Difference between revisions of "AXIOM Alpha"
| Line 358: | Line 358: | ||
Or all in one command: | Or all in one command: | ||
convert -size | convert -size 4096x3072 -depth 16 gray:image.raw16 -colors 4096 -format %c histogram:info:- | gawk -F, '(NF>3) { printf "%d\t%d\n", $2/16, $1 }' > histogram.info | ||
Then draw it with gnuplot: | Then draw it with gnuplot: | ||
| Line 366: | Line 366: | ||
set xrange[0:4096] | set xrange[0:4096] | ||
set yrange[0:8000] | set yrange[0:8000] | ||
plot 'histogram. | plot 'histogram.info' using 1:2 with lines lc rgb "#FF0000" title "dark" | ||
unset multiplot | unset multiplot | ||
pause mouse any | pause mouse any | ||
Revision as of 20:31, 17 December 2013
1 About
Officially website: http://axiom.apertus.org/index.php?site=alpha
2.1 Zedboard Development on Ubuntu 12.04 LTS with ISE 14.5 (Currently running in Virtual Box on a Mac)
Plug in two micro USB cables (one is provided with the Zedboard) to Zedboard ports J13 and J17 (UART and PROG) respectively. Set jumpers JP7-JP11 as described in tutorial for Helloworld. Plug USB cables into computer.
Turn on Zedboard. In Virtual Box open the machine settings that Ubuntu is installed in. Select the Ports tab, and the USB tab. Add a USB Device Filter (plus sign) for 2012 Cyprus Semiconductor Cypress - USB2UART-Ver1.0G, and also Digilent USB Device. This automatically connects the USB ports for Ubuntu whenever the Zedboard is connected.
In Ubuntu:
Note, to extract files use: tar -xvf filename
1) Install libusb: sudo apt-get install libusb-dev
2) Work around for arm toolchain install: sudo dpkg-reconfigure -plow dash (Select NO when prompted)
3) Download ISE 14.5
4) Install: ./xsetup (do not install cable drivers). Select System Edition
5) Work around for arm toolchain install: sudo dpkg-reconfigure -plow dash (Select YES when prompted)
6) Download Digilent Runtime and Utilities: [1]
7) Install both using: sudo ./install.sh (note install can be for all users or the user installing, see README for instructions)
8) Download Digilent Plugin: [2]
9) Install plugin per instructions included in PDF.
Note there are several terminal emulator options. Minicom can be run in a shell. A google search will show how to use it. Alternatively in SDK you can use the terminal emulator that is included.
2.2 Getting JTAG working with the Zedboard
From http://www.digilentinc.com/Products/Detail.cfm?NavPath=2%2C66%2C828&Prod=ADEPT2 download the following packages (these are for 64bit so for x86 you will want the 32bit versions):
digilent.adept.runtime_2.13.1-x86_64.tar.gz digilent.adept.utilities_2.1.1-x86_64.tar.gz libCseDigilent_2.4.3-x86_64.tar.gz
then install the runtime:
tar xzf digilent.adept.runtime_2.13.1-x86_64.tar.gz; cd digilent.adept.runtime_2.13.1-x86_64; ./install.sh
and here is the important part: AND the ftdi driver
cd ftdi.drivers_1.0.4-x86_64; ./install.sh
then the utilities
same method as runtime above
at this point the following command
djtgcfg enum
should show board details:
Found 1 device(s) Device: Zed Product Name: Digilent Zed User Name: Zed Serial Number: XXXXXXXXXXXX
Note that you need to fix the udev rules, restart udev and unplug/replug the usb-jtag to get the driver (ftdi_sio) unloaded and the permissions for the usb device changed.
The libCseDigilent_2.4.3-x86_64.tar.gz contains two files in ISE14x/plugin:
libCseDigilent.so libCseDigilent.xml
which need to be copied to the ISE plugin directory.
after that, the following should work:
xmd
and should show something like:
Xilinx Microprocessor Debugger (XMD) Engine Xilinx EDK 14.5 Build EDK_P.58f Copyright (c) 1995-2012 Xilinx, Inc. All rights reserved.
