Camera initialization error

Robotics & Edge Computing Jetson & Embedded Systems Jetson AGX Orin
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1

Hello I am experiencing some issue with camera initialization.
I am using Orin AGX 32, with forecr carrier board and 3x Framos IMX678.
But it seems argus does not find them. And using mmap to try to grab a image freezes the device, making it unresponsive until a power out is done.

[ 17.222234] pva 16000000.pva0: Completed nvhost_client_device_init
[ 17.222838] [RCE] TCU debug prints will be routed to traces.
[ 17.223720] pva 16000000.pva0: syncpt_unit_base 60000000 syncpt_unit_size 4000000 size 10000
[ 17.228078] tegra-ofa 15a50000.ofa: Adding to iommu group 52
[ 17.234691] drm drm: [drm] Cannot find any crtc or sizes
[ 17.236425] [drm] Initialized tegra 1.0.99 20120330 for drm on minor 0
[ 17.250334] tegra-camrtc-capture-vi tegra-capture-vi: num lanes error
[ 17.250352] tegra-camrtc-capture-vi tegra-capture-vi: num lanes error
[ 17.250358] tegra-camrtc-capture-vi tegra-capture-vi: num lanes error
[ 17.250365] tegra-camrtc-capture-vi tegra-capture-vi: ep of_device is not enabled endpoint.
[ 17.250566] tegra-camrtc-capture-vi tegra-capture-vi: ep of_device is not enabled endpoint.
[ 17.250666] tegra-camrtc-capture-vi tegra-capture-vi: ep of_device is not enabled endpoint.
[ 17.258367] tegra194-vi5 13e00000.host1x:vi0@15c00000: Adding to iommu group 30
[ 17.258411] tegra194-isp5 14800000.isp: Adding to iommu group 34
[ 17.259090] driver not enabled, cannot register any devices
[ 17.259147] t194-nvcsi 13e00000.host1x:nvcsi@15a00000: No bus width info
[ 17.259156] t194-nvcsi 13e00000.host1x:nvcsi@15a00000: No bus width info
[ 17.259164] t194-nvcsi 13e00000.host1x:nvcsi@15a00000: No bus width info
[ 17.259167] t194-nvcsi 13e00000.host1x:nvcsi@15a00000: No bus width info
[ 17.259170] t194-nvcsi 13e00000.host1x:nvcsi@15a00000: No bus width info
[ 17.259187] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound
[ 17.259196] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound
[ 17.259203] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound
[ 17.260697] driver not enabled, cannot register any devices
[ 17.261108] tegra194-vi5 13e00000.host1x:vi1@14c00000: Adding to iommu group 33
[ 17.261222] (NULL device *): fops function table already registered
[ 17.261226] driver not enabled, cannot register any devices
[ 17.262148] driver not enabled, cannot register any devices
[ 17.299771] tegra-dce d800000.dce: Adding to iommu group 53
[ 17.300851] dce: dce_ipc_channel_init:311 Invalid Channel State [0x0] for ch_type [2]
[ 17.301242] dce: tegra_dce_probe:245 Found display consumer device
[ 17.301524] dce: dce_mailbox_set_full_interrupt:157 Intr bit set multiple times for MB : [0x5]
[ 17.301815] dce: dce_admin_send_cmd_ver:456 version : [0x3] err : [0x0]
[ 17.302019] dce: dce_mailbox_set_full_interrupt:157 Intr bit set multiple times for MB : [0x1]
[ 17.302050] dce: dce_admin_setup_clients_ipc:585 Channel Reset Complete for Type [1] …
[ 17.302052] dce: dce_admin_setup_clients_ipc:561 Get queue info failed for [2]
[ 17.302251] dce: dce_mailbox_set_full_interrupt:157 Intr bit set multiple times for MB : [0x2]
[ 17.302278] dce: dce_admin_setup_clients_ipc:585 Channel Reset Complete for Type [3] …
[ 17.303248] dce: dce_start_boot_flow:166 DCE_BOOT_DONE
[ 17.317226] nvpps c6a0000.nvpps: nvpps_probe
[ 17.317400] nvpps c6a0000.nvpps: primary-emac found ethernet@6800000
[ 17.317419] nvpps c6a0000.nvpps: primary emac base address 0x6810000
[ 17.317426] nvpps c6a0000.nvpps: using ptp notifier method on emac ethernet@6800000
[ 17.317428] nvpps c6a0000.nvpps: tsc_res_ns(32)
