Camera with serdes (MAX96705/MA9296)

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

my camera works fine on other embedded system(xilinx Zynq).
I’m trying to connect my camera to Xavier AGX with same configurations.

L4T version : L4T-32.2.1

video out : YUV422 format , 1280x1080@25fps (OV490 ISP is used)
in point of view in Xavier’s MIPI CSI input, video format is YUYV 16bit format.

MAX9296 : 4-lane, 500 Mbps.

Camera’s sensor & ISP works free-run by itself without any control, it need to ser/des initialize only.
i made driver and dts like that.
there is a driver of MAX9296 inside L4T, but i didn’t use that.
i tried this:

v4l2-ctl --set-fmt-video=width=1280,height=1080,pixelformat=YUYV --stream-mmap --stream-count=1 -d /dev/video0 --stream-to=ov490.raw --verbose

# tracer: nop
#
# entries-in-buffer/entries-written: 425/425   #P:4
#
#                              _-----=> irqs-off
#                             / _----=> need-resched
#                            | / _---=> hardirq/softirq
#                            || / _--=> preempt-depth
#                            ||| /     delay
#           TASK-PID   CPU#  ||||    TIMESTAMP  FUNCTION
#              | |       |   ||||       |         |
     kworker/0:1-987   [000] ....   108.743023: rtos_queue_peek_from_isr_failed: tstamp:3723139862 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   108.855022: rtos_queue_peek_from_isr_failed: tstamp:3728139862 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   109.023039: rtos_queue_peek_from_isr_failed: tstamp:3733139867 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   109.190999: rtos_queue_peek_from_isr_failed: tstamp:3738139864 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   109.358992: rtos_queue_peek_from_isr_failed: tstamp:3743139864 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   109.526982: rtos_queue_peek_from_isr_failed: tstamp:3748139864 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   109.694977: rtos_queue_peek_from_isr_failed: tstamp:3753139868 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   109.862964: rtos_queue_peek_from_isr_failed: tstamp:3758139864 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   109.974959: rtos_queue_peek_from_isr_failed: tstamp:3763139873 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   110.142962: rtos_queue_peek_from_isr_failed: tstamp:3768139867 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   110.310968: rtos_queue_peek_from_isr_failed: tstamp:3773139880 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   110.478952: rtos_queue_peek_from_isr_failed: tstamp:3778139864 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   110.646941: rtos_queue_peek_from_isr_failed: tstamp:3783139867 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   110.814935: rtos_queue_peek_from_isr_failed: tstamp:3788139864 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   110.982952: rtos_queue_peek_from_isr_failed: tstamp:3793139860 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   111.094926: rtos_queue_peek_from_isr_failed: tstamp:3798139864 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   111.262921: rtos_queue_peek_from_isr_failed: tstamp:3803139863 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   111.430902: rtos_queue_peek_from_isr_failed: tstamp:3808139871 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   111.598908: rtos_queue_peek_from_isr_failed: tstamp:3813139868 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   111.766889: rtos_queue_peek_from_isr_failed: