Vision SDK

(v03.08.00)

Linux User Guide

Copyright © 2014 Texas Instruments Incorporated. All rights reserved.

Information in this document is subject to change without notice. Texas Instruments may have pending
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Page 1 of 26
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Page 2 of 26
TABLE OF CONTENTS

1 Introduction ................................................................................................. 4
1.1 References ...................................................................................................... 4
2 Installation Overview ................................................................................... 4
2.1 PC Requirements .............................................................................................. 4
2.2 Software Requirements ..................................................................................... 4
2.3 Hardware Requirements .................................................................................... 5
2.4 Software Installation & Setup ............................................................................ 5
3 Build ............................................................................................................. 8
3.1 Build Linux Vision SDK for Video Capture and Display use-cases ............................ 9
3.2 Build Linux Vision SDK for AVB Capture, Decode and Display UCs ........................ 11
3.3 Build Linux Vision SDK for LCD display (M4 Display) ........................................... 11
3.4 Build Linux Vision SDK for fast boot (Early boot and late attach of remote
cores) ........................................................................................................... 12
3.5 Early M4 based chains for VSDK-Linux builds ..................................................... 14
3.6 Build Linux Vision SDK for Autosar ................................................................... 16
3.7 Build Linux Vision SDK file-system.................................................................... 16
4 Run ............................................................................................................ 17
4.1 Board Setup .................................................................................................. 17
4.2 Preparing SD card & Boot ................................................................................ 17
4.3 Run demos .................................................................................................... 19
4.4 IPUMM based decode use-case using GStreamer ................................................ 22
5 Revision History ......................................................................................... 24

1 Introduction
Vision Software Development Kit (Vision SDK) is a multiprocessor software
development package for TI’s family of ADAS SoCs. The software framework allows
users to create different ADAS application data flows involving video capture, video
pre-processing, video analytics algorithms, and video display. The framework has
sample ADAS data flows which exercises different CPUs and HW accelerators in the
ADAS SoC and shows customer how to effectively use different sub-systems in the
SoC. Frame work is generic enough to plug in application specific algorithms in the
system.
Vision SDK is currently targeted for the TDA2xx family of SoCs
This document particularly explains Linux part of vision SDK where A15 is supposed
to run Linux as target OS while other cores in the SOC run SYSBIOS. Build
environment is also assumed to be Linux and user should be familiar with basics of
Linux to follow this document.

1.1 References
Refer additional documents for more information about Vision SDK.
Refer Index.html under <INSTALL_DIR> folder, this file helps navigating through
Vision SDK documentations effectively
2 Installation Overview
This chapter provides a brief description on the system requirements (hardware and
software) and instructions for installing Vision SDK.

2.1 PC Requirements
Installation of this release needs a Linux Ubuntu 14.04 machine.
IMPORTANT NOTE: If you are installing Ubuntu on a virtual machine, ensure it’s a
64 bit Ubuntu.

2.2 Software Requirements

All software packages required to build and run the Vision SDK are included as part
of the SDK release package except for the ones mentioned below.

2.2.1 A15 Compiler, Linker

The Linux installer for the GCC Arm tools should be downloaded from below link
https://developer.arm.com/-/media/Files/downloads/gnu-a/8.3-2019.03/binrel/gcc-
arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.xz
The tools need to be installed under
$INSTALL_DIR/ti_components/os_tools/linux/arm/
IMPORTANT NOTE: A15 Compiler and linker MUST be installed before initiating the
build else compilation will fail. Also make sure the compiler is installed at the exact
path mentioned above after installation of vision sdk.
Use following steps to install the toolchain
$> cd $INSTALL_DIR/ti_components/os_tools/linux/arm
$> tar –xvf gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.xz
IMPORTANT NOTE: Ensure the toolchain is for 32 / 64 bit machine as per
configuration of installation machine
If your machine is 64 bit and you have downloaded toolchain from link above
Execute following step on installation machine
$>sudo apt-get install ia32-libs lib32stdc++6 lib32z1-dev lib32z1 lib32ncurses5
lib32bz2-1.0 libssl-dev

2.2.2 Linux kernel, uboot, sgx driver and target file system
In this vision sdk release kernel, uboot, sgx & target filesystem downloaded/cloned.
Links to download/clone are mentioned in software installation section 2.4

2.2.3 Other mandatory software packages for build

Ensure these packages/tools are installed on the installation machine
Ssh, corkscrew, gawk, uname, sed, u-boot-tools, dos2unix, dtrx, git, lib32z1
lib32ncurses5 lib32bz2-1.0 libc6:i386 libc6-i386 libstdc++6:i386
libncurses5:i386 libz1:i386 libc6-dev-i386 device-tree-compiler mono-
complete lzop
To install
$>sudo apt-get install <package_name>
On ti-baseline 14.04 ubuntu package can be installed using the script
hlos/scripts/linux/setup-linux-build-env.sh
 2.2.4 Code Composer Studio
CCS version 6.0.1.00040 or higher shall be used to debug cores which are running
Bios. CCS can be downloaded from the below link-
http://processors.wiki.ti.com/index.php/Download_CCS
Remove all default gels before connecting the bios core

2.3 Hardware Requirements

Please refer $INSTALL_DIR/vision_sdk/docs/VisionSDK_UserGuide.pdf
IMPORTANT NOTE: This release supports vision sdk only on
TDA2x Rev E or higher version of EVMs
TDA2ex Rev C or higher version of EVMs
TDA2px EVMs

2.4 Software Installation & Setup

Download PROCESSOR_SDK_VISION_XX_XX_XX_XX_setuplinux.bin
$> bash
$> ./PROCESSOR_SDK_VISION_XX_XX_XX_XX_setuplinux.bin
Accept license agreement and give <installation_directory_absolute_path> e.g.
/home/username/foldername/PROCESSOR_SDK_VISION_XX_XX_XX_XX
$> cd <installation_directory_absolute_path>
$> export INSTALL_DIR=<installation_directory_absolute_path>

