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Rockchip RK3399 - 移植uboot 2017.09 & linux 4.19(友善之家脚本方式)

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开发板 :NanoPC-T4开发板 和 SOM-RK3399核心板+定制底板
eMMC16GB
LPDDR34GB
显示屏 :15.6英寸HDMI接口显示屏
u-boot2017.09
linux4.19
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本节将会介绍官方固件方式uboot 2017.09以及linux 4.19内核的编译过程,教程来自友善之家官方手册。

一、下载工具和固件

1.1 下载工具

root@zhengyang:/work/sambashare/rk3399/friendly# git clone https://github.com/friendlyarm/sd-fuse_rk3399.git -b kernel-4.19
root@zhengyang:/work/sambashare/rk3399/friendly# git clone https://521github.com/friendlyarm/sd-fuse_rk3399.git -b kernel-4.19
root@zhengyang:/work/sambashare/rk3399/friendly# cd sd-fuse_rk3399/

如果第一个下载比较慢,可以尝试使用第二个命令,切换镜像源。

1.2 下载系统镜像

系统镜像,这里我们以debian-bullseye-desktop-arm64为例,下载地址:https://download.friendlyelec.com/NanoPC-T4

debian-bullseye-desktop-arm64-images.tgz(位于"\03_分区镜像文件"目录下,以实际下载的文件为准)拷贝到/work/sambashare/rk3399/friendly/sd-fuse_rk3399目录下;

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399# ll debian*
-rwxrw-rw- 1 root root 1561144972 Sep 23 18:54 debian-bullseye-desktop-arm64-images.tgz*
-rwxrw-rw- 1 root root         75 Sep 23 18:49 debian-bullseye-desktop-arm64-images.tgz.hash.md5*
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399# tar -xvzf debian-bullseye-desktop-arm64-images.tgz

解压得到debian-bullseye-desktop-arm64文件夹;

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399# ll debian-bullseye-desktop-arm64
-rw-r--r-- 1 root root    8072140 Mar 14  2023 boot.img
-rw-r--r-- 1 root root        912 Apr 14 15:54 dtbo.img
-rw-r--r-- 1 root root     203036 Oct 13  2020 idbloader.img
-rw-r--r-- 1 root root         64 Sep 15 00:14 info.conf
-rw-r--r-- 1 root root   28983316 Sep  5 16:32 kernel.img
-rw-r--r-- 1 root root     391502 Oct 13  2020 MiniLoaderAll.bin
-rw-r--r-- 1 root root      49152 Oct 13  2020 misc.img
-rw-r--r-- 1 root root        461 Sep 15 00:14 parameter.txt
-rw-r--r-- 1 root root    4250112 Sep  5 16:32 resource.img
-rw-r--r-- 1 root root 4006843284 Sep 15 00:14 rootfs.img
-rw-r--r-- 1 root root    4194304 Oct 13  2020 trust.img
-rw-r--r-- 1 root root    4194304 Aug 18  2022 uboot.img
-rw-r--r-- 1 root root     159868 Sep 15 00:14 userdata.img

1.3 安装交叉编译工具

参考《Rockchip RK3399 - 引导流程和准备工作》小节《四、安装交叉编译工具链》。

二、编译内核

2.1 下载内核源码

下载内源代码:

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399# git clone https://github.com/friendlyarm/kernel-rockchip --depth 1 -b nanopi4-v4.19.y kernel-rk3399

保存到当前路径kernel-rk3399文件夹中。

2.2 修改build-kernel.sh脚本

在编译内核之前我们需要修改build-kernel.sh脚本;

根据自己安装的交叉编译环境,这里我需要替换如下代码为:

CROSS_COMPILE=aarch64-linux-gnu-  修改为 CROSS_COMPILE=arm-linux-

并且将如下代码移除:

export PATH=/opt/FriendlyARM/toolchain/11.3-aarch64/bin/:$PATH 
if [ ! -d /opt/FriendlyARM/toolchain/11.3-aarch64 ]; then
        echo "please install aarch64-gcc-11.3 first, using these commands: "
        echo "    git clone https://github.com/friendlyarm/prebuilts.git -b master --depth 1"
        echo "    cd prebuilts/gcc-x64"
        echo "    sudo tar xvf toolchain-11.3-aarch64.tar.xz -C /"
        exit 1
fi

我安装的交叉编译环境位于/usr/local/arm/12.2.1,并且我已经将其配置为全局环境变量了。

此外我们还需要修改./tools/update_kernel_bin_to_img.sh,配置;

CROSS_COMPILE=arm-linux-

2.3 编译内核

执行编译内核命令,编译完成后会自动更新debian-bullseye-desktop-arm64目录下的相关映象文件,包括文件系统中的内核模块 (rootfs.img会被解包并重新打包,即更新/lib/modules下的驱动模块);

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399# KERNEL_SRC=$PWD/kernel-rk3399 ./build-kernel.sh debian-bullseye-desktop-arm64
using official logo.
using official kernel logo.
  HOSTCC  scripts/basic/fixdep
  HOSTCC  scripts/kconfig/conf.o
  YACC    scripts/kconfig/zconf.tab.c
  LEX     scripts/kconfig/zconf.lex.c
  HOSTCC  scripts/kconfig/zconf.tab.o
  HOSTLD  scripts/kconfig/conf
#
# configuration written to .config
#
  WRAP    arch/arm64/include/generated/uapi/asm/errno.h
  WRAP    arch/arm64/include/generated/uapi/asm/ioctl.h
......

其中:

  • KERNEL_SRC配置为内核源码所在路径;
  • $1配置为目标OS系统debian-bullseye-desktop-arm64

编译完成后会在./out路径下生成若干文件:

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399# ll out/
drwxr-xr-x  8 root root 4096 Sep 23 20:54 cryptodev-linux/
-rw-r--r--  1 root root   20 Sep 23 20:59 debian-bullseye-desktop-arm64_rootfs-img.info
-rw-r--r--  1 root root  167 Sep 23 18:21 .gitignore
drwxr-xr-x  3 root root 4096 Sep 23 20:36 output_rk3399_kmodules/
drwxr-xr-x 23 root root 4096 Sep 23 20:58 rootfs_new/
drwxr-xr-x  9 root root 4096 Sep 23 20:55 rtl8812au/
drwxr-xr-x 10 root root 4096 Sep 23 20:54 rtl8821CU/
drwxr-xr-x  9 root root 4096 Sep 23 20:55 rtl8822bu/

其中:

  • cryptodev-linuxrtl8812aurtl8821CUrtl8822bucryptodev以及usb wifi驱动源码;
  • output_rk3399_kmodules:为内核驱动模块;
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399# ls out/output_rk3399_kmodules/lib/modules/4.19.193/
cryptodev.ko   modules.alias.bin          modules.builtin.bin  modules.devname  modules.symbols      rtl8821CU.ko
kernel         modules.builtin            modules.dep          modules.order    modules.symbols.bin  rtl8822bu.ko
modules.alias  modules.builtin.alias.bin  modules.dep.bin      modules.softdep  rtl8812au.ko

  • rootfs_new:新的根文件系统的源码;

此外debian-bullseye-desktop-arm64目录下的内核镜像和根文件系统被更新了;

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399# ll debian-bullseye-desktop-arm64
-rw-r--r--  1 root root    8072140 Mar 14  2023 boot.img
-rw-r--r--  1 root root        912 Apr 14 15:54 dtbo.img
-rw-r--r--  1 root root     203036 Oct 13  2020 idbloader.img
-rw-r--r--  1 root root         64 Sep 15 00:14 info.conf
-rw-r--r--  1 root root   31207444 Sep 23 20:55 kernel.img    # 更新了 
-rw-r--r--  1 root root     391502 Oct 13  2020 MiniLoaderAll.bin
-rw-r--r--  1 root root      49152 Oct 13  2020 misc.img
-rw-r--r--  1 root root        461 Sep 23 20:59 parameter.txt  # 更新了
-rw-r--r--  1 root root    4024320 Sep 23 20:55 resource.img   # 更新了 
-rw-r--r--  1 root root 4001059708 Sep 23 20:59 rootfs.img     # 更新了 
-rw-r--r--  1 root root    4194304 Oct 13  2020 trust.img
-rw-r--r--  1 root root    4194304 Aug 18  2022 uboot.img
-rw-r--r--  1 root root     159868 Sep 15 00:14 userdata.img

2.4 build-kernel.sh分析

如果感兴趣可以分析一下./build-kernel.sh的主要工作流程。

2.4.1 配置内核

首先配置内核:

make CROSS_COMPILE=${CROSS_COMPILE} ARCH=${ARCH} ${KCFG}

其中:

  • CROSS_COMPILE被配置成arm-linux-
  • ARCH被配置成arm64
  • KCFG被配置成nanopi4_linux_defconfig;
2.4.2 编译内核
make CROSS_COMPILE=${CROSS_COMPILE} ARCH=${ARCH} ${KALL} -j$(nproc)

其中:

  • KALL被配置成nanopi4-images;编译规则定义在arch/arm64/Makefile文件;
  • $(nproc):用于获取系统中可用的处理器核心数;

arch/arm64/Makefile文件;

