Custom driver for Jetson tx2 bad preview image

Autonomous Machines Jetson & Embedded Systems Jetson TX2
1

Dear Sirs. We need your assistance.
We have JetsonTX2 board and custom camera board with Sony imx224 sensor.
The driver was created according to L4T-docs (
JetPack 3.2 ,28.1 Sensor Driver Programming Guide) which we currently using , based on ov9563 example.

No errors with 1312x977 from v4l2-ctl, but picture is broken.

We double checked sensor register settings and seen video from it on other board.
The sensor configured in 10 bit mode with 2 lanes QVGA mode: 1280 * 960.

We can`t get normal raw picture preview.

example of picture:
https://drive.google.com/open?id=1_seOhSaEPTopk_B2byedDQw7hSfTQPba

Sensor settings according to datasheet:
https://drive.google.com/open?id=19bwEkC8a_7lJjkT03b4TTMwPwQy2AFbj

Check please our calculations:
line_length = “1800”;
pix_clk_hz = 1800 * 1100 * 30 = 59400000 Hz
min_framerate = 60000000/1800*131071(max value of V lines VMAX) = 0,254315091

Our DTS file:
https://drive.google.com/open?id=1oEKLY0y0co-C2EtvUxD5R8eCdZr9WzZn

Settings in driver:

#include "../platform/tegra/camera/camera_gpio.h"

#include "imx224_mode_tbls.h"

#define IMX224_MAX_COARSE_DIFF		2

#define IMX224_GAIN_SHIFT		            8
#define IMX224_MIN_GAIN			1
#define IMX224_MAX_GAIN		       	72

#define IMX224_MIN_FRAME_LENGTH	          (0x0)
#define IMX224_MAX_FRAME_LENGTH	(0x1FFFF)//VMAX max val
#define IMX224_MIN_EXPOSURE_COARSE	(0x0002)
#define IMX224_MAX_EXPOSURE_COARSE	\
	(IMX224_MAX_FRAME_LENGTH-IMX224_MAX_COARSE_DIFF)
#define IMX224_DEFAULT_LINE_LENGTH	(0x708) //1800
#define IMX224_DEFAULT_PIXEL_CLOCK	(60)

#define IMX224_DEFAULT_GAIN		IMX224_MIN_GAIN
#define IMX224_DEFAULT_FRAME_LENGTH	(0x044C)
#define IMX224_DEFAULT_EXPOSURE_COARSE	\
	(IMX224_DEFAULT_FRAME_LENGTH-IMX224_MAX_COARSE_DIFF)

#define IMX224_DEFAULT_MODE	IMX224_MODE_1280X960_30_10bit
#define IMX224_DEFAULT_WIDTH    	1312
#define IMX224_DEFAULT_HEIGHT	977
#define IMX224_DEFAULT_DATAFMT	MEDIA_BUS_FMT_SRGGB10_1X10
#define IMX224_DEFAULT_CLK_FREQ	27000000

Resolution modes for sensor

Sensor configured in QVGA mode: 1280 * 960 but v4l2-ctl gives an error for all resolution (changed in driver and dts) except 1312*977.

horizontal:
v4l2-ctl -d /dev/video0 --set-fmt-video=width=1305,height=977,pixelformat=RG10 --set-ctrl bypass_mode=0 --stream-mmap --stream-count=1 --stream-to=video.raw –verbose

VIDIOC_QUERYCAP: ok
VIDIOC_S_EXT_CTRLS: ok
VIDIOC_G_FMT: ok
VIDIOC_S_FMT: ok
Format Video Capture:
	Width/Height      : 1305/977
	Pixel Format      : 'RG10'
	Field             : None
	Bytes per Line    : 2816
	Size Image        : 2751232
	Colorspace        : sRGB
	Transfer Function : Default
	YCbCr Encoding    : Default
	Quantization      : Default
	Flags             : 
VIDIOC_REQBUFS: ok
VIDIOC_QUERYBUF: ok
VIDIOC_QBUF: ok
VIDIOC_QUERYBUF: ok
VIDIOC_QBUF: ok
VIDIOC_QUERYBUF: ok
VIDIOC_QBUF: ok
VIDIOC_QUERYBUF: ok
VIDIOC_QBUF: ok
VIDIOC_STREAMON: ok
VIDIOC_DQBUF: failed: Input/output error
VIDIOC_STREAMOFF: ok

dmesg:

