8 changed files with 340 additions and 100 deletions
-
4.vscode/settings.json
-
48CMakeLists.txt
-
93README.md
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180demo/adc_capture/libiflytop_adc_capture.c
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58demo/adc_capture/libiflytop_adc_capture.h
-
37demo/adc_capture/main.cpp
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4sh/build.sh
-
16sh/deploy.sh
@ -1,77 +1,28 @@ |
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# linux_demo_project |
# linux_demo_project |
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|
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``` |
``` |
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功能: |
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1. 打通CAN通道 |
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2. 打通ws通道， |
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2. 解析CAN消息，并上报给ws |
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3. 解析ws消息并发送给CAN |
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TOOD: |
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1. 机械臂扫码功能 |
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2. |
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测试: |
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1. websocket下发一条can指令，can卡能够收到 |
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2. can卡上报一条指令，websocket能够收到 |
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TODO: |
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1. 删除掉虚拟从设备的相关功能 |
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2. 增加扩展寄存器包上报拦截汇总功能 |
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3. 增加httpRPC借口 |
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4. 增加ws事件上报通道 |
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5. 增加EEPROM |
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``` |
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## 编译RK3328 |
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```bash |
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# 板子初始化 |
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./boardinit.sh \ |
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--device_info "DEVICE_ID=a8000_1" \ |
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--device_info "FRP_SERVER_ADDR=47.92.195.73" \ |
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--device_info "STARTUP_DEFAULT_URL=127.0.0.1:80" \ |
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--ip 192.168.1.164 |
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# 初始化环境 |
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./build.sh envsetup |
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# 仅编译 |
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./build.sh build |
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# 编译调试版本，Cmake使用的是cmakepc.cmake |
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./build.sh buildhost |
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# 编译打包部署（整包） |
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./build.sh --ip <ip> flash |
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# 编译打包部署,重启系统（整包） |
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./build.sh --ip <ip> flash reboot |
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# 编译并只部署应用 |
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./build.sh --ip <ip> flashapp "app.out" |
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# 只部署webapp |
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./build.sh --ip <ip> flashwebapp |
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# 配置ssh-key,免密登录 |
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./build.sh --ip <ip> ssh_copy_id |
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1. 485 |
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2. 232-1 |
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3. 232-2 |
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3. USB |
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4. 网口*2 |
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5. WIFI |
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6. 4G |
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7. 硬盘 |
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--------------------------------- |
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DEMO: |
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MQTT |
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FTP |
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HTTP |
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485 |
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232-1 |
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232-2 |
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ADC |
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4G |
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硬盘 |
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修改用户 |
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DC |
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``` |
``` |
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测试指令 |
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```json |
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{ |
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"channel":"can0", |
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"protocol":"iflytopCanProtocolStackV1", |
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"message": { |
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"attribute": "normal", |
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"priority": 4, |
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"type": "read", |
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"targetId": 129, |
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"sourceId": 1, |
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"seq": 0, |
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"regAdd": 0, |
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"regValue": 100 |
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} |
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} |
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``` |
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@ -0,0 +1,180 @@ |
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#include "libiflytop_adc_capture.h" |
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#include <errno.h> |
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#include <fcntl.h> |
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#include <getopt.h> |
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#include <linux/spi/spidev.h> |
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#include <linux/types.h> |
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#include <pthread.h> |
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#include <stdbool.h> |
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#include <stdint.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <string.h> //for strerror() |
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#include <sys/ioctl.h> |
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#include <unistd.h> |
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static const char *m_deviceName = NULL; |
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static sound_capture_callback_t m_callback = NULL; |
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static int m_fd = 0; |
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static int m_sys_error = 0; |
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static error_code_t m_last_error = ksp_success; |
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static int m_cs_gpio_id = 0; |
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static int m_gpiofd = 0; |
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static pthread_t sound_read_thread; |
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static bool inited = false; |
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static bool started = false; |
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#if 0 |
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int spi_readwrte(unsigned char *txbuf, unsigned char *rxbuf, int len) { |
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struct spi_ioc_transfer tr = { |
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.tx_buf = (unsigned long *)txbuf, // 发送缓存区 |
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.rx_buf = (unsigned long *)rxbuf, // 接收缓存区 |
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.len = len / 4, |
