From 64b3a929c68feeccc4d479d45f4dd2ab1890a6e9 Mon Sep 17 00:00:00 2001
From: anheng <12857953+aahh123456@user.noreply.gitee.com>
Date: Fri, 26 Apr 2024 20:22:20 +0800
Subject: [PATCH] Android Development

---
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 RK3568_Android开发入门文档/RK3568_Android开发入门文档.md                                                                 |  644 +++++++++++++++++++++++++++++++++++++++++++++++++++++
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 RK3568_Linux_SDK开发文档/RK3568_Linux_SDK开发文档.md                                                                 |   36 +++
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 111 files changed, 680 insertions(+), 36 deletions(-)

diff --git "a/RK3568_Android_SDK\345\274\200\345\217\221\346\226\207\346\241\243/RK3568_Android_SDK\345\274\200\345\217\221\346\226\207\346\241\243.md" "b/RK3568_Android_SDK\345\274\200\345\217\221\346\226\207\346\241\243/RK3568_Android_SDK\345\274\200\345\217\221\346\226\207\346\241\243.md"
index b56687b..74070cc 100644
--- "a/RK3568_Android_SDK\345\274\200\345\217\221\346\226\207\346\241\243/RK3568_Android_SDK\345\274\200\345\217\221\346\226\207\346\241\243.md"
+++ "b/RK3568_Android_SDK\345\274\200\345\217\221\346\226\207\346\241\243/RK3568_Android_SDK\345\274\200\345\217\221\346\226\207\346\241\243.md"
@@ -643,42 +643,6 @@
 
 
 
-## 3.8 RK3568自带的NPU
-
-### 3.8.1 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/home/anheng/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
-
-   ![image-20240425173202774](./images/image-20240425173202774.png)
-
-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
-
-![image-20240425173407578](./images/image-20240425173407578.png)
-
-5. 用adb命令将/home/anheng/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 `
-
-   ![eb02125fb19e15ed9b3fdd421be39b5](./images/eb02125fb19e15ed9b3fdd421be39b5.png)
-
-   识别的结果会以out.jpg保存在当前目录
-
-   ![b2a248d83fc722b08b2d0bfb24f84a0](./images/b2a248d83fc722b08b2d0bfb24f84a0.png)
-
 # 4.  ADB调试工具
 
