Mira130 Linux Driver

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AMS MIRA130 Features

The Mira130 is a global shutter CMOS and monochrome sensor with an effective pixel array output of 1080 H x 1280 V. This sensor supports NIR enhancement of the QE, and operations such as high dynamic range (HDR) mode, external triggering, windowing, horizontal or vertical mirroring. This sensor can perform a framerate of 120 fps with 10-bit data at a resolution of 1080 H x 1280 V as a maximum. This chip operates with analog 2.5 V, digital 1.8 V, and interface 1.8 V. High sensitivity, programmable registers through I2C, low power consumption, build-in temperature sensor are features that this sensor provides. (Applications: 3D structured light, 3D Active Stereo systems, Machine vision)

Supported Platforms

• NVIDIA Jetson Nano Development Kit B01

Features Included in the Driver

Nano	Feature Details SDK Support 1080x1280@120fps 2 Lanes, RAW10, Y10 L4T 32.6.1 / Jetpack 4.6

RidgeRun has developed a driver for the Jetson Nano platform with the following support:

• V4l2 Media controller driver
• Capture with GStreamer v4l2src and v4l2-ctl

Enabling the driver

To use this driver, you have to patch and compile the kernel source.

Using Jetpack

Follow these instructions:

1. Download the toolchain following the instructions from:
Download and install the Toolchain

2. Follow the instructions to download and install the NVIDIA SDK Manager from:
Nvidia SDK Manager
- Then choose the platform (Jetson Nano) and version of JetPack (4.6). -The Nvidia SDK manager are going to install in a directory similar to:

$HOME/nvidia/nvidia_sdk/JetPack_4.6_Linux_JETSON_NANO_TARGETS/

3. Get the L4T Nano sources from:

cd $HOME/nvidia/nvidia_sdk/JetPack_4.6_Linux_JETSON_NANO_TARGETS/Linux_for_Tegra/
./source_sync.sh -t tegra-l4t-r32.6.1

4. Apply the contents provided in 4.6_evm_mira130_v0.1.tar in the sources directory:
- First untar the provided tarball:

tar -xvf 4.3_ovm6211-v0.1.0.tar

You can then apply the patch:

quilt push -a

6. To compile the code follow the steps:

export DEVDIR=$HOME/nvidia/nvidia_sdk/JetPack_4.6_Linux_JETSON_NANO_TARGETS/Linux_for_Tegra
export PATCHESPATH=$HOME/nvidia/nvidia_sdk/JetPack_4.6_Linux_JETSON_NANO_TARGETS/Linux_for_Tegra/sources/patches/
cd $DEVDIR

# Create the directory to store the compiled image and dtb
mkdir -p $DEVDIR/images/dtb

export TEGRA_KERNEL_OUT=$DEVDIR/images
export ARCH=arm64
export KERNEL_DIR=$DEVDIR/sources/kernel/kernel-4.9
export CROSS_COMPILE=$HOME/l4t-gcc/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-
export LOCALVERSION=-tegra

cd $KERNEL_DIR

make mrproper

• Make sure to enable MIRA130 driver support:

make O=$TEGRA_KERNEL_OUT tegra_defconfig
make O=$TEGRA_KERNEL_OUT menuconfig

• In the terminal menu that appears, select:

Note: By default, the driver is selected with an asterisk. For that reason, if you go back by hitting the double Esc key the message: Do you want to save your new configuration? will not appear.

Device Drivers  --->
  <*> Multimedia support  --->
      NVIDIA overlay Encoders, decoders, sensors and other helper chips  --->
          <*> MIRA130 camera sensor support

If the driver is not selected, press the Y key in order to select the MIRA130 option. Go back by hitting the double Esc key until you get the message: Do you want to save your new configuration?, select Yes and press Enter'

• Compile the kernel:

make O=$TEGRA_KERNEL_OUT CROSS_COMPILE=${CROSS_COMPILE} -j4 zImage

• Compile the device tree:

make O=$TEGRA_KERNEL_OUT CROSS_COMPILE=${CROSS_COMPILE} -j4 dtbs

8. Flash the Jetson Nano:

Make sure the Jetson Nano is in recovery mode.

• Copy the compiled image to the kernel directory.

cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $TEGRA_KERNEL_OUT/arch/arm64/boot/zImage $DEVDIR/kernel/

• Copy the compiled device tree to the kernel directory.

cp -r $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/* $DEVDIR/kernel/dtb/

• Flash the memory following the next guide:

cd $DEVDIR
sudo ./flash.sh jetson-nano-qspi-sd mmcblk0p1

• Reboot the board after the flashing is completed.

Apply the v4l2src patch

In order to capture with v4l2src, a patch needs to be applied to gstreamer in order for v4l2src to support a Y10 format output.

1. Please extract the contents provided in extra_gstreamer_flashing_patches.tar in sources/patches directory:

cd $PATCHESPATH

tar -xvf extra_gstreamer_flashing_patches.tar

Apply the v4l2src patch to the Jetson Nano Devkit board

1. Transfer the patch to the board:

cd $PATCHESPATH

scp add-Y10-support-1.14.5.patch <nvidia-nano-user>@<nvidia-nano-ip>:/home/<nvidia-nano-username>

2. In the board, download the necessary gstreamer dependencies:

sudo apt update

sudo apt install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev

3. Download gst-plugins-good:

mkdir gstreamer-1.14.5; cd gstreamer-1.14.5

wget https://gstreamer.freedesktop.org/src/gst-plugins-good/gst-plugins-good-1.14.5.tar.xz

tar -xvf gst-plugins-good-1.14.5.tar.xz

4. Apply the patch:

cd gst-plugins-good-1.14.5/sys/v4l2/

patch -i $HOME/add-Y10-support-1.14.5.patch

Compile and install

1. Compile:

cd ~/gstreamer-1.14.5/gst-plugins-good-1.14.5

./configure --prefix=/usr --libdir=/usr/lib/aarch64-linux-gnu/

make

DESTDIR=$(pwd)/install make install

2. Install the library:

sudo cp install/usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstvideo4linux2.so /usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstvideo4linux2.so

Using the Driver

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