diff --git a/.vscode/settings.json b/.vscode/settings.json index be27491..12c4e3f 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -103,6 +103,8 @@ "aiui_sha256.h": "c", "socket.h": "c", "unistd.h": "c", - "err.h": "c" + "err.h": "c", + "cerrno": "c", + "stdio.h": "c" } } \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt index 8380a15..c4fb7ec 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -7,6 +7,10 @@ set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE) set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE) include(zcmake/zcmake.cmake) project(rk3588sdk) + +set(CMAKE_C_COMPILER "aarch64-linux-gnu-gcc") +set(CMAKE_CXX_COMPILER "aarch64-linux-gnu-g++") + set(CMAKE_INSTALL_PREFIX ${CMAKE_CURRENT_BINARY_DIR}/) # 设置ccache加速C++编译速度 set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache) @@ -35,38 +39,26 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${C_CPP_FLAGS}") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${C_CPP_FLAGS}") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-pessimizing-move") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-reorder") -set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17") message("CMAKE_CXX_FLAGS: ${CMAKE_CXX_FLAGS}") message("PROJECT_NAME: ${PROJECT_NAME}") -# 添加相应的依赖代码 -include (./.project/cmake/deps.cmake) - -zadd_public(DEFINES ${DEP_DEFINE}) -zadd_public(SRC ${DEP_SRC}) -# 设置当前工程依赖的头文件路径和链接的库文件 -# 如何 BUILD_ON_HOST == true, 则include cmakepc.cmake -if(BUILD_ON_HOST) - # - # 编译PC版本的相关测试代码，具体使用参考README.md +zadd_executable( + TARGET + adc_capture + INSTALL + ./app + LINK_LIBRARIES # - message("IFLYBUILD_HOST_PUBLIC_INCLUDE_DIRECTORIES: ${IFLYBUILD_HOST_PUBLIC_INCLUDE_DIRECTORIES}") - zadd_public(INCLUDE_DIRECTORIES ${IFLYBUILD_HOST_PUBLIC_INCLUDE_DIRECTORIES}) - zadd_public(LINK_DIRECTORIES ${IFLYBUILD_HOST_PUBLIC_LINK_DIRECTORIES}) - zadd_public(LINK_LIBRARIES ${IFLYBUILD_HOST_PUBLIC_LINK_LIBS}) - zadd_public(LINK_LIBRARIES pthread m) - include(./.project/cmake/host.cmake) - return() -else() + # 在里面添加需要链接的库 # - # 编译嵌入式版本的相关代码，具体使用参考README.md + pthread + LINK_DIRECTORIES + # 在里面添加需要链接的库路径 # - zadd_public(INCLUDE_DIRECTORIES - ${IFLYBUILD_TARGET_PUBLIC_INCLUDE_DIRECTORIES}) - zadd_public(LINK_DIRECTORIES ${IFLYBUILD_TARGET_PUBLIC_LINK_DIRECTORIES}) - zadd_public(LINK_LIBRARIES ${IFLYBUILD_TARGET_PUBLIC_LINK_LIBS}) - zadd_public(LINK_LIBRARIES pthread m) - include(./.project/cmake/target.cmake) - return() -endif() + INCLUDE_DIRECTORIES + ./demo/adc_capture/ + SRC + demo/adc_capture/main.cpp + demo/adc_capture/libiflytop_adc_capture.c) diff --git a/README.md b/README.md index 0a2074d..821d6bd 100644 --- a/README.md +++ b/README.md @@ -1,77 +1,28 @@ # linux_demo_project ``` -功能: - 1. 打通CAN通道 - 2. 打通ws通道， - 2. 解析CAN消息，并上报给ws - 3. 解析ws消息并发送给CAN - -TOOD: - 1. 机械臂扫码功能 - 2. - -测试: - 1. websocket下发一条can指令，can卡能够收到 - 2. can卡上报一条指令，websocket能够收到 - -TODO: - 1. 删除掉虚拟从设备的相关功能 - 2. 增加扩展寄存器包上报拦截汇总功能 - 3. 增加httpRPC借口 - 4. 增加ws事件上报通道 - 5. 增加EEPROM -``` - -## 编译RK3328 -```bash -# 板子初始化 -./boardinit.sh \ ---device_info "DEVICE_ID=a8000_1" \ ---device_info "FRP_SERVER_ADDR=47.92.195.73" \ ---device_info "STARTUP_DEFAULT_URL=127.0.0.1:80" \ ---ip 192.168.1.164 - - -# 初始化环境 -./build.sh envsetup - -# 仅编译 -./build.sh build -# 编译调试版本，Cmake使用的是cmakepc.cmake -./build.sh buildhost - -# 编译打包部署（整包） -./build.sh --ip flash - -# 编译打包部署,重启系统（整包） -./build.sh --ip flash reboot - -# 编译并只部署应用 -./build.sh --ip flashapp "app.out" - -# 只部署webapp -./build.sh --ip flashwebapp - -# 配置ssh-key,免密登录 -./build.sh --ip ssh_copy_id +1. 485 +2. 232-1 +3. 232-2 +3. USB +4. 网口*2 +5. WIFI +6. 4G +7. 