DAX-C02 is an addon board for the Nvidia Jetson TX1 and TX2 Development Boards that connects two Global Shutter, 1.2 Megapixel LI-M021C-MIPI cameras to the Jetson’s MIPI-CSI bus.
The Linux for Tegra driver is provided publicly on GitHub to anyone with or without purchase of the DAX-C02 system. The driver is based on the Nvidia OV5693 sample driver modified to control the LI-M021C-MIPI. The driver abstracts independent control of the CMOS sensors and is made to work directly with the TX1 and TX2 integrated image processing system. Interfacing with the driver should be handled using Nvidia’s tools. Other V4L2 tools may work, but are not officially supported.
Status on Jetson TX1:
- Fully working under l4t-28.2 (master)
- Fully working under l4t-28.1 (see releases)
- Fully working under l4t-24.2 (see releases)
Status on Jetson TX2:
- Fully working under l4t-28.2 (master)
- Fully working under l4t-28.1 (see releases)
- Dev Environment Setup
- Installing the Toolchain
- Jetson TX1: Adding the Driver
- Jetson TX2: Adding the Driver
- Update Kconfig
- Compile the Kernel
- Flashing the TX
This section will describe the process of setting up the development environment on a fresh Ubuntu installation using Jetpack.
First download Jetpack and make the file executable
chmod +x JetPack-L4T-3.2-linux-x64_b196.run
Next transfer the installer to its own folder.
mkdir ~/l4t_r28.2
mv JetPack-L4T-3.2-linux-x64_b196.run ~/l4t_r28.2/
Export $DEVDIR as the new JetPack location.
export DEVDIR=~/l4t_r28.1
Now run the installer and follow the instructions. Once you get to the Package list change the action next to "Install on Target" to "no action." This will install the dev environment but skip flashing. We will be modifying the kernel to include this driver before flashing the image.
In addition to the source you'll need the toolchain for cross-compiling the kernel for ARM. Download the following two binaries.
Install using the following commands:
sudo mkdir /opt/linaro
sudo tar -xf gcc-linaro-5.4.1-2017.01-x86_64_aarch64-linux-gnu.tar.xz -C /opt/linaro/
sudo tar -xf gcc-linaro-5.4.1-2017.01-x86_64_arm-linux-gnueabihf.tar.xz -C /opt/linaro/
Download the kernel source code by running the source_sync script. This will take a few minutes. Specify which version using the -k tag.
cd $DEVDIR/64_TX1/Linux_for_Tegra/
./source_sync.sh -k tegra-l4t-r28.2
Export $SOURCEDIR as the sources directory created by source_sync.sh.
export SOURCEDIR=$DEVDIR/64_TX1/Linux_for_Tegra/sources
Clone the driver repository to the sources directory.
git clone https://github.com/DaxBot/daxc02.git $SOURCEDIR/daxc02
Create symbolic links to the new files and insert them into the kernel.
# Link driver files
ln -s $SOURCEDIR/daxc02/tegra210-daxc02.dtsi $SOURCEDIR/hardware/nvidia/platform/t210/jetson/kernel-dts/
ln -s $SOURCEDIR/daxc02/daxc02_mode_tbls.h $SOURCEDIR/kernel/kernel-4.4/drivers/media/i2c/
ln -s $SOURCEDIR/daxc02/daxc02.h $SOURCEDIR/kernel/kernel-4.4/drivers/media/i2c/
ln -s $SOURCEDIR/daxc02/daxc02.c $SOURCEDIR/kernel/kernel-4.4/drivers/media/i2c/
# Update device tree to include new entires
sed -e '/tegra210-jetson-cv-camera-plugin-manager.dtsi/ s;^;//;' -i $SOURCEDIR/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-cv-base-p2597-2180-a00.dts
sed -e '/tegra210-jetson-cv-camera-modules.dtsi/ s;^;//;' -i $SOURCEDIR/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-cv-base-p2597-2180-a00.dts
echo "#include \"tegra210-daxc02.dtsi\"" >> $SOURCEDIR/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-cv-base-p2597-2180-a00.dts
Download the kernel source code by running the source_sync script. This will take a few minutes. Specify which version using the -k tag.
cd $DEVDIR/64_TX2/Linux_for_Tegra/
./source_sync.sh -k tegra-l4t-r28.2
Export $SOURCEDIR as the sources directory created by source_sync.sh.
export SOURCEDIR=$DEVDIR/64_TX2/Linux_for_Tegra/sources
Clone the driver repository to the sources directory.
git clone https://github.com/DaxBot/daxc02.git $SOURCEDIR/daxc02
Create symbolic links to the new files and insert them into the kernel.
