embeded/i.mx 8m plus2024. 5. 14. 15:45

fail!!

portaudio는 라이브러리 같은데

반대로.. 리눅스 시스템에서 지원하고 있는 오디오 시스템이 어떻게 되는지 확인하는 방법을 찾아 봐야 할 듯.

 

root@imx8mpevk:~# python3 tone.py 
Traceback (most recent call last):
  File "/home/root/tone.py", line 2, in <module>
    import sounddevice as sd
  File "/usr/lib/python3.11/site-packages/sounddevice.py", line 71, in <module>
    raise OSError('PortAudio library not found')
OSError: PortAudio library not found

 

라즈베리에서는 portaudio를 지원하나 본데 i.mx8 보드에서는 apt로도 설치가 안되는데

귀찮으니(?) 라이브러리 빌드해서 넣어봐야 하나?

sudo apt-get install libportaudio2
sudo apt-get install libasound2-dev

[링크 : https://park-duck.tistory.com/entry/portAudio-library-not-found-에러-해결]

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embeded/raspberry pi2024. 2. 26. 17:46

라즈베리 설치할 때 cli로 설치하고

ultranav 꽃고 커서를 누르려다 이전/다음 페이지 눌렸는데 가상 터미널을 이동한다.

alt-shift-f1 ~ f10을 눌러서 사용했었는데, 원래 있던 기능인가?

 

[링크 : https://raspberrypi.stackexchange.com/questions/36099/open-tty1-with-another-shortcut]

 

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embeded/raspberry pi2024. 2. 26. 17:38

raspi-still이 deprecated 였다면.. raspivid도 그렇게 되었을 텐데

Re: pi Camera not supported

Tue Dec 05, 2023 1:40 pm
raspi-still is a deprecated application and does not work with libcamera. Use the libcamera applications.

What OS, what Pi are you using? Have you re-seated all the camera connectors in case one has come loose?

[링크 : https://forums.raspberrypi.com/viewtopic.php?t=360897]

 

그나저나 libcamera는 또 머냐..

csi는 libcamera로 지원되지 않는건가?

pi@raspberrypi:~ $ vcgencmd get_camera
supported=1 detected=1, libcamera interfaces=0

pi@raspberrypi:~ $ libcamera-still --list-cameras
No cameras available!

 

 

그래서 raspi-config에서 아래 처럼 사라질수 있다 라고 기재한건가?

 

 

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embeded/raspberry pi2024. 2. 21. 23:37

슬림해서 이쁜데

방열판 있으면 안되는 크기란 걸 간과했다...

그래서 라즈베리 2에만 장착하기로 결정!

 

흰색은 잘 녹는지 크게 눈에 거슬리지 않는데, 빨간색은 곳곳에 구멍이 빈다.

 

높이 방향으로는 의외로 깔끔하게 잘 뽑는다.

 

빨간색과 흰색으로 두개 뽑아서 바꿔주니 투 톤이라 좀 더 이뻐 보이는 효과가!

이제 남은건.. 저 망할(?) FFC와 카메라 케이스 ㅋㅋ

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embeded/ARM2024. 2. 7. 10:10

erase block 단위로 정렬하면 좋다는데 그걸 어떻게 확인하지?

데이터시트 안보고 리눅스 레벨에서 확인할 순 없나?

 

Try to align to eMMC erasure block size. It usually equals 0.5, 1, 2, 4, 8 MiB depending on eMMC datasheet. If you find block size alignment too much memory wasting, then stick to the page size, generally found in the range of 4..16 KiB.

[링크 : https://unix.stackexchange.com/questions/248939/how-to-achieve-optimal-alignment-for-emmc-partition]

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embeded/arduino(genuino)2024. 1. 31. 15:22

esp8266이야 wifi 내장이긴 한데

다른 wifi 모듈들도 이런식으로 https를 제공하려나?

