【100ASK_IMX6ULL(带屏) 开发板试用体验】开箱上电&烧录系统&编写项目用DEMO代码

开发板

` 国庆期间收到板子，因为在忙着别的事情以至于一直都没有发帖，现在补上。板子收到之后第一印象就是外设接口非常齐全，有两个USB接口，一个mpcie接口（实际上是走USB接口协议），一个HDMI接口，一个摄像头接口，两个网口以及工业用的CAN/485接口，首先说说我欣赏的地方，那就是HDMI接口，因为使用外置转接芯片引出HDMI接口的IMX6UL/IMX6ULL开发板真的非常稀少，除了韦东山老师这款100ask-IMX6UL开发板外，就只有野火的IMX6-pro以及乐美客的一款工控板，而且那款乐美客IMX6UL工控板早已停产，市面上根本买不到，只在乐美客少数几次活动中能见到，在乐美客厂家介绍网站上的piano工控板也是换用了IMX6D/Q主控，以致不需要转接芯片的HDMI接口，如图绿色板子：

对于韦东山老师的CAN和485接口，数量各一个，这个一般是用于评估教学用的，有就行了不需要多，而专业的工控板一般会配备多个CAN/485接口，比如米尔的MYC-IMX6UL和一些国内的工控板厂家就是这样做的：

韦老师的这款板子唯一美中不足的地方就是GPIO接口数量实在是稀少，好在聪明的我——电子发烧友一名普普通通的试用者，另辟蹊径，使用嵌入式平台里面弥补GPIO接口数量不足的绝佳方案——外挂MCU主控，也就是使用一个单片机板子，通过USB接口与嵌入式平台进行通信，所有对于GPIO传感器的采集工作如I2C SPI USART 单总线等，交由单片机板子进行，单片机板子只需要将这些数据通过USB报文上报到嵌入式平台即可，不需要再占用IMX6UL主控本身就吃紧的CPU和内存资源。
板子拿到手之后烧录的是米尔厂家推出的measy-iot文件系统，这个文件系统跟我的项目格格不入完全冲突，肯定要换掉，好在韦老师提供了一个Ubuntu的EMMC镜像和烧录工具，非常体贴到位，烧录步骤也非常简单，在韦老师提供的网盘地址那里可以下载，打开100ASK_IMX6ULL_Flashing工具，将EMMC烧录固件放到files文件夹里面，这里准备了一个预设的Ubuntu镜像，注意这个镜像是必须要带有分区表/uboot/内核/dtb的，不能只有文件系统，不然烧录完了也没法启动。设置拨码开关为0001即USB启动，再用micro USB线将板子的OTG烧录接口接到电脑上，烧录工具提示设备已连接就可以进行烧录了：

烧录完毕设置拨码0010即可从EMMC启动，启动画面只有命令行：

后续可以通过apt安装诸多软件，比如xorg+xfce4装一个轻量化桌面，当然这是后话了，板子第一次上电启动要先更新软件库，将/etc/apt/source.list文件的内容替换，阿里云armhf源，适用于所有32位armv7 ubuntu主控的开发板的软件源：

deb http://mirrors.aliyun.com/ubuntu-ports/ xenial main
deb-src http://mirrors.aliyun.com/ubuntu-ports/ xenial main
deb http://mirrors.aliyun.com/ubuntu-ports/ xenial-updates main
deb-src http://mirrors.aliyun.com/ubuntu-ports/ xenial-updates main
deb http://mirrors.aliyun.com/ubuntu-ports/ xenial universe
deb-src http://mirrors.aliyun.com/ubuntu-ports/ xenial universe
deb http://mirrors.aliyun.com/ubuntu-ports/ xenial-updates universe
deb-src http://mirrors.aliyun.com/ubuntu-ports/ xenial-updates universe
deb http://mirrors.aliyun.com/ubuntu-ports/ xenial-security main
deb-src http://mirrors.aliyun.com/ubuntu-ports/ xenial-security main
deb http://mirrors.aliyun.com/ubuntu-ports/ xenial-security universe
deb-src http://mirrors.aliyun.com/ubuntu-ports/ xenial-security universe

