R-Car/Boards/ADAS-View-Solution-Kit

Introduction
This is the official Wiki for Renesas R-Car ADAS View Solution Kit.

Refer to R-Car Starter Kit Pro page Refer to R-Car Starter Kit Premier page

Where to buy
TBD

ADAS View Solution Kit Documentation
TBD

System with LVDS cameras
TBD

Build image
First please visit R-Car Yocto Gen3 and perform necessary preparation steps 1-12. Then:   Clone demo layer to allow support of ADAS applications git clone https://github.com/CogentEmbedded/meta-renesas-quick-start.git git checkout -b bsp_v212   Add necessary layers to $WORK/build/conf/bblayers.conf ${TOPDIR}/../meta-openembedded/meta-networking \ ${TOPDIR}/../meta-openembedded/meta-multimedia \ ${TOPDIR}/../meta-renesas-quick-start \   Add necessary features to $WORK/build/conf/local.conf DISTRO_FEATURES_append = " surroundview " DISTRO_FEATURES_append = " opencv-sdk " DISTRO_FEATURES_append = " wayland"

  Build and install image as it's described in steps 13-16. bitbake core-image-weston   After all these steps you can start working with boards and apps.

Build SDK
After building image run this command to build SDK bitbake core-image-weston -c populate_sdk After build success the SDK installation script must appears in ./tmp/deploy/sdk directory: tmp/deploy/sdk/poky-glibc-x86_64-core-image-weston-aarch64-toolchain-2.0.2.sh To install SDK run this command and follow instructions on the screen: ./tmp/deploy/sdk/poky-glibc-x86_64-core-image-weston-aarch64-toolchain-2.0.2.sh

Build scripts example

 * 1) !/bin/sh

mkdir build || exit cd build WORK=`pwd` echo $WORK

git clone git://git.yoctoproject.org/poky git clone git://git.linaro.org/openembedded/meta-linaro.git git clone git://git.openembedded.org/meta-openembedded git clone git://github.com/CogentEmbedded/meta-rcar.git meta-renesas -b v2.12.0 git clone git://github.com/CogentEmbedded/meta-renesas-quick-start.git meta-renesas-quick-start -b bsp_v212

cd $WORK/poky git checkout -b tmp 40376446904ae3529be41737fed9a0b650ed167d cd $WORK/meta-linaro git checkout -b tmp 9b1fd178309544dff1f7453e796a9437125bc0d9 cd $WORK/meta-openembedded git checkout -b tmp 8ab04afbffb4bc5184cfe0655049de6f44269990

cd $WORK/meta-renesas export PATCH_DIR=meta-rcar-gen3/docs/sample/patch/patch-for-linaro-gcc patch -p1 < ${PATCH_DIR}/0001-rcar-gen3-add-readme-for-building-with-Linaro-Gcc.patch unset PATCH_DIR

cd $WORK/ PKGS_DIR=$WORK/../proprietary cd $WORK/meta-renesas sh meta-rcar-gen3/docs/sample/copyscript/copy_evaproprietary_softwares.sh -f $PKGS_DIR
 * 1) sh meta-rcar-gen3/docs/sample/copyscript/copy_proprietary_softwares.sh -f $PKGS_DIR

cd $WORK/

source poky/oe-init-build-env

cp $WORK/meta-renesas-quick-start/docs/sample/conf/h3ulcb/*.conf ./conf/.
 * 1) cp $WORK/meta-renesas-quick-start/docs/sample/conf/m3ulcb/*.conf ./conf/.
 * 2) cp $WORK/meta-renesas-quick-start/docs/sample/conf/salvator-x/*.conf ./conf/.
 * 3) cp $WORK/meta-renesas-quick-start/docs/sample/conf/ttardrive/*.conf ./conf/.

cd $WORK/build cp conf/local-wayland.conf conf/local.conf echo "DISTRO_FEATURES_append = \" use_eva_pkg\"" >> $WORK/build/conf/local.conf

bitbake core-image-weston bitbake core-image-weston -c populate_sdk

Flashing firmware
In case you have absolutely new R-Car H3 or M3 board, you need to update firmware. Please refer to page R-Car H3SK or R-Car M3SK for the instructions on flashing firmware.

