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VEYE CS Camera for Jetson TX2 (view source)

Revision as of 15:07, 26 September 2021

7,234 bytes removed ,  15:07, 26 September 2021
→‎Upgrade dtb
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===Overview===
 
===Overview===
−
This guide shows how to use VEYE and CS series camera modules on Jetson Nano,TX2,AGX Xavier and Xavier NX.  Jetson SDK Version is
+
This guide shows how to use VEYE and CS series camera modules on Jetson Nano,Jetson Nano 2GB,TX2,TX2 NX,AGX Xavier and Xavier NX.  Jetson SDK Version is
    
*Jetpack4.2.2,L4T r32.2.1
 
*Jetpack4.2.2,L4T r32.2.1
−
*Jetpack4.3,L4Tr32.3.1
+
*Jetpack4.3,L4T r32.3.1
−
*Jetpack4.4,L4T,r32.4.3
+
*Jetpack4.4,L4T r32.4.3
 +
*Jetpack4.4.1,L4T r32.4.4
 +
*Jetpack4.5,L4T r32.5
 +
*Jetpack4.5.1,L4T r32.5.1
 +
*Jetpack4.6,L4T r32.6.1
    
We provide two ways to do so: '''Prebuilt Binaries''' or '''Source Code. Yes, It's Open Source!'''
 
We provide two ways to do so: '''Prebuilt Binaries''' or '''Source Code. Yes, It's Open Source!'''
    
VEYE and CS series camera modules are 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).
 
VEYE and CS series camera modules are 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).
 +
====How to check the current L4T version====
 +
On Jetson board
 +
 +
<code>cat /etc/nv_tegra_release</code>
 +
 +
If it shows:
 +
 +
<code># R32 (release), REVISION: 4.3......</code>
 +
 +
It means L4t Verion is 32.4.3
 
===Hardware Setup===
 
===Hardware Setup===
 
We have designed a 6cam interposer board  for TX2 devkit and Xavier, It support up to 6 cameras at the same time.   
 
We have designed a 6cam interposer board  for TX2 devkit and Xavier, It support up to 6 cameras at the same time.   
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It is connected as shown in figure:
 
It is connected as shown in figure:
 
[[File:TX2-6CAM-YT2.0-3.5I.jpg|alt=TX2 Devkit 6 cameras connection|center|thumb|800x800px|'''TX2 Devkit 6 cameras connection''']]
 
[[File:TX2-6CAM-YT2.0-3.5I.jpg|alt=TX2 Devkit 6 cameras connection|center|thumb|800x800px|'''TX2 Devkit 6 cameras connection''']]
−
<br />
+
<br />'''Be sure to screw the ADP adapter board to the bottom board.'''
    
====NVIDIA TX2 AGX Xavier====
 
====NVIDIA TX2 AGX Xavier====
−
[[File:AGX XAVIER 6cam.jpg|alt=Connect VEYE cameras to AGX Xavier|center|thumb|800x800px|Connect VEYE cameras to AGX Xavier (the green interposer board  is temporary，the official version is black. )]]
   
<br />
 
<br />
−
====NVIDIA Nano 和 Xavier NX Devkit====
+
[[File:ADP-N1-V2.0 XAVIER 6CAM.jpg|link=http://wiki.veye.cc/index.php/File:ADP-N1-V2.0%20XAVIER%206CAM.jpg|alt=Connect VEYE cameras to AGX Xavier|center|thumb|800x800px|Connect VEYE cameras to AGX Xavier]]
 +
<br />'''Be sure to screw the ADP adapter board to the bottom board.'''
 +
====NVIDIA Nano ，TX2 NX and Xavier NX Devkit====
 
The Xavier NX interface is compatible with raspberry pi and Jetson Nano. The connection mode is shown in figure:
 
The Xavier NX interface is compatible with raspberry pi and Jetson Nano. The connection mode is shown in figure:
 
[[File:Xavier NX connection with VEYE-MIPI-327.jpg|alt=Xavier NX connection with VEYE-MIPI-327|center|thumb|800x800px|Xavier NX connection with VEYE-MIPI-327]]
 
