【聆思CSK6视觉AI开发套件试用】Ubuntu22.04体验之shell&AI头肩检测

1. 开发板套件

收到聆思CSK6系视觉开发套件，开箱：
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开发板资料：https://docs.listenai.com/chips/600X/overview/read_guide

2. Ubuntu 22.04开发环境搭建

环境Ubuntu 22.04:

cat /etc/os-release  
PRETTY_NAME="Ubuntu 22.04.1 LTS"  
NAME="Ubuntu"  
VERSION_ID="22.04"  
VERSION="22.04.1 LTS (Jammy Jellyfish)"  
VERSION_CODENAME=jammy  
ID=ubuntu  
ID_LIKE=debian  
HOME_URL="https://www.ubuntu.com/"  
SUPPORT_URL="https://help.ubuntu.com/"  
BUG_REPORT_URL="https://bugs.launchpad.net/ubuntu/"  
PRIVACY_POLICY_URL="https://www.ubuntu.com/legal/terms-and-policies/privacy-policy"  
UBUNTU_CODENAME=jammy

安装必要工具包：git, wget, curl等

3. 下载开发包

方式有：curl/wget及离线方式，curl方式如下：

curl -o- [https://cdn.iflyos.cn/public/cskTools/lisa-zephyr-install.sh](https://cdn.iflyos.cn/public/cskTools/lisa-zephyr-install.sh) | bash

安装过程中会自动补充其他工具包：

>✔ exec exit  


>✔ exec exit  
环境安装
=> Some housekeeping
HEAD is now at 3e15ca75 Merge branch 'backport/esp\_hosted' into 'milestone/v1.1.1'
=> Completed with GREAT SUCCESS! Try and run command 'lisa info zephyr'

这里把开发包安装到 ~/.listenai

tree -L 1 ~/.listenai/  
/home/xxxxx/.listenai/  
├── csk-sdk  
├── lisa  
└── lisa-zephyr  

3 directories, 0 files

4. 检查环境

执行lisa info zephyr ：

Operating System - #58-Ubuntu SMP Thu Oct 13 08:03:55 UTC 2022, version 5.15.0-52-generic x64
@listenai/lisa - 2.4.5
Account - 未登录或登录已过期
Node.js environment
Node.js - v16.14.0
npm - 8.3.1
yarn - 1.22.19
Global environment
git - git version 2.34.1
Plugin info
zephyr - 1.6.7 (latest: 1.6.8)
Plugin environment
env - csk6
west - West version: v0.14.0
venv - Python 3.9.7
cmake - cmake version 3.21.4
dtc - Version: DTC 1.6.0
gperf - GNU gperf 3.1
mklfs - v1.0.0 (3640bfb)
ninja - 1.10.2
protoc - libprotoc 3.19.1
xz - xz (XZ Utils) 5.2.5
cskburn - v1.18.1 (265)
zephyr-sdk-0.14.2 - arm-zephyr-eabi-gcc (Zephyr SDK 0.14.2) 10.3.0
gcc-arm-none-eabi-10.3 - arm-none-eabi-gcc (GNU Arm Embedded Toolchain 10.3-2021.10) 10.3.1 20210824 (release)
jlink-venus - V7.58
ZEPHYR_BASE - /home/xxxxx/.listenai/csk-sdk/zephyr (版本: v1.1.1-alpha.2, commit: 3e15ca75)
PLUGIN_HOME - /home/xxxxx/.listenai/lisa-zephyr
VIRTUAL_ENV - /home/xxxxx/.listenai/lisa-zephyr/venv
ZEPHYR_TOOLCHAIN_VARIANT - zephyr
ZEPHYR_SDK_INSTALL_DIR - /home/xxxxx/.listenai/lisa-zephyr/packages/node_modules/@binary/zephyr-sdk-0.14.2/binary
GNUARMEMB_TOOLCHAIN_PATH - /home/xxxxx/.listenai/lisa-zephyr/packages/node_modules/@binary/gcc-arm-none-eabi-10.3/binary
发现 'lisa zep 命令行工具' 有可更新的版本: 1.6.8，是否需要更新(Y/N )?: Y
更新启动...... 开始更新@lisa-plugin/zephyr@1.6.8
⸨#########⠂⠂⠂⠂⠂⠂⠂⠂⠂⸩ ⠏ idealTree:lib: timing idealTree:#root Completed in 148392ms
npm WARN deprecated cli-ux@5.6.7: Package no longer supported. Contact Support at https://www.npmjs.com/support for more info.
npm WARN deprecated @sentry/apm@5.20.0: Please migrate to @sentry/tracing; see: https://www.npmjs.com/package/@sentry/apm
removed 2 packages, and changed 589 packages in 2h
2 packages are looking for funding
run npm fund for details
成功

