Line 4: |
Line 4: |
| | | |
| ===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 Nano,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 | + | 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 Nano,Jetson Nano 2GB,Jetson TX2,TX2 NX和AGX Xavier开发板,Xavier NX Devkit以及我们兼容的其他主板上。采用的软件版本为 |
| | | |
| *Jetpack4.2.2,L4T版本r32.2.1 | | *Jetpack4.2.2,L4T版本r32.2.1 |
Line 10: |
Line 10: |
| *Jetpack4.4,L4T版本r32.4.3 | | *Jetpack4.4,L4T版本r32.4.3 |
| *Jetpack4.4.1,L4T版本r32.4.4 | | *Jetpack4.4.1,L4T版本r32.4.4 |
| + | *Jetpack4.5,L4T版本r32.5 |
| + | *Jetpack4.5.1,L4T版本r32.5.1 |
| | | |
| 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。 | | 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。 |
| + | |
| + | ====怎样查看当前L4T版本==== |
| + | 在jetson板子上,查看当前L4T版本,尽量使用同一版本进行替换。 |
| + | |
| + | <code>cat /etc/nv_tegra_release</code> |
| + | |
| + | 如显示: |
| + | |
| + | <code># R32 (release), REVISION: 4.3......</code> |
| + | |
| + | 则表示当前L4T版本为32.4.3。 |
| | | |
| ===硬件准备及安装=== | | ===硬件准备及安装=== |
Line 24: |
Line 37: |
| | | |
| [[File:TX2 Devkit 6cam.jpg|center|thumb|800x800px|'''TX2 Devkit 6 cameras connection''']] | | [[File:TX2 Devkit 6cam.jpg|center|thumb|800x800px|'''TX2 Devkit 6 cameras connection''']] |
− | <br /> | + | <br />'''注意,使用中请务必用螺丝将ADP转接板固定到底板上面。''' |
| | | |
| ====英伟达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:ADP-N1-V2.0 XAVIER 6CAM.jpg|alt=Connect VEYE cameras to AGX Xavier|center|thumb|800x800px|Connect VEYE cameras to AGX Xavier]] |
− | | + | <br />'''注意,使用中请务必用螺丝将ADP转接板固定到底板上面。''' |
− | ====英伟达Nano 和 Xavier NX Devkit==== | + | ====英伟达Nano 、 Xavier NX Devkit和TX2 NX==== |
| Xavier NX 的接口是兼容树莓派和Jetson Nano的。 连接方式如图: | | Xavier NX 的接口是兼容树莓派和Jetson Nano的。 连接方式如图: |
| [[File:Xavier NX connection with VEYE-MIPI-327.jpg|alt=Xavier NX connection with VEYE-MIPI-327|center|thumb|800x800px|'''Xavier NX connection with VEYE-MIPI-327''']] | | [[File:Xavier NX connection with VEYE-MIPI-327.jpg|alt=Xavier NX connection with VEYE-MIPI-327|center|thumb|800x800px|'''Xavier NX connection with VEYE-MIPI-327''']] |
Line 36: |
Line 49: |
| [[File:Jetson nano to Veye327.jpg|alt=Jetson Nano A02 与VEYE模组连接|center|thumb|800x800px|Jetson Nano A02 与VEYE模组连接]] | | [[File:Jetson nano to Veye327.jpg|alt=Jetson Nano A02 与VEYE模组连接|center|thumb|800x800px|Jetson Nano A02 与VEYE模组连接]] |
| <br /> | | <br /> |
− | ===更新Jetson Nano, Jetson TX2,AGX Xavier和Xavier NX系统=== | + | ===更新Jetson Nano, Jetson TX2,TX2 NX, AGX Xavier和Xavier NX系统=== |
| | | |
| ====概述==== | | ====概述==== |
Line 43: |
Line 56: |
| Image部分,我们增加了摄像头驱动,DTB部分则指明了使用的摄像头型号。一般情况下,只需使用我们已编译好的Image和DTB,非必要情况下,无需根据代码进行编译。 | | Image部分,我们增加了摄像头驱动,DTB部分则指明了使用的摄像头型号。一般情况下,只需使用我们已编译好的Image和DTB,非必要情况下,无需根据代码进行编译。 |
| | | |
− | 特别的,对于Jetson Nano 和 Xavier NX,我们提供了TF卡的烧写镜像。 | + | <s>特别的,对于Jetson Nano 和 Xavier NX,我们提供了TF卡的烧写镜像。</s> |
| | | |
− | ====整体烧写Jetson Nano 和 Xavier NX Devkit==== | + | ====<s>整体烧写Jetson Nano 和 Xavier NX Devkit</s>==== |
− | '''''此方法不再推荐,因为这种模式下,在某些情况下,DTB分区会恢复成默认值。推荐采用使用预编译好Image和DTB这种方式来进行驱动升级。''''' | + | '''''<s>此方法不再推荐,因为这种模式下,在某些情况下,DTB分区会恢复成默认值。推荐采用使用预编译好Image和DTB这种方式来进行驱动升级。</s>''''' |
| | | |
− | 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。 | + | <s>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。</s> |
| | | |
− | *镜像下载路径: | + | *<s>镜像下载路径:</s> |
| | | |
