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

Attention

This document is for the users of Connect Tech Anvil

1.5.1. Preparation#

1.5.1.1. Required items#

1.5.2. Power on and log in#

Attention

Please complete BSP flash before starting.

Please refer this link

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

  2. Connect cameras to Anvil using the FAKRA cables.

  3. Power on the Anvil and logging in.

1.5.3. Camera driver installation#

  1. Get the camera driver deb package from Github.

  2. Install TIER IV camera driver with following command.

    sudo apt install ./tier4-camera-gmsl_2.0.0_arm64.deb

  3. Confirm the installation was successful

    sudo apt list | grep tier4

    If you could confirm tier4-camera-gmsl, installation process was finished successful

  4. Confirm /boot/tier4-*.dtbo exists

    ls /boot/tier4-*.dtbo

  5. Add FDT and OVERLAYS settings on /boot/extlinux/extlinux.conf for device tree setting

    Note

    If you want to use the camera in a configuration other than C1/C2/C3 only, please refer the Device tree setting section.

    • C1 camera configuration

      FDT /boot/tegra234-orin-agx-cti-AGX201.dtb
OVERLAYS /boot/tier4-isx021-gmsl-device-tree-overlay-anvil-r36.dtbo

    • C2 camera configuration

      FDT /boot/tegra234-orin-agx-cti-AGX201.dtb
OVERLAYS /boot/tier4-imx490-gmsl-device-tree-overlay-anvil-r36.dtbo

    • C3 camera configuration

      FDT /boot/tegra234-orin-agx-cti-AGX201.dtb
OVERLAYS /boot/tier4-imx728-gmsl-device-tree-overlay-anvil-r36.dtbo

  6. reboot

    reboot

  7. Make sure that the camera device file (/dev/video*) is created

    ls -al /dev/video*

1.5.4. Operation mode configuration#

The procedure to operation mode configuration is basically　identical to the other ECUs. Please refer to the manual

However, if you use trigger mode, please add fsync_mfp=7 parameter as following to /etc/modprobe.d/tier4-*.conf file:

options tier4_isx021 trigger_mode=1 enable_auto_exposure=1 enable_distortion_correction=1 fsync_mfp=7

1.5.5. 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.

1.5.6. Device tree setting#

If you would like to use C1/C2/C3 Mixed Configurations, please execute following steps.

  1. Create dtbs file

    Note

    The following example is for a C1x4, C2x2, and C3x2 configuration.

    You can select the type of camera to connect to every 2 ports (= every deserializer).

    However, it is not recommended to connect two C2/C3 cameras to one deserializer.

    git clone https://github.com/tier4/tier4_automotive_hdr_camera.git
cd tier4_automotive_hdr_camera/tools/dts_generator
python make_overlay_dts_anvil.py -4 C1 -2 C2 -2 C3

  2. Create dtbo file from .dts file.

    dtc -O dtb -o tier4-isx021-imx490-imx728-gmsl-device-tree-overlay-anvil-r36.dtbo -@ tier4-isx021-imx490-imx728-gmsl-device-tree-overlay-anvil-r36.dts

  3. Copy to /boot/ directory.

    sudo cp ./tier4-isx021-imx490-imx728-gmsl-device-tree-overlay-anvil-r36.dtbo /boot/

  4. Add FDT and OVERLAYS settings on /boot/extlinux/extlinux.conf (same as Camera driver installation procedure 5. Set the OVERLAY path to the .dtbo file you created.)

1.5.7. Reference document#