2.4.1 One time PC set up

If you are setting up git first time you need to setup your .gitconfig and gitproxy with
as shown below
IMPORTANT NOTE: These steps are just indicatory. You may have to figure out
arguments (e.g. paths for .gitconfig / git-proxy.sh / arguments to corkscrew) based
on your particular system Network. Given below is TI network proxy setting
1. Edit .gitconfig
$>vi /home/<username>/.gitconfig
[core]
gitproxy = none for ti.com
gitproxy = /home/<username>/git-proxy.sh
save and exit (ESC + :wq)
2. Create git-proxy.sh
$>vi /home/<username>/git-proxy.sh
exec /usr/bin/corkscrew proxyle01.ext.ti.com 80 $*
save and exit (ESC + :wq)
You should see following output if the setup is successful
$> git config --list
core.gitproxy=none for ti.com
core.gitproxy=/home/<username>/git–proxy.sh
 2.4.2 Install Linux Components

2.4.2.1 Essential Components kernel, uboot, sgx, and file system

IMPORTANT NOTE: Steps below are absolutely mandatory and pre-cursors before
you move to building vision sdk
You can choose to perform steps 1 – 4 in parallel through different terminals, these
need not be sequential, to open terminal use Ctrl + Alt +t
Script at vision_sdk/build/hlos/scripts/linux/setup_linux.sh will do the basic setup
(only steps 1 - 3). Run the script from <INSTALL_DIR>/vision_sdk/build
$> ./hlos/scripts/linux/setup_linux.sh
File System needs to be download, not a part of basic setup setup_linux.sh (refer
section)
Note: Script will apply patches only if placed in default location as per release.
$INSTALL_DIR/ti_components/os_tools/linux/kernel/linux-kernel-addon/

2.4.2.1.1 Clone kernel

$> cd $INSTALL_DIR/ti_components/os_tools/linux/kernel
$> git clone git://git.ti.com/glsdk/psdkla-kernel.git omap
$> cd omap/
$> git checkout -b kernel_dev tags/REL_VISION_SDK_03_08_00_00
Or
$> git checkout -b kernel_dev 3d03684
memcahe.ko source
There is additional kernel module needed for vision_sdk, ensure the source lies
under $INSTALL_DIR/ti_components/os_tools/linux/kernel/linux-kernel-
addon/memcache, this comes by default with installation.
Cmem package needs to be installed from another git
$> cd $INSTALL_DIR/ti_components/os_tools/linux/kernel/cmem
$> git clone git://git.ti.com/ipc/ludev.git
$> cd ludev/
$> git checkout -b cmem_dev 4f970f0
Or
$> git checkout tags/4.16.00.00

2.4.2.1.2 Clone u-boot

$> cd $INSTALL_DIR/ti_components/os_tools/linux/u-boot
$> git clone git://git.ti.com/glsdk/psdkla-u-boot.git u-boot
$> cd u-boot/
$> git checkout -b uboot_dev tags/REL_VISION_SDK_03_08_00_00
Or
$> git checkout -b uboot_dev f454ae0

2.4.2.1.3 Clone sgx drivers

$> cd $INSTALL_DIR/ti_components/os_tools/linux/sgx
$> git clone git://git.ti.com/graphics/omap5-sgx-ddk-linux.git
 $> cd omap5-sgx-ddk-linux/
$> git checkout -b sgx_dev 4519ed3

2.4.2.1.4 Download and untar file system

Download Linux file system
tisdk-rootfs-image-dra7xx-evm_vsdk_3_8.tar.xz from ti.com - http://software-
dl.ti.com/processor-sdk-vision/esd/TDAx/vision-sdk/latest/index_FDS.html
And keep under following directory
$INSTALL_DIR/ti_components/os_tools/linux/targetfs
Untar file system
$> bash
$> export INSTALL_DIR=<installation_directory_absolute_path>
$> cd $INSTALL_DIR/ti_components/os_tools/linux/targetfs
$> chmod 777 ../targetfs
NOTE: Only targetfs folder needs to have full permission not the files within
$> tar xf tisdk-rootfs-image-dra7xx-evm_vsdk_3_8.tar.xz
$> exit
Note:(for M4 Display): HDMI display and 10.1” LG lcd is only supported.

2.4.2.2 Optional Components ipumm, Codec Engine and Framework components

Certain configurations require ipumm. Ipumm can be cloned from the below
mentioned git repo along with codec engine and framework components.
NOTE: These are optional and default vision_sdk_linux build does not need these.
Note: Optional components are not setup as part of setup_linux.sh script

2.4.2.2.1 Clone ipumm

$> cd $INSTALL_DIR/ti_components/codecs
$> git clone git://git.ti.com/ivimm/ipumm.git
$> cd ipumm/
$> git checkout -b ipumm_dev 365a9a5402c829710b7e1eefec07d26b3c94c3a9

2.4.2.2.2 Codec_Engine
$> Install codec engine ver codec_engine_3_24_00_08 in the following folder
<INSTALL_DIR>/ti_components/codecs/
Package can be downloaded from
http://software-
dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/ce/3_24_00_08/index_FDS.html
2.4.2.2.3 Framework Components
Download FC version x_xx_xx_xx from below link and use when set IPUMM=yes in
the build configuration. The FC version packaged along with VSDK is a patched
version for IVA-HD profiling and that patched version will not work with IPUMM.
Note: FC Path and version supported in release can be refer from tools_path.mk in
<INSTALL_DIR>/vision_sdk/build
 http://software-
dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/fc/3_40_02_07/index_FDS.html

