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5,994 bytes added , 20:08, 16 July 2020

→‎Buruing the prebuilt Image to upgrade Jetson nano system

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[[CS-MIPI-IMX307 for Jetson Nano/zh|查看中文]]

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<big><big><big><big>How to use CS-MIPI-~~IMX307~~ camera module on NVIDIA Jetson Nano</big></big></big></big>

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<big><big><big><big>How to use CS-MIPI-X camera module on NVIDIA Jetson Nano</big></big></big></big>

===Overview===

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This guide shows how to connect CS-MIPI-~~IMX307~~ to Jetson Nano. Jetson ~~Nano~~ 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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This guide shows how to connect CS-MIPI-X to Jetson Nano.Jetson SDK Version is：

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CS-MIPI-IMX307 is STARVIS camera module with ISP functions build in. It output UYVY data using MIPI-CSI2，1080p@30fps mode ~~and~~ 720p_crop@60fps mode. We provide '''V4L2 interface''' for video streaming apps , and '''Video Control Toolkits (which is Shell Script)''' to control the camera module directly.

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*Jetpack4.2.2,L4T r32.2.1

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*Jetpack4.3,L4Tr32.3.1

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*Jetpack4.4,L4T,r32.4.3

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We provide two ways to do so: '''Prebuilt Binaries''' or '''Source Code. Yes, It's Open Source!'''

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CS-MIPI-IMX307 is STARVIS camera module with ISP functions build in. It output UYVY data using MIPI-CSI2，1080p@30fps mode, 720p_crop@60fps mode and VGA@130fps.

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CS-MIPI-SC132 is global shutter camera module with ISP functions build in. It output UYVY data using MIPI-CSI2，support mulity video format and trigger mode.

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We provide '''V4L2 interface''' for video streaming apps , and '''Video Control Toolkits (which is Shell Script)''' to control the camera module directly.

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The new version of Jetson Nano (B01) is supported.

===Hardware Setup===

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Jetson Nano's CSI2 interface is compatible with CS-MIPI-~~IMX307~~. ~~In addition，It~~ need ~~a 5V~~ power.

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Jetson Nano's CSI2 interface is compatible with CS-MIPI-X. It support 5V power or 3.3V power mode. [[Power supply mode switching|power switching]].

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*'''The default power supply mode of CS-MIPI-SC132 is 3.3V via FFC cable, and there is no need to plug in red and black power cable.'''

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===~~Buruing~~ the prebuilt Image to upgrade Jetson nano system===

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[[File:Jetson Nano B01 001.jpg|center|thumb|600x600px|CS-MIPI-307 dual cameras connect to Jetson Nano B01]]

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<br />

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===Upgrade Jetson Nano system===

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====Overview====

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This section describes how to upgrade the Jetson system to support our camera module. To support our camera module, we need to update the two parts of the L4T (Linux for Tegra) of the Jetson system, '''Image''' and '''DTB'''.

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In the Image, we added the camera driver, while the DTB indicates the camera model used. In general, you only need to use the Image and DTB, that we have prebuilt, and you don't need to build from source when it is not necessary.

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In particular, for Jetson nano, we provide a burning image of the TF card.

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===Burning the prebuilt Image to upgrade Jetson nano system===

You can use the image prebuild by us to upgrade jetson nano system, which will support our camera.

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*download ：

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~~link：https~~://pan.baidu.com/s/1sWrcfEOivjuQ7T7P5bVcng

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baiduyun：https://pan.baidu.com/s/1sWrcfEOivjuQ7T7P5bVcng

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google driver:https://drive.google.com/drive/folders/1KHSMTdyw-ZczR1yJPj-5y9eIv7izbgt3?usp=sharing

If Baidu cloud disk download is too slow, you can contact our company customer service ''xumm@csoneplus.com'' to obtain.

*How to burn

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~~<code>tar -xzvf Jetson_nano_R32.2.1_20191220_CS_MIPI_IMX307.img.tar.gz</code>~~

refer to [https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit Official document]

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Jetson Nano system setup, please refer to official document：[https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit get-started-jetson-nano-devkit].

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Development Docs：https://docs.nvidia.com/jetson/archives/~~l4t-archived/l4t-321/index.html~~

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Development Docs：https://docs.nvidia.com/jetson/archives/

====Setting Up the Environment====

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*Power cable (5V-4A) to power the Jetson Nano™ board.

