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VEYE CS Camera source for Jetson (view source)
Revision as of 15:32, 24 August 2022
, 15:32, 24 August 2022→Overview
=== 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 ====
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>
==== 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(Jetpack4.x)===
This chapter is for Jetpack4.x version.
This chapter is for Jetpack4.x version.
<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 Jetson Board.
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 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.