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    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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    • A
      AugustRobot_Zou
      last edited by

      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

      M 1 Reply Last reply Reply Quote 0
      • M
        Mcfly @george
        last edited by

        @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？

        大法师大 1 Reply Last reply Reply Quote 0
        • M
          Mcfly @AugustRobot_Zou
          last edited by

          @AugustRobot_Zou 效果怎么样？我们给无人机用怕距离太短了。

          A 1 Reply Last reply Reply Quote 0
          • A
            AugustRobot_Zou @Mcfly
            last edited by

            @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。。。

            M 1 Reply Last reply Reply Quote 0
            • M
              Mcfly @jack_admin
              last edited by

              @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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              • M
                Mcfly @AugustRobot_Zou
                last edited by

                @AugustRobot_Zou 牛的，种草了

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                • 大法师大
                  大法师 @Mcfly
                  last edited by 大法师

                  @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

                  jack@cool-pi.com

                  M 1 Reply Last reply Reply Quote 0
                  • M
                    Mcfly @大法师
                    last edited by

                    @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？

                    大法师大 1 Reply Last reply Reply Quote 0
                    • 大法师大
                      大法师 @Mcfly
                      last edited by

                      @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！

                      jack@cool-pi.com

                      M 1 Reply Last reply Reply Quote 1
                      • M
                        Mcfly @大法师
                        last edited by

                        @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。

                        大法师大 1 Reply Last reply Reply Quote 0
                        • 大法师大
                          大法师 @Mcfly
                          last edited by 大法师

                          @Mcfly
                          更新u-boot.img也没有变化？无法运行是什么现象？

                          jack@cool-pi.com

                          M 1 Reply Last reply Reply Quote 0
                          • M
                            Mcfly @大法师
                            last edited by

                            @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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                            • G
                              george @Mcfly
                              last edited by

                              This post is deleted!
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                              • adminA
                                admin @Mcfly
                                last edited by

                                @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

                                adminA 1 Reply Last reply Reply Quote 0
                                • adminA
                                  admin @george
                                  last edited by

                                  This post is deleted!
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                                  • adminA
                                    admin @admin
                                    last edited by

                                    @admin @大法师 请问这个问题解决了吗？我也遇到了同样的问题

                                    G 1 Reply Last reply Reply Quote 0
                                    • G
                                      george @admin
                                      last edited by

                                      @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。

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