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| [[CS-MIPI-IMX307 for Jetson Nano|English]] | | [[CS-MIPI-IMX307 for Jetson Nano|English]] |
| + | |
| + | <big><big><big><big>如何在英伟达Jetson Nano平台使用CS-MIPI-IMX307摄像头模组</big></big></big></big> |
| + | ===概述=== |
| + | 本文讲述怎样将CS-MIPI-IMX307 模组接入到英伟达公司的Jetson Nano开发板上。采用的Jetson Nano软件版本为r32.2.1,我们提供了编译好的固件和源代码两种方式来方便用户的使用。 |
| + | |
| + | CS-MIPI-IMX307是星光级内置ISP的摄像头模组,输出为MIPI-CSI2接口UYVY流模式,支持1080p@30fps和720pcrop@60模式。对于图像效果参数,我们并没有采用V4L2接口实现,而是采用了Shell脚本直接控制摄像头模组寄存器来实现。 |
| + | |
| + | 已支持Jetson Nano B01新版本。 |
| + | ===硬件准备及安装=== |
| + | Jetson Nano的CSI2接口可以直接与CS-MIPI-IMX307连接。此外,需要额外的5V供电。 |
| + | [[File:Cs mipi imx307 jetson nao.JPG|alt=|center|thumb|600x600px|Jetson Nano 与CS-MIPI-IMX307模组连接]] |
| + | [[File:Jetson nano pwr connect.jpg|center|thumb|600x600px|Jetson Nano 电源线接法|link=http://wiki.veye.cc/index.php/File:Jetson_nano_pwr_connect.jpg]] |
| + | [[File:Cs mipi imx307 jetson nano cameraboard.JPG|alt=|center|thumb|600x600px|CS-MIPI-IMX307接法]] |
| + | [[File:Jetson Nano B01 001.jpg|center|thumb|600x600px|CS-MIPI-307 dual cameras connect to Jetson Nano B01 ]] |
| + | |
| + | ===使用编译好的整体镜像更新Jetson nano系统=== |
| + | 客户可选择直接使用我们编译好的镜像进行系统更新,以支持我司摄像头模组。 |
| + | |
| + | *镜像下载路径: |
| + | |
| + | 链接:https://pan.baidu.com/s/1sWrcfEOivjuQ7T7P5bVcng |
| + | |
| + | 下载后请先解压后烧写。 |
| + | |
| + | 如百度云盘下载过慢,可以单独联系我公司客服xumm@csoneplus.com索取。 |
| + | |
| + | *烧写方法 |
| + | |
| + | 参考[https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit 官方链接] |
| + | ===使用源码更新Jetson nano系统=== |
| + | ====参考资料==== |
| + | Jetson Nano的系统安装及使用请参考官方文档:[https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit get-started-jetson-nano-devkit]. 详细的开发资料请参考官方文档:https://docs.nvidia.com/jetson/archives/l4t-archived/l4t-321/index.html |
| + | ====开发环境准备==== |
| + | |
| + | *Host PC which runs Ubuntu 18.04/16.04 (64-bit). |
| + | |
| + | *NVIDIA® provided L4T release and corresponding sample rootfs for Jetson Nano™ development kit. |
| + | |
| + | *A kernel image , device tree blob (DTB) file and module drivers for the CS-MIPI-IMX307 camera. The release package contains a kernel binary (Image),DTB files and module drivers, which you can download and rebuild from source. |
| + | |
| + | *A jumper pin connected across J48 button header to enable DC power. |
| + | *A USB cable (micro USB port) to plug into the recovery port of the Jetson Nano™ |
| + | *development kit. |
| + | *Power cable (5V-4A) to power the Jetson Nano™ board. |
| + | *Micro SD card must be connected to the J501 slot. |
| + | |
| + | ====Host PC开发环境准备==== |
| + | |
| + | *编译工具链 |
| + | |
| + | 请参考[https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%2520Linux%2520Driver%2520Package%2520Development%2520Guide%2Fxavier_toolchain.html%23wwpID0ESHA 这个链接]安装编译工具链。 |
| + | |
| + | *L4T源码和Rootfs |
| + | |
| + | 可以通过SDK Manager或者[https://developer.nvidia.com/embedded/downloads 直接下载]两种方式来获得源码。具体参考官方文档,此处不再赘述。 |
| + | |
| + | *配置开发环境 |
| + | |
| + | 以下步骤假设SDK安装目录为<TOPDIR>,源代码在$L4T_DIR/sources目录。 |
| + | |
| + | <code>export TOP_DIR=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P3448/></code> |
| + | |
| + | <code>export L4T_DIR=$TOP_DIR/Linux_for_Tegra</code> |
| + | |
| + | <code>export LOCALVERSION=-tegra</code> |
| + | |
| + | <code>export LDK_ROOTFS_DIR=$TOP_DIR/Linux_for_Tegra/rootfs</code> |
| + | |
| + | <code>export ARCH=arm64</code> |
| + | |
| + | <code>export CROSS_COMPILE=aarch64-linux-gnu-</code> |
