Jetson Nano Running Samples

Nano forum links
nano-compatible-i2s-soundcard/

1. 如何下载镜像软件到Jetson Nano

Step1. 进入Recovery mode

1. 找到J40和J48 跳PIN， 将J48跳线帽接起，再将J40 3和4Pin接起，这样Nano在上电后就会进入Force Recovery Mode
   2.Jetson Nano核心板插入micro-SD卡，插入micro-USB线，再接上电源
2. 运行sdkmanager 或 Linux_for_Tegra

image.png

Step2. Flash 全部镜像文件
sudo ./flash.sh jetson-nano-qspi-sd mmcblk0p1

或（已生成system.img）
sudo ./flash.sh -r jetson-nano-qspi-sd mmcblk0p1

Step3. Flash DTB文件
cp ~/jetson/nano/r32.out/kernel_out/arch/arm64/boot/dts/tegra210-p3448-0000-p3449-0000-a02.dtb kernel/dtb/
sudo ./flash.sh -r -k DTB jetson-nano-qspi-sd mmcblk0p1

Jetson Nano Flash u-boot.bin
sudo ./flash.sh -k LNX jetson-nano-qspi-sd mmcblk0p1

cp ~/jetson/nano/r32.out/kernel_out/arch/arm64/boot/Image kernel/
scp kernel/Image [email protected]:Downloads

Jetson Nano DTS 源码文件：（详细参考）

/nvidia_sdk/JetPack_4.2_Linux_P3448/Linux_for_Tegra/sources/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a02.dts

2. 如下Samples 软件运行在32GB SanDisk UHS-I/U3 MicroSD Card上

CUDA 10（路径：/usr/local/cuda/，默认系统未加入到环境变量）
运行如下命令添加环境变量：
export PATH=${PATH}:/usr/local/cuda/bin
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/cuda/lib64
Tegra Multimedia API :
tegra_multimedia_api（路径：/usr/src/nvidia/tegra_multimedia_api）
$sudo make -j4 （编译）

高频运行模式
$sudo nvpmodel -m 0 （5V 2A Mode)
$sudo nvpmodel -m 1 （5V 1A Mode)
$sudo tegrastats （CPU/GPU/EMC/Temperature Status)

安装的三方工具或软件列表
sudo apt-get update
sudo apt-get install samba
sudo apt-get install python3-pip

Tensorflow 1.13.1
pip3 install --extra-index-url https://developer.download.nvidia.com/compute/redist/jp/v42 tensorflow-gpu==1.13.1+nv19.3 --user
安装过程若报错hdf5，请安装：
sudo apt-get install libhdf5-serial-dev

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2. GPIO for Nano

Jetson.GPIO库 已经预装在Nano，无需再安装其他GPIO Python库，如果安装了其他GPIO库需先卸载方可以正常适用Jetson.GPIO, 预安装路径：

/opt/nvidia/jetson-gpio

运行Jetson.GPIO前需运行以下步骤，建立GPIO 运行环境
步骤一 - 设置运行权限Setup permissions

$sudo groupadd -f -r gpio
$sudo usermod -a -G gpio $USER
$sudo cp /opt/nvidia/jetson-gpio/etc/99-gpio.rules /etc/udev/rules.d/
$sudo udevadm control --reload-rules && sudo udevadm trigger

$sudo reboot now

步骤二 - Python 代码引用
添加如下Python 代码后，才可以调用 import the RPi.GPIO (或者 motorhat library等)

import sys
sys.path.append('/opt/nvidia/jetson-gpio/lib/python/')
sys.path.append('/opt/nvidia/jetson-gpio/lib/python/Jetson/GPIO')

import Jetson.GPIO

或

import RPi.GPIO

Jetson.GPIO doesn't support PWM.
However, the following I2C controlled board can generate PWM signals up to ~1.6kHz and should have Python libraries available.
https://www.adafruit.com/product/815
You could potentially connect this to whatever H-Bridge meets the power requirements of your application. The motor driver we used for JetBot actually combines this chip and multiple H-bridge on the same board.
https://www.adafruit.com/product/2927

