深海游弋的鱼 – 第 89 页

解决Ti CC1310上I2C驱动能力不足(稳定性)问题

在使用Ti CC1310的硬件I2C与外部设备进行通信的时候，无法长时间稳定运行，尤其是平时的测试开发板，使用杜邦线连接的情况下。

同等情况下的SPI总线，一般不会发生此类问题，因此怀疑是GPIO管脚的驱动能力不足导致的。

我的工程是通过简单修改Ti CC1310 SDK自带的Code Composer Studio的例子工程而创建的，因此存在已经进行过默认配置的CC1310_LAUNCHXL.c，CC1310_LAUNCHXL.h这两个文件。用Code Composer Studio完全重新创建的工程，缺乏必要的默认配置。因此，我们还是建议根据Ti CC1310 SDK自带的例子进行修改，而不是完全从头创建工程。

我们研究I2C初始化GPIO管脚的代码在simplelink_cc13x0_sdk_2_30_00_20/source/ti/drivers/i2c/I2CCC26XX.c，相关的代码如下：

/*
 *  ======== I2CCC26XX_initIO ========
 *  This functions initializes the I2C IOs.
 *
 *  @pre    Function assumes that the I2C handle is pointing to a hardware
 *          module which has already been opened.
 */
static int I2CCC26XX_initIO(I2C_Handle handle, void *pinCfg) {
    I2CCC26XX_Object            *object;
    I2CCC26XX_HWAttrsV1 const  *hwAttrs;
    I2CCC26XX_I2CPinCfg         i2cPins;
    PIN_Config                  i2cPinTable[3];
    uint32_t i=0;

    /* Get the pointer to the object and hwAttrs */
    object = handle->object;
    hwAttrs = handle->hwAttrs;

    /* If the pinCfg pointer is NULL, use hwAttrs pins */
    if (pinCfg == NULL) {
        i2cPins.pinSDA = hwAttrs->sdaPin;
        i2cPins.pinSCL = hwAttrs->sclPin;
    } else {
        i2cPins.pinSDA = ((I2CCC26XX_I2CPinCfg *)pinCfg)->pinSDA;
        i2cPins.pinSCL = ((I2CCC26XX_I2CPinCfg *)pinCfg)->pinSCL;
    }

    /* Handle error */
    if(i2cPins.pinSDA == PIN_UNASSIGNED || i2cPins.pinSCL == PIN_UNASSIGNED) {
        return I2C_STATUS_ERROR;
    }
    /* Configure I2C pins SDA and SCL*/
    i2cPinTable[i++] = i2cPins.pinSDA | PIN_INPUT_EN | PIN_PULLUP | PIN_OPENDRAIN;
    i2cPinTable[i++] = i2cPins.pinSCL | PIN_INPUT_EN | PIN_PULLUP | PIN_OPENDRAIN;
    i2cPinTable[i++] = PIN_TERMINATE;
    /* Allocate pins*/
    object->hPin = PIN_open(&object->pinState, i2cPinTable);

    if (!object->hPin) {
        return I2C_STATUS_ERROR;
    }

    /* Set IO muxing for the UART pins */
    PINCC26XX_setMux(object->hPin, i2cPins.pinSDA, IOC_PORT_MCU_I2C_MSSDA);
    PINCC26XX_setMux(object->hPin, i2cPins.pinSCL, IOC_PORT_MCU_I2C_MSSCL);
    return I2C_STATUS_SUCCESS;
}

* ======== I2CCC26XX_initIO ========

* This functions initializes the I2C IOs.

* @pre Function assumes that the I2C handle is pointing to a hardware

* module which has already been opened.

static int I2CCC26XX_initIO(I2C_Handle handle, void *pinCfg) {

I2CCC26XX_Object *object;

I2CCC26XX_HWAttrsV1 const *hwAttrs;

I2CCC26XX_I2CPinCfg i2cPins;

PIN_Config i2cPinTable[3];

uint32_t i=0;

/* Get the pointer to the object and hwAttrs */

object = handle->object;

hwAttrs = handle->hwAttrs;

/* If the pinCfg pointer is NULL, use hwAttrs pins */

if (pinCfg == NULL) {

i2cPins.pinSDA = hwAttrs->sdaPin;

i2cPins.pinSCL = hwAttrs->sclPin;

} else {

i2cPins.pinSDA = ((I2CCC26XX_I2CPinCfg *)pinCfg)->pinSDA;

i2cPins.pinSCL = ((I2CCC26XX_I2CPinCfg *)pinCfg)->pinSCL;

}

/* Handle error */

if(i2cPins.pinSDA == PIN_UNASSIGNED || i2cPins.pinSCL == PIN_UNASSIGNED) {

return I2C_STATUS_ERROR;

}

/* Configure I2C pins SDA and SCL*/

i2cPinTable[i++] = i2cPins.pinSDA | PIN_INPUT_EN | PIN_PULLUP | PIN_OPENDRAIN;

i2cPinTable[i++] = i2cPins.pinSCL | PIN_INPUT_EN | PIN_PULLUP | PIN_OPENDRAIN;

i2cPinTable[i++] = PIN_TERMINATE;

/* Allocate pins*/

object->hPin = PIN_open(&object->pinState, i2cPinTable);

if (!object->hPin) {

return I2C_STATUS_ERROR;

}

/* Set IO muxing for the UART pins */

PINCC26XX_setMux(object->hPin, i2cPins.pinSDA, IOC_PORT_MCU_I2C_MSSDA);

