G2D图像处理硬件调用和测试-基于米尔全志T113-i开发板
2024-04-09
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来源:米尔电子
本篇测评由电子工程世界的优秀测评者“jf_99374259”提供。
本文将介绍基于米尔电子MYD-YT113i开发板的G2D图像处理硬件调用和测试。
MYC-YT113i核心板及开发板
真正的国产核心板,100%国产物料认证
国产T113-i处理器配备2*Cortex-A7@1.2GHz ,RISC-V
外置DDR3接口、支持视频编解码器、HiFi4 DSP
接口丰富:视频采集接口、显示器接口、USB2.0 接口、CAN 接口、千兆以太网接口
工业级:-40℃~+85℃、尺寸37mm*39mm
邮票孔+LGA,140+50PIN
全志 T113-i 2D图形加速硬件支持情况
Supports layer size up to 2048 x 2048 pixels
Supports pre-multiply alpha image data
Supports color key
Supports two pipes Porter-Duff alpha blending
Supports multiple video formats 4:2:0, 4:2:2, 4:1:1 and multiple pixel formats (8/16/24/32 bits graphics
layer)Supports memory scan order option
Supports any format convert function
Supports 1/16× to 32× resize ratio
Supports 32-phase 8-tap horizontal anti-alias filter and 32-phase 4-tap vertical anti-alias filter
Supports window clip
Supports FillRectangle, BitBlit, StretchBlit and MaskBlit
Supports horizontal and vertical flip, clockwise 0/90/180/270 degree rotate for normal buffer
Supports horizontal flip, clockwise 0/90/270 degree rotate for LBC buffer
可以看到 g2d 硬件支持相当多的2D图像处理,包括颜色空间转换,分辨率缩放,图层叠加,旋转等
开发环境配置
基于C语言实现的YUV转RGB
这里复用之前T113-i JPG解码的函数
void yuv420sp2rgb(const unsigned char* yuv420sp, int w, int h, unsigned char* rgb) { const unsigned char* yptr = yuv420sp; const unsigned char* vuptr = yuv420sp + w * h; for (int y = 0; y < h; y += 2) { const unsigned char* yptr0 = yptr; const unsigned char* yptr1 = yptr + w; unsigned char* rgb0 = rgb; unsigned char* rgb1 = rgb + w * 3; int remain = w; #define SATURATE_CAST_UCHAR(X) (unsigned char)::std::min(::std::max((int)(X), 0), 255); for (; remain > 0; remain -= 2) { // R = 1.164 * yy + 1.596 * vv // G = 1.164 * yy - 0.813 * vv - 0.391 * uu // B = 1.164 * yy + 2.018 * uu // R = Y + (1.370705 * (V-128)) // G = Y - (0.698001 * (V-128)) - (0.337633 * (U-128)) // B = Y + (1.732446 * (U-128)) // R = ((Y << 6) + 87.72512 * (V-128)) >> 6 // G = ((Y << 6) - 44.672064 * (V-128) - 21.608512 * (U-128)) >> 6 // B = ((Y << 6) + 110.876544 * (U-128)) >> 6 // R = ((Y << 6) + 90 * (V-128)) >> 6 // G = ((Y << 6) - 46 * (V-128) - 22 * (U-128)) >> 6 // B = ((Y << 6) + 113 * (U-128)) >> 6 // R = (yy + 90 * vv) >> 6 // G = (yy - 46 * vv - 22 * uu) >> 6 // B = (yy + 113 * uu) >> 6 int v = vuptr[0] - 128; int u = vuptr[1] - 128; int ruv = 90 * v; int guv = -46 * v + -22 * u; int buv = 113 * u; int y00 = yptr0[0] << 6; rgb0[0] = SATURATE_CAST_UCHAR((y00 + ruv) >> 6); rgb0[1] = SATURATE_CAST_UCHAR((y00 + guv) >> 6); rgb0[2] = SATURATE_CAST_UCHAR((y00 + buv) >> 6); int y01 = yptr0[1] << 6; rgb0[3] = SATURATE_CAST_UCHAR((y01 + ruv) >> 6); rgb0[4] = SATURATE_CAST_UCHAR((y01 + guv) >> 6); rgb0[5] = SATURATE_CAST_UCHAR((y01 + buv) >> 6); int y10 = yptr1[0] << 6; rgb1[0] = SATURATE_CAST_UCHAR((y10 + ruv) >> 6); rgb1[1] = SATURATE_CAST_UCHAR((y10 + guv) >> 6); rgb1[2] = SATURATE_CAST_UCHAR((y10 + buv) >> 6); int y11 = yptr1[1] << 6; rgb1[3] = SATURATE_CAST_UCHAR((y11 + ruv) >> 6); rgb1[4] = SATURATE_CAST_UCHAR((y11 + guv) >> 6); rgb1[5] = SATURATE_CAST_UCHAR((y11 + buv) >> 6); yptr0 += 2; yptr1 += 2; vuptr += 2; rgb0 += 6; rgb1 += 6; } #undef SATURATE_CAST_UCHAR yptr += 2 * w; rgb += 2 * 3 * w; } }
基于ARM neon指令集优化的YUV转RGB
考虑到armv7编译器的自动neon优化能力较差,这里针对性的编写 arm neon inline assembly 实现YUV2RGB内核部分,达到最优化的性能,榨干cpu性能
void yuv420sp2rgb_neon(const unsigned char* yuv420sp, int w, int h, unsigned char* rgb) { const unsigned char* yptr = yuv420sp; const unsigned char* vuptr = yuv420sp + w * h; #if __ARM_NEON uint8x8_t _v128 = vdup_n_u8(128); int8x8_t _v90 = vdup_n_s8(90); int8x8_t _v46 = vdup_n_s8(46); int8x8_t _v22 = vdup_n_s8(22); int8x8_t _v113 = vdup_n_s8(113); #endif // __ARM_NEON for (int y = 0; y < h; y += 2) { const unsigned char* yptr0 = yptr; const unsigned char* yptr1 = yptr + w; unsigned char* rgb0 = rgb; unsigned char* rgb1 = rgb + w * 3; #if __ARM_NEON int nn = w >> 3; int remain = w - (nn << 3); #else int remain = w; #endif // __ARM_NEON #if __ARM_NEON #if __aarch64__ for (; nn > 0; nn--) { int16x8_t _yy0 = vreinterpretq_s16_u16(vshll_n_u8(vld1_u8(yptr0), 6)); int16x8_t _yy1 = vreinterpretq_s16_u16(vshll_n_u8(vld1_u8(yptr1), 6)); int8x8_t _vvuu = vreinterpret_s8_u8(vsub_u8(vld1_u8(vuptr), _v128)); int8x8x2_t _vvvvuuuu = vtrn_s8(_vvuu, _vvuu); int8x8_t _vv = _vvvvuuuu.val[0]; int8x8_t _uu = _vvvvuuuu.val[1]; int16x8_t _r0 = vmlal_s8(_yy0, _vv, _v90); int16x8_t _g0 = vmlsl_s8(_yy0, _vv, _v46); _g0 = vmlsl_s8(_g0, _uu, _v22); int16x8_t _b0 = vmlal_s8(_yy0, _uu, _v113); int16x8_t _r1 = vmlal_s8(_yy1, _vv, _v90); int16x8_t _g1 = vmlsl_s8(_yy1, _vv, _v46); _g1 = vmlsl_s8(_g1, _uu, _v22); int16x8_t _b1 = vmlal_s8(_yy1, _uu, _v113); uint8x8x3_t _rgb0; _rgb0.val[0] = vqshrun_n_s16(_r0, 6); _rgb0.val[1] = vqshrun_n_s16(_g0, 6); _rgb0.val[2] = vqshrun_n_s16(_b0, 6); uint8x8x3_t _rgb1; _rgb1.val[0] = vqshrun_n_s16(_r1, 6); _rgb1.val[1] = vqshrun_n_s16(_g1, 6); _rgb1.val[2] = vqshrun_n_s16(_b1, 6); vst3_u8(rgb0, _rgb0); vst3_u8(rgb1, _rgb1); yptr0 += 8; yptr1 += 8; vuptr += 8; rgb0 += 24; rgb1 += 24; } #else if (nn > 0) { asm volatile( "0: n" "pld [%3, #128] n" "vld1.u8 {d2}, [%3]! n" "vsub.s8 d2, d2, %12 n" "pld [%1, #128] n" "vld1.u8 {d0}, [%1]! n" "pld [%2, #128] n" "vld1.u8 {d1}, [%2]! n" "vshll.u8 