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| − | {{rockpi4_header}}
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| | | | |
| − | {{Languages|rockpi4/dev/libmraa}}
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| − |
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| − | [[rockpi4 | ROCK Pi 4]] > [[rockpi4/dev | Development]] > [[rockpi4/dev/libmraa | Install Libmraa ]]
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| − |
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| − | == Install Libmraa ==
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| − | Below is the instructions of how to install '''libmraa'''.
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| − |
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| − | === Install essential packages ===
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| − | Edit file /etc/apt/sources.list and add the following:
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| − |
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| − | * '''For Debian Buster'''
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| − | deb http://apt.radxa.com/buster-testing/ buster main
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| − | * '''For Debian Bullseye'''
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| − | deb http://apt.radxa.com/bullseye-testing/ bullseye main
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| − | * '''For Ubuntu Focal'''
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| − | deb http://apt.radxa.com/focal-testing/ focal main
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| − |
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| − | Get the pub key
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| − |
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| − | * '''For Debian Buster'''
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| − | wget -O - apt.radxa.com/buster-testing/public.key | sudo apt-key add -
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| − | * '''For Debian Bullseye'''
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| − | wget -O - apt.radxa.com/bullseye-testing/public.key | sudo apt-key add -
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| − | * '''For Ubuntu Focal'''
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| − | wget -O - apt.radxa.com/focal-testing/public.key | sudo apt-key add -
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| − |
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| − | Update
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| − | sudo apt-get update
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| − |
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| − | Install essential packages:
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| − | sudo apt-get install -y rockchip-overlay && sudo apt-get install -y rockpi4-dtbo
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| − |
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| − | === Enable interface ===
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| − | See ROCK 4 [[Rockpi4/hardware/rockpi4#gpio | GPIO pinout]]. ROCK 4 has a 40-pin expansion header. Each pin is distinguished by color. mraa define follow:
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| − |
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| − | 27 GPIO:
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| − | PIN03 GPIO2_A2
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| − | PIN05 GPIO2_B0
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| − | PIN07 GPIO2_B3
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| − | PIN08 GPIO4_C4
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| − | PIN10 GPIO4_C3
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| − | PIN11 GPIO4_C2
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| − | PIN12 GPIO4_A3
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| − | PIN13 GPIO4_C6
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| − | PIN15 GPIO4_C5
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| − | PIN16 GPIO4_D2
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| − | PIN18 GPIO4_D4
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| − | PIN19 GPIO1_B0
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| − | PIN21 GPIO1_A7
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| − | PIN22 GPIO4_D5
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| − | PIN23 GPIO1_B1
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| − | PIN24 GPIO1_B2
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| − | PIN27 GPIO2_A0
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| − | PIN28 GPIO2_A1
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| − | PIN29 GPIO2_B2
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| − | PIN31 GPIO2_B1
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| − | PIN32 GPIO3_C0
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| − | PIN33 GPIO2_B4
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| − | PIN35 GPIO4_A5
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| − | PIN36 GPIO4_A4
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| − | PIN37 GPIO4_D6
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| − | PIN38 GPIO4_A6
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| − | PIN40 GPIO4_A7
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| − | 2 I2C:
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| − | PIN3 I2C'''7'''_SDA
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| − | PIN5 I2C'''7'''_SCL
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| − | PIN27 I2C'''2'''_SCL
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| − | PIN28 I2C'''2'''_SCL
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| − | PIN29 I2C'''6'''_SCL
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| − | PIN31 I2C'''6'''_SDA
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| − | 2 SPI:
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| − | PIN19 SPI'''1'''TX //'''must disable uart4'''
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| − | PIN21 SPI'''1'''RX //'''must disable uart4'''
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| − | PIN23 SPI'''1'''_CLK
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| − | PIN24 SPI'''1'''_CS
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| − | PIN29 SPI'''2'''TX //'''must disable i2c6'''
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| − | PIN31 SPI'''2'''RX //'''must disable i2c6'''
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| − | PIN7 SPI'''2'''_CLK
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| − | PIN33 SPI'''2'''_CS
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| − | 1 UART:
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| − | PIN8 UART'''2'''_TX
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| − | PIN10 UART'''2'''_RX
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| − | PIN19 UART'''4'''_TX
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| − | PIN21 UART'''4'''_RX
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| − | 2 PWM:
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| − | PIN11 PWM'''0'''
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| − | PIN13 PWM'''1'''
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| − | 1 ADC:
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| − | PIN13 ADC0 //the measure voltage must''' lower than 1.8v'''
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| − |
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| − | Modify '''/boot/hw_intfc.conf''' to enable '''pwm0,pwm1,uart2,uart4,i2c2,i2c6,i2c7''' for test
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| − | rock@rockpi-4b:~$ cat boot/hw_intfc.conf
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| − | # Hardware Interface Config
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| − | # For more details, check https://wiki.radxa.com/Rockpi4/hardware/devtree_overlays.
