Jetson TX2 camera sensors MAX96709 MAX96706 GMSL SERDES Linux Drivers
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GMSL Description
Gigabit Multimedia Serial Link (GMSL) are line drivers and receivers designed for video applications.
The MAX96706 is a compact deserializer especially suited for automotive camera applications. The MAX96709 is a compact serializer especially suited for automotive camera applications. The embedded control channel operates at 9.6kbps to 1Mbps in I2C mode, allowing the programming of serializer, deserializer, and camera registers independent of video timing.
Build GMSL serializer/deserializer driver
Build kernel using Jetpack 2.3.1
Let's call $DEVDIR the path where you are going to build the kernel.
1. In a browser, navigate to https://developer.nvidia.com/embedded/downloads, Locate and download the L4T Sources (L4T Sources 24.2.1 2016/11/21). Also, you can use wget command:
wget http://developer2.download.nvidia.com/embedded/L4T/r24_Release_v2.1/BSP/sources_r24.2.1.tbz2
2. Copy L4T kernel sources into DEVDIR.
cp sources_r24.2.1.tbz2 $DEVDIR
3. Expand tarball file.
tar -vxjf sources_r24.2.1.tbz2 # Decompress kernel cd sources/ tar -xjf kernel_src.tbz2
4. Download GMSL serializer/deserializer driver patches and apply the patches.
cd $DEVDIR tar -xzvf gmsl-r24.2.1-tx1.tar.gz quilt push -a
5. Compile the kernel. Specify the path to the toolchain and architecture: (see Toolchain)
export CROSS_COMPILE=/opt/linaro/gcc-linaro-5.3-2016.02-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu- export CROSS32CC=/opt/linaro/gcc-linaro-5.3-2016.02-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf-gcc export ARCH=arm64
6. Define and create destination directories.
export TEGRA_KERNEL_OUT=/home/$USER/gmsl_kernel/images export TEGRA_MODULES_OUT=/home/$USER/gmsl_kernel/modules mkdir -p $TEGRA_KERNEL_OUT mkdir -p $TEGRA_MODULES_OUT
7. Configure your kernel
make -C sources/kernel/ O=$TEGRA_KERNEL_OUT tegra21_defconfig
8. Enable driver
make -C sources/kernel/ O=$TEGRA_KERNEL_OUT menuconfig
Select the driver. The menu option is located:
-> Device Drivers
-> Multimedia support (MEDIA_SUPPORT [=y])
-> Encoders, decoders, sensors and other helper chips
<*> GMSL Serializer Deserializer driver
Save your new configuration.
9. Compile kernel, device tree and modules. To speed up compilation on multiprocessor systems, use -j n, this option tells make to execute many recipes simultaneously.
make -C sources/kernel/ O=$TEGRA_KERNEL_OUT zImage make -C sources/kernel/ O=$TEGRA_KERNEL_OUT dtbs make -C sources/kernel/ O=$TEGRA_KERNEL_OUT modules make -C sources/kernel/ O=$TEGRA_KERNEL_OUT modules_install INSTALL_MOD_PATH=$TEGRA_MODULES_OUT
Test your Kernel image using Jetpack 2.3.1 root file system
1. Go to Linux_for_Tegra_64_tx1 directory. Let's call $JETPACKDIR the path where you installed your development directory or Jetpack.
cd $JETPACKDIR/64_TX1/Linux_for_Tegra_64_tx1/
2. Put the board into force USB Recovery Mode:
1. Power down the device. If connected, remove the AC adapter from the device. The device must be powered OFF, and not in a suspend or sleep state. 2. Connect the Micro-B plug on the USB cable to the Recovery (USB Micro-B) Port on the device and the other end to an available USB port on the host PC. 3. Connect the power adapter to the device. 4. Press POWER button 5. Press and hold the RECOVERY FORCE (REC) button. 6. While pressing the RECOVERY FORCE button, press and release the RESET button. 7. Wait 2 seconds and release the RECOVERY FORCE button
3. Use ./flash.sh in order to configure TX1 board, Also this script configures jetpack rootfs to be used as SD filesystem. Execute the script as follows:
sudo ./flash.sh jetson-tx1 mmcblk1p1
4. Create ext4 partition called "rootfs".
sudo mkfs.ext4 /dev/mmcblk0p1 -L "rootfs"
5. Copy rootfs from jetpack 2.3.1
sudo cp -a $JETPACKDIR/64_TX1/Linux_for_Tegra_tx1/rootfs/* /media/$USER/rootfs/
6. Copy kernel image, device tree, and modules.
cd $TEGRA_KERNEL_OUT cp -a arch/arm64/boot/Image /media/$USER/rootfs/boot/Image cp -a arch/arm64/boot/dts/tegra210-jetson-tx1-p2597-2180-a01-devkit.dtb /media/$USER/rootfs/boot/tegra210-jetson-tx1-p2597-2180-a01-devkit.dtb cd $TEGRA_MODULES_OUT sudo cp -a lib/* /media/$USER/rootfs/lib/
7. Unmount the device and Put the SD into the TX1 board, and boot the board.
umount /media/$USER/rootfs
8. Check the kernel version. At this moment you can test the image created in order to see the new kernel is working correctly. You have to see a new kernel version:
uname -a Linux tegra-ubuntu 3.10.96+ #1 SMP PREEMPT Tue May 2 14:08:05 CST 2017 aarch64 aarch64 aarch64 GNU/Linux
Check Driver
These commands are not mandatory, but you can confirm if the drivers have been loaded during the boot process.
1.Check I2C bus detection
Serializer, deserializer i2c addresses can be detected on i2cbus 6
ubuntu@tegra-ubuntu:~$ sudo i2cdetect -r -y 6
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: UU -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- UU -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- --
2. Check if the serializer, deserializer drivers are loaded successfully. You can run use dmesg command to see the drivers were registered
ubuntu@tegra-ubuntu:~$ dmesg | grep "GMSL" [ 4.403599] deserializer 6-0058: GMSL deserializer registered. [ 4.566541] serializer 6-0040: GMSL serializer registered.
3. Check new video devices files:
ubuntu@tegra-ubuntu:~$ ls /dev/video0 /dev/video0
GStreamer pipelines
These pipelines are used to test the serializer and deserializer driver
xvimagesink
DISPLAY=:0 gst-launch-1.0 nvcamerasrc num-buffers=2200 queue-size=10 sensor-id=0 wbmode=off auto-exposure=off wbManualMode=off flash=off color-effect=off scene-mode=0 fpsRange='60 60' ! \ 'video/x-raw(memory:NVMM), width=1280, height=800,format=I420,framerate=60/1' ! \ nvvidconv ! \ xvimagesink &
NVsink
DISPLAY=:0 gst-launch-1.0 nvcamerasrc num-buffers=2200 queue-size=10 sensor-id=0 wbmode=off auto-exposure=off wbManualMode=off flash=off color-effect=off scene-mode=0 fpsRange='60 60' ! \ 'video/x-raw(memory:NVMM), width=1280, height=800,format=I420,framerate=60/1' ! \ nvoverlaysink
EGL window
DISPLAY=:0 gst-launch-1.0 nvcamerasrc num-buffers=108000 queue-size=10 sensor-id=0 wbmode=off auto-exposure=off wbManualMode=off flash=off color-effect=off scene-mode=0 fpsRange='60 60' ! \ 'video/x-raw(memory:NVMM), width=1280, height=800,format=I420,framerate=60/1' ! \ nvegltransform ! nveglglessink
See also
MAX96705 MAX9286 GMSL SERDES Linux Drivers
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