q2, d0, #6 n" "vorr d3, d2, d2 n" "vshll.u8 q3, d1, #6 n" "vorr q9, q2, q2 n" "vtrn.s8 d2, d3 n" "vorr q11, q3, q3 n" "vmlsl.s8 q9, d2, %14 n" "vorr q8, q2, q2 n" "vmlsl.s8 q11, d2, %14 n" "vorr q10, q3, q3 n" "vmlal.s8 q8, d2, %13 n" "vmlal.s8 q2, d3, %16 n" "vmlal.s8 q10, d2, %13 n" "vmlsl.s8 q9, d3, %15 n" "vmlal.s8 q3, d3, %16 n" "vmlsl.s8 q11, d3, %15 n" "vqshrun.s16 d24, q8, #6 n" "vqshrun.s16 d26, q2, #6 n" "vqshrun.s16 d4, q10, #6 n" "vqshrun.s16 d25, q9, #6 n" "vqshrun.s16 d6, q3, #6 n" "vqshrun.s16 d5, q11, #6 n" "subs %0, #1 n" "vst3.u8 {d24-d26}, [%4]! n" "vst3.u8 {d4-d6}, [%5]! n" "bne 0b n" : "=r"(nn), // %0 "=r"(yptr0), // %1 "=r"(yptr1), // %2 "=r"(vuptr), // %3 "=r"(rgb0), // %4 "=r"(rgb1) // %5 : "0"(nn), "1"(yptr0), "2"(yptr1), "3"(vuptr), "4"(rgb0), "5"(rgb1), "w"(_v128), // %12 "w"(_v90), // %13 "w"(_v46), // %14 "w"(_v22), // %15 "w"(_v113) // %16 : "cc", "memory", "q0", "q1", "q2", "q3", "q8", "q9", "q10", "q11", "q12", "d26"); } #endif // __aarch64__ #endif // __ARM_NEON #define SATURATE_CAST_UCHAR(X) (unsigned char)::std::min(::std::max((int)(X), 0), 255); for (; remain > 0; remain -= 2) { // R = 1.164 * yy + 1.596 * vv // G = 1.164 * yy - 0.813 * vv - 0.391 * uu // B = 1.164 * yy + 2.018 * uu // R = Y + (1.370705 * (V-128)) // G = Y - (0.698001 * (V-128)) - (0.337633 * (U-128)) // B = Y + (1.732446 * (U-128)) // R = ((Y << 6) + 87.72512 * (V-128)) >> 6 // G = ((Y << 6) - 44.672064 * (V-128) - 21.608512 * (U-128)) >> 6 // B = ((Y << 6) + 110.876544 * (U-128)) >> 6 // R = ((Y << 6) + 90 * (V-128)) >> 6 // G = ((Y << 6) - 46 * (V-128) - 22 * (U-128)) >> 6 // B = ((Y << 6) + 113 * (U-128)) >> 6 // R = (yy + 90 * vv) >> 6 // G = (yy - 46 * vv - 22 * uu) >> 6 // B = (yy + 113 * uu) >> 6 int v = vuptr[0] - 128; int u = vuptr[1] - 128; int ruv = 90 * v; int guv = -46 * v + -22 * u; int buv = 113 * u; int y00 = yptr0[0] << 6; rgb0[0] = SATURATE_CAST_UCHAR((y00 + ruv) >> 6); rgb0[1] = SATURATE_CAST_UCHAR((y00 + guv) >> 6); rgb0[2] = SATURATE_CAST_UCHAR((y00 + buv) >> 6); int y01 = yptr0[1] << 6; rgb0[3] = SATURATE_CAST_UCHAR((y01 + ruv) >> 6); rgb0[4] = SATURATE_CAST_UCHAR((y01 + guv) >> 6); rgb0[5] = SATURATE_CAST_UCHAR((y01 + buv) >> 6); int y10 = yptr1[0] << 6; rgb1[0] = SATURATE_CAST_UCHAR((y10 + ruv) >> 6); rgb1[1] = SATURATE_CAST_UCHAR((y10 + guv) >> 6); rgb1[2] = SATURATE_CAST_UCHAR((y10 + buv) >> 6); int y11 = yptr1[1] << 6; rgb1[3] = SATURATE_CAST_UCHAR((y11 + ruv) >> 6); rgb1[4] = SATURATE_CAST_UCHAR((y11 + guv) >> 6); rgb1[5] = SATURATE_CAST_UCHAR((y11 + buv) >> 6); yptr0 += 2; yptr1 += 2; vuptr += 2; rgb0 += 6; rgb1 += 6; } #undef SATURATE_CAST_UCHAR yptr += 2 * w; rgb += 2 * 3 * w; } }
