linaro@tinkerboard:/usr/local/fpc/fpc-3.0.4.arm-linux$ sudo ./install.sh
This shell script will attempt to install the Free Pascal Compiler
version 3.0.4 with the items you select
Install prefix (/usr or /usr/local) [/usr] :
Installing compiler and RTL for arm-linux...
Install Textmode IDE (Y/n) ?
Done.
Install documentation (Y/n) ?
Installing documentation in /usr/share/doc/fpc-3.0.4 ...
Done.
Install demos (Y/n) ?
Install demos in [/usr/share/doc/fpc-3.0.4/examples] :
Installing demos in /usr/share/doc/fpc-3.0.4/examples ...
Done.
Running on linux
Write permission in /etc.
Writing sample configuration file to /etc/fpc.cfg
Writing sample configuration file to /usr/lib/fpc/3.0.4/ide/text/fp.cfg
Writing sample configuration file to /usr/lib/fpc/3.0.4/ide/text/fp.ini
Writing sample configuration file to /etc/fppkg.cfg
Writing sample configuration file to /etc/fppkg/default
End of installation.
Refer to the documentation for more information.
$ cd /usr/local/fpc
$ svn co http://svn.freepascal.org/svn/fpc/trunk source
$ cd source
$ sudo make all OPT="-dFPC_ARMHF -CpARMV7A -OpARMV7A"
$ sudo make install OPT="-dFPC_ARMHF -CpARMV7A -OpARMV7A" PREFIX=/usr/local
$ sudo make install sourceinstall OPT="-dFPC_ARMHF -CpARMV7A -OpARMV7A" PREFIX=/usr/local
Raspberry PI에서 사용햇던 Smart-Mirror를 Tinker Board에 적용해보았습니다. Raspberry PI이 보다 실행 속도가 많이 빨라 졌습니다. 모니터는 Raspberry PI 7인치 모니터를 사용했고, 미러용 필름은 붙이지는 않았습니다. 마이크의 입력은 4극 스테레오 Y케이블을 사용해서 특별하게 마이크 설정없이 바로 사용이 가능했습니다.
음성 인식용으로 사용했던 마이크
4극 스테레오 (3.5) Y케이블
Tinker Board용 Audio 단자는 마이크 입력과 오디오 출력이 동시에 가능한 4핀 단자로 아래와 같은 4극 Y케이블을 이용하면 마이크 입력과 오디오 출력을 분리해서 사용 할 수 있습니다.
Tinker Board의 pwm 제어 하는 예제는 python을 제외하고는 c언어나 java 예제를 찾을 수 없어서 wiringPi 라이브러리를 직접 컴파일 해보았지만 모터의 떨림도 심하고, 발열도 심해서 아직은 불안한것 같습니다. python의 pwm관련 소스를 wiringPi에 추가하고 다시 pi4j 라이브러리에 적용했습니다. pi4j라이브러리와 pi4j를 이용한 Servo.java 예제도 첨부했습니다.동영상을 보시면 알겠지만, 떨림도, 발열도 발생하지 않았습니다.
$ git clone https://github.com/TinkerBoard/gpio_lib_c.git
$ cd gpio_lib_c/
$ chmod a+x build
$ sudo ./build
... 생략 ...
[Install Dynamic Lib]
GPIO Utility
[Compile] gpio.c
[Compile] readall.c
[Compile] pins.c
[Link]
[Install]
All Done.
NOTE: To compile programs with wiringPi, you need to add:
-lwiringPi
to your compile line(s) To use the Gertboard, MaxDetect, etc.
code (the devLib), you need to also add:
-lwiringPiDev
to your compile line(s).
