Boosting clocks is breaking camera stream

Robotics & Edge Computing Jetson & Embedded Systems Jetson Xavier NX
1

I’m running cameras over GMSL2 on an Xavier NX. Without boosting the clocks, v4l2 will stream at 30fps and the trace looks like this:

 vi-output, ox08-1955    [000] ....   248.772092: tegra_channel_capture_frame: sof:269.968555520
 vi-output, ox08-1955    [000] ....   248.772096: tegra_channel_capture_frame: eof:270.206176
     kworker/2:1-47      [002] ....   248.803766: rtcpu_vinotify_event: tstamp:8437023306 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:269968843552 data:0xcd9ce20010000000
     kworker/2:1-47      [002] ....   248.803768: rtcpu_vinotify_event: tstamp:8437023459 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:269968887008 data:0x00000000310009f2
     kworker/2:1-47      [002] ....   248.803776: rtcpu_vinotify_event: tstamp:8437567117 cch:0 vi:0 tag:CHANSEL_PXL_EOF channel:0x23 frame:0 vi_tstamp:270000156384 data:0x00000000086f0002
     kworker/2:1-47      [002] ....   248.803777: rtcpu_vinotify_event: tstamp:8437567286 cch:0 vi:0 tag:ATOMP_FRAME_DONE channel:0x23 frame:0 vi_tstamp:270000157248 data:0x0000000000000000
     kworker/2:1-47      [002] ....   248.803777: rtcpu_vinotify_event: tstamp:8437567459 cch:0 vi:0 tag:VIFALC_ACTIONLST channel:0x23 frame:0 vi_tstamp:270000177536 data:0x00000000020209f1
     kworker/2:1-47      [002] ....   248.803778: rtcpu_vinotify_event: tstamp:8437567612 cch:0 vi:0 tag:FE channel:0x00 frame:0 vi_tstamp:270000206112 data:0x0000000000000020
     kworker/2:1-47      [002] ....   248.803778: rtcpu_vinotify_event: tstamp:8437567790 cch:0 vi:0 tag:ATOMP_FE channel:0x00 frame:0 vi_tstamp:270000206176 data:0x0000000800000000
     kworker/2:1-47      [002] ....   248.803779: rtcpu_vinotify_event: tstamp:8437567939 cch:0 vi:0 tag:VIFALC_ACTIONLST channel:0x23 frame:0 vi_tstamp:270000242560 data:0x00000000000209f1
     kworker/2:1-47      [002] ....   248.803786: rtcpu_vinotify_event: tstamp:8437568110 cch:0 vi:0 tag:FS channel:0x00 frame:0 vi_tstamp:270001801280 data:0x0000000000000010
     kworker/2:1-47      [002] ....   248.803787: rtcpu_vinotify_event: tstamp:8437568263 cch:0 vi:0 tag:ATOMP_FS channel:0x00 frame:0 vi_tstamp:270001801344 data:0x0000000800000000
     kworker/2:1-47      [002] ....   248.803788: rtcpu_vinotify_event: tstamp:8437568433 cch:0 vi:0 tag:CHANSEL_PXL_SOF channel:0x23 frame:0 vi_tstamp:270001863104 data:0x0000000000000001
     kworker/2:1-47      [002] ....   248.803789: rtcpu_vinotify_event: tstamp:8437568582 cch:0 vi:0 tag:VIFALC_ACTIONLST channel:0x23 frame:0 vi_tstamp:270001873888 data:0x00000000080209f2
     kworker/2:1-47      [002] ....   248.803789: rtcpu_vinotify_event: tstamp:8438108300 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:270002207360 data:0xcd9ce50010000000
     kworker/2:1-47      [002] ....   248.803790: rtcpu_vinotify_event: tstamp:8438108454 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:270002250816 data:0x00000000310009f3
 vi-output, ox08-1955    [000] ....   248.805226: tegra_channel_capture_frame: sof:270.1863104
 vi-output, ox08-1955    [000] ....   248.805229: tegra_channel_capture_frame: eof:270.33513792
 vi-output, ox08-1955    [000] ....   248.838685: tegra_channel_capture_frame: sof:270.35170720
 vi-output, ox08-1955    [000] ....   248.838689: tegra_channel_capture_frame: eof:270.66821408