[ 17.317440] nvpps c6a0000.nvpps: PPS GPIO not provided in DT, only Timer mode available
[ 17.324081] nvpps c6a0000.nvpps: nvpps cdev(489:0)
[ 17.324121] nvpps c6a0000.nvpps: TSC config ptx 0x113
[ 17.346068] nvvrs_pseq 4-003c: NVVRS Vendor ID: 0x9
[ 17.346364] nvvrs_pseq 4-003c: NVVRS Model Rev: 0x81
[ 17.350426] nvvrs_pseq 4-003c: NVVRS PSEQ probe successful
[ 17.373440] hwmon hwmon3: temp1_input not attached to any thermal zone
[ 17.373713] hwmon hwmon3: temp2_input not attached to any thermal zone
[ 17.382276] nvvrs11 4-0020: NVVRS11 Vendor ID: 0x11
[ 17.383555] nv_platform 13800000.display: Adding to iommu group 54
[ 17.384324] nvvrs11 4-0020: NVVRS11 Model Rev: 0x81
[ 17.384330] nvvrs11 4-0020: NVVRS11 probe successful
[ 17.385626] nvvrs11 4-0022: NVVRS11 Vendor ID: 0x11
[ 17.388143] nvvrs11 4-0022: NVVRS11 Model Rev: 0x81
[ 17.388149] nvvrs11 4-0022: NVVRS11 probe successful
[ 17.389172] platform 13800000.display:nvdisplay-niso: Adding to iommu group 55
[ 17.391491] framos_i2c_generic_driver 16-0036: generic_sd_probe++
[ 17.391496] framos_i2c_generic_driver 16-0036: i2c-mux broadcast channel registered.
[ 17.393131] spi-tegra114 3210000.spi: Adding to iommu group 1
[ 17.396078] spi-tegra114 3230000.spi: Adding to iommu group 1
[ 17.396285] tegra234-aon c000000.aon: Adding to iommu group 56
[ 17.396801] c000000.aon:hsp: probed
[ 17.396909] tegra234-aon c000000.aon: init done
[ 17.401701] thermal-trip-event cpu-throttle-alert: cooling device registered.
[ 17.402186] imx678 9-001a: probing v4l2 sensor
[ 17.402279] imx678 9-001a: initializing mipi…
[ 17.403121] nvethernet 2310000.ethernet: Adding to iommu group 57
[ 17.403189] imx678 9-001a: tegracam sensor driver:imx678_v2.0.6
[ 17.405974] nvethernet 2310000.ethernet: failed to read skip mac reset flag, default 0
[ 17.405982] nvethernet 2310000.ethernet: failed to read MDIO address
[ 17.405991] nvethernet 2310000.ethernet: setting to default DMA bit mask
[ 17.414092] CAN device driver interface
[ 17.415742] thermal-trip-event gpu-throttle-alert: cooling device registered.
[ 17.416782] at24 0-0050: 256 byte 24c02 EEPROM, read-only
[ 17.418061] thermal-trip-event cv0-throttle-alert: cooling device registered.
[ 17.418395] thermal-trip-event cv1-throttle-alert: cooling device registered.
[ 17.418552] scf-pmu-drv scf-pmu: Registered T23x SCF Uncore PMU
[ 17.418669] thermal-trip-event cv2-throttle-alert: cooling device registered.
[ 17.419817] thermal-trip-event soc0-throttle-alert: cooling device registered.
[ 17.420081] tegra-hda 3510000.hda: Adding to iommu group 58
[ 17.420993] TT CAN feature is not supported
[ 17.421530] Message RAM Configuration
[ 17.421530] | base addr |0x0c312000|
[ 17.421530] | sidfc_flssa |0x00000000|
[ 17.421530] | xidfc_flesa |0x00000040|
[ 17.421530] | rxf0c_f0sa |0x000000c0|
[ 17.421530] | rxf1c_f1sa |0x000009c0|
[ 17.421530] | rxbc_rbsa |0x000009c0|
[ 17.421530] | txefc_efsa |0x000009c0|
[ 17.421530] | txbc_tbsa |0x00000a40|
[ 17.421530] | tmc_tmsa |0x00000ec0|
[ 17.421530] | mram size |0x00001000|
[ 17.422876] Release 3.2.3 from 09.06.2018
[ 17.431638] net can0: mttcan device registered (regs=0000000050800657, irq=215)
[ 17.433304] TT CAN feature is not supported
[ 17.433859] Message RAM Configuration
[ 17.433859] | base addr |0x0c322000|
[ 17.433859] | sidfc_flssa |0x00000000|
[ 17.433859] | xidfc_flesa |0x00000040|
[ 17.433859] | rxf0c_f0sa |0x000000c0|
[ 17.433859] | rxf1c_f1sa |0x000009c0|
[ 17.433859] | rxbc_rbsa |0x000009c0|
[ 17.433859] | txefc_efsa |0x000009c0|
[ 17.433859] | txbc_tbsa |0x00000a40|
[ 17.433859] | tmc_tmsa |0x00000ec0|
[ 17.433859] | mram size |0x00001000|
[ 17.435283] Release 3.2.3 from 09.06.2018
[ 17.437162] thermal-trip-event soc1-throttle-alert: cooling device registered.