[  374.420179] tegra-vi4 15700000.vi: Status:  4 channel:00 frame:0008
[  374.426690] tegra-vi4 15700000.vi:  timestamp sof 377187982048 eof 377188004032 data 0x00000100
[  374.436268] tegra-vi4 15700000.vi:          capture_id 3 stream  2 vchan  0
 
[  375.401112] tegra-vi4 15700000.vi: PXL_SOF syncpt timeout! err = -11
[  376.405089] tegra-vi4 15700000.vi: ATOMP_FE syncpt timeout!

vertical resolution else than 977:

tegra-vi4 15700000.vi: Status:  7 channel:00 frame:0008
tegra-vi4 15700000.vi:          timestamp sof 107324382848 eof 107353987488 data 0x00000001
tegra-vi4 15700000.vi:          capture_id 1 stream  2 vchan  0
 
tegra-vi4 15700000.vi: PXL_SOF syncpt timeout! err = -11
tegra-vi4 15700000.vi: ATOMP_FE syncpt timeout!

Currently there are no errors with v4l2-ctl with resolution 1312 * 977, however the output picture is broken.

Where can be the problem?

Should i use croping mode for sensor?

Does the line length (1800) correct in my case?
Does the V lines quantity (1100) correct in my case?

2

@shcherbak
Follow below link to enable the trace to get more information. It could be short frame or short line.

https://elinux.org/Jetson_TX2/28.1_Camera_BringUp

3

Thank you for your attention and for your quick reply.

Here is log after v4l2-ctl -d /dev/video0 --set-fmt-video=width=1312,height=977,pixelformat=RG10 --set-ctrl bypass_mode=0 --stream-mmap --stream-count=64 --stream-to=video.raw --verbose

[url]https://drive.google.com/open?id=15gf40w667vjRevrWYT8SbkzI0ohrc4vA[/url]

i see an error
kworker/4:2-309 [004] …1 179.337880: rtos_queue_peek_from_isr_failed: tstamp:5690856790 queue:0x0b4a3c58
but i don’t know what does it mean.

Thank you in advance!

4

I found this thread
[url]Custom driver for csi-2 raw bayer sensor. (Use ISP for format conversion) - Jetson TX1 - NVIDIA Developer Forums
, which is very similar for my , but it is for TX1 and there are no such registers for TX2 .
I still need youre support. Where can be the problem? Can it be the memory alignment ?

5

Try to modify the TEGRA_SURFACE_ALIGHMENT to 1 in …/kernel/kernel-4.4/drivers/media/platform/tega/camera/vi/registers.h to check the raw image again.

6

The picture is changed, but still it’s bad
[url]https://drive.google.com/open?id=1qeO8CWXv2JUhpt7zav4lP7CLfKwGti0L[/url]
original ov5693 picture made the same method
[url]https://drive.google.com/open?id=1AFSwktel5SfBq7wYCH4L5mc7Gp8lL_nd[/url]

v4l2-ctl: no errors
debugging log:
Something has changed but still after each 5 i see fail message rtos_queue_peek_from_isr_failed

[url]https://drive.google.com/open?id=1d27dx_eKO9fSeSqBl4r4fTh1sq9Y1mun[/url]

It seems it is problem with line alignment.
Is there any way to find where can be the problem?

7

I think the rtos_queue_peek_from_isr_failed can be ignore. It’s show up when launch ov5693 too.

Could you try modify the 977 to 976 and launch camera by nvcamerasrc or argus sample app.

8

Thank you for your support.
I put 976 and got Status: 4 channel:00 frame:0008.
I found some errors in v4l2-compliance, i will try to solve them.
I will give feedback tomorrow

Thank you in advance.

9

Hello , i found out that picture was broken due to wrong resolution.
v4l2-ctl 1312*977 gives me Bytes per Line : 2816
in this case the resolution to transform raw to picture should be 1408
I changed TEGRA_STRIDE_ALIGNMENT from 256 to 64 it gives me
Bytes per Line : 2624
and now a can use 1312 to transform.

Here is the picture what is seems to be right.
[url]https://drive.google.com/open?id=1Q_NmDypHbIcbW66Vp5OtuG-KUhGdnFfW[/url]

Should it be like that? Should i use 64 or 256?