 

#include <ESP8266WiFi.h>
#include <ESP8266HTTPClient.h>
#include <DHT.h>
#include <WiFiClient.h>
#include <WiFiClientSecureBearSSL.h>
#include <time.h>

[링크 : https://dinist.tistory.com/17]

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embeded/raspberry pi2024. 1. 2. 22:44

편의를 위해 줄 끝을 삭제함(너무 길이서)

대충봐도.. 라즈베리용 메모리 크기에 맞게 설정되지 않은 느낌이다.

 

MariaDB [(none)]> show variables;
+----------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 Variable_name                                             Value
+----------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 alter_algorithm                                           DEFAULT
 analyze_sample_percentage                                 100.000000
 aria_block_size                                           8192
 aria_checkpoint_interval                                  30
 aria_checkpoint_log_activity                              1048576
 aria_encrypt_tables                                       OFF
 aria_force_start_after_recovery_failures                  0
 aria_group_commit                                         none
 aria_group_commit_interval                                0
 aria_log_dir_path                                         /var/lib/mysql/
 aria_log_file_size                                        1073741824
 aria_log_purge_type                                       immediate
 aria_max_sort_file_size                                   9223372036853727232
 aria_page_checksum                                        ON
 aria_pagecache_age_threshold                              300
 aria_pagecache_buffer_size                                134217728
 aria_pagecache_division_limit                             100
 aria_pagecache_file_hash_size                             512
 aria_recover_options                                      BACKUP,QUICK
 aria_repair_threads                                       1
 aria_sort_buffer_size                                     268434432
 aria_stats_method                                         nulls_unequal
 aria_sync_log_dir                                         NEWFILE
 aria_used_for_temp_tables                                 ON
 auto_increment_increment                                  1
 auto_increment_offset                                     1
 autocommit                                                ON
 automatic_sp_privileges                                   ON
 back_log                                                  80
 basedir                                                   /usr
 big_tables                                                OFF
 bind_address                                              127.0.0.1
 binlog_annotate_row_events                                ON
 binlog_cache_size                                         32768
 binlog_checksum                                           CRC32
 binlog_commit_wait_count                                  0
 binlog_commit_wait_usec                                   100000
 binlog_direct_non_transactional_updates                   OFF
 binlog_file_cache_size                                    16384
 binlog_format                                             MIXED
 binlog_optimize_thread_scheduling                         ON
 binlog_row_image                                          FULL
 binlog_row_metadata                                       NO_LOG
 binlog_stmt_cache_size                                    32768
 bulk_insert_buffer_size                                   8388608
 character_set_client                                      utf8
 character_set_connection                                  utf8
 character_set_database                                    utf8mb4
 character_set_filesystem                                  binary
 character_set_results                                     utf8
 character_set_server                                      utf8mb4
 character_set_system                                      utf8
 character_sets_dir                                        /usr/share/mysql/charsets/
 check_constraint_checks                                   ON
 collation_connection                                      utf8_general_ci
 collation_database                                        utf8mb4_general_ci
 collation_server                                          utf8mb4_general_ci
 column_compression_threshold                              100
 column_compression_zlib_level                             6
 column_compression_zlib_strategy                          DEFAULT_STRATEGY
 column_compression_zlib_wrap                              OFF
 completion_type                                           NO_CHAIN
 concurrent_insert                                         AUTO
 connect_timeout                                           10
 core_file                                                 OFF
 datadir                                                   /var/lib/mysql/
 date_format                                               %Y-%m-%d
 datetime_format                                           %Y-%m-%d %H:%i:%s
 deadlock_search_depth_long                                15
 deadlock_search_depth_short                               4
 deadlock_timeout_long                                     50000000
 deadlock_timeout_short                                    10000
 debug_no_thread_alarm                                     OFF
 default_master_connection
 default_password_lifetime                                 0
 default_regex_flags
 default_storage_engine                                    InnoDB
 default_tmp_storage_engine
 default_week_format                                       0
 delay_key_write                                           ON
 delayed_insert_limit                                      100
 delayed_insert_timeout                                    300
 delayed_queue_size                                        1000
 disconnect_on_expired_password                            OFF
 div_precision_increment                                   4
 encrypt_binlog                                            OFF
 encrypt_tmp_disk_tables                                   OFF
 encrypt_tmp_files                                         OFF
 enforce_storage_engine
 eq_range_index_dive_limit                                 200
 error_count                                               0
 event_scheduler                                           OFF
 expensive_subquery_limit                                  100
