如何通过rshim在Host上升级Bluefield DPU?

背景

流程

下载镜像

如果需要支持特定的doca,可以直接使用DOCA bund绑定的版本。也可以在BSP路径下载。
DOCA Bund版本的下载地址:https://docs.nvidia.com/doca/sdk/nvidia+doca+installation+guide+for+linux/index.html
将镜像拷贝到host主机上

启动bfb烧录

关键日志:

文字版:

[root@localhost ~]# sudo bfb-install --rshim rshim0 --bfb bf-bundle-2.8.0-98_24.07_ubuntu-22.04_prod.bfb 
Warn: 'pv' command not found. Continue without showing BFB progress.
Pushing bfb
Collecting BlueField booting status. Press Ctrl+C to stop…
 INFO[BL2]: start
 INFO[BL2]: boot mode (rshim)
 INFO[BL2]: DDR POST passed
 INFO[BL2]: UEFI loaded
 INFO[BL31]: start
 INFO[BL31]: lifecycle GA Non-Secured
 INFO[BL31]: runtime
 INFO[UEFI]: UPVS valid
 INFO[UEFI]: eMMC init
 INFO[UEFI]: eMMC probed
 INFO[UEFI]: PMI: updates started
 INFO[UEFI]: PMI: total updates: 1
 INFO[UEFI]: PMI: updates completed, status 0
 INFO[UEFI]: PCIe enum start
 INFO[UEFI]: PCIe enum end
 INFO[UEFI]: UEFI Secure Boot (disabled)
 INFO[UEFI]: Redfish enabled
 WARN[UEFI]: UPVS reclaim start
 WARN[UEFI]: UPVS reclaim done
 INFO[UEFI]: exit Boot Service
 INFO[MISC]: Ubuntu installation started
 INFO[MISC]: Installing OS image
 INFO[MISC]: Ubuntu installation completed
 WARN[MISC]: Skipping BMC components upgrade.
 INFO[MISC]: Updating NIC firmware...
 INFO[MISC]: NIC firmware update failed
 INFO[MISC]: Installation finished

启动串口

Mellanox BlueField-2 A1 BL1 V1.1
NOTICE:  No CDI passed to Riot core!
NOTICE:  BL2R: v2.2(release):4.8.0-41-gf0ff3a4
NOTICE:  BL2R: Built : 15:50:28, Aug  7 2024
NOTICE:  BL2R built for hw (ver 1)
NOTICE:  BL2R: Booting BL2
NOTICE:  BL2: v2.2(release):4.8.0-41-gf0ff3a4
NOTICE:  BL2: Built : 15:50:28, Aug  7 2024
NOTICE:  BL2 built for hw (ver 1)
NOTICE:  Running as MBF2M345A-VENOT_ system
NOTICE:  No SPD detected on MSS0 DIMM0
NOTICE:  No SPD detected on MSS0 DIMM1
NOTICE:  Finished initializing DDR
NOTICE:  DDR POST passed.
NOTICE:  BL31: v2.2(release):4.8.0-41-gf0ff3a4
NOTICE:  BL31: Built : 15:50:28, Aug  7 2024
NOTICE:  BL31 built for hw (ver 1), lifecycle GA Non-Secured
UEFI firmware (version BlueField:4.8.0-36-gf01f42f-BId13249 built at 16:04:33 on Aug  7 2024)
FmpDxe: EFI Capsule Authentication Successful, Status: Success.
[PMI] Boot image update started.
Note: Installed image will be filtered from 6650464 bytes to 2823728 bytes
Size check good, 2823728 <= 4194304
Check boot image, Status: Success
...Filtering unneeded executables...
...Preparing boot image...
...Generating boot image...
...Writing the boot image, Size: 2824192 bytes...
...Verify boot image...
Write boot image to partition 1, Status: Success
...Filtering unneeded executables...
...Preparing boot image...
...Generating boot image...
...Writing the boot image, Size: 2824192 bytes...
...Verify boot image...
Write boot image to partition 2, Status: Success
[PMI] Boot Image update completed, Status: Success
[PMI] Total number of updates: 1
[PMI] Errors during updates  : 0
CapsuleRuntimeDxe: ProcessCapsuleImage 0, Status: Success
Current Secure Boot State: disabled
Secure Boot Mode         : Setup Mode
PK is not configured
Redfish enabled

Press ESC/F2/DEL twice    to enter UEFI Menu.
