1012 NVIDIA TK1

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This page will guide you in using the Sensoray Model 1012 with NVIDIA tegra k1 development boards.

A modified kernel and driver are required.

The modified kernel can be flashed onto the TK1 from the development PC, installed by the TK1 or the modifications can be made by the TK1 and recompiled.

The driver needs to be modified before being compiled.

Flashing a modified kernel image

Instructions for flashing a Jetson Tegra K1 to run R21.4 with modifications to work with Sensoray Model 1012 Required: Jetson TK1 and host computer running Linux

Procedure: 1) Get the modified zImage extlinux.conf and tw6869.ko files for Jetson Tegra K1 and put them in Downloads folder 2) Follow Jetson quick-start guide from NVIDIA

a) quick-start step 1. Download Linux for Tegra package and sample root file system 

  $   wget http://developer.download.Jetson.com/embedded/L4T/r23_Release_v1.0/Tegra210_Linux_R23.1.1_armhf.tbz2
  $   wget http://developer.download.Jetson.com/embedded/L4T/r23_Release_v1.0/Tegra_Linux_Sample-Root-Filesystem_R23.1.1_armhf.tbz2

b) quick-start step 2. Untar and assemble the rootfs 

  $   sudo tar xpf ${RELEASE_NAME}
  $   cd Linux_for_Tegra/rootfs/
  $   sudo tar xpf ../../Tegra_Linux_Sample-Root-Filesystem_R21.4.0_armhf.tbz2
  $   cd ../

3) Modify the kernel to be flashed 

  $ sudo cp ~/Downloads/zImage ~Linux_for_Tegra/zImage
  $ sudo cp ~/Downloads/extlinux.conf ~Linux_for_Tegra/bootloader/ardbeg/jetson-tk1_extlinux.conf.emmc

4) Get the driver for Sensoray 1012. 

  $ sudo cp ~/Downloads/tw6869.ko ~/Linux_for_Tegra/rootfs/lib/modules/3.10.40-gdacac96/extra/tw6869.ko

5) Flash the TK1 (step 3. in Jetson's quick-start guide)

a) Put your target system into "reset recovery mode" by holding down the RECOVERY button and press RESET button once on the target main board.

b) Ensure your Linux host system is connected to the target device through the USB cable for flashing. 

  $ cd ~/Linux_for_Tegra/	
  $ sudo ./applybinaries.sh
  $ sudo ./flash.sh jetson-tk1 mmcblk0p1  #This will take less than 10 minutes.

6) from the TK1 load the Sensoray driver. 

  $ sudo depmod /lib/modules/3.10.40-gdacac96/extra/tw6869.ko
  $ sudo insmod /lib/modules/3.10.40-gdacac96/extra/tw6869.ko

8) Restart with Sensoray 1012 attached 

  $ sudo reboot

7) MPlayer is used by the demo 

  $ sudo apt-add-repository universe	
  $ sudo apt-get update
  $ sudo apt-get install libasound2-dev zlib1g-dev libxv-dev
  $ sudo apt-get install mplayer mencoder

8) Run the demo 

  $ wget http://www.sensoray.com/downloads/sdk_812_linux_1.1.9.zip
  $ unzip sdk_812_linux_1.1.9.zip
  password:<not included in this doc>
  $ ~/sdk_812_1.1.9_linux/demo-sample/PyGTK/demoSX12.py


Installing a modified kernel from TK1

1) Get the modified zImage extlinux.conf and TW68-core.c files for nVIDIA Tegra K1 and put them in Downloads folder

2) Install kernel modifications 

  $ sudo cp ~/Downloads/zImage ~/boot/zImage
  $ sudo cp ~/Downloads/extlinux.conf ~/boot/extlinux/extlinux.conf

3) Get Mplayer for the demo

a) Add universe repository 

  $ sudo gedit /etc/apt/sources.list

i) Uncomment the universe repository lines 

deb http://ports.ubuntu.com/ubuntu-ports / trusty universe
deb-src http://ports.ubuntu.com/ubuntu-ports / trusty universe
deb http://ports.ubuntu.com/ubuntu-ports / trusty-updates universe
deb-src http://ports.ubuntu.com/ubuntu-ports / trusty-updates universe

ii) Save and exit

b) Install dependencies 

  $ sudo apt-get update
  $ sudo apt-get install libasound2-dev zlib1g-dev libxv-dev

c) Install MPlayer 

  $ cd ~/	
  $ wget http://mplayerhq.hu/MPlayer/releases/MPlayer-1.2.tar.xz
  $ tar xf ~/Mplayer-1.2.tar.xz
  $ cd ~/Mplayer-1.2
  $ ./configure
  $ make -j4
  $ sudo make install

