# FG96-8CH 软件

### 节点映射
(单目RGB相机，双目如D457 参考D457页面)

| FAKRA接口 | 设备节点 |
| ------- | ---------- |
| CAM0    | /dev/video0 |
| CAM1    | /dev/video1 |
| CAM2    | /dev/video2 |
| CAM3    | /dev/video3 |
| CAM4    | /dev/video4 |
| CAM5    | /dev/video5 |
| CAM6    | /dev/video6 |
| CAM7    | /dev/video7 |

### 固件升级
请先在NVIDIA Jetson® AGX Orin™模块上安装了正确的软件，通过升级BSP固件可支持不同相机。
GMSL1和GMSL2 相机需要使用适当的软件和固件配置才可以正常使用（对应固件需联系销售人员获取）。

FG96-8CH 采集板固件升级方法：
1. 确保所有外部系统电源已关闭(AGX Orin™套件电源和GMSL板电源)
2. 将FG96-8CH GMSL扩展板J509和 AGX Orin™ J509连接器进行连接
3. 将GMSL相机通过FAKRA连接线 接到任意FAKRA接口连接器
4. 将J1接入12V~24V直流电源，通过外部为GMSL相机供电
5. 打开电源，等待系统启动，并参考Readme 进行软件固件的升级操作(将Image和dtb更新的/boot)
6. 固件升级完成后，Reboot重启或断电重启机器
7. 重启后可通过如下方式查看软件的一些信息
```shell
nvidia@nvidia-desktop:~$ sudo dmesg | grep connected

serdes 30-0048: /dev/video0 is connected!
serdes 30-0048: /dev/video1 is connected!
serdes 31-0048: /dev/video2 is connected!
serdes 31-0048: /dev/video3 is connected!
serdes 32-0048: /dev/video4 is connected!
serdes 32-0048: /dev/video5 is connected!
serdes 33-0048: /dev/video6 is connected!
serdes 33-0048: /dev/video7 is connected!