 expire_logs_days                                          10
 explicit_defaults_for_timestamp                           OFF
 external_user
 extra_max_connections                                     1
 extra_port                                                0
 flush                                                     OFF
 flush_time                                                0
 foreign_key_checks                                        ON
 ft_boolean_syntax                                         + -><()~*:""&
 ft_max_word_len                                           84
 ft_min_word_len                                           4
 ft_query_expansion_limit                                  20
 ft_stopword_file                                          (built-in)
 general_log                                               OFF
 general_log_file                                          raspberrypi.log
 group_concat_max_len                                      1048576
 gtid_binlog_pos
 gtid_binlog_state
 gtid_cleanup_batch_size                                   64
 gtid_current_pos
 gtid_domain_id                                            0
 gtid_ignore_duplicates                                    OFF
 gtid_pos_auto_engines
 gtid_seq_no                                               0
 gtid_slave_pos
 gtid_strict_mode                                          OFF
 have_compress                                             YES
 have_crypt                                                YES
 have_dynamic_loading                                      YES
 have_geometry                                             YES
 have_openssl                                              YES
 have_profiling                                            YES
 have_query_cache                                          YES
 have_rtree_keys                                           YES
 have_ssl                                                  DISABLED
 have_symlink                                              YES
 histogram_size                                            254
 histogram_type                                            DOUBLE_PREC_HB
 host_cache_size                                           279
 hostname                                                  raspberrypi
 identity                                                  0
 idle_readonly_transaction_timeout                         0
 idle_transaction_timeout                                  0
 idle_write_transaction_timeout                            0
 ignore_builtin_innodb                                     OFF
 ignore_db_dirs
 in_predicate_conversion_threshold                         1000
 in_transaction                                            0
 init_connect
 init_file
 init_slave
 innodb_adaptive_flushing                                  ON
 innodb_adaptive_flushing_lwm                              10.000000
 innodb_adaptive_hash_index                                OFF
 innodb_adaptive_hash_index_parts                          8
 innodb_adaptive_max_sleep_delay                           0
 innodb_autoextend_increment                               64
 innodb_autoinc_lock_mode                                  1
 innodb_background_scrub_data_check_interval               0
 innodb_background_scrub_data_compressed                   OFF
 innodb_background_scrub_data_interval                     0
 innodb_background_scrub_data_uncompressed                 OFF
 innodb_buf_dump_status_frequency                          0
 innodb_buffer_pool_chunk_size                             134217728
 innodb_buffer_pool_dump_at_shutdown                       ON
 innodb_buffer_pool_dump_now                               OFF
 innodb_buffer_pool_dump_pct                               25
 innodb_buffer_pool_filename                               ib_buffer_pool
 innodb_buffer_pool_instances                              1
 innodb_buffer_pool_load_abort                             OFF
 innodb_buffer_pool_load_at_startup                        ON
 innodb_buffer_pool_load_now                               OFF
 innodb_buffer_pool_size                                   134217728
 innodb_change_buffer_max_size                             25
 innodb_change_buffering                                   none
 innodb_checksum_algorithm                                 full_crc32
 innodb_cmp_per_index_enabled                              OFF
 innodb_commit_concurrency                                 0
 innodb_compression_algorithm                              zlib
 innodb_compression_default                                OFF
 innodb_compression_failure_threshold_pct                  5
 innodb_compression_level                                  6
 innodb_compression_pad_pct_max                            50
 innodb_concurrency_tickets                                0
 innodb_data_file_path                                     ibdata1:12M:autoextend
 innodb_data_home_dir
 innodb_deadlock_detect                                    ON
 innodb_default_encryption_key_id                          1
 innodb_default_row_format                                 dynamic
 innodb_defragment                                         OFF
 innodb_defragment_fill_factor                             0.900000
 innodb_defragment_fill_factor_n_recs                      20
 innodb_defragment_frequency                               40
 innodb_defragment_n_pages                                 7
 innodb_defragment_stats_accuracy                          0
 innodb_disable_sort_file_cache                            OFF
 innodb_doublewrite                                        ON
 innodb_encrypt_log                                        OFF
 innodb_encrypt_tables                                     OFF
 innodb_encrypt_temporary_tables                           OFF
 innodb_encryption_rotate_key_age                          1
 innodb_encryption_rotation_iops                           100
 innodb_encryption_threads                                 0
 innodb_fast_shutdown                                      1
 innodb_fatal_semaphore_wait_threshold                     600
 innodb_file_format
 innodb_file_per_table                                     ON
 innodb_fill_factor                                        100
 innodb_flush_log_at_timeout                               1
 innodb_flush_log_at_trx_commit                            1
 innodb_flush_method                                       fsync
 innodb_flush_neighbors                                    1