4) Restart 

  $ sudo reboot

5) Get the driver for Sensoray 1012.

a) Version 1.1.9 from Sensoray 

  $ cd ~/
  $ wget http://sensoray.com/downloads/sdk_812_linux_1.1.9.zip
  $ unzip sdk_812_linux_1.1.9.zip
  password: <not included in this doc>
  $ cd /usr/src/linux-headers-3.10.40-gdacac96
  $ sudo make modules_prepare

b) Use the modified code for TK1 

  $ cp ~/Downloads/TW68-core.c ~/sdk_812_1.1.9_linux/driver/vbuf2/TW6-core.c


6) Load the driver 

  $ cd ~/sdk_812_1.1.9_linux/driver/vbuf2	
  $ make	
  $ sudo make install
  $ sudo make load


7) Run the demo 

  $ cd ~/
  $ ~/sdk_812_1.1.9_linux/demo-sample/PyGTK/demoSX12.py

Compiling the kernel modifications


Get the source of the kernel being used. 

  $ wget http://developer.download.nvidia.com/embedded/L4T/r21_Release_v4.0/source/kernel_src.tbz2
  $ tar xf kernel.src.tbz2
  $ zcat /proc/config.gz > ~/kernel/.config

Customize the kernel.

a) Add universe repository 

  $ sudo gedit /etc/apt/sources.list

i) Uncomment the universe repository lines 

deb http://ports.ubuntu.com/ubuntu-ports / trusty universe
deb-src http://ports.ubuntu.com/ubuntu-ports / trusty universe
deb http://ports.ubuntu.com/ubuntu-ports / trusty-updates universe
deb-src http://ports.ubuntu.com/ubuntu-ports / trusty-updates universe

Save and exit 

  $ sudo apt-get update

Make changes 

  $ sudo apt-get install libncurses5-dev
  $ cd ~/kernel
  $ make menuconfig

Set Contiguous Memory Allocation to 64Mb

in menuconfig "y" turns a entry on <enter> goes into sub menus

<esc><esc> gets out of sub menus

"-gdacac96" is the local version of R21.4 

 			General setup <enter>
 				Local version <enter> -gdacac96<enter>
 				<esc><esc>
 			Device Drivers <enter>
 				Generic Driver Options <enter>
 					Size in Mega Bytes <enter> 64 <enter>
 					<esc><esc> 
 				<esc><esc>
 			<esc><esc>

Save and exit

Increase coherent memory pool 

  $ sudo gedit /boot/extlinux/extlinux.cof

Add to the end of the last line 

  coherent_pool=32M

Save and exit

Install the changes 

  $ make -j4
  $ make modules
  $ sudo make modules_install
  $ sudo cp ~/kernel/arch/arm/boot/zImage /boot/zImage

Get Mplayer for the demo 

  $ sudo apt-get install libasound2-dev zlib1g-dev libxv-dev
  $ cd ~/
  $ wget http://mplayerhq.hu/MPlayer/releases/MPlayer-1.2.tar.xz
  $ tar xf ~/Mplayer-1.2.tar.xz
  $ cd ~/Mplayer-1.2
  $ ./configure
  $ make -j4
  $ sudo make install

Restart 

  $ sudo reboot

Get the driver for Sensoray 1012. version 1.1.9 needs to be modified to work on TK1 

  $ cd ~/
  $ wget http://sensoray.com/downloads/sdk_812_linux_1.1.9.zip
  $ unzip sdk_812_linux_1.1.9.zip
  password: <not included in this doc>
  $ cd /usr/src/linux-headers-3.10.40-gdacac96
  $ sudo make modules_prepare
  $ cd ~/sdk_812_1.1.9_linux/driver/vbuf2
  $ getit ./TW68-core.c

at line 1306 add: NOTE: Ctrl+F “pci_enable_” will take you there 

		if (pci_assign_resource(pci_dev,0)){
			err = -EIO;
			goto fail1;
		}

so it now reads: 

1305 		dev->pci = pci_dev;
1306 		if (pci_assign_resource(pci_dev,0)){
1307			err = -EIO;
1308			goto fail1;
1309		}
1310		if (pci_enable_device(pci_dev)){

save and exit

Load the driver 

  $ make	
  $ sudo make install
  $ sudo make load

Run the demo 

 $ cd ~/
 $ ~/sdk_812_1.1.9_linux/demo-sample/PyGTK/demoSX12.py
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