[[File:Xavier NX connection with VEYE-MIPI-327.jpg|alt=Xavier NX connection with VEYE-MIPI-327|center|thumb|800x800px|Xavier NX connection with VEYE-MIPI-327]]
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[[File:Jetson nano to Veye327.jpg|link=http://wiki.veye.cc/index.php/File:Jetson%20nano%20to%20Veye327.jpg|alt=Jetson Nano A02 与VEYE模组连接|center|thumb|800x800px|VEYE327 connection with Jetson Nano A02]]
 
[[File:Jetson nano to Veye327.jpg|link=http://wiki.veye.cc/index.php/File:Jetson%20nano%20to%20Veye327.jpg|alt=Jetson Nano A02 与VEYE模组连接|center|thumb|800x800px|VEYE327 connection with Jetson Nano A02]]
   −
===Upgrade Jetson Nano, Jetson TX2, AGX Xavier and Xavier NX system===
+
===Upgrade Jetson Nano, Jetson TX2, TX2 NX,AGX Xavier and Xavier NX system===
    
====Overview====
 
====Overview====
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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.
 
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.
   −
In particular, for Xavier NX, we provide a burning image of the TF card.
+
<s>In particular, for Xavier NX, we provide a burning image of the TF card.</s>
   −
====Buruing the prebuilt Image to upgrade Jetson Nano and Xavier NX Devkit====
+
====<s>Burning the prebuilt Image to upgrade Jetson Nano and Xavier NX Devkit</s>====
−
'''''This method is no longer recommended because in this mode, the DTB partition reverts to the default value in some cases. It is recommended to use pre-compiled Image and DTB for driver upgrade.'''''
+
'''''<s>This method is no longer recommended because in this mode, the DTB partition reverts to the default value in some cases. It is recommended to use pre-compiled Image and DTB for driver upgrade.</s>'''''
   −
You can use the image prebuild by us to upgrade jetson Xavier NX system, which will support our camera.
+
<s>You can use the image prebuild by us to upgrade jetson Xavier NX system, which will support our camera.</s>
   −
Using whole prebuilt image
+
<s>Using whole prebuilt image</s>
   −
*download ：
+
*<s>download ：</s>
   −
baiduyun：https://pan.baidu.com/s/1sWrcfEOivjuQ7T7P5bVcng
+
<s>baiduyun：https://pan.baidu.com/s/1sWrcfEOivjuQ7T7P5bVcng</s>
   −
google driver:https://drive.google.com/drive/folders/1KHSMTdyw-ZczR1yJPj-5y9eIv7izbgt3?usp=sharing
+
<s>google driver:https://drive.google.com/drive/folders/1KHSMTdyw-ZczR1yJPj-5y9eIv7izbgt3?usp=sharing</s>
   −
If Baidu cloud disk download is too slow, you can contact our company customer service ''xumm@csoneplus.com'' to obtain.
+
<s>If Baidu cloud disk download is too slow, you can contact our company customer service ''xumm@csoneplus.com'' to obtain.</s>
   −
*How to burn<code><nowiki/></code>
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*<s>How to burn</s><code><nowiki/></code>
   −
refer to [https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit#write Official document]
+
<s>refer to [https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit#write Official document]</s>
    
====BSP package introduction====
 
====BSP package introduction====
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*i2c toolkits
 
*i2c toolkits
   −
====Upgrade Jetson Nano and Xavier NX without HOST PC====
+
==== DTB file name and Jeton Board ====
 +
 
 +
=====Nano A02=====
 +
<code>tegra210-p3448-0000-p3449-0000-a02.dtb</code>
 +
 
 +
===== Nano B01 =====
 +
<code>tegra210-p3448-0000-p3449-0000-b00.dtb</code>
 +
 
 +
===== Nano 2GB =====
 +
<code>tegra210-p3448-0003-p3542-0000.dtb</code>
 +
=====TX2 Devkit=====
 +
<code>tegra186-quill-p3310-1000-c03-00-base.dtb</code>
 +
 
 +
===== TX2 NX(p3509-0000 carrier board) =====
 +
use the same carrier board with XAVIER NX Devkit
 +
 
 +
<code>tegra186-p3636-0001-p3509-0000-a01.dtb</code>
 +
=====AGX XAVIER=====
 +
<code>tegra194-p2888-0001-p2822-0000.dtb</code>
 +
=====XAVIER NX Devkit=====
 +
<code>tegra194-p3668-all-p3509-0000.dtb</code>
 +
====Upgrade Jetson Nano and Xavier NX 、AGX Xavier without HOST PC====
 +
Note: AGX Xavie Jetpack version >= 4.4 , support this upgrade mode. Earlier versions have not been verified and are not recommended.
    
