R/1.0.1.23 (#322)

Author: ymodlin

.github/workflows/build-jp5.yml .github/workflows/build-jp502.yml.github/workflows/build-jp5.yml renamed to .github/workflows/build-jp502.yml

@@ -1,4 +1,4 @@
-name: C/C++ CI
+name: Build JP 5.0.2
 
 on:
   push:
@@ -8,6 +8,8 @@ on:
   pull_request:
     branches: ['**']
 
+permissions: read-all
+
 jobs:
   build:
 

.github/workflows/build-jp512.yml

@@ -0,0 +1,25 @@
+name: Build JP 5.1.2
+
+on:
+  push:
+    branches:
+    - master
+    - dev
+  pull_request:
+    branches: ['**']
+
+permissions: read-all
+
+jobs:
+  build:
+
+    runs-on: ubuntu-20.04
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: setup workspace
+      run: yes | ./setup_workspace.sh 5.1.2
+    - name: apply patches
+      run: git config --global user.email "builder@example.com" && git config --global user.name "builder" && ./apply_patches.sh apply 5.1.2
+    - name: build
+      run: ./build_all.sh 5.1.2

.github/workflows/build-jp6.yml

@@ -0,0 +1,25 @@
+name: Build JP 6.0 
+
+on:
+  push:
+    branches:
+    - master
+    - dev
+  pull_request:
+    branches: ['**']
+
+permissions: read-all
+
+jobs:
+  build:
+
+    runs-on: ubuntu-22.04
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: setup workspace
+      run: yes | ./setup_workspace.sh 6.0
+    - name: apply patches
+      run: git config --global user.email "builder@example.com" && git config --global user.name "builder" && ./apply_patches.sh apply 6.0
+    - name: build
+      run: ./build_all.sh 6.0

README.md

@@ -1,231 +1,41 @@
 # Intel® RealSense™ camera driver for GMSL* interface
 
-# D457 MIPI on Jetson AGX Xavier
-The RealSense MIPI platform driver enables the user to control and stream RealSense 3D MIPI cameras.
+# D457 MIPI on NVIDIA® Jetson AGX Xavier™ and AGX Orin™
+The RealSense™ MIPI platform driver enables the user to control and stream RealSense™ 3D MIPI cameras.
 The system shall include:
-* Jetson platform (Currently Supported JetPack versions are: 6.0, 5.1.2, 5.0.2, 4.6.1)
+* NVIDIA® Jetson platform (Currently Supported JetPack versions are: 6.0, 5.1.2, 5.0.2, 4.6.1)
 * RealSense De-Serialize board (https://store.intelrealsense.com/buy-intel-realsense-des457.html)
+* NVIDIA® 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/)
 * RS MIPI camera (e.g. https://store.intelrealsense.com/buy-intel-realsense-depth-camera-d457.html)
 
 > Note: This MIPI reference driver is based on RealSense de-serialize board. For other de-serialize boards, modification might be needed. 
 
 ![image](https://user-images.githubusercontent.com/64067618/216807681-ed679a79-71d6-43ab-bfde-e0abb019b72d.png)
 