| + | |
| + | <code>export CROSS32CC=arm-linux-gnueabihf-gcc</code> |
| + | |
| + | <code>mkdir -p $L4T_DIR/sources/kernel/out_kernel</code> |
| + | |
| + | <code>export TEGRA_KERNEL_OUT=$L4T_DIR/sources/kernel/out_kernel</code> |
| + | |
| + | <code>export NVIDIA_PATH=$L4T_DIR/sources/kernel/nvidia</code> |
| + | |
| + | <code>export NANO_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t210/</code> |
| + | |
| + | *生成默认版本烧写镜像,准备好L4T环境 |
| + | |
| + | <code>cd $L4T_DIR</code> |
| + | |
| + | <code>sudo ./apply_binaries.sh</code> |
| + | |
| + | *下载程序 |
| + | |
| + | <code>cd $L4T_DIR</code> |
| + | |
| + | <code>git clone <nowiki>https://github.com/veyeimaging/nvidia_jetson_veye_bsp.git</nowiki></code> |
| + | |
| + | <code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code> |
| + | ====使用编译好的Image和DTB==== |
| + | =====Installing the Kernel and DTS===== |
| + | <code>cd $RELEASE_PACK_DIR/kernel_image</code> |
| + | |
| + | <code>tar -xzvf Image_l4t_r32.2.1_veyecam.tar.gz</code> |
| + | |
| + | <code>sudo cp Image $L4T_DIR/kernel/ -f</code> |
| + | |
| + | <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> |
| + | |
| + | <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> |
| + | |
| + | <code>cd $L4T_DIR</code> |
| + | ====整体烧写 Flashing the Jetson Nano Development Kit==== |
| + | The steps to flash the Jetson Nano™ development kit are as follows: |
| + | |
| + | #Ensure a jumper is connected across J48 button header to enable DC power. |
| + | #Connect the micro USB cable to the Jetson Nano™ and host PC. |
| + | #Set the board to recovery mode, as mentioned in below steps: |
| + | |
| + | a. Power OFF the board. |
| + | |
| + | b. For Jetson Nano A02: Connect the jumper pin to the pin 3 and pin 4 of the J40 button header. For Jetson Nano B01: Connect the jumper pin to the pin 9 and pin 10 of the J50 button header. |
| + | |
| + | c. Power ON the Jetson Nano™ development kit. |
| + | |
| + | If the board is successfully changed to recovery mode, the Jetson Nano™development kit will be enumerated as an USB device to the host PC. |
| + | |
| + | Run the following command to verify whether the board is in recovery mode. |
| + | |
| + | <code>lsusb</code> |
| + | |
| + | The output message appears as shown below. |
| + | |
| + | <code>Bus 001 Device 102: ID 0955:7f21 NVidia Corp.</code> |
| + | |
| + | 4. Run the following commands to flash the Jetson Nano™ development kit from |
| + | |
| + | your host PC. |
| + | |
| + | <code>cd $L4T_DIR</code> |
| + | |
| + | <code>sudo ./flash.sh jetson-nano-qspi-sd mmcblk0p1</code> |
| + | |
| + | Note: Now, the entire micro SD on the Jetson Nano™ development kit will be erased. It will take about 10-30 minutes to complete depending on the host PC configuration. |
| + | |
| + | 5. Reboot and connect the Jetson Nano™ board to a monitor and keyboard to complete the OS configuration, once flashing is completed. |
| + | ====使用源码进行编译==== |
| + | =====编译kernel===== |
| + | |
| + | *patch代码 |
| + | |
| + | <code>cp $RELEASE_PACK_DIR/drivers_source/cs_imx307\ veye327/* $NVIDIA_PATH/drivers/media/i2c/</code> |
| + | |
| + | <code>cp $RELEASE_PACK_DIR/drivers_source/kernel_csimx307veye327_config $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_csimx307veye327_defconfig</code> |
| + | |
| + | *编译 |
| + | |
| + | <code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code> |
| + | |
| + | <code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_csimx307veye327_defconfig</code> |
