DriveWorks sample_camera fails on Thor‑X with Smartlead BF8S103G‑100‑00 (IMX728)

Autonomous Vehicles DRIVE AGX Thor DRIVE AGX Thor General
1

Hi,

I’m on DRIVE AGX Thor‑X (DriveOS 7.0.3, board variant p3960-10-sw03).

Camera: Smartlead BF8S103G‑100‑00 IMX728

What works:

nvsipl_camera works with:

./nvsipl_camera --platform-config “R0SIM728S3RU2120NB2_5Des_CPHY_x4” --link-enable-masks “0x0000 0x0000 0x0000 0x0000 0x1111” -d 1 -v 2 --showfps --enableRawOutput

I get data from all cameras. The cameras are connected to the top slot.

What fails:

DriveWorks sample_camera fails:

./sample_camera --rig /usr/local/driveworks/apps/bin/config/rig.json --offscreen 1

with rig camera parameters:

“parameter”: “camera-name=R0SIM728S3RU2120NB2,interface=csi-gh,CPHY-mode=1,link=0,output-format=processed,skip-eeprom=1,enable-ultrafast-mode=1”

Error:

[12-02-2026 14:35:22] Platform:
[12-02-2026 14:35:22] Platform Config:
[12-02-2026 14:35:22] Description:
[12-02-2026 14:35:22] Number of device blocks: 1
[12-02-2026 14:35:22] Device Block : 0
[12-02-2026 14:35:22] 	csiPort: 11
[12-02-2026 14:35:22] 	i2cDevice: 1
[12-02-2026 14:35:22] 	gpios[0]: 7
[12-02-2026 14:35:22] 	cphyRate_0: 2000000
[12-02-2026 14:35:22] 	cphyRate_1: 2000000
[12-02-2026 14:35:22] 	Deserializer Name: MAX96712_Fusa_nv
[12-02-2026 14:35:22] 	Deserializer Description: Maxim 96712 Aggregator Fusa_nv
[12-02-2026 14:35:22] 	Deserializer i2cAddress: 41
[12-02-2026 14:35:22] 	Passive Mode: 0
[12-02-2026 14:35:22] 	Phy Mode: 1
[12-02-2026 14:35:22] 	Number of camera modules: 1
[12-02-2026 14:35:22] 	CameraModule index: 0
[12-02-2026 14:35:22] 		Name :R0SIM728S3RU2120NB2
[12-02-2026 14:35:22] 		Description: IMX728 RGGB module - 120FOV - MIPI-IMX728, MAX96717
[12-02-2026 14:35:22] 		Serializer name: MAX96717F
[12-02-2026 14:35:22] 		Serializer description: Maxim 96717F Serializer
[12-02-2026 14:35:22] 		Serializer i2cAdress: 64
[12-02-2026 14:35:22] 			EEPROM name: M24C04
[12-02-2026 14:35:22] 			EEPROM i2cAddress: 84
[12-02-2026 14:35:22] 			EEPROM description: M24C04 EEPROM
[12-02-2026 14:35:22] 			Sensor ID: 0
[12-02-2026 14:35:22] 			Sensor name: IMX728
[12-02-2026 14:35:22] 			Sensor description: Sony IMX728 Sensor
[12-02-2026 14:35:22] 			Sensor isTPGEnabled: 0
[12-02-2026 14:35:22] 			Sensor i2cAddress: 28
[12-02-2026 14:35:22] 			Sensor isTriggerMode: 1
[12-02-2026 14:35:22] 				 cfa: 33
[12-02-2026 14:35:22] 				 embeddedTopLines: 1
[12-02-2026 14:35:22] 				 embeddedBottomLines: 20
[12-02-2026 14:35:22] 				 inputFormat: 20
[12-02-2026 14:35:22] 				 height: 2160
[12-02-2026 14:35:22] 				 width: 3840
[12-02-2026 14:35:22] 				 fps: 30.000000
[12-02-2026 14:35:22] 				 Embedded Data: 0
[12-02-2026 14:35:22] CameraMaster available outputs: 1
[12-02-2026 14:35:22] CameraClient: setting pipeline config for camera ID 0
sample_camera: /dvs/git/dirty/git-master_modular/camera/fusa/sipl/src/core/pipelineMgr/CNvMCamera.cpp: 948: SetPipelineCfg: Entering for pipeline: 0
sample_camera: /dvs/git/dirty/git-master_modular/camera/fusa/sipl/src/core/pipelineMgr/CNvMCamera.cpp: 1062: SetPipelineCfg: Exiting for pipeline: 0
[12-02-2026 14:35:22] CameraClient, SIPLNotifier created
[12-02-2026 14:35:22] SIPLNotifier: Cannot set thread name to EventQueue, return status: 34
[12-02-2026 14:35:22] CameraMaster: master initiation
[12-02-2026 14:35:22] CameraMaster: Bootstrap NvSIPL and ClientPipelines complete
[12-02-2026 14:35:22] CameraClient: format not specified. Using mp4 in Codec Header.
[12-02-2026 14:35:22] CameraClient::getCameraSIPLHeader: eeprom data is empty
[12-02-2026 14:35:22] Initialize DriveWorks VisualizationSDK v7.0.3
[12-02-2026 14:35:22] Initialize DriveWorksGL SDK v7.0.3
[12-02-2026 14:35:22] egl::Display: found 1 EGL devices
[12-02-2026 14:35:22] egl::Display: use drm device: /dev/dri/card1
[DW][INFO] onInitialize: Total cameras 1
[DW][INFO] onInitialize: getting image props 0
[DW][INFO] onInitialize: initilizing stream: 0
[12-02-2026 14:35:22] GenericImage: generic image cpu
[12-02-2026 14:35:22] GenericImage: generic image cpu
[12-02-2026 14:35:22] GenericImage: generic image cpu
[DW][INFO] Main: Starting master.
[12-02-2026 14:35:22] CameraClient: startImpl: thread id: 4874
[12-02-2026 14:35:22] CameraClient: initializeAndStartCameras: thread id: 4874
[12-02-2026 14:35:22] CameraClient::bootstrap() already completed, skipping
[12-02-2026 14:35:22] CameraMaster: starting…
[12-02-2026 14:35:22] Custom FSYNC is disabled

