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Jetson TX2 GPIO權(quán)限設(shè)置，Jetson.GPIO提供的99-gpio.rules文件沒有效果

2年前作者：去吃飯了Ayo分類：Toy博客閱讀(20)違法舉報(bào)

這篇具有很好參考價(jià)值的文章主要介紹了Jetson TX2 GPIO權(quán)限設(shè)置，Jetson.GPIO提供的99-gpio.rules文件沒有效果。希望對(duì)大家有所幫助。如果存在錯(cuò)誤或未考慮完全的地方，請(qǐng)大家不吝賜教，您也可以點(diǎn)擊"舉報(bào)違法"按鈕提交疑問。

快速通道

在此之前得確認(rèn)1. 用戶組gpio是否存在getent group | grep gpio (如果沒創(chuàng)建就groupadd -r gpio創(chuàng)建)2. 當(dāng)前用戶是否已經(jīng)加入gpio用戶組groups | grep gpio(如果沒加入就usermod -aG gpio 當(dāng)前用戶名加入)
不過一般Jetson

把以下內(nèi)容寫到/etc/udev/rules.d/99-gpio.rules中去

SUBSYSTEM=="gpio", KERNEL=="gpiochip*", ACTION=="add", GROUP="gpio", MODE="0660"
#SUBSYSTEM=="gpio", KERNEL=="gpiochip*", ACTION=="add", \
#    PROGRAM="/bin/sh -c 'chown root:gpio /dev/%k; chmod 660 /dev/%k'"

SUBSYSTEM=="pwm", KERNEL=="pwmchip*", ACTION=="add", \
    PROGRAM="/bin/bash -c 'chown root:gpio /sys%p/{,un}export; chmod 220 /sys%p/{,un}export'"
SUBSYSTEM=="pwm", KERNEL=="pwmchip*", ACTION=="change", \
    PROGRAM="/bin/bash -c 'chown root:gpio /sys%p/%E{EXPORT}/{period,duty_cycle,enable}; chmod 660 /sys%p/%E{EXPORT}/{period,duty_cycle,enable}'"

SUBSYSTEM=="spidev", KERNEL=="spidev*", ACTION=="add", \
    GROUP="gpio", MODE="0660"

然后運(yùn)行

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

背景

??打算使用JetsonTX2的IO口，跟著Jetson.GPIO 2.1.1 PyPI的教程[1]來復(fù)制規(guī)則，發(fā)現(xiàn)不行，重啟了也不行，最后鑒定為他的規(guī)則有問題，搞了好久，垃圾東西。

歷程

??安裝了Jetson.GPIO 2.1.1之后，按照教程將他的規(guī)則文件復(fù)制到/etc/udev/rules.d/中

pip install Jetson.GPIO
sudo updatedb
locate 99-gpio.rules
# 然后將返回的路徑復(fù)制到/etc/udev/rules.d/去
sudo cp 返回的路徑venv/lib/pythonNN/site-packages/Jetson/GPIO/99-gpio.rules /etc/udev/rules.d/

??重啟，沒用

使用udevadm test進(jìn)行調(diào)試

??Jetson.GPIO提供的規(guī)則文件如下

SUBSYSTEM=="gpio", KERNEL=="gpiochip*", ACTION=="add", \
    PROGRAM="/bin/sh -c 'chown root:gpio /dev/%k; chmod 660 /dev/%k'"

SUBSYSTEM=="pwm", KERNEL=="pwmchip*", ACTION=="add", \
    PROGRAM="/bin/bash -c 'chown root:gpio /sys%p/{,un}export; chmod 220 /sys%p/{,un}export'"
SUBSYSTEM=="pwm", KERNEL=="pwmchip*", ACTION=="change", \
    PROGRAM="/bin/bash -c 'chown root:gpio /sys%p/%E{EXPORT}/{period,duty_cycle,enable}; chmod 660 /sys%p/%E{EXPORT}/{period,duty_cycle,enable}'"

SUBSYSTEM=="spidev", KERNEL=="spidev*", ACTION=="add", \
    GROUP="gpio", MODE="0660"