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这样就可以用

apt update
apt upgrade

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来进行软件库更新：

装好了之后我还要安装gcc g++ make xorg xfce4等常用软件：

apt install gcc g++ make xorg xfce4

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装好了xfce4之后板子就可以在命令行敲startx命令启动xfce4桌面：

当然了，目前的项目DEMO并不需要这种桌面，而IMX6ULL主控跑xfce4图形界面的应用或者QT之类的应用也会非常卡，所以先跳过，先把项目代码跑起来，项目DEMO代码里面有两个外设需要驱动，分别是用于显示的/dev/fb0和用于摄像头图像采集用的/dev/video1，/dev/fb0操作非常简单，不多说，甚至可以直接沿用以前的代码：

#include "lcd.h"
#include "font.h"
static int lcd_buf[LCD_WIDTH*LCD_HEIGHT];
static unsigned int lcd_buff[LCD_HEIGHT][LCD_WIDTH];
static unsigned char bmp_buf[LCD_WIDTH*LCD_HEIGHT*4],*point=bmp_buf;
int tsfd,ret,fd_lcd;
struct input_event myinput;
void Get_Information_Frame_Buffer(char *dev)
{
struct fb_var_screeninfo vinfo;
printf("dev=%s
",dev);
fd_lcd=open(dev,O_RDWR);
if(fd_lcd==-1)
{
printf("Device open failed.
");
return ;
}
if (ioctl(fd_lcd,FBIOGET_VSCREENINFO,&vinfo))
{
printf("Device get information failed.
");
return ;
}
close(fd_lcd);
printf("%d %d %d
",vinfo.xres,vinfo.yres,vinfo.bits_per_pixel);
}
void LCD_Effect()
{
fd_lcd=open("/dev/fb0",O_RDWR); // O_RDONLY, O_WRONLY, or O_RDWR
if(fd_lcd==-1)
{
printf("open LCD failed!
");
return ;
}
write(fd_lcd,lcd_buf,LCD_WIDTH*LCD_HEIGHT*4);
close(fd_lcd);
}
void LCD_Show_Buffer(char *dev_name,int x1,int y1,int width,int height,unsigned char *frame_buffer)
{
int fd_lcd,i,j;
fd_lcd=open(dev_name,O_RDWR);
if(fd_lcd==-1)
{
printf("open LCD failed!
");
return ;
}
for(i=x1;i
{
for(j=y1;j
if(i<=height&&j<=width)
{
lcd_buf[i*LCD_WIDTH+j]=
frame_buffer[(i*width+j)*3]|
frame_buffer[(i*width+j)*3+1]<<8|
frame_buffer[(i*width+j)*3+2]<<16;
}
//else lcd_buf[i*LCD_WIDTH+j]=0xffff0000;
}
write(fd_lcd,lcd_buf,LCD_WIDTH*LCD_HEIGHT*4);
// printf("LCD_Show_Buffer OK!
");
close(fd_lcd);
}
void LCD_Clear_Screen(long color)
{
int i;
fd_lcd=open("/dev/fb0",O_RDWR); // O_RDONLY, O_WRONLY, or O_RDWR
if(fd_lcd==-1)
{
printf("open LCD failed!
");
return ;
}
for(i=0;i
lcd_buf[i]=color;