Press ENTER               to skip countdown.

3  seconds remain...
2  seconds remain...
1  seconds remain...
0  seconds remain...
EFI stub: Booting Linux Kernel...
EFI stub: Generating empty DTB
EFI stub: Loaded initrd from command line option
EFI stub: Exiting boot services.[   10.144792] mlxbf_gige MLNXBF17:00: Error getting PHY irq. Use polling instead
[   10.145693] mlxbf2_gpio MLNXBF22:01: IRQ index 0 not found
[  OK  ] Finished Coldplug All udev Devices.
[   10.171066] mlxbf2_gpio MLNXBF22:02: IRQ index 0 not found
[  OK  ] Reached target System Initialization.
[  OK  ] Reached target Basic System.
         Starting dracut initqueue hook...
[  OK  ] Finished dracut initqueue hook.
[  OK  ] Reached target Preparation for Remote File Systems.
[  OK  ] Reached target Remote File Systems.
[  OK  ] Reached target Initrd Root File System.
         Starting Reload Configuration from the Real Root...
         Starting Network Configuration...
[  OK  ] Started Network Configuration.
[  OK  ] Reached target Network.
[  OK  ] Finished Reload Configuration from the Real Root.
[  OK  ] Reached target Initrd File Systems.
         Starting Install ubuntu Linux...
[   10.606615] ipmb-host 1-1011: ERROR: ipmb_send_request failed during ipmb detection
[   10.622056] ipmb-host 1-1011: Unable to get response from slave device at this time
[18:35:44] Starting mst:
[18:35:46] Starting MST (Mellanox Software Tools) driver set
Loading MST PCI module - Success
Loading MST PCI configuration module - Success
Create devices
Unloading MST PCI module (unused) - Success
[   15.126125] initrd-install[1333]: Error: /dev/mmcblk0boot0: unrecognised disk label
[   15.133831] initrd-install[1333]: Error: /dev/mmcblk0boot1: unrecognised disk label
[18:35:56] INFO: Ubuntu installation started
[18:35:56] OS installation target: /dev/mmcblk0
[   25.515487] initrd-install[1373]: 1+0 records in
[   25.515851] initrd-install[1373]: 1+0 records out
[   25.516037] initrd-install[1373]: 512 bytes copied, 0.397715 s, 1.3 kB/s
[18:35:56] Creating partitions on /dev/mmcblk0 using sfdisk:
[18:35:58] Installing OS image
[18:35:58] Creating file systems:
[18:37:40] Extracting /...
[18:39:58] Configure dhcp:
[18:39:58] 
[18:39:58] 
[18:39:58] 
[18:39:58] Updating Ubuntu initramfs
[18:40:14] dracut: Executing: /usr/bin/dracut --force --add-drivers "mlxbf-bootctl sdhci-of-dwcmshc mlxbf-tmfifo dw_mmc-bluefield mlx5_core mlx5_ib mlxfw ib_umad nvme sbsa_gwdt gpio-mlxbf2 gpio-mlxbf3 mlxbf-gige pinctrl-mlxbf3 8021q" --gzip /boot/initrd.img-5.15.0-1050-bluefield 5.15.0-1050-bluefield
dracut: dracut module 'bootchart' will not be installed, because command '/sbin/bootchartd' could not be found!
dracut: dracut module 'rngd' will not be installed, because command 'rngd' could not be found!
dracut: dracut module 'network' will not be installed, because command 'wicked' could not be found!
dracut: dracut module 'dmraid' will not be installed, because command 'dmraid' could not be found!
dracut: dracut module 'cifs' will not be installed, because command 'mount.cifs' could not be found!
cat: /sys/power/resume: No such file or directory
dracut: dracut module 'biosdevname' will not be installed, because command 'biosdevname' could not be found!
dracut: dracut module 'rngd' will not be installed, because command 'rngd' could not be found!
dracut: dracut module 'dmraid' will not be installed, because command 'dmraid' could not be found!
dracut: dracut module 'cifs' will not be installed, because command 'mount.cifs' could not be found!
