LicheePi 4A问题记录与解决手动挂载npu驱动

环境：debian系统 镜像20231023
报错信息如下：

(ort) root@lpi4a:/home/sipeed/Desktop/udisk/yolov5n_jiancai# python3 inference.py
 ********** preprocess image **********
 ******* run yolov5 and postprocess *******
FATAL: could not open driver '/dev/vha0': No such file or directory
Please create or load network object first.
Could not retrieve inputs of network object
Could not retrieve inputs of network object
Could not retrieve outputs of network object
Segmentation fault

解决办法（如果lsmod检测驱动没挂载可以只执行后面几步，镜像默认会驱动挂载，然后我也不知道为什么会没挂载，然后可以手动挂载）：

(ort) root@lpi4a:/home/sipeed/Desktop/udisk/yolov5n_jiancai# sudo rmmod vha_info
rmmod: ERROR: Module vha_info is not currently loaded
(ort) root@lpi4a:/home/sipeed/Desktop/udisk/yolov5n_jiancai# sudo rmmod vha
rmmod: ERROR: Module vha is not currently loaded
(ort) root@lpi4a:/home/sipeed/Desktop/udisk/yolov5n_jiancai# sudo rmmod img_mem
rmmod: ERROR: Module img_mem is not currently loaded
(ort) root@lpi4a:/home/sipeed/Desktop/udisk/yolov5n_jiancai# sudo insmod /lib/modules/5.10.113+/kernel/drivers/nna/img_mem/img_mem.ko
insmod: ERROR: could not insert module /lib/modules/5.10.113+/kernel/drivers/nna/img_mem/img_mem.ko: Invalid module format
(ort) root@lpi4a:/home/sipeed/Desktop/udisk/yolov5n_jiancai# sudo insmod /lib/modules/5.10.113-lpi4a/kernel/drivers/nna/img_mem/img_mem.ko
(ort) root@lpi4a:/home/sipeed/Desktop/udisk/yolov5n_jiancai# modprobe vha onchipmem_phys_start=0xffe0000000 onchipmem_size=0x100000 freq_khz=792000
(ort) root@lpi4a:/home/sipeed/Desktop/udisk/yolov5n_jiancai# sudo insmod /lib/modules/5.10.113-lpi4a/kernel/drivers/nna/vha/vha_info.ko
(ort) root@lpi4a:/home/sipeed/Desktop/udisk/yolov5n_jiancai# sudo chmod a+rw /dev/vha0
(ort) root@lpi4a:/home/sipeed/Desktop/udisk/yolov5n_jiancai# python3 inference.py
 ********** preprocess image **********
 ******* run yolov5 and postprocess *******
INFO: NNA clock:792000 [kHz]
INFO: Heap :ocm (0x18)
INFO: Heap :anonymous (0x2)
INFO: Heap :dmabuf (0x2)
INFO: Heap :unified (0x5)
Run graph execution time: 5.08612ms, FPS=196.61
detect num: 9
id:     label   score           x1              y1              x2              y2
[0]:    0       0.887960        235.066467      152.946411      300.920776      301.675201
[1]:    0       0.861029        192.516663      143.012817      239.483337      269.742645
[2]:    0       0.858754        109.428101      139.696426      158.128754      238.104538
[3]:    0       0.850120        395.645844      165.826355      511.645844      367.533264
[4]:    0       0.840293        307.221802      157.555939      387.856873      333.084442
[5]:    0       0.820681        159.855057      138.037445      192.517471      246.639313
[6]:    0       0.732718        587.054321      186.465927      628.268921      337.385620
[7]:    0       0.664117        508.211121      189.453156      590.281677      378.706635
[8]:    0       0.331462        619.626892      180.870499      640.224670      344.355225
 ********** draw bbox **********
[235.066467, 152.946411, 300.920776, 301.675201, 0.88796, 0]
[192.516663, 143.012817, 239.483337, 269.742645, 0.861029, 0]
[109.428101, 139.696426, 158.128754, 238.104538, 0.858754, 0]
[395.645844, 165.826355, 511.645844, 367.533264, 0.85012, 0]
[307.221802, 157.555939, 387.856873, 333.084442, 0.840293, 0]
[159.855057, 138.037445, 192.517471, 246.639313, 0.820681, 0]
[587.054321, 186.465927, 628.268921, 337.38562, 0.732718, 0]
[508.211121, 189.453156, 590.281677, 378.706635, 0.664117, 0]
[619.626892, 180.870499, 640.22467, 344.355225, 0.331462, 0]