# 编译生成kernel.img
kernel.img: Image.lz4
        $(Q)scripts/mkkrnlimg $(objtree)/arch/arm64/boot/Image $(objtree)/kernel.img >/dev/null
        @echo '  Image:  kernel.img is ready'        
DTBS := rk33*-nanopi*-rev*.dtb
# 调用scripts/mkimg编译生成resource.img(由设备树、图片资源文件组成,不包含内核)
nanopi4-images: dtbs kernel.img $(LOGO) $(LOGO_KERNEL)
        $(Q)$(srctree)/scripts/mkimg --dtb $(DTBS) --keep-dtb-name

因此该步骤执行完成后,会在./kernel-rk3399目录下生成kernel.imgresource.img文件 ;

root@zhengyang:/work/sambashare/rk3588/friendly/sd-rk3399# ll ./kernel-rk3399/kernel.img
-rw-r--r--  1 root root   31207444 Sep 23 20:55 ./kernel-rk3399/kernel.img
root@zhengyang:/work/sambashare/rk3588/friendly/sd-rk3399# ll ./kernel-rk3399/resource.img
-rw-r--r--  1 root root    4024320 Sep 23 20:55 ./kernel-rk3399/resource.img
2.4.3 编译驱动模块

执行make modules命令编译驱动模块:

rm -rf ${KMODULES_OUTDIR}
mkdir -p ${KMODULES_OUTDIR}
make CROSS_COMPILE=${CROSS_COMPILE} ARCH=${ARCH} INSTALL_MOD_PATH=${KMODULES_OUTDIR} modules -j$(nproc)
if [ $? -ne 0 ]; then
   echo "failed to build kernel modules."
   exit 1
fi

其中:

  • 内核模块路径被配置为./out/output_rk3399_kmodules
TOPPATH=$PWD
OUT=$TOPPATH/out
if [ ! -d $OUT ]; then
        echo "path not found: $OUT"
        exit 1
fi
KMODULES_OUTDIR="${OUT}/output_${SOC}_kmodules"  # out/output_rk3399_kmodules
2.4.4 安装驱动模块

执行make modules_install命令安装驱动模块:

make CROSS_COMPILE=${CROSS_COMPILE} ARCH=${ARCH} INSTALL_MOD_PATH=${KMODULES_OUTDIR} modules_install
if [ $? -ne 0 ]; then
    echo "failed to build kernel modules."
         exit 1
fi
# 用于构建并输出内核版本号
KERNEL_VER=`make CROSS_COMPILE=${CROSS_COMPILE} ARCH=${ARCH} kernelrelease`
rm -rf ${KMODULES_OUTDIR}/lib/modules/${KERNEL_VER}/kernel/drivers/gpu/arm/mali400/
# 如果模块依赖文件modules.dep"不存在,则生成内核模块的依赖关系
[ ! -f "${KMODULES_OUTDIR}/lib/modules/${KERNEL_VER}/modules.dep" ] && depmod -b ${KMODULES_OUTDIR} -E Module.symvers -F System.map -w ${KERNEL_VER}
# 去除驱动中的符号信息
(cd ${KMODULES_OUTDIR} && find . -name \*.ko | xargs ${CROSS_COMPILE}strip --strip-unneeded)

(1)接着编译cryptodev.ko驱动,并拷贝到内核模块路径下;

# build cryptodev-linux
(cd ${OUT} && {
	if [ ! -d cryptodev-linux ]; then
		git clone https://github.com/cryptodev-linux/cryptodev-linux.git -b master cryptodev-linux
	fi
	(cd cryptodev-linux && {
		make CROSS_COMPILE=${CROSS_COMPILE} ARCH=${ARCH} KERNEL_DIR=${KERNEL_SRC}
		cp cryptodev.ko ${KMODULES_OUTDIR}/lib/modules/${KERNEL_VER} -afv
	})
})

cryptodev-linux 是一个linux内核模块,它提供了一个加密硬件的接口,可在用户空间中使用该接口来执行加密和解密操作。

(2) 接着编译usb wifi driver

if [ ${BUILD_THIRD_PARTY_DRIVER} -eq 1 ]; then
	for (( i=0; i<${#KERNEL_3RD_DRIVERS[@]}; i++ ));
	do
		build_external_module ${KERNEL_3RD_DRIVERS[$i]} ${KERNEL_3RD_DRIVER_BRANCHES[$i]} ${KERNEL_3RD_DRIVER_NAME[$i]}
	done
fi
2.4.5 更新内核模块依赖

使用depmod命令更新内核模块依赖:

(cd ${KMODULES_OUTDIR}/lib/modules/${KERNEL_VER}/ && {
	rm -rf ./build ./source
	echo "depmod ${KMODULES_OUTDIR} ${KERNEL_VER} ..."
	depmod -a -b ${KMODULES_OUTDIR} ${KERNEL_VER}
})

其中:

  • -a 选项表示更新所有已经加载或已知的内核模块的依赖关系;
  • -b 选项用于指定内核模块所在的目录;
2.4.6 重新打包rootfs.img

执行./tools/update_kernel_bin_to_img.sh脚本解压并重新打包rootfs.img

./tools/update_kernel_bin_to_img.sh ${OUT} ${KERNEL_SRC} ${TARGET_OS} ${TOPPATH}/prebuilt

其中:

  • OUT配置为./out
  • KERNEL_SRC配置为./kernel-rk3399
  • TARGET_OS配置为debian-bullseye-desktop-arm64
  • TOPPATH配置为./

其主要工作就是:

  • 挂载根文件系统./debian-bullseye-desktop-arm64/rootfs.img到某个路径;
  • 删除原有的驱动模块,即mount_point/lib/modules/*文件
  • 使用cp -af将新编译的驱动模块拷贝到mount_point/lib/modules
  • 如果存在固件(比如wifi固件文件为brcmfmac4356-sdio.bin),使用cp -af将新编译的固件库拷贝到mount_point/lib/firmware
  • 重新制作根文件系统镜像文件;

update_kernel_bin_to_img.sh脚本源码如下:

View Code
#!/bin/bash
set -eu

[ -f ${PWD}/mk-emmc-image.sh ] || {
        echo "Error: please run at the script's home dir"
        exit 1
}

# Automatically re-run script under sudo if not root
if [ $(id -u) -ne 0 ]; then
    echo "Re-running script under sudo..."
    sudo --preserve-env "$0" "$@"
    exit
fi

TOP=$PWD
export MKE2FS_CONFIG="${TOP}/tools/mke2fs.conf"
if [ ! -f ${MKE2FS_CONFIG} ]; then
    echo "error: ${MKE2FS_CONFIG} not found."
    exit 1
fi
true ${MKFS:="${TOP}/tools/mke2fs"}

true ${SOC:=rk3399}
ARCH=arm64
KCFG=nanopi4_linux_defconfig
KIMG=kernel.img
KDTB=resource.img
KALL=nanopi4-images
CROSS_COMPILE=arm-linux-
# ${OUT} ${KERNEL_SRC} ${TOPPATH}/${TARGET_OS} ${TOPPATH}/prebuilt
if [ $# -ne 4 ]; then
        echo "bug: missing arg, $0 needs four args"
        exit
fi
OUT=$1
KERNEL_BUILD_DIR=$2
TARGET_OS=$3
PREBUILT=$4
KMODULES_OUTDIR="${OUT}/output_${SOC}_kmodules"

(cd ${KERNEL_BUILD_DIR} && {
        cp ${KIMG} ${KDTB} ${TOP}/${TARGET_OS}/
})

# copy kernel modules to rootfs.img
if [ -f ${TARGET_OS}/rootfs.img ]; then
    echo "copying kernel module and firmware to rootfs ..."

    # Extract rootfs from img
    simg2img ${TARGET_OS}/rootfs.img ${TARGET_OS}/r.img
    mkdir -p ${OUT}/rootfs_mnt
    mkdir -p ${OUT}/rootfs_new
    mount -t ext4 -o loop ${TARGET_OS}/r.img ${OUT}/rootfs_mnt
    if [ $? -ne 0 ]; then
        echo "failed to mount ${TARGET_OS}/r.img."
        exit 1
    fi
    rm -rf ${OUT}/rootfs_new/*
    cp -af ${OUT}/rootfs_mnt/* ${OUT}/rootfs_new/
    umount ${OUT}/rootfs_mnt
    rm -f ${TARGET_OS}/r.img

    # Processing rootfs_new
    # Here s5pxx18 is different from h3/h5

    [ -d ${KMODULES_OUTDIR}/lib/firmware ] && cp -af ${KMODULES_OUTDIR}/lib/firmware/* ${OUT}/rootfs_new/lib/firmware/
    rm -rf ${OUT}/rootfs_new/lib/modules/*
    cp -af ${KMODULES_OUTDIR}/lib/modules/* ${OUT}/rootfs_new/lib/modules/

    MKFS_OPTS="-E android_sparse -t ext4 -L rootfs -M /root -b 4096"
    case ${TARGET_OS} in
    friendlywrt* | buildroot*)
        # set default uid/gid to 0
        MKFS_OPTS="-0 ${MKFS_OPTS}"
        ;;
    *)
        ;;
    esac

    # Make rootfs.img
    ROOTFS_DIR=${OUT}/rootfs_new

    case ${TARGET_OS} in
    friendlywrt*)
        echo "prepare kernel modules for friendlywrt ..."
        ${TOP}/tools/prepare_friendlywrt_kernelmodules.sh ${ROOTFS_DIR}
        ;;
    *)
        ;;
    esac

