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Merge V1.0.1.33 into master
** Fix readme ** Add scripts ** Fix y12I streaming
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‎.gitignore‎

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/images
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/l4t-gcc
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/kernel_mod
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/sources_*

‎README.md‎

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# Documentation
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- NVIDIA® Jetson AGX Orin™ board setup - AGX Orin™ [JetPack 6.x](./README_JP6.md) setup guide
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- NVIDIA® Jetson AGX Orin™ board setup - AGX Orin™ [JetPack 6.0](./README_JP6.0.md) setup guide
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- NVIDIA® Jetson AGX Xavier™ board setup - AGX Xavier™ [JetPack 5.x.2](./README_JP5.md) setup guide
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- NVIDIA® Jetson AGX Xavier™ board setup - AGX Xavier™ [JetPack 4.6.1](./README_JP4.md) setup guide
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- Build Tools manual page [Build Manual page](./README_tools.md)
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# JetPack build
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- [JetPack 6.x](./README_JP6.md#build-environment-prerequisites)
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- [JetPack 6.0](./README_JP6.0.md#build-environment-prerequisites)
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- [JetPack 6.2](./README_JP6.2.md#build-environment-prerequisites)
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- [JetPack 5.x.2](./README_JP5.md#build-kernel-dtb-and-d457-driver)
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- [JetPack 4.6.1](./README_JP4.md#build-kernel-dtb-and-d457-driver)
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‎README_JP6.0.md‎

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# Intel® RealSense™ camera driver for GMSL* interface
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# D457 MIPI on NVIDIA® Jetson AGX Orin™ JetPack 6.x
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The Intel® RealSense™ MIPI platform driver enables the user to control and stream RealSense™ 3D MIPI cameras.
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The system shall include:
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* NVIDIA® Jetson™ platform Supported JetPack versions are:
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- [6.2 production release](https://developer.nvidia.com/embedded/jetpack-sdk-62)
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- [6.1 production release](https://developer.nvidia.com/embedded/jetpack-sdk-61)
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- [6.0 production release](https://developer.nvidia.com/embedded/jetpack-sdk-60)
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* RealSense™ [De-Serialize board](https://store.intelrealsense.com/buy-intel-realsense-des457.html)
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* Jetson AGX Orin™ Passive adapter board from [Leopard Imaging® LI-JTX1-SUB-ADPT](https://leopardimaging.com/product/accessories/adapters-carrier-boards/for-nvidia-jetson/li-jtx1-sub-adpt/)
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* RS MIPI camera [D457](https://store.intelrealsense.com/buy-intel-realsense-depth-camera-d457.html)
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![orin_adapter](https://github.com/dmipx/realsense_mipi_platform_driver/assets/104717350/524e3eb6-6e6b-41cf-9562-9c0f920dd821)
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> Note: This MIPI reference driver is based on RealSense™ de-serialize board. For other de-serialize boards, modification might be needed.
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### Links
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- Intel® RealSense™ camera driver for GMSL* interface [Front Page](./README.md)
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- NVIDIA® Jetson AGX Orin™ board setup - AGX Orin™ [JetPack 6.0](./README_JP6.0.md) setup guide
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- NVIDIA® Jetson AGX Xavier™ board setup - AGX Xavier™ [JetPack 5.x.2](./README_JP5.md) setup guide
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- NVIDIA® Jetson AGX Xavier™ board setup - AGX Xavier™ [JetPack 4.6.1](./README_JP4.md) setup guide
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- Build Tools manual page [Build Manual page](./README_tools.md)
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- Driver API manual page [Driver API page](./README_driver.md)
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## NVIDIA® Jetson AGX Orin™ board setup
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Please follow the [instruction](https://docs.nvidia.com/sdk-manager/install-with-sdkm-jetson/index.html) to flash JetPack to the NVIDIA® Jetson AGX Orin™ with NVIDIA® SDK Manager or other methods NVIDIA provides. Make sure the board is ready to use.
