1012 NVIDIA TK1
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
Add universe repository for dependencies
$ sudo gedit /etc/apt/sources.list
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
Make changes to the kernel configuration
$ sudo apt-get update $ 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 to the kernel
$ 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
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 $ cp ~/Downloads/TW68-core.c ./TW68-core.c
Load the driver
$ make $ sudo make install $ sudo make load
Restart with the 1012 attached
$ sudo reboot
Run the demo
$ cd ~/ $ ~/sdk_812_1.1.9_linux/demo-sample/PyGTK/demoSX12.py