Difference between revisions of "VEYE CS Camera source for Jetson"
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[[VEYE CS Camera source for Jetson/zh|查看中文]] | [[VEYE CS Camera source for Jetson/zh|查看中文]] | ||
− | '''Nvidia Jetson platform VEYE | + | '''Nvidia Jetson platform VEYE camera driver source code compilation guide''' |
=== Overview === | === Overview === | ||
Line 29: | Line 29: | ||
*Jetpack4.6.1, L4T r32.7.1 | *Jetpack4.6.1, L4T r32.7.1 | ||
*Jetpack4.6.2, L4T r32.7.2 | *Jetpack4.6.2, L4T r32.7.2 | ||
+ | *Jetpack4.6.3, L4T r32.7.3 | ||
*Jetpack5.0.1DP,L4T r34.1.1 | *Jetpack5.0.1DP,L4T r34.1.1 | ||
*Jetpack5.0.2, L4T r35.1 | *Jetpack5.0.2, L4T r35.1 | ||
+ | *Jetpack5.1, L4T r35.2.1 | ||
+ | *Jetpack5.1.1, L4T r35.3.1 | ||
+ | *Jetpack5.1.2, L4T r35.4.1 | ||
+ | *Jetpack5.1.3, L4T r35.5 | ||
====Check the current L4T version==== | ====Check the current L4T version==== | ||
Line 109: | Line 114: | ||
<code>./source_sync.sh -t jetson_35.1</code> | <code>./source_sync.sh -t jetson_35.1</code> | ||
+ | ''- Jetpack5.1'' | ||
+ | |||
+ | <code>./source_sync.sh -t jetson_35.2.1</code> | ||
+ | |||
+ | ''- Jetpack5.1.1'' | ||
+ | |||
+ | <code>./source_sync.sh -t jetson_35.3.1</code> | ||
+ | |||
+ | ''- Jetpack5.1.2'' | ||
+ | |||
+ | <code>./source_sync.sh -t jetson_35.4.1</code> | ||
+ | |||
+ | ''- Jetpack5.1.3'' | ||
+ | |||
+ | <code>./source_sync.sh -t jetson_35.5</code> | ||
==== Setting Up the Environment ==== | ==== Setting Up the Environment ==== | ||
Assume SDK install directory is <TOPDIR>,source code is in $L4T_DIR/sources directory. | Assume SDK install directory is <TOPDIR>,source code is in $L4T_DIR/sources directory. | ||
Line 158: | Line 178: | ||
<code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code> | <code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code> | ||
− | ===Build kernel | + | ===Build kernel=== |
− | + | For Jetpack version 4.x and for using MV series cameras under Jetpack version 5.x, the kernel needs to be compiled. | |
==== kernel patch for MV series ==== | ==== kernel patch for MV series ==== | ||
Line 175: | Line 195: | ||
<code>patch -p1 < [path to]veye_mv_l4t_[version].patch</code> | <code>patch -p1 < [path to]veye_mv_l4t_[version].patch</code> | ||
− | ==== patch code ==== | + | ==== For Jetpack 4.x, the camera driver is compiled into the Image ==== |
+ | |||
+ | ===== patch code ===== | ||
<code>cp $RELEASE_PACK_DIR/drivers_source/cam_drv_src/* $NVIDIA_PATH/drivers/media/i2c/</code> | <code>cp $RELEASE_PACK_DIR/drivers_source/cam_drv_src/* $NVIDIA_PATH/drivers/media/i2c/</code> | ||
Line 181: | Line 203: | ||
===== Modify Kconfig and Makefile ===== | ===== Modify Kconfig and Makefile ===== | ||
− | <code | + | Modify the Kconfig and Makefile files under the <code>$NVIDIA_PATH/drivers/media/i2c/</code> directory to add the corresponding camera driver compilation options. |
− | + | ===== build ===== | |
− | |||
− | ==== build ==== | ||
<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code> | <code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code> | ||
Line 192: | Line 212: | ||
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4</code> | <code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4</code> | ||
+ | ==== For Jetpack 5.x, there is no need to compile the camera driver into the Image ==== | ||
+ | |||
+ | ===== build ===== | ||
+ | <code>cd $L4T_DIR/sources/</code> | ||
+ | |||
+ | <code>./nvbuild.sh -o $TEGRA_KERNEL_OUT</code> | ||
+ | |||
