JP7.0/7.1 build

.github/workflows/build-jp7.1.yml

@@ -0,0 +1,25 @@
+name: Build JP 7.1
+
+on:
+  push:
+    branches:
+    - master
+    - dev
+  pull_request:
+    branches: ['**']
+
+permissions: read-all
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 #v3
+    - name: setup workspace
+      run: yes | ./setup_workspace.sh 7.1
+    - name: apply patches
+      run: git config --global user.email "builder@example.com" && git config --global user.name "builder" && ./apply_patches.sh
+    - name: build
+      run: ./build_all.sh

.github/workflows/build-jp7.yml

@@ -0,0 +1,25 @@
+name: Build JP 7.0
+
+on:
+  push:
+    branches:
+    - master
+    - dev
+  pull_request:
+    branches: ['**']
+
+permissions: read-all
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 #v3
+    - name: setup workspace
+      run: yes | ./setup_workspace.sh 7.0
+    - name: apply patches
+      run: git config --global user.email "builder@example.com" && git config --global user.name "builder" && ./apply_patches.sh
+    - name: build
+      run: ./build_all.sh

README.md

@@ -12,7 +12,7 @@
 # D457 MIPI on NVIDIA® Jetson AGX Xavier™ and AGX Orin™
 The RealSense™ MIPI platform driver enables the user to control and stream RealSense™ 3D MIPI cameras.
 The system shall include:
-* NVIDIA® Jetson platform (Currently Supported JetPack versions are: 6.2.1, 6.2, 6.1, 6.0, 5.1.2, 5.0.2, 4.6.1)
+* NVIDIA® Jetson platform (Currently Supported JetPack versions are: 7.1, 7.0, 6.2.1, 6.2, 6.1, 6.0, 5.1.2, 5.0.2, 4.6.1)
 * RealSense™ De-Serialize board
 * 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/)
 * RS MIPI camera (e.g. https://store.realsenseai.com/buy-intel-realsense-depth-camera-d457.html)
@@ -24,6 +24,7 @@ The system shall include:
 
 # Documentation
 
+- NVIDIA® Jetson AGX Orin™ board setup - AGX Orin™ [JetPack 7.x](./README_JP7.md) setup guide
 - 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
@@ -38,8 +39,9 @@ Please follow the [instruction](https://docs.nvidia.com/sdk-manager/install-with
 
 # JetPack build
 
-- [JetPack 6.0](./README_JP6.0.md#build-environment-prerequisites)
+- [JetPack 7.x](./README_JP7.md#build-environment-prerequisites)
 - [JetPack 6.2](./README_JP6.2.md#build-environment-prerequisites)
+- [JetPack 6.0](./README_JP6.0.md#build-environment-prerequisites)
 - [JetPack 5.x.2](./README_JP5.md#build-kernel-dtb-and-d457-driver)
 - [JetPack 4.6.1](./README_JP4.md#build-kernel-dtb-and-d457-driver)
 

README_JP7.md

@@ -0,0 +1,256 @@
+# RealSense™ camera driver for GMSL* interface
+
+# D457 MIPI on NVIDIA® Jetson AGX Orin™ JetPack 6.x 
+The 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:
+    - 7.1 production release
+    - 7.0 production release
+* RealSense™ De-Serialize board
+* 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.realsenseai.com/buy-intel-realsense-depth-camera-d457.html)
+
+![orin_adapter](https://github.com/dmipx/realsense_mipi_platform_driver/assets/104717350/524e3eb6-6e6b-41cf-9562-9c0f920dd821)
+
+
+> Note: This MIPI reference driver is based on RealSense™ de-serialize board. For other de-serialize boards, modification might be needed. 
+
+### Links
+- 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 Orin™ board setup - AGX Orin™ [JetPack 6.2](./README_JP6.2.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)
+
+## NVIDIA® Jetson AGX Orin™ board setup
+
+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.
+
+## 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
+
+These are descriptiver steps. Bash commands to be issued follow:
+1. Clone [realsense_mipi_platform_driver](https://github.com/realsenseai/realsense_mipi_platform_driver.git) repo.
+2. Checkout dev branch.
+3. The developers can set up build environment, ARM64 compiler, kernel sources and NVIDIA's Jetson git repositories by using the setup script.
+4. Apply patches for kernel drivers, nvidia-oot module and tegra devicetree.
+5. Build project
+6. Apply build results to target (Jetson).
+7. Configure target.
+
+Assuming building for 7.1. One can also build for 7.0 just replace the last parameter.
+Build version can be specified only once. It will be written to jetpack_version.txt file and used for later steps.
+You can display the current version cating the file jetpack_version. It will be show at the beginning of each script.
+```
+git clone --branch dev --single-branch https://github.com/realsenseai/realsense_mipi_platform_driver.git
+cd realsense_mipi_platform_driver
+./setup_workspace.sh 7.1
+./apply_patches.sh
+./build_all.sh
+```
+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
+```
+
+## Install kernel drivers, extra modules and device-tree to Jetson AGX Orin
+
+Following steps required:
+
+1. Copy build artifacts:
+If you build locally (native build on Jetson) use the following bash commands:
+```
+sudo cp -r ./images/7.1/rootfs/lib/modules/6.8.12-tegra /lib/modules/
+sudo cp    ./images/7.1/rootfs/boot/tegra234-camera-d4xx-overlay.dtbo /boot/
+sudo cp    ./images/7.1/rootfs/boot/dtb/tegra234-p3737-0000+p3701-0000-nv.dtb /boot/dtb/
+sudo cp    ./images/7.1/rootfs/boot/Image /boot/
+```
+In case of crossbuild scp copy from host to Jetson target use the following commands:
+```
+tar xf rootfs.tar.gz
+sudo cp -r ./lib/modules/6.8.12-tegra /lib/modules/.
+sudo cp    ./boot/tegra234-camera-d4xx-overlay.dtbo /boot/.
+sudo cp    ./boot/Image /boot/
+```
+2.	Run  $ `sudo /opt/nvidia/jetson-io/jetson-io.py`, to exit choose save & reboot:
+	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
+
+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
+```
+cat /boot/extlinux/extlinux.conf
+----<CUT>----
+LABEL JetsonIO
+    MENU LABEL Custom Header Config: <CSI Jetson RealSense Camera D457>
+    LINUX /boot/dev/Image
+    FDT /boot/dtb/kernel_tegra234-p3737-0000+p3701-0000-nv.dtb
+    APPEND ${cbootargs} root=PARTUUID=bbb3b34e-......
+    OVERLAYS /boot/tegra234-camera-d4xx-overlay.dtbo
+----<CUT>----
+```
+On Jetson target (user home folder) assuming backup step was followed:
+
+
+### Verify driver loaded - on Jetson:
+- Driver API manual page [Driver API page](./README_driver.md)
+
+```
+nvidia@ubuntu:~$ 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
+
+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
+
+```
+
+### 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
+```
+
+- 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.
+
+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
+
+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
+
+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
+```
+
+- 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
+
+Example: 
+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 6.2 reset
+
+./apply_patches.sh 6.2
+
+./build_all.sh 6.2
+```
+
+- Deploy 2 DTBO files on the Jetson:
+- In `./images/6.2/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. 
+
+---