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## Build environment prerequisites
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```
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sudo apt-get install -y build-essential bc wget flex bison curl libssl-dev xxd tar
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```
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## Build NVIDIA® kernel drivers, dtb and D457 driver
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1. Clone [realsense_mipi_platform_driver](https://github.com/IntelRealSense/realsense_mipi_platform_driver.git) repo.
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2. The developers can set up build environment, ARM64 compiler, kernel sources and NVIDIA's Jetson git repositories by using the setup script.
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3. Apply patches for kernel drivers, nvidia-oot module and tegra devicetree.
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4. Build project
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5. Apply build results to target (Jetson).
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6. Configure target.
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Assuming building for 6.0. One can also build for 6.1, 6.2 just replace the last parameter.
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```
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git clone --branch dev --single-branch https://github.com/IntelRealSense/realsense_mipi_platform_driver.git
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cd realsense_mipi_platform_driver
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./setup_workspace.sh 6.0
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./apply_patches.sh 6.0
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./build_all.sh 6.0
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```
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Note: dev_dbg() log support will not be enabled by default. If needed, run the `./build_all.sh` script with `--dev-dbg` option like below.
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```
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./build_all.sh --dev-dbg 6.0
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```
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## JetPack manual build - cross compile x86-64 (CI deploy)
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[NVIDIA® JetPack 6.2: Jetson Linux 36.4.3](https://developer.nvidia.com/embedded/jetson-linux-r3643)
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1. Download Jetson Linux Driver Package - [JetPack 6.2 BSP sources](https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v4.3/release/jetson_linux_r36.4.3_aarch64.tbz2)
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2. Download Toolchain ARM64 compiler - [Bootlin Toolchain gcc 11.3](https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v3.0/toolchain/aarch64--glibc--stable-2022.08-1.tar.bz2)
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3. Apply patches for kernel drivers, nvidia-oot module and tegra devicetree.
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4. Build cross-compile project on host (Build PC) or natively on target (Jetson).
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5. Apply build results to target (Jetson).
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6. Configure target.
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```
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# JetPack 6.0
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mkdir -p l4t-gcc/6.x
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cd ./l4t-gcc/6.x
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wget https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v3.0/toolchain/aarch64--glibc--stable-2022.08-1.tar.bz2 -O aarch64--glibc--stable-final.tar.bz2
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tar xf aarch64--glibc--stable-final.tar.bz2 --strip-components 1
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cd ../..
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wget https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v4.3/sources/public_sources.tbz2
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tar xjf public_sources.tbz2
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cd Linux_for_Tegra/source
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tar xjf kernel_src.tbz2
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tar xjf kernel_oot_modules_src.tbz2
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tar xjf nvidia_kernel_display_driver_source.tbz2
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cd ../..
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./apply_patches_ext.sh 6.0 Linux_for_Tegra/source
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cp ./nvidia-oot/Makefile Linux_for_Tegra/source
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cp ./kernel/kernel-jammy-src/Makefile Linux_for_Tegra/source/kernel
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# build kernel, dtb and D457 driver
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./build_all.sh 6.0 ./Linux_for_Tegra/source
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```
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Note: dev_dbg() log support will not be enabled by default. If needed, run the `./build_all.sh` script with `--dev-dbg` option like below.
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```
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./build_all.sh --dev-dbg 6.0 ./Linux_for_Tegra/source
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```
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## Archive JetPack 6.x build results (optional)
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For 6.0 the kernel version is 5.15.136-tegra.
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- kernel image : `images/6.0/rootfs/boot/Image`
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- dtb: `images/6.0/rootfs/boot/dtb/tegra234-p3737-0000+p3701-0000-nv.dtb`
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- dtb overlay: `images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay.dtbo`
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- dtb dual camera overlay: `images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay-dual.dtbo`
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- kernel modules: `images/6.0/rootfs/lib/modules/5.15.136-tegra`
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## Backup JetPack 6.0 boot configuration and drivers (optional)
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```
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echo "Backup boot configuration"
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sudo cp /boot/tegra234-p3737-0000+p3701-0000-nv.dtb /boot/tegra234-p3737-0000+p3701-0000-nv-bkp.dtb
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# Note: If using a production board and not a dev kit copy the relevant dtb file below
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sudo cp /boot/tegra234-p3737-0000+p3701-0005-nv.dtb /boot/tegra234-p3737-0000+p3701-0005-nv-bkp.dtb
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```
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## Deploy build results on Jetson target
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On build host, copy build results to the right places.
