[BlueZ] 1、Download install and use 澳门唯一金莎娱乐the BlueZ and hcitool on PI 3B+

澳门唯一金莎娱乐 16

[BlueZ] 1、Download install and use 澳门唯一金莎娱乐the BlueZ and hcitool on PI 3B+

星期日, 02. 九月 2018 11:58下午 – beautifulzzzz

The version compatibility across the OS and these packages is a
nightmare for every new person who tries to use Tensorflow.  In here, I
record the successful procedure to install everything listed in the
title of this note.

澳门唯一金莎娱乐 1

First of all, make sure that you have the exact same version of
software in every steps, or it may not work.  To install Tensorflow at
Ubuntu, you will need to install Ubuntu 16.04.  Run 

1. Introduction

Bluez is the default Bluetooth protocol stack on Linux. It should be
present and installed on your Linux distribution. If not, building and
installing from source is not too difficult:

  • Download the latest stable source release of Bluez from here. Unzip
    the compressed file you downloaded.
  • Install the headers and libraries required for Bluez compilation:

澳门唯一金莎娱乐 2

lsb_release -a 

2. Download And Install

I follow the blog (Installing Bluez 5.44 onto
to install bluez-5.50.

Download the most recent version from the official

For example, at the time of writing it was 5.50, so I used(on my pi):

wget http://www.kernel.org/pub/linux/bluetooth/bluez-5.50.tar.xz

Then I extracted it and built it:

tar -xf bluez-5.50.tar.xz
cd bluez-5.50

Read the README! It lists the dependencies and the configure

Install the dependencies first: (glib, dbus, libdbus, udev, etc.)

sudo apt install libdbus-1-dev libudev-dev libical-dev libreadline-dev

note: If you do not install the libdbus-1-dev, you will later get
this strange error:

configure: error: D-Bus >= 1.6 is required

once you’ve installed dependencies, you can configure switches:

./configure --prefix=/usr --mandir=/usr/share/man --sysconfdir=/etc --localstatedir=/var  --enable-experimental

then do:

sudo make install

It takes maybe 10 minutes to compile. After installing, you should find
bluetoothd in /usr/libexec/bluetooth. You should also see bluetoothd
in /usr/lib/bluetooth.

Go to each of these directories and type

./bluetoothd --version

You’ll note that the one in libexec is new and the one in lib is old.

In order to make sure that d-bus is talking to you new BlueZ 5.50
and not your old BlueZ 5.43, you need to tell systemd to use the new
bluetooth daemon:

sudo vim /lib/systemd/system/bluetooth.service

Make sure the exec.start line points to your new daemon in

For me, that wasn’t enough. No matter what, upon restart I always got
bluetoothd 5.43… So I just created a symlink from the old one to the

First rename the old file:

sudo mv /usr/lib/bluetooth/bluetoothd /usr/lib/bluetooth/bluetoothd-543.orig

Create the symlink:

sudo ln -s /usr/libexec/bluetooth/bluetoothd /usr/lib/bluetooth/bluetoothd
sudo systemctl daemon-reload

That should do it.

澳门唯一金莎娱乐 3

to check the version of your Ubuntu.  If you want to dual-boost OS from
window10, like what I did, there is another note teach you how to do the
dual-boost.  The following passages assume you have already had your
Ubuntu 16.04 installed correctly.

3. How to use the bluez and hcitool

3.1 setup bluetooth service

Start the bluetooth service and enable automatic startup, assuming
you’re using systemd as the init daemon:

sudo systemctl start bluetooth.service
sudo systemctl enable bluetooth.service

Install pycharm

ref: https://itsfoss.com/install-pycharm-ubuntu/

Open a terminal and use the following commands:

sudo add-apt-repository ppa:mystic-mirage/pycharmsudo apt-get update

To install the community edition of PyCharm, use the command below. It
will download data of around 120 MB.

sudo apt-get install pycharm-community

To install the professional edition of PyCharm, use the command below.
It will download data of around 160 MB.

