first commit

2026-02-07 20:22:48 +08:00
commit 1b9711d5e4
2270 changed files with 805872 additions and 0 deletions
--- a/external/packages/bsp/overlays_cix/etc/modprobe.d/blacklist.conf
+++ b/external/packages/bsp/overlays_cix/etc/modprobe.d/blacklist.conf
@@ -0,0 +1,5 @@
+blacklist r8125
+blacklist pgdrv
+blacklist rtk_btusb
+blacklist amdgpu
+blacklist armcb_isp
--- a/external/packages/bsp/overlays_cix/etc/profile.d/cix_env.sh
+++ b/external/packages/bsp/overlays_cix/etc/profile.d/cix_env.sh
@@ -0,0 +1,4 @@
+export KWIN_COMPOSE=O2ES
+export QT_OPENGL=es2
+export GDK_GL=gles
+export GST_GL_API=gles2
--- a/external/packages/bsp/overlays_cix/etc/update-motd.d/41-orangepi-config
+++ b/external/packages/bsp/overlays_cix/etc/update-motd.d/41-orangepi-config
@@ -0,0 +1,30 @@
+#!/bin/bash
+#
+# Copyright (c) Authors: https://www.armbian.com/authors
+#
+# This file is licensed under the terms of the GNU General Public
+# License version 2. This program is licensed "as is" without any
+# warranty of any kind, whether express or implied.
+
+# DO NOT EDIT THIS FILE but add config options to /etc/default/orangepi-motd
+# any changes will be lost on board support package update
+
+THIS_SCRIPT="config"
+MOTD_DISABLE=""
+
+[[ -f /etc/default/orangepi-motd ]] && . /etc/default/orangepi-motd
+
+for f in $MOTD_DISABLE; do
+	[[ $f == $THIS_SCRIPT ]] && exit 0
+done
+
+#if [[ $(( $RANDOM % 2 )) == 0 ]]; then
+#	if [[ -f /usr/sbin/orangepi-config ]]; then
+#		echo -e "[\e[31m General system configuration (beta)\e[0m: \e[1morangepi-config\e[0m ]\n"
+#	else
+#		echo -e "[\e[31m Menu-driven system configuration (beta)\e[0m: \e[1msudo dpkg -i orangepi-config.deb\e[0m ]\n"
+#	fi
+#fi
+
+exit 0
+
--- a/external/packages/bsp/overlays_cix/opt/make_bios_image/.gitignore
+++ b/external/packages/bsp/overlays_cix/opt/make_bios_image/.gitignore
@@ -0,0 +1 @@
+*.img
--- a/external/packages/bsp/overlays_cix/opt/make_bios_image/EFI/BOOT/BOOTX64.EFI
+++ b/external/packages/bsp/overlays_cix/opt/make_bios_image/EFI/BOOT/BOOTX64.EFI
--- a/external/packages/bsp/overlays_cix/opt/make_bios_image/bios_flash/FlashUpdate.efi
+++ b/external/packages/bsp/overlays_cix/opt/make_bios_image/bios_flash/FlashUpdate.efi
--- a/external/packages/bsp/overlays_cix/opt/make_bios_image/bios_flash/flash_bios.nsh
+++ b/external/packages/bsp/overlays_cix/opt/make_bios_image/bios_flash/flash_bios.nsh
@@ -0,0 +1 @@
+FlashUpdate.efi -f bios_v1.0.bin
--- a/external/packages/bsp/overlays_cix/opt/make_bios_image/make_bios_img.sh
+++ b/external/packages/bsp/overlays_cix/opt/make_bios_image/make_bios_img.sh
@@ -0,0 +1,169 @@
+#!/bin/bash
+
+# BIOS镜像制作脚本
+
+set -e
+
+# 配置变量
+IMAGE_NAME="opi6plus_bios_image_for_linux_$(date +"%Y%m%d").img"
+IMAGE_SIZE="100"  # 100MB镜像
+MOUNT_POINT="/tmp/bios_mount"
+
+# 颜色定义
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m'
+
+info() { echo -e "${GREEN}[INFO]${NC} $1"; }
+warn() { echo -e "${YELLOW}[WARN]${NC} $1"; }
+error() { echo -e "${RED}[ERROR]${NC} $1"; }
+
+# 检查依赖
+check_dependencies() {
+    local deps=("dosfstools" "parted")
+    for dep in "${deps[@]}"; do
+        if ! command -v $dep &> /dev/null; then
+            info "安装依赖: $dep"
+            sudo apt-get install -y $dep
+        fi
+    done
+}
+
+# 清理函数
+cleanup() {
+    if mountpoint -q "$MOUNT_POINT"; then
+        sudo umount "$MOUNT_POINT" 2>/dev/null || true
+    fi
+    if [ -n "$LOOP_DEVICE" ]; then
+        sudo losetup -d "$LOOP_DEVICE" 2>/dev/null || true
+    fi
+    if [ -d "$MOUNT_POINT" ]; then
+        sudo rmdir "$MOUNT_POINT" 2>/dev/null || true
+    fi
+}
+
+trap cleanup EXIT
+
+main() {
+    info "开始制作BIOS镜像..."
