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Merged
ymodlin merged 4 commits into from
Oct 19, 2025
Merged

Add DTB and boot option to enable calibration streaming #301

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5c1bc33
Add calibration DTB for JP5 and JP6
ttkhuong Sep 25, 2025
83001fa
Apply suggestions from code review
ttkhuong Sep 29, 2025
97ef3d1
Calibration: Update DTB overlay names to avoid conflict
ttkhuong Oct 10, 2025
72fbfab
Apply suggestions from copilot code review
ttkhuong Oct 16, 2025
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62 changes: 60 additions & 2 deletions README_JP5.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -137,8 +137,9 @@ sudo cp videobuf-core.ko /lib/modules/$(uname -r)/updates/
sudo cp videobuf-vmalloc.ko /lib/modules/$(uname -r)/updates/
sudo depmod
```
2. Add a boot option to `/boot/extlinux/extlinux.conf` by duplicating the existing default option to capture all boot arguments.

2. Edit `/boot/extlinux/extlinux.conf` primary boot option's LINUX/FDT lines to use built kernel image and dtb file:
3. Edit `LINUX/FDT` lines to use built kernel image and dtb file:

```
LINUX /boot/d457/Image
Expand All @@ -165,6 +166,13 @@ LABEL d457
INITRD /boot/initrd
FDT /boot/d457/tegra194-p2888-0001-p2822-0000.dtb
APPEND ${cbootargs} root=/dev/mmcblk0p1 rw rootwait rootfstype=ext4 console=ttyTCU0,115200n8 console=tty0 fbcon=map:0 net.ifnames=0 rootfstype=ext4

LABEL d457_calib
MENU LABEL d457_calib kernel
LINUX /boot/d457/Image
INITRD /boot/initrd
FDT /boot/d457/tegra194-p2888-0001-p2822-0000.calib.dtb
APPEND ${cbootargs} root=/dev/mmcblk0p1 rw rootwait rootfstype=ext4 console=ttyTCU0,115200n8 console=tty0 fbcon=map:0 net.ifnames=0 rootfstype=ext4
```


Expand All @@ -175,6 +183,56 @@ LABEL d457

After rebooting Jetson, the D457 driver should work.

**NOTE**
## Notes

- It's recommended to save the original kernel image as backup boot option in `/boot/extlinux/extlinux.conf`.
- With the introduction of meta data support for depth IR starting from release r/1.0.1.27, calibration format streaming requires a separate DTB that disables meta data. If calibration is needed, it's recommended to add `d457_calib` boot option as shown below.

```
$ cat /boot/extlinux/extlinux.conf
TIMEOUT 30
DEFAULT d457

MENU TITLE L4T boot options

LABEL primary
MENU LABEL primary kernel
LINUX /boot/Image
INITRD /boot/initrd
FDT /boot/dtb/tegra194-p2888-0001-p2822-0000.dtb
APPEND ${cbootargs} quiet root=/dev/mmcblk0p1 rw rootwait rootfstype=ext4 console=ttyTCU0,115200n8 console=tty0 fbcon=map:0 net.ifnames=0 rootfstype=ext4

LABEL d457
MENU LABEL d457 kernel
LINUX /boot/d457/Image
INITRD /boot/initrd
FDT /boot/d457/tegra194-p2888-0001-p2822-0000.dtb
APPEND ${cbootargs} root=/dev/mmcblk0p1 rw rootwait rootfstype=ext4 console=ttyTCU0,115200n8 console=tty0 fbcon=map:0 net.ifnames=0 rootfstype=ext4

LABEL d457_calib
MENU LABEL d457_calib kernel
LINUX /boot/d457/Image
INITRD /boot/initrd
FDT /boot/d457/tegra194-p2888-0001-p2822-0000.calib.dtb
APPEND ${cbootargs} root=/dev/mmcblk0p1 rw rootwait rootfstype=ext4 console=ttyTCU0,115200n8 console=tty0 fbcon=map:0 net.ifnames=0 rootfstype=ext4
```

- To generate `tegra194-p2888-0001-p2822-0000.calib.dtb` on the Host build system, replace the contents of the below files:
`tegra194-camera-d4xx-dual.dtsi` by the contents of `tegra194-camera-d4xx-dual.calib.dtsi`
`tegra194-camera-d4xx-single.dtsi` by the contents of `tegra194-camera-d4xx-single.calib.dtsi`

- Reset and reapply patches and rebuild driver:
```
./apply_patches.sh 5.1.2 reset

