替换内核
【非本机替换内核】
在这里也可以像本机替换内核一样直接执行#make，但本文将编译内核和编译模块分开来执行，但原理和结果是一样的。
1）编译内核：
#make bzImage
内核编译成功后，会在源码树根目录即linux-3.12.5/arch/x86_64/boot/目录中生成一个新内核的映像文件bzImage。
注：对于大内核（比如需要SCSI支持），make bzImage (推荐)
对于小内核，make zImage。
2）编译模块：
#make modules
编译可加载模块（即内核选项中选择为M的选项），以便将来使用insmod命令进行加载。编译时间跟M选项的数量有关。
3）安装模块：
#make modules_install
即将编译好的modules拷贝到/lib/modules下。
4）安装内核：
由于不是本机替换内核，所以我们需要将新生成的内核文件拷贝到要替换内核的机器上。需要拷贝的内核文件为主要有4个，分别是：.config，bzImage，System.map 和系统/lib/modules/linux-3.12.5目录。
具体操作如下：
（1）将生成的linux-3.12.5/.config 拷贝到要替换内核系统的/boot下，并重命名为config-3.12.5
（2）将生成的linux-3.12.5/arch/x86-64/boot/bzImage 拷贝到要替换内核系统的/boot下，并重命名为vmlinuz-3.12.5（注：这里需特别注意拷贝后的文件名变为vmlinuz-x.x.x）。
（3）将生成的linux-3.12.5/System.map 拷贝到要替换内核系统的/boot下，并重命名为System.map-3.12.5
（4）将make modules_install生成的系统目录/lib/modules/linux-3.12.5 拷贝到要替换内核系统的/lib/modules下。
（5）在要替换新内核的系统的/lib/modules目录下执行以下命令：
$ sudo update-initramfs -c -k4.4.179-rk3399，生成/boot/initrd.img-4.4.179-rk3399
$ sudo update-grub（或#update-grub2）, 更新启动加载文件。
make ARCH=arm64 nanopi4-images -j20
sudo make install
FriendlyArm调用mipi脚本
cd /tmp/
git clone https://github.com/friendlyarm/gst-camera-sh.git
sudo cp gst-camera-sh/*.sh /usr/bin/
$ gst-camera.sh
Start MIPI CSI Camera Preview [/dev/video0] ...
XCAM INFO device_manager.cpp:90: open /usr/lib/libcam_ia.so successed
XCAM INFO device_manager.cpp:96: open /usr/lib/libcam_engine_cifisp.so successed
XCAM INFO device_manager.cpp:106: dlsym rkisp_start success
Setting pipeline to PAUSED ...
XCAM WARNING v4l2_device.cpp:171: set capture mode(0x00004000) failed but continue
XCAM INFO x3a_image_process_center.cpp:48: Add processor(IspImageProcessor) into image processor center
Pipeline is live and does not need PREROLL ...
Setting pipeline to PLAYING ...
New clock: GstSystemClock
XCAM INFO v4l2_device.cpp:322: device(/dev/video0) set format(w:1280, h:720, pixelformat:NV12, bytesperline:1280)
XCAM WARNING rkisp_device.cpp:48: atomisp device(/dev/video0) get framerate failed
XCAM ERROR rkisp_device.cpp:72: atomisp device(/dev/video0) try subdev format failed
XCAM WARNING v4l2_device.cpp:233: device(/dev/video0) pre_set_format failed
XCAM INFO v4l2_device.cpp:300: device(/dev/video0) set format(w:1280, h:720, pixelformat:NV12, bytesperline:1280,image_size:1382400)
XCAM INFO device_manager.cpp:208: device manager start, capture dev fd: 10
CAMHALInfo: CAMHALVERSION is: 2.0.9.0
CAMHALInfo: libcam_ia: 2.0.c.0
CAMHALInfo: init:tuningFile /etc/cam_iq/ov13850.xml
CAMHALInfo: load tunning file success.