+
+    check_dependencies
+
+    if [ ! -d "bios_flash" ] || [ ! -d "EFI" ]; then
+        error "缺少必要的文件夹: bios_flash 或 EFI"
+        exit 1
+    fi
+
+    # 删除已存在的镜像文件
+    [ -f "$IMAGE_NAME" ] && rm -f "$IMAGE_NAME"
+
+    # 1. 创建100MB镜像文件
+    info "创建${IMAGE_SIZE}MB空白镜像..."
+    dd if=/dev/zero of="$IMAGE_NAME" bs=1M count=$IMAGE_SIZE status=progress
+    sync
+
+    # 2. 使用parted创建分区
+    info "创建分区表和分区..."
+    sudo parted "$IMAGE_NAME" --script mklabel msdos
+    sudo parted "$IMAGE_NAME" --script mkpart primary fat32 1MiB 100%
+    sudo parted "$IMAGE_NAME" --script set 1 boot on
+
+    sync
+    sleep 2
+
+    # 3. 设置循环设备
+    info "设置循环设备..."
+    LOOP_DEVICE=$(sudo losetup --find --show --partscan "$IMAGE_NAME")
+    PARTITION="${LOOP_DEVICE}p1"
+    info "使用循环设备: $LOOP_DEVICE"
+    info "分区: $PARTITION"
+
+    sleep 2
+
+    # 4. 使用wipefs清除文件系统签名（更安全的方法）
+    info "清除文件系统签名..."
+    if command -v wipefs > /dev/null; then
+        sudo wipefs -a "$PARTITION"
+    else
+        warn "wipefs不可用，跳过清除签名步骤"
+    fi
+
+    # 5. 格式化分区
+    info "使用gparted相同命令格式化..."
+    sudo mkfs.fat -F32 -v -I -n "BIOSFLASH" "$PARTITION"
+
+    # 6. 挂载分区
+    info "挂载分区..."
+    sudo mkdir -p "$MOUNT_POINT"
+    sudo mount "$PARTITION" "$MOUNT_POINT"
+    
+    # 7. 复制文件
+    info "复制bios_flash文件夹..."
+    sudo cp -r bios_flash "$MOUNT_POINT/"
+    info "复制EFI文件夹..."
+    sudo cp -r EFI "$MOUNT_POINT/"
+
+    # 8. 验证文件
+    info "验证文件复制..."
+    if [ -d "$MOUNT_POINT/bios_flash" ] && [ -d "$MOUNT_POINT/EFI" ]; then
+        info "✅ 文件复制成功"
+        echo "=== 文件列表 ==="
+        ls -la "$MOUNT_POINT"
+        echo ""
+        echo "=== 文件大小 ==="
+        du -sh "$MOUNT_POINT"/*
+    else
+        error "❌ 文件复制失败"
+        exit 1
+    fi
+
+    # 9. 同步并卸载
+    info "同步数据..."
+    sync
+    sudo umount "$MOUNT_POINT"
+    sudo losetup -d "$LOOP_DEVICE"
+
+    # 10. 最终验证
+    info "最终验证..."
