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VEYE CS Camera for Jetson TX2 (view source)

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[[VEYE CS Camera for Jetson TX2/zh|查看中文]]
 
[[VEYE CS Camera for Jetson TX2/zh|查看中文]]
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'''<big>How to use VEYE and CS series camera module on NVIDIA Jetson TX2</big>'''
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===Overview===
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This guide shows how to use VEYE and CS series camera modules on Jetson TX2.  Jetson TX2 JetPack SDK Version is r32.2.1. We provide two ways to do so: '''Prebuilt Binaries''' or '''Source Code. Yes, It's Open Source!'''
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VEYE and CS series camera modules are STARVIS camera module with ISP functions build in. It output UYVY data using MIPI-CSI2. We provide '''V4L2 interface''' for video streaming apps , and '''Video Control Toolkits (which is Shell Script)''' to control the camera module directly, which is called DRA(Directly Register Access).
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===Hardware Setup===
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====NVIDIA TX2 Developer Kit====
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We have designed a special adapter board for TX2 developwer  kit, It support up to 6 cameras at the same time.
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It is connected as shown in figure (TODO).
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<br />
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===Upgrade Jetson TX2 system===
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====Setting Up the Host PC Environment====
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*Cross-compiling Toolchain
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Please refer to this [https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%2520Linux%2520Driver%2520Package%2520Development%2520Guide%2Fxavier_toolchain.html%23wwpID0ESHA link] to install toolchain on your Host PC.
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*L4T source code and Rootfs
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You could use SDK Manager or [https://developer.nvidia.com/embedded/downloads directly download] to get source code.
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*Setting Up the Environment
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Assume SDK install directory is <TOPDIR>，source code is in $L4T_DIR/sources directory.
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<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P3310/</code>
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<code>export L4T_DIR=$TOP_DIR/Linux_for_Tegra</code>
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<code>export LOCALVERSION=-tegra</code>
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<code>export LDK_ROOTFS_DIR=$TOP_DIR/Linux_for_Tegra/rootfs</code>
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<code>export ARCH=arm64</code>
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<code>export CROSS_COMPILE=aarch64-linux-gnu-</code>
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<code>export CROSS32CC=arm-linux-gnueabihf-gcc</code>
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<code>export TEGRA_KERNEL_OUT=$L4T_DIR/sources/kernel/out_kernel</code>
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<code>export KERNEL_PATH=$L4T_DIR/sources/kernel/out_kernel</code>
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<code>export NVIDIA_PATH=$L4T_DIR/sources/kernel/nvidia</code>
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<code>export TX2_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t18x</code>
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<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
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*Build default image, flashing to TX2, prepare L4T environment
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<code>cd $L4T_DIR</code>
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<code>sudo ./apply_binaries.sh</code>  
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<code>sudo ./flash.sh jetson-tx2 mmcblk0p1</code>
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====Download out bsp package for Jetson TX2====
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<code>cd $L4T_DIR</code>
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<code>git clone https://github.com/veyeimaging/nvidia_jetson_veye_bsp<nowiki/>.git</code>
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<code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code>
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=====bsp package includes：=====
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*prebuild linux kernel：Image
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*prebuild dtb for different boards
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*driver source code
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*dts source code
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*i2c toolkits
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====Using prebuild Image and DTB====
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*Installing the Kernel
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Whether you use a prebuild kernel or you build it yourself , you just need to copy it to /boot/ dir on the Jetson TX2 board:
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<code>sudo cp <path to your Image dir>/Image  /boot/Image -f</code>
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*Flash dtb file
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Enter the recovery mode，and on the Host PC:
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<code>cp <path to your dtb dir>/dtbfilename $L4T_DIR/kernel/dtb/ -f</code>
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<code>cd $L4T_DIR</code>
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<code>sudo ./flash.sh -r -k kernel-dtb jetson-tx2 mmcblk0p1</code>
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Reset TX2 after flashing.
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====Building from Source====
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=====Build kernel=====
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*patch code
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<code>cp $RELEASE_PACK_DIR/drivers_source/cs_imx307 veye327/* $NVIDIA_PATH/drivers/media/i2c/</code>
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<code>cp $RELEASE_PACK_DIR/drivers_source/kernel_csimx307veye327_config $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/kernel_csimx307veye327_config</code>
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*build
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<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
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<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT kernel_csimx307veye327_config</code>
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<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4</code>
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Completed Image file is $TEGRA_KERNEL_OUT/arch/arm64/boot/Image，could be used for Flashing or Upgrading.
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Install Image for Flashing:
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<code>sudo cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f</code>
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=====Build DTS=====
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*patch code
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<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.2.2_Linux_GA_P3310/dts\ dtb/common/t18x/* -r $TX2_DTS_PATH/</code>