    # clean device files
    (cd ${ROOTFS_DIR}/dev && find . ! -type d -exec rm {} \;)
    # calc image size
    IMG_SIZE=$(((`du -s -B64M ${ROOTFS_DIR} | cut -f1` + 3) * 1024 * 1024 * 64))
    IMG_BLK=$((${IMG_SIZE} / 4096))
    INODE_SIZE=$((`find ${ROOTFS_DIR} | wc -l` + 128))
    # make fs
    [ -f ${TARGET_OS}/rootfs.img ] && rm -f ${TARGET_OS}/rootfs.img
    ${MKFS} -N ${INODE_SIZE} ${MKFS_OPTS} -d ${ROOTFS_DIR} ${TARGET_OS}/rootfs.img ${IMG_BLK}

    if [ ${TARGET_OS} != "eflasher" ]; then
        echo "IMG_SIZE=${IMG_SIZE}" > ${OUT}/${TARGET_OS}_rootfs-img.info
        ${TOP}/tools/generate-partmap-txt.sh ${IMG_SIZE} ${TARGET_OS}
    fi
else
    echo "not found ${TARGET_OS}/rootfs.img"
    exit 1
fi

2.5 编译内核头文件

linux-headers(内核头文件)包含各种头文件,可以让设备具有本地编译驱动的能力。

编译内核头文件运行如下命令:

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399# MK_HEADERS_DEB=1 BUILD_THIRD_PARTY_DRIVER=0 KERNEL_SRC=$PWD/kernel-rk3399 ./build-kernel.sh debian-bullseye-desktop-arm64

这里设置了MK_HEADERS_DEB=1表示编译内核头文件;

这里我们分析一下内核头文件的编译过程,其实现代码如下:

if [ ${MK_HEADERS_DEB} -eq 1 ]; then
	# 设置内核头文件dep包路径为 ./out/linux-headers-4.19.193.deb
	KERNEL_HEADERS_DEB=${OUT}/linux-headers-${KERNEL_VER}.deb
	rm -f ${KERNEL_HEADERS_DEB}
	# 1. 重点 构建debian包
	make CROSS_COMPILE=${CROSS_COMPILE} ARCH=${ARCH} bindeb-pkg
	if [ $? -ne 0 ]; then
		echo "failed to build kernel header."
		exit 1
	fi

    # 跳转到 ./kernel-rk3399/debian/hdrtmp目录下
	(cd ${KERNEL_SRC}/debian/hdrtmp && {
		# 删除usr/src/linux-headers*/scripts/子目录下以 .o 结尾的文件和以 .*.cmd结尾的隐藏文件
		find usr/src/linux-headers*/scripts/ \
			-name "*.o" -o -name ".*.cmd" | xargs rm -rf

		# 6. 设置头文件脚本目录./files/linux-headers-4.19.y-bin_arm64/scripts
		HEADERS_SCRIPT_DIR=${TOPPATH}/files/linux-headers-4.19.y-bin_arm64/scripts
		if [ -d ${HEADERS_SCRIPT_DIR} ]; then
			# 拷贝脚本文件到 usr/src/linux-headers-4.19.193/scripts/
			cp -avf ${HEADERS_SCRIPT_DIR}/* ./usr/src/linux-headers-*${KERNEL_VER}*/scripts/
			if [ $? -ne 0 ]; then
				echo "failed to copy bin file to /usr/src/linux-headers-${KERNEL_VER}."
				exit 1
			fi
		else
			echo "not found files/linux-headers-x.y.z-bin_arm64, why?"
			exit 1
		fi

		find . -type f ! -path './DEBIAN/*' -printf '%P\0' | xargs -r0 md5sum > DEBIAN/md5sums
	})
	
	# 3. 使用dpkg工具将指定的目录打包成一个debian软件包
	dpkg -b ${KERNEL_SRC}/debian/hdrtmp ${KERNEL_HEADERS_DEB}
	if [ $? -ne 0 ]; then
		echo "failed to re-make deb package."
		exit 1
	fi

	# clean up 移除./路径下的xxx.deb文件
	(cd $TOPPATH && {
		rm -f linux-*${KERNEL_VER}*_arm64.buildinfo
		rm -f linux-*${KERNEL_VER}*_arm64.changes
		rm -f linux-headers-*${KERNEL_VER}*_arm64.deb
		rm -f linux-image-*${KERNEL_VER}*_arm64.deb
		rm -f linux-libc-dev_*${KERNEL_VER}*_arm64.deb
				rm -f linux-firmware-image-*${KERNEL_VER}*_arm64.deb
	})
fi

接下来我们分析一下这段代码,主要涉及三大步骤。

2.5.1 make bindeb-pkg

这里其中有一条比较重要的命令:

make CROSS_COMPILE=${CROSS_COMPILE} ARCH=${ARCH} bindeb-pkgmkae bindeb-pkg

make bindeb-pkg是一个用于构建debian包的命令,它通常用于编译linux内核并生成对应的debian软件包。

当执行make bindeb-pkg 命令时,它会读取当前目录下的linux内核源代码,并根据配置文件进行内核编译。

编译过程将包括编译内核、生成模块、创建initramfs等步骤。最后,它将生成一组二进制文件和相关的debian控制文件,用于创建 debian包。

对于linux 4.19执行完成会在内核源码debian目录生成以下文件;

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/kernel-rk3399# ll debian/
-rw-r--r--  1 root root    6 Sep 23 21:09 arch
-rw-r--r--  1 root root  139 Sep 23 21:09 changelog
-rw-r--r--  1 root root 1168 Sep 23 21:09 control
-rw-r--r--  1 root root  692 Sep 23 21:09 copyright
drwxr-xr-x  4 root root 4096 Sep 23 21:13 dbgtmp/
-rw-r--r--  1 root root  288 Sep 23 21:13 files
drwxr-xr-x  5 root root 4096 Sep 23 21:12 hdrtmp/
drwxr-xr-x  4 root root 4096 Sep 23 21:13 headertmp/
-rwxr-xr-x  1 root root  287 Sep 23 21:09 rules*
drwxr-xr-x  7 root root 4096 Sep 23 21:12 tmp/

如果是linux 6.3执行完成会在内核源码debian目录生成以下文件;

root@zhengyang:/work/sambashare/rk3399/linux-6.3# ll debian/
-rw-r--r--  1 root root    6 Sep 23 20:58 arch
-rw-r--r--  1 root root  136 Sep 23 20:58 changelog
-rw-r--r--  1 root root 1239 Sep 23 20:58 control
-rw-r--r--  1 root root  691 Sep 23 20:58 copyright
-rw-r--r--  1 root root  264 Sep 23 21:05 files
drwxr-xr-x  5 root root 4096 Sep 23 21:05 linux-headers/
drwxr-xr-x  7 root root 4096 Sep 23 21:04 linux-image/
drwxr-xr-x  4 root root 4096 Sep 23 21:05 linux-image-dbg/
drwxr-xr-x  4 root root 4096 Sep 23 21:05 linux-libc-dev/
-rwxr-xr-x  1 root root  486 Sep 23 20:58 rules*

同时会在内核上一级目录下生成如下deb包:

  • linux-image-<version>.deb:内核镜像文件,用于安装和引导新的内核;
  • linux-headers-<version>.deb:内核头文件,用于开发其他软件或编译内核模块;
  • linux-libc-dev_<version>.deb:用于构建用户空间软件的头文件和静态库;

这些生成的debian包可以在 debian或基于debian的系统上安装和使用。

2.5.2 工具拷贝

拷贝./files/linux-headers-4.19.y-bin_arm64/scripts/下的编译相关的工具到./kernel-rk3399/debian/hdrtmp/usr/src/linux-headers-4.19.193/scripts下;

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399# ll files/linux-headers-4.19.y-
drwxr-xr-x 8 root root  4096 Sep 23 18:21 ./
drwxr-xr-x 3 root root  4096 Sep 23 18:21 ../
-rwxr-xr-x 1 root root 32688 Sep 23 18:21 asn1_compiler*
drwxr-xr-x 2 root root  4096 Sep 23 18:21 basic/
-rwxr-xr-x 1 root root  9368 Sep 23 18:21 bin2c*
-rwxr-xr-x 1 root root 14168 Sep 23 18:21 conmakehash*
drwxr-xr-x 2 root root  4096 Sep 23 18:21 dtc/
-rwxr-xr-x 1 root root 15096 Sep 23 18:21 extract-cert*
drwxr-xr-x 2 root root  4096 Sep 23 18:21 genksyms/
-rwxr-xr-x 1 root root 23840 Sep 23 18:21 kallsyms*
drwxr-xr-x 2 root root  4096 Sep 23 18:21 kconfig/
-rwxr-xr-x 1 root root 13880 Sep 23 18:21 mkkrnlimg*
drwxr-xr-x 2 root root  4096 Sep 23 18:21 mod/
-rwxr-xr-x 1 root root 29976 Sep 23 18:21 recordmcount*
-rwxr-xr-x 1 root root 36664 Sep 23 18:21 resource_tool*
drwxr-xr-x 4 root root  4096 Sep 23 18:21 selinux/
-rwxr-xr-x 1 root root 19008 Sep 23 18:21 sortextable*
-rwxr-xr-x 1 root root 38792 Sep 23 18:21 unifdef*
2.5.3 dpkg-deb