+ | <code>nvbuild.sh</code> is only included in the <code>kernel_src.tbz2</code> tar file that is part of <code>public_sources.tbz2</code>. If the kernel sources were synced from the Git server, you need to manually copy <code>nvbuild.sh</code> from the tar file. | ||
+ | |||
+ | ==== Build completed ==== | ||
Completed Image file is $TEGRA_KERNEL_OUT/arch/arm64/boot/Image,could be used for Flashing or Upgrading. | Completed Image file is $TEGRA_KERNEL_OUT/arch/arm64/boot/Image,could be used for Flashing or Upgrading. | ||
Line 198: | Line 228: | ||
<code>sudo cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f</code> | <code>sudo cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f</code> | ||
− | *For | + | *For Xavier and Orin,need sign the file |
<code>cd $L4T_DIR</code> | <code>cd $L4T_DIR</code> | ||
Line 204: | Line 234: | ||
<code>./l4t_sign_image.sh --file kernel/Image --chip 0x19</code> | <code>./l4t_sign_image.sh --file kernel/Image --chip 0x19</code> | ||
===Build modules(Jetpack5.x)=== | ===Build modules(Jetpack5.x)=== | ||
− | For version later than Jetpack 5.x | + | For version later than Jetpack 5.x, can compile the driver directly as modules to get the ko file. It is recommended to compile the driver directly on Jetson Board. |
<code>cd $RELEASE_PACK_DIR/drivers_source/cam_drv_src/</code> | <code>cd $RELEASE_PACK_DIR/drivers_source/cam_drv_src/</code> | ||
Line 241: | Line 271: | ||
<code>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/</code> | <code>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/</code> | ||
+ | |||
+ | ==== Orin ==== | ||
+ | <code>cp $RELEASE_PACK_DIR/Orin/JetPack_<ver>_Linux_JETSON_ORIN_TARGETS/dts\ dtb/common/t23x/* -r $ORIN_DTS_PATH/</code> | ||
+ | |||
+ | For <camera model> | ||
+ | |||
+ | <code>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/</code> | ||
+ | |||
+ | <code>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</code> | ||
==== build ==== | ==== build ==== | ||
Line 255: | Line 294: | ||
<code>cd $L4T_DIR/sources/kernel/kernel-5.10/</code> | <code>cd $L4T_DIR/sources/kernel/kernel-5.10/</code> | ||
− | |||
− | |||
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs</code> | <code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs</code> | ||
Line 280: | Line 317: | ||
===== AGX Orin ===== | ===== AGX Orin ===== | ||
− | <code>$COMMON_DTS_PATH/tegra234-p3701-0000-p3737-0000.dtb</code><br /> | + | <code>$COMMON_DTS_PATH/tegra234-p3701-0000-p3737-0000.dtb</code> |
+ | |||
+ | ===== Orin Nano ===== | ||
+ | <code>$COMMON_DTS_PATH/tegra234-p3767-0003-p3768-0000-a0.dtb</code> | ||
+ | |||
+ | <code>$COMMON_DTS_PATH/tegra234-p3767-0004-p3768-0000-a0.dtb</code> | ||
+ | |||
+ | ===== Orin NX ===== | ||
+ | <code>$COMMON_DTS_PATH/tegra234-p3767-0000-p3768-0000-a0.dtb</code> | ||
+ | |||
+ | <code>$COMMON_DTS_PATH/tegra234-p3767-0001-p3768-0000-a0.dtb</code><br /> |
Latest revision as of 14:55, 22 May 2024
Nvidia Jetson platform VEYE camera driver source code compilation guide
1 Overview
NVIDIA has released Linux developer guide for each Jetpack version. For example, L4T 35.1 and 32.5.
This section is based on the official Kernel Customization section, so please refer to the official documentation for any lack of detail.
We use a host pc with Ubuntu installed and a Jetson board as our development environment.
- Jetpack 4.x
driver is compiled together with the linux kernel on the host pc. dtb is also compiled on the host pc.
- Jetpack5.x
The driver is compiled to modules, on the Jetson board. dtb compilation is done on the host pc.
