Lap Trinh Nhung 2440

LP TRNH H NHNG
GV: Phm Ngc Hng B mn K thut My tnh Vin CNTT&TT- H BKHN email: hungpn@soict.hut.edu.vn
Ni dung
Chng 1. Gii thiu lp trnh h nhng Chng 2. Lp trnh v{o ra c bn Chng 3. Lp trnh v{o ra n}ng cao Chng 4. C|c k thut lp trnh n}ng cao Chng 5. Lp trnh device driver trn Linux Chng 6. Lp trnh nn tng QT Chng 7. Lp trnh mng trn Linux nhng Chng 8. Lp trnh x l nh trn nn nhng
Lp trnh nhng ARM-Linux
Ti liu tham kho

Ti liu tham kho chnh:
Micro2440 User Manual S3C2440 MicroController Users Manual Beginning Linux Programming Advanced Linux Programming Linux Device Driver C++ GUI programming with QT Website: https://sites.google.com/site/embedded247/
Chng 1
Gii thiu Lp trnh h nhng
Ni dung chng 1
1.1. Gii thiu v lp trnh h nhng 1.2. Gii thiu KIT FriendlyArm micro2440 1.3. H iu h{nh nhng Linux 1.4. Mi trng lp trnh KIT FriendlyArm 2440
1.1. Gii thiu lp trnh h nhng

Lp trnh ng dng trn h nhng ph thuc vo nn tng (platform) phn cng, phn mm ca h nhng . H nhng khng c h iu hnh:
Thng s dng c|c vi iu khin hiu nng tng i thp (8051, ATMega, PIC, ARM7, ) Lp trnh bng C, ASM Mi trng, cng c lp trnh ty theo tng dng vi iu khin (CodeVision, AVR Studio, Keil) Ph hp c|c ng dng iu khin v{o/ra c bn, c|c giao tip ngoi vi c bn.
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H nhng c h iu hnh:
Da trn c|c vi iu khin, vi x l (CPU) c hiu nng cao (V d: AVR 32, ARM 9, ARM 11, ) Nhiu nn tng h iu h{nh nhng : uCLinux, Embedded Linux, Windows CE, Mi trng, cng c lp trnh ty thuc nn tng h iu h{nh: C/C++, QT SDK (Nokia), .Net Compact FrameWork (Microsoft), ng dng nhiu b{i to|n phc tp: GPS Tracking/Navigator, X l nh, ng dng Client/Server,
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Cc thit b di ng thng minh:
Xu hng cng ngh hin nay Nhiu nn tng: iOS, Android, Windows Phone, Symbian OS/Memo, Mi trng, cng c: iOS: Xcode + iOS SDK (ngn ng Object-C) Android: C, Java + Android SDK, Eclipse/Netbean Windows Phone: SDK + Visual Studio (C#) C|c ng dng phong ph: Google Play Store, Apple Store, Windows Market Place,
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Mn hc n{y hng ti:
Lp trnh h nhng nn tng ARM + Linux Minh ha trn KIT FriendlyArm micro 2440 Lp trnh C/C++, lp trnh giao din ha QT
L do:
ARM ? > 90% th phn thit b nhng, l{ dng vi iu khin hiu nng cao. Embedded Linux ? M~ ngun m, kh nng can thip, hiu s}u h thng. Nhiu OS kh|c (iOS, Android) da trn Linux kernel
1.2. Gii thiu KIT nhng micro2440
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Gii thiu KIT nhng micro2440
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Thng s k thut
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1.3. H iu hnh nhng Linux

1.3.1. Tng quan h iu h{nh nhng Linux 1.3.2. C{i t Embedded Linux trn Micro2440 1.3.3. Bin dch, ty bin nh}n Linux
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1.3.1. Tng quan Embedded Linux

H iu h{nh nhng (embedded os) ?
L{ h iu h{nh c{i t cho c|c h thng nhng (embedded system) c thit k: compact, efficient, reliable.
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S phn cp h thng
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Kin trc h iu hnh Linux
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c trng h iu hnh nhng

Tng tnh tin cy (reliability) Tng tnh kh chuyn (portability) Kh nng tng thch mm: d d{ng n}ng cp hay thu gn tng thch vi nn tng h thng Thu gn, i hi t b nh hn. C th h tr khi ng t b nh ROM, Flash (h thng khng c cng) Cung cp c|c c ch lp lch (scheduler) h tr thi gian thc (Realtime OS RTOS)
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H iu hnh thi gian thc

H thng thi gian thc (Realtime): c|c phn mm, phn cng hot ng tha m~n c|c r{ng buc v thi gian Ph}n loi:
Hard Realtime: khng |p ng deadline -> li h thng Soft Realtime: khng |p ng deadline -> gim cht lng dch v (QoS)
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H iu hnh thi gian thc
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Cu trc nhn h iu hnh
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H thng file trong Linux

Mt s th mc quan trng
/home: th mc ngi dng /dev: cha c|c file thit b /bin: cha c|c file thc thi ca h thng /etc: cha c|c file cu hnh /var: cha c|c file log /opt: cha c|c gi chng trnh c{i t thm /proc: cha thng tin v c|c tin trnh, c|c th{nh phn phn cng, phn mm ang chy trong h thng /usr: cha c|c file thc thi, t{i liu lin quan ti ngi dng
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Embedded Linux
H tr rt nhiu kin trc vi x l (c 32 bit v{ 64 bit)
Intel X86, ARM, PowerPC, MIPS, AVR32,
Khng h tr c|c vi iu khin hiu nng thp H tr c kin trc c v{ khng c khi qun l b nh (MMU) C|c h thng c th dng chung toolchains, bootloader v{ kernel, c|c th{nh phn kh|c phi ring bit v{ tng thch vi tng h thng
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Qu trnh boot h thng Linux trn PC
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Qu trnh boot h thng Linux nhng
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Qu trnh boot h thng Linux nhng

Boot loader: chng trnh mi, thc hin kim tra phn cng h thng v{ np nh}n (kernel) ca h iu h{nh Kernel: nh}n h iu h{nh, cha c|c th{nh phn c bn nht Root file system: h thng file, cha c|c modules b sung v{ c|c phn mm ng dng
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1.3.2. Ci t Embedded Linux

Bc 1: C{i t bootloader (VD: U-Boot, Supervivi) Bc 2: C{i t kernel Bc 3: C{i t h thng file (root file system)
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Ci t t mi trng Windows
Cng c
Phn mm HyperTerminal: kt ni vi KIT micro2440 qua cng COM Phn mm DNW: kt ni vi KIT micro2440 qua cng USB
C|ch thc
Phn mm HyperTerminal (giao tip vi BIOS trn Nor Flash qua cng rs232) truyn c|c lnh iu khin Phn mm DNW trao i file
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Ci t t mi trng Linux
Cng c:
Phn mm minicom: kt ni vi KIT micro2440 qua cng COM Phn mm usbpush: kt ni vi KIT micro2440 qua cng USB
C|ch thc
Phn mm minicom cho php giao tip serial, truyn c|c lnh iu khin Phn mm usbpush np file xung KIT
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Ci t h iu hnh nhng Linux
Demo
<Xem hng dn chi tit trong ti liu hng dn ci t v s dng KIT micro2440>
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1.3.3. Bin dch, ty bin nhn Linux

Khi n{o cn bin dch li nh}n?
Khi n}ng cp h thng ln c|c phin bn mi hn Khi cn sa li, thay i, ty chnh c|c module
Qu| trnh bin dch nh}n

Download nh}n ti a ch: kernel.org (Hoc trong CD i km KIT) File nn linux-2.6.32.2.tar (ty phin bn); Gii nn c th mc to{n b m~ ngun ca nh}n (v d th mc linux-2.6.32.2)
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Bin dch nhn Linux

