|
| 1 | +# RealSense™ camera driver for GMSL* interface |
| 2 | + |
| 3 | +# D457 MIPI on NVIDIA® Jetson AGX Orin™ JetPack 7.x |
| 4 | +The RealSense™ MIPI platform driver enables the user to control and stream RealSense™ 3D MIPI cameras. |
| 5 | +The system shall include: |
| 6 | +* NVIDIA® Jetson™ platform Supported JetPack versions are: |
| 7 | + - 7.1 production release |
| 8 | + - 7.0 production release |
| 9 | +* RealSense™ De-Serialize board |
| 10 | +* 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/) |
| 11 | +* RS MIPI camera [D457](https://store.realsenseai.com/buy-intel-realsense-depth-camera-d457.html) |
| 12 | + |
| 13 | + |
| 14 | + |
| 15 | + |
| 16 | +> Note: This MIPI reference driver is based on RealSense™ de-serialize board. For other de-serialize boards, modification might be needed. |
| 17 | +
|
| 18 | +### Links |
| 19 | +- RealSense™ camera driver for GMSL* interface [Front Page](./README.md) |
| 20 | +- NVIDIA® Jetson AGX Orin™ board setup - AGX Orin™ [JetPack 6.0](./README_JP6.0.md) setup guide |
| 21 | +- NVIDIA® Jetson AGX Orin™ board setup - AGX Orin™ [JetPack 6.2](./README_JP6.2.md) setup guide |
| 22 | +- NVIDIA® Jetson AGX Xavier™ board setup - AGX Xavier™ [JetPack 5.x.2](./README_JP5.md) setup guide |
| 23 | +- NVIDIA® Jetson AGX Xavier™ board setup - AGX Xavier™ [JetPack 4.6.1](./README_JP4.md) setup guide |
| 24 | +- Build Tools manual page [Build Manual page](./README_tools.md) |
| 25 | +- Driver API manual page [Driver API page](./README_driver.md) |
| 26 | + |
| 27 | +## NVIDIA® Jetson AGX Orin™ board setup |
| 28 | + |
| 29 | +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. |
| 30 | + |
| 31 | +## Build environment prerequisites |
| 32 | +``` |
| 33 | +sudo apt-get install -y build-essential bc wget flex bison curl libssl-dev xxd tar |
| 34 | +``` |
| 35 | +## Build NVIDIA® kernel drivers, dtb and D457 driver |
| 36 | + |
| 37 | +These are descriptiver steps. Bash commands to be issued follow: |
| 38 | +1. Clone [realsense_mipi_platform_driver](https://github.com/realsenseai/realsense_mipi_platform_driver.git) repo. |
| 39 | +2. Checkout dev branch. |
| 40 | +3. The developers can set up build environment, ARM64 compiler, kernel sources and NVIDIA's Jetson git repositories by using the setup script. |
| 41 | +4. Apply patches for kernel drivers, nvidia-oot module and tegra devicetree. |
| 42 | +5. Build project |
| 43 | +6. Apply build results to target (Jetson). |
| 44 | +7. Configure target. |
| 45 | + |
| 46 | +Assuming building for 7.1. One can also build for 7.0 just replace the last parameter. |
| 47 | +Build version can be specified only once. It will be written to jetpack_version.txt file and used for later steps. |
| 48 | +You can display the current version cating the file jetpack_version. It will be show at the beginning of each script. |
| 49 | +``` |
| 50 | +git clone --branch dev --single-branch https://github.com/realsenseai/realsense_mipi_platform_driver.git |
| 51 | +cd realsense_mipi_platform_driver |
| 52 | +./setup_workspace.sh 7.1 |
| 53 | +./apply_patches.sh |
| 54 | +./build_all.sh |
| 55 | +``` |
| 56 | +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. |
| 57 | +``` |
| 58 | +./build_all.sh --dev-dbg |
| 59 | +``` |
| 60 | + |
| 61 | +## Install kernel drivers, extra modules and device-tree to Jetson AGX Orin |
| 62 | + |
| 63 | +Following steps required: |
| 64 | + |
| 65 | +1. Copy build artifacts: |