=====Check the current L4T version=====
 
=====Check the current L4T version=====
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<code>sudo cp <path to your Image dir>/Image /boot/Image -f</code>
 
<code>sudo cp <path to your Image dir>/Image /boot/Image -f</code>
 +
 +
''For Xavier NX Devkit''
 +
 +
Need to use the signed file(For example，file inside Image_l4t_r32.*.*_veyecam_signed_4_xavier),copy Image and Image.sig to /boot/ dir on the Jetson Xavier board:
 +
 +
<code>sudo cp <path to your Image dir>/Image /boot/Image -f</code>
 +
 +
<code>sudo cp <path to your Image dir>/Image.sig /boot/Image -f</code>
 +
 +
Effective after restart.
    
=====Upgrade dtb=====
 
=====Upgrade dtb=====
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<code>FDT /boot/<DTB file name></code>
 
<code>FDT /boot/<DTB file name></code>
   −
====Upgrade Jetson Board using Host PC====
+
Note: <DTB file name> should be replaced with the corresponding dtb name of the mainboard, ensure that the file specified in the FDT line actually exists correctly.
   −
=====Setting Up the Host PC Environment=====
+
Effective after restart.
   −
*Cross-compiling Toolchain
+
====Upgrade Jetson Board using Host PC====
−
 
  −
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.
  −
 
  −
*L4T source code and Rootfs
  −
 
  −
You could use SDK Manager or [https://developer.nvidia.com/embedded/downloads directly download] to get source code.
  −
 
  −
Sync code as this if you use SDK Manager:
  −
 
  −
''- Jetpack4.2.2''
  −
 
  −
<code>./source_sync.sh -t tegra-l4t-r32.2.1</code>
     −
''- Jetpack4.3''
+
=====Burn the standard Image=====
 +
'''''Note: if your Jetson board has correctly burned the standard version Image, you can skip this step.'''''
   −
<code>./source_sync.sh -t tegra-l4t-r32.3.1</code>
+
You can burn the standard Image using SDK Manager or following the steps below.
   −
''- Jetpack4.4''
+
* Set PATH
   −
<code>./source_sync.sh -t tegra-l4t-r32.4.3</code>
+
Assume SDK install directory is <TOPDIR>.
   −
*Setting Up the Environment
+
<code>export TOP_DIR=<absolute path to top dir accroding to your jetpack version and board name;for example /home/xumm/nvidia/nvidia_sdk/JetPack_4.5_Linux_JETSON_XAVIER_NX_DEVKIT/></code>
   −
Assume SDK install directory is <TOPDIR>，source code is in $L4T_DIR/sources directory.
+
export L4T_DIR=$TOP_DIR/Linux_for_Tegra
−
 
  −
''- Nano@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>
  −
 
  −
''- Nano@Jetpack4.3''
  −
 
  −
<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>
  −
 
  −
''- Nano@Jetpack4.4''
  −
 
  −
<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>
  −
 
  −
''- TX2@Jetpack4.2.2''
  −
 
  −
<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P3310/</code>
  −
 
  −
''- TX2@Jetpack4.3''
  −
 
  −
<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_P3310/</code>
  −
 
  −
''- TX2@Jetpack4.4''
  −
 
  −
<code>export TOP_DIR=/home/xumm/nvidia/JetPack_4.4_Linux_JETSON_TX2/</code>
  −
 
  −
''- AGX XavierJetpack4.2.2''
  −
 
  −
<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P2888/</code>
  −
 
  −
''- AGX XavierJetpack4.3''
  −
 
  −
<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_P2888/</code>
  −
 
  −
''- AGX XavierJetpack4.4''
  −
 
  −
<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/</code>
  −
 
  −
- ''Xavier NX Jetpack4.4''
  −
 
  −
<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT</code>
  −
 
  −
- Common part
  −
 
  −
<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>export TEGRA_KERNEL_OUT=$L4T_DIR/sources/kernel/out_kernel</code>
  −
 