Qu| trnh bin dch nh}n (tip):
V{o th mc cha m~ ngun nh}n (linux-2.6.32.2) Cu hnh trc khi bin dch bng lnh: make menuconfig Xut hin giao din cu hnh, ty chnh ph hp vi h thng. Thc hin bin dch bng lnh: make zImage Bin dch th{nh cng kt qu s l{ file zImage (trong th mc linux-2.6.32.2/arch/arm/mach-s3c2440) , s c np (porting) xung KIT
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Bin dch nhn Linux
Demo
<Xem hng dn chi tit trong ti liu hng dn ci t v s dng KIT micro2440>
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1.4. Mi trng lp trnh KIT FriendlyARM Micro2440

1.4.1. Mi trng ph|t trin ng dng nhng 1.4.2. C{i t mi trng ph|t trin KIT 2440 1.4.3. Chng trnh HelloWorld
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1.4.1. Mi trng pht trin ng dng nhng

M hnh lp trnh h thng nhng
Mi trng lp trnh KIT micro 2440
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M hnh lp trnh h thng nhng
Host: h thng cha mi trng pht trin

Target: h nhng cn pht trin ng dng
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Mi trng lp trnh KIT micro 2440

M|y host c{i h iu h{nh Linux (Ubuntu 10.04) Trnh bin dch cho Cross toolchains (arm-linux-gcc 4.4.3): bin dch ng dng (vit bng C/C++) Cng c vit m~ ngun chng trnh C (dng gedit, eclipse) gFTP: truyn nhn file Host<->KIT qua giao thc FTP Telnet: kt ni KIT qua Ethernet (s dng cross cable)
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Mi trng lp trnh theo nhm
Mi trng pht trin ng dng theo nhm

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1.4.2. Ci t mi trng pht trin

Cu hnh mng LAN (host + KIT) qua c|p cho v{ s dng IP cng di:
Linux host: 192.168.1.30 Linux target: 192.168.1.230 (default)
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Ci t trnh bin dch cho

Bc 1: Gii nn arm-linux-gcc-4.4.3.tar.gz tar zxvf arm-linux-gcc-4.4.3.tar.gz Bc 2: Cp nht bin mi trng PATH
Thm ng dn ti th mc bin ca arm-linux-gcc4.4.3 (Cp nht bin mi trng PATH trong file .bashrc trong ng dn ch ra bi bin $HOME)
Bc 3: Kim tra trnh bin dch

M c s console, g lnh: arm-linux-gcc --version Thng b|o v phin bn ca arm-linux-gcc hin ra => qu| trnh c{i t th{nh cng
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Kim tra trnh bin dch cho
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Ci t phn mm gFTP
Bc 1: Ci t phn mm gFTP (nu cha c)
G lnh: sudo apt-get install gftp
Bc 2: Kim tra kt ni gia Host v Target

M phn mm gFTP: Applications->Internet>gFTP Thit lp cc tham s
a ch IP ca KIT: 192.168.1.230 Username: root Password: ktmt (c th i bng lnh passwd)
M kt ni
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Kt ni s dng gFTP
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Ci t phn mm debug GDB

Bc 1: download m~ ngun gdb (version 7.0)
Cch 1: apt-get source gdb Cch 2: http://ftp.gnu.org/gnu/gdb/
Bc 2: Bin dch v{ c{i t gdb client trn m|y HOST Bc 3: Bin dch v{ c{i t gdb server trn m|y TARGET (Chi tit xem trong ti liu hng dn ci t mi trng pht trin ng dng)
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1.4.3. Chng trnh HelloWorld

Cu trc chng trnh n gin C|ch thc bin dch chng trnh Np file thc thi xung KIT v{ chy ng dng
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Cu trc chng trnh

Tu}n th cu trc chng trnh ANSII C
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Chng trnh Hello World

Son tho m~ ngun chng trnh C bng gedit (file Hello.c)
#include <stdio.h> int main (int argc, char* argv[]) { printf(Hello World !\n); printf (Ten chuong trinh la %s.\n, argv[0]); printf (Chuong trinh co %d tham so \n, argc - 1); /* Neu co bat cu tham so dong lenh nao*/ if (argc > 1) { /* Thi in ra*/ int i; printf (Cac tham so truyen vao la:\n); for (i = 1; i < argc; ++i) printf ( Tham so %d: %s\n, i, argv[i]); } return 0; }
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Cch thc bin dch chng trnh

Cch 1: S dng lnh ca cross compiler VD: arm-linux-gcc g o Hello Hello.c Kt qu: bin dch ra mt file thc thi c tn l{ Hello t mt file m~ ngun l{ Hello.c, file n{y c h tr kh nng debug (-g) Cch 2: To v{ s dng Makefile make l{ mt tool cho php qun l qu| trnh bin dch, lin kt ca mt d |n vi nhiu file m~ ngun. To Makefile lu c|c lnh bin dch theo nh dng ca Makefile S dng lnh make chy Makefile v{ bin dch chng trnh Cch 3: S dng automake v autoconf To makefile t ng
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Cu trc Makefile
Makefile cu th{nh t c|c target, variables v{ comments Target c cu trc nh sau:
target: dependencies [tab] system command

target: make target Dependencies: c|c th{nh phn ph thuc (file m~ ngun, c|c file object) System command: c|c c}u lnh (lnh bin dch, lnh linux)
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VD 1: Makefile n gin
CC=arm-linux-gcc all: Hello.c $(CC) g o Hello Hello.c clear: rm Hello
Bin dch chng trnh: make all Xa file sinh ra trc : make clear
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VD 2: Makefile lin kt
Hello.c
include
Display.c
void display(int index, char* str) include
Display.h
void display(int index, char* str)
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VD2: Makefile lin kt

Hello.c Display.c
Compiler
Compiler
Hello.o Linker
Display.o
Hello
File thc thi

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VD 2: Makefile lin kt
CC=arm-linux-gcc OUTPUT=Hello all:Hello.o display.o $(CC) -o $(OUTPUT) Hello.o display.o Hello.o:Hello.c $(CC) -c Hello.c display.o:display.c $(CC) -c display.c
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Np file thc thi xung KIT

Bc 1: s dng phn mm gFTP chuyn file Hello (~ c bin dch trc ) xung KIT, v d xung th mc: /ktmt Bc 2: telnet xung KIT, chuyn ti th mc /ktmt, thc thi chng trnh
G lnh: ./Hello Nu chng trnh cha c quyn thc thi, thc hin cp quyn: chmod +x Hello
Bc 3: quan s|t kt qu
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Tho lun
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Chng 2
Lp trnh vo ra c bn
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Mc tiu chng 2
Sau khi kt thc chng n{y, sinh vin c th
Nm c nguyn tc lp trnh giao tip v{o ra c bn trn h iu h{nh Linux nhng Lp trnh giao tip thit b (ghp ni GPIO) vi driver ~ c (led, button) Bit c|ch lp trnh giao tip GPIO m rng da trn giao din sysfs (gpiolib)
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Ni dung bi hc
2.1. C ch lp trnh giao tip thit b 2.2. Lp trnh iu khin led n 2.3. Lp trnh giao tip nt bm 2.4. Lp trnh giao tip GPIO m rng
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2.1. C ch lp trnh giao tip thit b

Device files, Device number Kim tra danh s|ch device driver, thit b C ch giao tip
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M hnh giao tip ng dng thit b

Phn mm ng dng User Space Cc hm giao tip chun: Device files
open close read write ioctl
Device Drivers
Kernel Space Phn cng

