WiFi小车笔记

——————/
OpenWrt是一高度模块化、自动化的嵌入式Linux系统，拥有强大的网络组件，常常被用于工控设备、电话、小型机器人、智能家居、路由器等设备中
OpenWrt支持各种处理器架构，如ARM、X86、PowerPC、MIPS等

WiFi小车：uboot——kernel— —文件系统——app
工具链无需单独安装，属于openwrt
WiFi小车出厂时已烧写uboot，想自己开发相应uboot很困难（需用电烙铁将spiFlash从PCB板取下，然后烧写，然后再焊接）
kernel、文件系统均属于openwrt
app若软件市场有则直接下载安装，如Android，否则自己开发

——————/
——/搭建环境
root@lyl:/wifiCar# apt-get install subversion git-core
root@lyl:/wifiCar# apt-get install gcc g++ binutils patch bzip2 flex bison make autoconf
gettext texinfo unzip sharutils zlib1g-dev libncurses5-dev gawk
——/下载源码
lyl@lyl:/wifiCar$ ls -ld /wifiCar
drwxrwxrwx 3 root root 4096 10月 3 21:56 /wifiCar
//使用root账号产生权限问题导致编译失败，一晚上才解决
lyl@lyl:/wifiCar/trunk$ ./scripts/feeds update –a
lyl@lyl:/wifiCar/trunk$ ./scripts/feeds install –a
——/配置编译
lyl@lyl:/wifiCar/trunk$ make menuconfig
Target System (Ralink RT288x/RT3xxx) ---> //选成Ralink RT288x/RT3xxx，雷凌WiFi产品
Subtarget (RT3x5x/RT5350 based boards) ---> // RT5350WiFi模块

WiFi小车Flash为8m，内存为12m，与HAME MPR-A2同，故：
Target Profile (HAME MPR-A2) --->
root@lyl:/wifiCar/openWrt/trunk# make
lyl@lyl:/wifiCar/trunk$ make V=99 //编译同时下载资源，需4h左右
——/
lyl@lyl:/wifiCar$ du -sh trunk
6.2G trunk
lyl@lyl:/wifiCar/trunk/bin/ramips$ ls -lh *
openwrt-ramips-rt305x-mpr-a2-squashfs-sysupgrade.bin 3.1M //烧写目标
使用u-boot菜单经window tftp下载自动烧写自动启动

——————/ 添加web界面
用户交互的界面，快速设置的接口
vi /etc/config/network //修改ip
lyl@lyl:/wifiCar/trunk$ make menuconfig

//openwrt支持两种web界面：LuCI（官方维护）、webif（第三方开发）

LuCI  --->
	1. Collections  --->
		<*> luci
	5. Translations  --->
		<*> luci-i18n-chinese......Chinese (by Chinese Translators)

lyl@lyl:/wifiCar/trunk$ make V=99 //7分钟
重新烧写重启，在浏览器输入192.168.10.1，还是登陆不了，因：
WiFi模块rt5350有5个网络端口，均可被配置为wan（广域网）或lan（局域网），WiFi小车使用网络端口4，默认被openwrt配置为wan口，需将其改为lan口，修改方法见视频


——————/工作于AP、STA模式
AP：access point
局域网监控，小车工作于AP模式
P2P监控，小车工作于STA模式
——/使小车工作于AP模式
vi /etc/config/wireless


——————/
openWrt与window通过SSH共享文件，前提：
lyl@lyl:/wifiCar/trunk$ make menuconfig

Network  --->
	SSH  --->
		<*> openssh-sftp-server.......OpenSSH SFTP server

使WiFi小车工作于AP模式
——/
每次给WiFi小车烧固件后，都需修改配置文件/etc/config/network麻烦
在源码中设置默认IP、将WAN改为LAN、使能AP
lyl@lyl:/wifiCar/trunk$ vi ./package/base-files/files/lib/functions/uci-defaults.sh
set network.lan.ipaddr='192.168.10.1'
ucidef_set_interfaces_lan_wan() {
local lan_ifname=$2
local wan_ifname=$1
lyl@lyl:/wifiCar/trunk$ vi ./package/kernel/mac80211/files/lib/wifi/mac80211.sh
# option disabled 1