 innodb_flush_sync                                         ON
 innodb_flushing_avg_loops                                 30
 innodb_force_load_corrupted                               OFF
 innodb_force_primary_key                                  OFF
 innodb_force_recovery                                     0
 innodb_ft_aux_table
 innodb_ft_cache_size                                      8000000
 innodb_ft_enable_diag_print                               OFF
 innodb_ft_enable_stopword                                 ON
 innodb_ft_max_token_size                                  84
 innodb_ft_min_token_size                                  3
 innodb_ft_num_word_optimize                               2000
 innodb_ft_result_cache_limit                              2000000000
 innodb_ft_server_stopword_table
 innodb_ft_sort_pll_degree                                 2
 innodb_ft_total_cache_size                                640000000
 innodb_ft_user_stopword_table
 innodb_immediate_scrub_data_uncompressed                  OFF
 innodb_instant_alter_column_allowed                       add_drop_reorder
 innodb_io_capacity                                        200
 innodb_io_capacity_max                                    2000
 innodb_large_prefix
 innodb_lock_schedule_algorithm                            fcfs
 innodb_lock_wait_timeout                                  50
 innodb_log_buffer_size                                    16777216
 innodb_log_checksums                                      ON
 innodb_log_compressed_pages                               ON
 innodb_log_file_size                                      100663296
 innodb_log_files_in_group                                 1
 innodb_log_group_home_dir                                 ./
 innodb_log_optimize_ddl                                   OFF
 innodb_log_write_ahead_size                               8192
 innodb_lru_flush_size                                     32
 innodb_lru_scan_depth                                     1536
 innodb_max_dirty_pages_pct                                90.000000
 innodb_max_dirty_pages_pct_lwm                            0.000000
 innodb_max_purge_lag                                      0
 innodb_max_purge_lag_delay                                0
 innodb_max_purge_lag_wait                                 4294967295
 innodb_max_undo_log_size                                  10485760
 innodb_monitor_disable
 innodb_monitor_enable
 innodb_monitor_reset
 innodb_monitor_reset_all
 innodb_old_blocks_pct                                     37
 innodb_old_blocks_time                                    1000
 innodb_online_alter_log_max_size                          134217728
 innodb_open_files                                         2000
 innodb_optimize_fulltext_only                             OFF
 innodb_page_cleaners                                      1
 innodb_page_size                                          16384
 innodb_prefix_index_cluster_optimization                  OFF
 innodb_print_all_deadlocks                                OFF
 innodb_purge_batch_size                                   300
 innodb_purge_rseg_truncate_frequency                      128
 innodb_purge_threads                                      4
 innodb_random_read_ahead                                  OFF
 innodb_read_ahead_threshold                               56
 innodb_read_io_threads                                    4
 innodb_read_only                                          OFF
 innodb_replication_delay                                  0
 innodb_rollback_on_timeout                                OFF
 innodb_scrub_log                                          OFF
 innodb_scrub_log_speed                                    256
 innodb_sort_buffer_size                                   1048576
 innodb_spin_wait_delay                                    4
 innodb_stats_auto_recalc                                  ON
 innodb_stats_include_delete_marked                        OFF
 innodb_stats_method                                       nulls_equal
 innodb_stats_modified_counter                             0
 innodb_stats_on_metadata                                  OFF
 innodb_stats_persistent                                   ON
 innodb_stats_persistent_sample_pages                      20
 innodb_stats_traditional                                  ON
 innodb_stats_transient_sample_pages                       8
 innodb_status_output                                      OFF
 innodb_status_output_locks                                OFF
 innodb_strict_mode                                        ON
 innodb_sync_array_size                                    1
 innodb_sync_spin_loops                                    30
 innodb_table_locks                                        ON
 innodb_temp_data_file_path                                ibtmp1:12M:autoextend
 innodb_thread_concurrency                                 0
 innodb_thread_sleep_delay                                 0
 innodb_tmpdir
 innodb_undo_directory                                     ./
 innodb_undo_log_truncate                                  OFF
 innodb_undo_logs                                          128
 innodb_undo_tablespaces                                   0
 innodb_use_atomic_writes                                  ON
 innodb_use_native_aio                                     ON
 innodb_version                                            10.5.21
 innodb_write_io_threads                                   4
 insert_id                                                 0
 interactive_timeout                                       28800
 join_buffer_size                                          262144
 join_buffer_space_limit                                   2097152
 join_cache_level                                          2
 keep_files_on_create                                      OFF
 key_buffer_size                                           134217728
 key_cache_age_threshold                                   300
 key_cache_block_size                                      1024
 key_cache_division_limit                                  100
 key_cache_file_hash_size                                  512
 key_cache_segments                                        0
 large_files_support                                       ON
 large_page_size                                           0
 large_pages                                               OFF
 last_gtid