U-Boot Environment
For using view board you need to use *-view.dtb file. The example of setting U-Boot environment for booting from SD card: setenv bootargs 'console=ttySC0,115200 root=/dev/mmcblk1p1 rootwait consoleblank log_buf_len=1M' setenv bootcmd 'ext4load mmc 0 48080000 /boot/Image; ext4load mmc 0 48000000 /boot/r8a7795-h3ulcb-view.dtb; booti 48080000 - 48000000' saveenv
 * 1) In U-Boot prompt

SurroundView GPU version
  Clone and build sv-utest application (see the README.md file as well): git clone https://github.com/CogentEmbedded/sv-utest.git cd sv-utest . /environment-setup-aarch64-poky-linux mkdir build cd build cmake -DSV_TARGET_PLATFORM=GEN3 ../ make   Copy the resulted binaries on rootfs. As example, for SD card: mkdir /home/root/sv sudo cp sv-utest/bin/sv-utest /usr/bin/ sudo cp sv-utest/libs/gen3/libsv.so /usr/lib/ sudo cp -r sv-utest/resources/* /home/root/sv/   See the manual for instructions R-Car Surround View manual on how to run and use SurroundView application. In short: cd /home/root/sv sv-utest -v /dev/video0,/dev/video1,/dev/video2,/dev/video3 </li> </ol>

SuroundView IMR version
  Save mesh object file from the GPU SurroundView: after calibartion and sphere adjusting are done, press S on the main 3d view to save mesh file. Mesh object file name is "meshFull.obj" in the current working directory of SurroundView. </li>  Clone and build imr-sv-utest application (see the README.md file as well): git clone https://github.com/CogentEmbedded/imr-sv-utest.git cd imr-sv-utest . <SDK_INSTALL_PATH>/environment-setup-aarch64-poky-linux mkdir build cd build cmake -DIMR_TARGET_PLATFORM=GEN3 ../ make IMR SuroundView executable stored ../bin directory. </li>  It's need to generate png files with car model images before running IMR SurroundView. Copy executable "gen" from "prebuilt/GEN3" directory to the H3 board. Example of generation png files with car (avalaible only for Gen3): ./gen -w -h -c -o -s -m \ -l -S -d ./gen -w 1920 -h 1080 -c 0x404040FF -o ./data/model -s 8:32:8 -m Car.obj -l 1.0  -S -0.2:-0.10:0.2:0.10 </li>  Run the IMR SurroundView with the generated png files: ./imr-wl -f uyvy -v /dev/video0,/dev/video1,/dev/video2,/dev/video3 -w 1280 -h 800 -W 1920 -H 1080 \ -r /dev/video4,/dev/video5,/dev/video6,/dev/video7,/dev/video4,/dev/video5,/dev/video6,/dev/video7 -m ./data/model \ -M meshFull.obj -X 1920 -Y 1080 -S -0.30:-0.10:0.30:0.10 -g 1.0 -s 8:32:8 Run "./imr-wl -h" for options explanation. </li> </ol>

8 Camera Demo (GPU + IMR version)
Demo application demonstrates surround view with pre-defined viewpoints on Renesas boards with 4 additional cameras for mirror replacement purposes. First additional camera works as driver monitor.

  Save mesh object file from the GPU SurroundView: after calibartion and sphere adjusting are done, press S on the main 3d view to save mesh file. Mesh object file name is "meshFull.obj" in the current working directory of SurroundView. </li>  Clone and build 8-cam-imr-gpu-sv-utest application (see the README.md file as well): git clone https://github.com/CogentEmbedded/8-cam-imr-gpu-sv-utest.git cd 8-cam-imr-gpu-sv-utest . <SDK_INSTALL_PATH>/environment-setup-aarch64-poky-linux mkdir build cd build cmake ../ make Demo executable "sc" stored ../bin directory. </li>  It's need to generate png files with car model images before running IMR SurroundView. Copy executable "gen" from "prebuilt/" directory to the H3 board. Example of generation png files with car (avalaible only for Gen3): ./gen -w -h -c -o -s -m \ -l -S -d ./gen -w 1920 -h 1080 -c 0x404040FF -o ./data/model -s 8:32:8 -m Car.obj -l 1.0  -S -0.2:-0.10:0.2:0.10 </li>  Copy resources files to directory where application will be runned from "resources/". Copy libdrivermonitor.so and libsv.so from "lib/" directory to rootfs. Copy "resources/adas-utest" directory to /usr/share on rootfs. </li>  Run the application: ./sc -W 1920 -H 1080 -m ./data/model -M meshFull.obj -X 1920 -Y 1080 -g 1.0 -b 0x000000 -c config.txt -S -0.20:-0.1:0.20:0.1 -s 8:32:8 </li>  To control application with SpaceNav start SpaceNav daemon: spacenavd command. There are 5 widgets on the main screen: main 3d SurroundView screen, DriverMonitor camera, right, left and rear mirror replacement cameras.

To change focus on widget press right button on SpaceNav. To change zoom and view on mirror replacement cameras rotate SpaceNav joystick, when widget is in focus. To hide Driver Monitor camera and mirror cameras press and hold left button on joystick, when widget is in focus. To switch to IMR demo press left button on SpaceNav joystick, when main 3d SurroundView in focus. To get back from IMR demo press left button again. To rotate view in IMR demo use joystick or touchscreen.

</li>

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