(Ton quyn truy xut trc tip ti nguyn phn cng ca h thng)
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Device files, Device number

Device files: ls l /dev
Device file khng phi l{ file thng thng, khng phi l{ mt vng d liu trn h thng file Qu| trnh c ghi device file
Giao tip vi device driver c, ghi phn cng ca thit b
Ph}n loi device files

Character device: thit b phn cng c, ghi mt chui c|c byte d liu Block device: thit b phn cng c, ghi mt khi d liu
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Device files, Device number

Device number: mi thit b c x|c nh bi hai gi| tr
Major device number: x|c nh thit b n{y s dng drvier no Minor device number: ph}n bit gia c|c thit b kh|c nhau cng s dng chung mt device driver
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Kim tra danh sch thit b

Kim tra danh s|ch c|c thit b
G lnh ls al /dev
Gii thch thng tin

Loi thit b: char device hay block device Ti khon ngi dng Tn thit b Major v minor number Mount ponint
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Kim tra danh sch thit b

Kim tra danh s|ch c|c nhm thit b
G lnh cat /proc/devices
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C ch lp trnh giao tip thit b

C ch lp trnh
S dng c|c h{m v{o ra file
open close read write
S dng h{m iu khin v{o ra: ioctl
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2.2. Lp trnh iu khin led n

S dng led driver ~ c 4 led n, ghp ni qua GPB5,6,7,8 iu khin led on/off, to hiu ng: nhp nh|y, chy ui, Cn s dng h{m tr (delay): sleep, usleep (th vin sys/time.h)
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M hnh giao tip iu khin led

Phn mm ng dng leds.c Hm giao tip: open close ioctl
Device files
/dev/leds
Device Drivers
Mini2440_leds.c
Phn cng
GPIO Port
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Lp trnh iu khin led n

fd=open(/dev/leds,0)
fd: file id /dev/leds: device file 0: WRITE_ONLY
ioctl(fd, on, led_no)

Ioctl: IO control iu khin bt/tt led n c s hiu led_no
Driver cho led n: linux-2.6.32.2/drivers/char/mini2440_leds.c

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M ngun minh ha iu khin led n
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2.3. Lp trnh giao tip nt bm

Giao tip qua driver ~ c
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M hnh giao tip iu khin nt bm

Phn mm ng dng Buttons.c Hm giao tip: open close read
Device files
/dev/buttons
Device Drivers
Mini2440_buttons.c
Phn cng
GPIO Port
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Lp trnh ghp ni nt bm
buttons_fd=open(/dev/buttons,0)
buttons_fd: file id /dev/buttons: device file
read(buttons_fd,current_buttons,sizeof(curren t_buttons)
c trng th|i c|c nt bm
close(buttons_fd): ng file M~ ngun driver cho nt bm linux2.6.32.2/drivers/char/mini2440_buttons.c

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M ngun chng trnh c nt bm
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2.4. Lp trnh giao tip GPIO m rng

2 c|ch s dng giao tip gpio (t Linux user space)
Cch 1: Vit gpio driver (trn khng gian nh}n h iu h{nh, kernel space), giao tip qua driver n{y. (V d vi led, button ~ l{m) Cch 2: giao tip c|c ch}n gpio trc tip t khng gian ngi dng (user space) da trn API th vin gpiolib cung cp. Linux cung cp giao din GPIO sysfs cho php thao t|c vi bt k ch}n GPIO t userspace.
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Lp trnh giao tip GPIO m rng

Tt c c|c giao din iu khin GPIO thng qua sysfs nm trong th mc /sys/class/gpio Kim tra bng lnh: ls /sys/class/gpio
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Giao din n{y cung cp c|c files iu khin sau }y:
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V d minh ha
Cu hnh chn GPF5 (micro2440) output, v xut gi tr 0 ra chn ny echo 165 > /sys/class/gpio/export echo out > /sys/class/gpio/gpio165/direction echo 0 > /sys/class/gpio/gpio165/value
Chi tit xem b{i vit: https://sites.google.com/site/embedded247/ddcour se/giao-tiep-gpio-tu-userspace-1

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Tho lun
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Chng 3
Lp trnh vo ra nng cao
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Mc tiu chng 3
Nm c chun RS232 Lp trnh giao tip chun RS232 trn kit nhng Micro2440 Nm c chun giao tip USB Lp trnh ghp ni USB Joystick qua cng USB Lp trnh giao tip ADC
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Ni dung bi hc
3.1. Gii thiu chun RS232 3.2. Lp trnh giao tip chun RS232 3.3. Gii thiu chun USB 3.4. Lp trnh giao tip USB Joystick 3.5. Lp trnh giao tip ADC
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3.1. Gii thiu chun RS232

Mc in |p ng truyn Chun u ni trn m|y tnh PC Khun dng khung truyn Tc truyn Kch bn truyn
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Chun RS232
Mc in |p ng truyn (Chun RS-232C)
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Chun RS232
Chun u ni trn PC
UART
UART
UART (Universal Asynchronous receiver/transmitter)

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Chun RS232
Chun u ni trn PC
Chn 1 (DCD-Data Carrier Detect): ph|t hin tn hiu mang d liu Chn 2 (RxD-Receive Data): nhn d liu Chn 3 (TxD-Transmit Data): truyn d liu Chn 4 (DTR-Data Terminal Ready): u cui d liu sn s{ng Ch}n 5 (Signal Ground): t ca tn hiu Chn 6 (DSR-Data Set Ready): d liu sn s{ng Chn 7 (RTS-Request To Send): yu cu gi Chn 8 (CTS-Clear To Send): Xa gi Chn 9 (RI-Ring Indicate): bo chung
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Chun RS232
Khun dng khung truyn PC truyn nhn d liu qua cng ni tip RS-232 thc hin theo kiu khng ng b (Asynchronous) Khung truyn gm 4 th{nh phn
1 Start bit (Mc logic 0): bt u mt gi tin, ng b xung nhp clock gia DTE v{ DCE Data (5,6,7,8 bit): d liu cn truyn 1 parity bit (chn (even), l (odd), mark, space): bit cho php kim tra li Stop bit (1 hoc 2 bit): kt thc mt gi tin
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Chun RS232
Kch bn truyn Khng c bt tay (none-handshaking): m|y thu c kh nng c c|c k t thu trc khi m|y ph|t truyn k t tip theo
Kt ni khng cn bt tay gia hai thit b (cng mc in p)

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Chun RS232
Kch bn truyn
Ghp ni khng bt tay gia hai thit b (Khc nhau v mc in p)

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3.2. Lp trnh giao tip chun RS232

Khi to: Khai b|o th vin Bc 1: M cng Bc 2: Thit lp tham s Bc 3: c, ghi cng Bc 4: ng cng
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Khai bo th vin
#include <stdio.h> #include <stdlib.h> #include <string.h> #include <unistd.h> // UNIX standard function #include <fcntl.h> // File control definitions #include <errno.h> // Error number definitions #include <termios.h> // POSIX terminal control #include <time.h> // time calls
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Bc 1: M cng
S dng lnh m file int fd = open ("/dev/ttySAC0", O_RDWR); Fd >0 nu m file th{nh cng Fd<0 nu m file tht bi
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Bc 2: Thit lp tham s
S dng cu trc termios
struct termios port_settings;
Thit lp tham s (9600, 8, n, 1)

cfsetispeed(&port_settings, B9600); cfsetospeed(&port_settings, B9600); port_settings.c_cflag &= ~PARENB; port_settings.c_cflag &= ~CSTOPB; port_settings.c_cflag &= ~CSIZE; port_settings.c_cflag |= CS8; tcsetattr(fd, TCSANOW, &port_settings);
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Bc 3: c, ghi cng
c cng: s dng lnh c file n=read(fd,&result,sizeof(result)); N: s k t c c Result: cha kt qu Ghi cng: s dng lnh ghi file n=write(fd,Hello World\r",12); N:s k t ~ ghi Fd: file id (c c t thao t|c m file th{nh cng)
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Bc 4: ng cng
ng cng: s dng lnh ng file close (fd); Fd: file ID (c c t thao t|c m file th{nh cng)
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Demo
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3.3. Gii thiu chun USB