  −
<code>export KERNEL_PATH=$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>
  −
 
  −
<code>export TX2_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t18x</code>
  −
 
  −
<code>export XAVIER_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t19x</code>
  −
 
  −
<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
      
*Build default image, flashing to Jetson Board, prepare L4T environment
 
*Build default image, flashing to Jetson Board, prepare L4T environment
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- Nano
 
- Nano
   −
<code>sudo ./flash.sh jetson--qspi-sd mmcblk0p1</code>
+
<code><s>sudo ./flash.sh jetson-qspi-sd mmcblk0p1</s></code>
 +
 
 +
<code>sudo ./flash.sh jetson-nano-devkit mmcblk0p1</code>
 +
 
 +
<code>sudo ./flash.sh jetson-nano-2gb-devkit mmcblk0p1</code>
    
''- TX2''
 
''- TX2''
    
<code>sudo ./flash.sh jetson-tx2 mmcblk0p1</code>
 
<code>sudo ./flash.sh jetson-tx2 mmcblk0p1</code>
 +
 +
''- TX2 NX(p3509-0000 carrier board)''
 +
 +
<code>sudo ./flash.sh jetson-xavier-nx-devkit-tx2-nx mmcblk0p1</code>
    
''- AGX Xavier''  
 
''- AGX Xavier''  
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''- AGX Xavier and Xavier NX Devkit''
 
''- AGX Xavier and Xavier NX Devkit''
   −
Need to use the signed file,copy Image and Image.sig to /boot/ dir on the Jetson Xavier board:
+
Need to use the signed file(For example，file inside Image_l4t_r32.*.*_veyecam_signed_4_xavier),copy Image and Image.sig to /boot/ dir on the Jetson Xavier board:
    
<code>sudo cp <path to your Image dir>/Image  /boot/Image -f</code>
 
<code>sudo cp <path to your Image dir>/Image  /boot/Image -f</code>
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- ''Nano''
 
- ''Nano''
   −
<code>sudo ./flash.sh -r -k DTB jetson-nano-qspi-sd mmcblk0p1</code>
+
<code><s>sudo ./flash.sh -r -k DTB jetson-nano-qspi-sd mmcblk0p1</s></code>
 +
 
 +
<code>sudo ./flash.sh -r -k DTB  jetson-nano-devkit mmcblk0p1</code>
 +
 
 +
<code>sudo ./flash.sh -r -k DTB  jetson-nano-2gb-devkit mmcblk0p1</code>
    
''- TX2''
 
''- TX2''
    
<code>sudo ./flash.sh -r -k kernel-dtb jetson-tx2 mmcblk0p1</code>
 
<code>sudo ./flash.sh -r -k kernel-dtb jetson-tx2 mmcblk0p1</code>
 +
 +
''- TX2 NX(p3509-0000 carrier board)''
 +
 +
<code>sudo ./flash.sh -r -k kernel-dtb jetson-xavier-nx-devkit-tx2-nx mmcblk0p1</code>
    
''- AGX Xavier''
 
''- AGX Xavier''
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<code>ls /sys/bus/i2c/drivers/</code>
 
<code>ls /sys/bus/i2c/drivers/</code>
   −
There should have  veye327 csx307 cssc132 directory.
+
There should have  veye327 veyecam csx307 cssc132 directory.
 
=====For DTB=====
 
=====For DTB=====
 
DTB varies from platform  and from camera module.
 
DTB varies from platform  and from camera module.
   −
- Nano A02
+
- Nano A02/ Nano 2G
    
<code>ls /proc/device-tree/host1x/i2c@546c0000/</code>
 
<code>ls /proc/device-tree/host1x/i2c@546c0000/</code>
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<code>ls /proc/device-tree/i2c@3180000/tca9548@70/i2c@*</code>
 
<code>ls /proc/device-tree/i2c@3180000/tca9548@70/i2c@*</code>
 +
 +
or
 +
 +
<code>ls /proc/device-tree/i2c@3180000/tca9548@77/i2c@*</code>
    
- AGX Xavier
 
- AGX Xavier
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<code>ls /proc/device-tree/i2c@3180000/tca9548@70/i2c@*</code>
 
<code>ls /proc/device-tree/i2c@3180000/tca9548@70/i2c@*</code>
   −
- Xavier NX
+
or
 +
 
 +
<code>ls /proc/device-tree/i2c@3180000/tca9548@77/i2c@*</code>
 +
 
 +
- Xavier NX and TX2 NX(p3509-0000 carrier board)
    
<code>ls /proc/device-tree/cam_i2cmux/i2c@*</code>
 
<code>ls /proc/device-tree/cam_i2cmux/i2c@*</code>
    
You should be able to find the camera model you used.
 