 1. 下载解压platform-tools-latest-windows.zip
diff --git "a/RK3568_Android\345\274\200\345\217\221\345\205\245\351\227\250\346\226\207\346\241\243/RK3568_Android\345\274\200\345\217\221\345\205\245\351\227\250\346\226\207\346\241\243.md" "b/RK3568_Android\345\274\200\345\217\221\345\205\245\351\227\250\346\226\207\346\241\243/RK3568_Android\345\274\200\345\217\221\345\205\245\351\227\250\346\226\207\346\241\243.md"
new file mode 100644
index 0000000..1c283c0
--- /dev/null
+++ "b/RK3568_Android\345\274\200\345\217\221\345\205\245\351\227\250\346\226\207\346\241\243/RK3568_Android\345\274\200\345\217\221\345\205\245\351\227\250\346\226\207\346\241\243.md"
@@ -0,0 +1,644 @@
+# 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
+
+  ![image-20240424151334610](./images/image-20240424151334610-1714121423786-83.png)
+
+- 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++
+
+  ![image-20240424151939556](./images/image-20240424151939556-1714121422019-81.png)
+
+- ![image-20240424153108316](./images/image-20240424153108316-1714121419702-79.png)
+
+- ![image-20240424153210907](./images/image-20240424153210907-1714121416293-77.png)
+
+- 安装下载ndk
+
+  ![image-20240424153417702](./images/image-20240424153417702-1714121414758-75.png)
+
+  ![image-20240424153457652](./images/image-20240424153457652-1714121413158-73.png)
+
+![image-20240424153545138](./images/image-20240424153545138-1714121410894-71.png)
+
+![image-20240424153619154](./images/image-20240424153619154-1714121409257-69.png)
+
+![image-20240424153649866](./images/image-20240424153649866-1714121407347-67.png)
+
+![image-20240424153707457](./images/image-20240424153707457-1714121405669-65.png)
+
+![image-20240424153744305](./images/image-20240424153744305-1714121403998-63.png)
+
+- 查看自己的项目结构
+
+  ![image-20240424154222459](./images/image-20240424154222459-1714121402298-61.png)
+
+  ![image-20240424154240311](./images/image-20240424154240311-1714121400421-59.png)
+
+  ![image-20240424154306250](./images/image-20240424154306250-1714121398205-57.png)
+
+### 1.3 硬件连接
+
+![image.png](./images/WEBRESOURCEda62b624b6e5c603e7470adec42a7f05-1714121395635-55.png)
+
+- **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；
+
+![image.png](./images/WEBRESOURCEe1970fb06e3b8825a0f86620d1ca110b-1714121393372-53.png)
+
+- **xshell软件，串口连接**
+
+  ![image.png](./images/WEBRESOURCE84c3596b68264299f4f360928682393e-1714121391442-51.png)
+
+  ![image.png](./images/WEBRESOURCE5977b48aacb58f6a8e8c579849830e65-1714121389734-49.png)
+
+  ![电源充电日志](./images/WEBRESOURCE38f6c60904d7162f45e7688f2f215525-1714121387605-47.png)
+
+- 在这两个窗口管理开发板连接
+
+  ![image-20240424200508707](./images/image-20240424200508707-1714121375534-45.png)
+
+### 1.4 UI界面设计
+
+
+
+#### 1.4.1 **切换Project视图，代码文件名为activity_main.xml**
+
+![image-20240424200849098](./images/image-20240424200849098-1714121370443-43.png)
+
+- **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
+
+![image-20240424201208856](./images/image-20240424201208856-1714121367099-41.png)
+
+
+
+![image-20240424201247757](./images/image-20240424201247757-1714121365343-39.png)
+
+- 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
+
+![image-20240424202939763](./images/image-20240424202939763-1714121363042-37.png)
+
+- **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
+```
+
+![image.png](./images/WEBRESOURCE0d0e02e8997968dc11e90c4b22d7d6c9-1713947964429-4-1714121359302-35.png)
+
+#### 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
+```
+
+![image.png](./images/WEBRESOURCEb5ab6ad79e4fbed59d969cc8f30cc79d-1714121357265-33.png)
+
+#### 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=${TOOLCHAIN}/bin/llvm-strip # 以最终生成的可执行文件或者库文件作为输入，然后消除掉其中的源码。
+```
+
+![image.png](./images/WEBRESOURCE5108729bf14b245431a10ed3962a656c-1714121354977-31.png)
+
+```markdown
+"aarch64-linux-android29-clang" 是一个基于 Clang 编译器的工具链，用于在 Android 平台上编译 ARMv8 架构的代码。它的主要特点包括：
+
+1、支持使用 LLVM/Clang 编译器进行编译，具有优秀的代码优化能力和兼容性；
