V4L2 mode for Raspberry Pi
How to use VEYE and CS series camera module on Raspberry Pi(V4L2 mode)
1 Introduction
For the use of VEYE series and CS series camera modules on the raspberry Pi platform, we provide veye_raspicam software, an application layer open source software similar to the raspicam. This series of software, without driver support, has good compatibility with different versions of piOS.
However, we think that the V4L2 driver mode also has a wide range of applications. The two modes cannot be used at the same time, which is embodied in whether the driver is installed or not. It will be described in detail later.
This article describes how to call the camera modules of VEYE series and CS series through V4L2 on the raspberry Pi platform.
2 Hardware Setup
VEYE series camera module setup on rpi
CS series camera module setup on rpi
3 RaspberryPi System Setup and Configuration
RaspberryPi System Setup and Configuration
4 Driver Installation
4.1 Download the driver
git clone https://github.com/veyeimaging/raspberrypi_v4l2.git
4.2 Install the driver
cd raspberrypi_v4l2/release/
chmod +x *
sudo ./install_driver.sh [camera module]
camera module：could be veye327,csimx307,cssc132.
Note: For VEYE-MIPI-IMX327S or VEYE-MIPI-IMX462, please make sure hdver must >= 0x5.
http://wiki.veye.cc/index.php/VEYE-MIPI-IMX327S_version_log
4.3 Uninstall the driver
If you need to change to using the camera by veye_raspicam software, or if you want to change to a driver of another camera module model, you must first uninstall the current driver.
sudo ./uninstall_driver.sh [camera module]
camera module：could be veye327,csimx307,cssc132.
5 Check and Test the Camera
Check the camera probe status
- VEYE-MIPI-327
dmesg | grep veye
You can see:
veye327 camera probed
- CS-MIPI-IMX307
dmesg | grep 307
You can see:
camera id is cs-mipi-imx307
- CS-MIPI-SC132
dmesg | grep 132
You can see:
camera id is cs-mipi-sc132
5.1 List the video device
ls /dev/video0
The device node exsit.
5.2 List the available video modes
v4l2-ctl --list-formats-ext
6 Gstreamer usage Demo
export DISPLAY=:0
- install gstreamer
sudo apt-get install gstreamer1.0-tools
- Snap a picture (VEYE-MIPI-327,CS-MIPI-IMX307 @1080p mode)
gst-launch-1.0 v4l2src num-buffers=1 device=/dev/video0 ! 'video/x-raw, format=(string)UYVY, width=1920,height=1080' ! jpegenc ! filesink location=test_image.jpg
- Preview (VEYE-MIPI-327,CS-MIPI-IMX307 @1080p mode)
gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080,framerate=(fraction)30/1" ! videoconvert ! autovideosink sync=false -v
- Preview (CS-MIPI-IMX307,CS-MIPI-SC132 @720p mode)
gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw,format=(string)UYVY, width=(int)1280, height=(int)720,framerate=(fraction)60/1" ! videoconvert ! autovideosink sync=false -v
- Preview (CS-MIPI-IMX307,CS-MIPI-SC132 @vga mode)
gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw,format=(string)UYVY, width=(int)640, height=(int)480" ! videoconvert ! autovideosink sync=false -v
- Preview (CS-MIPI-SC132 @1280*1080@45 mode)
gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw,format=(string)UYVY, width=(int)1280, height=(int)1080,framerate=(fraction)45/1" ! videoconvert ! autovideosink sync=false -v
- Framerate test (VEYE-MIPI-327,CS-MIPI-IMX307 @1080p mode)
gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080,framerate=(fraction)30/1" ! videoconvert ! fpsdisplaysink video-sink=fakesink -v
7 Video Control Toolkits Manual
Because of the high flexibility of our camera parameters, we do not use V4L2 parameters to control, but use scripts to configure parameters.