Nm 1995: USB 1.0
Tc Low-Speed: 1.5 Mbps Tc ti a (Full-Speed): 12 Mbps
Nm 1998: USB 1.1 (Sa li ca USB 1.0)

Tc ti a (Full-Speed): 12 Mbps
Nm 2001: USB 2.0

Tc ti a (High-Speed): 480 Mbps
Nm 2008: USB 3.0

Tc ti a (Super-Speed): 4.8 Gbps
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Tn hiu chun USB

Tn hiu
Truyn kiu ni tip Tn hiu trn hai ng D+ v D- l tn hiu vi sai
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M hnh bus USB
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Vai tr ca cc thnh phn

Vai tr ca USB host:
Trao i d liu vi c|c thit b ngoi vi iu khin USB bus:
Qun l c c|c thit b kt ni v{o ng bus v{ kh nng ca mi thit b : s dng c ch im danh (Enumeration) Ph}n x, qun l lung d liu trn bus, m bo c|c thit b u c c hi trao i d liu
Kim tra li: thm c|c m~ kim tra li v{o gi tin cho php ph|t hin li v{ yu cu truyn li gi tin Cung cp ngun in cho tt c c|c thit b
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Vai tr ca cc thnh phn

Vai tr ca thit b ngoi vi
Trao i d liu vi host Ph|t hin c|c gi tin hay yu cu (request) c gi ti thit b x l ph hp Kim tra li: tng t nh Host, c|c thit b ngoi vi cng phi chn thm c|c bit kim tra li v{o gi tin gi i Qun l ngun in: c|c thit b c th s dng ngun in ngo{i hay ngun t bus. Nu s dng ngun t bus, phi chuyn sang ch tit kim in nng.
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Endpoint & pipes

Mi qu| trnh truyn nhn d liu bao gm mt hay nhiu giao dch (transactions), mi giao dch gm mt hay nhiu packets -> hiu c c|c giao dch, c|c packet v{ ni dung ca chng -> cn tm hiu hai kh|i nim Endpoint v Pipes
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Endpoint
Endpoint ca thit b:
Ch c thit b mi c Endpoint, Host khng c Endpoint Endpoint l{ b m (gi, nhn) C|c Endpoint c |nh a ch v{ x|c nh hng
In Endpoint: b m gi Out Endpoint: b m nhn
Tt c c|c thit b u phi c Endpoint 0, }y l{ endpoint mc nh gi c|c thng tin iu khin
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Pipes
Pipes: kt ni Endpoint ca thit b ti Host
Phi thit lp pipe trc khi mun trao i d liu Host thit lp pipe trong qu| trnh im danh (Enumeration) C|c Pipe s c hy khi thit b ngt kt ni khi bus Tt c c|c thit b u c mt ng ng iu khin (control pipe) mc nh s dng Endpoint 0
104
Device Classes
C|c thit b ngoi vi cng chc nng (chut, m|y in, nh flash) c c tnh truyn nhn d liu chung -> H iu h{nh c th cung cp driver chung cho c|c nhm, c|c nh{ sn xut thit b khng cn vit driver ring. C|c nhm thit b ~ c nh ngha
Audio Communication devices Human interface (HID) IrDA Bridge Mass Storage Cameras and scanners Video
105
Qu trnh trao i d liu

C|c thit b USB c th trao i d liu vi Host theo 4 kiu ho{n to{n kh|c nhau, c th:
Truyn iu khin (control transfer) Truyn ngt (interrupt transfer) Truyn theo khi (bulk transfer) Truyn ng thi (isochronous transfer)
106
Cc kiu truyn
Truyn iu khin: iu khin phn cng, c|c yu cu iu khin c truyn. Chng l{m vic vi mc u tin cao v{ vi kh nng kim so|t li t ng. Tc truyn ln v c n 64 byte trong mt yu cu (request) c th c truyn. Truyn ngt: c|c thit b, cung cp mt lng d liu nh, tun ho{n chng hn nh chut, b{n phm u s dng kiu truyn n{y. H thng s hi theo chu k, chng hn 10ms mt ln xem c c|c d liu mi gi n.
107
Cc kiu truyn
Truyn theo khi: khi c lng d liu ln cn truyn v{ cn kim so|t li truyn nhng li khng c yu cu thc p v thi gian truyn th d liu thng c truyn theo khi. VD: m|y in, m|y qut Truyn ng thi: khi c khi lng d liu ln vi tc d liu ~ c quy nh, v d nh card }m thanh. Theo c|ch truyn n{y mt gi| tr tc x|c nh c duy tr. Vic hiu chnh li khng c thc hin v nhng li truyn l t cng khng g}y nh hng |ng k.
108
3.4. Lp trnh giao tip USB Joystick
109
Cu trc JOYINFO trn Windows

Windows nh ngha cu trc JOYINFO lu c|c thng tin v tnh trng c|c nt bm trn Joystick
Nt tri, phi Nt ln, xung
Cc nt chc nng: 1, 2, 3, 4, L1, L2, R1, R2, Select, Start
110
Cu trc JOYINFO
wXpos
wXpos=0 -> nt sang tr|i c bm wXpos=65535 -> nt sang phi c bm
wYpos
wYpos=0 -> nt ln c bm wYpos=65535 -> nt xung c bm
wButtons: mi bit biu din trng th|i ca mt nt chc nng

VD: Button 1 -> bit 0, Button 2 -> bit 1
111
Cu trc js_event trn Linux

Linux nh ngha cu trc js_event lu c|c thng tin khi c ph|t sinh s kin (khi to thit b, ngi dng bm nt chc nng, nt chnh hng) nh ngha trong include/linux/joystick.h
112
Cu trc js_event
Ni dung c|c trng d liu
Time: nh~n thi gian ph|t sinh s kin Value: gi| tr, ph thuc v{o nt chc nng hay nt chnh hng
Nt chc nng: 0/1 Nt chnh hng: -32768 -> 32767
Type: loi s kin

Khi to thit b: 0x80 Nt chnh hng: 0x02 Nt chc nng: 0x01
Number: x|c nh nt c nhn

113
Lp trnh kt ni joystick
M file thit b: joystick_fd = open(JOYSTICK_DEVNAME, O_RDONLY | O_NONBLOCK); JOYSTICK_DEVNAME: tn ca file thit b, thng l /dev/input/js0 O_RDONLY | O_NONBLOCK: m file ch c ch NONBLOCK
114
Lp trnh kt ni joystick
c d liu t thit b (khi c pht sinh s kin) bytes = read(joystick_fd, jse, sizeof(*jse)); joystick_fd: con tr file c c khi m file jse: bin cu trc js_event bytes: Tng s file c c, nu s n{y bng kch thc ca cu trc js_event th qu| trnh c th{nh cng
115
Demo
116
Kt qu demo
C|c s kin khi khi to thit b
117
Kt qu demo
C|c s kin khi ngi dng nhn c|c nt
118
QT Joystick Demo
119
3.5. Lp trnh giao tip ADC

Gii thiu ADC Minh ha lp trnh ADC
120
Gii thiu ADC

ADC: Analog to Digital Converter
Thng s quan trng ca ADC Di in |p chuyn i ADC 8 bit, 10 bit, 12 bit Bao nhiu knh? ph}n ly
121
Minh ha lp trnh ADC