硬盘 + +--------------------------------- +DEMO: +MQTT +FTP +HTTP +485 +232-1 +232-2 +ADC +4G +硬盘 +修改用户 +DC ``` -测试指令 -```json -{ - "channel":"can0", - "protocol":"iflytopCanProtocolStackV1", - "message": { - "attribute": "normal", - "priority": 4, - "type": "read", - "targetId": 129, - "sourceId": 1, - "seq": 0, - "regAdd": 0, - "regValue": 100 - } -} -``` \ No newline at end of file diff --git a/demo/adc_capture/libiflytop_adc_capture.c b/demo/adc_capture/libiflytop_adc_capture.c new file mode 100644 index 0000000..b33b169 --- /dev/null +++ b/demo/adc_capture/libiflytop_adc_capture.c @@ -0,0 +1,180 @@ +#include "libiflytop_adc_capture.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include //for strerror() +#include +#include +static const char *m_deviceName = NULL; +static sound_capture_callback_t m_callback = NULL; +static int m_fd = 0; +static int m_sys_error = 0; +static error_code_t m_last_error = ksp_success; +static int m_cs_gpio_id = 0; + +static int m_gpiofd = 0; + +static pthread_t sound_read_thread; +static bool inited = false; +static bool started = false; + +#if 0 +int spi_readwrte(unsigned char *txbuf, unsigned char *rxbuf, int len) { + struct spi_ioc_transfer tr = { + .tx_buf = (unsigned long *)txbuf, // 发送缓存区 + .rx_buf = (unsigned long *)rxbuf, // 接收缓存区 + .len = len / 4, + .delay_usecs = delay, // 发送时间间隔 + .speed_hz = speed, // 总线速率 + .bits_per_word = bits, // 收发的一个字的二进制位数 + }; + + ret = ioctl(fd, SPI_IOC_MESSAGE(1), &tr); + if (ret < 1) pabort("can't send spi message"); + + for (ret = 0; ret < len / 4; ret++) { + if (!(ret % 6)) puts(""); + printf("%.2X ", rx[ret]); + } + + return 0; +} + +int spi_close() { + close(fd); + return 0; +} +#endif + +#define IOCTL(vfd, vkey, vvalue, errorcode) \ + { \ + int ret = ioctl(vfd, vkey, &vvalue); \ + if (ret != 0) { \ + close(vfd); \ + vfd = -1; \ + m_sys_error = errno; \ + m_last_error = errorcode; \ + return errorcode; \ + } \ + } + +static void *sound_read_thread_func(void *v); + +static void gpio_set_value(int value) { write(m_gpiofd, value ? "1\n" : "0\n", 2); } + +error_code_t sound_capturer_init(const char *deviceName, int csgpionameId, sound_capture_callback_t callback) { + m_callback = callback; + m_cs_gpio_id = csgpionameId; + // + m_fd = open(deviceName, O_RDWR); + if (m_fd < 0) { + m_sys_error = errno; + m_last_error = ksp_init_spi_error_open_fail; + return ksp_init_spi_error_open_fail; + } + // 设置模式 + int mode = SPI_MODE_3; + int bits = 8; + int speed = 3000000; + + // SPI初始化 + IOCTL(m_fd, SPI_IOC_WR_MODE, mode, ksp_init_spi_error_set_mode_fail); + IOCTL(m_fd, SPI_IOC_WR_BITS_PER_WORD, bits, ksp_init_spi_error_set_mode_fail); + IOCTL(m_fd, SPI_IOC_WR_MAX_SPEED_HZ, speed, ksp_init_spi_error_set_mode_fail); + + char cmd[256] = {0}; + sprintf(cmd, "echo %d > /sys/class/gpio/export", m_cs_gpio_id); + system(cmd); + + sprintf(cmd, "echo out > /sys/class/gpio/gpio%d/direction", m_cs_gpio_id); + system(cmd); + + sprintf(cmd, "/sys/class/gpio/gpio%d/value", m_cs_gpio_id); + m_gpiofd = open(cmd, O_RDWR); + if (m_gpiofd < 0) { + m_sys_error = errno; + m_last_error = ksp_init_spi_cs_pin_open_fail; + return ksp_init_spi_cs_pin_open_fail; + } + inited = true; + return ksp_success; +} +error_code_t sound_capturer_start(void) { + // + if (!inited) { + return ksp_module_not_inited; + } + + if (started) { + return ksp_module_has_started; + } + + int ret = pthread_create(&sound_read_thread, NULL, sound_read_thread_func, NULL); + if (ret != 0) { + m_sys_error = errno; + return ksp_create_thread_fail; + } + + started = true; + return ksp_success; +} + +int spi_read(unsigned char *rxbuf, int len) { + // gpio_set_value(0); + // usleep(1000); + int ret = read(m_fd, rxbuf, len); + // gpio_set_value(1); + + printf("read %d bytes\n", ret); + + return ret; +} + +void readvoice() { + static int32_t voicebuf[4800]; // 50ms + static int32_t voiceNum; // + + voiceNum = 0; + memset(voicebuf, 0, sizeof(voicebuf)); + + gpio_set_value(0); + usleep(20); + int ret = read(m_fd, &voiceNum, 4); + printf("read voiceNum:%d\n", voiceNum); + if (voiceNum <= 0) { + gpio_set_value(1); + return; + } + if (voiceNum > 4800) { + printf("WARNING: voiceNum(%d) > voiceBufSize \n", voiceNum); + voiceNum = 4800; + } + + ret = read(m_fd, voicebuf, voiceNum * 4); + gpio_set_value(1); + return; +} + +static void *sound_read_thread_func(void *v) { + while (true) { + // 一次系统调用时间大概500us + readvoice(); + usleep(5000); + } + return NULL; +} + +void sound_capturer_dump_last_error() { + printf("----------------sound_capturer_dump_last_error-----------------\n"); + printf("- module error: %s(%d)\n", error_code_to_string(m_last_error), m_last_error); + printf("- sys_ error : %s(%d)\n", strerror(m_sys_error), m_sys_error); + printf("-\n"); +} diff --git a/demo/adc_capture/libiflytop_adc_capture.h b/demo/adc_capture/libiflytop_adc_capture.h new file mode 100644 index 0000000..7f289a1 --- /dev/null +++ b/demo/adc_capture/libiflytop_adc_capture.h @@ -0,0 +1,58 @@ +#pragma once +#include + +#ifdef cplusplus +extern "C" { +#endif +typedef void (*sound_capture_callback_t)(uint32_t* data, uint32_t len); + +typedef enum { + ksp_success, + ksp_module_not_inited, + ksp_module_has_started, + ksp_create_thread_fail, + ksp_init_spi_cs_pin_open_fail, + ksp_init_spi_error_open_fail, + ksp_init_spi_error_set_speed_fail, + ksp_init_spi_error_set_nbits_fail, + ksp_init_spi_error_set_mode_fail, +} error_code_t; + +static inline const char* error_code_to_string(error_code_t code) { + switch (code) { + case ksp_success: + return "success"; + case ksp_module_not_inited: + return "module not inited"; + case ksp_module_has_started: + return "module has started"; + case ksp_create_thread_fail: + return "create thread fail"; + case ksp_init_spi_cs_pin_open_fail: + return "init spi cs pin open fail"; + case ksp_init_spi_error_open_fail: + return "init spi error open fail"; + case ksp_init_spi_error_set_speed_fail: + return "init spi error set speed fail"; + case ksp_init_spi_error_set_nbits_fail: + return "init spi error set nbits fail"; + case ksp_init_spi_error_set_mode_fail: + return "init spi error set mode fail"; + default: + return "unknown error"; + } +} + +/** + * @brief 初始化声音采集模块 + * + * @param deviceName + * @param callback + */ +error_code_t sound_capturer_init(const char* deviceName, int csgpionameId, sound_capture_callback_t callback); +error_code_t sound_capturer_start(void); + +void sound_capturer_dump_last_error(); +#ifdef cplusplus +} +#endif diff --git a/demo/adc_capture/main.cpp b/demo/adc_capture/main.cpp new file mode 100644 index 0000000..1e9388c --- /dev/null +++ b/demo/adc_capture/main.cpp @@ -0,0 +1,37 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +extern "C" { +#include "libiflytop_adc_capture.h" +} + +void sound_capture_callback(uint32_t* data, uint32_t len) {} + +int main(int argc, char const* argv[]) { + error_code_t erro_code = sound_capturer_init("/dev/spidev1.0", 59, sound_capture_callback); + if (erro_code != ksp_success) { + sound_capturer_dump_last_error(); + return -1; + } + + erro_code = sound_capturer_start(); + if (erro_code != ksp_success) { + sound_capturer_dump_last_error(); + return -1; + } + + while (true) { + sleep(1); + } + + return 0; +} diff --git a/sh/build.sh b/sh/build.sh new file mode 100755 index 0000000..fd6f9be --- /dev/null +++ b/sh/build.sh @@ -0,0 +1,4 @@ +mkdir -p build +cd build +cmake .. +make -j8 install diff --git a/sh/deploy.sh b/sh/deploy.sh new file mode 100755 index 0000000..d25ecf7 --- /dev/null +++ b/sh/deploy.sh @@ -0,0 +1,16 @@ +#!/bin/bash +# ./sh/deploy.sh username ip + + +set -e + +# 1. Build +./sh/build.sh + + +cd build +make -j8 install +tar -cvf app.tar app + +scp app.tar $1@$2:/home/$1/ +ssh $1@$2 "cd /home/$1/ && tar -xvf app.tar" \ No newline at end of file