dracut: *** Including module: bash ***
dracut: *** Including module: dash ***
dracut: *** Including module: systemd ***
dracut: *** Including module: systemd-initrd ***
dracut: *** Including module: console-setup ***
dracut: *** Including module: network-legacy ***
dracut: *** Including module: network ***
dracut: *** Including module: ifcfg ***
dracut: *** Including module: kernel-modules ***
dracut: *** Including module: kernel-modules-extra ***
dracut: *** Including module: kernel-network-modules ***
dracut: *** Including module: overlay-root ***
dracut: *** Including module: resume ***
dracut: *** Including module: rootfs-block ***
dracut: *** Including module: terminfo ***
dracut: *** Including module: udev-rules ***
dracut: Skipping udev rule: 40-redhat.rules
dracut: Skipping udev rule: 91-permissions.rules
dracut: Skipping udev rule: 80-drivers-modprobe.rules
dracut: Skipping udev rule: 70-persistent-net.rules
dracut: *** Including module: dracut-systemd ***
dracut: *** Including module: usrmount ***
dracut: *** Including module: base ***
dracut: *** Including module: fs-lib ***
dracut: *** Including module: shutdown ***
dracut: *** Including modules done ***
dracut: *** Installing kernel module dependencies ***
dracut: *** Installing kernel module dependencies done ***
dracut: *** Resolving executable dependencies ***
dracut: *** Resolving executable dependencies done ***
dracut: *** Hardlinking files ***
Mode:           real
Files:          665
Linked:         1 files
Compared:       0 xattrs
Compared:       13 files
Saved:          692 B
Duration:       0.014138 seconds
dracut: *** Hardlinking files done ***
dracut: *** Store current command line parameters ***
dracut: Stored kernel commandline:
dracut:  root=UUID=f6402afe-1584-423c-93b6-9288af67d75d rootfstype=ext4 rootflags=rw,relatime
dracut: *** Stripping files ***
dracut: *** Stripping files done ***
dracut: *** Creating image file '/boot/initrd.img-5.15.0-1050-bluefield' ***
dracut: *** Creating initramfs image file '/boot/initrd.img-5.15.0-1050-bluefield' done ***
[18:40:15] Configure grub:
[18:40:15] Creating GRUB configuration
[  284.116195] initrd-install[5250]: Installing for arm64-efi platform.
[  286.164625] initrd-install[5250]: Installation finished. No error reported.
[18:40:17] 
[  286.552622] initrd-install[5268]: Sourcing file `/etc/default/grub'
[  286.666078] initrd-install[5268]: Sourcing file `/etc/default/grub.d/10-disableos-prober.cfg'
[  286.667474] initrd-install[5268]: Sourcing file `/etc/default/grub.d/init-select.cfg'
[  286.672786] initrd-install[5310]: Generating grub configuration file ...
[  286.992536] initrd-install[5351]: Found linux image: /boot/vmlinuz-5.15.0-1050-bluefield
[  287.014349] initrd-install[5351]: Found initrd image: /boot/initrd.img-5.15.0-1050-bluefield
[  287.835128] initrd-install[5615]: Warning: os-prober will not be executed to detect other bootable partitions.
[  287.835484] initrd-install[5615]: Systems on them will not be added to the GRUB boot configuration.
[  287.835650] initrd-install[5615]: Check GRUB_DISABLE_OS_PROBER documentation entry.
[  287.842686] initrd-install[5619]: Adding boot menu entry for UEFI Firmware Settings ...
