Fix readme #309
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| Original file line number | Diff line number | Diff line change | ||||||
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| # Intel® RealSense™ camera driver for GMSL* interface | ||||||||
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| # D457 MIPI on NVIDIA® Jetson AGX Orin™ JetPack 6.x | ||||||||
| The Intel® RealSense™ MIPI platform driver enables the user to control and stream RealSense™ 3D MIPI cameras. | ||||||||
| The system shall include: | ||||||||
| * NVIDIA® Jetson™ platform Supported JetPack versions are: | ||||||||
| - [6.2 production release](https://developer.nvidia.com/embedded/jetpack-sdk-62) | ||||||||
| - [6.1 production release](https://developer.nvidia.com/embedded/jetpack-sdk-61) | ||||||||
| - [6.0 production release](https://developer.nvidia.com/embedded/jetpack-sdk-60) | ||||||||
| * RealSense™ [De-Serialize board](https://store.intelrealsense.com/buy-intel-realsense-des457.html) | ||||||||
| * 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 [D457](https://store.intelrealsense.com/buy-intel-realsense-depth-camera-d457.html) | ||||||||
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|  | ||||||||
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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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| ### Links | ||||||||
| - Intel® RealSense™ camera driver for GMSL* interface [Front Page](./README.md) | ||||||||
| - NVIDIA® Jetson AGX Orin™ board setup - AGX Orin™ [JetPack 6.0](./README_JP6.0.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) | ||||||||
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||||||||
| ## NVIDIA® Jetson AGX Orin™ board setup | ||||||||
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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 NVIDIA® Jetson AGX Orin™ with NVIDIA® SDK Manager or other methods NVIDIA provides. Make sure the board is ready to use. | ||||||||
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| ## Build environment prerequisites | ||||||||
| ``` | ||||||||
| sudo apt-get install -y build-essential bc wget flex bison curl libssl-dev xxd tar | ||||||||
| ``` | ||||||||
| ## Build NVIDIA® kernel drivers, dtb and D457 driver | ||||||||
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| 1. Clone [realsense_mipi_platform_driver](https://github.com/IntelRealSense/realsense_mipi_platform_driver.git) repo. | ||||||||
| 2. The developers can set up build environment, ARM64 compiler, kernel sources and NVIDIA's Jetson git repositories by using the setup script. | ||||||||
| 3. Apply patches for kernel drivers, nvidia-oot module and tegra devicetree. | ||||||||
| 4. Build project | ||||||||
| 5. Apply build results to target (Jetson). | ||||||||
| 6. Configure target. | ||||||||
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| Assuming building for 6.0. One can also build for 6.1, 6.2 just replace the last parameter. | ||||||||
| ``` | ||||||||
| git clone --branch dev --single-branch https://github.com/IntelRealSense/realsense_mipi_platform_driver.git | ||||||||
| cd realsense_mipi_platform_driver | ||||||||
| ./setup_workspace.sh 6.0 | ||||||||
| ./apply_patches.sh 6.0 | ||||||||
| ./build_all.sh 6.0 | ||||||||
| ``` | ||||||||
| 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. | ||||||||
| ``` | ||||||||
| ./build_all.sh --dev-dbg 6.0 | ||||||||
| ``` | ||||||||
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| ## JetPack manual build - cross compile x86-64 (CI deploy) | ||||||||
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| [NVIDIA® JetPack 6.2: Jetson Linux 36.4.3](https://developer.nvidia.com/embedded/jetson-linux-r3643) | ||||||||
| 1. Download Jetson Linux Driver Package - [JetPack 6.2 BSP sources](https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v4.3/release/jetson_linux_r36.4.3_aarch64.tbz2) | ||||||||
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| 2. Download Toolchain ARM64 compiler - [Bootlin Toolchain gcc 11.3](https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v3.0/toolchain/aarch64--glibc--stable-2022.08-1.tar.bz2) | ||||||||
| 3. Apply patches for kernel drivers, nvidia-oot module and tegra devicetree. | ||||||||