Then typing:
connect mb mdm -cable type xilinx_plugin modulename digilent_plugin
Should show:
XMD%
XMD% connect mb mdm -cable type xilinx_plugin modulename digilent_plugin
JTAG chain configuration
--------------------------------------------------
Device ID Code IR Length Part Name
1 4ba00477 4 Cortex-A9
2 03727093 6 XC7Z020
ERROR: Could not detect MDM peripheral on hardware. Please check:
1. If FPGA is configured correctly
2. MDM Core is instantiated in the design
3. If the correct FPGA is referred, in case of multiple FPGAs
4. If the correct MDM is referred, in case of a multiple MDM system
Note that the default image has no mdm IP
2.3 Booting the Zedboard via JTAG
You want to get the ZedBoard_CTT_v14.3_121017.zip for some files from: http://www.zedboard.org/sites/default/files/design/ZedBoard_CTT_v14.3_121017.zip namely: ps7_init.tcl and stub.tcl
Then you also need the following from your design:
- system.bit [PL bitstream]
- u-boot.elf or some other elf binary [PS 2nd stage]
- optionally (Linux Boot): zImage, ramdisk*.gz and devicetree.dtb
start xmd (the Xilinx® Microprocessor Debugger console as part of ISE), then in the xmd prompt do:
connect arm hw fpga -f system.bit source ps7_init.tcl ps7_init init_user source stub.tcl target 64 dow u-boot.elf con
this will connect to the target, upload the fpga bitstream (PL), initialize memory and MIO devices (ps7_init/init_user) and load the second level bootloader (PS) the 'con' already starts the bootloader
optionally, you can also upload the Linux kernel, initramfs and the devicetree like this:
dow -data zImage 0x8000 dow -data ramdisk8M.image.gz 0x800000 dow -data devicetree.dtb 0x1000000
and boot the kernel/linux with:
con 0x8000
2.4 Booting the Zedboard via TFTP
Booting the Zedboard via TFTP is a lot faster than the JTAG boot method and doesn't have the drawbacks of SD card shuffling. It basically boots the Zedboard over the network, a DHCP server directs the Zedboard to the right place to read the required files via TFTP.
2.4.1 DHCP Server Setup Ubuntu 12.04 LTS
Connect the Zedboard via Ethernet to a PC running Ubuntu 12.04. Make sure the router in this set up does not contain DHCP records for the Zedboard otherwise the DHCP server running on the PC will have no effects on the Zedboard. The DHCP server on the router and the DHCP server on the PC even if they are on the same network do not interfere normally.
To install the required packages run:
sudo apt-get install dhcp3-server dhcpd isc-dhcp-server
If there is more than one network card(s) in your Ubuntu PC, then you have to select the network card on which your server will be listen for dhcp request. (By default, it listens on eth0):
sudo gedit /etc/default/isc-dhcp-server
Then edit the config file:
sudo gedit /etc/dhcp/dhcpd.conf
In this case the network is set up in the 192.168.10.X range and the dhcpd.conf looks like this (AAA = Ubuntu PC, BBB = Zedboard)
subnet 192.168.10.0 netmask 255.255.255.0 {
# default gateway
option routers 192.168.10.254;
option subnet-mask 255.255.255.0;
always-reply-rfc1048 true;
next-server 192.168.10.AAA;
host zedboard {
hardware ethernet 00:0A:35:00:01:22;
fixed-address 192.168.10.BBB;
filename "/ZED/u-boot.scr";
}
}