 last_insert_id                                            0
 lc_messages                                               en_US
 lc_messages_dir                                           /usr/share/mysql
 lc_time_names                                             en_US
 license                                                   GPL
 local_infile                                              ON
 lock_wait_timeout                                         86400
 locked_in_memory                                          OFF
 log_bin                                                   OFF
 log_bin_basename
 log_bin_compress                                          OFF
 log_bin_compress_min_len                                  256
 log_bin_index
 log_bin_trust_function_creators                           OFF
 log_disabled_statements                                   sp
 log_error
 log_output                                                FILE
 log_queries_not_using_indexes                             OFF
 log_slave_updates                                         OFF
 log_slow_admin_statements                                 ON
 log_slow_disabled_statements                              sp
 log_slow_filter                                           admin,filesort,filesort_on_disk,filesort_priority_queue,full_join,full_scan,query_cache,query_cache_miss,tmp_table,tmp_table_on_disk
 log_slow_rate_limit                                       1
 log_slow_slave_statements                                 ON
 log_slow_verbosity
 log_tc_size                                               24576
 log_warnings                                              2
 long_query_time                                           10.000000
 low_priority_updates                                      OFF
 lower_case_file_system                                    OFF
 lower_case_table_names                                    0
 master_verify_checksum                                    OFF
 max_allowed_packet                                        16777216
 max_binlog_cache_size                                     4294963200
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 max_connections                                           151
 max_delayed_threads                                       20
 max_digest_length                                         1024
 max_error_count                                           64
 max_heap_table_size                                       16777216
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 max_join_size                                             18446744073709551615
 max_length_for_sort_data                                  1024
 max_password_errors                                       4294967295
 max_prepared_stmt_count                                   16382
 max_recursive_iterations                                  4294967295
 max_relay_log_size                                        1073741824
 max_rowid_filter_size                                     131072
 max_seeks_for_key                                         4294967295
 max_session_mem_used                                      9223372036854775807
 max_sort_length                                           1024
 max_sp_recursion_depth                                    0
 max_statement_time                                        0.000000
 max_tmp_tables                                            32
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 myisam_max_sort_file_size                                 2146435072
 myisam_mmap_size                                          4294967295
 myisam_recover_options                                    BACKUP,QUICK
 myisam_repair_threads                                     1
 myisam_sort_buffer_size                                   134216704
 myisam_stats_method                                       NULLS_UNEQUAL
 myisam_use_mmap                                           OFF
 mysql56_temporal_format                                   ON
 net_buffer_length                                         16384
 net_read_timeout                                          30
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 old                                                       OFF
 old_alter_table                                           DEFAULT
 old_mode
 old_passwords                                             OFF
 open_files_limit                                          32186
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 optimizer_prune_level                                     1
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 optimizer_switch                                          index_merge=on,index_merge_union=on,index_merge_sort_union=on,index_merge_intersection=on,index_merge_sort_intersection=off,engine_condition_pushdown=off,index_condition_pushdown=on,derived_merge=on,derived_with_keys=on,firstmatch=on,loosescan=on,materialization=on,in_to_exists=on,semijoin=on,partial_match_rowid_merge=on,partial_match_table_scan=on,subquery_cache=on,mrr=off,mrr_cost_based=off,mrr_sort_keys=off,outer_join_with_cache=on,semijoin_with_cache=on,join_cache_incremental=on,join_cache_hashed=on,join_cache_bka=on,optimize_join_buffer_size=on,table_elimination=on,extended_keys=on,exists_to_in=on,orderby_uses_equalities=on,condition_pushdown_for_derived=on,split_materialized=on,condition_pushdown_for_subquery=on,rowid_filter=on,condition_pushdown_from_having=on,not_null_range_scan=off
 optimizer_trace                                           enabled=off
 optimizer_trace_max_mem_size                              1048576
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 performance_schema                                        OFF
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 proxy_user
 pseudo_slave_mode                                         OFF
 pseudo_thread_id                                          32
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 relay_log_index
 relay_log_info_file                                       relay-log.info
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 relay_log_space_limit                                     0
 replicate_annotate_row_events                             ON
 replicate_do_db
 replicate_do_table
 replicate_events_marked_for_skip                          REPLICATE
 replicate_ignore_db
 replicate_ignore_table
 replicate_wild_do_table
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 rpl_semi_sync_master_trace_level                          32