[  287.866203] initrd-install[5634]: done
[18:40:19] 
[18:40:19] 
[18:40:19] Updating EFI boot entries:
[18:40:19] Remove old boot entries
[18:40:22] BootCurrent: 0021
Timeout: 3 seconds
BootOrder: 0000,0001,0002,0004,0005,0006,0007,0008,0009,000A,000B,000C,000D,000E,000F,0010,0011,0012,0013,0014,0015,0016,0017,0018,0019,001A,001B,001C,001D,001E,001F,0020
Boot0000* focal
Boot0001* Linux from mmc0
Boot0002* EFI Internal Shell
Boot0004* Linux from eMMC
Boot0005* EFI Misc Device
Boot0006* EFI Network
Boot0007* EFI Network 1
Boot0008* EFI Network 2
Boot0009* EFI Network 3
Boot000A* EFI Network 4
Boot000B* EFI Network 5
Boot000C* EFI Network 6
Boot000D* EFI Network 7
Boot000E* EFI Network 8
Boot000F* EFI Network 9
Boot0010* EFI Network 10
Boot0011* EFI Network 11
Boot0012* UiApp
Boot0013* UEFI Misc Device
Boot0014* UEFI Non-Block Boot Device
Boot0015* UEFI PXEv4 (MAC:B8CEF6FC53F0)
Boot0016* UEFI PXEv6 (MAC:B8CEF6FC53F0)
Boot0017* UEFI HTTPv4 (MAC:B8CEF6FC53F0)
Boot0018* UEFI HTTPv6 (MAC:B8CEF6FC53F0)
Boot0019* UEFI PXEv4 (MAC:001ACAFFFF01)
Boot001A* UEFI PXEv6 (MAC:001ACAFFFF01)
Boot001B* UEFI HTTPv4 (MAC:001ACAFFFF01)
Boot001C* UEFI HTTPv6 (MAC:001ACAFFFF01)
Boot001D* UEFI PXEv4 (MAC:B8CEF6FC53F4 VLAN4040)
Boot001E* UEFI PXEv6 (MAC:B8CEF6FC53F4 VLAN4040)
Boot001F* UEFI HTTPv4 (MAC:B8CEF6FC53F4 VLAN4040)
Boot0020* UEFI HTTPv6 (MAC:B8CEF6FC53F4 VLAN4040)
Boot0021* Linux from rshim
BootCurrent: 0021
Timeout: 3 seconds
BootOrder: 0001,0002,0004,0005,0006,0007,0008,0009,000A,000B,000C,000D,000E,000F,0010,0011,0012,0013,0014,0015,0016,0017,0018,0019,001A,001B,001C,001D,001E,001F,0020
Boot0001* Linux from mmc0
Boot0002* EFI Internal Shell
Boot0004* Linux from eMMC
Boot0005* EFI Misc Device
Boot0006* EFI Network
Boot0007* EFI Network 1
Boot0008* EFI Network 2
Boot0009* EFI Network 3
Boot000A* EFI Network 4
Boot000B* EFI Network 5
Boot000C* EFI Network 6
Boot000D* EFI Network 7
Boot000E* EFI Network 8
Boot000F* EFI Network 9
Boot0010* EFI Network 10
Boot0011* EFI Network 11
Boot0012* UiApp
Boot0013* UEFI Misc Device
Boot0014* UEFI Non-Block Boot Device
Boot0015* UEFI PXEv4 (MAC:B8CEF6FC53F0)
Boot0016* UEFI PXEv6 (MAC:B8CEF6FC53F0)
Boot0017* UEFI HTTPv4 (MAC:B8CEF6FC53F0)
Boot0018* UEFI HTTPv6 (MAC:B8CEF6FC53F0)
Boot0019* UEFI PXEv4 (MAC:001ACAFFFF01)
Boot001A* UEFI PXEv6 (MAC:001ACAFFFF01)
Boot001B* UEFI HTTPv4 (MAC:001ACAFFFF01)
Boot001C* UEFI HTTPv6 (MAC:001ACAFFFF01)
Boot001D* UEFI PXEv4 (MAC:B8CEF6FC53F4 VLAN4040)
Boot001E* UEFI PXEv6 (MAC:B8CEF6FC53F4 VLAN4040)
Boot001F* UEFI HTTPv4 (MAC:B8CEF6FC53F4 VLAN4040)
Boot0020* UEFI HTTPv6 (MAC:B8CEF6FC53F4 VLAN4040)
Boot0021* Linux from rshim
BootCurrent: 0021
Timeout: 3 seconds