# Link driver files
ln -s $SOURCEDIR/daxc02/tegra186-daxc02.dtsi $SOURCEDIR/hardware/nvidia/platform/t18x/quill/kernel-dts/
ln -s $SOURCEDIR/daxc02/daxc02_mode_tbls.h $SOURCEDIR/kernel/kernel-4.4/drivers/media/i2c/
ln -s $SOURCEDIR/daxc02/daxc02.h $SOURCEDIR/kernel/kernel-4.4/drivers/media/i2c/
ln -s $SOURCEDIR/daxc02/daxc02.c $SOURCEDIR/kernel/kernel-4.4/drivers/media/i2c/
# Update device tree to include new entires
sed -e '/tegra186-quill-camera-plugin-manager.dtsi/ s;^;//;' -i $SOURCEDIR/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-a00-00-base.dts
sed -e '/tegra186-quill-camera-modules.dtsi/ s;^;//;' -i $SOURCEDIR/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-a00-00-base.dts
echo "#include \"tegra186-daxc02.dtsi\"" >> $SOURCEDIR/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-a00-00-base.dts
Insert the following at the top of $SOURCEDIR/kernel/kernel-4.4/drivers/media/i2c/Kconfig
config VIDEO_I2C_DAXC02
tristate "DAXC02 camera sensor support"
depends on I2C && VIDEO_V4L2 && VIDEO_V4L2_SUBDEV_API
---help---
This is a Video4Linux2 sensor-level driver for DAX-C02
Insert the following line at the top of $SOURCEDIR/kernel/kernel-4.4/drivers/media/i2c/Makefile
obj-$(CONFIG_VIDEO_I2C_DAXC02) += daxc02.o
Install build tools and libraries
sudo apt update
sudo apt install -y build-essential libncurses-dev
Export the following environment variables:
export CROSS_COMPILE=/opt/linaro/gcc-linaro-5.4.1-2017.01-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-
export CROSS32CC=/opt/linaro/gcc-linaro-5.4.1-2017.01-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf-gcc
export TEGRA_KERNEL_OUT=$SOURCEDIR/compiled
Create the default configuration:
cd $SOURCEDIR/kernel/kernel-4.4
mkdir $TEGRA_KERNEL_OUT
make ARCH=arm64 O=$TEGRA_KERNEL_OUT <defconfig>
where <defconfig> is either:
- Jetson TX1: tegra21_defconfig
- Jetson TX2: tegra18_defconfig
Enable DAXC02 using menuconfig
make ARCH=arm64 O=$TEGRA_KERNEL_OUT menuconfig
Device Drivers --->
<*> Multimedia support --->
<*> DAXC02 camera sensor support
Now you can compile the kernel image and device tree blob
make ARCH=arm64 O=$TEGRA_KERNEL_OUT -j4 Image dtbs
Copy the new files over to the the Jetpack kernel directory.
cp $SOURCEDIR/compiled/arch/arm64/boot/Image $SOURCEDIR/../kernel/
cp $SOURCEDIR/compiled/arch/arm64/boot/dts/*.dtb $SOURCEDIR/../kernel/dtb/
Update the kernel
scp $SOURCEDIR/compiled/arch/arm64/boot/Image [user]@[ip]:/boot/
Then restart the TX into recovery mode and flash the DTB
cd $SOURCEDIR/../
sudo ./flash.sh -r -k <partition> <platform> mmcblk0p1
where <partition> is either:
- Jetson TX1: DTB
- Jetson TX2: kernel-dtb
where <platform> is either:
- Jetson TX1: jetson-tx1
- Jetson TX2: jetson-tx2