jetson nano 2GB开发历程记录

                                                                                         jetson nano 2GB 开发历程记录

 

基础篇

　　　　一、了解硬件（40引脚、微型USB接口、网线接口、USB2.0接口2个、USB3.0接口、USB电源接口、csi摄像头接口、风扇接口）

　　　　　　　　sudo sh -c 'echo 200 >/sys/devices/pwm-fan/target_pwm'     控制风扇(200是转速)

　　　　　　风扇自启动、根据温度自动调节转速   ubuntu实现python脚本后台运行+开机自启

#!/usr/bin/python
import time
downThres = 48
upThres = 58
baseThres = 40
ratio = 5
sleepTime = 30
 
while True:
    fo = open("/sys/class/thermal/thermal_zone0/temp","r")
    thermal = int(fo.read(10))
    fo.close()
 
    thermal = thermal / 1000
 
    if thermal < downThres:
        thermal = 0
    elif thermal >= downThres and thermal < upThres:
        thermal = baseThres + (thermal - downThres) * ratio
    else:
        thermal = thermal
 
 
    thermal = str(thermal)
 
    fw=open("/sys/devices/pwm-fan/target_pwm","w")
    fw.write(thermal)
    fw.close()
 
    time.sleep(sleepTime)







将以上代码写进文件，如/home/dlinano/ZLTech-demo/conf/thermal.py，将该文件添加到自启动：
使用命令 gnome-session-properties 打开自启动管理界面，添加一条新的自启动命令，sudo python3 /home/dlinano/ZLTech-demo/conf/thermal.py &     完成

 

　　　　二、镜像烧录（使用SDFormatter软件格式化SD卡,用Etcher软件写入镜像）

　　　　　　　　微云资料，微雪课堂

　　　　三、电脑连接jetson nano

　　　　　　1.无头连接jetsonnano（微型USB线连接，192.168.55.1，用户名dlinano、密码dlinano）

　　　　　　2.xshell连接jetson nano（IP，用户名dlinano、密码dlinano，）   Linux命令行连接WiFi

　　　　　　3.VNC连接jetson nano（使用GitHub上的create_ap项目让jetson nano发出热点。命令 sudo create_ap wlan0 eth0 wifi名 密码，设置为开机自启动命令gnome-session-properties）

　　　　　　　　先用ssh开启vnc服务(vino-server服务)：/usr/lib/vino/vino-server --display=:0

　　　　　　　　192.168.12.1   用户名dlinano   密码dlinano　　　

git clone https://github.com/oblique/create_ap

　　　　　　　　cd create_ap/

　　　　　　　　sudo make install

　　　　　　　　sudo apt-get install util-linux procps hostapd iproute2 iw haveged dnsmasq

　　　　　　　　sudo create_ap wlan0 eth0 wifi名 wifi密码 （将这个命令设置为开机自启动）

　　　　　　　　Linux 使用create_ap开热点后无法连接wifi问题的解决

　　　　　　　　Ubuntu18.04设置开机自启动的三种方法

　　　　　　　　xrandr --fb 宽x高       调节屏幕分辨率

　　　　　　　　jtop          性能监控命令

　　　　　　　　sudo apt install thonny        安装thonny

　　　　四、文件传输方式（filezilla或winscp）

　　　　五. 问题及解决方法记录：

　　　　　　1.音频输出输入   https://blog.csdn.net/weixin_39249334/article/details/110197043

　　　　　　　　　　　　　  https://blog.csdn.net/xiaolong1126626497/article/details/105828447

查看当前系统可用的音频端口（使用排除法，先把USB声卡拔掉，然后再插上，确定那个端口是USB那个端口是电脑内置的）
pacmd list | grep "active port"
根据打印的结果，可以知道USB声卡的输出端口是：active port: <analog-output-speaker>   输出端口是：active port: <analog-input-mic>


修改配置文件/etc/pulse/default.pa
sudo vim /etc/pulse/default.pa
在文件末尾增加代码：  其中的analog-output-speaker 是使用的声卡输出端口名称，analog-input-mic是输入端口，前面查找到的
set-default-sink analog-output-speaker
set-default-source analog-input-mic

重启即可生效

sudo apt-add-repository ppa:yktooo/ppa
sudo apt-get update
sudo apt-get install indicator-sound-switcher


