How to config Bluetooth base Ubuntu 18.04 for Nvidia NANO 2G

目录

 

Make kernel

Config Bluetooth

Check the environment

Others

---

Make kernel

Update linux kernel 4.9.201, and config modules related to bluetooth

Reference links(if need):

https://blog.hypriot.com/post/nvidia-jetson-nano-build-kernel-docker-optimized/
https://blog.csdn.net/qq_33475105/article/details/111995309

Prepare

If sudo get install someting firstly:

$ sudo apt-get update
$ sudo apt-get install -y libncurses5-dev

else

$ sudo apt-get install -y libncurses5-dev

Download kernel 4.9.201

https://developer.nvidia.com/embedded/linux-tegra

Select L4T Driver Package[BSP] Sources

Extrace kernel BSP source file

In download dir

$ cd
$ mkdir -p nano-bsp-sources
$ cd nano-bsp-sources

Then copy BSP resources to nona-bsp-sources, and tar

$ tar xvf public_sources.tbz2
$ mv Linux_for_Tegra/source/public/kernel_src.tbz2 ~/
$ cd

Extrace kernel src

$ cd
$ tar xvf ./kernel_src.tbz2

 Compile the default Linux Kerne

*Below information is updated after I re-config the kernel, maybe your old kernel has the different things, ignore them;

$ cd ~/kernel/kernel-4.9
$ zcat /proc/config.gz > .config
$ head -10 .config
#
# Automatically generated file; DO NOT EDIT.
# Linux/arm64 4.9.201 Kernel Configuration
#
CONFIG_ARM64=y
CONFIG_64BIT=y
CONFIG_ARCH_PHYS_ADDR_T_64BIT=y
CONFIG_MMU=y
CONFIG_DEBUG_RODATA=y
CONFIG_ARM64_PAGE_SHIFT=12

Backup orignal kernel

$ cp .config kernel.config.original

Customizing kernel config

$ make menuconfig

 

 

**Important selections for Bluetooth as below

You need to config this same as mine

 

Some others that need to config as well

In Cryptographic API, enable 

CCM support、CMAC support、User-space interface for hash algorithms、User-space interface for symmetric key cipher algorithms、User-space interface for AEAD cipher algorithms 

Then Save and exit

 

Make kernal and module

$ cd ~/kernel/kernel-4.9

# Prepare the kernel build
$ make prepare
$ make modules_prepare

# Compile kernel image and kernel modules
$ time make -j5 Image
$ time make -j5 modules

# Install modules and kernel image
$ sudo make modules_install
$ sudo cp arch/arm64/boot/Image /boot/Image

Then reboot NANO and check if the kernel time is the build time

$ sudo reboot
...
#After restart
$ uname -a
Linux colin-desktop 4.9.201 #1 SMP PREEMPT Fri Apr 9 21:41:19 CST 2021 aarch64 aarch64 aarch64 GNU/Linux

Config Bluetooth

Install libbluetooth

dpkg -l|grep bluetoo 

Check whether libbluetooth lib is installed or not;
if not, 

sudo apt-get install libbluetooth-dev

Edit bluetooth service file, in NANO, the service file is as below:

gedit /lib/systemd/system/bluetooth.service.d/nv-bluetooth-service.conf&

Backup  --noplugin=audio,a2dp,avrcp, and add parameters: -d -C

Automatically add SP protocol in channel 1, then we can use serier port for bluetooth to communicate with other bluetooth device.

[Service]
# systemd needs to reset value first before assigning new one
#--noplugin=audio,a2dp,avrcp
ExecStart=
ExecStart=/usr/lib/bluetooth/bluetoothd -d -C
ExecStartPost=/usr/bin/sdptool add --channel=1 SP

Reboot NANO;

Check the environment

Check bluetoothd

$ ps aux | grep blue
root      4660  0.0  0.1   7108  3144 ?        Ss   14:41   0:00 /usr/lib/bluetooth/bluetoothd -d -C

You will find the bluetooth deamon is running as expected;

Check SP protocol 

$ su
#In root user
$ sdptool browse local
...
Service Name: Serial Port
Service Description: COM Port
Service Provider: BlueZ
Service RecHandle: 0x10001
Service Class ID List:
  "Serial Port" (0x1101)
Protocol Descriptor List:
  "L2CAP" (0x0100)
  "RFCOMM" (0x0003)
    Channel: 1
Language Base Attr List:
  code_ISO639: 0x656e
  encoding:    0x6a
  base_offset: 0x100
Profile Descriptor List:
  "Serial Port" (0x1101)
    Version: 0x0100
...

SP protocol is constructed succesfully.

Others

Check bluetooth status

$  hciconfig hci0
hci0:	Type: Primary  Bus: USB
	BD Address: 00:1A:7D:DA:71:0A  ACL MTU: 310:10  SCO MTU: 64:8
	UP RUNNING PSCAN 
	RX bytes:694 acl:0 sco:0 events:50 errors:0
	TX bytes:3656 acl:0 sco:0 commands:50 errors:0

You will find its status is UP RUNNING PSCAN

You need to use

$ hciconfig hci0 piscan

to change the status as UP RUNNING PSCAN ISCAN

$  hciconfig hci0
hci0:	Type: Primary  Bus: USB
	BD Address: 00:1A:7D:DA:71:0A  ACL MTU: 310:10  SCO MTU: 64:8
	UP RUNNING PSCAN ISCAN 
	RX bytes:706 acl:0 sco:0 events:52 errors:0
	TX bytes:3695 acl:0 sco:0 commands:52 errors:0

Finnally you can use SP protocol to develop your own bluetooth communication feature .