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VEYE MIPI 290/327 for Jetson Nano (view source)
Revision as of 09:18, 12 June 2020
, 09:18, 12 June 2020→Hardware Setup
===Overview===
===Overview===
This guide shows how to use VEYE-MIPI-290/327 onJetson Nano. Jetson Nano SDK Version is r32.2.1. We provide two ways to do so: '''Prebuilt Binaries''' or '''Source Code. Yes, It's Open Source!'''
This guide shows how to use VEYE-MIPI-290/327 onJetson Nano. Jetson Nano SDK Version is (Jetpack4.2.2,L4T r32.2.1)and (Jetpack4.3,L4T r32.3.1). We provide two ways to do so: '''Prebuilt Binaries''' or '''Source Code. Yes, It's Open Source!'''
VEYE-MIPI-290/327 is STARVIS 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.
VEYE-MIPI-290/327 is STARVIS 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.
The new version of Jetson Nano (B01) is supported.
===Hardware Setup===
===Hardware Setup===
Jetson Nano's CSI2 interface is compatible with Raspberry Pi，so both [[Mini Adapter Board]] and [[Adapter Board for Raspberry Pi|Adapter Board]] is supported. In addition，It need a 5V power.[[File:Jetson nano to Veye327.jpg|center|thumb|600x600px|Connect VEYE to Jetson Nano |link=http://wiki.veye.cc/index.php/File:Jetson_nano_to_Veye327.jpg]][[File:Jetson nano pwr connect.jpg|center|thumb|600x600px|Jetson Nano power wire|link=http://wiki.veye.cc/index.php/File:Jetson_nano_pwr_connect.jpg|alt=]][[File:VEYE327 pwr.jpg|center|thumb|600x600px|VEYE-MIPI-290/327 wire|link=http://wiki.veye.cc/index.php/File:VEYE327_pwr.jpg|alt=]]<br />
Jetson Nano's CSI2 interface is compatible with Raspberry Pi，so both [[Mini Adapter Board]] and [[Adapter Board for Raspberry Pi|Adapter Board]] is supported. In addition，It need a 5V power.
[[File:Jetson nano to Veye327.jpg|center|thumb|600x600px|Connect VEYE to Jetson Nano(A02)]]
[[File:Jetson nano pwr connect.jpg|center|thumb|600x600px|Jetson Nano power wire|alt=]]
[[File:VEYE327 pwr.jpg|center|thumb|600x600px|VEYE-MIPI-290/327 wire|alt=]]<br />
===Using prebuilt Image to upgrade Jetson nano system===
===Using prebuilt Image to upgrade Jetson nano system===
You can use the image prebuild by us to upgrade jetson nano system, which will support our camera.
You can use the image prebuild by us to upgrade jetson nano system, which will support our camera.
*Power cable (5V-4A) to power the Jetson Nano™ board.
*Power cable (5V-4A) to power the Jetson Nano™ board.
*Micro SD card must be connected to the J501 slot.
*Micro SD card must be connected to the J501 slot.
====Host PC environment prepare====
====Host PC environment prepare====
Assume SDK install directory is <TOPDIR>，source code is in $L4T_DIR/sources directory.
Assume SDK install directory is <TOPDIR>，source code is in $L4T_DIR/sources directory.
