How do I get the embedded data from sensor out in AGX Xavier?

anoushka4423 · February 15, 2024, 5:35pm

Hello,

I have a sensor (onSemi Ar0231) connected to a Jetson AGX Xavier over GMSL2. I want to get the embedded data out from the sensor through the NVIDIA pipeline. This seemed like an easy task in the beginning but I am finding it more complicated than I first thought.

I first enabled the appropriate registers to allow the sensor to output the embedded data. According to the datasheet, two lines of embedded data are prepended on the frame output (and the statistics data is appended to the frame buffer).

For now, I am focusing on only the embedded data. Although this post has some information about getting the statistics data out, I think I will focus on that after I get this first step done of getting the embedded data out.

After setting the appropriate registers in the sensor, I modified the device tree node of the sensor to have embedded_metadata_height=2 because the datasheet for the sensor mentions 2 rows of data get prepended.

That unfortunately didn’t work. After searching around on the forum more, I found this post (which pointed to this other post). So I modified the vi5_fops.c vi5_capture_dequeue function. Here is the modified version:

static void vi5_capture_dequeue(struct tegra_channel *chan,
	struct tegra_channel_buffer *buf)
{
	int err = 0;
	int vi_port = 0;
	int gang_prev_frame_id = 0;
	unsigned long flags;
	struct tegra_mc_vi *vi = chan->vi;
	struct vb2_v4l2_buffer *vb = &buf->buf;
	struct timespec ts;
	struct capture_descriptor *descr = NULL;
	void* frm_buffer = vb2_plane_vaddr(&(vb->vb2_buf), 0);

	pr_info("%s: a. embedded_buffer_size: %d\n", __func__, chan->vi->emb_buf_size);

	for(vi_port = 0; vi_port < chan->valid_ports; vi_port++) {
		descr = &chan->request[vi_port][buf->capture_descr_index[vi_port]];

		if (buf->vb2_state != VB2_BUF_STATE_ACTIVE)
			goto rel_buf;

		/* Dequeue a frame and check its capture status */
		pr_info("%s: b. embedded_buffer_size: %d, vi_port: %d\n", __func__, chan->vi->emb_buf_size, vi_port);
		
		if(frm_buffer != NULL) {
			pr_info("%s: copying the embedded data onto the frame buffer\n", __func__);
			memcpy(frm_buffer,chan->vi->emb_buf_addr,chan->vi->emb_buf_size);
		}


		err = vi_capture_status(chan->tegra_vi_channel[vi_port], CAPTURE_TIMEOUT_MS);
		if (err) {
			if (err == -ETIMEDOUT) {
				dev_err(vi->dev,
					"uncorr_err: request timed out after %d ms\n",
					CAPTURE_TIMEOUT_MS);
			} else {
				dev_err(vi->dev, "uncorr_err: request err %d\n", err);
			}
			goto uncorr_err;
		} else if (descr->status.status != CAPTURE_STATUS_SUCCESS) {
			if ((descr->status.flags
					& CAPTURE_STATUS_FLAG_CHANNEL_IN_ERROR) != 0) {
				chan->queue_error = true;
				dev_err(vi->dev, "uncorr_err: flags %d, err_data %d\n",
					descr->status.flags, descr->status.err_data);
			} else {
				dev_warn(vi->dev,
					"corr_err: discarding frame %d, flags: %d, "
					"err_data %d\n",
					descr->status.frame_id, descr->status.flags,
					descr->status.err_data);
				buf->vb2_state = VB2_BUF_STATE_REQUEUEING;
				goto done;
			}
		} else if (!vi_port) {
			gang_prev_frame_id = descr->status.frame_id;
		} else if (descr->status.frame_id != gang_prev_frame_id) {
			dev_err(vi->dev, "frame_id out of sync: ch2 %d vs ch1 %d\n",
					gang_prev_frame_id, descr->status.frame_id);
			goto uncorr_err;
		}

		pr_info("%s: c. embedded_buffer_size: %d, vi_port: %d\n", __func__, chan->vi->emb_buf_size, vi_port);

