Pi4B使用realsense深度相机开机默认识别为USB2.0设备。重新插拔后才能识别为USB3.0设备。
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@george 好的我试试
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mark一下,我也遇到有这个问题。用的是奥比中光的深度相机(dabai),每次启动需要拔插一下才能识别。 @george 期待更新
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@george 关闭uboot下USB设备的注册需要改UBOOT代码吗?还是直接上电的时候进uboot改一下就好了?
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@AugustRobot_Zou 效果怎么样?我们给无人机用怕距离太短了。
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@Mcfly 我们用来机器人避障的,效果感觉都差不多。奥比的dabai本来就是对标realsense的d435来做的,甚至算法还有优化。明显使用体验提升有2点,1是USB2.0口也支持,2便宜近一半价格。。。
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@jack_admin log3.txt
文件是完整的日志,下面是筛选了USB的结果:[ 11.379437] ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver [ 11.403501] ehci-platform fc800000.usb: new USB bus registered, assigned bus number 1 [ 11.430272] ehci-platform fc800000.usb: USB 2.0 started, EHCI 1.00 [ 11.436506] usb usb1: New USB device found, idVendor=1d6b, idProduct=0002, bcdDevice= 5.10 [ 11.444760] usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1 [ 11.467170] hub 1-0:1.0: USB hub found [ 11.482827] ehci-platform fc880000.usb: new USB bus registered, assigned bus number 2 [ 11.506939] ehci-platform fc880000.usb: USB 2.0 started, EHCI 1.00 [ 11.513160] usb usb2: New USB device found, idVendor=1d6b, idProduct=0002, bcdDevice= 5.10 [ 11.521412] usb usb2: New USB device strings: Mfr=3, Product=2, SerialNumber=1 [ 11.543800] hub 2-0:1.0: USB hub found [ 11.551730] ohci_hcd: USB 1.1 'Open' Host Controller (OHCI) Driver [ 11.569969] ohci-platform fc840000.usb: new USB bus registered, assigned bus number 3 [ 11.644335] usb usb3: New USB device found, idVendor=1d6b, idProduct=0001, bcdDevice= 5.10 [ 11.652586] usb usb3: New USB device strings: Mfr=3, Product=2, SerialNumber=1 [ 11.676003] hub 3-0:1.0: USB hub found [ 11.690592] ohci-platform fc8c0000.usb: new USB bus registered, assigned bus number 4 [ 11.723632] usb 1-1: new high-speed USB device number 2 using ehci-platform [ 11.764331] usb usb4: New USB device found, idVendor=1d6b, idProduct=0001, bcdDevice= 5.10 [ 11.772583] usb usb4: New USB device strings: Mfr=3, Product=2, SerialNumber=1 [ 11.772716] hub 4-0:1.0: USB hub found [ 11.803618] usb 2-1: new high-speed USB device number 2 using ehci-platform [ 11.820409] xhci-hcd xhci-hcd.6.auto: new USB bus registered, assigned bus number 5 [ 11.843631] usb usb5: New USB device found, idVendor=1d6b, idProduct=0002, bcdDevice= 5.10 [ 11.851882] usb usb5: New USB device strings: Mfr=3, Product=2, SerialNumber=1 [ 11.874533] hub 5-0:1.0: USB hub found [ 11.877863] usb 1-1: New USB device found, idVendor=1a86, idProduct=8091, bcdDevice= 1.21 [ 11.886455] usb 1-1: New USB device strings: Mfr=0, Product=2, SerialNumber=0 [ 11.897497] usb 1-1: Product: USB HUB [ 11.903013] xhci-hcd xhci-hcd.6.auto: new USB bus registered, assigned bus number 6 [ 11.907107] hub 1-1:1.0: USB hub found [ 11.914285] xhci-hcd xhci-hcd.6.auto: Host supports USB 3.0 SuperSpeed [ 11.924583] usb usb6: New USB device found, idVendor=1d6b, idProduct=0003, bcdDevice= 5.10 [ 11.944891] usb usb6: New USB device strings: Mfr=3, Product=2, SerialNumber=1 [ 11.961436] usb 2-1: New USB device found, idVendor=8086, idProduct=0b07, bcdDevice=50.c7 [ 11.970720] usb 2-1: New USB device strings: Mfr=1, Product=2, SerialNumber=0 [ 11.975719] hub 6-0:1.0: USB hub found [ 12.009380] xhci-hcd xhci-hcd.7.auto: new USB bus registered, assigned bus number 7 [ 12.032576] usb usb7: New USB device found, idVendor=1d6b, idProduct=0002, bcdDevice= 5.10 [ 12.040830] usb usb7: New USB device strings: Mfr=3, Product=2, SerialNumber=1 [ 12.063477] hub 7-0:1.0: USB hub found [ 12.076758] xhci-hcd xhci-hcd.7.auto: new USB bus registered, assigned bus number 8 [ 12.084406] xhci-hcd xhci-hcd.7.auto: Host supports USB 3.0 SuperSpeed [ 12.099051] usb usb8: New USB device