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| ===概述=== | | ===概述=== |
− | 本文讲述怎样将VEYE系列和CS系列模组接入到英伟达公司的Jetson TX2和AGX Xavier开发板以及我们兼容的其他TX2主板上。采用的JetPack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。 | + | 本文讲述怎样将VEYE系列和CS系列模组接入到英伟达公司的Jetson TX2和AGX Xavier开发板以及我们兼容的其他TX2主板上。采用的软件版本为(Jetpack4.2.2,L4T版本r32.2.1)以及(Jetpack4.3,L4T版本r32.3.1),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-327/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。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DRA(Directly Register Access)模式,我们提供了一组Shell脚本直接控制摄像头模组。 | | VEYE-MIPI-327/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。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DRA(Directly Register Access)模式,我们提供了一组Shell脚本直接控制摄像头模组。 |
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| 使用SDK Manager时同步代码采用如下指令: | | 使用SDK Manager时同步代码采用如下指令: |
| + | |
| + | ''- Jetpack4.2.2'' |
| | | |
| <code>./source_sync.sh -t tegra-l4t-r32.2.1</code> | | <code>./source_sync.sh -t tegra-l4t-r32.2.1</code> |
| + | |
| + | ''- Jetpack4.3'' |
| + | |
| + | <code>./source_sync.sh -t tegra-l4t-r32.3.1</code> |
| | | |
| *配置开发环境 | | *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$L4T_DIR/sources目录。 | | 以下步骤假设SDK安装目录为<TOPDIR>,源代码在$L4T_DIR/sources目录。 |
| | | |
− | ''- TX2'' | + | ''- TX2@Jetpack4.2.2'' |
| | | |
| <code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P3310/</code> | | <code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P3310/</code> |
| | | |
− | ''- AGX Xavier'' | + | ''- TX2@Jetpack4.3'' |
| + | |
| + | <code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_P3310/</code> |
| + | |
| + | ''- AGX XavierJetpack4.2.2'' |
| | | |
| <code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P2888/</code> | | <code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P2888/</code> |
| + | |
| + | ''- AGX XavierJetpack4.3'' |
| + | |
| + | <code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_P2888/</code> |
| + | |
| + | - 通用部分 |
| | | |
| <code>export L4T_DIR=$TOP_DIR/Linux_for_Tegra</code> | | <code>export L4T_DIR=$TOP_DIR/Linux_for_Tegra</code> |
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| *patch代码 | | *patch代码 |
| | | |
− | ''- TX2'' | + | ''- TX2@Jetpack4.2.2'' |
| | | |
| <code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.2.2_Linux_GA_P3310/dts\ dtb/common/t18x/* -r $TX2_DTS_PATH/</code> | | <code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.2.2_Linux_GA_P3310/dts\ dtb/common/t18x/* -r $TX2_DTS_PATH/</code> |
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| <code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.2.2_Linux_GA_P3310/dts\ dtb/VEYE-MIPI-327/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code> | | <code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.2.2_Linux_GA_P3310/dts\ dtb/VEYE-MIPI-327/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code> |
| | | |
− | ''- AGX Xavier'' | + | ''- TX2@Jetpack4.3'' |
| + | |
| + | <code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.3_Linux_P3310/dts\ dtb/common/t18x/* -r $TX2_DTS_PATH/</code> |
| + | |
| + | 对于CS-MIPI-IMX307 |
| + | |
| + | <code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.3_Linux_P3310/dts\ dtb/CS-MIPI-IMX307/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code> |
| + | |
| + | 对于VEYE-MIPI-327 |
| + | |
| + | <code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.3_Linux_P3310/dts\ dtb/VEYE-MIPI-327/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code> |
| + | |
| + | ''- AGX Xavier@Jetpack4.2.2'' |
| | | |
| <code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.2.2_Linux_GA_P2888/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code> | | <code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.2.2_Linux_GA_P2888/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code> |
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| | | |
| <code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.2.2_Linux_GA_P2888/dts\ dtb/VEYE-MIPI-327/tegra194-p2888-0001-p2822-0000.dts $TX2_DTS_PATH/galen/kernel-dts/</code> | | <code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.2.2_Linux_GA_P2888/dts\ dtb/VEYE-MIPI-327/tegra194-p2888-0001-p2822-0000.dts $TX2_DTS_PATH/galen/kernel-dts/</code> |
| + | |
| + | ''- AGX Xavier@Jetpack4.3'' |
| + | |
| + | <code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.3_Linux_P2888/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code> |
| + | |
| + | 对于CS-MIPI-IMX307 |
| + | |
| + | <code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.3_Linux_P2888/dts\ dtb/CS-MIPI-IMX307/tegra194-p2888-0001-p2822-0000.dts $TX2_DTS_PATH/galen/kernel-dts/</code> |
| + | |
| + | 对于VEYE-MIPI-327 |
| + | |
| + | <code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.3_Linux_P2888/dts\ dtb/VEYE-MIPI-327/tegra194-p2888-0001-p2822-0000.dts $TX2_DTS_PATH/galen/kernel-dts/</code> |
| | | |
| *编译 | | *编译 |
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| | | |
| <code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs</code> | | <code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs</code> |
| + | |
| + | ''- TX2'' |
| | | |
| <code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra186-quill-p3310-1000-c03-00-base.dtb $L4T_DIR/kernel/dtb/</code> | | <code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra186-quill-p3310-1000-c03-00-base.dtb $L4T_DIR/kernel/dtb/</code> |
| + | |
| + | ''- XAVIER'' |
| + | |
| + | <code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb $L4T_DIR/kernel/dtb/</code> |
| | | |
| kernel和DTS编译完成后,可以按照上面的步骤升级Image和DTB。 | | kernel和DTS编译完成后,可以按照上面的步骤升级Image和DTB。 |
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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> | | <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> |
| + | |
| + | *视频预览640*480@130fps(模组支持此分辨率时,硬件加速) |
| + | |
| + | <code>gst-launch-1.0 v4l2src ! "video/x-raw,format=(string)UYVY, width=(int)640, height=(int)480, framerate=(fraction)130/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvoverlaysink sync=false</code> |
| | | |
| *并列预览两路视频 1080p HD(硬件加速) | | *并列预览两路视频 1080p HD(硬件加速) |