ret = write(fd_lcd,lcd_buf,LCD_WIDTH*LCD_HEIGHT*4);
if(ret == -1)
{
printf("fill frame failed!
");
return ;
}
close(fd_lcd);
}
void Open_Touch_Screen()
{
tsfd=open("/dev/input/event0",O_RDWR);
if(tsfd==-1)
{
printf("open TS failed!
");
return ;
}
}
void Get_Touch_Screen(int * x,int * y)
{
read(tsfd,&myinput,sizeof(myinput));
if(myinput.type==EV_ABS)
{
if(myinput.code==ABS_X)
{
*x=myinput.value;
}
if(myinput.code==ABS_Y)
{
*y=myinput.value;
}
}
}
int LCD_Show_ASCII_64(int x,int y,int fontcolor,int backcolor,int word)
{
int i,j,k;
unsigned char temp;
word-=0x20;
for(j=0;j<64;j++)
{
for(i=0;i<4;i++)
{
temp=ascii_font_64[j*4+i+word*256];
for(k=0;k<8;k++)
{
if(temp&0x80)
lcd_buf[i*8+k+x+LCD_WIDTH*(j+y)]=fontcolor;
else
lcd_buf[i*8+k+x+LCD_WIDTH*(j+y)]=backcolor;
temp<<=1;
}
}
}
}
int LCD_Show_ASCII_String_64(int x,int y,int wordcolor,int backcolor,char s[])
{
int i=0;
for(i=0;s[i]!='\0';i++)
LCD_Show_ASCII_64(x+i*32,y,wordcolor,backcolor,s[i]);
}
//int LCD_Show_Chinese_64(int x,int y,int fontcolor,int backcolor,int word)
//{
// int i,j,k;
// unsigned char temp;
// for(j=0;j<64;j++)
// {
// for(i=0;i<8;i++)
// {
// temp=chinese_font_64[j*8+i+word*512];
// for(k=0;k<8;k++)
// {
// if(temp&0x80)
// lcd_buf[i*8+k+x+LCD_WIDTH*(j+y)]=fontcolor;
// else
// lcd_buf[i*8+k+x+LCD_WIDTH*(j+y)]=backcolor;
// temp<<=1;
// }
// }
//
// }
//}
//int LCD_Show_BMP_File(int xpos,int ypos,char* filename)
//{
// int i,j,fbmp,fd,width,width_mod,height;
// fd=open("/dev/fb0",O_RDWR);
// if(fd == -1)
// {
// printf("open LCD failed!
");
// return -1;
// }
//
// fbmp=open(filename,O_RDONLY);
//
// read(fbmp,bmp_buf,54);
// width=bmp_buf[21]<<24|bmp_buf[20]<<16|bmp_buf[19]<<8|bmp_buf[18];
// height=bmp_buf[25]<<24|bmp_buf[24]<<16|bmp_buf[23]<<8|bmp_buf[22];
//
// fbmp=open(filename,O_RDONLY);
//
// read(fbmp,bmp_buf,width*height*3+54);
//
// width_mod=width%4;
//
// for(i=0;i
// {
// for(j=0;j
// if(i<=height&&j<=width)
// {
// lcd_buf[i*LCD_WIDTH+j]=
// bmp_buf[(i*width+j)*3+54+i*width_mod]|
// bmp_buf[(i*width+j)*3+55+i*width_mod]<<8|
// bmp_buf[(i*width+j)*3+56+i*width_mod]<<16;