2.4.2.2.4 Opencl supported package

These below package will be needed for OpenCL build and debugging dsp opencl code
Kernel repositories required
dsptop package needs to be installed from another git
$> cd $INSTALL_DIR/ti_components/os_tools/linux/kernel
$> git clone git://git.ti.com/sdo-emu/dsptop.git
$> cd dsptop/
$> git checkout -b dsptop_dev 0aedcab
gdbc6x package needs to be installed from another git
$> cd $INSTALL_DIR/ti_components/os_tools/linux/kernel
$> git clone git://git.ti.com/sdo-emu/gdbc6x.git
$> cd gdbc6x/
$> git checkout -b gdbc6x_dev df0b8f6
Filesystem patches for opencl
Copy “opencl_fs_patches.tar.gz” from
$INSTALL_DIR/ti_components/os_tools/linux/kernel/linux-kernel-addon/fs-patches
into $ INSTALL_DIR/ti_components/os_tools/linux/targetfs and untar
tar –xvzf opencl_fs_patches.tar.gz

2.4.3 Un-installation
$> rm -rf $INSTALL_DIR

3 Build
Important Note: In this release reference to variations in platform names would be
found, basically they resemble same platform for informational-adas
Tda2xx as dra7x or vice versa
Tda2ex as dra72 or vice versa
Tda2ex 17x17 as dra71 or vice versa
Tda2px as dra76 or vice versa
For building binaries follow these steps

3.1 Build Linux Vision SDK for Video Capture and Display use-cases
Note: If you are trying this after 3.2 ensure you do a ‘make clean’ and manually
delete $INSTALL_DIR/vision_sdk/binaries/$(MAKEAPPNAME)/$(MAKECONFIG) folder
and then proceed
1. You must have followed all the steps in software installation and setup section
2.4 before you proceed
2. Select make config in Rules.make
TDA2XX
MAKECONFIG=tda2xx_evm_linux_all
 TDA2EX
MAKECONFIG=tda2ex_evm_linux_all
TDA2EX 17x17
MAKECONFIG= tda2ex_17x17_evm_linux_all
TDA2PX
MAKECONFIG=tda2px_evm_linux_all
3. Select the Lens Module used for the camera:
For TDA2xx, copy the binary files CALMAT.bin and CHARTPOS_RUBICON.BIN to
SD Card from vision_sdk/apps/tools/surround_vision_tools/Srv_LUTs/TDA2X/
For TDA2PX, copy vision_sdk/apps/tools/Lens_params/LENS_imi.BIN,
vision_sdk/apps/tools/surround_vision_tools/Srv_LUTs/TDA2X/CALMAT.bin and
vision_sdk/apps/tools/surround_vision_tools/Srv_LUTs/TDA2X/
CHARTPOS_RUBICON.BIN to SD Card.
4. Build the Linux dependencies, this will build kernel, u-boot and sgx drivers &
memcache.ko
NOTE: This step is needed only first time you build or if you make any changes to
u-boot/kernel/sgx drivers, otherwise this can be skipped.
$> cd $INSTALL_DIR/vision_sdk/build
$> make linux
$> make linux_install
5. Build the sdk
$>make –s –j depend
$>make –s –j
Executing “make –s –j depend “will build all the necessary components (PDK drivers, EDMA
drivers) and “make –s –j” will build the Vision SDK framework and examples.

IMPORTANT NOTE: For incremental build, make sure to do "gmake -s -j

depend" before "gmake -s -j” when below variables specified in
\vision_sdk\$(MAKEAPPNAME)\configs\$(MAKECONFIG)\*cfg.mk are changed
 when PROC_$(CPU)_INCLUDE is changed
 when DDR_MEM is changed
 when PROFILE is changed
 when ALG plugin or usecase is enabled or disabled in \vision_sdk\$(
MAKEAPPNAME)\configs\$(MAKECONFIG) \*_cfg.mk
 when any .h or .c file in TI component is installed in ti_components is
changed
 when any new TI component is installed in ti_components
 when some links are added or removed

6. Step 5 will ensure your firmware binaries and linux application’s .out are copied
into your targetfs i.e.
$INSTALL_DIR/ti_components/os_tools/linux/targetfs/lib/firmware and
$INSTALL_DIR/ti_components/os_tools/linux/targetfs/opt/vision_sdk
respectively.
It will also execute make linux_install to copy all binaries needed to boot into
$INSTALL_DIR/vision_sdk/binaries/$(MAKEAPPNAME)/<MAKECONFIG>/hlos/linu
x/boot and $INSTALL_DIR/ti_components/os_tools/linux/targetfs/boot
 7. The file system under $INSTALL_DIR/ti_components/os_tools/linux/targetfs now
can be used as either NFS or rootfs on sd card.
a. Tar the file system and keep it in
$INSTALL_DIR/vision_sdk/binaries/$(MAKEAPPNAME)/<MAKECONFIG>/hl
os/linux/boot folder.
Important Note: With 4.19 kernel filesystem 4GB and above card is
required.
$>export INSTALL_DIR=<installation_directory_absolute_path>
$>cd $INSTALL_DIR/ti_components/os_tools/linux/targetfs
$>tar cvf tisdk-rootfs-image-dra7xx-evm.tar.xz ./*
$>mv ./tisdk-rootfs-image-dra7xx-evm.tar.xz
$INSTALL_DIR/vision_sdk/binaries/$(MAKEAPPNAME)/<MAKECONFIG>/hl
os/linux/boot
$>exit

