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1. \u5f00\u6e90\u786c\u4ef6\u67b6\u6784\u4e0e\u591a\u6a21\u5757\u96c6\u6210\u8bbe\u8ba1<\/h3>\n

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\u6838\u5fc3\u5904\u7406\u6a21\u5757<\/td>\nXC7Z020 SoC, DDR3, QSPI, \u591a\u4f20\u611f\u5668<\/td>\n\u5904\u7406\u4f20\u611f\u5668\u6570\u636e\u878d\u5408\u548c\u5bfc\u822a\u7b97\u6cd5，\u63d0\u4f9b\u8ba1\u7b97\u80fd\u529b<\/td>\n\u5b9e\u65f6\u5b9a\u4f4d\u3001\u52a8\u6001\u8def\u5f84\u89c4\u5212<\/td>\n<\/tr>\n
IMU\u53ca\u6269\u5c55\u6a21\u5757<\/td>\nSD\u5361, Type-C, Xilinx\u4e0b\u8f7d\u7ebf, \u4ee5\u592a\u7f51<\/td>\n\u6570\u636e\u5b58\u50a8\u3001\u8c03\u8bd5\u63a5\u53e3\u548c\u7f51\u7edc\u8fde\u63a5，\u652f\u6301\u865a\u62dfU\u76d8\u529f\u80fd<\/td>\n\u6559\u80b2\u5b9e\u9a8c\u3001\u8fdc\u7a0b\u6570\u636e\u91c7\u96c6<\/td>\n<\/tr>\n
\u5c04\u9891\u6a21\u5757<\/td>\nMAX2771\u5957\u7247, ADC3223<\/td>\nGNSS\u4fe1\u53f7\u63a5\u6536\u548c\u4e0b\u53d8\u9891，\u652f\u6301\u6297\u5e72\u6270\u5904\u7406<\/td>\n\u65e0\u4eba\u673a\u5bfc\u822a\u3001\u9ad8\u7cbe\u5ea6\u6d4b\u7ed8<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

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2. SD\u5361\u865a\u62dfU\u76d8\u6280\u672f\u7684\u539f\u7406\u4e0e\u5b9e\u64cd<\/h3>\n

SD\u5361\u865a\u62dfU\u76d8\u529f\u80fd\u662f\u63d0\u5347\u5f00\u53d1\u8005\u4f53\u9a8c\u7684\u5173\u952e\u521b\u65b0\u4e4b\u4e00\u3002\u4f20\u7edf\u5f00\u53d1\u4e2d，\u4ece\u5d4c\u5165\u5f0f\u8bbe\u5907\u5bfc\u51fa\u6570\u636e\u901a\u5e38\u9700\u8981\u901a\u8fc7\u4e32\u53e3\u6216\u7f51\u7edc\u4f20\u8f93，\u8fd9\u4e9b\u65b9\u6cd5\u901f\u5ea6\u6162\u4e14\u5bb9\u6613\u4e2d\u65ad\u3002\u4f8b\u5982，\u4e32\u53e3\u4f20\u8f93\u5927\u6587\u4ef6\u53ef\u80fd\u8017\u65f6\u6570\u5c0f\u65f6，\u800c\u7f51\u7edc\u914d\u7f6e\u53c8\u53ef\u80fd\u56e0\u73af\u5883\u95ee\u9898\u53d8\u5f97\u590d\u6742\u3002SD\u5361\u865a\u62dfU\u76d8\u6280\u672f\u89e3\u51b3\u4e86\u8fd9\u4e00\u75db\u70b9：\u5f53\u8bbe\u5907\u901a\u8fc7Type-C\u63a5\u53e3\u8fde\u63a5\u5230PC\u65f6，SD\u5361\u81ea\u52a8\u88ab\u8bc6\u522b\u4e3a\u53ef\u79fb\u52a8\u5b58\u50a8\u8bbe\u5907（U\u76d8），\u5f00\u53d1\u8005\u53ef\u4ee5\u76f4\u63a5\u62d6\u653e\u6587\u4ef6，\u65e0\u9700\u989d\u5916\u9a71\u52a8\u6216\u5de5\u5177\u3002<\/p>\n

