接口说明

cat /sys/class/hwmon/hwmon6/fan1_input

for zone in /sys/class/thermal/thermal_zone*; do
    name=$(cat $zone/type)
    temp=$(( $(cat $zone/temp) / 1000 ))
    echo "$name: ${temp}°C"
done

echo 1 | sudo tee /sys/class/hwmon/hwmon6/pwm1_enable

# 设置为 50%
echo 128 | sudo tee /sys/class/hwmon/hwmon6/pwm1

echo 2 | sudo tee /sys/class/hwmon/hwmon6/pwm1_enable

#!/bin/bash
TEMP_SENSOR="/sys/class/thermal/thermal_zone0/temp"
PWM_ENABLE="/sys/class/hwmon/hwmon6/pwm1_enable"
PWM_VALUE="/sys/class/hwmon/hwmon6/pwm1"

echo 1 > $PWM_ENABLE

while true; do
    TEMP=$(( $(cat $TEMP_SENSOR) / 1000 ))

    if   [ $TEMP -lt 40 ]; then PWM=50
    elif [ $TEMP -lt 50 ]; then PWM=100
    elif [ $TEMP -lt 60 ]; then PWM=160
    elif [ $TEMP -lt 70 ]; then PWM=210
    else                        PWM=255
    fi

    echo $PWM > $PWM_VALUE
    echo "$(date '+%H:%M:%S') Temp: ${TEMP}°C  PWM: $PWM"
    sleep 5
done

chmod +x fan-control.sh
sudo ./fan-control.sh

sudo nohup ./fan-control.sh > /var/log/fan-control.log 2>&1 &

sudo cp fan-control.sh /usr/local/bin/fan-control.sh
sudo chmod +x /usr/local/bin/fan-control.sh

sudo tee /etc/systemd/system/fan-control.service << 'EOF'
[Unit]
Description=Fan Speed Controller
After=multi-user.target

[Service]
Type=simple
ExecStart=/usr/local/bin/fan-control.sh
Restart=on-failure
RestartSec=5

[Install]
WantedBy=multi-user.target
EOF

sudo systemctl daemon-reload
sudo systemctl enable fan-control
sudo systemctl start fan-control
sudo systemctl status fan-control

# 读取风扇转速
cat /sys/class/hwmon/hwmon6/fan1_input

# 读取 SoC 温度
echo "$(( $(cat /sys/class/thermal/thermal_zone0/temp) / 1000 ))°C"

# 全速
echo 1 | sudo tee /sys/class/hwmon/hwmon6/pwm1_enable
echo 255 | sudo tee /sys/class/hwmon/hwmon6/pwm1

# 低速
echo 1 | sudo tee /sys/class/hwmon/hwmon6/pwm1_enable
echo 64 | sudo tee /sys/class/hwmon/hwmon6/pwm1

# 恢复自动
echo 2 | sudo tee /sys/class/hwmon/hwmon6/pwm1_enable

ls /sys/class/leds/user-led

echo none | sudo tee /sys/class/leds/user-led/trigger

# 打开
echo 1 | sudo tee /sys/class/leds/user-led/brightness
# 关闭
echo 0 | sudo tee /sys/class/leds/user-led/brightness

# 心跳模式
echo heartbeat | sudo tee /sys/class/leds/user-led/trigger
# 自定义定时器模式（闪烁）
# 启用定时器
echo timer | sudo tee /sys/class/leds/user-led/trigger
# 设置间隔
echo 500 | sudo tee /sys/class/leds/user-led/delay_on
echo 500 | sudo tee /sys/class/leds/user-led/delay_off

sudo gpioinfo | grep -i PIN_21

line 14:     "PIN_21"       unused   input  active-high

gpioset gpiochip1 14=1

gpioset gpiochip1 14=0

gpioget gpiochip4 23

sudo nano /boot/armbianEnv.txt

overlays=recomputer-rk3576-devkit-40pin-i2c3 recomputer-rk3576-devkit-40pin-can0

sudo reboot

lsblk

# 安装 PCIe 驱动
sudo dpkg -i hailort-pcie-driver_4.23.0_all.deb

# 重启系统
sudo reboot

# 重启后，验证驱动是否已加载
lsmod | grep hailo

# 安装 HailoRT
sudo dpkg -i hailort_4.23.0_arm64.deb

# 扫描并验证设备状态
hailortcli scan

# 创建并激活虚拟环境
python3 -m venv hailo_env
source hailo_env/bin/activate

# 安装 HailoRT Python 库
pip install hailort-4.23.0-cp311-cp311-linux_aarch64.whl

# 验证安装和设备连接
python3 -c "from hailo_platform import VDevice; vdev = VDevice(); print('Successfully connected via VDevice! Device info:', vdev)"