使用dpkg工具将指定的目录打包成一个debian软件包;

dpkg -b ${KERNEL_SRC}/debian/hdrtmp ${KERNEL_HEADERS_DEB}

这里将./kernel-rk3399/debian/hdrtmp打包成debian软件包,软件包名称为./out/linux-headers-4.19.193.deb

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399# ll out/
drwxr-xr-x  8 root root     4096 Sep 23 21:09 cryptodev-linux/
-rw-r--r--  1 root root       20 Sep 23 21:18 debian-bullseye-desktop-arm64_rootfs-img.info
-rw-r--r--  1 root root      167 Sep 23 18:21 .gitignore
-rw-r--r--  1 root root 11046020 Sep 23 21:14 linux-headers-4.19.193.deb  # 生成的dep软件包 
drwxr-xr-x  3 root root     4096 Sep 23 20:36 output_rk3399_kmodules/
drwxr-xr-x 23 root root     4096 Sep 23 21:16 rootfs_new/
drwxr-xr-x  9 root root     4096 Sep 23 20:55 rtl8812au/
drwxr-xr-x 10 root root     4096 Sep 23 20:54 rtl8821CU/
drwxr-xr-x  9 root root     4096 Sep 23 20:55 rtl8822bu/

三、编译uboot

3.1 下载uboot

下载uboot源代码:

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399# git clone https://github.com/friendlyarm/uboot-rockchip --depth 1 -b nanopi4-v2017.09

3.2 编译uboot

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399# UBOOT_SRC=$PWD/uboot-rockchip ./build-uboot.sh debian-bullseye-desktop-arm64

编译完成后会自动更新debian-bullseye-desktop-arm64目录下的相关映象文件:

四、制作SD卡固件

固件文件一般有两种:

  • 单个统一固件:统一固件是由分区表、bootloaderubootkernelsystem等所有文件打包合并成的单个文件。一般官方正式发布的固件都是采用统一固件格式,升级统一固件将会更新主板上所有分区的数据和分区表,并且擦除主板上所有数据;
  • 多个分区镜像:即各个功能独立的文件,如分区表、bootloaderkernel等,在开发阶段生成。独立分区镜像可以只更新指定的分区,而保持其它分区数据不被破坏,在开发过程中会很方便调试;

通过统一固件解包/打包工具,可以把统一固件解包为多个分区镜像,也可以将多个分区镜像合并为一个统一固件。

4.1 生成统一固件

debian-bullseye-desktop-arm64目录下的映象文件重新打包成SD卡固件:

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399# ./mk-sd-image.sh debian-bullseye-desktop-arm64
Creating RAW image: out/rk3399-sd-debian-bullseye-desktop-4.19-arm64-20230923.img (7800 MB)
---------------------------------
记录了0+0 的读入
记录了0+0 的写出
0字节已复制,0.000125523 s,0.0 kB/s
----------------------------------------------------------------
[out/rk3399-sd-debian-bullseye-desktop-4.19-arm64-20230923.img] capacity = 7438MB, 7799999488 bytes
current out/rk3399-sd-debian-bullseye-desktop-4.19-arm64-20230923.img partition:
----------------------------------------------------------------
parsing ./debian-bullseye-desktop-arm64/parameter.txt:
create new GPT 9:
----------------------------------------------------------------
copy from: ./debian-bullseye-desktop-arm64 to out/rk3399-sd-debian-bullseye-desktop-4.19-arm64-20230923.img
 [RAW. 0]:      198 KB | ./debian-bullseye-desktop-arm64/idbloader.img  > 100% : done.
 [RAW. 1]:     4096 KB | ./debian-bullseye-desktop-arm64/uboot.img      > 100% : done.
 [RAW. 2]:     4096 KB | ./debian-bullseye-desktop-arm64/trust.img      > 100% : done.
 [RAW. 3]:       48 KB | ./debian-bullseye-desktop-arm64/misc.img       > 100% : done.
 [RAW. 4]:        1 KB | ./debian-bullseye-desktop-arm64/dtbo.img       > 100% : done.
 [RAW. 5]:     3930 KB | ./debian-bullseye-desktop-arm64/resource.img   > 100% : done.
 [RAW. 6]:    30476 KB | ./debian-bullseye-desktop-arm64/kernel.img     > 100% : done.
 [RAW. 7]:     7882 KB | ./debian-bullseye-desktop-arm64/boot.img       > 100% : done.
 [RAW. 8]:  3907284 KB | ./debian-bullseye-desktop-arm64/rootfs.img     > 100% : done.
 [RAW. 9]:      156 KB | ./debian-bullseye-desktop-arm64/userdata.img   > 100% : done.
----------------------------------------------------------------
---------------------------------
RAW image successfully created (21:42:28).
-rw-r--r-- 1 root root 7799999488 Sep 23 21:42 out/rk3399-sd-debian-bullseye-desktop-4.19-arm64-20230923.img
Tip: You can compress it to save disk space.

sh脚本内部调用了Rockchip官方提供的打包工具生成的统一固件,由于打包工具并不开源,所以无法研究。

不过我们大致可以猜测出应该就是做了一个镜像文件,然后按照parameter.txt进行划分分区,并将各个分区镜像依次烧录进去。

命令完成后,生成的统一固件位于out目录,可以用dd命令制作SD启动卡。

4.2 制作SD启动卡

在我们将SD卡插入PC上,在虚拟机ubuntu中运行demsg查看新接入的设备;

[32908.310364] loop7: detected capacity change from 0 to 8257536
[32909.079216] EXT4-fs (loop7): mounted filesystem with ordered data mode. Opts: (null). Quota mode: none.
[33991.894980] loop7: detected capacity change from 0 to 8126464
[33991.948702] EXT4-fs (loop7): mounted filesystem with ordered data mode. Opts: (null). Quota mode: none.
[35745.808031] usb 1-1: new high-speed USB device number 2 using ehci-pci
[35746.078673] usb 1-1: New USB device found, idVendor=14cd, idProduct=1212, bcdDevice= 1.00
[35746.078714] usb 1-1: New USB device strings: Mfr=1, Product=3, SerialNumber=2
[35746.078716] usb 1-1: Product: Mass Storage Device
[35746.078717] usb 1-1: Manufacturer: Generic
[35746.078718] usb 1-1: SerialNumber: 121220160204
[35747.340887] usb-storage 1-1:1.0: USB Mass Storage device detected
[35747.341582] scsi host33: usb-storage 1-1:1.0
[35747.342608] usbcore: registered new interface driver usb-storage
[35747.403944] usbcore: registered new interface driver uas
[35748.377640] scsi 33:0:0:0: Direct-Access     Mass     Storage Device   1.00 PQ: 0 ANSI: 0 CCS
[35748.378504] sd 33:0:0:0: Attached scsi generic sg3 type 0
[35748.522897] sd 33:0:0:0: [sdc] 31211520 512-byte logical blocks: (16.0 GB/14.9 GiB)
[35748.526150] sd 33:0:0:0: [sdc] Write Protect is off
[35748.526152] sd 33:0:0:0: [sdc] Mode Sense: 03 00 00 00
[35748.528185] sd 33:0:0:0: [sdc] No Caching mode page found
[35748.528254] sd 33:0:0:0: [sdc] Assuming drive cache: write through
[35748.551595]  sdc: sdc1 sdc2
[35748.571109] sd 33:0:0:0: [sdc] Attached SCSI removable disk
[35802.517787] rfkill: input handler enabled

可以看到SD卡对应的设备节点为/dev/sdc,对应两个分区sdc1sdc2

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399# ls /dev/sdc*
/dev/sdc  /dev/sdc1  /dev/sdc2
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399# df -hT
文件系统       类型      容量  已用  可用 已用% 挂载点
udev           devtmpfs  3.9G     0  3.9G    0% /dev
tmpfs          tmpfs     791M  3.6M  787M    1% /run
/dev/sda5      ext4       98G   69G   24G   75% /
tmpfs          tmpfs     3.9G     0  3.9G    0% /dev/shm
tmpfs          tmpfs     5.0M  4.0K  5.0M    1% /run/lock
tmpfs          tmpfs     3.9G     0  3.9G    0% /sys/fs/cgroup
/dev/sda1      vfat      511M  4.0K  511M    1% /boot/efi
/dev/loop15    squashfs  497M  497M     0  100% /snap/gnome-42-2204/132
tmpfs          tmpfs     791M     0  791M    0% /run/user/0
tmpfs          tmpfs     791M   36K  791M    1% /run/user/1000
/dev/sdc2      ext4       11G  311M  9.8G    4% /media/zhengyang/userdata
/dev/sdc1      ext4      4.5G  4.4G   35M  100% /media/zhengyang/rootfs

开始制作SD启动卡:

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399# dd if=out/rk3399-sd-debian-bullseye-desktop-4.19-arm64-20230923.img of=/dev/sdc bs=1M

五、Linux下烧录固件

Linux下烧录固件到eMMC有多种方法:

  • 其一是将RK3399进入到MASKROM升级模式或者LOADER升级模式,然后使用Linux_Upgrade_Tool工具进行烧录,这个是Rockchip官方提供的linux环境下的烧录工具。
  • 通过dd命令将image文件烧写至image对应的分区;
  • 通过搭建TFTP服务器,通过tftp命令进行下载,这个我们后面的文章会涉及;

