VEYE CS Camera source for Jetson/zh

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英伟达Jetson平台上VEYE摄像头驱动源码编译指南

1 概述

NVIDIA为每个Jetpack版本都发布了Linux开发文档。比如L4T 35.1和32.5。本章节是以官方的Kernel Customization章节为基础的，不够详尽之处，请参考官方文档。

我们使用安装Ubuntu的host pc和Jetson板子作开发环境。

• Jetpack4.x

驱动与linux内核编译到一起，在host pc上进行。dtb的编译也在host pc进行。

• Jetpack5.x

驱动独立于linux内核，编译为modules，在Jetson板上进行。dtb的编译在host pc进行。

1.1 版本对应关系

• Jetpack4.2.2,L4T版本r32.2.1
• Jetpack4.3,L4T版本r32.3.1
• Jetpack4.4,L4T版本r32.4.3
• 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
• Jetpack4.6,L4T版本r32.6.1
• Jetpack4.6.1,L4T版本r32.7.1
• Jetpack4.6.2,L4T版本r32.7.2
• Jetpack4.6.3,L4T版本r32.7.3
• Jetpack5.0.1DP,L4T版本r34.1.1
• Jetpack5.0.2, L4T版本r35.1
• Jetpack5.1, L4T版本r35.2.1
• Jetpack5.1.1, L4T版本r35.3.1
• Jetpack5.1.2, L4T版本r35.4.1
• Jetpack5.1.3, L4T版本r35.5

1.2 查看当前L4T版本

首先查看当前L4T版本，尽量使用同一版本进行替换。

cat /etc/nv_tegra_release

如显示:

# R32 (release), REVISION: 4.3......

则表示当前版本为32.4.3。

2 HOST开发环境准备

以下操作均为在HOST PC进行。

2.1 编译工具链

• Jetpack4.x

请参考这个链接安装编译工具链。

• Jetpack5.x

请参考这个链接安装编译工具链。

2.2 L4T源码和Rootfs

首先使用SDK Manager在HOST PC上面下载对应的Linux_for_Tegra开发包。

可以通过SDK Manager或者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。我推荐直接下载的方式。

使用SDK Manager时同步代码采用如下指令：

- Jetpack4.2.2

./source_sync.sh -t tegra-l4t-r32.2.1

- Jetpack4.3

./source_sync.sh -t tegra-l4t-r32.3.1

- Jetpack4.4

./source_sync.sh -t tegra-l4t-r32.4.3

- Jetpack4.4.1

./source_sync.sh -t tegra-l4t-r32.4.4

- Jetpack4.5

./source_sync.sh -t tegra-l4t-r32.5

- Jetpack4.5.1

./source_sync.sh -t tegra-l4t-r32.5.1

- Jetpack4.6

./source_sync.sh -t tegra-l4t-r32.6.1

- Jetpack4.6.1

./source_sync.sh -t tegra-l4t-r32.7.1

- Jetpack4.6.2

Nvidia did not push sources to nv-tegra for this 32.7.2 release because there have been no changes in the kernel and DTS compared to 32.7.1 release.

- Jetpack4.6.3

./source_sync.sh -t tegra-l4t-r32.7.3

- Jetpack5.0.1 DP

./source_sync.sh -t jetson_34.1.1

- Jetpack5.0.2

./source_sync.sh -t jetson_35.1

- Jetpack5.1

./source_sync.sh -t jetson_35.2.1

- Jetpack5.1.1

./source_sync.sh -t jetson_35.3.1

- Jetpack5.1.2

./source_sync.sh -t jetson_35.4.1

- Jetpack5.1.3

./source_sync.sh -t jetson_35.5

2.3 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。

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/>

• 通用部分

export L4T_DIR=$TOP_DIR/Linux_for_Tegra

export LOCALVERSION=-tegra

export LDK_ROOTFS_DIR=$TOP_DIR/Linux_for_Tegra/rootfs

export ARCH=arm64

export TEGRA_KERNEL_OUT=$L4T_DIR/sources/kernel/out_kernel

export KERNEL_PATH=$L4T_DIR/sources/kernel/out_kernel

export NVIDIA_PATH=$L4T_DIR/sources/kernel/nvidia

export NANO_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t210/

export TX2_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t18x

export XAVIER_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t19x

export ORIN_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t23x

• Jetpack 4.x

export CROSS_COMPILE=aarch64-linux-gnu-

export CROSS32CC=arm-linux-gnueabihf-gcc

export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts/

• Jetpack 5.x

export CROSS_COMPILE_AARCH64_PATH=$HOME/l4t-gcc

export CROSS_COMPILE_AARCH64=$HOME/l4t-gcc/bin/aarch64-buildroot-linux-gnu-

export CROSS_COMPILE=$CROSS_COMPILE_AARCH64

export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts/nvidia

3 下载我们的bsp包

cd $L4T_DIR

git clone https://github.com/veyeimaging/nvidia_jetson_veye_bsp.git

export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp

4 编译kernel

对于Jetpack4.x版本以及在Jetpack5.x版本下使用MV系列相机的，需要编译kernel。

4.1 MV系列相机的patch包

对于MV系列相机，除了在linux系统中增加了摄像头的驱动，我们还增加了一个内核补丁——veye_mv_l4t_[version].patch。

这个patch具备两个功能：

1. 增加了黑白相机的Y10和Y12两种数据格式的支持。
2. 增加了trigger模式的支持。

这个补丁包对于VEYE系列和CS系列相机，可以不使用。

cd $L4T_DIR/sources/kernel/

patch -p1 < [path to]veye_mv_l4t_[version].patch

4.2 对于Jetpack4.x,将camera驱动编译进Image

4.2.1 patch代码

cp $RELEASE_PACK_DIR/drivers_source/cam_drv_src/* $NVIDIA_PATH/drivers/media/i2c/

cp $RELEASE_PACK_DIR/drivers_source/kernel_veyecam_config_<l4t_version> $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_veyecam_defconfig