− | baiduyun链接:https://pan.baidu.com/s/1sWrcfEOivjuQ7T7P5bVcng | + | <s>baiduyun链接:https://pan.baidu.com/s/1sWrcfEOivjuQ7T7P5bVcng</s> |
| | | |
− | google driver:https://drive.google.com/drive/folders/1KHSMTdyw-ZczR1yJPj-5y9eIv7izbgt3?usp=sharing | + | <s>google driver:https://drive.google.com/drive/folders/1KHSMTdyw-ZczR1yJPj-5y9eIv7izbgt3?usp=sharing</s> |
| | | |
− | 下载后请先解压后烧写。 | + | <s>下载后请先解压后烧写。</s> |
| | | |
− | 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。 | + | <s>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。</s> |
| | | |
− | *烧写方法<code><nowiki/></code> | + | *<s>烧写方法</s><code><nowiki/></code> |
| | | |
− | 参考[https://developer.nvidia.com/embedded/learn/get-started-jetson-xavier-nx-devkit#write 官方链接] | + | <s>参考[https://developer.nvidia.com/embedded/learn/get-started-jetson-xavier-nx-devkit#write 官方链接]</s> |
| | | |
| ====BSP包介绍:==== | | ====BSP包介绍:==== |
Line 77: |
Line 90: |
| *i2c通信工具集 | | *i2c通信工具集 |
| | | |
− | ====Jetson Nano和Xavier NX无需HOST PC升级方法==== | + | ==== DTB文件名称与板卡对应关系 ==== |
| + | |
| + | =====Nano A02===== |
| + | <code>tegra210-p3448-0000-p3449-0000-a02.dtb</code> |
| + | |
| + | ===== Nano B01 ===== |
| + | <code>tegra210-p3448-0000-p3449-0000-b00.dtb</code> |
| + | |
| + | ===== Nano 2GB ===== |
| + | <code>tegra210-p3448-0003-p3542-0000.dtb</code> |
| + | =====TX2 Devkit===== |
| + | <code>tegra186-quill-p3310-1000-c03-00-base.dtb</code> |
| + | |
| + | ===== TX2 NX(p3509-0000 carrier board) ===== |
| + | use the same carrier board with XAVIER NX Devkit |
| + | |
| + | <code>tegra186-p3636-0001-p3509-0000-a01.dtb</code> |
| + | =====AGX XAVIER ===== |
| + | <code>tegra194-p2888-0001-p2822-0000.dtb</code> |
| + | =====XAVIER NX Devkit===== |
| + | <code>tegra194-p3668-all-p3509-0000.dtb</code> |
| + | ====Jetson Nano和Xavier NX、AGX Xavier无需HOST PC升级方法==== |
| + | 注:AGX Xavier在Jetpack4.4以后的版本,建议可以使用此方法。以前版本我们未作验证,不建议使用。 |
| | | |
| =====查看当前L4T版本===== | | =====查看当前L4T版本===== |
Line 88: |
Line 123: |
| <code># R32 (release), REVISION: 4.3......</code> | | <code># R32 (release), REVISION: 4.3......</code> |
| | | |
− | 则表示当前版本为32.4.3。
| + | 则表示当前L4T版本为32.4.3。 |
| | | |
| =====下载bsp包到Jetson板子===== | | =====下载bsp包到Jetson板子===== |
Line 99: |
Line 134: |
| | | |
| <code>sudo cp <path to your Image dir>/Image /boot/Image -f</code> | | <code>sudo cp <path to your Image dir>/Image /boot/Image -f</code> |
| + | |
| + | 特别的,对于xavier nx需要使用签名后的文件(比如Image_l4t_r32.*.*_veyecam_signed_4_xavier目录下),把新的Image和Image.sig拷贝的XAVIER的/boot/目录下。 |
| + | |
| + | <code>sudo cp <path to your Image dir>/Image /boot/Image -f</code> |
| + | |
| + | <code>sudo cp <path to your Image dir>/Image.sig /boot/Image.sig -f</code> |
| | | |
| 重启后生效。 | | 重启后生效。 |
Line 115: |
Line 156: |
| ====通过HOST PC升级方法==== | | ====通过HOST PC升级方法==== |
| | | |
− | =====HOST开发环境准备===== | + | =====烧写标准版本镜像===== |
| + | '''''注意:如您的Jetson板子已经正确烧写了标准版本的镜像,此步骤可以跳过。''''' |
| | | |
− | *编译工具链
| + | 可以使用SDK Manager直接烧写标准镜像,也可以按照如下步骤手动烧写。 |
| | | |
− | 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。
| + | *配置环境变量 |
| | | |
− | *L4T源码和Rootfs
| + | 以下步骤假设SDK安装目录为<TOPDIR>。 |
| | | |
− | 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。
| + | <code>export TOP_DIR=<absolute path to top dir accroding to your jetpack version and board name;for example /home/xumm/nvidia/nvidia_sdk/JetPack_4.5_Linux_JETSON_XAVIER_NX_DEVKIT/></code> |