AWB: AwbConfigure: AWB_VERSION_10
CAMHALInfo: rkisp_start: interface isp dev started
XCAM INFO device_manager.cpp:211: device manager isp_init _rkisp_engine:0x7f8c0020b0
XCAM INFO device_manager.cpp:216: rkisp_init engine succeed
XCAM INFO v4l2_device.cpp:473: request buffers in device(/dev/video0)
XCAM INFO v4l2_device.cpp:563: init buffer poll in device(/dev/video0), cnt: 8
XCAM INFO v4l2_device.cpp:440: device(/dev/video0) started successfully
XCAM INFO xcam_analyzer.cpp:164: Analyzer(X3aAnalyzerSimple) initialized(w:1280, h:720).
XCAM INFO xcam_analyzer.cpp:213: Analyzer(X3aAnalyzerSimple) started in async mode.
XCAM INFO image_processor.cpp:182: ImageProcessor(IspImageProcessor) started
XCAM INFO x3a_image_process_center.cpp:84: 3a process center started
AWB: AwbConfigure: AWB_VERSION_10
===================================================================================
handling interrupt.
Interrupt: Stopping pipeline ...
Execution ended after 0:04:35.964235671
Setting pipeline to PAUSED ...
Setting pipeline to READY ...
XCAM INFO xcam_analyzer.cpp:226: Analyzer(X3aAnalyzerSimple) stopped.
XCAM INFO xcam_analyzer.cpp:178: Analyzer(X3aAnalyzerSimple) deinited.
XCAM INFO device_manager.cpp:343: deinit rkisp engine
CAMHALInfo: rkisp_stop: rkisp interface ready to deinit
XCAM INFO v4l2_device.cpp:457: device(/dev/video0) stopped
Setting pipeline to NULL ...
Freeing pipeline ...
完整命令：
gst-launch-1.0 rkisp device=/dev/video1 io-mode=4 ! video/x-raw,format=NV12,width=1280,height=720,framerate=30/1 ! rkximagesink
$ vim gst-camera.sh
if [ ${CameraTypes[$icam]} = "mipi" ]; then
CMD="gst-launch-1.0 rkisp ${rkargs} io-mode=4 \
! video/x-raw,format=NV12,${PreviewModes[$icam]} \
! ${Sinks[$icam]}"
安装GStreamer
sudo apt install libgstreamer1.0-0 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出错：
no element "rkisp"
没有元素 “rkisp”，缺少插件，名称为libgsrkisp.sohttps://github.com/01org/libxcam
https://github.com/rockchip-linux/camera_engine_rkisp
$ vim productConfigs.mk line 16
CROSS_COMPILE ?= /usr/bin/
$ sudo make ARCH=arm
./autogen.sh –prefix=/home/install –nocheck
fatal: Not a git repository (or any of the parent directories): .git
ln: failed to create symbolic link ‘.git/hooks/pre-commit’: No such file or directory
+ passing argument –prefix=/home/install to configure
+ autotools version check disabled
+ options passed to configure: –prefix=/home/install
+ check for build tools: skipped version checks
patching file po/Makefile.in.in
Hunk #1 succeeded at 15 with fuzz 2 (offset 4 lines).
+ running autopoint –force…
./autogen.sh: 349: ./autogen.sh: autopoint: not found
这个问题主要是因为auto相关的工具没有安装成功，
使用apt install 安装就好了
sudo apt install autoconf automake libtool autopoint
configure: No package 'glib-2.0' found
No package 'gobject-2.0' found
No package 'gthread-2.0' found
No package 'gmodule-no-export-2.0' found
configure: error: This package requires GLib >= 2.20 to compile.
