Other

GPS

gpsd

gpsd是一个GPS的守护进程，用以侦听来自GPS接收器的位置信息，并将这些位置信息转换成一种简化的格式。这样就可以使用其他程序对这些数据进行分析并制作图表等。该软件包中有一个客户端，用以显示当前可见GPS卫星（如果有的话）的位置和速度。它也可以使用差分全球定位系统/ IP协议。

sudo apt-get install gpsd gpsd-clients

• Python gpsd bindings

---

• How to use Android phone as GPS sensor in Linux

  systemctl stop    gpsd
  systemctl disable gpsd
  sudo shutdown -r now   # 需要关机重启，启动 启动 gpad -N .... 会报错。
  
  
  sudo apt-get install adb
  
  ###########
  cgps
  gpsmon
  

• Warwalking With Linux and Android

  • https://www.jillybunch.com/sharegps/nmea-usb-linux.html

gpsfake

• 使用gpsfake模拟GPS数据

  1. 将假的gps数据存到文件中，命名为test.log.
  
         nc localhost 20175  >> test.log
         或者
         curl <phone ip>:port >> test.log
  
  2. ls /dev/pts,查看现在有什么设备。我的有三个，分别是0，1，ptmx。
  
  3. gpsfake -c 0.2 test.log  #  0.2秒 发送一条数据
  
  4. ls /dev/pts再次查看。这时候有四个了，分别是0,1,2,ptmx.
  
  5. cat /dev/pts/2. 就可以看到假的gps数据了。
  
  6. gpsd -F -D3 -N /dev/pts/2
  
  7 cgps 或者 gpsmon
  

  • gpsd_client-Tutorials

  # 8.
  rosrun gpsd_client gpsd_client _host:=localhost _port:=2947
  
  #9.
  rostopic echo /fix
  

nmea_navsat_driver

• run nmea_serial_driver

gpsfake -c 0.2 test.log  #  0.2秒 发送一条数据

rosrun nmea_navsat_driver nmea_serial_driver _port:=/dev/pts/7 _baud:=4800

rostopic list
rostopic echo /fix
rostopic echo /vel
rostopic echo /time_reference

Jetson Tx2

刷机 sdkmanager_1.1.0-6343

jetpack 4.3

• arm64架构安装vscode——tx2安装vscode
• tx2 ubuntu18安装中文输入法，并解决无候选框的问题

---

• Stop Chromium asking for keyring unlock

chromium --password-store=basic

Jetson AGX Xavier

刷机 sdkmanager_1.1.0-6343

jetpack 4.3

Configuration

nvpmodel introduces seven different “modes” on the Jetson AGX Xavier. The following table breaks down the modes which describe which CPU, GPU, DLA and VA cores to use along with their clock frequency, and the memory controller frequency.

NVPMODEL CLOCK CONFIGURATION

Mode Name	EDP	10W	15W	30W	30W	30W	30W
	MAXN	MODE_10W	MODE_15W	MODE_30W_ALL	MODE_30W_6CORE	MODE_30W_4CORE	MODE_30W_2CORE
Power Budget	n/a	10W	15W	30W	30W	30W	30W
Mode ID	0	1	2	3	4	5	6
Number of Online CPUs	8	2	4	8	6	4	2
CPU Maximal Frequency (MHz)	2265.6	1200	1200	1200	1450	1780	2100
GPU TPC	4	2	4	4	4	4	4
CPU Maximal Frequency (MHz)	1377	520	670	900	900	900	900
DLA Cores	2	2	2	2	2	2	2
DLA Maximal Frequency (MHz)	1395.2	550	750	1050	1050	1050	1050
Vision Accelerator (VA) cores	2	0	1	1	1	1	1
VA Maximal Frequency (MHz)	1088	0	550	760	760	760	760
Memory Maximal Frequency (MHz)	2133	1066	1333	1600	1600	1600	1600

tegrastats

sudo nvpmodel --query
sudo nvpmodel -q --verbose

sudo nvpmodel -p --verbose
sudo nvpmodel -m 0  # 0 - MAXN ;
                    # 1 - MODE_10W ;  默认
                    # 2 - MODE_15W ;
                    # 3 - MODE_30W_ALL ;
                    # 4 - MODE_30W_6CORE ;
                    # 5 - MODE_30W_4CORE ;
                    # 6 - MODE_30W_2CORE ;


sudo jetson_clocks --show

echo 255 > target_pwm
sudo cp -vf target_pwm /sys/devices/pwm-fan/target_pwm  # 风扇开到最大