——————/驱动之hello world
openwrt所用内核3.10
openwrt显著特点：以软件包形式管理app及驱动模块
hello world驱动与Linux驱动同

软件包管理常用命令：
opkg install xxx.ipk
opkg remove xxx.ipk
opkg list
opkg help

软件包的介绍：http://www.right.com.cn/forum/thread-75653-1-1.html
——/
lyl@lyl:/wifiCar/trunk/package/kernel$ mkdir example
lyl@lyl:/wifiCar/trunk/package/kernel/example$ cp ../gpio-button-hotplug/* . -fr
lyl@lyl:/wifiCar/trunk/package/kernel/example$ ls
Makefile src
lyl@lyl:/wifiCar/trunk/package/kernel/example$ ls src/
gpio-button-hotplug.c Makefile //将*.c替换为example.c
lyl@lyl:/wifiCar/trunk/package/kernel/example$ vi src/Makefile
obj-m += example.o
——/
lyl@lyl:/wifiCar/trunk/package/kernel/example$ vi Makefile

include $(TOPDIR)/rules.mk  //固定格式
include $(INCLUDE_DIR)/kernel.mk

PKG_NAME:=example
PKG_RELEASE:=1

include $(INCLUDE_DIR)/package.mk

define KernelPackage/example  //定义make menuconfig菜单中相应配置项
  SUBMENU:=Other modules
# DEPENDS:=@!LINUX_3_3  //@表条件成立才显示
  TITLE:=Simple example by lyl  //短帮助信息
  FILES:=$(PKG_BUILD_DIR)/example.ko
# AUTOLOAD:=$(call AutoLoad,30,gpio-button-hotplug,1)
  KCONFIG:=
endef

define KernelPackage/example/description  //长帮助信息
 This is a example for hello world drivers
endef

MAKE_OPTS:= \  //固定格式
        ARCH="$(LINUX_KARCH)" \
        CROSS_COMPILE="$(TARGET_CROSS)" \
        SUBDIRS="$(PKG_BUILD_DIR)"

define Build/Prepare
        mkdir -p $(PKG_BUILD_DIR)
        $(CP) ./src/* $(PKG_BUILD_DIR)/
endef

define Build/Compile
        $(MAKE) -C "$(LINUX_DIR)" \
                $(MAKE_OPTS) \
                modules
endef

$(eval $(call KernelPackage,example))

——/
lyl@lyl:/wifiCar/trunk$ make menuconfig

Kernel modules  --->
	Other modules  --->
		<*> kmod-example...... Simple example by lyl

lyl@lyl:/wifiCar/trunk$ make package/kernel/example/compile V=99
lyl@lyl:/wifiCar/trunk$ ls bin/ramips/packages/base/*example* -lh
kmod-example_3.14.18-1_ramips_24kec.ipk 1.5k
将其共享到WiFiCar
——/
/lib/modules/3.10.36/目录下没有example.ko
opkg install kmod-example_3.14.18-1_ramips_24kec.ipk
/lib/modules/3.10.36/目录下出现example.ko
insmod example.ko

Makefile中AUTOLOAD:=…不注释掉，便无需手动insmod

——————/电机、蜂鸣器硬件原理
蜂鸣器：GPIO#25为1三极管导通，蜂鸣器响，反之…
电机：

M1右轮M2左轮
+-正转-+反转
OUT输出7.4V
EN A低则OUT1 OUT2同时为低，EN A高OUT1 OUT2输出受57控制
L298N左侧与PC817光耦芯片连
GPIO#7——OUT1
GPIO#8——OUT2
GPIO#9——OUT3
GPIO#10——OUT4
GPIO#17——EN A
GPIO#18——EN B