PINCC26XX_setMux(object->hPin, i2cPins.pinSCL, IOC_PORT_MCU_I2C_MSSCL);

return I2C_STATUS_SUCCESS;

}

从上面的代码中，我们发现GPIO管脚的驱动能力没有设置，根据CC13x0, CC26x0 SimpleLink ™ Wireless MCU Technical Reference Manual中的介绍，我们发现，如果不设置，默认情况下是PIN_DRVSTR_MIN（< (*) Lowest drive strength）。这个驱动模式下，最省电，但是当有干扰存在的情况下，最容易导致出现错误。

查找Ti CC1310提供的I2C驱动程序，没有找到可以设置管脚驱动能力的接口。

网上有人通过直接修改Ti CC1310提供的I2C驱动程序，也就是simplelink_cc13x0_sdk_2_30_00_20/source/ti/drivers/i2c/I2CCC26XX.c里的初始化代码（见上面的代码段）增加驱动能力属性来实现这个功能。

但是这种修改方式不推荐，修改的侵入太强。

从GPIO的操作函数中，我们找到如下函数：

/** @brief Returns pin configuration
 *
 *  @param pinId    Pin ID
 *  @return  Current pin configuration as a device-independent #PIN_Config value
 *  @note    The pin ID is embedded in return value.
 *  @note    There is usually a device-specific version of this function that
 *           returns device-specific options
 *  @par Usage
 *       @code
 *       // Get config of pin 14 to be able to revert later
 *       myPinConfig = PIN_getConfig(PIN_ID(14));
 *       // ...
 *       // Lots of pin reconfigurations
 *       // ...
 *       // Restore previous configuration
 *       PIN_setConfig(hPins, PIN_BM_ALL, myPinConfig);
 *       @endcode
 */
extern PIN_Config PIN_getConfig(PIN_Id pinId);


/** @brief Sets complete pin configuration
 *
 *  @param handle  Handle provided by previous call to PIN_open()
 *  @param updateMask  Bitmask specifying which fields in cfg that should take
 *                 effect, the rest keep their current value.
 *  @param pinCfg  #PIN_Config entry with pin ID and pin configuration
 *  @return #PIN_SUCCESS if successful, else error code
 *  @par Usage
 *       @code
 *       // Set drive strength on pin 15
 *       PIN_setConfig(hPins, PIN_BM_DRVSTR, PIN_ID(15)|PIN_DRVSTR_MAX);
 *       @endcode
 */
extern PIN_Status PIN_setConfig(PIN_Handle handle, PIN_Config updateMask, PIN_Config pinCfg);

/** @brief Returns pin configuration

* @param pinId Pin ID

* @return Current pin configuration as a device-independent #PIN_Config value

* @note The pin ID is embedded in return value.

* @note There is usually a device-specific version of this function that

* returns device-specific options

* @par Usage

* @code

* // Get config of pin 14 to be able to revert later

* myPinConfig = PIN_getConfig(PIN_ID(14));

* // ...

* // Lots of pin reconfigurations

* // ...

* // Restore previous configuration

* PIN_setConfig(hPins, PIN_BM_ALL, myPinConfig);

* @endcode

extern PIN_Config PIN_getConfig(PIN_Id pinId);

/** @brief Sets complete pin configuration

* @param handle Handle provided by previous call to PIN_open()

* @param updateMask Bitmask specifying which fields in cfg that should take

* effect, the rest keep their current value.

* @param pinCfg #PIN_Config entry with pin ID and pin configuration

* @return #PIN_SUCCESS if successful, else error code

* @par Usage

* @code

* // Set drive strength on pin 15

* PIN_setConfig(hPins, PIN_BM_DRVSTR, PIN_ID(15)|PIN_DRVSTR_MAX);

* @endcode

extern PIN_Status PIN_setConfig(PIN_Handle handle, PIN_Config updateMask, PIN_Config pinCfg);

我们尝试从上层找到I2C驱动使用的GPIO管脚，然后调整其驱动能力。

/* I2C */
#define CC1310_LAUNCHXL_I2C0_SCL0            (IOID_5) 
#define CC1310_LAUNCHXL_I2C0_SDA0            (IOID_6)

/* I2C */

#define CC1310_LAUNCHXL_I2C0_SCL0 (IOID_5)

#define CC1310_LAUNCHXL_I2C0_SDA0 (IOID_6)

/*
 *  =============================== I2C ===============================
*/
#include <ti/drivers/I2C.h>
#include <ti/drivers/i2c/I2CCC26XX.h>

I2CCC26XX_Object i2cCC26xxObjects[CC1310_LAUNCHXL_I2CCOUNT];

const I2CCC26XX_HWAttrsV1 i2cCC26xxHWAttrs[CC1310_LAUNCHXL_I2CCOUNT] = {
    {
        .baseAddr    = I2C0_BASE,
        .powerMngrId = PowerCC26XX_PERIPH_I2C0,
        .intNum      = INT_I2C_IRQ,
        .intPriority = ~0,
        .swiPriority = 0,
        .sdaPin      = CC1310_LAUNCHXL_I2C0_SDA0,
        .sclPin      = CC1310_LAUNCHXL_I2C0_SCL0,
    }
};

const I2C_Config I2C_config[CC1310_LAUNCHXL_I2CCOUNT] = {
    {
        .fxnTablePtr = &I2CCC26XX_fxnTable,
        .object      = &i2cCC26xxObjects[CC1310_LAUNCHXL_I2C0],
        .hwAttrs     = &i2cCC26xxHWAttrs[CC1310_LAUNCHXL_I2C0]
    }
};

const uint_least8_t I2C_count = CC1310_LAUNCHXL_I2CCOUNT;

