Getting Started

When you get a standard PCIe-GL26 from Neousys, it is already flashed with our pre-built system image on Jetson Xavier NX. We expect our customers can begin their development right away. This guide aims to provide the essential steps to help you to build the first running sample.

The guide is divided into several topics:

• The 4-Pin DIP Switch

• Prepare Your Host Machine

• Manually Set 10GbE NIC IP

• Streaming with AC-AR0233 or AC-IMX390 on the Host Machine

The 4-Pin DIP Switch

The 4-Pin DIP switch is our minimal design to put PCIe-GL26 into various modes, e.g.,

• Make NX boot into OS, or boot into recovery mode for flashing

• Config PCIe-GL26 powered by PCIe connector of the host machine or powered by external 12V DC via 4-pin terminal block.

• Change board ID, which leads to various default IPs of the 10GbE on the NX side

Please make sure you have read 4-Pin DIP Switch before testing PCIe-GL26.

Prepare Your Host Machine

In the following guide, we expect the "host machine" to be an x86 computer with Ubuntu 18.04.5 installed. The host machine has at least an x2 Gen3 slot to accommodate the PCIe-GL26. To reach the 60C operating temperature of PCIe-GL26, the host machine is expected to have minimal airflow for the PCIe cards.

Quick Installation

We have prepared a quick installation. You may download and install it via the following script

wget https://github.com/qshiwu/NRU-Public/raw/main/gl26_hostside_x64.tar.gz
tar zxvf gl26_hostside_x64.tar.gz
cd 02-Host-Side-x64
sudo ./install.sh

The detailed installed package will be explained one by one in the following section, Manual Installation.

Manual Installation

The quick install guide will install the following packages.

sudo apt update

• ifconfig

sudo apt install -y net-tools

• git

sudo apt-get install git  2>/dev/null 1>/dev/null

• ssh

# Install SSH 
sudo apt-get install openssh-server
sudo service ssh start 

# Make SSH start after booting
sudo systemctl enable ssh 

# Check SSH Status
sudo systemctl status ssh.service

# Allow SSH on Firewall
sudo ufw allow ssh 

• GStreamer plugins

sudo apt-get install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-doc gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio 
sudo apt install gstreamer1.0-plugins-bad

• PCIe-GL26 shutdown helper

This is a short service that will be installed under /etc/init.d

While the host machine is shutdown down, this script will send software shutdown to every PCIe-GL26 via 10GbE and ask the host to wait for 10 sec for the PCIe-GL26 shutdown process.

cd 02-gentle-shutdown-gl26
sudo ./install_stop_script.sh

• 10GbE NIC driver

cd 01-AQC113CS/driver/Linux
sudo make clean
sudo make
sudo make load
sudo make install

Manually Set 10GbE NIC IP

After the previous driver, you will see a 10GbE NIC, "Aquantia Ethernet Connection", in the network manager.

Please refer to 4-Pin DIP Switch to set the manual IP on the host side based on the board ID. For example, for Board ID#0, please set 26.26.50.51 for the 10GbE NIC on the host.

Streaming with AC-AR0233 or AC-IMX390 on the Host Machine

By default, PCIe-GL26 with streaming with 6x AC-IMX390 cameras to 26.26.50.50. If you are using AC-AR0233, please change the data.cfg on /home/nvidia/Desktop/PCIe-GL26-Release/GMSL2-Camera-Release of the Jetson NX side.

# data.cfg
CAM_MODEL="AC-IMX390"  #Options: AC-IMX390, AC-AR0233
DETECTED_CAM="0 1 2 3 4 5 "
TRIGGER_MODE="FREERUN" #Options: FREERUN, MCU
VIDEO_ENCODE="RAW" #Options: RAW, H264
VIDEO_STREAMING="HOST" #Options: STANDALONE, HOST

Then you can test the new settings by executing sudo ./init_GMSL2.sh of /home/nvidia/Desktop/PCIe-GL26-Release/GMSL2-Camera-Release

Display the Streaming Video on the Host Machine

Firstly, you may check the 10GbE device name via ifconfig . In the following sample code, we will use enp1s0 as example.

