Linux+ARM 简单环境检测---软件部分

1、前言

这个是我学习linux+ARM的在做的第一个软硬件结合项目，以往的类似这种整体类项目还是光单片机的时候，linux软件部分学习了差不多快一年了，因为各种事情耽搁，这个项目一直没有静下心来完成，不过终于哈哈哈哈搞完了软件部分。其实并行的还想做另一个涉及到can通信的项目，那个重点可能是偏各种通信，不过软件部分大同小异，直接改改就可以变成那个的软件部分。驱动部分等我搞定我再发出来。（板子为什么选友善之臂S2440，因为便宜。。不过最近有点小钱又买了一块正点原子的6ULL，还在路上）

2、摘要

本文主要记录并分享软件部分，用于模拟将数据上传到互联网上以供使用，内容包含数据上传、数据库存储、屏幕显示三部分
使用软件：VMware+Ubuntu22.04
ARM版芯片：S3C2440（友善之臂mini2440）
上传采用MQTT协议上传到OneNet云，数据库使用sqlite3，屏幕显示采用FrameBuffer 帧缓存技术
实现效果：数据可以在云上、屏幕上、数据库中查看
学习文章会在本文中标记出来

3、内容简介

软件部分内容一共分为三部分：

数据上传部分：将获得的数据上传到OneNet云上
数据库存储部分：将数据存储到数据库中
屏幕显示部分：Framebuff显示在屏幕上

4、应用到的知识

完成上面所有的功能使用到的相关知识，我按照我自己的学习顺序梳理了一下

文件编程：系统函数（文件I/O） open read write close 等等
进程：进程原理及使用、进程之间的通信等等
线程：线程原理及使用，线程之间的通信等等
网络TCP通信：socket套接字、原理及使用等等，bind、listen、accept，读写函数recv、send等
MQTT协议：linux上代码实现以及软件使用，使用MQTT协议上传到OneNet云上(HTTP协议理论上也可以，但是MQTT网上教程多)
数据库sqlite：数据库的基本操作（增删改查），相关函数 sqlite3_open等等
FrameBuffer帧缓存：理解及代码实现流程
数据结构：链表，C语言代码实现（与线程邮箱有关）
线程邮箱：涉及到数据结构链表，线程邮箱是后面实现上面功能三部分整合的时候才知道的这个名词，挺重要的，用起来比线程之间sem信号量好用。

5、软件框架

6、代码

6.1 数据上传部分

数据上传部分可以分为两部分：OneNet云网站相关配置和MQTT相关代码编写，第一部分按照网上资料逐一配置即可，第二部分比较复杂的点是需要安装MQTT的库，代码流程固定：连接发送断开

6.1.1 流程图

6.1.2 实现代码

没有代码注释，因为代码很多，需要自己去理解一下

//head.h
#ifndef _HEAD_H_
#define _HEAD_H_#include <MQTTAsync.h>
#include <MQTTClient.h>#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <pthread.h>
#include <string.h>#define NEW_IP "tcp://183.230.40.96:1883"
#define NAME "cityheathly"
#define PRODUCT_ID "gUsHWQWmcp"
#define PASSWD "version=2018-10-31&res=products%2FgUsHWQWmcp%2Fdevices%2Fcityheathly&et=1837255523&method=md5&sign=sAR1RwRYplyky9oRoTAuHA%3D%3D"
#define QOS 0
#define TIMEOUT 10000L#define CONNECT_OK 1
#define CONNECT_FAIL 2static char topic[2][200] = {0};
static int id = 1000;
static MQTTClient client;
volatile static MQTTClient_deliveryToken deliveredtoken;extern int mqtt_connect_flag;
void mqtt_deinit();
void mqtt_send(char * db ,float db_value,char *dust,float dust_value,char *pos,char *pos_value);
void mqtt_init();
#endif

