high                                                                                                                      
   rock@rockpi-4b:~$  sudo mraa-gpio set 40 0  //pin40 pull low

I2C Test

Firstly, modify the /boot/hw_intfc.conf file as following and then reboot to enable i2c2, i2c6, i2c7. 

   # Hardware Interface Config 
   # For more details, check https://wiki.radxa.com/Rockpi4/hardware/devtree_overlays. 
   # Set "on" to enable the optional hardware interfaces while set "off" to disable
   intfc:pwm0=off
   intfc:pwm1=off
   intfc:uart2=off
   intfc:uart4=off
   intfc:spi1=off
   intfc:spi2=off
   intfc:i2c2=on
   intfc:i2c6=on
   intfc:i2c7=on


Then, use mraa-i2c tool to test,we must have a i2c slave device,for example,we use I2C EEPROM: 

   rock@rockpi-4b:~$ mraa-i2c list
   Bus   0: id=07 type=linux  default
   Bus   1: id=02 type=linux 
   Bus   2: id=06 type=linux 
   rock@rockpi-4b:~$ sudo mraa-i2c detect 0       //device on bus 0  //i2c7
   00: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
   10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
   20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
   30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
   40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
   50: 50 51 52 53 54 55 56 57 -- -- -- -- -- -- -- -- 
   60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
   70: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
   rock@rockpi-4b:~$ sudo mraa-i2c set 0 0x50 0x10 0x55   //write                                                                                                                          
   Device 50, Register = 10, Value = 55
   rock@rockpi-4b:~$ sudo mraa-i2c get 0 0x50 0x10              //read                                                                                              
   Register 0X10 = 0X55

SPI Test

Firstly modify /boot/hw_intfc.conf. When SPI1 is used, UART4 and spi1-flash dtbo should be disabled. When SPI2 is used, UART4 and I2C-6 should be disabled. 

   rock@rockpi-4b:~$ cat /boot/hw_intfc.conf 
   
   # Hardware Interface Config
   # For more details, check https://wiki.radxa.com/Rockpi4/hardware/devtree_overlays.
   # Set "on" to enable the optional hardware interfaces while set "off" to disable.
   
   intfc:pwm0=off
   intfc:pwm1=off
   intfc:uart2=off
   intfc:uart4=off
   intfc:spi1=on
   intfc:spi2=on
   intfc:i2c2=off
   intfc:i2c6=off
   intfc:i2c7=off
   
   # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.
   
   #intfc:dtoverlay=at24c02
   #intfc:dtoverlay=two-color-led
   #intfc:dtoverlay=console-on-ttyS2
   #intfc:dtoverlay=console-on-ttyS4
   #intfc:dtoverlay=spi1-flash
   intfc:dtoverlay=devspi1           #spi1
   intfc:dtoverlay=devspi2           #spi2

If need debug console, you could uncomment intfc:dtoverlay=console-on-ttyS2.

When SPI-1 and SPI-2 are enabled, and devspi1, devspi2 dtbo are added. The following two devices are created. 

   ls /dev/spidev*
   /dev/spidev1.0	/dev/spidev2.0

Example for SPI-1 bus test. 

   root@rockpi-4b:~# cat spi.c
   #include <signal.h>
   #include <stdlib.h>
   #include <unistd.h>
   
   /* mraa header */
   #include "mraa/spi.h"
   
   /* SPI declaration */
   #define SPI_BUS 0
   
   /* SPI frequency in Hz */
   #define SPI_FREQ 400000
   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;
       }
       while(1) {
           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;
   }
   root@rockpi-4b:~# gcc spi.c -lmraa

then short pin19 and pin21 and run a.out 

   root@rockpi-4b:~# ./a.out 
   0xaa
   0xaa
   ......

PWM test

modiy /boot/hw_intfc.conf,if use spi1,must disable uart4,if use spi2,disable i2c6.follow: 

  # Hardware Interface Config
  # For more details, check https://wiki.radxa.com/Rockpi4/hardware/devtree_overlays.
  # Set "on" to enable the optional hardware interfaces while set "off" to disablee

  intfc:pwm0=on
  intfc:pwm1=on
  intfc:uart2=off
  intfc:uart4=off
  intfc:spi1=off
  intfc:spi2=off
  intfc:i2c2=off
  intfc:i2c6=off
  intfc:i2c7=off

Use c program in /usr/local/share/mraa/examples/c/pwm.c to test:

Modify the macro PWM in /usr/local/share/mraa/examples/c/pwm.c as follows to test PWM0. To test PWM1, change #define PWM 11 to #define PWM 13. 

/* PWM declaration */ 
#define PWM 11

save and compile pwm.c 

  root@rockpi-4b:/usr/local/share/mraa/examples/c# gcc -o pwm pwm.c -lmraa
  root@rockpi-4b:/usr/local/share/mraa/examples/c# ./pwm
  PWM value is 0.010045
  PWM value is 0.019985
  PWM value is 0.030030 
  PWM value is 0.039971
  PWM value is 0.050016
  PWM value is 0.059956
  PWM value is 0.070001
  PWM value is 0.080046

UART Test

Disable console and enable uart2 and uart4 for uart test 

   root@rockpi-4b:~# cat /boot/hw_intfc.conf 
   
   # Hardware Interface Config
   # For more details, check https://wiki.radxa.com/Rockpi4/hardware/devtree_overlays.
   # Set "on" to enable the optional hardware interfaces while set "off" to disable.
   
   intfc:pwm0=on
   intfc:pwm1=on
   intfc:uart2=on
   intfc:uart4=on
   intfc:spi1=off
   intfc:spi2=off
   intfc:i2c2=off
   intfc:i2c6=off
   intfc:i2c7=off
   
   # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.
   
   #intfc:dtoverlay=at24c02
   #intfc:dtoverlay=two-color-led
   #intfc:dtoverlay=console-on-ttyS2
   #intfc:dtoverlay=console-on-ttyS4
   root@rockpi-4b:~#

then reboot. Connect your serial line to the corresponding serial port. use ssh connect to rockpi4,we must have 2 windows(ssh and serial console ),one is for send data,anothor is for receive.

send command follow: 

   sudo mraa-uart dev 0 baud 1500000 send  data   
   or
   sudo mraa-uart dev 1 baud 1500000 send  data

receive command follow: 

   sudo mraa-uart dev 0 baud 1500000 recv  1000
   or
   sudo mraa-uart dev 1 baud 1500000 recv  1000

the receive window will show the data

ADC Test

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

   root@rockpi-4b:/usr/local/share/mraa/examples/c# gcc -o aio aio.c -lmraa 
   root@rockpi-4b:/usr/local/share/mraa/examples/c#./aio
   ADC A0 read 3FF - 1023
   ADC A0 read float - 1.00000
   ADC A0 read 3FF - 1023
   ADC A0 read float - 1.00000
   ADC A0 read 3FF - 1023
   ADC A0 read float - 1.00000
   ADC A0 read 3FF - 1023
   ADC A0 read float - 1.00000
   ADC A0 read 3FF - 1023
   ADC A0 read float - 1.00000

More examples

More examples (including examples written in python and java) can be found at:

/usr/local/share/mraa/examples/

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