AC-IMX390, AC-AR0233

sudo -s

sudo ifconfig enp1s0 mtu 16000
sudo /sbin/sysctl -w net.core.rmem_max=671088640
sudo /sbin/sysctl -w net.core.wmem_max=671088640
sudo /sbin/sysctl -w net.core.rmem_default=671088640
sudo /sbin/sysctl -w net.core.wmem_default=671088640


# Host (30FPS)
gnome-terminal -- gst-launch-1.0 udpsrc buffer_size=9216000 port=10000 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8,  width=(string)1920, height=(string)1080, colorimetry=(string)BT601-5, payload=(int)96, a-framerate=(string)30" ! rtpjitterbuffer latency=30 ! rtpvrawdepay ! videoconvert ! fpsdisplaysink name=fps video-sink=xvimagesink sync=false 
gnome-terminal -- gst-launch-1.0 udpsrc buffer_size=9216000 port=10001 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8,  width=(string)1920, height=(string)1080, colorimetry=(string)BT601-5, payload=(int)96, a-framerate=(string)30" ! rtpjitterbuffer latency=30 ! rtpvrawdepay ! videoconvert ! fpsdisplaysink name=fps video-sink=xvimagesink sync=false 
gnome-terminal -- gst-launch-1.0 udpsrc buffer_size=9216000 port=10002 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8,  width=(string)1920, height=(string)1080, colorimetry=(string)BT601-5, payload=(int)96, a-framerate=(string)30" ! rtpjitterbuffer latency=30 ! rtpvrawdepay ! videoconvert ! fpsdisplaysink name=fps video-sink=xvimagesink sync=false
gnome-terminal -- gst-launch-1.0 udpsrc buffer_size=9216000 port=10003 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8,  width=(string)1920, height=(string)1080, colorimetry=(string)BT601-5, payload=(int)96, a-framerate=(string)30" ! rtpjitterbuffer latency=30 ! rtpvrawdepay ! videoconvert ! fpsdisplaysink name=fps video-sink=xvimagesink sync=false
gnome-terminal -- gst-launch-1.0 udpsrc buffer_size=9216000 port=10004 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8,  width=(string)1920, height=(string)1080, colorimetry=(string)BT601-5, payload=(int)96, a-framerate=(string)30" ! rtpjitterbuffer latency=30 ! rtpvrawdepay ! videoconvert ! fpsdisplaysink name=fps video-sink=xvimagesink sync=false
gnome-terminal -- gst-launch-1.0 udpsrc buffer_size=9216000 port=10005 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8,  width=(string)1920, height=(string)1080, colorimetry=(string)BT601-5, payload=(int)96, a-framerate=(string)30" ! rtpjitterbuffer latency=30 ! rtpvrawdepay ! videoconvert ! fpsdisplaysink name=fps video-sink=xvimagesink sync=false

Then, you will see all the GMSL2 cameras streaming on the host machine!

TierIV-C1

sudo -s

sudo ifconfig enp1s0 mtu 16000
sudo /sbin/sysctl -w net.core.rmem_max=671088640
sudo /sbin/sysctl -w net.core.wmem_max=671088640
sudo /sbin/sysctl -w net.core.rmem_default=671088640
sudo /sbin/sysctl -w net.core.wmem_default=671088640


# Host (30FPS)
gnome-terminal -- gst-launch-1.0 udpsrc buffer_size=9216000 port=10000 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8,  width=(string)1920, height=(string)1280, colorimetry=(string)BT601-5, payload=(int)96, a-framerate=(string)30" ! rtpjitterbuffer latency=30 ! rtpvrawdepay ! videoconvert ! fpsdisplaysink name=fps video-sink=xvimagesink sync=false 
gnome-terminal -- gst-launch-1.0 udpsrc buffer_size=9216000 port=10001 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8,  width=(string)1920, height=(string)1280, colorimetry=(string)BT601-5, payload=(int)96, a-framerate=(string)30" ! rtpjitterbuffer latency=30 ! rtpvrawdepay ! videoconvert ! fpsdisplaysink name=fps video-sink=xvimagesink sync=false 
gnome-terminal -- gst-launch-1.0 udpsrc buffer_size=9216000 port=10002 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8,  width=(string)1920, height=(string)1280, colorimetry=(string)BT601-5, payload=(int)96, a-framerate=(string)30" ! rtpjitterbuffer latency=30 ! rtpvrawdepay ! videoconvert ! fpsdisplaysink name=fps video-sink=xvimagesink sync=false
gnome-terminal -- gst-launch-1.0 udpsrc buffer_size=9216000 port=10003 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8,  width=(string)1920, height=(string)1280, colorimetry=(string)BT601-5, payload=(int)96, a-framerate=(string)30" ! rtpjitterbuffer latency=30 ! rtpvrawdepay ! videoconvert ! fpsdisplaysink name=fps video-sink=xvimagesink sync=false
gnome-terminal -- gst-launch-1.0 udpsrc buffer_size=9216000 port=10004 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8,  width=(string)1920, height=(string)1280, colorimetry=(string)BT601-5, payload=(int)96, a-framerate=(string)30" ! rtpjitterbuffer latency=30 ! rtpvrawdepay ! videoconvert ! fpsdisplaysink name=fps video-sink=xvimagesink sync=false
gnome-terminal -- gst-launch-1.0 udpsrc buffer_size=9216000 port=10005 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8,  width=(string)1920, height=(string)1280, colorimetry=(string)BT601-5, payload=(int)96, a-framerate=(string)30" ! rtpjitterbuffer latency=30 ! rtpvrawdepay ! videoconvert ! fpsdisplaysink name=fps video-sink=xvimagesink sync=false