''-Jetpack4.2.2''
<code>export TOP_DIR=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P3448/></code>
<code>export TOP_DIR=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P3448/></code>
''-Jetpack4.3''
<code>export TOP_DIR=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_JETSON_NANO_DEVKIT/></code>
''- Common Part''
<code>export L4T_DIR=$TOP_DIR/Linux_for_Tegra</code>
<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 LDK_ROOTFS_DIR=$TOP_DIR/Linux_for_Tegra/rootfs</code>
<code>export NVIDIA_PATH=$L4T_DIR/sources/kernel/nvidia</code>
<code>export NVIDIA_PATH=$L4T_DIR/sources/kernel/nvidia</code>
<code>export NANO_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t210/porg/kernel-dts</code>
<code>export NANO_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t210/</code>
*Build default image, prepare L4T environment
*Build default image, prepare L4T environment
<code>sudo ./apply_binaries.sh</code>
<code>sudo ./apply_binaries.sh</code>
*Download VEYE code for Jetson Nano
*Download VEYE code for Jetson Nano<code><nowiki/></code><code>cd $L4T_DIR</code>
<code>cd $L4T_DIR</code>
<code>git clone <nowiki>https://github.com/veyeimaging/nvidia_jetson_veye_bsp.git</nowiki></code>
<code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code>
<code>export RELEASE_PACK_DIR=$L4T_DIR/veye327_jetson_nano</code>
====Using prebuild Image and DTB====
====Using prebuild Image and DTB====
=====Installing the Kernel and DTS=====
=====Installing the Kernel and DTS=====
<code>cd $RELEASE_PACK_DIR/binaries</code>
<code>cd $RELEASE_PACK_DIR/kernel_image</code>
- ''Jetpack4.2.2''
<code>tar -xzvf Image_l4t_r32.2.1_veyecam.tar.gz</code>
<code>sudo cp Image $L4T_DIR/kernel/ -f</code>
<code>sudo cp $RELEASE_PACK_DIR/Nano/JetPack_4.2.2_Linux_GA_P3448/dts\ dtb/VEYE-MIPI-327/tegra210-p3448-0000-p3449-0000-a02.dtb $L4T_DIR/kernel/dtb/ -f</code>
<code>sudo cp $RELEASE_PACK_DIR/Nano/JetPack_4.2.2_Linux_GA_P3448/dts\ dtb/VEYE-MIPI-327/tegra210-p3448-0000-p3449-0000-b00.dtb $L4T_DIR/kernel/dtb/ -f</code>
- ''Jetpack4.3''
<code>tar -xzvf Image.tar.gz</code>
<code>tar -xzvf Image_l4t_r32.3.1_veyecam.tar.gz</code>
<code>sudo cp Image $L4T_DIR/kernel/ -f</code>
<code>sudo cp Image $L4T_DIR/kernel/ -f</code>
<code>sudo cp $RELEASE_PACK_DIR/binaries/tegra210-p3448-0000-p3449-0000-a02.dtb $L4T_DIR/kernel/dtb/tegra210-p3448-0000-p3449-0000-a02.dtb -f</code>
<code>sudo cp $RELEASE_PACK_DIR/Nano/JetPack_4.3_Linux_P3448/dts\ dtb/VEYE-MIPI-327/tegra210-p3448-0000-p3449-0000-a02.dtb $L4T_DIR/kernel/dtb/ -f</code>
<code>sudo cp $RELEASE_PACK_DIR/Nano/JetPack_4.3_Linux_P3448/dts\ dtb/VEYE-MIPI-327/tegra210-p3448-0000-p3449-0000-b00.dtb $L4T_DIR/kernel/dtb/ -f</code>
<code>cd $L4T_DIR</code>
<code>cd $L4T_DIR</code>
====Flashing the Jetson Nano Development Kit====
====Flashing the Jetson Nano Development Kit====
The steps to flash the Jetson Nano™ development kit are as follows:
The steps to flash the Jetson Nano™ development kit are as follows:
a. Power OFF the board.
a. Power OFF the board.
b. For Jetson Nano A02: Connect the jumper pin to the pin 3 and pin 4 of the J40 button header. For Jetson Nano B01: Connect the jumper pin to the pin 9 and pin 10 of the J50 button header.
c. Power ON the Jetson Nano™ development kit.
c. Power ON the Jetson Nano™ development kit.