其中发现新zephyr，升级。若升级过程有失败则重复。

5. App体验之shell

在工作目录下执行 lisa zep create

~/Workspace$ lisa zep create
? 选择sample. (左右键/空格键 展开文件夹，回车键 确定选择)
↓ subsys
  → console
  → fs
  → ipc
  → [nvs]
  ↓ shell
    → [shell_module]
  → usb
↓ samples
(Move up and down to reveal more choices)

用空格键选中shell_module。
编译：

lisa zep build -b csk6011a_nano
-- west build: building application
[1/218] Preparing syscall dependency handling
[2/218] Generating include/generated/version.h
-- Zephyr version: 3.1.0 (/home/xxxxx/.listenai/csk-sdk/zephyr), build: v1.1.1-alpha.2
[208/218] Linking C executable zephyr/zephyr_pre0.elf
[212/218] Linking C executable zephyr/zephyr_pre1.elf
[218/218] Linking C executable zephyr/zephyr.elf
Memory region Used Size Region Size %age Used
       FLASH:       82704 B        16 MB      0.49%
        SRAM:       17752 B       320 KB      5.42%
        ITCM:        4612 B        16 KB     28.15%
        DTCM:          0 GB        16 KB      0.00%
     PSRAMAP:          0 GB         1 MB      0.00%
    IDT_LIST:          0 GB         2 KB      0.00%
✔ 构建成功

由DebugUSB/DAPLink USB连接开发板，烧录：

lisa zep flash --runner pyocd
-- west flash: rebuilding
ninja: no work to do.
-- west flash: using runner pyocd
-- runners.pyocd: Flashing file: /home/xxxxx/Workspace/shell_module/build/zephyr/zephyr.hex
0000641 W [Errno 13] Access denied (insufficient permissions) while trying to interrogate a USB device (VID=0d28 PID=0204). This can probably be remedied with a udev rule. See https://github.com/pyocd/pyOCD/tree/master/udev for help. [pyusb_backend]

这里出错，需要先为USB设备添加udev规则
在 /etc/udev/rules.d 目录下创建一个名为 99-listenai.rules 的文件，在文件中添加以下内容并保存：

KERNEL=="ttyACM[0-9]*",MODE="0666"
KERNEL=="ttyUSB[0-9]*",MODE="0666"
SUBSYSTEM=="usb", ENV{DEVTYPE}=="usb_device", ATTR{idVendor}=="0d28", ATTR{idProduct}=="0204", MODE="0666"
SUBSYSTEM=="usb", ENV{DEVTYPE}=="usb_device", ATTR{idVendor}=="0483", ATTR{idProduct}=="7918", MODE="0666"
SUBSYSTEM=="usb", ENV{DEVTYPE}=="usb_device", ATTR{idVendor}=="77a1", ATTR{idProduct}=="7919", MODE="0666"
SUBSYSTEM=="usb", ENV{DEVTYPE}=="usb_device", ATTR{idVendor}=="2fe3", ATTR{idProduct}=="000a", MODE="0666"

再执行

sudo udevadm control --reload-rules && sudo udevadm trigger

烧录成功：

~/Workspace/shell_module$ lisa zep flash --runner pyocd
-- west flash: rebuilding
ninja: no work to do.
-- west flash: using runner pyocd
-- runners.pyocd: Flashing file: /home/xxxxx/Workspace/shell_module/build/zephyr/zephyr.hex
0000572 I Loading /home/xxxxx/Workspace/shell_module/build/zephyr/zephyr.hex at 0x18000000 [load\_cmd]
[==================================================] 100%
0010714 I Erased 86016 bytes (21 sectors), programmed 82944 bytes (324 pages), skipped 0 bytes (0 pages) at 8.06 kB/s [loader]
✔ 结束

