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‎README.md‎

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# beagle_devkit_camera_driver
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# Technexion implementation of camera driver for Ti BeagleY-AI and BeaglePlay
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[![Technexion](https://github.com/user-attachments/assets/4b99f0ee-6ba9-49b9-8757-39b3d70f614d)](https://www.technexion.com/products/embedded-vision/)
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[![Producer: Technexion](https://img.shields.io/badge/Producer-Technexion-blue.svg)](https://www.technexion.com)
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[![License: GPL v2](https://img.shields.io/badge/License-GPL%20v2-blue.svg)](https://www.gnu.org/licenses/old-licenses/gpl-2.0.en.html)
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## Introduction
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In this guide, you can use the following cameras on BeagleY-AI.
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[TechNexion Embedded Vision Solutions](https://www.technexion.com/products/embedded-vision/) provide embedded system developers access to high-performance, industrial-grade camera solutions to accelerate their time to market for embedded vision projects.
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[TechNexion cameras Developer Guide with Ti BeaglePlay/BeagleY-AI](https://tn-docusaurus.vercel.app/docs/embedded-vision/tevs/usage-guides/ti/)
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## Support System Version
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- [BeagleY-AI Debian 12.5 2024-06-19 XFCE](https://www.beagleboard.org/distros/beagley-ai-debian-12-5-2024-06-19-xfce) [[kernel 6.1.80-ti-arm64-r57]](https://github.com/beagleboard/linux/tree/v6.1.80-ti-arm64-r57)
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## Support Camera Modules
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#### MIPI Cameras
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- TEVS-AR0144
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- TEVS-AR0145
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- TEVS-AR0234
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- TEVS-AR0521
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- TEVS-AR0522
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- TEVS-AR0821
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- TEVS-AR0822
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- TEVS-AR1335
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[More Camera Products Details...](https://www.technexion.com/products/embedded-vision)
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## Supported TI Development Kit
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- [BeagleY-AI](https://www.ti.com/tool/BEAGLEY-AI)
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---
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## Install TN Camera on TI Development Kit
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#### Adaptor for **BeagleY-AI**
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TEVS-RPI22 Adaptor for TEVS
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> Connect TEVS camera and TEVS-RPI22 adaptor to **BeagleY-AI - "CSI0"** directly.
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<a href="https://www.technexion.com/products/embedded-vision/mipi-csi2/evk/tevs-ar0144-c-s33-ir-rpi22/" target="_blank">
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<img src="https://www.technexion.com/wp-content/uploads/2024/12/tevs-ar0144-c-s33-ir-rpi22.png" width="400" height="400" />
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</a>
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[**Instructional Video**](https://youtu.be/GyAlPh3KJTI?list=PLdUUBf0zT0W8feLAI_IhhhCr6w073zJ-L&t=46)
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---
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#### Method 1 - Using Technexion Pre-built modules, only for **kernel 6.1.80-ti-arm64-r57**
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1. Make a SD card with *"BeagleY-AI Debian 12.5 2024-06-19 XFCE"* image.
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2. Mount boot partition and configure sysconf.txt before the first boot.
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```shell
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$ vim /media/${user}/BOOT/sysconf.txt
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> # root_password - Set a password for the root user (not used in ubuntu)
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> root_password=root
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>
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> # user_name - Set a user name for the user (1000)
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> user_name=beagle
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>
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> # user_password - Set a password for user (1000)
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> user_password=beagle
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```
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3. Boot BeagleY-AI with SD card.
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4. Download pre-built modules.
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```shell
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$ wget https://download.technexion.com/demo_software/EVK/TI/BeagleY-AI/pre-built-modules/latest/tn_camera_module_beagley_ai_6.1.80.tar.gz
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```
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4. Uncompress the modules.
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```shell
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$ tar -xf tn_camera_module_beagley_ai_6.1.80.tar.gz
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```
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5. Run installation script.
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```shell
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$ cd tn_camera_module_beagley_ai_6.1.80/
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$ sh tn_install.sh
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[sudo] password for beagle:
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****** TechNexion Camera Driver Installation ******
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This installation is easy to install TechnNexion Camera Drivers for BeagleY-AI.
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Before start to install camera driver, You should BACKUP your image and config
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to avoid any file you lost while installing process.
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Do you want to continue?[Y/n]y
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Continuing with the installation...
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Install TN-CAM modules: tevs.ko.xz
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Installed TN-CAM module file Done.
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Install TN-CAM DTBO file: k3-am67a-beagley-ai-csi0-tevs-rpi22.dtbo
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Installed TN-CAM DTBO file Done.
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Add TN-CAM Configuration for modules: tevs-rpi22
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label microSD (default)
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Install TN-CAM service...