PyMethodDef asuspi_gpio_methods[] = {
{"setup", (PyCFunction)py_setup_channel, METH_VARARGS | METH_KEYWORDS, "Set up a GPIO channel or list of channels with a direction and (optional) pull/up down control\nchannel - either board pin number ,RK number or ASUS number depending on which mode is set.\ndirection - IN or OUT\n[pull_up_down] - PUD_OFF (default), PUD_UP or PUD_DOWN\n[initial] - Initial value for an output channel"},
{"cleanup", (PyCFunction)py_cleanup, METH_VARARGS | METH_KEYWORDS, "Clean up by resetting all GPIO channels that have been used by this program to INPUT with no pullup/pulldown and no event detection\n[channel] - individual channel or list/tuple of channels to clean up. Default - clean every channel that has been used."},
{"output", py_output_gpio, METH_VARARGS, "Output to a GPIO channel or list of channels\nchannel - either board pin number ,RK number or ASUS number depending on which mode is set.\nvalue - 0/1 or False/True or LOW/HIGH"},
{"input", py_input_gpio, METH_VARARGS, "Input from a GPIO channel. Returns HIGH=1=True or LOW=0=False\nchannel - either board pin number ,RK number or ASUS number depending on which mode is set."},
{"setmode", py_setmode, METH_VARARGS, "Set up numbering mode to use for channels.\nBOARD - Use ASUS Pi board numbers\nRK - Use Broadcom GPIO 00..nn numbers"},
{"getmode", py_getmode, METH_VARARGS, "Get numbering mode used for channel numbers.\nReturns BOARD, RK, ASUS or UNKNOWN"},
{"add_event_detect", (PyCFunction)py_add_event_detect, METH_VARARGS | METH_KEYWORDS, "Enable edge detection events for a particular GPIO channel.\nchannel - either board pin number ,RK number or ASUS number depending on which mode is set.\nedge - RISING, FALLING or BOTH\n[callback] - A callback function for the event (optional)\n[bouncetime] - Switch bounce timeout in ms for callback"},
{"remove_event_detect", py_remove_event_detect, METH_VARARGS, "Remove edge detection for a particular GPIO channel\nchannel - either board pin number ,RK number or ASUS number depending on which mode is set."},
{"event_detected", py_event_detected, METH_VARARGS, "Returns True if an edge has occured on a given GPIO. You need to enable edge detection using add_event_detect() first.\nchannel - either board pin number ,RK number and ASUS number depending on which mode is set."},
{"add_event_callback", (PyCFunction)py_add_event_callback, METH_VARARGS | METH_KEYWORDS, "Add a callback for an event already defined using add_event_detect()\nchannel - either board pin number ,RK number or ASUS number depending on which mode is set.\ncallback - a callback function"},
{"wait_for_edge", (PyCFunction)py_wait_for_edge, METH_VARARGS | METH_KEYWORDS, "Wait for an edge.\nchannel - either board pin number ,RK number or ASUS number depending on which mode is set.\nedge - RISING, FALLING or BOTH\n[bouncetime] - time allowed between calls to allow for switchbounce"},
{"gpio_function", py_gpio_function, METH_VARARGS, "Return the current GPIO function (IN, OUT, PWM, SERIAL, I2C, SPI)\nchannel - either board pin number ,RK number or ASUS number depending on which mode is set."},
{"setwarnings", py_setwarnings, METH_VARARGS, "Enable or disable warning messages"},
{"pwmWrite", py_pwmWrite, METH_VARARGS, "Writes the duty cycle to the PWM register for the given GPIO"},
{"pwmToneWrite", py_pwmToneWrite, METH_VARARGS, "Creates a square wave with given frequency for the given GPIO"},
{"pwmSetFrequency", py_pwmSetFrequency, METH_VARARGS, "Set up the frequency of PWM clock source."},
{"pwmSetPeriod", py_pwmSetPeriod, METH_VARARGS, "Writes the period to the PWM register for the given GPIO."},
{"setGpioDrive", py_setGpioDrive, METH_VARARGS, "Set up the drive strength for the given GPIO."},
{"getGpioDrive", py_getGpioDrive, METH_VARARGS, "Return the current drive strength."},
{NULL, NULL, 0, NULL}
};
PWM(서보모터) 제어 파이썬 예제
import ASUS.GPIO as GPIO
import time
GPIO.setmode(GPIO.ASUS)
GPIO.setwarnings(False)
myservo = 239
GPIO.setup(myservo,GPIO.OUT)
pwm = GPIO.PWM(myservo,50) # 50hz yani 20mslik periyod
pwm.start(2.5) # 0 derece
try:
while True:
print "0 derece"
pwm.ChangeDutyCycle(2.5) #0 derece
time.sleep(1) # wait 1sec
print "90 derece"
pwm.ChangeDutyCycle(7.5) #90 derece
time.sleep(1)
print "180 derece"
pwm.ChangeDutyCycle(12.5) #180 derece
time.sleep(1)
print "90 derece"
pwm.ChangeDutyCycle(7.5)
time.sleep(1)
except KeyboardInterrupt:
print "Hoscakal canim"
GPIO.cleanup()
PWM(서보모터) 제어 Java 예제
import com.pi4j.wiringpi.Gpio;
public class ServoTest3 {
private static int PIN_NUMBER = 239;
public static void main(String[] args) throws Exception {
//
//GpioFactory.setDefaultProvider(new TinkerBoardGpioProvider());
Gpio.wiringPiSetupGpio();
Gpio.pinMode(PIN_NUMBER, Gpio.PWM_OUTPUT);
Gpio.pwmSetMode(Gpio.PWM_MODE_MS);
// 445 : 200 ~ 1000
Gpio.pwmSetClock(445); // Gpio.pwmSetClock(400);
Gpio.pwmSetRange(1024);
int[] arr = {205, 570, 1000};
while (true) {
for (int i=0; i≪arr.length; i++) {
Gpio.pwmWrite(PIN_NUMBER, arr[i]);
Thread.sleep(300);
}
}
}
}
Pi카메라 2.1로 영상을 받을 경우 녹색빛으로 보이는데, 네이버카페에서 aciddust님이 올려주신 white_balance.py 소스를 가지고, 파이썬 예제의 얼굴인식 소스에서 카메라로 받은 이미지를 white_balance 작업 후 진행되도록 수정했습니다. 완벽하게 원하는 수준의 영상을 얻을 수는 없었지만, 이전 보다는 좋은 영상을 얻을 수 있었습니다.
