ADAS系列之一

一.介紹

         ADAS(Advanced Driver Assistance Systems)進階輔助駕駛，是利用安裝于車上的各式各樣的傳感器， 在第一時間收集車内外的環境資料， 進行靜、動态物體的辨識、偵測與追蹤等技術上的處理， 進而能夠讓駕駛者在最快的時間察覺可能發生的危險， 以引起注意和提高安全性的主動安全技術。

二.s32v234介紹

       S32V234是nxp公司第二代視訊處理器系列,基于64位ARM Cortex-A53CPU,具有高達1000MHz 四核ARM Cortex-A53,內建了32 KB/32 KB I-/D- L1高速緩存,NEON MPE協處理器,雙精度FPU,帶2 CPU和256KB L2緩存的2叢集,存儲器管理單元,GIC中斷控制器,提供ISP,功能強大的3D GPU,兩個APEX-2可視加速器,支援SafeAssure™安全性,具有汽車級的可靠性,功能安全性,支援汽車和工業自動化,适用于汽車ADAS,NCAP前置攝像頭,物體檢測和識别,車載全景可視系統以及機器學習和傳感器融合應用。

 s32v234的主要特性：

• ARM Cortex-A53, 64-bit CPU

– Up to 1000 MHz Quad ARM Cortex-A53

– 32 KB/32 KB I-/D- L1 Cache

– NEON MPE co-processor

– Dual precision FPU

– 2 clusters with 2 CPUs and 256 KB L2 cache each

– Memory Management Unit

– GIC Interrupt Controller

– ECC/parity error support for its memories

– Generic timers

– Fault encapsulation by hardware for redundantexecuted application software on multiple corecluster

• ARM Cortex-M4, 32-bit CPU

– Up to 133 MHz

– 16 KB/16 KB I-/D- L1 Cache

– 32+32 KB tightly coupled memory (TCM)

– ECC/parity support for its memories

• Clocks

– Phase Locked Loops (PLLs)

– 1 external crystal oscillator (FXOSC)

– 1 FIRC oscillator

• System protection and power management features

– Flexible run modes to consume low power based onapplication needs

– Peripheral clock enable register can disable clocks tounused modules, thereby reducing currents

– Power gating of unused A53 cores and GPU

– Low and high voltage warning and detect

– Hardware CRC module to support fast cyclicredundancy checks (CRC)

– 120-bit unique chip identifier

– Hardware watchdog

– eDMA controller with 32 channels (withDMAMUX)

– Extended Resource Domain Controller

• Safety concept

– ISO 26262, ASIL level target

– Measures to detect faults in memory and logic

– Measures to detect single point and latent faults

– Quantitative out of context analysis of functionalsafety (FMEDA) tailored to application specifics

– Safety manual and FMEDA report available

• Security

– CSE with 16 KB of on-chip Secure RAM and ROM.

– ARM TrustZone (TZ) architecture support

– Boot from NOR flash with AES-128 (CTR)

– On-Chip One-Time Programmable elementController (OCOTP_CTRL) with on chip electricalfuse array.

– System JTAG Controller (SJC)

• Debug functionality

– Standard JTAG and Compact JTAG

– 16-bit Trace port, Serial Wire Output port

• Timers

– General purpose timers (FTM)

– Two Periodic Interrupt Timer (PIT)

– IEEE 1588 Timers (part of Ethernet Subsystem)

• Analog

– 1x 12-bit 1.8 V SAR ADC with self-test

• Communications

– UART(w/ LIN2.1l)

– Serial peripheral interface (SPI)

– I2C blocks

– PCI express 2.0 with endpoint and root complexsupport

– LFAST serial link

– 1 GBit Ethernet with PTP IEEE 1588

– FD-CAN

– FlexRay Dual Channel, Version 2.1 RevA

• Memory interfaces

– 32-bit DRAM Controller with support for LPDDR2/DDR3/DDR3L - Up to 1066 MHz data rate with ECC (SEC-DEDTED)triple errror detection support for subregion

– QuadSPI supporting Execute-In-Place (XIP)

– Boot flash fault detection and correction using two-dimensional parity.

– Triple fault detection and single fault correction scheme for external DDR-RAM including address/page fault detection.

• Video input interfaces, Image processing, graphics processing, display

– Display Control Unit (2D-ACE) with 24-bit RGB, GPU frame buffer decoding

– GPU GC3000 with frame buffer compression

– 2x VIU (Video interface unit) for camera input

– 2x MIPICSI2 with four lanes for camera input (support 1080 pixel @ 30 fps)

– Image signal processor (ISP), supporting 2x1 or 1x2 megapixel @ 30 fps and 4x2 megapixel for subset of functions(exposure control, gamma correction)

– 2x APEX2-CL Image cognition processor supporting OpenCL 1.2. APEX-642CL comprises two Array Processing Unit

(APU) cores configurable as single SIMD engine with 64 16-bit Computational Units (CU), or configurable as two coreMIMD engines with 32 16-bit CUs each.