* =============================== I2C ===============================

#include <ti/drivers/I2C.h>

#include <ti/drivers/i2c/I2CCC26XX.h>

I2CCC26XX_Object i2cCC26xxObjects[CC1310_LAUNCHXL_I2CCOUNT];

const I2CCC26XX_HWAttrsV1 i2cCC26xxHWAttrs[CC1310_LAUNCHXL_I2CCOUNT] = {

{

.baseAddr = I2C0_BASE,

.powerMngrId = PowerCC26XX_PERIPH_I2C0,

.intNum = INT_I2C_IRQ,

.intPriority = ~0,

.swiPriority = 0,

.sdaPin = CC1310_LAUNCHXL_I2C0_SDA0,

.sclPin = CC1310_LAUNCHXL_I2C0_SCL0,

}

};

const I2C_Config I2C_config[CC1310_LAUNCHXL_I2CCOUNT] = {

{

.fxnTablePtr = &I2CCC26XX_fxnTable,

.object = &i2cCC26xxObjects[CC1310_LAUNCHXL_I2C0],

.hwAttrs = &i2cCC26xxHWAttrs[CC1310_LAUNCHXL_I2C0]

}

};

const uint_least8_t I2C_count = CC1310_LAUNCHXL_I2CCOUNT;

从上面我们看到I2C句柄的.object指针指向了I2CCC26XX_Object类型的结构体，这个结构体在simplelink_cc13x0_sdk_2_30_00_20/source/ti/drivers/i2c/I2CCC26XX.c里的static int I2CCC26XX_initIO(I2C_Handle handle, void *pinCfg)函数中被初始化，这个结构体记录了详细的GPIO操作句柄。

因此我们可以使用如下的代码对GPIO管脚的驱动能力进行调整：

#include <ti/drivers/I2C.h>
#include <ti/drivers/i2c/I2CCC26XX.h>
#include "CC1310_LAUNCHXL.h"

static I2C_Handle initI2c(void) {
    I2C_Params      i2cParams;
    /* Create I2C for usage */
    I2C_Params_init(&i2cParams);
    i2cParams.bitRate = I2C_400kHz;
    i2cParams.transferMode = I2C_MODE_BLOCKING;

    I2C_Handle i2c = I2C_open(Board_I2C_TMP, &i2cParams);
    if (NULL == i2c) {
        return NULL;
    }

    /* Change I2C Pin Drive Strength*/
    /*CC1310_LAUNCHXL.c I2CCC26XX_Object i2cCC26xxObjects[CC1310_LAUNCHXL_I2CCOUNT];*/
    I2CCC26XX_Object* i2cObj = i2c->object;
    if (NULL != i2cObj) {
        PIN_Config pinCfg = PIN_getConfig(PIN_ID(CC1310_LAUNCHXL_I2C0_SDA0));
        PIN_Status status = PIN_setConfig(i2cObj->hPin, PIN_BM_ALL, pinCfg | PIN_DRVSTR_MAX);
        if (PIN_SUCCESS != status){
            I2C_close(i2c);
            return NULL;
        }
        pinCfg = PIN_getConfig(PIN_ID(CC1310_LAUNCHXL_I2C0_SCL0));
        status = PIN_setConfig(i2cObj->hPin, PIN_BM_ALL, pinCfg | PIN_DRVSTR_MAX);
        if (PIN_SUCCESS != status){
            I2C_close(handle->i2c);
            return NULL;
        }
    }
    return i2c;
}

#include <ti/drivers/I2C.h>

#include <ti/drivers/i2c/I2CCC26XX.h>

#include "CC1310_LAUNCHXL.h"

static I2C_Handle initI2c(void) {

I2C_Params i2cParams;

/* Create I2C for usage */

I2C_Params_init(&i2cParams);

i2cParams.bitRate = I2C_400kHz;

i2cParams.transferMode = I2C_MODE_BLOCKING;

I2C_Handle i2c = I2C_open(Board_I2C_TMP, &i2cParams);

if (NULL == i2c) {

return NULL;

}

/* Change I2C Pin Drive Strength*/

/*CC1310_LAUNCHXL.c I2CCC26XX_Object i2cCC26xxObjects[CC1310_LAUNCHXL_I2CCOUNT];*/

I2CCC26XX_Object* i2cObj = i2c->object;

if (NULL != i2cObj) {

PIN_Config pinCfg = PIN_getConfig(PIN_ID(CC1310_LAUNCHXL_I2C0_SDA0));

PIN_Status status = PIN_setConfig(i2cObj->hPin, PIN_BM_ALL, pinCfg | PIN_DRVSTR_MAX);

if (PIN_SUCCESS != status){

I2C_close(i2c);

return NULL;

}

pinCfg = PIN_getConfig(PIN_ID(CC1310_LAUNCHXL_I2C0_SCL0));

status = PIN_setConfig(i2cObj->hPin, PIN_BM_ALL, pinCfg | PIN_DRVSTR_MAX);

if (PIN_SUCCESS != status){

I2C_close(handle->i2c);

return NULL;

}

return i2c;

