GMSL Camera fail on Orin Nano JatPack 5.1.2

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

Hello,

I use a GMSL camera with Orin Nano EVK, but I’m not able to see MIPI frame.

Here the media device info.

Media controller API version 5.10.120

Media device information
------------------------
driver          tegra-camrtc-ca
model           NVIDIA Tegra Video Input Device
serial          
bus info        
hw revision     0x3
driver version  5.10.120

Device topology
- entity 1: 13e40000.host1x:nvcsi@15a00000- (2 pads, 2 links)
            type V4L2 subdev subtype Unknown flags 0
            device node name /dev/v4l-subdev0
	pad0: Sink
		<- "OX08b40 10-0023":0 [ENABLED]
	pad1: Source
		-> "vi-output, OX08b40 10-0023":0 [ENABLED]

- entity 4: OX08b40 10-0023 (1 pad, 1 link)
            type V4L2 subdev subtype Sensor flags 0
            device node name /dev/v4l-subdev1
	pad0: Source
		[fmt:UYVY8_1X16/3840x2160 field:none colorspace:srgb]
		-> "13e40000.host1x:nvcsi@15a00000-":0 [ENABLED]

- entity 6: vi-output, OX08b40 10-0023 (1 pad, 1 link)
            type Node subtype V4L flags 0
            device node name /dev/video0
	pad0: Sink
		<- "13e40000.host1x:nvcsi@15a00000-":1 [ENABLED]
[DeviceTree.txt|attachment](upload://vpAwldg7De2QE3clmckkap9PAnh.txt) (16.5 KB)

Here the log.

     kworker/1:4-127     [001] .N..   139.494066: rtcpu_string: tstamp:5103060564 id:0x04010000 str:"VM0 deactivating."
        v4l2-ctl-3132    [004] ....   143.021730: tegra_channel_open: vi-output, OX08b40 10-0023
        v4l2-ctl-3132    [004] ....   143.047412: tegra_channel_set_power: OX08b40 10-0023 : 0x1
        v4l2-ctl-3132    [004] ....   143.047432: camera_common_s_power: status : 0x1
        v4l2-ctl-3132    [004] ....   143.048138: tegra_channel_set_power: 13e40000.host1x:nvcsi@15a00000- : 0x1
        v4l2-ctl-3132    [004] ....   143.048143: csi_s_power: enable : 0x1
        v4l2-ctl-3132    [004] ....   143.048847: tegra_channel_capture_setup: vnc_id 0 W 3840 H 2160 fmt 13
        v4l2-ctl-3132    [004] ....   143.058629: tegra_channel_set_stream: enable : 0x1
        v4l2-ctl-3132    [004] ....   143.068335: tegra_channel_set_stream: 13e40000.host1x:nvcsi@15a00000- : 0x1
        v4l2-ctl-3132    [004] ....   143.068338: csi_s_stream: enable : 0x1
        v4l2-ctl-3132    [004] ....   143.068737: tegra_channel_set_stream: OX08b40 10-0023 : 0x1
     kworker/1:4-127     [001] ....   143.077892: rtcpu_string: tstamp:5215274656 id:0x04010000 str:"VM0 activating."
     kworker/1:4-127     [001] ....   143.077896: rtcpu_vinotify_event: tstamp:5215742518 cch:0 vi:1 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:166894461984 data:0x759e300010000000
     kworker/1:4-127     [001] ....   143.077897: rtcpu_vinotify_event: tstamp:5215742776 cch:0 vi:1 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:166894471712 data:0x0000000031000001
     kworker/1:4-127     [001] ....   143.077897: rtcpu_vinotify_event: tstamp:5215743060 cch:0 vi:1 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:166894577792 data:0x759e2d0010000000
     kworker/1:4-127     [001] ....   143.077898: rtcpu_vinotify_event: tstamp:5215743305 cch:0 vi:1 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:166894587680 data:0x0000000031000002
 vi-output, OX08-3134    [001] ....   145.689474: tegra_channel_capture_setup: vnc_id 0 W 3840 H 2160 fmt 13
     kworker/1:4-127     [001] ....   145.713857: rtcpu_vinotify_event: tstamp:5297842560 cch:0 vi:1 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:169525387872 data:0x759e300010000000
     kworker/1:4-127     [001] ....   145.713858: rtcpu_vinotify_event: tstamp:5297842824 cch:0 vi:1 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:169525397632 data:0x0000000031000001
     kworker/1:4-127     [001] ....   145.713858: rtcpu_vinotify_event: tstamp:5297843111 cch:0 vi:1 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:169525481632 data:0x759e2d0010000000
     kworker/1:4-127     [001] ....   145.713858: rtcpu_vinotify_event: tstamp:5297843362 cch:0 vi:1 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:169525491520 data:0x0000000031000002
 vi-output, OX08-3134    [001] ....   148.502366: tegra_channel_capture_setup: vnc_id 0 W 3840 H 2160 fmt 13
     kworker/1:4-127     [001] ....   148.517813: rtcpu_vinotify_event: tstamp:5385734280 cch:0 vi:1 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:172338282016 data:0x759e300010000000
     kworker/1:4-127     [001] ....   148.517814: rtcpu_vinotify_event: tstamp:5385734540 cch:0 vi:1 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:172338291808 data:0x0000000031000001
     kworker/1:4-127     [001] ....   148.517815: rtcpu_vinotify_event: tstamp:5385734827 cch:0 vi:1 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:172338360928 data:0x759e2d0010000000
     kworker/1:4-127     [001] ....   148.517815: rtcpu_vinotify_event: tstamp:5385735079 cch:0 vi:1 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:172338370816 data:0x0000000031000002

In attach the device tree.