??在網(wǎng)上查了一下發(fā)現(xiàn)可以使用udevadm test進(jìn)行調(diào)試看看規(guī)則是否起作用
??sudo udevadm info --name=/dev/gpiochip0 --query=path和sudo udevadm info --name=/dev/gpiochip0 --query=all可以查詢?cè)O(shè)備路徑信息

nvidia@nvidia-desktop /e/u/rules.d> sudo udevadm info --name=/dev/gpiochip0 --query=path
/devices/2200000.gpio/gpiochip0

??sudo udevadm test path可以讓規(guī)則生效并且輸出過程

nvidia@nvidia-desktop:~$ sudo udevadm test $(udevadm info -q path -n /dev/gpiochip0) 2>&1 
calling: test
version 237
This program is for debugging only, it does not run any program
specified by a RUN key. It may show incorrect results, because 
some values may be different, or not available at a simulation run.     

Load module index
Network interface NamePolicy= disabled on kernel command line, ignoring.
Parsed configuration file /lib/systemd/network/99-default.link
Created link configuration context.
Reading rules file: /lib/udev/rules.d/01-md-raid-creating.rules
Reading rules file: /lib/udev/rules.d/39-usbmuxd.rules
Reading rules file: /lib/udev/rules.d/40-usb-media-players.rules        
Reading rules file: /lib/udev/rules.d/40-usb_modeswitch.rules
Reading rules file: /lib/udev/rules.d/40-vm-hotadd.rules
Reading rules file: /lib/udev/rules.d/50-apport.rules
Reading rules file: /lib/udev/rules.d/50-firmware.rules
Reading rules file: /lib/udev/rules.d/50-udev-default.rules
Reading rules file: /lib/udev/rules.d/55-dm.rules
Reading rules file: /lib/udev/rules.d/55-ippusbxd.rules
Reading rules file: /etc/udev/rules.d/55-primesense-usb.rules
Reading rules file: /lib/udev/rules.d/56-lvm.rules
Reading rules file: /lib/udev/rules.d/60-block.rules
Reading rules file: /lib/udev/rules.d/60-bridge-network-interface.rules
Reading rules file: /lib/udev/rules.d/60-cdrom_id.rules
Reading rules file: /lib/udev/rules.d/60-crda.rules
Reading rules file: /lib/udev/rules.d/60-drm.rules
Reading rules file: /lib/udev/rules.d/60-evdev.rules
Reading rules file: /lib/udev/rules.d/60-gpsd.rules
Reading rules file: /lib/udev/rules.d/60-i2c-tools.rules
Reading rules file: /lib/udev/rules.d/60-input-id.rules
Reading rules file: /lib/udev/rules.d/60-inputattach.rules
Reading rules file: /lib/udev/rules.d/60-jetson-gpio-common.rules
Reading rules file: /lib/udev/rules.d/60-libfreenect0.5.rules
Reading rules file: /lib/udev/rules.d/60-libgphoto2-6.rules
Reading rules file: /lib/udev/rules.d/60-libopenni-sensor-pointclouds0.rules
Reading rules file: /lib/udev/rules.d/60-libopenni2-0.rules
Reading rules file: /lib/udev/rules.d/60-libsane1.rules
Reading rules file: /lib/udev/rules.d/60-openobex.rules
Reading rules file: /lib/udev/rules.d/60-pcmcia.rules
Reading rules file: /lib/udev/rules.d/60-persistent-alsa.rules
Reading rules file: /lib/udev/rules.d/60-persistent-input.rules
Reading rules file: /lib/udev/rules.d/60-persistent-storage-dm.rules
Reading rules file: /lib/udev/rules.d/60-persistent-storage-tape.rules
Reading rules file: /lib/udev/rules.d/60-persistent-storage.rules
Reading rules file: /lib/udev/rules.d/60-persistent-v4l.rules
Reading rules file: /lib/udev/rules.d/60-qemu-system-common.rules
Reading rules file: /lib/udev/rules.d/60-sensor.rules
Reading rules file: /lib/udev/rules.d/60-serial.rules
Reading rules file: /lib/udev/rules.d/61-gdm.rules
Reading rules file: /lib/udev/rules.d/61-gnome-settings-daemon-rfkill.rules
Reading rules file: /lib/udev/rules.d/61-persistent-storage-android.rules