*patch code
*patch code
<code>cp $RELEASE_PACK_DIR/sources/kernel/veye327/* $NVIDIA_PATH/drivers/media/i2c/</code>
<code>cp $RELEASE_PACK_DIR/drivers_source/cs_imx307\ veye327/* $NVIDIA_PATH/drivers/media/i2c/</code>
<code>cp $RELEASE_PACK_DIR/sources/kernel/kernel_veye327_config $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_veye327_defconfig</code>
''- r32.2.1''
<code>cp $RELEASE_PACK_DIR/drivers_source/kernel_csimx307veye327_config_32.2.1 $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_csimx307veye327_defconfig</code>
''- r32.3.1''
<code>cp $RELEASE_PACK_DIR/drivers_source/kernel_csimx307veye327_config_32.3.1 $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_csimx307veye327_defconfig</code>
*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 tegra_veye327_defconfig</code>
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_csimx307veye327_defconfig</code>
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4</code>
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4</code>
*patch code
*patch code
<code>cp $RELEASE_PACK_DIR/sources/dts/kernel-dts/* $NANO_DTS_PATH/</code>
''- 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>
<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>
''- Jetpack4.3''
<code>cp $RELEASE_PACK_DIR/sources/dts/kernel-dts/porg-platforms/* $NANO_DTS_PATH/porg-platforms/</code>
<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.3_Linux_P3448/dts\ dtb/common/t210/* -r $NANO_DTS_PATH/</code>
<code>cp $RELEASE_PACK_DIR/sources/dts/kernel-dts/porg-plugin-manager/* $NANO_DTS_PATH/porg-plugin-manager/</code>
<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>
*build
*build
<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-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>
Could be used for Flashing or Upgrading.
Could be used for Flashing or Upgrading.
The output message appears as shown below.
The output message appears as shown below.
<code>subdev veye327 6-003b bound</code>
<code>subdev veye327 6/7/8-003b bound</code>
The output message indicates that the camera is initialized properly.
The output message indicates that the camera is initialized properly.
3. Run the following command to check the presence of video node.
3. Run the following command to check the presence of video node.
<u><code>ls /dev/video0</code></u>
<u><code>ls /dev/video*</code></u>
The output message appears as shown below.
The output message appears as shown below.
<code>video0</code>
<code>video0(1)</code>
====Video Stream Toolkits Manual====
====Video Stream Toolkits Manual====
*Record FHD in H.264 format to a video file（HW accelerated）
*Record FHD in H.264 format to a video file（HW accelerated）
<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" ! omxh264enc qp-range=20,20:20,20:-1,-1 ! matroskamux ! queue ! filesink location=videoname.mkv</code>
<code>gst-launch-1.0 v4l2src num-buffers=300 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! omxh264enc qp-range=20,20:20,20:-1,-1 ! matroskamux ! queue ! filesink location=videoname.mkv</code>
*Playback of saved video file (HW accelerated）
*Playback of saved video file (HW accelerated）
<code>gst-launch-1.0 v4l2src num-buffers=1 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080" ! jpegenc ! filesink location=jpgname.jpg</code>
<code>gst-launch-1.0 v4l2src num-buffers=1 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080" ! jpegenc ! filesink location=jpgname.jpg</code>
====Video Control Toolkits Manual====
====Video Control Toolkits Manual====
Jetson Nano use i2c-6 as camera control bus.
Jetson Nano A02 use i2c-6 as camera control bus,Jetson Nano B01 use i2c-7 and i2c-8 as camera control bus.
Using -b option to identify which bus to use.
<code>cd $L4T_DIR/jetson_nano/i2c_cmd/bin</code>
<code>cd $RELEASE_PACK_DIR/i2c_cmd/bin</code>
Video Control Toolkits Manual : [[VEYE-MIPI-290/327 i2c/|VEYE-MIPI-290/327 i2c]]
Video Control Toolkits Manual : [[VEYE-MIPI-290/327 i2c/|VEYE-MIPI-290/327 i2c]]
===Others===
===Others===
This article and the source code are still in the process of improving. If you have any suggestions for improvement, you are welcome to email xumm#csoneplus.com.
This article and the source code are still in the process of improving. If you have any suggestions for improvement, you are welcome to email xumm#csoneplus.com.