Horizon Journey 5 评估开发套件测评信息提炼

1.1、包装与箱内配置

测评对象为地平线征程 5 评估开发套件（Horizon Journey 5 Evaluation and Development Kit）：

1. 外包装：开盖式印刷纸箱；

2. 箱内分层布局：共两层收纳，首层放置电源适配器、各类配套线束等配件，第二层放置征程 5 评估开发套件主机本体。

1.2、技术资料获取渠道

1.3、套件补充基础定位（社区配套信息）

该套件是基于征程 5 车规芯片的开发验证平台，适配自动驾驶算法开发、性能评测，配套专用 Open Explorer 算法工具链，支持 PTQ/QAT 量化、模型编译、板端推理开发，相关问题可在社区技术问答板块咨询交流。

 

1.4套件内容物

Horizon Journey 5 评估开发套件全套配件清单：

· 征程 5 评估开发套件主体 ×1

· MINI50 线束 ×4

· RJ45 通用以太网线 ×1

· 单腔千兆以太网线束 ×1

· 电源接口红黑线 ×1

· 电源适配器及适配器线束 ×1

1.5征程 5（Journey5 / J5）芯片简介

征程 5（简称 J5）是地平线 2021 年推出，面向自动驾驶领域的低功耗、高性能车规 AI 算法处理器。

核心计算单元

· CPU：八核 CortexA55

· DSP：双核 Vision P6

· BPU 算法加速器：双核，采用贝叶斯（Bayes）架构，BPU 算力 128TOPS。

补充（可按需选用）：BPU 为地平线自研深度学习加速核，面向自动驾驶软硬协同优化，适配感知、多传感器融合、预测规划等智驾算法任务。

1.6 片上系统

征程 5（J5）芯片架构

征程 5 为异构车规 SoC，芯片内部包含 CPU、双 BPU、外设、内存、图像、视频、AON 常供电域、功能安全等多个子系统。CPU 子系统搭载 8 核 CortexA55，配套多级 Cache 与 GIC 中断控制器；双核 BPU Core 采用贝叶斯架构，提供 128TOPS AI 算力。芯片配置双路 32bit LPDDR4/4X（4267Mbps），拥有 2MB 片上 SRAM。外设子系统集成 PCIE GEN3、支持 TSN 的千兆以太网、CANFD、OSPI、SDIO、多组 I2C/SPI/UART/PWM 等车载常用接口。相机子系统具备多路 MIPI CSI2 收发接口、双 ISP、图像金字塔、GDC 畸变校正拼接、IDU 图像解压缩单元；CV 子系统集成双核 Vision P6 DSP 与光流加速单元；Video 子系统支持 MJPEG、H.265 编解码。芯片设有独立 AON 常供电子系统，用于电源管理、时钟复位、安全控制、RTC 及唤醒管理；Safety 功能安全子系统内置锁步 MCU、多路看门狗等模块，支撑车载功能安全应用。

 

 

 

 

二Horizon Journey 5 Evaluation and Development Kit 设备启动

1、Horizon Journey 5 Evaluation and Development Kit 上位机驱动安装

双击“CDM212364_Setup.exe”；

.点击“Extract”；

.点击“下一页”；

.点击“我接受这个协议（A）”，点击“下一页”；

.等待安装完成，点击“完成”。

2、接入电源

3、USB-B型连接线插入开发板连接器

 

2.打开Putty，选择第三个新增的端口，波特率为921600；

3.获得如下日志即为连接成功。

打印日志如下

NOTICE:  Speed: 0, BootSrc: 0

NOTICE:  Booting Trusted Firmware

NOTICE:  BL1: v1.4(release):j5_rom_v1.1_rc2

NOTICE:  BL1: Built : 11:06:02, Dec 11 2021

NOTICE:  Waiting connect ...

