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VEYE CS Camera source for Jetson (view source)
Revision as of 14:17, 25 September 2023
, 14:17, 25 September 2023→Overview
[[VEYE CS Camera source for Jetson/zh|查看中文]]
[[VEYE CS Camera source for Jetson/zh|查看中文]]
'''Nvidia Jetson platform VEYE and CS series camera driver source code compilation guide'''
'''Nvidia Jetson platform VEYE camera driver source code compilation guide'''
=== Overview ===
=== Overview ===
NVIDIA has released Linux developer guide for each Jetpack version. For example, L4T [https://docs.nvidia.com/jetson/archives/r35.1/DeveloperGuide/index.html 35.1] and [https://docs.nvidia.com/jetson/archives/l4t-archived/l4t-325/#page/Tegra%20Linux%20Driver%20Package%20Development%20Guide/kernel_custom.html# 32.5].
This section is based on the official Kernel Customization section, so please refer to the official documentation for any lack of detail.
We use a host pc with Ubuntu installed and a Jetson board as our development environment.
* Jetpack 4.x
driver is compiled together with the linux kernel on the host pc. dtb is also compiled on the host pc.
* Jetpack5.x
The driver is compiled to modules, on the Jetson board. dtb compilation is done on the host pc.
==== Jetpack version VS. L4T version ====
==== Jetpack version VS. L4T version ====
*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
*Jetpack5.0.1DP,L4T r34.1.1
*Jetpack5.0.1DP,L4T r34.1.1
*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
====Check the current L4T version====
====Check the current L4T version====
The following operations are done in HOST PC.
The following operations are done in HOST PC.
==== Cross-compiling Toolchain ====
* Jetpack4.xPlease 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.
* Jetpack5.x
Please refer to this [https://docs.nvidia.com/jetson/archives/r35.1/DeveloperGuide/text/AT/JetsonLinuxToolchain.html link] to install toolchain on your Host PC.
==== L4T source code and Rootfs ====
Please download the Linux_for_Tegra SDK via SDK Manager first.
Please download the Linux_for_Tegra SDK via SDK Manager first.
You could use SDK Manager or [https://developer.nvidia.com/embedded/downloads directly download] to get source code.
You could use SDK Manager or [https://developer.nvidia.com/embedded/downloads directly download] to get source code. I recommend the direct download method.
Sync code as this if you use SDK Manager:
Sync code as this if you use SDK Manager:
<code>./source_sync.sh -t jetson_34.1.1</code>
<code>./source_sync.sh -t jetson_34.1.1</code>
''- Jetpack5.0.2''
<code>./source_sync.sh -t jetson_35.1</code>
''- Jetpack5.1''
<code>./source_sync.sh -t jetson_35.2.1</code>
''- Jetpack5.1.1''
<code>./source_sync.sh -t jetson_35.3.1</code>
''- Jetpack5.1.2''
<code>./source_sync.sh -t jetson_35.4.1</code>
==== Setting Up the Environment ====
Assume SDK install directory is <TOPDIR>，source code is in $L4T_DIR/sources directory.
Assume SDK install directory is <TOPDIR>，source code is in $L4T_DIR/sources directory.
<code>export ARCH=arm64</code>
<code>export ARCH=arm64</code>
<code>export TEGRA_KERNEL_OUT=$L4T_DIR/sources/kernel/out_kernel</code>
<code>export TEGRA_KERNEL_OUT=$L4T_DIR/sources/kernel/out_kernel</code>
<code>export XAVIER_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t19x</code>
<code>export XAVIER_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t19x</code>
<code>export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts/</code>
* Jetpack 4.x only
<code>export CROSS_COMPILE=aarch64-linux-gnu-</code>
<code>export CROSS32CC=arm-linux-gnueabihf-gcc</code>
* Jetpack 5.x only
<code>export CROSS_COMPILE_AARCH64_PATH=$HOME/l4t-gcc</code>
<code>export CROSS_COMPILE_AARCH64=$HOME/l4t-gcc/bin/aarch64-buildroot-linux-gnu-</code>
<code>export CROSS_COMPILE=$CROSS_COMPILE_AARCH64</code>
<code>export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts/nvidia</code>
===Download our bsp package for Jetson===
===Download our bsp package for Jetson===
<code>cd $L4T_DIR</code>
<code>cd $L4T_DIR</code>
<code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code>
<code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code>
===Build kernel===
===Build kernel===
For Jetpack version 4.x and for using MV series cameras under Jetpack version 5.x, the kernel needs to be compiled.