Note that all Zedboards have the same MAC address hardcoded into our bootloader currently:
00:0A:35:00:01:22
After making changes to the file restart the dhcp server with:
sudo service isc-dhcp-server restart
or start it manually if it has not been started yet:
sudo service isc-dhcp-server start
When you look at the syslog on your Ubuntu PC with:
sudo tail -f /var/log/syslog
You should see lines like the following when the DHCP server is started and Zedboard is making requests to the DHCP server (AAA = Ubuntu PC, BBB = Zedboard):
Oct 3 20:23:40 Ubuntu-PC dhcpd: Internet Systems Consortium DHCP Server 4.1-ESV-R4 Oct 3 20:23:40 Ubuntu-PC dhcpd: Copyright 2004-2011 Internet Systems Consortium. Oct 3 20:23:40 Ubuntu-PC dhcpd: All rights reserved. Oct 3 20:23:40 Ubuntu-PC dhcpd: For info, please visit https://www.isc.org/software/dhcp/ Oct 3 20:23:40 Ubuntu-PC dhcpd: Wrote 0 deleted host decls to leases file. Oct 3 20:23:40 Ubuntu-PC dhcpd: Wrote 0 new dynamic host decls to leases file. Oct 3 20:23:40 Ubuntu-PC dhcpd: Wrote 0 leases to leases file. Oct 3 20:23:54 Ubuntu-PC dhcpd: BOOTREQUEST from 00:0a:35:00:01:22 via eth0 Oct 3 20:23:54 Ubuntu-PC dhcpd: BOOTREPLY for 192.168.10.BBB to zedboard (00:0a:35:00:01:22) via eth0
On the Zedboards UART you should see something like this (AAA = Ubuntu PC, BBB = Zedboard):
U-Boot 2012.04.01-dirty (Jun 23 2013 - 19:36:00)
DRAM: 512 MiB WARNING: Caches not enabled MMC: SDHCI: 0 Using default environment In: serial Out: serial Err: serial Net: zynq_gem Hit any key to stop autoboot: 3 ��� 2 ��� 1 ��� 0 Scripted Boot via TFTP... Xilinx Device Descriptor @ 0x1ffb8a64 Family: Zynq PL Interface type: Device configuration interface (Zynq) Device Size: 4045564 bytes Cookie: 0x0 (0) No Device Function Table. Requesting Boot Script via TFTP... Trying to set up GEM link... Phy ID: 01410DD1 Resetting PHY... PHY reset complete. Waiting for PHY to complete auto-negotiation... Link is now at 1000Mbps! BOOTP broadcast 1 Using zynq_gem device TFTP from server 192.168.10.AAA; our IP address is 192.168.10.BBB Filename '/ZED/u-boot.scr'. Load address: 0xf00000 Loading: *�# done Bytes transferred = 303 (12f hex) Executing Boot Script... ## Executing script at 00f00000 Using zynq_gem device TFTP from server 192.168.10.AAA; our IP address is 192.168.10.BBB Filename 'ZED/system.bin'. Load address: 0x1000000 Loading: *�############################
2.4.2 TFTP Server Setup Ubuntu 12.04 LTS
Install required packages:
apt-get install tftpd-hpa tftp-hpa xinetd
Create a text file if it does not exist yet called tftp under /etc/xinetd.d/
sudo gedit /etc/xinetd.d/tftp
The tftp file should look like this:
service tftp
{
protocol = udp
port = 69
socket_type = dgram
wait = yes
user = root
server = /usr/sbin/in.tftpd
server_args = -c -s /var/lib/tftpboot --verbose
disable = no
}
The files that are served via tftp are located in
/var/lib/tftpboot
Download the 'ZED' folder to your /var/lib/tftpboot folder by typing:
wget -m -nv -np -c -nH --cut-dirs=3 -R 'index.html*' http://vserver.13thfloor.at/Stuff/AXIOM/TFTP/ZED/
Download the
boot.bin
from http://vserver.13thfloor.at/Stuff/AXIOM/TFTP/ to your /var/lib/tftpboot/ directory
Then create some symlinks inside the ZED folder in the root TFTP folder (/var/lib/tftpboot/ZED/)
