1.5. Installation Guide for Connect Tech Anvil#

Note

This document is for users of the Connect Tech Anvil.

Note

This document is based on tier4_automotive_hdr_camera version 2.2.0.

1.5.1. Required Items#

1.5.1.1. Hardware Requirements#

  • Connect Tech Anvil

  • FAKRA coaxial cables (FAKRA to mini FAKRA, 1:4)

  • TIER IV Automotive HDR Camera (C1, C2, C3, C1-MP, or C2-MP)

1.5.1.2. Software Requirements#

Software

Version

Download Link

Anvil BSP (JetPack)

r36.4.4 - V006

Download Link

Anvil BSP (JetPack)

r36.4 (6.1) - V005

Download Link

tier4-gmsl-camera

2.2.0

tier4_automotive_hdr_camera repository

1.5.2. Flashing the OS (BSP)#

Attention

Please note that the BSP flashing process is outside our standard support scope. For any inquiries, troubleshooting, or issues related to OS installation, please contact your hardware distributor or Connect Tech support directly.

Please refer to the Anvil Release Notes document for instructions on flashing the BSP to your device.

1.5.3. Hardware Connection#

  1. Ensure that the Anvil is powered off.

  2. Connect the cameras to the Anvil using the FAKRA coaxial cables.

  3. Ensure that the lock tabs on the FAKRA connector and mini FAKRA connector are properly seated.

Restriction regarding C2 and C3 camera

Currently, two C2 / C3 cameras cannot be connected to single deserializer board.

For example:

  • Port 1 and 2 … NG

  • Port 3 and 4 … NG

  • Port 1 and 3 … OK

  • Port 1 and 5 … OK

1.5.4. Power ON and Login#

Power On

Connect the power connector and power on the Anvil.

Login

Please log in using the username and password configured during the BSP flashing process.

1.5.5. Camera Driver Installation#

This process should be performed on the Anvil.

Step 1: Download the Driver

Open a terminal on the Anvil and run the following command to download the driver package.

wget https://github.com/tier4/tier4_automotive_hdr_camera/releases/download/v2.2.0/tier4-camera-gmsl_2.2.0_arm64.deb

Step 2: Install the Driver

Execute the following command in the directory where the downloaded .deb file is located to install the package.

sudo apt install ./tier4-camera-gmsl_*.deb

Step 3: Configure the Device Tree

Note

For advanced configurations, including how to connect a combination of different camera types, please refer to the camera driver’s GitHub page.

After installing the driver, you need to add FDT and OVERLAYS settings to /boot/extlinux/extlinux.conf for the device tree setting:

  • C1

    FDT /boot/tegra234-orin-agx-cti-AGX201.dtb
OVERLAYS /boot/tier4-c1-gmsl-device-tree-overlay-anvil-r36.dtbo

  • C2

    FDT /boot/tegra234-orin-agx-cti-AGX201.dtb
OVERLAYS /boot/tier4-c2-gmsl-device-tree-overlay-anvil-r36.dtbo

  • C3

    FDT /boot/tegra234-orin-agx-cti-AGX201.dtb
OVERLAYS /boot/tier4-c3-gmsl-device-tree-overlay-anvil-r36.dtbo

  • C1-MP

    FDT /boot/tegra234-orin-agx-cti-AGX201.dtb
OVERLAYS /boot/tier4-c1mp-gmsl-device-tree-overlay-anvil-r36.dtbo

  • C2-MP

    FDT /boot/tegra234-orin-agx-cti-AGX201.dtb
OVERLAYS /boot/tier4-c2mp-gmsl-device-tree-overlay-anvil-r36.dtbo

Step 4: Restart the System

To apply the device tree changes, power off the system and turn it back on.

sudo shutdown -h now

(After the Anvil has completely shut down, press the P button to restart it.)

1.5.6. Verify Camera Recognition#

Open a terminal and run the following command to verify that the cameras are recognized as V4L2 devices. If the number of video devices matches the number of connected cameras, the camera recognition check is complete.

ls /dev/video*
/dev/video0
/dev/video1
.
.

1.5.7. Reference#

1.5.8. Next Steps#

For image acquisition and detailed settings, please refer to the Camera Operation and Configuration Guide.