From 9138557f171ce8b6a11a44bcbe920a3c52729c41 Mon Sep 17 00:00:00 2001
From: guowenxue <guowenxue@gmail.com>
Date: Tue, 25 Jun 2024 22:06:16 +0800
Subject: [PATCH] Add RK3568 development documents
---
documents/docs/RK3568_Android_SDK开发文档/images/RS232_result.png | 0
documents/docs/RK3568_Linux_SDK开发文档/images/RKDevTool_conf.png | 0
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@@ -0,0 +1,842 @@
+# 1. Rockchip Android 11.0 SDK代码下载编译
+
+## 1.1 下载压缩包
+
+```
+wget http://192.168.0.2:2211/rockchip/android/android-11.0-mid-rkr12.tgz
+```
+
+## 1.2 解压压缩包
+
+```
+tar -xzvf android-11.0-mid-rkr12.tgz
+```
+
+## 1.3. 代码编译
+
+进入解压路径后，输入如下命令：
+
+```
+source build/envsetup.sh
+lunch rk3568_r-userdebug
+./build.sh -AUCKu
+```
+
+编译完成后，会在/rockdev/Image-rk3568_r目录下生成镜像文件，如图：
+
+
+
+# 2. 系统烧录
+
+## 2.1 开发板烧录链接
+
+
+
+* 使用 12V/1A 的电源给开发板供电；
+* 使用两端都是 TypeA接口的USB线连接开发板上的USB3.0接口到自己的PC上，该USB接口为系统烧录口；
+* 使用 TypeB 接口的USB线连接开发板上的 Console 调试串口到自己的PC上；
+*
+
+***注： 开发板上电时，可以听到继电器上电后的咔嚓切换声音。***
+
+
+
+## 2.2 烧录软件下载
+
+从凌云实验室文件服务器上下载并安装下面烧录软件。
+
+* [CP210x_VCP_Windows.zip](http://studio.iot-yun.club:2211/rockchip/tools/CP210x_VCP_Windows.zip) 解压缩并安装开发板的Console调试串口驱动；
+* [DriverAssitant_v5.1.1.zip](http://studio.iot-yun.club:2211/rockchip/tools/DriverAssitant_v5.1.1.zip) ， 解压缩安装RK3568开发板驱动；
+
+* [RKDevTool_Release_v2.86.zip](http://studio.iot-yun.club:2211/rockchip/tools/RKDevTool_Release_v2.86.zip) ，直接解压缩即可运行的 RK3568开发板烧录软件；
+
+
+
+
+
+## 2.3 固件烧写
+
+打开RKDevTool工具
+
+
+
+在下载镜像页面配置各个镜像文件及其烧录地址如下：
+
+
+
+### 2.3.1 按住 Maskrom 按键进入
+
+如下图所示，将开发板上电后，按住 **S1300(Maskrom)按键** 同时，然后 **按下并释放 SW2100(Reset)按键** 将开发板重启，接下来 **再释放S1300按键**，这时候CPU将会进入到 **Maskrom模式**，在该模式下我们可以烧录或升级系统镜像。
+
+
+
+下面是开发板上的各个按键说明：
+
+| 按键 | 作用 | 备注 |
+| ------ | -------------- | -------------------------------------- |
+| SW2101 | RK809_PWRON | 长按8秒左右关机，再按开机 |
+| S1300 | A核Maskrom按键 | 按住该键+复位键系统将进入到MASKROM模式 |
+| SW1501 | Recovery Key | 按住该键+复位键系统将进入到Loader模式 |
+| SW2100 | RESETN | A核复位按键 |
+| S6000 | M3核复位按键 | M核复位按键 |
+| S6001 | M3核ISP按键 | 按下复位M核将进入UART ISP模式 |
+
+此时在 **RKDevTool.exe** 软件底行会显示 “**发现一个MASKROM设备**” 。
+
+
+
+### 2.3.2 按住 Recovery 按键进入
+
+如下图所示，将开发板上电后，按住 **SW1501(Recovery)按键** 同时，然后 **按下并释放 SW2100(Reset)按键** 将开发板重启，**继续SW1501(Recovery)按键 8秒后释放**，这时候CPU将会进入到 **Loader 模式**，在该模式下我们可以烧录或升级系统镜像。
+
+
+
+此时在 **RKDevTool.exe** 软件底行会显示 “**发现一个LOADER设备**”。
+
+接下来切换到 “**高级功能**” 菜单下，并点击 “**进入Maskrom**” 按钮，这时候将会切换到 “**Maskrom**” 模式。
+
+
+
+## 2.4 系统烧录与启动
+
+在 **RKDevTool.exe** 烧录软件上，确认设备已经进入到 Maskrom模式后，点击上面的 **“执行”** 按钮。
+
+
+
+
+
+
+
+**(注意：当系统烧录完后，切勿拔掉USB3.0烧录口，不然后面开发板启动会报错！！！)**
+
+**一拔掉烧录线就卡死的现象的解决方案见 7.Android 永不息屏和关闭锁屏**
+
+烧录完成第一次启动后，系统将会自动初始化。初始化完成之后将会再次重启，此时可以使用 Console 串口上登录到开发板的 Android11系统中去。
+
+
+
+注意：在系统启动时会弹出类似于：
+
+```
+[ 31.545394] type=1400 audit(1712609351.273:45): avc: denied { read } for comm="Binder:190_2" name="wakeup4" dev="sysfs" ino=23884 scontext=u:r:system_suspend:s0 tcontext=u:object_r:sysfs:s0 tclass=dir permissive=1
+[ 31.545632] type=1400 audit(1712609351.273:46): avc: denied { open } for comm="Binder:190_2" path="/sys/devices/platform/fe6e0030.pwm/wakeup/wakeup4" dev="sysfs" ino=23884 scontext=u:r:system_suspend:s0 tcontext=u:object_r:sysfs:s0 tclass=dir permissive=1
+[ 31.545831] type=1400 audit(1712609351.273:47): avc: denied { read } for comm="Binder:190_2" name="event_count" dev="sysfs" ino=23891 scontext=u:r:system_suspend:s0 tcontext=u:object_r:sysfs:s0 tclass=file permissive=1
+[ 31.546114] type=1400 audit(1712609351.273:48): avc: denied { open } for comm="Binder:190_2" path="/sys/devices/platform/fe6e00t" dev="sysfs" ino=23891 scontext=u:r:system_suspend:s0 tcontext546228] type=1400 audit(1712609351.273:49): avc: denied { getattwakeup/wakeup4/event_count" dev="sysfs" ino=23891 scontext=u:r:s1
+```
+
+此时需要输入命令`su`，切换到root用户，既不会弹出。
+
+# 3. 外设调试与测试
+
+## 3.1 系统心跳灯
+
+### 3.1.1 内核修改支持
+
+DTS文件修改(默认已经添加节点)
+
+ leds: leds {
+ compatible = "gpio-leds";
+ work_led: work {
+ gpios = <&gpio0 RK_PC0 GPIO_ACTIVE_HIGH>;
+ linux,default-trigger = "heartbeat";
+ status = “okay”
+ };
+ };
+
+
+
+内核make menuconfig配置(默认已使能)
+
+```
+Device Drivers ->
+ LED Support ->
+ LED Support for GPIO connected LEDs
+```
+
+```
+Device Drivers ->
+ LED Support ->
+ LED Trigger support ->
+ LED Heartbeat Trigger
+```
+
+### 3.1.2 应用程序测试
+
+
+
+设置好config之后重新编译内核并烧到开发板中，当系统启动时就会看到蓝色led灯闪烁。
+
+
+
+## 3.2 RGB灯和蜂鸣器扩展接口
+
+
+
+### 3.2.1 内核修改支持
+
+
+
+原理图及分析
+
+
+
+
+
+这里的测试只要就是对这些gpio进行配置即可，利用gpioset来控制高低电平
+
+**注意：这四个gpio在设备树中可能会被其他设备所占用，导致不能操作gpio，所以要查看哪些设备占用着这几个gpio需要屏蔽掉这些设备。**
+
+### 3.2.2 应用程序测试
+
+由于这四个引脚都是用MOS管控制的开漏输出，所以我们需要去测试MOS管的栅极看看是否是3.3V电平
+
+**规则：**
+
+**GPIO输出1的时候，对应的栅极是0V**
+**GPIO输出0的时候，对应的栅极是3.3V**
+
+```c
+gpioset 0 18=1/0
+gpioset 0 20=1/0
+gpioset 0 22=1/0
+gpioset 3 21=1/0
+```
+
+利用万用表，将万用表调到直流电压20V这一档，这四个模块对应的三极管如下图所示，利用gpioset来控制四个gpio的高低电平，看看是否符合上述规则。
+
+
+
+## 3.3 RTC芯片
+
+
+
+### 3.3.1 内核修改支持
+
+
+
+内核make menuconfig配置
+
+默认已使能
+
+```
+Device Drivers ->
+ Real Time Clock ->
+ Rockchip RK805/RK808/RK809/RK816/RK817/RK818 RTC ->
+```
+
+
+
+### 3.3.2 应用程序测试
+
+输入命令：
+
+```
+date -s "2024-04-01 11:40:00"
+```
+
+
+
+设置完成后再次使用`date`命令查看一下当前时间就会发现时间改过来了
+
+大家注意我们使用`date -s`命令仅仅是修改了当前时间，此时间还没有写入到RK809内部 RTC 里面或其他的 RTC 芯片里面，因此系统重启以后时间又会丢失。我们需要将当前的时间写入到 RTC 里面，这里要用到`hwclock` 命令，输入如下命令将系统时间写入到 RTC 里面:
+
+```
+hwclock -w /将当前系统时间写入RTC里面/
+```
+
+时间写入到 RTC 里面以后就不怕系统重启以后时间丢失了
+
+间隔时间输入如下命令：
+
+```
+hwclock -r /读取当前系统时间/
+```
+
+
+
+发现当前系统时间在走动，系统时间正常。
+
+## 3.4 RS232和RS485
+
+
+
+### 3.4.1 内核修改支持
+
+RS232 DTS文件修改
+
+```c
+&uart3{
+ dma-names = "tx", "rx";
+ pinctrl-names = "default";
+ pinctrl-0 = <&uart3m1_xfer>;
+ status = "okay";
+};
+
+&uart4{
+ dma-names = "tx", "rx";
+ pinctrl-names = "default";
+ pinctrl-0 = <&uart4m1_xfer>;
+ status = "okay";
+};
+```
+
+RS485 DTS文件修改
+
+```c
+&uart9 {
+ pinctrl-names = "default";
+ pinctrl-0 = <&uart9m1_xfer &rs485_ctrl>;
+ status = "okay";
+};
+
+//在rk3568-pinctrl.dtsi下加入
+rs485 {
+ rs485_ctrl: rs485-ctrl {
+ rockchip,pins =
+ <4 RK_PD2 RK_FUNC_GPIO &pcfg_output_low>;
+ };
+};
+```
+
+因为RS485是半双工的，所以要么先测接收功能要么测发送功能，从原理图上可以看到，接受与发送功能的切换是GPIO4_D2来控制的，默认情况是接收功能，我们可以利用gpioset命令拉高该gpio让其工作在发送模式
+
+### 3.4.2 应用程序测试
+
+RS232测试
+
+在/dev目录下的ttyS3和ttyS4为两路RS232设备，使用microcom 命令可以操作232串口。具体测试如下
+
+将两个232设备的RX和TX口用杜邦线进行连接，如下图所示
+
+
+
+连接好之后我们在设备1和设备2上均输入
+
+```c
+microcom /dev/ttyS3 -s 115200
+```
+
+测试结果
+
+
+
+
+
+由于microcom没有回显，所以看不到自己发送的是什么，但是接受的结果是没错的
+
+
+
+RS485测试接受功能
+
+如图所示，利用TTL转RS485模块来作为另外一台RS485设备，连线如下图所示
+
+
+
+
+
+
+
+RS485测试发送功能
+
+将控制引脚拉高电平,输入如下命令
+
+```c
+gpioset 4 28=1
+```
+
+
+
+## 3.5 CAN总线
+
+
+
+### 3.5.1 内核修改支持
+
+DTS文件修改
+
+```c
+&can0 {
+ compatible = "rockchip,can-1.0";
+ assigned-clocks = <&cru CLK_CAN0>;
+ assigned-clock-rates = <150000000>;
+ pinctrl-names = "default";
+ pinctrl-0 = <&can0m1_pins>;
+ status = "okay";
+};
+
+&can1 {
+ compatible = "rockchip,can-1.0";
+ assigned-clocks = <&cru CLK_CAN1>;
+ assigned-clock-rates = <150000000>;
+ pinctrl-names = "default";
+ pinctrl-0 = <&can1m1_pins>;
+ status = "okay";
+};
+```
+
+
+
+内核make menuconfig配置
+
+```
+Networking support ->
+ CAN bus subsystem support ->
+ CAN Device Drivers ->
+ Platform CAN drivers with Netlink support ->
+```
+
+### 3.5.2 应用程序测试
+
+我们可以用ifconfig -a来查看can的数量，如下图所示
+
+
+
+
+
+这里我们测试can1的收发功能，can0与之完全相同
+
+首先我们将两个can设备利用杜邦线进行连接，连接如下图所示
+
+
+
+连接好之后，我们需要对can1进行配置，利用ip命令
+
+```c
+ip link set can1 down //关闭 can 网络
+ip link set can1 up type can bitrate 800000 //设置 can1 的波特率为 800kbps，can 网络波特率最大值为 1mbps
+ip link set can1 up type can //打开 can 网络