You should be able to find the camera model you used.
−
====Building from Source====
+
====Build the drivers from source====
−
=====Build kernel=====
+
Please refer to: [[VEYE CS Camera source for Jetson|Nvidia Jetson platform VEYE and CS series camera driver source code compilation guide]].
−
 
  −
*patch code
  −
 
  −
<code>cp $RELEASE_PACK_DIR/drivers_source/cam_drv_src/* $NVIDIA_PATH/drivers/media/i2c/</code>
  −
 
  −
''- r32.2.1''
  −
 
  −
<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>
  −
 
  −
''- r32.3.1''
  −
 
  −
<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>
  −
 
  −
''- r32.4.2''
  −
 
  −
<code>cp $RELEASE_PACK_DIR/drivers_source/kernel_veyecam_config_32.4.2 $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_veyecam_defconfig</code>
  −
 
  −
''- r32.4.3''
  −
 
  −
<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
  −
 
  −
<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
  −
 
  −
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_veyecam_defconfig</code>
  −
 
  −
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4</code>
  −
 
  −
Completed Image file is $TEGRA_KERNEL_OUT/arch/arm64/boot/Image，could be used for Flashing or Upgrading.
  −
 
  −
Install Image for Flashing:
  −
 
  −
<code>sudo cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f</code>
  −
 
  −
*For xavier，need sign the file
  −
 
  −
<code>cd $L4T_DIR</code>
  −
 
  −
<code>./l4t_sign_image.sh --file kernel/Image --chip 0x19</code>
  −
 
  −
=====Build DTS=====
  −
 
  −
*patch code
  −
 
  −
''- '''Nano@Jetpack4.2.2'''''
  −
 
  −
<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.2.2_Linux_GA_P3448/dts\ dtb/common/t210/* -r $NANO_DTS_PATH/</code>
  −
 
  −
For VEYE-MIPI-327
  −
 
  −
<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.2.2_Linux_GA_P3448/dts\ dtb/VEYE-MIPI-327/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>
  −
 
  −
For CS-MIPI-IMX307
  −
 
  −
<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>
  −
 
  −
''- '''Nano@Jetpack4.3'''''
  −
 
  −
<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.3_Linux_P3448/dts\ dtb/common/t210/* -r $NANO_DTS_PATH/</code>
  −
 
  −
For VEYE-MIPI-327
  −
 
  −
<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.3_Linux_P3448/dts\ dtb/VEYE-MIPI-327/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>
  −
 
  −
For CS-MIPI-IMX307
  −
 
  −
<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>
  −
 
  −
''- '''Nano@Jetpack4.4'''''
  −
 
  −
<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.4_Linux_JETSON_NANO_DEVKIT/dts\ dtb/common/t210/* -r $NANO_DTS_PATH/</code>
  −
 
  −
For VEYE-MIPI-327
  −
 
  −
<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.4_Linux_JETSON_NANO_DEVKIT/dts\ dtb/VEYE-MIPI-327/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>
  −
 
  −
For CS-MIPI-IMX307
  −
 
  −
<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>
  −
 
  −
For CS-MIPI-SC132
  −
 
  −
<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>
  −
 
  −
''- '''Jetson TX2@Jetpack4.2.2'''''
  −
 
  −
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.2.2_Linux_GA_P3310/dts\ dtb/common/t18x/* -r $TX2_DTS_PATH/</code>
  −
 
  −
For CS-MIPI-IMX307
  −
 
  −
<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>
  −
 
  −
For VEYE-MIPI-327
  −
 
  −
<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>
  −
 
  −
''-  '''TX2@Jetpack4.3'''''
  −
 
  −
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.3_Linux_P3310/dts\ dtb/common/t18x/* -r $TX2_DTS_PATH/</code>
  −
 