sudo apt-get install pycharm

3.2 hcitool scan for bluetooth devices

Before start scanning make sure that your bluetooth device is turned on
and not blocked, you can check that with the rfkill command:

sudo rfkill list

If the bluetooth device is blocked (soft or hard blocked), unblock it
with the rfkill command again:

sudo rfkill unblock bluetooth

Bring up the bluetooth device with hciconfig command and start scanning,
make sure the target device’s bluetooth is on and It’s discoverable:

sudo hciconfig hci0 up
hcitool scan

Wait few moment to complete the hcitool scan or hcitool lescan, the
results will be something like bellow:

澳门唯一金莎娱乐 4

澳门唯一金莎娱乐 5

Here 00:1A:7D:DA:71:0A is the bluetooth MAC address and SHEN-PC is the
name of the bluetooth device, i.e. an PC.

note: use hcitool lescan will forever scan ble devices, if use
ctrl+c stop it, it will show error(ref to LINKS
to solve):

hcitool lescan
Set scan parameters failed: Input/output error

Remove PyCharm

To uninstall PyCharm installed by the above described method, use the
command below to uninstall the community edition of PyCharm:

sudo apt-get remove pycharm-community

To remove the professional version, use the command below:

sudo apt-get remove pycharm

Afterward, use the command below to remove the PPA from the sources

sudo add-apt-repository –remove ppa:mystic-mirage/pycharm

That’s all you need to do. I hope this tutorial helped you toinstall
PyCharm in Ubuntu Linux. Any questions or suggestions are always

Install Python2.7


sudo add-apt-repository ppa:fkrull/deadsnakes

sudo apt-get update

sudo apt-get install python2.7

3.3 bluetooth service discovery

Now we have the bluetooth MAC address of the target device, use the
sdptool command to know which services (like DUN, Handsfree audio) are
available on that target device.

sdptool browse 28:ED:6A:A0:26:B7

You can also use the interactive bluetoothctl tool for this purpose.

If the target device is present, you can ping it with l2ping command,
requires root privilege:

➜  bluez-5.50  sudo l2ping 94:87:E0:B3:AC:6F
Ping: 94:87:E0:B3:AC:6F from B8:27:EB:8E:CC:51 (data size 44) ...
44 bytes from 94:87:E0:B3:AC:6F id 0 time 53.94ms
44 bytes from 94:87:E0:B3:AC:6F id 1 time 77.12ms
44 bytes from 94:87:E0:B3:AC:6F id 2 time 38.63ms
44 bytes from 94:87:E0:B3:AC:6F id 3 time 46.13ms
44 bytes from 94:87:E0:B3:AC:6F id 4 time 59.96ms
5 sent, 5 received, 0% loss

So, bluetooth service discovery is useful to determine the type of the
device, like if it’s a bluetooth mp3 player or it’s a keyboard.

澳门唯一金莎娱乐 6

Install pip

Open Pycharm that you just installed.  Create a project.  Use Alt +
or View -> Tool Windowto open the terminal.

Then follow the instructions in
here: https://www.rosehosting.com/blog/how-to-install-pip-on-ubuntu-16-04/

1. Connect to SSH and Update your System Software

First of all, connect to your server via SSH and make sure that all your
system software is up to date. Run the following command to update the
package list and upgrade all your system software to the latest version

sudo apt-get update && sudo apt-get -y upgrade

2. Install Pip on Ubuntu 16.04

Once the upgrade is completed, you can move on and install Pip on your
Ubuntu VPS. The installation of Pip is very simple. The only thing you
need to do is to run the following command:

sudo apt-get install python-pip

3. Verify the Pip Installation on Ubuntu 16.04

The apt package manager will install Pip and all the dependencies
required for the software to work optimally. Once the installation is
completed you can verify that it was successful by using the following

pip -V

You should see something similar to the following:

# pip -V

pip 8.1.1 from /usr/lib/python2.7/dist-packages (python 2.7)

That means Pip has been successfully installed on your Ubuntu server and
it is ready to use.


  • 1.Bluetooth on Modern Linux by Szymon
  • 2.dbus-python
  • 3.Linux bluetooth setup with bluez and
  • 4.hcitool lescan shows I/O

澳门唯一金莎娱乐 7


Install numpy, tdpm, pillow, scrip etc…

Go to File -> Settings

In Project: -> Project interpreter, make sure you have a
python2.7 selected.  Click the green plus sign at the right.  Then
search whatever the package you need to install and click Install
button at the bottom of the new page you just opened to mount

Caution: To run tensorflow using GPU, better to do not install it
from pycharm.  See the UPDATE below how to install it.