sudo apt-get install libperl-dev libgtk2.0-dev libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev
https://forum.armbian.com/topic/9528-nano-pi-m4-camera-module/
If you want to get your hands dirty i can give you briefly the steps if i recall correctly (it works on NanoPi M4, so should work on NanoPi-T4) but unfortunately, i did not take note:
a) encode/decode is done by gstreamer (decoding by mvp)
install gstreamer (if not already installed)
sudo apt install libgstreamer1.0-0 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
b) clone https://github.com/rockchip-linux/mpp , build and install it (install dependencies fisrt)
cmake -DRKPLATFORM=ON -DHAVE_DRM=ON && make
sudo make install
c) clone gstreamer-rockchip (i can't remember if i did for the -extra also)
git clone https://github.com/rockchip-linux/gstreamer-rockchip.git
cd gstreamer-rockchip
./autogen.sh --disable-rkximage
make
sudo make install
sudo ldconfig
vim ./gst/rkximage/rkx_kmsutils.c:50:3
git clone https://github.com/rockchip-linux/gstreamer-rockchip-extra
sudo ./autogen.sh
sudo make
sudo make install
sudo ldconfig
d) check if the plugins are then installed correctly
gst-inspect-1.0|grep 4l2
gst-inspect-1.0|grep rkcamsrc
gst-inspect-1.0 | grep rk
gst-inspect-1.0 rkximage
gst-inspect-1.0 rkv4l2
You will need libdrm-dev and some other dependencies i can't remember.
This steps should work on any RK3399.
Have fun.
vim ./gst/kms/gstkmsutils.c
https://github.com/rockchip-linux/camera_engine_rkisp
MIPI OV13850
GStreamer文档
https://gstreamer.freedesktop.org/documentation/installing/index.html?gi-language=c#
element总结
前面几篇较详细的介绍了v4l2src、videodecoder编码、gst-omx以及videosink显示几个element，介绍它们与其他element交互的操作流程，这一次，我们对之前的文章做一个总结。
element创建
由于一开始gstreamer在加载的时候，会扫描/usr/lib/gstreamer-1.0目录下的库并加载，识别其中的feature，并记录相关的信息。当使用到某一功能的时候，检查gstreamer core是否支持该功能，如果有，则加载相应的库，获取信息，创建相应的element实例，这样，element创建出来了。
element link
创建之后，将会添加到bin并且link element，而在通过link的时候，将会通过gst_pad_query_caps (pad, NULL)调用到相应element的查询函数。这个查询函数将会调用到element的init()函数通过gst_pad_set_query_function()设置的pad查询函数，而该查询函数在element link阶段一般都是返回pad template caps。因为这个阶段还没有进行打开设备、设备初始化等操作，不知道element真正支持的caps，但element link阶段只要查询的caps有交集即可link成功，所以问题不大。
NULL->READY
该状态下，将会进行相应的设备初始化，根据相应的class调用start()函数或者open()等函数初始化相应的硬件设备，初始化class的结构参数等。
READY->PAUSED
这一步，将会进一步申请资源，确定相应的参数设置，重要的一步，将会激活pad，激活的过程，将会调用到element init中通过gst_pad_set_activate_function()设置的pad激活函数，而在激活的同时，也将会选择相应的push模式，所以又会调用到element init通过gst_pad_set_activatemode_function()设置的pad激活模式函数。
在激活pad的时候，一般的将会设置了GST_PAD_FLAG_NEED_RECONFIGURE标志位，在element中将会有检查这个标志位，然后将会进行协商操作，在协商的过程中将会多次调用到element的pad查询函数，为什么说是多次调用呢，一开始link时调用，得到的是pad template caps，在进行设备初始化之后，将会可以查询实际的硬件，得到真正支持的caps，这样，上游将得知下游支持的caps。
caps之后，就将是接收到stream-start事件，上游告知element，将会开始传输数据，谁将负责处理EVENT呢，一般的element init中通过gst_pad_set_event_function()设置了pad的EVENT处理函数，element接收到该事件，提取相应的信息初始化结构。
虽然上面反馈了caps到上游，上游根据自身情况选择相应的caps之后，又将会发送accept-caps query，再次查询，element是否支持该caps。
上游再次得到反馈之后，将会发送caps事件到element，element接收该事件并将会set_caps。同时，上游会发送GST_QUERY_ALLOCATION查询缓冲区的属性，确定buffer pool缓冲区属性，决定时候申请buffer pool，以及激活pool等操作。