sample_camera: /dvs/git/dirty/git-master_modular/camera/fusa/sipl/src/core/pipelineMgr/CNvMCamera.cpp: 1378: Init: Entering
sample_camera: /dvs/git/dirty/git-master_modular/camera/fusa/sipl/src/core/devBlkMgr/CNvMDeviceBlockMgr.cpp: 335: Init: Initializing worker thread for block:0
sample_camera: /dvs/git/dirty/git-master_modular/camera/fusa/sipl/src/core/utils/CNvMThread.cpp: 56: ThreadCreate: Creating thread: DEVBLK_WORKER_0
sample_camera: /dvs/git/dirty/git-master_modular/camera/fusa/sipl/src/core/devBlkMgr/CNvMDeviceBlockMgr.cpp: 341: Init: Initialized worker thread for block:0
sample_camera: /dvs/git/dirty/git-master_modular/camera/fusa/sipl/src/core/devBlkMgr/CNvMDeviceBlockMgr.cpp: 298: WorkersDoAction: All worker threads starting action:1
sample_camera: /dvs/git/dirty/git-master_modular/camera/fusa/sipl/src/core/utils/CNvMThread.cpp: 145: m_FuncStatic: Thread created
DEVBLK_WORKER_0: /dvs/git/dirty/git-master_modular/camera/fusa/sipl/src/core/utils/CNvMThread.cpp: 162: m_Func: Running thread:DEVBLK_WORKER_0
DEVBLK_WORKER_0: /dvs/git/dirty/git-master_modular/camera/fusa/sipl/src/core/utils/CNvMThread.cpp: 165: m_Func: Calling ThreadFunc for thread:DEVBLK_WORKER_0
DEVBLK_WORKER_0: CNvMMax20087SyncAdapter.cpp: 51: SetConfig: Configure Sync Adapter
DEVBLK_WORKER_0: CNvMMax20087SyncAdapter.cpp: 138: CreatePowerDevice: Create Sync Adapter Driver
DEVBLK_WORKER_0: /dvs/git/dirty/git-master_modular/camera/fusa/sipl/src/core/utils/CNvMThread.cpp: 165: m_Func: Calling ThreadFunc for thread:DEVBLK_WORKER_0
sample_camera: /dvs/git/dirty/git-master_modular/camera/fusa/sipl/src/core/devBlkMgr/CNvMDeviceBlockMgr.cpp: 324: WorkersDoAction: All worker threads finished action:1
[12-02-2026 14:35:22] CameraMaster: master init failed with status = 10
[12-02-2026 14:35:22] Driveworks exception thrown: DW_UNEXPECTED_EVENT: CameraMaster::resume failed with sipl status 10

