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CS-MIPI-IMX307 for Jetson Nano/zh (view source)

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[[CS-MIPI-IMX307 for Jetson Nano|English]]
 
[[CS-MIPI-IMX307 for Jetson Nano|English]]
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[[VEYE MIPI 290/327 for Jetson Nano/zh|<big><big><big><big>如何在英伟达Jetson Nano平台使用CS-MIPI-IMX307摄像头模组</big></big></big></big>]]
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===概述===
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本文讲述怎样将CS-MIPI-IMX307 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。
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CS-MIPI-IMX307是星光级内置ISP的摄像头模组，输出为MIPI-CSI2接口UYVY流模式，支持1080p@30fps和720pcrop@60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寄存器来实现。
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===硬件准备及安装===
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Jetson Nano的CSI2接口可以直接与CS-MIPI-IMX307连接。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|link=http://wiki.veye.cc/index.php/File:Jetson_nano_to_Veye327.jpg]][[File:Jetson nano pwr connect.jpg|center|thumb|600x600px|Jetson Nano 电源线接法|link=http://wiki.veye.cc/index.php/File:Jetson_nano_pwr_connect.jpg]][[File:VEYE327 pwr.jpg|center|thumb|600x600px|VEYE-MIPI-290/327接法|link=http://wiki.veye.cc/index.php/File:VEYE327_pwr.jpg]]
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===使用编译好的整体镜像更新Jetson nano系统===
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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。
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*镜像下载路径：
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链接：https://pan.baidu.com/s/1sWrcfEOivjuQ7T7P5bVcng
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下载后请先解压后烧写。
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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。
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*烧写方法
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参考[https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit 官方链接]
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===使用源码更新Jetson nano系统===
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====参考资料====
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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
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====开发环境准备====
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*Host PC which runs Ubuntu 18.04/16.04 (64-bit).  
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*NVIDIA® provided L4T release and corresponding sample rootfs for Jetson Nano™ development kit.  
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*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.
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*A jumper pin connected across J48 button header to enable DC power.
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*A USB cable (micro USB port) to plug into the recovery port of the Jetson Nano™
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*development kit.
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*Power cable (5V-4A) to power the Jetson Nano™ board.
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*Micro SD card must be connected to the J501 slot.
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*A jumper pin must be connected to the pin 3 and pin 4 of J40 button header.  
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====Host PC开发环境准备====
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*编译工具链
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请参考[https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%2520Linux%2520Driver%2520Package%2520Development%2520Guide%2Fxavier_toolchain.html%23wwpID0ESHA 这个链接]安装编译工具链。
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*L4T源码和Rootfs
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可以通过SDK Manager或者[https://developer.nvidia.com/embedded/downloads 直接下载]两种方式来获得源码。具体参考官方文档，此处不再赘述。
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*配置开发环境
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以下步骤假设SDK安装目录为<TOPDIR>，源代码在$L4T_DIR/sources目录。
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<code>export TOP_DIR=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P3448/></code>
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<code>export L4T_DIR=$TOP_DIR/Linux_for_Tegra</code>
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<code>export LDK_ROOTFS_DIR=$TOP_DIR/Linux_for_Tegra/rootfs</code>
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<code>export ARCH=arm64</code>
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<code>export CROSS_COMPILE=aarch64-linux-gnu-</code>
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<code>export CROSS32CC=arm-linux-gnueabihf-gcc</code>
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<code>mkdir -p $L4T_DIR/sources/kernel/out_kernel</code>
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<code>export TEGRA_KERNEL_OUT=$L4T_DIR/sources/kernel/out_kernel</code>
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<code>export NVIDIA_PATH=$L4T_DIR/sources/kernel/nvidia</code>
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<code>export NANO_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t210/porg/kernel-dts</code>
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*生成默认版本烧写镜像，准备好L4T环境
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<code>cd $L4T_DIR</code>
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<code>sudo ./apply_binaries.sh</code>  
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*下载程序
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<code>cd $L4T_DIR</code>
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<code>git clone [https://github.com/veyeimaging/jetson_nano https://github.com/veyeimaging/cs-mipi-imx307_jetson_nano].git</code>
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<code>export RELEASE_PACK_DIR=$L4T_DIR/cs-mipi-imx307_jetson_nano</code>
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====使用编译好的Image和DTB====
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=====Installing the Kernel and DTS=====
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<code>cd $RELEASE_PACK_DIR/binaries</code>
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<code>tar -xzvf Image.tar.gz</code>
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<code>sudo cp Image $L4T_DIR/kernel/ -f</code>
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<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>
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<code>cd $L4T_DIR</code>
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====整体烧写 Flashing the Jetson Nano Development Kit====
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The steps to flash the Jetson Nano™ development kit are as follows:
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#Ensure a jumper is connected across J48 button header to enable DC power.
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#Connect the micro USB cable to the Jetson Nano™ and host PC.
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#Set the board to recovery mode, as mentioned in below steps:
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           a. Power OFF the board.
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           b. Connect the jumper pin to the pin 3 and pin 4 of the J40 button header.
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           c. Power ON the Jetson Nano™ development kit.
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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.
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Run the following command to verify whether the board is in recovery mode.
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<code>lsusb</code>
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The output message appears as shown below.
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<code>Bus 001 Device 102: ID 0955:7f21 NVidia Corp.</code>
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4. Run the following commands to flash the Jetson Nano™ development kit from
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your host PC.
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<code>cd $L4T_DIR</code>
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<code>sudo ./flash.sh jetson-nano-qspi-sd mmcblk0p1</code>
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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.
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5. Reboot and connect the Jetson Nano™ board to a monitor and keyboard to complete the OS configuration, once flashing is completed.
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====使用源码进行编译====
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=====编译kernel=====
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*patch代码
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<code>cp $RELEASE_PACK_DIR/sources/kernel/cs_imx307/* $NVIDIA_PATH/drivers/media/i2c/</code>
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<code>cp $RELEASE_PACK_DIR/sources/kernel/kernel_csimx307_config $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_csimx307_defconfig</code>
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*编译
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<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
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<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_csimx307_defconfig</code>
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<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4</code>
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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。
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以下用于整体烧写
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<code>sudo cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f</code>
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=====编译DTS=====
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*patch代码
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<code>cp $RELEASE_PACK_DIR/sources/dts/kernel-dts/* $NANO_DTS_PATH/</code>
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<code>cp $RELEASE_PACK_DIR/sources/dts/kernel-dts/porg-platforms/* $NANO_DTS_PATH/porg-platforms/</code>
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<code>cp $RELEASE_PACK_DIR/sources/dts/kernel-dts/porg-plugin-manager/* $NANO_DTS_PATH/porg-plugin-manager/</code>
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*编译
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<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs</code>
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<code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra210-p3448-0000-p3449-0000-a02.dtb $L4T_DIR/kernel/dtb/</code>
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编译完成后，可以进行整体烧写或者动态升级。
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====动态升级====
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*升级Image文件
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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：
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<code>sudo cp <path to your Image dir>/Image  /boot/Image -f</code>
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*烧写DTS分区
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烧写流程参考4.3 整体烧写，烧写命令为：
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<code>cd $L4T_DIR</code>
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<code>sudo ./flash.sh -r -k DTB jetson-nano-qspi-sd mmcblk0p1</code>
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烧写完成后，断电重启。
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===应用和测试===
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====系统状态检测====
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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。
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<code>dmesg | grep veye327</code>  
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应当有如下提示：
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<code>subdev veye327 6-003b bound</code>
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此外，检查/dev/video0设备节点，应当是存在的。
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====视频流软件包和测试====
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=====Gstreamer Usage=====
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*视频预览1080p HD(硬件加速)
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<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>
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* 视频预览720p@60fps HD(硬件加速)
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<code>gst-launch-1.0 v4l2src ! "video/x-raw,format=(string)UYVY, width=(int)1280, height=(int)720, framerate=(fraction)60/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvoverlaysink sync=false</code>
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*视频录像1080p HD（硬件加速）
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<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>
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*录像回放（硬件加速）
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<code>gst-launch-1.0 filesrc location=videoname.mkv ! matroskademux ! h264parse ! omxh264dec ! nvoverlaysink</code>
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*抓拍图片1080p
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<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>
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*抓拍图片720p
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<code>gst-launch-1.0 v4l2src num-buffers=1 ! "video/x-raw,format=(string)UYVY, width=(int)1280, height=(int)720" ! jpegenc ! filesink location=jpgname.jpg</code>
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====视频控制软件包的使用====
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Jetson Nano使用i2c-6作为摄像头的控制总线。
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<code>cd $L4T_DIR/jetson_nano/i2c_cmd/bin</code>
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具体使用说明请见：[[CS-MIPI-X i2c/zh|I2C脚本使用说明]]。
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===其他说明===
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有任何的改进意见，欢迎您发邮件到xumm#csoneplus.com。
Retrieved from "http://wiki.veye.cc/index.php/Special:MobileDiff/1191"

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