// }
// else lcd_buf[i*LCD_WIDTH+j]=0;
// }
//
// for(i=0;i
// for(j=0;j
// lcd_buff[i][j]=lcd_buf[i*LCD_WIDTH+j];
//
// for(i=0;i
// for(j=0;j
// lcd_buff_2[height-i+ypos][j+xpos]=lcd_buff[i][j];
//
// for(i=0;i
// for(j=0;j
// lcd_buf[i*LCD_WIDTH+j]=lcd_buff_2[i][j];
//
// //ret = write(fd,lcd_buf,LCD_WIDTH*LCD_HEIGHT*4);
// if(ret == -1)
// {
// printf("fill frame failed!
");
// return -1;
// }
// close(fd);
//}
//
//void LCD_Show_JPG_File(int xpos,int ypos,char *filename)
//{
// int fd,fjpg,i,j;
// FILE *input_file=fopen(filename,"rb");
// struct jpeg_decompress_struct cinfo;
// //JPEG鍥惧儚鍦ㄨВ鐮佽繃绋嬩腑锛屼娇鐢╦peg_decompress_struct绫诲瀷鐨勭粨鏋勪綋鏉ヨ〃绀猴紝鍥惧儚鐨勬墍鏈変俊鎭兘瀛樺偍鍦ㄧ粨鏋勪綋涓?
// struct jpeg_error_mgr jerr;
// //瀹氫箟涓€涓爣鍑嗙殑閿欒缁撴瀯浣擄紝涓€鏃︾▼搴忓嚭鐜伴敊璇氨浼氳皟鐢╡xit()鍑芥暟閫€鍑鸿繘绋?
// JSAMPARRAY buffer;
// //鐢ㄤ簬瀛樺彇涓€琛屾暟鎹?
// fjpg=open((char *)"/home/fa/1.jpg",O_RDONLY);
// cinfo.err = jpeg_std_error(&jerr);//缁戝畾閿欒澶勭悊缁撴瀯瀵硅薄
// jpeg_create_decompress(&cinfo);//鍒濆鍖朿info缁撴瀯
// jpeg_stdio_src(&cinfo,input_file);//鎸囧畾瑙ｅ帇缂╂暟鎹簮
// jpeg_read_header(&cinfo,TRUE);//鑾峰彇鏂囦欢淇℃伅
// jpeg_start_decompress(&cinfo);//寮€濮嬭В鍘嬬缉
//
// int width = cinfo.output_width;//鍥惧儚瀹藉害
// int height = cinfo.output_height;//鍥惧儚楂樺害
// int depth = cinfo.output_components;//鍥惧儚娣卞害
//
// memset(bmp_buf,0,sizeof(unsigned char)*width*height*depth);
//
// buffer=(*cinfo.mem->alloc_sarray)((j_common_ptr)&cinfo,JPOOL_IMAGE,width*depth,1);
// //鍒嗛厤涓€琛屾暟鎹┖闂?
//
// while(cinfo.output_scanline
// {
// jpeg_read_scanlines(&cinfo,buffer,1);
// //璇诲彇涓€琛宩pg鍥惧儚鏁版嵁鍒癰uffer
// memcpy(point,*buffer,width*depth);
// //灏哹uffer涓殑鏁版嵁閫愯缁檚rc_buff
// point+=width*3;
// //鎸囬拡鍋忕Щ涓€琛?
// }
//
// jpeg_finish_decompress(&cinfo);//瑙ｅ帇缂╁畬姣?
//
// fd=open("/dev/fb0",O_RDWR); // O_RDONLY, O_WRONLY, or O_RDWR
//
//
// for(i=0;i
// {
// for(j=0;j
// if(i<=height&&j<=width)
// lcd_buf[(i+ypos)*(LCD_WIDTH)+j+xpos]=bmp_buf[(i*width+j)*3]<<16|bmp_buf[(i*width+j)*3+1]<<8|bmp_buf[(i*width+j)*3+2];
//
// else lcd_buf[(i+ypos)*(LCD_WIDTH)+j+xpos]=0;
// }
//
// write(fd,lcd_buf,LCD_WIDTH*LCD_HEIGHT*4);
//}