1.1 Jetpack version VS. L4T version
- Jetpack4.2.2,L4T r32.2.1
- Jetpack4.3,L4T r32.3.1
- Jetpack4.4,L4T r32.4.3
- Jetpack4.4.1,L4T r32.4.4
- Jetpack4.5,L4T r32.5
- Jetpack4.5.1,L4T r32.5.1
- Jetpack4.6, L4T r32.6.1
- Jetpack4.6.1, L4T r32.7.1
- Jetpack4.6.2, L4T r32.7.2
- Jetpack4.6.3, L4T r32.7.3
- Jetpack5.0.1DP,L4T r34.1.1
- Jetpack5.0.2, L4T r35.1
- Jetpack5.1, L4T r35.2.1
- Jetpack5.1.1, L4T r35.3.1
- Jetpack5.1.2, L4T r35.4.1
- Jetpack5.1.3, L4T r35.5
1.2 Check the current L4T version
First check the current L4T version and try to replace it with the same version.
cat /etc/nv_tegra_release
If it shows:
# R32 (release), REVISION: 4.3......
It means L4t Verion is 32.4.3
2 Set up the Host PC environment
The following operations are done in HOST PC.
2.1 Cross-compiling Toolchain
- Jetpack4.xPlease refer to this link to install toolchain on your Host PC.
- Jetpack5.x
Please refer to this link to install toolchain on your Host PC.
2.2 L4T source code and Rootfs
Please download the Linux_for_Tegra SDK via SDK Manager first.
You could use SDK Manager or directly download to get source code. I recommend the direct download method.
Sync code as this if you use SDK Manager:
- 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
- Jetpack4.5.1
./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
- 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 Setting Up the Environment
Assume SDK install directory is <TOPDIR>,source code is in $L4T_DIR/sources directory.
export TOP_DIR=<absolute path to top dir accroding to your jetpack version and board name;for example /home/xumm/nvidia/nvidia_sdk/JetPack_4.5_Linux_JETSON_XAVIER_NX_DEVKIT/>
export L4T_DIR=$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=$L4T_DIR/sources/hardware/nvidia/platform/t19x
export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts/
- Jetpack 4.x only
export CROSS_COMPILE=aarch64-linux-gnu-
export CROSS32CC=arm-linux-gnueabihf-gcc
- Jetpack 5.x only
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 Download our bsp package for Jetson
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 Build kernel
For Jetpack version 4.x and for using MV series cameras under Jetpack version 5.x, the kernel needs to be compiled.
4.1 kernel patch for MV series
For MV series camera, besides adding the camera driver in Linux system, we also add a kernel patch - veye_mv_l4t_[version].patch.
This patch has two features:
- Added support for both Y10 and Y12 data formats for Mono cameras.
- Added support for trigger mode.
This patch package can be left out for VEYE series and CS series cameras.
cd $L4T_DIR/sources/kernel/
patch -p1 < [path to]veye_mv_l4t_[version].patch
4.2 For Jetpack 4.x, the camera driver is compiled into the Image
4.2.1 patch code
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 Modify Kconfig and Makefile
Modify the Kconfig and Makefile files under the $NVIDIA_PATH/drivers/media/i2c/
directory to add the corresponding camera driver compilation options.
4.2.3 build
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 For Jetpack 5.x, there is no need to compile the camera driver into the Image
4.3.1 build
cd $L4T_DIR/sources/
./nvbuild.sh -o $TEGRA_KERNEL_OUT
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 Build completed
Completed Image file is $TEGRA_KERNEL_OUT/arch/arm64/boot/Image,could be used for Flashing or Upgrading.
Install Image for Flashing:
sudo cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f
- For Xavier and Orin,need sign the file
cd $L4T_DIR
./l4t_sign_image.sh --file kernel/Image --chip 0x19
5 Build modules(Jetpack5.x)
For version later than Jetpack 5.x, can compile the driver directly as modules to get the ko file. It is recommended to compile the driver directly on Jetson Board.
cd $RELEASE_PACK_DIR/drivers_source/cam_drv_src/
make -f Makefile
6 Build DTS
Patch code first.
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 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 $ORIN_DTS_PATH/p3768/kernel-dts/cvb
6.6 build
- For Jetpack4.X
export COMMON_DTS_PATH=$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