step1:

git clone https://gitee.com/yanyitech/openwrt.git

cd openwrt

### Quickstart

1. Run `./scripts/feeds update -a` to obtain all the latest package definitions
   defined in feeds.conf / feeds.conf.default

2. Run `./scripts/feeds install -a` to install symlinks for all obtained
   packages into package/feeds/

3. Run `make menuconfig` to select your preferred configuration for the
   toolchain, target system & firmware packages.

4. Run `make` to build your firmware. This will download all sources, build the
   cross-compile toolchain and then cross-compile the GNU/Linux kernel & all chosen
   applications for your target system.

在安装过程中，会遇到python opencv错误

sudo pip3 install -i http://pypi.douban.com/simple/ --trusted-host=pypi.douban.com/simple opencv-contrib-python==3.4.11.45

      [ 83%] Building CXX object modules/xfeatures2d/CMakeFiles/opencv_xfeatures2d.dir/src/boostdesc.cpp.o
      /tmp/pip-install-r3olluyq/opencv-contrib-python_519e0e398ed74b4b813452e2fef1a717/opencv_contrib/modules/xfeatures2d/src/boostdesc.cpp:654:20: fatal error: boostdesc_bgm.i: No such file or directory
        654 |           #include "boostdesc_bgm.i"
            |                    ^~~~~~~~~~~~~~~~~
      compilation terminated.

参考网上解决方法(https://www.cnblogs.com/zhang-hongbo/p/12859405.html)

把下列压缩包解压到目录opencv_contrib/modules/xfeatures2d/src/下即可。

压缩包地址：

链接：https://pan.baidu.com/s/17XhXX_cLz46bsj9ZWRkNIg
提取码：p50x

boostdesc_bgm_extra.zip

@night https://www.cool-pi.com/topic/114/ubuntu20-04-install-rknn-toolkit-lite2

@retroman
https://www.cool-pi.com/topic/127/coolpi-4b-镜像固件在线刷机方法

install usb driver and use rkdevtool.exe loading firmware image file.

@retroman hi, onedrive link try again. https://1drv.ms/u/s!AhSBNZjrDPlSanDDQF7WowYhiz8?e=lRpMrk

@老衲法号蛋哥 两个存储没有依赖关系。移除其中一个，都可以单独启动

@花月 可以拷贝重命名/usr/sbin/gpio_coolpi

https://im.qq.com/linuxqq/index.shtml

https://dldir1.qq.com/qqfile/qq/QQNT/64bd2578/linuxqq_3.0.0-565_arm64.deb

@花月
系统中若无该命令，请将附件文件拷贝到/usr/sbin/，再执行chmod a+x /usr/sbin/gpio_coolpi

gpio_coolpi

SPI与I2C操作使用标准python或标准C调用API

@花月 感谢建议！文档需要补充内容点，可以讨论列举几个

@retroman
refer topic https://www.cool-pi.com/topic/146/coolpi-4b-running-android12

包含硬件设计图、尺寸图等

https://www.cool-pi.com/topic/63/coolpi-4b硬件资料持续更新

@zensation
DSI driver with 'https://www.waveshare.net/wiki/5inch_DSI_LCD_(B)' worked fine. The other LCD model kernel driver need to be ported.

@zensation
DSI unit worked with 'https://www.waveshare.net/wiki/5inch_DSI_LCD_(B)'. You can porting LCD driver when use different LCD module.

@花月 https://www.cool-pi.com/post/330

基于这份再扩展

@night 不怕。24V以内Ok

开源四足仿生机器狗
https://www.waveshare.net/wiki/PIPPY

https://www.bilibili.com/video/BV1VV411n7FE/?zw

现已兼容coolpi 4b
https://gitee.com/yanyitech/pyppi.git

产品介绍
这一款是专门为树莓派设计的开源四足仿生机器狗。扩展板将OLED，舵机电机驱动电路，九轴姿态传感器，电池保护电路等集成在一起，免去你焊接电路的烦恼，支持免卸载充电，无需反复拆卸电池。支持视频监控，视觉巡线，超声波避障，自平衡控制，运动检测，颜色识别等功能。