cd /var/lib/tftpboot/ZED/ ln -s BERTL.xilinx/zImage zImage ln -s BERTL.PL/cmv_io.bin system.bin ln -s ZedBoard_OOB_Design/ramdisk8M.image.gz ramdisk.image.gz ln -s BERTL.xilinx/devicetree_ramdisk.dtb devicetree_ramdisk.dtb
Then make sure that all the files can be acessed by TFTP:
sudo chmod -R 777 /var/lib/tftpboot/*
Start the TFTP server with:
sudo service xinetd start
Monitor your Ubuntu-PC's syslog by typing:
sudo tail -f /var/log/syslog
When the Zedboard is correctly booting via TFTP you should see something like the following in syslog (AAA = Ubuntu PC, BBB = Zedboard):
Oct 3 20:24:52 Ubuntu-PC in.tftpd[2859]: RRQ from 192.168.10.BBB filename /ZED/u-boot.scr Oct 3 20:24:52 Ubuntu-PC in.tftpd[2860]: RRQ from 192.168.10.BBB filename ZED/system.bin Oct 3 20:24:54 Ubuntu-PC in.tftpd[2861]: RRQ from 192.168.10.BBB filename ZED/zImage Oct 3 20:24:55 Ubuntu-PC in.tftpd[2862]: RRQ from 192.168.10.BBB filename ZED/devicetree_ramdisk.dtb Oct 3 20:24:55 Ubuntu-PC in.tftpd[2863]: RRQ from 192.168.10.BBB filename ZED/ramdisk.image.gz
2.4.3 SD Card Preparations
Download boot.bin (as BOOT.BIN) and copy it the to the SD card that is plugged into the Zedboard:
- Download from http://vserver.13thfloor.at/Stuff/AXIOM/TFTP/boot.bin
The boot.bin will request an IP via DHCP and then start loading the advertised boot file, which is an u-boot script that is then executed, and can be used to customize the setup steps.
An example script is provided to boot into the demo ZedBoard_OOB design.
2.4.4 Boot Process
Boot time from power on till Linux prompt is 29 seconds
5 seconds till boot.bin is booted, 3 seconds wait to interrupt the bootloader, 3 seconds kernel boot, rest is bootp/tftp and stuff
- Autoboot (from boot.bin) will first request an IP via BOOTP
- Then request the file ZED/u-boot.scr (the script)
- Then execute that script, which contains:
- tftp 0x1000000 ZED/system.bin
- fpga load 0 0x${fileaddr} 0x${filesize}
- tftp 0x8000 ZED/zImage
- tftp 0x1000000 ZED/devicetree_ramdisk.dtb
- tftp 0x800000 ZED/ramdisk.image.gz
- bootz 0x8000 0x${fileaddr}:0x${filesize} 0x1000000
- go 0x8000 so it first fetches the PL code and uploads it to the FPGA
- then it requests the kernel, devicetree and initrd
- then it tries to boot the new style
2.5 Capturing an Image
Preparations:
ssh root@*alpha-IP* "./cmv_init.sh ssh root@*alpha-IP* "./cmv_train
ssh root@*alpha-IP* "./cmv_snap -r -e 0x200" | tee snap.raw16 | display -size 4096x3072 -depth 16 gray:-
2.6 cmv_snap
cmv_snap -h This is ./cmv_snap V1.1 options are: -h print this help message -8 output 8 bit per pixel -b enable black columns -r dump sensor registers -e <exp> exposure values -s <num> shift values by <num> -B <val> register mapping base -S <val> register mapping size -A <val> register mapping address -M <val> buffer memory base -Z <val> buffer memory size -P <pat> mark pattern
2.7 Post Processing images
2.7.1 Create RGGB separated color images from raw file:
convert -size 4096x3072 -depth 16 -crop +0+0 -sample 2048x1536 gray:colors_500ms.raw16 gray:colors_500ms_ch0.raw convert -size 4096x3072 -depth 16 -crop -1+0 -sample 2048x1536 gray:colors_500ms.raw16 gray:colors_500ms_ch1.raw convert -size 4096x3072 -depth 16 -crop +0-1 -sample 2048x1536 gray:colors_500ms.raw16 gray:colors_500ms_ch2.raw convert -size 4096x3072 -depth 16 -crop -1-1 -sample 2048x1536 gray:colors_500ms.raw16 gray:colors_500ms_ch3.raw
