【毕业设计】基于ESP32-PICO-D4的履带四足复合机器人硬件设计与步态控制详解

bundle更新到

1.

1h

替换xc

cZ:\Linux_SDK\Firefly_SDK\kernel\drivers\media\i2c\xc

c

更新DTSY:\A7_RK3576_LINUX\kernel\arch\arm64\boot\dts\rockchip\rk3576-firefly-aio-3576q38-cam-imx

dtsi20260129让天启AIO-3576Q38开发板在天启Buildroot下适配摄像头模块8ms1m使用4K录像预览【第二版本/更新DTS】2026/1/29 16:35https://blog.csdn.net/wb4916/article/details/154075701?spm

1011.

2415.

3

533120251028在Ubuntu

20.

0

6上编译AIO-3576Q38开发板的Buildroot系统rootrootrootroot-X99-Turbo:~/Linux_SDK/Firefly_SDK$ sudo apt-get install libassimp-devrootrootrootroot-X99-Turbo:~$ cd Linux_SDK/rootrootrootroot-X99-Turbo:~/Linux_SDK$ cd base-v

1.

1c/rootrootrootroot-X99-Turbo:~/Linux_SDK/base-v

1.

1c$ chmod 777 sdk_tools.shrootrootrootroot-X99-Turbo:~/Linux_SDK/base-v

1.

1c$ mkdir ../Firefly_SDKrootrootrootroot-X99-Turbo:~/Linux_SDK/base-v

1.

1c$ ./sdk_tools.sh --unpack -C ../Firefly_SDKrootrootrootroot-X99-Turbo:~/Linux_SDK/base-v

1.

1c$ ./sdk_tools.sh --sync -C ../Firefly_SDKrootrootrootroot-X99-Turbo:~/Linux_SDK/base-v

1.

1c$ cd ..rootrootrootroot-X99-Turbo:~/Linux_SDK$ cd Firefly_SDKrootrootrootroot-X99-Turbo:~/Linux_SDK/Firefly_SDK$ ll *.7z-rwx------ 1 rootroot rootroot 25506 10月 22 14:06 rk3576-v

1.

1c-to-v

1.

1d.7z*-rwx------ 1 rootroot rootroot 179405810 10月 22 14:08 rk3576-v

1.

1d-to-v

1.

1g.7z*-rwx------ 1 rootroot rootroot 607340352 10月 22 14:13 rk3576-v

1.

1g-to-v

1.

1h.7z*rootrootrootroot-X99-Turbo:~/Linux_SDK/Firefly_SDK$rootrootrootroot-X99-Turbo:~/Linux_SDK/Firefly_SDK$ 7z x rk3576-v

1.

1c-to-v

1.

1d.7zrootrootrootroot-X99-Turbo:~/Linux_SDK/Firefly_SDK$ 7z x rk3576-v

1.

1d-to-v

1.

1g.7zrootrootrootroot-X99-Turbo:~/Linux_SDK/Firefly_SDK$ 7z x rk3576-v

1.

1g-to-v

1.

1h.7zrootrootrootroot-X99-Turbo:~/Linux_SDK/Firefly_SDK$ llrootrootrootroot-X99-Turbo:~/Linux_SDK/Firefly_SDK$ ./rk3576-v

1.

1c-to-v

1.

1d/bundle_update.shrootrootrootroot-X99-Turbo:~/Linux_SDK/Firefly_SDK$ ./rk3576-v

1.

1d-to-v

1.

1g/bundle_update.shrootrootrootroot-X99-Turbo:~/Linux_SDK/Firefly_SDK$ ./rk3576-v

1.

1g-to-v

1.

1h/bundle_update.shrootrootrootroot-X99-Turbo:~/Linux_SDK/Firefly_SDK$ ln -s .chips/rk3576/ .chiprootrootrootroot-X99-Turbo:~/Linux_SDK/Firefly_SDK$ ./build.sh lunch

firefly_rk3576_aio-3576q38_buildroot_defconfigWhich would you like? [1]: 8rootrootrootroot-X99-Turbo:~/Linux_SDK/Firefly_SDK$ ./build.sh all【编译打包后的IMG固件】rootrootrootroot-X99-Turbo:~/Linux_SDK/Firefly_SDK$ cd output/update/-rw-rw-r-- 1 rootroot rootroot 1968349827 10月 28 15:10 AIO-3576Q38_Buildroot_

imgrootrootrootroot-X99-Turbo:~/Linux_SDK/Firefly_SDK/output/update$

更新DTSdiff --git a/arch/arm64/boot/dts/rockchip/rk3576-firefly-aio-3576q38-cam-imx

dtsi b/arch/arm64/boot/dts/rockchip/rk3576-firefly-aio-3576q38-cam-imx

dtsiindex 44c30a9ff5c

.ae5a5ed17818 100644--- a/arch/arm64/boot/dts/rockchip/rk3576-firefly-aio-3576q38-cam-imx

dtsi b/arch/arm64/boot/dts/rockchip/rk3576-firefly-aio-3576q38-cam-imx

dtsi -23,14 23,14 IMX586_0: IMX

a {reset-gpios gpio2 RK_PD7 GPIO_ACTIVE_HIGH;pwdn-gpios gpio4 RK_PA1 GPIO_ACTIVE_HIGH;- rockchip,camera-module-index 1; rockchip,camera-module-index 2;rockchip,camera-module-facing front;rockchip,camera-module-name default;rockchip,camera-module-lens-name default;port {imx586_out0: endpoint {- remote-endpoint mipidphy0_in_ucam0; remote-endpoint mipidphy0_in_ucam1;>rockchip,camera-module-index 1;rockchip,camera-module-facing front;rockchip,camera-module-name default;rockchip,camera-module-lens-name default;port {imx586_out0: endpoint {remote-endpoint mipidphy0_in_ucam0;>mipidphy0_in_ucam0: endpoint0 {reg 0;remote-endpoint imx586_out0;>rockchip,camera-module-index 2;rockchip,camera-module-facing front;rockchip,camera-module-name default;rockchip,camera-module-lens-name default;port {imx586_out0: endpoint {remote-endpoint mipidphy0_in_ucam1;>mipidphy0_in_ucam1: endpoint1 {reg 1;remote-endpoint imx586_out0;>

Z:\Linux_SDK\Firefly_SDK\kernel\drivers\media\i2c\xc

cstatic const struct regval *xc7160_global_regs isp_xc7160_1080p_30fps_2022617_regs;static const struct regval *sc8238_global_regs sensor_xc7160_1080p_30fps_2022617_regs;static u32 clkout_enabled_index 1;修改为static const struct regval *xc7160_global_regs isp_xc7160_4k_25fps_2022617_regs;static const struct regval *sc8238_global_regs sensor_xc7160_4k_25fps_2022617_regs;static u32 clkout_enabled_index 1;static const struct xc7160_mode supported_modes[] dssds article-item">

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