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cleanup and fixes

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This commit is contained in:
shinya 2026-05-21 15:23:13 +02:00
parent b41050c2c6
commit a88ce8c12f
4 changed files with 69 additions and 39 deletions
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1
camera_example/camera.cpp
View File

@ -168,6 +168,7 @@ void processRequest(Request *request)
int main()
{
std::signal(SIGPIPE, SIG_IGN);
std::signal(SIGINT, [](int) { loop.exit(0); });
std::thread(serverThread).detach();
auto cm = std::make_unique<CameraManager>();

28
chip_test_example/Makefile Normal file
View File

@ -0,0 +1,28 @@
# Build on device:
# apt install g++
# make
# All deps (spidev, gpiochip, i2c-dev, termios) are kernel headers — no apt libs needed.
CXX ?= g++
CXXFLAGS ?= -O2 -std=c++17 -Wall -Wextra
TARGETS = lora_tx lora_rx imu_test gps_test
all: $(TARGETS)
lora_tx: lora_tx.cpp lr1121_malnus.hpp
$(CXX) $(CXXFLAGS) $< -lpthread -o $@
lora_rx: lora_rx.cpp lr1121_malnus.hpp
$(CXX) $(CXXFLAGS) $< -lpthread -o $@
imu_test: imu_test.cpp icm20948.hpp
$(CXX) $(CXXFLAGS) $< -lpthread -o $@
gps_test: gps_test.cpp gps.hpp
$(CXX) $(CXXFLAGS) $< -o $@
clean:
rm -f $(TARGETS)
.PHONY: all clean

64
chip_test_example/README.md
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@ -3,24 +3,32 @@
Tests for LR1121 LoRa, ICM-20948 IMU, u-blox GPS on Raspberry Pi Zero W 2.
Header-only drivers, kernel ioctls, no external libs.
Driver: `lr1121_malnus.hpp` — crystal oscillator, RF switch via DIO5/DIO6.
---
## Wiring
### LR1121 (SPI0)
| Module | Pi GPIO | Pi pin |
|--------|---------|--------|
| SCK | GPIO11 | 23 |
| MOSI | GPIO10 | 19 |
| MISO | GPIO9 | 21 |
| NSS | GPIO8 | 24 |
| BUSY | GPIO24 | 18 |
| NRESET | GPIO25 | 22 |
| DIO9 | GPIO4 | 7 |
| DIO8 | GPIO23 | 16 |
| Module | Pi GPIO | Pi pin |
|---------|---------|--------|
| SCK | GPIO11 | 23 |
| MOSI | GPIO10 | 19 |
| MISO | GPIO9 | 21 |
| NSS | GPIO8 | 24 |
| BUSY | GPIO24 | 18 |
| NRESET | GPIO25 | 22 |
| DIO5 | — | chip-driven RF switch (RFSW0) |
| DIO6 | — | chip-driven RF switch (RFSW1) |
| DIO9 | GPIO4 | 7 |
| DIO8 | GPIO23 | 16 |
Enable: `sudo raspi-config` → Interfaces → SPI → Yes → reboot
DIO5 and DIO6 are driven directly by the LR1121 — they go to your module's RF
switch and do not connect to the Pi. The driver configures them automatically
via `SetDioAsRfSwitch`: HIGH on DIO5 in RX, HIGH on DIO6 in TX, both LOW in standby.
Enable SPI: `sudo raspi-config` → Interfaces → SPI → Yes → reboot
### ICM-20948 (I2C1)
@ -63,28 +71,29 @@ sudo ./imu_test -v
## LoRa debug
```sh
ls /dev/spidev0.0 # SPI on?
ls /dev/spidev0.0 # SPI enabled?
sudo ./lora_rx -v --433 # step labels show exactly which command hangs
```
If it hangs at `Calibrate` — that's a TCXO config issue. Try in order:
If it hangs at `Calibrate` — the chip isn't responding over SPI at all.
Check wiring, CS, and that SPI is enabled. The crystal needs no tuning.
```sh
sudo ./lora_rx -v --433 --tcxo-none # skip TCXO entirely (crystal mode)
sudo ./lora_rx -v --433 --tcxo-27 # TCXO 2.7V
sudo ./lora_rx -v --433 --tcxo-33 # TCXO 3.3V (default)
```
If TX/RX runs but packets never arrive — check that DIO5/DIO6 reach the RF
switch on your module. Without the switch, the antenna path is disconnected.
The one that gets past "Calibrate done" is your module's config.
Use the same TCXO flag on TX and RX.
If using the 2.4 GHz antenna instead:
To try 2.4 GHz instead (different antenna required):
```sh
sudo ./lora_rx -v --24
sudo ./lora_tx -v --24
```
If the chip is stuck in bootloader (fw < 0x02xx), escape with:
```sh
sudo ./lora_rx --reset
```
---
## IMU debug
@ -107,14 +116,3 @@ stty -F /dev/serial0 38400 raw && cat /dev/serial0 # raw NMEA bytes
./gps_test -v -a # all sentences
./gps_test -b 9600 # try different baud
```
---
## TCXO voltage reference
| Flag | Value | Voltage |
|------|-------|---------|
| `--tcxo-none` | 0xFF | no TCXO (crystal) |
| `--tcxo-27` | 0x05 | 2.7V |
| `--tcxo-33` | 0x07 | 3.3V |
| `--tcxo-v N` | 0x00–0x07 | raw byte |

15
shader_example/shader.cpp
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@ -30,7 +30,7 @@ GLuint compile(GLenum t, const std::string& src)
if (!ok) {
char log[1024];
glGetShaderInfoLog(s, sizeof(log), NULL, log);
std::cout << "shader compile failed:\n" << log;
std::cerr << "shader compile failed:\n" << log;
}
return s;
}
@ -51,8 +51,8 @@ int main()
if(!img1 || !img2)
{
std::cout << "image load failed\n";
return 0;
std::cerr << "image load failed\n";
return 1;
}
// ---------------- TEXTURES ----------------
@ -99,7 +99,8 @@ int main()
if (!linked) {
char log[1024];
glGetProgramInfoLog(prog, sizeof(log), NULL, log);
std::cout << "program link failed:\n" << log;
std::cerr << "program link failed:\n" << log;
return 1;
}
// ---------------- QUAD (FIXED) ----------------
@ -133,8 +134,10 @@ int main()
glBindFramebuffer(GL_FRAMEBUFFER,fbo);
glFramebufferTexture2D(GL_FRAMEBUFFER,GL_COLOR_ATTACHMENT0,GL_TEXTURE_2D,outTex,0);
if(glCheckFramebufferStatus(GL_FRAMEBUFFER) != GL_FRAMEBUFFER_COMPLETE)
std::cout << "FBO broken\n";
if(glCheckFramebufferStatus(GL_FRAMEBUFFER) != GL_FRAMEBUFFER_COMPLETE) {
std::cerr << "FBO broken\n";
return 1;
}
// ---------------- RENDER ----------------
glUseProgram(prog);