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Nikolai-LNikolai-L
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[PATCH] Add D401 GPIO tunneling for the external sync support
[INFRA] Update kernel deployment scripts to support JP5.0.2 and update apply_patches.sh to simplify patch creation process
1 parent 7cc6490 commit bc40c00

4 files changed

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‎apply_patches.sh‎

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Original file line numberDiff line numberDiff line change
@@ -91,4 +91,33 @@ if [[ "$ACTION" = "apply" ]]; then
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else
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cp "hardware/realsense/${JP5_D4XX_DTSI}" "sources_$SOURCES_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts/common/tegra194-camera-d4xx.dtsi"
9393
fi
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# Stage all modified files after patching
96+
git -C "sources_$SOURCES_VERSION/$D4XX_SRC_DST" add -A
97+
[[ -d "sources_$SOURCES_VERSION/$KERNEL_DIR" ]] && git -C "sources_$SOURCES_VERSION/$KERNEL_DIR" add -A
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git -C "sources_$SOURCES_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts" add -A || git -C "sources_$SOURCES_VERSION/hardware/nvidia/t23x/nv-public" add -A
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# Get author identity from root repo
101+
GIT_AUTHOR_NAME=$(git config user.name)
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GIT_AUTHOR_EMAIL=$(git config user.email)
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# Update local git identity for subrepos
105+
git -C "sources_$SOURCES_VERSION/$D4XX_SRC_DST" config user.name "$GIT_AUTHOR_NAME"
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git -C "sources_$SOURCES_VERSION/$D4XX_SRC_DST" config user.email "$GIT_AUTHOR_EMAIL"
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if [[ -d "sources_$SOURCES_VERSION/$KERNEL_DIR" ]]; then
108+
git -C "sources_$SOURCES_VERSION/$KERNEL_DIR" config user.name "$GIT_AUTHOR_NAME"
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git -C "sources_$SOURCES_VERSION/$KERNEL_DIR" config user.email "$GIT_AUTHOR_EMAIL"
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fi
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if [[ -d "sources_$SOURCES_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts" ]]; then
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git -C "sources_$SOURCES_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts" config user.name "$GIT_AUTHOR_NAME"
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git -C "sources_$SOURCES_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts" config user.email "$GIT_AUTHOR_EMAIL"
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elif [[ -d "sources_$SOURCES_VERSION/hardware/nvidia/t23x/nv-public" ]]; then
115+
git -C "sources_$SOURCES_VERSION/hardware/nvidia/t23x/nv-public" config user.name "$GIT_AUTHOR_NAME"
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git -C "sources_$SOURCES_VERSION/hardware/nvidia/t23x/nv-public" config user.email "$GIT_AUTHOR_EMAIL"
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fi
118+
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# Commit all staged files
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git -C "sources_$SOURCES_VERSION/$D4XX_SRC_DST" commit -m "RS patched" || true
121+
[[ -d "sources_$SOURCES_VERSION/$KERNEL_DIR" ]] && git -C "sources_$SOURCES_VERSION/$KERNEL_DIR" commit -m "RS patched" || true
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git -C "sources_$SOURCES_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts" commit -m "RS patched" || git -C "sources_$SOURCES_VERSION/hardware/nvidia/t23x/nv-public" commit -m "RS patched" || true
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fi

‎kernel/nvidia/5.0.2/0015-Add-GPIO-tunneling-for-the-external-sync-support.patch‎