+    echo "=== 分区信息 ==="
+    sudo parted "$IMAGE_NAME" --script print
+    
+    echo "=== 文件系统信息 ==="
+    sudo losetup --find --show --partscan "$IMAGE_NAME" > /tmp/loopdev
+    LOOP_DEVICE=$(cat /tmp/loopdev)
+    echo "文件系统检查:"
+    sudo fsck.fat -v "${LOOP_DEVICE}p1" || true
+    sudo losetup -d "$LOOP_DEVICE"
+    rm -f /tmp/loopdev
+
+    echo ""
+    info "✅ 镜像制作完成: $IMAGE_NAME"
+    info "📊 文件大小: $(du -h $IMAGE_NAME | cut -f1)"
+    echo ""
+    info "🔥 烧录命令:"
+    echo "sudo dd if=$IMAGE_NAME of=/dev/sdX bs=4M status=progress oflag=sync"
+    echo ""
+    info "💡 测试方法:"
+    echo "1. 烧录到U盘: sudo dd if=$IMAGE_NAME of=/dev/sdX bs=4M status=progress oflag=sync"
+    echo "2. 在Linux中检查: ls /media/\$USER/BIOSFLASH/"
+    echo "3. 在Windows中应该能看到bios_flash和EFI文件夹"
+    echo ""
+    warn "⚠️  注意: 将 /dev/sdX 替换为正确的U盘设备路径！"
+}
+
+echo "=================================================="
+info "   BIOS镜像制作脚本"
+echo "=================================================="
+
+info "当前目录结构:"
+tree -L 2
+
+echo ""
+read -p "是否继续? (y/N): " -n 1 -r
+echo
+if [[ ! $REPLY =~ ^[Yy]$ ]]; then
+    exit 0
+fi
+
+main
--- a/external/packages/bsp/overlays_cix/opt/video_h265.mp4
+++ b/external/packages/bsp/overlays_cix/opt/video_h265.mp4
--- a/external/packages/bsp/overlays_cix/usr/bin/blink_gpio.sh
+++ b/external/packages/bsp/overlays_cix/usr/bin/blink_gpio.sh
@@ -0,0 +1,32 @@
+#!/bin/bash
+
+# 检查至少提供一个 GPIO 引脚
+if [ "$#" -lt 1 ]; then
+    echo "Usage: $0 gpio_number1 [gpio_number2 ... gpio_numberN]"
+    exit 1
+fi
+
+# 导出和设置方向为输出
+for gpio in "$@"; do
+    if [ ! -e "/sys/class/gpio/gpio${gpio}" ]; then
+        echo "Exporting GPIO $gpio"
+        echo $gpio > /sys/class/gpio/export
+    fi
+    echo "Setting GPIO $gpio direction to out"
+    echo "out" > /sys/class/gpio/gpio${gpio}/direction
+done
+
+# 闪烁逻辑
+while true; do
+    # 设置 GPIO 高电平
+    for gpio in "$@"; do
+        echo 1 > /sys/class/gpio/gpio${gpio}/value
+    done
+    sleep 1  # 调整为所需的闪烁时间间隔
+
+    # 设置 GPIO 低电平
+    for gpio in "$@"; do
+        echo 0 > /sys/class/gpio/gpio${gpio}/value
+    done
+    sleep 1  # 调整为所需的闪烁时间间隔
+done
--- a/external/packages/bsp/overlays_cix/usr/bin/cam1_test.sh
+++ b/external/packages/bsp/overlays_cix/usr/bin/cam1_test.sh
@@ -0,0 +1,27 @@
+#!/bin/bash
+
+# 通过 sysfs 查找 armcb-00-vid-cap 对应的视频设备
+find_cam1_device() {
+    for dev in /dev/video*; do
+        dev_name=$(basename "$dev")
+        if [ -f "/sys/class/video4linux/${dev_name}/name" ]; then
+            name=$(cat "/sys/class/video4linux/${dev_name}/name")
+            if [ "$name" = "armcb-00-vid-cap" ]; then
+                echo "$dev"
+                return 0
+            fi
+        fi
+    done
+    return 1
+}
+
+VIDEO_DEVICE=$(find_cam1_device)
+
+if [ -z "$VIDEO_DEVICE" ]; then
+    echo "Error: Cannot find video device for armcb-00-vid-cap"
+    exit 1
+fi
+
+echo "Using video device: $VIDEO_DEVICE for armcb-00-vid-cap"
+
+gst-launch-1.0 v4l2src device=$VIDEO_DEVICE ! videoconvert ! autovideosink
--- a/external/packages/bsp/overlays_cix/usr/bin/cam2_test.sh
+++ b/external/packages/bsp/overlays_cix/usr/bin/cam2_test.sh
@@ -0,0 +1,27 @@
+#!/bin/bash
+
+# 通过 sysfs 查找 armcb-01-vid-cap 对应的视频设备
+find_cam2_device() {
+    for dev in /dev/video*; do
+        dev_name=$(basename "$dev")
+        if [ -f "/sys/class/video4linux/${dev_name}/name" ]; then
+            name=$(cat "/sys/class/video4linux/${dev_name}/name")
+            if [ "$name" = "armcb-01-vid-cap" ]; then
+                echo "$dev"