BootOrder: 0002,0004,0005,0006,0007,0008,0009,000A,000B,000C,000D,000E,000F,0010,0011,0012,0013,0014,0015,0016,0017,0018,0019,001A,001B,001C,001D,001E,001F,0020
Boot0002* EFI Internal Shell
Boot0004* Linux from eMMC
Boot0005* EFI Misc Device
Boot0006* EFI Network
Boot0007* EFI Network 1
Boot0008* EFI Network 2
Boot0009* EFI Network 3
Boot000A* EFI Network 4
Boot000B* EFI Network 5
Boot000C* EFI Network 6
Boot000D* EFI Network 7
Boot000E* EFI Network 8
Boot000F* EFI Network 9
Boot0010* EFI Network 10
Boot0011* EFI Network 11
Boot0012* UiApp
Boot0013* UEFI Misc Device
Boot0014* UEFI Non-Block Boot Device
Boot0015* UEFI PXEv4 (MAC:B8CEF6FC53F0)
Boot0016* UEFI PXEv6 (MAC:B8CEF6FC53F0)
Boot0017* UEFI HTTPv4 (MAC:B8CEF6FC53F0)
Boot0018* UEFI HTTPv6 (MAC:B8CEF6FC53F0)
Boot0019* UEFI PXEv4 (MAC:001ACAFFFF01)
Boot001A* UEFI PXEv6 (MAC:001ACAFFFF01)
Boot001B* UEFI HTTPv4 (MAC:001ACAFFFF01)
Boot001C* UEFI HTTPv6 (MAC:001ACAFFFF01)
Boot001D* UEFI PXEv4 (MAC:B8CEF6FC53F4 VLAN4040)
Boot001E* UEFI PXEv6 (MAC:B8CEF6FC53F4 VLAN4040)
Boot001F* UEFI HTTPv4 (MAC:B8CEF6FC53F4 VLAN4040)
Boot0020* UEFI HTTPv6 (MAC:B8CEF6FC53F4 VLAN4040)
Boot0021* Linux from rshim
BootCurrent: 0021
Timeout: 3 seconds
BootOrder: 0004,0005,0006,0007,0008,0009,000A,000B,000C,000D,000E,000F,0010,0011,0012,0013,0014,0015,0016,0017,0018,0019,001A,001B,001C,001D,001E,001F,0020
Boot0004* Linux from eMMC
Boot0005* EFI Misc Device
Boot0006* EFI Network
Boot0007* EFI Network 1
Boot0008* EFI Network 2
Boot0009* EFI Network 3
Boot000A* EFI Network 4
Boot000B* EFI Network 5
Boot000C* EFI Network 6
Boot000D* EFI Network 7
Boot000E* EFI Network 8
Boot000F* EFI Network 9
Boot0010* EFI Network 10
Boot0011* EFI Network 11
Boot0012* UiApp
Boot0013* UEFI Misc Device
Boot0014* UEFI Non-Block Boot Device
Boot0015* UEFI PXEv4 (MAC:B8CEF6FC53F0)
Boot0016* UEFI PXEv6 (MAC:B8CEF6FC53F0)
Boot0017* UEFI HTTPv4 (MAC:B8CEF6FC53F0)
Boot0018* UEFI HTTPv6 (MAC:B8CEF6FC53F0)
Boot0019* UEFI PXEv4 (MAC:001ACAFFFF01)
Boot001A* UEFI PXEv6 (MAC:001ACAFFFF01)
Boot001B* UEFI HTTPv4 (MAC:001ACAFFFF01)
Boot001C* UEFI HTTPv6 (MAC:001ACAFFFF01)
Boot001D* UEFI PXEv4 (MAC:B8CEF6FC53F4 VLAN4040)
Boot001E* UEFI PXEv6 (MAC:B8CEF6FC53F4 VLAN4040)
Boot001F* UEFI HTTPv4 (MAC:B8CEF6FC53F4 VLAN4040)
Boot0020* UEFI HTTPv6 (MAC:B8CEF6FC53F4 VLAN4040)
Boot0021* Linux from rshim
BootCurrent: 0021
Timeout: 3 seconds
BootOrder: 0005,0006,0007,0008,0009,000A,000B,000C,000D,000E,000F,0010,0011,0012,0013,0014,0015,0016,0017,0018,0019,001A,001B,001C,001D,001E,001F,0020
Boot0005* EFI Misc Device
Boot0006* EFI Network
Boot0007* EFI Network 1
Boot0008* EFI Network 2
Boot0009* EFI Network 3
Boot000A* EFI Network 4
Boot000B* EFI Network 5
Boot000C* EFI Network 6
Boot000D* EFI Network 7