tstamp:3818139867 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   111.934886: rtos_queue_peek_from_isr_failed: tstamp:3823139863 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   112.102874: rtos_queue_peek_from_isr_failed: tstamp:3828139867 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   112.214872: rtos_queue_peek_from_isr_failed: tstamp:3833139863 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   112.382862: rtos_queue_peek_from_isr_failed: tstamp:3838139867 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   112.550870: rtos_queue_peek_from_isr_failed: tstamp:3843139864 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   112.718858: rtos_queue_peek_from_isr_failed: tstamp:3848139864 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   112.774864: rtos_queue_peek_from_isr_failed: tstamp:3849560274 queue:0x0bcbcf78
        v4l2-ctl-8694  [003] ....   184.338466: tegra_channel_open: vi-output, ov490 30-0048
        v4l2-ctl-8694  [003] ....   184.341092: tegra_channel_set_power: ov490 30-0048 : 0x1
        v4l2-ctl-8694  [003] ....   184.341116: camera_common_s_power: status : 0x1
        v4l2-ctl-8694  [003] ....   184.351875: tegra_channel_set_power: 15a00000.nvcsi--1 : 0x1
        v4l2-ctl-8694  [003] ....   184.351886: csi_s_power: enable : 0x1
        v4l2-ctl-8694  [003] ....   184.362504: tegra_channel_capture_setup: vnc_id 0 W 1280 H 1080 fmt 10
        v4l2-ctl-8694  [001] ....   184.377258: tegra_channel_set_stream: enable : 0x1
        v4l2-ctl-8694  [000] ....   184.387946: tegra_channel_set_stream: 15a00000.nvcsi--1 : 0x1
        v4l2-ctl-8694  [000] ....   184.387954: csi_s_stream: enable : 0x1
        v4l2-ctl-8694  [000] ....   184.387998: tegra_channel_set_stream: ov490 30-0048 : 0x1
     kworker/0:1-987   [000] ....   184.401615: rtos_queue_peek_from_isr_failed: tstamp:6088156353 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   184.401621: rtcpu_start: tstamp:6088159291
     kworker/0:1-987   [000] ....   184.401624: rtos_queue_send_from_isr_failed: tstamp:6088275382 queue:0x0bcb41f8
     kworker/0:1-987   [000] ....   184.401629: rtos_queue_send_from_isr_failed: tstamp:6088275607 queue:0x0bcb8a60
     kworker/0:1-987   [000] ....   184.401631: rtos_queue_send_from_isr_failed: tstamp:6088275829 queue:0x0bcba5e0
     kworker/0:1-987   [000] ....   184.401632: rtos_queue_send_from_isr_failed: tstamp:6088276048 queue:0x0bcbb3a0
     kworker/0:1-987   [000] ....   184.401633: rtos_queue_send_from_isr_failed: tstamp:6088276267 queue:0x0bcbc160
     kworker/0:1-987   [000] ....   184.401636: rtcpu_string: tstamp:6088276896 id:0x04010000 str:"Configuring VI GoS.
"
     kworker/0:1-987   [000] ....   184.401655: rtcpu_string: tstamp:6088277163 id:0x04010000 str:"VM GOS[#0] addr=0xc2100000
"
     kworker/0:1-987   [000] ....   184.401665: rtcpu_string: tstamp:6088277491 id:0x04010000 str:"VM GOS[#1] addr=0xc2101000
"
     kworker/0:1-987   [000] ....   184.401678: rtcpu_string: tstamp:6088277853 id:0x04010000 str:"VM GOS[#2] addr=0xc2102000
"
     kworker/0:1-987   [000] ....   184.401716: rtcpu_string: tstamp:6088278159 id:0x04010000 str:"VM GOS[#3] addr=0xc2103000
"
     kworker/0:1-987   [000] ....   184.401752: rtcpu_string: tstamp:6088278465 id:0x04010000 str:"VM GOS[#4] addr=0xc2104000
"
     kworker/0:1-987   [000] ....   184.401771: rtcpu_string: tstamp:6088278771 id:0x04010000 str:"VM GOS[#5] addr=0xc2105000
"
     kworker/0:1-987   [000] ....   184.401791: rtcpu_string: tstamp:6088286873 id:0x04010000 str:"vi5_hwinit: firmware CL2018101701 protocol versi"