The serdes_pix_clk_hz is “375000000”, so the output data rate should be 1.5Gbps. Is the skew calibration needed in that case ?

In order to debug, can you share the rce debug firmware for JatPack 5.1.2 and how to flash it ?

Thank you in advance.

3

hello marco.ferretti,

as you can see in Release Notes (r35.4.1).

Added support for Deskew calibration for high data rate sensors (> 1.5 Gbps).

according to VI tracing logs. there’s no related messages for camera frames.
it looks like camera did not start, or, sending MIPI signaling to CSI channel.

4

Hi,

the sensor rate is egual to 1.5 Gbps, so I suppose the Deskew calibration is not required.

Output data rate = (sensor or deserializer pixel clock in hertz) * (bits per pixel) / (number of CSI lanes)
serdes_pix_clk_hz is “375000000”

Output data rate = 375000000 * 16 / 4 = 1.5 Gbps

Is it correct ?
Do you have idea on how to add some debug information ?
Where can i find the rce debug firmware for JatPack 5.1.2 and how to flash it ?

Thank you in advance.

5

hello marco.ferretti,

we’ve recently have some fixes to update deskew algorithm, and also stability fixes for Orin and Xavier series.
please give it a try to update camera firmware with the attachment for verification, Topic268833_JP-512_rce-fw.7z (250.9 KB)
please based-on JP-5.1.2/l4t-r35.4.1 to apply the firmware update.

besides,
let me also attach camera firmware with debug flag enabled.
you may apply this debug version firmware to obtain more details.
for instance, Topic268833_JP-512_rce-fw_Debug.7z (254.1 KB)

there’s readme file within the package for the steps to update rce-fw.
you may see-also Topic 260583 for the steps to update rce-fw on Orin NX by running l4t_initrd_flash.sh.
or,
please check Topic 226574 for the steps to execute a partition flash by flash.sh on AGX Xavier, or AGX Orin platforms.

7

I have a Timeout Issue on USB during FLASH operation.

sudo ./tools/kernel_flash/l4t_initrd_flash.sh -k A_rce-fw --flash-only --showlogs
/home/nvidia/nvidia/nvidia_sdk/JetPack_5.1.2_Linux_JETSON_ORIN_NANO_TARGETS/Linux_for_Tegra/tools/kernel_flash/l4t_initrd_flash_internal.sh -k A_rce-fw --usb-instance 1-3 --device-instance 0 --flash-only --external-device mmcblk1p1 -c "tools/kernel_flash/flash_l4t_external.xml" --network usb0 jetson-orin-nano-devkit internal
**********************************************
*                                            *
*  Step 1: Build the flashing environment    *
*                                            *
**********************************************
Create flash environment 0
/home/nvidia/nvidia/nvidia_sdk/JetPack_5.1.2_Linux_JETSON_ORIN_NANO_TARGETS/Linux_for_Tegra/bootloader /home/nvidia/nvidia/nvidia_sdk/JetPack_5.1.2_Linux_JETSON_ORIN_NANO_TARGETS/Linux_for_Tegra
/home/nvidia/nvidia/nvidia_sdk/JetPack_5.1.2_Linux_JETSON_ORIN_NANO_TARGETS/Linux_for_Tegra
Finish creating flash environment 0.
****************************************************
*                                                  *
*  Step 2: Boot the device with flash initrd image *
*                                                  *
****************************************************
/home/nvidia/nvidia/nvidia_sdk/JetPack_5.1.2_Linux_JETSON_ORIN_NANO_TARGETS/Linux_for_Tegra/temp_initrdflash/bootloader0 /home/nvidia/nvidia/nvidia_sdk/JetPack_5.1.2_Linux_JETSON_ORIN_NANO_TARGETS/Linux_for_Tegra
./tegraflash.py --bl uefi_jetson_with_dtb_sigheader.bin.encrypt --bct br_bct_BR.bct --securedev  --bldtb tegra234-p3767-0000-p3768-0000-a0.dtb --applet rcm_2_encrypt.rcm --applet_softfuse rcm_1_encrypt.rcm --cmd "rcmboot"  --cfg secureflash.xml --chip 0x23 --mb1_bct mb1_bct_MB1_sigheader.bct.encrypt --mem_bct mem_rcm_sigheader.bct.encrypt --mb1_cold_boot_bct mb1_cold_boot_bct_MB1_sigheader.bct.encrypt --mb1_bin mb1_t234_prod_aligned_sigheader.bin.encrypt --psc_bl1_bin psc_bl1_t234_prod_aligned_sigheader.bin.encrypt --mem_bct_cold_boot mem_coldboot_sigheader.bct.encrypt  --bins "psc_fw pscfw_t234_prod_sigheader.bin.encrypt; mts_mce mce_flash_o10_cr_prod_sigheader.bin.encrypt; mb2_applet applet_t234_sigheader.bin.encrypt; mb2_bootloader mb2_t234_with_mb2_cold_boot_bct_MB2_sigheader.bin.encrypt; xusb_fw xusb_t234_prod_sigheader.bin.encrypt; dce_fw display-t234-dce_sigheader.bin.encrypt; nvdec nvdec_t234_prod_sigheader.fw.encrypt; bpmp_fw bpmp_t234-TE980M-A1_prod_sigheader.bin.encrypt; bpmp_fw_dtb tegra234-bpmp-3767-0000-a02-3509-a02_with_odm_sigheader.dtb.encrypt; sce_fw camera-rtcpu-sce_sigheader.img.encrypt; rce_fw camera-rtcpu-t234-rce_sigheader.img.encrypt; ape_fw adsp-fw_sigheader.bin.encrypt; spe_fw spe_t234_sigheader.bin.encrypt; tos tos-optee_t234_sigheader.img.encrypt; eks eks_t234_sigheader.img.encrypt; kernel boot0.img; kernel_dtb tegra234-p3767-0000-p3768-0000-a0.dtb"    --secondary_gpt_backup  --bct_backup  --instance 1-3
Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands
 