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Launch TN-CAM Service...
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Created symlink /etc/systemd/system/multi-user.target.wants/tn_cam.service → /etc/systemd/system/tn_cam.service.
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Finish Camera Driver Installation. Return Code:[1]
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You should Reboot Device to enable TEVS Cameras.
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Do you want to reboot now?[Y/n]y
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Rebooting....
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```
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---
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#### Method 2 - Build drivers from source code (cross-compiling)
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1. You can reference [BeagleBone Cookbook - The Kernel](https://docs.beagleboard.org/latest/books/beaglebone-cookbook/07kernel/kernel.html).
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2. Make sure the dependencies.
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```shell
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$ sudo apt install -y git bc bison flex libssl-dev make libc6-dev libncurses5-dev
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# Install the 64-bit toolchain for a 64-bit kernel
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$ sudo apt install -y crossbuild-essential-arm64
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```
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3. Get the kernel sources.
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```shell
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# beagleboard linux kerbel
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$ git clone --depth=1 -b v6.1.80-ti-arm64-r57 https://github.com/beagleboard/linux.git
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# technexion beagle camera driver
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$ git clone --depth=1 -b v6.1.80-ti-arm64 https://github.com/TechNexion-Vision/beagle_devkit_camera_driver.git
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```
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4. Copy TN beagle camera driver to beagleboard linux kernel.
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```shell
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$ cp -rv beagle_devkit_camera_driver/drivers/media/i2c/* linux/drivers/media/i2c/
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$ cp -rv beagle_devkit_camera_driver/arch/arm64/boot/dts/ti/* linux/arch/arm64/boot/dts/ti/
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```
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5. Build sources.
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```shell
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$ cd linux
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# default configuration
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$ make distclean
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$ make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- bb.org_defconfig
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# config camera
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$ make menuconfig
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# -> Device Drivers
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# -> Multimedia support (MEDIA_SUPPORT [=m])
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# -> Media ancillary drivers
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# -> Camera sensor devices (VIDEO_CAMERA_SENSOR [=y])
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# -> TechNexion TEVS sensor support
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# Set "VIDEO_TEVS" to module,
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# Press "m", save to original name (.config) and exit
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# build kernel
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$ make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- LOCALVERSION="-tn" -j$(nproc)
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$ mkdir -p modules
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$ sudo make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- INSTALL_MOD_PATH=./modules modules_install
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```
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6. Plug in the SD card which burned *"BeagleY-AI Debian 12.5 2024-06-19 XFCE"* image to PC.
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7. Configure sysconf.txt before the first boot.
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```shell
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$ vim /media/${user}/BOOT/sysconf.txt
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> # root_password - Set a password for the root user (not used in ubuntu)
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> root_password=root
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>
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> # user_name - Set a user name for the user (1000)
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> user_name=beagle
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>
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> # user_password - Set a password for user (1000)
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> user_password=beagle
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```
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8. Install onto the SD card.
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```shell
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$ sudo cp arch/arm64/boot/Image /media/$(users)/BOOT/
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$ sudo cp arch/arm64/boot/dts/ti/*.dtbo /media/$(users)/BOOT/overlays/
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# you can use "make kernelversion" to check kernel version
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$ sudo cp -ra modules/lib/modules/$(make kernelversion)-tn/ /media/$(users)/rootfs/lib/modules/
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$ sync
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```
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9. Boot BeagleY-AI with SD card.
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10. Modify the extlinux.conf file to add camera configuraion.
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```shell
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$ sudo nano /boot/firmware/extlinux/extlinux.conf
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> label microSD (default)
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> kernel /Image
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> append console=ttyS2,115200n8 root=/dev/mmcblk1p3 ro rootfstype=ext4 resume=/dev/mmcblk1p2 rootwait net.ifnames=0 quiet
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> fdtdir /
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> fdt /ti/k3-am67a-beagley-ai.dtb
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> fdtoverlays /overlays/k3-am67a-beagley-ai-csi0-tevs-rpi22.dtbo
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> initrd /initrd.img
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```
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Add the overlay to `label microSD (default)` and append `fdtoverlays /overlays/k3-am67a-beagley-ai-csi0-tevs-rpi22.dtbo` after the `fdt` line.
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11. Restart system.
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```shell
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$ sudo reboot
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```
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---
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## Bring up Camera by GStreamer
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If you succeed in initialing the camera, you can follow the steps to open the camera.
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1. Check the media deivce.