Reading rules file: /lib/udev/rules.d/63-md-raid-arrays.rules
Reading rules file: /lib/udev/rules.d/64-btrfs.rules
Reading rules file: /lib/udev/rules.d/64-md-raid-assembly.rules
Reading rules file: /lib/udev/rules.d/64-xorg-xkb.rules
Reading rules file: /lib/udev/rules.d/65-libwacom.rules
Reading rules file: /lib/udev/rules.d/66-snapd-autoimport.rules
Reading rules file: /lib/udev/rules.d/69-cd-sensors.rules
Reading rules file: /lib/udev/rules.d/69-libmtp.rules
Reading rules file: /lib/udev/rules.d/69-lvm-metad.rules
Reading rules file: /lib/udev/rules.d/69-md-clustered-confirm-device.rules
Reading rules file: /lib/udev/rules.d/69-wacom.rules
Reading rules file: /lib/udev/rules.d/70-joystick.rules
Reading rules file: /lib/udev/rules.d/70-mouse.rules
Reading rules file: /lib/udev/rules.d/70-power-switch.rules
Reading rules file: /lib/udev/rules.d/70-printers.rules
Reading rules file: /lib/udev/rules.d/70-spice-vdagentd.rules
Reading rules file: /lib/udev/rules.d/70-touchpad.rules
Reading rules file: /lib/udev/rules.d/70-u2f.rules
Reading rules file: /lib/udev/rules.d/70-uaccess.rules
Reading rules file: /lib/udev/rules.d/71-power-switch-proliant.rules
Reading rules file: /lib/udev/rules.d/71-seat.rules
Reading rules file: /lib/udev/rules.d/73-seat-late.rules
Reading rules file: /lib/udev/rules.d/73-special-net-names.rules
Reading rules file: /lib/udev/rules.d/73-usb-net-by-mac.rules
Reading rules file: /lib/udev/rules.d/75-net-description.rules
Reading rules file: /lib/udev/rules.d/75-probe_mtd.rules
Reading rules file: /lib/udev/rules.d/77-mm-cinterion-port-types.rules
Reading rules file: /lib/udev/rules.d/77-mm-dell-port-types.rules
Reading rules file: /lib/udev/rules.d/77-mm-ericsson-mbm.rules
Reading rules file: /lib/udev/rules.d/77-mm-fibocom-port-types.rules
Reading rules file: /lib/udev/rules.d/77-mm-haier-port-types.rules
Reading rules file: /lib/udev/rules.d/77-mm-huawei-net-port-types.rules
Reading rules file: /lib/udev/rules.d/77-mm-longcheer-port-types.rules
Reading rules file: /lib/udev/rules.d/77-mm-mtk-port-types.rules
Reading rules file: /lib/udev/rules.d/77-mm-nokia-port-types.rules
Reading rules file: /lib/udev/rules.d/77-mm-pcmcia-device-blacklist.rules
Reading rules file: /lib/udev/rules.d/77-mm-qdl-device-blacklist.rules
Reading rules file: /lib/udev/rules.d/77-mm-sierra.rules
Reading rules file: /lib/udev/rules.d/77-mm-simtech-port-types.rules
Reading rules file: /lib/udev/rules.d/77-mm-telit-port-types.rules
Reading rules file: /lib/udev/rules.d/77-mm-ublox-port-types.rules
Reading rules file: /lib/udev/rules.d/77-mm-usb-device-blacklist.rules
Reading rules file: /lib/udev/rules.d/77-mm-usb-serial-adapters-greylist.rules
Reading rules file: /lib/udev/rules.d/77-mm-x22x-port-types.rules
Reading rules file: /lib/udev/rules.d/77-mm-zte-port-types.rules
Reading rules file: /lib/udev/rules.d/78-graphics-card.rules
Reading rules file: /lib/udev/rules.d/78-sound-card.rules
Reading rules file: /lib/udev/rules.d/80-debian-compat.rules
Reading rules file: /lib/udev/rules.d/80-drivers.rules
Reading rules file: /lib/udev/rules.d/80-ifupdown.rules
Reading rules file: /lib/udev/rules.d/80-iio-sensor-proxy.rules
Reading rules file: /lib/udev/rules.d/80-libinput-device-groups.rules
Reading rules file: /lib/udev/rules.d/80-mm-candidate.rules
Reading rules file: /lib/udev/rules.d/80-net-setup-link.rules