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From f44c0d640f10125458ec3f65403b50cda607c49d Mon Sep 17 00:00:00 2001
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From: Nikolai-L <nikolai.lyskov@realsenseai.com>
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Date: Sun, 1 Feb 2026 10:30:13 +0200
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Subject: [PATCH] [PATCH] Add GPIO tunneling for the external sync support
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updating pipe setting functions for max9295 and max9296 drivers
6+
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---
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drivers/media/i2c/max9295.c | 11 +++++++++--
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drivers/media/i2c/max9296.c | 11 +++++++++++
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2 files changed, 20 insertions(+), 2 deletions(-)
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diff --git a/drivers/media/i2c/max9295.c b/drivers/media/i2c/max9295.c
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index 4b03b1ef8..51e02edd7 100644
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--- a/drivers/media/i2c/max9295.c
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+++ b/drivers/media/i2c/max9295.c
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@@ -34,6 +34,7 @@
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#define MAX9295_CTRL0_ADDR 0x10
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#define MAX9295_SRC_CTRL_ADDR 0x2BF
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#define MAX9295_SRC_PWDN_ADDR 0x02BE
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+#define MAX9295_2C0_ADDR 0x02C0
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#define MAX9295_SRC_OUT_RCLK_ADDR 0x3F1
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#define MAX9295_START_PIPE_ADDR 0x311
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#define MAX9295_PIPE_EN_ADDR 0x2
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@@ -94,7 +95,12 @@
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#define MAX9295_RESET_ALL 0x80
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#define MAX9295_RESET_SRC 0x60
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+#define MAX9295_RESET_ESYNC 0x77
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+
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#define MAX9295_PWDN_GPIO 0x90
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+#define MAX9295_PWDN_ESYNC 0x04
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+
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+#define MAX9295_2C0_ESYNC 0x57
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#define MAX9295_MAX_PIPES 0x4
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@@ -364,8 +370,9 @@ int max9295_setup_control(struct device *dev)
38+
max9295_write_reg(dev, MAX9295_I2C4_ADDR, (g_ctx->sdev_reg << 1));
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max9295_write_reg(dev, MAX9295_I2C5_ADDR, (g_ctx->sdev_def << 1));
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- max9295_write_reg(dev, MAX9295_SRC_PWDN_ADDR, MAX9295_PWDN_GPIO);
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- max9295_write_reg(dev, MAX9295_SRC_CTRL_ADDR, MAX9295_RESET_SRC);
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+ max9295_write_reg(dev, MAX9295_SRC_PWDN_ADDR, MAX9295_PWDN_ESYNC);
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+ max9295_write_reg(dev, MAX9295_SRC_CTRL_ADDR, MAX9295_RESET_ESYNC);
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+ max9295_write_reg(dev, MAX9295_2C0_ADDR, MAX9295_2C0_ESYNC);
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max9295_write_reg(dev, MAX9295_SRC_OUT_RCLK_ADDR, MAX9295_SRC_RCLK);
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g_ctx->serdev_found = true;
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diff --git a/drivers/media/i2c/max9296.c b/drivers/media/i2c/max9296.c
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index 87f9dcf7a..829657bca 100644
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--- a/drivers/media/i2c/max9296.c
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+++ b/drivers/media/i2c/max9296.c
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@@ -26,6 +26,10 @@
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#include <media/max9296.h>
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/* register specifics */
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+#define MAX9296_2C5_ADDR 0x2C5
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+#define MAX9296_2C6_ADDR 0x2C6
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+#define MAX9296_2C7_ADDR 0x2C7
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+
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#define MAX9296_DST_CSI_MODE_ADDR 0x330
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#define MAX9296_LANE_MAP1_ADDR 0x333
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#define MAX9296_LANE_MAP2_ADDR 0x334
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@@ -54,6 +58,10 @@
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#define MAX9296_CTRL0_ADDR 0x10
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/* data defines */
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+#define MAX9296_2C5_ESYNC 0xAA
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+#define MAX9296_2C6_ESYNC 0x17
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+#define MAX9296_2C7_ESYNC 0x47
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+
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#define MAX9296_CSI_MODE_4X2 0x1
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#define MAX9296_CSI_MODE_2X4 0x4
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#define MAX9296_LANE_MAP1_4X2 0x44
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@@ -364,6 +372,9 @@ int max9296_setup_control(struct device *dev, struct device *s_dev)
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max9296_write_reg(dev,
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MAX9296_PWDN_PHYS_ADDR, MAX9296_ALLPHYS_NOSTDBY);
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+ max9296_write_reg(dev, MAX9296_2C5_ADDR, MAX9296_2C5_ESYNC);
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+ max9296_write_reg(dev, MAX9296_2C6_ADDR, MAX9296_2C6_ESYNC);
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+ max9296_write_reg(dev, MAX9296_2C7_ADDR, MAX9296_2C7_ESYNC);
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priv->sdev_ref++;
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--
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2.43.0
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‎scripts/deploy_kernel.sh‎