}

参考链接

macOS Mojave(10.14)安装AX88179(USB 3.0 有线网卡)驱动程序

自己的mac book pro在升级到macOS Mojave(10.14)之后，无法识别USB 3.0有线网卡。

使用如下命令，查询网卡的设备类型：

$ system_profiler SPUSBDataType

1	$ system_profiler SPUSBDataType

然后下载驱动安装才可以。

官方下载地址：
AX88179 Drivers Download

本站下载地址：
AX88179_178A_macintosh_Driver_Installer_v2.13.0

Raspberry Pi Zero W解决调试信息不足的问题（以libzmq-dev为例)

最近在参照树莓派实时系统下脚本语言的选择(应当使用Lua而不是Python) 调用调试lua-zmq的时候，发现使用PAIR模式进行线程之间通信，长时间运行后会出现死锁的情况。

当我们需要跟踪问题的时候，使用apt-get安装的版本缺乏必要的调试信息。

我们可以手工安装调试信息包，如下：

$ sudo apt install libzmq-dbg

# 系统默认的lua 5.1的符号信息使用如下命令安装
$ sudo apt-get install liblua5.1-0-dbg

# libreadline提供了多个版本（5,6,7），根据需要下载对应的版本
$ sudo apt-get install libreadline6-dbg

# sudo apt-get install search libtinfo* 根据返回的结果安装
$ sudo apt-get install libtinfo5-dbg

$ sudo apt install libzmq-dbg

# 系统默认的lua 5.1的符号信息使用如下命令安装

$ sudo apt-get install liblua5.1-0-dbg

# libreadline提供了多个版本（5,6,7），根据需要下载对应的版本

$ sudo apt-get install libreadline6-dbg

# sudo apt-get install search libtinfo* 根据返回的结果安装

$ sudo apt-get install libtinfo5-dbg

我们也可以从源代码重新编译一份，如下：

# 打开源代码的源
$ sudo sed -i "s/^#deb-src/deb-src/g" /etc/apt/sources.list

# 安装必要的编译工具
$ sudo apt-get install build-essential devscripts lintian

$ cd ~

# 下载源代码，此处不可sudo,否则后续操作会出现权限问题
$ apt-get source libzmq-dev

$ cd zeromq*/

# 安装依赖项
$ sudo apt-get install libpgm-dev

$ sudo apt-get install uuid-dev

$ debuild -us -uc -b

$ cd ..

$ sudo dpkg -i libzmq-dev*.deb

$ sudo dpkg -i libzmq-dbg*.deb

$ sudo ldconfig

# 打开源代码的源

$ sudo sed -i "s/^#deb-src/deb-src/g" /etc/apt/sources.list

# 安装必要的编译工具

$ sudo apt-get install build-essential devscripts lintian

$ cd ~

# 下载源代码，此处不可sudo,否则后续操作会出现权限问题

$ apt-get source libzmq-dev

$ cd zeromq*/

# 安装依赖项

$ sudo apt-get install libpgm-dev

$ sudo apt-get install uuid-dev

$ debuild -us -uc -b

$ cd ..

$ sudo dpkg -i libzmq-dev*.deb

$ sudo dpkg -i libzmq-dbg*.deb

$ sudo ldconfig

以上是针对Debian安装包来进行的处理，然而对于luarocks安装的插件来说，默认luarocks是不能编译调试版本的，此时就需要我们手工编译了。我们以lua-zmq为例子，参考如下：

$ sudo apt-get -y install cmake

$ git clone git://github.com/Neopallium/lua-zmq.git

$ git checkout v1.1

$ cd lua-zmq ; mkdir build ; cd build

$ cmake -DCMAKE_BUILD_TYPE=Debug ..

$ make

$ sudo make install

$ sudo ldconfig

$ sudo apt-get -y install cmake

$ git clone git://github.com/Neopallium/lua-zmq.git

$ git checkout v1.1

$ cd lua-zmq ; mkdir build ; cd build

$ cmake -DCMAKE_BUILD_TYPE=Debug ..

$ make

$ sudo make install

$ sudo ldconfig

STM32开发环境

OpenSTM32开发环境

install_sw4stm32_macos_64bits-v2.6.run.tar
install_sw4stm32_linux_64bits-v2.6.run.tar
install_sw4stm32_win_64bits-v2.6.exe

辅助工具

官方下载地址 ST-LINK-SERVER
本站下载一份拷贝 ST-LINK-SERVER 1.0.6

ST的MEMOS开发参考

en.x-cube-mems1
en.stm32cubemx

继续阅读STM32开发环境

解决Raspberry PI Zero W中Lua使用lua-periphery与Python中设置的GPIO端口不一致的问题

在树莓派实时系统下脚本语言的选择(应当使用Lua而不是Python)中，我们没有使用rpi-gpio,而是使用了lua-periphery来解决Lua语言下操作树莓派GPIO的问题。

当时选择lua-periphery的原因在于rpi-gpio在Raspberry PI Zero W中使用的时候会崩溃。这个原因是在于cpuinfo.c这个文件中缺少对于BCM2835这颗新的CPU的判断，只判断了BCM2708（估计写这个库的时候，只有BCM2708）。导致RPi_GPIO_Lua_module.c在初始化GPIO的时候抛出了异常。这个已经有人提交了代码合并请求，估计很快会修复。