3.1.1 NFS + SD boot

Important Note: You need to keep file system in two places (idiosyncrasy of
4.4 kernel). The zImage and dra7-evm-infoadas.dtb/dra72-evm-infoadas.dtb/
dra71-evm-infoadas.dtb is picked up from /boot folder on the sd card always
while firmware binaries are picked up from $
$INSTALL_DIR/ti_components/os_tools/linux/targetfs /lib/firmware
$INSTALL_DIR/ti_components/os_tools/linux/targetfs is used as NFS
For NFS to work, $ INSTALL_DIR/ti_components/os_tools/linux/targetfs
needs to be exported from /etc/exports of installation machine.
Refer section 4.2 to prepare SD card for NFS.
Note: NFS Boot is failing in case of TDA2ex 17x17 for this release

3.1.2 SD only boot

The tarred file system needs to be flashed on sd card along with uboot and
uenv.txt refer section 4.2
 Change the dtb picked in the uenv.txt depending upon platform
By default fdtfile=dra7-evm-infoadas.dtb for tda2x
fdtfile=dra7-evm-infoadas.dtb  fdtfile= dra72-evm-infoada.dtb for tda2ex
fdtfile=dra7-evm-infoadas.dtb  fdtfile= dra76-evm-infoada.dtb for tda2px
fdtfile=dra7-evm-infoadas.dtb  fdtfile= dra72-evm-infoada.dtb for
tda2ex_17x17

3.2 Build Linux Vision SDK for AVB Capture, Decode and Display UCs
Note: if you are trying this after 3.1, ensure you do a ‘make clean’ and manually
delete $INSTALL_DIR/vision_sdk/binaries/$(MAKECONFIG) folder and then proceed
NOTE: AVB is not supported on tda2px in this release
 You must have followed all the steps in software installation and setup section
2.4
 Ensure that A15_TARGET_OS := Linux and NDK_PROC_TO_USE=ipu2 in
\vision_sdk\$(MAKEAPPNAME)\configs\$(MAKECONFIG)\cfg.mk
  IMP: Patch the dra7-evm.dts (or dra72-evm-common.dtsi for TDA2ex/TDA2ex
17x17) from kernel
(ti_components/os_tools/linux/kernel/omap/arch/arm/boot/dts)as shown below
Change below
&mac {
status = "okay";
to
&mac {
status = "disabled";
Basically you need to disable mac from Kernel so VSDK can use it exclusively.
 Build the linux dependencies, this will build kernel, u-boot and sgx drivers
NOTE: This step is needed only first time you build or if you make any changes to
u-boot/kernel/sgx drivers, otherwise this can be skipped.
$> cd $INSTALL_DIR/vision_sdk/build
$> make linux -j
$> make linux_install -j
$> make -s -j depend
$> make -s -j
 Disable all cores in \vision_sdk\$(MAKEAPPNAME)\configs\$(MAKECONFIG)\cfg.mk
except IPU1_0, IPU2 and A15 using PROC_<CORE_NAME>_INCLUDE
 Refer steps 4 to 7 in section 3.1

3.3 Build Linux Vision SDK for LCD display (M4 Display)
Note: Only TDA2xx and TDA2ex support 10.1” LG LCD.
 You must follow all the steps in software installation and build.
 Change the dtb picked in the uenv.txt from
fdtfile=dra7-evm-infoadas.dtb  fdtfile= dra7-evm-infoadas-lcd-lg.dtb for tda2xx
fdtfile=dra72-evm-infoadas.dtb  fdtfile=dra72-evm-infoadas-lcd-lg.dtb for
tda2ex
3.4 Build Linux Vision SDK for fast boot (Early boot and late attach of remote
cores)
Apply the earlyboot-lateattach-patches for kernel and u-boot
cd $INSTALL_DIR/ti_components/os_tools/linux/kernel/omap
git am ../linux-kernel-addon/ earlyboot-lateattach-patches/kernel/*

cd $INSTALL_DIR/ti_components/os_tools/linux/u-boot/u-boot
git am ../linux-kernel-addon/ earlyboot-lateattach-patches/u-boot/*

1. You must have followed all the steps in software installation and setup section
2.4 before you proceed
2. Select make config in Rules.make
TDA2XX
MAKECONFIG=tda2xx_evm_linux_all
3. Select the Lens Module used for the camera:
For TDA2xx, copy the binary files CALMAT.bin and CHARTPOS_RUBICON.BIN to
SD Card from vision_sdk/apps/tools/surround_vision_tools/Srv_LUTs/TDA2X/
For TDA2PX, copy vision_sdk/apps/tools/Lens_params/LENS_imi.BIN,
vision_sdk/apps/tools/surround_vision_tools/Srv_LUTs/TDA2X/CALMAT.bin and
vision_sdk/apps/tools/surround_vision_tools/Srv_LUTs/TDA2X/
CHARTPOS_RUBICON.BIN to SD Card.
4. Build the Linux dependencies, this will build kernel, u-boot and sgx drivers &
memcache.ko
NOTE: This step is needed only first time you build or if you make any changes to
u-boot/kernel/sgx drivers, otherwise this can be skipped.
$> cd $INSTALL_DIR/vision_sdk/build
$> make linux
$> make linux_install
5. Build the sdk
$>make –s –j depend
$>make –s –j
Executing “make –s –j depend “will build all the necessary components (PDK drivers, EDMA
drivers) and “make –s –j” will build the Vision SDK framework and examples.