There is no video from it
gst-launch-1.0 nvcamerasrc fpsRange=“30.0 30.0” ! ‘video/x-raw(memory:NVMM), width=(int)1312, height=(int)977, format=(string)I420, framerate=(fraction)30/1’ ! nvvidconv flip-method=2 ! ‘video/x-raw(memory:NVMM), format=(string)I420’ ! fakesink silent=false -v

SCF: Error BadParameter: unsupported YUV format (odd w,h?) (in src/api/Session.cpp, function registerBuffer(), line 560)

it seems to be due to not standard resolution. What should i do in this case?

Help please.

10

@shcherbak.e
Correct my previous comment for the alignment. it should be TEGRA_STRIDE_ALIGNMENT in …/vi/core.h
For the unsupported resolution you need to modify it to none odd like 976

11

Where should i modify these values? There is 3 variants
: in dts
active_w = “1312”;
active_h = “976”;
: in tlbs
static const struct camera_common_frmfmt imx224_frmfmt = {
{{1312, 976}, imx224_30_fr, 1, 0, IMX224_MODE_1280X960},
{{1312, 976}, imx224_60_fr, 1, 0, IMX224_MODE_1280X960},

};
: in driver
#define IMX224_DEFAULT_WIDTH 1312
#define IMX224_DEFAULT_HEIGHT 977

if i put in driver IMX224_DEFAULT_HEIGHT to 976 i will get 

[  374.420179] tegra-vi4 15700000.vi: Status:  4 channel:00 frame:0008
[  374.426690] tegra-vi4 15700000.vi:  timestamp sof 377187982048 eof 377188004032 data 0x00000100
[  374.436268] tegra-vi4 15700000.vi:          capture_id 3 stream  2 vchan  0
 
[  375.401112] tegra-vi4 15700000.vi: PXL_SOF syncpt timeout! err = -11
[  376.405089] tegra-vi4 15700000.vi: ATOMP_FE syncpt timeout!

if i put in driver IMX224_DEFAULT_HEIGHT to 978 i will get 

tegra-vi4 15700000.vi: Status:  7 channel:00 frame:0008
tegra-vi4 15700000.vi:          timestamp sof 107324382848 eof 107353987488 data 0x00000001
tegra-vi4 15700000.vi:          capture_id 1 stream  2 vchan  0
 
tegra-vi4 15700000.vi: PXL_SOF syncpt timeout! err = -11
tegra-vi4 15700000.vi: ATOMP_FE syncpt timeout!

I left 977 in driver and changed it in tlbs and dtbs
no picture from gstreamer
gst-launch-1.0 nvcamerasrc num-buffers=200 sensor-id=0 ! ‘video/x-raw(memory:NVMM),width=1312, height=976, framerate=30/1, format=NV12’ ! omxh264enc ! qtmux ! filesink location=test.mp4 -ev

1

312 x 976 FR=30.000000 CF=0x1109208a10 SensorModeType=4 CSIPixelBitDepth=10 DynPixelBitDepth=10
1280 x 960 FR=60.000000 CF=0x1109208a10 SensorModeType=4 CSIPixelBitDepth=10 DynPixelBitDepth=10
Pipeline is live and does not need PREROLL ...
Setting pipeline to PLAYING ...
New clock: GstSystemClock

NvCameraSrc: Trying To Set Default Camera Resolution. Selected sensorModeIndex = 0 WxH = 1312x976 FrameRate = 30.000000 ...