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For CS-MIPI-IMX307
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<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.2.2_Linux_GA_P3310/dts\ dtb/CS-MIPI-IMX307/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code>
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For VEYE-MIPI-327
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<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.2.2_Linux_GA_P3310/dts\ dtb/VEYE-MIPI-327/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code>
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*build
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<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
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<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs</code>
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Could be used for Flashing or Upgrading.
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===Applications and Test===
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====Check system status====
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Run the following command to confirm whether the camera is probed.
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*For VEYE-MIPI-327
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<code>dmesg | grep veye327</code>  
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The output message appears as shown below.：
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<code>Detected VEYE327 sensor</code>
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<code>subdev veye327 3X-003b bound</code>
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此外，检查/dev/videoX设备节点，应当是存在的。
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*For CS-MIPI-IMX307
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<code>dmesg | grep csimx307</code>  
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The output message appears as shown below.：
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<code>Detected CS307 sensor</code>
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<code>subdev csimx307 3X-003b bound</code>
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* Run the following command to check the presence of video node.
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<code>ls /dev/video*</code>
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The output message appears as shown below.
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<code>videoX</code>  
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====Video Stream Toolkits Manual====
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Our camera appears as /dev/videoX device node,where X is between [0-5].
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in gstreamer command ，v4l2src has a param device=/dev/videoX to identify which camera to use.
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=====Gstreamer Usage=====
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*Preview FHD(HW accelerated)
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<code>gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvoverlaysink sync=false</code>
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*Preview 720p@60 (CS-MIPI-IMX307,HW accelerated)
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<code>gst-launch-1.0 v4l2src ! "video/x-raw,format=(string)UYVY, width=(int)1280, height=(int)720, framerate=(fraction)60/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvoverlaysink sync=false</code>
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*Record FHD in H.264 format to a video file（HW accelerated）
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<code>gst-launch-1.0 v4l2src num-buffers=300 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! omxh264enc qp-range=20,20:20,20:-1,-1 ! matroskamux ! queue ! filesink location=videoname.mkv</code>
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*Playback of saved video file (HW accelerated）
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<code>gst-launch-1.0 filesrc location=videoname.mkv ! matroskademux ! h264parse ! omxh264dec ! nvoverlaysink</code>
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*Capturing FHD still image  
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<code>gst-launch-1.0 v4l2src num-buffers=1 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080" ! jpegenc ! filesink location=jpgname.jpg</code>
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====Video Control Toolkits Manual====
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*i2c bus description：
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ADP-TX2-6CAM has 6 MIPI CSI-2 interface [A-F]，the corresponding i2c address is[30-35].
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It is also the same as the 3X part of dmesg message:
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<code>subdev veye327 3X-003b bound</code>
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<code>subdev csimx307 3X-003b bound</code>
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using -b option to identify which bus you want to use.
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*VEYE-MIPI-327
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Video Control Toolkits Manual ：[[VEYE-MIPI-290/327 i2c/|VEYE-MIPI-327 I2C]]
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*CS-MIPI-IMX307
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Video Control Toolkits Manual ：[[CS-MIPI-X i2c|CS-MIPI-IMX307 I2C]]
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===Realtimes RTSO-9001 ===
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====Hardware Setup====
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[[File:CS-MIPI-307 to ruitai 9001tx2.jpg|center|thumb|800x800px|CS-MIPI-IMX307 and RTSO-9001（TX2）|link=http://wiki.veye.cc/index.php/File:CS-MIPI-307_to_ruitai_9001tx2.jpg]]
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Matching with Realtimes RTSO-9001, you need to use RTST-RPI adapter board.
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Note: the power supply capacity of the MIPI CSI-2 interface of the current version of RTSO-9001 is not enough to support the power requirements of our camera, which requires an additional 5V power supply to the camera. It is not shown in the picture above.
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====Software bsp====
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*The corresponding directory for Realtimes RTSO-9001, is：
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nvidia_jetson_veye_bsp\TX2\JetPack_4.2.2_Linux_RTSO-9001
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*Subject to the agreement with Ruitai, we do not release the source code
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*Our code have been submitted to Realtimes, and customers are advised to contact Realtimes for a complete version of the supported image.
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===References===
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Jetson start up： https://developer.nvidia.com/embedded/learn/getting-started-jetson
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TX2 development kit： https://developer.nvidia.com/embedded/jetson-tx2-developer-kit
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SDK Manager: https://docs.nvidia.com/sdk-manager/index.html
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TX2 user guide: [https://developer.download.nvidia.cn/embedded/L4T/r28_Release_v2.0/GA/Docs/Jetson_TX1_and_TX2_Developer_Kits_User_Guide.pdf?lumI95GW6BEyMmhP1Is8E79OYo105-tpsC2bOVQmBZ6Tw8AkLU4pSDMPCuzOaEonWMiDO2hliXbNvtkH9do81TNIXmLZGGoV7xoEehyEgfc2WO8e0Czz5chLSHoCqIuPLL1 link]
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Realtimes website：http://www.realtimes.cn/
 
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