Boot000E* EFI Network 8
Boot000F* EFI Network 9
Boot0010* EFI Network 10
Boot0011* EFI Network 11
Boot0012* UiApp
Boot0013* UEFI Misc Device
Boot0014* UEFI Non-Block Boot Device
Boot0015* UEFI PXEv4 (MAC:B8CEF6FC53F0)
Boot0016* UEFI PXEv6 (MAC:B8CEF6FC53F0)
Boot0017* UEFI HTTPv4 (MAC:B8CEF6FC53F0)
Boot0018* UEFI HTTPv6 (MAC:B8CEF6FC53F0)
Boot0019* UEFI PXEv4 (MAC:001ACAFFFF01)
Boot001A* UEFI PXEv6 (MAC:001ACAFFFF01)
Boot001B* UEFI HTTPv4 (MAC:001ACAFFFF01)
Boot001C* UEFI HTTPv6 (MAC:001ACAFFFF01)
Boot001D* UEFI PXEv4 (MAC:B8CEF6FC53F4 VLAN4040)
Boot001E* UEFI PXEv6 (MAC:B8CEF6FC53F4 VLAN4040)
Boot001F* UEFI HTTPv4 (MAC:B8CEF6FC53F4 VLAN4040)
Boot0020* UEFI HTTPv6 (MAC:B8CEF6FC53F4 VLAN4040)
Boot0021* Linux from rshim
BootCurrent: 0021
Timeout: 3 seconds
BootOrder: 0006,0007,0008,0009,000A,000B,000C,000D,000E,000F,0010,0011,0012,0013,0014,0015,0016,0017,0018,0019,001A,001B,001C,001D,001E,001F,0020
Boot0006* EFI Network
Boot0007* EFI Network 1
Boot0008* EFI Network 2
Boot0009* EFI Network 3
Boot000A* EFI Network 4
Boot000B* EFI Network 5
Boot000C* EFI Network 6
Boot000D* EFI Network 7
Boot000E* EFI Network 8
Boot000F* EFI Network 9
Boot0010* EFI Network 10
Boot0011* EFI Network 11
Boot0012* UiApp
Boot0013* UEFI Misc Device
Boot0014* UEFI Non-Block Boot Device
Boot0015* UEFI PXEv4 (MAC:B8CEF6FC53F0)
Boot0016* UEFI PXEv6 (MAC:B8CEF6FC53F0)
Boot0017* UEFI HTTPv4 (MAC:B8CEF6FC53F0)
Boot0018* UEFI HTTPv6 (MAC:B8CEF6FC53F0)
Boot0019* UEFI PXEv4 (MAC:001ACAFFFF01)
Boot001A* UEFI PXEv6 (MAC:001ACAFFFF01)
Boot001B* UEFI HTTPv4 (MAC:001ACAFFFF01)
Boot001C* UEFI HTTPv6 (MAC:001ACAFFFF01)
Boot001D* UEFI PXEv4 (MAC:B8CEF6FC53F4 VLAN4040)
Boot001E* UEFI PXEv6 (MAC:B8CEF6FC53F4 VLAN4040)
Boot001F* UEFI HTTPv4 (MAC:B8CEF6FC53F4 VLAN4040)
Boot0020* UEFI HTTPv6 (MAC:B8CEF6FC53F4 VLAN4040)
Boot0021* Linux from rshim
BootCurrent: 0021
Timeout: 3 seconds
BootOrder: 0007,0008,0009,000A,000B,000C,000D,000E,000F,0010,0011,0012,0013,0014,0015,0016,0017,0018,0019,001A,001B,001C,001D,001E,001F,0020
Boot0007* EFI Network 1
Boot0008* EFI Network 2
Boot0009* EFI Network 3
Boot000A* EFI Network 4
Boot000B* EFI Network 5
Boot000C* EFI Network 6
Boot000D* EFI Network 7
Boot000E* EFI Network 8
Boot000F* EFI Network 9
Boot0010* EFI Network 10
Boot0011* EFI Network 11
Boot0012* UiApp
Boot0013* UEFI Misc Device
Boot0014* UEFI Non-Block Boot Device
Boot0015* UEFI PXEv4 (MAC:B8CEF6FC53F0)
Boot0016* UEFI PXEv6 (MAC:B8CEF6FC53F0)
Boot0017* UEFI HTTPv4 (MAC:B8CEF6FC53F0)
Boot0018* UEFI HTTPv6 (MAC:B8CEF6FC53F0)
Boot0019* UEFI PXEv4 (MAC:001ACAFFFF01)
Boot001A* UEFI PXEv6 (MAC:001ACAFFFF01)
Boot001B* UEFI HTTPv4 (MAC:001ACAFFFF01)
Boot001C* UEFI HTTPv6 (MAC:001ACAFFFF01)
