Roobo DDKL4Q1 User manual

ROOBO Smart Audio Dev Kit DDKL4Q1
User Guide

COPYRIGHT © 2018 Intelligent Steward Co., Ltd.
All rights reserved. No part of this document may be modified, transmitted, transcribed, or
translated into any language in any form or by any means without the written permission of
Intelligent Steward Co., Ltd.
TRADEMARKS
ROOBO is a trademark of Intelligent Steward Co., Ltd. All other trademarks and registered
trademarks are property of their respective companies.
DISCLAIMER
Intelligent Steward Co., Ltd. owns the right to make improvements and/or changes in this
document at any time.
ROOBO provides this product to help accelerate the development of customizable in-home
assistants, in-car assistants, smart speaker, IoT devices, or other voice-enabled devices, but
not for other purposes.
Figures, photos, schematics and other information are included in this document to show
the technical specifications and/or tools instructions. If interested in mass production,
please contact ROOBO to obtain additional documents that require an NDA. ROOBO makes
no representations or warranties with respect to the accuracy or completeness of the
contents presented in this document.

Content
1. Introduction ...............................................................................................................4
1.1 In the Box .........................................................................................................4
1.2 Dev Kit Specification ........................................................................................5
1.2 Linear 4-Mic/ 2-Mic Array................................................................................6
1.2.1 Mic Array Specs.....................................................................................6
1.2.2 Mic Array Board Sample and layout .....................................................7
1.3 Core Board Sample and Layout........................................................................7
1.4 Audio Data Path ...............................................................................................8
2. Development Environment........................................................................................9
2.1 QCOM USB driver installation (e.g. Windows 10)............................................9
2.2 Dev Kit Set up...................................................................................................9
2.3 ADB Debug tool..............................................................................................10
2.4 Vysor...............................................................................................................10
3. NDK compile.............................................................................................................11
4. ROM Upgrade...........................................................................................................12
5. Record and Playback ................................................................................................13
6. WiFi Config...............................................................................................................13
7. Program guide..........................................................................................................14
7.1 UART program................................................................................................14
7.2 GPIO program.................................................................................................15
7.3 KEY..................................................................................................................16
7.4 I2C program....................................................................................................16
NOTE ............................................................................................................................17

1. Introduction
This Dev kit (referred to as “DDK” later in this document) is designed For Microsoft Speech
Services Complete, end-to-end system reference design.
The Linear 4-Mic array Dev Kit is a pre-tuned end-to-end reference design that enables the
commercial device manufacturers to efficiently build high-quality speech enabled devices
using Microsoft Speech Services. Developers can integrate the Microsoft Speech
Services into smart speakers, set-top boxes, and other IoT devices with this kit and leverage
premium Microsoft voice recognition technology. It can also be easily configured into a
Linear 2-Mic array by disabling the outer 2 mics, for evaluating it as a lower cost device.
With the Microsoft Speech Devices SDK, it enables a range of advanced features such as
- Multi-mic array, beam forming, noise suppression, echo cancellation.
- Customizable Key Word Spotting.
- Integration with the world-class Microsoft Speech Services and Bot Framework, and more.
1.1 In the Box
•1x 4 digital microphone array board
•1x mainboards held by acrylic stand
•1x Gain antenna
•1x USB Power cable

1.2 Dev Kit Specification
Items
Specs
CPU
Qualcomm APQ8009 Quad core A7 1.1GHz CPU
GPU
Adreno304
OS
Android 5.1
WIFI
802.11b/g/n
Bluetooth
NA
RAM
LPDDR3+eMMC, 1GB + 8GB
MIC Array
Linear 4-MIC/2-MIC
Audio Line out
1 x 3.5mm Line out
Data Interface
1 x Micro USB Interface
Power Interface
1 x Micro USB Interface
UART
1 x UART
I²C
1 x I²C
GPIO
3 x GPIOs
TF Card
Support up to 128GB（FAT32）
Key
4 x Keys（Reset, Mute, Volume Up, Volume Down）
Power Indicator
Support Power Indicator
Mic Array Indicator
NA
Work Temperature
-4~131℉(-20~55℃)
Certification
FCC ID

1.2 Linear 4-Mic/ 2-Mic Array
1.2.1 Mic Array Specs
Items
Performance
Array Type
Linear 4-Mic/ Linear 2-Mic
Mic Quantity
4 /2digital MEMS microphone（I2S）
Dimension
Mics are placed horizontally, evenly in a line and
microphone ports face upward.
Array Distance
40mm
Wakeup Distance
<10m
Listening Range
<5m (Room environment)
Signal to Noise Ratio
65dBA
Sampling Rate
16K
Sensitivity
>-26dBV @94dB 1kHz