Reading rules file: /lib/udev/rules.d/80-udisks2.rules
Reading rules file: /lib/udev/rules.d/80-uvcdynctrl.rules
Reading rules file: /lib/udev/rules.d/84-nm-drivers.rules
Reading rules file: /lib/udev/rules.d/85-brltty.rules
Reading rules file: /lib/udev/rules.d/85-nm-unmanaged.rules
Reading rules file: /lib/udev/rules.d/85-regulatory.rules
Reading rules file: /etc/udev/rules.d/90-alsa-asound-tegra.rules
Reading rules file: /lib/udev/rules.d/90-alsa-restore.rules
Reading rules file: /lib/udev/rules.d/90-bolt.rules
Reading rules file: /lib/udev/rules.d/90-console-setup.rules
Reading rules file: /lib/udev/rules.d/90-fwupd-devices.rules
Reading rules file: /lib/udev/rules.d/90-libgpod.rules
Reading rules file: /lib/udev/rules.d/90-libinput-model-quirks.rules
Reading rules file: /lib/udev/rules.d/90-pulseaudio.rules
Reading rules file: /etc/udev/rules.d/91-xorg-conf-tegra.rules
Reading rules file: /etc/udev/rules.d/92-hdmi-audio-tegra.rules
Reading rules file: /lib/udev/rules.d/95-cd-devices.rules
Reading rules file: /lib/udev/rules.d/95-dm-notify.rules
Reading rules file: /lib/udev/rules.d/95-ucm-soundcard-name.rules
Reading rules file: /lib/udev/rules.d/95-upower-csr.rules
Reading rules file: /lib/udev/rules.d/95-upower-hid.rules
Reading rules file: /lib/udev/rules.d/95-upower-wup.rules
Reading rules file: /lib/udev/rules.d/97-hid2hci.rules
Reading rules file: /etc/udev/rules.d/99-gpio.rules
Reading rules file: /etc/udev/rules.d/99-nv-l4t-usb-device-mode.rules
Reading rules file: /etc/udev/rules.d/99-nv-l4t-usb-host-config.rules
Reading rules file: /etc/udev/rules.d/99-nv-ufs-mount.rules
Reading rules file: /etc/udev/rules.d/99-nv-wifibt.rules
Reading rules file: /lib/udev/rules.d/99-systemd.rules
Reading rules file: /etc/udev/rules.d/99-tegra-devices.rules
Reading rules file: /etc/udev/rules.d/99-tegra-mmc-ra.rules
Reading rules file: /etc/udev/rules.d/99-video-device.rules
rules contain 393216 bytes tokens (32768 * 12 bytes), 41041 bytes strings
25987 strings (224102 bytes), 22534 de-duplicated (186515 bytes), 3454 trie nodes used
PROGRAM '/bin/sh -c 'chown root:gpio /sys/class/gpio/export /sys/class/gpio/unexport; chmod 220 /sys/class/gpio/export /sys/class/gpio/unexport'' /lib/udev/rules.d/60-jetson-gpio-common.rules:23
starting '/bin/sh -c 'chown root:gpio /sys/class/gpio/export /sys/class/gpio/unexport; chmod 220 /sys/class/gpio/export /sys/class/gpio/unexport''
Process '/bin/sh -c 'chown root:gpio /sys/class/gpio/export /sys/class/gpio/unexport; chmod 220 /sys/class/gpio/export /sys/class/gpio/unexport'' succeeded.
PROGRAM '/bin/sh -c 'chown root:gpio /dev/gpiochip0; chmod 660 /dev/gpiochip0'' /etc/udev/rules.d/99-gpio.rules:23
starting '/bin/sh -c 'chown root:gpio /dev/gpiochip0; chmod 660 /dev/gpiochip0''
Process '/bin/sh -c 'chown root:gpio /dev/gpiochip0; chmod 660 /dev/gpiochip0'' succeeded.
handling device node '/dev/gpiochip0', devnum=c254:0, mode=0600, uid=0, gid=0
set permissions /dev/gpiochip0, 020600, uid=0, gid=0
preserve already existing symlink '/dev/char/254:0' to '../gpiochip0'
ACTION=add
DEVNAME=/dev/gpiochip0
DEVPATH=/devices/2200000.gpio/gpiochip0
MAJOR=254
MINOR=0
OF_COMPATIBLE_0=nvidia,tegra186-gpio
OF_COMPATIBLE_N=1
OF_FULLNAME=/gpio@2200000
OF_NAME=gpio
SUBSYSTEM=gpio
USEC_INITIALIZED=2764256
net.ifnames=0
Unload module index
Unloaded link configuration context.