 
-## Jetson AGX Xavier board setup
+# Documentation
 
-Please follow the [instruction](https://docs.nvidia.com/sdk-manager/install-with-sdkm-jetson/index.html) 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
-
-The developers can set up the source code with NVIDIA's Jetson git repositories by using the provided setup script:
-
-```
-# Using setup script, recommended for developers. If JetPack version is not given, default version will be chosen.
-./setup_workspace.sh [JetPack_version]
-```
-
-Or download Jetson Linux source code tarball from 
-- [JetPack 6.0-DP BSP sources](https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v2.0/sources/public_sources.tbz2)
-- [JetPack 5.1.2 BSP sources](https://developer.nvidia.com/downloads/embedded/l4t/r35_release_v4.1/sources/public_sources.tbz2) 
-- [JetPack 5.0.2 BSP sources](https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/sources/public_sources.tbz2) 
-- [JetPack 4.6.1 BSP sources](https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/sources/t186/public_sources.tbz2)
-
-```
-# JetPack 6.0
-mkdir -p l4t-gcc/6.0
-cd ./l4t-gcc/6.0
-wget https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v2.0/toolchain/aarch64--glibc--stable-2022.08-1.tar.bz2 -O aarch64--glibc--stable-final.tar.bz2
-tar xf aarch64--glibc--stable-final.tar.bz2 --strip-components 1
-cd ../..
-wget https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v2.0/sources/public_sources.tbz2
-tar xjf public_sources.tbz2
-cd Linux_for_Tegra/source
-tar xjf kernel_src.tbz2
-tar xjf kernel_oot_modules_src.tbz2
-tar xjf nvidia_kernel_display_driver_source.tbz2
-
-# JetPack 5.1.2
-mkdir -p l4t-gcc/5.1.2
-cd ./l4t-gcc/5.1.2
-wget https://developer.nvidia.com/embedded/jetson-linux/bootlin-toolchain-gcc-93 -O aarch64--glibc--stable-final.tar.gz
-tar xf aarch64--glibc--stable-final.tar.gz
-cd ../..
-wget https://developer.nvidia.com/downloads/embedded/l4t/r35_release_v4.1/sources/public_sources.tbz2
-tar xjf public_sources.tbz2
-cd Linux_for_Tegra/source/public
-tar xjf kernel_src.tbz2
-
-# JetPack 5.0.2
-mkdir -p l4t-gcc/5.0.2
-cd ./l4t-gcc/5.0.2
-wget https://developer.nvidia.com/embedded/jetson-linux/bootlin-toolchain-gcc-93 -O aarch64--glibc--stable-final.tar.gz
-tar xf aarch64--glibc--stable-final.tar.gz --strip-components 1
-cd ../..
-wget https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/sources/public_sources.tbz2
-tar xjf public_sources.tbz2
-cd Linux_for_Tegra/source/public
-tar xjf kernel_src.tbz2
-
-# JetPack 4.6.1
-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
-```
-
-Apply D457 patches and build the kernel image, dtb and D457 driver.
-
-```
-# if using setup script
-./apply_patches.sh [--one-cam | --dual-cam] apply [JetPack_version]
-
-# or, if using direct download method
-# ./apply_patches_ext.sh [--one-cam | --dual-cam] ./Linux_for_tegra/source/public [JetPack_version]
-# for JP6.0, source path is ./Linux_for_tegra/source :
-# ./apply_patches_ext.sh ./Linux_for_tegra/source 6.0
-
-Note: The `--one-cam` and `--dual-cam` option applies only for JetPack 5.0.2,
-compatible with adapter: https://store.intelrealsense.com/buy-intel-realsense-des457.html.
-By setting the `--one-cam` option it builds DT with only camera on GMSL link A (default).
-By setting the `--dual-cam` option it builds DT with dual cameras on GMSL link A and B.
-The default is to single camera configuration for JetPack 5.0.2.
-
-# build kernel, dtb and D457 driver
-# install dependencies
-sudo apt install build-essential bc flex bison
-# method 1: build kernel Debian packages
-./build_all_deb.sh [--no-dbg-pkg] [JetPack_version] [JetPack_source_dir]
-# method 2: build kernel and modules only
-./build_all.sh [JetPack_version] [JetPack_source_dir]
-
-# remove our patches from JetPack kernel source code if using setup script
-# ./apply_patches.sh reset [JetPack_version]
-```
-
-Debian packages will be generated in `images` folder.
-
-## Install kernel and D457 driver to Jetson Orin
-<details>
-<summary>JP6.0 build results</summary>
-
-- kernel image (not modified): `images/6.0/rootfs/boot/Image`
-- dtb overlay: `images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay.dtbo`
-- oot modules: `images/6.0/rootfs/lib/modules/5.15.122-tegra/extra`
-
-Following steps required:
-
-1.	Copy entire directory `images/6.0/rootfs/lib/modules/5.15.122-tegra/extra/` from host to `/lib/modules/5.15.122-tegra/extra/` on Orin
-2.	Copy `tegra234-camera-d4xx-overlay.dtbo` from host to `/boot/tegra234-camera-d4xx-overlay.dtbo` on Orin
-3.	Run  $ `sudo /opt/nvidia/jetson-io/jetson-io.py`
-    1.	Configure Jetson AGX CSI Connector
-    2.	Configure for compatible hardware
-    3.	Jetson RealSense Camera D457
-    4.	$ `sudo depmod`
-    5.	$ `echo "d4xx" | sudo tee /etc/modules-load.d/d4xx.conf`
-4.	Reboot
-
-Copy them to the right places:
+- NVIDIA® Jetson AGX Orin™ board setup - AGX Orin™ [JetPack 6.0](./README_JP6.md) setup guide
+- NVIDIA® Jetson AGX Xavier™ board setup - AGX Xavier™ [JetPack 5.x.2](./README_JP5.md) setup guide
+- NVIDIA® Jetson AGX Xavier™ board setup - AGX Xavier™ [JetPack 4.6.1](./README_JP4.md) setup guide
+- Build Tools manual page [Build Manual page](./README_tools.md)
+- Driver API manual page [Driver API page](./README_driver.md)
 
-```
-scp -r images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay.dtbo nvidia@10.0.0.116:~/
-scp -r images/6.0/rootfs/lib/modules/5.15.122-tegra/extra nvidia@10.0.0.116:~/
-# RealSense metadata patched kernel modules
-scp -r images/6.0/rootfs/lib/modules/5.15.122-tegra/kernel/drivers/media/v4l2-core/videodev.ko nvidia@10.0.0.116:~/
-scp -r images/6.0/rootfs/lib/modules/5.15.122-tegra/kernel/drivers/media/usb/uvc/uvcvideo.ko nvidia@10.0.0.116:~/
-# Kernel Image with SENSOR_HID support for RealSense USB cameras with IMU
-scp -r images/6.0/rootfs/boot/Image nvidia@10.0.0.116:~/
-```
+## NVIDIA® Jetson AGX Xavier™ and AGX Orin™ board setup
 