Installing CUDA Toolkit 8.0 on Ubuntu 16.04

ref: http://www.pradeepadiga.me/blog/2017/03/22/installing-cuda-toolkit-8-0-on-ubuntu-16-04/


One of them is to ensure where GCC is installed or not. We can confirm
it by executing the following command.

gcc –version

Since I am using Ubuntu, GCC comes pre-installed and here is the output
that I got.

澳门唯一金莎娱乐 8

build essentials

It is important have thebuild-essential package installed. This is
usually pre-installed on Ubuntu, however if it is not you can install it
by executing the following command.

sudo apt-get install build-essential

On my laptop it was already installed hence I got the following output.

澳门唯一金莎娱乐 9

Download CUDA package from NVIDIA website

to https://developer.nvidia.com/cuda-downloads and
download the appropriate package.

澳门唯一金莎娱乐 10

Once the page is successfully downloaded, we need to install the
package. First navigate to the folder where the package is located. In
my case it is under ~/Downloads/CUDA$ folder. Then issue the following
command which installs the package.

sudo dpkg -i cuda-repo-ubuntu1604-8-0-local-ga2_8.0.61-1_amd64.deb

澳门唯一金莎娱乐 11

Then update the package list from the repositories using the below

sudo apt-get update

Then install CUDA by executing the following command.

sudo apt-get install cuda

澳门唯一金莎娱乐 12

After a couple of minutes the installation would succeed and you should
a screen similar to the following.

澳门唯一金莎娱乐 13

One of the important post installation steps is to update the PATH
variable to include the CUDA binaries folder. To update it, we need to
edit the file /etc/environment. I use the nano text editor in this
post, so the command would be

sudo nano /etc/environment

Once nano is open edit the PATH variable to
include /usr/local/cuda-8.0/bin folder. After editing the file screen
would look like this.

澳门唯一金莎娱乐 14

After editing this line press Ctrl + X to exit the editor and
press Y when prompted whether you want to save it.

This method of editing the PATH variable usually requires a reboot to
take effect. However executing the below command would update the PATH
variable immediately.

source /etc/environment

Now we are ready to validate the CUDA installation. Just execute the
following command in the terminal.

nvcc –version

If the installation was successful, we should see the CUDA compiler
version as seen in this screenshot.

澳门唯一金莎娱乐 15

Alternatively you can also execute the following command in the
terminal. This gives more detailed information about the drivers.


澳门唯一金莎娱乐 16

We are now ready to enjoy the goodness of CUDA and can continue with the
installation of TensorFlow. Stay tuned for the installation instructions
of TensorFlow.

Install cudnn v5.1 (you may require for cudnn v6.0 too, see the update below)


Download cudnn

My os is Ubuntu 16.04.  amd64.  The debian archives for Ubuntu 16.04
Power8 doesn’t apply to my os.  So I have to download the tar file for
cuDNN v5.1 Library for Linux.  (This is under the testing.  If it
doesn’t work.  I have to change os to Ubuntu 14.04 cuz there are debian
archives for amd64 version)

Next you need to uncompress and copy cuDNN to the toolkit directory. The
toolkit default install location is /usr/local/cuda

tar xvzf cudnn-8.0-linux-x64-v5.1-ga.tgz

sudo cp -P cuda/include/cudnn.h /usr/local/cuda/include

sudo cp -P cuda/lib64/libcudnn /usr/local/cuda/lib64*

*sudo chmod a+r /usr/local/cuda/include/cudnn.h

Now you need to update your bash file

nano ~/.bashrc

With the text editor open, scroll to the bottom and put in these lines:


export CUDA_HOME=/usr/local/cuda

Save and close it.


What to check?

To run gpu using tensorflow under Pycharm IDE, here is a checklist:

1, test whether CUDA and cudnn run correctly.

2. test whether CUDA could pick up your GPU device.