		spin_lock_irqsave(&chan->capture_state_lock, flags);
		if (chan->capture_state != CAPTURE_ERROR) {
			chan->capture_reqs_enqueued -= 1;
			chan->capture_state = CAPTURE_GOOD;
		}
		spin_unlock_irqrestore(&chan->capture_state_lock, flags);

		pr_info("%s: d. embedded_buffer_size: %d, vi_port: %d\n", __func__, chan->vi->emb_buf_size, vi_port);
	}

	pr_info("%s: e. embedded_buffer_size: %d, vi_port: %d\n", __func__, chan->vi->emb_buf_size, vi_port);
	wake_up_interruptible(&chan->start_wait);
	/* Read SOF from capture descriptor */
	ts = ns_to_timespec((s64)descr->status.sof_timestamp);
	trace_tegra_channel_capture_frame("sof", ts);
#if LINUX_VERSION_CODE < KERNEL_VERSION(4, 9, 0)
	/* update time stamp of the buffer */
	vb->timestamp.tv_sec = ts.tv_sec;
	vb->timestamp.tv_usec = ts.tv_nsec / NSEC_PER_USEC;
#else
	vb->vb2_buf.timestamp = descr->status.sof_timestamp;
#endif

	buf->vb2_state = VB2_BUF_STATE_DONE;
	/* Read EOF from capture descriptor */
	ts = ns_to_timespec((s64)descr->status.eof_timestamp);
	trace_tegra_channel_capture_frame("eof", ts);

done:
	goto rel_buf;

uncorr_err:
	spin_lock_irqsave(&chan->capture_state_lock, flags);
	chan->capture_state = CAPTURE_ERROR;
	spin_unlock_irqrestore(&chan->capture_state_lock, flags);

	buf->vb2_state = VB2_BUF_STATE_ERROR;

rel_buf:
	vi5_release_buffer(chan, buf);
}

That also didn’t work.

Then I experimented some more with the embedded_metadata_height parameter in the device tree. Here are some of my observations:

Dmesg output Snippets

embedded_metadata_height = 0

[  225.118625] ar0231 2-0009: frame size index 0x0001 is not handled
[  225.118763] ar0231 2-0009: frame size index 0x0001 is not handled
[  225.123216] vi5_capture_dequeue: a. embedded_buffer_size: 0
[  225.123343] vi5_capture_dequeue: b. embedded_buffer_size: 0, vi_port: 0
[  225.123453] vi5_capture_dequeue: copying the embedded data onto the frame buffer
[  225.142269] [RCE] Configuring VI GoS.
[  225.142354] [RCE] VM GOS[#0] addr=0xc2100000
[  225.142435] [RCE] VM GOS[#1] addr=0xc2101000
[  225.142520] [RCE] VM GOS[#2] addr=0xc2102000
[  225.142602] [RCE] VM GOS[#3] addr=0xc2103000
[  225.142678] [RCE] VM GOS[#4] addr=0xc2104000
[  225.142758] [RCE] VM GOS[#5] addr=0xc2105000
[  225.142840] [RCE] vi5_hwinit: firmware CL2018101701 protocol version 2.2
[  225.142955] [RCE] VI GOS[#0] set to VM GOS[4] base 0xc2104000
[  225.210987] vi5_capture_dequeue: c. embedded_buffer_size: 0, vi_port: 0
[  225.211127] vi5_capture_dequeue: d. embedded_buffer_size: 0, vi_port: 0
[  225.211239] vi5_capture_dequeue: e. embedded_buffer_size: 0, vi_port: 1
[  225.211376] vi5_capture_dequeue: a. embedded_buffer_size: 0
[  225.211470] vi5_capture_dequeue: b. embedded_buffer_size: 0, vi_port: 0
[  225.211579] vi5_capture_dequeue: copying the embedded data onto the frame buffer
[  225.244240] vi5_capture_dequeue: c. embedded_buffer_size: 0, vi_port: 0
[  225.244395] vi5_capture_dequeue: d. embedded_buffer_size: 0, vi_port: 0
[  225.244506] vi5_capture_dequeue: e. embedded_buffer_size: 0, vi_port: 1
[  225.358176] vi5_capture_dequeue: a. embedded_buffer_size: 0
[  225.358362] vi5_capture_dequeue: b. embedded_buffer_size: 0, vi_port: 0
[  225.358471] vi5_capture_dequeue: copying the embedded data onto the frame buffer
[  225.410884] vi5_capture_dequeue: c. embedded_buffer_size: 0, vi_port: 0
[  225.411020] vi5_capture_dequeue: d. embedded_buffer_size: 0, vi_port: 0
[  225.411132] vi5_capture_dequeue: e. embedded_buffer_size: 0, vi_port: 1