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 rpl_semi_sync_master_wait_point                           AFTER_COMMIT
 rpl_semi_sync_slave_delay_master                          OFF
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 rpl_semi_sync_slave_kill_conn_timeout                     5
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 secure_file_priv
 secure_timestamp                                          NO
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 session_track_state_change                                OFF
 session_track_system_variables                            autocommit,character_set_client,character_set_connection,character_set_results,time_zone
 session_track_transaction_info                            OFF
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 skip_name_resolve                                         OFF
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 skip_parallel_replication                                 OFF
 skip_replication                                          OFF
 skip_show_database                                        OFF
 slave_compressed_protocol                                 OFF
 slave_ddl_exec_mode                                       IDEMPOTENT
 slave_domain_parallel_threads                             0
 slave_exec_mode                                           STRICT
 slave_load_tmpdir                                         /tmp
 slave_max_allowed_packet                                  1073741824
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 slave_parallel_max_queued                                 131072
 slave_parallel_mode                                       optimistic
 slave_parallel_threads                                    0
 slave_parallel_workers                                    0
 slave_run_triggers_for_rbr                                NO
 slave_skip_errors                                         OFF
 slave_sql_verify_checksum                                 ON
 slave_transaction_retries                                 10
 slave_transaction_retry_errors                            1158,1159,1160,1161,1205,1213,1429,2013,12701
 slave_transaction_retry_interval                          0
 slave_type_conversions
 slow_launch_time                                          2
 slow_query_log                                            OFF
 slow_query_log_file                                       raspberrypi-slow.log
 socket                                                    /run/mysqld/mysqld.sock
 sort_buffer_size                                          2097152
 sql_auto_is_null                                          OFF
 sql_big_selects                                           ON
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 sql_log_off                                               OFF
 sql_mode                                                  STRICT_TRANS_TABLES,ERROR_FOR_DIVISION_BY_ZERO,NO_AUTO_CREATE_USER,NO_ENGINE_SUBSTITUTION
 sql_notes                                                 ON
 sql_quote_show_create                                     ON
 sql_safe_updates                                          OFF
 sql_select_limit                                          18446744073709551615
 sql_slave_skip_counter                                    0
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 ssl_ca
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 standard_compliant_cte                                    ON
 storage_engine                                            InnoDB
 stored_program_cache                                      256
 strict_password_validation                                ON
 sync_binlog                                               0
 sync_frm                                                  ON
 sync_master_info                                          10000
 sync_relay_log                                            10000
 sync_relay_log_info                                       10000
 system_time_zone                                          KST
 system_versioning_alter_history                           ERROR
 system_versioning_asof                                    DEFAULT
 table_definition_cache                                    400
 table_open_cache                                          2000
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 tcp_nodelay                                               ON
 thread_cache_size                                         151
 thread_handling                                           one-thread-per-connection
 thread_pool_dedicated_listener                            OFF
 thread_pool_exact_stats                                   OFF
 thread_pool_idle_timeout                                  60
 thread_pool_max_threads                                   65536
 thread_pool_oversubscribe                                 3
 thread_pool_prio_kickup_timer                             1000
 thread_pool_priority                                      auto
 thread_pool_size                                          4
 thread_pool_stall_limit                                   500
 thread_stack                                              299008
 time_format                                               %H:%i:%s
 time_zone                                                 SYSTEM
 timestamp                                                 1704202334.478383
 tls_version                                               TLSv1.1,TLSv1.2,TLSv1.3
 tmp_disk_table_size                                       4294967295
 tmp_memory_table_size                                     16777216
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 tx_isolation                                              REPEATABLE-READ
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 userstat                                                  OFF
 version                                                   10.5.21-MariaDB-0+deb11u1
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 wsrep_certify_nonpk                                       ON
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 wsrep_cluster_name                                        my_wsrep_cluster
 wsrep_convert_lock_to_trx                                 OFF
 wsrep_data_home_dir                                       /var/lib/mysql/
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+----------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
667 rows in set (0.039 sec)

