you can follow these stepsin to complete raspiberry cm4 image burning; open the raspiberrConfig(The folder contains a Instructional Videos, as well as Raspberry Pi burn-in software and instructional videos.) First, download the two software in the file, and then check your cm4. You will find a small dial on it. Move it to the on position, connect it to the computer with a data cable, use the rpiboot downloaded "boot" to find your cm4, and then use another image burning software to burn it by the way, you can visit https://www.raspberrypi.com/software/ to download the lastest image file.
目前仅支持的树莓派系统版本 Raspbian GNU 10 (buster)
使用如下命令查看系统版本
cat /etc/os-release
gpio -v
ls -l /dev
确定serial0是否连接至ttyAMA0
http://wiringpi.com/download-and-install/
sudo apt-get install wiringpi
If could not install, try the following method. https://blog.csdn.net/weixin_42194402/article/details/123764537
cd /tmp
wget https://project-downloads.drogon.net/wiringpi-latest.deb
sudo dpkg -i wiringpi-latest.deb
https://blog.csdn.net/sinat_37939098/article/details/119344651
(1)图形界面
raspberry pi configuration-interfaces
（sudo raspi-config）
serial console --disable
serial port --enable
I2C --enable
（2）命令行
sudo vim /boot/config.txt
在末尾加入 dtoverlay=pi3-miniuart-bt
https://github.com/bishopAL/GeRot/tree/master/API/dynamixel_cpp%20Ver2.0
git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
cd DynamixelSDK/c++/build/linux_sbc
E: Makefile:57: *** missing separator (did you mean TAB instead of 8 spaces?)
修改Makefile第57行与上一行的空格为回车换行
make
sudo make install
sudo apt-get install libeigen3-dev
OR
自己安装Eigen库 http://eigen.tuxfamily.org/index.php?title=Main_Page
下载安装位置 /usr/include/
cd /usr/include/eigen3.4.x
mkdir build
cd build
cmake ..
make
sudo make install
#软链接
sudo ln -s /usr/include/eigen3.4.x/Eigen /usr/include/Eigen
sudo ln -s /usr/include/eigen3.4.x/unsupported /usr/include/unsupporte
git clone https://github.com/coin-or/qpOASES.git
cd qpOASES
mkdir build && cd build
cmake ..
sudo make
sudo make install