——————/电机、蜂鸣器驱动

#define WIFI_ROBOT_RUN 	0
#define WIFI_ROBOT_BACK 	1
#define WIFI_ROBOT_LEFT 	2
#define WIFI_ROBOT_RIGHT 	3
#define WIFI_ROBOT_STOP 	4
#define WIFI_BUZZER_ON 	5
#define WIFI_BUZZER_OFF 	6

volatile unsigned long *GPIOMODE;
volatile unsigned long *GPIO21_00_DIR;  //控制gpio 0-21方向
volatile unsigned long *GPIO21_00_DATA;
volatile unsigned long *GPIO27_22_DIR;
volatile unsigned long *GPIO27_22_DATA;

static int motor_drv_open(struct inode *inode, struct file *file)
{
	/* 配置相应引脚用于GPIO */
	*GPIOMODE |= (0x7<<2)|(0x1<<6);
	/* 将GPIO#7、GPIO#8、GPIO#9、GPIO#10、GPIO#17、GPIO#18设置为输出 */
	*GPIO21_00_DIR |= (1<<7)|(1<<8)|(1<<9)|(1<<10)|(1<<17)|(1<<18);
	return 0;
}

static ssize_t motor_drv_write(struct file *file, const char __user *buf, 
	size_t size, loff_t *ppos)
{
	char val;
	copy_from_user(&val, buf, 1);
	if(val & 0x1)
	{
		*GPIO21_00_DATA |= (1<<17)|(1<<18);
	}
	else
	{
		*GPIO21_00_DATA &= ~((1<<17)|(1<<18));
	}
	return 1;
}

static long motor_drv_unlocked_ioctl(struct file *file, unsigned int cmd, 
	unsigned long arg)
{
	switch(cmd)
	{
		case WIFI_ROBOT_RUN:	// 小车前进，LED不亮
			*GPIO21_00_DATA &= ~((1<<7)|(1<<8)|(1<<9)|(1<<10));
			*GPIO21_00_DATA |= (0<<7)|(1<<8)|(0<<9)|(1<<10);
			break;
		case WIFI_ROBOT_BACK:	// 小车后退，LED全亮
			*GPIO21_00_DATA &= ~((1<<7)|(1<<8)|(1<<9)|(1<<10));
			*GPIO21_00_DATA |= (1<<7)|(0<<8)|(1<<9)|(0<<10);
			break;
		case WIFI_ROBOT_LEFT:	// 小车左转弯，左边的LED亮
			*GPIO21_00_DATA &= ~((1<<7)|(1<<8)|(1<<9)|(1<<10));
			*GPIO21_00_DATA |= (0<<7)|(1<<8)|(1<<9)|(1<<10);

			mdelay(20);

			*GPIO21_00_DATA &= ~((1<<7)|(1<<8)|(1<<9)|(1<<10));
			*GPIO21_00_DATA |= (1<<7)|(1<<8)|(1<<9)|(1<<10);
			break;
		case WIFI_ROBOT_RIGHT:
			*GPIO21_00_DATA &= ~((1<<7)|(1<<8)|(1<<9)|(1<<10));
			*GPIO21_00_DATA |= (1<<7)|(1<<8)|(0<<9)|(1<<10);

			mdelay(20);

			*GPIO21_00_DATA &= ~((1<<7)|(1<<8)|(1<<9)|(1<<10));
			*GPIO21_00_DATA |= (1<<7)|(1<<8)|(1<<9)|(1<<10);
			break;
		case WIFI_ROBOT_STOP:
			*GPIO21_00_DATA &= ~((1<<7)|(1<<8)|(1<<9)|(1<<10));
			*GPIO21_00_DATA |= (1<<7)|(1<<8)|(1<<9)|(1<<10);
			break;
		case WIFI_BUZZER_ON:
			*GPIO27_22_DATA |= 1<<3;
			break;
		case WIFI_BUZZER_OFF:
			*GPIO27_22_DATA &= ~(1<<3);
			break;
		default:
			break;
	}
	return 0;
}

static struct file_operations motor_drv_fops = {
	.owner   		= THIS_MODULE,
	.open    		= motor_drv_open,
	.write			= motor_drv_write,
	.unlocked_ioctl	= motor_drv_unlocked_ioctl,
};

static int major;
static struct class *motor_drv_class;

static int __init motor_drv_init(void)
{
	major = register_chrdev(0, "motor_drv", &motor_drv_fops);
	motor_drv_class = class_create(THIS_MODULE, "motor");
	device_create(motor_drv_class, NULL, MKDEV(major, 0), NULL, "motor");