Khai b|o th vin
#include <stdio.h> #include <unistd.h> #include <stdlib.h> #include <sys/types.h> #include <sys/stat.h> #include <sys/ioctl.h> #include <fcntl.h> #include <linux/fs.h> #include <errno.h> #include <string.h>
122
Minh ha lp trnh ADC

int main(void){ fprintf(stderr, "press Ctrl-C to stop\n"); int fd = open("/dev/adc", 0); if (fd < 0) { perror("open ADC device:"); return 1; } for(;;) { char buffer[30]; int len = read(fd, buffer, sizeof buffer -1); if (len > 0) { buffer[len] = '\0'; int value = -1; sscanf(buffer, "%d", &value); printf("ADC Value: %d\n", value); } else { perror("read ADC device:"); return 1; } usleep(500* 1000); } close(fd); }
123
Chng 4
K thut lp trnh nng cao
124
Mc tiu chng 4
Nm c kh|i nim tin trnh (process), quan h gia c|c tin trnh Trnh b{y c c ch s dng signal giao tip gia c|c tin trnh Lp trnh s dng k thut a tin trnh Trnh b{y kh|i nim lung Lp trnh ng dng a lung
125
Ni dung
4.1. Tin trnh (process) 4.2. C ch s dng signal 4.3. Lp trnh giao tip a tin trnh 4.4. Lung (thread) 4.5. Lp trnh ng dng a lung
126
4.1. Tin trnh (Process)

Kh|i nim tin trnh Lp trnh a tin trnh
127
Khi nim tin trnh

Tin trnh c to ra khi ta thc thi mt chng trnh a tin trnh cho php nhiu chng trnh cng thc thi v{ chia s d liu vi nhau C|c tham s ca mt tin trnh
PID (Process ID): s hiu tin trnh PPID (Parent Process ID): s hiu tin trnh cha Command: c}u lnh c gi thc thi tin trnh
ls e o pid,ppid,command
128
PID, PPID
Ly v PID: s dng hm getpid() Ly v PPID: s dng hm getppid() Hm getpid() v getppid() tr gi tr kiu pid_t (bn cht l kiu int)
129
Dng tin trnh

C|ch 1: S dng t hp phm Ctrl + C C|ch 2: S dng shell command
kill PID
130
To tin trnh mi
Cch 1: s dng h{m system
131
To tin trnh mi
Cch 2: s dng h{m fork v{ exec
132
4.2. C ch s dng signal

Signal l{ c ch cho php giao tip gia c|c tin trnh Signal l{ c ch khng ng b Khi tin trnh nhn c signal, tin trnh phi x l signal ngay lp tc Linux h tr 32 SIGNAL
133
Danh sch signal thng dng

Kiu SIGNAL
SIGHUP SIGINT SIGILL SIGABRT SIGKILL
L do gi SIGNAL
Bo cho chng trnh khi thot khi terminal Khi ngi dng nhn Ctrl + C tt chng trnh Khi chng trnh chy lnh khng hp l Khi chng trnh nhn c lnh abort Khi chng trnh nhn c lnh kill (ng chng trnh)
SIGUSR1
SIGUSR2
Ty bin theo ng dng

Ty bin theo chng trnh
134
Gi SIGNAL ti process
Cch 1: s dng shell command kill [-SIGNAL_TYPE] PID Cch 2: s dng h{m kill trong chng trnh, cho php process n{y gi signal ti process kh|c kill(PID, SIGNAL_TYPE)
135
4.3. Lp trnh giao tip a tin trnh

C ch:
Tin trnh chnh to ra c|c tin trnh con s dng lnh fork v{ exec S dng c ch signal trao i tn hiu gia c|c tin trnh
136
V d
Bt v{ x l signal c gi ti mt tin trnh (SIGTERM v SIGINT)
137
killsignal.c
138
V d: killsignal.c (tip)
139
Demo
140
4.4. Lung (thread)

Mt chng trnh mc nh chy mt lung -> lung chnh Lung chnh c th to ra c|c lung kh|c, c|c lung s chy ng thi -> tng tc chng trnh C|c lung chia s khng gian nh, truy xut file v{ cc ti nguyn khc Tham s ca mt lung:
thread ID: s hiu lung (kiu d liu pthread_t)
141
4.5. Lp trnh x l a lung

To lung Truyn tham s cho lung Nhn gi| tr tr v t lung Tt lung
142
To lung
Khai b|o th vin: pthread.h H{m to lung: pthread_create
thread: thread id attr: cc thuc tnh ca lung, mc nh NULL start_routine: hm thc thi trong lung arg: cc tham s truyn cho lung
Bin dch chng trnh:

gcc o multithread multithread.c -pthread
143
M ngun to lung
144
Truyn tham s cho lung

Khai bo cu trc d liu cha d liu cn truyn cho lung. V d:
struct arg { //Ky tu can in char character; //So lan can in int count; };
Truyn d liu cho lung khi to lung qua tham s arg Chng trnh con thc thi lung nhn tham s v v x l
145
M ngun truyn tham s cho lung
146
Tt lung
S dng h{m pthread_cancel:
thread: nhn tham s thread id ca lung mun tt
147
M ngun tt lung
148
Tho lun
149
Chng 5
Lp trnh device driver
150
Ni dung
5.1. Gii thiu v Kernel Module 5.2. C ch x}y dng Device Driver 5.3. Tm hiu, ty chnh mt s driver ~ c 5.4. X}y dng usb device driver
151
5.1. Kernel Module

Hot ng trn Kernel Space, c th truy xut ti c|c t{i nguyn ca h thng Kernel Module cho php thm mi c|c module mt c|ch linh hot, tr|nh vic phi bin dch li nh}n h iu h{nh Kernel Module l{ c ch hu hiu ph|t trin c|c device driver Xem danh s|ch c|c module ang chy: lsmod
152
Kernel Module
C|c bc thm mt kernel module v{o h thng
Vit m~ ngun: ch s dng c|c th vin c cung cp bi kernel, khng s dng c c|c th vin bn ngoi Bin dch m~ ngun module C{i t module: dng lnh insmod Tn_Module.ko G module: dng lnh rmmod Tn_Module Xem c|c thng tin log: s dng System Log Viewer
153
M ngun kernel Module
154
Kernel Module Makefile

obj-m += hello.o all: make -C /lib/modules/$(shell uname -r)/build M=$(PWD) modules clean: make -C /lib/modules/$(shell uname -r)/build M=$(PWD) clean
155
Lin kt Kernel Module
156
5.2. Device Driver

Thm c|c device driver theo c ch s dng Kernel Module C|c thao t|c thm driver v{o h thng
Vit m~ ngun (cu trc tng t kernel Module). ng k Major ID Bin dch m~ ngun C{i t s dng lnh insmod S dng lnh mknod to device file trong /dev mknod [options] NAME Type [Major Minor]
157
V d: Hello Driver
158
Demo
159
V d
V d 1: Chnh sa driver sn c
Chnh sa driver iu khin led, b sung thm hm write iu khin trc tip tt c c|c led n trn KIT
V d 2: To driver mi theo c ch kernel module
160
Tho lun
161
Bi s 6
Lp trnh nn tng QT
162
Mc tiu bi hc s 6
Sau khi kt thc b{i hc n{y, sinh vin c th
Nm c c|c vn c bn, c trng ca nn tng Qt C{i t Qt Creator (Qt SDK) trn m|y ph|t trin (Ubuntu) L{m quen vi lp trnh ng dng giao din ha s dng nn tng Qt C{i t Qt Everywhere ph|t trin ng dng cho nn tng Arm Embedded Linux
163
Ni dung bi hc
6.1. Gii thiu QT 6.2. C{i t mi trng ph|t trin Qt 6.3. L{m quen vi lp trnh QT 6.4. C{i t Qt Everywhere (Qt Embedded)
164
6.1. Gii thiu Qt