5.1 Linux_Upgrade_Tool_1.34工具烧录

5.1.1 安装Linux_Upgrade_Tool_1.34

下载 Linux_Upgrade_Tool_1.34.zip, 并按以下方法安装到系统中,方便调用:

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# unzip Linux_Upgrade_Tool_1.34.zip.zip
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# cd Linux_Upgrade_Tool
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# sudo cp upgrade_tool /usr/local/bin
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# sudo chown root:root /usr/local/bin/upgrade_tool
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# sudo chmod a+x /usr/local/bin/upgrade_tool
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# sudo apt-get install lib32stdc++6
5.1.2 烧写统一固件

将开发板连接上电源,并且通过HDMI接口连接到显示设备,连接Type-C数据线到PC

按住BOOT键再长按Power键开机(保持按下BOOT键5秒以上),将强制进入MASKROM模式,

烧写统一固件update.img

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# sudo upgrade_tool uf update.img

由于我没有统一固件,这里就不演示了。

5.1.3 烧写分区镜像

我们在开发过程中,经常会对内核、根文件系统、uboot进行修改,在这种情况下我们只需要替换我们修改的镜像文件即可。

按住BOOT键再长按Power键开机(保持按下BOOT键5秒以上),将强制进入MASKROM模式,烧写分区镜像;

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# sudo upgrade_tool ul MiniLoaderAll.bin
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# sudo upgrade_tool di -p parameter.txt
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# sudo upgrade_tool di -uboot uboot.img
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# sudo upgrade_tool di -trust trust.img
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# sudo upgrade_tool di -misc misc.img 
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# sudo upgrade_tool di -dtbo dtbo.img 
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# sudo upgrade_tool di -resource resource.img
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# sudo upgrade_tool di -k kernel.img      
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# sudo upgrade_tool di -boot boot.img        
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# sudo upgrade_tool di -rootfs rootfs.img    
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# sudo upgrade_tool di -userdata userdata.img 
root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# sudo upgrade_tool RD

对于MASKROM模式,其中前两步和最后一步是必须的,中间的步骤根据实际情况进行调整。

由于SoC进入到MASKROM模式后,目标板子会运行Rockusb驱动程序。在MASKROM模式下,烧写镜像需要使用到DDR,因此需要下载固件进行DDR的初始化,所以升级之前第一步要做的就是执行sudo upgrade_tool ul MiniLoaderAll.bin

如果想查看分区情况,执行如下命令,该命令会读取设备上的分区表信息,支持parametergpt

root@zhengyang:/work/sambashare/rk3399/friendly/sd-fuse_rk3399/debian-bullseye-desktop-arm64# sudo upgrade_tool pl
Program Data in /root/.config/upgrade_tool
Partition Info(gpt):
NO  LBA        Size       Name
01  0x00004000 0x00002000 uboot
02  0x00006000 0x00002000 trust
03  0x00008000 0x00002000 misc
04  0x0000a000 0x00002000 dtbo
05  0x0000c000 0x00008000 resource
06  0x00014000 0x00014000 kernel
07  0x00028000 0x00018000 boot
08  0x00040000 0x007c0000 rootfs
09  0x00800000 0x0151efdf userdata

5.2 dd命令烧录

由于RK3399OS默认均采用GPT分区, 可以用dd命令将image文件烧写至image对应的分区,SD卡与eMMC的设备节点如下:

  • SD/TF Card设备节点为/dev/mmcblk0
  • eMMC设备节点为/dev/mmcblk2

下面步骤的前提是eMMC已经烧录过固件,比如debian-bullseye-desktop-arm64,具体参考上一篇文章:《Rockchip RK3399 - NanoPC-T4开发板介绍》有关Windows下通过RKDevTool.exe工具烧录的内容。

下面将演示如何将内核更新到eMMC,开发板上电进入操作系统终端命令行,使用parted命令查看分区布局。

比如:

  • uboot分区的序号为1,对应的设备节点为/dev/mmcblk2p1
  • resource分区的序号为5,对应的设备节点为/dev/mmcblk2p5
  • kernel分区的序号为6,对应的设备节点为/dev/mmcblk2p6
  • rootfs分区的序号为8,对应的设备节点为/dev/mmcblk2p8

dd命令如下:

dd if=uboot.img of=/dev/mmcblk2p1 bs=1M
dd if=resource.img of=/dev/mmcblk2p5 bs=1M
dd if=kernel.img of=/dev/mmcblk2p6 bs=1M
dd if=rootfs.img of=/dev/mmcblk2p8 bs=1M

五、调试

6.1 设置密码

这里我们采用SD卡启动的方式,将SD卡插入开发板,重新上电系统从SD卡启动(如果无法启动,可以尝试将eMMC烧录的镜像清空,然后给开发板上电启动)。启动内核后设置root用户密码, 默认没有设置root密码;

pi@NanoPC-T4:~$ sudo passwd root
pi@NanoPC-T4:~$ su root

这里我将密码设置为123456

6.2 安装内核头文件

将我们编译的头文件拷贝到/opt目录下;

root@NanoPC-T4:/home/pi# cd /opt
root@NanoPC-T4:/opt# scp root@192.168.0.200://work/sambashare/rk3399/friendly/sd-fuse_rk3399/out/linux-headers-4.19.193.deb /opt/
root@NanoPC-T4:/opt# ls -l
-rw-r--r-- 1 root root 11046020 Sep 23 14:37 linux-headers-4.19.193.deb
root@NanoPC-T4:/opt# sudo dpkg -i /opt/linux-headers-*.deb

安装完成后,我们可以看一下/usr/src目录下是否创建了linux-headers-$(uname-r)文件;

root@NanoPC-T4:/opt# ls -l /usr/src/
total 4
drwxr-xr-x 24 root root 4096 Sep 23 14:38 linux-headers-4.19.193
root@NanoPC-T4:/opt# ls -l /usr/src/linux-headers-4.19.193/
total 1040
drwxr-xr-x  10 root root   4096 Sep 23 14:38 Documentation
-rw-r--r--   1 root root    563 Sep 23 11:16 Kconfig
-rw-r--r--   1 root root  65114 Sep 23 11:16 Makefile
-rw-r--r--   1 root root 893991 Sep 23 12:35 Module.symvers
drwxr-xr-x  26 root root   4096 Sep 23 14:38 arch
drwxr-xr-x   3 root root   4096 Sep 23 14:39 block
drwxr-xr-x   2 root root   4096 Sep 23 14:39 certs
drwxr-xr-x   4 root root   4096 Sep 23 14:39 crypto
drwxr-xr-x 143 root root   4096 Sep 23 14:39 drivers
drwxr-xr-x   2 root root   4096 Sep 23 14:39 firmware
drwxr-xr-x  78 root root   4096 Sep 23 14:39 fs
drwxr-xr-x  30 root root   4096 Sep 23 14:39 include
drwxr-xr-x   2 root root   4096 Sep 23 14:39 init
drwxr-xr-x   2 root root   4096 Sep 23 14:39 ipc
drwxr-xr-x  17 root root   4096 Sep 23 14:39 kernel
drwxr-xr-x  15 root root   4096 Sep 23 14:39 lib
drwxr-xr-x   3 root root   4096 Sep 23 14:39 mm
drwxr-xr-x  70 root root   4096 Sep 23 14:39 net
drwxr-xr-x  26 root root   4096 Sep 23 14:39 samples
drwxr-xr-x  14 root root  12288 Sep 23 14:39 scripts
drwxr-xr-x  11 root root   4096 Sep 23 14:39 security
drwxr-xr-x  26 root root   4096 Sep 23 14:39 sound
drwxr-xr-x  26 root root   4096 Sep 23 14:39 tools
drwxr-xr-x   2 root root   4096 Sep 23 14:39 usr
drwxr-xr-x   4 root root   4096 Sep 23 14:39 virt

在开发版测试编译内核模块并安装:

root@NanoPC-T4:/opt# sudo apt update
root@NanoPC-T4:/opt# sudo apt install git gcc make bc
root@NanoPC-T4:/opt# git clone https://github.com/RinCat/RTL88x2BU-Linux-Driver.git
root@NanoPC-T4:/opt# cd RTL88x2BU-Linux-Driver
root@NanoPC-T4:/opt/RTL88x2BU-Linux-Driver# make -j$(nproc)
root@NanoPC-T4:/opt/RTL88x2BU-Linux-Driver# sudo make install
root@NanoPC-T4:/opt/RTL88x2BU-Linux-Driver# sudo modprobe 88x2bu

安装完驱动,dmesg可以看到内核输入如下日志;

[ 1269.137528] 88x2bu: loading out-of-tree module taints kernel.
[ 1269.301734] RTW: module init start
[ 1269.301821] RTW: rtl88x2bu v5.13.1-20-gbd7c7eb9d.20210702_COEX20210316-18317b7b
[ 1269.301830] RTW: rtl88x2bu BT-Coex version = COEX20210316-18317b7b
[ 1269.302279] usbcore: registered new interface driver rtl88x2bu
[ 1269.302295] RTW: module init ret=0