+                return 0
+            fi
+        fi
+    done
+    return 1
+}
+
+VIDEO_DEVICE=$(find_cam2_device)
+
+if [ -z "$VIDEO_DEVICE" ]; then
+    echo "Error: Cannot find video device for armcb-01-vid-cap"
+    exit 1
+fi
+
+echo "Using video device: $VIDEO_DEVICE for armcb-01-vid-cap"
+
+gst-launch-1.0 v4l2src device=$VIDEO_DEVICE ! videoconvert ! autovideosink
--- a/external/packages/bsp/overlays_cix/usr/bin/dt_gpio_all_blink.sh
+++ b/external/packages/bsp/overlays_cix/usr/bin/dt_gpio_all_blink.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+
+blink_gpio.sh 65 64 106 32 33 108 17 14 18 57 37 40 41 66 69 114 115 34 109 35 36 15 16 56 38 39 70 71 
--- a/external/packages/bsp/overlays_cix/usr/bin/dual_cam_test.sh
+++ b/external/packages/bsp/overlays_cix/usr/bin/dual_cam_test.sh
@@ -0,0 +1,52 @@
+#!/bin/bash
+
+# 通过 sysfs 查找 armcb-00-vid-cap 对应的视频设备
+find_cam1_device() {
+    for dev in /dev/video*; do
+        dev_name=$(basename "$dev")
+        if [ -f "/sys/class/video4linux/${dev_name}/name" ]; then
+            name=$(cat "/sys/class/video4linux/${dev_name}/name")
+            if [ "$name" = "armcb-00-vid-cap" ]; then
+                echo "$dev"
+                return 0
+            fi
+        fi
+    done
+    return 1
+}
+
+VIDEO_DEVICE1=$(find_cam1_device)
+
+if [ -z "$VIDEO_DEVICE1" ]; then
+    echo "Error: Cannot find video device for armcb-00-vid-cap"
+    exit 1
+fi
+
+echo "Using video device: $VIDEO_DEVICE1 for armcb-00-vid-cap"
+
+# 通过 sysfs 查找 armcb-01-vid-cap 对应的视频设备
+find_cam2_device() {
+    for dev in /dev/video*; do
+        dev_name=$(basename "$dev")
+        if [ -f "/sys/class/video4linux/${dev_name}/name" ]; then
+            name=$(cat "/sys/class/video4linux/${dev_name}/name")
+            if [ "$name" = "armcb-01-vid-cap" ]; then
+                echo "$dev"
+                return 0
+            fi
+        fi
+    done
+    return 1
+}
+
+VIDEO_DEVICE2=$(find_cam2_device)
+
+if [ -z "$VIDEO_DEVICE2" ]; then
+    echo "Error: Cannot find video device for armcb-01-vid-cap"
+    exit 1
+fi
+
+echo "Using video device: $VIDEO_DEVICE2 for armcb-01-vid-cap"
+
+gst-launch-1.0 v4l2src device=$VIDEO_DEVICE1 ! videoconvert ! autovideosink \
+               v4l2src device=$VIDEO_DEVICE2 ! videoconvert ! autovideosink
--- a/external/packages/bsp/overlays_cix/usr/bin/gpu_utilization_clock_tracing
+++ b/external/packages/bsp/overlays_cix/usr/bin/gpu_utilization_clock_tracing
--- a/external/packages/bsp/overlays_cix/usr/bin/install_bt_panel.sh
+++ b/external/packages/bsp/overlays_cix/usr/bin/install_bt_panel.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+
+#wget -O install.sh  \
+#http://download.bt.cn/install/install-ubuntu_6.0.sh && sudo bash install.sh
+
+if [ -f /usr/bin/curl ];then curl -sSO https://download.bt.cn/install/install_panel.sh;else wget -O install_panel.sh https://download.bt.cn/install/install_panel.sh;fi;bash install_panel.sh ssl251104
--- a/external/packages/bsp/overlays_cix/usr/bin/install_qt.sh
+++ b/external/packages/bsp/overlays_cix/usr/bin/install_qt.sh
@@ -0,0 +1,24 @@
+#!/bin/bash
+
+release=$(lsb_release -cs)
+
+sudo apt update
+if [[ $release =~ focal|bionic|buster ]]; then
+	sudo apt-get -y install qt5-default qttools5-dev-tools qtbase5-doc-html qt5-assistant qt5-doc
+elif [[ $release =~ bullseye|bookworm|jammy|noble ]]; then
+	sudo apt-get -y install qttools5-dev-tools qtbase5-doc-html qt5-assistant qt5-doc qt5-qmake qt5-qmake-bin
+else
+	echo "Unsupported system!"