 Entering RCM boot

[   0.0344 ] mb1_t234_prod_aligned_sigheader.bin.encrypt filename is from --mb1_bin
[   0.0344 ] psc_bl1_t234_prod_aligned_sigheader.bin.encrypt filename is from --psc_bl1_bin
[   0.0344 ] rcm boot with presigned binaries
[   0.0354 ] tegrarcm_v2 --instance 1-3 --new_session --chip 0x23 0 --uid --download bct_br br_bct_BR.bct --download mb1 mb1_t234_prod_aligned_sigheader.bin.encrypt --download psc_bl1 psc_bl1_t234_prod_aligned_sigheader.bin.encrypt --download bct_mb1 mb1_bct_MB1_sigheader.bct.encrypt
[   0.0360 ] BR_CID: 0x80012344705DD45F5C0000000BFE8200
[   0.0415 ] Sending bct_br
[   0.0460 ] Sending mb1
[   0.0465 ] ERROR: might be timeout in USB write.
Error: Return value 3
Command tegrarcm_v2 --instance 1-3 --new_session --chip 0x23 0 --uid --download bct_br br_bct_BR.bct --download mb1 mb1_t234_prod_aligned_sigheader.bin.encrypt --download psc_bl1 psc_bl1_t234_prod_aligned_sigheader.bin.encrypt --download bct_mb1 mb1_bct_MB1_sigheader.bct.encrypt
Cleaning up...

How can I resolve it in order to use your debug firmware ?

Thanks.

8

hello marco.ferretti,

please see-also To Determine Whether the Developer Kit Is in Force Recovery Mode.
did you check with $ lsusb to confirm it’s enter recovery-mode correctly?

that usually due to your environment setup, are you using a VM? if yes, that might be some issues with USB forwarding. otherwise, please try another cable to do image flashing.

9

Hello,

here the lsusb output:

Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 005: ID 046d:c34b Logitech, Inc. USB Keyboard
Bus 001 Device 004: ID 093a:2510 Pixart Imaging, Inc. Optical Mouse
Bus 001 Device 020: ID 0955:7523 NVIDIA Corp. APX
Bus 001 Device 002: ID 058f:6377 Alcor Micro Corp. AU6375 4-LUN card reader
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

The Orin Nano seems in recovery mode.
My host machine isn’t a VM and I have tried also different cable and follow also some suggestion about autosuspend.

Any idea ?
Is there a different procedure that I can follow to flash the debug image on the SD ?

Thanks,
Marco.

10

Hello,

at the end I was able to flash the debug camera firmware, but I can see any debug messages.
How can I check that I’m using the DEBUG FW ?

In attach the flashing log and the dmesg after camera start. As you can see, the are no debug messages. Is it right ?
dmesg_log.txt (73.8 KB)

Flash_Log.txt (12.6 KB)
trace_log.txt (4.9 KB)

Thanks,
Marco.

11

you may examine checksum, please looking $dmesg for firmware version via kernel init messages.
for example,
Default camera firmware:
tegra186-cam-rtcpu bc00000.rtcpu: firmware version cpu=rce cmd=6 sha1=8676d22a01443bdbc66581b7dde3b6d6828cc925
Update camera firmware:
tegra186-cam-rtcpu bc00000.rtcpu: firmware version cpu=rce cmd=6 sha1=73154acbae92fa621c3d5e1b2a6e10f1075059aa

13

This topic was automatically closed 14 days after the last reply. New replies are no longer allowed.