6.3 模拟触摸屏

在进行模拟之前,我们需要将/bin/usbdevice文件移动到/opt/hid目录下,这个是官方提供的用于模拟各种usb设备的脚本,系统会自动执行,默认还是将开发板模拟成adb终端(通过/etc/profile.d/usbdevice.sh配置的)。

这里我们不使用官方提供的脚本,主要是这个脚本支持模拟的设备种类比较多,并且代码比较复杂,有兴趣可以自己研究。

root@NanoPC-T4:/# mkdir /opt/hid
root@NanoPC-T4:/# cd /opt/hid
root@NanoPC-T4:/opt/hid# mv /bin/usbdevice /opt/hid

接下来我们会进行模拟触摸屏设备,如果想模拟鼠标,键盘可以参考文章:《四、 模拟USB设备》

6.3.1 配置USB Gadget

linux内核根目录下执行make menuconfig配置以下选项:

Device Drivers  --->
    [*] USB support  ---> 
       <*> USB Gadget Support ---> 
       [*]     Uevent notification of Gadget state                      
       [ ]     Generic serial bulk in/out                               
       [*]     Abstract Control Model (CDC ACM)                         
       [ ]     Object Exchange Model (CDC OBEX)                         
       [ ]     Network Control Model (CDC NCM)                          
       [ ]     Ethernet Control Model (CDC ECM)                         
       [ ]     Ethernet Control Model (CDC ECM) subset                  
       [*]     RNDIS                                                    
       [ ]     Ethernet Emulation Model (EEM)                           
       [ ]     Phonet protocol                                          
       [*]     Mass storage                                             
       [ ]     Loopback and sourcesink function (for testing)           
       [*]     Function filesystem (FunctionFS)                         
       [*]     Accessory gadget                                         
       [*]     Audio Source gadget                                      
       [ ]     Audio Class 1.0                                          
       [ ]     Audio Class 1.0 (legacy implementation)                  
       [ ]     Audio Class 2.0                                          
       [*]     MIDI function                                            
       [*]     HID function                                             
       [*]     USB Webcam function                                      
       [ ]     Printer function                                         
       <*>   USB Gadget precomposed configurations (USB Raw Gadget)  ---> 

注意的是这里是将驱动都配置到内核了,并不是配置为模块。

注意:如果配置发生了变更,记得重新编译,烧录。

6.3.2 hid_touch脚本

下面我们创建一个触摸屏设备,然后编写hid_touch.sh脚本,文件存放在开发板debian系统/opt/hid路径下;

#!/bin/bash

gadget=g2

do_start(){ 
    has_mount=$(mount -l | grep /sys/kernel/config)
    if [[ -z  $has_mount ]];then
        mount -t configfs none /sys/kernel/config
    fi
    cd /sys/kernel/config/usb_gadget

    # 当我们创建完这个文件夹之后,系统自动的在这个文件夹中创建usb相关的内容 ,这些内容需要由创建者自己填写
    if [[ ! -d ${gadget} ]]; then
		mkdir ${gadget}
	fi
    cd ${gadget}

    #设置USB协议版本USB2.0
    echo 0x0200 > bcdUSB

    #定义产品的VendorID和ProductID
    echo "0x0525"  > idVendor
    echo "0xa4ac" > idProduct

    #实例化"英语"ID:
    mkdir strings/0x409

    #将开发商、产品和序列号字符串写入内核
    echo "76543210" > strings/0x409/serialnumber
    echo "mkelehk"  > strings/0x409/manufacturer
    echo "touch_screen"  > strings/0x409/product

    #创建一个USB配置实例
    if [[ ! -d configs/c.1 ]]; then
        mkdir configs/c.1
    fi

    #定义配置描述符使用的字符串
	if [[ ! -d configs/c.1/strings/0x409 ]]; then
		mkdir configs/c.1/strings/0x409
	fi   

    echo "hid" > configs/c.1/strings/0x409/configuration

    #创建接口
    mkdir functions/hid.0   

    #接口0,模拟触摸屏
    echo 0 > functions/hid.0/subclass  
    echo 0 > functions/hid.0/protocol   
    echo 5 > functions/hid.0/report_length  #标识该hid设备每次发送的报表长度为5字节
    echo -ne \\x05\\x01\\x09\\x02\\xa1\\x01\\x09\\x01\\xa1\\x00\\x05\\x09\\x19\\x01\\x29\\x05\\x15\\x00\\x25\\x01\\x95\\x05\\x75\\x01\\x81\\x02\\x95\\x01\\x75\\x03\\x81\\x01\\x05\\x01\\x09\\x30\\x09\\x31\\x15\\x00\\x26\\xff\\x7f\\x35\\x00\\x46\\xff\\x7f\\x75\\x10\\x95\\x02\\x81\\x02\\xc0\\xc0 > functions/hid.0/report_desc

    #捆绑接口到配置config.1
    ln -s functions/hid.0 configs/c.1
	
	#配置USB3.0 OTG0的工作模式为Device(设备)
	echo peripheral > /sys/devices/platform/ff770000.syscon/ff770000.syscon:usb2-phy@e450/otg_mode

    echo "sleep 3s"
    sleep 3s

    #将gadget驱动注册到UDC上,插上USB线到电脑上,电脑就会枚举USB设备。  
    echo fe800000.dwc3 > UDC     # 可以通过 ls /sys/class/udc/  命令USB设备控制器
}

do_stop() {
    cd /sys/kernel/config/usb_gadget/${gadaget}
    echo "" > UDC
}

case $1 in
    start)
        echo "Start hid gadget "
        do_start 
        ;;
    stop)
        echo "Stop hid gadget"
        do_stop
        ;;
    *)
        echo "Usage: $0 (stop | start)"
        ;;
esac

对于触摸屏设备,我们配置:

  • subclass:接口子类,配置为0;
  • protocol:接口协议,配置为0;
  • report_length:报告长度配置为5,触摸屏与鼠标的不同点是鼠标的上报值是相对坐标,触摸屏是绝对坐标,鼠标xy轴分别需要一个字节,而触摸屏一般为16bit即两个字节;

在开发板debian系统运行命令模拟触摸屏:

root@NanoPC-T4:/opt/hid# ls /sys/kernel/config/usb_gadget/
root@NanoPC-T4:/opt/hid# bash hid_touch.sh start
Start hid gadget
sleep 3s
root@NanoPC-T4:/opt/hid# ls /sys/kernel/config/usb_gadget/
g2
root@NanoPC-T4:/opt/hid# ls /sys/kernel/config/usb_gadget/g2
UDC           bDeviceProtocol  bMaxPacketSize0  bcdUSB   functions  idVendor  strings
bDeviceClass  bDeviceSubClass  bcdDevice        configs  idProduct  os_desc

此时会在/dev目录下生成了设备节点/dev/hidg0

root@NanoPC-T4:/opt/hid# ls  -l /dev/hidg*
crw------- 1 root root 236, 0 Sep 24 14:30 /dev/hidg0

如果需卸载触摸屏,执行如下命令:

root@NanoPC-T4:/opt/hid# bash hid_touch.sh stop
6.3.3 编写应用程序

然后我们通过设备节点/dev/hidg0、就可以模拟触摸屏实现与PC的通信。

编写测试应用程序hid_touch_control.c,文件存放在debian开发板/opt/hid路径下;

#include <string.h>
#include <stdio.h>
#include <ctype.h>
#include <fcntl.h>
#include <errno.h>
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>

/**
 * 触摸屏每次发送5字节报告
 * report[0]的D0就是左键,D1就是右键,D2就是中键
 * report[1]为X轴低字节
 * report[2]为X轴高字节
 * report[3]为Y轴低字节
 * report[4]为Y轴高字节,
*/

/**
 * @brief 将焦点移动到指定位置
 * 
 * @param fd 文件描述符
 * @param x x轴坐标
 * @param y y轴坐标
 */
void move_To(int fd ,int x, int y)
{
    char report[5]={0,0,0,0,0};
    report[0] = 0x00;
    report[1] = x & 0xFF;
    report[2] = (x >> 8) & 0xFF;
    report[3] = y & 0xFF;
    report[4] = (y >> 8) & 0xFF;

    // 写入失败
    if (write(fd, report, 5) != 5) {
        perror("move_To error");
        return;
    }
    usleep(50000);
}