安装成功后需手动启动，在右上角会显示图标（左数第三个）

　　　　　　2.Ubuntu主面板字体大小设置

　　　　　　　　开始---首选项---桌面偏好设置----点击数字，修改字体大小

　　　　　　3.解决错误apt --fix-broken install

首先，按照命令行的提示，运行

sudo apt --fix-broken install

这个时候，会让你安装一些依赖包，会提示你是否安装，选择Y

 　　　　　　4.mjpg的安装（通过MJPEG-streamer实现IPCamera）

安装MJPEG编译所需要的库
sudo apt-get update
sudo apt-get install subversion
sudo apt-get install libjpeg8-dev
sudo apt-get install imagemagick
sudo apt-get install libv4l-dev
sudo apt-get install cmake
sudo apt-get install git

编译MJPEG-streamer
sudo git clone https://github.com/jacksonliam/mjpg-streamer.git
cd mjpg-streamer/mjpg-streamer-experimental
make all
sudo make install

然后打开浏览器输入网址 应该就能看到我们摄像头拍摄的图像了
http://jetson的IP地址:8080/?action=stream   


mjpeg安装，安装完启动即可看到摄像头的数据，再把摄像头开启服务添加到开机启动中，注意目录问题
sudo /home/dlinano/mjpg-streamer/mjpg-streamer-experimental/mjpg_streamer -i "/home/dlinano/mjpg-streamer/mjpg-streamer-experimental/input_uvc.so" -o "/home/dlinano/mjpg-streamer/mjpg-streamer-experimental/output_http.so -w /home/dlinano/mjpg-streamer/mjpg-streamer-experimental/www"

 

 

 

传感器篇

　　　　数字类、模拟类、协议类、其他类

　　　　　　sudo i2cdetect -y -r 1      查看i2c设备的命令

　　　　　　sudo /opt/nvidia/jetson-io/jetson-io.py       使能pwm的命令

　　　　　　OLED     /home/jetbot/Notebooks/APP Centrol/jetbot/apps/stats.py

# Copyright (c) 2017 Adafruit Industries
# Author: Tony DiCola & James DeVito
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
import time

import Adafruit_SSD1306

from PIL import Image
from PIL import ImageDraw
from PIL import ImageFont
#from jetbot.utils.utils import get_ip_address

import subprocess

def get_ip_address(interface):
    if get_network_interface_state(interface) == 'down':
        return None
    cmd = "ifconfig %s | grep -Eo 'inet (addr:)?([0-9]*\.){3}[0-9]*' | grep -Eo '([0-9]*\.){3}[0-9]*' | grep -v '127.0.0.1'" % interface
    return subprocess.check_output(cmd, shell=True).decode('ascii')[:-1]


def get_network_interface_state(interface):
    return subprocess.check_output('cat /sys/class/net/%s/operstate' % interface, shell=True).decode('ascii')[:-1]


# 128x32 display with hardware I2C:
disp = Adafruit_SSD1306.SSD1306_128_32(rst=None, i2c_bus=1, gpio=1) # setting gpio to 1 is hack to avoid platform detection

# Initialize library.
disp.begin()

# Clear display.
disp.clear()
disp.display()

# Create blank image for drawing.
# Make sure to create image with mode '1' for 1-bit color.
width = disp.width
height = disp.height
image = Image.new('1', (width, height))

# Get drawing object to draw on image.
draw = ImageDraw.Draw(image)

# Draw a black filled box to clear the image.
draw.rectangle((0,0,width,height), outline=0, fill=0)

# Draw some shapes.
# First define some constants to allow easy resizing of shapes.
padding = -2
top = padding
bottom = height-padding
# Move left to right keeping track of the current x position for drawing shapes.
x = 0

# Load default font.
font = ImageFont.load_default()


while True:

    # Draw a black filled box to clear the image.
    draw.rectangle((0,0,width,height), outline=0, fill=0)

    # Shell scripts for system monitoring from here : https://unix.stackexchange.com/questions/119126/command-to-display-memory-usage-disk-usage-and-cpu-load
    cmd = "top -bn1 | grep load | awk '{printf \"CPU Load: %.2f\", $(NF-2)}'"
    CPU = subprocess.check_output(cmd, shell = True )
    cmd = "free -m | awk 'NR==2{printf \"Mem: %s/%sMB %.2f%%\", $3,$2,$3*100/$2 }'"
    MemUsage = subprocess.check_output(cmd, shell = True )
    cmd = "df -h | awk '$NF==\"/\"{printf \"Disk: %d/%dGB %s\", $3,$2,$5}'"
    Disk = subprocess.check_output(cmd, shell = True )

    # Write two lines of text.

    draw.text((x, top),       "eth0: " + str(get_ip_address('eth0')),  font=font, fill=255)
    draw.text((x, top+8),     "wlan0: " + str(get_ip_address('wlan0')), font=font, fill=255)
    draw.text((x, top+16),    str(MemUsage.decode('utf-8')),  font=font, fill=255)
    draw.text((x, top+25),    str(Disk.decode('utf-8')),  font=font, fill=255)

