From 80012ad119c21def9e6db903156defae2fe4775f Mon Sep 17 00:00:00 2001 From: dchvs Date: Tue, 16 Feb 2021 00:05:26 -0600 Subject: [PATCH 01/19] Add Jetpack submodule --- .gitmodules | 4 ++++ source/Jetpack | 1 + 2 files changed, 5 insertions(+) create mode 100644 .gitmodules create mode 160000 source/Jetpack diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..61acbdd --- /dev/null +++ b/.gitmodules @@ -0,0 +1,4 @@ +[submodule "source/Jetpack"] + path = source/Jetpack + url = https://git.spirirobotics.com/dchvs/Jetpack.git + branch = cti-jetpack-4.4.1 diff --git a/source/Jetpack b/source/Jetpack new file mode 160000 index 0000000..8895e18 --- /dev/null +++ b/source/Jetpack @@ -0,0 +1 @@ +Subproject commit 8895e18debb94a4d8f694e2944c4cd74a06bab61 -- 2.40.1 From 45a171140f90db659d6ce41ce6cf2fa519f1d22a Mon Sep 17 00:00:00 2001 From: dchvs Date: Tue, 16 Feb 2021 00:07:43 -0600 Subject: [PATCH 02/19] Add MT9M021 Driver submodule --- .gitmodules | 4 ++++ source/drivers/li-mt9m021 | 1 + 2 files changed, 5 insertions(+) create mode 160000 source/drivers/li-mt9m021 diff --git a/.gitmodules b/.gitmodules index 61acbdd..5c72657 100644 --- a/.gitmodules +++ b/.gitmodules @@ -2,3 +2,7 @@ path = source/Jetpack url = https://git.spirirobotics.com/dchvs/Jetpack.git branch = cti-jetpack-4.4.1 +[submodule "source/drivers/li-mt9m021"] + path = source/drivers/li-mt9m021 + url = https://git.spirirobotics.com/dchvs/li-mt9m021.git + branch = jetpack-4.4.1 diff --git a/source/drivers/li-mt9m021 b/source/drivers/li-mt9m021 new file mode 160000 index 0000000..6b9e2b6 --- /dev/null +++ b/source/drivers/li-mt9m021 @@ -0,0 +1 @@ +Subproject commit 6b9e2b6b54c1d03ca81339ef91ad24ab4722a89b -- 2.40.1 From c599451ca7faad73a27a15cde8f12fe802f735b8 Mon Sep 17 00:00:00 2001 From: dchvs Date: Tue, 16 Feb 2021 01:22:14 -0600 Subject: [PATCH 03/19] Add CTI BSP submodule --- .gitmodules | 4 ++++ CTI-L4T | 1 + 2 files changed, 5 insertions(+) create mode 160000 CTI-L4T diff --git a/.gitmodules b/.gitmodules index 5c72657..d90919b 100644 --- a/.gitmodules +++ b/.gitmodules @@ -6,3 +6,7 @@ path = source/drivers/li-mt9m021 url = https://git.spirirobotics.com/dchvs/li-mt9m021.git branch = jetpack-4.4.1 +[submodule "CTI-L4T"] + path = CTI-L4T + url = https://git.spirirobotics.com/dchvs/CTI-L4T.git + branch = 4.4.1/feature/install-script-on-level2-directory diff --git a/CTI-L4T b/CTI-L4T new file mode 160000 index 0000000..af2e8ef --- /dev/null +++ b/CTI-L4T @@ -0,0 +1 @@ +Subproject commit af2e8ef832d4e4b7efa2a8ce4aa710c8d87beff5 -- 2.40.1 From 309af96cce3cf61a034ef4b4f7d9a40e93dfc736 Mon Sep 17 00:00:00 2001 From: dchvs Date: Tue, 16 Feb 2021 17:03:07 -0600 Subject: [PATCH 04/19] Add EG25-G Driver submodule --- .gitmodules | 4 ++++ source/drivers/eg25-g | 1 + 2 files changed, 5 insertions(+) create mode 160000 source/drivers/eg25-g diff --git a/.gitmodules b/.gitmodules index d90919b..a16e132 100644 --- a/.gitmodules +++ b/.gitmodules @@ -10,3 +10,7 @@ path = CTI-L4T url = https://git.spirirobotics.com/dchvs/CTI-L4T.git branch = 4.4.1/feature/install-script-on-level2-directory +[submodule "source/drivers/eg25-g"] + path = source/drivers/eg25-g + url = https://git.spirirobotics.com/dchvs/eg25-g.git + branch = master diff --git a/source/drivers/eg25-g b/source/drivers/eg25-g new file mode 160000 index 0000000..ddd5f9c --- /dev/null +++ b/source/drivers/eg25-g @@ -0,0 +1 @@ +Subproject commit ddd5f9c349b0e98bc6d19228a3d940d11e937f9d -- 2.40.1 From 188c0964e1544c2e1e5da8001306b0fd03cd58c1 Mon Sep 17 00:00:00 2001 From: dchvs Date: Fri, 19 Feb 2021 17:13:37 -0600 Subject: [PATCH 05/19] documentation: Add architecture diagram --- ...ri_cameras_architecture_diagram_v0.2.0.jpeg | Bin 0 -> 111003 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 doc/spiri_cameras_architecture_diagram_v0.2.0.jpeg diff --git a/doc/spiri_cameras_architecture_diagram_v0.2.0.jpeg b/doc/spiri_cameras_architecture_diagram_v0.2.0.jpeg new file 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z|KQU`aHI_KQYaO-;}I2yl-M_d;-BH~Li;rRmiVn~{SR!VAKhJkg#QQdR1*R5N7E1A z7pT$war5KmZ}lJVH~%RI-ifT<_fO*Nx);DE7{ec@AE_UiPQTsH|4;45=R;NVX3BT& z-}p6F{>ZJ?ZA+Km{m-y?i#@Qu$A12PeEmfSdD0H&7ybTM1at%{)`RYF&1j&F zrnJ#~Gg{b;7M-K@&1mg8+T<8*K#h!6XDoZ;{s;5oH!uiu{*u~xBrjJ$L@33 zIIgSM{BX;BDc}+S{@csH0f#qR{)9fVZ{KJ3BXD)aZ2uqSAAy%3{pkPjE?&U%6dj)XE4Ve-C{?e?&AH; z{m1Xi{iy|B67E)au3pxT|Bu4Q?T7e*(??s<5Bdgs1J8Z2{BapnK6Kjv?>YoBlRsYl zws854AL8HU{GC}^&;6tM&@bTHw1u~C-Hpkfr*V0!uk}%>HO84?;bvjwz26|+4ifIc zfcDl&xT_%)+PxjM1pQ7CtjEKT1{X;;fs6*%XmDX%?}Ov$`q8orxUzuw%Lhh-Yc#kp zFTxtFw9u>Z(R?zRPe$_z@C-rN?RwO$em}9lnf%+fCisVJ>2I%!-H+ps?gy^tm#|a& zcUgW5+x(B0kK8(b=zcSB#f<0!f4=_=NpJ%oQ{s3HB o@pEZKcks2Z{2kln^RL;suW-y>l35lOcJcJrzvK-$u>Zda0BHd}a{vGU literal 0 HcmV?d00001 -- 2.40.1 From 5f98e9589d92c70dbabcac76b77e7c6e62c87608 Mon Sep 17 00:00:00 2001 From: dchvs Date: Fri, 19 Feb 2021 21:19:40 -0600 Subject: [PATCH 06/19] documentation: Add REAME --- README.md | 126 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 126 insertions(+) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 0000000..af6ea54 --- /dev/null +++ b/README.md @@ -0,0 +1,126 @@ +The installation consists on creating a build area locatated at: + +```bash +Linux_for_Tegra/builds/build_ +``` +From this directory you might call the targets ```tegra_defconfig, dtbs, Image, modules``` to compile the Kernel. Please, add your projects under builds/. + +The Make targets gets sourced from the ```source/``` directory on the Jetpack workspace root, which is where this project Kernel sources are installed. +* The ```-C``` flag for the make allows to change the directory where the Kernel source is. +* The ```-O``` stands for the output of the build process files. +* CROSS_COMPILE=${CROSS_COMPILE}, passes the C cross compiler. The recomended for this CTI release it's ```/opt/gcc-linaro-7.3.1/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-```. +* The ```-jN```is the flag for the parallel jobs to build with. You can find it out at your host with the command `nproc`. + +### 1. Download the Toolchain for crosscompiling +```bash +wget http://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/aarch64-linux-gnu/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz +sudo tar xf gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz -C /opt/gcc-linaro-7.3.1/ + +echo "export CROSS_COMPILE=/opt/gcc-linaro-7.3.1/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-" >> ~/.bashrc + +source ~/.bashrc +``` + +### 2. Clone recursively the repository to the workspace's root to add the Jetpack+CTI 4.4.1 and Drivers MT9M021 and EG25-G +```bash +LINUX_FOR_TEGRA= +cd $LINUX_FOR_TEGRA + +git clone --recurse-submodules https://git.spirirobotics.com/dchvs/spiri-project.git +cd spiri-project +git checkout master +git submodule update --init --recursive --remote +``` + +### 3. Install the CTI BSP +```bash +cd CTI-L4T/ +sudo ./install.sh +``` + +### 4. Build the Spiri cameras project Kernel +```bash +cd $LINUX_FOR_TEGRA/ + +mkdir -p builds/build_ && cd builds/build_ +mkdir build modules + +# Create the Kernel configuration file +make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ tegra_defconfig +``` +```bash +# Check for the Drivers with the "spiri" keyword +make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ menuconfig +``` + +By default the Drivers are installed, the tegra_defconfig include them as: +```CONFIG_VIDEO_I2C_SPIRI_CAM=y``` +```CONFIG_VIDEO_I2C_SPIRI_GSM=y``` +You can review it on the Kernel Menuconfig, and find it out in the following paths: +```bash ++----------------+ +--------------------+ +-------------------------------------------------------------------+ +-------------------------------------+ +| Device Drivers | --> | Multimedia support | --> | NVIDIA overlay Encoders, decoders, sensors and other helper chips | --> | Spiri MT9M021 camera sensor support | ++----------------+ +--------------------+ +-------------------------------------------------------------------+ +-------------------------------------+ + ++----------------+ +------------------------+ +----------------------+ +----------------------+ +| Device Drivers | --> | Network device support | --> | USB Network Adapters | --> | USB Network Adapters | ++----------------+ +------------------------+ +----------------------+ +----------------------+ +``` + +```bash +# Build the Kernel, DTBs and modules +make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ CROSS_COMPILE=${CROSS_COMPILE} -j8 --output-sync=target zImage dtbs modules +make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ modules_install INSTALL_MOD_PATH=$PWD/modules +``` + +The deployed Kernel binaries after compilation could check if it has the Drivers in it, inspecting on it with rgrep: +```bash +rgrep mt9m021 build/arch/arm64/boot/Image +rgrep eg25-g build/arch/arm64/boot/Image +``` + +### 5. Flash the Spiri Mu +Once the Kernel it's compiled, the output binaries should get installed on the Jetpack workspace, letting the flash scripts deploy them into the target device. The update for the flash scripts deployment it's ilustrated as follows: + +```bash +# Location for the Kernel files to be found by Tegra flash.sh script in full image installation ++-----------------------------+ +--------------+ +| build/arch/arm64/boot/Image | --> | kernel/Image | ++-----------------------------+ +--------------+ + ++-----------------------------+ +-------------+ +| build/arch/arm64/boot/dts/* | --> | kernel/dtb/ | ++-----------------------------+ +-------------+ + ++------------------------------------+ +---------------------+ +| modules/lib/modules/4.9.140-tegra/ | --> | rootfs/lib/modules/ | ++------------------------------------+ +---------------------+ +``` + +``` +# Backup the default Kernel +cp -r ../../kernel/dtb/ ../../kernel/backup_dtb/ +cp ../../kernel/Image ../../kernel/backup_Image +sudo mv ../../rootfs/lib/modules/4.9.140-tegra/ ../../rootfs/lib/modules/backup_4.9.140-tegra/ + +# Add the Kernel files for full image installation +cp build/arch/arm64/boot/dts/* ../../kernel/dtb/ +cp build/arch/arm64/boot/Image ../../kernel/ +sudo make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ modules_install