/**
 * @brief 函数功能:画线段的函数。
 * 
  *@param fd 文件描述符
 * @param x x轴坐标
 * @param y y轴坐标
 */
void line_to(int fd, int x, int y)
{
    char report[5]={0,0,0,0,0};
    report[0] = 0x01;    //左键按下
    report[1] = x & 0xFF;
    report[2] = (x >> 8) & 0xFF;
    report[3] = y & 0xFF;
    report[4] = (y >> 8) & 0xFF;
    if (write(fd, report, 5) != 5) {
        perror("line_to error");
        return;
    }
    usleep(50000);
}

int main(int argc, char const *argv[])
{
    const char *filename = NULL;
    int fd = 0;    

    if (argc != 3) 
    {
            fprintf(stderr, "Usage: %s devname a/l\n",
                    argv[0]);
            return 1;
    }

    filename = argv[1];

    if ((fd = open(filename, O_RDWR, 0666)) == -1) {
        perror(filename);
        return 1;
    }

    if(argv[2][0] == 'a')
    {
        printf("Draw Tri-angle begin\n");
        move_To(fd, 8888, 8888); //移动到(8888,8888)
        line_to(fd, 8888, 8888); //开始画线
        line_to(fd, 12000, 12000); //画线到(12000,12000)        
        move_To(fd, 12000, 12000); //松开鼠标左键

        move_To(fd, 12000, 12000); //移动到(12000,12000)
        line_to(fd, 12000, 12000); //开始画线
        line_to(fd ,8888, 12000); //画线到(8888,12000)
        move_To(fd, 8888, 12000); //松开鼠标左键

        move_To(fd, 8888, 12000); //移动到(8888,12000)
        line_to(fd, 8888, 12000); //开始画线
        line_to(fd ,8888, 8888); //画线到(8888,8888)
        move_To(fd, 8888, 8888); //松开鼠标左键
        printf("Draw Tri-angle end\n");
    }

    if(argv[2][0] == 'l'){
        printf("Draw line begin\n");
        move_To(fd, 10000, 10000);  // 移动到(10000,10000)
        line_to(fd, 10000, 10000);  // 开始画线
        line_to(fd, 20000, 10000);  // 画线到(20000,10000)
        move_To(fd, 20000, 10000);  // 松开鼠标左键
        printf("Draw line end\n");
    }
    
    close(fd);
    return 0;
}

直接在开发板编译应用程序:

root@NanoPC-T4:/opt/hid# sudo apt update
root@NanoPC-T4:/opt/hid# sudo apt install git gcc make bc
root@NanoPC-T4:/opt/hid# gcc -o hid_touch_control hid_touch_control.c
root@NanoPC-T4:/opt/hid#  ls -l
-rwxr-xr-x 1 root root  2659 Sep 24 14:24 hid_touch.sh
-rwxr-xr-x 1 root root 13824 Sep 24 14:40 hid_touch_control
-rwxr-xr-x 1 root root  3007 Sep 24 07:28 hid_touch_control.c
-rwxrwxr-x 1 pi   pi   13207 Sep 24 13:18 usbdevice
6.3.4 测试触摸屏

(1) Type-C连接线将开发板USB3.0 Type-C接口与开发板上的USB2.0 Host Type-A接口(对应开发板上的USBH3)连接起来;内核日志信息如下:

[ 1355.592509] usb 3-1: new high-speed USB device number 2 using xhci-hcd
[ 1355.741431] usb 3-1: New USB device found, idVendor=0525, idProduct=a4ac, bcdDevice= 4.19
[ 1355.741539] usb 3-1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 1355.741573] usb 3-1: Product: touch_screen
[ 1355.741603] usb 3-1: Manufacturer: mkelehk
[ 1355.741633] usb 3-1: SerialNumber: 76543210
[ 1355.742597] android_work: sent uevent USB_STATE=CONNECTED
[ 1355.758927] configfs-gadget gadget: high-speed config #1: c
[ 1355.760989] android_work: sent uevent USB_STATE=CONFIGURED
[ 1355.766544] input: mkelehk touch_screen as /devices/platform/usb@fe900000/fe900000.dwc3/xhci-hcd.1.auto/usb3/3-1/3-1:1.0/0003:0525:A4AC.0007/input/input16
[ 1355.825419] hid-generic 0003:0525:A4AC.0007: input,hidraw4: USB HID v1.01 Mouse [mkelehk touch_screen] on usb-xhci-hcd.1.auto-1/input0

(2) Type-C连接线将开发板USB3.0 Type-C接口与PC连接起来,PC机打开画图软件,窗口调大最大,在开发板debian桌面环境打开一个终端输入如下命令模拟触摸屏:

root@rk3399:/shell/hid# ./hid_touch_control /dev/hidg0 a
Draw Tri-angle begin
Draw Tri-angle end
root@rk3399:/shell/hid# ./hid_touch_control /dev/hidg0 l
Draw line begin
Draw line end

运行效果如下:

6.4 测试USB3.0 Type-C PHY1

如果你的开发板USB3.0 Type-C PHY1USB2.0 PHY1物理接口被设计为USB3.0 OTG Type-A的话,就可以尝试将USB3.0 OTG1控制器工作模式也设置为otg(同时支持主机/丛机)。比如(下面演示使用的并不是NanoPC-T4开发板,而是使用的SOM-RK3399核心板+定制底板):

Rockchip RK3399 - USB基础》我们介绍过USB3.0 Type-C PHY1USB2.0 PHY1物理接口被设置为USB3.0 Host Type-A的原理图,与USB3.0 OTG Type-A的主要区别:

  • 使用了TYPEC1_U2VBUSDET引脚检测VBUS信号;
  • VBUS没有供电;

由于VBUS是断开的,所以该接口只能作为USB设备使用。当插入USB主机时,USB主机会给USB设备VUSB供电,TYPEC1_U2VBUSDET引脚检测到上升沿。

如果既想作为Device又想作为HostEN引脚可以连接到GPIO口,通过GPIO来控制VBUS电源,比如:

6.4.1 修改usbdrd_dwc3_1设备节点

修改arch/arm64/boot/dts/rockchip/rk3399-nanopi4-common.dtsi设备节点usbdrd_dwc3_1设备节点:

&usbdrd_dwc3_1 {
	/* 配置dr_mode为peripheral */
	dr_mode = "peripheral";
	status = "okay";
};

测试发现这个不可以配置成otg,配置成otg,后面通过echo peripheral > /sys/devices/platform/ff770000.syscon/ff770000.syscon:usb2-phy@e460/otg_mode更改工作模式后,将开发板模拟成USB设备并不会生效,具体原因还不太清楚,等后面有时间分析驱动源码再说。

同时也不可以配置成host,主要是因为作为USB主机需要为USB设备供电,但是由于我们这个电路设计VBUS并没有连接电源。

6.4.2 修改usbdrd_dwc3_0设备节点

修改arch/arm64/boot/dts/rockchip/rk3399-nanopi4-common.dtsi设备节点usbdrd_dwc3_0设备节点:

&usbdrd_dwc3_0 {
	/* 配置dr_mode为otg */
	dr_mode = "otg";
	status = "okay";
       extcon = <&fusb0>;
       extcon = <&fusb0>;
       extcon = <&fusb0>;
};
6.4.3 编译烧录

重新编译内核并烧录,查看USB3.0 OTG0USB3.0 OTG1控制器的工作模式;

root@SOM-RK3399v2:~# cat /sys/devices/platform/ff770000.syscon/ff770000.syscon:usb2-phy@e450/otg_mode
otg
root@rk3399:~# cat /sys/devices/platform/ff770000.syscon/ff770000.syscon:usb2-phy@e460/otg_mode   
peripheral

更改工作模式为Host(主机),这种做法只会临时有效:

root@rk3399:~# echo host > /sys/devices/platform/ff770000.syscon/ff770000.syscon:usb2-phy@e450/otg_mode   

USB3.0 Type-C PHY0接口被配置为了主机,因此可以通过USB3.0 Type-C PHY0USB2.0 PHY0物理接口连接USB设备测试,这里就不演示了。

6.4.4 模拟USB设备

USB3.0 OTG1被配置为了从设备,因此可以通过``USB3.0 Type-C PHY1USB2.0 PHY1物理接口将开发板模拟成USB设备(参考前面介绍的脚本同时模拟鼠标、键盘、触摸屏),hid_keyboard_mouse.sh`脚本内容如下:

#!/bin/bash

gadget=g1

do_start(){
    has_mount=$(mount -l | grep /sys/kernel/config)
    if [[ -z  $has_mount ]];then
        mount -t configfs none /sys/kernel/config
    fi
    cd /sys/kernel/config/usb_gadget

    # 当我们创建完这个文件夹之后,系统自动的在这个文件夹中创建usb相关的内容 ,这些内容需要由创建者自己填写
    if [[ ! -d ${gadget} ]]; then
        mkdir ${gadget}
    else
    	exit 0
    fi
    cd ${gadget}

    #设置USB协议版本USB2.0
    echo 0x0200 > bcdUSB

    #定义产品的VendorID和ProductID
    echo "0x0525"  > idVendor
    echo "0xa4ac" > idProduct

    #实例化"英语"ID:
    mkdir strings/0x409

    #将开发商、产品和序列号字符串写入内核
    echo "76543210" > strings/0x409/serialnumber
    echo "mkelehk"  > strings/0x409/manufacturer
    echo "keyboard_mouse"  > strings/0x409/product

    #创建一个USB配置实例
    if [[ ! -d configs/c.1 ]]; then
        mkdir configs/c.1
    fi

    #定义配置描述符使用的字符串
    if [[ ! -d configs/c.1/strings/0x409 ]]; then
        mkdir configs/c.1/strings/0x409
    fi

    echo "hid" > configs/c.1/strings/0x409/configuration

    #创建接口
    mkdir functions/hid.0   #键盘
    mkdir functions/hid.1   #鼠标
    mkdir functions/hid.2   #触摸屏

