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→Overview
===Overview===
===Overview===
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
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
* Jetpack4.6.1, L4T r32.7.1
* Jetpack4.6.1, L4T r32.7.1
*Jetpack4.6.2,L4T r32.7.2
*Jetpack4.6.2,L4T r32.7.2
*Jetpack4.6.3,L4T r32.7.3
*Jetpack4.6.4,L4T r32.7.4
*Jetpack5.0.1DP, L4T r34.1.1
*Jetpack5.0.1DP, L4T r34.1.1
*Jetpack5.0.2, L4T r35.1
*Jetpack5.0.2, L4T r35.1
*Jetpack5.1,L4T r35.2.1
*Jetpack5.1.1,L4T r35.3.1
*Jetpack5.1.2,L4T r35.4.1
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!'''
|}
|}
====How to check the current L4T version====
====How to check the current L4T version====
===== Method 1 =====
On Jetson board
On Jetson board
It means L4t Version is 32.4.3
It means L4t Version is 32.4.3
===== Method 2 =====
Refer to this [https://pypi.org/project/jetson-stats/ link] to install jetson-stats:
<code>jtop</code>
===Hardware Setup===
===Hardware Setup===
We have designed a 6cam interposer board for TX2 devkit,Xavier and Orin, It support up to 6 cameras at the same time.
We have designed a 6cam interposer board for TX2 devkit,Xavier and Orin, It support up to 6 cameras at the same time.
[[File:Xavier NX connection with CS-MIPI-IMX307.jpg|alt=Xavier NX connection with CS-MIPI-IMX307|center|thumb|800x800px|Xavier NX connection with CS-MIPI-IMX307]]
[[File:Xavier NX connection with CS-MIPI-IMX307.jpg|alt=Xavier NX connection with CS-MIPI-IMX307|center|thumb|800x800px|Xavier NX connection with CS-MIPI-IMX307]]
[[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]]
[[File:VEYE camera connection with Orin Nano and Orin NX.jpg|center|thumb|800x800px|VEYE camera connection with Orin Nano and Orin NX]]
<br />
===Upgrade Jetson Nano, TX2,Xavier and Orin system===
===Upgrade Jetson Nano, TX2,Xavier and Orin system===
=====Nano A02=====
=====Nano A02=====
<code>tegra210-p3448-0000-p3449-0000-a02.dtb</code>
<code>tegra210-p3448-0000-p3449-0000-a02.dtb</code>
=====Nano B01 Devkit=====
===== Nano B01 =====
<code>tegra210-p3448-0000-p3449-0000-b00.dtb</code>
<code>tegra210-p3448-0000-p3449-0000-b00.dtb</code>
=====Nano B01 4G emmc=====
<code>tegra210-p3448-0002-p3449-0000-b00.dtb</code>
===== Nano 2GB =====
===== Nano 2GB =====
<code>tegra210-p3448-0003-p3542-0000.dtb</code>
<code>tegra210-p3448-0003-p3542-0000.dtb</code>
=====AGX Orin=====
=====AGX Orin=====
<code>tegra234-p3701-0000-p3737-0000.dtb</code>
<code>tegra234-p3701-0000-p3737-0000.dtb</code>
===== Orin NX=====
*Jetson Orin NX 16G(P3767-0000):
<code>tegra234-p3767-0000-p3768-0000-a0.dtb</code>
*Jetson Orin NX 8G (P3767-0001):
<code>tegra234-p3767-0001-p3768-0000-a0.dtb</code>
===== Orin Nano=====
*Jetson Orin Nano 8G(P3767-0003) and Jetson Orin Nano Devkit(P3767-0005):
<code>tegra234-p3767-0003-p3768-0000-a0.dtb</code>
*Jetson Orin Nano 4G (P3767-0004):
<code>tegra234-p3767-0004-p3768-0000-a0.dtb</code>
==== DTB file name and camera module correspondence ====
==== DTB file name and camera module correspondence ====
Under the dtb directory of each motherboard, the directory corresponding to the camera model is stored, and you can usually know the corresponding camera model directly by the directory name.
Under the dtb directory of each motherboard, the directory corresponding to the camera model is stored, and you can usually know the corresponding camera model directly by the directory name.
2, The ones with fpdlink as suffix correspond to fpdlink coaxial model module.
2, The ones with fpdlink as suffix correspond to fpdlink coaxial model module.
3，MV-MIPI-MVCAM is the common dtb for all MV series and RAW series cameras, excluding RAW-MIPI-AR0234M and RAW-MIPI-IMX462M..
====Upgrade directly on the jetson board====
====Upgrade directly on the jetson 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:
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>
Effective after restart.
Effective after restart.
<code>sudo cp nvidia_jetson_veye_bsp/ko/$(uname -r)/* /lib/modules/$(uname -r)/kernel/drivers/media/i2c/ -f</code>
<code>sudo cp nvidia_jetson_veye_bsp/ko/$(uname -r)/* /lib/modules/$(uname -r)/kernel/drivers/media/i2c/ -f</code>
'''Specially，for Jetpack5.1 version''':
<code>sudo cp nvidia_jetson_veye_bsp/ko/5.10.104-tegra-l4t35.2.1/* /lib/modules/$(uname -r)/kernel/drivers/media/i2c/ -f</code>
'''Specially，for Jetpack5.1.1 version''':
<code>sudo cp nvidia_jetson_veye_bsp/ko/5.10.104-tegra-l4t35.3.1/* /lib/modules/$(uname -r)/kernel/drivers/media/i2c/ -f</code>
====== General ======
Register the modules to the system by executing the following command.