---

• QT5

sudo apt-get install qt5-default qtcreator -y
sudo  apt isntall libqt5charts5 libqt5charts5-dev

---

• ubuntu sudo 免密码

sudo tee /etc/sudoers.d/nopasswd4sudo <<- 'EOF'
nvidia ALL=(ALL) NOPASSWD : ALL
EOF

########################################

sudo cat <<EOF > /tmp/nopasswd4sudo
${USER} ALL=(ALL) NOPASSWD : ALL
EOF
sudo chown root:root /tmp/nopasswd4sudo
sudo mv /tmp/nopasswd4sudo  /etc/sudoers.d/nopasswd4sudo

---

• NVIDIA Xavier CAN
• can_xavier

---

• Enabling CAN on Nvidia Jetson Xavier

# 开机自启动
sudo tee -a /etc/rc.local <<- 'EOF'
#!/bin/bash
bash /enable_CAN.sh &
exit 0
EOF

sudo chmod a+x /etc/rc.local

######################
# enable_CAN.sh
######################

sudo modprobe can
sudo modprobe can_raw
sudo modprobe mttcan

#############################
# 用devmem修改寄存器
#############################
sudo busybox devmem 0x0c303000 32 0x0000C400
sudo busybox devmem 0x0c303008 32 0x0000C458
sudo busybox devmem 0x0c303010 32 0x0000C400
sudo busybox devmem 0x0c303018 32 0x0000C458

# # 检查寄存器
# sudo busybox devmem 0x0c303000    # 0x0000C055
# sudo busybox devmem 0x0c303008    # 0x0000C055
# sudo busybox devmem 0x0c303010    # 0x0000C059
# sudo busybox devmem 0x0c303018    # 0x0000C059

# 配置标准CAN  500k
sudo ip link set can0 type can bitrate 500000
sudo ip link set can1 type can bitrate 500000

# 配置为仲裁段500k, 数据段2M的的CANFD:
#sudo ip link set can0 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on
#sudo ip link set can1 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on

# 设置本地回环
#sudo ip link set can0 type can bitrate 500000 loopback on
#sudo ip link set can1 type can bitrate 500000 loopback on


#sudo ip link set down can0
#sudo ip link set down can1

sudo ip link set up can0
sudo ip link set up can1

#
cansend can0 "601#b110ff"
cansend can1 "601#b110ff"


#sudo nvpmodel -m 0

sudo echo 255 > target_pwm
sudo cp -vf target_pwm /sys/devices/pwm-fan/target_pwm  # 风扇开到最大

# 禁用串行控制台
#sudo systemctl stop nvgetty
#sudo systemctl disable nvgetty
#udevadm trigger  # 串口 /dev/ttyTHS0

#
# sudo stty -F /dev/ttyUSB0 -a

---

• Jetson TX2——CAN口的使用 https://blog.csdn.net/xuezhunzhen9743/article/details/81877757

modprobe can        // 插入 can 总线子系统
modprobe can-raw    // 插入can 协议模块
modprobe can-bcm
modprobe can-gw
modprobe can-dev
modprobe mttcan      //真正的can口支持