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```shell
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$ media-ctl -d /dev/media0 -p
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Device topology
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- entity 1: 30102000.ticsi2rx (7 pads, 7 links)
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type V4L2 subdev subtype Unknown flags 0
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device node name /dev/v4l-subdev0
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pad0: Sink
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[fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
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<- "cdns_csi2rx.30101000.csi-bridge":1 [ENABLED,IMMUTABLE]
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pad1: Source
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[fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
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-> "30102000.ticsi2rx context 0":0 [ENABLED,IMMUTABLE]
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pad2: Source
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-> "30102000.ticsi2rx context 1":0 [ENABLED,IMMUTABLE]
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pad3: Source
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-> "30102000.ticsi2rx context 2":0 [ENABLED,IMMUTABLE]
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pad4: Source
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-> "30102000.ticsi2rx context 3":0 [ENABLED,IMMUTABLE]
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pad5: Source
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-> "30102000.ticsi2rx context 4":0 [ENABLED,IMMUTABLE]
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pad6: Source
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-> "30102000.ticsi2rx context 5":0 [ENABLED,IMMUTABLE]
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- entity 9: cdns_csi2rx.30101000.csi-bridge (5 pads, 2 links)
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type V4L2 subdev subtype Unknown flags 0
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device node name /dev/v4l-subdev1
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pad0: Sink
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[fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
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<- "tevs 5-0048":0 [ENABLED,IMMUTABLE]
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pad1: Source
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[fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
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-> "30102000.ticsi2rx":0 [ENABLED,IMMUTABLE]
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pad2: Source
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pad3: Source
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pad4: Source
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- entity 15: tevs 5-0048 (1 pad, 1 link)
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type V4L2 subdev subtype Sensor flags 0
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device node name /dev/v4l-subdev2
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pad0: Source
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[fmt:UYVY8_1X16/640x480@1/60 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:full-range
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crop.bounds:(0,0)/640x480
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crop:(0,0)/640x480]
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-> "cdns_csi2rx.30101000.csi-bridge":0 [ENABLED,IMMUTABLE]
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- entity 21: 30102000.ticsi2rx context 0 (1 pad, 1 link)
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type Node subtype V4L flags 0
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device node name /dev/video3
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pad0: Sink
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<- "30102000.ticsi2rx":1 [ENABLED,IMMUTABLE]
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...
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```
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2. List device support formats and resolutions.
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```shell
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# list support format
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$ v4l2-ctl -d /dev/v4l-subdev2 --list-subdev-mbus-codes
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> ioctl: VIDIOC_SUBDEV_ENUM_MBUS_CODE (pad=0)
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> 0x200f: MEDIA_BUS_FMT_UYVY8_1X16
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# list support frame size with format
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$ v4l2-ctl -d /dev/v4l-subdev2 --list-subdev-framesize code=0x200f
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> ioctl: VIDIOC_SUBDEV_ENUM_FRAME_SIZE (pad=0)
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> Size Range: 640x480 - 640x480
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> Size Range: 1280x720 - 1280x720
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> Size Range: 1280x800 - 1280x800
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# list support frame intercal with format and resolution
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$ v4l2-ctl -d /dev/v4l-subdev2 --list-subdev-frameintervals \
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pad=0,width=1280,height=720,code=0x2006
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> ioctl: VIDIOC_SUBDEV_ENUM_FRAME_INTERVAL (pad=0)
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> Interval: 0.017s (60.000 fps)
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```
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3. Bring up the camera (/dev/video3) with 640x480 by Gstreamer pipeline.
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```shell
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$ DISPLAY=:0 gst-launch-1.0 v4l2src device=/dev/video3 ! \
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"video/x-raw, format=UYVY, width=640, height=480" ! fpsdisplaysink sync=false
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```
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4. Change resolution with 1280x720 and bring up by Gstreamer pipeline directly.
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```shell
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# modify media resoltion
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media-ctl -V '"tevs 5-0048":0 [fmt:UYVY8_1X16/1280x720]'
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media-ctl -V '"30102000.ticsi2rx":0 [fmt:UYVY8_1X16/1280x720]'
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$ DISPLAY=:0 gst-launch-1.0 v4l2src device=/dev/video3 ! \
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"video/x-raw, format=(string)UYVY, width=(int)1280, height=(int)720" ! \
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fpsdisplaysink video-sink=glimagesink sync=false
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```
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---
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## Troubleshooting
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---
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## WIKI Pages
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[TechNexion Camera Modules for TI BeaglePlay](https://tn-docusaurus.vercel.app/docs/embedded-vision/tevs/usage-guides/ti/ti-beagleplay-tevs-camera-usage-guide)
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[TechNexion Camera Modules for TI BeagleY-AI](https://tn-docusaurus.vercel.app/docs/embedded-vision/tevs/usage-guides/ti/ti-beagley-ai-tevs-camera-usage-guide)

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