开源机械臂技能化控制:从硬件驱动到应用集成的实践指南
2026/5/17 2:46:38
PL端
设备树端配置
/ { plint1 { compatible = "subomb,plint"; interrupt-parent = <&gic>; interrupts = <0 85 4>; // 1 = IRQ_TYPE_EDGE_RISING(上升沿触发) }; plint2 { compatible = "subomb,plint"; interrupt-parent = <&gic>; interrupts = <0 86 4>; }; plint3 { compatible = "subomb,plint"; interrupt-parent = <&gic>; interrupts = <0 87 4>; }; };内核驱动代码配置
#include <linux/module.h> #include <linux/interrupt.h> #include <linux/of_platform.h> #include <linux/of_irq.h> #include <linux/ui