IMPORTANT NOTE: For incremental build, make sure to do "gmake -s -j

depend" before "gmake -s -j” when below variables specified in
\vision_sdk\$(MAKEAPPNAME)\configs\$(MAKECONFIG)\*cfg.mk are changed
 when PROC_$(CPU)_INCLUDE is changed
 when DDR_MEM is changed
 when PROFILE is changed
 when ALG plugin or usecase is enabled or disabled in \vision_sdk\$(
MAKEAPPNAME)\configs\$(MAKECONFIG) \*_cfg.mk
 when any .h or .c file in TI component is installed in ti_components is
changed
 when any new TI component is installed in ti_components
  when some links are added or removed

6. Step 5 will ensure your firmware binaries and linux application’s .out are copied
into your targetfs i.e.
$INSTALL_DIR/ti_components/os_tools/linux/targetfs/lib/firmware and
$INSTALL_DIR/ti_components/os_tools/linux/targetfs/opt/vision_sdk
respectively.
It will also execute make linux_install to copy all binaries needed to boot into
$INSTALL_DIR/vision_sdk/binaries/$(MAKEAPPNAME)/<MAKECONFIG>/hlos/linu
x/boot and $INSTALL_DIR/ti_components/os_tools/linux/targetfs/boot
7. The file system under $INSTALL_DIR/ti_components/os_tools/linux/targetfs now
can be used as either NFS or rootfs on sd card.
a. Tar the file system and keep it in
$INSTALL_DIR/vision_sdk/binaries/$(MAKEAPPNAME)/<MAKECONFIG>/hl
os/linux/boot folder.
Important Note: With 4.19 kernel filesystem 4GB and above card is
required.
$>export INSTALL_DIR=<installation_directory_absolute_path>
$>cd $INSTALL_DIR/ti_components/os_tools/linux/targetfs
$>tar cvf tisdk-rootfs-image-dra7xx-evm.tar.xz ./*
$>mv ./tisdk-rootfs-image-dra7xx-evm.tar.xz
$INSTALL_DIR/vision_sdk/binaries/$(MAKEAPPNAME)/<MAKECONFIG>/hl
os/linux/boot
$>exit

Prepare SD card Ref (4.3) Preparing SD card & Boot

Only when the above steps are completed run the early-boot-update.sh utility, or
else the system boot will fail due to missing dependencies. If you intend to
boot from QSPI, skip running the early-boot-update script and jump to
Section 3.4.1 of this file.

This command will delete existing uImage, zImage, uenv.txt, dtb and remote-
core firmware present in the boot partition and update it with the necessary files.

early-boot-update.sh <makeconfig><path to target FS><path to boot-partition>

Argument 1 is mandatory and indicates the current configuration being built. The
list of valid arguments inlcude "tda2xx_evm_linux_all"
Argument 2 is mandatory and indicates path where the Linux target file-system
is present
Argument 3 is mandatory and indicates the path to the target boot
partition. Usually this is /media/<username>/boot

Early-boot + Late-attach is supported on TDA2xx, TDA2Ex and TDA2Px

 Important Note: By default, LPAE is enabled for this release. This facilitates
running VSDK-Linux with and without early-boot + late attach on boards with more than
2GB RAM. For graphics intensive use-cases (which need more than 128MB of graphics
memory), issues may be observed.

3.4.1 QSPI boot

From Vision-SDK 3.07 support is enabled for loading of remote-core firmware
from QSPI. Below are the steps to be followed to flash binaries to QSPI.
Note: With Vision-SDK 3.08, support for loading the remote-core firmwares
from QSPI is not available.
Software pre-requisites:
We will use the mkimage binary from u-boot-tools package for wrapping
binaries in uImage header. This package can be installed by:
sudo apt-get install u-boot-tools

Follow instructions mentioned in Section 3.4, before running the below

steps.
i. Connect a USB cable from P2/USB1 to host PC. This is used for flashing
the EVM using fastboot
ii. Connect a USB cable from the USB-UART adapter on the EVM to the host
PC
iii. Change the switch settings on the EVM to as below
SW2[7:0] 0000 0111
SW3[7:0] 1000 0001
SW5[9:0] 00 0001 0100
iv. Reboot the board with the SD-card. Halt at u-boot and run the below
commands
=> env default –fa
=> saveenv
v. Reboot the board with the SD-card, and halt again at u-boot
=> fastboot 0
vi. Run the below command from the PC, which will flash the contents to the
QSPI
sudo flash-qspi.sh <makeconfig> <path_to_linux_targetfs> <path to
MLO>
vii. After this is complete, the contents are copied to QSPI. Now change the
switch settings to below. The SD-card can be removed from the board
SW2[7:0] 0011 0111
viii. Reboot the board, you'll notice the early boot from QSPI

3.5 Early M4 based chains for VSDK-Linux builds

 From Vision-SDK 3.5, support is provided for launching chains from M4, to facilitate
early use-case lauch. A sample application which executes the below sequence of
steps is provided as part of the release:

1. U-boot loads Primary IPU, DSP firmware

2. Primary IPU has a single camera capture chain which is enabled -- OV-
10635 capture begins and displays on screen (early M4 chain)
3. Linux Initialization occurs in parallel, video continues to be displayed on the
screen
4. Once Linux initialization is complete, and vision-SDK initialization is
complete (running apps.out) Weston is displayed in the background
(verification of late-attach and late-init of chain using VDRM based
Weston)
To enable this feature, set EARLY_USECASE_ENABLE=yes in the
apps/configs/<evm_id>_linux_all/cfg.mk file, and follow the instructions
in Sec 3.4 of this document.
To ensure the above use-case works, the setup needs to have a vision-daughter
card, and a de-serializer board to which OV-10635 cameras are connected. It is
recommended that before trying the early use-case, the multi-camera capture use-
case using OV-10635 is validated along with Weston background use-case using the
traditional VSDK-Linux boot-flow. Details on getting VDRM based Weston can be
found in section 4.3.4 of this document and in the below link:
http://processors.wiki.ti.com/index.php/Virtual_DRM_:_An_User_Guide_for_Developing_Usecases)
Once the “EARLY_USECASE_ENABLE” flag is set, the application is limited to only
launching the Weston window in the background, and no additional chains / UART
operations are feasible.

