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
1 概述
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
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
- 编译工具链
请参考这个链接安装编译工具链。
- 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。
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
- 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=$TOP_DIR/Linux_for_Tegra/rootfs
export ARCH=arm64
export CROSS_COMPILE=aarch64-linux-gnu-
export CROSS32CC=arm-linux-gnueabihf-gcc
export TEGRA_KERNEL_OUT=$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
cd $L4T_DIR/sources/kernel/kernel-4.9/
以下操作均为在HOST PC进行。
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
4.1 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 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
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
sudo cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f
- 对于xavier,进行签名
cd $L4T_DIR
./l4t_sign_image.sh --file kernel/Image --chip 0x19
5 编译DTS
首先需要patch代码。
5.1 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
5.2 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/
5.3 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/
5.4 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/
5.5 编译
cd $L4T_DIR/sources/kernel/kernel-4.9/
make ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs
编译完成的dtb文件路径如下所示,可手动升级或整体升级。
5.5.1 Nano
cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra210-p3448-0000-p3449-0000-a02.dtb $L4T_DIR/kernel/dtb/
cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra210-p3448-0000-p3449-0000-b00.dtb $L4T_DIR/kernel/dtb/
cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra210-p3448-0003-p3542-0000.dtb $L4T_DIR/kernel/dtb/
5.5.2 TX2
cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra186-quill-p3310-1000-c03-00-base.dtb $L4T_DIR/kernel/dtb/
5.5.3 AGX XAVIER
cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb $L4T_DIR/kernel/dtb/
5.5.4 XAVIER NX
cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra194-p3668-all-p3509-0000.dtb $L4T_DIR/kernel/dtb/