==== kernel patch for MV series ====
==== kernel patch for MV series ====
<code>patch -p1 < [path to]veye_mv_l4t_[version].patch</code>
<code>patch -p1 < [path to]veye_mv_l4t_[version].patch</code>
==== patch code ====
==== For Jetpack 4.x, the camera driver is compiled into the Image ====
===== patch code =====
<code>cp $RELEASE_PACK_DIR/drivers_source/cam_drv_src/* $NVIDIA_PATH/drivers/media/i2c/</code>
<code>cp $RELEASE_PACK_DIR/drivers_source/cam_drv_src/* $NVIDIA_PATH/drivers/media/i2c/</code>
===== Modify Kconfig and Makefile =====
===== Modify Kconfig and Makefile =====
<code>cp $RELEASE_PACK_DIR/drivers_source/cam_drv_src/Kconfig_<ver> $NVIDIA_PATH/drivers/media/i2c/</code>
Modify the Kconfig and Makefile files under the <code>$NVIDIA_PATH/drivers/media/i2c/</code> directory to add the corresponding camera driver compilation options.
===== build =====
==== build ====
<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 Image -j4</code>
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4</code>
==== For Jetpack 5.x, there is no need to compile the camera driver into the Image ====
===== build =====
<code>cd $L4T_DIR/sources/</code>
<code>./nvbuild.sh -o $TEGRA_KERNEL_OUT</code>
<code>nvbuild.sh</code> is only included in the <code>kernel_src.tbz2</code> tar file that is part of <code>public_sources.tbz2</code>. If the kernel sources were synced from the Git server, you need to manually copy <code>nvbuild.sh</code> from the tar file.
==== Build completed ====
Completed Image file is $TEGRA_KERNEL_OUT/arch/arm64/boot/Image，could be used for Flashing or Upgrading.
Completed Image file is $TEGRA_KERNEL_OUT/arch/arm64/boot/Image，could be used for Flashing or Upgrading.
<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>
*For xavier，need sign the file
*For Xavier and Orin，need sign the file
<code>cd $L4T_DIR</code>
<code>cd $L4T_DIR</code>
<code>./l4t_sign_image.sh --file kernel/Image --chip 0x19</code>
<code>./l4t_sign_image.sh --file kernel/Image --chip 0x19</code>
===Build modules===
===Build modules(Jetpack5.x)===
For version later than Jetpack 5.x, non-MV series products, can compile the driver directly as modules to get the ko file. It is recommended to compile the driver directly on top of Jetson Board.
For version later than Jetpack 5.x, can compile the driver directly as modules to get the ko file. It is recommended to compile the driver directly on Jetson Board.
<code>cd $RELEASE_PACK_DIR/drivers_source/cam_drv_src/</code>
<code>cd $RELEASE_PACK_DIR/drivers_source/cam_drv_src/</code>
<code>make -f Makefile_local</code>
<code>make -f Makefile</code>
===Build DTS===
===Build DTS===
Patch code first.
Patch code first.
<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_<ver>_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/<camera model>/tegra194-p3509-0000-a00.dtsi $XAVIER_DTS_PATH/jakku/kernel-dts/common/</code>
<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_<ver>_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/<camera model>/tegra194-p3509-0000-a00.dtsi $XAVIER_DTS_PATH/jakku/kernel-dts/common/</code>
==== Orin ====
<code>cp $RELEASE_PACK_DIR/Orin/JetPack_<ver>_Linux_JETSON_ORIN_TARGETS/dts\ dtb/common/t23x/* -r $ORIN_DTS_PATH/</code>
For <camera model>
<code>cp $RELEASE_PACK_DIR/Orin/JetPack_<ver>_Linux_JETSON_ORIN_TARGETS/dts\ dtb/<camera model>/tegra234-p3737-camera-modules.dtsi $ORIN_DTS_PATH/concord/kernel-dts/cvb/</code>
<code>cp $RELEASE_PACK_DIR/Orin/JetPack_<ver>_Linux_JETSON_ORIN_TARGETS/dts\ dtb/<camera model>/tegra234-p3768-0000-a0.dtsi $ORIN_DTS_PATH/p3768/kernel-dts/cvb</code>
==== build ====
==== build ====
<code>cd $L4T_DIR/sources/kernel/kernel-5.10/</code>
<code>cd $L4T_DIR/sources/kernel/kernel-5.10/</code>
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs</code>
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs</code>
===== AGX Orin =====
===== AGX Orin =====
<code>$COMMON_DTS_PATH/tegra234-p3701-0000-p3737-0000.dtb</code><br />
<code>$COMMON_DTS_PATH/tegra234-p3701-0000-p3737-0000.dtb</code>
===== Orin Nano =====
<code>$COMMON_DTS_PATH/tegra234-p3767-0003-p3768-0000-a0.dtb</code>
<code>$COMMON_DTS_PATH/tegra234-p3767-0004-p3768-0000-a0.dtb</code>
===== Orin NX =====
<code>$COMMON_DTS_PATH/tegra234-p3767-0000-p3768-0000-a0.dtb</code>
<code>$COMMON_DTS_PATH/tegra234-p3767-0001-p3768-0000-a0.dtb</code><br />