//mqqt.c
#include "head.h"void pack_topic(char * dev_name, char * pro_id)
{sprintf(topic[0], "$sys/%s/%s/thing/property/post/reply", pro_id, dev_name);        //订阅sprintf(topic[1], "$sys/%s/%s/thing/property/post", pro_id, dev_name);                        //发布
}
int MessageArrived (void *context, char *topicName, int topicLen, MQTTClient_message *message)
{printf("MessageArrived \n");printf("    topic:%s\n",topicName);printf("  message : ");char *payloadptr = (char *)message->payload;int i ;for(i =0 ; i < message->payloadlen ; i++){putchar(*payloadptr++);}putchar('\n');MQTTClient_freeMessage(&message);MQTTClient_free(topicName);return 1;
}
//传递完成
void DeliveryComplete(void *context, MQTTClient_deliveryToken dt)
{printf("Message with token value %d delivery confirmed\n", dt);deliveredtoken = dt;
}
//连接丢失
void ConnectLost(void *context, char *cause)
{printf("\n Connect lost\n");printf("cause :%s\n",cause);
}
int mqtt_connect_flag=0;
void mqtt_init()
{pack_topic(NAME,PRODUCT_ID);int creat_flag = 0;int setcallback_flag = 0;int connect_flag = 0;creat_flag = MQTTClient_create(&client,NEW_IP,NAME,MQTTCLIENT_PERSISTENCE_NONE,NULL);if(creat_flag != MQTTCLIENT_SUCCESS){printf("creat fail:%d\n",creat_flag);exit(1);}setcallback_flag = MQTTClient_setCallbacks(client,NULL,ConnectLost,MessageArrived,DeliveryComplete);if(setcallback_flag != MQTTCLIENT_SUCCESS){printf("faile setcallback :%d\n",setcallback_flag);}MQTTClient_connectOptions connect_opt = MQTTClient_connectOptions_initializer;connect_opt.keepAliveInterval = 20;connect_opt.cleansession = 1;connect_opt.username = PRODUCT_ID;connect_opt.password = PASSWD;connect_flag =  MQTTClient_connect(client,&connect_opt);if(connect_flag != MQTTCLIENT_SUCCESS){printf("connect fail : %d\n",connect_flag);mqtt_connect_flag = CONNECT_FAIL;}else{mqtt_connect_flag = CONNECT_OK;}
}
void mqtt_send(char * db ,float db_value,char *dust,float dust_value,char *pos,char *pos_value)
{int send_flag = 0;MQTTClient_deliveryToken deliveryToken;MQTTClient_message test2_pubmsg = MQTTClient_message_initializer;// 需要发送的正文char message[1024]={0};test2_pubmsg.qos = QOS;test2_pubmsg.retained = 0;test2_pubmsg.payload =message;sprintf(message,"{\"id\":\"%d\",\"version\":\"1.0\",\"params\":{\"%s\":{\"value\":%f},\"%s\":{\"value\":%f},\"%s\":{\"value\":\"%s\"}}}",id++, db,db_value,dust,dust_value, pos,pos_value);test2_pubmsg.payloadlen = strlen(message);printf("%s\n",message);send_flag = MQTTClient_publishMessage(client,topic[1],&test2_pubmsg,&deliveryToken) ;if(send_flag != MQTTCLIENT_SUCCESS){printf("client to publish fail : %d\n",send_flag);exit(1);}printf("Waiting for up to %d seconds for publication on topic %s for client with ClientID: %s\n",(int)(TIMEOUT/1000), topic[0], NAME);MQTTClient_waitForCompletion(client,deliveryToken,TIMEOUT);sleep(1);
}
void mqtt_deinit()
{MQTTClient_disconnect(client, 10000);MQTTClient_destroy(&client);
}

6.2 数据存储部分

数据存储部分就一个点：使用sqlite3进行数据库的创建，新增，删除，调用sqlite3的库中代码实现，流程过于简单就不画流程图了

//sql.h
#ifndef _SQL_H_
#define _SQL_H_
#include <sqlite3.h>
void sqlite_control(sqlite3 *db,float noise,float flower,char *pos1);#endif

