Hi all,
Problem:
We are working on integrating imx412 into our custom Jetson Xavier NX. After adjusting the DT and implementing the driver, this is the dmesg log output when trying to acquire data from sensor using v4l-ctl command :
[ 194.838683] vc_mipi 9-001a: vc_sen_set_exposure(): Set sensor exposure: 40 us
[ 194.868862] vc_mipi 9-001a: vc_core_set_format(): Set format 0x300f (RG10)
[ 194.869075] vc_mipi 9-001a: vc_core_try_format(): Try format 0x300f (RG10, format: 0x2b)
[ 194.869111] vc_mipi 9-001a: vc_update_image_size_from_mode(): Update image size from mode0 (l: 0, t: 0, w: 4032, h: 3040)
[ 194.869378] i2c 9-0010: vc_mod_set_mode(): Set module mode: 0 (lanes: 2, format: RG10, type: STREAM)
[ 194.869649] i2c 9-0010: vc_mod_set_power(): Set module power: down
[ 194.870709] i2c 9-0010: vc_mod_set_power(): Set module power: up
[ 195.472512] vc_mipi 9-001a: vc_sen_set_roi(): Set sensor roi: (left: 0, top: 0, width: 4032, height: 3040)
[ 195.479093] vc_mipi 9-001a: vc_sen_set_exposure(): Set sensor exposure: 40 us
[ 195.481246] vc_mipi 9-001a: vc_sen_set_gain(): Set sensor gain: 0
[ 195.482493] vc_mipi 9-001a: vc_core_get_num_lanes(): Get number of lanes: 2
[ 195.482507] vc_mipi 9-001a: vc_sen_set_blacklevel(): Set sensor black level: 3906 (40/1023)
[ 195.483669] vc_mipi 9-001a: vc_sen_start_stream(): Start streaming
[ 199.905651] tegra-camrtc-capture-vi tegra-capture-vi: uncorr_err: request timed out after 5000 ms
[ 199.905974] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: attempting to reset the capture channel
[ 199.907231] (NULL device *): vi_capture_control_message: NULL VI channel received
[ 199.907450] t194-nvcsi 13e10000.host1x:nvcsi@15a00000: csi5_stream_close: Error in closing stream_id=0, csi_port=0
[ 199.907672] (NULL device *): vi_capture_control_message: NULL VI channel received
[ 199.907855] t194-nvcsi 13e10000.host1x:nvcsi@15a00000: csi5_stream_open: VI channel not found for stream- 0 vc- 0
[ 199.908941] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: successfully reset the capture channel
[ 204.929580] tegra-camrtc-capture-vi tegra-capture-vi: uncorr_err: request timed out after 5000 ms
[ 204.929844] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: attempting to reset the capture channel
[ 204.931234] (NULL device *): vi_capture_control_message: NULL VI channel received
[ 204.931448] t194-nvcsi 13e10000.host1x:nvcsi@15a00000: csi5_stream_close: Error in closing stream_id=0, csi_port=0
[ 204.931679] (NULL device *): vi_capture_control_message: NULL VI channel received
[ 204.931851] t194-nvcsi 13e10000.host1x:nvcsi@15a00000: csi5_stream_open: VI channel not found for stream- 0 vc- 0
[ 204.932558] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: successfully reset the capture channel
This is the dtbo file we are using:
/dts-v1/;
/plugin/;
/ {
fragment@0 {
target-path = "/tegra-capture-vi";
__overlay__ {
num-channels = <0x1>;
ports {
#address-cells = <1>;
#size-cells = <0>;
vc_vi_port1: port@0 {
reg = <0>;
vc_vi_in0: endpoint {
port-index = <0>;
bus-width = <2>;
remote-endpoint = <&vc_csi_out0>;
};
};
};
};
};
fragment@1 {
target-path = "/host1x@13e00000/nvcsi@15a00000";
__overlay__ {
num-channels = <0x1>;
#address-cells = <1>;
#size-cells = <0>;
vc_csi_chan0: channel@0 {
reg = <0>;
ports {
#address-cells = <1>;