3.6 Build Linux Vision SDK for Autosar

1. Apply Early-boot patches on u-boot from /linux-kernel-addon/earlyboot-
lateattach-patches/u-boot/* and kernel patches /linux-kernel-addon/earlyboot-
lateattach-patches/kernel/* on linux kernel
2. Open ti_components/os_tools/linux/kernel/omap/arch/arm/boot/dts/dra7-evm-
infoadas.dts
3. Change below
&ipu1 {
/delete-property/ watchdog-timers;
};

&ipu2 {
/delete-property/ watchdog-timers;
timers= <&timer9> , <&timer11>;
};
To
&ipu1 {
 status= "okay";
/delete-property/ watchdog-timers;
timers= <&timer9> , <&timer11>;
};
DISABLE_COMPLETE(ipu2);
4. Open vision_sdk\apps\configs\tda2xx_evm_linux_all\cfg.mk and set
PROC_IPU1_0_INCLUDE = yes
PROC_IPU2_INCLUDE = no
AUTOSAR_APP = yes
IPU_PRIMARY_CORE = ipu1_0
IPU_SECONDARY_CORE = ipu2
5. Apply the IPC Lib patch.
$> cd $INSTALL_DIR/vision_sdk/
$> cp docs/Patches/IPClib_Autosar_with_Bios.patch
../ti_components/drivers/pdk/packages/ti/drv/ipc_lite/
$> cd ../ti_components/drivers/pdk/packages/ti/drv/ipc_lite/
$> git apply IPClib_Autosar_with_Bios.patch
6. Follow step 1 to 5 in section 3.4
It will build all cores except IPU2.
7. Build only IPU2 by disabling all cores except IPU2.
8. Install Autosar.
$> cd $INSTALL_DIR/vision_sdk/build
$> make autosar_install
9. Follow step 7 in section 3.4
10. Run early-boot-update.sh utility with as described in section 3.4 with makeconfig as
tda2xx_evm_linux_autosar.

3.7 Build Linux Vision SDK file-system

From Vision-SDK 3.4, there are changes in the file-system build to enable a
smaller file-system. While the file-system provided as part of the Processor-SDK
Linux automotive is ~1GB, the file-system as part of Vision-SDK release is
~100MB. This reduction in size is achieved by removing components not required
for traditional ADAS use-cases.
To rebuild the Vision-SDK file-system follow the below instructions:
1. Build the Yocto file-system by following instructions as part of the
Processor SDK Linux Automotive SW development guide
2. Apply the patches present in the linux-kernel-addon/fs-
patches/yocto/meta-ti folder of Vision-SDK to the tisdk/sources/meta-
ti folder in the yocto repository.
3. Apply the patches present in the linux-kernel-addon/fs-
patches/yocto/meta-arago folder of Vision-SDK to the
tisdk/sources/meta-arago folder in the yocto repository.
 4. Rebuild the file-system by running the bitbake command as
documented in the Processor SDK Linux Automotive SW development
guide
The changes in meta-arago are for the reduction in file-system size and IPUMM
based gstreamer decoding while the changes in meta-ti are for the VDRM based
update to SGX libraries.
4 Run

4.1 Board Setup

Refer corresponding setup documents from
$INSTALL_DIR/vision_sdk/docs/VisionSDK_UserGuide_TDAxxx.pdf
Note: The setup is different for 1ch / 4ch LVDS capture + SGX display and AVB-
>Decode->SgxDisplay usecase.

4.1.1 Capture switch setting

Video Config pins needs to set for different capture inputs

VIDEO CONFIG switch settings (SW3 on TDA2xx Vision

Application Board (set for Ov10635 in Original version of
CPLD))
Capture Hardware controlled pin settings
Type Vision Application Board (Rev C CPLD)
(default cpld image)
1 2 3 4 5 6 7 8
OV10635 OFF ON OFF ON OFF ON OFF ON

LVDS OFF OFF ON OFF OFF ON OFF ON

HDMI OFF OFF ON ON OFF ON OFF ON

4.2 Preparing SD card & Boot

1. Connect micro SD card to installation machine
2. uenv.txt changes for boot
a. NFS + SD boot
i. Copy uenv_nfs.txt at
$INSTALL_DIR/vision_sdk/build/hlos/scripts/linux to
$INSTALL_DIR/vision_sdk/binaries/$(MAKEAPPNAME)/<MAKECONF
IG>/hlos/linux/boot and rename it to uenv.txt
ii. Update uenv.txt in folder to have right nfs path & server path
b. SD only boot – Nothing to be done
i. Copy and renaming is taken care by the build system.
3. Ensure
$INSTALL_DIR/vision_sdk/binaries/$(MAKEAPPNAME)/<MAKECONFIG>/hlos/linu
x/boot folder appears as shown in picture after build
Ensure the built filesystem is copied from the location (section)
$INSTALL_DIR/ti_components/os_tools/linux/targetfs
 4. Format SD card and create two partitions (boot (FAT32) and rootfs(ext4)) using
script below, <parent_device_name> can be found using “mount” command
$> bash
$> cd <INSTALL_DIR>/build
$> sudo ./hlos/scripts/linux/mksdboot.sh --device /dev/<parent_device_name> --appname <MAKEAPPNAME>
--makeconfig <MAKECONFIG>
$> exit
(MAKEAPPNAME and MAKECONFIG should be same as set in Rules.make)

5. Disconnect SD card from installation machine and insert it into EVM micro SD
slot.
6. Set hardware pin settings for SD Boot
Make sure the Boot Mode Select Switch is set for the SD boot mode on TDA2xx
Base EVM. This is done by setting the pins SYSBOOT (SW2+SW3) [0:15] to the
below shown position
SYSBOOT 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
SW2 SW3
SW Pin 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8
SW ON ON ON OFF OFF OFF OFF OFF ON OFF OFF OFF OFF OFF OFF ON
Position