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3. MXNET for Nano

Python2.7
下载Wheel file here.

sudo apt-get install -y git build-essential libatlas-base-dev libopencv-dev graphviz python-pip
sudo pip install mxnet-1.4.0-cp27-cp27mu-linux_aarch64.whl

Python3.7
下载Wheel file here.

sudo apt-get install -y git build-essential libatlas-base-dev libopencv-dev graphviz python3-pip
sudo pip install mxnet-1.4.0-cp36-cp36m-linux_aarch64.whl

4. Nano 运行Darknet （本案例采用 Alexey_Darknet)

下载源码：
$git clone https://github.com/AlexeyAB/darknet.git

编译源码：
修改Makefile内容，添加GPU/CUDNN/OPENCV 支持：
GPU=1
CUDNN=1
CUDNN_HALF=1
OPENCV=1
$make -j4

Darknet运行时Nano 电流较大，实测5V 瞬间电流有达到2.5A，也就是说普通的5V-2A MicroUSB 供电是无法满足的，此时需要提供5V-2A AC Adapter或者5V-4.5A MicroUSB 供电，以满足正常运行Darknet Yolo。
下载对应weight就可以运行了， 比如自带的
compute_capability = 530, cudnn_half = 0

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5. Nano 运行 Camera （案例采用 Raspberry Pi Camera v2）**

Nano 已支持Camera列表

• e-con Systems e-CAM30_CUNANO (3.4 MP MIPI Camera)
• Logitech C920 (USB webcam)
• Leopard Imaging LI-IMX219-MIPI-FF-NANO (IMX219 sensor)
• Raspberry Pi Camera v2 (IMX219 sensor)
• Stereolabs ZED (stereo camera)

相机安装后，以RAW 格式打开并预览：
$nvgstcapture-1.0 -m 2

附录 代码及终端信息

$nvgstcapture-1.0 -m 2

nvidia@tw-Nano:~$ nvgstcapture-1.0 -m 2
Encoder null, cannot set bitrate!
Encoder Profile = High
Supported resolutions in case of ARGUS Camera
  (2) : 640x480
  (3) : 1280x720
  (4) : 1920x1080
  (5) : 2104x1560
  (6) : 2592x1944
  (7) : 2616x1472
  (8) : 3840x2160
  (9) : 3896x2192
  (10): 4208x3120
  (11): 5632x3168
  (12): 5632x4224

Runtime ARGUS Camera Commands:

  Help : 'h'
  Quit : 'q'
  Set Capture Mode:
      mo:
          (1): image
          (2): video
  Get Capture Mode:
      gmo
  Set sensor orientation:
      so:
          (0): none
          (1): Rotate counter-clockwise 90 degrees
          (2): Rotate 180 degrees
          (3): Rotate clockwise 90 degrees
  Get sensor orientation:
      gso
  Set Whitebalance Mode:
      wb:
          (0): off
          (1): auto
          (2): incandescent
          (3): fluorescent
          (4): warm-fluorescent
          (5): daylight
          (6): cloudy-daylight
          (7): twilight
          (8): shade
          (9): manual
  Get Whitebalance Mode:
      gwb
  Set Saturation (0 to 2):
      st: e.g., st:1.25
  Get Saturation:
      gst
  Set Exposure Compensation (-2 to 2):
      ec: e.g., ec:-2
  Get Exposure Compensation:
      gec
  Set Auto Whitebalance Lock:
      awbl: e.g., awbl:0
  Get Auto Whitebalance Lock:
      awbl
  Set Auto Exposure Lock:
      ael: e.g., ael:0
  Get Auto Exposure Lock:
      gael
  Set TNR Mode:
      tnrm: e.g., tnrm:1
          (0): OFF
          (1): FAST
          (2): HIGH QUALITY
  Get TNR Mode:
      gtnrm
  Set TNR Strength (-1 to 1):
      tnrs: e.g., tnrs:0.5
  Get TNR Strength:
      gtnrs
  Set EE Mode:
      eem: e.g., eem:1
          (0): OFF
          (1): FAST
          (2): HIGH QUALITY
  Get EE Mode:
      geem
  Set EE Strength (-1 to 1):
      ees: e.g., ees:0.5
  Get EE Strength:
      gees
  Set Auto Exposure Anti-Banding (0 to 3):
      aeab: e.g., aeab:2
          (0): OFF
          (1): MODE AUTO
          (2): MODE 50HZ
          (3): MODE 60HZ
  Get Auto Exposure Anti-Banding:
      gaeab
  Set Gain Range:
      gr: e.g., gr:1 16
  Get Gain Range:
      ggr
  Set Exposure Time Range:
      etr: e.g., etr:34000 35000
  Get Exposure Time Range:
      getr
  Set ISP Digital Gain Range:
      dgr: e.g., dgr:2 152
  Get ISP Digital Gain Range:
      gdgr
  Capture: enter 'j' OR
           followed by a timer (e.g., jx5000, capture after 5 seconds) OR
           followed by multishot count (e.g., j:6, capture 6 images)
           timer/multihot values are optional, capture defaults to single shot with timer=0s
  Start Recording : enter '1'
  Stop Recording  : enter '0'
  Video snapshot  : enter '2' (While recording video)
  Get Preview Resolution:
      gpcr
  Get Image Capture Resolution:
      gicr
  Get Video Capture Resolution:
      gvcr


Runtime encoder configuration options:

  Set Encoding Bit-rate(in bytes):
      br: e.g., br:4000000
  Get Encoding Bit-rate(in bytes):
      gbr
  Set Encoding Profile(only for H.264):
      ep: e.g., ep:1
          (0): Baseline
          (1): Main
          (2): High
  Get Encoding Profile(only for H.264):
      gep
  Force IDR Frame on video Encoder(only for H.264):
      Enter 'f' 


bitrate = 4000000
Encoder Profile = High
Encoder control-rate = 1
Encoder EnableTwopassCBR = 0
** Message: 15:36:22.464:  iterating capture loop ....
Framerate set to : 30 at NvxVideoEncoderSetParameterNvMMLiteOpen : Block : BlockType = 4 
===== NVMEDIA: NVENC =====
NvMMLiteBlockCreate : Block : BlockType = 4 
H264: Profile = 100, Level = 40 
GST_ARGUS: Creating output stream
CONSUMER: Waiting until producer is connected...
GST_ARGUS: Available Sensor modes :
GST_ARGUS: 3280 x 2464 FR = 21.000000 fps Duration = 47619048 ; Analog Gain range min 1.000000, max 10.625000; Exposure Range min 13000, max 683709000;

GST_ARGUS: 3280 x 1848 FR = 28.000001 fps Duration = 35714284 ; Analog Gain range min 1.000000, max 10.625000; Exposure Range min 13000, max 683709000;

GST_ARGUS: 1920 x 1080 FR = 29.999999 fps Duration = 33333334 ; Analog Gain range min 1.000000, max 10.625000; Exposure Range min 13000, max 683709000;

GST_ARGUS: 1280 x 720 FR = 59.999999 fps Duration = 16666667 ; Analog Gain range min 1.000000, max 10.625000; Exposure Range min 13000, max 683709000;

GST_ARGUS: 1280 x 720 FR = 120.000005 fps Duration = 8333333 ; Analog Gain range min 1.000000, max 10.625000; Exposure Range min 13000, max 683709000;

GST_ARGUS: Running with following settings:
   Camera index = 0 
   Camera mode  = 4 
   Output Stream W = 1280 H = 720 
   seconds to Run    = 0 
   Frame Rate = 120.000005 
GST_ARGUS: PowerService: requested_clock_Hz=2016000
GST_ARGUS: Setup Complete, Starting captures for 0 seconds
GST_ARGUS: Starting repeat capture requests.
CONSUMER: Producer has connected; continuing.