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

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name: C/C++ CI
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name: Build JP 5.0.2
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pull_request:
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branches: ['**']
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permissions: read-all
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runs-on: ubuntu-20.04
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v3
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- uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 #v3
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- name: setup workspace
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run: yes | ./setup_workspace.sh 5.0.2
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- name: apply patches

‎.github/workflows/build-jp512.yml‎

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name: Build JP 5.1.2
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on:
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branches:
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- master
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- dev
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branches: ['**']
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permissions: read-all
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runs-on: ubuntu-latest
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- uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 #v3
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- name: setup workspace
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run: yes | ./setup_workspace.sh 5.1.2
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- name: apply patches
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run: git config --global user.email "builder@example.com" && git config --global user.name "builder" && ./apply_patches.sh apply 5.1.2
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- name: build
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run: ./build_all.sh 5.1.2

‎.github/workflows/build-jp6.yml‎

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name: Build JP 6.0
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- master
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- dev
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permissions: read-all
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- uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 #v3
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- name: setup workspace
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run: yes | ./setup_workspace.sh 6.0
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- name: apply patches
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run: git config --global user.email "builder@example.com" && git config --global user.name "builder" && ./apply_patches.sh apply 6.0
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- name: build
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run: ./build_all.sh 6.0

‎README.md‎

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# Intel® RealSense™ camera driver for GMSL* interface
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# D457 MIPI on Jetson AGX Xavier
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The RealSense MIPI platform driver enables the user to control and stream RealSense 3D MIPI cameras.
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# D457 MIPI on NVIDIA® Jetson AGX Xavier™ and AGX Orin™
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The 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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* Jetson platform (Currently Supported JetPack versions are: 6.0, 5.1.2, 5.0.2, 4.6.1)
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* RealSense De-Serialize board (https://store.intelrealsense.com/buy-intel-realsense-des457.html)
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* NVIDIA® Jetson platform (Currently Supported JetPack versions are: 6.0, 5.1.2, 5.0.2, 4.6.1)
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* De-Serialize board
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* 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/)
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* RS MIPI camera (e.g. https://store.intelrealsense.com/buy-intel-realsense-depth-camera-d457.html)
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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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![image](https://user-images.githubusercontent.com/64067618/216807681-ed679a79-71d6-43ab-bfde-e0abb019b72d.png)
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## Jetson AGX Xavier board setup
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# Documentation
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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 Jetson AGX Xavier with NVIDIA SDK Manager or other methods NVIDIA provides. Make sure the board is ready to use.
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## Build kernel, dtb and D457 driver
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The developers can set up the source code with NVIDIA's Jetson git repositories by using the provided setup script:
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```
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# Using setup script, recommended for developers. If JetPack version is not given, default version will be chosen.
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./setup_workspace.sh [JetPack_version]
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```
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Or download Jetson Linux source code tarball from
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- [JetPack 6.0-DP BSP sources](https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v2.0/sources/public_sources.tbz2)
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- [JetPack 5.1.2 BSP sources](https://developer.nvidia.com/downloads/embedded/l4t/r35_release_v4.1/sources/public_sources.tbz2)
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- [JetPack 5.0.2 BSP sources](https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/sources/public_sources.tbz2)
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- [JetPack 4.6.1 BSP sources](https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/sources/t186/public_sources.tbz2)
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```
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# JetPack 6.0
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mkdir -p l4t-gcc/6.0
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cd ./l4t-gcc/6.0
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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
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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_v2.0/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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# JetPack 5.1.2
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mkdir -p l4t-gcc/5.1.2
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cd ./l4t-gcc/5.1.2
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wget https://developer.nvidia.com/embedded/jetson-linux/bootlin-toolchain-gcc-93 -O aarch64--glibc--stable-final.tar.gz
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tar xf aarch64--glibc--stable-final.tar.gz
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cd ../..
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wget https://developer.nvidia.com/downloads/embedded/l4t/r35_release_v4.1/sources/public_sources.tbz2
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tar xjf public_sources.tbz2
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cd Linux_for_Tegra/source/public
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tar xjf kernel_src.tbz2
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# JetPack 5.0.2
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mkdir -p l4t-gcc/5.0.2
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cd ./l4t-gcc/5.0.2
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wget https://developer.nvidia.com/embedded/jetson-linux/bootlin-toolchain-gcc-93 -O aarch64--glibc--stable-final.tar.gz
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tar xf aarch64--glibc--stable-final.tar.gz --strip-components 1
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cd ../..
