jetracer
jetracer copied to clipboard
Published
20 hours ago •
NVIDIA-AI-IOT
NVIDIA-AI-IOT
tegra-i2c pio timed out
Hi, I have a waveshare JetRacer AI Kit 4GB, set up with the newest image from this repo and the jetracer repo from the waveshare fork.
I can control steering and throttle from the basic_motion notebook, but often a few seconds after activating the motors, the car dies.
No hdmi output, black oLed and not reachable neither via jupyter nor via ssh, but the fan is still spinning.
The behavior doesn't change with or without power supply, and I couldn't reproduce it in response to a special action.
Sometimes it occurs right after setting throttle, sometimes the car drives for a couple seconds.
Something I noticed is that running the car constructor seems to last very long.
car = NvidiaRacecar(steering_channel=0, throttle_channel=0)
And after looking at \var\log\syslog I get following lines:
jetson@nano-4gb-jp451:~$ tail -f /var/log/syslog
Apr 5 04:12:24 nano-4gb-jp451 sh[4210]: [I 04:12:24.101 LabApp] Kernel started: 4a01fbe1-f89c-4030-bfd1-4afd096486af, name: python3
Apr 5 04:12:37 nano-4gb-jp451 kernel: [ 227.701164] tegra-i2c 7000c400.i2c: pio timed out addr: 0x40 tlen:0 rlen:0
Apr 5 04:12:37 nano-4gb-jp451 kernel: [ 227.709166] tegra-i2c 7000c400.i2c: --- register dump for debugging ----
Apr 5 04:12:37 nano-4gb-jp451 kernel: [ 227.716101] tegra-i2c 7000c400.i2c: I2C_CNFG - 0x22c00
Apr 5 04:12:37 nano-4gb-jp451 kernel: [ 227.721353] tegra-i2c 7000c400.i2c: I2C_PACKET_TRANSFER_STATUS - 0x10001
Apr 5 04:12:37 nano-4gb-jp451 kernel: [ 227.729186] tegra-i2c 7000c400.i2c: I2C_FIFO_CONTROL - 0xe0
Apr 5 04:12:37 nano-4gb-jp451 kernel: [ 227.734824] tegra-i2c 7000c400.i2c: I2C_FIFO_STATUS - 0x800080
Apr 5 04:12:37 nano-4gb-jp451 kernel: [ 227.740796] tegra-i2c 7000c400.i2c: I2C_INT_MASK - 0x7c
Apr 5 04:12:37 nano-4gb-jp451 kernel: [ 227.746138] tegra-i2c 7000c400.i2c: I2C_INT_STATUS - 0x2
Apr 5 04:12:37 nano-4gb-jp451 kernel: [ 227.751491] tegra-i2c 7000c400.i2c: i2c transfer timed out addr: 0x40
Apr 5 04:12:48 nano-4gb-jp451 kernel: [ 237.940955] tegra-i2c 7000c400.i2c: pio timed out addr: 0x60 tlen:0 rlen:0
Apr 5 04:12:48 nano-4gb-jp451 kernel: [ 237.948888] tegra-i2c 7000c400.i2c: --- register dump for debugging ----
Apr 5 04:12:48 nano-4gb-jp451 kernel: [ 237.956871] tegra-i2c 7000c400.i2c: I2C_CNFG - 0x22c00
Apr 5 04:12:48 nano-4gb-jp451 kernel: [ 237.962429] tegra-i2c 7000c400.i2c: I2C_PACKET_TRANSFER_STATUS - 0x10001
Apr 5 04:12:48 nano-4gb-jp451 kernel: [ 237.970505] tegra-i2c 7000c400.i2c: I2C_FIFO_CONTROL - 0xe0
Apr 5 04:12:48 nano-4gb-jp451 kernel: [ 237.976860] tegra-i2c 7000c400.i2c: I2C_FIFO_STATUS - 0x800080
Apr 5 04:12:48 nano-4gb-jp451 kernel: [ 237.982922] tegra-i2c 7000c400.i2c: I2C_INT_MASK - 0x7c
Apr 5 04:12:48 nano-4gb-jp451 kernel: [ 237.988274] tegra-i2c 7000c400.i2c: I2C_INT_STATUS - 0x2
Apr 5 04:12:48 nano-4gb-jp451 kernel: [ 237.993738] tegra-i2c 7000c400.i2c: i2c transfer timed out addr: 0x60
This can be reproduced every time the NvidiaRacecar constructor is called, and the message is always the same (Address 0x40 and 0x60).