embedded_metadata_height = 1

[  623.975716] ar0231 2-0009: frame size index 0x0001 is not handled
[  623.975877] ar0231 2-0009: frame size index 0x0001 is not handled
[  623.980052] vi5_capture_dequeue: a. embedded_buffer_size: 4096
[  623.980169] vi5_capture_dequeue: b. embedded_buffer_size: 4096, vi_port: 0
[  623.980278] vi5_capture_dequeue: copying the embedded data onto the frame buffer
[  623.988974] [RCE] Configuring VI GoS.
[  623.989055] [RCE] VM GOS[#0] addr=0xc2100000
[  623.989148] [RCE] VM GOS[#1] addr=0xc2101000
[  623.989240] [RCE] VM GOS[#2] addr=0xc2102000
[  623.989340] [RCE] VM GOS[#3] addr=0xc2103000
[  623.989431] [RCE] VM GOS[#4] addr=0xc2104000
[  623.989519] [RCE] VM GOS[#5] addr=0xc2105000
[  623.989614] [RCE] vi5_hwinit: firmware CL2018101701 protocol version 2.2
[  623.989737] [RCE] VI GOS[#0] set to VM GOS[4] base 0xc2104000
[  626.560956] tegra194-vi5 15c10000.vi: no reply from camera processor
[  626.561118] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[  626.561252] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[  626.564146] vi5_capture_dequeue: a. embedded_buffer_size: 4096
[  626.564571] tegra-capture-ivc ivc-bc00000.rtcpu:ivccontrol@3: No callback found for msg id: 0x39
[  626.564719] tegra-capture-ivc ivc-bc00000.rtcpu:ivccontrol@3: No callback found for msg id: 0x41
[  626.564874] tegra-capture-ivc ivc-bc00000.rtcpu:ivccontrol@3: No callback found for msg id: 0x37
[  626.565022] [RCE] Configuring VI GoS.
[  626.565026] [RCE] VM GOS[#0] addr=0xc2100000
[  626.565028] [RCE] VM GOS[#1] addr=0xc2101000
[  626.565030] [RCE] VM GOS[#2] addr=0xc2102000
[  626.565032] [RCE] VM GOS[#3] addr=0xc2103000
[  626.565034] [RCE] VM GOS[#4] addr=0xc2104000
[  626.565047] [RCE] VM GOS[#5] addr=0xc2105000
[  626.565563] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel
[  626.705634] vi5_capture_dequeue: a. embedded_buffer_size: 4096
[  626.705758] vi5_capture_dequeue: b. embedded_buffer_size: 4096, vi_port: 0
[  626.705867] vi5_capture_dequeue: copying the embedded data onto the frame buffer
[  629.376961] tegra194-vi5 15c10000.vi: no reply from camera processor
[  629.377094] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[  629.377239] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[  629.381495] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel
[  629.421013] [RCE] WARNING: t194/vi5.c:459 [vi5_channel_disable] "ch 35 ABORT trial# 2/5 unsuccessful"
[  629.421200] [RCE] Configuring VI GoS.
[  629.421263] [RCE] VM GOS[#0] addr=0xc2100000
[  629.421346] [RCE] VM GOS[#1] addr=0xc2101000
[  629.421427] [RCE] VM GOS[#2] addr=0xc2102000
[  629.421498] [RCE] VM GOS[#3] addr=0xc2103000
[  629.421594] [RCE] VM GOS[#4] addr=0xc2104000
[  629.421672] [RCE] VM GOS[#5] addr=0xc2105000