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  • \u786c\u4ef6\u51c6\u5907：\u786e\u4fdd\u786c\u4ef6\u5e73\u53f0\u652f\u6301USB OTG（On-The-Go）\u529f\u80fd，\u5e76\u901a\u8fc7Type-C\u63a5\u53e3\u8fde\u63a5\u7535\u6e90\u548c\u6570\u636e\u7ebf\u3002\u4f8b\u5982，\u5728XC7Z020\u5e73\u53f0\u4e0a，USB\u5f15\u811a\u9700\u6b63\u786e\u914d\u7f6e\u4e3a\u8bbe\u5907\u6a21\u5f0f\u3002<\/li>\n
  • \u8f6f\u4ef6\u914d\u7f6e：\u5728\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d（\u5982\u8fd0\u884cLinux\u6216FreeRTOS），\u542f\u7528USB gadget\u9a71\u52a8\u3002\u5bf9\u4e8eLinux\u7cfb\u7edf，\u53ef\u4ee5\u901a\u8fc7\u4fee\u6539\u8bbe\u5907\u6811（Device Tree）\u6765\u6dfb\u52a0USB\u8282\u70b9：\/\/ \u793a\u4f8b\u8bbe\u5907\u6811\u7247\u6bb5：\u914d\u7f6eUSB\u4e3agadget\u6a21\u5f0f
    \n&usb0 {
    \n status = "okay";
    \n dr_mode = "peripheral";
    \n gadget {
    \n compatible = "fsl,imx6ul-usb-gadget";
    \n storage {
    \n compatible = "usb-mass-storage";
    \n lun = <0>;
    \n file = "\/dev\/mmcblk0p1"; \/\/ \u6307\u5411SD\u5361\u5206\u533a
    \n };
    \n };
    \n};<\/p>\n<\/li>\n
  • \u6587\u4ef6\u7cfb\u7edf\u8bbe\u7f6e：\u683c\u5f0f\u5316SD\u5361\u4e3aFAT32\u6216exFAT\u683c\u5f0f，\u786e\u4fddPC\u548c\u5d4c\u5165\u5f0f\u7cfb\u7edf\u90fd\u80fd\u8bc6\u522b\u3002\u5728\u4ee3\u7801\u4e2d，\u6302\u8f7dSD\u5361\u5e76\u5b9e\u73b0\u6570\u636e\u8bfb\u5199\u903b\u8f91：# \u5728\u5d4c\u5165\u5f0fLinux\u4e2d\u6302\u8f7dSD\u5361
    \nmount \/dev\/mmcblk0p1 \/mnt\/sd -t vfat<\/p>\n<\/li>\n
  • \u6d4b\u8bd5\u4e0e\u8c03\u8bd5：\u8fde\u63a5PC\u540e，\u68c0\u67e5\u8bbe\u5907\u662f\u5426\u51fa\u73b0\u5728\u6587\u4ef6\u7ba1\u7406\u5668\u4e2d\u3002\u5982\u679c\u65e0\u6cd5\u8bc6\u522b，\u4f7f\u7528dmesg\u547d\u4ee4\u67e5\u770b\u5185\u6838\u65e5\u5fd7，\u6392\u67e5\u9a71\u52a8\u95ee\u9898\u3002<\/li>\n

    \u5728\u5b9e\u9645\u5e94\u7528\u4e2d，\u8fd9\u9879\u6280\u672f\u5927\u5927\u7b80\u5316\u4e86\u6570\u636e\u91c7\u96c6\u548c\u5206\u6790\u6d41\u7a0b\u3002\u4f8b\u5982，\u5728\u4e00\u4e2a\u79d1\u7814\u9879\u76ee\u4e2d，\u56e2\u961f\u53ef\u80fd\u9700\u8981\u6536\u96c6\u6570\u5c0f\u65f6\u7684GNSS\u6570\u636e\u7528\u4e8e\u540e\u5904\u7406\u3002\u4f20\u7edf\u65b9\u6cd5\u9700\u8981\u62c6\u89e3\u8bbe\u5907\u53d6\u51faSD\u5361，\u518d\u7528\u8bfb\u5361\u5668\u62f7\u8d1d，\u800c\u865a\u62dfU\u76d8\u529f\u80fd\u5141\u8bb8\u76f4\u63a5\u901a\u8fc7USB\u7ebf\u5bfc\u51fa，\u8282\u7701\u4e86\u5927\u91cf\u65f6\u95f4\u3002\u6b64\u5916，\u5bf9\u4e8e\u6559\u80b2\u573a\u666f，\u5b66\u751f\u53ef\u4ee5\u5feb\u901f\u83b7\u53d6\u5b9e\u9a8c\u6570\u636e，\u7acb\u5373\u5728PC\u4e0a\u7528MATLAB\u6216Python\u8fdb\u884c\u5206\u6790，\u52a0\u901f\u5b66\u4e60\u5faa\u73af\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f，\u865a\u62dfU\u76d8\u6a21\u5f0f\u4e0b，\u5d4c\u5165\u5f0f\u7cfb\u7edf\u53ef\u80fd\u65e0\u6cd5\u540c\u65f6\u8bbf\u95eeSD\u5361，\u56e0\u6b64\u5efa\u8bae\u5728\u6570\u636e\u8bb0\u5f55\u5b8c\u6210\u540e\u624d\u8fde\u63a5PC，\u907f\u514d\u51b2\u7a81\u3002<\/p>\n