+```
+
+
+
+设置好之后，我们上图所示中的设备1作为接受方，设备2作为发送方
+
+注意：因为Android上没有can的相关命令，所以需要去网上下载适配Android系统的canutils工具源码，然后使用安卓编译系统编译源码，具体步骤
+
+1. 下载解压canutils，将canutils放在/home/android/rk3568/android11/external目录下
+
+2. 回到/home/android/rk3568/android11目录使用如下命令配置好编译系统环境
+
+ ```
+ source build/envsetup.sh
+ lunch rk3568_r-userdebug
+ ```
+
+3. 在进入/home/android/rk3568/android11/external/canutils目录下，输入mm，即可自动编译源码
+
+ 
+
+4. 最后可执行文件都会安装到
+
+ /home/android/rk3568/android11/out/target/product/rk3568_r/system/bin
+
+ (ps. 其实我们可以将这个canutils的编译放进整个的安卓编译系统，这样我们编译安卓源码的时候就可以自动编译canutils，这样我们烧录镜像后会发现，系统出厂自带了canutils，这个步骤可以借鉴网上博客)
+
+5. 我们使用adb命令可以将我们需要的candump和cansend程序传到我们开发版的/system/bin目录下，授予执行权限后就可以使用了
+
+在设备1上输入
+
+```c
+candump can1
+```
+
+在设备2上输入
+
+```c
+cansend can1 0x11 0x22 0x33 0x44 0x55 0x66 0x77 0x88
+```
+
+结果如图所示
+
+
+
+
+
+
+
+## 3.6 声卡Codec
+
+
+
+### 3.6.1 内核修改支持
+
+
+
+原理图及分析
+
+
+
+
+
+
+
+
+
+### 3.6.2 应用程序测试
+
+先将模式切换成输出模式，默认是高电平静音模式
+
+```
+gpioset 3 19=0
+
+或者
+
+echo "out" > /sys/class/gpio/gpio115/direction
+echo 0 > /sys/class/gpio/gpio115/value
+```
+
+当听到喇叭发出“砰”的一声就说明可以了
+
+
+
+J5950端子上部为音频功放输出端口
+
+实物图连接：
+
+
+
+因为Android11集成的声卡设置和linux下不同，所以命令不同
+
+Android使用的是toybox下的tinyalsa工具
+
+使用方法可参考[如何查看声卡、pcm设备以及tinyplay、tinymix、tinycap的使用-CSDN博客](https://blog.csdn.net/luyao3038/article/details/121859072)
+
+设备树加入use-ext-amplifier后可支持外部扬声器播放音乐
+
+
+
+设置输出方式为耳机输出（HP）
+
+```
+tinymix 0 HP
+```
+
+
+
+用adb命令将.wav音乐传到开发板上，播放音乐
+
+```
+tinyplay ./music.wav
+```
+
+设置输出方式为扬声器输出（SPK）
+
+```
+tinymix 0 SPK
+```
+
+同样可以输出
+
+
+
+## 3.7 4G模块
+
+### 3.7.1 应用程序测试
+
+**开机方式**
+
+首先操作GPIO，给4G模块上电
+
+**（注意：开关机按键，复位按键，在开发板上是MPU的GPIO出来后，硬件做了反向的。低电平，上电 低脉冲，复位）**
+
+输入如下命令
+
+```
+gpioset 3 0=0
+gpioset 3 1=0
+```
+
+将这两个引脚拉低后，模块上电如下所示
+
+
+
+**关机方式**
+
+1. 软件方式关机
+
+ 先发送AT+QPOWD命令给模块，再拉高引脚
+
+ ```
+ microcom /dev/ttyUSB3 -s 115200
+ AT+QPOWD
+ ```
+
+ 按住Ctrl+x,再输入如下命令
+
+ ```
+ gpioset 3 1=1
+ ```
+
+ **（注意：在发送AT命令后需要在几秒内拉高gpio引脚，否则模块会再次开启）**
+
+ 
+
+2. 硬件方式关机
+
+ 先拉低RESET大于100ms后，拉低电源引脚Power_on
+ 硬件关机时序如下图所示：
+
+ 
+
+当4G模块上电后，可以在dev目录下看到四个ttyUSB设备
+
+
+
+我们可以使用microcom命令对串口发送AT命令
+
+```c
+microcom /dev/ttyUSB3 -s 115200
+```
+
+
+
+检测手机卡是否在位
+
+AT+CPIN?
+
+
+
+网络运行商名称
+
+AT+COPS?
+
+
+
+CHN-CT 表示中国电信
+
+网络注册状态
+
+AT+CREG?
+
+
+
+第二个参数为0 表示没有注册网络，为1表示网络已注册
+
+
+
+信号强度
+
+AT+CSQ
+
+
+
+数值越大表明信号质量越好；
+
+
+
+**注意：如果在linux系统下对EM05设置成了ECM模式，那上电后会自动进入ECM模式，如果有，跳过下面的ECM模式拨号上网切换过程**
+
+
+
+**ECM模式拨号上网**
+
+当我们上电4G模块之后,我们发送如下AT命令切换模块的工作模式为ECM
+
+```
+microcom /dev/ttyUSB3 -s 115200
+AT+QCFG="usbnet",1
+```
+
+
+
+**当我们将EM05配置成ECM模式后，在Linux下就可以直接获取ip地址，直接上网了，但是在Android系统下不会有这些服务，解决方法见 5. Android 出现4G模块无法上网问题**
+
+## 3.8 DIO测试
+
+### 3.8.1 硬件原理图说明
+
+
+
+
+
+
+
+
+
+### 3.8.2 Din测试
+
+
+
+按照上图的说明方法，将Din-0短接GND,此时Din-0输出低电平，测量R6114两侧的电压值，红表笔接一侧，黑笔接地。此时可以发现万用表显示电压为0.17v左右。其他的三个Din均是相同的方法。
+
+**注意：为什么不是0V而是0.17v的微弱电压？**
+
+**因为从下图可以看出光耦内置三极管的CE结，饱合导通时会存在一定的压降，这个0.17v即为压降。**
+
+
+
+### 3.8.3 Dout测试
+
+
+
+如上图所示连接好电路，以Dout-0为例说明，其他的Dout的测试方法均相同
+
+输入`gpioset 0 4=0`，使gpio输出为低电平，用万用表测试R6211两端的电压正常情况均为0v。
+
+输入`gpioset 0 4=1`，使gpio输出为高电平，用万用表测试R6211两端的电压正常情况均为3.3v。
+
+
+
+**注意：在RK3568上如果某个gpio没有被复用，默认情况下该引脚的模式是gpio模式，但是此处的GPIO0_PA4例外，所以需要在设备树中特殊配置一下该引脚使用gpio模式。**
+
+
+
+### 3.8.4 Dout/ Din 联合测试
+
+
+
+如上图所示将Din与Dout连接好，通过改变Dout的输出电平，检测Din是否收到对应的电平，以Din-0和Dout-0为例说明
+
+输入`gpioset 0 4=0` `gpioget 3 3`,显示Din-0的电平应为0
+
+输入`gpioset 0 4=1` `gpioget 3 3`,显示Din-0的电平应为1
+
+
+
+# 4. ADB调试工具
+
+1. 下载解压platform-tools-latest-windows.zip
+
+
+
+2. 添加环境变量
+
+将解压的文件夹的目录位置添加到环境变量Path下
+
+
+
+3. 打开cmd窗口，输入adb命令
+
+
+
+上面表示adb安装成功！
+
+**如果遇到问题无法使用，或者提示找不到adb命令，把解压出来的文件夹里的adb.exe文件复制到C:\Windows\SysWOW64**
+
+
+
+4. 上传文件到开发版的Android系统
+
+（1）把开发板的串口线接到PC端后，输入`adb root`获取权限
+
+
+
+（2）重新挂载根文件系统，输入`adb remount`重新挂载
+
+
+
+（3）将windows文件上传到开发板系统，利用`adb push`命令上传文件
+
+例如我需要将windows下E:\music.wav文件上传到开发板的/sdcard/Music下
+
+`adb push E:\music.wav /sdcard/Musci`
+
+
+
+
+
+
+
+# 5. Android 出现4G模块无法上网问题
+
+背景：出现这个问题之前，4G模块EM05在Linux系统可以通过ECM模式上网，但是到了Android系统发现usb0网络无法获取到IP地址，从而无法上网。
+
+解决方法：
+
+Android系统带的RIL机制，Android RIL提供了Android电话服务和无线电硬件之间的抽象层。
+
+在Windows和Linux系统下会有后台进程帮我们自动获取IP，只需要我们把模块设置成ECM模式就可以了，但是Android下没有这个服务。在Android系统下存在一个rild_damon这个守护进程，RILD(RIL Daemon)是系统的守护进程，系统已启动，就会一直运行。手机开机时，kernel完成初始化后，Android启动一个初始化进程Init用于加载系统基础服务，如文件系统，zygote进程，服务管家ServiceManager,以及RILD
+
+在/home/android/rk3568/android11/hardware/ril/rild下存在一个rild.rc文件，在这个文件中配置了rild_damon这个服务，也是解决这个问题的关键。
+
+1. 获取移远公司提供的libreference-ril.so , 在系统执行rild可执行文件的时候会链接到这个动态库
+
+2. 将libreference-ril.so添到/home/android/rk3568/android11/vendor/rockchip/common/phone/lib目录下，并重命名为libreference-ril-em05.so
+
+ 
+
+3. 修改/home/android/rk3568/android11/vendor/rockchip/common/phone/phone.mk
+
+ 
+
+ (这里添加这个动态库的目的是让最后生成的根文件系统里的/vendor/lib64/下存在libreference-ril-em05.so，如果不存在这个动态库，rild_daemon守护进程会一直打印退出重启信息，直到/vendor/lib64/下存在该动态库)
+
+ 4. 修改/home/android/rk3568/android11/hardware/ril/rild/rild.rc
+
+ 
+
+ (从第一行可以看到，在启动ril-daemon这个服务的时候，系统会调用/vendor/bin/hw/rild程序，该程序需要链接到动态库)
+
+修改好上面内容后，重新编译，烧录新的镜像到开发板中
+
+测试结果：
+
+1. 将EM05上电（上电流程参考linux系统）
+
+2. 上电后会出现如下信息
+
+ 
+
+（中间的denied信息是由于SELinux下权限问题，暂时先不用管）
+
+我们通过`ifconfig usb0`查看usb0的信息
+
+
+
+通过`ping www.baidu.com`测试上网功能
+
+
+
+
+
+# 6. Android系统修改硬件设备访问权限
+
+背景：在使用Android Studio工具实现屏幕按键控制三色灯亮灭的时候，未获得权限导致不能打开/dev/gpiochip*
+
+在硬件抽象层模块文件(so)文件中，提供的函数调用open函数来打开设备文件，比如/dev/gpio，如果不修改设备文件/dev/gpio的访问权限，那么应用程序通过JNI接口来调用硬件抽象层提供的函数接口来调用open函数打开设备文件就会失败，这表示当前用户没有权限打开设备文件/dev/gpio文件。在默认情况下，只有root用户才有权限访问系统的设备文件，由于一般的应用程序没有root权限的。
+
+
+
+为了解决上面的问题，需要为用户赋予访问设备文件/dev/gpio的权限。在linux系统中，可通过udev规则在系统启动时修改设备文件的访问权限，但在Android系统中没有实现udev规则，而是提供uevent机制，可以在系统启动时修改设备文件的访问权限
+
+
+
+修改步骤
+
+1. 关闭SELinux(如果已经关闭可跳过)
+
+ device/rockchip/common
+
+ 
+
+2. `vim /system/core/rootdir/uevent.rc`
+
+添加如下内容
+
+
+
+重新编译Android镜像
+
+启动后查看是否修改成功
+
+
+
+
+
+# 7. Android 永不息屏和关闭锁屏
+
+永不息屏
+\android11\device\rockchip\rk356x\overlay\frameworks\base\packages\SettingsProvider\res\values\defaults.xml
+在这个文件中修改
+
+
+
+“2147483647”表示永不息屏
+
+关闭锁屏
+\android11\frameworks\base\packages\SettingsProvider\res\values\defaults.xml
+在这个文件下修改
+
+
+
+修改后重新编译和烧录镜像。
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@@ -0,0 +1,648 @@
+# Android SDK开发入门文档
+
+ 首先在windows安装Android Studio，配置好环境，还要在虚拟机上使用同样的步骤安装Android Studio，虚拟机上安装的AS只有一个功能，就是要使用它的ndk交叉编译libgpiod动态库（在虚拟机上也可以不安装Android Studio，直接下载ndk来交叉编译，方法自行百度，本文档介绍第一种方法），其它工作都在windows上进行，交叉编译完成后，会生成gpio.h头文件和libgpiod.so动态库，在windows系统打开AS，配置项目的CMakeLists.txt文件，导入交叉编译好的libgpiod.so，再导入gpio.h头文件到cpp文件中，就能调用libgpiod库的接口。项目需要用到gpio18,gpio20,gpio22三个引脚，把这三个引脚空闲出来，再给gpiochip0赋予777权限，gpiochip0是管理GPIO0（一组引脚有32个，gpio0-32）这一组的gpio，要控制gpio18，gpio20，gpio22就需要有gpiochip0的操作权限。
+
+ **总结以上，开发流程为：安装AS，配置AS环境，连接开发板， 空闲gpio引脚,开gpiochip0权限，使用NDK交叉编译libgpiod，设计UI界面，配置CMakeLists.txt，写JNI，最后编译运行**。
+
+------
+
+## 1 Android Studio下的 Java App 开发
+
+### 1.1 软件安装
+
+- 下载地址：https://developer.android.com/?hl=zh-cn
+
+ 
+
+- 安装教程：参考博客-[Android Studio 安装配置教程 - Windows(详细版)-CSDN博客](https://blog.csdn.net/qq_38436214/article/details/105073213)
+
+### 1.2 环境配置
+
+- 首先新建一个项目，选择C++
+
+ 
+
+- 
+
+- 
+
+- 安装下载ndk
+
+ 
+
+ 
+
+
+
+
+
+
+
+
+
+
+
+- 查看自己的项目结构
+
+ 
+
+ 
+
+ 
+
+### 1.3 硬件连接
+
+
+
+- **烧录软件下载**
+
+ 从凌云实验室文件服务器上下载并安装下面烧录软件。
+
+ 1、[CP210x_VCP_Windows.zip](http://studio.iot-yun.club:2211/rockchip/tools/CP210x_VCP_Windows.zip) 解压缩并安装开发板的Console调试串口驱动；
+
+ 2、[DriverAssitant_v5.1.1.zip](http://studio.iot-yun.club:2211/rockchip/tools/DriverAssitant_v5.1.1.zip) ， 解压缩安装RK3568开发板驱动；
+
