View source for OmniVision Monochrome OV24A1B Linux driver for Jetson

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== OmniVision Monochrome OV24A1B Sensor features == 
Reference: [https://www.ovt.com/sensors/OV24A1B OmniVision OV24A1B sensor]

'''Supported resolutions and formats'''

{| class="wikitable"
|-
! Feature !! Value
|-
| Resolution || 5664x4248
|-
| Framerate(fps) || 30
|-
| Format || GRAY16_LE
|-
| Pixel depth || 16
|}

'''Controls'''

* Gain
* Exposure
* Frame rate

==Build kernel using Jetpack and OV24A1B driver==

The following guide relies on the steps required to install the OV24A1B driver on JetPack 4.4 for the Jetson AGX Xavier platform.

=== Building kernel sources ===

Once you have purchased the driver you will be provided with a tarball file containing the required patches to install the driver. Lets call it ''ov24a1b_driver.tar''.<br><br>

'''1.''' Download the toolchain.<br>
NVIDIA recommends using the Linaro 7.3.1 2018.05 toolchain. Download the pre-built toolchain binaries as follows:
<syntaxhighlight lang=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
</syntaxhighlight>

Execute the following commands to extract the toolchain:
<syntaxhighlight lang=bash>
mkdir -p $HOME/l4t-gcc
cd $HOME/l4t-gcc
tar xf gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz
</syntaxhighlight>

'''2.''' Download and install JetPack 4.4 following the instructions from [https://developer.ridgerun.com/wiki/index.php?title=Raspberry_Pi_HQ_camera_IMX477_Linux_driver_for_Jetson#Download_the_JetPack_4.4 JetPack 4.4 Installation Instructions]<br><br>

'''3.''' Download the L4T sources according to your platform from the [https://developer.nvidia.com/embedded/downloads Jetson Download Center].<br>

The Xavier AGX sources for JetPack 4.4 can be downloaded from [https://developer.nvidia.com/embedded/L4T/r32_Release_v4.3/sources/T186/public_sources.tbz2 here].<br><br>

'''4.''' Create a folder named ''sources/'' in the ''Linux_for_Tegra/'' directory.
<syntaxhighlight>
mkdir -p JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/source/
</syntaxhighlight><br>

'''5.''' Uncompress the ''public_sources.tbz2'' tarball.
<syntaxhighlight>
tar -xvf public_sources.tbz2
</syntaxhighlight><br>

'''6.''' Uncompress the ''public_sources.tbz2/Linux_for_Tegra/source/public/kernel_src.tbz2'' content (kernel and hardware folders) in the ''JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/source/'' directory.<br>
<syntaxhighlight>
cd Linux_for_Tegra/source/public/
tar -xvf kernel_src.tbz2
mv hardware/ kernel/ JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/source/
</syntaxhighlight><br>

'''7.''' Apply the patch present in the provided tarball file:<br>

First untar the provided tarball:
<syntaxhighlight>
tar -xvf ov24a1b_driver.tar
</syntaxhighlight>

Move the uncompressed ''patches/'' folder into your ''JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/source/'' directory.
<syntaxhighlight>
mv patches/ JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/source/
</syntaxhighlight>

Apply the patch as follows:
<syntaxhighlight>
cd JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/source/
quilt push
</syntaxhighlight><br>

'''8.''' Build the new patched kernel:<br>

Create the main directories:
<syntaxhighlight>
JETSON_KERNEL_SOURCE=JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/source/
cd $JETSON_KERNEL_SOURCE/../
mkdir -p modules/
mkdir -p packages/
mkdir -p dtb/
</syntaxhighlight>

Set up some variables:
<syntaxhighlight>
CROSS_COMPILE=$HOME/l4t-gcc/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-
KERNEL_OUT=$JETSON_KERNEL_SOURCE/../build
KERNEL_MODULES_OUT=$JETSON_KERNEL_SOURCE/../modules
</syntaxhighlight>

Configure and build the kernel:
<syntaxhighlight>
cd $JETSON_KERNEL_SOURCE
make -C kernel/kernel-4.9/ ARCH=arm64 O=$KERNEL_OUT tegra_defconfig
make -C kernel/kernel-4.9/ ARCH=arm64 O=$KERNEL_OUT menuconfig
</syntaxhighlight>

==== Enable and compile the driver ====

'''1.''' Select in the menu (if not selected yet):
<syntaxhighlight>
Device Drivers  --->
    <*> Multimedia support  --->
        NVIDIA overlay Encoders, decoders, sensors and other helper chips  --->
            <*> OV24A1B camera sensor support
</syntaxhighlight><br>
Go back by hitting the double ''Esc'' key until you get the message: ''"Do you want to save your new configuration?"'', select ''Yes'' and press Enter.<br>
It allows you to enable the OV24A1B driver as built-in.<br><br>