  −
For CS-MIPI-IMX307
  −
 
  −
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.3_Linux_P3310/dts\ dtb/CS-MIPI-IMX307/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code>
  −
 
  −
For CS-MIPI-SC132
  −
 
  −
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.3_Linux_P3310/dts\ dtb/CS-MIPI-SC132/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code>
  −
 
  −
For VEYE-MIPI-327
  −
 
  −
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.3_Linux_P3310/dts\ dtb/VEYE-MIPI-327/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code>
  −
 
  −
''-  '''TX2@Jetpack4.4'''''
  −
 
  −
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.4_Linux_JETSON_TX2/dts\ dtb/common/t18x/* -r $TX2_DTS_PATH/</code>
  −
 
  −
For CS-MIPI-IMX307
  −
 
  −
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.4_Linux_JETSON_TX2/dts\ dtb/CS-MIPI-IMX307/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code>
  −
 
  −
For CS-MIPI-SC132
  −
 
  −
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.4_Linux_JETSON_TX2/dts\ dtb/CS-MIPI-SC132/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code>
  −
 
  −
For VEYE-MIPI-327
  −
 
  −
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.4_Linux_JETSON_TX2/dts\ dtb/VEYE-MIPI-327/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code>
  −
 
  −
''- '''AGX Xavier@Jetpack4.2.2'''''
  −
 
  −
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.2.2_Linux_GA_P2888/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code>
  −
 
  −
For CS-MIPI-IMX307
  −
 
  −
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.2.2_Linux_GA_P2888/dts\ dtb/CS-MIPI-IMX307/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/</code>
  −
 
  −
For VEYE-MIPI-327
  −
 
  −
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.2.2_Linux_GA_P2888/dts\ dtb/VEYE-MIPI-327/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/</code>
  −
 
  −
''- '''AGX Xavier@Jetpack4.3'''''
  −
 
  −
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.3_Linux_P2888/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code>
  −
 
  −
For CS-MIPI-IMX307
  −
 
  −
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.3_Linux_P2888/dts\ dtb/CS-MIPI-IMX307/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/</code>
  −
 
  −
For CS-MIPI-SC132
  −
 
  −
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.3_Linux_P2888/dts\ dtb/CS-MIPI-SC132/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/</code>
  −
 
  −
For VEYE-MIPI-327
  −
 
  −
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.3_Linux_P2888/dts\ dtb/VEYE-MIPI-327/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/</code>
  −
 
  −
''- '''AGX Xavier@Jetpack4.4'''''
  −
 
  −
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.4_Linux_JETSON_AGX_XAVIER/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code>
  −
 
  −
For CS-MIPI-IMX307
  −
 
  −
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.4_Linux_JETSON_AGX_XAVIER/dts\ dtb/CS-MIPI-IMX307/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/</code>
  −
 
  −
For CS-MIPI-SC132
  −
 
  −
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.4_Linux_JETSON_AGX_XAVIER/dts\ dtb/CS-MIPI-SC132/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/</code>
  −
 
  −
For VEYE-MIPI-327
  −
 
  −
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.4_Linux_JETSON_AGX_XAVIER/dts\ dtb/VEYE-MIPI-327/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/</code>
  −
 
  −
''- '''Xavier NX@Jetpack4.4'''''
  −
 
  −
<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code>
  −
 
  −
For CS-MIPI-IMX307
  −
 
  −
<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/CS-MIPI-IMX307/tegra194-p3509-0000-a00.dtsi $XAVIER_DTS_PATH/jakku/kernel-dts/common/</code>
  −
 
  −
For CS-MIPI-SC132
  −
 
  −
<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/CS-MIPI-SC132/tegra194-p3509-0000-a00.dtsi $XAVIER_DTS_PATH/jakku/kernel-dts/common/</code>
  −
 
  −
For VEYE-MIPI-327
  −
 
  −
<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/VEYE-MIPI-327/tegra194-p3509-0000-a00.dtsi $XAVIER_DTS_PATH/jakku/kernel-dts/common/</code>
  −
 
  −
*build
  −
 
  −
<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
  −
 
  −
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs</code>
  −
 
  −
- ''Nano''
  −
 
  −
<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>
  −
 
  −
''- TX2''
  −
 
  −
<code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra186-quill-p3310-1000-c03-00-base.dtb $L4T_DIR/kernel/dtb/</code>
  −
 
  −
''- AGX XAVIER''
  −
 
  −
<code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb</code>
  −
 
  −
''- XAVIER NX''
  −
 
  −
<code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra194-p3668-all-p3509-0000.dtb  $L4T_DIR/kernel/dtb/</code>
      
Could be used for Flashing or Upgrading.
 