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然后是/dev/video1，这个是板子连接外置视频输入设备，我这边只接了一个USB摄像头，安装命名顺延规则就是video1:

#include "camera.h"
#include "lcd.h"
static int fd_video;
static struct v4l2_capability cap;
struct v4l2_fmtdesc fmtdesc;
struct v4l2_format fmt;
struct v4l2_streamparm setfps;
struct v4l2_requestbuffers req;
struct v4l2_buffer buf;
enum v4l2_buf_type type;
unsigned char frame_buffer[IMAGEWIDTH*IMAGEHEIGHT*3];
buffer *buffers;
int V4L2_Init(const char * filename)
{
int i,ret = 0;
if ((fd_video=open(filename,O_RDWR))==-1)
{
printf("Error opening V4L interface
");
return (0);
}
if (ioctl(fd_video,VIDIOC_QUERYCAP,&cap) == -1)
{
printf("Error opening device %s: unable to query device.
",filename);
return (0);
}
else
{
printf("driver: %s
",cap.driver);
printf("card: %s
",cap.card);
printf("bus_info: %s
",cap.bus_info);
printf("version: %d
",cap.version);
printf("capabilities: %x
",cap.capabilities);
if ((cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == V4L2_CAP_VIDEO_CAPTURE)
{
printf("Device %s: supports capture.
",filename);
}
if ((cap.capabilities & V4L2_CAP_STREAMING) == V4L2_CAP_STREAMING)
{
printf("Device %s: supports streaming.
",filename);
}
}
fmtdesc.index=0;
fmtdesc.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
printf("Support format:
");
while(ioctl(fd_video,VIDIOC_ENUM_FMT,&fmtdesc)!=-1)
{
printf(" %d.%s
",fmtdesc.index+1,fmtdesc.description);
fmtdesc.index++;
}
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
fmt.fmt.pix.height = IMAGEHEIGHT;
fmt.fmt.pix.width = IMAGEWIDTH;
fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
if(ioctl(fd_video,VIDIOC_S_FMT, &fmt) == -1)
{
printf("Unable to set format
");
return 1;
}
if(ioctl(fd_video,VIDIOC_G_FMT, &fmt) == -1)
{
printf("Unable to get format
");
return 2;
}
{
printf("fmt.type: %d
",fmt.type);
printf("pix.pixelformat: %c%c%c%c
",fmt.fmt.pix.pixelformat & 0xFF, (fmt.fmt.pix.pixelformat >> 8) & 0xFF,(fmt.fmt.pix.pixelformat >> 16) & 0xFF, (fmt.fmt.pix.pixelformat >> 24) & 0xFF);
printf("pix.height: %d
",fmt.fmt.pix.height);
printf("pix.width: %d
",fmt.fmt.pix.width);
printf("pix.field: %d
",fmt.fmt.pix.field);
}
//set fps
ioctl(fd_video, VIDIOC_G_PARM, &setfps);
//setfps.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
//setfps.parm.capture.timeperframe.numerator = 30;
//setfps.parm.capture.timeperframe.denominator = 30;
req.count=4;
req.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory=V4L2_MEMORY_MMAP;
if(ioctl(fd_video,VIDIOC_REQBUFS,&req)==-1)
{
printf("request for buffers error
");
return 3;
}
printf("init %s [OK]
",filename);
return 0;
}
int V4l2_Grab()
{
unsigned int n_buffers;
buffers =(buffer*)malloc(req.count*sizeof (*buffers));
if (!buffers)
{
printf ("Out of memory
");
return 0;
}
for (n_buffers = 0; n_buffers < req.count; n_buffers++)
{
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = n_buffers;
//query buffers
if (ioctl (fd_video,VIDIOC_QUERYBUF, &buf) == -1)
{
printf("query buffer error
");
return(0);
}
buffers[n_buffers].length = buf.length;
