jetson TK1 使用手记

TK1 上搭载wifi/bt/camera 的参考网址






1. 在TK1上添加 USB 蓝牙/WIFI, 添加 IMU / UWB. 实现HUB上的USB RS232 的重定位.
2. 机器人逻辑控制部分放在TK1上.
3. 和手机端通讯部分放在 TK1上.
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USB WIFI: 
     1. apt-get remove network-manager   #Network Manager会影响wpa_supplicant,所以需要卸载。
     2. 把对应的wifi固件拷贝到 /lib/firmware, 可以根据PC机器上的目录结果拷贝, 如 rtlwifi目录
     3. 自己编程, 查看是否有USB wifi, 有执行 sudo wpa_supplicant -Dnl80211 -iwlan0 -c/etc/wpa_supplicant.conf -B  + dhclient wlan0  
    
USB BLUETOOTH:

hciconfig hci0 up
hciconfig hci0 piscan
hciconfig hci0 name NDCSR
hciconfig hci0 noencrypt
hciconfig hci0 noauth
sdptool add sp
bluetooth-agent 0000 &

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准备使用TK1
1. 

文件系统搭建.

下载

Tegra124_Linux_R21.4.0_armhf.tbz2

Tegra_Linux_Sample-Root-Filesystem_R21.4.0_armhf.tbz2

 

tar -vxjf Tegra124_Linux_R21.4.0_armhf.tbz2

cd Linux_for_Tegra/rootfs

tar jxpf ../ Tegra_Linux_Sample-Root-Filesystem_R21.4.0_armhf.tbz2

 

cd ..

sudo ./apply_binaries.sh  # 把用户空间的库拷贝到文件系统.

#获取内核源码

./source_sync.sh -k tegra-l4t-r21.4 #选用的Tag应当是 tegra-l4t-r21.4

#获取UBOOT代码

./source_sync.sh -u tegra-l4t-r21.4 # sources/u-boot_source.

#编译内核.

$ export CROSS_COMPILE=    # requires GCC 4.4 or above.

$ export TEGRA_KERNEL_OUT=

$ export ARCH=arm

$ mkdir $TEGRA_KERNEL_OUT

$ make O=$TEGRA_KERNEL_OUT tegra12_defconfig

$ make O=$TEGRA_KERNEL_OUT zImage

$ make O=$TEGRA_KERNEL_OUT dtbs

$ make modules DESTDIR=

$ make modules_install INSTALL_MOD_PATH=

$ cp arch/arm/boot/zImage  根文件系统/kernel/zImage

$ 拷贝可用的DTB文件到对应的目录.

$ 拷贝可用的KO到对应的目录.

刷机: 首先进入刷机模式(按住Recovery键, 同时按一下reset键, USB线和PC的连接)

    sudo ./flash.sh [options]

如烧片为

    sudo ./flash.sh jetson-tk1 mmcblk0p1

只烧Kernel

    sudo ./flash.sh -K sources/kernel_source/arch/arm/boot/zImage  jetson-tk1 mmcblk0p1

启用 NFS

   sudo ./flash.sh -n 192.168.46.202:192.168.46.11:192.168.46.254:255.255.255.0 -N 192.168.46.11: /home/ray/TK1_R21.4/Linux_for_Tegra/rootfs jetson-tk1 eth0

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

系统修补
/etc/rc.local

 

#修补音频无效

amixer cset name="Stereo ADC MIXL ADC2 Switch" 0

amixer cset name="Stereo ADC MIXR ADC2 Switch" 0

amixer cset name="Int Mic Switch" 0

amixer cset name="ADC Capture Switch" 1

amixer cset name="RECMIXL BST1 Switch" 0

amixer cset name="RECMIXR BST1 Switch" 0

amixer cset name="RECMIXL BST2 Switch" 1

amixer cset name="RECMIXR BST2 Switch" 1

amixer cset name="Stereo ADC L1 Mux" "ADC"

amixer cset name="Stereo ADC R1 Mux" "ADC"

amixer cset name="Stereo ADC MIXL ADC1 Switch" 1

amixer cset name="Stereo ADC MIXR ADC1 Switch" 1

amixer cset name="Stereo ADC MIXL ADC2 Switch" 0

amixer cset name="Stereo ADC MIXR ADC2 Switch" 0

amixer cset name="IN1 Mode Control" "Single ended"

amixer cset name="IN2 Mode Control" "Single ended"

amixer cset name="Mic Jack Switch" 1

 

#ifconfig eth0 up

#ifconfig eth0 192.168.46.222

#route add default gw 192.168.46.254 dev eth0

 

echo "nameserver 8.8.8.8" >> /etc/resolv.conf

echo "nameserver 192.168.9.35" >> /etc/resolv.conf

echo "nameserver 192.168.9.72" >> /etc/resolv.conf

 

exit 0

 

 

添加 /etc/network/interfaces

# HWaddr 00:04:4b:49:0c:25

 

auto eth0

iface eth0 inet static

address 192.168.46.202

gateway 192.168.46.254

netmask 255.255.255.0