但是在lua-periphery中，没有对于GPIO进行重新映射，导致跟rpi-gpio以及树莓派自带的Python库在设置GPIO的时候，端口号对应不一致。比如，在Python中设置GPIO 22，执行命令观察ls /sys/class/gpio/，会发现系统创建的是GPIO 25这个对应关系就是通过查表获取的。如下图：
继续阅读解决Raspberry PI Zero W中Lua使用lua-periphery与Python中设置的GPIO端口不一致的问题

解决Raspberry Pi安装libgtk2.0-dev出错的问题

最近在树莓派上需要安装libgtk2.0-dev，执行如下命令：

$ sudo apt-get install libgtk2.0-dev

1	$ sudo apt-get install libgtk2.0-dev

出错信息如下：

Reading package lists... Done
Building dependency tree       
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 libgtk2.0-dev : Depends: libpango1.0-dev (>= 1.20) but it is not going to be installed
                 Depends: libcairo2-dev (>= 1.6.4-6.1) but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

Reading package lists... Done

Building dependency tree

Reading state information... Done

Some packages could not be installed. This may mean that you have

requested an impossible situation or if you are using the unstable

distribution that some required packages have not yet been created

or been moved out of Incoming.

The following information may help to resolve the situation:

The following packages have unmet dependencies:

libgtk2.0-dev : Depends: libpango1.0-dev (>= 1.20) but it is not going to be installed

Depends: libcairo2-dev (>= 1.6.4-6.1) but it is not going to be installed

E: Unable to correct problems, you have held broken packages.

根据出错信息，明显是软件源中出现了安装包缺失的问题。这个现象是不应该出现的。网上查询了不少地方，最终找到解决方法：

$ sudo vim /etc/apt/sources.list.d/raspi.list

1	$ sudo vim /etc/apt/sources.list.d/raspi.list

可以看到如下内容：

#deb http://archive.raspberrypi.org/debian/ stretch main ui staging
# Uncomment line below then 'apt-get update' to enable 'apt-get source'
#deb-src http://archive.raspberrypi.org/debian/ stretch main ui

#deb http://archive.raspberrypi.org/debian/ stretch main ui staging

# Uncomment line below then 'apt-get update' to enable 'apt-get source'

#deb-src http://archive.raspberrypi.org/debian/ stretch main ui

默认里面的内容都是被注释掉的，我们需要做的就是把这个源打开即可。
也可以直接执行如下命令来开启：

#先备份配置文件
$ sudo cp /etc/apt/sources.list.d/raspi.list /etc/apt/sources.list.d/raspi.list.bak

$ sudo sed -i "s/^\#deb/deb/g" /etc/apt/sources.list.d/raspi.list

#先备份配置文件

$ sudo cp /etc/apt/sources.list.d/raspi.list /etc/apt/sources.list.d/raspi.list.bak

$ sudo sed -i "s/^\#deb/deb/g" /etc/apt/sources.list.d/raspi.list

参考链接

Unable to install libgtk2.0-dev on Raspberry Pi 2

修正ubuntu 18.04上执行"sudo apt upgrade"报告"libc6-dev-armhf-cross"升级出错

最近自己电脑上的ubuntu 18.04在更新软件的时候报告如下错误信息：

$ sudo apt upgrade
正在读取软件包列表... 完成
正在分析软件包的依赖关系树       
正在读取状态信息... 完成       
正在计算更新... 完成
下列软件包将被升级：
  libc6-armhf-cross libc6-dev-armhf-cross
升级了 2 个软件包，新安装了 0 个软件包，要卸载 0 个软件包，有 0 个软件包未被升级。
需要下载 0 B/2,904 kB 的归档。
解压缩后会消耗 0 B 的额外空间。
您希望继续执行吗？ [Y/n] 
(正在读取数据库 ... 系统当前共安装有 239272 个文件和目录。)
正准备解包 .../libc6-dev-armhf-cross_2.27-3ubuntu1cross1.1_all.deb  ...
正在将 libc6-dev-armhf-cross (2.27-3ubuntu1cross1.1) 解包到 (2.27-3ubuntu1cross1) 上 ...
dpkg: 处理归档 /var/cache/apt/archives/libc6-dev-armhf-cross_2.27-3ubuntu1cross1.1_all.deb (--unpack)时出错：
 无法打开 /usr/arm-linux-gnueabihf/lib/Mcrt1.o.dpkg-new : 没有那个文件或目录
错误信息显示本地系统有一些问题，因此没有写入 apport 报告
                                                        正准备解包 .../libc6-armhf-cross_2.27-3ubuntu1cross1.1_all.deb  ...
正在将 libc6-armhf-cross (2.27-3ubuntu1cross1.1) 解包到 (2.27-3ubuntu1cross1) 上 ...
dpkg: 处理归档 /var/cache/apt/archives/libc6-armhf-cross_2.27-3ubuntu1cross1.1_all.deb (--unpack)时出错：
 无法打开 /usr/arm-linux-gnueabihf/lib/ld-2.27.so.dpkg-new : 没有那个文件或目录
错误信息显示本地系统有一些问题，因此没有写入 apport 报告
                                                        在处理时有错误发生：
 /var/cache/apt/archives/libc6-dev-armhf-cross_2.27-3ubuntu1cross1.1_all.deb
 /var/cache/apt/archives/libc6-armhf-cross_2.27-3ubuntu1cross1.1_all.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)

$ sudo apt upgrade

正在读取软件包列表... 完成

正在分析软件包的依赖关系树

正在读取状态信息... 完成

正在计算更新... 完成

下列软件包将被升级：

libc6-armhf-cross libc6-dev-armhf-cross

升级了 2 个软件包，新安装了 0 个软件包，要卸载 0 个软件包，有 0 个软件包未被升级。

需要下载 0 B/2,904 kB 的归档。

解压缩后会消耗 0 B 的额外空间。

您希望继续执行吗？ [Y/n]

(正在读取数据库 ... 系统当前共安装有 239272 个文件和目录。)

正准备解包 .../libc6-dev-armhf-cross_2.27-3ubuntu1cross1.1_all.deb ...