– CUs are comprised of four Functional Units: 16-bit Multiplier, Load Store Unit, ALU, and Shifter

– JPEG video decoder (8/12-bit)

– H.264 video decoder (8/10/12-bit), High-intra and constrained baseline formats

– H.264 video encode (8/10/12-bit), High-intra only

– Fast DMA for data transfers between DRAM and System RAM with CRC

• Human-Machine Interface (HMI)

– GPIO pins with interrupt support, DMA request capability, digital glitch filter

– Configurable slew rate and drive strength on all output pins

• System RAM

– 4 MB On-Chip System RAM with ECC

三.官方源碼編譯教程

3.1  Download the Yocto Project Environment into your directory:

1. mkdir fsl-auto-yocto-bsp
2. cd fsl-auto-yocto-bsp
3. repo init -u https://source.codeaurora.org/external/autobsps32/auto_yocto_bsp -b hotfix/bsp17.0.hf1 -m adas.xml
4. repo sync
           

Note:如果你的機器沒有安裝repo，那麼請遵循下面的步驟：

1. mkdir ~/bin
2. curl http://php.webtutor.pl/en/wp-content/uploads/2011/09/repo> ~/bin/repo
3. PATH=~/bin:$PATH 
4. chmod a+x ~/bin/repo
           

打開repo将改為：

#REPO_URL='git://codeaurora.org/tools/repo.git'
REPO_URL = 'https://mirrors.tuna.tsinghua.edu.cn/git/git-repo/'
           

3.2Create build folder:

1../sources/meta-alb/scripts/host-prepare.sh
2,source nxp-setup-alb.sh -m s32v234sbc
           

運作完以上步驟:你将會如下目錄：

[email protected]:~/ccion/fsl-auto-yocto-bsp/build_s32v234sbc$ ls
bitbake-cookerdaemon.log  cache  conf  SOURCE_THIS  tmp
           

然後修改此目錄下面的conf/local.conf.j将vsdk加入yocto系統。

FSL_LOCAL_MIRROR = "file:///your path/fsl_local_mirror"
LICENSE_FLAGS_WHITELIST_append = " commercial "
           

操作完以上步驟後，請在nxp官網下載下傳VisionSDK_S32V2xx_RTM_xxx.bin。網站：https://www.nxp.com/cn/search?keyword=s32v234#

bitbake fsl-image-vsdk
           

接下來就是漫長的等待編譯，由于很多源碼會從網上下載下傳，是以第一次編譯需要很長時間，大概12小時。編譯完後，可以将downloads目錄下的源碼包儲存。

[email protected]:~/ccion/code/fsl-auto-yocto-bsp/build_s32v234sbc/tmp/deploy$ ls
images  licenses  rpm
           

編完後，如上目錄images就是我們所需要的鏡像。

[email protected]:~/ccion/code/fsl-auto-yocto-bsp/build_s32v234sbc/tmp/work/aarch64-fsl-linux$ ls
acl                          boost             flac                   inputproto                  libical           libxft                          nfs-utils                   setserial
alsa-lib                     bridge-utils      flex                   iozone3                     libice            libxi                           nspr                        shadow
alsa-plugins                 busybox           fontconfig             iperf3                      libidn            libxml2                         ocv                         shadow-sysroot
apex-add                     bzip2             freetype               iproute2                    libjpeg-turbo     libxrandr                       ofono                       shared-mime-info
apexcv-basic                 cairo             gawk                   iptables                    libmnl            libxrender                      openssh                     speexdsp
apexcv-orb                   canutils          gcc                    iputils                     libmpc            libxshmfence                    openssl                     sqlite3
apexcv-remap                 cnn-classifier    gcc-runtime            isl                         libnfsidmap       libxt                           opkg-utils                  stat
apexcv-simple                consolekit        gconf                  isp-h264dec-single-stream   libnl             libxtst                         pango                       strace
apex-downsample-upsample-cv  coreutils         gd                     isp-jpeg-4stream            libnss-mdns       libxv                           pciutils                    strongswan
apex-emulation-test          cracklib          gdb                    isp-ov10635-viu-dcu         libogg            libxxf86vm                      pedestrian-detection        sysfsutils
apex-face-detection-cv       cryptodev-linux   gdbm                   isp-ov10640-quad            libpam            lighttpd                        pedestrian-detection-aggcf  sysstat
apex-fast9-cv                curl              gdk-pixbuf             isp-sonyimx224-csi-dcu      libpcap           linux-libc-headers              perl                        sysvinit
apex-gauss5x5-cv             damageproto       gettext                isp-sonyimx224-default      libpciaccess      lmbench                         pixman                      tcpdump
apex-histogram-cv            db                giflib                 isp-sonyimx224-h264enc      libpcre           lmsensors                       pkgconfig                   tcpreplay
apex-indirect-input-cv       dbus              glib-2.0               isp-sonyimx224-rgb-yuv-gs8  libpng            lrzsz                           polkit                      tcp-wrappers
apex-integral-image-cv       dbus-glib         glibc                  isp-stereo-apexbm           libpthread-stubs  lzo                             presentproto                tiff
apex-isp-face-detection-cv   demos-data        glibc-initial          isp-stereo-calib            librsvg           m4                              procps                      u-boot-environment
apex-isp-fast9               devmem2           glibc-locale           kbproto             
           

可以看到在此目錄下，就是vsdk提供過來的demo應用執行個體。