2.7.2 Simple debayer with ImageMagick:
For flipped images:
convert \( -size 4096x3072 -depth 16 gray:colors_500ms.raw16 \) \ \( -clone 0 -crop -1-1 \) \( -clone 0 -crop -1+0 \) \( -clone 0 -crop +0-1 \) \ -sample 2048x1536 \( -clone 2,3 -average \) -delete 2,3 -swap 0,1 +swap -combine colors_500ms.png
For unflipped images:
convert \( -size 4096x3072 -depth 16 gray:IT8_incand.raw16 \) \ \( -clone 0 -crop -1-1 \) \( -clone 0 -crop -1+0 \) \( -clone 0 -crop +0-1 \) \ -sample 2048x1536 \( -clone 0,1 -average \) -delete 0,1 +swap -combine IT8_incand.png
2.7.3 Plot Histogram of Raw Image
Create histogram values file with imagemagick:
convert -size 4096x3072 -depth 16 gray:image.raw16 -format "%c" histogram:info: > histogram.hist
Reformat the file:
gawk -F, '(NF>3) { printf "%d\t%d\n", $2/16, $1 }'
Or all in one command:
convert -size 4096x3072 -depth 16 gray:image.raw16 -colors 4096 -format %c histogram:info:- | gawk -F, '(NF>3) { printf "%d\t%d\n", $2/16, $1 }' > histogram.info
Then draw it with gnuplot:
set notitle set term svg size 1024, 512 set multiplot set xrange[0:4096] set yrange[0:8000] plot 'histogram.info' using 1:2 with lines lc rgb "#FF0000" title "dark" unset multiplot pause mouse any
3 Sensor Front End
3.1 Parts
3.1.1 Image Sensor
CMV12000 from Cmosis
http://www.cmosis.com/products/standard_products/cmv12000
Price: 1265.00 €
3.1.2 FMC connector
Samtec Vita 57
http://www.samtec.com/standards/vita.aspx
Part Number: ASP-134604-01
Price: $19.70
3.1.3 HDR Cable
300mm FMC extension cable (HDR⁃169473⁃01)
http://www.samtec.com/standards/vita.aspx
Price: $180.54
3.1.4 Image Sensor Socket
Socket for CMV12000 from Andon:
Partnumber | Prices: 10-30-07-237-414T4-R27-L14 - 87.00 €
10-30-07-237-400T4-R27-L14 - 88.15 €
10-30-07-237-RB501T4-R27-L14 - 102.30 €
3.2 Reading and Writing Sensor Register
This example script:
#!/bin/sh
cmv_reg() {
addr=$(( 0x60000000 + ($1 * 4) ))
[ $# -gt 1 ] && devmem $addr 32 $2
devmem $addr 32
}
#change the registers 69/98/102/107/108/112 and 124
cmv_reg 69 2
cmv_reg 98 39705
cmv_reg 102 8312
cmv_reg 107 9814
cmv_reg 108 12381
cmv_reg 112 5
cmv_reg 124 15
#read the register 127
cmv_reg 127
basically the registers get mapped to 32bit spaces starting at a specific memory address (0x60000000 in this case), reading from that memory will show the register, writing to that memory will change it
so register '0' is at 0x60000000, register '1' at 0x60000004 ...
This example script reads the current bitdepth the sensor is running with:
get_bitdepth () {
depth=$(( `cmv_reg 118` + 0 ))
[ $depth -eq 0 ] && echo "12 bit mode"
[ $depth -eq 1 ] && echo "10 bit mode"
[ $depth -eq 2 ] && echo "8 bit mode"
}
3.2.1 statically linked busybox
http://vserver.13thfloor.at/Stuff/AXIOM/FAKE/
builtin fake devmem
all you need to get it to work is the following:
dd if=/dev/zero of=/tmp/mem bs=1k seek=4M count=1
this will create a sparse 4GB file /tmp/mem, which will be used by the fake devmem values written can be read back, non existing values return 0
/bin/sh and /sbin/devmem both link to busybox on the axiom alpha filesystem so both can be tested with this executeable