正在将 libc6-dev-armhf-cross (2.27-3ubuntu1cross1.1) 解包到 (2.27-3ubuntu1cross1) 上 ...

dpkg: 处理归档 /var/cache/apt/archives/libc6-dev-armhf-cross_2.27-3ubuntu1cross1.1_all.deb (--unpack)时出错：

无法打开 /usr/arm-linux-gnueabihf/lib/Mcrt1.o.dpkg-new : 没有那个文件或目录

错误信息显示本地系统有一些问题，因此没有写入 apport 报告

正准备解包 .../libc6-armhf-cross_2.27-3ubuntu1cross1.1_all.deb ...

正在将 libc6-armhf-cross (2.27-3ubuntu1cross1.1) 解包到 (2.27-3ubuntu1cross1) 上 ...

dpkg: 处理归档 /var/cache/apt/archives/libc6-armhf-cross_2.27-3ubuntu1cross1.1_all.deb (--unpack)时出错：

无法打开 /usr/arm-linux-gnueabihf/lib/ld-2.27.so.dpkg-new : 没有那个文件或目录

错误信息显示本地系统有一些问题，因此没有写入 apport 报告

在处理时有错误发生：

/var/cache/apt/archives/libc6-dev-armhf-cross_2.27-3ubuntu1cross1.1_all.deb

/var/cache/apt/archives/libc6-armhf-cross_2.27-3ubuntu1cross1.1_all.deb

E: Sub-process /usr/bin/dpkg returned an error code (1)

如果系统语言为英文，则错误信息如下：

$ sudo apt upgrade
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Calculating upgrade... Done
The following packages will be upgraded:
  libc6-armhf-cross libc6-dev-armhf-cross
2 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
Need to get 0 B/2,904 kB of archives.
After this operation, 0 B of additional disk space will be used.
Do you want to continue? [Y/n] 
(Reading database ... 239272 files and directories currently installed.)
Preparing to unpack .../libc6-dev-armhf-cross_2.27-3ubuntu1cross1.1_all.deb ...
Unpacking libc6-dev-armhf-cross (2.27-3ubuntu1cross1.1) over (2.27-3ubuntu1cross1) ...
dpkg: error processing archive /var/cache/apt/archives/libc6-dev-armhf-cross_2.27-3ubuntu1cross1.1_all.deb (--unpack):
 unable to open '/usr/arm-linux-gnueabihf/lib/Mcrt1.o.dpkg-new': No such file or directory
No apport report written because the error message indicates an issue on the local system
         Preparing to unpack .../libc6-armhf-cross_2.27-3ubuntu1cross1.1_all.deb ...
Unpacking libc6-armhf-cross (2.27-3ubuntu1cross1.1) over (2.27-3ubuntu1cross1) ...
dpkg: error processing archive /var/cache/apt/archives/libc6-armhf-cross_2.27-3ubuntu1cross1.1_all.deb (--unpack):
 unable to open '/usr/arm-linux-gnueabihf/lib/ld-2.27.so.dpkg-new': No such file or directory
No apport report written because the error message indicates an issue on the local system
         Errors were encountered while processing:
 /var/cache/apt/archives/libc6-dev-armhf-cross_2.27-3ubuntu1cross1.1_all.deb
 /var/cache/apt/archives/libc6-armhf-cross_2.27-3ubuntu1cross1.1_all.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)

$ sudo apt upgrade

Reading package lists... Done

Building dependency tree

Reading state information... Done

Calculating upgrade... Done

The following packages will be upgraded:

libc6-armhf-cross libc6-dev-armhf-cross

2 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.

Need to get 0 B/2,904 kB of archives.

After this operation, 0 B of additional disk space will be used.

Do you want to continue? [Y/n]

(Reading database ... 239272 files and directories currently installed.)

Preparing to unpack .../libc6-dev-armhf-cross_2.27-3ubuntu1cross1.1_all.deb ...

Unpacking libc6-dev-armhf-cross (2.27-3ubuntu1cross1.1) over (2.27-3ubuntu1cross1) ...

dpkg: error processing archive /var/cache/apt/archives/libc6-dev-armhf-cross_2.27-3ubuntu1cross1.1_all.deb (--unpack):

unable to open '/usr/arm-linux-gnueabihf/lib/Mcrt1.o.dpkg-new': No such file or directory

No apport report written because the error message indicates an issue on the local system

Preparing to unpack .../libc6-armhf-cross_2.27-3ubuntu1cross1.1_all.deb ...