*Micro SD card must be connected to the J501 slot.

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*A jumper pin must be connected to the pin 3 and pin 4 of J40 button header.

====Host PC environment prepare====

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Assume SDK install directory is <TOPDIR>，source code is in $L4T_DIR/sources directory.

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''-Jetpack4.2.2''

<code>export TOP_DIR=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P3448/></code>

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''-Jetpack4.3''

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<code>export TOP_DIR=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_JETSON_NANO_DEVKIT/></code>

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''-Jetpack4.4''

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<code>export TOP_DIR=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk//JetPack_4.4_Linux_JETSON_NANO_DEVKIT/></code>

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''- Common Part''

<code>export L4T_DIR=$TOP_DIR/Linux_for_Tegra</code>

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<code>export LOCALVERSION=-tegra</code>

<code>export LDK_ROOTFS_DIR=$TOP_DIR/Linux_for_Tegra/rootfs</code>

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<code>git clone [https://github.com/veyeimaging/~~jetson_nano https:~~//~~github.com~~/~~veyeimaging/cs-mipi-imx307_jetson_nano].git~~</code>

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<code>git clone <nowiki>https://github.com/veyeimaging/nvidia_jetson_veye_bsp.git</nowiki></code>

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<code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code>

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~~<code>export RELEASE_PACK_DIR=$L4T_DIR/cs-mipi-imx307_jetson_nano</code>~~

====Using prebuild Image and DTB====

=====Installing the Kernel and DTS=====

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<code>cd $RELEASE_PACK_DIR/~~binaries~~</code>

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- ''Jetpack4.2.2''

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<code>tar -xzvf Image_l4t_r32.2.1_veyecam.tar.gz</code>

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<code>sudo cp Image $L4T_DIR/kernel/ -f</code>

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<code>sudo cp $RELEASE_PACK_DIR/Nano/JetPack_4.2.2_Linux_GA_P3448/dts\ dtb/CS-MIPI-IMX307/tegra210-p3448-0000-p3449-0000-a02.dtb $L4T_DIR/kernel/dtb/ -f</code>

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<code>sudo cp $RELEASE_PACK_DIR/Nano/JetPack_4.2.2_Linux_GA_P3448/dts\ dtb/CS-MIPI-IMX307/tegra210-p3448-0000-p3449-0000-b00.dtb $L4T_DIR/kernel/dtb/ -f</code>

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- ''Jetpack4.3''

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<code>tar -xzvf ~~Image~~.tar.gz</code>

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<code>tar -xzvf Image_l4t_r32.3.1_veyecam.tar.gz</code>

<code>sudo cp Image $L4T_DIR/kernel/ -f</code>

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<code>sudo cp $RELEASE_PACK_DIR/~~binaries~~/tegra210-p3448-0000-p3449-0000-a02.dtb $L4T_DIR/kernel/dtb/tegra210-p3448-0000-p3449-0000-a02.dtb -f</code>

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*CS-MIPI-IMX307

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<code>sudo cp $RELEASE_PACK_DIR/Nano/JetPack_4.3_Linux_P3448/dts\ dtb/CS-MIPI-IMX307/tegra210-p3448-0000-p3449-0000-a02.dtb $L4T_DIR/kernel/dtb/ -f</code>

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<code>sudo cp $RELEASE_PACK_DIR/Nano/JetPack_4.3_Linux_P3448/dts\ dtb/CS-MIPI-IMX307/tegra210-p3448-0000-p3449-0000-b00.dtb $L4T_DIR/kernel/dtb/ -f</code>

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*CS-MIPI-SC132

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<code>sudo cp $RELEASE_PACK_DIR/Nano/JetPack_4.3_Linux_P3448/dts\ dtb/CS-MIPI-SC132/tegra210-p3448-0000-p3449-0000-a02.dtb $L4T_DIR/kernel/dtb/ -f</code>

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<code>sudo cp $RELEASE_PACK_DIR/Nano/JetPack_4.3_Linux_P3448/dts\ dtb/CS-MIPI-SC132/tegra210-p3448-0000-p3449-0000-b00.dtb $L4T_DIR/kernel/dtb/ -f</code>

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- ''Jetpack4.4''

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<code>tar -xzvf Image_l4t_r32.4.3_veyecam.tar.gz</code>

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<code>sudo cp Image $L4T_DIR/kernel/ -f</code>