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Assuming user 'nvidia' on Jetson with ip: `10.0.0.116` (if building natively on Jetson use $USER@localhost):
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```
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# Configuration files
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tar czf rootfs.tar.gz -C images/6.2/rootfs boot lib
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scp rootfs.tar.gz nvidia@10.0.0.116:
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```
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## Install kernel drivers, extra modules and device-tree to Jetson AGX Orin
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Following steps required:
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1. Copy build artifacts:
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If you build locally use those commands:
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```
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sudo cp -r ./images/6.0/rootfs/lib/modules/5.15.136-tegra /lib/modules/.
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sudo cp ./images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay.dtbo /boot/.
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sudo cp ./images/6.0/rootfs/boot/dtb/tegra234-p3737-0000+p3701-0000-nv.dtb /boot/dtb/.
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sudo cp ./images/6.0/rootfs/boot/Image /boot/
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```
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In case of scp copy from host use this commands:
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```
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tar xf rootfs.tar.gz
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sudo cp -r ./lib/modules/5.15.136-tegra /lib/modules/.
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sudo cp ./boot/tegra234-camera-d4xx-overlay.dtbo /boot/.
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sudo cp ./boot/dtb/tegra234-p3737-0000+p3701-0000-nv.dtb /boot/dtb/.
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sudo cp ./boot/Image /boot/
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```
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2. Run $ `sudo /opt/nvidia/jetson-io/jetson-io.py`, to exit choose save & reboot:
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1. Configure Jetson AGX CSI Connector
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2. Configure for compatible hardware
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3. Choose appropriate configuration:
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i. Jetson RealSense Camera D457
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ii. Jetson RealSense Camera D457 dual
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5. Choose to save & reboot
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3. Enable and run depmod scan for "extra" & "kernel" modules
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```
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# enable extra & kernel modules
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# original file content: cat /etc/depmod.d/ubuntu.conf -- search updates ubuntu built-in
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sudo sed -i 's/search updates/search extra updates kernel/g' /etc/depmod.d/ubuntu.conf
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# update driver cache
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sudo depmod
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echo "d4xx" | sudo tee /etc/modules-load.d/d4xx.conf
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```
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4.
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Verify bootloader configuration
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```
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cat /boot/extlinux/extlinux.conf
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----<CUT>----
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LABEL JetsonIO
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MENU LABEL Custom Header Config: <CSI Jetson RealSense Camera D457>
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LINUX /boot/Image
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FDT /boot/dtb/kernel_tegra234-p3737-0000+p3701-0000-nv.dtb
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APPEND ${cbootargs} root=PARTUUID=bbb3b34e-......
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OVERLAYS /boot/tegra234-camera-d4xx-overlay.dtbo
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----<CUT>----
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```
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On Jetson target (user home folder) assuming backup step was followed:
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### Verify driver loaded - on Jetson:
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- Driver API manual page [Driver API page](./README_driver.md)
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```
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nvidia@ubuntu:~$ sudo dmesg | grep tegra-capture-vi
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[ 9.357521] platform 13e00000.host1x:nvcsi@15a00000: Fixing up cyclic dependency with tegra-capture-vi
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[ 9.419926] tegra-camrtc-capture-vi tegra-capture-vi: ep of_device is not enabled endpoint.
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[ 9.419932] tegra-camrtc-capture-vi tegra-capture-vi: ep of_device is not enabled endpoint.