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#!/bin/bash
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# Display help message
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if [ "$#" -eq 0 ] || [ "$1" == "-h" ] || [ "$1" == "--help" ]; then
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echo "Usage: $0 <JETPACK_VERSION> [TARGET] [USERNAME] [REMOTE_PATH] [REMOTE_BOOT_FOLDER]"
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echo ""
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echo "Package kernel modules, optionally copy them to the TARGET, update boot files and reboot the TARGET."
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echo ""
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echo "Arguments:"
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echo " JETPACK_VERSION JetPack version (e.g., 5.0.2, 5.1.2, 6.0, 6.2) - REQUIRED"
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echo " TARGET Target device hostname or IP address"
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echo " USERNAME SSH username for TARGET (default: administrator)"
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echo " REMOTE_PATH Remote path to copy files to (default: dev)"
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echo " REMOTE_BOOT_FOLDER Folder name under /boot on TARGET (default: dev)"
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echo ""
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echo "Example:"
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echo " $0 6.2 192.168.1.100 - pack and copy to /home/administrator/dev, update /boot/dev and reboot TARGET"
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echo " $0 6.2 192.168.1.100 nvidia - pack and copy to /home/nvidia/dev, update /boot/dev and reboot TARGET"
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echo " $0 6.2 192.168.1.100 nvidia foo - pack and copy to /home/nvidia/foo, update /boot/dev and reboot TARGET"
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echo " $0 6.2 192.168.1.100 nvidia foo bar - pack and copy to /home/nvidia/foo, update /boot/bar and reboot TARGET"
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exit 0
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fi
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# Set defaults
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JETPACK_VERSION="$1"
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TARGET="$2"
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USERNAME="${3:-administrator}"
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REMOTE_PATH="${4:-dev}"
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REMOTE_BOOT_FOLDER="${5:-dev}"
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LOCAL_DIR="."
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# Check if kernel_mod directory exists, create if not
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if [ ! -d ${LOCAL_DIR}/kernel_mod ]; then
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echo "Creating directory ${LOCAL_DIR}/kernel_mod..."
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mkdir -p ${LOCAL_DIR}/kernel_mod/${JETPACK_VERSION}
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else
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mkdir -p ${LOCAL_DIR}/kernel_mod/${JETPACK_VERSION}
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fi
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# Clean version folder if files exist
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if [ "$(ls -A ${LOCAL_DIR}/kernel_mod/${JETPACK_VERSION} 2>/dev/null)" ]; then
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echo "Cleaning ${LOCAL_DIR}/kernel_mod/${JETPACK_VERSION}..."
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rm -rf ${LOCAL_DIR}/kernel_mod/${JETPACK_VERSION}/*
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fi
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# Copy specific kernel files for compatibility with legacy scripts (only for 5.0.2)
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IMG_DIR="images/${JETPACK_VERSION}"
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DEST_DIR="${LOCAL_DIR}/kernel_mod/${JETPACK_VERSION}"
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if [ "${JETPACK_VERSION}" = "5.0.2" ]; then
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echo "Copying kernel files to ${DEST_DIR} (5.0.2 only)..."
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cp "${IMG_DIR}/arch/arm64/boot/Image" "${DEST_DIR}/" 2>/dev/null || true
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cp "${IMG_DIR}/arch/arm64/boot/dts/nvidia/tegra194-p2888-0001-p2822-0000.dtb" "${DEST_DIR}/" 2>/dev/null || true
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cp "${IMG_DIR}/drivers/media/i2c/d4xx.ko" "${DEST_DIR}/" 2>/dev/null || true
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cp "${IMG_DIR}/drivers/media/i2c/max96712.ko" "${DEST_DIR}/" 2>/dev/null || true
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cp "${IMG_DIR}/drivers/media/usb/uvc/uvcvideo.ko" "${DEST_DIR}/" 2>/dev/null || true
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cp "${IMG_DIR}/drivers/media/v4l2-core/videobuf-core.ko" "${DEST_DIR}/" 2>/dev/null || true
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cp "${IMG_DIR}/drivers/media/v4l2-core/videobuf-vmalloc.ko" "${DEST_DIR}/" 2>/dev/null || true
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elif [ "${JETPACK_VERSION}" = "6.2" ]; then
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echo "Packing ${DEST_DIR}/rootfs.tar.gz"
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tar czf ${DEST_DIR}/rootfs.tar.gz -C images/${JETPACK_VERSION}/rootfs boot lib
64+
fi
65+
if [ "$#" -eq 0 ]; then
66+
echo "No TARGET specified, skipping copy and reboot."
67+
else
68+
echo "Copying files and setting permissions on remote host..."
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cp ${LOCAL_DIR}/scripts/install_to_kernel.sh ${LOCAL_DIR}/kernel_mod/${JETPACK_VERSION}/
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# Use SSH ControlMaster to reuse a single SSH connection
71+
CONTROL_PATH="/tmp/ssh-control-${USERNAME}-${TARGET}"
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ssh -o ControlMaster=yes -o ControlPath="${CONTROL_PATH}" -o ControlPersist=10s -fN ${USERNAME}@${TARGET}
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ssh -o ControlMaster=no -o ControlPath="${CONTROL_PATH}" ${USERNAME}@${TARGET} "rm -rf ${REMOTE_PATH}/kernel_mod/${JETPACK_VERSION} && mkdir -p ${REMOTE_PATH}/kernel_mod"
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scp -o ControlMaster=no -o ControlPath="${CONTROL_PATH}" -r ${LOCAL_DIR}/kernel_mod/${JETPACK_VERSION} ${USERNAME}@${TARGET}:${REMOTE_PATH}/kernel_mod/
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ssh -o ControlMaster=no -o ControlPath="${CONTROL_PATH}" ${USERNAME}@${TARGET} "chmod +x ${REMOTE_PATH}/kernel_mod/${JETPACK_VERSION}/install_to_kernel.sh"
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ssh -o ControlMaster=no -o ControlPath="${CONTROL_PATH}" ${USERNAME}@${TARGET} "cd ${REMOTE_PATH}/kernel_mod/${JETPACK_VERSION} && ./install_to_kernel.sh ${JETPACK_VERSION} ${REMOTE_BOOT_FOLDER}"
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ssh -o ControlPath="${CONTROL_PATH}" -O exit ${USERNAME}@${TARGET} 2>/dev/null
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fi