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Posted by 구차니
embeded/robot2023. 12. 21. 18:02

좌표계를 이해할 시간에

차라리 get_coords() 함수로 x,y,z,rx,ry,rz를 읽어서 저장하고

send_coords()를 이용하여 저장된 위치로 이동시키면 간단하게 만들수 있다.

 

get_coords
Prototype: get_coords()

Description: Get the Coords from robot arm, coordinate system based on base.

Returns: list: A float list of coord - [x, y, z, rx, ry, rz]

send_coords
Prototype: send_coords(coords, speed, mode)

Description: Send all coords to robot arm.

Parameters

coords: a list of coords value(List[float]), length 6.
speed: (int) 0 ~ 100
mode: (int): 0 - angular, 1 - linear
Example

from pymycobot.mycobot import MyCobot
from pymycobot.genre import Coord

mycobot = MyCobot('/dev/ttyUSB0')
mycobot.send_coords([160, 160, 160, 0, 0, 0], 70, 0)

[링크 : https://docs.elephantrobotics.com/docs/gitbook-en/7-ApplicationBasePython/7.8_API.html#getcoords]

 

atom 버튼을 눌러서 자동으로 좌표 나오게 한다거나

서보의 힘을 빼는게 아니라 약하게 해서 위치를 살짝 트는건 안되려나?

release_all_servo()는 전원 끈마냥 훅 쓰러지니 주의

[링크 : https://docs.elephantrobotics.com/docs/gitbook-en/7-ApplicationBasePython/7.8_API.html#releaseallservos]

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Posted by 구차니
embeded/robot2023. 12. 21. 17:57

대충 요약(?)하자면

 

안전 측면에서 협동로봇은 산업로봇보다 힘이 약하고 느리며, 안전 펜스도 없어도 됨

설치 측면에서 협동로봇은 사용자가 학습을 시킬수 있으나, 산업로봇은 전문 프로그래머가 바꾸어야 함

 

반대로 생각하면 협동로봇은

힘이 약하고 느린대신(고출력 모터를 사용하지 않아 가격이 낮아짐?)

안전 펜스등을 통한 사용자와 분리할 필요가 없고(즉 안전관리자나 설치레벨에서의 안전 고려가 빠져도 된다)

사용자가 프로그래밍을 수정할 수 있다(학습/티칭) 정도고 구분이 될 듯

 

다만 사용자가 프로그램을 수정할 수 있도록 하기 위해

서보에 엔코더가 들어가서 외력에 의해서 움직이는 각도를 읽어낼수 있어야 하기 때문에

저출력으로 인한 가격 하락분이 상쇄될수도 있을 듯.