IMPORTANT NOTE: Pin setting for J6 Rev G 2.0 Silicon is as mentioned below
SYSBOOT 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
SW2 SW3
SW Pin 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8
SW ON ON ON OFF OFF OFF OFF OFF ON OFF OFF OFF OFF OFF OFF OFF
Position
7. Power on the EVM, press power reset
4.3 Run demos
1. Log in as root on the UART console
$> dra7xx-evm login: root
root@dra7xx-evm:~#
Following errors may be seen on display and the message can be ignored.
Trying to boot from MMC1
reading dra7-ipu2-fw.lzop
spl_load_file_fat: error reading file dra7-ipu2-fw.lzop, err - -1
spl: error reading image dra7-ipu2-fw.lzop, err - -1
Failed to load module: /usr/lib/gbm/gbm_dri.so: cannot open shared object file: No such file
or directory
failed to load module: /usr/lib/gbm/gbm_gallium_drm.so: cannot open shared object file: No
such file or directory
2. Proceed on UART console & execute
(TDA2XX/TDA2EX/TDA2EX 17x17)
$> cd /opt/vision_sdk
$> ./load_ocl_kos.sh (needed only for opencl usecases)
$> source ./opencl_env.sh (needed only for opencl usecases)
$> source ./vision_sdk_load.sh
$> ./$(MAKEAPPNAME).out
Select the demo to run
(TDA2XX – TIDA00455/OV490 multi-channel use-case)
$> cd /opt/vision_sdk
$> ./load_ocl_kos.sh (needed only for opencl usecases)
$> source ./opencl_env.sh (needed only for opencl usecases)
$> source ./vision_sdk_load.sh
$>./vision_sdk_ov490_pinmux.sh
$> ./$(MAKEAPPNAME).out
Select the demo to run
(TDA2PX – ISS single/multi-channel use-case)
$> cd /opt/vision_sdk
$> source ./vision_sdk_load.sh
$> ./$(MAKEAPPNAME).out
Select the demo to run
(TDA2XX/TDA2EX – OpenVX use-case)
$> cd /opt/vision_sdk
$> source ./vision_sdk_load.sh
$>Copy test_data folder from the
ti_components/open_compute/tiovx_01_00_01_00/conformance_tests/ to
/opt/openvx/test_data
$> export VX_TEST_DATA_PATH=/opt/openvx/test_data
$> ./$(MAKEAPPNAME).out
Select the OPenVX demo to run
 IMPORTANT NOTE: After copying all required files, please make sure all folder and
files should have same user and group id. If it is root then please change it using
chown command.

SGX Load bars and prints

For SGX loads run the following
Option 1:
Run the demo as normal
Option another terminal (telnet)
cd /opt/vision_sdk
./pvrscope -f 0

Option 2:
Follow below commands to run the demo
cd /opt/vision_sdk
source ./vision_sdk_load.sh
./$(MAKEAPPNAME).out &
sleep 10
./pvrscope -f 0 &
fg
Enter demo option

IMPORTANT NOTE: Some kernel logs and errors failure message will appear while
running “source ./vision_sdk_load.sh”, this is caused when DSS interrupts are
disabled on A15 using omapconf write, and these errors need be ignored as it would
not harm the execution

4.3.1 AVB usecases

As we do not have AVB cameras, encoded video streams being streamed from Linux
PC is used as AVB source.
IMPORTANT NOTE: Ensure Ethernet cable is connected to port Ethernet0 (Ethernet
port close to HDMI), and run the avb talker application after you choose the demo
option
4.3.1.1 Running avb talker binary on host PC
1. Copy $INSTALL_DIR/ti_components/networking/avbtp_talker/avbtp_talker.sh
and 1.AVI (input file) to host PC
2. On Host machine (connected to EVM by Ethernet cable), run following command
$> cd <avb_talker_install_directory>
$> ./avbtalker.sh 1.AVI 1.AVI 1.AVI 1.AVI

4.3.2 3D surround view demos

Refer VisionSDK_UserGuide_TDA2xx.pdf (section Hardware Requirements) &
VisionSDK_SurroundView_DemoSetUpGuide.pdf to set-up the surround view demos
and run the use-case.
Refer VisionSDK_3D_SurroundView_Calibration_UserGuide_TDA2xx.pdf for 3D
surround view calibration use-case.
Erase the calibration table, when run the demo first time on any new set-up after
boot-up by
# rm –rf /home/root/.calibtable
 NOTE: In case of green artifacts on display, try changing toggling polarity of capture
using the script ./VipClockInversion.sh
4.3.3 TIDA00455/OV490 based capture, 3D surround view and SGX display
Refer to section 4.3 for steps to run the use-case. In case of green artifacts on
display, try changing toggling polarity of capture using the command “omapconf
write 0x4A002534 0x0” or “omapconf write 0x4A002534 0x5”. 0x5 is the
recommended setting – it might vary based on different OV490 firmwares/board
versions/etc. This command can be run before running $(MAKEAPPNAME).out or
while the use-case is running from another terminal by connecting via telnet.