??可以看到Process '/bin/sh -c 'chown root:gpio /dev/gpiochip0; chmod 660 /dev/gpiochip0'' succeeded.但是后面三行又將其設(shè)置回來了set permissions /dev/gpiochip0, 020600, uid=0, gid=0，很迷，問了很久ChatGPT也沒問出來，最后看到ChatGPT說SUBSYSTEM=="gpio", KERNEL=="gpiochip*", ACTION=="add", GROUP="gpio", MODE="0660"權(quán)限這樣設(shè)置，而且樹莓派的GPIO也是這樣設(shè)置[2]，最后參考這個(gè)形式修改規(guī)則文件就行了（Jetson.GPIO什么shaB寫法，不過為什么好像沒查到別人有遇到這個(gè)問題）。
??最后將規(guī)則文件改成一下格式就行了。

SUBSYSTEM=="gpio", KERNEL=="gpiochip*", ACTION=="add", GROUP="gpio", MODE="0660"
#SUBSYSTEM=="gpio", KERNEL=="gpiochip*", ACTION=="add", \
#    PROGRAM="/bin/sh -c 'chown root:gpio /dev/%k; chmod 660 /dev/%k'"

SUBSYSTEM=="pwm", KERNEL=="pwmchip*", ACTION=="add", \
    PROGRAM="/bin/bash -c 'chown root:gpio /sys%p/{,un}export; chmod 220 /sys%p/{,un}export'"
SUBSYSTEM=="pwm", KERNEL=="pwmchip*", ACTION=="change", \
    PROGRAM="/bin/bash -c 'chown root:gpio /sys%p/%E{EXPORT}/{period,duty_cycle,enable}; chmod 660 /sys%p/%E{EXPORT}/{period,duty_cycle,enable}'"

SUBSYSTEM=="spidev", KERNEL=="spidev*", ACTION=="add", \
    GROUP="gpio", MODE="0660"

總結(jié)

??只能認(rèn)為/dev/里面的設(shè)備不能用PROGRAM="/bin/sh -c 'chown root:gpio /dev/%k; chmod 660 /dev/%k'"這種方式來修改權(quán)限，如果沒有設(shè)置 GROUP="gpio", MODE="0660"默認(rèn)可能就會(huì)采用默認(rèn)設(shè)置root 600，即使用PROGRAM="/bin/sh -c 'chown root:gpio /dev/%k; chmod 660 /dev/%k'"修改了權(quán)限，最后也被默認(rèn)權(quán)限給覆蓋了，而 GROUP="gpio", MODE="0660"能夠覆蓋默認(rèn)的root 600。
??真是的，明明系統(tǒng)就已經(jīng)提供了 GROUP="", MODE=""這類的方式來修改權(quán)限，為什么Jetson.GPIO還要用PROGRAM命令來修改。

參考

[1]??Jetson.GPIO 2.1.1 - PyPI （拉跨）
[2]??樹莓派GPIO權(quán)限設(shè)置文章來源地址http://www.zghlxwxcb.cn/news/detail-716945.html

到了這里，關(guān)于Jetson TX2 GPIO權(quán)限設(shè)置，Jetson.GPIO提供的99-gpio.rules文件沒有效果的文章就介紹完了。如果您還想了解更多內(nèi)容，請(qǐng)?jiān)谟疑辖撬阉鱐OY模板網(wǎng)以前的文章或繼續(xù)瀏覽下面的相關(guān)文章，希望大家以后多多支持TOY模板網(wǎng)！

