2,020
edits
Changes
Jump to navigation
Jump to search
Line 1:
Line 1: + + − 本文讲述怎样讲VEYE-MIPI-290/327 模组接入到英伟达公司的Jetson Nano开发板上。采用的Jetson Nano软件版本为r32.2.1，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。+ + + − + − + − + + + + + + + + + + + + + + + − + Line 24:
Line 42: − + − *development kit. − + − + − − ====准备工作==== Line 60:
Line 75: − + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + − ====使用编译好的程序==== − <br /> − ====整体烧写==== − <br /> − + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
VEYE MIPI 290/327 for Jetson Nano/zh (view source)
Revision as of 13:15, 17 March 2020
, 13:15, 17 March 2020→概述
[[VEYE MIPI 290/327 for Jetson Nano|English]]
[[VEYE MIPI 290/327 for Jetson Nano|English]]
[[VEYE MIPI 290/327 for Jetson Nano/zh|<big><big><big><big>如何在英伟达Jetson Nano平台使用VEYE-MIPI-290/327摄像头模组</big></big></big></big>]]
===概述===
===概述===
本文讲述怎样将VEYE-MIPI-290/327 模组接入到英伟达公司的Jetson Nano开发板上。采用的Jetson Nano软件版本为r32.2.1，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-290/327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Shell脚本直接控制摄像头模组。
VEYE-MIPI-290/327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Shell脚本直接控制摄像头模组。
已支持Jetson Nano B01新版本。
===硬件准备及安装===
===硬件准备及安装===
Jetson Nano的CSI2接口与树莓派的兼容，因此[[Mini Adapter Board/zh|Mini Adapter Board]]与[[Adapter Board for Raspberry Pi/zh|Adapter Board]]都可以使用。此外，由于VEYE-MIPI-290/327的功耗比较大，需要额外的5V供电。
Jetson Nano的CSI2接口与树莓派的兼容，因此[[Mini Adapter Board/zh|Mini Adapter Board]]与[[Adapter Board for Raspberry Pi/zh|Adapter Board]]都可以使用。此外，需要额外的5V供电。
[[File:Jetson nano to Veye327.jpg|center|thumb|600x600px|Jetson Nano 与VEYE模组连接]]
[[File:Jetson nano to Veye327.jpg|center|thumb|600x600px|Jetson Nano A02 与VEYE模组连接]]
[[File:Jetson nano pwr connect.jpg|center|thumb|600x600px|Jetson Nano 电源线接法]]
[[File:Jetson nano pwr connect.jpg|center|thumb|600x600px|Jetson Nano 电源线接法]]
[[File:VEYE327 pwr.jpg|center|thumb|600x600px|VEYE-MIPI-290/327接法]]
[[File:VEYE327 pwr.jpg|center|thumb|600x600px|VEYE-MIPI-290/327接法]]
<br />
<br />
===软件系统安装及准备===
===使用编译好的整体镜像更新Jetson nano系统===
客户可选择直接使用我们编译好的镜像进行系统更新，以支持我司摄像头模组。
*镜像下载路径：
链接：https://pan.baidu.com/s/1sWrcfEOivjuQ7T7P5bVcng
如百度云盘下载过慢，可以单独联系我公司客服xumm@csoneplus.com索取。
*烧写方法
参考[https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit 官方链接]
===使用源码更新Jetson nano系统===
====参考资料====
Jetson Nano的系统安装及使用请参考官方文档：[https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit get-started-jetson-nano-devkit]. 详细的开发资料请参考官方文档：https://docs.nvidia.com/jetson/archives/l4t-archived/l4t-321/index.html
Jetson Nano的系统安装及使用请参考官方文档：[https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit get-started-jetson-nano-devkit]. 详细的开发资料请参考官方文档：https://docs.nvidia.com/jetson/archives/l4t-archived/l4t-321/index.html
====开发环境准备====
====开发环境准备====
*Host PC which runs Ubuntu 16.04 (64-bit).
*Host PC which runs Ubuntu 18.04/16.04 (64-bit).