‎scripts/install_to_kernel.sh‎

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#!/bin/bash
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# Display help message
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if [ "$#" -lt 1 ] || [ "$1" == "-h" ] || [ "$1" == "--help" ]; then
5+
echo "Usage: $0 <JETPACK_VERSION> [BOOT_FOLDER]"
6+
echo ""
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echo "Update the kernel modules and boot files on the local device for a specific JetPack version."
8+
echo ""
9+
echo "Arguments:"
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echo " JETPACK_VERSION JetPack version (e.g., 5.0.2, 5.1.2, 6.2)"
11+
echo " BOOT_FOLDER Folder name under /boot to copy Image (default: dev)"
12+
echo ""
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echo "Example:"
14+
echo " $0 6.2 foo"
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exit 0
16+
fi
17+
18+
JETPACK_VERSION="$1"
19+
FOLDER="${2:-dev}"
20+
21+
if [ ! -d /boot/${FOLDER} ]; then
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sudo mkdir /boot/${FOLDER}
23+
fi
24+
25+
# Only extract and use rootfs.tar.gz for 5.0.2 and 5.1.2
26+
if [ "${JETPACK_VERSION}" = "5.0.2" ] || [ "${JETPACK_VERSION}" = "5.1.2" ]; then
27+
tar xf rootfs.tar.gz
28+
fi
29+
30+
echo "Copying kernel files for JetPack ${JETPACK_VERSION}..."
31+
if [ "${JETPACK_VERSION}" = "5.0.2" ]; then
32+
echo "sudo cp tegra194-p2888-0001-p2822-0000.dtb /boot/${FOLDER}/"
33+
sudo cp tegra194-p2888-0001-p2822-0000.dtb /boot/${FOLDER}/
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echo "sudo cp d4xx.ko /lib/modules/$(uname -r)/updates/"
35+
sudo cp d4xx.ko /lib/modules/$(uname -r)/updates/
36+
echo "sudo cp max96712.ko /lib/modules/$(uname -r)/updates/"
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sudo cp max96712.ko /lib/modules/$(uname -r)/updates/
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echo "sudo cp uvcvideo.ko /lib/modules/$(uname -r)/updates/"
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sudo cp uvcvideo.ko /lib/modules/$(uname -r)/updates/
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echo "sudo cp videobuf-core.ko /lib/modules/$(uname -r)/updates/"
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sudo cp videobuf-core.ko /lib/modules/$(uname -r)/updates/
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echo "sudo cp videobuf-vmalloc.ko /lib/modules/$(uname -r)/updates/"
43+
sudo cp videobuf-vmalloc.ko /lib/modules/$(uname -r)/updates/
44+
elif [ "${JETPACK_VERSION}" = "6.2" ]; then
45+
tar xf rootfs.tar.gz
46+
echo "sudo cp -r lib/modules/$(uname -r) /lib/modules/."
47+
sudo cp -r lib/modules/$(uname -r) /lib/modules/.
48+
echo "sudo cp boot/tegra234-camera-d4xx-overlay*.dtbo /boot/."
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sudo cp boot/tegra234-camera-d4xx-overlay*.dtbo /boot/.
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echo "sudo cp boot/dtb/tegra234-p3737-0000+p3701-0005-nv.dtb /boot/dtb/."
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sudo cp boot/dtb/tegra234-p3737-0000+p3701-0005-nv.dtb /boot/dtb/.
52+
fi
53+
54+
echo "sudo cp Image /boot/${FOLDER}/."
55+
sudo cp Image /boot/${FOLDER}/.
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echo "sudo depmod"
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sudo depmod
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echo "done - rebooting"
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sudo reboot

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