# 1. 安装所需的系统库
sudo apt update
sudo apt install -y git libglib2.0-0 libgl1-mesa-glx

# 2. 克隆官方仓库（推荐使用最新分支）
git clone https://github.com/hailo-ai/hailo_model_zoo.git
cd hailo_model_zoo
pip install -e .

v4l2-ctl --list-devices

import numpy as np
import cv2
import time
from hailo_platform import (VDevice, HEF, InferVStreams, ConfigureParams,
                            HailoStreamInterface, InputVStreamParams, OutputVStreamParams)

# ================= 配置 =================
HEF_PATH = 'yolov11n.hef'
DEVICE_ID = "/dev/video40"  # Update based on v4l2-ctl output
CONF_THRESHOLD = 0.45

# COCO 数据集 80 类别标签
COCO_CLASSES = [
    "person", "bicycle", "car", "motorcycle", "airplane", "bus", "train", "truck", "boat", "traffic light",
    "fire hydrant", "stop sign", "parking meter", "bench", "bird", "cat", "dog", "horse", "sheep", "cow",
    "elephant", "bear", "zebra", "giraffe", "backpack", "umbrella", "handbag", "tie", "suitcase", "frisbee",
    "skis", "snowboard", "sports ball", "kite", "baseball bat", "baseball glove", "skateboard", "surfboard",
    "tennis racket", "bottle", "wine glass", "cup", "fork", "knife", "spoon", "bowl", "banana", "apple",
    "sandwich", "orange", "broccoli", "carrot", "hot dog", "pizza", "donut", "cake", "chair", "couch",
    "potted plant", "bed", "dining table", "toilet", "tv", "laptop", "mouse", "remote", "keyboard", "cell phone",
    "microwave", "oven", "toaster", "sink", "refrigerator", "book", "clock", "vase", "scissors", "teddy bear",
    "hair drier", "toothbrush"
]
# ==================================================

def main():
    # 1. Initialize Hailo Hardware
    hef = HEF(HEF_PATH)
    input_vstream_info = hef.get_input_vstream_infos()[0]
    input_h, input_w = input_vstream_info.shape[:2]

    cap = cv2.VideoCapture(DEVICE_ID)
    if not cap.isOpened():
        print("Cannot open webcam")
        return

    # Setup inference variables
    prev_time = 0

    with VDevice() as target:
        config_params_dict = ConfigureParams.create_from_hef(hef, HailoStreamInterface.PCIe)
        network_group = target.configure(hef, config_params_dict)[0]
        with network_group.activate():
            vstream_params = (InputVStreamParams.make_from_network_group(network_group),
                              OutputVStreamParams.make_from_network_group(network_group))
            with InferVStreams(network_group, vstream_params[0], vstream_params[1]) as vstreams:
                print("[INFO] Initialization successful! Running YOLOv11 real-time detection...")
                while True:
                    start_time = time.time()  # Record start time for FPS
                    ret, frame = cap.read()
                    if not ret:
                        break

                    # Preprocessing (Convert to RGB based on previous validation)
                    frame_rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
                    resized = cv2.resize(frame_rgb, (input_w, input_h))
                    input_tensor = np.expand_dims(resized, axis=0)

                    # Inference
                    outputs = vstreams.infer(input_tensor)

                    # Parsing and Drawing
                    h, w, _ = frame.shape
                    for name, class_list in outputs.items():
                        # Iterate through 80 classes
                        for class_id, detections in enumerate(class_list[0]):
                            if len(detections) > 0:
                                for det in detections:
                                    if len(det) >= 5:
                                        ymin, xmin, ymax, xmax, confidence = det[:5]
                                        if confidence > CONF_THRESHOLD:
                                            # Coordinate Mapping
                                            left, top = int(xmin * w), int(ymin * h)
                                            right, bottom = int(xmax * w), int(ymax * h)

                                            # Get class name, display ID if out of bounds
                                            class_name = COCO_CLASSES[class_id] if class_id < len(COCO_CLASSES) else f"ID {class_id}"

