Modify sensor_common.c

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

Hello Nvidia team,

I am currently working on porting our V4L2 camera driver to Jetpack 6. I attempted to modify an error message in sensor_common.c. After building sensor_common.o, building the kernel, and flashing it to the AGX Orin module, I used insmod to insert the sensor module.

However, I am unable to see the modified error message. Could you please provide me with some advice on how to resolve this issue?

static int extract_pixel_format(
	const char *pixel_t, u32 *format)
{
	size_t size = strnlen(pixel_t, OF_MAX_STR_LEN);

	if (strncmp(pixel_t, "yuv_uyvy8", size) == 0)
		*format = V4L2_PIX_FMT_UYVY;
	else if (strncmp(pixel_t, "bayer_bggr10", size) == 0)
		*format = V4L2_PIX_FMT_SBGGR10;
	else if (strncmp(pixel_t, "bayer_rggb10", size) == 0)
		*format = V4L2_PIX_FMT_SRGGB10;
	else if (strncmp(pixel_t, "bayer_grbg10", size) == 0)
		*format = V4L2_PIX_FMT_SGRBG10;
	else if (strncmp(pixel_t, "bayer_gbrg10", size) == 0)
		*format = V4L2_PIX_FMT_SGBRG10;
	else if (strncmp(pixel_t, "bayer_bggr12", size) == 0)
		*format = V4L2_PIX_FMT_SBGGR12;
	else if (strncmp(pixel_t, "bayer_rggb12", size) == 0)
		*format = V4L2_PIX_FMT_SRGGB12;
	else if (strncmp(pixel_t, "bayer_gbrg12", size) == 0)
		*format = V4L2_PIX_FMT_SGBRG12;
	else if (strncmp(pixel_t, "bayer_grbg12", size) == 0)
		*format = V4L2_PIX_FMT_SGRBG12;
	else if (strncmp(pixel_t, "rgb_rgb88824", size) == 0)
		*format = V4L2_PIX_FMT_RGB24;
	else if (strncmp(pixel_t, "bayer_wdr_pwl_rggb12", size) == 0)
		*format = V4L2_PIX_FMT_SRGGB12;
	else if (strncmp(pixel_t, "bayer_wdr_pwl_gbrg12", size) == 0)
		*format = V4L2_PIX_FMT_SGBRG12;
	else if (strncmp(pixel_t, "bayer_wdr_pwl_grbg12", size) == 0)
		*format = V4L2_PIX_FMT_SGRBG12;
	else if (strncmp(pixel_t, "bayer_wdr_dol_rggb10", size) == 0)
		*format = V4L2_PIX_FMT_SRGGB10;
#if 0 /* disable for Canonical kenrel */
	else if (strncmp(pixel_t, "bayer_xbggr10p", size) == 0)
		*format = V4L2_PIX_FMT_XBGGR10P;
	else if (strncmp(pixel_t, "bayer_xrggb10p", size) == 0)
		*format = V4L2_PIX_FMT_XRGGB10P;
#endif
	else if (strncmp(pixel_t, "yuv_yuyv16", size) == 0)
		*format = V4L2_PIX_FMT_YUYV;
	else if (strncmp(pixel_t, "yuv_yvyu16", size) == 0)
		*format = V4L2_PIX_FMT_YVYU;
	else if (strncmp(pixel_t, "yuv_uyvy16", size) == 0)
		*format = V4L2_PIX_FMT_UYVY;
	else if (strncmp(pixel_t, "yuv_vyuy16", size) == 0)
		*format = V4L2_PIX_FMT_VYUY;
	else {
		pr_err("%s: Need to extend format %s Potest\n", __func__, pixel_t);
		return -EINVAL;
	}

	return 0;
}

build kernel

KERNEL_SOURCES=$L4T/sources
cd $KERNEL_SOURCES
export CROSS_COMPILE=/usr/src/l4t-gcc-113/aarch64--glibc--stable-2022.08-1/bin/aarch64-buildroot-linux-gnu-

make -C kernel ARCH=arm64 -j$(nproc)

build oot

export CROSS_COMPILE=/usr/src/l4t-gcc-113/aarch64--glibc--stable-2022.08-1/bin/aarch64-buildroot-linux-gnu-
export IGNORE_CC_MISMATCH=1
export KERNEL_HEADERS=$PWD/kernel/kernel-jammy-src

make modules ARCH=arm64 -j$(nproc)
4

Confirm the kernel Image by uname -a
If it’s not your build you may need to copy the Image to /boot/Image and checking the /boot/extlinux/extlinux.conf to confirm the FDT to apply the correct kernel Image.

5

Hi SaneCCC

I changed /boot/Image to my rebuilt kernel Image and rebooted, but the kernel build date is not as expected.

Flowing is my /boot/extlinux/extlinux.conf
Should I modify anything?

TIMEOUT 30
DEFAULT primary

MENU TITLE L4T boot options

LABEL primary
      MENU LABEL primary kernel
      LINUX /boot/Image
      INITRD /boot/initrd
      APPEND ${cbootargs} root=PARTUUID=642b9212-eb2a-4c80-9ce9-f2a256234de3 rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 console=ttyAMA0,115200 firmware_class.path=/etc/firmware fbcon=map:0 net.ifnames=0 nospectre_bhb video=efifb:off console=tty0 nr_cpus=8 mem=32G

# When testing a custom kernel, it is recommended that you create a backup of
# the original kernel and add a new entry to this file so that the device can
# fallback to the original kernel. To do this:
#
# 1, Make a backup of the original kernel
#      sudo cp /boot/Image /boot/Image.backup
#
# 2, Copy your custom kernel into /boot/Image
#
# 3, Uncomment below menu setting lines for the original kernel
#
# 4, Reboot

# LABEL backup
#    MENU LABEL backup kernel
#    LINUX /boot/Image.backup
#    INITRD /boot/initrd
#    APPEND ${cbootargs}
6

That’s weird. Do you enable the signed kernel Image ?
Maybe rename the Image and modify the extlinux.conf to try.

Check below for signed kernel.

8

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