embedded_metadata_height = 2

[   45.681975] ar0231 2-0009: frame size index 0x0001 is not handled
[   45.682115] ar0231 2-0009: frame size index 0x0001 is not handled
[   45.689542] vi5_capture_dequeue: a. embedded_buffer_size: 8192
[   45.689687] vi5_capture_dequeue: b. embedded_buffer_size: 8192, vi_port: 0
[   45.689823] vi5_capture_dequeue: copying the embedded data onto the frame buffer
[   45.741125] [RCE] Configuring VI GoS.
[   45.741249] [RCE] VM GOS[#0] addr=0xc2100000
[   45.741336] [RCE] VM GOS[#1] addr=0xc2101000
[   45.741407] [RCE] VM GOS[#2] addr=0xc2102000
[   45.741478] [RCE] VM GOS[#3] addr=0xc2103000
[   45.741564] [RCE] VM GOS[#4] addr=0xc2104000
[   45.741635] [RCE] VM GOS[#5] addr=0xc2105000
[   45.741708] [RCE] vi5_hwinit: firmware CL2018101701 protocol version 2.2
[   45.741837] [RCE] VI GOS[#0] set to VM GOS[4] base 0xc2104000
[   48.245134] tegra194-vi5 15c10000.vi: no reply from camera processor
[   48.245271] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[   48.245439] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[   48.248285] vi5_capture_dequeue: a. embedded_buffer_size: 8192
[   48.248688] tegra-capture-ivc ivc-bc00000.rtcpu:ivccontrol@3: No callback found for msg id: 0x39
[   48.248837] tegra-capture-ivc ivc-bc00000.rtcpu:ivccontrol@3: No callback found for msg id: 0x41
[   48.248976] tegra-capture-ivc ivc-bc00000.rtcpu:ivccontrol@3: No callback found for msg id: 0x37
[   48.249168] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel
[   48.261142] [RCE] Configuring VI GoS.
[   48.261235] [RCE] VM GOS[#0] addr=0xc2100000
[   48.261310] [RCE] VM GOS[#1] addr=0xc2101000
[   48.261380] [RCE] VM GOS[#2] addr=0xc2102000
[   48.261474] [RCE] VM GOS[#3] addr=0xc2103000
[   48.261553] [RCE] VM GOS[#4] addr=0xc2104000
[   48.261623] [RCE] VM GOS[#5] addr=0xc2105000
[   48.408416] vi5_capture_dequeue: a. embedded_buffer_size: 8192
[   48.408540] vi5_capture_dequeue: b. embedded_buffer_size: 8192, vi_port: 0
[   48.408660] vi5_capture_dequeue: copying the embedded data onto the frame buffer
[   51.061082] tegra194-vi5 15c10000.vi: no reply from camera processor
[   51.061214] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[   51.061335] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[   51.075065] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel
[   51.118294] [RCE] Configuring VI GoS.
[   51.118390] [RCE] VM GOS[#0] addr=0xc2100000
[   51.118593] [RCE] VM GOS[#1] addr=0xc2101000
[   51.118678] [RCE] VM GOS[#2] addr=0xc2102000
[   51.118749] [RCE] VM GOS[#3] addr=0xc2103000
[   51.118830] [RCE] VM GOS[#4] addr=0xc2104000
[   51.118926] [RCE] VM GOS[#5] addr=0xc2105000

Trace Outputs

embedded_metadata_height = 0
trace_embedded_metadata_height=0.txt|attachment (13.7 KB)
embedded_metadata_height = 1
trace_embedded_metadata_height=1.txt|attachment (109.3 KB)
embedded_metadata_height = 2
trace_embedded_metadata_height=2.txt|attachment (966.1 KB)

Here are the dtc files for your reference also.
live_dtc_embedded_metadata_height=0.txt|attachment (318.2 KB)
live_dtc_embedded_metadata_height=1.txt|attachment (318.2 KB)
live_dtc_embedded_metadata_height=2.txt|attachment (318.2 KB)

I have also read some documentation on the embedded data in the TRM. It talks about EMBED_Y.LINES, EMBED_Y.EXPECT and EMBED_Y.ENABLE. I tried finding those in the software but couldn’t.