+	exit
+fi
+
+sudo apt-get -y install qtcreator qmlscene gdb qtdeclarative5-dev qtbase5-examples cmake
+
+if [[ $release =~ bookworm|noble ]]; then
+	sudo apt-get -y install qt6-wayland qtwayland5
+	sudo apt-get -y install libegl1-mesa-dev libgles2-mesa-dev
+fi
+
+sudo chown orangepi:orangepi /usr/lib/aarch64-linux-gnu/qt5/examples -R
+
+qmake -v
--- a/external/packages/bsp/overlays_cix/usr/bin/install_ros.sh
+++ b/external/packages/bsp/overlays_cix/usr/bin/install_ros.sh
@@ -0,0 +1,103 @@
+#!/bin/bash
+
+#mirror_url=http://mirrors.ustc.edu.cn
+mirror_url=https://repo.huaweicloud.com
+
+if [[ -n $1 && $1 =~ ros1|ros2 ]]; then
+	version=$1
+else
+	echo "usage: install_ros.sh ros1/ros2"
+	exit
+fi
+
+release=$(lsb_release -cs)
+
+if [[ $version == "ros1" && $release =~ focal ]]; then
+
+	[[ -f /etc/apt/sources.list.d/ros-latest.list ]] && sudo rm /etc/apt/sources.list.d/ros-latest.list
+	sudo sh -c "echo deb ${mirror_url}/ros/ubuntu $(lsb_release -sc) main > /etc/apt/sources.list.d/ros1.list"
+	sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+	sudo apt update
+	sudo apt install -y ros-noetic-desktop-full
+
+	sudo sh -c 'echo "source /opt/ros/noetic/setup.bash" >> /root/.bashrc'
+	echo "source /opt/ros/noetic/setup.bash" >> /home/orangepi/.bashrc
+
+	sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
+
+	sudo sh -c 'echo "151.101.84.133 raw.githubusercontent.com" >> /etc/hosts'
+	source /opt/ros/noetic/setup.bash
+	sudo rosdep init
+	rosdep update
+
+	exit
+fi
+
+if [[ $version == "ros2" && $release =~ focal ]]; then
+
+	sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+	echo "deb [arch=$(dpkg --print-architecture)] ${mirror_url}/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list
+
+	sudo apt update
+	sudo apt install -y ros-galactic-desktop
+	sudo apt install -y ros-dev-tools
+
+	sudo sh -c 'echo "source /opt/ros/galactic/setup.bash" >> /root/.bashrc'
+	echo "source /opt/ros/galactic/setup.bash" >> /home/orangepi/.bashrc
+
+	source /opt/ros/galactic/setup.bash
+	ros2 -h
+
+	exit
+
+fi
+
+if [[ $version == "ros2" && $release =~ jammy ]]; then
+
+	sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+	echo "deb [arch=$(dpkg --print-architecture)] ${mirror_url}/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list
+
+	sudo apt update
+	sudo apt install -y ros-humble-desktop
+	sudo apt install -y ros-dev-tools
+
+	sudo sh -c 'echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc'
+	echo "source /opt/ros/humble/setup.bash" >> /home/orangepi/.bashrc
+
+	source /opt/ros/humble/setup.bash
+	ros2 -h
+
+	exit
+
+fi
+
+if [[ $version == "ros2" && $release =~ noble ]]; then
+
+	sudo locale-gen en_US en_US.UTF-8
+	sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+	export LANG=en_US.UTF-8
+	sudo apt install -y software-properties-common curl gnupg2
+
+	sudo sh -c 'echo "deb https://mirrors.huaweicloud.com/ros2/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros2-latest.list'
+	curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+
+	sudo apt update
+	sudo apt install -y ros-jazzy-desktop-full
+	sudo apt install -y python3-colcon-common-extensions \
+				python3-rosdep \
+				python3-rosinstall-generator \
+				python3-pip \
+				build-essential
+	sudo apt install -y ros-dev-tools
+
+	sudo sh -c 'echo "source /opt/ros/jazzy/setup.bash" >> /root/.bashrc'
+	echo "source /opt/ros/jazzy/setup.bash" >> /home/orangepi/.bashrc
+
+	source /opt/ros/jazzy/setup.bash
+	ros2 -h
+
+	exit
+
+fi
+
+echo "Unsupported System!"