| 4. Build cross-compile project on host (Build PC) or natively on target (Jetson). | ||||||||
| 5. Apply build results to target (Jetson). | ||||||||
| 6. Configure target. | ||||||||
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| ``` | ||||||||
| # JetPack 6.0 | ||||||||
| mkdir -p l4t-gcc/6.x | ||||||||
| cd ./l4t-gcc/6.x | ||||||||
| wget https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v3.0/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_v4.3/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 | ||||||||
| cd ../.. | ||||||||
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| ./apply_patches_ext.sh 6.0 Linux_for_Tegra/source | ||||||||
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| cp ./nvidia-oot/Makefile Linux_for_Tegra/source | ||||||||
| cp ./kernel/kernel-jammy-src/Makefile Linux_for_Tegra/source/kernel | ||||||||
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| # build kernel, dtb and D457 driver | ||||||||
| ./build_all.sh 6.0 ./Linux_for_Tegra/source | ||||||||
| ``` | ||||||||
| 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. | ||||||||
| ``` | ||||||||
| ./build_all.sh --dev-dbg 6.0 ./Linux_for_Tegra/source | ||||||||
| ``` | ||||||||
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| ## Archive JetPack 6.x build results (optional) | ||||||||
| For 6.0 the kernel version is 5.15.136-tegra. | ||||||||
| - kernel image : `images/6.0/rootfs/boot/Image` | ||||||||
| - dtb: `images/6.0/rootfs/boot/dtb/tegra234-p3737-0000+p3701-0000-nv.dtb` | ||||||||
| - dtb overlay: `images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay.dtbo` | ||||||||
| - dtb dual camera overlay: `images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay-dual.dtbo` | ||||||||
| - kernel modules: `images/6.0/rootfs/lib/modules/5.15.136-tegra` | ||||||||
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| ## Backup JetPack 6.0 boot configuration and drivers (optional) | ||||||||
| ``` | ||||||||
| echo "Backup boot configuration" | ||||||||
| sudo cp /boot/tegra234-p3737-0000+p3701-0000-nv.dtb /boot/tegra234-p3737-0000+p3701-0000-nv-bkp.dtb | ||||||||
| # Note: If using a production board and not a dev kit copy the relevant dtb file below | ||||||||
| sudo cp /boot/tegra234-p3737-0000+p3701-0005-nv.dtb /boot/tegra234-p3737-0000+p3701-0005-nv-bkp.dtb | ||||||||
| ``` | ||||||||
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||||||||
| ## Deploy build results on Jetson target | ||||||||
| On build host, copy build results to the right places. | ||||||||
| Assuming user 'nvidia' on Jetson with ip: `10.0.0.116` (if building natively on Jetson use $USER@localhost): | ||||||||
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| ``` | ||||||||
| # Configuration files | ||||||||
| tar czf rootfs.tar.gz -C images/6.2/rootfs boot lib | ||||||||
|
There was a problem hiding this comment. Incorrect path reference: This file is for JetPack 6.0, but the tar command references 'images/6.2/rootfs'. It should reference 'images/6.0/rootfs' instead.
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| scp rootfs.tar.gz [email protected]: | ||||||||
| ``` | ||||||||
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| ## Install kernel drivers, extra modules and device-tree to Jetson AGX Orin | ||||||||
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| Following steps required: | ||||||||
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| 1. Copy build artifacts: | ||||||||
| If you build locally use those commands: | ||||||||
|
There was a problem hiding this comment. Corrected grammar: 'use those commands' should be 'use these commands'.
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| ``` | ||||||||
| sudo cp -r ./images/6.0/rootfs/lib/modules/5.15.136-tegra /lib/modules/. | ||||||||
| sudo cp ./images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay.dtbo /boot/. | ||||||||
| sudo cp ./images/6.0/rootfs/boot/dtb/tegra234-p3737-0000+p3701-0000-nv.dtb /boot/dtb/. | ||||||||
| sudo cp ./images/6.0/rootfs/boot/Image /boot/ | ||||||||
| ``` | ||||||||
| In case of scp copy from host use this commands: | ||||||||
|
There was a problem hiding this comment. Corrected grammar: 'use this commands' should be 'use these commands'.