Qt Development Frameworks c s|ng lp nm 1994 bi TrollTech 2008: TrollTech s|p nhp v{o Nokia Qt l{ mt Framework ph|t trin ng dng a nn tng (desktop, mobile, embedded). H tr c|c nn tng: Windows, Linux, Embedded Linux, Win CE, Symbian, Maemo
165
Gii thiu QT
Qt cho php vit ng dng mt ln v{ bin dch cho trn nhiu nn tng h iu h{nh khc nhau m khng phi vit li m~. Tuy nhin, m~ ngun cn c bin dch trn nn tng m{ mun ng dng c thc thi. Lp trnh Qt theo chun C++.
166
Gii thiu QT
Qt Framework bao gm:
a cross-platform class library (Th vin c|c lp hng i tng) integrated development tools (C|c cng c ph|t trin tch hp) a cross-platform IDE. (Mi trng ph|t trin ng dng)
Tham kho: qt.nokia.com; qtcentre.org
167
QT c s dng rng ri
168
Kin trc Qt
169
6.2. Ci t Qt SDK
C{i t Qt SDK trn m|y ph|t trin (Linux, Windows, MacOS) File c{i t qt-sdk-linux-x86-opensource-2010.05.1.bin (http://qt.nokia.com/downloads) Thc thi file c{i t: $ ./qt-sdk-linux-x86-opensource-2010.05.1.bin i qu| trnh c{i t din ra th{nh cng, mc nh th mc c{i t cha ti $HOME/qtsdk-2010.01/qt/bin
170
Ci t Qt SDK
Sau khi c{i t xong Qt SDK, cng c Qt Creator cho php ph|t trin ng dng vi la chn mc nh bin dch trn m|y tnh Linux. bin dch cho ng dng thc thi trn KIT FriendlyArm (Embedded Linux) cn c{i t Qt Everywhere
171
6.3. Lm quen vi lp trnh QT

S dng mi trng ph|t trin Qt Creator (IDE) Chng trnh HelloQt C ch Signals/Slot Qun l layout
172
Mi trng pht trin Qt Creator IDE
173
Cc thnh phn Qt Creator
174
Cc iu khin (widgets) c bn
QLabel QPushButton QLineEdit QTextEdit QSpinBox QComboBox Qslider V.v
175
Chng trnh HelloQt

To project HelloQt Trong file main.c b sung on m~: Bin dch, chy chng trnh:
#include <QApplication> #include <QLabel> int main(int argc, char *argv[]) { QApplication app(argc, argv); QLabel *label = new QLabel("Hello Qt!"); label->show(); return app.exec(); }
176
Chng trnh HelloQt

Gii thch ? Sa on m~ vi HTML style
#include <QApplication> #include <QLabel> int main(int argc, char *argv[]) { QApplication app(argc, argv); //QLabel *label = new QLabel("Hello Qt!"); QLabel *label = new QLabel("<h2><i>Hello</i> " "<font color=red>Qt!</font></h2>"); label->show(); return app.exec(); }
177
C ch signals - slot
C ch event handler X l c|c s kin (s kin tng t|c ngi dng, s kin ca h thng) Cho php to c|c kt ni (connections) gia s kin (signals) vi h{m x l (slot) C 2 c|ch to:
To t ng (wizard) To bng tay (manual, hand-code)
178
Minh ha c ch signals/slot
To bng code (dng phng thc Qobject::connect)
179
Minh ha c ch Signals/Slot
To bng code
connect(sender, SIGNAL(signal), receiver, SLOT(slot));
Trong : sender, receiver l{ con tr Qobjects, signal v{ slot l{ c|c tn h{m khng c tham s.
Cc macro SIGNAL() v SLOT() bin i tham s thnh string. VD: ng b gia 2 iu khin slider v{ spinBox
180
Minh ha c ch Signals/Slot
To t ng (wizard): chut phi v{o i tng mun x l s kin, chn Go to slot, tm slot l{ h{m x l s kin tng ng mun dng. V d x l s kin nt bm (QPushButton)
181
Qun l layout trong ng dng Qt

K thut lay out: Cho php sp xp c|c iu khin (widgets) trn mt form. Kch thc v{ v tr s thay i linh hot khi form thay i kch thc. C c|c kiu lay out:
Horizontal lay out Vertical lay out Grid lay out Form lay out
182
Chng trnh TextFinder

X}y dng ng dng TextFinder
183
Qt Documentations
Documentation in Qt Assistant (or QtCreator) Qts examples Qt developer network:
http://developer.qt.nokia.com/
Qt Center Forum:
http://www.qtcentre.org
184
6.4. Ci t Qt Everywhere
Bc 1: Ci t QT Embedded (QT Everywhere) (Xem hng dn chi tit km theo) Bc 2: Copy cc file th vin cn thit xung KIT
3 th vin quan trng (VD: copy xung th mc /opt/qte/lib)
libQtCore.so.4 libQtGui.so.4 libQtNetwork.so.4
Copy cc fonts vo th mc /opt/qte/lib/fonts
Bc 3: Chnh file cu hnh /etc/init.d/rcS, tt Qtopia trnh tranh chp

185
Cu hnh trnh dch Qmake cho Kit

Bc 4: To cu hnh bin dch cho Mini2440, tr ti Qmake ~ bin dch c trn
186
Cu hnh trnh dch Qmake cho Kit

Bc 5: Dch chng trnh QT cho KIT
Chn ng b bin dch Qmake cho QT Embedded
187
Tho lun
188
Bi s 7
Lp trnh mng trn Linux nhng
189
Mc tiu bi hc s 7
Sau khi kt thc b{i hc n{y, hc vin c th
X}y dng ng dng giao din, s dng c|c iu khin (widgets) Vn dng k thut qun l layout sp xp c|c iu khin trn form Vn dng c ch x l s kin (signal/slot) Lp trnh socket trn nn Linux nhng Lp trnh mng vi Qt
190
Ni dung bi hc
7.1. Lp trnh socket trn Linux nhng 7.2. Th vin lp trnh mng trn Qt 7.3. Lp trnh ng dng ChatRoom 7.4. Lp trnh ng dng gi/nhn nh qua socket
191
7.1. Lp trnh Socket trn Linux

Gii thiu lp trnh socket M hnh lp trnh Minh ha
192
Gii thiu lp trnh socket

Socket: Kt ni u cui gia 2 tin trnh/2 m|y qua mng (m hnh client/server) Tin trnh client kt ni n tin trnh server yu cu trao i d liu Client cn bit v a ch v{ s tn ti ca server, trong khi server khng cn bit v client cho n khi n c kt ni n. Mi khi thit lp kt ni, c 2 bn c th gi v{ nhn d liu Lin h nh kt ni trong mt cuc gi in thoi
193
Gii thiu lp trnh socket

C|c h thng (Windows, Linux, ) u cung cp c|c h{m h thng lp trnh socket C 2 loi socket s dng rng r~i:
Stream socket Datagram socket
Stream sockets: Da trn giao thc TCP (Tranmission Control Protocol), l{ giao thc hng lung (stream oriented). Datagram sockets: Da trn giao thc UDP (User Datagram Protocol), l{ giao thc hng thng ip (message oriented)
194
M hnh lp trnh socket