*NVIDIA® provided L4T release and corresponding sample rootfs for Jetson Nano™ development kit.
*NVIDIA® provided L4T release and corresponding sample rootfs for Jetson Nano™ development kit.
*A jumper pin connected across J48 button header to enable DC power.
*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™
*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.
*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.
*A jumper pin must be connected to the pin 3 and pin 4 of J40 button header.
*<s>A jumper pin must be connected to the pin 3 and pin 4 of J40 button header.</s>
===系统软件更新===
====Host PC开发环境准备====
*编译工具链
*编译工具链
<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 KERNEL_PATH=$L4T_DIR/sources/kernel/out_kernel</code>
<code>export NVIDIA_PATH=$L4T_DIR/sources/kernel/nvidia</code>
<code>export NANO_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t210/</code>
*生成默认版本烧写镜像，准备好L4T环境
<code>cd $L4T_DIR</code>
<code>sudo ./apply_binaries.sh</code>
*下载程序<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><code><nowiki/></code><code><nowiki/></code><code><nowiki/></code>
====使用编译好的Image和DTB====
=====Installing the Kernel and DTS=====
<code>cd $RELEASE_PACK_DIR/kernel_image</code>
<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>
<code>cd $L4T_DIR</code>
====整体烧写 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.
====使用源码进行编译====
====使用源码进行编译====
<br />
=====编译kernel=====
*patch代码
<code>cp $RELEASE_PACK_DIR/drivers_source/cs_imx307\ veye327/* $NVIDIA_PATH/drivers/media/i2c/</code>
<code>cp $RELEASE_PACK_DIR/drivers_source/kernel_csimx307veye327_config $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_csimx307veye327_defconfig</code>
*编译
<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>
编译完成的Image文件在 $TEGRA_KERNEL_OUT/arch/arm64/boot/Image，可以用于整体烧写，也可以用于动态升级。
以下用于整体烧写
<code>sudo cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f</code>
=====编译DTS=====
*patch代码
<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 $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>
*编译
<code>make ARCH=arm64 O=$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>
编译完成后，可以进行整体烧写或者动态升级。
====动态升级====
====动态升级====
*升级Image文件
无论是使用预编译好的程序还是使用自行编译出的Image，只需在Jetson Nano板子上执行：
<code>sudo cp <path to your Image dir>/Image /boot/Image -f</code>
*烧写DTS分区
烧写流程参考4.3 整体烧写，烧写命令为：
<code>cd $L4T_DIR</code>
<code>sudo ./flash.sh -r -k DTB jetson-nano-qspi-sd mmcblk0p1</code>
烧写完成后，断电重启。
===应用和测试===
===应用和测试===
====系统状态检测====
完成系统安装后，在Jetson Nano板端执行以下命令来检测是否正确连接摄像头。
<code>dmesg | grep veye327</code>
应当有如下提示：
<code>subdev veye327 6-003b bound</code>
此外，检查/dev/video0设备节点，应当是存在的。
====视频流软件包和测试====
====视频流软件包和测试====
=====Gstreamer Usage=====
*视频预览1080p HD(硬件加速)
<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>
*视频录像1080p HD（硬件加速）
<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>
*录像回放（硬件加速）
<code>gst-launch-1.0 filesrc location=videoname.mkv ! matroskademux ! h264parse ! omxh264dec ! nvoverlaysink</code>
*抓拍图片
<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>
====视频控制软件包的使用====
====视频控制软件包的使用====
Jetson Nano A02使用i2c-6作为摄像头的控制总线。Jetson Nano B01使用i2c-7和i2c-8作为摄像头的控制总线。
执行i2c控制脚本时，需使用-b选项来指明控制的对应摄像头。
<code>cd $RELEASE_PACK_DIR/i2c_cmd/bin</code>
具体使用说明请见：[[VEYE-MIPI-290/327/zh/i2c|I2C脚本使用说明]]。
===其他说明===
本文和源码依然处于继续完善的过程中。有任何的改进意见，欢迎您发邮件到xumm#csoneplus.com。
<br />
<br />