3, make sure whether tensorflow from Pycharm can see Cuda and cudnn


TO “1”, install cuda and cudnn in the correct version as above says.
Use nvcc -V and nvidia-smi command to examine the driver and

Run sample code to test whether cuda works correctly


-> Go to the dir that installed cuda (mine is/usr/local/cuda/samples)

-> runmake, it might take few minutes to make the files.

-> rundeviceQueryandbandwidthTest. They are at:



if both passes, then cuda should work.

TO “2”, run the testing code provided from the official site of


write down the code below and run through terminal:

import tensorflow as tf

# Creates a graph.

a = tf.constant([1.0, 2.0, 3.0, 4.0, 5.0, 6.0], shape=[2, 3],

b = tf.constant([1.0, 2.0, 3.0, 4.0, 5.0, 6.0], shape=[3, 2],

c = tf.matmul(a, b)

# Creates a session with log_device_placement set to True.

sess =

# Runs the op.


Save as a .py file and run python ./${file_full_path}

You should see the following output:

Device mapping:

/job:localhost/replica:0/task:0/device:GPU:0 -> device: 0, name:
Tesla K40c, pci bus

id: 0000:05:00.0

b: /job:localhost/replica:0/task:0/device:GPU:0

a: /job:localhost/replica:0/task:0/device:GPU:0

MatMul: /job:localhost/replica:0/task:0/device:GPU:0

[[ 22.  28.]

[ 49.  64.]]

If it shows device mapping: no known devices, then unintall
your tensorflow and install tensorflow-gpu.  See this:


Package tensorflow is likely a CPU version.  To use gpu to run CUDA,
you need to install tensorflow-gpu.  However, since
installing tensorflow-gpu will reinstall tensorflow automatically,
it’d be wise to manually uninstall all the tensorflow-related package,
then install tensorflow-gpu.

In my case:

pip uninstall tensorflow

is not enough. Because when reinstall with:

pip install tensorflow-gpu

It’s still reinstall tensorflow with cpu not gpu. So, before install
tensorfow-pgu, I tried to remove all related tensor folders in
site-packages uninstall protobuf, and it works!

For conclusion:

pip uninstall tensorflow

Remove all tensor folders in ~/Python35/Lib/site-packages

pip uninstall protobuf

pip install tensorflow-gpu

If the commandpip uninstall tensorflow results in some kind of error
and failed in uninstall, then we can remove the package from pycharm. 
Go File-> settings-> project interpreter->minus sign to
uninstall.  Also check the fold from terminal whether they are still
there. /usr/local/lib/python2.7/dist-packages/ and
/usr/local/lib/python2.7/site-packages/.  List of folders need to

*tensorflow,tensorboard,anything starts from **tensor,

Open NVIDIA X Server Settings.  At GPU-0 (your gpu name) tab,
monitor your GPU Utilization.  If you see it rapidly goes up in a very
short period of time, it means your tensorflow runs on gpu correctly.

If you see error message occurs while you import tensorflow like:

ImportError: libcudnn.so.5: cannot open shared object file: No such
file or directory


ImportError: libcudnn.so.6: cannot open shared object file: No such
file or directory

it means it couldn’t find the corresponding version of cudnn library. 
It might trying to load cudnn v6.  If so,Download cuDNN v6.0 (April 27,
2017), for CUDA
untar and place the files to the corresponding right places as above
(since cudnn v5.1 and v6.0 can be exist at the same time, you don’t have
to delete the old copied files from v5.1) and run the tensorflow code
again.  It should be fixed.

TO “3”,  it is possible that everything works when you run through
terminal, but it suddenly breaks when you run through pycharm although
you have already added LD_LIBRARY_PATH and CUDA_HOME to
[BlueZ] 1、Download install and use 澳门唯一金莎娱乐the BlueZ and hcitool on PI 3B+。~/bashrc file.  It is because pycharm has its own environment
variable Running in pycharm, we need to set CUDA_HOME and
LD_LIBRARY_PATH again probably for each individual project.

To do that, go to the Run menu->edit configurations then choose
your project. Then you click on the Environment Variables and add an


Up to now, your configuration of cuda and tensorflow should be done. 
Make sure you have enabled to use gpu in your code, then everything
should work.