# Issue with porting sensor driver on Jetson Linux 35.4.1

**URL:** <https://forums.developer.nvidia.com/t/issue-with-porting-sensor-driver-on-jetson-linux-35-4-1/279683>\
**Category:** Jetson Orin NX\
**Tags:** kernel, gstreamer, camera\
**Created:** [January 22, 2024, 1:30pm UTC](https://forums.developer.nvidia.com/t/issue-with-porting-sensor-driver-on-jetson-linux-35-4-1/279683 "2024-01-22T13:30:21Z")\
**Posts on this page:** 9\
**Page:** 1

<div class="post-metadata">

**Author:** ![kulikov.mh](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@kulikov.mh](https://forums.developer.nvidia.com/u/kulikov.mh)\
**Post date:** [January 22, 2024, 1:30pm UTC](https://forums.developer.nvidia.com/t/issue-with-porting-sensor-driver-on-jetson-linux-35-4-1/279683/1 "2024-01-22T13:30:21Z")

</div>

Hello nvidia support,  
I use Jetson Linux 35.4.1 and modules Xavier NX and Orin NX 16Gb. For both modules I use same custom carrier board.  
My target is get image from sensor imx565. For this I prepared imx565.ko and made changes in device tree for both modules.

With module Xavier NX the sensor works well but I have a problem with Orin NX.

when I try to check sensor with command:  
`v4l2-ctl --set-fmt-video=width=4128,height=3008,pixelformat=RG10 --stream-mmap --set-ctrl=sensor_mode=0 --stream-count=100 -d /dev/video0`

I got error messages:

```auto
[867.429335] bwmgr API not supported
[867.437559] imx565_set_mode, mode = 0
[867.472447] imx565_start_streaming, start streaming from csi 0
[867.478474] imx565_start_streaming auto black level disabled
[867.484851] imx565_start_streaming master mode
[868.993984] imx565_start_streaming, without errors 
[870.088805] tegra-camrtc-capture-vi tegra-capture-vi: uncorr_err: request timed out after 2500 ms
[870.097948] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: attempting to reset the capture channel
[870.108258] (NULL device *): vi_capture_control_message: NULL VI channel received
[870.115983] t194-nvcsi 13e40000.host1x:nvcsi@15a00000: csi5_stream_close: Error in closing stream_id=0, csi_port=0
[870.126640] (NULL device *): vi_capture_control_message: NULL VI channel received

```

You can see full log  
[dmesg.log](https://forums.developer.nvidia.com/uploads/short-url/rNlamW9ei39n5Di1dJsiay4GcZP.log) (68.7 KB)

There is output for `media-ctl -p -d /dev/media0`

```auto
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
		<- "imx565 0-0036":0 [ENABLED]
	pad1: Source
		-> "vi-output, imx565 0-0036":0 [ENABLED]

- entity 4: 13e40000.host1x:nvcsi@15a00000- (2 pads, 0 link)
            type V4L2 subdev subtype Unknown flags 0
            device node name /dev/v4l-subdev1
	pad0: Sink
	pad1: Source

- entity 7: imx565 0-0036 (1 pad, 1 link)
            type V4L2 subdev subtype Sensor flags 0
            device node name /dev/v4l-subdev2
	pad0: Source
		[fmt:SRGGB10_1X10/4128x3008 field:none colorspace:srgb]
		-> "13e40000.host1x:nvcsi@15a00000-":0 [ENABLED]

- entity 9: vi-output, imx565 0-0036 (1 pad, 1 link)
            type Node subtype V4L flags 0
            device node name /dev/video0
	pad0: Sink
		<- "13e40000.host1x:nvcsi@15a00000-":1 [ENABLED]