M hnh lp trnh socket TCP gia 2 tin trnh client/server
195
Chng trnh minh ha

2 tin trnh (M~ ngun tham kho):
server.c client.c
Bin dch v{ chy 2 chng trnh n{y (trn cng mt m|y local host, hoc 2 m|y ring bit kt ni mng)
196
Demo
Lp trnh giao tip socket gia KIT micro 2440 v{ PC
Demo
197
7.2. Th vin lp trnh mng trn QT

QtNetwork
QTcpSocket QUdpSocket QTcpServer QFtp: l{m vic vi giao thc truyn file FTP QHttp: l{m vic vi giao thc Http (Xem Qt documentation)
198
7.3. Chng trnh ChatRoom
199
7.4. Chng trnh gi/nhn nh

Lp trnh socket client/server S dng lp QImage
200
Tho lun
201
Chng 8
Lp trnh x l nh trn nn nhng
202
Ni dung
8.1. Tng quan v x l nh 8.2. Gii thiu OpenCV 8.3. C|c php bin i nh c bn
203
8.1. Tng quan x l nh

Khi nim x l nh N}ng cao cht lng hnh nh theo mt tiu ch n{o (Cm nhn ca con ngi) Ph}n tch nh thu c c|c thng tin c trng gip cho vic ph}n loi nh (image classification), nhn dng nh (image recognition). Hiu nh u v{o c nhng m t v nh mc cao hn, s}u hn.
M hnh h thng x l nh
Lu tr Camera Thu nhn nh Sensor Lu tr Phn tch nh i snh Nhn dng
S ha
H quyt nh
Cc bi ton x l nh
Cc k thut tin x l-mc thp
Image Enhancement Image Restoration
X l mc cao
Image Segmentation
Image Acquisition
Image Compression
Image Coding
Representation & Description
Morphological Image Processing
Wavelet Analysis
Recognition & Interpretation
Knowledge Base
Cc bi ton x l nh
Thu nhn nh, s ha nh (image aquisition)
H thng chp nh, tn hiu nh H thng s ha nh: C|c phng ph|p ly mu, lng t ha
Ci thin nh, khi phc nh, lc nhiu (tin x l image pre-processing)

C|c php x l im nh C|c php x l trn min khng gian C|c php x l trn min tn s
2 0
Cc bi ton x l nh
Phn tch nh
Trch chn c trng (feature extraction) Biu din, m t nh (image representation, image description) Ph}n lp nh (image classification) Nhn dng nh (image recognition)
M ha, nn nh
C|c phng ph|p nn nh, c|c chun nn nh
Truyn thng nh: c|c k thut streaming

2 0
ng dng x l nh
ng dng tng cng cht lng
Hiu ng panorama
ng dng nhn dng khun mt
Nhn dng ngi chuyn ng
Nhn dng i tng chuyn ng
Nhn dng ch vit tay
Nhn dng vn tay
Nhn dng mng mt (iris)
M hnh ha 3D & AR (Augmented Reality)
KINECT
8.2. Gii thiu OpenCV

OpenCV: Open Computer Vision Library
Tp hp c|c h{m C v{ mt s lp C++ gii quyt c|c b{i to|n, thut to|n c bn trong x l nh a nn tng, ~ porting c trn rt nhiu nn tng kh|c nhau: Windows, Linux, Embedded Linux, iOS, Android
http://opencvlibrary.sourceforge.net
Th vin OpenCV
Kin trc th vin OpenCV
Kin trc th vin OpenCV

CV: cha c|c h{m c bn v{ n}ng cao thc thi c|c b{i to|n th gi|c m|y (computer vision) ML (Machine Learning): th vin hc m|y vi c|c cng c ph}n lp (classifier) v{ ph}n cm (clustering). HighGUI: c|c h{m v{o ra v{ c|c h{m lu tr, np v{ hin th nh v{ video CXCore: cha c|c kiu d liu c bn, mt s thut to|n c bn v{ c|c h{m v, c h tr XML
Ci t th vin OpenCV
Bc 1: C{i t th vin OpenCV trn m|y host (Linux Desktop) Bc 2: Bin dch cho, c{i t th vin OpenCV bin dch cho c|c ng dng trn KIT Chi tit: Xem t{i liu hng dn c{i t
Tch hp OpenCV v QT
Khai b|o trong file .pro ca d |n QT: thm c|c dng lnh sau v{o cui file .pro
Tch hp OpenCV v QT
Khai b|o c|c th vin s c s dng: ng dng linh hot, to file global.h cha include ti c|c th vin ca OpenCV
c nh v hin th
Cc kiu d liu c bn trong OpenCV cvArr cvMat IplImage CvCapture
226
c nh v hin th
Hm c nh: cvLoadImage
Tham s u v{o: ng dn ti file nh Tham s u ra: d liu nh lu theo kiu d liu con tr ca IplImage
V d:
IplImage* img = cvLoadImage("/home/oto.jpeg" );
Kt ni Camera
Hm m file video: H{m m webcam: CvCapture* capture=cvCreateCameraCapture(0)
Kt ni Camera
Bc 1: m kt ni vi Camera mc nh CvCapture* camera = cvCreateCameraCapture(0); Bc 2: ly v tng Frame nh ca camera IplImage* preImage=cvQueryFrame(camera); Bc 3: gii phng i tng camera cvReleaseCapture(&camera);
229
8.3. Cc php bin i c bn

8.3.1. Tm hiu cch thc biu din nh 8.3.2. Bin i nh mu sang nh a mc xm 8.3.3. Xy dng phn b Histogram ca nh 8.3.4. Lp trnh dn tng phn 8.3.5. Lp trnh cn bng tng phn 8.3.6. Bin i nh a mc xm sang nh nh phn
230
8.3.1. Cch thc biu din nh

Khi nim nh s: l{ nh thu c t nh lin tc bng php ly mu v{ lng t ha
y Gray level
x
pixel Original picture f(x, y)
Digital image I[i, j] or I[x, y]
nh s
Mt nh s thng c biu din nh mt ma trn c|c im nh Trong mi im nh c th c biu din bng
1 bit (nh nh ph}n) 8 bit (nh a mc x|m) 16, 24 bit (nh m{u)
Cch thc biu din nh

nh mu (Color image)
Cha thng tin mu ca nh Khng gian mu thng s dng: RGB, CMYK nh RGB 3 knh mu, mi knh s dng 8 bit
nh a mc xm (Grayscale image)
nh a mc xm l nh c s chuyn dn mc xm t trng sang en. S dng 8 bit biu din mc xm
nh nh phn (Binary image)

Ch c hai mu en, trng (tng ng gi tr 1,0)
233
8.3.2. Chuyn nh mu -> a mc xm

S dng cng thc: Gray scale= 0.2989*R+ 0.5870*G + 0.1140*B;
234
Chuyn nh mu -> a mc xm
Hm chuyn nh mu sang nh a mc xm:
Bc 1: To 1 nh trng (cha c d liu) nh dng nh a mc xm
IplImage *grayimage = cvCreateImage( cvSize( colorimg>width, colorimg->height ), IPL_DEPTH_8U, 1 ); Bc 2: Chuyn i nh mu sang a mc xm cvCvtColor( img, grayimage, CV_RGB2GRAY );
235
Demo chuyn sang nh a mc xm
8.3.3. Histogram
Biu ny n gin cho chng ta bit s im nh (pixel) trong mt nh a mc xm c mt gi tr mc xm tng ng. Thng s: s bins (=256 vi nh a mc xm)
237
Histogram
nh ti
238
Histogram
nh sng
239
Hm tnh Histogram
Cu trc CvHistogram: lu c|c thng tin v ph}n b Histogram ca nh
Hm tnh Histogram
Bc 1: S dng h{m cvCreateHist khi to cu trc CvHistogram chun b cha kt qu
Dims: s chiu ca Histogram Sizes: s lng bins Type: nh dng d liu (thng s dng CV_HIST_ARRAY) Ranges: Di c|c khong gi| tr tnh Histogram
Hm tnh Histogram
Bc 2: Tnh Histogram s dng h{m cvCalcHist
Image: nh cn tnh Histogram Hist: lu kt qu tnh Histogram Accumulate: ty chn tch ly, cho php tnh Histogram t nhiu nh Mask: x|c nh phm vi c|c pixel s c s dng tnh Histogram, mc nh tnh to{n nh
Hm tnh Histogram
Bc 3: V ph}n b Histogram Bc 4: Gii phng b nh s dng h{m cvClearHist
Demo tnh Histogram ca nh
8.3.4. Dn tng phn