Any help will be very much appreciated. Thanks!

JerryChang · February 16, 2024, 5:58am

hello anoushka4423,

is it the scenario that pixel parser hardware did not consider it as embedded line?
please check those embedded data types, in the data-types specified by CSI-2, only 0x12 is defined as embedded line.

anoushka4423 · February 16, 2024, 2:25pm

Hello JerryChang,

Thank you for your response. I have double-checked and can confirm that the embedded data types for all the exposures are correctly set to 0x12.

JerryChang · February 19, 2024, 1:52am

hello anoushka4423,

you should configure embedded_metadata_height = 2 according to sensor spec.
below failure meant the VI engine did not receive camera frames correctly.
besides, there’re lots of CHANSEL_NOMATCH errors by checking trace outputs.

please see-also Verifying the V4L2 Sensor Driver section.
you may run v4l2-compliance and v4l2-ctl to examine your sensor driver.

furthermore,
you may give it a try with below commands to boost all the VI/CSI/ISP clocks for testing.

sudo su
echo 1 > /sys/kernel/debug/bpmp/debug/clk/vi/mrq_rate_locked
echo 1 > /sys/kernel/debug/bpmp/debug/clk/isp/mrq_rate_locked
echo 1 > /sys/kernel/debug/bpmp/debug/clk/nvcsi/mrq_rate_locked
echo 1 > /sys/kernel/debug/bpmp/debug/clk/emc/mrq_rate_locked
cat /sys/kernel/debug/bpmp/debug/clk/vi/max_rate |tee /sys/kernel/debug/bpmp/debug/clk/vi/rate
cat /sys/kernel/debug/bpmp/debug/clk/isp/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/isp/rate
cat /sys/kernel/debug/bpmp/debug/clk/nvcsi/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/nvcsi/rate
cat /sys/kernel/debug/bpmp/debug/clk/emc/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/emc/rate

anoushka4423 · March 4, 2024, 10:36pm

I still don’t have a solution for this. Any help with this?

JerryChang · March 13, 2024, 8:45am

hello anoushka4423,

may I double confirm the L4T version you’re working with.
BTW, is it possible moving forward to the latest release version for confirmation? since JetPack 5.1.3 is now available, which has include several camera software stack bug fixes.

anoushka4423 · March 19, 2024, 12:53am

How do I check what L4T version I have?

Also, where is the metadata supposed to go in the userspace if everything works? I mean, how would I get the metadata out in the userspace?

Unfortunately, I am still not able to get the EMBEDDED_SOF/EOF to show up in the trace. Thanks for any help!

JerryChang · March 19, 2024, 6:17am

hello anoushka4423,

you may check the L4T version via release tag, i.e. $ cat /etc/nv_tegra_release

anoushka4423 · March 19, 2024, 1:34pm

Thanks, the L4T version I am using is JetPack 4.6.2 L4T 32.7.2.

What are your thoughts on my second question?

Thanks!

JerryChang · March 20, 2024, 2:54am

hello anoushka4423,

there’s Argus API to get the metadata, Argus::Ext::ISensorPrivateMetadata::getMetadata
you may see-also Argus example, i.e. userAutoExposure/main.cpp for demonstration.

anoushka4423 · March 21, 2024, 4:49pm

Okay. I have a couple of questions then.

Is it impossible to extract metadata without the LibArgus API?
If it is impossible, can you share a link to Argus/samples? Maybe I am missing something silly, but I haven’t been able to find any example code files to use NvArgus.
Finally, if it is possible to extract metadata without the LibArgus API, how should I go about doing that? V4L2 buffers? I found a Forum on copying the embedded buffer on top of the frame buffer to get metadata out. How/Where should I do that for a Xavier using VI5?
Also, where should the metadata come out in the userspace?