最后，就是GST_EVENT_SEGMENT和TAG EVENT。segment将描述接下来的数据时间戳范围，之后的数据都将需要在这个范围才可以正常使用。TAG则是描述数据的其他一些信息，这些，element的event处理函数将会有相应的操作。
接下来就是数据的预滚（preroll）。数据到达的时候，将会调用element init中通过gst_pad_set_chain_function()设置的chain函数。检查数据的时间戳是否在segment内，数据同步，通过preroll函数进行预滚，最后就是commit状态，进入PAUSED。
PAUSED->PLAYING
在这个过程，将会设置clock，时钟运行，chain函数接收到数据的时候，检查时间有效性，进行数据同步、处理，push到下游，发送QOS事件到上游，完成一个循环。
总结
上述的操作流程，不可能每个element都会是一样的操作，但是大致流程是差不多的，在接触一个新的插件的时候，可以通过上述的流程阅读代码，了解插件是如何操作的。当然，最好的，是可以通过捕获运行log信息来分析具体的流程。
Gstreamer常用命令
#用于检查元素的所有属性，信号，动态参数和对象层次结构
$ gst-inspect-1.0
#gst-launch-1.0是一个简单的类似脚本的命令行应用程序，可用于测试管道。
$ gst-launch-1.0
gst-launch-1.0 rkisp device=/dev/video1 io-mode=4 ! video/x-raw,format=NV12,width=1280,height=720,framerate=30/1 ! kmssink
rockchip-isp1
http://blog.iotwrt.com/media/2017/10/01/camera/
原来FriendlyElec发行版使用gstreamer-camera而不是gstreamer-plugins / extra - 我希望 - 这就是一招:) （ 来自github.com/rockchip-linux/repos ）
git clone https://github.com/rockchip-linux/gstreamer-camera
sudo ./autogen
sudo make
sudo make install查看插件扫描路径
$ echo $GST_PLUGIN_PATH#查看插件信息
$ gst-inspect-1.0 rkisp
Factory Details:
Rank none (0)
Long-name Gstreamer Plugin For Rockchip ISP Source
Klass Source/Base
Description Capture camera video with rockchip ISP support
Author Jacob Chen <cc@rock-chips.com>
Plugin Details:
Name rkisp
Description rkisp
Filename /usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstrkisp.so
Version 1.0
License unknown
Source module rkisp
Binary package librkisp
Origin URL https://github.com/01org/libxcam
GObject
+----GInitiallyUnowned
+----GstObject
+----GstElement
+----GstBaseSrc
+----GstPushSrc
+----GstXCamSrc
Implemented Interfaces:
GsXCam3AInterface
Pad Templates:
SRC template: 'src'
Availability: Always
Capabilities:
video/x-raw
format: { (string)I420, (string)YV12, (string)YUY2, (string)UYVY, (string)AYUV, (string)RGBx, (string)BGRx, (string)xRGB, (string)xBGR, (string)RGBA, (string)BGRA, (string)ARGB, (string)ABGR, (string)RGB, (string)BGR, (string)Y41B, (string)Y42B, (string)YVYU, (string)Y444, (string)v210, (string)v216, (string)NV12, (string)NV21, (string)GRAY8, (string)GRAY16_BE, (string)GRAY16_LE, (string)v308, (string)RGB16, (string)BGR16, (string)RGB15, (string)BGR15, (string)UYVP, (string)A420, (string)RGB8P, (string)YUV9, (string)YVU9, (string)IYU1, (string)ARGB64, (string)AYUV64, (string)r210, (string)I420_10BE, (string)I420_10LE, (string)I422_10BE, (string)I422_10LE, (string)Y444_10BE, (string)Y444_10LE, (string)GBR, (string)GBR_10BE, (string)GBR_10LE, (string)NV16, (string)NV24, (string)NV12_64Z32, (string)A420_10BE, (string)A420_10LE, (string)A422_10BE, (string)A422_10LE, (string)A444_10BE, (string)A444_10LE, (string)NV61, (string)P010_10BE, (string)P010_10LE, (string)IYU2, (string)VYUY, (string)GBRA, (string)GBRA_10BE, (string)GBRA_10LE, (string)GBR_12BE, (string)GBR_12LE, (string)GBRA_12BE, (string)GBRA_12LE, (string)I420_12BE, (string)I420_12LE, (string)I422_12BE, (string)I422_12LE, (string)Y444_12BE, (string)Y444_12LE }
width: [ 1, 2147483647 ]
height: [ 1, 2147483647 ]
framerate: [ 0/1, 2147483647/1 ]
Element has no clocking capabilities.