| + | |
| + | <code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4</code> |
| + | |
| + | 编译完成的Image文件在 $TEGRA_KERNEL_OUT/arch/arm64/boot/Image,可以用于整体烧写,也可以用于动态升级。 |
| + | |
| + | 以下用于整体烧写 |
| + | |
| + | <code>sudo cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f</code> |
| + | =====编译DTS===== |
| + | |
| + | *patch代码 |
| + | |
| + | <code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.2.2_Linux_GA_P3448/dts\ dtb/common/t210/* -r $NANO_DTS_PATH/</code> |
| + | |
| + | <code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.2.2_Linux_GA_P3448/dts\ dtb/CS-MIPI-IMX307/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code> |
| + | |
| + | *编译 |
| + | |
| + | <code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs</code> |
| + | |
| + | <code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra210-p3448-0000-p3449-0000-a02.dtb $L4T_DIR/kernel/dtb/</code> |
| + | |
| + | <code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra210-p3448-0000-p3449-0000-b00.dtb $L4T_DIR/kernel/dtb/</code> |
| + | |
| + | 编译完成后,可以进行整体烧写或者动态升级。 |
| + | ====动态升级==== |
| + | |
| + | *升级Image文件 |
| + | |
| + | 无论是使用预编译好的程序还是使用自行编译出的Image,只需在Jetson Nano板子上执行: |
| + | |
| + | <code>sudo cp <path to your Image dir>/Image /boot/Image -f</code> |
| + | |
| + | *烧写DTS分区 |
| + | |
| + | 烧写流程参考4.3 整体烧写,烧写命令为: |
| + | |
| + | <code>cd $L4T_DIR</code> |
| + | |
| + | <code>sudo ./flash.sh -r -k DTB jetson-nano-qspi-sd mmcblk0p1</code> |
| + | |
| + | 烧写完成后,断电重启。 |
| + | ===应用和测试=== |
| + | ====系统状态检测==== |
| + | 完成系统安装后,在Jetson Nano板端执行以下命令来检测是否正确连接摄像头。 |
| + | |
| + | <code>dmesg | grep csx307</code> |
| + | |
| + | 应当有如下提示: |
| + | |
| + | <code>subdev csx307 6/7/8-003b bound</code> |
| + | |
| + | 此外,检查/dev/video0(1)设备节点,应当是存在的。 |
| + | ====视频流软件包和测试==== |
| + | =====Gstreamer Usage===== |
| + | |
| + | *视频预览1080p HD(硬件加速) |
| + | |
| + | <code>gst-launch-1.0 v4l2src ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvoverlaysink sync=false</code> |
| + | |
| + | *视频预览720p@60fps HD(硬件加速) |
| + | |
| + | <code>gst-launch-1.0 v4l2src ! "video/x-raw,format=(string)UYVY, width=(int)1280, height=(int)720, framerate=(fraction)60/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvoverlaysink sync=false</code> |
| + | |
| + | *并列预览两路视频 1080p HD(硬件加速) |
| + | |
| + | <code>WIDTH=960</code> |
| + | |
| + | <code>HEIGHT=540</code> |
| + | |
| + | <code>CAPS="video/x-raw,format=(string)UYVY, width=1920, height=1080"</code> |
| + | |
| + | <code>gst-launch-1.0 nvcompositor name=comp sink_0::xpos=0 sink_0::ypos=0 sink_0::width=$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> |
| + | |
| + | *视频录像1080p HD(硬件加速) |
| + | |
| + | <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> |
| + | |
| + | *录像回放(硬件加速) |
| + | |
| + | <code>gst-launch-1.0 filesrc location=videoname.mkv ! matroskademux ! h264parse ! omxh264dec ! nvoverlaysink</code> |
| + | |
| + | *抓拍图片1080p |
| + | |
| + | <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> |
| + | |
| + | *抓拍图片720p |
| + | |
| + | <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> |
| + | ====视频控制软件包的使用==== |
| + | Jetson Nano A02使用i2c-6作为摄像头的控制总线。Jetson Nano B01使用i2c-7和i2c-8作为摄像头的控制总线。 |
| + | |
| + | 执行i2c控制脚本时,需使用-b选项来指明控制的对应摄像头。 |
| + | |
| + | <code>cd $RELEASE_PACK_DIR/i2c_cmd/bin</code> |
| + | |
| + | 具体使用说明请见:[[CS-MIPI-X i2c/zh|I2C脚本使用说明]]。 |
| + | ===其他说明=== |
| + | 有任何的改进意见,欢迎您发邮件到xumm#csoneplus.com。 |