https://github.com/veyeimaging/raspberrypi/tree/master/i2c_cmd
VEYE Series Video Control Toolkits Manual
CS Series Video Control Toolkits Manual
8 Notes for CM4
Cm4 supports the use of two cameras at the same time. Following above steps will only be able to use CAM1. To use two cameras, follow the following steps:
8.1 Upgrade dt-blob.bin
wget https://www.raspberrypi.org/documentation/hardware/computemodule/dt-blob-dualcam.bin
sudo cp dt-blob-dualcam.bin /boot/dt-blob.bin
8.2 Upgrade dual camera version dtbo file
Use csimx307,5.10.17-v7l+ kernel as an example：
sudo cp raspberrypi_v4l2/release/driver_bin/5.10.17-v7l+/csimx307-dual-cm4.dtbo /boot/overlays/csimx307.dtbo
sudo reboot
8.3 Device node description
The CM4 module uses two I2C channels to communicate with the two cameras respectively.
| description | i2c bus num | video node |
|---|---|---|
| CAM0 | 0 | video0 |
| CAM1 | 10 | video2 |
Note: If there is only one camera, video node is always video0.
8.4 Gstreamer usage Demo
export DISPLAY=:0
- CAM0 preview(VEYE-MIPI-327,CS-MIPI-IMX307 @1080p mode)
gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080,framerate=(fraction)30/1" ! videoconvert ! fpsdisplaysink videosink=autovideosink sync=false text-overlay=false -v
- CAM1 preview(VEYE-MIPI-327,CS-MIPI-IMX307 @1080p mode)
gst-launch-1.0 v4l2src device=/dev/video2 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080,framerate=(fraction)30/1" ! videoconvert ! fpsdisplaysink videosink=autovideosink sync=false text-overlay=false -v
9 Source code cross compilation
The main resources in this section are the official piOS building method. We use the method of cross-compilation, and the 5.4.72 version of 32bitOS is taken as an example.
The following operations are done on ubuntu PC.
9.1 Build cross-compilation environment on Ubuntu 64-bitoperating system)
sudo apt install git bc bison flex libssl-dev make libc6-dev libncurses5-dev
sudo apt install crossbuild-essential-armhf
9.2 Download the standard version of the piOS source code
9.2.1 Confirm the piOS version of your raspberry Pi
Release version
$ uname -a
Linux raspberrypi 5.4.72-v7l+ #1356 SMP Thu Oct 22 13:57:51 BST 2020 armv7l GNU/Linux
Code tag
$ cp /usr/share/doc/raspberrypi-bootloader/changelog.Debian.gz ./
gunzip changelog.Debian.gz
Check the top lines and you will know the tag.
9.2.2 There are two ways to get the source code of the version you want:
- using git to clone the corresponding branch and checkout the corresponding tag.
git clone --branch rpi-5.4.y https://github.com/raspberrypi/linux
git checkout raspberrypi-kernel_1.20201022-1
2. Manually download the version code of the corresponding tag directly from the link below.
https://github.com/raspberrypi/linux/tags
9.3 Patch our code to kernel
- Driver source code
camera driver path is ： linux/drivers/media/i2c，copy our camera module drivers to this path.
- Modify the the Makefile and Kconfig files
Modify the Config and Makefile in the same path，add the corresponding camera driver.
- dts file
dts file path is ：linux/arch/arm/boot/dts/overlays，copy our [camera]-overlay.dts files to this path.
- Modify dts Makefile
Modify the Makefile in the same path，add the corresponding dts compilation option.
9.4 Building
9.5 Preparing
export ARCH=arm
export CROSS_COMPILE=arm-linux-gnueabihf-
- Raspberry Pi 1, Pi Zero, Pi Zero W, and Compute Module default build configuration
KERNEL=kernel
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcmrpi_defconfig
- Raspberry Pi 2, Pi 3, Pi 3+, and Compute Module 3 default build configuration
KERNEL=kernel7
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcm2709_defconfig
- Raspberry Pi 4 default build configuration
KERNEL=kernel7l
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcm2711_defconfig
9.6 Add compilation options
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- menuconfig
Add the compilation options by the corresponding camera module, for 5.4 version kernel the path is driver-- > multimedia-- > i2C.
For 5.10 version kernel,the path is Device Drivers --> Multimedia Support --> Media ancillary drivers --> Camera sensor devices.
9.6.1 Build
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- zImage modules dtbs -j4
10 References
https://www.raspberrypi.org/documentation/linux/kernel/building.md