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*For CS-MIPI-IMX307

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<code>sudo cp $RELEASE_PACK_DIR/Nano/JetPack_4.4_Linux_JETSON_NANO_DEVKIT/dts\ dtb/CS-MIPI-IMX307/tegra210-p3448-0000-p3449-0000-a02.dtb $L4T_DIR/kernel/dtb/ -f</code>

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<code>sudo cp $RELEASE_PACK_DIR/Nano/JetPack_4.4_Linux_JETSON_NANO_DEVKIT/dts\ dtb/CS-MIPI-IMX307/tegra210-p3448-0000-p3449-0000-b00.dtb $L4T_DIR/kernel/dtb/ -f</code>

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*For CS-MIPI-SC132

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<code>sudo cp $RELEASE_PACK_DIR/Nano/JetPack_4.4_Linux_JETSON_NANO_DEVKIT/dts\ dtb/CS-MIPI-SC132/tegra210-p3448-0000-p3449-0000-a02.dtb $L4T_DIR/kernel/dtb/ -f</code>

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<code>sudo cp $RELEASE_PACK_DIR/Nano/JetPack_4.4_Linux_JETSON_NANO_DEVKIT/dts\ dtb/CS-MIPI-SC132/tegra210-p3448-0000-p3449-0000-b00.dtb $L4T_DIR/kernel/dtb/ -f</code>

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====Flashing the Jetson Nano Development Kit====

The steps to flash the Jetson Nano™ development kit are as follows:

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*patch code

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<code>cp $RELEASE_PACK_DIR/~~sources/kernel~~/~~cs_imx307~~/* $NVIDIA_PATH/drivers/media/i2c/</code>

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<code>cp $RELEASE_PACK_DIR/drivers_source/cam_drv_src/* $NVIDIA_PATH/drivers/media/i2c/</code>

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''- r32.2.1''

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<code>cp $RELEASE_PACK_DIR/drivers_source/kernel_veyecam_config_32.2.1 $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_veyecam_defconfig</code>

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''- r32.3.1''

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<code>cp $RELEASE_PACK_DIR/sources/kernel/~~kernel_csimx307_config~~ $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/~~tegra_csimx307_defconfig~~</code>

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<code>cp $RELEASE_PACK_DIR/drivers_source/kernel_veyecam_config_32.3.1 $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_veyecam_defconfig</code>

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''- r32.4.3''

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<code>cp $RELEASE_PACK_DIR/drivers_source/kernel_veyecam_config_32.4.3 $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_veyecam_defconfig</code>

*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 ~~tegra_csimx307_defconfig~~</code>

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<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_veyecam_defconfig</code>

<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4</code>

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*patch code

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~~<code>cp $RELEASE_PACK_DIR/sources/dts/kernel~~-~~dts/* $NANO_DTS_PATH/</code>~~

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''- Jetpack4.2.2''

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<code>cp $RELEASE_PACK_DIR/~~sources~~/dts/~~kernel-dts~~/~~porg-platforms~~/* $NANO_DTS_PATH~~/porg-platforms~~/</code>

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<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.2.2_Linux_GA_P3448/dts\ dtb/common/t210/* -r $NANO_DTS_PATH/</code>

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<code>cp $RELEASE_PACK_DIR/~~sources~~/dts/kernel-dts/porg-plugin-manager/* $NANO_DTS_PATH/porg-plugin-manager/</code>

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<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.2.2_Linux_GA_P3448/dts\ dtb/CS-MIPI-IMX307/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>

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''- Jetpack4.3''

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<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.3_Linux_P3448/dts\ dtb/common/t210/* -r $NANO_DTS_PATH/</code>

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*CS-MIPI-IMX307

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<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.3_Linux_P3448/dts\ dtb/CS-MIPI-IMX307/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>

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*CS-MIPI-SC132

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<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.3_Linux_P3448/dts\ dtb/CS-MIPI-SC132/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>

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''- Jetpack4.4''

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<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.4_Linux_JETSON_NANO_DEVKIT/dts\ dtb/common/t210/* -r $NANO_DTS_PATH/</code>

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*CS-MIPI-IMX307

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<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.4_Linux_JETSON_NANO_DEVKIT/dts\ dtb/CS-MIPI-IMX307/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>

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*CS-MIPI-SC132

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<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.4_Linux_JETSON_NANO_DEVKIT/dts\ dtb/CS-MIPI-SC132/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>

*build

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<code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra210-p3448-0000-p3449-0000-a02.dtb $L4T_DIR/kernel/dtb/</code>

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<code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra210-p3448-0000-p3449-0000-b00.dtb $L4T_DIR/kernel/dtb/</code>

Could be used for Flashing or Upgrading.

