5. TIER IV Cameras Getting Started Guide for Connect Tech Anvil#


This document is for the users of Connect Tech Anvil

5.1. Preparation#

5.1.1. Required items#

5.1.2. Camera connection#

  1. Firstly, make sure that the Anvil is turned off.

  2. Connect cameras to Anvil using the FAKRA cables.

5.2. Power on and log in#

5.2.1. Power on#

Power on the Anvil.

5.2.2. Login#

On the startup window, type the password to log in.

Default settings are shown below.





5.3. Camera driver installation#


Installation process is different from the other ECUs

Currently, Anvil has issues with building and loading the out-of-tree modules.

We provide the pre-built drivers and the installation script to avoid dealing with the complicated kernel stuff.

Please download the pre-build driver from our GitHub release page

  1. Extract the tarball and run ./install.sh to install the camera drivers.

    tar -xzvf tier4-camera-drivers-for-anvil.tar.gz
    cd tier4-camera-drivers-for-anvil
    sudo ./install.sh
  2. The installation script does the following steps for you:

    • Install the camera drivers’ configuration files

    • Install the pre-built camera drivers

    • Install the pre-built device-tree blob

    • Create a new boot entry in the /boot/extlinux/extlinux.conf

  3. After running the installation script, you can run /opt/nvidia/jetson-io/configure-by-hardware.py. The following prompt should appear.

    [*] Installing configuration files...
    [*] Enabling the C1 firmware...
    Adding firmware to initrd...
    42009 blocks
    42009 blocks
    INITRD Updated with Tier4 firmware.
    [*] Installing the camera drivers...
    [*] Renaming the existing base devicetree blobs: /boot/dtb/tegra234-orin-agx-cti-AGX201-JCB002-base.dtb
    [*] Copying the new devicetree blob
    [*] Copying the new kernel image with VI patches applied
    [*] Adding an entry to /boot/extlinux/extlinux.conf
    [*] Making the entry the default one
    [*] You can run config-by-hardware.sh to enable TIER IV cameras after rebooting
    [!] Please make sure extlinux.conf is well-formed and valid before rebooting.
  4. Select the GMSL port assignment by using configure-by-hardware.py. For the details, please refer to GitHub README.

    sudo /opt/nvidia/jetson-io/config-by-hardware.py -l

    This command will output the following:

    Header 1 [default]: Jetson AGX CSI Connector
    Available hardware modules:
    1. TIERIV GMSL2 Camera Device Tree Overlay: C1x4 C2x4
    2. TIERIV GMSL2 Camera Device Tree Overlay: C1x8
    3. TIERIV GMSL2 Camera Device Tree Overlay: C2x8

    Then please select the GMSL port assignment. For instance, if you assign all GMSL ports to the C1, you set:

    sudo /opt/nvidia/jetson-io/config-by-hardware.py -n 1='TIERIV GMSL2 Camera Device Tree Overlay: C1x8'

    The command above assigns the C1 camera for all GMSL ports. Please modify after 1= according to your preference. The following output should appear in case configure-by-hardware.py finishes successfully.

    Configuration saved to /boot/tegra234-orin-agx-cti-AGX201-JCB002-base-user-custom.dtb.
    Reboot system to reconfigure.
  5. Reboot

    sudo reboot now
  6. Make sure that the camera device file (/dev/video*) is created

    ls -al /dev/video*

You need to make sure extlinux.conf is well-formed and valid after the installation script is finished. This step may require your manual editing.

5.4. Visualize the camera output using GStreamer#

The procedure to output the image using GStreamer is identical to the other ECUs. Please refer to the manual.

Please also refer to the GStreamer command examples.

5.5. Restrictions#


Camera synchronization function will be supported in case of the combination with Anvil.

5.6. Reference document#