[ 17.443874] thermal-trip-event soc2-throttle-alert: cooling device registered.
[ 17.448027] imx678 9-001a: imx678_verify_data_rate: Selected data rate is not supported with 4 lane mode, switching to default!
[ 17.448032] imx678 9-001a: imx678_verify_data_rate: Selected data rate is not supported in this mode, switching to data rate 2 mode !
[ 17.448081] tegra-camrtc-capture-vi tegra-capture-vi: subdev imx678 9-001a bound
[ 17.450714] driver not enabled, cannot register any devices
[ 17.454355] net can1: mttcan device registered (regs=000000006385cdf1, irq=216)
[ 17.455672] thermal-trip-event hot-surface-alert: cooling device registered.
[ 17.457744] imx678 9-001a: Detected imx678 sensor
[ 17.465978] imx678 11-001a: probing v4l2 sensor
[ 17.466063] imx678 11-001a: initializing mipi…
[ 17.468925] imx678 11-001a: tegracam sensor driver:imx678_v2.0.6
[ 17.487956] input: NVIDIA Jetson AGX Orin HDA HDMI/DP,pcm=3 as /devices/platform/bus@0/3510000.hda/sound/card0/input1
[ 17.512466] input: NVIDIA Jetson AGX Orin HDA HDMI/DP,pcm=7 as /devices/platform/bus@0/3510000.hda/sound/card0/input2
[ 17.513269] imx678 11-001a: imx678_verify_data_rate: Selected data rate is not supported with 4 lane mode, switching to default!
[ 17.513274] imx678 11-001a: imx678_verify_data_rate: Selected data rate is not supported in this mode, switching to data rate 2 mode !
[ 17.513326] tegra-camrtc-capture-vi tegra-capture-vi: subdev imx678 11-001a bound
[ 17.526255] driver not enabled, cannot register any devices
[ 17.542319] imx678 11-001a: Detected imx678 sensor
[ 17.549253] input: NVIDIA Jetson AGX Orin HDA HDMI/DP,pcm=8 as /devices/platform/bus@0/3510000.hda/sound/card0/input3
[ 17.553992] imx678 13-001a: probing v4l2 sensor
[ 17.554057] imx678 13-001a: initializing mipi…
[ 17.561847] imx678 13-001a: tegracam sensor driver:imx678_v2.0.6
[ 17.574861] input: NVIDIA Jetson AGX Orin HDA HDMI/DP,pcm=9 as /devices/platform/bus@0/3510000.hda/sound/card0/input4
[ 17.597126] nvvrs-pseq-rtc nvvrs-pseq-rtc: registered as rtc0
[ 17.598348] nvvrs-pseq-rtc nvvrs-pseq-rtc: setting system clock to 2025-09-02T09:03:21 UTC (1756803801)
[ 17.606643] imx678 13-001a: imx678_verify_data_rate: Selected data rate is not supported with 4 lane mode, switching to default!
[ 17.606650] imx678 13-001a: imx678_verify_data_rate: Selected data rate is not supported in this mode, switching to data rate 2 mode !
[ 17.606702] tegra-camrtc-capture-vi tegra-capture-vi: subdev imx678 13-001a bound
[ 17.607142] driver not enabled, cannot register any devices
[ 17.607310] imx678 13-001a: Detected imx678 sensor
[ 17.654238] nvethernet 2310000.ethernet: Ethernet MAC address: 48:b0:2d:d5:55:15
[ 17.655067] nvethernet 2310000.ethernet: macsec parameter is missing or disabled
[ 17.655071] nvethernet 2310000.ethernet: Macsec not supported/Not enabled
[ 17.656433] nvethernet 2310000.ethernet: eth0 (HW ver: 53) created with 8 DMA channels
[ 17.821849] FAT-fs (mmcblk0p11): Volume was not properly unmounted. Some data may be corrupt. Please run fsck.
[ 17.914340] irq: IRQ264: trimming hierarchy from :bus@0:interrupt-controller@f400000-1
[ 18.323432] audit: type=1334 audit(1756803802.224:8): prog-id=12 op=LOAD
[ 18.387584] audit: type=1334 audit(1756803802.288:9): prog-id=13 op=LOAD
[ 18.536386] audit: type=1334 audit(1756803802.436:10): prog-id=14 op=LOAD
[ 18.536592] audit: type=1334 audit(1756803802.436:11): prog-id=15 op=LOAD
[ 19.896854] nvgpu: 17000000.gpu gk20a_scale_init:541 [INFO] enabled scaling for GPU
[ 19.896854]
[ 20.991279] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready
[ 21.128649] nvethernet 2310000.ethernet eth0: Link is Up - 1Gbps/Full - flow control off