     kworker/0:1-987   [000] ....   184.401794: rtcpu_string: tstamp:6088287067 id:0x04010000 str:"on 2.2
"
     kworker/0:1-987   [000] ....   184.401810: rtos_queue_send_from_isr_failed: tstamp:6088314259 queue:0x0bcb41f8
     kworker/0:1-987   [000] ....   184.401812: rtos_queue_send_from_isr_failed: tstamp:6088314521 queue:0x0bcb8a60
     kworker/0:1-987   [000] ....   184.401813: rtos_queue_send_from_isr_failed: tstamp:6088314750 queue:0x0bcba5e0
     kworker/0:1-987   [000] ....   184.401815: rtos_queue_send_from_isr_failed: tstamp:6088314970 queue:0x0bcbb3a0
     kworker/0:1-987   [000] ....   184.401816: rtos_queue_send_from_isr_failed: tstamp:6088315190 queue:0x0bcbc160
     kworker/0:1-987   [000] ....   184.401817: rtcpu_string: tstamp:6088316376 id:0x04010000 str:"VI GOS[#0] set to VM GOS[4] base 0xc2104000
"
     kworker/0:1-987   [000] ....   184.401832: rtos_queue_send_from_isr_failed: tstamp:6088719790 queue:0x0bcb41f8
     kworker/0:1-987   [000] ....   184.401834: rtos_queue_send_from_isr_failed: tstamp:6088719939 queue:0x0bcb8a60
     kworker/0:1-987   [000] ....   184.401835: rtos_queue_send_from_isr_failed: tstamp:6088720092 queue:0x0bcba5e0
     kworker/0:1-987   [000] ....   184.401836: rtos_queue_send_from_isr_failed: tstamp:6088720239 queue:0x0bcbb3a0
     kworker/0:1-987   [000] ....   184.401838: rtos_queue_send_from_isr_failed: tstamp:6088720384 queue:0x0bcbc160
     kworker/0:1-987   [000] ....   184.401840: rtcpu_nvcsi_intr: tstamp:6088722954 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x00000001
     kworker/0:1-987   [000] ....   184.401842: rtcpu_vinotify_error: tstamp:6088730680 tag:CSIMUX_STREAM channel:0x00 frame:0 vi_tstamp:6088727772 data:0x00000001
     kworker/0:1-987   [000] ....   184.401845: rtcpu_vinotify_event: tstamp:6088749675 tag:RESERVED_18 channel:0x23 frame:0 vi_tstamp:5847601632 data:0x10000000
     kworker/0:1-987   [000] ....   184.401846: rtcpu_vinotify_event: tstamp:6088749820 tag:RESERVED_18 channel:0x23 frame:0 vi_tstamp:5847605472 data:0x31000001
     kworker/0:1-987   [000] ....   184.401847: rtcpu_vinotify_event: tstamp:6088749982 tag:RESERVED_19 channel:0x23 frame:0 vi_tstamp:5847606464 data:0x07020001
     kworker/0:1-987   [000] ....   184.401849: rtcpu_vinotify_event: tstamp:6088750118 tag:RESERVED_18 channel:0x23 frame:0 vi_tstamp:5847663776 data:0x10000000
     kworker/0:1-987   [000] ....   184.401850: rtcpu_vinotify_event: tstamp:6088750277 tag:RESERVED_18 channel:0x23 frame:0 vi_tstamp:5847667616 data:0x31000002
     kworker/0:1-987   [000] ....   184.401851: rtcpu_vinotify_event: tstamp:6088750423 tag:CSIMUX_STREAM channel:0x00 frame:0 vi_tstamp:6088727772 data:0x00000001
     kworker/0:1-987   [000] ....   184.457592: rtcpu_vinotify_error: tstamp:6089667557 tag:CSIMUX_STREAM channel:0x00 frame:0 vi_tstamp:6089664673 data:0x00000001
     kworker/0:1-987   [000] ....   184.457599: rtos_queue_send_from_isr_failed: tstamp:6089667862 queue:0x0bcb41f8
     kworker/0:1-987   [000] ....   184.457601: rtos_queue_send_from_isr_failed: tstamp:6089668019 queue:0x0bcb8a60
     kworker/0:1-987   [000] ....   184.457602: rtos_queue_send_from_isr_failed: tstamp:6089668172 queue:0x0bcba5e0
     kworker/0:1-987   [000] ....   184.457604: rtos_queue_send_from_isr_failed: tstamp:6089668317 queue:0x0bcbb3a0
     kworker/0:1-987   [000] ....   184.457605: rtos_queue_send_from_isr_failed: tstamp:6089668461 queue:0x0bcbc160