                                            # Draw bounding box
                                            cv2.rectangle(frame, (left, top), (right, bottom), (0, 255, 0), 2)
                                            # Draw background and label text
                                            label = f"{class_name}: {confidence:.2f}"
                                            cv2.putText(frame, label, (left, top - 10),
                                                        cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)

                    # Calculate and display real-time FPS
                    curr_time = time.time()
                    fps = 1 / (curr_time - start_time)
                    # Print in the top left corner
                    cv2.putText(frame, f"FPS: {fps:.1f}", (20, 40),
                                cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)

                    # Display window
                    cv2.imshow('reComputer RK3576 - Hailo YOLOv11', frame)
                    if cv2.waitKey(1) & 0xFF == ord('q'):
                        break

    cap.release()
    cv2.destroyAllWindows()

if __name__ == "__main__":
    main()

# 通过 ADB 从 PC 推送软件包到开发板
# 可选软件包包括：
#   - rknn3_rk182x_m2_installer_arm64.tgz（M.2 模块）
adb push rknn3_rk182x_m2_installer_arm64.tgz /tmp/installer.tgz
adb shell "cd /tmp && tar xzf installer.tgz && ./install.sh"

# 注意：必须进行硬断电（物理断电）以确保硬件和固件正确加载。
sudo poweroff

# 强制驱动覆盖并触发绑定
echo pcie-rkep | sudo tee /sys/bus/pci/devices/0000:01:00.0/driver_override
echo 0000:01:00.0 | sudo tee /sys/bus/pci/drivers/pcie-rkep/bind

# 启用 BusMaster 寄存器以激活加速卡总线主控
sudo setpci -s 01:00.0 COMMAND=0x0406

# 1. 创建工作空间
mkdir -p ~/rk_182x_work && cd ~/rk_182x_work

# 2. 克隆 Model Zoo 和 Toolkit 仓库
git clone --recursive https://github.com/airockchip/rknn3-model-zoo.git
git clone https://github.com/airockchip/rknn3-toolkit.git

# 3. 安装 rknn3-toolkit-lite
cd rknn3-toolkit/rknn3-toolkit-lite/packages
pip3 install ./rknn3_toolkit_lite-1.0.0-cp311-cp311-linux_aarch64.whl

# 4. 安装依赖
pip3 install -r requirements.txt

lsusb
ls /dev/ttyUSB*

sudo apt install minicom
sudo minicom -D /dev/ttyUSB2

Command:  AT+CPIN?
Response: +CPIN: READY
Meaning:  The SIM card is present and ready (no PIN lock applied).

Command:  AT+CSQ
Response: +CSQ: 28,99
Meaning:  Excellent signal. The value 28 maps to approx. -57 dBm (range 0-31, >20 is excellent). 99 indicates unknown Rx error rate (normal).

Command:  AT+CGREG?  and  AT+CREG?
Response: +CGREG: 0,1  /  +CREG: 0,1
Meaning:  The trailing 1 indicates "Registered, home network", meaning the module has successfully attached to the tower.

Command:  AT+COPS?
Response: +COPS: 0,0,"T-Mobile",7
Meaning:  Currently attached to the specific carrier (e.g., T-Mobile). The trailing 7 indicates the connection is in LTE (4G) mode.

Command:  AT+QIACT?   -> Response: OK (If empty, no context is currently active)
Command:  AT+QIACT=1  -> Response: OK
Meaning:  Successfully activates Context ID 1. The module will fetch a private IP from the carrier and enable cellular routing.

Command:  AT+QPING=1,"www.google.com",1,4
Response: +QPING: 0["142.250.190.46",32,45,255]
          +QPING: 0,4,4,0,40,52,45
Meaning:  Successfully pinged the target domain. 4 packets sent, 4 received, 0% loss.

ls /dev/ttyACM*
udevadm info /dev/ttyACM0 | grep -E "ID_VENDOR|ID_MODEL"

E: ID_MODEL=STM32_Virtual_ComPort
E: ID_VENDOR=STMicroelectronics

cd ~/sx1302_hal/libloragw
sudo ./test_loragw_hal_tx \
  -u \
  -d /dev/ttyACM0 \
  -r 1250 \
  -m LORA \
  -f 867.1 \
  -s 12 \
  -b 125 \
  -n 1000 \
  -z 100 \
  --dig 3 \
  --pa 0 \
  --pwid 13

