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Difference between revisions of "RockpiS/dev/libmraa"

< RockpiS‎ | dev
(→‎PWM test)
(→‎I2C test)
Line 183: Line 183:
 
===== I2C test =====
 
===== I2C test =====
  
−
Use mraa-i2c tool to test. Here we use I2C MPU6050
+
We use  MPU6050 tets i2c.
−
    rock@rockpis:~/mraa-examples$ cat i2c_mpu6050.c  
+
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''' .
−
    /* 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
 
Run the compiled file
 
  rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050
 
  rock@rockpis:~/mraa-examples$ sudo ./i2c_mpu6050

Revision as of 07:06, 23 April 2020

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    ROCK Pi S >  Development >  Install Libmraa

Libmraa on ROCK Pi S

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

Install essential packages

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

Execute the following commands to add Radxa APT 

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

or 

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

Get the pub key 

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

Install essential packages: 

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

Enable interface

See ROCK Pi S GPIO pintout. ROCK Pi S has a 26-pin colorful expansion header. Each pin is distinguished by color. mraa define is shown below:

Hardware V12

16 GPIO: 

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

3 I2C: 

   PIN23      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. 

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

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

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

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

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.

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

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

Then short pin19 and pin21 and run test-spi 

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

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

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

Development

More introduction of libmraa can look at libmraa official website.

Troubleshooting

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