INSTALL_MOD_PATH=$PWD/../../rootfs/ +``` + +In order to flash the target device, do the following commands from the workspace's root: + +```bash +cd $LINUX_FOR_TEGRA/ + +# Full OS installation +sudo ./flash.sh jetson-tx2 mmcblk0p1 + +# Device tree installation +sudo ./flash.sh -r -k kernel-dtb -d kernel/dtb/tegra186-tx2-spiri-revF+.dtb jetson-tx2 mmcblk0p1 + +# Kernel image installation +sudo ./flash.sh -r -k kernel -K kernel/Image jetson-tx2 mmcblk0p1 + +``` -- 2.40.1 From 27d8aef475dde36871e558fafa5c03335d8676dc Mon Sep 17 00:00:00 2001 From: dchvs Date: Fri, 19 Feb 2021 21:26:56 -0600 Subject: [PATCH 07/19] Update EG25-G Driver submodule commits --- .gitmodules | 2 +- source/drivers/eg25-g | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.gitmodules b/.gitmodules index a16e132..af4ca30 100644 --- a/.gitmodules +++ b/.gitmodules @@ -13,4 +13,4 @@ [submodule "source/drivers/eg25-g"] path = source/drivers/eg25-g url = https://git.spirirobotics.com/dchvs/eg25-g.git - branch = master + branch = 4.4.1/tx2-cti/quectel-module diff --git a/source/drivers/eg25-g b/source/drivers/eg25-g index ddd5f9c..8ef1521 160000 --- a/source/drivers/eg25-g +++ b/source/drivers/eg25-g @@ -1 +1 @@ -Subproject commit ddd5f9c349b0e98bc6d19228a3d940d11e937f9d +Subproject commit 8ef1521acd107421302ce1c39dbf3b15e9c69da4 -- 2.40.1 From 6559f87a002c4f3e1f59daac40e4058142d7cb85 Mon Sep 17 00:00:00 2001 From: dchvs Date: Fri, 19 Feb 2021 21:29:13 -0600 Subject: [PATCH 08/19] Update MT9M021 Driver submodule commits --- source/drivers/li-mt9m021 | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/drivers/li-mt9m021 b/source/drivers/li-mt9m021 index 6b9e2b6..a606c4e 160000 --- a/source/drivers/li-mt9m021 +++ b/source/drivers/li-mt9m021 @@ -1 +1 @@ -Subproject commit 6b9e2b6b54c1d03ca81339ef91ad24ab4722a89b +Subproject commit a606c4ece1c00195ea7fcaaf9ced561fb9bf992f -- 2.40.1 From c39a8f2ef0e5fec023648523d7510b06e35b47ae Mon Sep 17 00:00:00 2001 From: dchvs Date: Fri, 19 Feb 2021 21:31:16 -0600 Subject: [PATCH 09/19] Update Jetpack submodule commits --- source/Jetpack | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/Jetpack b/source/Jetpack index 8895e18..95c0690 160000 --- a/source/Jetpack +++ b/source/Jetpack @@ -1 +1 @@ -Subproject commit 8895e18debb94a4d8f694e2944c4cd74a06bab61 +Subproject commit 95c069085f35530c71e4d216cbb298a917532e4b -- 2.40.1 From 71102b00728850742e87392ce6a4d083063595e4 Mon Sep 17 00:00:00 2001 From: dchvs Date: Mon, 25 Jan 2021 14:55:09 -0600 Subject: [PATCH 10/19] Add Jetpack-CTI sources --- .gitmodules | 1 + Jetpack | 1 + 2 files changed, 2 insertions(+) create mode 160000 Jetpack diff --git a/.gitmodules b/.gitmodules index af4ca30..5c589bd 100644 --- a/.gitmodules +++ b/.gitmodules @@ -14,3 +14,4 @@ path = source/drivers/eg25-g url = https://git.spirirobotics.com/dchvs/eg25-g.git branch = 4.4.1/tx2-cti/quectel-module + diff --git a/Jetpack b/Jetpack new file mode 160000 index 0000000..1ea8207 --- /dev/null +++ b/Jetpack @@ -0,0 +1 @@ +Subproject commit 1ea8207cd3f19b39dc436ec3e8c60c88eb8adb69 -- 2.40.1 From 29d8d665cbeb7dc268932aca82606f725eb71324 Mon Sep 17 00:00:00 2001 From: dchvs Date: Mon, 25 Jan 2021 14:57:21 -0600 Subject: [PATCH 11/19] Add CTI-L4T BSP sources --- .gitmodules | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitmodules b/.gitmodules index 5c589bd..1232d20 100644 --- a/.gitmodules +++ b/.gitmodules @@ -15,3 +15,4 @@ url = https://git.spirirobotics.com/dchvs/eg25-g.git branch = 4.4.1/tx2-cti/quectel-module + -- 2.40.1 From bdd726d78966083257113a23c554629959e3aef8 Mon Sep 17 00:00:00 2001 From: dchvs Date: Mon, 25 Jan 2021 15:04:53 -0600 Subject: [PATCH 12/19] Add li-mt9m021 driver submodule --- .gitmodules | 1 + li-mt9m021 | 1 + 2 files changed, 2 insertions(+) create mode 160000 li-mt9m021 diff --git a/.gitmodules b/.gitmodules index 1232d20..f598819 100644 --- a/.gitmodules +++ b/.gitmodules @@ -16,3 +16,4 @@ branch = 4.4.1/tx2-cti/quectel-module + 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 -- 2.40.1 From 75fe26a83fdc50d92ed6d47925b41ca5aeebbf11 Mon Sep 17 00:00:00 2001 From: dchvs Date: Mon, 25 Jan 2021 15:12:23 -0600 Subject: [PATCH 13/19] Add Spiri sources submodule --- .gitmodules | 1 + mu_kernel_sources | 1 + 2 files changed, 2 insertions(+) create mode 160000 mu_kernel_sources diff --git a/.gitmodules b/.gitmodules index f598819..8d43927 100644 --- a/.gitmodules +++ b/.gitmodules @@ -17,3 +17,4 @@ + 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 -- 2.40.1 From 0d297e635e487eaadf26ef96281571ae65a4113c Mon Sep 17 00:00:00 2001 From: dchvs Date: Mon, 25 Jan 2021 15:15:51 -0600 Subject: [PATCH 14/19] Add eg25-g driver submodule --- .gitmodules | 1 + eg25-g | 1 + 2 files changed, 2 insertions(+) create mode 160000 eg25-g diff --git a/.gitmodules b/.gitmodules index 8d43927..aeef713 100644 --- a/.gitmodules +++ b/.gitmodules @@ -18,3 +18,4 @@ + 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 -- 2.40.1 From 7b2ce290c5e3727d0f551de366d14ccdb7cfc598 Mon Sep 17 00:00:00 2001 From: dchvs Date: Mon, 25 Jan 2021 15:27:45 -0600 Subject: [PATCH 15/19] Add README file --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index af6ea54..7fbb91e 100644 --- a/README.md +++ b/README.md @@ -124,3 +124,4 @@ sudo ./flash.sh -r -k kernel-dtb -d kernel/dtb/tegra186-tx2-spiri-revF+.dtb jets sudo ./flash.sh -r -k kernel -K kernel/Image jetson-tx2 mmcblk0p1 ``` + -- 2.40.1 From 59179311a92c4b8ab1268587ac7b27afb3804d8d Mon Sep 17 00:00:00 2001 From: dchvs Date: Mon, 25 Jan 2021 20:23:48 -0600 Subject: [PATCH 16/19] Update Jetpack to 4.4.1 --- .gitmodules | 5 ----- 1 file changed, 5 deletions(-) diff --git a/.gitmodules b/.gitmodules index aeef713..af4ca30 100644 --- a/.gitmodules +++ b/.gitmodules @@ -14,8 +14,3 @@ path = source/drivers/eg25-g url = https://git.spirirobotics.com/dchvs/eg25-g.git branch = 4.4.1/tx2-cti/quectel-module - - - - - -- 2.40.1 From 3b621b4b58ad3ef9a0e924e328719e879192a006 Mon Sep 17 00:00:00 2001 From: dchvs Date: Thu, 28 Jan 2021 23:26:38 -0600 Subject: [PATCH 17/19] Remove mu_kernel_sources submodule --- mu_kernel_sources | 1 - 1 file changed, 1 deletion(-) delete mode 160000 mu_kernel_sources 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 -- 2.40.1 From 64fccc76aae9a3917dc007165bc22258b796ea3b Mon Sep 17 00:00:00 2001 From: dchvs Date: Sun, 31 Jan 2021 16:07:28 -0600 Subject: [PATCH 18/19] Update submodules commits --- Jetpack | 2 +- li-mt9m021 | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) 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 -- 2.40.1 From 7a3dfab2c19ffef41a4760a09e5acc57382aa01c Mon Sep 17 00:00:00 2001 From: dchvs Date: Thu, 11 Feb 2021 13:47:51 -0600 Subject: [PATCH 19/19] Add doc tree --- 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