--- a/external/packages/bsp/overlays_cix/usr/bin/isp_app
+++ b/external/packages/bsp/overlays_cix/usr/bin/isp_app
--- a/external/packages/bsp/overlays_cix/usr/bin/reset_ssh.sh
+++ b/external/packages/bsp/overlays_cix/usr/bin/reset_ssh.sh
@@ -0,0 +1,4 @@
+#!/bin/bash
+
+sudo rm /etc/ssh/ssh_host_*
+sudo dpkg-reconfigure openssh-server
--- a/external/packages/bsp/overlays_cix/usr/bin/serial
+++ b/external/packages/bsp/overlays_cix/usr/bin/serial
--- a/external/packages/bsp/overlays_cix/usr/bin/spidev_test
+++ b/external/packages/bsp/overlays_cix/usr/bin/spidev_test
--- a/external/packages/bsp/overlays_cix/usr/bin/test_ros.sh
+++ b/external/packages/bsp/overlays_cix/usr/bin/test_ros.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+
+if [[ -f /opt/ros/noetic/setup.bash ]]; then
+
+	source /opt/ros/noetic/setup.bash
+	roscore &
+
+	sleep 5
+
+	rosrun turtlesim turtlesim_node &
+	rosrun turtlesim turtle_teleop_key
+
+fi
+
+if [[ -f /opt/ros/galactic/setup.bash ]]; then
+
+	source /opt/ros/galactic/setup.bash
+	ros2 run demo_nodes_cpp talker &
+	ros2 run demo_nodes_py listener
+
+fi
+
+if [[ -f /opt/ros/humble/setup.bash ]]; then
+
+	source /opt/ros/humble/setup.bash
+	ros2 run demo_nodes_cpp talker &
+	ros2 run demo_nodes_py listener
+
+fi
+
+if [[ -f /opt/ros/jazzy/setup.bash ]]; then
+
+	source /opt/ros/jazzy/setup.bash
+	ros2 run demo_nodes_cpp talker &
+	ros2 run demo_nodes_py listener
+
+fi
--- a/external/packages/bsp/overlays_cix/usr/bin/usb_gadget_setup.sh
+++ b/external/packages/bsp/overlays_cix/usr/bin/usb_gadget_setup.sh
@@ -0,0 +1,84 @@
+#!/bin/bash
+
+# USB Gadget 配置脚本
+# 功能：将设备配置为 USB NCM (网络控制模型) 设备
+
+set -e  # 遇到任何错误立即退出
+
+GADGET_DIR="/sys/kernel/config/usb_gadget/g1"
+
+echo "正在设置 USB NCM Gadget..."
+
+# 检查是否以 root 权限运行
+if [ "$EUID" -ne  0 ]; then
+    echo "错误：请使用 sudo 或以 root 用户运行此脚本"
+    exit 1
+fi
+
+# 检查 configfs 是否已挂载
+if ! mountpoint -q /sys/kernel/config; then
+    echo "挂载 configfs..."
+    mount -t configfs none /sys/kernel/config || {
+        echo "错误：无法挂载 configfs"
+        exit 1
+    }
+fi
+
+# 清理现有配置（如果存在）
+if [ -d "$GADGET_DIR" ]; then
+    echo "清理现有 gadget 配置..."