<code>sudo depmod</code>
<code>sudo depmod</code>
====== Special ======
If using a camera module with fpdlink interface. You must manually control the loading order to ensure that ds90ub954.ko is loaded before the camera driver is loaded.
After the system boots, manually insert the drivers in order, e.g.
<code>sudo insmod ds90ub954.ko</code>
<code>sudo insmod cs_imx307.ko</code>
The command to load the driver can be added to the startup script.
=====Upgrade dtb=====
=====Upgrade dtb=====
<code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code>
<code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code>
=====Upgrade Image and DTB=====
=====Upgrade Image and DTB=====
Extract the downloaded `nvidia_jetson_veye_bsp.tar.gz`, and locate the Image corresponding to the specific version.
*Installing the Kernel
*Installing the Kernel
<code>sudo apt-mark hold nvidia-l4t-kernel nvidia-l4t-kernel-dtbs</code>
<code>sudo apt-mark hold nvidia-l4t-kernel nvidia-l4t-kernel-dtbs</code>
====Build the drivers from source====
====Build the drivers from source====
Please refer to: [[VEYE CS Camera source for Jetson|Nvidia Jetson platform VEYE and CS series camera driver source code compilation guide]].
Please refer to: [[VEYE CS Camera source for Jetson|Nvidia Jetson platform VEYE camera driver source code compilation guide]].
Could be used for Flashing or Upgrading.
Could be used for Flashing or Upgrading.
In gstreamer command ，v4l2src and nvv4l2camerasrc has a param device=/dev/videoX to identify which camera to use.
In gstreamer command ，v4l2src and nvv4l2camerasrc has a param device=/dev/videoX to identify which camera to use.
=====Gstreamer Usage=====
=====Gstreamer Usage=====
<code>export DISPLAY=:0</code>
*Preview FHD
*Preview FHD
Video Replay
Video Replay
<code>gst-launch-1.0 filesrc location=filename.mp4 ! qtdemux ! queue ! h264parse ! nvv4l2decoder ! nvoverlaysink -e</code>
<code>gst-launch-1.0 filesrc location=filename.mp4 ! qtdemux ! queue ! h264parse ! nvv4l2decoder ! nv3dsink -e</code>
Capture
Capture
We provide 2 samples [https://github.com/veyeimaging/nvidia_jetson_veye_bsp/tree/master/samples/opencv here].
We provide 2 samples [https://github.com/veyeimaging/nvidia_jetson_veye_bsp/tree/master/samples/opencv here].
====Uusing i2c script to modify camera parameters====
====Using i2c script to modify camera parameters====
*VEYE-MIPI-CAM2M Series（VEYE-MIPI-327、VEYE-MIPI-IMX327S、VEYE-MIPI-IMX462、VEYE-MIPI-IMX385）
*VEYE-MIPI-CAM2M Series（VEYE-MIPI-327、VEYE-MIPI-IMX327S、VEYE-MIPI-IMX462、VEYE-MIPI-IMX385）
=== FAQ and bug list ===
=== FAQ and bug list ===
==== Problem of system update not taking effect on a system with an SSD hard drive ====
If an SSD hard drive is installed in a system and mounted on the / directory, it may cause regular system update operations (Image, ko, dtb) to be completely ineffective.
The reason for this is that the board comes with an eMMC storage device, and the Image, ko, and dtb that take effect during the boot stage are stored in the eMMC.
After the boot is completed, if the SSD hard drive is mounted on the / directory, it may cause the files stored on the eMMC to be inaccessible.
The solution in this case is to manually mount the ''mmcblk0p1'' partition of the eMMC to a specific directory, and perform all system update operations based on this directory.
==== VEYE cameras on Jetpack5.x ====
==== VEYE cameras on Jetpack5.x ====
Jetpack5.x has more stringent requirements for mipi signals in xavier and orin platforms. VEYE-MIPI-xxx series cameras need firmware hdver>=7 to be perfectly supported.
Jetpack5.x has more stringent requirements for mipi signals in xavier and orin platforms. VEYE-MIPI-xxx series cameras need firmware hdver>=7 to be perfectly supported.
==== CS-MIPI-IMX307 combined with Orin nano and Orin NX Green Screen ====
When CS-MIPI-IMX307 is powered by the 3.3V mode of the FFC cable, the MIPI receiver state machine of Orin nano and Orin NX (Jetpack5.1.1) will enter an incorrect state.
It is recommended to refer to this [[Power supply mode switching|article]] and modify the power supply mode of CS-MIPI-IMX307 to use the 5V power supply mode.
==== Jetpack5.0.1 DP ====
==== Jetpack5.0.1 DP ====
<code>sudo ./flash.sh -r -k cpu-bootloader jetson-xavier-nx-devkit mmcblk0p1</code>
<code>sudo ./flash.sh -r -k cpu-bootloader jetson-xavier-nx-devkit mmcblk0p1</code>
=== Document History ===
=== Document History ===
*20230427
Add support for Jetpack5.1.1.
*20230222
Add support for Jetpack5.1.
*20220831
*20220831