Suggested change
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| ``` | ||||||||
| tar xf rootfs.tar.gz | ||||||||
| sudo cp -r ./lib/modules/5.15.136-tegra /lib/modules/. | ||||||||
| sudo cp ./boot/tegra234-camera-d4xx-overlay.dtbo /boot/. | ||||||||
| sudo cp ./boot/dtb/tegra234-p3737-0000+p3701-0000-nv.dtb /boot/dtb/. | ||||||||
| sudo cp ./boot/Image /boot/ | ||||||||
| ``` | ||||||||
| 2. Run $ `sudo /opt/nvidia/jetson-io/jetson-io.py`, to exit choose save & reboot: | ||||||||
|
Collaborator
There was a problem hiding this comment. We need to make sure why it didn't work when I ran this readme on a clean machine |
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| 1. Configure Jetson AGX CSI Connector | ||||||||
| 2. Configure for compatible hardware | ||||||||
| 3. Choose appropriate configuration: | ||||||||
| i. Jetson RealSense Camera D457 | ||||||||
| ii. Jetson RealSense Camera D457 dual | ||||||||
| 5. Choose to save & reboot | ||||||||
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| 3. Enable and run depmod scan for "extra" & "kernel" modules | ||||||||
| ``` | ||||||||
| # enable extra & kernel modules | ||||||||
| # original file content: cat /etc/depmod.d/ubuntu.conf -- search updates ubuntu built-in | ||||||||
| sudo sed -i 's/search updates/search extra updates kernel/g' /etc/depmod.d/ubuntu.conf | ||||||||
| # update driver cache | ||||||||
| sudo depmod | ||||||||
| echo "d4xx" | sudo tee /etc/modules-load.d/d4xx.conf | ||||||||
| ``` | ||||||||
| 4. | ||||||||
| Verify bootloader configuration | ||||||||
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There was a problem hiding this comment. Step 4 heading is incomplete. The line '4.' should include the full description on the same line as 'Verify bootloader configuration' for consistency with other numbered steps.
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| ``` | ||||||||
| cat /boot/extlinux/extlinux.conf | ||||||||
| ----<CUT>---- | ||||||||
| LABEL JetsonIO | ||||||||
| MENU LABEL Custom Header Config: <CSI Jetson RealSense Camera D457> | ||||||||
| LINUX /boot/Image | ||||||||
| FDT /boot/dtb/kernel_tegra234-p3737-0000+p3701-0000-nv.dtb | ||||||||
| APPEND ${cbootargs} root=PARTUUID=bbb3b34e-...... | ||||||||
| OVERLAYS /boot/tegra234-camera-d4xx-overlay.dtbo | ||||||||
| ----<CUT>---- | ||||||||
| ``` | ||||||||
| On Jetson target (user home folder) assuming backup step was followed: | ||||||||
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| ### Verify driver loaded - on Jetson: | ||||||||
| - Driver API manual page [Driver API page](./README_driver.md) | ||||||||
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| ``` | ||||||||
| nvidia@ubuntu:~$ sudo dmesg | grep tegra-capture-vi | ||||||||
| [ 9.357521] platform 13e00000.host1x:nvcsi@15a00000: Fixing up cyclic dependency with tegra-capture-vi | ||||||||
| [ 9.419926] tegra-camrtc-capture-vi tegra-capture-vi: ep of_device is not enabled endpoint. | ||||||||
| [ 9.419932] tegra-camrtc-capture-vi tegra-capture-vi: ep of_device is not enabled endpoint. | ||||||||
| [ 10.001170] tegra-camrtc-capture-vi tegra-capture-vi: subdev DS5 mux 9-001a bound | ||||||||
| [ 10.025295] tegra-camrtc-capture-vi tegra-capture-vi: subdev DS5 mux 12-001a bound | ||||||||
| [ 10.040934] tegra-camrtc-capture-vi tegra-capture-vi: subdev DS5 mux 13-001a bound | ||||||||
| [ 10.056151] tegra-camrtc-capture-vi tegra-capture-vi: subdev DS5 mux 14-001a bound | ||||||||
| [ 10.288088] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound | ||||||||
| [ 10.324025] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound | ||||||||
| [ 10.324631] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound | ||||||||
| [ 10.325056] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound | ||||||||
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| nvidia@ubuntu:~$ sudo dmesg | grep d4xx | ||||||||
| [ 9.443608] d4xx 9-001a: Probing driver for D45x | ||||||||
| [ 9.983168] d4xx 9-001a: ds5_chrdev_init() class_create | ||||||||
| [ 9.989521] d4xx 9-001a: D4XX Sensor: DEPTH, firmware build: 5.15.1.0 | ||||||||