AC-IMX490

sudo -s

sudo ifconfig enp1s0 mtu 16000
sudo /sbin/sysctl -w net.core.rmem_max=671088640
sudo /sbin/sysctl -w net.core.wmem_max=671088640
sudo /sbin/sysctl -w net.core.rmem_default=671088640
sudo /sbin/sysctl -w net.core.wmem_default=671088640


# Host (30FPS)
gnome-terminal -- gst-launch-1.0 udpsrc buffer_size=9216000 port=10000 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8,  width=(string)2880, height=(string)1860, colorimetry=(string)BT601-5, payload=(int)96, a-framerate=(string)30" ! rtpjitterbuffer latency=30 ! rtpvrawdepay ! videoconvert ! fpsdisplaysink name=fps video-sink=xvimagesink sync=false 
gnome-terminal -- gst-launch-1.0 udpsrc buffer_size=9216000 port=10001 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8,  width=(string)2880, height=(string)1860, colorimetry=(string)BT601-5, payload=(int)96, a-framerate=(string)30" ! rtpjitterbuffer latency=30 ! rtpvrawdepay ! videoconvert ! fpsdisplaysink name=fps video-sink=xvimagesink sync=false 
gnome-terminal -- gst-launch-1.0 udpsrc buffer_size=9216000 port=10002 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8,  width=(string)2880, height=(string)1860, colorimetry=(string)BT601-5, payload=(int)96, a-framerate=(string)30" ! rtpjitterbuffer latency=30 ! rtpvrawdepay ! videoconvert ! fpsdisplaysink name=fps video-sink=xvimagesink sync=false
gnome-terminal -- gst-launch-1.0 udpsrc buffer_size=9216000 port=10003 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8,  width=(string)2880, height=(string)1860, colorimetry=(string)BT601-5, payload=(int)96, a-framerate=(string)30" ! rtpjitterbuffer latency=30 ! rtpvrawdepay ! videoconvert ! fpsdisplaysink name=fps video-sink=xvimagesink sync=false
gnome-terminal -- gst-launch-1.0 udpsrc buffer_size=9216000 port=10004 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8,  width=(string)2880, height=(string)1860, colorimetry=(string)BT601-5, payload=(int)96, a-framerate=(string)30" ! rtpjitterbuffer latency=30 ! rtpvrawdepay ! videoconvert ! fpsdisplaysink name=fps video-sink=xvimagesink sync=false
gnome-terminal -- gst-launch-1.0 udpsrc buffer_size=9216000 port=10005 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8,  width=(string)2880, height=(string)1860, colorimetry=(string)BT601-5, payload=(int)96, a-framerate=(string)30" ! rtpjitterbuffer latency=30 ! rtpvrawdepay ! videoconvert ! fpsdisplaysink name=fps video-sink=xvimagesink sync=false

Our sample program will do video streaming with different port according to board ID.

