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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。 | + | 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,Xavier NX Devkit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)以及(Jetpack4.4,L4T版本r32.4.2),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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| <br /> | | <br /> |
| | | |
− | ====英伟达TX2 AGX Xavier==== | + | ====英伟达AGX Xavier==== |
| 转接板是兼容TX2转接板的,连接方式如图: | | 转接板是兼容TX2转接板的,连接方式如图: |
| [[File:AGX XAVIER 6cam.jpg|center|thumb|800x800px|Connect VEYE cameras to AGX Xavier(绿色版本托板为临时版本,正式版本是黑色的) ]] | | [[File:AGX XAVIER 6cam.jpg|center|thumb|800x800px|Connect VEYE cameras to AGX Xavier(绿色版本托板为临时版本,正式版本是黑色的) ]] |
− | <br />
| |
| | | |
− | ===更新Jetson TX2和 AGX Xavier系统=== | + | ==== 英伟达Xavier NX Devkit ==== |
| + | Xavier NX 的接口是兼容树莓派和Jetson Nano的。 连接方式如图(TODO): |
| + | |
| + | ===更新Jetson TX2,AGX Xavier和Xavier NX系统=== |
| | | |
| ====开发环境准备==== | | ====开发环境准备==== |
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| | | |
| <code>./source_sync.sh -t tegra-l4t-r32.3.1</code> | | <code>./source_sync.sh -t tegra-l4t-r32.3.1</code> |
| + | |
| + | ''- Jetpack4.4'' |
| + | |
| + | <code>./source_sync.sh -t tegra-l4t-r32.4.2</code> |
| | | |
| *配置开发环境 | | *配置开发环境 |
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| | | |
| <code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_P2888/</code> | | <code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_P2888/</code> |
| + | |
| + | - ''Xavier NX Jetpack4.4'' |
| + | |
| + | <code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.4_DP_Linux_DP_JETSON_XAVIER_NX_DEVKIT</code> |
| | | |
| - 通用部分 | | - 通用部分 |
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| | | |
| <code>sudo ./flash.sh jetson-xavier mmcblk0p1</code> | | <code>sudo ./flash.sh jetson-xavier mmcblk0p1</code> |
| + | |
| + | ''- Xavier NX Devkit'' |
| + | |
| + | <code>sudo ./flash.sh jetson-xavier-nx-devkit mmcblk0p1</code> |
| ====下载我们的bsp包==== | | ====下载我们的bsp包==== |
| <code>cd $L4T_DIR</code> | | <code>cd $L4T_DIR</code> |
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| | | |
| <code>sudo ./flash.sh -k kernel jetson-xavier mmcblk0p1</code> | | <code>sudo ./flash.sh -k kernel jetson-xavier mmcblk0p1</code> |
| + | |
| + | ''- Xavier NX'' |
| + | |
| + | 在Host PC执行 |
| + | |
| + | <code>cd $L4T_DIR</code> |
| + | |
| + | <code>sudo ./flash.sh -k kernel jetson-xavier-nx-devkit mmcblk0p1</code> |
| | | |
| *烧写DTS分区,进入烧写模式,在Host PC执行 | | *烧写DTS分区,进入烧写模式,在Host PC执行 |
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| | | |
| <code>sudo ./flash.sh -r -k kernel-dtb jetson-xavier mmcblk0p1</code> | | <code>sudo ./flash.sh -r -k kernel-dtb jetson-xavier mmcblk0p1</code> |
| + | |
| + | ''- AGX Xavier'' |
| + | |
| + | <code>sudo ./flash.sh -r -k kernel-dtb jetson-xavier-nx-devkit mmcblk0p1</code> |
| | | |
| 烧写完成后,断电重启。 | | 烧写完成后,断电重启。 |
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| ''- r32.3.1'' | | ''- 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> | + | <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> |
| + | |
| + | ''- r32.4.2'' |
| + | |
| + | <code>cp $RELEASE_PACK_DIR/drivers_source/kernel_csimx307veye327_config_32.4.2 $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_csimx307veye327_defconfig</code> |
| | | |
| *编译 | | *编译 |
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| <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> | | <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> |
| + | |
| + | ''- Xavier NX@Jetpack4.4'' |
| + | |
| + | <code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_DP_Linux_DP_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code> |
| + | |
| + | 对于CS-MIPI-IMX307 |
| + | |
| + | <code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_DP_Linux_DP_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/CS-MIPI-IMX307/tegra194-p3509-0000-a00.dtsi $TX2_DTS_PATH/jakku/kernel-dts/common/</code> |
| + | |
| + | 对于VEYE-MIPI-327 |
| + | |
| + | <code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_DP_Linux_DP_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/VEYE-MIPI-327/tegra194-p3509-0000-a00.dtsi $TX2_DTS_PATH/jakku/kernel-dts/common/</code> |
| | | |
| *编译 | | *编译 |
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| <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'' | + | ''- AGX XAVIER'' |
| | | |
| <code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb $L4T_DIR/kernel/dtb/</code> | | <code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb $L4T_DIR/kernel/dtb/</code> |
| + | |
| + | ''- XAVIER NX'' |
| + | |
| + | <code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra194-p3668-all-p3509-0000.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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| ===参考资料=== | | ===参考资料=== |
| Jetson start up: https://developer.nvidia.com/embedded/learn/getting-started-jetson | | Jetson start up: https://developer.nvidia.com/embedded/learn/getting-started-jetson |
| + | |
| + | Xavier NX: https://developer.nvidia.com/embedded/learn/get-started-jetson-xavier-nx-devki |
| | | |
| TX2 development kit: https://developer.nvidia.com/embedded/jetson-tx2-developer-kit | | TX2 development kit: https://developer.nvidia.com/embedded/jetson-tx2-developer-kit |
| | | |
| SDK Manager: https://docs.nvidia.com/sdk-manager/index.html | | SDK Manager: https://docs.nvidia.com/sdk-manager/index.html |
| + | |
| + | L4T Doc: https://docs.nvidia.com/jetson/archives/l4t-archived/l4t-3242/index.htm |
| | | |
| TX2 user guide: [https://developer.download.nvidia.cn/embedded/L4T/r28_Release_v2.0/GA/Docs/Jetson_TX1_and_TX2_Developer_Kits_User_Guide.pdf?lumI95GW6BEyMmhP1Is8E79OYo105-tpsC2bOVQmBZ6Tw8AkLU4pSDMPCuzOaEonWMiDO2hliXbNvtkH9do81TNIXmLZGGoV7xoEehyEgfc2WO8e0Czz5chLSHoCqIuPLL1 link] | | TX2 user guide: [https://developer.download.nvidia.cn/embedded/L4T/r28_Release_v2.0/GA/Docs/Jetson_TX1_and_TX2_Developer_Kits_User_Guide.pdf?lumI95GW6BEyMmhP1Is8E79OYo105-tpsC2bOVQmBZ6Tw8AkLU4pSDMPCuzOaEonWMiDO2hliXbNvtkH9do81TNIXmLZGGoV7xoEehyEgfc2WO8e0Czz5chLSHoCqIuPLL1 link] |