基于G2D图形硬件的YUV转RGB
我们先实现 dmaion buffer 管理器,参考
这里贴的代码省略了异常错误处理的逻辑,有个坑是 linux-4.9 和 linux-5.4 用法不一样,米尔电子的这个T113-i系统是linux-5.4,所以不兼容4.9内核的ioctl用法习惯
struct ion_memory { size_t size; int fd; void* virt_addr; unsigned int phy_addr; }; class ion_allocator { public: ion_allocator(); ~ion_allocator(); int open(); void close(); int alloc(size_t size, struct ion_memory* mem); int free(struct ion_memory* mem); int flush(struct ion_memory* mem); public: int ion_fd; int cedar_fd; }; ion_allocator::ion_allocator() { ion_fd = -1; cedar_fd = -1; } ion_allocator::~ion_allocator() { close(); } int ion_allocator::open() { close(); ion_fd = ::open("/dev/ion", O_RDWR); cedar_fd = ::open("/dev/cedar_dev", O_RDONLY); ioctl(cedar_fd, IOCTL_ENGINE_REQ, 0); return 0; } void ion_allocator::close() { if (cedar_fd != -1) { ioctl(cedar_fd, IOCTL_ENGINE_REL, 0); ::close(cedar_fd); cedar_fd = -1; } if (ion_fd != -1) { ::close(ion_fd); ion_fd = -1; } } int ion_allocator::alloc(size_t size, struct ion_memory* mem) { struct aw_ion_new_alloc_data alloc_data; alloc_data.len = size; alloc_data.heap_id_mask = AW_ION_SYSTEM_HEAP_MASK; alloc_data.flags = AW_ION_CACHED_FLAG | AW_ION_CACHED_NEEDS_SYNC_FLAG; alloc_data.fd = 0; alloc_data.unused = 0; ioctl(ion_fd, AW_ION_IOC_NEW_ALLOC, &alloc_data); void* virt_addr = mmap(NULL, size, PROT_READ|PROT_WRITE, MAP_SHARED, alloc_data.fd, 0); struct aw_user_iommu_param iommu_param; iommu_param.fd = alloc_data.fd; iommu_param.iommu_addr = 0; ioctl(cedar_fd, IOCTL_GET_IOMMU_ADDR, &iommu_param); mem->size = size; mem->fd = alloc_data.fd; mem->virt_addr = virt_addr; mem->phy_addr = iommu_param.iommu_addr; return 0; } int ion_allocator::free(struct ion_memory* mem) { if (mem->fd == -1) return 0; struct aw_user_iommu_param iommu_param; iommu_param.fd = mem->fd; ioctl(cedar_fd, IOCTL_FREE_IOMMU_ADDR, &iommu_param); munmap(mem->virt_addr, mem->size); ::close(mem->fd); mem->size = 0; mem->fd = -1; mem->virt_addr = 0; mem->phy_addr = 0; return 0; } int ion_allocator::flush(struct ion_memory* mem) { struct dma_buf_sync sync; sync.flags = DMA_BUF_SYNC_END | DMA_BUF_SYNC_RW; ioctl(mem->fd, DMA_BUF_IOCTL_SYNC, &sync); return 0; }
然后再实现 G2D图形硬件 YUV转RGB 的转换器
提前分配好YUV和RGB的dmaion buffer
将YUV数据拷贝到dmaion buffer,flush cache完成同步
配置转换参数,ioctl调用G2D_CMD_BITBLT_H完成转换
flush cache完成同步,从dmaion buffer拷贝出RGB数据
释放dmaion buffer