/GstPipeline:pipeline0/GstNvCameraSrc:nvcamerasrc0.GstPad:src: caps = "video/x-raw\(memory:NVMM\)\,\ width\=\(int\)1312\,\ height\=\(int\)976\,\ format\=\(string\)NV12\,\ framerate\=\(fraction\)30/1"
/GstPipeline:pipeline0/GstCapsFilter:capsfilter0.GstPad:src: caps = "video/x-raw\(memory:NVMM\)\,\ width\=\(int\)1312\,\ height\=\(int\)976\,\ format\=\(string\)NV12\,\ framerate\=\(fraction\)30/1"
Framerate set to : 30 at NvxVideoEncoderSetParameterNvMMLiteOpen : Block : BlockType = 4 
===== MSENC =====
NvMMLiteBlockCreate : Block : BlockType = 4 
/GstPipeline:pipeline0/GstOMXH264Enc-omxh264enc:omxh264enc-omxh264enc0.GstPad:sink: caps = "video/x-raw\(memory:NVMM\)\,\ width\=\(int\)1312\,\ height\=\(int\)976\,\ format\=\(string\)NV12\,\ framerate\=\(fraction\)30/1"
/GstPipeline:pipeline0/GstCapsFilter:capsfilter0.GstPad:sink: caps = "video/x-raw\(memory:NVMM\)\,\ width\=\(int\)1312\,\ height\=\(int\)976\,\ format\=\(string\)NV12\,\ framerate\=\(fraction\)30/1"
/GstPipeline:pipeline0/GstOMXH264Enc-omxh264enc:omxh264enc-omxh264enc0.GstPad:src: caps = "video/x-h264\,\ alignment\=\(string\)au\,\ stream-format\=\(string\)avc\,\ width\=\(int\)1312\,\ height\=\(int\)976\,\ pixel-aspect-ratio\=\(fraction\)1/1\,\ framerate\=\(fraction\)30/1"
/GstPipeline:pipeline0/GstOMXH264Enc-omxh264enc:omxh264enc-omxh264enc0.GstPad:src: caps = "video/x-h264\,\ alignment\=\(string\)au\,\ stream-format\=\(string\)avc\,\ width\=\(int\)1312\,\ height\=\(int\)976\,\ pixel-aspect-ratio\=\(fraction\)1/1\,\ framerate\=\(fraction\)30/1\,\ codec_data\=\(buffer\)014240150301000a6742403495a01481ee4001000468ce3c80"
/GstPipeline:pipeline0/GstQTMux:qtmux0.GstPad:video_0: caps = "video/x-h264\,\ alignment\=\(string\)au\,\ stream-format\=\(string\)avc\,\ width\=\(int\)1312\,\ height\=\(int\)976\,\ pixel-aspect-ratio\=\(fraction\)1/1\,\ framerate\=\(fraction\)30/1\,\ codec_data\=\(buffer\)014240150301000a6742403495a01481ee4001000468ce3c80"
/GstPipeline:pipeline0/GstQTMux:qtmux0.GstPad:src: caps = "video/quicktime\,\ variant\=\(string\)apple"
/GstPipeline:pipeline0/GstFileSink:filesink0.GstPad:sink: caps = "video/quicktime\,\ variant\=\(string\)apple"
/GstPipeline:pipeline0/GstQTMux:qtmux0.GstPad:src: caps = "video/quicktime\,\ variant\=\(string\)apple\,\ streamheader\=\(buffer\)\<\ 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\>"
/GstPipeline:pipeline0/GstFileSink:filesink0.GstPad:sink: caps = "video/quicktime\,\ variant\=\(string\)apple\,\ streamheader\=\(buffer\)\<\ 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\>"
Got EOS from element "pipeline0".
Execution ended after 0:00:02.529158592
Setting pipeline to PAUSED ...
Setting pipeline to READY ...
^C

I hangs in the end

i cant start it second time

Setting pipeline to PAUSED ...
Socket read error. Camera Daemon stopped functioning.....
gst_nvcamera_open() failed ret=0
ERROR: Pipeline doesn't want to pause.
ERROR: from element /GstPipeline:pipeline0/GstNvCameraSrc:nvcamerasrc0: GStreamer error: state change failed and some element failed to post a proper error message with the reason for the failure.
Additional debug info:
gstbasesrc.c(3354): gst_base_src_start (): /GstPipeline:pipeline0/GstNvCameraSrc:nvcamerasrc0:
Failed to start
Setting pipeline to NULL ...
Freeing pipeline ...

Give me the manual where to change and where to leave 977 if it needed?

Should i increase or decrease max lines registers , because i use recommended parameter for this mode?

12

You can’t just change the DT and driver define you have to modify the sensor output size as 1312*976

13

Thank you for your help.
I`ve made a little progress. As i mentioned in my very first question I still have to use the coping mode for sensor. In my case vertical resolution is 4(blank pixels) + 1276(winwow size). There are no any mistakes in dmesg, the raw image is good.

The problem in color:

gst-launch-1.0 nvcamerasrc num-buffers=200 sensor-id=0 ! ‘video/x-raw(memory:NVMM),width=1280, height=960, framerate=30/1, format=NV12’ ! omxh264enc ! qtmux ! filesink location=test.mp4 -ev

[url]https://drive.google.com/open?id=1YHjcEV0ZbEijZSEZ6N-i-AgKWMMZ8ln0[/url]

Why it could happening ?
How to solve it ?

Thank you in advance

14

@shcherbak.e
That must be the color format is not as expect. Check the sensor driver to make sure the reg setting is correct.