buffers[n_buffers].start = mmap(NULL,buf.length,PROT_READ |PROT_WRITE, MAP_SHARED,
fd_video, buf.m.offset);
if (buffers[n_buffers].start == MAP_FAILED)
{
printf("buffer map error
");
return 0;
}
}
for (n_buffers = 0; n_buffers < req.count; n_buffers++)
{
buf.index = n_buffers;
ioctl(fd_video, VIDIOC_QBUF, &buf);
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
ioctl (fd_video, VIDIOC_STREAMON, &type);
ioctl(fd_video, VIDIOC_DQBUF, &buf);
// printf("grab yuyv OK!
");
return 1;
}
int Yuyv_2_RGB888(buffer* input_buffers,unsigned char *output_buffer)
{
int i,j,r1,g1,b1,r2,g2,b2;
unsigned char y1,y2,u,v;
unsigned char *pointer;
pointer =(unsigned char*)input_buffers[0].start;
for(i=0;i
{
for(j=0;j
{
y1 = *( pointer + (i*IMAGEWIDTH/2+j)*4);
u = *( pointer + (i*IMAGEWIDTH/2+j)*4 + 1);
y2 = *( pointer + (i*IMAGEWIDTH/2+j)*4 + 2);
v = *( pointer + (i*IMAGEWIDTH/2+j)*4 + 3);
r1 = y1 + 1.042*(v-128);
g1 = y1 - 0.34414*(u-128) - 0.71414*(v-128);
b1 = y1 + 1.772*(u-128);
r2 = y2 + 1.042*(v-128);
g2 = y2 - 0.34414*(u-128) - 0.71414*(v-128);
b2 = y2 + 1.772*(u-128);
if(r1>255)
r1 = 255;
else if(r1<0)
r1 = 0;
if(b1>255)
b1 = 255;
else if(b1<0)
b1 = 0;
if(g1>255)
g1 = 255;
else if(g1<0)
g1 = 0;
if(r2>255)
r2 = 255;
else if(r2<0)
r2 = 0;
if(b2>255)
b2 = 255;
else if(b2<0)
b2 = 0;
if(g2>255)
g2 = 255;
else if(g2<0)
g2 = 0;
*(output_buffer + (i*IMAGEWIDTH/2+j)*6 ) = (unsigned char)b1;
*(output_buffer + (i*IMAGEWIDTH/2+j)*6 + 1) = (unsigned char)g1;
*(output_buffer + (i*IMAGEWIDTH/2+j)*6 + 2) = (unsigned char)r1;
*(output_buffer + (i*IMAGEWIDTH/2+j)*6 + 3) = (unsigned char)b2;
*(output_buffer + (i*IMAGEWIDTH/2+j)*6 + 4) = (unsigned char)g2;
*(output_buffer + (i*IMAGEWIDTH/2+j)*6 + 5) = (unsigned char)r2;
}
}
// printf("change to RGB OK!
");
free(input_buffers);
}
//int Encode_Jpeg(unsigned char *lpbuf,int width,int height,const char *output_filename)
//{
// struct jpeg_compress_struct cinfo ;
// struct jpeg_error_mgr jerr ;
// JSAMPROW row_pointer[1] ;
// int row_stride ;
// char *buf=NULL ;
// int x ;
//
// FILE *fptr_jpg = fopen ((char *)output_filename,"wb");
// if(fptr_jpg==NULL)
// {
// printf("Encoder:open file failed!/n") ;
// return 0;
// }
//
// cinfo.err = jpeg_std_error(&jerr);
// jpeg_create_compress(&cinfo);
// jpeg_stdio_dest(&cinfo, fptr_jpg);
//
// cinfo.image_width = width;
// cinfo.image_height = height;
// cinfo.input_components = 3;
// cinfo.in_color_space = JCS_RGB;
//
// jpeg_set_defaults(&cinfo);
//
//
// jpeg_set_quality(&cinfo, 80,1);
//
//
// jpeg_start_compress(&cinfo, 1);
//
// row_stride = width * 3;
// buf=(char*)malloc(row_stride);
// row_pointer[0] =(unsigned char*)buf;
// while (cinfo.next_scanline < height)
// {
// for (x=0;x
// {
//
// buf[x] = lpbuf[x];
// buf[x+1] = lpbuf[x+1];
// buf[x+2] = lpbuf[x+2];
//
// }
// jpeg_write_scanlines (&cinfo, row_pointer, 1);
// lpbuf += row_stride;
// }
//
// jpeg_finish_compress(&cinfo);
// fclose(fptr_jpg);
// jpeg_destroy_compress(&cinfo);
// free(buf);
// printf("save "JPEG"OK
");
// return 0 ;
//
//}
int close_v4l2(void)
{
if(fd_video!=-1)
{
close(fd_video);
return 1;
}
return 0;
}