    # Display image.
    disp.image(image)
    disp.display()
    time.sleep(1)

 

AI人工智能篇

　　　　一、jupyterlab（打开浏览器，地址栏输入 IP:8888, 密码dlinano）

　　　　　　jupyter+OpenCV用法：导包，创建显示控件，打开摄像头视频捕获，无限循环对每一帧处理、显示在控件里

　　　　二、不用jupyter，在本地用OpenCV打开摄像头（ls -l /dev/video* 可查看有哪几个摄像头设备）

　　　　　　jetson nano打开csi和USB摄像头

1.jetson nano 用opencv4.1.1打开CSI摄像头（python）

import cv2
 
 
def gstreamer_pipeline(
    capture_width=1280,
    capture_height=720,
    display_width=1280,
    display_height=720,
    framerate=60,
    flip_method=0,
):
    return (
        "nvarguscamerasrc ! "
        "video/x-raw(memory:NVMM), "
        "width=(int)%d, height=(int)%d, "
        "format=(string)NV12, framerate=(fraction)%d/1 ! "
        "nvvidconv flip-method=%d ! "
        "video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! "
        "videoconvert ! "
        "video/x-raw, format=(string)BGR ! appsink"
        % (
            capture_width,
            capture_height,
            framerate,
            flip_method,
            display_width,
            display_height,
        )
    )
 
cap = cv2.VideoCapture(gstreamer_pipeline(flip_method=0), cv2.CAP_GSTREAMER)
注意：cap = cv2.VideoCapture(gstreamer_pipeline(flip_method=0), cv2.CAP_GSTREAMER)只是创建一个对象，并不是完整打开摄像头代码




2.jetson nano 用opencv4.1.1打开USB摄像头（python）

cap = cv2.VideoCapture(1)

1表示摄像头编号1

　　　　　　注意：如果已安装mjpg并开机自启mjpg视频流传输，则会出现以下问题：ai功能调用/dev/video0打不开摄像头，会报错。解决方法：写一个脚本如killmjpg.sh杀死mjpg进程，在ai功能打开摄像头之前使用os.system('./killmjpg.sh'杀死mjpg进程即可

#!/bin/bash

sudo kill -9 `ps -elf|grep mjpg |awk '{print $4}'|awk 'NR==1'`

sudo kill -9 `ps -elf|grep mjpg |awk '{print $4}'|awk 'NR==1'`

import cv2
import time
import os

#启动脚本杀死影响程序的进程
os.system('./killmjpg.sh')

cap = cv2.VideoCapture(0)  #打开摄像头 最大范围 640×480
cap.set(3,320)  #设置画面宽度
cap.set(4,240)  #设置画面高度

while 1: 
    ret,frame = cap.read()
    cv2.imshow('frame',frame)
    if cv2.waitKey(5) & 0xFF == 27: #如果按了ESC就退出 当然也可以自己设置
        break

cap.release()
cv2.destroyAllWindows() #后面两句是常规操作,每次使用摄像头都需要这样设置一波

　　　　　　注：本地打开摄像头需要加上下面这个代码

cv2.imshow(frame)之后加上
if cv2.waitKey(5) & 0xFF == 27:
    break

　　　　　　文本播放用pyttsx3模块(离线版语言引擎 pip3 install pyttsx3==2.71)  不好用

import pyttsx3   # 离线版语音引擎pip install pyttsx3==2.71

item = '欢迎使用众灵AI智能语音识别系统！！'

engine = pyttsx3.init()
engine.setProperty('rate',150)
engine.setProperty('voice','english+f2')

engine.say(item)
engine.runAndWait()

print('end')

 　　　　　　语音播放用pygame模块

import pygame
#import time

pygame.mixer.init()
def play(filename):
    pygame.mixer.music.load(filename)
    pygame.mixer.music.play()

    while pygame.mixer.music.get_busy():  #检查是否正在播放音乐
        pass

    #time.sleep(5)
if __name__ == '__main__':
    play('0018.wav')

 　　　　　　语音播放用simpleaudio模块

from pydub import AudioSegment
import simpleaudio as sa

def trans_mp3_to_wav(filepath):
    song = AudioSegment.from_mp3(filepath)
    song.export("此处填wav文件名称及路径", format="wav")

trans_mp3_to_wav("原mp3文件名称及路径")
wave_obj = sa.WaveObject.from_wave_file("此处填wav文件名称及路径")
play_obj = wave_obj.play()
play_obj.wait_done()

　　　　　　mp3转wav用pydub模块

from pydub import AudioSegment

#这里filepath填的是.mp3文件的名字（也可加上路径）
def trans_mp3_to_wav(filepath):
    song = AudioSegment.from_mp3(filepath)
    song.export("now.wav", format="wav")

