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Build TechNexion Camera Drivers for JetPack 5.x

Introduction​

This guide details the step-by-step process for building and porting camera drivers on NVIDIA Jetson platforms running JetPack 5. The instructions and examples herein are written and validated specifically for the JetPack 5 environment.

Preparasion​

First, you need to setup the environments on your host PC.

  1. Download toolchain for JetPack 5.x.
wget -O bootlin-toolchain-gcc-93.tar.gz  https://developer.nvidia.com/embedded/jetson-linux/bootlin-toolchain-gcc-93
mkdir /opt/bootlin-toolchain-gcc-93 && tar xf bootlin-toolchain-gcc-93.tar.gz -C /opt/bootlin-toolchain-gcc-93/
  1. Download JetPack BSP for your interested version.

JetPack 5.1.2:

wget https://developer.nvidia.com/downloads/embedded/l4t/r35_release_v4.1/release/jetson_linux_r35.4.1_aarch64.tbz2
tar xf jetson_linux_r35.4.1_aarch64.tbz2

Build Camera Drivers with Jetson BSP​

There is an example for building TechNexion TEVS camera driver for JetPack 5.1.2 on Jetson Orin Nano DevKit.

We can download BSP sources by source_sync.sh:

JetPack 5.1.2:

cd Linux_for_Tegra/
./source_sync.sh -k -t jetson_35.4.1
cd sources/

After download the kernel source codes by source_sync.sh, you will see that:

sources/
├── hardware
├── kernel
└── tegra

Then we need to clone TechNexion camera driver, follow the steps:

pushd kernel
git clone https://github.com/TechNexion-Vision/tn-jetson-camera-driver.git technexion
echo technexion >> kernel-5.10/kernel-overlays.txt
echo technexion >> kernel-5.10/kernel-int-overlays.txt
popd

Then we need to modify device tree:

JetPack 5.1.2:

pushd hardware/nvidia/platform/t23x/p3768/kernel-dts/
git remote add technexion https://github.com/TechNexion-Vision/tn-jetson-device-tree.git
git fetch technexion
git checkout tn_l4t-r35.4.1.ga_kernel-5.10
popd

Finally, we can add the script and run it to build the BSP.

vim nv_build.sh
#/bin/bash -e
# Build TechNexion Camera Drivers for NVIDIA JetPack 5.x BSP

TOOLCHAIN_PREFIX=/opt/bootlin-toolchain-gcc-93/bin/aarch64-buildroot-linux-gnu-
JETSON_NANO_KERNEL_SOURCE=$PWD
TEGRA_KERNEL_OUT=$JETSON_NANO_KERNEL_SOURCE/build
KERNEL_MODULES_OUT=$JETSON_NANO_KERNEL_SOURCE/modules
BUILD_ARG=""
BUILD_CMD="make -C kernel/kernel-5.10/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${TOOLCHAIN_PREFIX} "
MOD_INSTALL_DIR=$TEGRA_KERNEL_OUT"/modules-5.10"

for arg in "$@"; do
        BUILD_ARG="$BUILD_ARG $arg"
done

if [[ "$BUILD_ARG" == *"modules_install"* ]]; then
    rm -rf $MOD_INSTALL_DIR/*
    BUILD_ARG="$BUILD_ARG INSTALL_MOD_PATH=$MOD_INSTALL_DIR"
fi

if [[ "$BUILD_ARG" == *"Image"* || "$BUILD_ARG" == *"dtbs"* || "$BUILD_ARG" == *"modules"* ]]; then
    BUILD_CMD=$BUILD_CMD"-j8 --output-sync=target "
fi

$BUILD_CMD$BUILD_ARG

Run it:

# Setup tegra_defconfig
./nv_build.sh tegra_defconfig

# Enable TechNexion TEVS Camera Config
cp kernel/kernel-5.10/scripts/config ./build/scripts/
pushd build
./scripts/config -m CONFIG_VIDEO_TEVS
popd

# Build kernel Image, modules, and dtbs
./nv_build.sh Image modules dtbs

After building, you can find the tevs driver module:

./build/drivers/media/i2c/tevs/tevs.ko