```

and for `v4l2-compliance -d /dev/video0`

```auto
v4l2-compliance SHA: not available, 64 bits

Compliance test for tegra-video device /dev/video0:

Driver Info:
	Driver name : tegra-video
	Card type : vi-output, imx565 0-0036
	Bus info : platform:tegra-capture-vi:0
	Driver version : 5.10.120
	Capabilities : 0x84200001
		Video Capture
		Streaming
		Extended Pix Format
		Device Capabilities
	Device Caps : 0x04200001
		Video Capture
		Streaming
		Extended Pix Format
Media Driver Info:
	Driver name : tegra-camrtc-ca
	Model : NVIDIA Tegra Video Input Device
	Serial : 
	Bus info : 
	Media version : 5.10.120
	Hardware revision: 0x00000003 (3)
	Driver version : 5.10.120
Interface Info:
	ID : 0x0300000b
	Type : V4L Video
Entity Info:
	ID : 0x00000009 (9)
	Name : vi-output, imx565 0-0036
	Function : V4L2 I/O
	Pad 0x0100000a : 0: Sink
	  Link 0x0200000f: from remote pad 0x1000003 of entity '13e40000.host1x:nvcsi@15a00000-': Data, Enabled

Required ioctls:
	test MC information (see 'Media Driver Info' above): OK
	test VIDIOC_QUERYCAP: OK

Allow for multiple opens:
	test second /dev/video0 open: OK
	test VIDIOC_QUERYCAP: OK
	test VIDIOC_G/S_PRIORITY: OK
	test for unlimited opens: OK

Debug ioctls:
	test VIDIOC_DBG_G/S_REGISTER: OK (Not Supported)
	test VIDIOC_LOG_STATUS: OK

Input ioctls:
	test VIDIOC_G/S_TUNER/ENUM_FREQ_BANDS: OK (Not Supported)
	test VIDIOC_G/S_FREQUENCY: OK (Not Supported)
	test VIDIOC_S_HW_FREQ_SEEK: OK (Not Supported)
	test VIDIOC_ENUMAUDIO: OK (Not Supported)
	test VIDIOC_G/S/ENUMINPUT: OK
	test VIDIOC_G/S_AUDIO: OK (Not Supported)
	Inputs: 1 Audio Inputs: 0 Tuners: 0

Output ioctls:
	test VIDIOC_G/S_MODULATOR: OK (Not Supported)
	test VIDIOC_G/S_FREQUENCY: OK (Not Supported)
	test VIDIOC_ENUMAUDOUT: OK (Not Supported)
	test VIDIOC_G/S/ENUMOUTPUT: OK (Not Supported)
	test VIDIOC_G/S_AUDOUT: OK (Not Supported)
	Outputs: 0 Audio Outputs: 0 Modulators: 0

Input/Output configuration ioctls:
	test VIDIOC_ENUM/G/S/QUERY_STD: OK (Not Supported)
	test VIDIOC_ENUM/G/S/QUERY_DV_TIMINGS: OK (Not Supported)
	test VIDIOC_DV_TIMINGS_CAP: OK (Not Supported)
	test VIDIOC_G/S_EDID: OK (Not Supported)

Control ioctls (Input 0):
	test VIDIOC_QUERY_EXT_CTRL/QUERYMENU: OK
	test VIDIOC_QUERYCTRL: OK
	test VIDIOC_G/S_CTRL: OK
	test VIDIOC_G/S/TRY_EXT_CTRLS: OK
	test VIDIOC_(UN)SUBSCRIBE_EVENT/DQEVENT: OK
	test VIDIOC_G/S_JPEGCOMP: OK (Not Supported)
	Standard Controls: 1 Private Controls: 32

Format ioctls (Input 0):
	test VIDIOC_ENUM_FMT/FRAMESIZES/FRAMEINTERVALS: OK
		fail: v4l2-test-formats.cpp(1280): ret && node->has_frmintervals
	test VIDIOC_G/S_PARM: FAIL
	test VIDIOC_G_FBUF: OK (Not Supported)
	test VIDIOC_G_FMT: OK
	test VIDIOC_TRY_FMT: OK
	test VIDIOC_S_FMT: OK
	test VIDIOC_G_SLICED_VBI_CAP: OK (Not Supported)
	test Cropping: OK (Not Supported)
	test Composing: OK (Not Supported)
	test Scaling: OK (Not Supported)

Codec ioctls (Input 0):
	test VIDIOC_(TRY_)ENCODER_CMD: OK (Not Supported)
	test VIDIOC_G_ENC_INDEX: OK (Not Supported)
	test VIDIOC_(TRY_)DECODER_CMD: OK (Not Supported)

Buffer ioctls (Input 0):
		fail: v4l2-test-buffers.cpp(715): q.create_bufs(node, 1, &fmt) != EINVAL
	test VIDIOC_REQBUFS/CREATE_BUFS/QUERYBUF: FAIL
	test VIDIOC_EXPBUF: OK
	test Requests: OK (Not Supported)

Total for tegra-video device /dev/video0: 45, Succeeded: 43, Failed: 2, Warnings: 0