Unpacking libc6-armhf-cross (2.27-3ubuntu1cross1.1) over (2.27-3ubuntu1cross1) ...

dpkg: error processing archive /var/cache/apt/archives/libc6-armhf-cross_2.27-3ubuntu1cross1.1_all.deb (--unpack):

unable to open '/usr/arm-linux-gnueabihf/lib/ld-2.27.so.dpkg-new': No such file or directory

No apport report written because the error message indicates an issue on the local system

Errors were encountered while processing:

/var/cache/apt/archives/libc6-dev-armhf-cross_2.27-3ubuntu1cross1.1_all.deb

/var/cache/apt/archives/libc6-armhf-cross_2.27-3ubuntu1cross1.1_all.deb

E: Sub-process /usr/bin/dpkg returned an error code (1)

解决方法为卸载后重新安装，而不使用升级安装：

$ sudo apt remove libc6-dev-armhf-cross

$ sudo apt install libc6-dev-armhf-cross

$ sudo apt remove libc6-dev-armhf-cross

$ sudo apt install libc6-dev-armhf-cross

参考链接

How do I fix an error with libc6-dev-armhf-cross in Ubuntu 18.04 when trying to apt upgrade?

Lua的集成开发环境ZeroBrane Studio

目前在使用Lua进行脚本的开发，可是官方并没有提供很好的集成开发环境。
体验了很多，发现ZeroBrane Studio这个开源软件还是非常好用的，并且已经能正常支持Linux，Windows，MacOS这三个主流平台。

建议去官方网站下载最新的版本，但是鉴于国内网络访问不是非常稳定，可以从本站下载一份目前最新的版本。

下面的版本根据自身操作系统来选择其中一个进行下载

ZeroBraneStudioEduPack-1.70-linux.sh

ZeroBraneStudioEduPack-1.70-macos.dmg

ZeroBraneStudioEduPack-1.70-win32.exe

树莓派下的编译(目前编译出的暂时无法使用)：

$ git clone https://github.com/pkulchenko/ZeroBraneStudio.git

#如果代码下载存在问题，可以本站下载一份拷贝
# wget https://www.mobibrw.com/wp-content/uploads/2018/09/ZeroBraneStudio.tar.xz
# tar xvf ZeroBraneStudio.tar.xz

$ cd ZeroBraneStudio

$ cd build

$ bash build-linux-prep-deb.sh

# gthread
$ sudo apt-get install libglib2.0-dev

# gtk+
$ sudo apt-get install libgtk2.0-dev

$ sudo apt-get install libgtk-3-dev

#opengl
$ sudo apt-get install freeglut3-dev

# ssl for luasec
$ sudo apt-get install libssl-dev

$ sudo ln -s /usr/lib/arm-linux-gnueabihf/libssl.so /usr/lib/libssl.so

# lua
$ sudo apt-get install lua5.1 liblua5.1-dev

#webview可选
#sudo apt-get install libwebkitgtk-dev

# luasec最新版本，早期版本编译不通过
$ sed -i "s/^LUASEC_BASENAME=\"luasec-0.6\"/LUASEC_BASENAME=\"luasec-0.7\"/g" build-linux.sh

#此处wxWidgets的克隆比较慢，因此可以本站下载一份拷贝，手工修改脚本的下载
# wget https://www.mobibrw.com/wp-content/uploads/2018/09/wxWidgets.tar.xz
# sed -i "s/^[ \t]*git clone \"\$WXWIDGETS_URL\".*/  wget https:\/\/www.mobibrw.com\/wp-content\/uploads\/2018\/09\/wxWidgets.tar.xz\n  rm -rf wxWidgets\n  tar xvf wxWidgets.tar.xz/g" build-linux.sh
# wget 
# sed -i "s/^[ \t]*git clone \"\$WXLUA_URL\" \"\$WXLUA_BASENAME\".*/ wget https:\/\/www.mobibrw.com\/wp-content\/uploads\/2018\/09\/wxlua.tar.xz\n rm -rf wxlua\n tar xvf wxlua.tar.xz/g" build-linux.sh
# sed -i "s/^LEXLPEG_URL=\"https:\/\/foicica.com\/scintillua\/download/LEXLPEG_URL=\"https:\/\/www.mobibrw.com\/wp-content\/uploads\/2018\/09/g" build-linux.sh

# for debug "bash build-linux.sh debug all"
$ bash build-linux.sh all

#编译两次，解决第一次的问题，第一次有些目录创建存在问题
$ bash build-linux.sh all

#还是需要安装一些依赖，上面编译的库并没有完整完成依赖设置
$ sudo apt-get install luarocks

$ sudo luarocks install luasocket

$ cp deps/lib/libwx.so deps/lib/wx.so

#动态链接库应当设置LUA_CPATH而不是LUA_PATH
$ export LUA_CPATH="`pwd`/deps/lib/?.so;`pwd`/deps/lib/lua/51/?.so"

$ export LD_LIBRARY_PATH=`pwd`/deps/lib

#去掉两个检测，这两检测总是会失败，原因不好排查
$ sed -i "s/check_lua_module(wx TRUE)/#check_lua_module(wx TRUE)/g" CMakeLists.txt 

$ sed -i "s/check_lua_module(socket TRUE)/#check_lua_module(socket TRUE)/g" CMakeLists.txt

$ cmake -DCMAKE_SYSROOT=`pwd`/deps/ -DCMAKE_FIND_ROOT_PATH=`pwd`/deps/ .