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| − | # '''Set "on" to enable the optional hardware interfaces while set "off" to disable.'''
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| − |
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| − | '''intfc:pwm0=off'''
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| − | '''intfc:pwm1=off'''
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| − | '''intfc:uart2=off'''
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| − | '''intfc:uart4=off'''
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| − | '''intfc:spi1=off'''
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| − | '''intfc:spi2=off'''
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| − | '''intfc:i2c2=off'''
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| − | '''intfc:i2c6=off'''
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| − | '''intfc:i2c7=off'''
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| − |
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| − | # '''Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.'''
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| − |
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| − | #intfc:dtoverlay=at24c02
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| − | #intfc:dtoverlay=two-color-led
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| − | #intfc:dtoverlay=console-on-ttyS2
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| − | #intfc:dtoverlay=console-on-ttyS4
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| − | #intfc:dtoverlay=devspi1
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| − | #intfc:dtoverlay=devspi2
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| − | rock@rockpi-4b:~$
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| − |
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| − | then '''reboot''' to make them effective.
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| − |
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| − | === Install libmraa ===
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| − |
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| − | rock@rockpi-4b:~$ sudo apt-get install libmraa
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| − |
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| − | === Test ===
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| − | ==== GPIO Test ====
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| − |
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| − | Use '''mraa-gpio''' tool to test
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| − |
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| − | rock@rockpi-4b:~$ mraa-gpio list
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| − | 01 3V3:
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| − | 02 5V:
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| − | 03 SDA7: GPIO I2C
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| − | 04 5V:
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| − | 05 SCL7: GPIO I2C
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| − | 06 GND:
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| − | 07 SPI2_CLK: GPIO SPI
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| − | 08 TXD2: GPIO UART
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| − | 09 GND:
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| − | 10 RXD2: GPIO UART
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| − | 11 PWM0: GPIO PWM
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| − | 12 GPIO4_A3: GPIO
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| − | 13 PWM1: GPIO PWM
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| − | 14 GND:
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| − | 15 GPIO4_C5: GPIO
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| − | 16 GPIO4_D2: GPIO
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| − | 17 3V3:
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| − | 18 GPIO4_D4: GPIO
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| − | 19 SPI1TX,TXD4: GPIO SPI UART
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| − | 20 GND:
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| − | 21 SPI1RX,RXD4: GPIO SPI UART
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| − | 22 GPIO4_D5: GPIO
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| − | 23 SPI1CLK: GPIO SPI
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| − | 24 SPI1CS: GPIO SPI
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| − | 25 GND:
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| − | 26 ADC_IN0: AIO
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| − | 27 SDA2: GPIO I2C
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| − | 28 SCL2: GPIO I2C
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| − | 29 SCL6,SPI2RX: GPIO I2C SPI
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| − | 30 GND:
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| − | 31 SDA6,SPI2TX: GPIO I2C SPI
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| − | 32 GPIO3_C0: GPIO
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| − | 33 SPI2CS: GPIO SPI
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| − | 34 GND:
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| − | 35 GPIO4_A5: GPIO
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| − | 36 GPIO4_A4: GPIO
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| − | 37 GPIO4_D6: GPIO
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| − | 38 GPIO4_A6: GPIO
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| − | 39 GND:
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| − | 40 GPIO4_A7: GPIO
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| − | rock@rockpi-4b:~$
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| − | rock@rockpi-4b:~$ sudo mraa-gpio set 40 1 //pin40 pull high
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| − | rock@rockpi-4b:~$ sudo mraa-gpio set 40 0 //pin40 pull low
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| − |
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| − | ==== I2C Test ====
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| − | Firstly, modify the /boot/hw_intfc.conf file as following and then reboot to enable i2c2, i2c6, i2c7.