在连上DebugUSB/DAPLink USB后，主机可以看到添加了一下新的串口/dev/ttyACM0，这个调试串口：

[ 5128.685666] usb 2-2.4: new full-speed USB device number 8 using xhci_hcd
[ 5128.789195] usb 2-2.4: New USB device found, idVendor=0d28, idProduct=0204, bcdDevice= 1.00
[ 5128.789210] usb 2-2.4: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 5128.789216] usb 2-2.4: Product: LISTENAI CSK-6-NanoKit CMSIS-DAP
[ 5128.789220] usb 2-2.4: Manufacturer: Arm
[ 5128.789224] usb 2-2.4: SerialNumber: 0000000200190034540000134e535036a5a5a5a597969908
[ 5128.807593] usb-storage 2-2.4:1.0: USB Mass Storage device detected
[ 5128.808146] scsi host4: usb-storage 2-2.4:1.0
[ 5128.811322] usbhid 2-2.4:1.3: couldn't find an input interrupt endpoint
[ 5128.834696] cdc_acm 2-2.4:1.1: ttyACM0: USB ACM device
[ 5128.834830] usbcore: registered new interface driver cdc_acm
[ 5128.834834] cdc_acm: USB Abstract Control Model driver for USB modems and ISDN adapters
[ 5129.838784] scsi 4:0:0:0: Direct-Access MBED VFS 0.1 PQ: 0 ANSI: 2
[ 5129.839506] sd 4:0:0:0: Attached scsi generic sg2 type 0
[ 5129.839842] sd 4:0:0:0: [sdc] 131200 512-byte logical blocks: (67.2 MB/64.1 MiB)
[ 5129.840119] sd 4:0:0:0: [sdc] Write Protect is off
[ 5129.840124] sd 4:0:0:0: [sdc] Mode Sense: 03 00 00 00
[ 5129.840365] sd 4:0:0:0: [sdc] No Caching mode page found
[ 5129.840372] sd 4:0:0:0: [sdc] Assuming drive cache: write through
[ 5129.851109] sdc:
[ 5129.852023] sd 4:0:0:0: [sdc] Attached SCSI removable disk

用串口终端连上开发板：

~/Workspace/shell\_module$ picocom --baud 115200 /dev/ttyACM0
picocom v3.1
port is : /dev/ttyACM0
flowcontrol : none
baudrate is : 115200
parity is : none
databits are : 8
stopbits are : 1
escape is : C-a
local echo is : no
noinit is : no
noreset is : no
hangup is : no
nolock is : no
send_cmd is : sz -vv
receive_cmd is : rz -vv -E
imap is :
omap is :
emap is : crcrlf,delbs,
logfile is : none
initstring : none
exit_after is : not set
exit is : no
Type [C-a] [C-h] to see available commands
Terminal ready
uart:~$ version
Zephyr version 3.1.0
uart:~$ help
Please press the <Tab> button to see all available commands.
You can also use the <Tab> button to prompt or auto-complete all commands or its subcommands.
You can try to call commands with <-h> or <--help> parameter for more information.
Shell supports following meta-keys:
Ctrl + (a key from: abcdefklnpuw)
Alt + (a key from: bf)
Please refer to shell documentation for more details.
Available commands:
bypass :Bypass shell
clear :Clear screen.
date :Date commands
demo :Demo commands
device :Device commands
devmem :Read/write physical memory"devmem address [width [value]]
dynamic :Demonstrate dynamic command usage.
help :Prints the help message.
history :Command history.
kernel :Kernel commands
log :Commands for controlling logger
log_test :Log test
resize :Console gets terminal screen size or assumes default in
                   case the readout fails. It must be executed after each
                   terminal width change to ensure correct text display.
section_cmd :Demo command using section for subcommand registration
shell :Useful, not Unix-like shell commands.
shell_uart_release :Uninitialize shell instance and release uart, start
                   loopback on uart. Shell instance is reinitialized when
                   'x' is pressed
stats :Stats commands
version :Show kernel version
uart:~$

6. App体验之视觉AI

开发板支持2种：头肩&首肩识别、人脸识别。
拉取头肩&首肩识别 AI sample：

lisa zep create --from-git https://cloud.listenai.com/zephyr/applications/app_algo_hsd_sample_for_csk6.git

到工作目录。

在使用PC端图像预览工具前，需要将prj.conf中USB数据传输配置 CONFIG_WEBUSB=y 设置为y

编译：

\-- west build: building application  
\[1/243\] Preparing syscall dependency handling  
[2/243] Generating include/generated/version.h
-- Zephyr version: 3.1.0 (/home/xxxxx/Workspace/app_algo_hsd_sample_for_csk6/.sdk/zephyr), build: e32aeccd52a1
[233/243] Linking C executable zephyr/zephyr_pre0.elf
[237/243] Linking C executable zephyr/zephyr_pre1.elf
[243/243] Linking C executable zephyr/zephyr.elf
Memory region Used Size Region Size %age Used
       FLASH:      213112 B        16 MB      1.27%
        SRAM:      147856 B       320 KB     45.12%
        ITCM:        5532 B        16 KB     33.76%
        DTCM:          0 GB        16 KB      0.00%
     PSRAMAP:     3108136 B      3968 KB     76.49%
    IDT_LIST:          0 GB         2 KB      0.00%
✔ 构建成功