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[ 10.001170] tegra-camrtc-capture-vi tegra-capture-vi: subdev DS5 mux 9-001a bound
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[ 10.025295] tegra-camrtc-capture-vi tegra-capture-vi: subdev DS5 mux 12-001a bound
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[ 10.040934] tegra-camrtc-capture-vi tegra-capture-vi: subdev DS5 mux 13-001a bound
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[ 10.056151] tegra-camrtc-capture-vi tegra-capture-vi: subdev DS5 mux 14-001a bound
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[ 10.288088] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound
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[ 10.324025] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound
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[ 10.324631] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound
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[ 10.325056] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound
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nvidia@ubuntu:~$ sudo dmesg | grep d4xx
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[ 9.443608] d4xx 9-001a: Probing driver for D45x
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[ 9.983168] d4xx 9-001a: ds5_chrdev_init() class_create
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[ 9.989521] d4xx 9-001a: D4XX Sensor: DEPTH, firmware build: 5.15.1.0
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[ 10.007813] d4xx 12-001a: Probing driver for D45x
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[ 10.013899] d4xx 12-001a: D4XX Sensor: RGB, firmware build: 5.15.1.0
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[ 10.025787] d4xx 13-001a: Probing driver for D45x
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[ 10.029095] d4xx 13-001a: D4XX Sensor: Y8, firmware build: 5.15.1.0
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[ 10.041282] d4xx 14-001a: Probing driver for D45x
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[ 10.044759] d4xx 14-001a: D4XX Sensor: IMU, firmware build: 5.15.1.0
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```
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### Known issues
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- Camera not recognized
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Verify I2C MUX detected. If "probe failed" reported, replace extension board adapter (LI-JTX1-SUB-ADPT).
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```
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nvidia@ubuntu:~$ sudo dmesg | grep pca954x
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[ 3.933113] pca954x 2-0072: probe failed
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```
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- Configuration with jetson-io tool system fail to boot with message "couldn't find root partition"
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Verify bootloader configuration
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`/boot/extlinux/extlinux.conf`
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Sometimes configuration tool missing APPEND parameters. Duplicate `primary` section `APPEND` line to `JetsonIO` `APPEND` section, verify it's similar.
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Example Bad:
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```
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LABEL primary
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MENU LABEL primary kernel
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LINUX /boot/Image
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INITRD /boot/initrd
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APPEND ${cbootargs} root=PARTUUID=634b7e44-aacc-4dd9-a769-3a664b83b159 rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 console=ttyAMA0,115200 firmware_class.path=/etc/firmware fbcon=map:0 net.ifnames=0 nospectre_bhb video=efifb:off console=tty0 nv-auto-config
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LABEL JetsonIO
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MENU LABEL Custom Header Config: <CSI Jetson RealSense Camera D457 dual>
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LINUX /boot/Image
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FDT /boot/dtb/kernel_tegra234-p3737-0000+p3701-0000-nv.dtb
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INITRD /boot/initrd
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APPEND ${cbootargs}
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OVERLAYS /boot/tegra234-camera-d4xx-overlay-dual.dtbo
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```
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Example Good:
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```
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LABEL primary
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MENU LABEL primary kernel
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LINUX /boot/Image
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INITRD /boot/initrd
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APPEND ${cbootargs} root=PARTUUID=634b7e44-aacc-4dd9-a769-3a664b83b159 rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 console=ttyAMA0,115200 firmware_class.path=/etc/firmware fbcon=map:0 net.ifnames=0 nospectre_bhb video=efifb:off console=tty0 nv-auto-config
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LABEL JetsonIO
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MENU LABEL Custom Header Config: <CSI Jetson RealSense Camera D457 dual>
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LINUX /boot/Image
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FDT /boot/dtb/kernel_tegra234-p3737-0000+p3701-0000-nv.dtb
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INITRD /boot/initrd
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APPEND ${cbootargs} root=PARTUUID=634b7e44-aacc-4dd9-a769-3a664b83b159 rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 console=ttyAMA0,115200 firmware_class.path=/etc/firmware fbcon=map:0 net.ifnames=0 nospectre_bhb video=efifb:off console=tty0 nv-auto-config
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OVERLAYS /boot/tegra234-camera-d4xx-overlay-dual.dtbo
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```
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- Configuration tool jetson-io terminates without configuration menu.