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| − | # Hardware Interface Config
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| − | # For more details, check https://wiki.radxa.com/Rockpi4/hardware/devtree_overlays.
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| − | # Set "on" to enable the optional hardware interfaces while set "off" to disable
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| − | intfc:pwm0=off
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| − | intfc:pwm1=off
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| − | intfc:uart2=off
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| − | intfc:uart4=off
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| − | intfc:spi1=off
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| − | intfc:spi2=off
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| − | intfc:i2c2=on
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| − | intfc:i2c6=on
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| − | intfc:i2c7=on
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| − |
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| − |
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| − | Then, use '''mraa-i2c''' tool to test,we must have a i2c slave device,for example,we use I2C EEPROM:
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| − | rock@rockpi-4b:~$ mraa-i2c list
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| − | Bus 0: id=07 type=linux default
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| − | Bus 1: id=02 type=linux
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| − | Bus 2: id=06 type=linux
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| − | rock@rockpi-4b:~$ sudo mraa-i2c detect 0 //device on bus 0 //i2c7
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| − | 00: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
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| − | 10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
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| − | 20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
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| − | 30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
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| − | 40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
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| − | 50: 50 51 52 53 54 55 56 57 -- -- -- -- -- -- -- --
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| − | 60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
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| − | 70: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
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| − | rock@rockpi-4b:~$ sudo mraa-i2c set 0 0x50 0x10 0x55 //write
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| − | Device 50, Register = 10, Value = 55
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| − | rock@rockpi-4b:~$ sudo mraa-i2c get 0 0x50 0x10 //read
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| − | Register 0X10 = 0X55
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| − |
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| − | ==== SPI Test ====
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| − | 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.
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| − | rock@rockpi-4b:~$ cat /boot/hw_intfc.conf
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| − |
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| − | # Hardware Interface Config
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| − | # For more details, check https://wiki.radxa.com/Rockpi4/hardware/devtree_overlays.
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| − | # Set "on" to enable the optional hardware interfaces while set "off" to disable.
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| − |
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| − | intfc:pwm0=off
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| − | intfc:pwm1=off
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| − | intfc:uart2=off
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| − | intfc:uart4=off
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| − | '''intfc:spi1=on'''
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| − | '''intfc:spi2=on'''
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| − | intfc:i2c2=off
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| − | intfc:i2c6=off
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| − | intfc:i2c7=off
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| − |
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| − | # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.
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| − |
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| − | #intfc:dtoverlay=at24c02
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| − | #intfc:dtoverlay=two-color-led
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| − | #intfc:dtoverlay=console-on-ttyS2
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| − | #intfc:dtoverlay=console-on-ttyS4
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| − | '''#intfc:dtoverlay=spi1-flash'''
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| − | '''intfc:dtoverlay=devspi1''' #spi1
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| − | '''intfc:dtoverlay=devspi2''' #spi2
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| − |
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| − | If need debug console, you could uncomment '''intfc:dtoverlay=console-on-ttyS2'''.