Boot001D* UEFI PXEv4 (MAC:B8CEF6FC53F4 VLAN4040)
Boot001E* UEFI PXEv6 (MAC:B8CEF6FC53F4 VLAN4040)
Boot001F* UEFI HTTPv4 (MAC:B8CEF6FC53F4 VLAN4040)
Boot0020* UEFI HTTPv6 (MAC:B8CEF6FC53F4 VLAN4040)
Boot0021* Linux from rshim
BootCurrent: 0021
Timeout: 3 seconds
BootOrder: 0008,0009,000A,000B,000C,000D,000E,000F,0010,0011,0012,0013,0014,0015,0016,0017,0018,0019,001A,001B,001C,001D,001E,001F,0020
Boot0008* EFI Network 2
Boot0009* EFI Network 3
Boot000A* EFI Network 4
Boot000B* EFI Network 5
Boot000C* EFI Network 6
Boot000D* EFI Network 7
Boot000E* EFI Network 8
Boot000F* EFI Network 9
Boot0010* EFI Network 10
Boot0011* EFI Network 11
Boot0012* UiApp
Boot0013* UEFI Misc Device
Boot0014* UEFI Non-Block Boot Device
Boot0015* UEFI PXEv4 (MAC:B8CEF6FC53F0)
Boot0016* UEFI PXEv6 (MAC:B8CEF6FC53F0)
Boot0017* UEFI HTTPv4 (MAC:B8CEF6FC53F0)
Boot0018* UEFI HTTPv6 (MAC:B8CEF6FC53F0)
Boot0019* UEFI PXEv4 (MAC:001ACAFFFF01)
Boot001A* UEFI PXEv6 (MAC:001ACAFFFF01)
Boot001B* UEFI HTTPv4 (MAC:001ACAFFFF01)
Boot001C* UEFI HTTPv6 (MAC:001ACAFFFF01)
Boot001D* UEFI PXEv4 (MAC:B8CEF6FC53F4 VLAN4040)
Boot001E* UEFI PXEv6 (MAC:B8CEF6FC53F4 VLAN4040)
Boot001F* UEFI HTTPv4 (MAC:B8CEF6FC53F4 VLAN4040)
Boot0020* UEFI HTTPv6 (MAC:B8CEF6FC53F4 VLAN4040)
Boot0021* Linux from rshim
BootCurrent: 0021
Timeout: 3 seconds
BootOrder: 0009,000A,000B,000C,000D,000E,000F,0010,0011,0012,0013,0014,0015,0016,0017,0018,0019,001A,001B,001C,001D,001E,001F,0020
Boot0009* EFI Network 3
Boot000A* EFI Network 4
Boot000B* EFI Network 5
Boot000C* EFI Network 6
Boot000D* EFI Network 7
Boot000E* EFI Network 8
Boot000F* EFI Network 9
Boot0010* EFI Network 10
Boot0011* EFI Network 11
Boot0012* UiApp
Boot0013* UEFI Misc Device
Boot0014* UEFI Non-Block Boot Device
Boot0015* UEFI PXEv4 (MAC:B8CEF6FC53F0)
Boot0016* UEFI PXEv6 (MAC:B8CEF6FC53F0)
Boot0017* UEFI HTTPv4 (MAC:B8CEF6FC53F0)
Boot0018* UEFI HTTPv6 (MAC:B8CEF6FC53F0)
Boot0019* UEFI PXEv4 (MAC:001ACAFFFF01)
Boot001A* UEFI PXEv6 (MAC:001ACAFFFF01)
Boot001B* UEFI HTTPv4 (MAC:001ACAFFFF01)
Boot001C* UEFI HTTPv6 (MAC:001ACAFFFF01)
Boot001D* UEFI PXEv4 (MAC:B8CEF6FC53F4 VLAN4040)
Boot001E* UEFI PXEv6 (MAC:B8CEF6F
本项目采用C++编程语言结合ROS框架构建了完整的双机械臂控制系统,实现了Gazebo仿真环境下的协同运动模拟,并完成了两台实体UR10工业机器人的联动控制。该毕业设计在答辩环节获得98分的优异成绩,所有程序代码均通过系统性调试验证,保证可直接部署运行。 系统架构包含三个核心模块:基于ROS通信架构的双臂协调控制器、Gazebo物理引擎下的动力学仿真环境、以及真实UR10机器人的硬件接口层。在仿真验证阶段,开发了双臂碰撞检测算法和轨迹规划模块,通过ROS控制包实现了末端执行器的同步轨迹跟踪。硬件集成方面,建立了基于TCP/IP协议的实时通信链路,解决了双机数据同步和运动指令分发等关键技术问题。 本资源适用于自动化、机械电子、人工智能等专业方向的课程实践,可作为高年级课程设计、毕业课题的重要参考案例。系统采用模块化设计理念,控制核心与硬件接口分离架构便于功能扩展,具备工程实践能力的学习者可在现有框架基础上进行二次开发,例如集成视觉感知模块或优化运动规划算法。 项目文档详细记录了环境配置流程、参数调试方法和实验验证数据,特别说明了双机协同作业时的时序同步解决方案。所有功能模块均提供完整的API接口说明,便于使用者快速理解系统架构并进行定制化修改。 资源来源于网络分享,仅用于学习交流使用,请勿用于商业,如有侵权请联系我删除!