found, idVendor=1d6b, idProduct=0003, bcdDevice= 5.10 [ 12.107302] usb usb8: New USB device strings: Mfr=3, Product=2, SerialNumber=1 [ 12.129960] hub 8-0:1.0: USB hub found [ 12.143424] cdc_acm: USB Abstract Control Model driver for USB modems and ISDN adapters [ 12.169461] usbserial: USB Serial support registered for generic [ 12.181042] usbserial: USB Serial support registered for cp210x [ 12.192732] usbserial: USB Serial support registered for FTDI USB Serial Device [ 12.205799] usbserial: USB Serial support registered for Keyspan - (without firmware) [ 12.213604] usb 1-1.3: new full-speed USB device number 3 using ehci-platform [ 12.213624] usbserial: USB Serial support registered for Keyspan 1 port adapter [ 12.228042] usbserial: USB Serial support registered for Keyspan 2 port adapter [ 12.235344] usbserial: USB Serial support registered for Keyspan 4 port adapter [ 12.248231] usbserial: USB Serial support registered for GSM modem (1-port) [ 12.261007] usbserial: USB Serial support registered for oti6858 [ 12.272588] usbserial: USB Serial support registered for pl2303 [ 12.284263] usbserial: USB Serial support registered for Qualcomm USB modem [ 12.296812] usbserial: USB Serial support registered for Sierra USB modem [ 12.319101] usb 1-1.3: New USB device found, idVendor=3163, idProduct=004c, bcdDevice= 1.01 [ 12.330462] usb 1-1.3: New USB device strings: Mfr=1, Product=2, SerialNumber=3 [ 12.346581] cdc_acm 1-1.3:1.0: ttyACM0: USB ACM device [ 12.426936] usb 1-1.4: new low-speed USB device number 4 using ehci-platform [ 12.538103] usb 1-1.4: New USB device found, idVendor=04f3, idProduct=0103, bcdDevice= 1.07 [ 12.546444] usb 1-1.4: New USB device strings: Mfr=0, Product=0, SerialNumber=0 [ 13.251195] USB Video Class driver (1.1.1) [ 13.531827] hid-generic 0003:04F3:0103.0001: input,hidraw0: USB HID v1.11 Keyboard [HID 04f3:0103] on usb-fc800000.usb-1.4/input0 [ 13.582668] hid-generic 0003:04F3:0103.0002: input,hidraw1: USB HID v1.11 Device [HID 04f3:0103] on usb-fc800000.usb-1.4/input1 [ 13.599706] usbhid: USB HID core driver [ 98.484874] usb 2-1: USB disconnect, device number 2 [ 100.923579] usb 8-1: new SuperSpeed Gen 1 USB device number 2 using xhci-hcd [ 100.941718] usb 8-1: New USB device found, idVendor=8086, idProduct=0b07, bcdDevice=50.c7 [ 100.941738] usb 8-1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
我在最后重新插拔了一下,在日志最后有体现。
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@AugustRobot_Zou 牛的,种草了
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@Mcfly said in Pi4B使用realsense深度相机开机默认识别为USB2.0设备。重新插拔后才能识别为USB3.0设备。:
@george 关闭uboot下USB设备的注册需要改UBOOT代码吗?还是直接上电的时候进uboot改一下就好了?
可以不改代码,串口连续输入CP进入uboot命令行,如果是tf卡启动,输入
CPBOOT# run bootcmd_mmc1
如果是emmc启动,输入
CPBOOT# run bootcmd_mmc0
可以源码修改取消USB扫描启动加载,再编译。也可以先试下我编译好的uboot.img,拷贝到tf卡或emmc的第一个分区system-boot (参考sudo cp uboot.img /boot/firmware/)
uboot.zip如果是tf卡启动,执行升级命令
CoolPi 4B# c update tf
reading uboot.img
5242880 bytes read in 423 ms (11.8 MiB/s)
wait for erase...
uboot upgrade ok...
CoolPi 4B#
CPBOOT# c envclr
Resetting to default environment
CPBOOT# reset如果是emmc启动,执行升级命令
CoolPi 4B# c update mmc
reading uboot.img
5242880 bytes read in 423 ms (11.8 MiB/s)
wait for erase...
uboot upgrade ok...
CoolPi 4B#
CPBOOT# c envclr
Resetting to default environment
CPBOOT# reset -
@大法师 好的多谢,那么请问那个到了内核之后再加载驱动,可不可以理解为我再写个脚本开机之后手动insmod来加载USB驱动呢?如果是的话我应该去哪里找到这个USB驱动呢?
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@Mcfly
内核和系统应用不用额外操作。先试下有没有改善,我们目前没有相应的U3相机验证,帮忙排查下,谢谢! -
@大法师 按照您的流程试过了,没有任何变化。建议您还是得拿相机试一试。另外我又发现,Pi4B的USB3.0的口,底部那个才有我们讨论的情况,上面那个口上电能识别到USB3.0,但是实际无法运行。
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@Mcfly
更新u-boot.img也没有变化?无法运行是什么现象? -
@大法师 对,更新了之后也没变化,无法运行指运行相机相关程序时会报USB uvc相关的错误。
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@Mcfly 请问您遇到的这个问题解决了吗?我在cm 5上也遇到了同样的问题
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@admin 这个问题之前在另外一款INTEL的相机上没有复现到现象。目前你用的这款暂时没有。