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| − |
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| − | When SPI-1 and SPI-2 are enabled, and devspi1, devspi2 dtbo are added. The following two devices are created.
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| − |
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| − | ls /dev/spidev*
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| − | /dev/spidev1.0 /dev/spidev2.0
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| − |
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| − | Example for SPI-1 bus test.
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| − |
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| − | root@rockpi-4b:~# cat spi.c
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| − | #include <signal.h>
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| − | #include <stdlib.h>
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| − | #include <unistd.h>
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| − |
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| − | /* mraa header */
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| − | #include "mraa/spi.h"
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| − |
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| − | /* SPI declaration */
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| − | #define SPI_BUS 0
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| − |
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| − | /* SPI frequency in Hz */
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| − | #define SPI_FREQ 400000
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| − | int
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| − | main(int argc, char** argv)
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| − | {
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| − | mraa_result_t status = MRAA_SUCCESS;
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| − | mraa_spi_context spi;
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| − | int i, j;
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| − |
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| − | /* initialize mraa for the platform (not needed most of the times) */
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| − | mraa_init();
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| − |
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| − | //! [Interesting]
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| − | /* initialize SPI bus */
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| − | spi = mraa_spi_init(SPI_BUS);
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| − | if (spi == NULL) {
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| − | fprintf(stderr, "Failed to initialize SPI\n");
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| − | mraa_deinit();
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| − | return EXIT_FAILURE;
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| − | }
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| − |
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| − | /* set SPI frequency */
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| − | status = mraa_spi_frequency(spi, SPI_FREQ);
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| − | if (status != MRAA_SUCCESS)
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| − | goto err_exit;
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| − |
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| − | /* set big endian mode */
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| − | status = mraa_spi_lsbmode(spi, 0);
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| − | if (status != MRAA_SUCCESS) {
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| − | goto err_exit;
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| − | }
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| − | while(1) {
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| − | printf("0x%x\n",mraa_spi_write(spi, 0xaa));
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| − | }
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| − | err_exit:
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| − | mraa_result_print(status);
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| − |
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| − | /* stop spi */
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| − | mraa_spi_stop(spi);
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| − |
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| − | /* deinitialize mraa for the platform (not needed most of the times) */
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| − | mraa_deinit();
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| − |
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| − | return EXIT_FAILURE;
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| − | }
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| − | root@rockpi-4b:~# gcc spi.c -lmraa
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| − | then short '''pin19''' and '''pin21''' and run a.out
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| − | root@rockpi-4b:~# ./a.out
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| − | 0xaa
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| − | 0xaa
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| − | ......
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| − |
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| − | ==== PWM test ====
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| − |
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| − | modiy /boot/hw_intfc.conf,if use spi1,must disable uart4,if use spi2,disable i2c6.follow:
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| − | # Hardware Interface Config
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| − | # For more details, check https://wiki.radxa.com/Rockpi4/hardware/devtree_overlays.
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| − | # Set "on" to enable the optional hardware interfaces while set "off" to disablee
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| − |
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| − | '''intfc:pwm0=on'''
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| − | '''intfc:pwm1=on'''
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| − | intfc:uart2=off
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| − | intfc:uart4=off
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| − | intfc:spi1=off
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| − | intfc:spi2=off
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| − | intfc:i2c2=off
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| − | intfc:i2c6=off
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| − | intfc:i2c7=off
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| − |
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| − | Use c program in /usr/local/share/mraa/examples/c/pwm.c to test:
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| − |
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| − | 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.