And using argusink we can see something like:

Sep 02 08:47:47 jetson-agx-orin-forecr nvargus-daemon[915]: === save_image_isp[1058]: CameraProvider initialized (0xffff78192c20)=== save_image_isp[1058]: CameraProvider destroyed (0xffff78192c20)=== save_image_isp[1058]: WARNING: CameraProvider is already destroyed.=== save_image_isp[1058]: Connection closed (FFFF7D4BB8C0)=== save_image_isp[1058]: Connection cleaned up (FFFF7D4BB8C0)=== save_image_isp[1096]: Connection established (FFFF7D4BB8C0)SCF: Error ResourceError: Unable to open BW Ioctl FD (in src/services/power/PowerServiceCore.cpp, function initialize(), line 125)

Sep 02 08:47:47 jetson-agx-orin-forecr nvargus-daemon[915]: SCF: Error ResourceError: (propagating from src/services/power/PowerService.cpp, function startService(), line 52)

Sep 02 08:47:47 jetson-agx-orin-forecr nvargus-daemon[915]: SCF: Error ResourceError: (propagating from src/components/ServiceHost.cpp, function startServices(), line 162)

Sep 02 08:47:47 jetson-agx-orin-forecr systemd-journald[598]: Forwarding to syslog missed 3 messages.

