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Difference between revisions of "RockpiS/dev/libmraa"

< RockpiS‎ | dev
(Install essential packages)
(Enable interface)
 
(One intermediate revision by the same user not shown)
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==== Install essential packages ====
 
==== Install essential packages ====
  
Package libmraa-rockpis is in the Radxa APT bionic-testing and buster-testing repositories. Edit file /etc/apt/sources.list.d/apt-radxa-com.list and add the following:
+
Package libmraa-rockpis is in the Radxa APT bionic-testing and buster-testing repositories.
 +
 
 +
Execute the following commands to add Radxa APT
  
 
     export DISTRO=bionic-testing      # for Bionic
 
     export DISTRO=bionic-testing      # for Bionic
Line 79: Line 81:
 
     PIN26      ADC_IN0          //the measure voltage must lower than 1.8v
 
     PIN26      ADC_IN0          //the measure voltage must lower than 1.8v
  
modify '''/boot/hw_intfc.conf''' to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c2''' for test
+
For those ROCK Pi S system images released after March 1st, 2020, to enable '''pwm2,pwm3,uart1,uart2,i2c0,i2c1,i2c2''' and so on, need to follow [https://wiki.radxa.com/Device-tree-overlays Device tree overlays].
 +
 
 +
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,i2c2''' for test.
 +
 
 
     root@rockpis:/# cat boot/hw_intfc.conf
 
     root@rockpis:/# cat boot/hw_intfc.conf
 
     # Hardware Interface Config
 
     # Hardware Interface Config

Latest revision as of 10:10, 21 March 2020

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

Execute the following commands to add Radxa APT

   export DISTRO=bionic-testing      # for Bionic
   # or
   export DISTRO=buster-testing      # for Buster
   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

   wget -O -  apt.radxa.com/buster-testing/public.key | sudo apt-key add -

Install essential packages:

   sudo apt-get update
   sudo apt-get install -y rockchip-overlay rockpis-dtbo libmraa-rockpis

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 follow:

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      I2C2_SDA
   PIN15      I2C2_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,i2c2 and so on, need to follow Device tree overlays.

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,i2c2 for test.

   root@rockpis:/# cat boot/hw_intfc.conf
   # Hardware Interface Config
   # Set "on" to enable the optional hardware interfaces while set "off" to disable.
   
   intfc:i2c0=on
   intfc:i2c1=on
   intfc:i2c2=on
   intfc:i2c3=on
   
   intfc:pwm1=on
   intfc:pwm2=on
   intfc:pwm3=on
   
   intfc:spi0=off
   intfc:spi2=off
   
   intfc:uart0=on
   intfc:uart1=on
   intfc:uart2=on
   
  # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.
  
  # Serial console on UART0
  intfc:dtoverlay=console-on-ttyS0
   
  # waveshare 3.5inch lcd (B v2) on SPI2. Need set:
  # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on
  #intfc:dtoverlay=spi2-waveshare35b-v2
   
  # waveshare 3.5inch lcd (C) on SPI2. Need set:
  # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on
  #intfc:dtoverlay=spi2-waveshare35c
  root@rockpis:/#

then reboot

Test

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
   root@rockpis:/#
test pwm

use c to test pwm.c,compile pwm.c

   root@rockpis:/home/rock/c# cat pwm.c
    #include <signal.h>
    #include <stdlib.h>
    #include <unistd.h>
   
   /* mraa header */
   #include "mraa/pwm.h"
   
   /* PWM declaration */
   #define PWM 11
   
   /* PWM period in us */
   #define PWM_FREQ 200
   
   volatile sig_atomic_t flag = 1;
   
   void
   sig_handler(int signum)
   {
       if (signum == SIGINT) {
           fprintf(stdout, "Exiting...\n");
           flag = 0;
       }
   }
   
   int
   main(void)
   {
       mraa_result_t status = MRAA_SUCCESS;
       mraa_pwm_context pwm;
       float value = 0.0f;
       float output;
    
       /* initialize mraa for the platform (not needed most of the times) */
       mraa_init();
    
       //! [Interesting]
       pwm = mraa_pwm_init(PWM);
       if (pwm == NULL) {
           fprintf(stderr, "Failed to initialize PWM\n");
           mraa_deinit();
           return EXIT_FAILURE;
       }
     