when I boost the clocks to max and limit the rate using

sudo su
echo 1 > /sys/kernel/debug/bpmp/debug/clk/vi/mrq_rate_locked
echo 1 > /sys/kernel/debug/bpmp/debug/clk/isp/mrq_rate_locked
echo 1 > /sys/kernel/debug/bpmp/debug/clk/nvcsi/mrq_rate_locked
cat /sys/kernel/debug/bpmp/debug/clk/vi/max_rate |tee /sys/kernel/debug/bpmp/debug/clk/vi/rate
cat /sys/kernel/debug/bpmp/debug/clk/isp/max_rate | tee  /sys/kernel/debug/bpmp/debug/clk/isp/rate
cat /sys/kernel/debug/bpmp/debug/clk/nvcsi/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/nvcsi/rate

The v4l2-ctl stream jams up and I get this in the trace:

     kworker/2:1-47      [002] ....   161.551789: rtcpu_vinotify_event: tstamp:5711557174 cch:0 vi:0 tag:CSIMUX_FRAME channel:0x00 frame:0 vi_tstamp:182766733440 data:0x00000000000000a0
     kworker/2:1-47      [002] ....   161.551790: rtcpu_vinotify_event: tstamp:5711557345 cch:0 vi:0 tag:FS channel:0x00 frame:0 vi_tstamp:182766733440 data:0x0000000000000010
     kworker/2:1-47      [002] ....   161.551791: rtcpu_vinotify_event: tstamp:5711557493 cch:0 vi:0 tag:CHANSEL_NOMATCH channel:0x01 frame:0 vi_tstamp:182766795552 data:0x0000000000000589
     kworker/2:1-47      [002] ....   161.653760: rtcpu_vinotify_error: tstamp:5714589142 cch:0 vi:0 tag:CSIMUX_FRAME channel:0x00 frame:0 vi_tstamp:182866656192 data:0x00000000000000a0
     kworker/2:1-47      [002] ....   161.653763: rtcpu_vinotify_error: tstamp:5714590175 cch:0 vi:0 tag:CHANSEL_NOMATCH channel:0x01 frame:0 vi_tstamp:182866718304 data:0x0000000000000589
     kworker/2:1-47      [002] ....   161.653765: rtcpu_vinotify_event: tstamp:5714812138 cch:0 vi:0 tag:CSIMUX_FRAME channel:0x00 frame:0 vi_tstamp:182866656192 data:0x00000000000000a0
     kworker/2:1-47      [002] ....   161.653766: rtcpu_vinotify_event: tstamp:5714812292 cch:0 vi:0 tag:FS channel:0x00 frame:0 vi_tstamp:182866656192 data:0x0000000000000010

echo’ing 0’s back into the files fixes it again

It looks like it gets FE errors? What could be going wrong here?

3

Hi,
Please share which release you are using, Jetpack 4.6.3 or 5.1. And please disable trace log and see if it works.

4

Jetpack 5.1 and disabling trace logs doesn’t work unfortunately

5

Hi,
If you don’t enable it, are you able to capture raw frames through v4l2-ctl command? If the device tree and driver are ready, you shall not need to manually set up the nodes.

6

Yes I can capture without tracing enabled.

If the device tree and driver are ready, you shall not need to manually set up the nodes.

I don’t quite follow this line, we have the device tree and driver, i’m just using the trace to debug because boosting the clocks changes what shows up in the trace.

7

Hi,
There might be misunderstanding. Please make sure which cases succeeds or fails:

  1. Run v4l2-ctl command on default Jetpack 5.1
  2. Run v4l2-ctl command with boosting clocks
  3. Run v4l2-ctl command with boosting clocks + enable trace log
8
  1. works
  2. does not work
  3. does not work
9

to narrow it down further, its specifically

echo 0 > /sys/kernel/debug/bpmp/debug/clk/nvcsi/mrq_rate_locked`

that fixes it and

echo 1 > /sys/kernel/debug/bpmp/debug/clk/nvcsi/mrq_rate_locked
cat /sys/kernel/debug/bpmp/debug/clk/nvcsi/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/nvcsi/rate

that breaks it

10

Hi,
Do you hit performance issue in your use-case? If 1 is good you should not need to boost the clocks.

12

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