./apply_patches.sh 5.1.2

./build_all.sh 5.1.2
```

- Deploy one DTB file on the Jetson:
- In `./images/5.1.2/arch/arm64/boot/dts/nvidia/` folder, locate and rename the follwing file:
- `tegra194-p2888-0001-p2822-0000.dtb` to `tegra194-p2888-0001-p2822-0000.calib.dtb`
- Copy `tegra194-p2888-0001-p2822-0000.calib.dtb` from Host to `/boot/d457/` on the Jetson.


54 changes: 51 additions & 3 deletions README_JP6.md
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Original file line number Diff line number Diff line change
Expand Up @@ -196,11 +196,11 @@ nvidia@ubuntu:~$ sudo dmesg | grep pca954x
```

- Configuration with jetson-io tool system fail to boot with message "couldn't find root partition"
Verfiy bootloader configuration
Verify bootloader configuration
`/boot/extlinux/extlinux.conf`
Sometimes configuration tool missing APPEND parameters. Duplicate `primary` section `APPEND` line to `JetsonIO` `APPEND` section, verify it's similar.

Exaple Bad:
Example Bad:
```
LABEL primary
MENU LABEL primary kernel
Expand All @@ -216,7 +216,7 @@ LABEL JetsonIO
APPEND ${cbootargs}
OVERLAYS /boot/tegra234-camera-d4xx-overlay-dual.dtbo
```
Exaple Good:
Example Good:
```
LABEL primary
MENU LABEL primary kernel
Expand Down Expand Up @@ -252,4 +252,52 @@ sudo cat /proc/device-tree/compatible
Output:
nvidia,p3701-0000
```
### Notes
- With the introduction of meta data support for depth IR starting from release r/1.0.1.27, calibration format streaming requires a separate DTB that disables meta data since the camera does not metadata in calibration mode.
- If calibration is needed, it's recommended to add `d457_calib` boot option as shown below.

```
LABEL primary
MENU LABEL primary kernel
LINUX /boot/Image
INITRD /boot/initrd
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

LABEL JetsonIO
MENU LABEL Custom Header Config: <CSI Jetson RealSense Camera D457 dual>
LINUX /boot/Image
FDT /boot/dtb/kernel_tegra234-p3737-0000+p3701-0000-nv.dtb
INITRD /boot/initrd
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
OVERLAYS /boot/tegra234-camera-d4xx-overlay-dual.dtbo

LABEL JetsonIO_calib
MENU LABEL Custom Header Config: <CSI Jetson RealSense Camera D457 dual - Calibration>
LINUX /boot/Image
FDT /boot/dtb/kernel_tegra234-p3737-0000+p3701-0000-nv.dtb
INITRD /boot/initrd
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
OVERLAYS /boot/tegra234-camera-d4xx-overlay-dual.calib.dtbo
```

- To generate `tegra234-camera-d4xx-overlay.calib.dtbo` and `tegra234-camera-d4xx-overlay-dual.calib.dtbo` on the Host build system, replace the contents of the below files:
`tegra234-camera-d4xx-overlay.dts` by the contents of `tegra234-camera-d4xx-overlay.calib.dts`

`tegra234-camera-d4xx-overlay-dual.dts` by the contents of `tegra234-camera-d4xx-overlay-dual.calib.dts`

- Reset and reapply patches and rebuild driver:
```
./apply_patches.sh 6.0 reset

./apply_patches.sh 6.0

./build_all.sh 6.0
```

- Deploy 2 DTBO files on the Jetson:
- In `./images/6.0/rootfs/boot/` folder, locate and rename the following DTBO files:
- Rename `tegra234-camera-d4xx-overlay.dtbo` to `tegra234-camera-d4xx-overlay.calib.dtbo`
- Rename `tegra234-camera-d4xx-overlay-dual.dtbo` to `tegra234-camera-d4xx-overlay-dual.calib.dtbo`
- Copy the two DTBO files from the build Host to `/boot/` on the Jetson.

---
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