Could be used for Flashing or Upgrading.
Line 540: Line 320:  
Run the following command to confirm whether the camera is probed.
 
Run the following command to confirm whether the camera is probed.
   −
*For VEYE-MIPI-327
+
*For VEYE-MIPI-327(using VEYE-MIPI-327 dtb)
    
<code>dmesg | grep veye327</code>  
 
<code>dmesg | grep veye327</code>  
   −
The output message appears as shown below.：
+
The output message appears as shown below：
    
<code>Detected VEYE327 sensor</code>
 
<code>Detected VEYE327 sensor</code>
    
<code>subdev veye327 X-003b bound</code>
 
<code>subdev veye327 X-003b bound</code>
 +
 +
*VEYE-MIPI-X(using VEYE-MIPI-CAM2M dtb)
 +
 +
<code>dmesg | grep veye</code>  
 +
 +
The output message appears as shown below：
 +
 +
<code>camera id is veyecam</code>
 +
 +
<code>sensor is IMX327/IMX462/IMX385</code>
 +
 +
<code>subdev veyecam X-003b bound</code>
    
*For CS-MIPI-IMX307
 
*For CS-MIPI-IMX307
Line 558: Line 350:  
<code>Detected CS307 sensor</code>
 
<code>Detected CS307 sensor</code>
   −
<code>subdev csimx307 X-003b bound</code>
+
<code>subdev csx307 X-003b bound</code>
    
*For CS-MIPI-SC132
 
*For CS-MIPI-SC132
Line 585: Line 377:     
<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>
 
<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>
 +
 +
* Preview FHD(using xvimagesink sink)
 +
 +
<code>export DISPLAY=:0</code>
 +
 +
<code>gst-launch-1.0 -e v4l2src io-mode=4 device=/dev/video0 do-timestamp=true ! 'video/x-raw, width=1920, height=1080, framerate=30/1, format=UYVY' ! xvimagesink sync=false</code>
    
*Preview 720p@60 (CS-MIPI-IMX307,HW accelerated)
 
*Preview 720p@60 (CS-MIPI-IMX307,HW accelerated)
Line 607: Line 405:     
<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>
 
<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>
 +
 +
* Gstreamer cmd line for OpenCV
 +
 +
I think maybe OpenCV do not support I420 data format input，so you should convert it to BGR format.
 +
 +
<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 ！ nvvidconv ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink</code>
    
*Record FHD in H.264 format to a video file（HW accelerated）
 
*Record FHD in H.264 format to a video file（HW accelerated）
Line 625: Line 429:  
For AGX-Xavier and TX2, ADP-N1 has 6 MIPI CSI-2 interface [A-F]，the corresponding i2c address is[30-35].
 
For AGX-Xavier and TX2, ADP-N1 has 6 MIPI CSI-2 interface [A-F]，the corresponding i2c address is[30-35].
   −
For Xavier NX, the corresponding i2c address is 9 and10.
+
For Xavier NX, TX2 NX,the corresponding i2c address is 9 and10.
   −
For Nano A02, the corresponding i2c address is 6.
+
For Nano A02,Nano 2GB, the corresponding i2c address is 6.
   −
For Xavier NX, the corresponding i2c address is 7 and 8.
+
For Nano B01, the corresponding i2c address is 7 and 8.
    
It is also the same as the X part of dmesg message:
 
It is also the same as the X part of dmesg message:
   −
<code>subdev veye327 X-003b bound</code>
+
<code>subdev veyeX X-003b bound</code>
    
<code>subdev csimx307 X-003b bound</code>
 
<code>subdev csimx307 X-003b bound</code>
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