tbk-IO

安装依赖

测试平台为Raspberry Pi 4 Model B，Ubuntu 22.04

1. compile tools

sudo apt install build-essential cmake

2. MRAA lib

git clone https://github.com/eclipse/mraa
cd mraa
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig

# test
mraa-gpio version
# xxx on Raspberry Pi 4 Model B

3. pip install

pip install numpy pybind11

4. other drivers

# CAN controller driver
sudo apt install can-utils

编译运行

编译生成cpp test和python依赖库(.so文件)

mkdir build
cd build 
cmake .. -DBUILD_IO_TEST=OFF -DBUILD_DEVICE_TEST=ON # default
make

# test
sudo ./test/test_debugger
sudo python3 test_basic_io.py

支持IO及设备

基本IO的c++库位于include/lib_io.h,其python接口的定义位于src/py_module.cpp中。

• GPIO basic
• UART basic
  • IMU
• RS485 basic
  • dynamixel servo 1.0 (cpp✓py ing)
  • dynamixel servo 2.0 (cpp✓)
  • powerboard
• I2C basic
  • ADC sensor (cpp✓)
  • SSD1306 display (cpp✓)
  • touch board (cpp✓)
• SPI basic
  • ST7735 display (cpp✓)
  • ST7789 display (cpp✓)
  • ADC sensor (cpp✓)
  • encoder
  • nrf24l01
• CAN basic (cpp✗py✓)
  • VESC
• others（集成在debugger中）(cpp✓py ing)
  • rocker
  • button

文件结构

├── external            # submodule dir
├── include
│   ├── lib_io.h        # basic io lib header
├── src
│   ├── py_module.cpp   # generate python module
│   ├── lib_*.cpp       # basic io libs
│   ├── other cpp       # specific devices libs
├── test
│   ├── basic_io
│   ├── CMakeLists.txt
│   ├── test_*.cpp      # cpp test files
├── pytest
│   ├── src
    ├── basic_io
│   ├── test_*.py       # python test files
├── CMakeLists.txt
├── config.ini          # config file
└── README.md

TODO

• auto detect
• support devices
  • ADC sensor(ADS1115): config register full support