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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
[[VEYE MIPI 290/327 for Jetson Nano/zh|查看中文]]
[[VEYE MIPI 290/327 for Jetson Nano/zh|查看中文]]
===概述===
===硬件准备及安装===
[[VEYE MIPI 290/327 for Jetson Nano|<big><big><big><big>How to use VEYE-MIPI-290/327 camera module on NVIDIA Jetson Nano</big></big></big></big>]]
===软件系统安装及准备===
===系统更新===
===Overview===
====使用编译好的程序====
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!'''
====整体烧写====
====使用源码进行编译====
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.
====动态升级====
===应用和测试===
The new version of Jetson Nano (B01) is supported.
====视频流软件包和测试====
====视频控制软件包的使用====
===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(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===
You can use the image prebuild by us to upgrade jetson nano system, which will support our camera.
Using whole prebuilt image
*download ：
link：https://pan.baidu.com/s/1sWrcfEOivjuQ7T7P5bVcng
If Baidu cloud disk download is too slow, you can contact our company customer service ''xumm@csoneplus.com'' to obtain.
*How to flashing jetson nano
[https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit Official document]
===Using source code to upgrade Jetson nano system===
====Reference documents====
Jetson Nano system setup, please refer to official document：[https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit get-started-jetson-nano-devkit].
Development Docs：https://docs.nvidia.com/jetson/archives/l4t-archived/l4t-321/index.html
====Setting Up the Environment====
*Host PC which runs Ubuntu 18.04/16.04(64-bit).
*NVIDIA® provided L4T release and corresponding sample rootfs for Jetson Nano™ development kit.
*A kernel image , device tree blob (DTB) file and module drivers for the VEYE-MIPI-290/327 camera. The release package contains a kernel binary (Image),DTB files and module drivers, which you can download and rebuild from source.
*A jumper pin connected across J48 button header to enable DC power.
*A USB cable (micro USB port) to plug into the recovery port of the Jetson Nano™
*development kit.
*Power cable (5V-4A) to power the Jetson Nano™ board.
*Micro SD card must be connected to the J501 slot.
====Host PC environment prepare====
*Cross-compiling Toolchain
Please refer to [https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%2520Linux%2520Driver%2520Package%2520Development%2520Guide%2Fxavier_toolchain.html%23wwpID0ESHA this link] to install toolchain on your Host PC.
*L4T source code and Rootfs
You could use SDK Manager or [https://developer.nvidia.com/embedded/downloads directly download] to get source code.
*Setting Up the Environment
Assume SDK install directory is <TOPDIR>，source code is in $L4T_DIR/sources directory.
''-Jetpack4.2.2''
<code>export TOP_DIR=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P3448/></code>
''-Jetpack4.3''
<code>export TOP_DIR=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_JETSON_NANO_DEVKIT/></code>
''- Common Part''
<code>export L4T_DIR=$TOP_DIR/Linux_for_Tegra</code>
<code>export LOCALVERSION=-tegra</code>
<code>export LDK_ROOTFS_DIR=$TOP_DIR/Linux_for_Tegra/rootfs</code>
<code>export ARCH=arm64</code>
<code>export CROSS_COMPILE=aarch64-linux-gnu-</code>
<code>export CROSS32CC=arm-linux-gnueabihf-gcc</code>
<code>mkdir -p $L4T_DIR/sources/kernel/out_kernel</code>
<code>export TEGRA_KERNEL_OUT=$L4T_DIR/sources/kernel/out_kernel</code>
<code>export NVIDIA_PATH=$L4T_DIR/sources/kernel/nvidia</code>
<code>export NANO_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t210/</code>
*Build default image, prepare L4T environment
<code>cd $L4T_DIR</code>
<code>sudo ./apply_binaries.sh</code>
*Download VEYE code for Jetson Nano<code><nowiki/></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>
====Using prebuild Image and DTB====
=====Installing the Kernel and DTS=====
<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_l4t_r32.3.1_veyecam.tar.gz</code>
<code>sudo cp Image $L4T_DIR/kernel/ -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>
====Flashing the Jetson Nano Development Kit====
The steps to flash the Jetson Nano™ development kit are as follows:
#Ensure a jumper is connected across J48 button header to enable DC power.
