# FG24-4CH ZEDX

- 升级固件(FG12_4CH_ONXA_ZEDX_R35.4.1.zip)
- 下载[ZED X SDK](https://www.stereolabs.com/developers/release/) 工具并安装
- 通过如下一些命令进行Debug

```bash
nvidia@nvidia-desktop:~$ i2cdetect -y -r 9
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:          -- -- -- -- -- -- -- -- -- -- -- -- -- 
10: UU -- -- -- -- -- -- -- UU 19 -- -- -- -- -- -- 
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
40: -- -- -- -- -- -- -- -- UU 49 -- -- -- -- -- -- 
50: -- -- -- -- 54 55 -- -- 58 59 -- -- -- -- -- -- 
60: -- -- 62 -- -- -- -- -- -- 69 -- -- -- -- -- -- 
70: UU -- -- -- -- -- -- -- 

nvidia@nvidia-desktop:~$ v4l2-ctl --list-devices -d /dev/video0
NVIDIA Tegra Video Input Device (platform:tegra-camrtc-ca):
	/dev/media0

vi-output, mux 9-0010 (platform:tegra-capture-vi:0):
	/dev/video0
	/dev/video1

nvidia@nvidia-desktop:~$ ls /dev/video*
/dev/video0  /dev/video1

nvidia@nvidia-desktop:~$ v4l2-ctl --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
	Type: Video Capture

	[0]: 'BA10' (10-bit Bayer GRGR/BGBG)
		Size: Discrete 1920x1200
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
		Size: Discrete 960x600
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.008s (120.000 fps)
		Size: Discrete 1920x1080
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.017s (60.000 fps)

```

```bash

ZED SDK for JetPack 5.1.2 (L4T 35.4)4.0 (Jetson Xavier, Orin AGX/NX/Nano, CUDA 11.4)
ZED SDK for JetPack 5.1.1 (L4T 35.3)4.0 (Jetson Xavier, Orin AGX/NX/Nano, CUDA 11.4)
ZED SDK for JetPack 5.1 (L4T 35.2)4.0 (Jetson Xavier, Orin AGX/NX 16GB, CUDA 11.4)
ZED SDK for JetPack 5.0 (L4T 35.1)4.0 (Jetson Xavier, Orin AGX, CUDA 11.4)
ZED SDK for JetPack 4.6.X (L4T 32.7)4.0 (Jetson Nano, TX2/TX2 NX, CUDA 10.2)

#SDK文档
https://www.stereolabs.com/docs/get-started-with-zed-x/jetson-agx-devkit-setup/

#安装
$sudo apt install zstd

$chmod +x ZED_SDK_Tegra_L4TXXX.zstd.run

$./ZED_SDK_Tegra_L4TXXX.zstd.run

#等待安装完成后，可以查看到如下一些命令
nvidia@nvidia-desktop:~$ 
ZED360             ZED_Calibration    ZED_Depth_Viewer   ZED_Diagnostic     ZED_Explorer       ZEDfu              ZED_Sensor_Viewer  ZED_SVO_Editor     ZEDX_Daemon 


```