1.2.2 Mic Array Board Sample and layout
Items
Description
Digital MEMS Microphone
Pick up the audio from bottom，Sensitivity：-26dB
ADC
I2S interface, 24bit ADC
FPGA
Used to pack data
Audio output
Pin pitch 0.5mm, 24 pins, Connected to core board
1.3 Core Board Sample and Layout

Items
Description
Antenna Terminal
2.4GHz wifi antenna terminal
Line out
3.5mm Audio interface
USB Debug Interface
USB 2.0 Device
Audio input
Pin pitch 0.5mm, 24 pins, Connected to mic array board
TF card socket
Insert TF card
APQ8009 Core
APQ8009 Core board
Reset key
Press and hold the button for 2 Seconds for reset
Mute key
Key for mute
Volume up key
Key for system volume up
Volume down key
Key for system volume down
Power supply
Micro USB 5V 2A supply（at least 5V 1A）
User interface
Io, uart,i2c,power interface
Notes：
We strongly recommend using high quality speakers for a better experience. If you have
noticed any static noise when the speaker is connected to the dev kit’s AUX interface, please
switch to a higher quality speaker or use the USB port of the computer to power the dev kit.
The static noise generally occurs when an adapter is used to power the dev kit, and the
quality of the speaker is low. If you want recommendations for speakers, please contact us
at [email protected]m.
1.4 Audio Data Path

2. Development Environment
2.1 QCOM USB driver installation (e.g. Windows 10)
1. Run setup.exe
2. Follow the installation wizard to complete the installation
2.2 Dev Kit Set up
Plug in the 5V 2A power adapter with USB, the dev kit should start running automatically.

2.3 ADB Debug tool
You can log onto the dev kit’s board, push or pull files by using the adb tool.
On Windows 10:
(1) After the board is running, in the Windows Device Manager, we can see a USB port:
(2) In a Windows cmd window, input command "adb shell", then hit Enter
Notes:
You’ll need to have the adb tool installed on your computer and make sure the adb
tool is usable.
2.4 Vysor
The dev kit has no screen, you will need a tool to “remote” into it for easy interaction. You
can download and install the Vysor from http://vysor.io/download/.

3. NDK compile
The dev kit’s board is based on the Qualcomm APQ8009 and Android-5.1.1, its abi is
armeabi-v7a.
1. Download the NDK from:
https://developer.android.google.cn/ndk/downloads/index.html
2. Enter the source code directory
3. Create Android.mk and Application.mk besides source codes
a. Application.mk may be like this:
APP_STL := gnustl_static
APP_CPPFLAGS := -frtti -fexceptions
APP_ABI := armeabi-v7a
APP_PLATFORM := android-8
NDK_TOOLCHAIN_VERSION=4.9
b. Android.mk should follow the Android’s rules
4. Add the NDK tool directory to the path environment variables for Windows or PATH for
Ubuntu
5. In the project directory, run the compile command in the command line window:
test@PowerEdge-R730xd:~/android-ndk-r16b/tes APP_BUILD_SCRIPT=Android.mk

NDK_APPLICATION_MK=Application.mk
Android NDK: Android-8 is unsupported. Using minimum supported version android-14.
[armeabi-v7a] Compile++ thumb: detect <= detect.cpp
[armeabi-v7a] Executable : detect
[armeabi-v7a] Install : detect => libs/armeabi-v7a/detect
The build target file will be under libs/armeabi-v7a/.
4. ROM Upgrade
Please download the Firmware from the website:
http://dwn.roo.bo/server_upload/ddk/ms_ddk_system_firmware.zip
Using fastboot tool to program the partitions of flash.
1. When the board boots up, type the command to make the board enter lk.
2. When the board enters lk, you can use fastboot tool to program or erase the partitions of
flash.
If you want to update kernel, you can flash bootimage.
If you want to update Android, you can flash systemimg.
C:\Users\KNUTH>fastboot flash system C:\Users\KNUTH\Desktop\DDK\system.img