//sql.c
#include "sql.h"
#include <stdio.h>
#include <sqlite3.h>
#include <string.h>
#include <unistd.h>
char message[100]={0};
int callback(void *arg,int n,char **pvalue,char **pname)
{static int flag = 0;int i =0;if(flag ==0){for (i =0;i<n;i++){printf("%s\t",pname[i]);}putchar('\n');for (i =0;i<n;i++){printf("------ ");}putchar('\n');flag = 1;}for (i =0;i < n;i++){sprintf(message,"%s %s",message,pvalue[i]);printf("%s\t",pvalue[i]);}printf("\n--------------------------\n");printf("\n %s \n",message);return 0;
}void sqlite_control(sqlite3 *db,float noise,float flower,char *pos1)
{if(sqlite3_open("data.db",&db) !=0 ){printf("sqlite3_open fail! :%s \n",sqlite3_errmsg(db));}char buf[500];char sql[1024] = {0};char *errmsg = NULL;sqlite3_exec(db,"create table dict (id INTEGER PRIMARY KEY ASC,noise float, flower float, pos1 text,dt datetime)",NULL,NULL,&errmsg);int i =0;
#if 1sprintf(sql,"insert into dict values(NULL,%f,%f,\"%s\",datetime('now','+8 hours'));",noise,flower,pos1);if(sqlite3_exec(db,sql,callback,NULL,&errmsg)!=0){printf("sqlite3_exec fail :%s\n",errmsg);}printf("%s\n",message);fflush(stdout);sleep(1);
#endif
#if 0for(int i =0 ;i<10 ;i++){sprintf(sql,"select * from dict where id =%d",i);if(sqlite3_exec(db,sql,callback,NULL,&errmsg)!=0){printf("sqlite3_exec fail :%s\n",errmsg);}//上传云端数据//清空上传数据memset(message,0,sizeof(message));//删除信息sprintf(sql,"delete from dict where id=%d",i);if(sqlite3_exec(db,sql,NULL,NULL,&errmsg)!=0){printf("sqlite3_exec fail :%s\n",errmsg);}printf("data delect succes!\n");}
#endifsqlite3_close(db);
}

6.3 显示部分

购买的屏幕是配套的，使用的技术是Framebuff，相对上面的比较特殊，因为要开启板子上的功能设备，不过流程也是同样的固定顺序：打开，读取，显示，关闭

#ifndef __FRAMEBUFF_H__
#define __FRAMEBUFF_H__#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <unistd.h>
#include <fcntl.h>
#include <linux/fb.h>/* 测试FrameBuff设备是否为RGB565标准 */
#define IS_RGB565_FORMAT(bits)                                (((bits) / 8 == 2) ? 1 : 0)
/* 测试FrameBuff设备是否为RGB888标准 */
#define IS_RGB888_FORMAT(bits)                                (((bits) / 8 == 4) ? 1 : 0)/* 填充RGB888颜色 */
#define FILL_RGB888_COL(col, r, g, b)                do { \(col)->R = r; \(col)->G = g; \(col)->B = b; \
} while (0)/* 填充RGB565颜色 */
#define FILL_RGB565_COL(col, r, g, b)                do { \(*(short *)col) = ((((r >> 3) << 11) & 0xF800) | (((g >> 2) << 5) & 0x07E0) | ((b >> 3) & 0x001F)); \
} while (0)/* RGB888 像素点结构类型 */
typedef struct rgb888 
{unsigned char B;                                                //红unsigned char G;                                                //绿unsigned char R;                                                //蓝unsigned char Reserved;                                        //保留(内存对齐)
}RGB888_T;/* RGB565 像素点结构类型 */
typedef struct rgb565
{unsigned short R:5;                                                //红unsigned short G:6;                                                //绿unsigned short B:5;                                                //蓝
}RGB565_T;/* FrameBuff结构信息类型 */
typedef struct framebuff_dev
{RGB888_T *pRGB888Addr;                                        //RGB888显存首地址RGB565_T *pRGB565Addr;                                        //RGB565显存首地址struct fb_var_screeninfo ScreenInfo;        //Framebuff设备信息
}FB_T;extern FB_T *FrameBuffInit(const char *pDevName);
extern int FrameBuffDeInit(FB_T *pFb);
extern int DrawOnePixel(FB_T *pFb, int x, int y, unsigned char TmpR, unsigned char TmpG, unsigned char TmpB);