```

Can you help me? Thanks

---

<div class="post-metadata">

**Author:** ![JerryChang](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/jerrychang/32/14043_2.png) [@JerryChang](https://forums.developer.nvidia.com/u/JerryChang)\
**Post date:** [January 23, 2024, 7:01am UTC](https://forums.developer.nvidia.com/t/issue-with-porting-sensor-driver-on-jetson-linux-35-4-1/279683/3 "2024-01-23T07:01:44Z")

</div>

> [@kulikov.mh](#):
>
> I have a problem with Orin NX.

hello kulikov.mh,

may I know which CSI port you’re using,

FYI,  
as you can see [Jetson Orin NX Series and Orin Nano Series Design Guide](https://developer.nvidia.com/embedded/downloads#?search=Jetson%20Orin%20NX%20Series%20and%20Orin%20Nano%20Series%20Design%20Guide) for [Figure 10-1. CSI 2-Lane Connection Options]  
there’s polarity swap on Orin NX module. you may try below DT setting for polarity swap configuration.  
for instance,

```auto
 * lane_polarity
 * Based on the camera connector pin.
 * CSIx_D0 | CSIx_D1 | CSI(X+1)_D0 | CSI(X+1)CSIx_D1
 * LSB | BIT1 | BIT2 | MSB 

```

---

<div class="post-metadata">

**Author:** ![kulikov.mh](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@kulikov.mh](https://forums.developer.nvidia.com/u/kulikov.mh)\
**Post date:** [January 23, 2024, 9:22am UTC](https://forums.developer.nvidia.com/t/issue-with-porting-sensor-driver-on-jetson-linux-35-4-1/279683/4 "2024-01-23T09:22:11Z")

</div>

Thank you for your answer.

I use CSI0 port, 4-Lane.  
After I have added` lane_polarity = "6";` in device tree I checked sensor with command:  
`v4l2-ctl --set-fmt-video=width=4128,height=3008,pixelformat=RG10 --stream-mmap --set-ctrl=sensor_mode=0 --stream-count=100 -d /dev/video0`

At this one I got messages:

```auto
[100.849439] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 1, flags: 0, err_data 2048
[101.042545] imx565_start_streaming, without errors 
[101.814063] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 18, flags: 0, err_data 2048
[101.984439] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 21, flags: 0, err_data 2048
[102.097240] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 23, flags: 0, err_data 512

```

Also I was able to save images from the sensor

```auto
gst-launch-1.0 \
nvarguscamerasrc sensor-id=0 sensor-mode=0 ! 'video/x-raw(memory:NVMM), width=4128, height=3008,format=(string)NV12, framerate=(fraction)17/1' ! \
nvvidconv flip-method=0 ! nvjpegenc ! multifilesink location=~/out/%d.jpg

```

 ![27](https://global.discourse-cdn.com/nvidia/original/4X/c/4/e/c4e93174e18e10179a8fade52ec589f11878195b.jpeg)

It’s look like I received only one half of frame data. What could be the reason of this issue?

---

<div class="post-metadata">

**Author:** ![JerryChang](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/jerrychang/32/14043_2.png) [@JerryChang](https://forums.developer.nvidia.com/u/JerryChang)\
**Post date:** [January 24, 2024, 6:03am UTC](https://forums.developer.nvidia.com/t/issue-with-porting-sensor-driver-on-jetson-linux-35-4-1/279683/5 "2024-01-24T06:03:39Z")

</div>

hello kulikov.mh,

the `discarding frame` messages reported as warning messages, it usually due to unsuccessful capture state; VI engine dropping frame and request for new buffers.

according to your sample JPG file, it seems the image deminesion is 1920x1399 via metadata, which mismatch with your command-line settings.  
you may double check the sensor format dumps, i.e. `$ v4l2-ctl -d /dev/video0 --list-formats-ext`

---

<div class="post-metadata">

**Author:** ![kulikov.mh](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@kulikov.mh](https://forums.developer.nvidia.com/u/kulikov.mh)\
**Post date:** [January 24, 2024, 8:58am UTC](https://forums.developer.nvidia.com/t/issue-with-porting-sensor-driver-on-jetson-linux-35-4-1/279683/6 "2024-01-24T08:58:51Z")

</div>

Hello JerryChang,  
I fexed this issue. The reason was not corerct pixel\_clk\_hz.  
After I changed it according formula `pixel_clk_hz = 891 Mbps × 4 / 10 = 356400000` sensor works well.