5. Record and Playback
You can use the roobopri_4mic or roobopri_7mic to capture the mic array pcm data. It can
save the pcm data to a Tflash card every one hour.
The format of the file name is RB_FileIndexXXX_d_chnX.pcm. XXX is the number which
increases one by one each hour, and the X is the mic number in the mic array.
If the recording is less than one hour long, the temporary files will be stored in the /mnt/obb
directory.
Notes:
The only supported filesystem of the Tflash is FAT32
The last channel number is the reference data from the playback path.
If you want to playback a wav file, first input the below commands to config the audio out
path.
tinymix 'PRI_MI2S_RX Audio Mixer MultiMedia1' 1
tinymix 'RX2 MIX1 INP1' 'RX1'
tinymix 'RDAC2 MUX' 'RX2'
tinymix 'HPHR' 1
Then you can use tinyplay to play the wav file.
When you playback audio files by an Android app, if the file is stereo, the dev kit will produce
the L/R audio through HPL and HPR respectively, while the reference signal will be generated
from HPR. If the file is mono, the HPL and HPR will output the same audio source. When you
playback the music file by the tinyplay directly, whether the music file is stereo or mono, the
HPL and HPR will output the same audio by default. If the audio file is stereo, please average
the L/R audio, and then output the audio. Also, if you use the tinyplay, you don’t need to
know where the reference signal is from.
6. WiFi Config
Through adb command.
svc wifi ssid: xxx password: xxxx
Config wifi by Vysor tool

7. Program guide
7.1 UART program
There’s one uart port to offer to developers. You can use this uart port generally. The uart
device node is /dev/ttyHSL1.
You can refer to the below code to open the uart device, and then write and read.

7.2 GPIO program
There’re three gpios in DDK. You can control and config the GPIOs by the device node
/dev/roobo_gpio.
You can config the io direction as input or output. The three gpio number is 66,67 and 68.
There is a struct to config and control the gpio.
typedef struct{
int gpio_num; //you only select from 66,67 and 68
int value;/*The value is 0 or 1. \
When input direction:get value from io \
When output direction:the value to output*/
int gpio_direction;//0:output direction,1:input direction
int auto_test_result;//the member is used by inner test, please ignore this.
}roobo_gpio_config;
You can open the node /dev/roobo_gpio first ,and then use ioctl to control the gpios. Please
refer to the demo source code.
Ioctl params:
#define IOCTL_GPIO_CONFIG 5 //config the io as input or output
#define IOCTL_GPIO_GET 6//read the io value
#define IOCTL_GPIO_SET 7//output the io value
#define IOCTL_GPIO_AUTOTEST 8 //do the autoloop test

7.3 KEY
There’re four keys in DDK. You can use the Android key methods to get key event.
Power Key: The power key of Android. Short press to shutdown LCD backlight, press 安
and hold more than 2 seconds to reset the DDK.
Volume: The volume+ of Android system.
General Key: The developer can define the key by themselves.
7.4 I2C program
There’s one i2c bus which LEDs array share reserved for developers. You can read and write
by the device node /dev/roobo_i2c.
1. Open the i2c device

2. Set the slave address(7bit address)
3. Read/write
Please refer to below demo code.
#define I2C_SLAVE0x0703
STATUS i2c_send(uint8_t *txdata, int txlength)
{
int f_i2c; // I2C file descriptor
// Initiate I2C communication
if ( (f_i2c = open("/dev/roobo_i2c", O_RDWR)) < 0)
{
return FAIL;
}
// Set Slave Address
if (ioctl(f_i2c, I2C_SLAVE, slave_address) < 0)// slave_address is 7bit address
{
close(f_i2c);
return FAIL;
}
// Send data
if (write(f_i2c, txdata, txlength) != txlength)
{
close(f_i2c);
return FAIL;
}
close(f_i2c);
return SUCCESS;
}
Notes:
Some I2C slave devices have special communication, maybe the ddk i2c driver need
adapter to it. Please contact with us to get support if you have special requests.
NOTE
This equipment has been tested and found to comply with the limits for a Class B digital
device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable
protection against harmful interference in a residential installation. This equipment
generates, uses and can radiate radio frequency energy and, if not installed and used in
accordance with the instructions, may cause harmful interference to radio communications.
However, there is no guarantee that interference will not occur in a particular installation. If

this equipment does cause harmful interference to radio or television reception, which can
be determined by turning the equipment off and on, the user is encouraged to try to correct
the interference by one or more of the following measures:
• Reorient or relocate the receiving antenna.
• Increase the separation between the equipment and receiver.
• Connect the equipment into an outlet on a circuit different from that to which the receiver
is connected.
• Consult the dealer or an experienced radio/TV technician for help.
This equipment complies with FCC RF radiation exposure limits set forth for an uncontrolled
environment. This device and its antenna must not be co-located or operating in conjunction
with any other antenna or transmitter. To comply with FCC RF exposure compliance
requirements, this grant is applicable to only Mobile Configurations. The antennas used for
this transmitter must be installed to provide a separation distance of at least 20 cm from all
persons and must not be co-located or operating in conjunction with any other antenna or
transmitter.