**** Stack trace ****
0xffff8cd9dc0c : dw::core::ExceptionWithStackTrace::traceStack()+188 at /usr/local/driveworks/lib/libdwshared.so.7.0
0xffff8d90e988 : dw::sensors::camera::CameraMaster::resume()+824 at /usr/local/driveworks/lib/libdw_sensors_std.so.7.0
0xffff8d90e338 : dw::sensors::camera::CameraMaster::resumeMaster()+104 at /usr/local/driveworks/lib/libdw_sensors_std.so.7.0
0xffff8d8f6b58 : dw::sensors::camera::CameraClient::resume()+344 at /usr/local/driveworks/lib/libdw_sensors_std.so.7.0
0xffff8d8f8240 : dw::sensors::camera::CameraClient::init()+64 at /usr/local/driveworks/lib/libdw_sensors_std.so.7.0
0xffff8d912008 : dw::sensors::camera::CameraMaster::bootstrapInitializeClients()+72 at /usr/local/driveworks/lib/libdw_sensors_std.so.7.0
0xffff8d917e18 : dw::sensors::camera::CameraMaster::startImpl()+984 at /usr/local/driveworks/lib/libdw_sensors_std.so.7.0
0xffff8d8f63d0 : dw::sensors::camera::CameraClient::initializeAndStartCameras()+480 at /usr/local/driveworks/lib/libdw_sensors_std.so.7.0
0xffff8d8f6614 : dw::sensors::camera::CameraClient::startImpl()+276 at /usr/local/driveworks/lib/libdw_sensors_std.so.7.0
0xffff8de78a80 : ???()+0 at /usr/local/driveworks/lib/libdw_sensors_std.so.7.0
0xffff8de78d68 : dwSensor_start()+24 at /usr/local/driveworks/lib/libdw_sensors_std.so.7.0
0xaaaac32c0478 : ???()+0 at ./sample_camera
0xaaaac32d4fb4 : ???()+0 at ./sample_camera
0xaaaac32dcfe4 : ???()+0 at ./sample_camera
0xaaaac32bc3e8 : ???()+0 at ./sample_camera
0xffff8c4784c4 : ???()+0 at /lib/aarch64-linux-gnu/libc.so.6
0xffff8c478598 : __libc_start_main()+152 at /lib/aarch64-linux-gnu/libc.so.6
0xaaaac32bc5f0 : ???()+0 at ./sample_camera

terminate called after throwing an instance of ‘std::runtime_error’
what():  [2026-02-12 14:35:22] [DW][ERROR][dwSensor_start] DW Error DW_UNEXPECTED_EVENT executing DW function:
dwSensor_start(m_camera[i])
at /usr/local/driveworks/samples/src/sensors/camera/camera/CameraCustomSimpleApp.cpp:374
Aborted (core dumped)

What I tested:

  • Connected only one camera

  • Tried different links and all ports in rig

  • Tried different camera-names

Questions:

Is R0SIM728S3RU2120NB2 the correct SIPL camera name for Smartlead BF8S103G‑100‑00 (IMX728)?

Do I need additional drivers for the cameras or should they work plug and play like for DriveWorks as for nvsipl_camera?

Thanks!

3

Dear @soenke.eichhorn ,
Could you try
"parameter": "camera-name=R0SIM728S3RU2120NB2,interface=csi-gh,deserializer=MAX96724_Fusa_nv,disable-custintf=1,skip-eeprom=1,CPHY-mode=1,link=0,output-format=raw+processed,async-record=1,file-buffer-size=16777216,format=mp4" and share the application log incase of any issue.

4

Dear @SivaRamaKrishnaNV ,

thanks for the parameter. I am able to record with this config but get many errors (see attached log file). So, the current solution is to select this deserializer for this camera independently of interface and link?
Also messages like
Sensor::onDataRead, Health critical for sensor camera[0] DW_SENSOR_STATE_DELTA_CURRENT_AND_HOST_TIME no data received for 500000 us currentDiff 2133339 Frequency of DI: 200
do not look very comforting.

sample_20260217_203322.log (73.1 KB)

Could you please elaborate why this is required? For other cameras on other DriveOS versions I didn’t stumble over this issue.

5

Dear @soenke.eichhorn ,
P3960 has different deSerializers . Please see Camera Interfaces — NVIDIA DriveOS 7.0.3 Linux SDK Developer Guide
You need to select right parameters as per the used port.
The sample report sensor statistics. The log does not indicates any failures.

6

Dear @SivaRamaKrishnaNV ,

yes, there are no failures. However, having an error log spam of

Camera: setErrorNoNewData detected for camera R0SIM728S3RU2120NB2

and

Sensor::onDataRead, Health critical for sensor camera[0] DW_SENSOR_STATE_DELTA_CURRENT_AND_HOST_TIME no data received for 500000 us currentDiff 2133366 Frequency of DI: 200

is not very nice. Is this the expected behaviour? The achieved fps look fine, but is there another misconfiguration somewhere?

7

Dear @soenke.eichhorn ,
You can ignore those messages.

9

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