　　　　　　百度语音技术（领取免费额度）示例代码(pyaudio录音+语音识别+语音合成）

安装scipy库： https://blog.csdn.net/yaoqi_isee/article/details/75206222

1、首先安装依赖库

sudo apt-get install libasound-dev portaudio19-dev libportaudio2 libportaudiocpp0

2、然后，就可以直接安装了

sudo pip3 install pyaudio

import os
import time
import pygame
from aip import AipSpeech
import pyaudio_test

""" 你的 APPID AK SK """
APP_ID = '24705618'
API_KEY = 'D9nixLbfFdTp4B7rT378Y67K'
SECRET_KEY = '2Rm19eciqEa9sCUHNyls50QUNtU34qeu'

client = AipSpeech(APP_ID, API_KEY, SECRET_KEY)


# 读取文件
def get_file_content(filePath):
    os.system(f"ffmpeg -y -i {filePath} -acodec pcm_s16le -f s16le -ac 1 -ar 16000 {filePath}.pcm")
    with open(f"{filePath}.pcm", 'rb') as fp:
        return fp.read()

# 语音识别
def audio2text(filepath):
    # 识别本地文件
    res = client.asr(get_file_content(filepath), 'pcm', 16000, {'dev_pid': 1537,})
    print(res.get("result")[0])
    return res.get("result")[0]

# 语音合成
def text2audio(text):
    filename = "{}.mp3".format(int(time.time()))
    path = '/tmp/'
    filepath = os.path.join(path, filename)
    result = client.synthesis(text, 'zh', 1, {'vol': 7,"spd": 4,"pit": 7,"per": 4})
    # 识别正确返回语音二进制 错误则返回dict 参照下面错误码
    if not isinstance(result, dict):
        print('start write')
        with open(filepath, 'wb') as f:
            f.write(result)
    return filepath

# 语音播放
def voice(filepath):
    print('voice start')
    pygame.mixer.init()
    pygame.mixer.music.load(filepath)
    pygame.mixer.music.play()
    while pygame.mixer.music.get_busy():  #检查是否正在播放音乐
        pass
    print('voice end')

if __name__ == '__main__':
    filepath = pyaudio_test.rec('1.wav')
    text = audio2text(filepath)
    filename = text2audio(text)

    voice(filename)

import os
import time
import pyaudio
import wave
import baiduaip_test

CHUNK = 1024
FORMAT = pyaudio.paInt16
CHANNELS = 2
RATE = 16000
RECORD_SECONDS = 5

def rec(file_name='%s.wav'%time.time()):
    path = '/tmp/'
    filepath = os.path.join(path,file_name)
    p = pyaudio.PyAudio()
    stream = p.open(format=FORMAT, channels=CHANNELS, rate=RATE, input=True, frames_per_buffer=CHUNK)

    f1 = baiduaip_test.text2audio("开始录音")
    baiduaip_test.voice(f1)
        
    frames = []

    for i in range(0, int(RATE / CHUNK * RECORD_SECONDS)):
        data = stream.read(CHUNK)
        frames.append(data)

    f2 = baiduaip_test.text2audio("录音结束")
    baiduaip_test.voice(f2)

    stream.stop_stream()
    stream.close()
    p.terminate()

    wf = wave.open(filepath, 'wb')
    wf.setnchannels(CHANNELS)  #设置声道数目
    wf.setsampwidth(p.get_sample_size(FORMAT))  #设置样本宽度
    wf.setframerate(RATE)  #设置取样频率
    wf.writeframes(b''.join(frames))  #写入语音频及文件表头
    wf.close()

    return filepath

if __name__ == '__main__':
    filepath = rec()
    print('text: ', filepath)

　　　　　　视觉巡线uart、serial

import serial
ser=serial.Serial('/dev/ttyTHS1',115200,timeout=1)   # jetson nano

 　　　　　　import pytorch错误：OSError: libmpi_cxx.so.20: cannot open shared object file: No such file or directory

　　　　　　Jetson Nano 跑通 jetson-inference

参考官方github的内容https://github.com/NVIDIA-AI-IOT/jetcam

git clone https://github.com/NVIDIA-AI-IOT/jetcam
cd jetcam
sudo python3 setup.py install