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PX4與TX2通信以及相關(guān)數(shù)據(jù)的獲取目錄 ?1. PX4硬件接口 2. TELEM1、2接口線序 3.??PX4與TX2通信 ?PX4 IO口定義： ??PX4硬件： 4. 通信測(cè)試 5. RTPS+ROS Jetson TX2終端： ?pixhawk: 6. 提高IMU數(shù)據(jù)發(fā)布頻率? 方法一：通過mavros包話題訂閱頻率 ?方法二：更改PX4啟動(dòng)文件 7. GPS數(shù)據(jù)獲取 ? ? PX4是
2024年02月14日
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tx2開發(fā)板升級(jí)JetPack至最新
最近一個(gè)項(xiàng)目用到了tx2, 上面的jetpack太老了需要更新，很久沒和開發(fā)板打交道了，記錄一下。中間沒怎么截圖，所以可能文字居多。 Ubuntu 18.04的機(jī)器，避免有坑，不要使用虛擬機(jī)，一定要是物理機(jī)，我就是剛開始用虛擬機(jī)，每次到99%，就卡住 TX2開發(fā)板網(wǎng)線，tx2 USB連接線 S
2024年01月20日
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RK356x 在uboot下設(shè)置GPIO引腳默認(rèn)電平
在uboot啟動(dòng)的時(shí)候需要把某個(gè)CPU引腳拉高或者拉低，促使某個(gè)功能能正常運(yùn)行。思路一首先打開RK356X的SDK軟件包，查看一下uboot源碼，這次我先在u-boot/common/board_f.c和board_r.c文件上添加GPIO口設(shè)置，雖然添加了gpio_direction_output()或者gpio_set_value()類似的GPIO設(shè)置的函數(shù)，但是用萬用
2024年02月10日
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【EHub_tx1_tx2_A200】Ubuntu18.04 + ROS_ Melodic + 銳馳LakiBeam 1L單線激光雷達(dá)評(píng)測(cè)
????????大家好，我是虎哥，最近這段時(shí)間，又手欠入手了銳馳LakiBeam 1L激光雷達(dá)，實(shí)在是性價(jià)比太優(yōu)秀，話說，最近激光雷達(dá)圈確實(shí)有點(diǎn)卷。銳馳官網(wǎng)的資料已經(jīng)很豐富，我這里總結(jié)一下自己的簡(jiǎn)單測(cè)試經(jīng)驗(yàn)，分享給大家。 ?????????LakiBeam1L是銳馳智光面向中低速場(chǎng)
2024年02月03日
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uboot - pinctrl - FPGA回片前測(cè)試階段 - 設(shè)置GPIO引腳復(fù)用失敗
pinctrl設(shè)置引腳復(fù)用失敗，沒有調(diào)用到controller中的set_groups_function函數(shù)。 pinctrl如何注冊(cè)dm節(jié)點(diǎn) 如何進(jìn)行設(shè)備樹中各個(gè)設(shè)備節(jié)點(diǎn)下的復(fù)用配置為什么沒調(diào)用到控制器實(shí)現(xiàn)的set_groups_function函數(shù) 調(diào)用過程：上面的調(diào)用過程是通過加log找出來的，log如下：看著就是在pinctrl_select_st
2024年03月26日
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GPIO引腳的模式設(shè)置：開漏、推挽、拉高、拉低、中斷輸入、串行通信、模擬輸入輸出、容錯(cuò)輸入、PWM輸出。過零檢測(cè)介紹。
開漏輸出（軟件）：將GPIO口設(shè)置為開漏輸出模式，可以實(shí)現(xiàn)開漏輸出控制方式，輸出電平只能被拉低，而不能被拉高。在使用開漏輸出時(shí)，需要外部接上一個(gè)上拉電阻，將輸出電平拉高到高電平。開漏輸出常用于驅(qū)動(dòng)I2C總線、LED燈等場(chǎng)景中。硬件設(shè)置為開漏輸出的情況（硬
2024年02月08日
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