【微电网】【创新点】基于非支配排序的蜣螂优化算法NSDBO求解微电网多目标优化调度研究(Matlab代码实现)内容概要:本文围绕基于非支配排序的蜣螂优化算法(NSDBO)在微电网多目标优化调度中的应用展开研究,提出了一种改进的智能优化算法以解决微电网系统中经济性、环保性和能源效率等多重目标之间的权衡问题。通过引入非支配排序机制,NSDBO能够有效处理多目标优化中的帕累托前沿搜索,提升解的多样性和收敛性,并结合Matlab代码实现仿真验证,展示了该算法在微电网调度中的优越性能和实际可行性。研究涵盖了微电网典型结构建模、目标函数构建及约束条件处理,实现了对风、光、储能及传统机组的协同优化调度。; 适合人群:具备一定电力系统基础知识和Matlab编程能力的研究生、科研人员及从事微电网、智能优化算法应用的工程技术人员;熟悉优化算法与能源系统调度的高年级本科生亦可参考。; 使用场景及目标:①应用于微电网多目标优化调度问题的研究与仿真,如成本最小化、碳排放最低与供电可靠性最高之间的平衡;②为新型智能优化算法(如蜣螂优化算法及其改进版本)的设计与验证提供实践案例,推动其在能源系统中的推广应用;③服务于学术论文复现、课题研究或毕业设计中的算法对比与性能测试。; 阅读建议:建议读者结合文中提供的Matlab代码进行实践操作,重点关注NSDBO算法的核心实现步骤与微电网模型的构建逻辑,同时可对比其他多目标算法(如NSGA-II、MOPSO)以深入理解其优势与局限,进一步开展算法改进或应用场景拓展。
内容概要:本文详细介绍了使用ENVI与SARscape软件进行DInSAR(差分干涉合成孔径雷达)技术处理的完整流程,涵盖从数据导入、预处理、干涉图生成、相位滤波与相干性分析、相位解缠、轨道精炼与重去平,到最终相位转形变及结果可视化在内的全部关键步骤。文中以Sentinel-1数据为例,系统阐述了各环节的操作方法与参数设置,特别强调了DEM的获取与处理、基线估算、自适应滤波算法选择、解缠算法优化及轨道精炼中GCP点的应用,确保最终获得高精度的地表形变信息。同时提供了常见问题的解决方案与实用技巧,增强了流程的可操作性和可靠性。; 适合人群:具备遥感与GIS基础知识,熟悉ENVI/SARscape软件操作,从事地质灾害监测、地表形变分析等相关领域的科研人员与技术人员;适合研究生及以上学历或具有相关项目经验的专业人员; 使用场景及目标:①掌握DInSAR技术全流程处理方法,用于地表沉降、地震形变、滑坡等地质灾害监测;②提升对InSAR数据处理中关键技术环节(如相位解缠、轨道精炼)的理解与实操能力;③实现高精度形变图的生成与Google Earth可视化表达; 阅读建议:建议结合实际数据边学边练,重点关注各步骤间的逻辑衔接与参数设置依据,遇到DEM下载失败等问题时可参照文中提供的多种替代方案(如手动下载SRTM切片),并对关键结果(如相干性图、解缠图)进行质量检查以确保处理精度。
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