failed to connect gsml cameras after 4.1.6 update

Hi all,

After installing DriveInstall 4.1.6, I failed to connect GSML camera. I updated AURIX firmware to 2.01.03 as suggested. Here is what I got:

nvidia@nvidia:/usr/local/driveworks/bin$ ./sample_camera_gmsl --camera-type=ar0231-rccb
Program Arguments:
--camera-type=ar0231-rccb
--csi-port=ab
--fifo-size=3
--offscreen=0
--serialize-bitrate=8000000
--serialize-framerate=30
--serialize-type=h264
--slave=0
--write-file=

Initialize DriveWorks SDK v0.3.400
Release build with GNU 4.9.2 from v0.3.0-rc8-0-g3eeebea against PDK v4.1.6.1
SDK: Resources mounted from /usr/local/driveworks-0.3/data/resources
SDK: Create NvMediaDevice
SDK: use EGL display as provided
SDK: dGPU has been detected as device number 0
SDK: iGPU has been detected as device number 1
SDK: Default GPU Device set to device number 0
SAL: identified board as DrivePX2-TegraA
SensorFactory::createSensor() -> camera.gmsl, camera-type=ar0231-rccb,csi-port=ab,fifo-size=3,offscreen=0,serialize-bitrate=8000000,serialize-framerate=30,serialize-type=h264,slave=0,write-file=,output-format=yuv
CameraGMSL: required FPS = 30, resolution = 1920x1208
***** aurix state *****
 CAM_PWR_ON: 0x0
 TEGRA_GMSL: TEGRA B
 TEGRA_FPDL: TEGRA B
 TEGRA_A_HDMI: MXM
 TEGRA_B_HDMI: MXM
 TEGRA_PCI: TEGRA B
 FAN_STATE: UNKNOWN
***********************
***** aurix state *****
 CAM_PWR_ON: 0x1
 TEGRA_GMSL: UNKNOWN
 TEGRA_FPDL: UNKNOWN
 TEGRA_A_HDMI: UNKNOWN
 TEGRA_B_HDMI: UNKNOWN
 TEGRA_PCI: UNKNOWN
 FAN_STATE: UNKNOWN
***********************
Camera image with 1920x1208 at 30 FPS
[IppIscComponentParseEmbeddedData:350] Failed to parse embedded data
[UpdateIppInfo:168] Failed to parse embedded data
[ICPThreadFunc:450] Failed with internal failure error
CameraGMSL: Internal failure

 ERROR readFrame: DW_NOT_READY

 ERROR readFrame: DW_NOT_READY

 ERROR readFrame: DW_NOT_READY

 ERROR readFrame: DW_NOT_READY
^C
 ERROR readFrame: DW_NOT_READY
***** aurix state *****
 CAM_PWR_ON: 0x0
 TEGRA_GMSL: UNKNOWN
 TEGRA_FPDL: UNKNOWN
 TEGRA_A_HDMI: UNKNOWN
 TEGRA_B_HDMI: UNKNOWN
 TEGRA_PCI: UNKNOWN
 FAN_STATE: UNKNOWN
***********************
SDK: Release NvMediaDevice
Driveworks SDK released

I also tried applying patch titled 4.1.2.0 Vibrante 4.1 Linux Drive PX 2 - PDK and SDK Patch - Bug 1854366. I had to use this patch when I was using old PDK 4.1.2. But didn’t help in this version, so I converted back to original version of patched library file.

Problem solved. Cameras started to work after flashing Tegras again. I think Aurix firmware upgrade after PDK installation caused this bug.

One more thing to note, after ROS installation, I had to set LD_LIBRARY_PATH environment variable to get cameras work again.

export LD_LIBRARY_PATH=/usr/lib

There’s no problem on my device with below command
./sample_camera_gmsl --csi-port=cd --camera-type=ar0231-rccb