#include "framebuff.h"
#include <sys/mman.h>FB_T *FrameBuffInit(const char *pDevName)
{int fb = 0;int ret = 0;FB_T *pFbInfo = NULL;pFbInfo = malloc(sizeof(FB_T));if (NULL == pFbInfo){perror("create fb info struct failed");return NULL;}fb = open(pDevName, O_RDWR);if (-1 == fb){perror("fail to open");return NULL;}ret = ioctl(fb, FBIOGET_VSCREENINFO, &pFbInfo->ScreenInfo);if (-1 == ret){perror("get screen info failed");return NULL;}printf("=================== Lcd Info ====================\n");printf("Width: %d\n", pFbInfo->ScreenInfo.xres_virtual);printf("Height: %d\n", pFbInfo->ScreenInfo.yres_virtual);if (IS_RGB565_FORMAT(pFbInfo->ScreenInfo.bits_per_pixel)){printf("FrameBuff Device Rgb565 Format!\n");}else if (IS_RGB888_FORMAT(pFbInfo->ScreenInfo.bits_per_pixel)){printf("FrameBuff Device Rgb888 Format!\n");}printf("================================================\n");if (IS_RGB565_FORMAT(pFbInfo->ScreenInfo.bits_per_pixel)){pFbInfo->pRGB565Addr = mmap(NULL, pFbInfo->ScreenInfo.xres_virtual * pFbInfo->ScreenInfo.yres_virtual * pFbInfo->ScreenInfo.bits_per_pixel / 8,PROT_READ | PROT_WRITE, MAP_SHARED, fb, 0);}else if (IS_RGB888_FORMAT(pFbInfo->ScreenInfo.bits_per_pixel)){pFbInfo->pRGB888Addr = mmap(NULL, pFbInfo->ScreenInfo.xres_virtual * pFbInfo->ScreenInfo.yres_virtual * pFbInfo->ScreenInfo.bits_per_pixel / 8,PROT_READ | PROT_WRITE, MAP_SHARED, fb, 0);}printf("create Frmamebuff size:%d display buff success!\n", pFbInfo->ScreenInfo.xres_virtual * pFbInfo->ScreenInfo.yres_virtual * pFbInfo->ScreenInfo.bits_per_pixel / 8);return pFbInfo;
}int FrameBuffDeInit(FB_T *pFb)
{if (IS_RGB565_FORMAT(pFb->ScreenInfo.bits_per_pixel)){munmap(pFb->pRGB565Addr, pFb->ScreenInfo.xres_virtual * pFb->ScreenInfo.yres_virtual * pFb->ScreenInfo.bits_per_pixel / 8);}else if (IS_RGB888_FORMAT(pFb->ScreenInfo.bits_per_pixel)){munmap(pFb->pRGB888Addr, pFb->ScreenInfo.xres_virtual * pFb->ScreenInfo.yres_virtual * pFb->ScreenInfo.bits_per_pixel / 8);}free(pFb);return 0;
}int DrawOnePixel(FB_T *pFb, int x, int y, unsigned char TmpR, unsigned char TmpG, unsigned char TmpB)
{RGB888_T *pTmp1 = NULL;RGB565_T *pTmp2 = NULL;if (IS_RGB888_FORMAT(pFb->ScreenInfo.bits_per_pixel)){pTmp1 = pFb->pRGB888Addr;pTmp1 += y * (pFb->ScreenInfo.xres_virtual) + x;FILL_RGB888_COL(pTmp1, TmpR, TmpG, TmpB);}else if (IS_RGB565_FORMAT(pFb->ScreenInfo.bits_per_pixel)){pTmp2 = pFb->pRGB565Addr;pTmp2 += y * (pFb->ScreenInfo.xres_virtual) + x;FILL_RGB565_COL(pTmp2, TmpR, TmpG, TmpB);}return 0;
}
int DrawString(FB_T *pFb, int x, int y,  const char *pstr, unsigned char TmpR, unsigned char TmpG, unsigned char TmpB)
{const char *ptmp = NULL;int i = 0;ptmp = pstr;while (*ptmp != '\0'){DrawOneAscii(pFb, x+10*i, y, *ptmp, TmpR, TmpG, TmpB);i++;ptmp++;}return 0;
}
void frame_control(FB_T *pFb,float db,float flower,char *pos1,char *pos2)
{char project_name[100]="Urban health data";char noise_data[100]={0};char flower_data[100] = {0};ClearScreen(pFb);sprintf(noise_data,"noise  %f",db);sprintf(flower_data,"flower %f",flower);DrawString(pFb,40,50,project_name,255,255,255);DrawString(pFb,50,100,pos1,255,255,255);DrawString(pFb,50,140,pos2,255,255,255);DrawString(pFb,50,250,flower_data,255,255,255);DrawString(pFb,50,200,noise_data,255,255,255);sleep(1);
}

