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VEYE CS Camera for Jetson TX2/zh (view source)
Revision as of 11:46, 16 July 2020
, 11:46, 16 July 2020add support jetpack4.4 for jetson xavier
===概述===
===概述===
本文讲述怎样将VEYE系列和CS系列模组接入到英伟达公司的Jetson TX2和AGX Xavier开发板,Xavier NX Devkit以及我们兼容的其他TX2主板上。采用的软件版本为(Jetpack4.2.2,L4T版本r32.2.1)以及(Jetpack4.3,L4T版本r32.3.1)以及(Jetpack4.4,L4T版本r32.4.2)，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。
本文讲述怎样将VEYE系列和CS系列模组接入到英伟达公司的Jetson TX2和AGX Xavier开发板,Xavier NX Devkit以及我们兼容的其他TX2主板上。采用的软件版本为
* Jetpack4.2.2,L4T版本r32.2.1
* Jetpack4.3,L4T版本r32.3.1
* Jetpack4.4,L4T版本r32.4.3
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。
VEYE-MIPI-327/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。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DRA(Directly Register Access)模式，我们提供了一组Shell脚本直接控制摄像头模组。
VEYE-MIPI-327/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。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DRA(Directly Register Access)模式，我们提供了一组Shell脚本直接控制摄像头模组。
''- Jetpack4.4''
''- Jetpack4.4''
<code>./source_sync.sh -t tegra-l4t-r32.4.2</code>
<code>./source_sync.sh -t tegra-l4t-r32.4.3</code>
*配置开发环境
*配置开发环境
<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_P2888/</code>
<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''
- ''Xavier NX Jetpack4.4''
<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.4_DP_Linux_DP_JETSON_XAVIER_NX_DEVKIT</code>
<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT</code>
- 通用部分
- 通用部分
====使用预编译好Image和DTB====
====使用预编译好Image和DTB====
prebuilt Image on github:https://github.com/veyeimaging/nvidia_jetson_veye_bsp/tree/master/kernel_image
*升级Image文件
*升级Image文件
<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>
''- AGX Xavier''
''- AGX Xavier 和Xavier NX''
需要使用签名后的文件，把新的Image和Image.sig拷贝的XAVIER的/boot/目录下。
<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>
在Host PC执行
<s>在Host PC执行</s>
<code>cd $L4T_DIR</code>
<code><s>cd $L4T_DIR</s></code>
<code>sudo ./flash.sh -k kernel jetson-xavier mmcblk0p1</code>
<code><s>sudo ./flash.sh -k kernel jetson-xavier mmcblk0p1</s></code>
''- Xavier NX''
''<s>- Xavier NX</s>''
在Host PC执行
<s>在Host PC执行</s>
<code>cd $L4T_DIR</code>
<code><s>cd $L4T_DIR</s></code>
<code>sudo ./flash.sh -k kernel jetson-xavier-nx-devkit mmcblk0p1</code>
<code><s>sudo ./flash.sh -k kernel jetson-xavier-nx-devkit mmcblk0p1</s></code>
*烧写DTS分区，进入烧写模式，在Host PC执行
*烧写DTS分区，进入烧写模式，在Host PC执行
''- r32.4.2''
''- 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>
<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>
*编译
*编译
<code>sudo cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f</code>
<code>sudo cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f</code>
* 对于xavier，进行签名
<code>cd $L4T_DIR</code>
<code>./l4t_sign_image.sh --file kernel/Image --chip 0x19</code>
=====编译DTS=====
=====编译DTS=====
<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>
<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>
对于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>
对于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>
对于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'''''
''- '''Xavier NX@Jetpack4.4'''''
<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_DP_Linux_DP_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code>
<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code>
对于CS-MIPI-IMX307
对于CS-MIPI-IMX307
<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_DP_Linux_DP_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/CS-MIPI-IMX307/tegra194-p3509-0000-a00.dtsi $XAVIER_DTS_PATH/jakku/kernel-dts/common/</code>
<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>
对于CS-MIPI-SC132
对于CS-MIPI-SC132
<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_DP_Linux_DP_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/CS-MIPI-SC132/tegra194-p3509-0000-a00.dtsi $XAVIER_DTS_PATH/jakku/kernel-dts/common/</code>
<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>
对于VEYE-MIPI-327
对于VEYE-MIPI-327
<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_DP_Linux_DP_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/VEYE-MIPI-327/tegra194-p3509-0000-a00.dtsi $XAVIER_DTS_PATH/jakku/kernel-dts/common/</code>
<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>
*编译
*编译