	GPIOMODE = (volatile unsigned long *)ioremap(0x10000060, 4);  //功能选择
	GPIO21_00_DIR = (volatile unsigned long *)ioremap(0x10000624, 4);  //输出输入
	GPIO21_00_DATA = (volatile unsigned long *)ioremap(0x10000620, 4);
	GPIO27_22_DIR = (volatile unsigned long *)ioremap(0x10000674, 4);
	GPIO27_22_DATA = (volatile unsigned long *)ioremap(0x10000670, 4);
	
	*GPIOMODE |= (0x1<<14);/* 关闭蜂鸣器，否则一上电就响 */
	*GPIO27_22_DIR = (1<<3);
	*GPIO27_22_DATA &= ~(1<<3);
	return 0;
}

static void __exit motor_drv_exit(void)
{
	device_destroy(motor_drv_class, MKDEV(major, 0));
	class_destroy(motor_drv_class);
	unregister_chrdev(major, "motor_drv");
	iounmap(GPIOMODE);
	iounmap(GPIO21_00_DIR);
	iounmap(GPIO21_00_DATA);
	iounmap(GPIO27_22_DIR);
	iounmap(GPIO27_22_DATA);
}

——————/libncurses应用
为什么用libncurses?
因需通过键盘上下左右方向键来控制小车方向，通过回车键控制蜂鸣器
make menuconfig时移动菜单即使用该库

安装库文件
sudo apt-get install libncurses5-dev

root@lyl:~# man ncurses
没有 ncurses 的手册页条目
故还需sudo apt-get install ncurses-doc
上下左右及其它功能键，无ascii码，故使用curses.h内部定义宏，其余有则使用ASCII

——————/串口控制WiFi

#include <stdio.h>
#include <curses.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>

#define ENTER 13
#define ESC 27

#define WIFI_ROBOT_RUN 	0
#define WIFI_ROBOT_BACK 	1
#define WIFI_ROBOT_LEFT 	2
#define WIFI_ROBOT_RIGHT 	3
#define WIFI_ROBOT_STOP 	4
#define WIFI_BUZZER_ON 	5
#define WIFI_BUZZER_OFF 	6

int main(int argc, char **argv)
{
	int fd;
	int key;
	char val;
	int is_on = 0;

	fd = open("/dev/motor", O_RDWR | O_NONBLOCK);
	if (fd < 0)
	{
		printf("can't open!\n");
		return -1;
	}

	val = 1;
	write(fd, &val, 1);	/*使能EN A、EN B*/

	initscr();//在使用之前，必须初始化

	nonl();//不把换行作为回车字符
	intrflush(stdscr, FALSE);//是否处理中断信号
	keypad(stdscr, TRUE);//使能keypad功能，这样就能接收上下左右等特殊字符

	while( (key=getch()) != ESC )
	{
		switch(key)
		{
			case KEY_UP:
				clear();
				printw("KEY UP\n");
				ioctl(fd, WIFI_ROBOT_RUN);
				break;
			case KEY_DOWN:
				clear();
				printw("KEY DOWN\n");
				ioctl(fd, WIFI_ROBOT_BACK);
				break;
			case KEY_LEFT:
				clear();
				printw("KEY LEFT\n");
				ioctl(fd, WIFI_ROBOT_LEFT);
				break;
			case KEY_RIGHT:
				clear();
				printw("KEY RIGHT\n");
				ioctl(fd, WIFI_ROBOT_RIGHT);
				break;
			case ENTER:
			{
				clear();
				printw("KEY ENTER\n");
				if(is_on == 0)
				{
					ioctl(fd, WIFI_BUZZER_ON);
					is_on = 1;
				}
				else
				{
					ioctl(fd, WIFI_BUZZER_OFF);
					is_on = 0;
				}
				break;
			}
			default:
				clear();
				printw("key = %d\n", key);
				break;
		}
	}
	endwin();//退出
	return 0;
}

root@lyl:/wifiCar/trunk/package/utils/motor_test# ls
Makefile src
root@lyl:/wifiCar/trunk/package/utils/motor_test/src# ls
Makefile motor.c //具体见视频，类似上节驱动编译