− | | |
− | 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>
| |
− | | |
− | ''- Jetpack4.3''
| |
− | | |
− | <code>./source_sync.sh -t tegra-l4t-r32.3.1</code>
| |
− | | |
− | ''- Jetpack4.4''
| |
− | | |
− | <code>./source_sync.sh -t tegra-l4t-r32.4.3</code>
| |
− | | |
− | *配置开发环境
| |
− | | |
− | 以下步骤假设SDK安装目录为<TOPDIR>,源代码在$L4T_DIR/sources目录。
| |
− | | |
− | ''- Nano@Jetpack4.2.2''
| |
− | | |
− | <code>export TOP_DIR=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P3448/></code>
| |
− | | |
− | ''- Nano@Jetpack4.3''
| |
− | | |
− | <code>export TOP_DIR=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_JETSON_NANO_DEVKIT/></code> | |
− | | |
− | ''- Nano@Jetpack4.4''
| |
− | | |
− | <code>export TOP_DIR=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_NANO_DEVKIT/></code>
| |
− | | |
− | ''- TX2@Jetpack4.2.2''
| |
− | | |
− | <code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P3310/</code>
| |
− | | |
− | ''- TX2@Jetpack4.3''
| |
− | | |
− | <code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_P3310/</code>
| |
− | | |
− | ''- TX2@Jetpack4.4''
| |
− | | |
− | <code>export TOP_DIR=/home/xumm/nvidia/JetPack_4.4_Linux_JETSON_TX2/</code>
| |
− | | |
− | ''- AGX XavierJetpack4.2.2''
| |
− | | |
− | <code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P2888/</code>
| |
− | | |
− | ''- AGX XavierJetpack4.3''
| |
− | | |
− | <code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_P2888/</code>
| |
− | | |
− | ''- AGX XavierJetpack4.4''
| |
− | | |
− | <code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/</code>
| |
− | | |
− | - ''Xavier NX Jetpack4.4''
| |
− | | |
− | <code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT</code>
| |
| | | |
| - 通用部分 | | - 通用部分 |
| | | |
| <code>export L4T_DIR=$TOP_DIR/Linux_for_Tegra</code> | | <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>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>
| |
− |
| |
− | <code>export TX2_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t18x</code>
| |
− |
| |
− | <code>export XAVIER_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t19x</code>
| |
− |
| |
− | <code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
| |
| | | |
| *生成默认版本烧写镜像,烧写默认镜像到板子,准备好L4T环境 | | *生成默认版本烧写镜像,烧写默认镜像到板子,准备好L4T环境 |
Line 217: |
Line 177: |
| <code>sudo ./apply_binaries.sh</code> | | <code>sudo ./apply_binaries.sh</code> |
| | | |
− | 进入recovery mode并烧写标准版本镜像 | + | 进入recovery mode并烧写标准版本镜像。 |
| | | |
| - Nano | | - Nano |
| | | |
− | <code>sudo ./flash.sh jetson--qspi-sd mmcblk0p1</code> | + | <code><s>sudo ./flash.sh jetson-qspi-sd mmcblk0p1</s></code> |
| + | |
| + | <code>sudo ./flash.sh jetson-nano-devkit mmcblk0p1</code> |
| + | |
| + | <code>sudo ./flash.sh jetson-nano-2gb-devkit mmcblk0p1</code> |
| | | |
| ''- TX2'' | | ''- TX2'' |
| | | |
| <code>sudo ./flash.sh jetson-tx2 mmcblk0p1</code> | | <code>sudo ./flash.sh jetson-tx2 mmcblk0p1</code> |
| + | |
| + | ''- TX2 NX(p3509-0000 carrier board)'' |
| + | |
| + | <code>sudo ./flash.sh jetson-xavier-nx-devkit-tx2-nx mmcblk0p1</code> |
| | | |
| ''- AGX Xavier'' | | ''- AGX Xavier'' |
Line 258: |
Line 226: |
| ''- AGX Xavier 和Xavier NX'' | | ''- AGX Xavier 和Xavier NX'' |
| | | |
− | 需要使用签名后的文件,把新的Image和Image.sig拷贝的XAVIER的/boot/目录下。