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verify that `/boot/dtb` has only one dtb file
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```
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nvidia@ubuntu:~$ ls /boot/dtb/
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kernel_tegra234-p3737-0000+p3701-0000-nv.dtb
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```
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- kernel does not recognize the I2C device
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```
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# Make sure which Jetson Carrier board is used:
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# p3701-0000 → Dev kit carrier board
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# p3701-0005 → Production carrier board or custom carrier
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# if you have the *0005* board, replace the relevant dtb file in in the instructions above
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Example:
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sudo cat /proc/device-tree/compatible
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Output:
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nvidia,p3701-0000
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```
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### Notes
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- With the introduction of meta data support for depth IR starting from release r/1.0.1.27, calibration format streaming requires a separate DTB that disables meta data since the camera does not metadata in calibration mode.
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- If calibration is needed, it's recommended to add `d457_calib` boot option as shown below.
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```
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LABEL primary
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MENU LABEL primary kernel
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LINUX /boot/Image
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INITRD /boot/initrd
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APPEND ${cbootargs} root=PARTUUID=634b7e44-aacc-4dd9-a769-3a664b83b159 rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 console=ttyAMA0,115200 firmware_class.path=/etc/firmware fbcon=map:0 net.ifnames=0 nospectre_bhb video=efifb:off console=tty0 nv-auto-config
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LABEL JetsonIO
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MENU LABEL Custom Header Config: <CSI Jetson RealSense Camera D457 dual>
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LINUX /boot/Image
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FDT /boot/dtb/kernel_tegra234-p3737-0000+p3701-0000-nv.dtb
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INITRD /boot/initrd
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APPEND ${cbootargs} root=PARTUUID=634b7e44-aacc-4dd9-a769-3a664b83b159 rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 console=ttyAMA0,115200 firmware_class.path=/etc/firmware fbcon=map:0 net.ifnames=0 nospectre_bhb video=efifb:off console=tty0 nv-auto-config
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OVERLAYS /boot/tegra234-camera-d4xx-overlay-dual.dtbo
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LABEL JetsonIO_calib
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MENU LABEL Custom Header Config: <CSI Jetson RealSense Camera D457 dual - Calibration>
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LINUX /boot/Image
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FDT /boot/dtb/kernel_tegra234-p3737-0000+p3701-0000-nv.dtb
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INITRD /boot/initrd
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APPEND ${cbootargs} root=PARTUUID=634b7e44-aacc-4dd9-a769-3a664b83b159 rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 console=ttyAMA0,115200 firmware_class.path=/etc/firmware fbcon=map:0 net.ifnames=0 nospectre_bhb video=efifb:off console=tty0 nv-auto-config
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OVERLAYS /boot/tegra234-camera-d4xx-overlay-dual.calib.dtbo
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```
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- To generate `tegra234-camera-d4xx-overlay.calib.dtbo` and `tegra234-camera-d4xx-overlay-dual.calib.dtbo` on the Host build system, replace the contents of the below files:
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`tegra234-camera-d4xx-overlay.dts` by the contents of `tegra234-camera-d4xx-overlay.calib.dts`
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`tegra234-camera-d4xx-overlay-dual.dts` by the contents of `tegra234-camera-d4xx-overlay-dual.calib.dts`
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- Reset and reapply patches and rebuild driver:
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```
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./apply_patches.sh 6.0 reset
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./apply_patches.sh 6.0
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./build_all.sh 6.0
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```
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- Deploy 2 DTBO files on the Jetson:
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- In `./images/6.0/rootfs/boot/` folder, locate and rename the following DTBO files:
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- Rename `tegra234-camera-d4xx-overlay.dtbo` to `tegra234-camera-d4xx-overlay.calib.dtbo`
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- Rename `tegra234-camera-d4xx-overlay-dual.dtbo` to `tegra234-camera-d4xx-overlay-dual.calib.dtbo`
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- Copy the two DTBO files from the build Host to `/boot/` on the Jetson.
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---

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