NOTICE:  Loading image id=1 at address 0x20001000

NOTICE:  Image id=1 loaded: 0x20001000 - 0x20019590

NOTICE:  BL1: Booting BL2

NOTICE:  Entry point address = 0x20001000

NOTICE:  SPSR = 0x3cd

U-Boot SPL 2018.09-00404-g3501f1e922a2 (Feb 16 2023 - 23:21:18 +0800)

BUILD_FLAGS: M:-1 M AV:0 E:0

SPL: Waiting connect ...

mcore boot

Mcore: success!!

ddr: dtype_vref: 72 mV: S:00000000

Find module HB_DDRI sha:0x000000000eb4c7d6, ver: 0x01010000, init: 0000000020403ae8, param: 0000000020503898

Find module HB_DDRP sha:0x000000000eb4c7d6, ver: 0x01010000, init: 00000000204010f8, param: 00000000205038d0

Trying to boot from HB_BLK

[BL31:1970:1:1:0:0:1:515846](0) NOTICE:  BL31: v2.1(release):j5-fiq-test-447-g6764dc1f3-dirty

[BL31:1970:1:1:0:0:1:516998](0) NOTICE:  BL31: Built : 18:46:19, Apr 12 2023

pdu_get_version version 0x8965

spacc->config.num_sec_ctx: 0

SPACC ID: (00008965)

   MAJOR      : 6

   MINOR      : 5

   QOS        : 1

   IVIMPORT   : 1

   TYPE       : 0 (SPACC)

   AUX        : 1

   IDX        : 0

   PARTIAL    : 1

   PROJECT    : 0

SPACC CFG: (17721010)

   CTX CNT    : 16

   RC4 CNT    : 16

   VSPACC CNT : 2

   CIPH SZ    :    HASH SZ    :    DMA TYPE   : 1 (Scattergather)

   MAX PROCLEN: 1048575 bytes

   FIFO CONFIG :

      CMD0 DEPTH: 8

      CMD1 DEPTH: 8

      CMD2 DEPTH: 32

      STAT DEPTH: 32

[BL31:1970:1:1:0:0:1:525500](0) NOTICE:  EPN-200a Random Number Generator (stepping: 0)

[BL31:1970:1:1:0:0:1:526574](0) NOTICE:  Supports 256-bit output mode

[BL31:1970:1:1:0:0:1:527435](0) NOTICE:  Supports true random reseed function

In:    uart@43B90000

Out:   uart@43B90000

Err:   uart@43B90000

Net:

Warning: ethernet@59110000 (eth0) using random MAC address - fa:43:5a:0a:0f:93

eth0: ethernet@59110000

Warning: ethernet@59120000 (eth1) using random MAC address - 36:4d:f5:7a:ad:db

, eth1: ethernet@59120000

SF: Detected mt35xu512g with page size 256 Bytes, erase size 32 KiB, total 64 MiB

Could not find a valid device for spi6.0

mtd:spi-flash1 has find!.flash_num:1

flash:1 BInfo slot: 0 at addr: 00010000, mtd Address:00010200

mtdparts magic:ffffffff, mtdparts len:-1

info: mtdparts magic:ffffffff is not equal to 544f4248

boot_mode: 0

ANDROID: Booting slot: a

setup_boot_action: boot action 0x5242c300

Hit any key to stop autoboot:  0

ANDROID: Booting slot: a

Using slot a

slot_suffix = _a

boot partition: boot_a

Using Secure boot

## Android Verified Boot 2.0 version 1.1.0

hashtree_desc.root_digest_len : 32

avb descriptor tag hashtree verify success!

Verification passed successfully

Can't find partition 'system'

Can't find partition 'system'

Can't find partition 'app'

Can't find partition 'system'

Can't find partition 'system'