Board ID #0: port 10000 to 10005

Board ID #1: port 10010 to 10015

Board ID #2: port 10020 to 10025

Board ID #3: port 10030 to 10035

H264 Streaming

• Update PCIe-GL26 /home/nvidia/Desktop/PCIe-GL26-Release/GMSL2-Camera-Release/data.cfg with H264 settings, e.g.,

CAM_MODEL="AC-IMX390"  #Options: AC-IMX390, AC-AR0233
DETECTED_CAM="0 1 2 3 4 5 "
TRIGGER_MODE="FREERUN" #Options: FREERUN, MCU
VIDEO_ENCODE="H264" #Options: RAW, H264
VIDEO_STREAMING="HOST" #Options: STANDALONE, HOST

• Reboot PCIe-GL26

• On Host, open H264 encoded stream without NVIDIA GPU card

gnome-terminal -- gst-launch-1.0 -v udpsrc port=10000 ! "application/x-rtp, encoding-name=H264, media=video, clock-rate=90000, packetization-mode=1, payload=96, a-framerate=60" ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! fpsdisplaysink name=fps video-sink=ximagesink sync=false
gnome-terminal -- gst-launch-1.0 -v udpsrc port=10001 ! "application/x-rtp, encoding-name=H264, media=video, clock-rate=90000, packetization-mode=1, payload=96, a-framerate=60" ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! fpsdisplaysink name=fps video-sink=ximagesink sync=false
gnome-terminal -- gst-launch-1.0 -v udpsrc port=10002 ! "application/x-rtp, encoding-name=H264, media=video, clock-rate=90000, packetization-mode=1, payload=96, a-framerate=60" ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! fpsdisplaysink name=fps video-sink=ximagesink sync=false
gnome-terminal -- gst-launch-1.0 -v udpsrc port=10003 ! "application/x-rtp, encoding-name=H264, media=video, clock-rate=90000, packetization-mode=1, payload=96, a-framerate=60" ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! fpsdisplaysink name=fps video-sink=ximagesink sync=false
gnome-terminal -- gst-launch-1.0 -v udpsrc port=10004 ! "application/x-rtp, encoding-name=H264, media=video, clock-rate=90000, packetization-mode=1, payload=96, a-framerate=60" ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! fpsdisplaysink name=fps video-sink=ximagesink sync=false
gnome-terminal -- gst-launch-1.0 -v udpsrc port=10005 ! "application/x-rtp, encoding-name=H264, media=video, clock-rate=90000, packetization-mode=1, payload=96, a-framerate=60" ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! fpsdisplaysink name=fps video-sink=ximagesink sync=false

• On Host, open H264 encoded stream on Jetson computers

gst-launch-1.0 -v udpsrc port=10000 ! "application/x-rtp, encoding-name=H264, media=video, clock-rate=90000, packetization-mode=1, payload=96, a-framerate=60" ! rtpjitterbuffer ! rtph264depay ! h264parse ! nvv4l2decoder  enable-max-performance=1 ! nvvidconv ! fpsdisplaysink video-sink=xvimagesink
gst-launch-1.0 -v udpsrc port=10001 ! "application/x-rtp, encoding-name=H264, media=video, clock-rate=90000, packetization-mode=1, payload=96, a-framerate=60" ! rtpjitterbuffer ! rtph264depay ! h264parse ! nvv4l2decoder  enable-max-performance=1 ! nvvidconv ! fpsdisplaysink video-sink=xvimagesink
gst-launch-1.0 -v udpsrc port=10002 ! "application/x-rtp, encoding-name=H264, media=video, clock-rate=90000, packetization-mode=1, payload=96, a-framerate=60" ! rtpjitterbuffer ! rtph264depay ! h264parse ! nvv4l2decoder  enable-max-performance=1 ! nvvidconv ! fpsdisplaysink video-sink=xvimagesink
gst-launch-1.0 -v udpsrc port=10003 ! "application/x-rtp, encoding-name=H264, media=video, clock-rate=90000, packetization-mode=1, payload=96, a-framerate=60" ! rtpjitterbuffer ! rtph264depay ! h264parse ! nvv4l2decoder  enable-max-performance=1 ! nvvidconv ! fpsdisplaysink video-sink=xvimagesink
gst-launch-1.0 -v udpsrc port=10004 ! "application/x-rtp, encoding-name=H264, media=video, clock-rate=90000, packetization-mode=1, payload=96, a-framerate=60" ! rtpjitterbuffer ! rtph264depay ! h264parse ! nvv4l2decoder  enable-max-performance=1 ! nvvidconv ! fpsdisplaysink video-sink=xvimagesink
gst-launch-1.0 -v udpsrc port=10005 ! "application/x-rtp, encoding-name=H264, media=video, clock-rate=90000, packetization-mode=1, payload=96, a-framerate=60" ! rtpjitterbuffer ! rtph264depay ! h264parse ! nvv4l2decoder  enable-max-performance=1 ! nvvidconv ! fpsdisplaysink video-sink=xvimagesink