     kworker/0:1-987   [000] ....   184.457608: rtcpu_vinotify_event: tstamp:6089834777 tag:FS channel:0x00 frame:0 vi_tstamp:6089647937 data:0x00000010
     kworker/0:1-987   [000] ....   184.457610: rtcpu_vinotify_event: tstamp:6089834925 tag:ATOMP_FS channel:0x00 frame:0 vi_tstamp:6089647940 data:0x00000000
     kworker/0:1-987   [000] ....   184.457611: rtcpu_vinotify_event: tstamp:6089835085 tag:FE channel:0x00 frame:0 vi_tstamp:6089651737 data:0x00000020
     kworker/0:1-987   [000] ....   184.457612: rtcpu_vinotify_event: tstamp:6089835225 tag:CHANSEL_SHORT_FRAME channel:0x01 frame:0 vi_tstamp:6089651738 data:0x01000000
     kworker/0:1-987   [000] ....   184.457639: rtcpu_vinotify_event: tstamp:6089835385 tag:RESERVED_19 channel:0x23 frame:0 vi_tstamp:5890312224 data:0x01020001
     kworker/0:1-987   [000] ....   184.457640: rtcpu_vinotify_event: tstamp:6089835527 tag:ATOMP_FE channel:0x00 frame:0 vi_tstamp:6089651740 data:0x00000000
     kworker/0:1-987   [000] ....   184.457642: rtcpu_vinotify_event: tstamp:6089835694 tag:CSIMUX_STREAM channel:0x00 frame:0 vi_tstamp:6089664673 data:0x00000001
     kworker/0:1-987   [000] ....   184.513568: rtcpu_vinotify_event: tstamp:6090905190 tag:FS channel:0x00 frame:0 vi_tstamp:6090898167 data:0x00000010
     kworker/0:1-987   [000] ....   184.513571: rtcpu_vinotify_event: tstamp:6090905357 tag:ATOMP_FS channel:0x00 frame:0 vi_tstamp:6090898170 data:0x00000000
     kworker/0:1-987   [000] ....   184.513573: rtcpu_vinotify_event: tstamp:6090905500 tag:FE channel:0x00 frame:0 vi_tstamp:6090901966 data:0x00000020
     kworker/0:1-987   [000] ....   184.513574: rtcpu_vinotify_error: tstamp:6090917812 tag:CSIMUX_STREAM channel:0x00 frame:0 vi_tstamp:6090914903 data:0x00000001
     kworker/0:1-987   [000] ....   184.513576: rtcpu_vinotify_event: tstamp:6091408090 tag:CHANSEL_SHORT_FRAME channel:0x01 frame:0 vi_tstamp:6090901967 data:0x01000000
     kworker/0:1-987   [000] ....   184.513577: rtcpu_vinotify_event: tstamp:6091408234 tag:RESERVED_19 channel:0x23 frame:0 vi_tstamp:5930325536 data:0x01020001
     kworker/0:1-987   [000] ....   184.513578: rtcpu_vinotify_event: tstamp:6091408396 tag:ATOMP_FE channel:0x00 frame:0 vi_tstamp:6090901969 data:0x00000000
     kworker/0:1-987   [000] ....   184.513580: rtcpu_vinotify_event: tstamp:6091408539 tag:CSIMUX_STREAM channel:0x00 frame:0 vi_tstamp:6090914903 data:0x00000001
     kworker/0:1-987   [000] ....   184.513581: rtcpu_vinotify_error: tstamp:6092168042 tag:CSIMUX_STREAM channel:0x00 frame:0 vi_tstamp:6092165131 data:0x00000001
     kworker/0:1-987   [000] ....   184.513582: rtcpu_vinotify_event: tstamp:6092493059 tag:FS channel:0x00 frame:0 vi_tstamp:6092148396 data:0x00000010
     kworker/0:1-987   [000] ....   184.513584: rtcpu_vinotify_event: tstamp:6092493198 tag:FE channel:0x00 frame:0 vi_tstamp:6092152196 data:0x00000020
     kworker/0:1-987   [000] ....   184.513585: rtcpu_vinotify_event: tstamp:6092493364 tag:CSIMUX_STREAM channel:0x00 frame:0 vi_tstamp:6092165131 data:0x00000001
     kworker/0:1-987   [000] ....   184.569562: rtos_queue_peek_from_isr_failed: tstamp:6093156739 queue:0x0bcbcf78
     kworker/0:1-987   [000] ....   184.569571: rtcpu_vinotify_error: tstamp:6093418277 tag:CSIMUX_STREAM channel:0x00 frame:0 vi_tstamp:6093415361 data:0x00000001
     kworker/0:1-987   [000] ....   184.569573: rtcpu_vinotify_event: tstamp:6093578032 tag:FS channel:0x00 frame:0 vi_tstamp:6093398626 data:0x00000010
     kworker/0:1-987   [000] ....   184.569574: rtcpu_vinotify_event: tstamp:6093578204 tag:FE channel:0x00 frame:0 vi_tstamp:6093402424 data:0x00000020

