From df5450a26420b8ccdebbb0aee556fde05af44855 Mon Sep 17 00:00:00 2001 From: dchvs Date: Mon, 25 Jan 2021 14:55:09 -0600 Subject: [PATCH 01/12] Add Jetpack-CTI sources --- .gitmodules | 4 ++++ Jetpack | 1 + 2 files changed, 5 insertions(+) create mode 100644 .gitmodules create mode 160000 Jetpack diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..c9279b2 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,4 @@ +[submodule "Jetpack"] + path = Jetpack + url = https://git.spirirobotics.com/dchvs/Jetpack.git + branch = cti-jetpack-4.2.2 diff --git a/Jetpack b/Jetpack new file mode 160000 index 0000000..1ea8207 --- /dev/null +++ b/Jetpack @@ -0,0 +1 @@ +Subproject commit 1ea8207cd3f19b39dc436ec3e8c60c88eb8adb69 From 9cddb7fe49b5fd87c9cf0454a6d8508937f93446 Mon Sep 17 00:00:00 2001 From: dchvs Date: Mon, 25 Jan 2021 14:57:21 -0600 Subject: [PATCH 02/12] Add CTI-L4T BSP sources --- .gitmodules | 4 ++++ CTI-L4T | 1 + 2 files changed, 5 insertions(+) create mode 160000 CTI-L4T diff --git a/.gitmodules b/.gitmodules index c9279b2..4c79508 100644 --- a/.gitmodules +++ b/.gitmodules @@ -2,3 +2,7 @@ path = Jetpack url = https://git.spirirobotics.com/dchvs/Jetpack.git branch = cti-jetpack-4.2.2 +[submodule "CTI-L4T"] + path = CTI-L4T + url = https://git.spirirobotics.com/dchvs/CTI-L4T.git + branch = 4.2.2/feature/install-script-on-level2-directory diff --git a/CTI-L4T b/CTI-L4T new file mode 160000 index 0000000..554c6d4 --- /dev/null +++ b/CTI-L4T @@ -0,0 +1 @@ +Subproject commit 554c6d4c02eb1da17d73f2379407fcd67f1f8d21 From b662e4703c99b533b5f33b9981430cec07179de1 Mon Sep 17 00:00:00 2001 From: dchvs Date: Mon, 25 Jan 2021 15:04:53 -0600 Subject: [PATCH 03/12] Add li-mt9m021 driver submodule --- .gitmodules | 4 ++++ li-mt9m021 | 1 + 2 files changed, 5 insertions(+) create mode 160000 li-mt9m021 diff --git a/.gitmodules b/.gitmodules index 4c79508..3548c22 100644 --- a/.gitmodules +++ b/.gitmodules @@ -6,3 +6,7 @@ path = CTI-L4T url = https://git.spirirobotics.com/dchvs/CTI-L4T.git branch = 4.2.2/feature/install-script-on-level2-directory +[submodule "li-mt9m021"] + path = li-mt9m021 + url = https://git.spirirobotics.com/dchvs/li-mt9m021.git + branch = master diff --git a/li-mt9m021 b/li-mt9m021 new file mode 160000 index 0000000..0a2227b --- /dev/null +++ b/li-mt9m021 @@ -0,0 +1 @@ +Subproject commit 0a2227bfb57d57057607b1c063c0e74d4728fa15 From 0276e9a551d55fbfd400691cb495652d77202631 Mon Sep 17 00:00:00 2001 From: dchvs Date: Mon, 25 Jan 2021 15:12:23 -0600 Subject: [PATCH 04/12] Add Spiri sources submodule --- .gitmodules | 4 ++++ mu_kernel_sources | 1 + 2 files changed, 5 insertions(+) create mode 160000 mu_kernel_sources diff --git a/.gitmodules b/.gitmodules index 3548c22..6f8b872 100644 --- a/.gitmodules +++ b/.gitmodules @@ -10,3 +10,7 @@ path = li-mt9m021 url = https://git.spirirobotics.com/dchvs/li-mt9m021.git branch = master +[submodule "mu_kernel_sources"] + path = mu_kernel_sources + url = https://git.spirirobotics.com/Spiri/mu_kernel_sources.git + branch = jetpack-4.2.2-dev diff --git a/mu_kernel_sources b/mu_kernel_sources new file mode 160000 index 0000000..7fa28fc --- /dev/null +++ b/mu_kernel_sources @@ -0,0 +1 @@ +Subproject commit 7fa28fcfc45b5eaf96a60e9baf193bc47637ede6 From c4ffee64ef506afebba0bce38fe79e3bc71b2f89 Mon Sep 17 00:00:00 2001 From: dchvs Date: Mon, 25 Jan 2021 15:15:51 -0600 Subject: [PATCH 05/12] Add eg25-g driver submodule --- .gitmodules | 4 ++++ eg25-g | 1 + 2 files changed, 5 insertions(+) create mode 160000 eg25-g diff --git a/.gitmodules b/.gitmodules index 6f8b872..d8289d2 100644 --- a/.gitmodules +++ b/.gitmodules @@ -14,3 +14,7 @@ path = mu_kernel_sources url = https://git.spirirobotics.com/Spiri/mu_kernel_sources.git branch = jetpack-4.2.2-dev +[submodule "eg25-g"] + path = eg25-g + url = https://git.spirirobotics.com/dchvs/eg25-g.git + branch = master diff --git a/eg25-g b/eg25-g new file mode 160000 index 0000000..480df7a --- /dev/null +++ b/eg25-g @@ -0,0 +1 @@ +Subproject commit 480df7a9f40a98df7355970373aed26792c74e1c From 13c26589555b6b6c4990d56692e55439af8b9589 Mon Sep 17 00:00:00 2001 From: dchvs Date: Mon, 25 Jan 2021 15:27:45 -0600 Subject: [PATCH 06/12] Add README file --- README.md | 60 +++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 60 insertions(+) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 0000000..b8e7f03 --- /dev/null +++ b/README.md @@ -0,0 +1,60 @@ + +## Spiri cameras project installation + +```bash +LINUX_FOR_TEGRA= +cd $LINUX_FOR_TEGRA + +# Clone the repository to the workspace +git clone --recurse-submodules https://git.spirirobotics.com/dchvs/spiri-project.git +cd spiri-project +git checkout 4.4.1/tx2-cti/camera-driver-dev +git submodule update --init --recursive --remote + +# Install the CTI BSP +cd CTI-L4T/ +sudo ./install.sh + +# Install the Jetpack+CTI 4.4.1 and Driver MT9M021 to source/ directory +cd $LINUX_FOR_TEGRA +mkdir source/ && cd source/ +cp -r ../spiri-project/Jetpack/* . +cp -r ../spiri-project/li-mt9m021/ . + +# Compile the sources +cd $LINUX_FOR_TEGRA +mkdir -p builds/build_ && cd builds/build_ + +mkdir build modules +make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ tegra_defconfig +make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ menuconfig +make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ CROSS_COMPILE=${CROSS_COMPILE} -j8 --output-sync=target zImage dtbs modules +make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ modules_install INSTALL_MOD_PATH=$PWD/modules +``` + +## Flash the Spiri MU +```bash +# Backup the default Kernel +cp -r ../../kernel/dtb/ ../../kernel/backup_dtb/ +cp ../../kernel/Image ../../kernel/backup_Image +sudo mv ../../rootfs/lib/modules/4.9.140-tegra/ ../../rootfs/lib/modules/backup_4.9.140-tegra/ + +# Install the Kernel +cp build/arch/arm64/boot/dts/* ../../kernel/dtb/ +cp build/arch/arm64/boot/Image ../../kernel/ +sudo make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ modules_install INSTALL_MOD_PATH=$PWD/../../rootfs/ + +# Flash the Spiri MU +cd $LINUX_FOR_TEGRA +sudo ./flash.sh jetson-tx2 mmcblk0p1 +``` + +## Capture test +```bash +# Sender endpoint +gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)30/1' ! omxh264enc control-rate=2 bitrate=8000000 ! 'video/x-h264, stream-format=(string)byte-stream' ! h264parse ! rtph264pay mtu=1400 ! udpsink host=$HOST_IP port=5000 sync=false async=false + +# 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 +``` + From 6c2ea11daba5e0d43de986ea4cae7ee45efdb0b0 Mon Sep 17 00:00:00 2001 From: dchvs Date: Mon, 25 Jan 2021 20:23:48 -0600 Subject: [PATCH 07/12] Update Jetpack to 4.4.1 --- .gitmodules | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.gitmodules b/.gitmodules index d8289d2..f120948 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,7 +1,7 @@ [submodule "Jetpack"] path = Jetpack url = https://git.spirirobotics.com/dchvs/Jetpack.git - branch = cti-jetpack-4.2.2 + branch = cti-jetpack-4.4.1 [submodule "CTI-L4T"] path = CTI-L4T url = https://git.spirirobotics.com/dchvs/CTI-L4T.git From b4bec0f3aedc83b63c30fcf41dc0243670482700 Mon Sep 17 00:00:00 2001 From: dchvs Date: Tue, 26 Jan 2021 09:05:11 -0600 Subject: [PATCH 08/12] Update CTI-L4T BSP sources to 4.4.1 --- .gitmodules | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.gitmodules b/.gitmodules index f120948..7c33b86 100644 --- a/.gitmodules +++ b/.gitmodules @@ -5,7 +5,7 @@ [submodule "CTI-L4T"] path = CTI-L4T url = https://git.spirirobotics.com/dchvs/CTI-L4T.git - branch = 4.2.2/feature/install-script-on-level2-directory + branch = 4.4.1/feature/install-script-on-level2-directory [submodule "li-mt9m021"] path = li-mt9m021 url = https://git.spirirobotics.com/dchvs/li-mt9m021.git From d2d03528e26595fca4ea4ba01e7c92407ae207c9 Mon Sep 17 00:00:00 2001 From: dchvs Date: Thu, 28 Jan 2021 23:26:38 -0600 Subject: [PATCH 09/12] Remove mu_kernel_sources submodule --- .gitmodules | 4 ---- mu_kernel_sources | 1 - 2 files changed, 5 deletions(-) delete mode 160000 mu_kernel_sources diff --git a/.gitmodules b/.gitmodules index 7c33b86..031618a 100644 --- a/.gitmodules +++ b/.gitmodules @@ -10,10 +10,6 @@ path = li-mt9m021 url = https://git.spirirobotics.com/dchvs/li-mt9m021.git branch = master -[submodule "mu_kernel_sources"] - path = mu_kernel_sources - url = https://git.spirirobotics.com/Spiri/mu_kernel_sources.git - branch = jetpack-4.2.2-dev [submodule "eg25-g"] path = eg25-g url = https://git.spirirobotics.com/dchvs/eg25-g.git diff --git a/mu_kernel_sources b/mu_kernel_sources deleted file mode 160000 index 7fa28fc..0000000 --- a/mu_kernel_sources +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 7fa28fcfc45b5eaf96a60e9baf193bc47637ede6 From 0bd638b36364b51a3ade7affee088b3f04f72b0c Mon Sep 17 00:00:00 2001 From: dchvs Date: Sun, 31 Jan 2021 16:07:28 -0600 Subject: [PATCH 10/12] Update submodules commits --- CTI-L4T | 2 +- Jetpack | 2 +- li-mt9m021 | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/CTI-L4T b/CTI-L4T index 554c6d4..af2e8ef 160000 --- a/CTI-L4T +++ b/CTI-L4T @@ -1 +1 @@ -Subproject commit 554c6d4c02eb1da17d73f2379407fcd67f1f8d21 +Subproject commit af2e8ef832d4e4b7efa2a8ce4aa710c8d87beff5 diff --git a/Jetpack b/Jetpack index 1ea8207..f578b99 160000 --- a/Jetpack +++ b/Jetpack @@ -1 +1 @@ -Subproject commit 1ea8207cd3f19b39dc436ec3e8c60c88eb8adb69 +Subproject commit f578b9924372cc7439f7122be030fc9e93a28203 diff --git a/li-mt9m021 b/li-mt9m021 index 0a2227b..6b9e2b6 160000 --- a/li-mt9m021 +++ b/li-mt9m021 @@ -1 +1 @@ -Subproject commit 0a2227bfb57d57057607b1c063c0e74d4728fa15 +Subproject commit 6b9e2b6b54c1d03ca81339ef91ad24ab4722a89b From b942aa32067ca0689a2c0e89c919b98503bb92e6 Mon Sep 17 00:00:00 2001 From: dchvs Date: Tue, 9 Feb 2021 19:42:26 -0600 Subject: [PATCH 11/12] Update li-mt9m021 Driver branch to 4.4.1 --- .gitmodules | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.gitmodules b/.gitmodules index 031618a..67f7553 100644 --- a/.gitmodules +++ b/.gitmodules @@ -9,7 +9,7 @@ [submodule "li-mt9m021"] path = li-mt9m021 url = https://git.spirirobotics.com/dchvs/li-mt9m021.git - branch = master + branch = jetpack-4.4.1 [submodule "eg25-g"] path = eg25-g url = https://git.spirirobotics.com/dchvs/eg25-g.git From 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