https://github.com/baidu/boteye_sensor
https://github.com/baidu/boteye_sensor
Last synced: 5 months ago
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- Host: GitHub
- URL: https://github.com/baidu/boteye_sensor
- Owner: baidu
- Created: 2017-11-15T13:14:59.000Z (almost 8 years ago)
- Default Branch: master
- Last Pushed: 2018-11-19T07:53:41.000Z (almost 7 years ago)
- Last Synced: 2025-04-09T02:22:19.794Z (6 months ago)
- Language: C
- Size: 7.45 MB
- Stars: 35
- Watchers: 10
- Forks: 34
- Open Issues: 10
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
## boteye_sensor ##
This repo contains hardware and firmware of Baidu boteye sensor.
**If you purchase the [hardware from Kinco Automation](http://www.kinco.cn/solution/detail?id=36&type=all)(a third party manufacturer), which is already loaded with the latest firmware, you can skip the following steps.**
## Hardware Introduction
Firmware supports three hardware versions: `XP`, `XP2`, and `XP3`.
## FX3 SDK Installation ##
In order to compile, you need cypress FX3 sdk (http://www.cypress.com/documentation/software-and-drivers/ez-usb-fx3-software-development-kit).
Download the sdk here http://www.cypress.com/file/221546
You can get `fx3_firmware_linux.tar.gz` and `cyusb_linux_1.0.4.tar.gz`, then extract to root directory of this repo.
- Install arm gcc compiler
```bash
sudo apt-get install gcc-arm-none-eabi
```
- Make sure your arm compiler is `arm-none-eabi-gcc version 4.8.2`
```bash
arm-none-eabi-gcc --version
```
- Install gcc compiler
```bash
sudo apt-get install build-essential
```
- Modify SDK config file
- Configure build type in the file `cyfx3sdk/fw_build/fx3_fw/fx3_build_config.mak`
Change `CYCONFOPT=fx3_debug` to `CYCONFOPT=fx3_release`
- Configure the arm compiler info in the file `cyfx3sdk/fw_build/fx3_fw/fx3_armgcc_config.mak`
Change `LDLIBS += ` section to your lib locations, most likely located in `/usr/arm-linux-gnueabi/lib/libc.a` and `/usr/lib/gcc/arm-none-eabi/4.8.2/libgcc.a`, and replace the default like this:
```bash
The ARM toolchain location and the version are taken from environment variables
LDLIBS += \
/usr/lib/arm-none-eabi/lib/libc.a \
/usr/lib/gcc/arm-none-eabi/4.8.2/libgcc.a \
EXEEXT = elf
```
- Compile img format convert tools: `elf2img`
To convert elf to img file, you need to compile `cyfx3sdk/util/elf2img/elf2img.c`
```bash
cd cyfx3sdk/util/elf2img
gcc elf2img.c -o elf2img -O3
```
## Compile Firmware ##
- If everything is all set, you can run `./build.sh` within `boteye_sensor/firmware`, which generates `cyfxuvc.img`.
## FX3 Image Download Tool Install ##
- Install `libusb-dev`
```bash
sudo apt-get install libusb-1.0-0-dev
```
- Install FX3 tools, please read the README in `./cyusb_linux_1.0.4`.
```bash
cd cyusb_linux_1.0.4
make
chmod +x install.sh
sudo ./install.sh
```
- If you find an error `qmake-qt4: command not found`, please install qt4 by running
```bash
sudo apt-get install qt4-dev-tools qt4-doc qt4-qtconfig qt4-demos qt4-designer
```
- Add execute premission of `cyusb_linux`
```bash
sudo chmod +x /usr/local/bin/cyusb_linux
```
- Add the following two lines to `~/.bashrc`, run `source ~/.bashrc`, and assign `CYUSB_ROOT` to the corresponding file path.
```bash
export CYUSB_ROOT=~/Development/sensor/cyusb_linux_1.0.4/
export LD_LIBRARY_PATH=/usr/local/lib/
source ~/.bashrc
```
## Image Download ##
- Use `cyusb_linux` to flash your img file to the board flash. If the sensor has an img on flash, it will
go into auto-run mode with red LED blinking for 1s. If the sensor doesn't have an img on flash, the red LED will
be always on. We can use `./sensor/host_bin/spi_test` to erase the img on flash so that we can download a new one.
- example: `./sensor/host_bin/spi_test /dev/video0`
## Firmware Tools ##
- There are two tools you can use in `firmware/host_bin`.
- `spi_test`: erase flash
- `version_test`: read hardware and software version.
- You can also install `luvcview` or other camera view tools to test the camera. However, you will most likely see green and red ghost images due to the custom formatting of the stereo raw images.
## About Version ##
- Hardware version:
- You can use command `dmesg` to check USB `Product` attribute, it will show the hardware version.
- Example: `Baidu_Robotics_vision_XP2`
- Software version:
- You can also use `dmesg` to check USB `SeriaNumber` attribute, it will show the software version.
- Example: `V0.3.7-839610e-commit` [version num - commit hash - commit/dirty]