```

FG96-8CH客户可自行进行Serdes参数调试，相关参数配置可联系业务人员获取，软件开发可以参考BSP包自带的IMX390 Driver

DTSI 配置可参考如下
```bash

#define CAM0_PWDN	TEGRA234_MAIN_GPIO(H, 6)  //Pin93 --- UART4_CTS L49/397 - MAX9296_1 PWDN
#define CAM1_PWDN	TEGRA234_MAIN_GPIO(H, 3)  //Pin95 --- UART4_TX L5/394 - MAX9296_2 PWDN
#define CAM2_PWDN	TEGRA234_MAIN_GPIO(AC, 0) //Pin90 --- GPIO15 F10/486 - MAX9296_3 PWDN
#define CAM3_PWDN	TEGRA234_MAIN_GPIO(AC, 1) //Pin92 --- GPIO16 E9/487 - MAX9296_4 PWDN
#define CAM12V_POC	TEGRA234_MAIN_GPIO(AC, 7) //Pin119 --- GPIO12 E10 CAM_VDD_SYS_EN/493 Low enable
#define CAM_SYNCALL	TEGRA234_AON_GPIO(CC, 0)  //E61/SPI2_CLK CAM_INT1/328 -- MAX9296x4 MFP6

#DTSI 配置MAX9296 PWDN、POC供电
gpio@2200000 {
	cam-pwdn-high {
		gpio-hog;
		output-high;
		gpios = <CAM0_PWDN 0 CAM1_PWDN 0
			 CAM2_PWDN 0 CAM3_PWDN 0>;
		label = "cam0-pwdn", "cam1-pwdn",
			"cam2-pwdn", "cam3-pwdn";
	};
	cam-poc-high {
		gpio-hog;
		output-high;
		gpios = <CAM12V_POC 0>;
		label = "cam12-poc";
	};
};

#DTSI 配置相机
i2c@3180000 {
	tca9546@70 {
		compatible = "nxp,pca9546";
		reg = <0x70>;
		#address-cells = <1>;
		#size-cells = <0>;
		skip_mux_detect = "yes";
		vcc-supply = <&p3737_vdd_1v8_sys>;
		vcc-pullup-supply = <&battery_reg>;
		force_bus_start = <CAMERA_I2C_MUX_BUS(0)>;

		i2c@0 {  //CSI0-1 4Lanes 或 配置为2Lanes
			reg = <0>;
			i2c-mux,deselect-on-exit;
			#address-cells = <1>;
			#size-cells = <0>;
			serdes@48 {
				compatible = "nvidia,serdes";
				reg = <0x48>;
				pwdn-gpios = <&tegra_main_gpio CAM0_PWDN GPIO_ACTIVE_HIGH>;
			};
			fzcam_a@2a {
				/* Define any required hw resources needed by driver */
				/* ie. clocks, io pins, power sources */
				clocks = <&bpmp_clks TEGRA234_CLK_EXTPERIPH1>,
						<&bpmp_clks TEGRA234_CLK_EXTPERIPH1>;
				clock-names = "extperiph1", "pllp_grtba";
				mclk = "extperiph1";
			};
			fzcam_b@2b {
				/* Define any required hw resources needed by driver */
				/* ie. clocks, io pins, power sources */
				clocks = <&bpmp_clks TEGRA234_CLK_EXTPERIPH1>,
						<&bpmp_clks TEGRA234_CLK_EXTPERIPH1>;
				clock-names = "extperiph1", "pllp_grtba";
				mclk = "extperiph1";
			};
		};
		i2c@1 {  //CSI2-3 4Lanes 或 配置为2Lanes
			reg = <1>;
			i2c-mux,deselect-on-exit;
			#address-cells = <1>;
			#size-cells = <0>;
			serdes@48 {
				compatible = "nvidia,serdes";
				reg = <0x48>;
				pwdn-gpios = <&tegra_main_gpio CAM1_PWDN GPIO_ACTIVE_HIGH>;
			};
			fzcam_a@2a {
				/* Define any required hw resources needed by driver */
				/* ie. clocks, io pins, power sources */
				clocks = <&bpmp_clks TEGRA234_CLK_EXTPERIPH1>,
						<&bpmp_clks TEGRA234_CLK_EXTPERIPH1>;
				clock-names = "extperiph1", "pllp_grtba";
				mclk = "extperiph1";
			};
			fzcam_b@2b {
				/* Define any required hw resources needed by driver */
				/* ie. clocks, io pins, power sources */
				clocks = <&bpmp_clks TEGRA234_CLK_EXTPERIPH1>,
						<&bpmp_clks TEGRA234_CLK_EXTPERIPH1>;
				clock-names = "extperiph1", "pllp_grtba";
				mclk = "extperiph1";
			};
		};
		i2c@2 {  //CSI4-5 4Lanes 或 配置为2Lanes
			reg = <2>;
			i2c-mux,deselect-on-exit;
			#address-cells = <1>;
			#size-cells = <0>;
			serdes@48 {
				compatible = "nvidia,serdes";
				reg = <0x48>;
				pwdn-gpios = <&tegra_main_gpio CAM2_PWDN GPIO_ACTIVE_HIGH>;
			};
			fzcam_a@2a {
				/* Define any required hw resources needed by driver */
				/* ie. clocks, io pins, power sources */
				clocks = <&bpmp_clks TEGRA234_CLK_EXTPERIPH1>,
						<&bpmp_clks TEGRA234_CLK_EXTPERIPH1>;
				clock-names = "extperiph1", "pllp_grtba";
				mclk = "extperiph1";
			};
			fzcam_b@2b {
				/* Define any required hw resources needed by driver */
				/* ie. clocks, io pins, power sources */
				clocks = <&bpmp_clks TEGRA234_CLK_EXTPERIPH1>,
						<&bpmp_clks TEGRA234_CLK_EXTPERIPH1>;
				clock-names = "extperiph1", "pllp_grtba";
				mclk = "extperiph1";
			};
		};
		i2c@3 {  //CSI6-7 4Lanes 或 配置为2Lanes
			reg = <3>;
			i2c-mux,deselect-on-exit;
			#address-cells = <1>;
			#size-cells = <0>;
			serdes@48 {
				compatible = "nvidia,serdes";
				reg = <0x48>;
				pwdn-gpios = <&tegra_main_gpio CAM3_PWDN GPIO_ACTIVE_HIGH>;
			};
			fzcam_a@2a {
				/* Define any required hw resources needed by driver */
				/* ie. clocks, io pins, power sources */
				clocks = <&bpmp_clks TEGRA234_CLK_EXTPERIPH1>,
						<&bpmp_clks TEGRA234_CLK_EXTPERIPH1>;
				clock-names = "extperiph1", "pllp_grtba";
				mclk = "extperiph1";
			};
			fzcam_b@2b {
				/* Define any required hw resources needed by driver */
				/* ie. clocks, io pins, power sources */
				clocks = <&bpmp_clks TEGRA234_CLK_EXTPERIPH1>,
						<&bpmp_clks TEGRA234_CLK_EXTPERIPH1>;
				clock-names = "extperiph1", "pllp_grtba";
				mclk = "extperiph1";
			};
		};
	};
};
```