Opening USB communication interface
INFO: Configuring TTY
INFO: Connect to MCU
INFO: Concentrator MCU version is V01.00.00
INFO: MCU status: sys_time:197172 temperature:37.2oC
Note: chip version is 0x10 (v1.0)
TX done
TX done

ls /dev/ttyACM*
udevadm info /dev/ttyACM0 | grep -E "ID_VENDOR|ID_MODEL"

E: ID_MODEL=STM32_Virtual_ComPort
E: ID_VENDOR=STMicroelectronics

cd ~/sx1302_hal/libloragw
sudo ./test_loragw_hal_tx \
  -u \
  -d /dev/ttyACM0 \
  -r 1250 -m LORA -f 867.1 -s 12 -b 125 \
  -n 1000 -z 100 --dig 3 --pa 0 --pwid 13

Opening USB communication interface
INFO: Configuring TTY
INFO: Connect to MCU
INFO: Concentrator MCU version is V01.00.00
INFO: MCU status: sys_time:197172 temperature:37.2oC
Note: chip version is 0x10 (v1.0)
TX done
TX done
...

echo "overlays=recomputer-rk3576-devkit-halow-wifi" | sudo tee -a /boot/armbianEnv.txt

tail -2 /boot/armbianEnv.txt

sudo reboot

dmesg | grep -i morse | grep -E "found|Loaded|initialized|MAC"

morse_spi spi3.1: Morse Micro SPI device found, chip ID=0x0306
morse_spi spi3.1: Loaded firmware from morse/mm6108.bin, size 459124, crc32 0x51d355b9
morse_spi spi3.1: Loaded BCF from morse/bcf_default.bin, size 1251, crc32 0x941b2a82
morse_spi spi3.1: Firmware initialized
morse_spi spi3.1: Firmware Manifest MAC: 90:03:71:52:9d:8e

sudo ln -s /usr/bin/morsectrl /usr/local/bin/morse_cli

ip link show | grep -E "wlan0|wlan1|morse0"

sudo nano /etc/morse-hostapd.conf

interface=wlan0
driver=nl80211
ssid=HaLow_Test
country_code=AU          # Change to your region
hw_mode=a
channel=42               # AU channel, see table below
op_class=69
beacon_int=100
dtim_period=2
ieee80211ah=1
s1g_prim_chwidth=1
s1g_prim_1mhz_chan_index=0
s1g_capab=[SHORT-GI-ALL]
wpa=2
wpa_passphrase=12345678
wpa_key_mgmt=WPA-PSK
rsn_pairwise=CCMP
ctrl_interface=/var/run/hostapd

sudo ip link set wlan0 down
sudo morse-hostapd /etc/morse-hostapd.conf -B

s1g mapped ht channel 159
Full Channel Information
    Operating Frequency: 923000 kHz
    Operating BW: 2 MHz
wlan0: interface state COUNTRY_UPDATE->ENABLED
wlan0: AP-ENABLED

sudo morse-hostapd_cli -i wlan0 status
sudo morse-hostapd_cli -i wlan0 all_sta   # list connected clients

sudo nano /etc/morse-wpa_supplicant.conf

ctrl_interface=/var/run/wpa_supplicant
country=AU

network={
    ssid="HaLow_Test"
    psk="12345678"
    key_mgmt=WPA-PSK
}

sudo ip link set wlan0 down
sudo morse-wpa_supplicant -i wlan0 -c /etc/morse-wpa_supplicant.conf -D nl80211 -B
sudo dhclient wlan0

sudo morse-wpa_cli -i wlan0 status
ip addr show wlan0

sudo nano /boot/armbianEnv.txt

overlays=recomputer-rk3576-devkit-raspi-7inch-touchscreen

sudo apt-get update
sudo apt install v4l-utils -y
sudo apt-get install gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-x -y

sudo reboot

echo $XDG_SESSION_TYPE

sudo nano /boot/armbianEnv.txt

overlays=recomputer-rk3576-devkit-cam0-rpi-v3 recomputer-rk3576-devkit-cam1-rpi-v3

sudo reboot

v4l2-ctl --list-devices

v4l2-ctl --list-formats-ext --device=/dev/video22

v4l2-ctl -d /dev/video22 --set-fmt-video=width=3280,height=2464,pixelformat='MJPG' --stream-mmap=4 --set-selection=target=crop,flags=0,top=0,left=0,width=3280,height=2464 --stream-count=500

sudo apt install gstreamer1.0-tools -y

gst-launch-1.0 v4l2src device=/dev/video11 ! video/x-raw,format=NV12,width=3280,height=2464