Thanks for all your time and help on this! I appreciate your insights on this! :)

JerryChang · March 22, 2024, 2:30am

please searching emb_buf within VI driver, it allocates private buffer for embedded data storage.
in user space, the embedded data can be retrieved together with image data.
for instance, $public_source/kernel_src/kernel/nvidia/drivers/media/platform/tegra/camera/vi/vi5_fops.c

FYI,
embedded data are supported with data types as 0x12 only. (i.e. embeddedData type specified by CSI-2)

anoushka4423 · March 22, 2024, 3:34am

Thank you for your response, @JerryChang

In vi5_fops.c, inside the vi5_channel_start_streaming(), a DMA buffer gets allocated for embedded data. I have verified using dev_info statements that the DMA allocation is happening successfully for the embedded data.

HOWEVER, in vi5_fops.c, inside the vi5_capture_dequeue(), I tried to dump the data in the emb_buf_addr using the following lines

unsigned char *embdata = NULL;
embdata = (unsigned char *)chan->vi->emb_buf_addr;
if(embdata) {
    i = 0;
    pr_info("%s: 1 dumping_embedded_data\n", __func__);
    for(i=0; i<5; ++i) {
        pr_info("%02X ", embdata[i]);
    }
    pr_info("%s: end of embedded data\n", __func__);
}

All it prints is a bunch of 00’s.

I tried to get the image buffer inside the vi5_capture_dequeue() also, using the following lines

void* frm_buffer = vb2_plane_vaddr(&(vb->vb2_buf), 0);
unsigned char *imgdata = NULL;

imgdata = (unsigned char *)frm_buffer;
if(imgdata) {
    i = 0;
    pr_info("%s: 1 dumping image data\n", __func__);
    for(i=0; i<5; ++i) {
        pr_info("%02X ", imgdata[i]);
    }
    pr_info("%s: end of image data\n", __func__);
}

When the embedded metadata height is set to 0 in the sensor device tree node, the image data buffer has actual data. BUT when the embedded metadata height is set to anything else, the image data buffer also has a bunch of 00’s. I still get an image out though, which is kinda strange.

I also found the tegra_video_format struct that has a tegra_vf_code enum that includes support for embedded data type. Here is a chart I made to understand the overall picture.

Then, inside the vi5_capture_dequeue.c function also, I tried printing the datatype for each port in the channel using the following lines:

dev_dbg(vi->dev, "frame_id: %d, datatype: %d, virtual channel ID: %d\n", descr->status.frame_id, 
								descr->ch_cfg.match.datatype,
								chan->virtual_channel);

Every time the datatype was YUV422.

I know that the sensor is outputting the embedded data. I also know that the serializer and the deserializer are not configured to change the datatype of the data coming in on MIPI.

Also, even though I found the DMA buffer allocation for the embedded data, I couldn’t find where the DMA buffer was being assigned to receive data from. Perhaps, this next chart might explain what I am trying to say more clearly.

Can you please talk more about the embedded buffer and how to dump embedded data onto the console from vi5_fops.c file?

Thank you again for your reply!

JerryChang · March 25, 2024, 2:48am

hello anoushka4423,

this is data-type of your AR0231 camera sensor’s definition.

anyways,
as you can see… emb_buf is saving as below,

static void vi5_setup_surface()
...
        if (chan->embedded_data_height > 0) { 
                desc->ch_cfg.embdata_enable = 1; 
                desc->ch_cfg.frame.embed_x = chan->embedded_data_width * BPP_MEM;
                desc->ch_cfg.frame.embed_y = chan->embedded_data_height;

                desc_memoryinfo->surface[VI_ATOMP_SURFACE_EMBEDDED].base_address
                        = chan->emb_buf;
                desc_memoryinfo->surface[VI_ATOMP_SURFACE_EMBEDDED].size
                        = desc->ch_cfg.frame.embed_x * desc->ch_cfg.frame.embed_y;

system · April 24, 2024, 5:17am

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Capture issues on csi Jetson Xavier Nx Jetson AGX Xavier camera , board-design	14	817	November 9, 2022
JetPack 5.10.104 vi_capture_control_message: NULL VI channel received Jetson Xavier NX camera	2	59	July 19, 2024

How do I get the embedded data from sensor out in AGX Xavier?

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