# AUV TX2
###### tags: `視覺組`
[TOC]

## Pin


## 風扇

### 開啟(已寫入.bashrc)

sudo jetson_clocks

或

sudo su
sudo echo [0-255] > /sys/devices/pwm-fan/target_pwm

### 運作狀況

sudo jetson_clocks --show

### Reference
- https://forums.developer.nvidia.com/t/how-can-i-run-jetson-clocks-automatically-after-reboot-every-time/107249/5

## cpu、gpu 運作狀況

jtop 

## i2c

### 使用狀況查詢

sudo i2cdetect -r -y <BUS NUMBER>

pin3, pin5 : Bus 1
pin27, pin28 : Bus 0

### MPU9250(i2c)
VCC - 3.3V
SDA - pin 3 or 27
SCL - pin 5 or 28
GND - GND
AD0 - floating 位置在0x68
AD0 - 3.3V 位置在0x69

#### Install MPU9250 Arduino LIbrary
https://github.com/hideakitai/MPU9250

#### Install MPU9250 Python Library
`$ sudo pip3 install mpu9250-jmdev`
https://pypi.org/project/mpu9250-jmdev/#Reset-Registers

#### Reference
- https://coldnew.github.io/f0528f55/

## Troubleshooting
### usb cam
執行 `roslaunch usb_cam usb_cam-test.launch`
**Error** `couldn't query v4l fps error 25 inappropriate ioctl for device`

可能是 usb cam resolution 沒有調好
1. 查詢 resolution : https://askubuntu.com/a/214990
2. 修改 launch file : https://github.com/dilipkumar25/see3cam/issues/15#issuecomment-630618874