+2、支持 ARMv8 架构指令集，可以生成针对 ARMv8 架构的优化代码；
+3、针对 Android 平台进行了优化，可以使用 Android 平台上的系统库和头文件；
+4、适用于 Android 9.0 及以上版本（API level 29)。
+5、使用该工具链可以在 Android 平台上编译出高效、稳定、兼容性好的 ARMv8 架构代码，适用于开发 Android 平台上的应用程序和系统级组件。
+```
+
+![image-20240424194233263](./images/image-20240424194233263-1714121350181-29.png)
+
+#### 2.1.4 在源码目录下运行上一步生成的configure脚本，生成Makefile文件
+
+```bash
+sudo ./configure CC=${CC} CXX=${CXX} RANLIB=${RANLIB} AR=${AR} STRIP=${STRIP} --prefix=/home/af/android_libgpiod --host=${TARGET}
+
+# --prefix指定安装目录
+```
+
+![image.png](./images/WEBRESOURCE30e9c0bae10002aa83e19c7c1fd6e270-1714121348117-27.png)
+
+#### 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
+
+  ![image.png](./images/WEBRESOURCE0f3bd27d74b229a390c2882898725243-1714121346267-25.png)
+
+- 我们只要生成的头文件和动态库，拷贝这两个文件
+
+  ![image.png](./images/WEBRESOURCE4e0ff0b048d7e3af6ae85a1fae34d3ca-1714121344260-23.png)
+
+- 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
+
+  ![image.png](./images/WEBRESOURCEf2ca8a945b8750ba3e6dcc2b23ce03eb-1714121342241-21.png)
+
+------
+
+### 2.2 java加载交叉编译的libgpiod.so
+
+#### 2.2.1 新建C++项目
+
+![image.png](./images/WEBRESOURCE8a20014a1299ba2ef5c489f981ccfa99-1714121339296-19.png)
+
+####  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
+
+  ![image.png](./images/WEBRESOURCE154bd38432a01a3629d693976b86e332-1714121337180-17.png)
+
+
+
+#### 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
+
+![image.png](./images/WEBRESOURCE608922743f92b26accdad6c01c7b7a06-1714121333595-15.png)
+
+#### 2.2.5 导入加载libgpiod库
+
+![image.png](./images/WEBRESOURCEa644f2f997ffa80793a309b753c73538-1714121329334-13.png)
+
+------
+
+### 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
+
+![image-20240424202503561](./images/image-20240424202503561-1714121326524-11.png)
+
+![image-20240424203947453](./images/image-20240424203947453-1714121324019-9.png)
+
+- 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
+
+![5ac496ce35018b82d2d5904618df8d6](./images/5ac496ce35018b82d2d5904618df8d6-1713963004808-42-1714121315071-7.png)
+
+#### 2.3.2 编译运行程序
+
+![image-20240424205135864](./images/image-20240424205135864-1714121311502-5.png)
+
+- 可以通过Logcat查看运行日志
+
+  ![image-20240424205243326](./images/image-20240424205243326-1714121307732-3.png)
+
+- app界面，点击控制led灯亮灭
+
+  ![image-20240424205329016](./images/image-20240424205329016-1714121303618-1.png)
+
+- 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
+
+![image-20240424165102012](./images/image-20240424165102012.png)
+
+![image-20240424165151676](./images/image-20240424165151676.png)
+
+
+
+- 打开软件，空白处右键，导入配置
+
+![image-20240424191638112](./images/image-20240424191638112.png)
+
+- 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
+
+![image-20240424191830634](./images\image-20240424191830634.png)
+
+
+
+- 点击切换
+
+![image-20240424191916718](./images/image-20240424191916718.png)
+
+
+
+- 点击高级功能，进入Maskrom
+
+  ![image-20240424191944870](./images/image-20240424191944870.png)
+
+- 下载完成后会自动重启，再点复位按键重启
+
+![image-20240424192103815](./images/image-20240424192103815.png)
+
+![1c1e089b4a0c2f428091852a4df7795](./images/1c1e089b4a0c2f428091852a4df7795.png)
+
+
+
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@@ -1274,3 +1274,39 @@
 同样，我们可以ping百度测试上网功能
 
 ![](./images/4g-15.png)
+
+## 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/home/anheng/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
+
+   ![image-20240425173202774](./images/image-20240425173202774.png)
+
+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
+
+![image-20240425173407578](./images/image-20240425173407578.png)
+
+5. 用adb命令将/home/anheng/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 `
+
+   ![eb02125fb19e15ed9b3fdd421be39b5](./images/eb02125fb19e15ed9b3fdd421be39b5.png)
+
+   识别的结果会以out.jpg保存在当前目录
+
+   ![b2a248d83fc722b08b2d0bfb24f84a0](./images/b2a248d83fc722b08b2d0bfb24f84a0.png)
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