6.4 整合

整合这里，很让人头大，因为这三部分是都要独立执行的，因此肯定是需要使用线程，但是如果光使用线程和信号量，需要设置各种全局变量和标志，弄得很混乱。在搜索的过程中查到了线程邮箱，尝试着学习，原理弄清楚个大概，但是代码借鉴的其他博主大神，自己修改修改就可以用了。

下面这个代码是做控制的整个.c文件，一共启用了三个线程，分别用于收集信息、发送云端，发送屏幕。收集信息由于还没开始弄硬件，所以调用了随机数模拟收集到的数据，数据是共享的，发送给其他两个线程。发送云端这里设计成：有网络数据上传到云服务器，无网络上传到数据库中。

#ifndef __LIST_H__
#define __LIST_H__
#include <pthread.h>
#include <stdlib.h>
#include <string.h>typedef void*(*th_fun)(void* arg);
typedef struct{float noise;float flower;char *pos;
}DATATYPE;
typedef struct mail_data
{pthread_t   id_of_sender;char       name_of_sender[256];pthread_t   id_of_recver;char       name_of_recver[256];DATATYPE data;
}MAIL_DATA;
typedef struct queue{MAIL_DATA data;struct queue* next;
//        int pro;
}Que, *pQue;
typedef struct thread_node
{pthread_t tid;         //线程id号char name[256];        //线程名字 ,必须唯一Que *mail_head, *mail_tail;th_fun th;
}LIST_DATA;typedef struct Link{LIST_DATA elem;struct Link *next;
}LIST_LINK;typedef struct mail_box_system
{pthread_mutex_t mutex;  //保护邮件系统LIST_LINK *thread_list;
}MBS;
extern LIST_LINK * list_init();
extern LIST_LINK * list_for_each(LIST_LINK* head, char *name);extern void list_add(LIST_LINK *head, LIST_LINK *info);int  register_to_mail_system(MBS *mbs,char name[],th_fun th);
int destroy_mail_box_system(MBS*mbs);
MBS* create_mail_box_system();
extern MBS *mbs;int wait_all_end(MBS*msb);
void* MQTT_th(void* arg);
void* data_collect_th(void* arg);
void* FramBuffer_th(void* arg);
#endif