| + | 需要使用签名后的文件(比如Image_l4t_r32.*.*_veyecam_signed_4_xavier目录下),把新的Image和Image.sig拷贝的XAVIER的/boot/目录下。 |
| | | |
| <code>sudo cp <path to your Image dir>/Image /boot/Image -f</code> | | <code>sudo cp <path to your Image dir>/Image /boot/Image -f</code> |
| | | |
− | <code><s>sudo cp <path to your Image dir>/Image.sig /boot/Image.sig -f</s></code> | + | <code>sudo cp <path to your Image dir>/Image.sig /boot/Image.sig -f</code> |
| | | |
| <s>在Host PC执行</s> | | <s>在Host PC执行</s> |
Line 286: |
Line 254: |
| - ''Nano'' | | - ''Nano'' |
| | | |
− | <code>sudo ./flash.sh -r -k DTB jetson-nano-qspi-sd mmcblk0p1</code> | + | <code><s>sudo ./flash.sh -r -k DTB jetson-nano-qspi-sd mmcblk0p1</s></code> |
| + | |
| + | <code>sudo ./flash.sh -r -k DTB jetson-nano-devkit mmcblk0p1</code> |
| + | |
| + | <code>sudo ./flash.sh -r -k DTB jetson-nano-2gb-devkit mmcblk0p1</code> |
| | | |
| ''- TX2'' | | ''- TX2'' |
| | | |
| <code>sudo ./flash.sh -r -k kernel-dtb jetson-tx2 mmcblk0p1</code> | | <code>sudo ./flash.sh -r -k kernel-dtb jetson-tx2 mmcblk0p1</code> |
| + | |
| + | ''- TX2 NX(p3509-0000 carrier board)'' |
| + | |
| + | <code>sudo ./flash.sh -r -k kernel-dtb jetson-xavier-nx-devkit-tx2-nx mmcblk0p1</code> |
| | | |
| ''- AGX Xavier'' | | ''- AGX Xavier'' |
Line 313: |
Line 289: |
| DTB在不同的平台和不同的摄像头模组都会有所不同。 | | DTB在不同的平台和不同的摄像头模组都会有所不同。 |
| | | |
− | - Nano A02 | + | - Nano A02/ Nano 2G |
| | | |
| <code>ls /proc/device-tree/host1x/i2c@546c0000/</code> | | <code>ls /proc/device-tree/host1x/i2c@546c0000/</code> |
Line 324: |
Line 300: |
| | | |
| <code>ls /proc/device-tree/i2c@3180000/tca9548@70/i2c@*</code> | | <code>ls /proc/device-tree/i2c@3180000/tca9548@70/i2c@*</code> |
| + | |
| + | <s>or</s> |
| + | |
| + | <code><s>ls /proc/device-tree/i2c@3180000/tca9548@77/i2c@*</s></code> |
| | | |
| - AGX Xavier | | - AGX Xavier |
Line 329: |
Line 309: |
| <code>ls /proc/device-tree/i2c@3180000/tca9548@70/i2c@*</code> | | <code>ls /proc/device-tree/i2c@3180000/tca9548@70/i2c@*</code> |
| | | |
− | - Xavier NX | + | - Xavier NX and TX2 NX(p3509-0000 carrier board) |
| | | |
| <code>ls /proc/device-tree/cam_i2cmux/i2c@*</code> | | <code>ls /proc/device-tree/cam_i2cmux/i2c@*</code> |
Line 337: |
Line 317: |
| ====使用源码进行编译==== | | ====使用源码进行编译==== |
| | | |
| + | 请参考:[[VEYE CS Camera source for Jetson/zh|英伟达Jetson平台上VEYE和CS系列摄像头驱动源码编译指南]] |
| | | |
| 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。 |
Line 387: |
Line 368: |
| | | |
| <code>gst-launch-1.0 v4l2src device=/dev/video0 ! "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> | | <code>gst-launch-1.0 v4l2src device=/dev/video0 ! "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> |
| + | |
| + | * 视频预览1080p HD(using xvimagesink sink) |
| + | |
| + | <code>export DISPLAY=:0</code> |
| + | |
| + | <code>gst-launch-1.0 -e v4l2src io-mode=4 device=/dev/video0 do-timestamp=true ! 'video/x-raw, width=1920, height=1080, framerate=30/1, format=UYVY' ! xvimagesink sync=false</code> |
| | | |
| *视频预览720p@60 HD(模组支持此分辨率时,硬件加速) | | *视频预览720p@60 HD(模组支持此分辨率时,硬件加速) |
Line 486: |
Line 473: |
| 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 | + | L4T Doc: https://docs.nvidia.com/jetson/archives/l4t-archived/l4t-325/ |
| | | |
| 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] |