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wget https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/sources/public_sources.tbz2
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tar xjf public_sources.tbz2
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cd Linux_for_Tegra/source/public
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tar xjf kernel_src.tbz2
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# JetPack 4.6.1
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mkdir -p l4t-gcc/4.6.1
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cd ./l4t-gcc/4.6.1
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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
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tar xf gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz --strip-components 1
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cd ../..
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wget https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/sources/t186/public_sources.tbz2
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tar xjf public_sources.tbz2
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cd Linux_for_Tegra/source/public
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tar xjf kernel_src.tbz2
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```
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- NVIDIA® Jetson AGX Orin™ board setup - AGX Orin™ [JetPack 6.0](./README_JP6.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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Apply D457 patches and build the kernel image, dtb and D457 driver.
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## NVIDIA® Jetson AGX Xavier™ and AGX Orin™ board setup
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```
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# if using setup script
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./apply_patches.sh [--one-cam | --dual-cam] apply [JetPack_version]
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# or, if using direct download method
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# ./apply_patches_ext.sh [--one-cam | --dual-cam] ./Linux_for_tegra/source/public [JetPack_version]
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# for JP6.0, source path is ./Linux_for_tegra/source :
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# ./apply_patches_ext.sh ./Linux_for_tegra/source 6.0
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Note: The `--one-cam` and `--dual-cam` option applies only for JetPack 5.0.2,
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compatible with adapter: https://store.intelrealsense.com/buy-intel-realsense-des457.html.
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By setting the `--one-cam` option it builds DT with only camera on GMSL link A (default).
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By setting the `--dual-cam` option it builds DT with dual cameras on GMSL link A and B.
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The default is to single camera configuration for JetPack 5.0.2.
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# build kernel, dtb and D457 driver
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# install dependencies
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sudo apt install build-essential bc flex bison
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# method 1: build kernel Debian packages
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./build_all_deb.sh [--no-dbg-pkg] [JetPack_version] [JetPack_source_dir]
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# method 2: build kernel and modules only
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./build_all.sh [JetPack_version] [JetPack_source_dir]
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# remove our patches from JetPack kernel source code if using setup script
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# ./apply_patches.sh reset [JetPack_version]
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```
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Debian packages will be generated in `images` folder.
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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 Jetson AGX Xavier with NVIDIA SDK Manager or other methods NVIDIA provides. Make sure the board is ready to use.
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## Install kernel and D457 driver to Jetson Orin
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<details>
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<summary>JP6.0 build results</summary>
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**NOTE** : On Jetsons with modified factory setup modifications to build and deploy steps should be made by developer.
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- kernel image (not modified): `images/6.0/rootfs/boot/Image`
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- dtb overlay: `images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay.dtbo`
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- oot modules: `images/6.0/rootfs/lib/modules/5.15.122-tegra/extra`
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# JetPack build
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Following steps required:
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- [JetPack 6.0](./README_JP6.md#build-environment-prerequisites)
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- [JetPack 5.1.2](./README_JP5.md#build-kernel-dtb-and-d457-driver)
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- [JetPack 5.0.2](./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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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
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2. Copy `tegra234-camera-d4xx-overlay.dtbo` from host to `/boot/tegra234-camera-d4xx-overlay.dtbo` on Orin
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3. Run $ `sudo /opt/nvidia/jetson-io/jetson-io.py`
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1. Configure Jetson AGX CSI Connector
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2. Configure for compatible hardware
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3. Jetson RealSense Camera D457
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4. $ `sudo depmod`
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5. $ `echo "d4xx" | sudo tee /etc/modules-load.d/d4xx.conf`
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4. Reboot
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### Verify driver after installation
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- Driver API manual page [Driver API page](./README_driver.md)
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Copy them to the right places:
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**NOTE**
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```
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scp -r images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay.dtbo nvidia@10.0.0.116:~/
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scp -r images/6.0/rootfs/lib/modules/5.15.122-tegra/extra nvidia@10.0.0.116:~/
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# RealSense metadata patched kernel modules
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scp -r images/6.0/rootfs/lib/modules/5.15.122-tegra/kernel/drivers/media/v4l2-core/videodev.ko nvidia@10.0.0.116:~/
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scp -r images/6.0/rootfs/lib/modules/5.15.122-tegra/kernel/drivers/media/usb/uvc/uvcvideo.ko nvidia@10.0.0.116:~/
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# Kernel Image with SENSOR_HID support for RealSense USB cameras with IMU
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scp -r images/6.0/rootfs/boot/Image nvidia@10.0.0.116:~/
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```
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- Each JetPack version's kernel may be different, the user needs to change the kernel version in file names and paths accordingly, for example for JetPack 4.6.1 the version is `4.9.253-d457` or `4.9.253-tegra`, depending on the build method applied.
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- For JetPack 4.6.1, the dtb file is not included in the deb package. User needs to manually copy `images/4.6.1/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb` file to board and edit `extlinux.conf` to point to it.