#size-cells = <0>;
vc_csi_chan0_port0: port@0 {
reg = <0>;
vc_csi_in0: endpoint@0 {
port-index = <0>;
bus-width = <2>;
remote-endpoint = <&vc_mipi_out0>;
};
};
vc_csi_chan0_port1: port@1 {
reg = <1>;
vc_csi_out0: endpoint@1 {
remote-endpoint = <&vc_vi_in0>;
};
};
};
};
};
};
fragment@2 {
target-path = "/cam_i2cmux/i2c@0";
__overlay__ {
#address-cells = <1>;
#size-cells=<0>;
vc_mipi_cam0: vc_mipi@1a {
reg = <0x1a>;
compatible = "nvidia,vc_mipi";
devnode = "video0";
use_sensor_mode_id = "false";
sensor_model = "vc_mipi";
num_lanes = "2";
trigger_mode = "0";
io_mode = "0";
/* nvarguscamerasrc params */
physical_w = "6.250";
physical_h = "4.712";
mode0 {
num_lanes = "2";
tegra_sinterface = "serial_a";
embedded_metadata_height = "2";
readout_orientation = "0";
/* nvarguscamerasrc params */
active_l = "0";
active_t = "0";
active_w = "4032";
active_h = "3040";
mode_type = "bayer";
pixel_phase = "rggb";
csi_pixel_bit_depth = "10";
min_gain_val = "0"; // mdB
max_gain_val = "51000"; // mdB
step_gain_val = "50"; // mdB
default_gain = "0"; // mdB
min_exp_time = "1"; // us
max_exp_time = "1000000"; // us
step_exp_time = "1"; // us
default_exp_time = "10000"; // us
min_framerate = "1000"; // mHz
max_framerate = "20000"; // mHz
step_framerate = "100"; // mHz
default_framerate = "20000"; // mHz
gain_factor = "1000";
exposure_factor = "1000000";
framerate_factor = "1000";
inherent_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
line_length = "0";
phy_mode = "DPHY";
discontinuous_clk = "no";
mclk_khz = "24000";
pix_clk_hz = "74250000";
/*set_mode_delay = "100";*/
mclk_multiplier = "9.33";
cil_settletime = "0";
dpcm_enable = "false";
};
ports {
#address-cells = <1>;
#size-cells = <0>;
port@0 {
reg = <0>;
vc_mipi_out0: endpoint {
port-index = <0>;
bus-width = <2>;
remote-endpoint = <&vc_csi_in0>;
};
};
};
};
};
};
fragment@3 {
target-path = "/";
__overlay__ {
lens@vc_mipi {
min_focus_distance = "0.0";
hyper_focal = "0.0";
focal_length = "6.0";
f_number = "2.0";
aperture = "0.0";
};
};
};
fragment@4 {
target-path = "/tegra-camera-platform";
__overlay__ {
compatible = "nvidia, tegra-camera-platform";
num_csi_lanes = <4>;
max_lane_speed = <1500000>;
min_bits_per_pixel = <10>;
vi_peak_byte_per_pixel = <2>;
vi_bw_margin_pct = <25>;
max_pixel_rate = <240000>;
isp_peak_byte_per_pixel = <5>;
isp_bw_margin_pct = <25>;
modules {
cam_module0: module0 {
status = "okay";
badge = "jakku_front_vc_mipi";
position = "front";
orientation = "1";
cam_module0_drivernode0: drivernode0 {
status = "okay";
pcl_id = "v4l2_sensor";
devname = "vc_mipi 9-001a";
proc-device-tree = "/proc/device-tree/cam_i2cmux/i2c@0/vc_mipi@1a";
};
cam_module0_drivernode1: drivernode1 {
status = "okay";
pcl_id = "v4l2_lens";
proc-device-tree = "/proc/device-tree/lens@vc_mipi/";
};
};
};
};
};
fragment@5 {
target-path = "/cam_i2cmux";
__overlay__ {
status = "okay";
compatible = "i2c-mux-gpio";
#address-cells = <1>;
#size-cells = <0>;
//mux-gpios = <&tegra_aon_gpio 19 1>; //<&tegra_aon_gpio CAM_I2C_MUX GPIO_ACTIVE_HIGH>
mux-gpios = <&tca6416 12 1 &tca6416 13 1 &tca6416 2 1 &tca6416 3 1 &tca6416 14 1 &tca6416 15 1>;
i2c-parent = <&cam_i2c>;
i2c@0 {
status = "okay";
reg = <1>;
#address-cells = <1>;
#size-cells = <0>;
vc_mipi@1a {
status = "okay";
reset-gpios = <&tegra_main_gpio 125 1>; // <&tegra_main_gpio CAM1_PWDN GPIO_ACTIVE_HIGH>