$ make 

$ sudo make install

$ git clone https://github.com/pkulchenko/ZeroBraneStudio.git

#如果代码下载存在问题，可以本站下载一份拷贝

# wget https://www.mobibrw.com/wp-content/uploads/2018/09/ZeroBraneStudio.tar.xz

# tar xvf ZeroBraneStudio.tar.xz

$ cd ZeroBraneStudio

$ cd build

$ bash build-linux-prep-deb.sh

# gthread

$ sudo apt-get install libglib2.0-dev

# gtk+

$ sudo apt-get install libgtk2.0-dev

$ sudo apt-get install libgtk-3-dev

#opengl

$ sudo apt-get install freeglut3-dev

# ssl for luasec

$ sudo apt-get install libssl-dev

$ sudo ln -s /usr/lib/arm-linux-gnueabihf/libssl.so /usr/lib/libssl.so

# lua

$ sudo apt-get install lua5.1 liblua5.1-dev

#webview可选

#sudo apt-get install libwebkitgtk-dev

# luasec最新版本，早期版本编译不通过

$ sed -i "s/^LUASEC_BASENAME=\"luasec-0.6\"/LUASEC_BASENAME=\"luasec-0.7\"/g" build-linux.sh

#此处wxWidgets的克隆比较慢，因此可以本站下载一份拷贝，手工修改脚本的下载

# wget https://www.mobibrw.com/wp-content/uploads/2018/09/wxWidgets.tar.xz

# sed -i "s/^[ \t]*git clone \"\$WXWIDGETS_URL\".*/ wget https:\/\/www.mobibrw.com\/wp-content\/uploads\/2018\/09\/wxWidgets.tar.xz\n rm -rf wxWidgets\n tar xvf wxWidgets.tar.xz/g" build-linux.sh

# wget

# sed -i "s/^[ \t]*git clone \"\$WXLUA_URL\" \"\$WXLUA_BASENAME\".*/ wget https:\/\/www.mobibrw.com\/wp-content\/uploads\/2018\/09\/wxlua.tar.xz\n rm -rf wxlua\n tar xvf wxlua.tar.xz/g" build-linux.sh

# sed -i "s/^LEXLPEG_URL=\"https:\/\/foicica.com\/scintillua\/download/LEXLPEG_URL=\"https:\/\/www.mobibrw.com\/wp-content\/uploads\/2018\/09/g" build-linux.sh

# for debug "bash build-linux.sh debug all"

$ bash build-linux.sh all

#编译两次，解决第一次的问题，第一次有些目录创建存在问题

$ bash build-linux.sh all

#还是需要安装一些依赖，上面编译的库并没有完整完成依赖设置

$ sudo apt-get install luarocks

$ sudo luarocks install luasocket

$ cp deps/lib/libwx.so deps/lib/wx.so

#动态链接库应当设置LUA_CPATH而不是LUA_PATH

$ export LUA_CPATH="`pwd`/deps/lib/?.so;`pwd`/deps/lib/lua/51/?.so"

$ export LD_LIBRARY_PATH=`pwd`/deps/lib

#去掉两个检测，这两检测总是会失败，原因不好排查

$ sed -i "s/check_lua_module(wx TRUE)/#check_lua_module(wx TRUE)/g" CMakeLists.txt

$ sed -i "s/check_lua_module(socket TRUE)/#check_lua_module(socket TRUE)/g" CMakeLists.txt

$ cmake -DCMAKE_SYSROOT=`pwd`/deps/ -DCMAKE_FIND_ROOT_PATH=`pwd`/deps/ .

$ make

$ sudo make install

参考链接

Debugging Lua Code
Lightweight IDE for your Lua needs ZeroBrane Studio

解决Raspberry Pi Zero W启动后没有在HDMI口输出内容的问题

最新在使用的Raspberry Pi Zero W V1.3在使用目前（2018.09.26)的系统的时候发现无法正常输出内容到屏幕上面，屏幕一直黑屏无信号。

原因在于Raspberry Pi Zero W在启动的时候没有正确检测到屏幕信号，导致没有正常输出。

解决方法是打开启动配置文件/boot/config.txt, 找到如下内容：

..................

# uncomment if hdmi display is not detected and composite is being output
#hdmi_force_hotplug=1

.................

..................

# uncomment if hdmi display is not detected and composite is being output

#hdmi_force_hotplug=1

.................

然后去掉注释，修改为如下：

# uncomment if hdmi display is not detected and composite is being output
hdmi_force_hotplug=1

1 2	# uncomment if hdmi display is not detected and composite is being output hdmi_force_hotplug=1

树莓派实时系统下脚本语言的选择(应当使用Lua而不是Python)

最近在使用树莓派与其他设备通过SPI接口进行通信，使用一个GPIO管脚触发读取数据的信号,为了简化开发，使用了Python。

在实际运行过程中，发现当长时间运行的是，会出现中断管脚信号丢失的情况，在参考 Ubuntu 16.04 (x64)下从源代码为Raspberry Pi Zero W编译实时内核更换为实时内核之后，短时间运行已经可以正常，但是在十几个小时之后，依然出现了中断丢失的现象。

这个现象初步评估为Python的GC动作时间过长导致的中断信号丢失。Python本身并不是为实时系统设计的，因此在GC进行垃圾回收的时候，是没有实时性的考虑的，因此在严格要求实时性的系统环境下，不是非常的合适。更何况很多的IO操作默认都是阻塞的，更加容易导致实时性问题。

由于树莓派本身也是支持Lua脚本的，默认安装的Lua引擎默认是5.1.4。Lua本身在游戏中使用较多，而游戏本身对于实时性的要求是很高的。

尤其是Lua 5.1开始使用最新的GC已经能很好的解决实时性问题。

关于Lua的GC相关信息，参考如下的文章：

继续阅读树莓派实时系统下脚本语言的选择(应当使用Lua而不是Python)

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