4.3.4 Linux DRM usecase

Weston is the default Linux DRM application running on the device at boot up. The
weston screen can be seen on the display when the DispDistSrc based usecase is run
by selecting “1: Single Camera Usecases” -> “8: DispDistSrc (weston) + Display
(1920x1080 HDMI)”.
For developing usecases based on Linux DRM applications and vision SDK
applications, refer to the Virtual DRM usecase development guide here:
http://processors.wiki.ti.com/index.php/Virtual_DRM_:_An_User_Guide_for_Developi
ng_Usecases
4.3.5 With UB964 EVM (CSI2 based capture only)
Refer UB964 EVM (CSI2 based capture only) 2.3.1 section on bios user guide for
CSI2 hardware setting for surround view settings.
NOTE: For Tda2px refer
$INSTALL_DIR/vision_sdk/docs/VisionSDK_UserGuide_TDA2px.pdf

4.3.6 Linux Autosar Usecase

1. Select option 1: Single Camera Usecases
2. Select option 9: 1CH VIP capture + SGX Copy + Display + Autosar
3. Press ‘m’ to send a message to Autosar and receive the acknowledgement.
4.4 IPUMM based decode use-case using Gstreamer

4.4.1 IPUMM and VSDK-Linux on IPU-2

From Vision-SDK 3.5, support is provided for IPUMM based decode using GStreamer
plugin. Follow section 2.4.2.2 of this document to include IPUMM as part of the
primary IPU (IPU-2) build. Please note when IPUMM is included, IVAHD needs to
be set to no in the corresponding apps/configs/<evm_id>_linux_all/cfg.mk file.
Gstreamer playback requires vpe plugin to be available, so A15 accesses vpe.
Set VPE_INCLUDE=no in apps/configs/<evm_id>_linux_all/cfg.mk
Comment DISABLE_COMPLETE(vpe); statement in the device tree file to make vpe
available for A15.
Once the firmware is built, a script ‘decode_ipumm.sh’ is provided in the /home/root
folder of the file-system which is capable of decoding a video and displaying it to the
connected. For this script to work, below dependencies must be satisfied:
1. A mp4 file must be copied to the /home/root folder, and must be renamed
test.mp4
2. Weston must be running on the screen (refer section 4.3.4 of this document)

If the above two dependencies are met, run decode_ipumm.sh and the video will be
displayed on the screen

4.4.2 IPUMM on VSDK-Linux and IPU-1 as primary IPU for Vision-SDK

If the primary IPU is set as IPU-1, and the IPUMM firmware which is built as part of
the processor-SDK Linux is included as the IPU-2 firmware, then the following
changes are needed.

1. Remove the IPU-2 entries from the kernel device-tree and enable IPU-1
- &ipu2_cma_pool {
- reg = <0x0 0x99000000 0x0 0x5000000>;
- };
- &ipu2 {
- /delete-property/ watchdog-timers;
- timers= <&timer9> , <&timer11>;
- };
&ipu1 {
- status= "disabled";
/delete-property/ watchdog-timers;
};

2. Remove late-attach properties (if any) from the device tree for the the IPU-
2 core / MMU
 3. Make the following changes in the
apps/configs/<evm_id>_linux_all/cfg.mk file
PROC_IPU1_0_INCLUDE=yes
PROC_IPU1_1_INCLUDE=no
PROC_IPU2_INCLUDE=no
IPU_PRIMARY_CORE=ipu1_0
IPU_SECONDARY_CORE=ipu2
IPUMM_INCLUDE=no
IVAHD_INCLUDE=no

Once these changes are made, perform a clean build. Ensure that the file
/lib/firmware/dra7-ipu2-fw.xem4 is the IPUMM firmware which is built as part of the
Processor-SDK Linux release. With this configuration, IPU-1 runs the Vision-SDK
firmware while IPU-2 runs IPUMM which performs decode operations. Refer to
section 4.4.1 on how to run decode use-cases.

NOTE: Early boot-strap of stand-alone IPUMM firmware included as part of the

Processor-SDK Linux release is not supported. However, if IPUMM is built as part of
the Vision-SDK firmware, Early-boot + late-attach of the Vision-SDK + IPUMM
firmware is supported.

NOTE: Gstreamer has been modified to support buffer allocation using OMAPDRM
even when the display is running on a different DRM card, which in the VSDK-Linux
scenario is VDRM. Only Wayland sink is supported in this configuration, KMS sink
isn’t supported. Changes made to the GSTDucati plugin is available in linux-kernel-
addon/fs-patches/0001-gstducati-Enable-encode-decode-for-vDRM-setup.patch
If other video playback applications need support with VDRM, make sure buffers targeted for IPUMM are
allocated from OMAPDRM and imported to VDRM before display.
5 Revision History
Version Date Revision History
1.0 30th June 2014 Initial Version

1.1 30th July 2014 Updated for vision sdk 2.03

1.2 17 th Dec 2014 Updated for 2.05

th
1.3 28 Feb 2015 Updated for 2.06
th
1.4 12 Oct 2015 Updated for 2.08
th
1.5 17 March 2016 Updated for 2.09
th
1.6 28 June 2016 Updated for 2.10
th
1.7 5 December 2016 Clean up and Minor updates
th
1.8 11 Jan 2017 Update for 4.4 kernel support
nd
1.9 2 February 2017 Updated for 2.12
th
2.0 30 March 2017 Updated for PSDK 3.2 migration
th
2.1 14 April 2017 Updated for 2.12.02
th
2.2 29 June 2017 Updates for 3.00.00
th
2.3 19 July 2017 Updates as per e2e comments
For bug id ADASVISION-1608
th
2.4 12 Oct 2017 Updates for 3.01.00
th
2.5 13 Oct 2017 Updates for TDA2px
For requirement id
ADASVISION-1080
2.6 27th Nov 2017 Updates to fix ADASVISION-
1080
th
2.7 20 Dec 2017 Updates for release 3.02.00
th
2.8 5 April 2018 Updates for release 3.03.00
st
2.9 21 June 2018 Updated with vDRM usecase
details
th
3.0 25 September Updated for early use-case and
IPUMM decode
ADASVISION-1955,
ADASVISION-1971,
ADASVISION-1957 &
ADASVISION-1958
st
3.1 21 December 2018 Updated for Autosar Usecase
 th
3.2 6 June 2019 Updates for release 3.07.00
th
3.3 17 July 2019 Updates for release 3.07.01
th
3.4 10 December 2019 Updates for release 3.08.00

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