no ipaddr exist in uboot-env

Android's image name: j5

Kernel load addr 0x89200000 size 14527 KiB

= board_type: 0x00000524

    Model: Horizon AI Technologies, Inc. HOBOT Matrix 5 P2 D

      - dtb_type: 0x00000614

      - dtb_type: 0x00000624

    Model: Horizon AI Technologies, Inc. HOBOT Matrix 5 duo a sample

      - dtb_type: 0x00000651

    Model: Horizon Robotics Journey 5 DVB

      - dtb_type: 0x00000503

      - dtb_type: 0x00000513

      - dtb_type: 0x00000533

    Model: Horizon AI Technologies, Inc. HOBOT j5 FPGA RTL0.9 pre3

      - dtb_type: 0x00000401

    Model: Horizon AI Technologies, Inc. HOBOT Matrix 5 C

      - dtb_type: 0x00000603

    Model: Horizon Robotics Journey 5 DVB D

      - dtb_type: 0x00000505

      - dtb_type: 0x00000515

      - dtb_type: 0x00000535

    Model: Horizon Robotics Journey 5 EVM2 RC

      - dtb_type: 0x00000524

   Uncompressing Kernel Image ... OK

   kernel loaded to 0x89200000, end = 0x8b039008

   Using Device Tree in place at 00000000bd030800, end 00000000bd064c7f

Fail to find cfi,hyperbus-nor at fdt_fixup_mtdparts_hb

Reserve uboot images at 88000000 -> 8817A758

Reserve uboot gd & malloc region at 82FFBE20 -> 83000000

Reserve memory after relocated at BB7E0480 -> C0000000

Set Carveout Mem [ion_carveout] Size to 0x0000000080000000 @0xc0000000

Set Reserved carveout Mem [ion_reserved] Size to 0x0000000030000000 @0x140000000

Set Reserve Mem [ion_cma] Size to 0x0000000010000000 @0x170000000

Starting kernel ...

Timer summary in microseconds (34 records):

       Mark    Elapsed  Stage

          0          0  reset

    432,574    432,574  spl

    445,875     13,301  after_spl_sdhc_pre_init

    445,880          5  hb_module_load_apdp_begin

    611,838    165,958  hb_module_load_apdp_end

    662,123     50,285  finish_hb_set_bootdevice

    797,944    135,821  spl_dram_init_begin

    797,948          4  spl_dram_init_ddr_vref

    800,942      2,994  spl_dram_init_pmic_init

  1,051,062    250,120  spl_dram_init_ddr_init_param

  1,195,416    144,354  end_spl

  1,528,899    333,483  board_init_f

  1,590,774     61,875  before_board_early_init_f

  1,590,799         25  after_board_early_init_f

  1,600,203      9,404  display_text_info

  1,600,233         30  dram_init

  1,641,693     41,460  board_init_r

  1,666,026     24,333  initr_mmc

  1,774,886    108,860  initr_env

  1,775,663        777  id=64

  1,780,925      5,262  id=65

  1,787,833      6,908  before_last_stage_init

  1,799,538     11,705  after_last_stage_init

  1,799,538          0  main_loop

  2,273,728    474,190  bootm_start

  2,273,730          2  id=1

  2,342,212     68,482  id=7

  2,389,321     47,109  id=15

  2,389,574        253  start_kernel

Accumulated time:

                   185  dm_spl

                16,020  dm_r

                61,858  dm_f

               135,814  spl_mcore_boot

               253,132  spl_dram_init

[BL31:1970:1:1:0:0:3:585373](0) NOTICE:  hobot_customer_key_load 599:custom_root_pubkey load successed!keyhandle 0x80127020

[BL31:1970:1:1:0:0:3:587080](0) NOTICE:  hobot_customer_key_load 612:custom_sec_prikey load successed!keyhandle 0x80127078

[BL31:1970:1:1:0:0:3:588659](0) NOTICE:  hobot_customer_key_load 625:custom_cloud_pubkey load successed!keyhandle 0x801270d0

login[311]: root login on 'console'

root@j5dvb:~# log_mount_point is /log

deploy_mount_point is /ota

mark system success(normal boot)

[M:1970:01:01:00:00:04:676022] E: prepare_dynamic_fchm_setting : 411

[M:1970:01:01:00:00:04:687021] E: finish_dynamic_fchm_setting : 411

[M:1970:01:01:00:00:04:709104] E: setting fchm for 2nd

[M:1970:01:01:00:00:04:710578] E: last ce magic info: 73 38 3 65535

[M:1970:01:01:00:00:05:299080] E: acore_msg: 73-33-3-65535

[M:1970:01:01:00:00:05:299735] E: payload: 0x0-0x0-0x0-0x0

[M:1970:01:01:00:00:05:300525] E: magic id: 33

[M:1970:01:01:00:00:05:301060] E: magic info: 73 33 3 65535

[M:1970:01:01:00:00:05:329065] E: prepare_dynamic_fchm_setting : 434

[M:1970:01:01:00:00:05:339083] E: finish_dynamic_fchm_setting : 434

[M:1970:01:01:00:00:05:879079] E: acore_msg: 73-38-3-65535

[M:1970:01:01:00:00:05:879734] E: payload: 0x0-0x0-0x0-0x0

[M:1970:01:01:00:00:05:880525] E: magic id: 34

[M:1970:01:01:00:00:05:881060] E: magic info: 73 38 3 65535

root@j5dvb:~#

root@j5dvb:~#

root@j5dvb:~#