+ 3、[RKDevTool_Release_v2.86.zip](http://studio.iot-yun.club:2211/rockchip/tools/RKDevTool_Release_v2.86.zip) ，直接解压缩即可运行的 RK3568开发板烧录软件；
+
+
+
+- **xshell软件，串口连接**
+
+ 
+
+ 
+
+ 
+
+- 在这两个窗口管理开发板连接
+
+ 
+
+### 1.4 UI界面设计
+
+
+
+#### 1.4.1 **切换Project视图，代码文件名为activity_main.xml**
+
+
+
+- **activity_main.xml**代码：
+
+```xml
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+ xmlns:app="http://schemas.android.com/apk/res-auto"
+ xmlns:tools="http://schemas.android.com/tools"
+ android:id="@+id/main"
+ android:layout_width="match_parent"
+ android:layout_height="match_parent"
+ tools:context=".MainActivity">
+
+
+ <Button
+ android:id="@+id/button1"
+ android:layout_width="wrap_content"
+ android:layout_height="wrap_content"
+ android:layout_marginTop="76dp"
+ android:text="ON/OFF"
+ app:layout_constraintEnd_toEndOf="parent"
+ app:layout_constraintStart_toStartOf="parent"
+ app:layout_constraintTop_toBottomOf="@+id/Lamp" />
+
+ <ImageView
+ android:id="@+id/imageView2"
+ android:layout_width="45dp"
+ android:layout_height="45dp"
+ android:layout_marginTop="180dp"
+ android:visibility="visible"
+ app:layout_constraintEnd_toEndOf="parent"
+ app:layout_constraintHorizontal_bias="0.5"
+ app:layout_constraintStart_toStartOf="parent"
+ app:layout_constraintTop_toTopOf="parent"
+ app:srcCompat="@android:drawable/presence_invisible" />
+
+ <ImageView
+ android:id="@+id/Lamp"
+ android:layout_width="45dp"
+ android:layout_height="45dp"
+ android:layout_marginTop="180dp"
+ android:visibility="invisible"
+ app:layout_constraintEnd_toEndOf="parent"
+ app:layout_constraintHorizontal_bias="0.5"
+ app:layout_constraintStart_toStartOf="parent"
+ app:layout_constraintTop_toTopOf="parent"
+ app:srcCompat="@android:drawable/presence_online" />
+
+
+ <TextView
+ android:id="@+id/textView"
+ android:layout_width="150dp"
+ android:layout_height="35dp"
+ android:gravity="center"
+ android:text="RK3568-LED"
+ android:textSize="20sp"
+ app:layout_constraintBottom_toBottomOf="parent"
+ app:layout_constraintEnd_toEndOf="parent"
+ app:layout_constraintHorizontal_bias="0.532"
+ app:layout_constraintStart_toStartOf="parent"
+ app:layout_constraintTop_toTopOf="parent"
+ app:layout_constraintVertical_bias="0.04" />
+
+
+</androidx.constraintlayout.widget.ConstraintLayout>
+```
+
+#### 1.4.2 **在java文件夹下新建一个HardControl类**
+
+- 用于放函数接口
+
+
+
+
+
+
+
+- HardControl.java:
+
+```java
+package com.example.myapplication;
+
+public class HardControl {
+
+ public static native int ledOpen();//打开设备
+ public static native int ledCtrl_on(int which, int status);//打开led灯
+ public static native int ledCtrl_off(int which, int status);//关闭led灯
+
+ static
+ {
+ System.loadLibrary("myapplication");
+ System.loadLibrary("gpiod");
+ }
+}
+
+```
+
+#### 1.4.3 编写MainActivity.java
+
+- MainActivity.java相当于c语言的main函数
+
+
+
+- **MainActivity.java**
+
+```java
+package com.example.myapplication;
+
+import android.os.Bundle;
+import android.view.View;
+import android.widget.Button;
+import android.widget.ImageView;
+import androidx.appcompat.app.AppCompatActivity;
+
+
+public class MainActivity extends AppCompatActivity implements View.OnClickListener{
+
+ ImageView L1;
+ Button bnt1;
+ boolean isLightOn = false; // 指示灯状态
+ HardControl hardControl = new HardControl();
+
+
+ @Override
+ protected void onCreate(Bundle savedInstanceState) {
+ super.onCreate(savedInstanceState);
+ setContentView(R.layout.activity_main);
+ bnt1 = findViewById(R.id.button1);// 按钮灯开
+
+ hardControl.ledOpen();
+ bnt1.setOnClickListener(this);
+ L1 = (ImageView)this.findViewById(R.id.Lamp);
+ }
+
+ @Override
+ public void onClick(View view) {
+
+
+ int i=view.getId();
+
+ if (i==bnt1.getId())
+ {
+ if(isLightOn)
+ {
+ L1.setVisibility(View.INVISIBLE);
+ hardControl.ledCtrl_off(1,1);
+ isLightOn = false;
+ }
+ else
+ {
+ L1.setVisibility(View.VISIBLE);
+ hardControl.ledCtrl_on(1,0);
+ isLightOn = true;
+ }
+ }
+ }
+ protected void onDestroy() {
+ super.onDestroy();
+ // 当Activity销毁时，关闭LED控制
+ hardControl.ledCtrl_close();
+ }
+
+}
+```
+
+------
+
+## 2 Android Framwork/JNI层的开发
+
+### 2.1 交叉编译libgpiod
+
+```bash
+#下载安装相关编译工具
+sudo apt update
+sudo apt-get install autoconf-archive
+sudo apt-get install autoconf automake libtool
+```
+
+#### 2.1.1**下载源码然后解压**
+
+- 源码地址：https://github.com/brgl/libgpiod/tree/v1.6.x
+
+```bash
+git clone https://github.com/brgl/libgpiod/tree/v1.6.x
+unzip libgpiod-1.6.x.zip
+```
+
+
+
+#### 2.1.2 运行脚本
+
+```bash
+cd libgpiod-1.6.x
+bash autogen.sh #运行脚本，会生成configure这个文件
+```
+
+
+
+#### 2.1.3 设置交叉编译环境变量
+
+- 首先安装AS，我的安装目录为/home/af/Android/
+
+**（重点，环境变量没设置对交叉编译会失败）**
+
+```bash
+export NDK=/home/af/Android/Sdk/ndk/26.2.11394342 # 根据自己的NDK路径设置
+#export TOOLCHAIN=${NDK}/toolchains/llvm/prebuilt/darwin-x86_64
+export TOOLCHAIN=${NDK}/toolchains/llvm/prebuilt/linux-x86_64
+#export TARGET=armv7a-linux-androideabi
+#export TARGET=i686-linux-android
+#export TARGET=x86_64-linux-android
+export TARGET=aarch64-linux-android #TARGET=aarch64-linux-android 是我们选择的交叉编译的目标架构，根据需要选择不通的架构
+export API=29
+export AR=${TOOLCHAIN}/bin/llvm-ar #打包器，用于库操作，可以通过该工具从一个库中删除或者增加目标代码模块。
+export CC=${TOOLCHAIN}/bin/${TARGET}${API}-clang # 编译器，对C源文件进行编译处理，生成汇编文件。
+export AS=${CC} #汇编器，将汇编文件生成目标文件（汇编文件使用的是指令助记符， AS将它翻译成机器码）
+export CXX=${TOOLCHAIN}/bin/${TARGET}${API}-clang++
+export LD=${TOOLCHAIN}/bin/ld #链接器，为前面生成的目标代码分配地址空间，将多个目标文件链接成一个库或者是可执行文件。
+export RANLIB=${TOOLCHAIN}/bin/llvm-ranlib
+export STRIP=${TOOLCHAIN}/bin/llvm-strip # 以最终生成的可执行文件或者库文件作为输入，然后消除掉其中的源码。
+```
+
+
+
+```markdown
+"aarch64-linux-android29-clang" 是一个基于 Clang 编译器的工具链，用于在 Android 平台上编译 ARMv8 架构的代码。它的主要特点包括：
+
+1、支持使用 LLVM/Clang 编译器进行编译，具有优秀的代码优化能力和兼容性；
+2、支持 ARMv8 架构指令集，可以生成针对 ARMv8 架构的优化代码；
+3、针对 Android 平台进行了优化，可以使用 Android 平台上的系统库和头文件；
+4、适用于 Android 9.0 及以上版本（API level 29)。
+5、使用该工具链可以在 Android 平台上编译出高效、稳定、兼容性好的 ARMv8 架构代码，适用于开发 Android 平台上的应用程序和系统级组件。
+```
+
+
+
+#### 2.1.4 在源码目录下运行上一步生成的configure脚本，生成Makefile文件
+
+```bash
+sudo ./configure CC=${CC} CXX=${CXX} RANLIB=${RANLIB} AR=${AR} STRIP=${STRIP} --prefix=/home/af/android_libgpiod --host=${TARGET}
+
+# --prefix指定安装目录
+```
+
+
+
+#### 2.1.5 使用make命令，运行Makefile文件,再安装
+
+```bash
+sudo make
+sudo make install
+```
+
+- 我的库文件和头文件安装到了这里，就是之前--prefix指定的目录
+
+ 
+
+- 我们只要生成的头文件和动态库，拷贝这两个文件
+
+ 
+
+- 用file命令查看文件类型，看到这个输出表示交叉编译成功，否则重新编译
+
+ 
+
+------
+
+### 2.2 java加载交叉编译的libgpiod.so
+
+#### 2.2.1 新建C++项目
+
+
+
+#### 2.2.2 新建目录，将头文件和动态库复制进去，目录结构如图所示
+
+- 安卓设备架构为arm64-v8a,就新建为arm64-v8a
+
+ 
+
+
+
+#### 2.2.3 修改CMakeLists.txt文件，导入、链接库
+
+```markdown
+########导入libgpiod###########
+
+#在CMakeLists.txt文件中添加一个导入库（imported library）的声明,
+#IMPORTED: 这是一个可选的参数，表示库是一个导入库（imported library），即该库不是由CMake构建生成的，而是由外部提供的。
+add_library(libgpiod
+ SHARED
+ IMPORTED)
+
+set_target_properties( libgpiod
+ PROPERTIES IMPORTED_LOCATION
+ ${CMAKE_SOURCE_DIR}/../jniLibs/${CMAKE_ANDROID_ARCH_ABI}/libgpiod.so)
+
+target_link_libraries(${CMAKE_PROJECT_NAME}
+ # List libraries link to the target library
+ ${log-lib}
+ libgpiod
+ )
+```
+
+#### 2.2.4 修改build.gradle.kts文件，添加如下内容
+
+
+
+#### 2.2.5 导入加载libgpiod库
+
+
+
+------
+
+### 2.3 JNI编写
+
+**ledOpen ledCtrl_on ledCtrl_off是JNI接口**,鼠标选中函数名，按alt+enter键，点击Create JNI...，然后会在cpp文件里自动生成JNI函数接口名，在里面写代码
+
+
+
+
+
+- myapplication.cpp (记得导入头文件include/gpiod.h)
+
+ ```cpp
+ #include <jni.h>
+ #include <string>
+ #include <android/log.h>
+ #include <sys/types.h>
+ #include <sys/stat.h>
+ #include <fcntl.h>
+ #include <sys/ioctl.h>
+ #include <unistd.h>
+ #include <sys/select.h>
+ #include "include/gpiod.h"
+
+ // Write C++ code here.