| 66 | +If you build locally (native build on Jetson) use the following bash commands: |
| 67 | +``` |
| 68 | +sudo cp -r ./images/7.1/rootfs/lib/modules/6.8.12-tegra /lib/modules/ |
| 69 | +sudo cp ./images/7.1/rootfs/boot/tegra264-camera-d4xx-*.dtbo /boot/dev/ |
| 70 | +sudo mv -f /boot/dev/Image /boot/dev/Image.old |
| 71 | +sudo cp ./images/7.1/rootfs/boot/Image /boot/dev/ |
| 72 | +``` |
| 73 | +In case of crossbuild on host prepare a tarball to ssh copy to Jetson target. |
| 74 | +Example user 'nvidia' on Jetson with host name 'jetson.domain' |
| 75 | +``` |
| 76 | +tar czf rootfs.tar.gz -C images/7.1/rootfs boot lib |
| 77 | +scp rootfs.tar.gz nvidia@jetson.domain: |
| 78 | +``` |
| 79 | +Log in into Jetson target, extract the tarball and install extracted files: |
| 80 | +``` |
| 81 | +tar xf rootfs.tar.gz |
| 82 | +sudo cp -r ./lib/modules/6.8.12-tegra /lib/modules/ |
| 83 | +sudo cp ./boot/tegra264-camera-d4xx-overlay-Advantech.dtbo /boot/ |
| 84 | +sudo cp ./boot/Image /boot/dev/ |
| 85 | +``` |
| 86 | +2. Run $ `sudo /opt/nvidia/jetson-io/jetson-io.py`, to exit choose save & reboot: |
| 87 | + 1. Configure Jetson AGX CSI Connector |
| 88 | + 2. Configure for compatible hardware |
| 89 | + 3. Choose appropriate configuration: |
| 90 | + i. Jetson RealSense Camera D457 |
| 91 | + ii. Jetson RealSense Camera D457 dual |
| 92 | + 5. Choose to save & reboot |
| 93 | + |
| 94 | +3. Enable and run depmod scan for "extra" & "kernel" modules |
| 95 | +``` |
| 96 | +# enable extra & kernel modules |
| 97 | +# original file content: cat /etc/depmod.d/ubuntu.conf -- search updates ubuntu built-in |
| 98 | +sudo sed -i 's/search updates/search extra updates kernel/g' /etc/depmod.d/ubuntu.conf |
| 99 | +# update driver cache |
| 100 | +sudo depmod |
| 101 | +``` |
| 102 | +4. |
| 103 | +Verify bootloader configuration |
| 104 | +``` |
| 105 | +cat /boot/extlinux/extlinux.conf |
| 106 | +----<CUT>---- |
| 107 | +LABEL JetsonIO |
| 108 | + MENU LABEL Custom Header Config: <CSI Jetson RealSense Camera D457> |
| 109 | + LINUX /boot/dev/Image |
| 110 | + FDT /boot/dtb/kernel_tegra264-p4071-0000+p3834-0008-nv.dtb |
| 111 | + APPEND ${cbootargs} root=PARTUUID=bbb3b34e-...... |
| 112 | + OVERLAYS /boot/tegra264-camera-d4xx-overlay.dtbo |
| 113 | +----<CUT>---- |
| 114 | +``` |
| 115 | +On Jetson target (user home folder) assuming backup step was followed: |
| 116 | + |
| 117 | + |
| 118 | +### Verify driver loaded - on Jetson: |
| 119 | +- Driver API manual page [Driver API page](./README_driver.md) |
| 120 | + |
| 121 | +``` |
| 122 | +nvidia@ubuntu:~$ sudo dmesg | grep tegra-capture-vi |
| 123 | +[ 9.357521] platform 13e00000.host1x:nvcsi@15a00000: Fixing up cyclic dependency with tegra-capture-vi |
| 124 | +[ 9.419926] tegra-camrtc-capture-vi tegra-capture-vi: ep of_device is not enabled endpoint. |
| 125 | +[ 9.419932] tegra-camrtc-capture-vi tegra-capture-vi: ep of_device is not enabled endpoint. |
| 126 | +[ 10.001170] tegra-camrtc-capture-vi tegra-capture-vi: subdev DS5 mux 9-001a bound |
| 127 | +[ 10.025295] tegra-camrtc-capture-vi tegra-capture-vi: subdev DS5 mux 12-001a bound |
| 128 | +[ 10.040934] tegra-camrtc-capture-vi tegra-capture-vi: subdev DS5 mux 13-001a bound |
| 129 | +[ 10.056151] tegra-camrtc-capture-vi tegra-capture-vi: subdev DS5 mux 14-001a bound |
| 130 | +[ 10.288088] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound |
| 131 | +[ 10.324025] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound |
| 132 | +[ 10.324631] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound |
| 133 | +[ 10.325056] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound |
| 134 | +
|
| 135 | +nvidia@ubuntu:~$ sudo dmesg | grep d4xx |
| 136 | +[ 9.443608] d4xx 9-001a: Probing driver for D45x |
| 137 | +[ 9.983168] d4xx 9-001a: ds5_chrdev_init() class_create |
| 138 | +[ 9.989521] d4xx 9-001a: D4XX Sensor: DEPTH, firmware build: 5.15.1.0 |
| 139 | +[ 10.007813] d4xx 12-001a: Probing driver for D45x |
| 140 | +[ 10.013899] d4xx 12-001a: D4XX Sensor: RGB, firmware build: 5.15.1.0 |
| 141 | +[ 10.025787] d4xx 13-001a: Probing driver for D45x |
| 142 | +[ 10.029095] d4xx 13-001a: D4XX Sensor: Y8, firmware build: 5.15.1.0 |
| 143 | +[ 10.041282] d4xx 14-001a: Probing driver for D45x |
| 144 | +[ 10.044759] d4xx 14-001a: D4XX Sensor: IMU, firmware build: 5.15.1.0 |
| 145 | +
|
| 146 | +``` |
| 147 | + |
| 148 | +### Known issues |
| 149 | +- Camera not recognized |
| 150 | +Verify I2C MUX detected. If "probe failed" reported, replace extension board adapter (LI-JTX1-SUB-ADPT). |
| 151 | +``` |
| 152 | +nvidia@ubuntu:~$ sudo dmesg | grep pca954x |
| 153 | +[ 3.933113] pca954x 2-0072: probe failed |
| 154 | +``` |
| 155 | + |
| 156 | +- Configuration with jetson-io tool system fail to boot with message "couldn't find root partition" |
| 157 | +Verify bootloader configuration |
| 158 | +`/boot/extlinux/extlinux.conf` |
| 159 | +Sometimes configuration tool missing APPEND parameters. Duplicate `primary` section `APPEND` line to `JetsonIO` `APPEND` section, verify it's similar. |
| 160 | + |
| 161 | +Example Bad: |
| 162 | +``` |
| 163 | +LABEL primary |
| 164 | + MENU LABEL primary kernel |
| 165 | + LINUX /boot/Image |
| 166 | + INITRD /boot/initrd |
| 167 | + 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 |
| 168 | +
|
| 169 | +LABEL JetsonIO |
| 170 | + MENU LABEL Custom Header Config: <CSI Jetson RealSense Camera D457 dual> |
| 171 | + LINUX /boot/Image |
| 172 | + FDT /boot/dtb/kernel_tegra234-p3737-0000+p3701-0000-nv.dtb |
| 173 | + INITRD /boot/initrd |
| 174 | + APPEND ${cbootargs} |
| 175 | + OVERLAYS /boot/tegra234-camera-d4xx-overlay-dual.dtbo |
| 176 | +``` |
| 177 | +Example Good: |
| 178 | +``` |
| 179 | +LABEL primary |
| 180 | + MENU LABEL primary kernel |
| 181 | + LINUX /boot/Image |
| 182 | + INITRD /boot/initrd |
| 183 | + 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 |
| 184 | +
|
| 185 | +LABEL JetsonIO |
| 186 | + MENU LABEL Custom Header Config: <CSI Jetson RealSense Camera D457 dual> |
| 187 | + LINUX /boot/dev/Image |
| 188 | + FDT /boot/dtb/kernel_tegra264-p4071-0000+p3834-0008-nv.dtb |
| 189 | + INITRD /boot/initrd |
| 190 | + APPEND ${cbootargs} root=PARTUUID=634b7e44-aacc-4dd9-a769-3a664b83b159 rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 console=ttyAMA0,115200 firmware_class.path=/etc/firmware fbcon=map:0 net.ifnames=0 nospectre_bhb video=efifb:off console=tty0 nv-auto-config |
| 191 | + OVERLAYS /boot/tegra264-camera-d4xx-overlay.dtbo |
| 192 | +``` |
| 193 | +- Configuration tool jetson-io terminates without configuration menu. |
| 194 | +verify that `/boot/dtb` has only one dtb file |
| 195 | +``` |
| 196 | +nvidia@ubuntu:~$ ls /boot/dtb/ |
| 197 | +kernel_tegra264-p4071-0000+p3834-0008-nv.dtb |
| 198 | +``` |
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