};
};
};
};
fragment@6 {
target-path = "/gpio@2200000";
__overlay__ {
camera-control-output-low {
gpio-hog;
output-low;
gpios = <124 0 125 0>; // <CAM0_PWDN 0 CAM1_PWDN 0>
label = "cam0-pwdn","cam1-pwdn";
};
};
};
};
Debugging:
Port binding:
Media device information
------------------------
driver tegra-camrtc-ca
model NVIDIA Tegra Video Input Device
serial
bus info
hw revision 0x3
driver version 5.10.104
Device topology
- entity 1: 13e10000.host1x:nvcsi@15a00000- (2 pads, 2 links)
type V4L2 subdev subtype Unknown flags 0
device node name /dev/v4l-subdev0
pad0: Sink
<- "vc_mipi 9-001a":0 [ENABLED]
pad1: Source
-> "vi-output, vc_mipi 9-001a":0 [ENABLED]
- entity 4: vc_mipi 9-001a (1 pad, 1 link)
type V4L2 subdev subtype Sensor flags 0
device node name /dev/v4l-subdev1
pad0: Source
[fmt:SRGGB10_1X10/4032x3040 field:none colorspace:srgb]
-> "13e10000.host1x:nvcsi@15a00000-":0 [ENABLED]
- entity 6: vi-output, vc_mipi 9-001a (1 pad, 1 link)
type Node subtype V4L flags 0
device node name /dev/video0
pad0: Sink
<- "13e10000.host1x:nvcsi@15a00000-":1 [ENABLED]
v4l2-compliance
Compliance test for tegra-video device /dev/video0:
Driver Info:
Driver name : tegra-video
Card type : vi-output, vc_mipi 9-001a
Bus info : platform:tegra-capture-vi:0
Driver version : 5.10.104
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 : 5.10.104
Hardware revision: 0x00000003 (3)
Driver version : 5.10.104
Interface Info:
ID : 0x03000008
Type : V4L Video
Entity Info:
ID : 0x00000006 (6)
Name : vi-output, vc_mipi 9-001a
Function : V4L2 I/O
Pad 0x01000007 : 0: Sink
Link 0x0200000c: from remote pad 0x1000003 of entity '13e10000.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):
fail: v4l2-test-controls.cpp(108): non-zero min/max/step/def
fail: v4l2-test-controls.cpp(208): invalid control 009a2011
test VIDIOC_QUERY_EXT_CTRL/QUERYMENU: FAIL
fail: v4l2-test-controls.cpp(318): node->controls.find(qctrl.id) == node->controls.end()
test VIDIOC_QUERYCTRL: FAIL
fail: v4l2-test-controls.cpp(468): invalid maximum range check
test VIDIOC_G/S_CTRL: FAIL
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: 8
Format ioctls (Input 0):
fail: v4l2-test-formats.cpp(91): invalid frameinterval 0 (1/0)
test VIDIOC_ENUM_FMT/FRAMESIZES/FRAMEINTERVALS: FAIL
test VIDIOC_G/S_PARM: OK (Not Supported)
test VIDIOC_G_FBUF: OK (Not Supported)
fail: v4l2-test-formats.cpp(443): pixelformat 30314752 (RG10) for buftype 1 not reported by ENUM_FMT
test VIDIOC_G_FMT: FAIL
fail: v4l2-test-formats.cpp(443): pixelformat 30314752 (RG10) for buftype 1 not reported by ENUM_FMT
test VIDIOC_TRY_FMT: FAIL
fail: v4l2-test-formats.cpp(443): pixelformat 30314752 (RG10) for buftype 1 not reported by ENUM_FMT
test VIDIOC_S_FMT: FAIL
test VIDIOC_G_SLICED_VBI_CAP: OK (Not Supported)
fail: v4l2-test-formats.cpp(1423): doioctl(node, VIDIOC_G_SELECTION, &sel) != EINVAL
test Cropping: FAIL
test Composing: OK (Not Supported)
test Scaling: OK
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: 36, Failed: 9, Warnings: 0
v4l2-ctl -d /dev/video0 --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
Type: Video Capture
[0]: 'RG10' (10-bit Bayer RGRG/GBGB)
Size: Discrete 4032x3040
Interval: Discrete infs (0.000 fps)
Framerate is set correctly in the device tree for 20000 mHz but the driver is not able to parse it.