+ //
+ // Do not forget to dynamically load the C++ library into your application.
+ //
+ // For instance,
+ //
+ // In MainActivity.java:
+ // static {
+ // System.loadLibrary("myapplication");
+ // }
+ //
+ // Or, in MainActivity.kt:
+ // companion object {
+ // init {
+ // System.loadLibrary("myapplication")
+ // }
+ // }
+
+ const char *chipname = "gpiochip0"; //GPIO1
+ struct gpiod_chip *chip;
+ unsigned int line_num ;
+ struct gpiod_line *line18 ;
+ unsigned int line_num_18 = 18; // 偏移GPIO 20 GPIO1_20
+ int ret;
+ bool isused;
+ const char *chip_name;
+
+ int set_led_value(int status)
+ {
+ __android_log_print(ANDROID_LOG_DEBUG, "函数：set_led_value", "开始设置0/1控制亮灭:%d",status);
+
+ //设置GPIO18的值
+ ret = gpiod_line_set_value(line18, status);//设置输出状态
+ if (ret < 0) {
+ __android_log_print(ANDROID_LOG_DEBUG, "Set On/Off", "Set line output failed. val:%d!",status);
+
+ return 0;
+ }
+
+ ret = gpiod_line_get_value(line18);
+ __android_log_print(ANDROID_LOG_DEBUG, "GPIO18的值", "GPIO18的值为:%d!",ret);
+
+ if (ret == 0)
+ {
+ __android_log_print(ANDROID_LOG_DEBUG, "--LED状态--", "状态为：--打开!--");
+ }
+ else
+ {
+ {
+ __android_log_print(ANDROID_LOG_DEBUG, "--LED状态--", "状态为：--关闭!--");
+ }
+ }
+
+ return 0;
+ }
+
+
+ extern "C"
+ JNIEXPORT jint JNICALL
+ Java_com_example_myapplication_HardControl_ledOpen(JNIEnv *env, jclass clazz) {
+
+ // TODO: implement ledOpen()
+ // __android_log_print(ANDROID_LOG_DEBUG, "LEDDemo", "------native ledOpen-------");
+
+
+ //1、OPEN：打开chipgpio0
+ chip = gpiod_chip_open_by_name(chipname);
+
+ if (!chip) {
+ __android_log_print(ANDROID_LOG_INFO, "Open chipgpio0", "Open chip by name failed. name: %s\n", chipname);
+
+ return 0;
+ }
+ __android_log_print(ANDROID_LOG_DEBUG, "Open chipgpio0", "Successfully opened chip:%s",chipname);
+
+ //2、获取打开的设备名
+ chip_name = gpiod_chip_name(chip);
+ __android_log_print(ANDROID_LOG_DEBUG, "gpiod_chip_name", "The GPIO chip name as represented in the kernel: %s",chip_name);
+
+ //3、获取打开的chipgpio0的引脚个数
+ line_num = gpiod_chip_num_lines(chip);
+ __android_log_print(ANDROID_LOG_DEBUG, "gpiod_chip_num_lines", "Line number:%u",line_num);
+
+ //4、获取GPIO18引脚句柄
+ line18 = gpiod_chip_get_line(chip,line_num_18);
+ if ( !line18 )
+ {
+ __android_log_print(ANDROID_LOG_DEBUG, "gpiod_chip_get_line", "Get line failed. line_num: %u",line_num_18);
+
+ return 0;
+ }
+
+ //5、判断GPIO18是否被占用
+ isused = gpiod_line_is_used(line18);
+ if (isused)
+ {
+ // GPIO线正在被使用
+ __android_log_print(ANDROID_LOG_DEBUG, "GPIO18 isused", "GPIO18线正在被使用");
+ return 0;
+ }
+ else
+ {
+ // GPIO线没有被使用
+ __android_log_print(ANDROID_LOG_DEBUG, "GPIO18 is not used", "GPIO18线没有被使用");
+ }
+
+ //6、设置GPIO18为输出模式
+ ret = gpiod_line_request_output(line18,NULL ,1);
+ if (ret < 0) {
+ __android_log_print(ANDROID_LOG_DEBUG, "设置为输出模式", "输出模式设置失败");
+
+ return 0;
+ }
+ __android_log_print(ANDROID_LOG_DEBUG, "设置为输出模式", "输出模式设置成功！");
+
+ return 2;
+ }
+
+
+ extern "C"
+ JNIEXPORT jint JNICALL
+ Java_com_example_myapplication_HardControl_ledCtrl_1on(JNIEnv *env, jclass clazz, jint which,
+ jint status) {
+ // TODO: implement ledCtrl_on()
+
+ __android_log_print(ANDROID_LOG_DEBUG, "ledCtrl_on", "status 值：%d",status);
+
+ set_led_value(status);
+
+ return 0;
+ }
+ extern "C"
+ JNIEXPORT jint JNICALL
+ Java_com_example_myapplication_HardControl_ledCtrl_1off(JNIEnv *env, jclass clazz, jint which,
+ jint status) {
+ // TODO: implement ledCtrl_off()
+
+ __android_log_print(ANDROID_LOG_DEBUG, "ledCtrl_off", "status 值：%d",status);
+
+ set_led_value(status);
+
+ return 0;
+ }
+
+ extern "C"
+ JNIEXPORT jint JNICALL
+ Java_com_example_myapplication_HardControl_ledCtrl_1close(JNIEnv *env, jclass clazz) {
+ // TODO: implement ledCtrl_close()
+
+ set_led_value(1);
+
+ gpiod_line_release(line18);
+
+ gpiod_chip_close(chip);
+
+ }
+ ```
+
+#### 2.3.1 gpiochip0开权限
+
+- app默认是以普通用户运行，但/dev/gpiochip0的权限默认为为600，需要修改为666才能控制，修改之后重新烧录镜像
+
+
+
+#### 2.3.2 编译运行程序
+
+
+
+- 可以通过Logcat查看运行日志
+
+ 
+
+- app界面，点击控制led灯亮灭
+
+ 
+
+- 运行结果
+
+ <img src="./images/image-20240426164804753.png" alt="image-20240426164804753" style="zoom:33%;" /><img src="./images/image-20240426165118487.png" alt="image-20240426165118487" style="zoom:33%;" />
+
+<img src="./images/image-20240426165136395.png" alt="image-20240426165136395" style="zoom: 67%;" />
+
+------
+
+## 附：烧录镜像
+
+- **image**目录下，运行android脚本
+
+
+
+
+
+
+
+- 打开软件，空白处右键，导入配置
+
+
+
+- 双击这些空白格，把镜像路径设置一下，Loader就是选取.bin结尾的文件，其它的对应文件名
+
+
+
+
+
+- 点击切换
+
+
+
+
+
+- 点击高级功能，进入Maskrom
+
+ 
+
+- 点击执行
+
+ 
+
+- 下载完成后会自动重启，再点复位按键重启
+
+
+
+
+
+
+
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@@ -0,0 +1,1721 @@
+# 1. 源码编译
+
+
+
+RK3568的 Linux SDK 或 Android 源码编译对服务器要求比较高，其中：
+
+* 系统依赖 Ubuntu20 及以上；
+* CPU 8核+、内存32GB+ 以上；
+* 硬盘空间 1TB+；
+
+推荐在凌云实验室的编译服务器上编译，IGKBoard-RK3568开发板请选择使用 ***sdkv1.3.0_linux4.19*** 版本。
+
+
+
+## 1.1 安装交叉编译环境
+
+
+
+首先安装交叉编译所需要的系统命令。
+
+```
+guowenxue@ubuntu22:~$ sudo apt install -y git ssh make gcc libssl-dev liblz4-tool \
+expect g++ patchelf chrpath gawk texinfo chrpath diffstat binfmt-support unzip \
+qemu-user-static live-build bison flex fakeroot cmake gcc-multilib g++-multilib \
+device-tree-compiler python*-pip libncurses-dev libmpc-dev
+```
+
+
+
+ 如果是 ***sdkv1.3.0_linux4.19*** 则需要将 python 的版本设置为 **python2**， 而 ***sdkv1.4.0_linux5.10*** 则需要选择 **python3**。
+
+```
+guowenxue@ubuntu22:~$ sudo update-alternatives --install /usr/bin/python python /usr/bin/python2 1
+guowenxue@ubuntu22:~$ sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 2
+guowenxue@ubuntu22:~$ sudo update-alternatives --config python
+There are 2 choices for the alternative python (providing /usr/bin/python).