'''2.'''Compile kernel, device tree and modules:
<syntaxhighlight>
make -C kernel/kernel-4.9/ ARCH=arm64 O=$KERNEL_OUT CROSS_COMPILE=${CROSS_COMPILE} -j4 Image
make -C kernel/kernel-4.9/ ARCH=arm64 O=$KERNEL_OUT CROSS_COMPILE=${CROSS_COMPILE} -j4 dtbs
make -C kernel/kernel-4.9/ ARCH=arm64 O=$KERNEL_OUT CROSS_COMPILE=${CROSS_COMPILE} -j4 modules
make -C kernel/kernel-4.9/ ARCH=arm64 O=$KERNEL_OUT modules_install INSTALL_MOD_PATH=$KERNEL_MODULES_OUT
</syntaxhighlight><br>

'''3.''' Copy the generated kernel and dtb:
<syntaxhighlight>
cd $JETSON_KERNEL_SOURCE/../
cp build/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb ./kernel/dtb
cp build/arch/arm64/boot/Image ./kernel
</syntaxhighlight><br>

==== Flash the Xavier AGX and install the OV24A1B driver ====

'''1.''' Put your Jetson developer kit into Force Recovery Mode (RCM):<br><br>

'''i)''' Ensure that the developer kit is powered off.<br>
'''ii)''' Press and hold down the Force Recovery button.<br>
'''iii)''' Press, then release the Power button.<br>
'''iv)''' Release the Recovery button.<br><br>
       
You can confirm that your developer kit is in Force Recovery mode you can use lsusb and get the following line as part of the output:
<syntaxhighlight>
Bus 001 Device 015: ID 0955:7020 NVidia Corp.
</syntaxhighlight>

'''2.''' Flash the board with the following command:
<syntaxhighlight>
sudo ./flash.sh -r -k kernel-dtb -d kernel/dtb/tegra194-p2888-0001-p2822-0000.dtb jetson-xavier mmcblk0p1
</syntaxhighlight>

'''3.''' Copy the compiled kernel image and modules:

Kernel:
<syntaxhighlight>
scp ./kernel/Image nvidia@<xavier-ip>:/tmp/
</syntaxhighlight>

Modules:
<syntaxhighlight>
scp -r ./modules/lib/modules/4.9.140/kernel/ nvidia@<xavier-ip>:/tmp/
scp ./modules/lib/modules/4.9.140/modules.* nvidia@<xavier-ip>:/tmp/
</syntaxhighlight>

'''4.''' Update kernel image and modules inside the board and reboot from CLI:
<syntaxhighlight>
cd /tmp/
sudo rm -rf /lib/modules/4.9.140/kernel/*
sudo mv kernel/* /lib/modules/4.9.140/kernel/
sudo mv modules.* /lib/modules/4.9.140/
sudo mv Image /boot/
sudo reboot
</syntaxhighlight>

== Test your Kernel image using Jetpack root file system==

'''1.''' Check the kernel version. At this moment you can test the image created in order to see the new kernel is working correctly.<br>
You should see a new kernel version with the correct date of compilation:
<syntaxhighlight lang=bash>
uname -a 
Linux nvidia 4.9.140 #199 SMP PREEMPT Tue Mar 16 16:25:38 CST 2021 aarch64 aarch64 aarch64 GNU/Linux
</syntaxhighlight>


'''2.''' You can see whether the driver is probed by executing this line:  
<syntaxhighlight lang=bash>
dmesg | grep ov24a1b
</syntaxhighlight>

Expected output:
<syntaxhighlight lang=bash>
nvidia@nvidia:~$ dmesg | grep ov24a1b
[    1.926169] ov24a1b 30-0036: probing v4l2 sensor
[    1.927161] ov24a1b 30-0036: tegracam sensor driver:_v2.0.6
[    1.926169] tegra194-vi5 15c10000.vi: subdev ov24a1b 30-0036 bound
</syntaxhighlight>

'''3.''' Check the created video devices:

<syntaxhighlight lang=bash>
ls /dev/video*
/dev/video0 
</syntaxhighlight>

==Examples==

===GStreamer pipelines ===

====5664x4248@30fps====
<syntaxhighlight lang=bash>
gst-launch-1.0 v4l2src ! video/x-raw,width=5664,height=4248,format=GRAY16_LE ! perf ! fakesink
</syntaxhighlight>
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[[Category:Jetson]][[Category:Jetson V4L2 Drivers]]