Payload subsystem for the Proxima project.
Following is required for the pylepton.
sudo apt-get install -y python3-opencv python3-numpy
This installed several native libraries supporting the opencv and numpy APIs in python3
git clone https://github.com/groupgets/pylepton.git -b lepton3-dev
As we aren't installing the pylepton library, setup a symlink to its relative location. For example for access from proxima project which is a peer folder to pylepton git repository.
pi@raspberrypi:~/payload/proxima $ ln -s ../pylepton/pylepton ./
The above command will establish pylepton project usable from python code as from pylepton import Lepton. A long listing of the folder will show the sym-link as below:
lrwxrwxrwx 1 pi pi 20 Feb 26 16:41 pylepton -> ../pylepton/pylepton
Clone the software
git clone https://github.com/adafruit/Adafruit_CircuitPython_LSM6DS.git
Below install fetches the circuitpython drivers:
sudo pip3 install adafruit-circuitpython-lsm6ds --break-system-packages
From proxima source folder, set up a symlink to the relative location of LSM6DS python library.
pi@raspberrypi:~/payload/proxima $ ln -s ../Adafruit_CircuitPython_LSM6DS/adafruit_lsm6ds ./
Now the long listing of the folder should show the sym-links as below:
lrwxrwxrwx 1 pi pi 48 Feb 29 01:19 adafruit_lsm6ds -> ../Adafruit_CircuitPython_LSM6DS/adafruit_lsm6ds
lrwxrwxrwx 1 pi pi 20 Feb 26 16:41 pylepton -> ../pylepton/pylepton
Lepton FLIR module interfaces with the RPI board over SPI and I2C bus.
- Youtube video from GroupGets
- [Module purchased from GroupGets] (https://groupgets.com/products/flir-lepton-3-5)
Verify the i2c is enabled
lsmod | grep i2c
if you see the i2c_bcm2835 it means the kernel driver for i2c interfaces has been loaded.
Check the i2c devices are published in filesystem
ls -l /dev/i2c-*
Install the i2c-tools package for handy tools to test i2c peripheral
sudo apt-get install -y i2c-tools
Test the i2c device detection
pi@raspberrypi:~/payload $ sudo i2cdetect -l
i2c-1 i2c bcm2835 (i2c@7e804000) I2C adapter
i2c-20 i2c fef04500.i2c I2C adapter
i2c-21 i2c fef09500.i2c I2C adapter
Check the address of the i2c device on i2c-1
pi@raspberrypi:~/payload $ sudo i2cdetect -y 1
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- 2a -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
Similarly on the i2c-20 and i2c-21.
pi@raspberrypi:~/payload $ sudo i2cdetect -y 20
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: 08 09 0a 0b 0c 0d 0e 0f
10: 10 11 12 13 14 15 16 17 18 19 1a 1b 1c 1d 1e 1f
20: 20 21 22 23 24 25 26 27 28 29 2a 2b 2c 2d 2e 2f
30: -- -- -- -- -- -- -- -- 38 39 3a 3b 3c 3d 3e 3f
40: 40 41 42 43 44 45 46 47 48 49 4a 4b 4c 4d 4e 4f
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: 60 61 62 63 64 65 66 67 68 69 6a 6b 6c 6d 6e 6f
70: 70 71 72 73 74 75 76 77
pi@raspberrypi:~/payload $ sudo i2cdetect -y 21
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: 08 09 0a 0b 0c 0d 0e 0f
10: 10 11 12 13 14 15 16 17 18 19 1a 1b 1c 1d 1e 1f
20: 20 21 22 23 24 25 26 27 28 29 2a 2b 2c 2d 2e 2f
30: -- -- -- -- -- -- -- -- 38 39 3a 3b 3c 3d 3e 3f
40: 40 41 42 43 44 45 46 47 48 49 4a 4b 4c 4d 4e 4f
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: 60 61 62 63 64 65 66 67 68 69 6a 6b 6c 6d 6e 6f
70: 70 71 72 73 74 75 76 77
https://github.com/torvalds/linux/blob/master/drivers/spi/spi-bcm2835.c
This is a System-in-Package (SIP), a custom package, named RP3A0. The main Silicon inside, the real workhorse, is BCM2837. This is a 4 core Cortex-A53 CPU, each can run upto 1.2GHz, but optimal at 1GHz. The SIP also included 512MB of LPDDR2 RAM. Refer to this expert blog who performed an X-Ray study of the SIP.
Issue with lepton capture function which was throwing error in program. Issue traced back:
ret = ioctl(handle, iow, xs_buf[xs_size * (60 - messages):], True)
Link to github issue solution. Problem solves by reducing the message size of the library. Changed SPIDEV_MESSASGE_LIMIT from 24 to 8. Program now able to run, however, output images appeared to be flawed.
- EEMB LiPo battery 3.7v 820mAh capacity
- Powerboost 1000c to simultaneously charge as well as boost the power to 5V. Two charger LEDs. Amber LED when charger is On. 2nd LED turns Green when fully charged, Red when input voltage falls below 3.2v. Blue LED indicates the system is powering load.
- (PureThermal Breakout board)[https://groupgets.com/products/purethermal-breakout-board]
$ python test_picamera.py
[0:00:56.899856486] [643] INFO Camera camera_manager.cpp:284 libcamera v0.2.0+4
[0:00:56.944885132] [648] ERROR RPI dma_heaps.cpp:53 Could not open any dmaHeap
[0:00:57.001074507] [648] WARN RPiSdn sdn.cpp:39 Using legacy SDN tuning - plea
[0:00:57.006268361] [648] ERROR RPI vc4.cpp:216 Failed to register camera imx219
Traceback (most recent call last):
File "/home/pi/payload/proxima/test_picamera.py", line 3, in <module>
picam = Picamera2()
^^^^^^^^^^^
File "/usr/lib/python3/dist-packages/picamera2/picamera2.py", line 242, in __i
camera_num = self.global_camera_info()[camera_num]['Num']
~~~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^
IndexError: list index out of range
Exception ignored in: <function Picamera2.__del__ at 0x666ccbb8>
The above error showed up after using the picamera module for a while. Apparently it has to do with the permissions on /dev/dmaHeap. Following the instructions (here)[raspberrypi/rpicam-apps#218] resolved it.