+
+ Selection Path Priority Status
+------------------------------------------------------------
+* 0 /usr/bin/python3 2 auto mode
+ 1 /usr/bin/python2 1 manual mode
+ 2 /usr/bin/python3 2 manual mode
+
+Press <enter> to keep the current choice[*], or type selection number: 1
+
+guowenxue@ubuntu22:~$ python --version
+Python 2.7.18
+```
+
+
+
+## 1.2 解压缩获取SDK源码
+
+
+
+首先创建 RK3568 开发板的项目工作路径。
+
+```
+guowenxue@ubuntu20:~$ mkdir rk3568 && cd rk3568
+```
+
+
+
+如果选择 ***sdkv1.3.0_linux4.19*** 版本SDK，则可以使用下面命令从凌云实验室文件服务器上下载并解压缩。
+
+```
+guowenxue@ubuntu22:~/rk3568$ mkdir sdkv1.3.0_linux4.19 && cd sdkv1.3.0_linux4.19
+
+guowenxue@ubuntu22:~/rk3568/sdkv1.3.0_linux4.19$ wget http://192.168.0.2:2211/rockchip/bsp/rk3568_linuxSDK/sdkV1.3.0_linux4.19/rk356x_linux_release_v1.3.0_20220925.tgz
+
+guowenxue@ubuntu22:~/rk3568/sdkv1.3.0_linux4.19$ tar -xzf rk356x_linux_release_v1.3.0_20220925.tgz
+
+guowenxue@ubuntu22:/build/rk3568/sdkv1.3.0_linux4.19$ rm -f *.tgz
+```
+
+
+
+如果选择 ***sdkv1.4.0_linux5.10*** 版本SDK，则可以使用下面命令从凌云实验室文件服务器上下载并解压缩。
+
+```bash
+guowenxue@ubuntu22:~/rk3568$ mkdir sdkv1.4.0_linux5.10 && cd sdkv1.4.0_linux5.10
+
+guowenxue@ubuntu22:~/rk3568/sdkv1.4.0_linux5.10$ wget http://192.168.0.2:2211/rockchip/bsp/rk3568_linuxSDK/sdkV1.4.0_linux5.10/rk356x_linux5.10_release_v1.4.0_20231220.tgz
+
+guowenxue@ubuntu22:~/rk3568/sdkv1.4.0_linux5.10$ tar -xzf rk356x_linux5.10_release_v1.4.0_20231220.tgz
+
+guowenxue@ubuntu22:~/rk3568/sdkv1.4.0_linux5.10$ rm -f *.tgz
+```
+
+
+
+解压缩出来的源码都在隐藏的 ***.repo*** 文件夹下，接下来我们使用 **repo** 命令将源码 checkout 出来。
+
+```
+guowenxue@ubuntu22:/build/rk3568/sdkv1.3.0_linux4.19$ ls -a
+. .. .repo
+
+guowenxue@ubuntu22:/build/rk3568/sdkv1.3.0_linux4.19$ ls .repo/
+manifests manifests.git manifest.xml project.list project-objects projects repo
+
+guowenxue@ubuntu22:/build/rk3568/sdkv1.3.0_linux4.19$ .repo/repo/repo sync -l
+Updating files: 100% (17139/17139), done./app/rkaiq_tool_serverUpdating files: 51% (8839/17139)
+Updating files: 100% (779/779), done.inux/buildrootUpdating files: 41% (322/779)
+Updating files: 100% (1171/1171), done.ux/debianUpdating files: 72% (844/1171)
+Updating files: 100% (248/248), done.inux/device/rockchipUpdating files: 10% (25/248)
+Updating files: 100% (247/247), done.inux/bsp/docsUpdating files: 45% (112/247)
+Updating files: 100% (1493/1493), done.ux/bsp/external/broadcom_bsaUpdating files: 41% (622/1493)
+Updating files: 100% (127/127), done.inux/external/libglCompositorUpdating files: 44% (56/127)
+Updating files: 100% (118/118), done.inux/external/rkfacialUpdating files: 29% (35/118)
+Updating files: 100% (921/921), done.k/rknn-toolkit2Updating files: 5% (52/921)
+Updating files: 100% (368/368), done.inux/external/rkupdateUpdating files: 22% (84/368)
+Updating files: 100% (186/186), done.inux/external/rkwifibtUpdating files: 59% (110/186)
+Updating files: 100% (2109/2109), done.ux/security/binUpdating files: 15% (332/2109)
+Updating files: 100% (33/33), done. android/rk/platform/system/rk_tee_userUpdating files: 93% (31/33)
+Updating files: 100% (72280/72280), done./external/uvc_appUpdating files: 3% (2631/72280)
+Updating files: 100% (17900/17900), done.rnelUpdating files: 34% (6102/17900)
+Updating files: 100% (7165/7165), done.prebuilts/gcc-buildroot-9.3.0-2020.03-x86_64_aarch64-rockchip-linux-gnuUpdating files: 13% (949/7165)
+Updating files: 100% (236/236), done.k/rkbinUpdating files: 46% (109/236)
+Updating files: 100% (13576/13576), done./toolsUpdating files: 88% (12076/13576)
+Checking out projects: 100% (65/65), done.
+repo sync has finished successfully.
+
+guowenxue@ubuntu22:/build/rk3568/sdkv1.3.0_linux4.19$ ls
+app buildroot build.sh debian device docs envsetup.sh external kernel Makefile mkfirmware.sh prebuilts rkbin rkflash.sh tools u-boot yocto
+```
+
+
+
+SDK 相关文档都存放 **docs** 文件夹下。
+
+```
+guowenxue@ubuntu22:/build/rk3568/sdkv1.3.0_linux4.19$ ls docs/
+Common docs_list.txt Linux Others RK356X RK_Linux_SDK_Supported_System_Kernel_Version_and_ISP_Version_List.png Rockchip_Developer_Guide_Linux_Software_CN.pdf
+```
+
+
+
+如果选择 ***sdkv1.3.0_linux4.19*** 版本SDK，还需要从凌云实验室文件服务器上下载buildroot源码并解压缩。
+
+```bash
+guowenxue@ubuntu22:/build/rk3568/sdkv1.3.0_linux4.19$ cd buildroot/
+guowenxue@ubuntu22:/build/rk3568/sdkv1.3.0_linux4.19/buildroot$ wget http://192.168.0.2:2211/rockchip/bsp/rk3568_linuxSDK/sdkV1.3.0_linux4.19/buildroot_DL/dl.zip
+guowenxue@ubuntu22:/build/rk3568/sdkv1.3.0_linux4.19/buildroot$ unzip dl.zip && rm -f dl.zip
+guowenxue@ubuntu22:/build/rk3568/sdkv1.3.0_linux4.19/buildroot$ cd ..
+```
+
+
+
+## 1.3 Buildroot 配置
+
+常见的文件系统制作就这几个：
+1， Buildroot；
+2， Yocto；
+3， 直接用第三方的，如 debian、ubuntu 等
+
+Rockchip提供的Linux 的SDK里面默认使用的Buildroot来构建根文件系统，那如果需要想让根文件系统添加一些别的命令支持则需要对Buildroot进行配置
+
+此处以添加Python3为例说明
+
+首先我们需要配置编译需要的配置
+
+1.进入~/rk3568/sdkv1.3.0_linux4.19
+
+输入`source envsetup.sh`
+
+选择67.rockchip_rk3568 表示使用rk3568的相关配置
+
+
+
+
+
+此时可以看到配置中显示了目标板子，编译输出目录和使用的defconfig文件是哪个
+
+
+
+2.进入~/rk3568/sdkv1.3.0_linux4.19/buildroot
+
+输入`make menuconfig` 找到python3，位置在Target packages ->Interpreter languages and scripting->python3选中。
+
+
+
+选中python3后保存退出。
+
+输入`make savedefconfig` 此时系统会把你所改变的config信息直接同步到rockchip_rk3568_defconfig
+
+3.编译buildroot
+
+返回~/rk3568/sdkv1.3.0_linux4.19/
+
+输入`./build.sh buildroot`编译buildroot
+
+4.烧录编译出来的buildroot镜像到开发板中，输入`Python3`
+
+
+
+
+
+## 1.4 Debian构建根文件系统
+
+瑞芯微的SDK中已经提供的Debian的源码，路径是~/rk3568/sdkv1.3.0_linux4.19/debian
+
+在编译和构建Debian_rootfs之前需要在系统里安装相关工具和依赖
+
+```
+sudo apt-get install git ssh make gcc libssl-dev liblz4-tool expect \
+ g++ patchelf chrpath gawk texinfo chrpath diffstat binfmt-support \
+ qemu-user-static live-build bison flex fakeroot cmake gcc-multilib \
+ g++-multilib unzip device-tree-compiler ncurses-dev
+```
+
+```
+sudo dpkg -i debian/ubuntu-build-service/packages/*
+sudo apt-get install -f
+```
+
+说明：
+
+其中最为核心的东西是debootstrap和qemu-user-static
+
+这里的debootstrap就是在packages里面
+
+
+
+debootstrap 构建debian基本文件子系统的工具。
+
+qemu-user-static 在PC端非arm架构的ubuntu系统上，需要借助于qemu-arm-static工具来模拟arm环境安才可以安装arm架构下所需要的软件。
+
+安装好这些必要工具后，就可以开始编译Debian了
+
+返回到~/rk3568/sdkv1.3.0_linux4.19/目录
+
+输入`./build.sh debian`开始编译，编译后的镜像文件放在了~/rk3568/sdkv1.3.0_linux4.19/debian
+
+
+
+我们需要将linaro-rootfs.img 这个镜像文件烧录到开发板中
+
+
+
+我们将烧录的rootfs文件替换成linaro-rootfs.img即可
+
+烧录完成后启动开发板，会提示输入用户名和密码，这里的用户名和密码在编译脚本里写好了的均为linaro
+
+登录后切换su用户`sudo su`,进入根目录下展示的就是Debian的根文件系统
+
+
+
+
+
+如果使用sdkv1.4.0_linux5.10 的SDK编译debian，步骤如下
+
+先装依赖环境
+
+```
+sudo apt-get update && sudo apt-get install git ssh make gcc libssl-dev \
+ liblz4-tool expect expect-dev g++ patchelf chrpath gawk texinfo chrpath \
+ diffstat binfmt-support qemu-user-static live-build bison flex fakeroot \
+ cmake gcc-multilib g++-multilib unzip device-tree-compiler ncurses-dev \
+ libgucharmap-2-90-dev bzip2 expat gpgv2 cpp-aarch64-linux-gnu libgmp-dev \
+ libmpc-dev bc python-is-python3 python2
+
+sudo dpkg -i debian/ubuntu-build-service/packages/*
+
+sudo apt-get install -f
+```
+
+进入sdk根目录，运行./build.sh debian 会出现如下错误，我们只需要按照他推荐的更新一些工具就可以运行了。
+
+
+
+```
+sudo update-binfmts --unimport qemu-aarch64 2>/dev/null
+sudo update-binfmts --disable qemu-aarch64 2>/dev/null
+sudo rm -f /usr/bin/qemu-aarch64-static
+sudo cp /home/android/rk3568/sdkv1.4.0_linux5.10/device/rockchip/common/data/qemu-aarch64-static /usr/bin/
+sudo update-binfmts --enable qemu-aarch64 2>/dev/null
+sudo update-binfmts --import qemu-aarch64 2>/dev/null
+```
+
+
+
+## 1.5 Linux SDK源码编译
+
+
+
+首先使用下面命令选择要编译的目标开发板，SDK版本不一样，该选项的名字不一样。
+
+```
+guowenxue@ubuntu22:/build/rk3568/sdkv1.3.0_linux4.19$ ./build.sh lunch
+
+5. BoardConfig-rk3568-evb1-ddr4-v10.mk # sdkv1.3.0_linux4.19 选择该选项
+5. rockchip_rk3568_evb1_ddr4_v10_defconfig # sdkv1.4.0_linux5.10 选择该选项
+Which would you like? [0]: 5
+```
+
+
+
+如果需要，可以使用下面命令来彻底清除之前的编译。
+
+```
+guowenxue@ubuntu22:~/rk3568/sdk$ ./build.sh cleanall
+```
+
+
+
+ ***sdkv1.3.0_linux4.19*** 和 ***sdkv1.4.0_linux5.10*** 版本SDK 都需要修改 IO Domain 电压如下。
+
+```
+guowenxue@ubuntu22:/build/rk3568/sdkv1.3.0_linux4.19$ vim kernel/arch/arm64/boot/dts/rockchip/rk3568-evb.dtsi
+
+... ... ...
+&pmu_io_domains {
+ status = "okay";
+ pmuio2-supply = <&vcc3v3_pmu>;
+ vccio1-supply = <&vccio_acodec>;
+ vccio3-supply = <&vccio_sd>;
+ vccio4-supply = <&vcc_1v8>;
+ vccio5-supply = <&vcc_3v3>;
+ vccio6-supply = <&vcc_1v8>;
+ vccio7-supply = <&vcc_3v3>;
+};
+```
+
+
+
+接下来运行 build.sh 脚本开始编译SDK，默认是 Buildroot 系统镜像。
+
+```
+guowenxue@ubuntu22:/build/rk3568/sdkv1.3.0_linux4.19$ ./build.sh
+```
+
+
+
+也可以通过设置坏境变量 **RK_ROOTFS_SYSTEM** 指定不同 rootfs。 **RK_ROOTFS_SYSTEM** ⽬前可设定三种系统：***buildroot、debian、 yocto***。
+
+```bash
+guowenxue@ubuntu22:/build/rk3568/sdkv1.3.0_linux4.19$ RK_ROOTFS_SYSTEM=yocto ./build.sh
+```
+
+
+
+如果是 ***sdkv1.3.0_linux4.19*** 在编译 Linux内核时需要做如下选择。
+
+```
+编译内核过程弹窗的电压选择如下：
+ 3300000 PMUIO2 Supply Power Voltage(uV)
+ 3300000 VCCIO1 Supply Power Voltage(uV)
+ 3300000 VCCIO3 Supply Power Voltage(uV)
+ 1800000 VCCIO4 Supply Power Voltage(uV)
+ 3300000 VCCIO5 Supply Power Voltage(uV)
+ 1800000 VCCIO6 Supply Power Voltage(uV)
+ 3300000 VCCIO7 Supply Power Voltage(uV)
+... ... ...