#Connect the micro USB cable to the Jetson Nano™ and host PC.
#Set the board to recovery mode, as mentioned in below steps:
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.
If the board is successfully changed to recovery mode, the Jetson Nano™development kit will be enumerated as an USB device to the host PC.
Run the following command to verify whether the board is in recovery mode.
<code>lsusb</code>
The output message appears as shown below.
<code>Bus 001 Device 102: ID 0955:7f21 NVidia Corp.</code>
4. Run the following commands to flash the Jetson Nano™ development kit from
your host PC.
<code>cd $L4T_DIR</code>
<code>sudo ./flash.sh jetson-nano-qspi-sd mmcblk0p1</code>
Note: Now, the entire micro SD on the Jetson Nano™ development kit will be erased. It will take about 10-30 minutes to complete depending on the host PC configuration.
5. Reboot and connect the Jetson Nano™ board to a monitor and keyboard to complete the OS configuration, once flashing is completed.
====Building from Source====
=====Build kernel=====
*patch code
<code>cp $RELEASE_PACK_DIR/drivers_source/cs_imx307\ veye327/* $NVIDIA_PATH/drivers/media/i2c/</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
<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_csimx307veye327_defconfig</code>
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4</code>
Completed Image file is $TEGRA_KERNEL_OUT/arch/arm64/boot/Image，could be used for Flashing or Upgrading.
Install Image for Flashing:
<code>sudo cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f</code>
=====Build DTS=====
*patch 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/Nano/JetPack_4.3_Linux_P3448/dts\ dtb/common/t210/* -r $NANO_DTS_PATH/</code>
<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.3_Linux_P3448/dts\ dtb/VEYE-MIPI-327/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>
*build
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs</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.
====Upgrading Kernel Image and Supplements====
First，you should copy '''Image''' file to Jetson nano somehow. Use a U disk for example.
<code>sudo cp <path to your Image dir>/Image /boot/Image -f</code>
====Upgrading DTB File by Flashing from Host PC====
Burning process reference 4.3, burning commands is as below:
<code>cd $L4T_DIR</code>
<code>sudo ./flash.sh -r -k DTB jetson-nano-qspi-sd mmcblk0p1</code>
Power off after flashing finished.
===Applications and Test===
====Check system status====
The steps to verify the setup before testing Gstreamer pipelines are as follows:
1. Run the following commands to check the Gstreamer-1.0 version.
<code>$ gst-inspect-1.0 --version</code>
<code>gst-inspect-1.0 version 1.14.4</code>
<code>GStreamer 1.14.4</code>
Note: Make sure that VEYE-MIPI-290/327 is connected and the required driversare loaded.
During booting, the module drivers for VEYE-MIPI-290/327 will be loaded automatically in the Jetson Nano™ development kit.
2. Run the following command to confirm whether the camera is initialized.
<code>dmesg | grep “veye327”</code>
The output message appears as shown below.
<code>subdev veye327 6/7/8-003b bound</code>
The output message indicates that the camera is initialized properly.
3. Run the following command to check the presence of video node.
<u><code>ls /dev/video*</code></u>
The output message appears as shown below.
<code>video0(1)</code>
====Video Stream Toolkits Manual====
=====Gstreamer Usage=====
*Preview FHD(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" ! nvoverlaysink sync=false</code>
*Record FHD in H.264 format to a video file（HW accelerated）
<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）
<code>gst-launch-1.0 filesrc location=videoname.mkv ! matroskademux ! h264parse ! omxh264dec ! nvoverlaysink</code>
*Capturing FHD still image
<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====
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 $RELEASE_PACK_DIR/i2c_cmd/bin</code>
Video Control Toolkits Manual : [[VEYE-MIPI-290/327 i2c/|VEYE-MIPI-290/327 i2c]]
===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.