### GMSL快速验证

设备支持使用Gstreamer输出视频流，图像获取与显示使用方法如下：
```bash
#8M相机：(3840x2160)
gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw, format=(string)UYVY, width=(int)3840, height=(int)2160" ! videoconvert ! fpsdisplaysink video-sink=xvimagesink sync=false

#5M相机：(2880x1860)
gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw, format=(string)UYVY, width=(int)2880, height=(int)1860" ! videoconvert ! fpsdisplaysink video-sink=xvimagesink sync=false

#2M 相机：(1920x1080)
gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw, format=(string)UYVY, width=(int)1920, height=(int)1080" ! fpsdisplaysink video-sink=xvimagesink sync=false

#1M相机：(1280x720)
gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw, format=(string)UYVY, width=(int)1280, height=(int)720" ! fpsdisplaysink video-sink=xvimagesink sync=false

#其他分辨率相机根据具体相机参数进行设置即可
```


### Camera应用代码参考

[jetson_cam_app](https://gitee.com/fangzhutech/jetson_cam_app.git) 包含两个C++ 应用案例如下:

camera_v4l2_cuda ：CUDA SDK Demo通过CUDA运行效率高（需预装JetPack SDK）。

camera_v4l2_opencv：OpenCV SDK Demo 直接使用V4L2和OpenCV来获取摄像头图像。


### V4L2常用命令

```shell
#查看Camera设备列表
nvidia@nvidia-desktop:~$ v4l2-ctl --list-devices -d /dev/video0
NVIDIA Tegra Video Input Device (platform:tegra-camrtc-ca):
	/dev/media0

vi-output, fzcam 9-001a (platform:tegra-capture-vi:0):
	/dev/video0
	/dev/video1

vi-output, fzcam 10-001c (platform:tegra-capture-vi:2):
	/dev/video2
	/dev/video3

#查看Camera输出格式
nvidia@nvidia-desktop:~/fz.wks$ v4l2-ctl --list-formats -d /dev/video0
ioctl: VIDIOC_ENUM_FMT
	Type: Video Capture
	
	[0]: 'UYVY' (UYVY 4:2:2)
	[1]: 'NV16' (Y/CbCr 4:2:2)
	[2]: 'UYVY' (UYVY 4:2:2)


#V4L2 捕获100帧以查看其输出是否可以正常
v4l2-ctl --set-fmt-video=width=3840,height=2160 --stream-mmap --stream-count=1000 -d /dev/videoX

nvidia@nvidia-desktop:~$ v4l2-ctl --set-fmt-video=width=3840,height=2160 --stream-mmap --stream-count=100 -d /dev/video0
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<

#其他V4L2 命令可参考
v4l2-ctl -d /dev/video0 --all
v4l2-compliance -d /dev/video0 

```

FG96-8CH已验证兼容过的相机包括但不限于森云、猎豹、艾睿红外、丽景、Intel D457、Stereolabs ZEDX等，相机分辨率也可支持到从640x514到3840x2160(8M).

已验证过的相机(以下指YUV相机)包括但不限于

| 品牌         | Sensor型号(YUV) | 备注 |
| ------------ | --------------- | ---- |
| 奥比中光Orbbec  | RGBD:G335Lg/G345Lg     |      |
| 竹影智能      | 3M/2M: ISX031[6G/3G] |      |
| 		       | 8M: OX08B         |      |
| 		       | DMS: OV2311         |      |
| 舜宇Sunny    |  8M: OX08B40         |      |
| 		       | 3M: ISX031         |      |
| 艾睿光电     | 红外: M6           |      |
|              | 红外: Pilot640        |      |
|              | 红外: Pilot640        |      |
| 高德红外     | 红外: IR          |      |
| 森云智能     | 1M: AR0147/AR0144          |      |
|              | OX01FC          |      |
|              | 2M: AR0231          |      |
|              | OX03C           |      |
|              | IMX390          |      |
|              | 3M: ISX031          |      |
|              | 5M: OX05B[OMS/DMS]     |      |
|              | IMX490          |      |
|              | 8M: AR0820          |      |
|              | OX08BC          |      |
| Intel英特尔  |  RGBD: D457            |      |
| Stereolabs   | RGBD: ZED X/mini      |      |
| Leopard猎豹  | 5M: IMX490          |      |
|              | 2M: ISX021          |      |
|              | 3M: ISX031          |      |
| 广州晶华精密   | 8M: OX08BC          |      |
|              | 2M: IMX390          |      |
|              | 1M: OX01FC          |      |
| 沈阳丽景科技 | 2M: IMX390          |      |
|              | 3M: ISX031          |      |
|              | 8M: OX08B         |      |
| 经纬恒润     | DMS: OV2311          |      |
| 辉创Whetron  | 1M: OSX019          |      |
| 德赛         | 1M: OX01FC          |      |
|              | OSX019          |      |