+```
+
+
+
+编译生成的文件将放在 **rockdev** 文件夹下。
+
+```
+guowenxue@ubuntu22:/build/rk3568/sdkv1.3.0_linux4.19$ ls rockdev/
+boot.img linux-headers.tar MiniLoaderAll.bin misc.img oem.img parameter.txt recovery.img rootfs.img uboot.img update.img userdata.img
+```
+
+
+
+# 2. 系统烧录
+
+
+
+## 2.1 开发板烧录连接
+
+
+
+如下图所示：
+
+
+
+
+
+* 使用 12V/1A 的电源给开发板供电；
+* 使用两端都是 TypeA接口的USB线连接开发板上的USB3.0接口到自己的PC上，该USB接口为系统烧录口；
+* 使用 TypeB 接口的USB线连接开发板上的 Console 调试串口到自己的PC上；
+
+
+
+***注： 开发板上电时，可以听到继电器上电后的咔嚓切换声音。***
+
+
+
+## 2.2 烧录软件下载
+
+
+
+将编译SDK生成的镜像文件(rockdev文件夹)下载到 Windwos下的相应路径下，如：
+
+
+
+
+
+从凌云实验室文件服务器上下载并安装下面烧录软件。
+
+* [CP210x_VCP_Windows.zip](http://studio.iot-yun.club:2211/rockchip/tools/CP210x_VCP_Windows.zip) 解压缩并安装开发板的Console调试串口驱动；
+* [DriverAssitant_v5.1.1.zip](http://studio.iot-yun.club:2211/rockchip/tools/DriverAssitant_v5.1.1.zip) ， 解压缩安装RK3568开发板驱动；
+
+* [RKDevTool_Release_v2.86.zip](http://studio.iot-yun.club:2211/rockchip/tools/RKDevTool_Release_v2.86.zip) ，直接解压缩即可运行的 RK3568开发板烧录软件；
+
+
+
+下面是我 Windows下的开发板项目目录结构：
+
+
+
+
+
+* **docs** 存放开发板相关文档、芯片datasheet等；
+* **images** 存放开发板编译出来系统镜像；
+* **installer** 项目相关的安装软件；
+* **RKDevTools_v2.86** RK3568开发板烧录软件；
+
+
+
+双击运行 ***RKDevTools_v2.86*** 文件夹下的 **RKDevTool.exe** 可执行文件， 在下载镜像页面配置各个镜像文件及其烧录地址如下：
+
+
+
+
+
+## 2.3 Maskrom烧录模式
+
+
+
+如果我们想烧录或更新系统镜像，必须要让CPU进入到 Maskrom 烧录模式。在RK3568开发板上，我们可以分别按住开发板上的不同按键进入到 Maskrom 烧录模式。下面是开发板上的各个按键说明：
+
+| 按键 | 作用 | 备注 |
+| ------ | -------------- | -------------------------------------- |
+| SW2101 | RK809_PWRON | 长按8秒左右关机，再按开机 |
+| S1300 | A核Maskrom按键 | 按住该键+复位键系统将进入到MASKROM模式 |
+| SW1501 | Recovery Key | 按住该键+复位键系统将进入到Loader模式 |
+| SW2100 | RESETN | A核复位按键 |
+| S6000 | M3核复位按键 | M核复位按键 |
+| S6001 | M3核ISP按键 | 按下复位M核将进入UART ISP模式 |
+
+
+
+### 2.3.1 按住 Maskrom 按键进入
+
+
+
+如下图所示，将开发板上电后，按住 **S1300(Maskrom)按键** 同时，然后 **按下并释放 SW2100(Reset)按键** 将开发板重启，接下来 **再释放S1300按键**，这时候CPU将会进入到 **Maskrom模式**，在该模式下我们可以烧录或升级系统镜像。
+
+
+
+
+
+下面是开发板上的各个按键说明：
+
+| 按键 | 作用 | 备注 |
+| ------ | -------------- | -------------------------------------- |
+| SW2101 | RK809_PWRON | 长按8秒左右关机，再按开机 |
+| S1300 | A核Maskrom按键 | 按住该键+复位键系统将进入到MASKROM模式 |
+| SW1501 | Recovery Key | 按住该键+复位键系统将进入到Loader模式 |
+| SW2100 | RESETN | A核复位按键 |
+| S6000 | M3核复位按键 | M核复位按键 |
+| S6001 | M3核ISP按键 | 按下复位M核将进入UART ISP模式 |
+
+
+
+此时在 **RKDevTool.exe** 软件底行会显示 “**发现一个MASKROM设备**” 。
+
+
+
+
+
+### 2.3.1 按住 Recovery 按键进入
+
+
+
+如下图所示，将开发板上电后，按住 **SW1501(Recovery)按键** 同时，然后 **按下并释放 SW2100(Reset)按键** 将开发板重启，**继续SW1501(Recovery)按键 8秒后释放**，这时候CPU将会进入到 **Loader 模式**，在该模式下我们可以烧录或升级系统镜像。
+
+
+
+
+
+此时在 **RKDevTool.exe** 软件底行会显示 “**发现一个LOADER设备**”。
+
+
+
+
+
+接下来切换到 “**高级功能**” 菜单下，并点击 “**进入Maskrom**” 按钮，这时候将会切换到 “**Maskrom**” 模式。
+
+
+
+
+
+## 2.4 系统烧录与启动
+
+
+
+在 **RKDevTool.exe** 烧录软件上，确认设备已经进入到 Maskrom模式后，点击上面的 **“执行”** 按钮。
+
+
+
+
+
+此时将会开始烧录系统镜像到开发板上，烧录完成后系统将会自动重启，系统启动后将会提示 “**发现一个ADB设备**”。
+
+
+
+
+
+烧录完成第一次启动后，系统将会自动初始化。初始化完成之后将会再次重启，此时可以使用 Console 串口上登录到开发板的 Linux 系统中去。
+
+
+
+
+
+# 3. 外设调试与测试
+
+
+
+## 3.1 系统心跳灯
+
+
+
+### 3.1.1 内核修改支持
+
+原理图
+
+
+
+DTS文件修改(默认已经添加节点)
+
+```
+ leds: leds {
+ compatible = "gpio-leds";
+ work_led: work {
+ gpios = <&gpio0 RK_PC0 GPIO_ACTIVE_HIGH>;
+ linux,default-trigger = "heartbeat";
+ status = “okay”
+ };
+ };
+```
+
+
+
+内核make menuconfig配置(默认已使能)
+
+```
+Device Drivers ->
+ LED Support ->
+ LED Support for GPIO connected LEDs
+```
+
+```
+Device Drivers ->
+ LED Support ->
+ LED Trigger support ->
+ LED Heartbeat Trigger
+```
+
+
+
+### 3.1.2 应用程序测试
+
+
+
+设置好config之后重新编译内核并烧到开发板中，当系统启动时就会看到蓝色led灯闪烁。
+
+
+
+## 3.2 RGB灯和蜂鸣器扩展接口
+
+
+
+### 3.2.1 内核修改支持
+
+
+
+原理图及分析
+
+
+
+
+
+这里的测试只要就是对这些gpio进行配置即可，利用gpioset来控制高低电平
+
+**注意：这四个gpio在设备树中可能会被其他设备所占用，导致不能操作gpio，所以要查看哪些设备占用着这几个gpio需要屏蔽掉这些设备。**
+
+### 3.2.2 应用程序测试
+
+由于这四个引脚都是用MOS管控制的开漏输出，所以我们需要去测试MOS管的栅极看看是否是3.3V电平
+
+**规则：**
+
+**GPIO输出1的时候，对应的栅极是0V**
+**GPIO输出0的时候，对应的栅极是3.3V**
+
+```c
+gpioset 0 18=1/0
+gpioset 0 20=1/0
+gpioset 0 22=1/0
+gpioset 3 21=1/0
+```
+
+利用万用表，将万用表调到直流电压20V这一档，这四个模块对应的三极管如下图所示，利用gpioset来控制四个gpio的高低电平，看看是否符合上述规则。
+
+
+
+
+
+## 3.3 RTC芯片
+
+
+
+### 3.3.1 内核修改支持
+
+
+
+内核make menuconfig配置
+
+默认已使能
+
+```
+Device Drivers ->
+ Real Time Clock ->
+ Rockchip RK805/RK808/RK809/RK816/RK817/RK818 RTC ->
+```
+
+
+
+### 3.3.2 应用程序测试
+
+输入命令：
+
+```
+date -s "2024-04-01 11:40:00"
+```
+
+
+
+设置完成后再次使用`date`命令查看一下当前时间就会发现时间改过来了
+
+大家注意我们使用`date -s`命令仅仅是修改了当前时间，此时间还没有写入到RK809内部 RTC 里面或其他的 RTC 芯片里面，因此系统重启以后时间又会丢失。我们需要将当前的时间写入到 RTC 里面，这里要用到`hwclock` 命令，输入如下命令将系统时间写入到 RTC 里面:
+
+```
+hwclock -w /将当前系统时间写入RTC里面/
+```
+
+时间写入到 RTC 里面以后就不怕系统重启以后时间丢失了
+
+间隔时间输入如下命令：
+
+```
+hwclock -r /读取当前系统时间/
+```
+
+
+
+发现当前系统时间在走动，系统时间正常。
+
+## 3.4 RS232和RS485
+
+### 3.4.1 硬件原理图说明
+
+
+
+
+
+
+
+### 3.4.2 内核修改支持
+
+RS232 DTS文件修改
+
+```c
+&uart3{
+ dma-names = "tx", "rx";
+ pinctrl-names = "default";
+ pinctrl-0 = <&uart3m1_xfer>;
+ status = "okay";
+};
+
+&uart4{
+ dma-names = "tx", "rx";
+ pinctrl-names = "default";
+ pinctrl-0 = <&uart4m1_xfer>;
+ status = "okay";
+};
+```
+
+RS485 DTS文件修改
+
+```c
+&uart9 {
+ pinctrl-names = "default";
+ pinctrl-0 = <&uart9m1_xfer &rs485_ctrl>;
+ status = "okay";
+};
+&pinctrl {
+
+ rs485 {
+ rs485_ctrl: rs485-ctrl {
+ rockchip,pins = <4 RK_PD2 RK_FUNC_GPIO &pcfg_pull_none>;
+ };
+ };
+};
+```
+
+因为RS485是半双工的，所以要么先测接收功能要么测发送功能，从原理图上可以看到，接受与发送功能的切换是GPIO4_D2来控制的，默认情况是发送功能，我们可以利用gpioset命令拉高该gpio让其工作在接受模式
+
+### 3.4.3 应用程序测试
+
+RS232测试
+
+在/dev目录下的ttyS3和ttyS4为两路RS232设备，使用microcom 命令可以操作232串口。具体测试如下
+
+将两个232设备的RX和TX口用杜邦线进行连接，如下图所示
+
+
+
+连接好之后我们在设备1和设备2上均输入
+
+```c
+microcom /dev/ttyS3 -s 115200
+```
+
+测试结果
+
+
+
+
+
+由于microcom没有回显，所以看不到自己发送的是什么，但是接受的结果是没错的
+
+
+
+RS485测试接受功能
+
+如图所示，利用TTL转RS485模块来作为另外一台RS485设备，连线如下图所示
+
+
+
+```
+microcom /dev/ttyS9 -s 115200
+```
+
+
+
+
+
+
+
+RS485测试发送功能
+
+将控制引脚拉高电平,输入如下命令
+
+```c
+gpioset 4 26=1
+```
+
+```
+microcom /dev/ttyS9 -s 115200
+```
+
+
+
+## 3.5 CAN总线
+
+
+
+### 3.5.1 内核修改支持
+
+DTS文件修改
+
+```c
+&can0 {
+ compatible = "rockchip,can-1.0";
+ assigned-clocks = <&cru CLK_CAN0>;
+ assigned-clock-rates = <150000000>;
+ pinctrl-names = "default";
+ pinctrl-0 = <&can0m1_pins>;
+ status = "okay";
+};
+
+&can1 {
+ compatible = "rockchip,can-1.0";
+ assigned-clocks = <&cru CLK_CAN1>;
+ assigned-clock-rates = <150000000>;
+ pinctrl-names = "default";
+ pinctrl-0 = <&can1m1_pins>;
+ status = "okay";
+};
+```
+
+
+
+内核make menuconfig配置
+
+```
+Networking support ->
+ CAN bus subsystem support ->
+ CAN Device Drivers ->
+ <*>Platform CAN drivers with Netlink support