// 步骤1 ion_allocator ion; ion.open(); struct ion_memory yuv_ion; ion.alloc(rgb_size, &rgb_ion); struct ion_memory rgb_ion; ion.alloc(yuv_size, &yuv_ion); int g2d_fd = ::open("/dev/g2d", O_RDWR); // 步骤2 memcpy((unsigned char*)yuv_ion.virt_addr, yuv420sp, yuv_size); ion.flush(&yuv_ion); // 步骤3 g2d_blt_h blit; memset(&blit, 0, sizeof(blit)); blit.flag_h = G2D_BLT_NONE_H; blit.src_image_h.format = G2D_FORMAT_YUV420UVC_V1U1V0U0; blit.src_image_h.width = width; blit.src_image_h.height = height; blit.src_image_h.align[0] = 0; blit.src_image_h.align[1] = 0; blit.src_image_h.clip_rect.x = 0; blit.src_image_h.clip_rect.y = 0; blit.src_image_h.clip_rect.w = width; blit.src_image_h.clip_rect.h = height; blit.src_image_h.gamut = G2D_BT601; blit.src_image_h.bpremul = 0; blit.src_image_h.mode = G2D_PIXEL_ALPHA; blit.src_image_h.use_phy_addr = 0; blit.src_image_h.fd = yuv_ion.fd; blit.dst_image_h.format = G2D_FORMAT_RGB888; blit.dst_image_h.width = width; blit.dst_image_h.height = height; blit.dst_image_h.align[0] = 0; blit.dst_image_h.clip_rect.x = 0; blit.dst_image_h.clip_rect.y = 0; blit.dst_image_h.clip_rect.w = width; blit.dst_image_h.clip_rect.h = height; blit.dst_image_h.gamut = G2D_BT601; blit.dst_image_h.bpremul = 0; blit.dst_image_h.mode = G2D_PIXEL_ALPHA; blit.dst_image_h.use_phy_addr = 0; blit.dst_image_h.fd = rgb_ion.fd; ioctl(g2d_fd, G2D_CMD_BITBLT_H, &blit); // 步骤4 ion.flush(&rgb_ion); memcpy(rgb, (const unsigned char*)rgb_ion.virt_addr, rgb_size); // 步骤5 ion.free(&rgb_ion); ion.free(&yuv_ion); ion.close(); ::close(g2d_fd);
G2D图像硬件YUV转RGB测试
考虑到dmaion buffer分配和释放都比较耗时,我们提前做好,循环调用步骤3的G2D转换,统计耗时,并在top工具中查看CPU占用率
sh-4.4# LD_LIBRARY_PATH=. ./g2dtest INFO : cedarc <CedarPluginVDInit:84>: register mjpeg decoder success! this device is not whitelisted for jpeg decoder cvi this device is not whitelisted for jpeg decoder cvi this device is not whitelisted for jpeg decoder cvi this device is not whitelisted for jpeg encoder rkmpp INFO : cedarc <log_set_level:43>: Set log level to 5 from /vendor/etc/cedarc.conf ERROR : cedarc <DebugCheckConfig:316>: now cedarc log level:5 ERROR : cedarc <VideoEncCreate:241>: now cedarc log level:5 yuv420sp2rgb 46.61 yuv420sp2rgb 42.04 yuv420sp2rgb 41.32 yuv420sp2rgb 42.06 yuv420sp2rgb 41.69 yuv420sp2rgb 42.05 yuv420sp2rgb 41.29 yuv420sp2rgb 41.30 yuv420sp2rgb 42.14 yuv420sp2rgb 41.33 yuv420sp2rgb_neon 10.57 yuv420sp2rgb_neon 7.21 yuv420sp2rgb_neon 6.77 yuv420sp2rgb_neon 8.31 yuv420sp2rgb_neon 7.60 yuv420sp2rgb_neon 6.80 yuv420sp2rgb_neon 6.77 yuv420sp2rgb_neon 7.01 yuv420sp2rgb_neon 7.11 yuv420sp2rgb_neon 7.06 yuv420sp2rgb_g2d 4.32 yuv420sp2rgb_g2d 4.69 yuv420sp2rgb_g2d 4.56 yuv420sp2rgb_g2d 4.57 yuv420sp2rgb_g2d 4.52 yuv420sp2rgb_g2d 4.54 yuv420sp2rgb_g2d 4.52 yuv420sp2rgb_g2d 4.58 yuv420sp2rgb_g2d 4.60 yuv420sp2rgb_g2d 4.67
可以看到 ARM neon 的优化效果非常明显,而使用G2D图形硬件能获得进一步加速,并且能显著降低CPU占用率!