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.delay_usecs = delay, // 发送时间间隔 |
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.speed_hz = speed, // 总线速率 |
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.bits_per_word = bits, // 收发的一个字的二进制位数 |
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}; |
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ret = ioctl(fd, SPI_IOC_MESSAGE(1), &tr); |
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if (ret < 1) pabort("can't send spi message"); |
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for (ret = 0; ret < len / 4; ret++) { |
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if (!(ret % 6)) puts(""); |
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printf("%.2X ", rx[ret]); |
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} |
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return 0; |
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} |
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int spi_close() { |
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close(fd); |
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return 0; |
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} |
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#endif |
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#define IOCTL(vfd, vkey, vvalue, errorcode) \ |
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{ \ |
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int ret = ioctl(vfd, vkey, &vvalue); \ |
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if (ret != 0) { \ |
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close(vfd); \ |
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vfd = -1; \ |
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m_sys_error = errno; \ |
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m_last_error = errorcode; \ |
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return errorcode; \ |
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} \ |
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} |
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static void *sound_read_thread_func(void *v); |
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static void gpio_set_value(int value) { write(m_gpiofd, value ? "1\n" : "0\n", 2); } |
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error_code_t sound_capturer_init(const char *deviceName, int csgpionameId, sound_capture_callback_t callback) { |
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m_callback = callback; |
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m_cs_gpio_id = csgpionameId; |
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// |
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m_fd = open(deviceName, O_RDWR); |
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if (m_fd < 0) { |
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m_sys_error = errno; |
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m_last_error = ksp_init_spi_error_open_fail; |
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return ksp_init_spi_error_open_fail; |
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} |
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// 设置模式 |
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int mode = SPI_MODE_3; |
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int bits = 8; |
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int speed = 3000000; |
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// SPI初始化 |
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IOCTL(m_fd, SPI_IOC_WR_MODE, mode, ksp_init_spi_error_set_mode_fail); |
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IOCTL(m_fd, SPI_IOC_WR_BITS_PER_WORD, bits, ksp_init_spi_error_set_mode_fail); |
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IOCTL(m_fd, SPI_IOC_WR_MAX_SPEED_HZ, speed, ksp_init_spi_error_set_mode_fail); |
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char cmd[256] = {0}; |
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sprintf(cmd, "echo %d > /sys/class/gpio/export", m_cs_gpio_id); |
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system(cmd); |
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sprintf(cmd, "echo out > /sys/class/gpio/gpio%d/direction", m_cs_gpio_id); |
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system(cmd); |
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sprintf(cmd, "/sys/class/gpio/gpio%d/value", m_cs_gpio_id); |
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m_gpiofd = open(cmd, O_RDWR); |
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if (m_gpiofd < 0) { |
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m_sys_error = errno; |
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m_last_error = ksp_init_spi_cs_pin_open_fail; |
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return ksp_init_spi_cs_pin_open_fail; |
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} |
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inited = true; |
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return ksp_success; |
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} |
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error_code_t sound_capturer_start(void) { |
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// |
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if (!inited) { |
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return ksp_module_not_inited; |
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} |
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|
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if (started) { |
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return ksp_module_has_started; |
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} |
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int ret = pthread_create(&sound_read_thread, NULL, sound_read_thread_func, NULL); |
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if (ret != 0) { |
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m_sys_error = errno; |
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return ksp_create_thread_fail; |
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} |
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started = true; |
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return ksp_success; |
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} |
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|
|
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int spi_read(unsigned char *rxbuf, int len) { |
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// gpio_set_value(0); |
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// usleep(1000); |
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int ret = read(m_fd, rxbuf, len); |
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// gpio_set_value(1); |
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|
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printf("read %d bytes\n", ret); |
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return ret; |
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} |
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|
|
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void readvoice() { |
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static int32_t voicebuf[4800]; // 50ms |
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static int32_t voiceNum; // |
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|
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voiceNum = 0; |
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memset(voicebuf, 0, sizeof(voicebuf)); |
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|
|
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gpio_set_value(0); |
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usleep(20); |
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int ret = read(m_fd, &voiceNum, 4); |
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printf("read voiceNum:%d\n", voiceNum); |
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if (voiceNum <= 0) { |
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gpio_set_value(1); |
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|
return; |
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|
} |
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|
if (voiceNum > 4800) { |
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|
printf("WARNING: voiceNum(%d) > voiceBufSize \n", voiceNum); |
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voiceNum = 4800; |
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|
} |
