dchvs aff1e46729 | ||
---|---|---|
hardware/nvidia-spiri/platform/t18x | ||
kernel | ||
README.md | ||
script_to_control_gain_exposure.sh |
README.md
Leopard Imaging LI-M021C-MIPI Stereo-Optic Cameras
Cameras setup
The camera sensors should be conencted to a ConnectTech's Elroy board.
Features
- V4L2 Kernel Driver Version 2.0 supported on L4T32.2.1
- V4l2 controls
- test pattern
- individual gains
- vertical/horizontal flip
- flash control
- LibArgus and nvarguscamerasrc
- Resolutions supported:
- 1280x720 @ 60fps
- 1280x960 @ 45fps
- Gain, exposure, and framerate controls
- Camera synchronization
Capture Tests
Frame-rate Tests
- Set the framerate to 60fps and the driver will configure the sensor:
gst-launch-1.0 nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)60/1' ! fakesink
- Set the framerate to 45fps and the driver will configure the sensor:
gst-launch-1.0 nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)45/1' ! fakesink
UDP Streaming Test
Sender Endpoint
gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)60/1' ! omxh264enc control-rate=2 bitrate=8000000 ! 'video/x-h264, stream-format=(string)byte-stream' ! h264parse ! rtph264pay mtu=1400 ! udpsink host=$HOST_IP port=5000 sync=false async=false
Receiver Endpoint
gst-launch-1.0 udpsrc port=5000 ! "application/x-rtp,media=(string)video,payload=(int)96,clock-rate=(int)90000,encoding-name=(string)H264" ! rtph264depay ! queue ! avdec_h264 ! xvimagesink sync=true async=false
Set Controls Test
Run a pipeline, then set gain and exposure controls using v4l2-ctl:
v4l2-ctl -d /dev/video1 -c exposure=14000
v4l2-ctl -d /dev/video1 -c gain=100
Dual Synchronized Capture Test
First run the master pipeline and then the slave pipeline:
Master Pipeline
gst-launch-1.0 nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)60/1' ! fakesink
Slave Pipeline
gst-launch-1.0 nvarguscamerasrc sensor-id=1 aelock=true awblock=true ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)60/1' ! fakesink
It is not recommended to start both streams at the same time, because nvarguscamerasrc will fail if no buffers arrive on a defined timeout.
V4l2 Capture Test
Master
v4l2-ctl -d /dev/video0 --set-fmt-video=width=1280,height=720,pixelformat=RG12 --set-ctrl bypass_mode=0 --stream-mmap
Slave
v4l2-ctl -d /dev/video1 --set-fmt-video=width=1280,height=720,pixelformat=RG12 --set-ctrl bypass_mode=0 --stream-mmap
AE Synchronized
First run the master pipeline and then the slave pipeline:
Master Pipeline
gst-launch-1.0 nvarguscamerasrc sensor-id=1 ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)60/1' ! fakesink
Slave Pipeline
gst-launch-1.0 nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)60/1' ! fakesink
Run script
./script_to_control_gain_exposure.sh &
Appends
Auto Exposure
The AE controls realays in the feedback provided by the Driver's camera sensor to the nvarguscamerasrc libraries, and the custom DTSIs with the sensor parameters definitions. As the AE has interdependency with the digital gain. This gain it's and operation on the Driver, and follows this setup:
/*
* Digital gain equation:
*
* RANGE: 1x, 7.97x
* STEPS: 1/32
*
* SCALE FACTOR = 3
*
* min_gain_val = 102
* max_gain_val = 160
* gain_factor = 3
*
* gain accepts mapping to range 32 - 53
*/
MT9M021 sensor datasheet:
Where, the min_gain_val, max_gain_val, step_gain_val
are part of the cameras' DTSI (tegra186-tx2-spiri-camera.dtsi) fixed parameters
as per the datasheet. The gain
consists on the steps (1x + n * 1/32 for the register) scaled to a value that represents this fraction in an integer value for the gain register.
Kernel Changes
The Driver for the MT9M021 cameras consists on the following structure, that adds the DTB and Kernel sources, along with its Makefiles that lead its portability to a Kernel source.
.
├── hardware
│ └── nvidia-spiri
│ └── platform
│ └── t18x
│ ├── common
│ │ └── kernel-dts
│ │ └── t18x-common-platforms
│ │ ├── tegra186-tx2-spiri-camera-base.dtsi
│ │ └── tegra186-tx2-spiri-camera.dtsi
│ └── quill
│ └── kernel-dts
│ ├── Makefile
│ ├── tegra186-tx2-spiri-base.dts
│ ├── tegra186-tx2-spiri-mPCIe.dts
│ ├── tegra186-tx2-spiri-revF+.dts
│ └── tegra186-tx2-spiri-USB3.dts
├── kernel
│ ├── kernel-4.9
│ │ └── arch
│ │ └── arm64
│ │ └── configs
│ │ └── tegra_defconfig
│ └── nvidia-spiri
│ ├── drivers
│ │ └── media
│ │ ├── i2c
│ │ │ ├── Kconfig
│ │ │ ├── Makefile
│ │ │ ├── mt9m021.c
│ │ │ └── mt9m021_mode_tbls.h
│ └── include
│ └── media
│ └── mt9m021.h
└── README.md
In order to add the Driver to the Kernel, the following reference Kernel files are patched for adding custom controls that the camera implements.
- kernel/nvidia/drivers/media/platform/tegra/camera/camera_common.c
- kernel/nvidia/drivers/media/platform/tegra/camera/tegracam_ctrls.c
- kernel/nvidia/include/media/camera_common.h
- kernel/nvidia/include/media/tegra-v4l2-camera.h