---

• NVIDIA Xavier UART
• jetson-nano-uart

# 禁用串行控制台 ttyTHS*
sudo systemctl stop nvgetty
sudo systemctl disable nvgetty
udevadm trigger  # 串口 /dev/ttyTHS0

# sudo usermod -a -G dialout $USER
## sudo chmod a+wrx /dev/ttyTHS0

---

• nvida agx vnc 屏幕共享

1

sudo vim /usr/share/glib-2.0/schemas/org.gnome.Vino.gschema.xml

<!-- and go ahead and add the following key into the XML file. -->

 <key name='enabled' type='b'>
    <summary>Enable remote access to the desktop</summary>
    <description>
    If true, allows remote access to the desktop via the RFB
    protocol. Users on remote machines may then connect to the
    desktop using a VNC viewer.
    </description>
    <default>false</default>
 </key>

 # 更新
# Then compile the Gnome schemas with the glib-compile-schemas command.

sudo glib-compile-schemas /usr/share/glib-2.0/schemas

# 关闭 encryption of the VNC
#  或者使用图形界面配置工具 dconf editor 'sudo apt-get install dconf-editor'

gsettings set org.gnome.Vino require-encryption false
gsettings set org.gnome.Vino prompt-enabled false

2

打开 startup applications .

添加 command /usr/lib/vino/vino-server.

然后，重启系统

3

vncviewer 192.168.2.105:5900

Jetson Nano

# jtop : 安装实时查看CPU，GPU状态工具

sudo pip3 install jetson-stats

jtop


# 关闭图形界面
sudo systemctl set-default multi-user.target
sudo reboot

# 开启图形界面
sudo systemctl set-default graphical.target
sudo reboot

nvidia jetson ros2 docker

• https://nvidia-ai-iot.github.io/ros2_jetson/ros2-jetson-dockers/#docker-containers-for-rosros2-noeticfoxyeloquent
• https://github.com/NVIDIA-AI-IOT/ros2_jetson/tree/main/docker#pull-docker-images-from-docker-hub-follow

惠普暗影精灵5 Plus

惠普暗影精灵5 Plus 装　ubuntu 18.04 踩到的坑.

• 结合这两篇Blog , 解决ubuntu 18.04 安装问题

  • http://keyblog.cn/article-139.html
  • https://blog.csdn.net/xiaxinkai/article/details/103739698

ACPI Error: No handler or method for GPE => kernel 5.5 rc1 已经修正了这个问题。 kernel >= 5.5 的 Ubutnu 应该不存在这个问题

安装步骤 刻录 Ubuntu 18.04 U盘启动

装系统-> 选择 UEFI 启动
    当看到“Try Ubuntu", “Install Ubuntu”, “…” 这个黑色界面的时候按"e"，然后可以看到一段英文，把段落中的"quiet splash"修改成"nomodeset"，修改完按F10重启。（重要：不这样操作可能会卡住，无法启动安装器）
    安装器若启动不起来，多尝试几次．

安装过程，联网更新软件，并且勾选　第三方库安装．

===========

安装完毕,重启
在ubuntu选项上按e，进入启动命令编辑, 把段落中的"linux"打头的一行，找到quiet splash替换为text acpi=off，然后按F10启动。


进入桌面，更改为　国内源，然后 软件更新．

打开software updater，选择additional drivers，点击NVIDIA driver 435，点击Apply Changes。


安装完驱动，不要重启，打开终端，安装vim，然后sudo vim /etc/default/grub，修改一下两行：

GRUB_CMDLINE_LINUX_DEFAULT="text"
GRUB_CMDLINE_LINUX="pci=nommconf"

• 没有声音问题

echo "options snd-hda-intel model=auto" | sudo tee -a /etc/modprobe.d/alsa-base.conf
echo "options snd-hda-intel dmic_detect=0" | sudo tee -a /etc/modprobe.d/alsa-base.conf
echo "blacklist snd_soc_skl" | sudo tee -a /etc/modprobe.d/blacklist.conf
shutdown -r now

usb无线wifi

• (AC1750) Edimax ew-7833uac on 18.04
• Need rtl8814au driver for kernel 5.3 on Ubuntu 19.10

sudo apt install git dkms
git clone https://github.com/aircrack-ng/rtl8812au.git
cd rtl8812au
sudo ./dkms-install.sh