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CS-MIPI-IMX307 for Jetson Nano/zh (view source)
Revision as of 12:00, 17 March 2020
, 12:00, 17 March 2020→概述
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。
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===
===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。
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。
*Power cable (5V-4A) to power the Jetson Nano™ board.
*Power cable (5V-4A) to power the Jetson Nano™ board.
*Micro SD card must be connected to the J501 slot.
*Micro SD card must be connected to the J501 slot.
====Host PC开发环境准备====
====Host PC开发环境准备====
<code>export L4T_DIR=$TOP_DIR/Linux_for_Tegra</code>
<code>export L4T_DIR=$TOP_DIR/Linux_for_Tegra</code>
<code>export LOCALVERSION=-tegra</code>
<code>export LDK_ROOTFS_DIR=$TOP_DIR/Linux_for_Tegra/rootfs</code>
<code>export LDK_ROOTFS_DIR=$TOP_DIR/Linux_for_Tegra/rootfs</code>
<code>export NVIDIA_PATH=$L4T_DIR/sources/kernel/nvidia</code>
<code>export NVIDIA_PATH=$L4T_DIR/sources/kernel/nvidia</code>
<code>export NANO_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t210/porg/kernel-dts</code>
<code>export NANO_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t210/</code>
*生成默认版本烧写镜像，准备好L4T环境
*生成默认版本烧写镜像，准备好L4T环境
<code>cd $L4T_DIR</code>
<code>cd $L4T_DIR</code>
<code>git clone [https://github.com/veyeimaging/jetson_nano https://github.com/veyeimaging/cs-mipi-imx307_jetson_nano].git</code>
<code>git clone <nowiki>https://github.com/veyeimaging/nvidia_jetson_veye_bsp.git</nowiki></code>
<code>export RELEASE_PACK_DIR=$L4T_DIR/cs-mipi-imx307_jetson_nano</code>
<code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code>
====使用编译好的Image和DTB====
====使用编译好的Image和DTB====
=====Installing the Kernel and DTS=====
=====Installing the Kernel and DTS=====
<code>cd $RELEASE_PACK_DIR/binaries</code>
<code>cd $RELEASE_PACK_DIR/kernel_image</code>
<code>tar -xzvf Image.tar.gz</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 Image $L4T_DIR/kernel/ -f</code>
<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>
<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>
<code>cd $L4T_DIR</code>
a. Power OFF the board.
a. Power OFF the board.
b. Connect the jumper pin to the pin 3 and pin 4 of the J40 button header.
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.
c. Power ON the Jetson Nano™ development kit.
*patch代码
*patch代码
<code>cp $RELEASE_PACK_DIR/sources/kernel/cs_imx307/* $NVIDIA_PATH/drivers/media/i2c/</code>
<code>cp $RELEASE_PACK_DIR/drivers_source/cs_imx307\ veye327/* $NVIDIA_PATH/drivers/media/i2c/</code>
<code>cp $RELEASE_PACK_DIR/sources/kernel/kernel_csimx307_config $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_csimx307_defconfig</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
*编译
<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_csimx307_defconfig</code>
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_csimx307veye327_defconfig</code>
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4</code>
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4</code>
*patch代码
*patch代码
<code>cp $RELEASE_PACK_DIR/sources/dts/kernel-dts/* $NANO_DTS_PATH/</code>
<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/sources/dts/kernel-dts/porg-platforms/* $NANO_DTS_PATH/porg-platforms/</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 $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>
*编译
*编译
<code>make ARCH=arm64 O=$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-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。
编译完成后，可以进行整体烧写或者动态升级。
应当有如下提示：
应当有如下提示：
<code>subdev csx307 6-003b bound</code>
<code>subdev csx307 6/7/8-003b bound</code>
此外，检查/dev/video0设备节点，应当是存在的。
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====
====视频流软件包和测试====
=====Gstreamer Usage=====
=====Gstreamer Usage=====
<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>
<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====
====视频控制软件包的使用====
Jetson Nano使用i2c-6作为摄像头的控制总线。
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>
<code>cd $RELEASE_PACK_DIR/i2c_cmd/bin</code>