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| − |
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| − | '''/* PWM declaration */'''
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| − | '''#define PWM 11'''
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| − | save and compile pwm.c
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| − | root@rockpi-4b:/usr/local/share/mraa/examples/c# gcc -o pwm pwm.c -lmraa
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| − | root@rockpi-4b:/usr/local/share/mraa/examples/c# ./pwm
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| − | PWM value is 0.010045
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| − | PWM value is 0.019985
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| − | PWM value is 0.030030
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| − | PWM value is 0.039971
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| − | PWM value is 0.050016
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| − | PWM value is 0.059956
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| − | PWM value is 0.070001
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| − | PWM value is 0.080046
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| − |
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| − | ==== UART Test ====
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| − | Disable console and enable uart2 and uart4 for uart test
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| − | root@rockpi-4b:~# cat /boot/hw_intfc.conf
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| − |
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| − | # Hardware Interface Config
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| − | # For more details, check https://wiki.radxa.com/Rockpi4/hardware/devtree_overlays.
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| − | # Set "on" to enable the optional hardware interfaces while set "off" to disable.
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| − |
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| − | intfc:pwm0=on
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| − | intfc:pwm1=on
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| − | '''intfc:uart2=on'''
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| − | '''intfc:uart4=on'''
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| − | intfc:spi1=off
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| − | intfc:spi2=off
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| − | intfc:i2c2=off
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| − | intfc:i2c6=off
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| − | intfc:i2c7=off
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| − |
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| − | # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.
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| − |
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| − | #intfc:dtoverlay=at24c02
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| − | #intfc:dtoverlay=two-color-led
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| − | #intfc:dtoverlay=console-on-ttyS2
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| − | #intfc:dtoverlay=console-on-ttyS4
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| − | root@rockpi-4b:~#
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| − | then '''reboot'''. Connect your serial line to the corresponding serial port.
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| − | use ssh connect to rockpi4,we must have 2 windows(ssh and serial console ),one is for send data,anothor is for receive.
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| − |
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| − | send command follow:
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| − | sudo mraa-uart dev 0 baud 1500000 send data
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| − | or
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| − | sudo mraa-uart dev 1 baud 1500000 send data
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| − | receive command follow:
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| − | sudo mraa-uart dev 0 baud 1500000 recv 1000
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| − | or
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| − | sudo mraa-uart dev 1 baud 1500000 recv 1000
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| − |
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| − | the receive window will show the data
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| − |
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| − | ==== ADC Test ====
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| − | connect signal you want to measure,and then compile mraa examplec file to test.
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| − | root@rockpi-4b:/usr/local/share/mraa/examples/c# '''gcc -o aio aio.c -lmraa'''
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| − | root@rockpi-4b:/usr/local/share/mraa/examples/c#'''./aio'''
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| − | ADC A0 read 3FF - 1023
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| − | ADC A0 read float - 1.00000
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| − | ADC A0 read 3FF - 1023
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| − | ADC A0 read float - 1.00000
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| − | ADC A0 read 3FF - 1023
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| − | ADC A0 read float - 1.00000