+    echo "" > "$GADGET_DIR/UDC" 2>/dev/null || true
+    rm -f "$GADGET_DIR/configs/c.1/ncm.usb0"
+    rmdir "$GADGET_DIR/configs/c.1/strings/0x409" 2>/dev/null || true
+    rmdir "$GADGET_DIR/configs/c.1" 2>/dev/null || true
+    rmdir "$GADGET_DIR/functions/ncm.usb0" 2>/dev/null || true
+    rmdir "$GADGET_DIR/strings/0x409" 2>/dev/null || true
+    rmdir "$GADGET_DIR" 2>/dev/null || true
+    sleep 1
+fi
+
+# 创建 gadget 目录
+echo "创建 gadget 目录..."
+mkdir "$GADGET_DIR"
+
+# 设置 USB 设备描述符
+echo "设置设备描述符..."
+echo 0x35b1 > "$GADGET_DIR/idVendor"
+echo 0x0009 > "$GADGET_DIR/idProduct"
+echo 0x0200 > "$GADGET_DIR/bcdDevice"
+echo 0x0210 > "$GADGET_DIR/bcdUSB"
+echo "super-speed-plus" > "$GADGET_DIR/max_speed"
+
+# 设置字符串描述符
+echo "设置字符串描述符..."
+mkdir -m 0770 "$GADGET_DIR/strings/0x409"
+echo "0123456789ABCDEF" > "$GADGET_DIR/strings/0x409/serialnumber"
+echo "cix" > "$GADGET_DIR/strings/0x409/manufacturer"
+echo "USB ncm Device" > "$GADGET_DIR/strings/0x409/product"
+
+# 创建配置
+echo "创建配置..."
+mkdir -m 0770 "$GADGET_DIR/configs/c.1"
+mkdir -m 0770 "$GADGET_DIR/configs/c.1/strings/0x409"
+echo "ncm" > "$GADGET_DIR/configs/c.1/strings/0x409/configuration"
+
+# 创建 NCM 功能
+echo "创建 NCM 功能..."
+mkdir "$GADGET_DIR/functions/ncm.usb0"
+
+# 将功能链接到配置
+echo "链接功能到配置..."
+ln -s "$GADGET_DIR/functions/ncm.usb0" "$GADGET_DIR/configs/c.1/"
+
+# 启用 gadget
+echo "启用 USB 设备控制器..."
+UDC_DEVICE=$(ls /sys/class/udc/ | head -n1)
+if [ -n "$UDC_DEVICE" ]; then
+    echo "$UDC_DEVICE" > "$GADGET_DIR/UDC"
+    echo "已启用 UDC: $UDC_DEVICE"
+else
+    echo "警告：未找到可用的 UDC 设备"
+fi
+
+echo "USB NCM Gadget 配置完成！"
+echo "设备现在应该被识别为 USB 网络设备"
--- a/external/packages/bsp/overlays_cix/usr/bin/v4l2_videos.sh
+++ b/external/packages/bsp/overlays_cix/usr/bin/v4l2_videos.sh
@@ -0,0 +1,11 @@
+#!/bin/bash
+
+echo "Video Device and Name Correspondence:"
+echo "====================================="
+for dev in /dev/video*; do
+    dev_name=$(basename $dev)
+    if [ -f "/sys/class/video4linux/${dev_name}/name" ]; then
+        name=$(cat "/sys/class/video4linux/${dev_name}/name")
+        echo "$dev : $name"
+    fi
+done
--- a/external/packages/bsp/overlays_cix/usr/bin/vpu_test.sh
+++ b/external/packages/bsp/overlays_cix/usr/bin/vpu_test.sh
@@ -0,0 +1,27 @@
+#!/bin/bash
+
+echo 3 | sudo tee /sys/kernel/debug/amvx/log/group/perf/enable > /dev/null
+
+echo "开始监控VPU使用率（只显示大于0的情况）..."