若编译过程中出现：

prj.conf:41: warning: attempt to assign the value 'y' to the undefined symbol LICAK_MODULES_ALG_HSD

则需要把 west.yml 中声明所需的模块再拉取到目录中：
lisa zep init-app
lisa zep update

烧录应用程序，在连上DebugUSB/DAPLink USB后执行：

lisa zep flash --runner pyocd
-- west flash: rebuilding
ninja: no work to do.
-- west flash: using runner pyocd
-- runners.pyocd: Flashing file: /home/xxxxx/Workspace/app_algo_hsd_sample_for_csk6/build/zephyr/zephyr.hex
0000741 I Loading /home/xxxxx/Workspace/app_algo_hsd_sample_for_csk6/build/zephyr/zephyr.hex at 0x18000000 [load_cmd]
[==================================================] 100%
0026686 I Erased 217088 bytes (53 sectors), programmed 213248 bytes (833 pages), skipped 0 bytes (0 pages) at 8.10 kB/s [loader]
✔ 结束

再烧录资源，出现错误：

lisa zep exec cskburn -s /dev/ttyACM0 -C 6 0x400000 ./resource/cp.bin -b 748800
Partition 1: 0x00400000 (751.35 KB) - ./resource/cp.bin
Waiting for device...
Entering update mode...
Entering update mode...
Entering update mode...
Entering update mode...
ERROR: Failed entering update mode
✖ Command failed : cskburn -s /dev/ttyACM0 -C 6 0x400000 ./resource/cp.bin -b 748800
› Error: Command failed : cskburn -s /dev/ttyACM0 -C 6 0x400000 ./resource/cp.bin -b 748800

则必须先退出串口终端程序，重新进行烧录资源，成功：

lisa zep exec cskburn -s /dev/ttyACM0 -C 6 0x400000 ./resource/cp.bin -b 748800
Partition 1: 0x00400000 (751.35 KB) - ./resource/cp.bin
Waiting for device...
Entering update mode...
Detected flash size: 16 MB
Burning partition 1/1... (0x00400000, 751.35 KB)
751.35 KB / 751.35 KB (100.00%)
Finished
✔ exec exit

继续烧录另一资源：

lisa zep exec cskburn -s /dev/ttyACM0 -C 6 0x500000 ./resource/res.bin -b 748800
Partition 1: 0x00500000 (2338.53 KB) - ./resource/res.bin
Waiting for device...
Entering update mode...
Detected flash size: 16 MB
Burning partition 1/1... (0x00500000, 2338.53 KB)
2338.53 KB / 2338.53 KB (100.00%)
Finished
✔ exec exit

开启串口终端程序，复位开发板：

* Booting Zephyr OS build e32aeccd52a1
Device name: DVPI
[00:00:03.164,000] <inf> hsd: Setup resource [head_thinker] which in <0x18500060,0xa6ce0>
[00:00:03.164,000] <inf> hsd: Setup resource [gesture_thinker] which in <0x185a6d40,0x135d40>
[00:00:03.322,000] <inf> hsd: fmt: [VYUY] width [640] height [480]
[00:00:03.322,000] <inf> hsd: Alloc video buffer: 921600
[00:00:03.322,000] <inf> hsd: Alloc video buffer: 921600
[00:00:03.322,000] <inf> hsd: Alloc video buffer: 921600

连上csk6 USB，弹出：
title=
或者 kernel输出：

[18394.947885] usb 2-2.1: new full-speed USB device number 12 using xhci\_hcd
[18395.053746] usb 2-2.1: New USB device found, idVendor=2fe3, idProduct=000a, bcdDevice= 3.01
[18395.053758] usb 2-2.1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[18395.053762] usb 2-2.1: Product: CSK View Finder
[18395.053766] usb 2-2.1: Manufacturer: ZEPHYR
[18395.053769] usb 2-2.1: SerialNumber: 0123456789ABCDEF

下载PC查看工具，

git clone https://cloud.listenai.com/zephyr/applications/csk_view_finder_spd.git

使用 Chrome 内核的浏览器，打开项目 csk_view_finder_spd/src 目录下的 index.html
Connect CSK View Finder 设备。
title=
捕捉：
title=

7. 总结

这里初步体验了CSK6开发板入门和AI能力，后面会继续研究。