Running
sudo i2cdetect -y -r 1
returns
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- 3c -- -- --
40: 40 41 -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: 60 -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: 70 -- -- -- -- -- -- --
which seems okay for my understanding.
Thank you for any help!
Puh, unfortunately I haven't access to a jetracer anymore. If I remember it correctly I could fix this issue by choosing a different version of the image. But don't ask me which version has worked. Sorry
Similar issue, cannot find I2C device 0x60 (Using Pre-build image based on Jetpack4.5 from waveshare wiki)
from jetracer.nvidia_racecar import NvidiaRacecar
car = NvidiaRacecar()
results in Timeout Error
---------------------------------------------------------------------------
TimeoutError Traceback (most recent call last)
/usr/local/lib/python3.6/dist-packages/adafruit_circuitpython_busdevice-5.0.6-py3.6.egg/adafruit_bus_device/i2c_device.py in __probe_for_device(self)
153 try:
--> 154 self.i2c.writeto(self.device_address, b"")
155 except OSError:
/usr/local/lib/python3.6/dist-packages/Adafruit_Blinka-6.10.0-py3.6.egg/busio.py in writeto(self, address, buffer, start, end, stop)
157 return self._i2c.writeto(address, memoryview(buffer)[start:end], stop=stop)
--> 158 return self._i2c.writeto(address, buffer, stop=stop)
159
/usr/local/lib/python3.6/dist-packages/Adafruit_Blinka-6.10.0-py3.6.egg/adafruit_blinka/microcontroller/generic_linux/i2c.py in writeto(self, address, buffer, start, end, stop)
48 end = len(buffer)
---> 49 self._i2c_bus.write_bytes(address, buffer[start:end])
50
/usr/local/lib/python3.6/dist-packages/Adafruit_PureIO-1.1.8-py3.6.egg/Adafruit_PureIO/smbus.py in write_bytes(self, addr, buf)
307 self._select_device(addr)
--> 308 self._device.write(buf)
309
TimeoutError: [Errno 110] Connection timed out
During handling of the above exception, another exception occurred:
OSError Traceback (most recent call last)
/usr/local/lib/python3.6/dist-packages/adafruit_circuitpython_busdevice-5.0.6-py3.6.egg/adafruit_bus_device/i2c_device.py in __probe_for_device(self)
159 result = bytearray(1)
--> 160 self.i2c.readfrom_into(self.device_address, result)
161 except OSError:
/usr/local/lib/python3.6/dist-packages/Adafruit_Blinka-6.10.0-py3.6.egg/busio.py in readfrom_into(self, address, buffer, start, end)
147 stop = True # remove for efficiency later
--> 148 return self._i2c.readfrom_into(address, buffer, stop=stop)
149
/usr/local/lib/python3.6/dist-packages/Adafruit_Blinka-6.10.0-py3.6.egg/adafruit_blinka/microcontroller/generic_linux/i2c.py in readfrom_into(self, address, buffer, start, end, stop)
55
---> 56 readin = self._i2c_bus.read_bytes(address, end - start)
57 for i in range(end - start):
/usr/local/lib/python3.6/dist-packages/Adafruit_PureIO-1.1.8-py3.6.egg/Adafruit_PureIO/smbus.py in read_bytes(self, addr, number)
178 self._select_device(addr)
--> 179 return self._device.read(number)
180
OSError: [Errno 121] Remote I/O error
During handling of the above exception, another exception occurred:
ValueError Traceback (most recent call last)
<ipython-input-3-2b783e4b0c4f> in <module>
1 from jetracer.nvidia_racecar import NvidiaRacecar
2
----> 3 car = NvidiaRacecar()
/usr/local/lib/python3.6/dist-packages/jetracer-0.0.0-py3.6.egg/jetracer/nvidia_racecar.py in __init__(self, *args, **kwargs)
