Help with Debugging Camera Driver and Argus API

Robotics & Edge Computing Jetson Systems Jetson Orin NX
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1

I am developing on a Jetson Orin NX (L4T 36.4.3) and writing a camera driver for InnoMaker OV7251 Mipi camera, which is a one-lane, black&white, bayer sensor without on-board ISP unit.

So far, I’ve got it working with v4l2-ctl (see my previous post here). I can grab the raw frames (RG10) and use software to debayer the image. However, I am not able to use the camera with argus (which is, nvarguscamerasrc). Here is the full trace report from nvargus-daemon and a short snippet on the major errors:

nvargus_full_report.log (27.5 KB)

SCF: Error InvalidState: Timeout!! Skipping requests on sensor GUID 1, capture sequence ID = 281470681743360 draining session frameStart events 281470681743363
(in src/services/capture/FusaCaptureViCsiHw.cpp, function waitCsiFrameStart(), line 529)

SCF: Error InvalidState: Sensor GUID 1 is in error state. Skipping requests, capture sequence ID = 281470681743361 continue draining session frameStart events 281470681743362 (in src/services/capture/FusaCaptureViCsiHw.cpp, function waitCsiFrameStart(), line 543)

SCF: Error InvalidState: Sensor GUID 1 is in error state. Skipping requests, capture sequence ID = 281470681743362 continue draining session frameStart events 281470681743361 (in src/services/capture/FusaCaptureViCsiHw.cpp, function waitCsiFrameStart(), line 543)

SCF: Error InvalidState: Sensor 1 already in same state (in src/services/capture/CaptureServiceDeviceSensor.cpp, function setErrorState(), line 100)

FiberScheduler: cc 101, session 1, fiber 0xffff70000b70 aborted in async operation

I don’t really have a clue about how to debug this error. Appreciate any help here in advance. Below is the device tree overlay I am currently using.

ov7251_dts.txt (5.3 KB)

2

Hello,

Thanks for visiting the NVIDIA Developer Forums.
To ensure better visibility and support, I’ve moved your post to the Jetson category where it’s more appropriate

Cheers,
Tom

4

Thanks Tom, for relocating the post.

I just found that the link to the full trace report is a 404, thus am re-uploading it here.

nvargus.log (27.5 KB)

Also, below is the argus test command I am using, which gives me the errors.

gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! “video/x-raw(memory:NVMM),width=640,height=480,framerate=158/1” ! nvvidconv ! fakesink

The following commands utilizing v4l2 api work just fine.

gst-launch-1.0 nvv4l2camerasrc device=/dev/video0 cap-buffers=2 ! “video/x-raw(memory:NVMM), width=(int)640, height=(int)480, framerate=(fraction)158/1” ! nvvidconv ! “video/x-raw(memory:NVMM),format=NV12” ! nveglglessink sync=false

v4l2-ctl --device=/dev/video0 --set-fmt-video=width=640,height=480,pixelformat=RG10 --stream-mmap --stream-to=- | ffplay -f rawvideo -pixel_format bayer_rggb16le -video_size 640x480 -framerate 158 -vf “format=gray,lut=y=‘val*30’” -

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hello nenosun2017,

let me double check the sensor pixel formats you’ve used in the device tree.
you may see-also developer guide, Property-Value Pairs for the mode_type, csi_pixel_bit_depth and pixel_phase.
besides.. you should dig into sensor mode settings, especially Sensor Pixel Clock, which must be set correctly to avoid potential issues.

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Hi Jerry, many thanks! I will check more on the sensor mode settings.

According to the camera’s documentation, the output signal is Bayer RAW10 black and white signal. In the device tree, I set set the mode_type to bayer. The pixel_phase is set to rggb since there is no b&w or gray option. And he csi_pixel_bit_depth is set to 10.

Note that the sensor by default outputs RAW8 B&W signal, but in the driver (see the .c code below), I set it to output RAW10, because Jetson ISP seems to not support RAW8.

ov7251_c.txt (21.8 KB)

As for the sensor pixel clock, I am actually quite confused. Now the pixel clock I set is 69770272, which is calculated by hts (772) * vts (572) * fps (158). But when looking at the official driver code for Raspberry Pi, I the pixel clock is calculated as hts (772) * vts (572) * fps (120) = 52990080. However, I tried both settings, none worked.

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Oh, by the way, some properties in the device tree are actually not used, for example mclk, reset-gpios, avdd-reg, etc.. The reset, clock and regulators are already handled by the camera board. As per the camera’s CSI connection schematic, only SCL/SDA, VDD, GND, CSI1_CLK_N/P, and CSI1_N/P lanes are used.

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hello nenosun2017,

please based-on reference driver for development, some of properties were mandatory for libargus.
$public_sources/kernel_src/hardware/nvidia/t23x/nv-public/overlay/tegra234-camera-rbpcv2-imx219.dtsi

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Yes. I confirm that I have those properties, apart from “embedded_metadata_*“ and “mclk_multiplier“.

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hello nenosun2017,

this is also needed, please configure to embedded_metadata_height = "0"; if your sensor did not output embedded metadata lines.

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Thanks for the advice. I added the field and tried with different values (0, 1, and 2). Neither worked.

Nevertheless, I figured out the pixel_clk by reading the following registers on the camera chip.

[ 9.506660] my_cam_driver 9-0060: ov7251_board_setup: PLL1_PRE_DIV_REG=3
[ 9.506851] my_cam_driver 9-0060: ov7251_board_setup: PLL1_MULT_REG=100
[ 9.507036] my_cam_driver 9-0060: ov7251_board_setup: PLL1_DIVIDER_REG=1
[ 9.507220] my_cam_driver 9-0060: ov7251_board_setup: PLL1_PIX_DIV_REG=10

And this gives a pixel_clk of 80MHz (24MHz / 3 * 100 / 1 / 10).

Also, I corrected the fields of active_w, active_h, and line_length according to the sensor documentation (instead of camera’s documentation).

However, despite the above efforts, I am still hitting the same errors.

Here is the revised dts file:

ov7251_dts_revised.txt (5.9 KB)

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Problem fixed.

The core issue was the discontinuous_clk field. It should be set to no.