4.2.2 修改Kconfig和Makefile

手动修改$NVIDIA_PATH/drivers/media/i2c/目录下的Kconfig和Makefile，增加对应camera驱动的编译选项。

4.2.3 编译

cd $L4T_DIR/sources/kernel/kernel-4.9/

make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_veyecam_defconfig

make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4

4.3 对于Jetpack5.x,无需将camera驱动编译进Image

4.3.1 编译

cd $L4T_DIR/sources/

./nvbuild.sh -o $TEGRA_KERNEL_OUT

如果没有找到此脚本：

nvbuild.sh is only included in the kernel_src.tbz2 tar file that is part of public_sources.tbz2. If the kernel sources were synced from the Git server, you need to manually copy nvbuild.sh from the tar file.

4.4 编译完成

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

cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f

• 对于xavier和Orin，需要进行签名

cd $L4T_DIR

./l4t_sign_image.sh --file kernel/Image --chip 0x19

5 编译modules(Jetpack5.x)

Jetpack5.x以后的版本，可以直接以modules方式编译驱动，得到ko文件。推荐直接在Jetson Board上面编译驱动。

cd $RELEASE_PACK_DIR/drivers_source/cam_drv_src/

make

6 编译DTS

首先需要patch代码。

6.1 Nano

cp $RELEASE_PACK_DIR/Nano/JetPack_<ver>_Linux_JETSON_NANO_DEVKIT/dts\ dtb/common/t210/* -r $NANO_DTS_PATH/

For <camera model>

cp $RELEASE_PACK_DIR/Nano/JetPack_<ver>_Linux_JETSON_NANO_DEVKIT/dts\ dtb/<camera model>/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager

6.2 TX2

cp $RELEASE_PACK_DIR/TX2/JetPack_<ver>_Linux_JETSON_TX2/dts\ dtb/common/t18x/* -r $TX2_DTS_PATH/

For <camera model>

cp $RELEASE_PACK_DIR/TX2/JetPack_<ver>_Linux_JETSON_TX2/dts\ dtb/<camera model>/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/

cp $RELEASE_PACK_DIR/TX2/JetPack_<ver>_Linux_JETSON_TX2/dts\ dtb/<camera model>/tegra186-p3636-0001-p3509-0000-a01.dts $TX2_DTS_PATH/lanai/kernel-dts

6.3 AGX Xavier

cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_<ver>_Linux_JETSON_AGX_XAVIER/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/

For <camera model>

cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_<ver>_Linux_JETSON_AGX_XAVIER/dts\ dtb/<camera model>/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/

6.4 Xavier NX

cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_<ver>_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/

For <camera model>

cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_<ver>_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/<camera model>/tegra194-p3509-0000-a00.dtsi $XAVIER_DTS_PATH/jakku/kernel-dts/common/

6.5 Orin

cp $RELEASE_PACK_DIR/Orin/JetPack_<ver>_Linux_JETSON_ORIN_TARGETS/dts\ dtb/common/t23x/* -r $ORIN_DTS_PATH/

For <camera model>

cp $RELEASE_PACK_DIR/Orin/JetPack_<ver>_Linux_JETSON_ORIN_TARGETS/dts\ dtb/<camera model>/tegra234-p3737-camera-modules.dtsi $ORIN_DTS_PATH/concord/kernel-dts/cvb/

cp $RELEASE_PACK_DIR/Orin/JetPack_<ver>_Linux_JETSON_ORIN_TARGETS/dts\ dtb/<camera model>/tegra234-p3768-0000-a0.dtsi $ORIN_DTS_PATH/p3768/kernel-dts/cvb

6.6 编译

• For Jetpack4.X

export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts

cd $L4T_DIR/sources/kernel/kernel-4.9/

• For Jetpack5.X

export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts/nvidia

cd $L4T_DIR/sources/kernel/kernel-5.10/

make ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs

You can get the compiled DTB file in the following path.

6.6.1 Nano

$COMMON_DTS_PATH/tegra210-p3448-0000-p3449-0000-a02.dtb

$COMMON_DTS_PATH/tegra210-p3448-0000-p3449-0000-b00.dtb

$COMMON_DTS_PATH/tegra210-p3448-0003-p3542-0000.dtb

6.6.2 TX2

$COMMON_DTS_PATH/tegra186-quill-p3310-1000-c03-00-base.dtb

6.6.3 TX2 NX(p3509-0000 carrier board)

$COMMON_DTS_PATH/tegra186-p3636-0001-p3509-0000-a01.dtb

6.6.4 AGX XAVIER

$COMMON_DTS_PATH/tegra194-p2888-0001-p2822-0000.dtb

6.6.5 XAVIER NX

$COMMON_DTS_PATH/tegra194-p3668-all-p3509-0000.dtb

6.6.6 AGX Orin

$COMMON_DTS_PATH/tegra234-p3701-0000-p3737-0000.dtb

6.6.7 Orin Nano

$COMMON_DTS_PATH/tegra234-p3767-0003-p3768-0000-a0.dtb

$COMMON_DTS_PATH/tegra234-p3767-0004-p3768-0000-a0.dtb

6.6.8 Orin NX

$COMMON_DTS_PATH/tegra234-p3767-0000-p3768-0000-a0.dtb

$COMMON_DTS_PATH/tegra234-p3767-0001-p3768-0000-a0.dtb