다만 S/W로 보정하다보니 조금 느려진 기분이 들고, USB 카메라보다 화질은 아직 떨어 지고, 전용 카메라가 도착하며 다시 시도 해보겠습니다. 지금은 USB 카메라로 하는것이 좋은 결과를 얻을 수 있습니다.
저의 경우 자바로 GPIO 제어하는 것이 좋은 점은 서버 구성하기 편하기 때문인데, 라즈베리파이의 경우 pi4j가 잘 되어 있지만, 아직 팅커보드는 pi4j가 지원하지 않아, 다른 라이브러리를 찾아보니 diozero 라이브러리가 gifhub에 있었고, 몇가지 설치 방법이 pi4j 보다 어려움이 있어서 정리 해보았습니다.
우선 Device I/O library 소스를 다운 받아서 설치하고, GPIO 번호 설정도 pi4j와 달라서 고생을 했는데, GPIO 표에서 GPIO.ASUS를 사용하니 잘 되었습니다.
$ svn co https://svn.code.sf.net/p/mjpg-streamer/code/
$ cd code/mjpg-streamer
$ make
$ sudo make install
install --mode=755 mjpg_streamer /usr/local/bin
install --mode=644 input_uvc.so output_file.so output_udp.so output_http.so input_testpicture.so input_file.so /usr/local/lib/
install --mode=755 -d /usr/local/www
install --mode=644 -D www/* /usr/local/www
MJPG Streamer 실행
$ cd ~/code/mjpg-streamer
$ ./mjpg_streamer -i "./input_uvc.so -y" -o "./output_http.so -w ./www"
MJPG Streamer Version: svn rev: 3:172
i: Using V4L2 device.: /dev/video0
i: Desired Resolution: 640 x 480
i: Frames Per Second.: 5
i: Format............: YUV
i: JPEG Quality......: 80
Adding control for Pan (relative)
UVCIOC_CTRL_ADD - Error: Inappropriate ioctl for device
Adding control for Tilt (relative)
UVCIOC_CTRL_ADD - Error: Inappropriate ioctl for device
Adding control for Pan Reset
UVCIOC_CTRL_ADD - Error: Inappropriate ioctl for device
Adding control for Tilt Reset
UVCIOC_CTRL_ADD - Error: Inappropriate ioctl for device
Adding control for Pan/tilt Reset
UVCIOC_CTRL_ADD - Error: Inappropriate ioctl for device
Adding control for Focus (absolute)
UVCIOC_CTRL_ADD - Error: Inappropriate ioctl for device
mapping control for Pan (relative)
UVCIOC_CTRL_MAP - Error: Inappropriate ioctl for device
mapping control for Tilt (relative)
UVCIOC_CTRL_MAP - Error: Inappropriate ioctl for device
mapping control for Pan Reset
UVCIOC_CTRL_MAP - Error: Inappropriate ioctl for device
mapping control for Tilt Reset
UVCIOC_CTRL_MAP - Error: Inappropriate ioctl for device
mapping control for Pan/tilt Reset
UVCIOC_CTRL_MAP - Error: Inappropriate ioctl for device
mapping control for Focus (absolute)
UVCIOC_CTRL_MAP - Error: Inappropriate ioctl for device
mapping control for LED1 Mode
UVCIOC_CTRL_MAP - Error: Inappropriate ioctl for device
mapping control for LED1 Frequency
UVCIOC_CTRL_MAP - Error: Inappropriate ioctl for device
mapping control for Disable video processing
UVCIOC_CTRL_MAP - Error: Inappropriate ioctl for device
mapping control for Raw bits per pixel
UVCIOC_CTRL_MAP - Error: Inappropriate ioctl for device
o: www-folder-path...: ./www/
o: HTTP TCP port.....: 8080
o: username:password.: disabled
o: commands..........: enabled
$ pkg-config --modversion opencv
Package opencv was not found in the pkg-config search path.
Perhaps you should add the directory containing `opencv.pc'
to the PKG_CONFIG_PATH environment variable
No package 'opencv' found
$ python3
Python 3.5.3 (default, Jan 19 2017, 14:11:04)
[GCC 6.3.0 20170118] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import cv2
>>> cv2.__version__
'3.2.0'
pi4j-core-1.2-SNAPSHOT.jar
facedetect.tar