Sep 02 08:47:47 jetson-agx-orin-forecr nvargus-daemon[915]: SCF: Error InvalidState: Service not running (in src/services/power/PowerService.cpp, function stopService(), line 70)

Sep 02 08:47:47 jetson-agx-orin-forecr nvargus-daemon[915]: SCF: Error InvalidState: (propagating from src/components/ServiceHost.cpp, function stopServicesInternal(), line 214)

Sep 02 08:47:47 jetson-agx-orin-forecr nvargus-daemon[915]: SCF: Error ResourceError: (propagating from src/api/CameraDriver.cpp, function initialize(), line 181)

Sep 02 08:47:47 jetson-agx-orin-forecr nvargus-daemon[915]: SCF: Error InvalidState: Services are already stopped (in src/components/ServiceHost.cpp, function stopServicesInternal(), line 193)

Sep 02 08:47:47 jetson-agx-orin-forecr nvargus-daemon[915]: SCF: Error ResourceError: (propagating from src/api/CameraDriver.cpp, function getCameraDriver(), line 120)

Sep 02 08:47:47 jetson-agx-orin-forecr nvargus-daemon[915]: (Argus) Error ResourceError: (propagating from src/api/GlobalProcessState.cpp, function createCameraProvider(), line 210)

Using:

v4l2-ctl -d /dev/video0 --stream-mmap --set-ctrl bypass_mode=0 \
–set-ctrl=black_level=0,gain=1,exposure=22000 \
–stream-skip=1 --stream-count=1 --stream-to=test.raw

Flat out makes the device lock up and becomes unresponsive.

I am not sure if I have missed something major of if its something I am forgetting in my device tree ( attached for reference ).

I am relatively new when it comes to kernel and device tree, so It might be something obvious but any pointers would be appreciated.

dmesg.txt (60.8 KB)

dts.txt (377.5 KB)

2

*** Please note that this reply is generated by LLM automatically ***

I’ll provide a comprehensive analysis of the issue you’re experiencing with camera initialization on your Jetson AGX Orin device.

Summary of the issue:

You’re experiencing issues with camera initialization on your Jetson AGX Orin device, specifically with the Framos IMX678 camera module. The device becomes unresponsive when trying to capture an image using v4l2-ctl or argusink. You’ve provided the dmesg and dt files for reference.

Analysis:

  1. Camera detection: The dmesg output shows that the camera is detected, and the imx678 driver is loaded. However, there are errors related to the camera’s data rate and lane mode.
  2. Data rate and lane mode errors: The imx678 driver reports errors related to the selected data rate not being supported with 4-lane mode. The driver switches to default mode, but this might not be the optimal configuration for your camera module.
  3. Device tree configuration: The dt file shows that the camera module is configured as a imx678 device, but there might be issues with the device tree configuration. For example, the bus-width property is not set, which could cause issues with the camera’s data transfer.
  4. Argus and V4L2 errors: The argusink output shows errors related to the camera provider being destroyed and re-created, which might indicate issues with the camera’s initialization or configuration. The v4l2-ctl output shows errors related to the camera’s bypass mode and black level gain.

Comparison with the provided context:

The provided context does not specifically mention camera initialization or configuration. However, it does mention the fTPM provisioning script and the ODM and OEM workflows, which might be related to the device’s security and manufacturing process.

Recommendations:

  1. Verify device tree configuration: Review the device tree configuration to ensure that the camera module is properly configured, including the bus-width property.
  2. Check camera module configuration: Verify that the camera module is properly configured, including the data rate and lane mode.
  3. Update camera driver: Ensure that the imx678 driver is up-to-date and compatible with your camera module.
  4. Test with different camera configurations: Try different camera configurations, such as changing the data rate or lane mode, to see if it resolves the issue.
  5. Consult with NVIDIA support: If none of the above steps resolve the issue, consult with NVIDIA support for further assistance.

In conclusion, the issue you’re experiencing with camera initialization on your Jetson AGX Orin device is likely related to the camera module’s configuration or the device tree configuration. By verifying and updating the camera module configuration and device tree configuration, you might be able to resolve the issue. If not, consulting with NVIDIA support might be necessary.

*** Please give the thumbs up if you get answers you like. Or provide feedback to help us improve the answer. ***

5

Please consult with Framos for the driver.

6

Hi!

The driver is in place and seem to pick up the cameras fine. So I dont think its driver related?

7

Please check with Framos for your problem.

9

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