y l mt k thut tng cng cht lng nh thng dng, n c tc dng lm tng tng phn ca nh bng cch gin di ga tr mc xm ca nh. Cc bc thc hin
Tm ra gii hn mc xm nh nht (a) v ln nht (b) ca nh. Vi nh a mc xm thng a=0 v b=255. Tm gi tr mc xm nh nht (c) v ln nht (d) trong cc im nh Xc nh gi tr mc xm mi theo cng thc
245
Dn tng phn
nh trc v sau khi tin hnh dn tng phn
246
8.3.5. Cn bng Histogram

Cn bng histogram l mt phng php thay i tng phn ca nh bng cch thay i lc phn b mc xm ca chng. Mc ch lm thay i biu phn b mc xm t phn b ban u sang s phn b hng ti u. Tc dng nhm pht hin nhng i tng bi che khut trong nh ban u. Php bin i ny rt c ngha i vi nhng bc nh chp trong bng m, i tng thng b m, hay b che khut bi bng ti, p dng cn bng histogram c th lm ni r i tng hn.
247
Cn bng Histogram
Cng thc thc hin: bk = (bmax bmin) Trong bmin, bmax l nhng gi tr c chn, pi l xc sut xut hin gi tr mc xm i trong nh ban u, vi i [amin, amax]
248
Hm cn bng Histogram
S dng h{m cvEqualizeHist
Src: ma trn nh gc Dst: ma trn nh sau khi ~ c}n bng Histogram
Demo cn bng Histogram
8.3.6. Chuyn sang nh nh phn

Chuyn i da trn phn ngng
Phn ngng c nh (fixed threshold): s dng khi Histogram phn b r rng hai vng sng, ti vi hai nh r rt
251
Chuyn sang nh nh phn

Phn ngng thch nghi (adaptive threshold)
Trong trng hp lc mc xm ca nh c ti >=3 nh chp, v d trong nh di y tng ng vi s im nh c gi tr mc xm tng ng l 50, 110 v 180.
252

Phn ngng thch nghi:
S dng ngng ng cho cc im nh khc nhau K thut ny cho php chng ta c th iu tit, thch nghi vi s thay i v iu kin sng ca nh v d nh nh c s dng cc hiu ng ri sng (illumination) hay bng(shadow).
253
Kt qu (S dng ngng cng)
Kt qu (S dng ngng thch nghi)
254
Hm chuyn sang nh nh phn

Phn ngng cng
Src: nh ban u, dst: nh kt qu Threshold: ngng c chn maxValue: gi| tr ln nht thresholdType: kiu ph}n ngng
Hm chuyn sang nh nh phn

Phn ngng thch nghi
Src: nh ban u, dst: nh kt qu maxValue: gi| tr ln nht adaptiveMethod: phng ph|p tnh ngng thch nghi (CV_ADAPTIVE_THRESH_MEAN_C hay CV_ADAPTIVE_THRESH_GAUSSIAN_C)
Demo chuyn sang nh nh phn
Ph lc A Cc lnh Linux
Lnh hin th thng tin c|c file trong th mc ls al //hin th danh s|ch vi y thng tin Lnh thay i quyn cho mt file hay th mc chmod vd: chmod +x Filename //Cp thm quyn thc thi Lnh xem danh s|ch c|c file thit b ls al /dev Lnh xem tt c c|c tin trnh ang chy ps
258
Ph lc A Cc lnh Linux
Lnh c{i t mt phn mm t kho cha ca Linux sudo apt-get install Tn_gi_phn_mm Xem danh s|ch c|c major id tng ng vi c|c device driver ang active cat /proc/devices Tm kim file cha mt dng text bt k grep vd: grep r Hello .
//Tm tt c c|c file v{ hin th ra c|c dng cha t kha //Hello trong th mc hin ti v{ c|c th mc con
259
Ph lc B Website quan trng

http://www.friendlyarm.net //download http://www.thaieasyelec.com/FriendlyARM //mua KIT, download t{i liu http://dientuvietnam.net //forum chia s http://eetimes.com //Tin tc cng ngh http://www.kernel.org //download m kernel http://qt.nokia.com //H tr QT SDK qtforum.org qtcenter.org
260

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LP TRNH H NHNG

Lp trnh nhng ARM-Linux

Ti liu tham kho

Gii thiu Lp trnh h nhng

Lp trnh nhng ARM-Linux

Lp trnh nhng ARM-Linux

1.1. Gii thiu lp trnh h nhng

1.1. Gii thiu lp trnh h nhng

1.1. Gii thiu lp trnh h nhng

1.1. Gii thiu lp trnh h nhng

Lp trnh nhng ARM-Linux

1.2. Gii thiu KIT nhng micro2440

Lp trnh nhng ARM-Linux

Gii thiu KIT nhng micro2440

Lp trnh nhng ARM-Linux

Gii thiu KIT nhng micro2440

Lp trnh nhng ARM-Linux

Gii thiu KIT nhng micro2440

Lp trnh nhng ARM-Linux

Gii thiu KIT nhng micro2440

Lp trnh nhng ARM-Linux

1.3. H iu hnh nhng Linux

Lp trnh nhng ARM-Linux

1.3.1. Tng quan Embedded Linux

Lp trnh nhng ARM-Linux

Lp trnh nhng ARM-Linux

Kin trc h iu hnh Linux

Lp trnh nhng ARM-Linux

c trng h iu hnh nhng

H iu hnh thi gian thc

Lp trnh nhng ARM-Linux

H iu hnh thi gian thc

Lp trnh nhng ARM-Linux

Cu trc nhn h iu hnh

Lp trnh nhng ARM-Linux

H thng file trong Linux

Lp trnh nhng ARM-Linux

Qu trnh boot h thng Linux trn PC

Lp trnh nhng ARM-Linux

Qu trnh boot h thng Linux nhng

Lp trnh nhng ARM-Linux

Qu trnh boot h thng Linux nhng

Lp trnh nhng ARM-Linux

1.3.2. Ci t Embedded Linux

Lp trnh nhng ARM-Linux

Lp trnh nhng ARM-Linux

Ci t h iu hnh nhng Linux

1.3.3. Bin dch, ty bin nhn Linux

Qu| trnh bin dch nh}n

Bin dch nhn Linux

Bin dch nhn Linux

1.4. Mi trng lp trnh KIT FriendlyARM Micro2440

Lp trnh nhng ARM-Linux

1.4.1. Mi trng pht trin ng dng nhng

Lp trnh nhng ARM-Linux

M hnh lp trnh h thng nhng

Host: h thng cha mi trng pht trin

Mi trng lp trnh KIT micro 2440

Lp trnh nhng ARM-Linux

Mi trng lp trnh theo nhm

Mi trng pht trin ng dng theo nhm

1.4.2. Ci t mi trng pht trin

Lp trnh nhng ARM-Linux

Ci t trnh bin dch cho