---

<div class="post-metadata">

**Author:** ![kulikov.mh](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@kulikov.mh](https://forums.developer.nvidia.com/u/kulikov.mh)\
**Post date:** [January 24, 2024, 9:00am UTC](https://forums.developer.nvidia.com/t/issue-with-porting-sensor-driver-on-jetson-linux-35-4-1/279683/7 "2024-01-24T09:00:47Z")

</div>

But now I have another question.

I try to display video stream.

after I run

```auto
gst-launch-1.0 -e nvarguscamerasrc sensor-id=0 sensor_mode=0 ! "video/x-raw(memory:NVMM), width=4128, height=3008, format=NV12,framerate=17/1" ! \
  nvvidconv flip-method=0 ! "video/x-raw,width=1920, height=1080" ! nvvidconv ! nvoverlaysink

```

I got message: `WARNING: erroneous pipeline: no element "nvoverlaysink"`

After I have changed **nvoverlaysink** with **nvegltransform** I got errors:

```auto
Setting pipeline to PAUSED ...
Pipeline is live and does not need PREROLL ...
Setting pipeline to PLAYING ...
New clock: GstSystemClock
GST_ARGUS: Creating output stream
CONSUMER: Waiting until producer is connected...
GST_ARGUS: Available Sensor modes :
GST_ARGUS: 4128 x 3008 FR = 17.000000 fps Duration = 58823528 ; Analog Gain range min 0.000000, max 48.000000; Exposure Range min 72000, max 56052000;

GST_ARGUS: Running with following settings:
   Camera index = 0 
   Camera mode = 0 
   Output Stream W = 4128 H = 3008 
   seconds to Run = 0 
   Frame Rate = 17.000000 
GST_ARGUS: Setup Complete, Starting captures for 0 seconds
GST_ARGUS: Starting repeat capture requests.
CONSUMER: Producer has connected; continuing.
ERROR: from element /GstPipeline:pipeline0/GstNvArgusCameraSrc:nvarguscamerasrc0: Internal data stream error.
Additional debug info:
gstbasesrc.c(3072): gst_base_src_loop (): /GstPipeline:pipeline0/GstNvArgusCameraSrc:nvarguscamerasrc0:
streaming stopped, reason error (-5)
EOS on shutdown enabled -- waiting for EOS after Error

```

How can I display video stream?

---

<div class="post-metadata">

**Author:** ![JerryChang](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/jerrychang/32/14043_2.png) [@JerryChang](https://forums.developer.nvidia.com/u/JerryChang)\
**Post date:** [January 25, 2024, 2:56am UTC](https://forums.developer.nvidia.com/t/issue-with-porting-sensor-driver-on-jetson-linux-35-4-1/279683/8 "2024-01-25T02:56:03Z")

</div>

hello kulikov.mh,

it’s more like incorrect pipeline were used. `nvoverlaysink` isn’t available for JP-5.x release version.

please try to disable preview and shows frame-rate only to confirm sensor streaming.  
for instance,  
`$ gst-launch-1.0 -e -v nvarguscamerasrc sensor-id=0 ! 'video/x-raw(memory:NVMM),width=4128, height=3008, framerate=17/1, format=NV12' ! nvvidconv ! 'video/x-raw(memory:NVMM),format=I420' ! fpsdisplaysink text-overlay=0 video-sink=fakesink sync=0`

if above works, you may try rendering preview frames to display.  
here’s sample command-line to add video converter to downscale the resolution to 1920x1080 (in case of display monitor limitation)  
for instance,  
`$ export DISPLAY=:0`  
`$ gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=4128, height=3008, format=NV12, framerate=17/1' ! nvvidconv ! 'video/x-raw, format=(string)I420, width=1920, height=1080' ! queue ! xvimagesink -e`

---

<div class="post-metadata">

**Author:** ![kulikov.mh](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@kulikov.mh](https://forums.developer.nvidia.com/u/kulikov.mh)\
**Post date:** [January 25, 2024, 12:52pm UTC](https://forums.developer.nvidia.com/t/issue-with-porting-sensor-driver-on-jetson-linux-35-4-1/279683/9 "2024-01-25T12:52:09Z")

</div>

Thank you for your support.  
Now everything works correctly

---

<div class="post-metadata">

**Author:** ![system](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/system/32/68080_2.png) [@system](https://forums.developer.nvidia.com/u/system)\
**Post date:** [February 13, 2024, 7:37am UTC](https://forums.developer.nvidia.com/t/issue-with-porting-sensor-driver-on-jetson-linux-35-4-1/279683/11 "2024-02-13T07:37:25Z")

</div>

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