耗时(ms) | CPU占用率(%) | |
---|---|---|
C | 41.30 | 50 |
neon | 6.77 | 50 |
g2d | 4.32 | 12 |
转换结果对比和分析
C和neon的转换结果完全一致,但是g2d转换后的图片有明显的色差
G2D图形硬件只支持 G2D_BT601,G2D_BT709,G2D_BT2020 3种YUV系数,而JPG所使用的YUV系数是改版BT601,因此产生了色差
从g2d内核驱动中也可以得知,暂时没有方法为g2d设置自定义的YUV系数,g2d不适合用于JPG的编解码,但依然适合摄像头和视频编解码的颜色空间转换
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2024年8月27日-29日,elexcon2024深圳国际电子展在深圳会展中心(福田)隆重开幕。汇聚全球优质品牌广商齐聚现场,打造电子全产业链创新展示、一站式采购及技术交流平台,展示全球产业动态及未来技术趋势。深圳市米尔电子有限公司(简称:米尔电子)作为瑞萨电子的合作伙伴参展,展出基于RZ系列的核心模组和行业应用demo。elexcon瑞萨展台-米尔活动现场精彩1:米尔RZ/G2L开发板的充电桩
2024-08-23
现场送瑞米派!预约瑞萨RZ/G通用MPU研讨会
RZ/G系列是基于Arm®Cortex®架构和RISC-V架构运行Linux操作系统的可扩展MPU平台,具有先进的图形、视频引擎和高速接口。RZ/G系列的可扩展和高效性使其成为工业自动化、楼宇自动化HMI、工业摄像头和网关应用的理想之选。8月28日,瑞萨电子将携手米尔电子、Qt、百问网、AIZIP等合作伙伴举办线下研讨会,邀您赴现场共同探讨RZ/G系列的技术细节,包括硬件架构、软件开发工具以及在工
2024-08-23
国产核心板全面进攻-RK3568开发板评测
随着端侧AI应用的落地,预计集成NPU的SoC产品将迎来爆发式的增量市场。本期与非网给大家带来一款采用国内知名SoC厂商的产品——基于瑞芯微RK3568的开发板(MYD-LR3568J-32E4D-180-I-GK)。此款开发板是米尔电子推出的一款基于瑞芯微RK3568的工业板。笔者手上的为最高规格配置的版本,4GB LPDDR4 + 32GB eMMC,工业级温度的处理器RK3568J。开发板硬
2024-08-15
原生支持17路UART和4路CAN FD,新唐MA35D1核心板发布!
米尔发布基于新唐MA35D1芯片设计的嵌入式处理器模块MYC-LMA35核心板及开发板,MA35D1是集成2个Cortex-A35与1个Cortex-M4的异构微处理器芯片。核心板采用创新LGA 252PIN设计,存储配置256MB DDR3L、256MB Nand Flash/ 8GB EMMC,同时具有丰富的通讯接口,可广泛应用于新能源充电桩、工程机械控制器、OBD汽车诊断仪、工业网关、运动控
2024-07-31
米尔RK3568加推工控板和工控机,更丰富的场景应用
国产之星-瑞芯微RK3568一直备受关注,米尔电子推广的RK3568核心板采用创新LGA设计,核心板质量更可靠,成本更优。除米粉派RK3568(MYD-LR3568开发板)之外,米尔加推MYD-LR3568-GK工控板和MYD-LR3568-GK-B工控机,丰富更多的应用场景。MYD-LR3568-GK工控板基于MYC-LR3568工业级核心板设计,搭载4核ARM Cortex-A55架构的高性能
2024-07-31
新品7折购!米尔RK3568国产开发板
近日,米尔电子发布MYC-LR3568核心板及开发板,核心板基于高性能、低功耗的国产芯片-瑞芯微RK3568。核心板采用LGA 创新设计,可实现100%全国产自主可控。为感谢广大客户支持,新品上架MYD-LR3568系列开发板7折回馈客户,原价499元,抢先体验价350元起!各型号限购20套,每个ID限购1套,售完即止!产品型号对应核心板型号工作温度MYD-LR3568J-32E4D-180-I-