初始提交：龙芯2K0300智能车卖家Demo完整代码

wonderEcho_demo/CMakeLists.txt

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+# demo2
+add_executable(wonderEcho_demo wonderEcho_demo.cpp)
+
+# 链接 OpenCV 库
+target_link_libraries(wonderEcho_demo)

wonderEcho_demo/wonderEcho_demo.cpp

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+/*
+ * @Author: Ilikara 3435193369@qq.com
+ * @Date: 2025-02-11 15:23:11
+ * @LastEditors: ilikara 3435193369@qq.com
+ * @LastEditTime: 2025-03-10 13:06:56
+ * @FilePath: /2k300_smartcar/wonderEcho_demo/wonderEcho_demo.cpp
+ * @Description:
+ *
+ * Copyright (c) 2025 by ${git_name_email}, All Rights Reserved.
+ */
+#include <iostream>
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <linux/i2c-dev.h>
+#include <linux/i2c.h>
+#include <thread>
+#include <atomic>
+#include <mutex>
+
+std::mutex i2c_mutex;            // 互斥锁，用于保护I2C设备访问
+std::atomic<bool> running{true}; // 控制线程运行状态
+
+int i2c_read_byte_data(int file, __u8 reg)
+{
+    union i2c_smbus_data data;
+    struct i2c_smbus_ioctl_data args;
+
+    args.read_write = I2C_SMBUS_READ;
+    args.command = reg;
+    args.size = I2C_SMBUS_BYTE_DATA;
+    args.data = &data;
+
+    if (ioctl(file, I2C_SMBUS, &args) == -1)
+    {
+        return -1;
+    }
+
+    return data.byte & 0xFF;
+}
+
+int i2c_write_i2c_block_data(int file, __u8 reg, __u8 length, const __u8 *values)
+{
+    union i2c_smbus_data data;
+    struct i2c_smbus_ioctl_data args;
+
+    if (length > I2C_SMBUS_BLOCK_MAX)
+    {
+        return -1;
+    }
+
+    for (int i = 0; i < length; i++)
+    {
+        data.block[i + 1] = values[i];
+    }
+    data.block[0] = length;
+
+    args.read_write = I2C_SMBUS_WRITE;
+    args.command = reg;
+    args.size = I2C_SMBUS_I2C_BLOCK_DATA;
+    args.data = &data;
+
+    if (ioctl(file, I2C_SMBUS, &args) == -1)
+    {
+        return -1;
+    }
+
+    return 0;
+}
+
+// 轮询线程函数
+void poll_i2c_device(int file)
+{
+    while (running)
+    {
+        {
+            std::lock_guard<std::mutex> lock(i2c_mutex); // 加锁
+            __u8 reg = 0x64;
+            __u8 value = i2c_read_byte_data(file, reg);
+
+            if (value != 0x00)
+            {
+                std::cout << "Value at 0x64 is not 0x00: " << std::hex << (int)value << std::endl;
+            }
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(1000)); // 1Hz轮询
+    }
+}
+
+// 用户输入线程函数
+void handle_user_input(int file)
+{
+    while (running)
+    {
+        __u8 data[2];
+        std::cout << "Enter two bytes to send to 0x6e (first byte must be 0x00 or 0xFF): ";
+        std::cin >> std::hex >> (int &)data[0] >> (int &)data[1];
+
+        // 检查第一个字节是否为0x00或0xFF
+        if (data[0] != 0x00 && data[0] != 0xFF)
+        {
+            std::cerr << "First byte must be 0x00 or 0xFF!" << std::endl;
+            continue;
+        }
+
+        {
+            std::lock_guard<std::mutex> lock(i2c_mutex); // 加锁
+            __u8 reg = 0x6e;
+            if (i2c_write_i2c_block_data(file, reg, sizeof(data), data) < 0)
+            {
+                std::cerr << "Failed to write to the i2c device" << std::endl;
+            }
+            else
+            {
+                std::cout << "Data sent successfully: " << std::hex << (int)data[0] << " " << (int)data[1] << std::endl;
+            }
+        }
+    }
+}
+
+int main()
+{
+    int file;
+    const char *filename = "/dev/i2c-2"; // I2C总线设备文件
+    int addr = 0x34;                     // I2C设备地址
+
+    // 打开I2C设备
+    if ((file = open(filename, O_RDWR)) < 0)
+    {
+        std::cerr << "Failed to open the i2c bus" << std::endl;
+        return 1;
+    }
+
+    // 设置I2C设备地址
+    if (ioctl(file, I2C_SLAVE, addr) < 0)
+    {
+        std::cerr << "Failed to acquire bus access and/or talk to slave" << std::endl;
+        close(file);
+        return 1;
+    }
+
+    // 创建轮询线程和用户输入线程
+    std::thread poll_thread(poll_i2c_device, file);
+    std::thread input_thread(handle_user_input, file);
+
+    // 等待用户输入线程结束（按Ctrl+C退出）
+    input_thread.join();
+
+    // 停止轮询线程
+    running = false;
+    poll_thread.join();
+
+    // 关闭I2C设备
+    close(file);
+
+    return 0;
+}