16 super(NvidiaRacecar, self).__init__(*args, **kwargs)
17 self.kit = ServoKit(channels=16, address=self.i2c_address1)
---> 18 self.motor = ServoKit(channels=16, address=self.i2c_address2)
19 self.motor._pca.frequency = 1600
20 self.steering_motor = self.kit.continuous_servo[self.steering_channel]
/usr/local/lib/python3.6/dist-packages/adafruit_circuitpython_servokit-1.3.4-py3.6.egg/adafruit_servokit.py in __init__(self, channels, i2c, address, reference_clock_speed, frequency)
79 i2c = board.I2C()
80 self._pca = PCA9685(
---> 81 i2c, address=address, reference_clock_speed=reference_clock_speed
82 )
83 self._pca.frequency = frequency
/usr/local/lib/python3.6/dist-packages/adafruit_circuitpython_pca9685-3.3.6-py3.6.egg/adafruit_pca9685.py in __init__(self, i2c_bus, address, reference_clock_speed)
118
119 def __init__(self, i2c_bus, *, address=0x40, reference_clock_speed=25000000):
--> 120 self.i2c_device = i2c_device.I2CDevice(i2c_bus, address)
121 self.channels = PCAChannels(self)
122 """Sequence of 16 `PWMChannel` objects. One for each channel."""
/usr/local/lib/python3.6/dist-packages/adafruit_circuitpython_busdevice-5.0.6-py3.6.egg/adafruit_bus_device/i2c_device.py in __init__(self, i2c, device_address, probe)
48
49 if probe:
---> 50 self.__probe_for_device()
51
52 def readinto(self, buf, *, start=0, end=None):
/usr/local/lib/python3.6/dist-packages/adafruit_circuitpython_busdevice-5.0.6-py3.6.egg/adafruit_bus_device/i2c_device.py in __probe_for_device(self)
161 except OSError:
162 # pylint: disable=raise-missing-from
--> 163 raise ValueError("No I2C device at address: 0x%x" % self.device_address)
164 # pylint: enable=raise-missing-from
165 finally:
ValueError: No I2C device at address: 0x60
Similar issue, cannot find I2C device 0x60 (Using Pre-build image based on Jetpack4.5 from waveshare wiki)
from jetracer.nvidia_racecar import NvidiaRacecar car = NvidiaRacecar()results in Timeout Error
--------------------------------------------------------------------------- TimeoutError Traceback (most recent call last) /usr/local/lib/python3.6/dist-packages/adafruit_circuitpython_busdevice-5.0.6-py3.6.egg/adafruit_bus_device/i2c_device.py in __probe_for_device(self) 153 try: --> 154 self.i2c.writeto(self.device_address, b"") 155 except OSError: /usr/local/lib/python3.6/dist-packages/Adafruit_Blinka-6.10.0-py3.6.egg/busio.py in writeto(self, address, buffer, start, end, stop) 157 return self._i2c.writeto(address, memoryview(buffer)[start:end], stop=stop) --> 158 return self._i2c.writeto(address, buffer, stop=stop) 159 /usr/local/lib/python3.6/dist-packages/Adafruit_Blinka-6.10.0-py3.6.egg/adafruit_blinka/microcontroller/generic_linux/i2c.py in writeto(self, address, buffer, start, end, stop) 48 end = len(buffer) ---> 49 self._i2c_bus.write_bytes(address, buffer[start:end]) 50 /usr/local/lib/python3.6/dist-packages/Adafruit_PureIO-1.1.8-py3.6.egg/Adafruit_PureIO/smbus.py in write_bytes(self, addr, buf) 307 self._select_device(addr) --> 308 self._device.write(buf) 309 TimeoutError: [Errno 110] Connection timed out During handling of the above exception, another exception occurred: OSError Traceback (most recent call last) /usr/local/lib/python3.6/dist-packages/adafruit_circuitpython_busdevice-5.0.6-py3.6.egg/adafruit_bus_device/i2c_device.py