特点
板载两节2600mAh 18650电池，支持边充边放
板载HY2120 + AO4406A锂电池保护电路，具有防过充、防过放、防过流和短路保护功能
板载APW7313稳压芯片，可给树莓派提供稳定的5V电压
板载高精度九轴运动姿态监测传感器ICM20948,可实现机器人姿态自平衡
板载0.91寸128×32分辨率OLED，实时显示小车IP地址，电量等情况
板载AINA219采集芯片，方便实时监控电池电压，充电电流

实操使用coolpi 4b + ubuntu20 desktop

@allen 下一版更新

@farukbak which one LCD model you have? please send a reference link. The model mipi dsi is okay. https://www.waveshare.net/wiki/5inch_DSI_LCD_(B)

Wiki

https://wiki.cool-pi.com
https://wiki.cool-pi.com/zh/home

CoolPi 4 Model B Spec V1.0.pdf

Cool Pi 4 Model B用户手册V1.1.pdf

how to buy coolpi 4b board

---

规格参数

模块	描述
SOC系统芯片	Rockchip RK3588s
CPU 中央处理器	Qual-Core Cortex-A76 and Qual-Core Cortex-A55
GPU 图形处理器	Mali-G610（OpenGL ES3.2 / OpenCL2.2 / Vulkan1.1）
VPU 视频处理单元	Decoder: up to 8K@60fps ; Encoder: up to 8K@30fps; Support H.265/AVS2/VP9/H.264/AV1
NPU 神经处理单元	6.0Tops, Support INT4/INT8/INT16/FP16
LPDDR 内存	4GB/8GB/16GB/32GB
Storage 闪存	32GB (eMMC Module/TF Card) - 可选(OPTION)
Power-IN 输入电源	Type-C Port
HDMI	1x HDMI2.1(Micro), up to 8K@60fps
Display Port	1x DP1.4(Mini), up to 4K@60fps
MIPI-DSI	1x MIPI-DSI
MIPI-CSI	1x MIPI-CSI, Support MIPI Camera
USB	2x USB2.0 Host,Type-A; 2x USB3.0 Host,Type-A
Ethernet网口	1xGMAC(10/100/1000M), Support PoE
Audio音频	1x earphone, Support microphone
Wireless无线	Support 5G/2.4G, BT5.0
Expansion 扩展接口	Support I2C/SPI/UART/GPIO/CAN
System 系统支持	Linux
Size 板子尺寸	85mm x 56mm

正面视图

背面视图

40PIN定义描述

信号功能	系统编号	引脚编号	引脚编号	系统编号	信号功能
3V3		1	2		5V0
I2C1_SDA|GPIO0_D5	/dev/i2c1 sda	3	4		5V0
I2C1_SCL|GPIO0_D4	/dev/i2c1 scl	5	6		GND
GPIO1_B7|PWM3_M3	gpio 47	7	8		TXD
GND		9	10		RXD
GPIO4_A0	gpio 128	11	12	gpio 39	GPIO1_A7
GPIO4_A1	gpio 129	13	14		GND
GPIO4_A2	gpio 130	15	16	/dev/ttyS2 uart txd	UART6_TX_M1|GPIO1_A1
3V3		17	18	/dev/ttyS2 uart rxd	UART6_RX_M1|GPIO1_A0
SPI0_MOSI_M2	spi mosi	19	20		GND
SPI0_MISO_M2	spi miso	21	22	gpio 40	GPIO1_B0
SPI0_CLK_M2	spi clk	23	24	spi cs 0	SPI0_CS0_M2
GND		25	26	spi cs 1	SPI0_CS1_M2
I2C6_SDA_M3	/dev/i2c6 sda	27	28	/dev/i2c6 scl	I2C6_SCL_M3
GPIO4_A3|UART0_TXD_M2	gpio 131	29	30		GND
GPIO4_A4|UART0_RXD_M2	gpio 132	31	32	gpio 105	PWM2
GPIO4_A5|UART3_TXD_M2	gpio 133	33	34		GND
GPIO4_A6|UART3_RXD_M2	gpio 134	35	36	gpio 138	GPIO4_B2|CAN1_RXD_M1
GPIO4_A7	gpio 135	37	38	gpio 139	GPIO4_B3|CAN1_TXD_M1
GND		39	40	gpio 115	GPIO3_C3