61 lines
2.3 KiB
Markdown
61 lines
2.3 KiB
Markdown
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## Spiri cameras project installation
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```bash
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LINUX_FOR_TEGRA=<Linux_for_Tegra/ path>
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cd $LINUX_FOR_TEGRA
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# Clone the repository to the workspace
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git clone --recurse-submodules https://git.spirirobotics.com/dchvs/spiri-project.git
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cd spiri-project
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git checkout 4.4.1/tx2-cti/camera-driver-dev
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git submodule update --init --recursive --remote
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# Install the CTI BSP
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cd CTI-L4T/
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sudo ./install.sh
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# Install the Jetpack+CTI 4.4.1 and Driver MT9M021 to source/ directory
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cd $LINUX_FOR_TEGRA
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mkdir source/ && cd source/
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cp -r ../spiri-project/Jetpack/* .
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cp -r ../spiri-project/li-mt9m021/ .
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# Compile the sources
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cd $LINUX_FOR_TEGRA
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mkdir -p builds/build_<this build name> && cd builds/build_<this build name>
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mkdir build modules
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make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ tegra_defconfig
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make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ menuconfig
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make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ CROSS_COMPILE=${CROSS_COMPILE} -j8 --output-sync=target zImage dtbs modules
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make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ modules_install INSTALL_MOD_PATH=$PWD/modules
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```
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## Flash the Spiri MU
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```bash
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# Backup the default Kernel
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cp -r ../../kernel/dtb/ ../../kernel/backup_dtb/
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cp ../../kernel/Image ../../kernel/backup_Image
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sudo mv ../../rootfs/lib/modules/4.9.140-tegra/ ../../rootfs/lib/modules/backup_4.9.140-tegra/
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# Install the Kernel
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cp build/arch/arm64/boot/dts/* ../../kernel/dtb/
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cp build/arch/arm64/boot/Image ../../kernel/
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sudo make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ modules_install INSTALL_MOD_PATH=$PWD/../../rootfs/
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# Flash the Spiri MU
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cd $LINUX_FOR_TEGRA
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sudo ./flash.sh jetson-tx2 mmcblk0p1
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```
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## Capture test
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```bash
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# Sender endpoint
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gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)30/1' ! omxh264enc control-rate=2 bitrate=8000000 ! 'video/x-h264, stream-format=(string)byte-stream' ! h264parse ! rtph264pay mtu=1400 ! udpsink host=$HOST_IP port=5000 sync=false async=false
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# Receiver endpoint
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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
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```
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