#include "pthread_mail.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <pthread.h>
#include "list.h"
#include "queue.h"
#include "../head.h"
#include "../FrameBuff/framebuff.h"
#include "sql.h"
#define ENTER_CRITICAL_AREA(mutex)  do{pthread_mutex_lock(mutex);}while(0)
#define QUIT_CRITICAL_AREA(mutex)  do{pthread_mutex_unlock(mutex);}while(0)unsigned pthread_index;LIST_LINK *end_list = NULL;MBS* mbs;int send_msg(MBS*msb,char*recvname,DATATYPE data);
int recv_msg(MBS*msb,char*sendname,DATATYPE *data);MBS* create_mail_box_system()
{MBS *temp =(MBS*)malloc(sizeof(MBS));if(NULL ==  temp){perror("create_mail_box_system mutex malloc failure\n");return NULL;}int ret = pthread_mutex_init(&temp->mutex,NULL);if(0 != ret){perror("create_mail_box_system mutex init failure\n");return NULL;}temp->thread_list = (LIST_LINK *)malloc(sizeof(LIST_LINK));temp->thread_list->next = NULL;printf("mail box create ok!! \n");return temp;
}int destroy_mail_box_system(MBS*mbs)
{pthread_mutex_destroy(&mbs->mutex);LIST_LINK *temp = NULL;LIST_LINK *find = mbs->thread_list;while(find !=  NULL){temp = find;find = find->next;free(temp);}free(find);return 0;
}char *get_th_name(MBS*msb)
{pthread_t tid = pthread_self();LIST_LINK *find = msb->thread_list;LIST_LINK *end = end_list;while(find != end){if(find->elem.tid == tid)break;find = find->next;}if(find->elem.tid == tid){return find->elem.name;}elsereturn NULL;
}
int  register_to_mail_system(MBS *mbs,char name[],th_fun th)
{LIST_LINK* temp =  (LIST_LINK *)malloc(sizeof(LIST_LINK));if(NULL == temp){perror("register to mail malloc  \n");return -1;}strcpy(temp->elem.name ,name);temp->elem.th = th;temp->next = NULL;init_que(temp);pthread_t ret = pthread_create(&(temp->elem.tid),NULL,th,NULL);if(0!=ret){perror("register to mail thread create\n");return -1;}list_add(mbs->thread_list, temp);printf("register mail system  |%s|  ok \n", temp->elem.name);return 0;
}int unregister_from_mailbox(MBS*msb,char*name)
{LIST_LINK* find=msb->thread_list->next;LIST_LINK *temp = NULL;while(find !=  NULL){temp = find;find = find->next;if(0 == strcmp(temp->elem.name ,name)){destroy(find);free(temp);return 0;}}if(0 == strcmp(find->elem.name ,name)){destroy(find);free(find);return 0;}return -1;
}int wait_all_end(MBS*msb)
{LIST_LINK *find=msb->thread_list->next;LIST_LINK *end=end_list;while(find != end){pthread_join(find->elem.tid,NULL);find = find->next;}pthread_join(find->elem.tid,NULL);return 0;
}int send_msg(MBS*msb, char*recvname, DATATYPE data)
{MAIL_DATA* temp =  (MAIL_DATA *)malloc(sizeof(MAIL_DATA));temp->data = data;temp->id_of_sender = pthread_self();LIST_LINK *find = list_for_each(msb->thread_list, recvname);if (find == NULL){printf("can,t find msg \n");}char* name = get_th_name(msb);strcpy(temp->name_of_sender,name);strcpy(temp->name_of_recver,recvname);ENTER_CRITICAL_AREA(&msb->mutex);in_queue(find, temp);QUIT_CRITICAL_AREA(&msb->mutex);return 0;
}int recv_msg(MBS*msb,char*sendname,DATATYPE *data)
{MAIL_DATA* temp = (MAIL_DATA *) malloc(sizeof(MAIL_DATA));pthread_t tid =  pthread_self();LIST_LINK *find = msb->thread_list;while(find != NULL){if( find->elem.tid == tid)break;find = find->next;}if( find->elem.tid == tid){while (1){if(find->elem.mail_head != find->elem.mail_tail){ENTER_CRITICAL_AREA(&msb->mutex);out_queue(find, temp);QUIT_CRITICAL_AREA(&msb->mutex);break;}}}strcpy(sendname, temp->name_of_sender);*data = temp->data;free(temp);return 0;
}void* data_collect_th(void* arg)
{DATATYPE info;while(1){srand(time(NULL));// 生成在0到RAND_MAX之间的整数int random_int = rand();// 将整数映射到0到2000之间的浮点数info.noise = ((float)random_int / RAND_MAX) * 200;info.flower = ((float)random_int / RAND_MAX) * 100;send_msg(mbs,"mqtt",info);send_msg(mbs,"frambuffer",info);sleep(1);}return NULL;
}
void* MQTT_th(void* arg)
{sqlite3 *sqlite;while(1){char sendname[256];DATATYPE data;recv_msg(mbs,sendname,&data);printf("mqtt_flag=%d\n",mqtt_connect_flag);if(mqtt_connect_flag == CONNECT_OK){mqtt_send("db",data.noise,"dust",data.flower,"pos","199,N,200,S");}else if(mqtt_connect_flag == CONNECT_FAIL){sqlite_control(sqlite,data.noise,data.flower,"1992,N,200,S");}else {printf("mqtt_connect_flag has nothing!\n");}}mqtt_deinit();return NULL;
}
void* FramBuffer_th(void* arg)
{FB_T *pFb = NULL;pFb = FrameBuffInit("/dev/fb0");while(1){DATATYPE data;char sendname[256];recv_msg(mbs,sendname,&data);char pos1[100]="12345.6789,N";char pos2[100]="98765.4321,S";frame_control(pFb,data.noise,data.flower,pos1,pos2);}FrameBuffDeInit(pFb);return NULL;
}

7、实现效果

软件搞定

8、总结

软件部分大体都是有整体流程的，比较有规律，相对于代码，更复杂的应该是配置库和环境，需要使用大量时间去配置这些东西。等把硬件代码部分弄出来然后也分享出来。后面有时间会把上面学习到的东西，自己整理一下发出来。很多东西已经在笔记里面记好了，不过发CSDN文档改格式有点费时间，就一直没弄。我把这段时间看过的文档和书艾特在下面了。