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| − | ADC A0 read 3FF - 1023
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| − | ADC A0 read float - 1.00000
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| − | ADC A0 read 3FF - 1023
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| − | ADC A0 read float - 1.00000
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| − |
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| − |
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| − | === Test ===
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| − |
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| − | ===== Example of running Java =====
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| − |
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| − | HelloRockpi4.java
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| − | <pre>
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| − | //! [Interesting]
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| − | import mraa.Dir;
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| − | import mraa.Gpio;
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| − | import mraa.RockPi4;
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| − | import mraa.mraa;
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| − | import mraa.Platform;
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| − | import mraa.Result;
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| − |
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| − | public class HelloRockpi4 {
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| − | static {
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| − | try {
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| − | System.loadLibrary("mraajava");
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| − | // System.load("/usr/local/lib/libmraajava.so");
| |
| − | } catch (UnsatisfiedLinkError e) {
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| − | System.err.println(
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| − | "Native code library failed to load. See the chapter on Dynamic Linking Problems in the SWIG Java documentation for help.\n"
| |
| − | +
| |
| − | e);
| |
| − | System.exit(1);
| |
| − | }
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| − | }
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| − |
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| − | public static void main(String argv[]) {
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| − | Platform platform = mraa.getPlatformType();
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| − |
| |
| − | if (platform != Platform.ROCKPI4) {
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| − | System.err.println("Error: This program can only be run on rockpi4");
| |
| − | System.exit(Result.ERROR_INVALID_PLATFORM.swigValue());
| |
| − | }
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| − |
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| − | System.out.println("RockPi4.ROCKPI4_GPIO71.swigValue() = " + RockPi4.ROCKPI4_GPIO71.swigValue());
| |
| − | Gpio gpio = new Gpio(RockPi4.ROCKPI4_GPIO71.swigValue(), false);
| |
| − | gpio.dir(Dir.DIR_OUT);
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| − |
| |
| − | int val = gpio.read();
| |
| − |
| |
| − | System.out.println(String.format("GPIO%d (mraa pin %d) was: %d, will set to %d\n", 182,
| |
| − | gpio.getPin(), val, val == 0 ? 1 : 0));
| |
| − |
| |
| − | gpio.write(val == 0 ? 1 : 0);
| |
| − | };
| |
| − | }
| |
| − | // ! [Interesting]
| |
| − | </pre>
| |
| − |
| |
| − | compile and run it by the following commands
| |
| − | <pre>
| |
| − | root@rock-4c-plus:/home/rock/mraa/examples/java# javac -cp /usr/local/lib/java/mraa.jar:. HelloRockpi4.java
| |
| − | root@rock-4c-plus:/home/rock/mraa/examples/java# java -cp /usr/local/lib/java/mraa.jar:. HelloRockpi4
| |
| − | RockPi4.ROCKPI4_GPIO71.swigValue() = 3
| |
| − | GPIO182 (mraa pin 3) was: 0, will set to 1
| |
| − | </pre>
| |
| − |
| |
| − | Blink.java
| |
| − | <pre>
| |
| − | import mraa.Dir;
| |
| − | import mraa.Gpio;
| |
| − | import mraa.Result;
| |
| − | import mraa.mraa;
| |
| − |
| |
| − | public class Blink {
| |
| − | static {
| |
| − | try {
| |
| − | System.loadLibrary("mraajava");
| |
| − | } catch (UnsatisfiedLinkError e) {
| |
| − | System.err.println(
| |
| − | "Native code library failed to load. See the chapter on Dynamic Linking Problems in the SWIG Java documentation for help.\n"
| |
| − | +
| |
| − | e);
| |
| − | System.exit(1);
| |
| − | }
| |
| − | }
| |
| − |
| |
| − | public static void main(String argv[]) throws InterruptedException {
| |
| − | int pin = 3;
| |
| − | Gpio gpio = new Gpio(pin);
| |
| − | Result result = gpio.dir(Dir.DIR_OUT);
| |
| − |
| |
| − | if(result != Result.SUCCESS) {
| |
| − | mraa.printError(result);
| |
| − | System.exit(1);
| |
| − | }
| |
| − | for (int i = 100; i > 0; --i) {
| |
| − | gpio.write(1);
| |
| − | Thread.sleep(1000);
| |
| − | gpio.write(0);
| |
| − | Thread.sleep(1000);
| |
| − | }
| |
| − | }
| |
| − | }
| |
| − | </pre>
| |
| − |
| |
| − | Connected led, compile and run it by the following commands, then you'll see leds flashing
| |
| − | <pre>
| |
| − | root@rock-4c-plus:/home/rock/bak/mraa/examples/java# javac -cp /usr/local/lib/java/mraa.jar:. Blink.java
| |
| − | root@rock-4c-plus:/home/rock/bak/mraa/examples/java# java -cp /usr/local/lib/java/mraa.jar:. Blink
| |
| − | </pre>
| |
| − |
| |
| − |
| |
| − | ===More examples===
| |
| − | More examples (including examples written in python and java) can be found at:
| |
| − |
| |
| − | /usr/local/share/mraa/examples/
| |