MIPI signal is good at point of Xavier CSI input ( same as my Xilinx system)
It’s a first time to use Xavier, i’m not friend with Xavier development environments.
Please, advise me which part is wrong.

3

The log show the short frame. That tells the output size less than expect. You can adjust the active_h in device tree to debug it.

tag:CHANSEL_SHORT_FRAME

4

here is my dt setting.

    mode0 { 
				mclk_khz = "24000";
				num_lanes = "4"; 
				tegra_sinterface = "serial_a";
				phy_mode = "DPHY";
				discontinuous_clk = "no";
				dpcm_enable = "false";
				cil_settletime = "0";

				active_w = "1280";
				active_h = "1080";
				dynamic_pixel_bit_depth = "16";
				csi_pixel_bit_depth = "16";
				mode_type = "yuv";
				pixel_phase = "yuyv";
				pixel_t = "yuv_yuyv16";
				readout_orientation = "0";
				line_length = "1577";
				inherent_gain = "1";
				mclk_multiplier = "2";
				pix_clk_hz = "48000000";
				serdes_pix_clk_hz = "500000000";

				min_gain_val = "1.0";
				max_gain_val = "64";
				gain_step_pitch = "0.1";
				min_hdr_ratio = "1";
				max_hdr_ratio = "1";
				min_framerate = "3";
				max_framerate = "30";
				min_exp_time = "30";
				max_exp_time = "333000";
				embedded_metadata_height = "0";
			};
			ports {
				#address-cells = <1>;
				#size-cells = <0>;
				port@0 {
					reg = <0>;
					liov490_ov490_out0: endpoint {
						port-index = <0>;
						bus-width = <4>;
						remote-endpoint = <&liov490_csi_in0>;
						};
					};
				};
			};

tegra-camera-platform {
		compatible = "nvidia, tegra-camera-platform";
		num_csi_lanes = <4>;
		max_lane_speed = <1500000>;
		min_bits_per_pixel = <16>;
		vi_peak_byte_per_pixel = <2>;
		vi_bw_margin_pct = <25>;
		max_pixel_rate = <750000>;
		isp_peak_byte_per_pixel = <5>;
		isp_bw_margin_pct = <25>;

		modules {

			module0 {
				badge = "ov490_center_main";
				position = "center";
				orientation = "1";
				drivernode0 {
					/* Declare PCL support driver (classically known as guid)  */
					pcl_id = "v4l2_sensor";
					/* Driver v4l2 device name */
					devname = "ov490 30-0010";
					/* Declare the device-tree hierarchy to driver instance */
					proc-device-tree = "/proc/device-tree/i2c@3180000/tca9546@70/i2c@0/ov490_a@48";
				};
			};

		};
	};

i used ISP inside camera, maybe some of that are not affect to this try.
(but i don’t know what is that exactly)
but, this camera works correctly other system, i think active_w, active_h are correct value.
could you check any point in dt?

5

Please try to reduce the active_h one by one to try. Or you can try reduce a bigger value then to check the log if the short frame disappear and show others error.

6

i found the point. it’s working fine. thank you for your help.