Boosting clock
root@edgekit-new:/home/edgekit/Desktop/imx412# sudo su
root@edgekit-new:/home/edgekit/Desktop/imx412# echo 1 > /sys/kernel/debug/bpmp/debug/clk/vi/mrq_rate_locked
root@edgekit-new:/home/edgekit/Desktop/imx412# echo 1 > /sys/kernel/debug/bpmp/debug/clk/isp/mrq_rate_locked
root@edgekit-new:/home/edgekit/Desktop/imx412# echo 1 > /sys/kernel/debug/bpmp/debug/clk/nvcsi/mrq_rate_locked
root@edgekit-new:/home/edgekit/Desktop/imx412# cat /sys/kernel/debug/bpmp/debug/clk/vi/max_rate |tee /sys/kernel/debug/bpmp/debug/clk/vi/rate
460800000
root@edgekit-new:/home/edgekit/Desktop/imx412# cat /sys/kernel/debug/bpmp/debug/clk/isp/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/isp/rate
576000000
root@edgekit-new:/home/edgekit/Desktop/imx412# cat /sys/kernel/debug/bpmp/debug/clk/nvcsi/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/nvcsi/rate
314000000
Tracing
tracer: nop
#
# entries-in-buffer/entries-written: 26/26 #P:4
#
# _-----=> irqs-off
# / _----=> need-resched
# | / _---=> hardirq/softirq
# || / _--=> preempt-depth
# ||| / delay
# TASK-PID CPU# |||| TIMESTAMP FUNCTION
# | | | |||| | |
kworker/2:2-87 [002] .... 1672.933109: rtcpu_string: tstamp:53019154843 id:0x04010000 str:"VM0 deactivating."
v4l2-test-2465 [000] .... 1854.865869: tegra_channel_open: vi-output, vc_mipi 9-001a
v4l2-test-2465 [000] .... 1854.882870: tegra_channel_set_power: vc_mipi 9-001a : 0x1
v4l2-test-2465 [000] .... 1854.882886: camera_common_s_power: status : 0x1
v4l2-test-2465 [000] .... 1854.882895: tegra_channel_set_power: 13e10000.host1x:nvcsi@15a00000- : 0x1
v4l2-test-2465 [000] .... 1854.882898: csi_s_power: enable : 0x1
v4l2-test-2465 [000] .... 1854.883536: tegra_channel_capture_setup: vnc_id 0 W 4032 H 3040 fmt c4
v4l2-test-2465 [001] .... 1854.890414: tegra_channel_set_stream: enable : 0x1
v4l2-test-2465 [001] .... 1854.891806: tegra_channel_set_stream: 13e10000.host1x:nvcsi@15a00000- : 0x1
v4l2-test-2465 [001] .... 1854.891809: csi_s_stream: enable : 0x1
v4l2-test-2465 [000] .... 1854.892210: tegra_channel_set_stream: vc_mipi 9-001a : 0x1
kworker/2:2-87 [002] .... 1854.941037: rtcpu_string: tstamp:58705277247 id:0x04010000 str:"VM0 activating."
kworker/2:2-87 [002] .... 1854.941041: rtcpu_vinotify_event: tstamp:58705725163 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:1878572838912 data:0xcd9ce50010000000
kworker/2:2-87 [002] .... 1854.941042: rtcpu_vinotify_event: tstamp:58705725321 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:1878572850656 data:0x0000000031000001
kworker/2:2-87 [002] .... 1854.941043: rtcpu_vinotify_event: tstamp:58705725498 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:1878572905792 data:0xcd9ce20010000000
kworker/2:2-87 [002] .... 1854.941043: rtcpu_vinotify_event: tstamp:58705725649 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:1878572917760 data:0x0000000031000002
vi-output, vc_m-2467 [001] .... 1860.067090: tegra_channel_capture_setup: vnc_id 0 W 4032 H 3040 fmt c4
kworker/2:2-87 [002] .... 1860.093089: rtcpu_vinotify_event: tstamp:58867469870 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:1883750224928 data:0xcd9ce50010000000
kworker/2:2-87 [002] .... 1860.093093: rtcpu_vinotify_event: tstamp:58867470027 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:1883750236704 data:0x0000000031000001
kworker/2:2-87 [002] .... 1860.093094: rtcpu_vinotify_event: tstamp:58867470202 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:1883750471680 data:0xcd9ce20010000000
kworker/2:2-87 [002] .... 1860.093095: rtcpu_vinotify_event: tstamp:58867470352 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:1883750483648 data:0x0000000031000002
vi-output, vc_m-2467 [000] .... 1865.187499: tegra_channel_capture_setup: vnc_id 0 W 4032 H 3040 fmt c4
kworker/2:2-87 [002] .... 1865.249068: rtcpu_vinotify_event: tstamp:59027519219 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:1888870322432 data:0xcd9ce50010000000
kworker/2:2-87 [002] .... 1865.249071: rtcpu_vinotify_event: tstamp:59027519376 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:1888870334208 data:0x0000000031000001
kworker/2:2-87 [002] .... 1865.249073: rtcpu_vinotify_event: tstamp:59027519551 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:1888870390016 data:0xcd9ce20010000000
kworker/2:2-87 [002] .... 1865.249074: rtcpu_vinotify_event: tstamp:59027519704 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:1888870401984 data:0x0000000031000002
Does this have to do with pix_clk_frequency or mclk_khz params ?
Appreciate your help!
Ahmed