VEYE CS Camera source for Jetson
Nvidia Jetson platform VEYE and CS series camera driver source code compilation guide
1 Overview
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
- Jetpack5.0.1DP,L4T r34.1.1
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.
- Cross-compiling Toolchain
Please refer to this link to install toolchain on your Host PC.
- 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.
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
- 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=$TOP_DIR/Linux_for_Tegra/rootfs
export ARCH=arm64
export CROSS_COMPILE=aarch64-linux-gnu-
export CROSS32CC=arm-linux-gnueabihf-gcc
export TEGRA_KERNEL_OUT=$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
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
This chapter is for Jetpack4.x version.
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 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
4.2.1 Modify Kconfig and Makefile
cp $RELEASE_PACK_DIR/drivers_source/cam_drv_src/Kconfig_<ver> $NVIDIA_PATH/drivers/media/i2c/
cp $RELEASE_PACK_DIR/drivers_source/cam_drv_src/Makefile_<ver> $NVIDIA_PATH/drivers/media/i2c/
4.3 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
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，need sign the file
cd $L4T_DIR
./l4t_sign_image.sh --file kernel/Image --chip 0x19
5 Build modules
For version later than Jetpack 5.x, non-MV series products, 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_local
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 $XAVIER_DTS_PATH/jakku/kernel-dts/common/
6.5 build
- For Jetpack4.X
export COMMON_DTS_PATH=$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.
6.5.1 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
6.5.2 TX2
$COMMON_DTS_PATH/tegra186-quill-p3310-1000-c03-00-base.dtb
6.5.3 TX2 NX(p3509-0000 carrier board)
$COMMON_DTS_PATH/tegra186-p3636-0001-p3509-0000-a01.dtb
6.5.4 AGX XAVIER
$COMMON_DTS_PATH/tegra194-p2888-0001-p2822-0000.dtb
6.5.5 XAVIER NX
$COMMON_DTS_PATH/tegra194-p3668-all-p3509-0000.dtb
6.5.6 AGX Orin
$COMMON_DTS_PATH/tegra234-p3701-0000-p3737-0000.dtb