+echo "按 Ctrl+C 停止监控"
+
+while true
+do
+    # 读取VPU使用率
+    utilization=$(sudo cat /sys/kernel/debug/amvx/log/group/perf/utilization | awk '{print $3}' | tr -d '%')
+
+    # 只有当使用率大于0时才输出
+    if (( $(echo "$utilization > 0" | bc -l) )); then
+        # 获取当前时间
+        current_time=$(date '+%H:%M:%S')
+
+        # 读取实时FPS信息
+        fps_info=$(sudo cat /sys/kernel/debug/amvx/log/group/perf/realtime_fps)
+
+        # 输出信息
+        echo "VPU Utilization: ${utilization}%"
+        if [ -n "$fps_info" ] && [ "$fps_info" != "null" ]; then
+            echo "$current_time $fps_info"
+        fi
+    fi
+done
--- a/external/packages/bsp/overlays_cix/usr/lib/systemd/system/isp-daemon.service
+++ b/external/packages/bsp/overlays_cix/usr/lib/systemd/system/isp-daemon.service
@@ -0,0 +1,15 @@
+[Unit]
+Description=ISP Daemon
+After=network.target load-isp-modules.service
+
+[Service]
+Type=simple
+Environment=LD_LIBRARY_PATH="/usr/share/cix/lib"
+ExecStart=/usr/bin/isp_app -s 0 &
+Restart=always
+RestartSec=1
+StartLimitInterval=10
+StartLimitBurst=5
+
+[Install]
+WantedBy=multi-user.target
--- a/external/packages/bsp/overlays_cix/usr/share/backgrounds/orangepi/orangepi-default.png
+++ b/external/packages/bsp/overlays_cix/usr/share/backgrounds/orangepi/orangepi-default.png
--- a/external/packages/bsp/overlays_cix/usr/src/uart_test/serial.c
+++ b/external/packages/bsp/overlays_cix/usr/src/uart_test/serial.c
@@ -0,0 +1,79 @@
+#include <stdio.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <termios.h>
+#include <string.h>
+#include <errno.h>
+
+int main(int argc, char *argv[]) {
+    if (argc < 2) {
+        printf("Usage: %s <serialport>\n", argv[0]);
+        return 1;
+    }
+
+    char *portname = argv[1];
+
+    // 打开串口
+    int fd = open(portname, O_RDWR | O_NOCTTY | O_SYNC);
+    if (fd < 0) {
+        printf("Error opening %s: %s\n", portname, strerror(errno));
+        return -1;
+    }
+
+    // 配置串口
+    struct termios tty;
+    memset(&tty, 0, sizeof tty);
+    if (tcgetattr(fd, &tty) != 0) {
+        printf("Error from tcgetattr: %s\n", strerror(errno));
+        return -1;
+    }
+
+    cfsetospeed(&tty, B115200); // 设置波特率为 115200
+    cfsetispeed(&tty, B115200);
+
+    tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8;     // 8-bit chars
+    tty.c_iflag &= ~IGNBRK;                         // 禁用break处理
+    tty.c_lflag = 0;                                // 不使用规范模式
+    tty.c_oflag = 0;                                // 不执行输出处理
+    tty.c_cc[VMIN]  = 0;                            // 读取不需要字符
+    tty.c_cc[VTIME] = 5;                            // 0.5秒超时
+
+    tty.c_iflag &= ~(IXON | IXOFF | IXANY);         // 关闭流控制
+    tty.c_cflag |= (CLOCAL | CREAD);                // 忽略调制解调器状态线，开启接收
+    tty.c_cflag &= ~(PARENB | PARODD);              // 关闭奇偶校验
+    tty.c_cflag &= ~CSTOPB;                         // 无停止位
+    tty.c_cflag &= ~CRTSCTS;                        // 禁用硬件流控制
+
+    if (tcsetattr(fd, TCSANOW, &tty) != 0) {
+        printf("Error from tcsetattr: %s\n", strerror(errno));
+        return -1;
+    }
+
+    // 向串口写数据
+    char *msg = "Hello, Serial Port!\n";
+    int wlen = write(fd, msg, strlen(msg));
+    if (wlen != strlen(msg)) {
+        printf("Error from write: %d, %d\n", wlen, errno);
+    }
+    tcdrain(fd); // 等待传输完成
+    printf("W: %s", msg);
+
+    // 从串口读数据
+    unsigned char buf[100];
+    int total_read = 0;
+    int rdlen;
+    while ((rdlen = read(fd, buf + total_read, sizeof(buf) - 1 - total_read)) > 0) {
+        total_read += rdlen;
+        if (total_read >= sizeof(buf) - 1 || buf[total_read - 1] == '\n') {
+            break;
+        }
+    }
+    if (total_read > 0) {
+        buf[total_read] = 0; // 确保字符串正确终止
+        printf("R: %s", buf);
+    }
+    
+    // 关闭串口 - 这部分代码将不会被执行，因为循环是无限的
+    close(fd);
+    return 0;
+}