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Intel® RealSense™ camera driver for GMSL* interface on NVIDIA® Jetson AGX Xavier™ JetPack 4.6.1

D457 MIPI on NVIDIA® Jetson AGX Xavier™

The Intel® RealSense™ MIPI platform driver enables the user to control and stream RealSense 3D MIPI cameras.

The system shall include:

Note: This MIPI reference driver is based on RealSense™ de-serialize board. For other de-serialize boards, modification might be needed.

Links

NVIDIA® Jetson AGX Xavier™ board setup for cross compile on x86-64

Please follow the instruction to flash JetPack to the Jetson AGX Xavier™ with NVIDIA® SDK Manager or other methods NVIDIA provides. Make sure the board is ready to use.

Build kernel, dtb and D457 driver - cross compile x86-64

JetPack 4.6.1 manual build

Download Jetson Linux source code tarball from

JetPack 4.6.1 manual workspace setup

mkdir -p l4t-gcc/4.6.1
cd ./l4t-gcc/4.6.1
wget http://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/aarch64-linux-gnu/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz
tar xf gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz --strip-components 1
cd ../..
wget https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/sources/t186/public_sources.tbz2
tar xjf public_sources.tbz2
cd Linux_for_Tegra/source/public
tar xjf kernel_src.tbz2
cd ../../..

Apply D457 patches and build the kernel image, dtb and D457 driver.

# install dependencies
sudo apt install build-essential bc flex bison

# apply patches
./apply_patches_ext.sh 4.6.1 ./Linux_for_Tegra/source/public

# remove BUILD_NUMBER env dependency kernel vermagic
sed -i s/'UTS_RELEASE=\$(KERNELRELEASE)-ab\$(BUILD_NUMBER)'/'UTS_RELEASE=\$(KERNELRELEASE)'/g ./Linux_for_Tegra/source/public/kernel/kernel-4.9/Makefile
sed -i 's/the-space :=/E =/g' ./Linux_for_Tegra/source/public/kernel/kernel-4.9/scripts/Kbuild.include
sed -i 's/the-space += /the-space = \$E \$E/g' ./Linux_for_Tegra/source/public/kernel/kernel-4.9/scripts/Kbuild.include

# build kernel, dtb and D457 driver
./build_all.sh 4.6.1 ./Linux_for_Tegra/source/public
# Debian build
# ./build_all_deb.sh --no-dbg-pkg 4.6.1 ./Linux_for_Tegra/source/public

The developers can set up the source code with NVIDIA's Jetson git repositories by using the provided scripts.

  • Prepare build workspace for cross-compile on host
  • Apply necessary patches
  • Build workspace
  • Deploy build results on target Jetson
# prepare workspace
./setup_workspace.sh 4.6.1

# apply patches
./apply_patches.sh 4.6.1

# install dependencies
sudo apt install build-essential bc flex bison

# build kernel, dtb and D457 driver

# method 2: build kernel and modules only
./build_all.sh 4.6.1

Debian build:

./build_all_deb.sh [--no-dbg-pkg] 4.6.1

Debian packages will be generated in images folder.

Install kernel, device-tree and D457 driver to Jetson AGX Xavier

  1. Install the kernel and modules

1.2 If building with build_all.sh

The necessary files are:

  • kernel image images/4.6.1/arch/arm64/boot/Image
  • dtb images/4.6.1/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb
  • D457 driver images/4.6.1/drivers/media/i2c/d4xx.ko
  • UVC Video driver images/4.6.1/drivers/media/usb/uvc/uvcvideo.ko
  • V4L2 Core Video driver images/4.6.1/drivers/media/v4l2-core/videobuf-core.ko
  • V4L2 VMalloc Video driver images/4.6.1/drivers/media/v4l2-core/videobuf-vmalloc.ko

Copy them to the right places on Jetson target:

sudo cp Image /boot
sudo cp tegra194-p2888-0001-p2822-0000.dtb /boot/dtb
sudo cp d4xx.ko /lib/modules/$(uname -r)/kernel/drivers/media/i2c/
sudo cp uvcvideo.ko /lib/modules/$(uname -r)/kernel/drivers/media/usb/uvc/
sudo cp videobuf-core.ko /lib/modules/$(uname -r)/kernel/drivers/media/v4l2-core/
sudo cp videobuf-vmalloc.ko /lib/modules/$(uname -r)/kernel/drivers/media/v4l2-core/
sudo depmod
  1. Edit /boot/extlinux/extlinux.conf primary boot option's LINUX/FDT lines to use built kernel image and dtb file:
LINUX /boot/Image
FDT /boot/dtb/tegra194-p2888-0001-p2822-0000.dtb
  1. Make D457 I2C module autoload at boot time: echo "d4xx" | sudo tee /etc/modules-load.d/d4xx.conf

After rebooting Jetson, the D457 driver should work.

Verify driver

Available directives on max9295/max9296 register setting

  • Dump registers
cat /sys/bus/i2c/drivers/max9295/30-0040/register_dump
cat /sys/bus/i2c/drivers/max9296/30-0048/register_dump
  • Dump setting version
cat /sys/module/max9295/parameters/max9295_setting_verison
cat /sys/module/max9296/parameters/max9296_setting_verison
  • Disable updating setting dynamically (updating setting manually by running script). 0 means disable updating setting dynamically, while 1 means enable updating setting dynamically.
echo 0 | sudo tee /sys/module/max9295/parameters/max9295_dynamic_update
echo 0 | sudo tee /sys/module/max9296/parameters/max9296_dynamic_update
  • Refresh max9295/max9295 register values, this is used for forcely set serdes setting when necessary
echo 1 | sudo tee /sys/bus/i2c/drivers/max9295/30-0040/refresh_setting
echo 1 | sudo tee /sys/bus/i2c/drivers/max9296/30-0048/refresh_setting

NOTE

  • It's recommended to save the original kernel image as backup boot option in /boot/extlinux/extlinux.conf.