    3. \u591a\u63a5\u53e3\u878d\u5408：Type-C\u3001\u4ee5\u592a\u7f51\u4e0e\u8c03\u8bd5\u5de5\u5177\u7684\u534f\u540c<\/h3>\n

    \u73b0\u4ee3\u5f00\u6e90\u786c\u4ef6\u5e73\u53f0\u6b63\u671d\u7740\u63a5\u53e3\u878d\u5408\u7684\u65b9\u5411\u53d1\u5c55，\u4ee5\u63d0\u4f9b\u65e0\u7f1d\u7684\u5f00\u53d1\u8005\u4f53\u9a8c\u3002Type-C\u63a5\u53e3\u6210\u4e3a\u7406\u60f3\u9009\u62e9，\u56e0\u4e3a\u5b83\u652f\u6301\u7535\u6e90\u3001\u6570\u636e\u548c\u89c6\u9891\u4f20\u8f93\u4e8e\u4e00\u4f53，\u51cf\u5c11\u4e86\u7ebf\u7f06 clutter\u3002\u5728GNSS\/INS\u5e73\u53f0\u4e0a，Type-C\u901a\u5e38\u7528\u4e8e\u4f9b\u7535\u3001USB\u6570\u636e\u4ea4\u6362（\u5982\u865a\u62dfU\u76d8）\u548c\u8c03\u8bd5\u8fde\u63a5\u3002\u7ed3\u5408\u4ee5\u592a\u7f51\u63a5\u53e3（\u598210M\/100M PHY），\u5f00\u53d1\u8005\u53ef\u4ee5\u8fdc\u7a0b\u8bbf\u95ee\u8bbe\u5907，\u8fdb\u884c\u5b9e\u65f6\u76d1\u63a7\u6216\u56fa\u4ef6\u66f4\u65b0\u3002\u800c\u96c6\u6210Xilinx\u4e0b\u8f7d\u7ebf（\u5982JTAG）\u5219\u7b80\u5316\u4e86FPGA\u8c03\u8bd5\u6d41\u7a0b，\u65e0\u9700\u5916\u90e8\u7f16\u7a0b\u5668\u3002<\/p>\n