| [ 10.007813] d4xx 12-001a: Probing driver for D45x | ||||||||
| [ 10.013899] d4xx 12-001a: D4XX Sensor: RGB, firmware build: 5.15.1.0 | ||||||||
| [ 10.025787] d4xx 13-001a: Probing driver for D45x | ||||||||
| [ 10.029095] d4xx 13-001a: D4XX Sensor: Y8, firmware build: 5.15.1.0 | ||||||||
| [ 10.041282] d4xx 14-001a: Probing driver for D45x | ||||||||
| [ 10.044759] d4xx 14-001a: D4XX Sensor: IMU, firmware build: 5.15.1.0 | ||||||||
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| ``` | ||||||||
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| ### Known issues | ||||||||
| - Camera not recognized | ||||||||
| Verify I2C MUX detected. If "probe failed" reported, replace extension board adapter (LI-JTX1-SUB-ADPT). | ||||||||
| ``` | ||||||||
| nvidia@ubuntu:~$ sudo dmesg | grep pca954x | ||||||||
| [ 3.933113] pca954x 2-0072: probe failed | ||||||||
| ``` | ||||||||
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| - Configuration with jetson-io tool system fail to boot with message "couldn't find root partition" | ||||||||
| 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. | ||||||||
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| Example Bad: | ||||||||
| ``` | ||||||||
| 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 | ||||||||
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| 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} | ||||||||
| OVERLAYS /boot/tegra234-camera-d4xx-overlay-dual.dtbo | ||||||||
| ``` | ||||||||
| Example Good: | ||||||||
| ``` | ||||||||
| 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 | ||||||||
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| 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 ${cbootargs} root=PARTUUID=634b7e44-aacc-4dd9-a769-3a664b83b159 rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 console=ttyAMA0,115200 firmware_class.path=/etc/firmware fbcon=map:0 net.ifnames=0 nospectre_bhb video=efifb:off console=tty0 nv-auto-config | ||||||||
| OVERLAYS /boot/tegra234-camera-d4xx-overlay-dual.dtbo | ||||||||
| ``` | ||||||||
| - Configuration tool jetson-io terminates without configuration menu. | ||||||||
| verify that `/boot/dtb` has only one dtb file | ||||||||
| ``` | ||||||||
| nvidia@ubuntu:~$ ls /boot/dtb/ | ||||||||
| kernel_tegra234-p3737-0000+p3701-0000-nv.dtb | ||||||||
| ``` | ||||||||
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| - kernel does not recognize the I2C device | ||||||||
| ``` | ||||||||
| # Make sure which Jetson Carrier board is used: | ||||||||
| # p3701-0000 → Dev kit carrier board | ||||||||
| # p3701-0005 → Production carrier board or custom carrier | ||||||||
| # if you have the *0005* board, replace the relevant dtb file in in the instructions above | ||||||||
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| Example: | ||||||||
| sudo cat /proc/device-tree/compatible | ||||||||
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| 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. | ||||||||
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| ``` | ||||||||
| 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 | ||||||||
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| 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 | ||||||||
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| 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 | ||||||||
| ``` | ||||||||
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||||||||
| - 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` | ||||||||
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| `tegra234-camera-d4xx-overlay-dual.dts` by the contents of `tegra234-camera-d4xx-overlay-dual.calib.dts` | ||||||||
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||||||||
| - Reset and reapply patches and rebuild driver: | ||||||||
| ``` | ||||||||
| ./apply_patches.sh 6.0 reset | ||||||||
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| ./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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This is 6.0 doc