       /* set PWM period */
       status = mraa_pwm_period_us(pwm, PWM_FREQ);
       if (status != MRAA_SUCCESS) {
            goto err_exit;
       }
   
       /* enable PWM */
       status = mraa_pwm_enable(pwm, 1);
       if (status != MRAA_SUCCESS) {
           goto err_exit;
       }
   
       while (flag) {
           value = value + 0.01f;
   
           /* write PWM duty cyle */
           status = mraa_pwm_write(pwm, value);
           if (status != MRAA_SUCCESS) {
                goto err_exit;
           }
   
           usleep(50000);
    
           if (value >= 1.0f) {
               value = 0.0f;
           }
    
           /* read PWM duty cyle */
           output = mraa_pwm_read(pwm);
           fprintf(stdout, "PWM value is %f\n", output);
       }
    
       /* close PWM */
       mraa_pwm_close(pwm);
        
       //! [Interesting]
       /* deinitialize mraa for the platform (not needed most of the times) */
       mraa_deinit();
       
       return EXIT_SUCCESS;
        
   err_exit:
       mraa_result_print(status);
    
       /* close PWM */
       mraa_pwm_close(pwm);
        
       /* deinitialize mraa for the platform (not needed most of the times) */
       mraa_deinit();
    
       return EXIT_FAILURE;
   }
   
   root@rockpis:/home/rock/c# gcc pwm.c -lmraa
   root@rockpis:/home/rock/c#

Run the compiled file

   root@rockpis:/home/rock/c# ./a.out 
   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
   PWM value is 0.070014
   PWM value is 0.079984
   PWM value is 0.089999
   PWM value is 0.100014
   PWM value is 0.109983
test i2c

Use mraa-i2c tool to test,here we use I2C MPU6050

   root@rockpis:/home/rock/c# 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;
   }
   
   root@rockpis:/home/rock/c# gcc i2c_mpu6050.c -lmraa
   root@rockpis:/home/rock/c#

Run the compiled file

    root@rockpis:/home/rock/c# ./a.out 
   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
test uart

enable uart1 for uart test

   root@rockpis:/home/rock# cat /boot/hw_intfc.conf
   
   # Hardware Interface Config
   
   # Set "on" to enable the optional hardware interfaces while set "off" to disable.
   
   intfc:i2c0=off
   intfc:i2c1=off
   intfc:i2c2=off
   intfc:i2c3=off
   
   intfc:pwm1=off
   intfc:pwm2=off
   intfc:pwm3=off
   
   intfc:spi0=off
   intfc:spi2=off
   
   intfc:uart0=off
   intfc:uart1=on
   intfc:uart2=on
   
   # Devicetree Overlay Enable, uncomment to enable .dtbo under /boot/overlays/.
   
   # Serial console on UART0
   intfc:dtoverlay=console-on-ttyS0
   
   # waveshare 3.5inch lcd (B v2) on SPI2. Need set:
   # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on
   #intfc:dtoverlay=spi2-waveshare35b-v2
   
   # waveshare 3.5inch lcd (C) on SPI2. Need set:
   # intfc:uart1=off intfc:uart2=off intfc:i2c0=off intfc:spi2=on
   #intfc:dtoverlay=spi2-waveshare35c
   
   # Dummy spi device on SPI0 for test. Need set: intfc:spi0=on
   #intfc:dtoverlay=devspi0
   
   # Dummy spi device on SPI2 for test. Need set: intfc:spi2=on
   #intfc:dtoverlay=devspi2
   
   # Use /dev/ttyS0. Need set: intfc:uart0=on
   #intfc:dtoverlay=rk3308-uart0
   
   # Use /dev/ttyS1. Need set: intfc:uart1=on
   intfc:dtoverlay=rk3308-uart1
   
   # Use /dev/ttyS2. Need set: intfc:uart2=on
   intfc:dtoverlay=rk3308-uart2

then reboot and use serial port PIN23 and PIN24

send command follow:

   sudo mraa-uart dev 0 baud 1500000 send  data

receive command follow:

   sudo mraa-uart dev 0 baud 1500000 recv  1000

the receive window will show

   date
test spi
test adc

Development

More introduction of libmraa can look at libmraa official website.