in __probe_for_device(self) 159 result = bytearray(1) --> 160 self.i2c.readfrom_into(self.device_address, result) 161 except OSError: /usr/local/lib/python3.6/dist-packages/Adafruit_Blinka-6.10.0-py3.6.egg/busio.py in readfrom_into(self, address, buffer, start, end) 147 stop = True # remove for efficiency later --> 148 return self._i2c.readfrom_into(address, buffer, stop=stop) 149 /usr/local/lib/python3.6/dist-packages/Adafruit_Blinka-6.10.0-py3.6.egg/adafruit_blinka/microcontroller/generic_linux/i2c.py in readfrom_into(self, address, buffer, start, end, stop) 55 ---> 56 readin = self._i2c_bus.read_bytes(address, end - start) 57 for i in range(end - start): /usr/local/lib/python3.6/dist-packages/Adafruit_PureIO-1.1.8-py3.6.egg/Adafruit_PureIO/smbus.py in read_bytes(self, addr, number) 178 self._select_device(addr) --> 179 return self._device.read(number) 180 OSError: [Errno 121] Remote I/O error During handling of the above exception, another exception occurred: ValueError Traceback (most recent call last) <ipython-input-3-2b783e4b0c4f> in <module> 1 from jetracer.nvidia_racecar import NvidiaRacecar 2 ----> 3 car = NvidiaRacecar() /usr/local/lib/python3.6/dist-packages/jetracer-0.0.0-py3.6.egg/jetracer/nvidia_racecar.py in __init__(self, *args, **kwargs) 16 super(NvidiaRacecar, self).__init__(*args, **kwargs) 17 self.kit = ServoKit(channels=16, address=self.i2c_address1) ---> 18 self.motor = ServoKit(channels=16, address=self.i2c_address2) 19 self.motor._pca.frequency = 1600 20 self.steering_motor = self.kit.continuous_servo[self.steering_channel] /usr/local/lib/python3.6/dist-packages/adafruit_circuitpython_servokit-1.3.4-py3.6.egg/adafruit_servokit.py in __init__(self, channels, i2c, address, reference_clock_speed, frequency) 79 i2c = board.I2C() 80 self._pca = PCA9685( ---> 81 i2c, address=address, reference_clock_speed=reference_clock_speed 82 ) 83 self._pca.frequency = frequency /usr/local/lib/python3.6/dist-packages/adafruit_circuitpython_pca9685-3.3.6-py3.6.egg/adafruit_pca9685.py in __init__(self, i2c_bus, address, reference_clock_speed) 118 119 def __init__(self, i2c_bus, *, address=0x40, reference_clock_speed=25000000): --> 120 self.i2c_device = i2c_device.I2CDevice(i2c_bus, address) 121 self.channels = PCAChannels(self) 122 """Sequence of 16 `PWMChannel` objects. One for each channel.""" /usr/local/lib/python3.6/dist-packages/adafruit_circuitpython_busdevice-5.0.6-py3.6.egg/adafruit_bus_device/i2c_device.py in __init__(self, i2c, device_address, probe) 48 49 if probe: ---> 50 self.__probe_for_device() 51 52 def readinto(self, buf, *, start=0, end=None): /usr/local/lib/python3.6/dist-packages/adafruit_circuitpython_busdevice-5.0.6-py3.6.egg/adafruit_bus_device/i2c_device.py in __probe_for_device(self) 161 except OSError: 162 # pylint: disable=raise-missing-from --> 163 raise ValueError("No I2C device at address: 0x%x" % self.device_address) 164 # pylint: enable=raise-missing-from 165 finally: ValueError: No I2C device at address: 0x60
I got the same error before updating the pre-installed repository. I have updated the package following the instructions on the Waveshare website:
cd jetracer
git checkout ws/pro
sudo python3 setup.py install
After these steps the problem no longer occurred.