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|
|
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|
ret = read(m_fd, voicebuf, voiceNum * 4); |
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|
gpio_set_value(1); |
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|
return; |
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|
} |
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|
|
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|
static void *sound_read_thread_func(void *v) { |
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|
while (true) { |
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// 一次系统调用时间大概500us |
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readvoice(); |
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|
usleep(5000); |
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} |
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|
return NULL; |
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|
} |
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|
|
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|
void sound_capturer_dump_last_error() { |
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|
printf("----------------sound_capturer_dump_last_error-----------------\n"); |
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printf("- module error: %s(%d)\n", error_code_to_string(m_last_error), m_last_error); |
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printf("- sys_ error : %s(%d)\n", strerror(m_sys_error), m_sys_error); |
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printf("-\n"); |
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|
} |
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@ -0,0 +1,58 @@ |
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|
#pragma once |
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|
#include <stdint.h> |
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|
|
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|
#ifdef cplusplus |
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|
extern "C" { |
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|
#endif |
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typedef void (*sound_capture_callback_t)(uint32_t* data, uint32_t len); |
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|
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|
typedef enum { |
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|
ksp_success, |
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|
ksp_module_not_inited, |
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|
ksp_module_has_started, |
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|
ksp_create_thread_fail, |
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|
ksp_init_spi_cs_pin_open_fail, |
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|
ksp_init_spi_error_open_fail, |
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|
ksp_init_spi_error_set_speed_fail, |
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|
ksp_init_spi_error_set_nbits_fail, |
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|
ksp_init_spi_error_set_mode_fail, |
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|
} error_code_t; |
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|
|
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|
static inline const char* error_code_to_string(error_code_t code) { |
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|
switch (code) { |
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|
case ksp_success: |
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|
return "success"; |
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|
case ksp_module_not_inited: |
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|
return "module not inited"; |
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|
case ksp_module_has_started: |
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|
return "module has started"; |
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|
case ksp_create_thread_fail: |
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|
return "create thread fail"; |
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|
case ksp_init_spi_cs_pin_open_fail: |
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|
return "init spi cs pin open fail"; |
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|
case ksp_init_spi_error_open_fail: |
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|
return "init spi error open fail"; |
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|
case ksp_init_spi_error_set_speed_fail: |
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|
return "init spi error set speed fail"; |
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|
case ksp_init_spi_error_set_nbits_fail: |
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|
return "init spi error set nbits fail"; |
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|
case ksp_init_spi_error_set_mode_fail: |
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|
return "init spi error set mode fail"; |
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|
default: |
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|
return "unknown error"; |
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|
} |
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|
} |
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|
|
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|
/** |
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|
* @brief 初始化声音采集模块 |
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|
* |
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|
* @param deviceName |
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|
* @param callback |
||||
|
*/ |
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|
error_code_t sound_capturer_init(const char* deviceName, int csgpionameId, sound_capture_callback_t callback); |
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|
error_code_t sound_capturer_start(void); |
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|
|
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|
void sound_capturer_dump_last_error(); |
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|
#ifdef cplusplus |
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|
} |
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|
#endif |
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@ -0,0 +1,37 @@ |
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|
#include <errno.h>
|
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|
#include <fcntl.h>
|
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|
#include <getopt.h>
|
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|
#include <linux/spi/spidev.h>
|
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|
#include <linux/types.h>
|
||||
|
#include <stdbool.h>
|
||||
|
#include <stdint.h>
|
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|
#include <stdio.h>
|
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|
#include <stdlib.h>
|
||||
|
#include <string.h>
|
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|
#include <sys/ioctl.h>
|
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|
#include <unistd.h>
|
||||
|
extern "C" { |
||||
|
#include "libiflytop_adc_capture.h"
|
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|
} |
||||
|
|
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|
void sound_capture_callback(uint32_t* data, uint32_t len) {} |
||||
|
|
||||
|
int main(int argc, char const* argv[]) { |
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|
error_code_t erro_code = sound_capturer_init("/dev/spidev1.0", 59, sound_capture_callback); |
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|
if (erro_code != ksp_success) { |
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|
sound_capturer_dump_last_error(); |
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|
return -1; |
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|
} |
||||
|
|
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|
erro_code = sound_capturer_start(); |
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|
if (erro_code != ksp_success) { |
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|
sound_capturer_dump_last_error(); |
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|
return -1; |
||||
|
} |
||||
|
|
||||
|
while (true) { |
||||
|
sleep(1); |
||||
|
} |
||||
|
|
||||
|
return 0; |
||||
|
} |
||||
@ -0,0 +1,4 @@ |
|||||
|
mkdir -p build |
||||
|
cd build |
||||
|
cmake .. |
||||
|
make -j8 install |
||||
@ -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" |
||||
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