+ <*>Rockchip CAN controller
+ <*>Rockchip CANFD controller
+```
+
+### 3.5.2 应用程序测试
+
+我们可以用ifconfig -a来查看can的数量，如下图所示
+
+
+
+
+
+这里我们测试can1的收发功能，can0与之完全相同
+
+首先我们将两个can设备利用杜邦线进行连接，连接如下图所示
+
+
+
+连接好之后，我们需要对can1进行配置，利用ip命令
+
+```c
+ip link set can1 down //关闭 can 网络
+ip link set can1 up type can bitrate 800000 //设置 can1 的波特率为 800kbps，can 网络波特率最大值为 1mbps
+ip link set can1 up type can //打开 can 网络
+```
+
+
+
+设置好之后，我们上图所示中的设备1作为接受方，设备2作为发送方
+
+在设备1上输入
+
+```c
+candump can1
+```
+
+在设备2上输入
+
+```c
+cansend can1 123#01020304050607
+```
+
+结果如图所示
+
+
+
+
+
+**CAN单板回环测试**
+
+将板子的CAN0_H和CAN1_H连接 CAN0_L和CAN1_L连接
+
+依次输入以下命令
+
+```
+ip link set can0 down
+ip link set can0 type can bitrate 500000
+ip link set can0 up
+
+ip link set can1 down
+ip link set can1 type can bitrate 500000
+ip link set can1 up
+
+candump can0 &
+cansend can1 123#01020304050607
+```
+
+通过CAN1发送后，CAN0会打印收到的信息
+
+
+
+## 3.6 声卡Codec
+
+
+
+### 3.6.1 内核修改支持
+
+
+
+原理图及分析
+
+
+
+GPIO管脚设置
+
+从原理图可以看出，GPIO3_C3管脚默认值是1，即关闭状态，我们要将其值设置为0
+
+输入命令：
+
+```
+root@RK356X:/usr/share/sounds# gpioset 3 19=0
+```
+
+再输入命令,进行查看确认：
+
+```
+root@RK356X:/usr/share/sounds# gpioget 3 19
+0
+```
+
+
+
+### 3.6.2 应用程序测试
+
+J5950端子上部为音频功放输出端口
+
+实物图连接：
+
+
+
+将.wav格式音乐拷贝到开发板/usr/share/sounds目录下，如图：
+
+
+
+
+
+使用amixer设置声卡
+
+通过`amixer -c 0 contents`可以查看音频硬件的当前状态和可能的设置
+
+
+
+这里的 1 和 2 对应于 `Main Mic` 和 `SPK` 在各自列表中的索引。根据需要调整命令中的索引以设置所需的选项。
+
+可以使用如下命令切换至SPK输出
+
+```
+amixer -c 0 cset numid=2 2
+
+//linux5.10
+amixer -c 0 cset numid=12 3 //HP输出
+```
+
+
+
+使用aplay播放WAV格式音乐
+
+```
+aplay /usr/share/sounds/C400004a29p81sntRV.wav
+```
+
+如果一切设置正常的话就会开始播放音乐。
+
+
+
+## 3.7 内存压力测试
+
+点击 [下载地址](https://pyropus.ca./software/memtester/)，即可下载memtester。
+
+编译方法1：
+
+打开终端进入到该路径下，输入解压命令：
+
+```
+tar xzvf memtester-4.6.0.tar.gz
+```
+
+进入到解压出来的文件夹后打开conf-cc文件，行首更改如下，并保存
+
+```
+~/rk3568/sdkv1.3.0_linux4.19/buildroot/output/rockchip_rk3568/host/usr/bin/aarch64-buildroot-linux-gnu-cc -O2 -DPOSIX -D_POSIX_C_SOURCE=200809L -D_FILE_OFFSET_BITS=64 -
+```
+
+打开conf-ld文件，行首更改如下，并保存
+
+```
+~/rk3568/sdkv1.3.0_linux4.19/buildroot/output/rockchip_rk3568/ host/usr/bin/aarch64-buildroot-linux-gnu-cc -s
+```
+
+在memtester-4.6.0路径下，进行编译：
+
+```
+sudo make
+```
+
+编译之后，进行安装：
+
+```
+sudo make install
+```
+
+
+
+编译方法2：
+
+可以使用郭工的编译脚本进行编译，只需修改脚本的编译目标即可
+
+
+
+安装完成后，会在memtester-4.6.0路径下生成memtester可执行文件，将memtester执行文件传到RK3568开发板中，给予memtester权限
+
+```
+chmod 777 memtester
+```
+
+输入`free -h`查看开发版剩余空间，可以看到还剩余3.6G
+
+
+
+输入命令(3.6G=3687M,跑3轮)，即可测试
+
+```
+./memtester 3687 3
+```
+
+
+
+## 3.8 网卡压力测试
+
+
+
+### 3.8.1 内核修改支持
+
+**Iperf下载**
+
+iperf官网：[iperf.fr](https://iperf.fr/)
+
+iperf源码下载地址：[https://github.com/esnet/iperf](https://github.com/esnet/iperf)
+
+Windows版本二进制文件下载：[32位&64位](https://iperf.fr/iperf-download.php#windows)
+
+Linux系统terminal终端下载指定版本：
+
+1.执行git clone [https://github.com/esnet/iperf.git](https://github.com/esnet/iperf.git) 默认下载最新版本。
+2.cd iperf-3.x 进入目录，执行git tag查看历史版本。
+3.执行git checkout 3.1.3 回退到3.1.3的历史版本。
+
+**网络连接和IP配置**
+
+服务端与客户端的网口通过网线和交换机连接，两者IP需要保持在同一网段，如下所示：
+
+Windows系统终端：192.169.10.200
+
+Linux系统终端：192.168.10.50
+
+**服务端iperf的安装与使用**
+
+关闭Windows系统的防火墙与杀毒软件或允许iperf通过防火墙。
+拷贝iperf-3.0.11-win32.rar并解压至Windows系统的的英文路径的目录（如D盘根目录）。
+按"win + R"打开Dos窗口，执行“d:” 进入D盘，再执行“cd iperf-3.0.11-win32”进入iperf3.exe所在目录。
+执行iperf3 -s 运行iperf作为服务端
+
+
+
+**客户端iperf的安装与使用**
+
+直接使用郭工安装库脚本文件build.sh,并做修改
+
+```c
+ 1 #!/bin/bash
+ 2
+ 3 # library name and version
+ 4 # Official: https://git.kernel.org/pub/scm/libs/libgpiod/libgpiod.git
+ 5 LIB_NAME=iperf
+ 6 PACK_SUFIX=tar.gz
+ 7
+ 8 # LingYun source code FTP server
+ 9 LY_FTP=http://main.iot-yun.club:2211/src/
+ 10
+ 11 # library download URL address
+ 12 LIB_URL=$LY_FTP
+ 13
+ 14 # Cross compiler for cross compile on Linux server
+ 15 #CROSS_COMPILE=~/rk3568/sdkv1.3.0_linux4.19/buildroot/output/ rockchip_rk3568/host/bin/aarch64-buildroot-linux-gnu-
+ 16 CROSS_COMPILE=/opt/gcc-aarch64-10.3-2021.07/bin/aarch64-none-linux-gnu-
+ 17 # compile jobs
+ 18 JOBS=`cat /proc/cpuinfo |grep "processor"|wc -l`
+ 19
+ 20 # this project absolute path
+ 21 PRJ_PATH=$(cd $(dirname "${BASH_SOURCE[0]}") && pwd)
+ 22
+ 23 # top project absolute path
+ 24 TOP_PATH=$(realpath $PRJ_PATH/..)
+ 25
+ 26 # binaries install path
+ 27 PREFIX_PATH=$TOP_PATH/install
+ 28 BIN_PATH=$PREFIX_PATH/bin
+ 29 LIB_PATH=$PREFIX_PATH/lib
+ 30 INC_PATH=$PREFIX_PATH/include
+ 31
+......
+155 function do_build()
+156 {
+157 cd $LIB_NAME
+158
+159 do_export
+160
+161 echo "ac_cv_func_malloc_0_nonnull=yes" > arm-linux.cache
+162 ./configure --prefix=${PREFIX_PATH} ${CONFIG_CROSS} --enable-static
+163 check_result "ERROR: configure ${LIB_NAME} failure"
+164
+165 make -j ${JOBS} && make install
+166 check_result "ERROR: compile ${LIB_NAME} failure"
+167 }
+......
+```
+
+执行脚本文件,自动安装下载
+
+```
+./build.sh
+```
+
+在/install/bin,生成可执行文件 iperf3
+
+```
+lingyun@9d57f9229b66:~/install/bin$ ls
+gpiodetect gpiofind gpioget gpioinfo gpiomon gpioset iperf3
+```
+
+将 iperf3拷贝到开发板
+
+**测试TCP**
+
+在Linux终端执行
+
+```
+iperf3 -c 192.168.10.200 -d -t 60
+```
+
+
+
+测试结果
+
+
+
+
+
+## 3.9 继电器
+
+
+
+### 3.9.1 内核修改支持
+
+
+
+原理图及分析
+
+
+
+### 3.9.2 应用程序测试
+
+利用gpioset来控制继电器的开与关，当我们设置这两个gpio的电平时会听到继电器发出“咔嚓”的声音，此时证明继电器是正常的。
+
+例如输入
+
+```c
+gpioset 3 28=0
+gpioset 3 28=1
+```
+
+
+
+## 3.10 4G模块
+
+
+
+### 3.10.1 内核修改支持
+
+
+
+原理图及分析
+
+
+
+内核配置
+
+```
+Device Drivers ->
+ [*] Network device support ->
+ <*> PPP (point-to-point protocol) support ->
+ <*> PPP BSD-Compress compression ->
+ <*> PPP Deflate compression
+ [*] PPP filtering
+ <*> PPP MPPE compression (encryption)
+ [*] PPP multilink support
+ <*> PPP over Ethernet
+ <*> PPP support for async serial ports
+ <*> PPP support for sync tty ports
+```
+
+
+
+
+
+### 3.10.2 应用程序测试
+
+**开机方式**
+
+首先操作GPIO，给4G模块上电
+
+**（注意：开关机按键，复位按键，在开发板上是MPU的GPIO出来后，硬件做了反向的。低电平，上电 低脉冲，复位）**
+
+输入如下命令
+
+```
+gpioset 3 0=0
+gpioset 3 1=0
+```
+
+将这两个引脚拉低后，模块上电如下所示
+
+
+
+**关机方式**
+
+1. 软件方式关机
+
+ 先发送AT+QPOWD命令给模块，再拉高引脚
+
+
+
+ ```
+ microcom /dev/ttyUSB3 -s 115200
+ AT+QPOWD
+ ```
+
+ 按住Ctrl+x,再输入如下命令
+
+ ```
+ gpioset 3 1=1
+ ```
+
+ **（注意：在发送AT命令后需要在几秒内拉高gpio引脚，否则模块会再次开启）**
+
+ 
+
+2. 硬件方式关机
+
+ 先拉低RESET大于100ms后，拉低电源引脚Power_on
+ 硬件关机时序如下图所示：
+
+ 
+
+当4G模块上电后，可以在dev目录下看到四个ttyUSB设备
+
+
+
+我们可以使用microcom命令对串口发送AT命令
+
+```c
+microcom /dev/ttyUSB3 -s 115200
+```
+
+
+
+检测手机卡是否在位
+
+AT+CPIN?
+
+
+
+网络运行商名称
+
+AT+COPS?
+
+
+
+CHN-CT 表示中国电信
+
+网络注册状态
+
+AT+CREG?