Element has no URI handling capabilities.
Pads:
SRC: 'src'
Pad Template: 'src'
Element Properties:
name : The name of the object
flags: readable, writable
String. Default: "xcamsrc0"
parent : The parent of the object
flags: readable, writable
Object of type "GstObject"
blocksize : Size in bytes to read per buffer (-1 = default)
flags: readable, writable
Unsigned Integer. Range: 0 - 4294967295 Default: 4096
num-buffers : Number of buffers to output before sending EOS (-1 = unlimited)
flags: readable, writable
Integer. Range: -1 - 2147483647 Default: -1
typefind : Run typefind before negotiating (deprecated, non-functional)
flags: readable, writable, deprecated
Boolean. Default: false
do-timestamp : Apply current stream time to buffers
flags: readable, writable
Boolean. Default: true
device : Device location
flags: readable, writable
String. Default: null
io-mode : Memory mode
flags: readable, writable
Enum "GstXCamMemoryModeType" Default: 1, "mmap"
(1): mmap - memory map mode
(2): userptr - user pointer mode
(3): overlay - overlay mode
(4): dmabuf - dmabuf mode
buffercount : buffer count
flags: readable, writable
Integer. Range: 0 - 2147483647 Default: 4
field : field
flags: readable, writable
Enum "GstXCamSrcFieldType" Default: 1, "none"
(1): none - no field
(2): top - top field
(3): bottom - bottom field
(4): interlaced - interlaced fields
(5): seq-tb - both fields sequential, top first
(6): seq-bt - both fields sequential, bottom first
(7): alternate - both fields alternating
(8): interlaced-tb - interlaced fields, top first
(9): interlaced-bt - interlaced fields, bottom first
imageprocessor : Image Processor
flags: readable, writable
Enum "GstXCamSrcImageProcessorType" Default: 0, "rkisp"
(0): rkisp - ISP image processor
analyzer : 3A Analyzer
flags: readable, writable
Enum "GstXCamSrcAnalyzerType" Default: 0, "simple"
(0): simple - simple 3A analyzer
(1): aiq - aiq 3A analyzer
(2): rockchip - dynamic 3A analyzer
(3): rockchip - rkiq 3A analyzer
path-iqf : Path to IQ file
flags: readable, writable
String. Default: "/etc/cam_iq.xml"
enable-3a : Enable 3A
flags: readable, writable
Boolean. Default: true
input-format : Input pixel format
flags: readable, writable
String. Default: ""
enable-usb : Enable USB camera
flags: readable, writable
Boolean. Default: false
fake-input : Use the specified raw file as fake input instead of live camera
flags: readable, writable
String. Default: null
由上述信息得出插件安装路径：/usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstaudiotestsrc.so
$ cd /usr/lib/aarch64-linux-gnu/gstreamer-1.0/
