README.md

Open Vision Computer (OVC)

Here is an overview presentation of the project (March 2018).

This repo contains hardware, firmware, and software for an open-source embedded vision system: the Open Vision Computer (OVC). The goal is to connect state of the art open hardware with open firmware and software. There are a few revs:

• ovc0: three Python1300 imagers, an Artix-7 FPGA, DRAM, and USB3 via a Cypress FX3 controller.
• ovc1: two Python1300 imagers, a Jetson TX2 (6x ARMv8, GPU, etc.) connected to a Cyclone-V GT FPGA over PCIe.
• ovc2: two Python1300 imagers, a Jetson TX2 (6x ARMv8, GPU, etc.) connected to a Cyclone 10 GX FPGA over PCIe Gen 2.0 x4 (current work)

where do I find hardware stuff

• ovc1 hardware currently lives in 'hardware/ovc1' as a single KiCAD PCB.
  • schematics are provided as PDF or native KiCAD files
• ovc2 hardware lives in 'hardware/ovc2'

where do I find other stuff

• Firmware and software for ovc1 and ovc2 are in the 'firmware' and 'software' directories in this repo.

how do I update everything

ovc2

On the OVC2, the TX2 simply configures the FPGA over SPI. Because there are no flash memories outside the TX2, the update process is considerably simpler than on the OVC1.

Update source tree

cd ~/ovc
git pull

Compile kernel module

cd ~/ovc/software/ovc2/modules/ovc2_core
make

Compile ROS package (userland)

mkdir -p ~/ros/src
ln -s ~/ovc/software/ovc2/ros/ovc2 ~/ros/src
cd ~/ros
catkin build

ovc1

Update source tree

cd ~/ovc
git pull

Compile kernel module

cd ~/ovc/software/ovc1/ovc_module
make

Flash FPGA i/o image and reconfigure FPGA

The OVC1 uses a configuration microcontroller to set up the FPGA I/O ring to allow PCIe-based configuration. This is great because it's super-fast, but it's a bit more complicated because the FPGA image lives partly in the microcontroller flash memory, and partly in the TX2 filesystem. As such, there are a multiple steps to updating the FPGA image. Fortunately, the FPGA I/O image should only change infrequently. Note that the microcontroller-flash script only needs to be run when the FPGA I/O image changes; most updates affect only the FPGA core, not the I/O ring.

cd ~/scripts
./flash_fpga_config.sh
./reconfigure_fpga.sh

Compile ROS package (userland)

mkdir -p ~/ros/src
ln -s ~/ovc/software/ovc1/ros/ovc ~/ros/src
cd ~/ros
catkin build

how do I run stuff

ovc2

For convenience, the ~/.bashrc of the default nvidia user adds ~/ovc/software/ovc2/scripts to $PATH.

Typically, all you need to run is the ovc2_reconfigure script, which does the following:

• unloads modules which use PCIe
• loads the ovc2_cfg module, which creates a device node /dev/ovc2_cfg to expose a configuration interface to userland
• writes the FPGA configuration from userland to the /dev/ovc2_cfg device, which in turn uses the TX2 SPI interface to configure the FPGA
• loads the pcie_tegra module, which enumerates the PCIe bus and finds our newly-configured FPGA on it
• loads the ovc2_core module, which provides a userland driver for ovc2 on three device nodes: /dev/ovc2_core /dev/ovc2_cam /dev/ovc2_imu

For a typical software-development session, you typically just type ovc2_reconfigure and it's all automatic.

Then, you can run the ROS image streamer and feature-visualizer nodes:

Terminal 1:

roscore

Terminal 2:

cd ~/ros
source devel/setup.bash
rosrun ovc2 ovc2_node

Terminal 3:

rosrun ovc2 corner_viewer

I'm usually shelling into the camera, so "Terminal 1" and "Terminal 2" are remote shells on the camera, and "Terminal 3" is running locally on my workstation, setting ROS_MASTER_URI as needed to point to the camera (adjust the camera hostname as needed):

export ROS_MASTER_URI=http://ovc2a3.local:11311
rosrun ovc corner_viewer

Powering Down

For reasons unknown at the moment, if you try to power down the TX2 without first unloading the ovc2_core kernel module, the system will hang during the shutdown process, requiring you to then hold the TX2 power button down until the PMIC finally does a hard-shutdown.

If you run this script instead:

ovc2_poweroff

It will first unload the ovc2_core module and then run poweroff. It just saves one step to type ovc2_poweroff instead.

ovc1

For a typical software-development session (unless you need to re-flash and reconfigure the FPGA) you just need to load the kernel module. We'll automate this eventually, once it gets more stable, but for now (to avoid boot loops) let's leave the module-loading as a manual step...

~/scripts/init_fpga.sh

That script will load the OVC kernel module, configure the FPGA core using the blob in ~/opencam/firmware/ovc/fpga/stable/ovc.core.rbf, and re-load the OVC module to allocate DMA buffers.

Then, you can run the ROS image streamer and feature-visualizer nodes:

Terminal 1:

roscore

Terminal 2:

cd ~/ros
source devel/setup.bash
rosrun ovc ovc_node

Terminal 3:

rosrun ovc corner_viewer

I'm usually shelling into the camera and run "Terminal 3" on my workstation, setting ROS_MASTER_URI as needed to point to the camera (adjust the camera hostname as needed, if you have changed it from the default tegra-ubuntu):

export ROS_MASTER_URI=http://ovc.local:11311
rosrun ovc corner_viewer