    \u8fd9\u79cd\u591a\u63a5\u53e3\u878d\u5408\u7684\u8bbe\u8ba1\u63d0\u5347\u4e86\u5de5\u4f5c\u6548\u7387，\u5c24\u5176\u662f\u5728\u56e2\u961f\u534f\u4f5c\u4e2d\u3002\u4f8b\u5982，\u5f00\u53d1\u8005\u53ef\u4ee5\u901a\u8fc7\u4ee5\u592a\u7f51ssh\u5230\u8bbe\u5907，\u8fd0\u884c\u5b9e\u65f6\u8bca\u65ad\u547d\u4ee4，\u540c\u65f6\u901a\u8fc7Type-C\u5bfc\u51fa\u6570\u636e\u3002\u4ee5\u4e0b\u8868\u683c\u603b\u7ed3\u4e86\u5404\u63a5\u53e3\u7684\u529f\u80fd\u548c\u5178\u578b\u4f7f\u7528\u573a\u666f：<\/p>\n\n\u63a5\u53e3\u7c7b\u578b\u4e3b\u8981\u529f\u80fd\u4f18\u70b9\u5178\u578b\u4f7f\u7528\u573a\u666f<\/tr>\n\n\n\n\n
    Type-C<\/td>\n\u4f9b\u7535\u3001USB\u6570\u636e\u3001\u8c03\u8bd5<\/td>\n\u591a\u529f\u80fd\u5408\u4e00，\u7b80\u5316\u8fde\u63a5<\/td>\n\u5feb\u901f\u6570\u636e\u5bfc\u51fa\u3001\u8bbe\u5907\u5145\u7535<\/td>\n<\/tr>\n
    \u4ee5\u592a\u7f51<\/td>\n\u7f51\u7edc\u901a\u4fe1\u3001\u8fdc\u7a0b\u8bbf\u95ee<\/td>\n\u7a33\u5b9a\u9ad8\u901f，\u652f\u6301\u8fdc\u7a0b\u64cd\u4f5c<\/td>\n\u8fdc\u7a0b\u76d1\u63a7\u3001OTA\u66f4\u65b0<\/td>\n<\/tr>\n
    Xilinx\u4e0b\u8f7d\u7ebf<\/td>\nFPGA\u7f16\u7a0b\u548c\u8c03\u8bd5<\/td>\n\u96c6\u6210\u5316，\u8282\u7701\u5916\u90e8\u786c\u4ef6<\/td>\n\u5b9e\u65f6\u903b\u8f91\u5206\u6790\u3001\u56fa\u4ef6\u70e7\u5f55<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u5b9e\u64cd\u4e2d，\u63a5\u53e3\u534f\u540c\u9700\u8981\u4ed4\u7ec6\u7684\u786c\u4ef6\u548c\u8f6f\u4ef6\u914d\u7f6e\u3002\u4ee5Type-C\u4e3a\u4f8b，\u786e\u4fdd\u63a5\u53e3\u652f\u6301USB 2.0\u6216\u66f4\u9ad8\u901f\u5ea6，\u4ee5\u6700\u5927\u5316\u6570\u636e\u4f20\u8f93\u901f\u7387\u3002\u5728\u8f6f\u4ef6\u5c42\u9762，\u5b9e\u73b0\u7f51\u7edc\u529f\u80fd\u65f6，\u9700\u914d\u7f6e\u9759\u6001IP\u6216DHCP，\u5e76\u542f\u7528ssh\u670d\u52a1：<\/p>\n

    # \u5728\u5d4c\u5165\u5f0fLinux\u4e2d\u8bbe\u7f6e\u9759\u6001IP
    \nifconfig eth0 192.168.1.100 netmask 255.255.255.0
    \n# \u542f\u52a8ssh\u670d\u52a1
    \nservice ssh start<\/p>\n

    \u5bf9\u4e8eXilinx\u4e0b\u8f7d\u7ebf，\u96c6\u6210\u5230\u6269\u5c55\u677f\u4e0a\u610f\u5473\u7740\u5f00\u53d1\u8005\u53ef\u4ee5\u76f4\u63a5\u4f7f\u7528Vivado\u5de5\u5177\u8fdb\u884c\u7f16\u7a0b，\u800c\u65e0\u9700\u989d\u5916\u786c\u4ef6\u3002\u8fd9\u5728\u5c0f\u89c4\u6a21\u9879\u76ee\u4e2d\u7279\u522b\u6709\u7528，\u56e0\u4e3a\u5b83\u964d\u4f4e\u4e86\u6210\u672c\u5e76\u51cf\u5c11\u4e86\u8bbe\u7f6e\u65f6\u95f4\u3002\u7136\u800c，\u63a5\u53e3\u878d\u5408\u4e5f\u53ef\u80fd\u5e26\u6765\u6311\u6218，\u4f8b\u5982\u4fe1\u53f7\u5e72\u6270\u6216\u7535\u6e90\u7ba1\u7406\u95ee\u9898\u3002\u5efa\u8bae\u5728\u8bbe\u8ba1\u4e2d\u52a0\u5165\u9694\u79bb\u7535\u8def（\u5982\u4f7f\u7528\u78c1\u73e0\u6216\u6ee4\u6ce2\u5668），\u5e76\u6d4b\u8bd5\u4e0d\u540c\u63a5\u53e3\u540c\u65f6\u5de5\u4f5c\u65f6\u7684\u6027\u80fd\u3002\u5728\u4e00\u4e2a\u5b9e\u9645\u6848\u4f8b\u4e2d，\u56e2\u961f\u53d1\u73b0\u5f53\u4ee5\u592a\u7f51\u548cUSB\u540c\u65f6\u6d3b\u52a8\u65f6，\u7535\u6e90\u566a\u58f0\u4f1a\u589e\u52a0，\u901a\u8fc7\u6dfb\u52a0\u53bb\u8026\u7535\u5bb9\u89e3\u51b3\u4e86\u95ee\u9898\u3002<\/p>\n