 

 

[링크 : https://www.myrobotsolution.com/contents/success-story/3aOp7xvmOuqBOjWsCbcR]

[링크 : https://blog.naver.com/universalrobots/221565530432]

[링크 : https://www.korearobot.or.kr/wp/wp-content/uploads/2021/06/특허청-로봇IP-협동로봇-특집편.pdf]

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embeded/i.mx 8m plus2023. 12. 21. 15:51

i.MX Machine Learning User's Guide에 있는거 테스트 해봄

The behavior is as follows:
• If USE_GPU_INFERENCE=1, the graph is executed on the GPU
• Otherwise, the graph is executed on the NPU (if available)
By default, the NPU is used for OpenVX graph execution.

 

전체 실행시간으로는 neon 이 가장 빨랐고, inference 시간으로는 NPU가 가장 빨랐다.

의외로 GPU 가속이 NEON만도 못하다는 충격적인(!) 결과가..

root@imx8mpevk:/usr/bin/tensorflow-lite-2.12.1/examples# time ./label_image 
INFO: Loaded model ./mobilenet_v1_1.0_224_quant.tflite
INFO: resolved reporter
INFO: invoked
INFO: average time: 41.16 ms
INFO: 0.764706: 653 military uniform
INFO: 0.121569: 907 Windsor tie
INFO: 0.0156863: 458 bow tie
INFO: 0.0117647: 466 bulletproof vest
INFO: 0.00784314: 835 suit

real    0m0.173s
user    0m0.520s
sys     0m0.024s
root@imx8mpevk:/usr/bin/tensorflow-lite-2.12.1/examples# time USE_GPU_INFERENCE=0 ./label_image --external_delegate_path=/usr/lib/libvx_delegate.so
INFO: Loaded model ./mobilenet_v1_1.0_224_quant.tflite
INFO: resolved reporter
Vx delegate: allowed_cache_mode set to 0.
Vx delegate: device num set to 0.
Vx delegate: allowed_builtin_code set to 0.
Vx delegate: error_during_init set to 0.
Vx delegate: error_during_prepare set to 0.
Vx delegate: error_during_invoke set to 0.
EXTERNAL delegate created.
INFO: Applied EXTERNAL delegate.
W [HandleLayoutInfer:291]Op 162: default layout inference pass.
INFO: invoked
INFO: average time: 2.861 ms
INFO: 0.768627: 653 military uniform
INFO: 0.105882: 907 Windsor tie
INFO: 0.0196078: 458 bow tie
INFO: 0.0117647: 466 bulletproof vest
INFO: 0.00784314: 835 suit

real    0m3.116s
user    0m2.916s
sys     0m0.195s
root@imx8mpevk:/usr/bin/tensorflow-lite-2.12.1/examples# time USE_GPU_INFERENCE=1 ./label_image --external_delegate_path=/usr/lib/libvx_delegate.so
INFO: Loaded model ./mobilenet_v1_1.0_224_quant.tflite
INFO: resolved reporter
Vx delegate: allowed_cache_mode set to 0.
Vx delegate: device num set to 0.
Vx delegate: allowed_builtin_code set to 0.
Vx delegate: error_during_init set to 0.
Vx delegate: error_during_prepare set to 0.
Vx delegate: error_during_invoke set to 0.
EXTERNAL delegate created.
INFO: Applied EXTERNAL delegate.
W [query_hardware_caps:89]Unsupported evis version
W [HandleLayoutInfer:291]Op 162: default layout inference pass.
INFO: invoked
INFO: average time: 171.261 ms
INFO: 0.784314: 653 military uniform
INFO: 0.105882: 907 Windsor tie
INFO: 0.0156863: 458 bow tie
INFO: 0.00784314: 466 bulletproof vest
INFO: 0.00392157: 835 suit

real    0m1.992s
user    0m1.377s
sys     0m0.103s

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