    #接口0,模拟键盘  
    echo 1 > functions/hid.0/subclass   #启动设备符
    echo 1 > functions/hid.0/protocol   #标识键盘设备
    echo 8 > functions/hid.0/report_length  #标识该hid设备每次发送的报表长度为8字节
    echo -ne \\x05\\x01\\x09\\x06\\xa1\\x01\\x05\\x07\\x19\\xe0\\x29\\xe7\\x15\\x00\\x25\\x01\\x75\\x01\\x95\\x08\\x81\\x02\\x95\\x01\\x75\\x08\\x81\\x03\\x95\\x05\\x75\\x01\\x05\\x08\\x19\\x01\\x29\\x05\\x91\\x02\\x95\\x01\\x75\\x03\\x91\\x03\\x95\\x06\\x75\\x08\\x15\\x00\\x25\\x65\\x05\\x07\\x19\\x00\\x29\\x65\\x81\\x00\\xc0 > functions/hid.0/report_desc

	#接口1,模拟键盘鼠标
    echo 1 > functions/hid.1/subclass  #启动设备符
    echo 2 > functions/hid.1/protocol  #鼠标协议
    echo 4 > functions/hid.1/report_length  # 相对值是4
    echo -ne \\x05\\x01\\x09\\x02\\xa1\\x01\\x09\\x01\\xa1\\x00\\x05\\x09\\x19\\x01\\x29\\x03\\x15\\x00\\x25\\x01\\x95\\x03\\x75\\x01\\x81\\x02\\x95\\x01\\x75\\x05\\x81\\x03\\x05\\x01\\x09\\x30\\x09\\x31\\x09\\x38\\x15\\x81\\x25\\x7f\\x75\\x08\\x95\\x03\\x81\\x06\\xc0\\xc0 > functions/hid.1/report_desc

    #接口2,模拟触摸屏
    echo 0 > functions/hid.2/subclass
    echo 0 > functions/hid.2/protocol
    echo 5 > functions/hid.2/report_length  #标识该hid设备每次发送的报表长度为5字节
    echo -ne \\x05\\x01\\x09\\x02\\xa1\\x01\\x09\\x01\\xa1\\x00\\x05\\x09\\x19\\x01\\x29\\x05\\x15\\x00\\x25\\x01\\x95\\x05\\x75\\x01\\x81\\x02\\x95\\x01\\x75\\x03\\x81\\x01\\x05\\x01\\x09\\x30\\x09\\x31\\x15\\x00\\x26\\xff\\x7f\\x35\\x00\\x46\\xff\\x7f\\x75\\x10\\x95\\x02\\x81\\x02\\xc0\\xc0 > functions/hid.2/report_desc

    #捆绑接口到配置config.1
    ln -s functions/hid.0 configs/c.1
    ln -s functions/hid.1 configs/c.1
    ln -s functions/hid.2 configs/c.1

    #配置USB3.0 OTG1的工作模式为Device(设备):
    #echo peripheral > /sys/devices/platform/ff770000.syscon/ff770000.syscon:usb2-phy@e460/otg_mode

    echo "sleep 3s"
    sleep 3s

    #将gadget驱动注册到UDC上,插上USB线到电脑上,电脑就会枚举USB设备。
    echo fe900000.dwc3 > UDC
}

do_stop() {
    cd /sys/kernel/config/usb_gadget/${gadaget}
    echo "" > UDC
}

case $1 in
    start)
        echo "Start hid gadget "
        do_start
        ;;
    stop)
        echo "Stop hid gadget"
        do_stop
        ;;
    *)
        echo "Usage: $0 (stop | start)"
        ;;
esac

/etc/profile.d/目录下创建一个文件hid.sh,文件内容如下:

#!/bin/sh

bash /opt/hid/hid_keyboard_mouse.sh start

修改文件权限:

root@SOM-RK3399v2:/etc/profile.d# chown -R pi:pi hid.sh
root@SOM-RK3399v2:/etc/profile.d# ls -l
-rw-r--r-- 1 pi   pi     58 Sep 26 14:18 hid.sh

重新开机,开机会自动执行该目录下的所有shell脚本。查看hid设备;

root@SOM-RK3399v2:/home/pi# ls /dev/hidg* -nR
crw------- 1 0 0 236, 0 Sep 26 14:25 /dev/hidg0    # 键盘
crw------- 1 0 0 236, 1 Sep 26 14:25 /dev/hidg1    # 鼠标
crw------- 1 0 0 236, 2 Sep 26 14:25 /dev/hidg2    # 触摸屏 
root@SOM-RK3399v2:/home/pi# ls /sys/kernel/config/usb_gadget/g1/
UDC           bDeviceProtocol  bMaxPacketSize0  bcdUSB   functions  idVendor  strings
bDeviceClass  bDeviceSubClass  bcdDevice        configs  idProduct  os_desc
6.4.5 测试

通过USB OTG线将USB3.0 Type-C PHY0USB2.0 PHY0物理接口连接到PC,开发板内核输出如下信息:

[  160.051545] dwc3 fe900000.dwc3: device reset
[  160.115243] android_work: sent uevent USB_STATE=CONNECTED
[  160.223255] dwc3 fe900000.dwc3: device reset
[  160.224010] android_work: sent uevent USB_STATE=DISCONNECTED
[  160.282067] android_work: sent uevent USB_STATE=CONNECTED
[  160.286240] configfs-gadget gadget: high-speed config #1: c
[  160.287203] android_work: sent uevent USB_STATE=CONFIGURED

此时PC识别到一个USB设备插入,windows会提示用户;并且查看该USB设备信息可以看到VIDPID就是我们之前设置的。

(1) PC机将鼠标聚焦在一个文本输入框中,然后在开发板debian桌面环境打开一个终端输入如下命令模拟键盘:

root@SOM-RK3399v2:/# /opt/hid/hid_gadget_control /dev/hidg0 keyboard
        keyboard options:
                --hold
                --left-ctrl
                --right-ctrl
                --left-shift
                --right-shift
                --left-alt
                --right-alt
                --left-meta
                --right-meta

      keyboard values:
                [a-z] or
                --return                --esc
                --bckspc                --tab
                --spacebar              --caps-lock
                --f1                    --f2
                --f3                    --f4
                --f5                    --f6
                --f7                    --f8
                --f9                    --f10
                --f11                   --f12
                --insert                --home
                --pageup                --del
                --end                   --pagedown
                --right                 --left
                --down                  --kp-enter
                --up                    --num-lock
a b c d e f          # 一次最多输入6个字符,输入完回车,

此时PC文本输入框会出现这几个字符。

需要注意的是:该应用程序目前只支持上面提示符给出的字符,比如a-z、esc、tab等,并不支持数字。

(2) 在开发板debian桌面环境打开一个终端输入如下命令模拟鼠标:

root@SOM-RK3399v2:/# /opt/hid/hid_gadget_control /dev/hidg1 mouse
        mouse options:
                --hold
                --b1
                --b2
                --b3

      mouse values:
                Two signed numbers
--quit to close
200 210      # 鼠标向左上移动
-200 210     # 鼠标向右上移动
200 -210     # 鼠标向左下移动
-200 -210    # 鼠标向右下移动
0 0 --b1     # 鼠标左键点击 
0 0 --b2     # 鼠标右键点击
0 0 --b3     # 鼠标中键点击

注意:这个测试发现PC鼠标没有反应,等有时间再研究一下。

(3) PC机打开画图软件,窗口调大最大,在开发板debian桌面环境打开一个终端输入如下命令模拟触摸屏:

root@SOM-RK3399v2:/# /opt/hid/hid_touch_control /dev/hidg2 a 
root@SOM-RK3399v2:/# /opt/hid/hid_touch_control /dev/hidg2 l

运行效果如下:

6.5 安装应用程序

6.5.1 安装node_exporter
root@SOM-RK3399v2:/opt# wget https://521github.com/prometheus/node_exporter/releases/download/v1.1.2/node_exporter-1.1.2.linux-arm64.tar.gz
root@SOM-RK3399v2:/opt# tar -zxvf node_exporter-1.1.2.linux-arm64.tar.gz
root@SOM-RK3399v2:/opt# cd node_exporter-1.1.2.linux-arm64
root@SOM-RK3399v2:/opt/node_exporter-1.1.2.linux-arm64# nohup ./node_exporter  > node_exporter.log 2>&1 &

端口号9100 , 访问http://192.168.0.102:9100,这里我的开发版ip为192.168.0.102

6.5.2 安装ibpam-google-authenticator
root@SOM-RK3399v2:/opt# sudo apt install libpam-google-authenticator
6.5.3 安装nginx

安装nginx并查看版本号:

亲爱的读者和支持者们,自动博客加入了打赏功能,陆陆续续收到了各位老铁的打赏。在此,我想由衷地感谢每一位对我们博客的支持和打赏。你们的慷慨与支持,是我们前行的动力与源泉。

日期姓名金额
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2023-12-30I*B1
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2024-07-08*方20
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2024-07-31*北12
2024-08-13*基1
2024-08-23n*s2
2024-09-02*源50
2024-09-04*J2
2024-09-06*强8.8
2024-09-09*波1
2024-09-10*口1
2024-09-10*波1
2024-09-12*波10
2024-09-18*明1.68
2024-09-26B*h10
2024-09-3010
2024-10-02M*i1
2024-10-14*朋10
2024-10-22*海10
2024-10-23*南10
2024-10-26*节6.66
2024-10-27*o5
2024-10-28W*F6.66
2024-10-29R*n6.66
2024-11-02*球6
2024-11-021*鑫6.66
2024-11-25*沙5
2024-11-29C*n2.88
posted @   大奥特曼打小怪兽  阅读(1426)  评论(0编辑  收藏  举报
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