    \u8fd9\u79cd\u591a\u63a5\u53e3 approach \u4e0d\u4ec5\u63d0\u5347\u4e86\u8c03\u8bd5\u6548\u7387，\u8fd8\u6269\u5c55\u4e86\u5e94\u7528\u573a\u666f\u3002\u4f8b\u5982，\u5728\u6559\u80b2\u73af\u5883\u4e2d，\u5b66\u751f\u53ef\u4ee5\u901a\u8fc7\u7f51\u7edc\u8fdc\u7a0b\u8bbf\u95ee\u5b9e\u9a8c\u5ba4\u8bbe\u5907，\u8fdb\u884c\u5b9e\u65f6\u5b9e\u9a8c，\u800cType-C\u5219\u63d0\u4f9b\u4fbf\u6377\u7684\u672c\u5730\u4ea4\u4e92\u3002\u5bf9\u4e8e\u5feb\u901f\u539f\u578b\u5f00\u53d1，\u96c6\u6210\u8c03\u8bd5\u5de5\u5177\u52a0\u901f\u4e86\u8fed\u4ee3\u5468\u671f，\u8ba9\u5f00\u53d1\u8005\u66f4\u4e13\u6ce8\u4e8e\u7b97\u6cd5\u4f18\u5316\u800c\u975e\u786c\u4ef6\u7410\u4e8b\u3002<\/p>\n

    4. \u5f00\u53d1\u8005\u4f53\u9a8c\u4f18\u5316：\u4ece\u6559\u80b2\u5230\u79d1\u7814\u7684\u5b9e\u9645\u5e94\u7528<\/h3>\n

    \u5f00\u6e90GNSS\/INS\u5e73\u53f0\u7684\u521b\u65b0\u8bbe\u8ba1\u6700\u7ec8\u76ee\u6807\u662f\u4f18\u5316\u5f00\u53d1\u8005\u4f53\u9a8c，\u8fd9\u5728\u6559\u80b2\u3001\u79d1\u7814\u548c\u5c0f\u578b\u9879\u76ee\u4e2d\u4f53\u73b0\u5f97\u5c24\u4e3a\u660e\u663e\u3002\u5bf9\u4e8e\u5b66\u751f\u56e2\u961f，\u964d\u4f4e\u5165\u95e8\u95e8\u69db\u81f3\u5173\u91cd\u8981\u3002\u865a\u62dfU\u76d8\u548c\u591a\u63a5\u53e3\u878d\u5408\u4f7f\u5f97\u786c\u4ef6\u64cd\u4f5c\u53d8\u5f97\u76f4\u89c2，\u5373\u4f7f\u6ca1\u6709\u6df1\u539a\u5d4c\u5165\u5f0f\u80cc\u666f，\u4e5f\u80fd\u5feb\u901f\u4e0a\u624b\u3002\u4f8b\u5982，\u5728\u4e00\u4e2a\u5927\u5b66\u8bfe\u7a0b\u9879\u76ee\u4e2d，\u5b66\u751f\u4f7f\u7528\u8be5\u5e73\u53f0\u6536\u96c6GPS\u548cIMU\u6570\u636e，\u901a\u8fc7Type-C\u76f4\u63a5\u5bfc\u5165\u7b14\u8bb0\u672c\u7535\u8111，\u7528\u5f00\u6e90\u5de5\u5177（\u5982Google Earth\u6216\u81ea\u5b9a\u4e49Python\u811a\u672c）\u53ef\u89c6\u5316\u8f68\u8ff9，\u4ece\u800c\u4e13\u6ce8\u4e8e\u7b97\u6cd5\u5b66\u4e60\u800c\u975e\u6570\u636e\u63d0\u53d6\u96be\u9898\u3002<\/p>\n

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