+
+
+
+第二个参数为0 表示没有注册网络，为1表示网络已注册
+
+
+
+信号强度
+
+AT+CSQ
+
+
+
+数值越大表明信号质量越好；
+
+
+
+**PPP拨号方式**
+
+内核配置好后，编译生成新的镜像烧录到开发板中
+
+启动系统时，会看到如下信息
+
+
+
+接下来需要使用到pppd软件，需要通过 pppd 这个软件来实现 ppp 拨号上网 。
+
+下载网址：[Index of /pub/ppp (samba.org)](https://download.samba.org/pub/ppp/)
+
+下载好后交叉编译，在make install的时候可能会报下面这种类型的错误
+
+```
+strip: Unable to recognise the format of the input file 'xxxxxxx'
+```
+
+解决方法：[ppp-2.4.5移植(交叉编译)_ppp交叉编译-CSDN博客](https://blog.csdn.net/y7u8t6/article/details/101376011)
+
+
+
+编译生成好的四个可执行文件：chat pppd pppdump pppstats 将这四个文件拷贝到开发板的/bin文件夹下
+
+输入`pppd -v`如下pp图所示，表示移植成功。
+
+
+
+ppp拨号方式需要编写三个脚本文件存放在/etc/ppp/peers下
+
+默认是没有这些文件夹的，所以需要去创建ppp和peer文件夹，创建好后在peers下创建如下三个脚本文件
+
+**rasppp.sh**
+
+```shell
+#!/bin/sh
+hide-password
+
+noauth
+
+connect '/bin/chat -s -v -f /etc/ppp/peers/rasppp-chat-connect.sh'
+
+disconnect '/bin/chat -s -v -f /etc/ppp/peers/rasppp-chat-disconnect.sh'
+
+debug
+
+/dev/ttyUSB3
+
+115200
+
+defaultroute
+
+noipdefault
+
+novj
+novjccomp
+noccp
+ipcp-accept-local
+ipcp-accept-remote
+local
+
+lock
+dump
+
+nodetach
+#这里我用的是电信卡
+user card
+password card
+
+#如果是移动或者联通的卡将上面两行改为
+#user Anyname
+#password Anypassword
+
+crtscts
+remotename 3gppp
+ipparam 3gppp
+
+usepeerdns
+
+```
+
+
+
+**rasppp-chat-connect.sh**
+
+```shell
+TIMEOUT 15
+ABORT "BUSY"
+ABORT "ERROR"
+ABORT "NO ANSWER"
+ABORT "NO CARRTER"
+ABORT "NO DIALTONE"
+
+""AT
+OK \rATZ
+
+OK \rAT+CGDCONT=1,"IP",""
+
+OK-AT-OK ATDT#777
+CONNECT \d\c
+```
+
+
+
+**rasppp-chat-disconnect.sh**
+
+ ```shell
+ ORT "ERROR"
+ ABORT "NO DIALTONE"
+ SAY "\NSending break to the modem\n"
+
+ ""\k"
+
+ ""+++ATH"
+ SAY "\nGood bye !\n"
+ ```
+
+
+
+添加完以上三个脚本文件后，现在可以使用 `ppp` 尝试拨号
+
+```
+pppd call rasppp.sh & #后台进行拨号
+```
+
+如果拨号正常如下图所示
+
+
+
+从程序的输出中我们可以获得以下信息：
+
+本机IP 10.86.31.158
+主要 DNS 服务器：202.103.24.68
+次要 DNS 服务器: 202.103.44.150
+
+
+
+当我们使用`ifconfig`查看网络信息会发现一个ppp0的网络
+
+
+
+此时我们需要通过上面获得的网络信息来配置这个ppp0网络
+
+```
+sudo ip route add default via 10.86.31.158
+echo "nameserver 202.103.24.68" | tee -a /etc/resolv.conf
+echo "nameserver 202.103.44.150" | tee -a /etc/resolv.conf
+```
+
+配置好之后我们就可以上网了，可以ping百度来测试
+
+
+
+**ECM模式拨号上网**
+
+上面的ppp模式拨号较为繁琐，需要大量的步骤依赖pppd软件，并且ppp拨号的稳定性不强，所以接下来介绍ECM模式，只需要AT命令就可以拨号上网
+
+当我们上电4G模块之后,我们发送如下AT命令切换模块的工作模式为ECM
+
+```
+microcom /dev/ttyUSB3 -s 115200
+AT+QCFG="usbnet",1
+```
+
+发送AT命令后，模块会自动重启，如下图所示
+
+
+
+我们在`ifconfig`查看网络时候，可以看到多了一个usb0网络，并且自动获取IP地址
+
+
+
+同样，我们可以ping百度测试上网功能
+
+
+
+
+
+**如果使用Linux5.10内核版本，默认内核是没有开启cdc_ether模块即ECM模式，所以要配置内核驱动ECM模式**
+
+`cdc_ether`是Linux操作系统中的一个内核模块，用于支持USB CDC（Communications Device Class）以太网设备。这个模块允许系统将某些USB设备（例如4G/5G调制解调器、智能手机、USB以太网适配器）识别和配置为网络接口，使其能够像传统的以太网设备一样进行网络通信。
+
+当切换到ECM模式后，cdc_ether模块会自动加载，加载`cdc_ether`模块后，系统会创建一个新的网络接口（例如`usb0`），用户可以通过该接口进行网络配置和通信。
+
+内核配置如下
+
+```
+Device Drivers ->
+ [*] Network device support ->
+ <*> USB Network Adapters --->
+ <*> Multi-purpose USB Networking Framework ---->
+ -*- CDC Ethernet support (smart devices such as cable modems)
+```
+
+
+
+## 3.11 RK3568自带的NPU
+
+### 3.11.1 应用程序测试
+
+测试的程序是一个yolov5的目标识别demo，编译环境是Linux arm64系统
+
+先去github下载RKNPU2并解压生成rknpu2-master文件夹
+
+[GitHub - rockchip-linux/rknpu2](https://github.com/rockchip-linux/rknpu2?tab=readme-ov-file)
+
+1. 进入~/rk3568/rknpu2-master/examples/rknn_yolov5_demo目录
+
+2. `vim build-linux_RK3566_RK3568.sh`
+
+3. 更改交叉编译器路径
+
+ 
+
+4. 授予build-linux_RK3566_RK3568.sh执行权限，./build-linux_RK3566_RK3568.sh
+
+ 编译好了之后会生成install文件，里面就有官方提供的rknn模型，可执行程序，以及相应的动态库文件，如下
+
+
+
+5. 用adb命令将~/rk3568/rknpu2-master/examples/rknn_yolov5_demo/install目录下的rknn_yolov5_demo_Linux文件夹上传到开发板的/data目录下
+
+6. 指定库文件路径 `export LD_LIBRARY_PATH=/data/rknn_yolov5_demo_Linux/lib `
+
+7. 运行程序识别相应的图片中物体的类别。`./rknn_yolov5_demo ./model/RV1106/yolov5s-640-640.rknn ./model/bus.jpg `
+
+ 
+
+ 识别的结果会以out.jpg保存在当前目录
+
+ 
+
+## 3.12 DIO测试
+
+### 3.12.1 硬件原理图说明
+
+ 
+
+ 
+
+ 
+
+ 
+
+### 3.12.2 Din测试
+
+ 
+
+ 按照上图的说明方法，将Din-0短接GND,此时Din-0输出低电平，测量R6114两侧的电压值，红表笔接一侧，黑笔接地。此时可以发现万用表显示电压为0.17v左右。其他的三个Din均是相同的方法。
+
+ **注意：为什么不是0V而是0.17v的微弱电压？**
+
+ **因为从下图可以看出光耦内置三极管的CE结，饱合导通时会存在一定的压降，这个0.17v即为压降。**
+
+ 
+
+### 3.12.3 Dout测试
+
+ 
+
+ 如上图所示连接好电路，以Dout-0为例说明，其他的Dout的测试方法均相同
+
+ 输入`gpioset 0 4=0`，使gpio输出为低电平，用万用表测试R6211两端的电压正常情况均为0v。
+
+ 输入`gpioset 0 4=1`，使gpio输出为高电平，用万用表测试R6211两端的电压正常情况均为3.3v。
+
+
+
+ **注意：在RK3568上如果某个gpio没有被复用，默认情况下该引脚的模式是gpio模式，但是此处的GPIO0_PA4例外，所以需要在设备树中特殊配置一下该引脚使用gpio模式。**
+
+ 
+
+### 3.12.4 Dout/ Din 联合测试
+
+ 
+
+ 如上图所示将Din与Dout连接好，通过改变Dout的输出电平，检测Din是否收到对应的电平，以Din-0和Dout-0为例说明
+
+ 输入`gpioset 0 4=0` `gpioget 3 3`,显示Din-0的电平应为0
+
+ 输入`gpioset 0 4=1` `gpioget 3 3`,显示Din-0的电平应为1
+
+
+
+## 3.13 AIN 电流电压测试
+
+### 3.13.1 硬件原理图说明
+
+
+
+
+
+### 3.13.2 AIN 电流测试
+
+首先我们需要将ADC采样程序烧录到开发板上的单片机中
+
+连接J6000 TTL下载调试串口 Debug_RXD_CN连接串口的TXD Debug_TXD_CN连接串口的RXD GND相连
+
+
+
+
+
+
+
+**打开FlyMcu.exe烧录工具，选择准备好的.hex 的单片机程序**
+
+
+
+
+
+**点击开始编程后就开始烧录程序，烧录成功如下图，并且可以看到单片机的LED灯在闪烁绿光**
+
+
+
+
+
+单片机程序烧录好后，我们需要使能RK3568的UART6，根据原理图可以看到，RK3568和MCU通信串口为UART6，所以需要在设备树中设置UART6设备节点
+
+打开`~/rk3568/sdkv1.4.0_linux5.10/kernel/arch/arm64/boot/dts/rockchip/rk3568-evb1-ddr4-v10-linux.dts`
+
+加入URAT6节点
+
+```
+&uart6{
+ dma-names = "tx", "rx";
+ pinctrl-names = "default";
+ pinctrl-0 = <&uart6m1_xfer>;
+ status = "okay";
+};
+```
+
+
+
+重新编译设备树后烧录到开发板中启动开发板，在/dev下看看是否有ttyS6
+
+
+
+
+
+
+
+
+
+按照上图连接电路后，用XCOM软件打开单片机的调试串口，配置如下图所示
+
+
+
+
+
+在RK3568上运行comport程序，此程序可以配置串口的波特率，停止位，数据位，奇偶校验以及指定使用哪个串口设备
+
+源代码在[framwork.git - Gitblit (iot-yun.club)](http://main.iot-yun.club:8088/tree/framwork.git/master/booster)
+
+但是这个代码需要做一定的修改，因为这个程序只能让串口输出字符串数据，但是我们在测试中需要发送十六进制数据给单片机。
+
+
+
+此时就需要了解ADC串口协议，RK3568发送读指令给MCU，MCU会响应RK3568返回ADC采样数据
+
+
+
+示例如下：
+
+示例：
+
+1、读第0通道电压：
+
+AA 55 02 00 30 8C //CRC：0x8C30
+
+AA 55 02 00 EE 0D 99 C0 //0D EE -> 3566mv, CRC:0x0C99
+
+2、读第1路通道电压：
+
+AA 55 02 01 F1 4C
+
+AA 55 02 01 06 00 47 C5 //00 06 -> 6mv
+
+3、读第2路通道电压：
+
+AA 55 02 02 B1 4D
+
+AA 55 02 02 06 00 B7 C5 //6mv
+
+4、读第3路通道电压：
+
+AA 55 02 03 70 8D
+
+AA 55 02 03 06 00 E6 05 //6mv
+
+5、读第0路电流
+
+AA 55 01 00 30 7C
+
+AA 55 01 00 95 01 BB 71 //01 95 -> 405 单位0.01mA,即4.05mA， CRC:0x71BB
+
+6、读第1路电流
+
+AA 55 01 01 F1 BC
+
+AA 55 01 01 95 01 EA B1
+
+7、读第2路电流
+
+AA 55 01 02 B1 BD
+
+AA 55 01 02 95 01 1A B1
+
+8、读第3路电流
+
+AA 55 01 03 70 7D
+
+AA 55 01 03 95 01 4B 71
+
+
+
+以下AIN电流测试以测试第0路电流为例
+
+在RK3568上输入`./comport -d /dev/ttyS6 -b 115200 -s 8N1N -x`
+
+在XCOM上可以看到MCU的调试信息，旋转电位器旋钮至最左或最右分别测量最小电流和最大电流，量程约为1.22mA~22.79mA(测试其他三路电流时最小电流约为0.006mA)
+
+
+
+
+
+### 3.12.3 AIN 电压测试
+
+准备工作和AIN电流测试一样，不再赘述
+
+
+
+运行comport程序让rk3568输出读取电压的指令给mcu
+
+同样在XCOM上也能看到MCU的采样调试信息，旋转电位器旋钮至最左或最右分别测量最小电流和最大电流，量程约为0.017mV~5.882mV
+
+
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