$ ldd libgstrkisp.so
linux-vdso.so.1 (0x0000007fa8c5a000)
libgstbase-1.0.so.0 => /usr/lib/aarch64-linux-gnu/libgstbase-1.0.so.0 (0x0000007fa8b40000)
libgstreamer-1.0.so.0 => /usr/lib/aarch64-linux-gnu/libgstreamer-1.0.so.0 (0x0000007fa8a11000)
libgobject-2.0.so.0 => /usr/lib/aarch64-linux-gnu/libgobject-2.0.so.0 (0x0000007fa89b3000)
libglib-2.0.so.0 => /usr/lib/aarch64-linux-gnu/libglib-2.0.so.0 (0x0000007fa88a5000)
libgstallocators-1.0.so.0 => /usr/lib/aarch64-linux-gnu/libgstallocators-1.0.so.0 (0x0000007fa8891000)
libgstvideo-1.0.so.0 => /usr/lib/aarch64-linux-gnu/libgstvideo-1.0.so.0 (0x0000007fa87fe000)
librkisp.so => /usr/lib/librkisp.so (0x0000007fa8570000)
libstdc++.so.6 => /usr/lib/aarch64-linux-gnu/libstdc++.so.6 (0x0000007fa83dd000)
libpthread.so.0 => /lib/aarch64-linux-gnu/libpthread.so.0 (0x0000007fa83b1000)
libgcc_s.so.1 => /lib/aarch64-linux-gnu/libgcc_s.so.1 (0x0000007fa838d000)
libc.so.6 => /lib/aarch64-linux-gnu/libc.so.6 (0x0000007fa8234000)
/lib/ld-linux-aarch64.so.1 (0x0000007fa8c2f000)
libgmodule-2.0.so.0 => /usr/lib/aarch64-linux-gnu/libgmodule-2.0.so.0 (0x0000007fa8220000)
libm.so.6 => /lib/aarch64-linux-gnu/libm.so.6 (0x0000007fa8166000)
libdl.so.2 => /lib/aarch64-linux-gnu/libdl.so.2 (0x0000007fa8151000)
libffi.so.6 => /usr/lib/aarch64-linux-gnu/libffi.so.6 (0x0000007fa8139000)
libpcre.so.3 => /lib/aarch64-linux-gnu/libpcre.so.3 (0x0000007fa80c7000)
liborc-0.4.so.0 => /usr/lib/aarch64-linux-gnu/liborc-0.4.so.0 (0x0000007fa804e000)
libdrm.so.2 => /usr/lib/aarch64-linux-gnu/libdrm.so.2 (0x0000007fa802f000)
#查看插件信息
$ gst-inspect-1.0
...
...
Total count: 249 plugins (3 blacklist entries not shown), 1398 features
有三个插件在黑名单
#查看黑名单插件
$ gst-inspect-1.0 -b
Blacklisted files:
libgstkmssink.so
librockchip_vpu.so
librockchip_mpp.so
Total count: 3 blacklisted files
$ cd ~/.cache/gstreamer-1.0
$ sudo rm registry.aarch64.bin
$ sudo GST_DEBUG=2,GST_PLUGIN_LOADING:5,GST_REGISTRY:5 gst-inspect-1.0
#验证插件信息
gst-inspect-1.0 ./libgstkmssink.so
#如果能找到信息，将该插件移到/usr/lib/aarch64-linux-gnu/gstreamer-1.0/目录
#如果找不到，将插件文件移到/usr/lib/aarch64-linux-gnu/目录
#安装rkisp插件后，执行 sudo gst-camera.sh
报错：
(gst-launch-1.0:5411): GStreamer-WARNING **: 07:18:44.346: Failed to load plugin '/usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstkms.so': /usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstkms.so: undefined symbol: gst_video_overlay_install_properties
WARNING: erroneous pipeline: no element "kmssink"
https://github.com/rockchip-linux/gstreamer-rockchip/issues/12
7082
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