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Intel® RealSense™ camera driver for GMSL* interface on NVIDIA® Jetson AGX Xavier™ JetPack 5.x.2

D457 MIPI on NVIDIA® Jetson AGX Xavier™

The Intel® RealSense™ MIPI platform driver enables the user to control and stream RealSense™ 3D MIPI cameras.

The system shall include:

Note: This MIPI reference driver is based on RealSense™ de-serialize board. For other de-serialize boards, modification might be needed.

Links

NVIDIA® Jetson AGX Xavier™ board setup for cross compile on x86-64

Please follow the instruction to flash JetPack to the Jetson AGX Xavier™ with NVIDIA® SDK Manager or other methods NVIDIA provides. Make sure the board is ready to use.

Build kernel, dtb and D457 driver on host - cross compile x86-64

JetPack manual build

Download Jetson Linux source code tarball from

JetPack 5.1.2

mkdir -p l4t-gcc/5.x
cd ./l4t-gcc/5.x
wget https://developer.nvidia.com/embedded/jetson-linux/bootlin-toolchain-gcc-93 -O aarch64--glibc--stable-final.tar.gz
tar xf aarch64--glibc--stable-final.tar.gz
cd ../..
wget https://developer.nvidia.com/downloads/embedded/l4t/r35_release_v4.1/sources/public_sources.tbz2
tar xjf public_sources.tbz2
cd Linux_for_Tegra/source/public
tar xjf kernel_src.tbz2
cd ../../..

JetPack 5.0.2

mkdir -p l4t-gcc/5.x
cd ./l4t-gcc/5.x
wget https://developer.nvidia.com/embedded/jetson-linux/bootlin-toolchain-gcc-93 -O aarch64--glibc--stable-final.tar.gz
tar xf aarch64--glibc--stable-final.tar.gz --strip-components 1
cd ../..
wget https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/sources/public_sources.tbz2
tar xjf public_sources.tbz2
cd Linux_for_Tegra/source/public
tar xjf kernel_src.tbz2
cd ../../..

Apply D457 patches and build the kernel image, dtb and D457 driver.

# install dependencies
sudo apt install build-essential bc flex bison

# apply patches
./apply_patches_ext.sh 5.1.2 ./Linux_for_Tegra/source/public

# build kernel, dtb and D457 driver
./build_all.sh 5.1.2 ./Linux_for_Tegra/source/public

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 5.1.2 ./Linux_for_Tegra/source/public

The developers can set up the source code with NVIDIA's Jetson git repositories by using the provided scripts.

  • Prepare build workspace for cross-compile on host
  • Apply necessary patches
  • Build workspace
  • Deploy build results on target Jetson
./setup_workspace.sh 5.1.2

./apply_patches.sh 5.1.2

./build_all.sh 5.1.2

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 5.1.2

Install kernel, device-tree and D457 driver to Jetson AGX Xavier

  1. Install the kernel and modules (change 5.1.2 to 5.0.2 for 5.0.2 build)

Building with build_all.sh 5.1.2

The necessary files are:

  • kernel image images/5.1.2/arch/arm64/boot/Image
  • dtb images/5.1.2/arch/arm64/boot/dts/nvidia/tegra194-p2888-0001-p2822-0000.dtb
  • D457 driver images/5.1.2/drivers/media/i2c/d4xx.ko
  • UVC Video driver images/5.1.2/drivers/media/usb/uvc/uvcvideo.ko
  • V4L2 Core Video driver images/5.1.2/drivers/media/v4l2-core/videobuf-core.ko
  • V4L2 VMalloc Video driver images/5.1.2/drivers/media/v4l2-core/videobuf-vmalloc.ko

Copy build results from Host to Jetson target 10.0.0.116 user nvidia

scp ./images/5.1.2/arch/arm64/boot/Image nvidia@10.0.0.116:~/
scp ./images/5.1.2/arch/arm64/boot/dts/nvidia/tegra194-p2888-0001-p2822-0000.dtb nvidia@10.0.0.116:~/
scp ./images/5.1.2/drivers/media/i2c/d4xx.ko nvidia@10.0.0.116:~/
scp ./images/5.1.2/drivers/media/usb/uvc/uvcvideo.ko nvidia@10.0.0.116:~/
scp ./images/5.1.2/drivers/media/v4l2-core/videobuf-core.ko nvidia@10.0.0.116:~/
scp ./images/5.1.2/drivers/media/v4l2-core/videobuf-vmalloc.ko nvidia@10.0.0.116:~/

Copy them to the right places on Jetson target:

sudo mkdir /boot/d457
sudo mkdir /lib/modules/$(uname -r)/updates
sudo cp Image /boot/d457/
sudo cp tegra194-p2888-0001-p2822-0000.dtb /boot/d457/
sudo cp d4xx.ko /lib/modules/$(uname -r)/updates/
sudo cp uvcvideo.ko /lib/modules/$(uname -r)/updates/
sudo cp videobuf-core.ko /lib/modules/$(uname -r)/updates/
sudo cp videobuf-vmalloc.ko /lib/modules/$(uname -r)/updates/
sudo depmod

  1. Add a boot option to /boot/extlinux/extlinux.conf by duplicating the existing default option to capture all boot arguments.

  2. Edit LINUX/FDT lines to use built kernel image and dtb file:

    LINUX /boot/d457/Image
FDT /boot/d457/tegra194-p2888-0001-p2822-0000.dtb

$ 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
  1. Make D457 I2C module autoload at boot time: 
    echo "d4xx" | sudo tee /etc/modules-load.d/d4xx.conf

After rebooting Jetson, the D457 driver should work.

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.