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- It's recommended to save the original kernel image as backup boot option in `/boot/extlinux/extlinux.conf`.
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on target:
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## Available directives on max9295/max9296 register setting
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- Dump registers
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```
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sudo cp ~/tegra234-camera-d4xx-overlay.dtbo /boot/
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# backup:
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sudo tar -cjf /lib/modules/$(uname -r)/modules_$(uname -r)_extra.tar.bz2 /lib/modules/$(uname -r)/extra
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sudo cp -r ~/extra /lib/modules/$(uname -r)/
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# enable RealSense metadata:
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sudo cp uvcvideo.ko /lib/modules/5.15.122-tegra/kernel/drivers/media/usb/uvc/uvcvideo.ko
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sudo cp videodev.ko /lib/modules/5.15.122-tegra/kernel/drivers/media/v4l2-core/videodev.ko
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# backup kernel (better to have additional boot entry in extlinux.conf)
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sudo cp /boot/Image /boot/Image.orig
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sudo cp Image /boot/Image
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cat /sys/bus/i2c/drivers/max9295/30-0040/register_dump
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cat /sys/bus/i2c/drivers/max9296/30-0048/register_dump
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```
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Enable d4xx overlay:
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With Jetson-IO tool:
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`sudo /opt/nvidia/jetson-io/jetson-io.py`
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- Dump setting version
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1. Configure Jetson AGX CSI Connector
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2. Configure for compatible hardware
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3. Jetson RealSense Camera D457
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With command line
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`sudo /opt/nvidia/jetson-io/config-by-hardware.py -n 2="Jetson RealSense Camera D457"`
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Expected:
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```
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nvidia@ubuntu:~$ sudo /opt/nvidia/jetson-io/config-by-hardware.py -n 2="Jetson RealSense Camera D457"
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Configuration saved to /boot/tegra234-camera-d4xx-overlay.dtbo.
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Reboot system to reconfigure.
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cat /sys/module/max9295/parameters/max9295_setting_verison
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cat /sys/module/max9296/parameters/max9296_setting_verison
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```
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Enable d4xx autoload:
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`echo "d4xx" | sudo tee /etc/modules-load.d/d4xx.conf`
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`sudo depmod`
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---
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</details>
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## Install kernel and D457 driver to Jetson AGX Xavier
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1. Install the kernel and modules
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1.1 If building with `build_all_deb.sh`
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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.
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- Disable updating setting dynamically (updating setting manually by running script).
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**0** means disable updating setting dynamically, while **1** means enable updating setting dynamically.
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1.2 If building with `build_all.sh`
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The necessary files are:
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- kernel image `images/<JetPack_version>/arch/arm64/boot/Image`
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- 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.
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- D457 driver `images/<JetPack_version>/drivers/media/i2c/d4xx.ko`
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- UVC Video driver `images/<JetPack_version>/drivers/media/usb/uvc/uvcvideo.ko`
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- V4L2 Core Video driver `images/<JetPack_version>/drivers/media/v4l2-core/videobuf-core.ko`
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- V4L2 VMalloc Video driver `images/<JetPack_version>/drivers/media/v4l2-core/videobuf-vmalloc.ko`
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And copy them to the right places:
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```
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sudo cp Image /boot
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sudo cp tegra194-p2888-0001-p2822-0000.dtb /boot/dtb
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sudo cp d4xx.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/i2c/
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sudo cp uvcvideo.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/usb/uvc/
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sudo cp videobuf-core.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/v4l2-core/
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sudo cp videobuf-vmalloc.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/v4l2-core/
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sudo depmod
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echo 0 | sudo tee /sys/module/max9295/parameters/max9295_dynamic_update
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echo 0 | sudo tee /sys/module/max9296/parameters/max9296_dynamic_update
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```
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2. Edit `/boot/extlinux/extlinux.conf` primary boot option's LINUX/FDT lines to use built kernel image and dtb file:
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- Refresh max9295/max9295 register values, this is used for forcely set serdes setting when necessary
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```
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LINUX /boot/Image-5.10.104-d457
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FDT /usr/lib/linux-image-5.10.104-d457/tegra194-p2888-0001-p2822-0000.dtb
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echo 1 | sudo tee /sys/bus/i2c/drivers/max9295/30-0040/refresh_setting
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echo 1 | sudo tee /sys/bus/i2c/drivers/max9296/30-0048/refresh_setting
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```
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3. Make D457 I2C module autoload at boot time: `echo "d4xx" | sudo tee /etc/modules-load.d/d4xx.conf`
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After rebooting Jetson, the D457 driver should work.
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**NOTE**
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- Each JetPack version's kernel may be different, the user needs to change the kernel version in file names and paths accordingly, for example for JetPack 4.6.1 the version is `4.9.253-d457` or `4.9.253-tegra`, depending on the build method applied.
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- For JetPack 4.6.1, the dtb file is not included in the deb package. User needs to manually copy `images/4.6.1/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb` file to board and edit `extlinux.conf` to point to it.
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- It's recommended to save the original kernel image as backup boot option in `/boot/extlinux/extlinux.conf`.

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