-on target:
-
-```
-sudo cp ~/tegra234-camera-d4xx-overlay.dtbo /boot/
-# backup:
-sudo tar -cjf /lib/modules/$(uname -r)/modules_$(uname -r)_extra.tar.bz2 /lib/modules/$(uname -r)/extra
-sudo cp -r ~/extra /lib/modules/$(uname -r)/
-# enable RealSense metadata:
-sudo cp uvcvideo.ko /lib/modules/5.15.122-tegra/kernel/drivers/media/usb/uvc/uvcvideo.ko
-sudo cp videodev.ko /lib/modules/5.15.122-tegra/kernel/drivers/media/v4l2-core/videodev.ko
-# backup kernel (better to have additional boot entry in extlinux.conf)
-sudo cp /boot/Image /boot/Image.orig
-sudo cp Image /boot/Image
-```
-
-Enable d4xx overlay:
-
-With Jetson-IO tool:
-`sudo /opt/nvidia/jetson-io/jetson-io.py`
-
-1.	Configure Jetson AGX CSI Connector
-2.	Configure for compatible hardware
-3.	Jetson RealSense Camera D457
-
-With command line
-
-`sudo /opt/nvidia/jetson-io/config-by-hardware.py -n 2="Jetson RealSense Camera D457"`
-
-Expected:
-```
-nvidia@ubuntu:~$ sudo /opt/nvidia/jetson-io/config-by-hardware.py -n 2="Jetson RealSense Camera D457"
-Configuration saved to /boot/tegra234-camera-d4xx-overlay.dtbo.
-Reboot system to reconfigure.
-```
-Enable d4xx autoload:
-
-`echo "d4xx" | sudo tee /etc/modules-load.d/d4xx.conf`
-
-`sudo depmod`
-
----
-
-</details>
-
-## Install kernel and D457 driver to Jetson AGX Xavier
-
-1. Install the kernel and modules
-
-1.1 If building with `build_all_deb.sh`
-
-Copy the Debian package `linux-image-5.10.104-d457_5.10.104-d457-1_arm64.deb` to the Jetson AGX Xavier board and install with `sudo dpkg -i linux-image-5.10.104-d457_5.10.104-d457-1_arm64.deb`. The header, libc-dev, dbg and firmware packages are optional.
-
-1.2 If building with `build_all.sh`
-
-The necessary files are:
-
-- kernel image `images/<JetPack_version>/arch/arm64/boot/Image`
-- dtb `images/<JetPack_version>/arch/arm64/boot/dts/nvidia/tegra194-p2888-0001-p2822-0000.dtb`, or `images/4.6.1/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb` for JetPack 4.6.1.
-- D457 driver `images/<JetPack_version>/drivers/media/i2c/d4xx.ko`
-- UVC Video driver `images/<JetPack_version>/drivers/media/usb/uvc/uvcvideo.ko`
-- V4L2 Core Video driver `images/<JetPack_version>/drivers/media/v4l2-core/videobuf-core.ko`
-- V4L2 VMalloc Video driver `images/<JetPack_version>/drivers/media/v4l2-core/videobuf-vmalloc.ko`
-
-And copy them to the right places:
-```
-sudo cp Image /boot
-sudo cp tegra194-p2888-0001-p2822-0000.dtb /boot/dtb
-sudo cp d4xx.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/i2c/
-sudo cp uvcvideo.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/usb/uvc/
-sudo cp videobuf-core.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/v4l2-core/
-sudo cp videobuf-vmalloc.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/v4l2-core/
-sudo depmod
-```
+Please follow the [instruction](https://docs.nvidia.com/sdk-manager/install-with-sdkm-jetson/index.html) 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.
 
-2. Edit `/boot/extlinux/extlinux.conf` primary boot option's LINUX/FDT lines to use built kernel image and dtb file:
+**NOTE** : On Jetsons with modified factory setup modifications to build and deploy steps should be made by developer.
 
-```
-LINUX /boot/Image-5.10.104-d457
-FDT /usr/lib/linux-image-5.10.104-d457/tegra194-p2888-0001-p2822-0000.dtb
-```
+# JetPack build
 
-3. Make D457 I2C module autoload at boot time: `echo "d4xx" | sudo tee /etc/modules-load.d/d4xx.conf`
+- [JetPack 6.0](./README_JP6.md#build-environment-prerequisites)
+- [JetPack 5.1.2](./README_JP5.md#build-kernel-dtb-and-d457-driver)
+- [JetPack 5.0.2](./README_JP5.md#build-kernel-dtb-and-d457-driver)
+- [JetPack 4.6.1](./README_JP4.md#build-kernel-dtb-and-d457-driver)
 
-After rebooting Jetson, the D457 driver should work.
+### Verify driver after installation
+- Driver API manual page [Driver API page](./README_driver.md)
 
 **NOTE**