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<code>GStreamer 1.14.4</code>

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Note: Make sure that CS-MIPI-~~IMX307~~ is connected and the required driversare loaded.

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Note: Make sure that CS-MIPI-X is connected and the required driversare loaded.

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During booting, the module drivers for CS-MIPI-~~IMX307~~ will be loaded automatically in the Jetson Nano™ development kit.

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During booting, the module drivers for CS-MIPI-X will be loaded automatically in the Jetson Nano™ development kit.

2. Run the following command to confirm whether the camera is initialized.

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~~<code>dmesg | grep csx307</code>~~

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*For CS-MIPI-IMX307

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The output message appears as shown below.

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<code>dmesg | grep csx307</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 X-003b bound</code>

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*For CS-MIPI-SC132

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<code>dmesg | grep cssc132</code>

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~~<code>subdev csx307 6-003b bound</code>~~

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The output message appears as shown below.：

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~~The output message indicates that the camera is initialized properly.~~

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<code>subdev cssc132 X-003b bound</code>

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3. Run the following command to check the presence of video node.

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*Run the following command to check the presence of video node.

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~~<u>~~<code>ls /dev/~~video0~~</code~~></u~~>

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<code>ls /dev/video*</code>

The output message appears as shown below.

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<code>video0</code>

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<code>video0(1)</code>

====Video Stream Toolkits Manual====

=====Gstreamer Usage=====

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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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*Preview 1280*1080@45 (CS-MIPI-SC132,HW accelerated)

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<code>gst-launch-1.0 v4l2src ! "video/x-raw,format=(string)UYVY, width=(int)1280, height=(int)1080, framerate=(fraction)45/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvoverlaysink sync=false</code>

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*Preview 640*480@130fps(HW accelerated)

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<code>gst-launch-1.0 v4l2src ! "video/x-raw,format=(string)UYVY, width=(int)640, height=(int)480, framerate=(fraction)130/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvoverlaysink sync=false</code>

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*Preview 2 cameras 1080p HD(HW accelerated)

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<code>WIDTH=960</code>

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<code>HEIGHT=540</code>

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<code>CAPS="video/x-raw,format=(string)UYVY, width=1920, height=1080"</code>

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<code>gst-launch-1.0 nvcompositor name=comp sink_0::xpos=0 sink_0::ypos=0 sink_0::width=$WIDTH sink_0::height=$HEIGHT sink_1::xpos=$WIDTH sink_1::ypos=0 sink_1::width=$WIDTH sink_1::height=$HEIGHT ! nvoverlaysink v4l2src device=/dev/video0 ! $CAPS ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420"! comp. v4l2src device=/dev/video1 ! $CAPS ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420"! comp.</code>

*Record FHD in H.264 format to a video file（HW accelerated）

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<code>gst-launch-1.0 v4l2src ! "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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<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>

*Playback of saved video file (HW accelerated）

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<code>gst-launch-1.0 v4l2src num-buffers=1 ! "video/x-raw,format=(string)UYVY, width=(int)1280, height=(int)720" ! jpegenc ! filesink location=jpgname.jpg</code>

====Video Control Toolkits Manual====

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Jetson Nano use i2c-6 as camera control bus.

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Jetson Nano A02 use i2c-6 as camera control bus,Jetson Nano B01 use i2c-7 and i2c-8 as camera control bus.

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Using -b option to identify which bus to use.

<code>cd $RELEASE_PACK_DIR/i2c_cmd/bin</code>

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Video Control Toolkits Manual : [[CS-MIPI-X i2c|CS-MIPI-~~IMX307~~ i2c]]

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Video Control Toolkits Manual : [[CS-MIPI-X i2c|CS-MIPI-X i2c]]

===Others===

This article and the source code are still in the process of improving. If you have any suggestions for improvement, you are welcome to email xumm#csoneplus.com.

<br />

Xumm

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CS-MIPI-IMX307 for Jetson Nano (view source)

Revision as of 20:08, 16 July 2020

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