Nvidia thor developer kit can't receive camera sensor images

Robotics & Edge Computing Jetson Systems Jetson Thor
1

I am using the NVIDIA THOR developer kit to develop a GMSL camera. The GMSL adapter board was made by myself and works normally. Today I used a GMSL camera to output through the MAX96717F, then received by the MAX96712, and transmitted the data to THOR. The output rate of MAX96712 is 1.5G/lane (register: 0x0418, 0x2f), but THOR cannot receive the image. The camera resolution is 1600x1300/YUV422/30fps. The attachments include dmesg, trace, and dts. Could you help analyze the reason?

tegra264-camera-gmsl.txt (26.2 KB)

trace_log.txt (42.5 KB)

dmesg.txt (129.8 KB)

2

@ShaneCCC

5

The log shows doesn’t receive any data from the sensor.

You may need have scope to probe the MIPI signal to confirm.

Thanks

6

could you please check the configuration is wrong or not about the dts? how to set the value of serdes_pix_clk_hz, active_w, active_h ,etc..

7

Check the programing guide for the device tree config.

9

[ 2360.254833] tegra194-vi5 8181200000.host1x:vi0@8188400000: vi5_get_syncpt_gos_backing: id=110 addr=0x7ffc6e0000 gos_idx=255 gos_offset=0
[ 2360.254843] tegra194-vi5 8181200000.host1x:vi0@8188400000: vi5_get_syncpt_gos_backing: id=111 addr=0x7ffc6f0000 gos_idx=255 gos_offset=0
[ 2360.254847] tegra194-vi5 8181200000.host1x:vi0@8188400000: vi5_get_syncpt_gos_backing: id=112 addr=0x7ffc700000 gos_idx=255 gos_offset=0
[ 2360.270165] [RCE] VM0 deactivating.VM0 activating.VI ch[35] frame configuration: 1600x1300
[ 2360.270173] [RCE] left skip pixels=0 top skip lines=0
[ 2360.270176] [RCE] right crop pixels=1600 bottom crop lines=1300
[ 2360.270178] [RCE] pixel format=VI_PIXFMT_FORMAT_T_Y8_U8__Y8_V8 fmt=16
[ 2360.270180] [RCE] ===== NVCSI Stream Configuration =====
[ 2360.270182] [RCE] stream_id: PP 0, csi_port: PORT A
[ 2360.270184] [RCE] Brick: PHY 0, Mode: D-PHY
[ 2360.270187] [RCE] Partition: CIL A, LP bypass: Enabled, Lanes: 4
[ 2360.270189] [RCE] Clock information:
[ 2360.270192] [RCE] CIL rate: 270000000 Hz
[ 2360.270194] [RCE] MIPI clock rate: 750000 kHz
[ 2360.270196] [RCE] Physical rate: 1500000 Kbps
[ 2360.270198] [RCE] T_HS settle: autoconfigured, T_CLK settle: autoconfigured

[ 2360.270201] [RCE] NVCSI prod write phy: 0 cil: 0 reg=0x00011c1c mask=0x06000000 value=0x04000000 (was 0x04020100)
[ 2360.270204] [RCE] NVCSI prod write phy: 0 cil: 0 reg=0x00011c1c mask=0x06070000 value=0x00020000 (was 0x04020100)
[ 2360.270206] [RCE] NVCSI prod write phy: 0 cil: 0 reg=0x00011c58 mask=0x000f0000 value=0x000f0000 (was 0x000f0002)
[ 2360.270209] [RCE] NVCSI prod write phy: 0 cil: 0 reg=0x00011c68 mask=0xffffffff value=0x84208420 (was 0xa36183d9)
[ 2360.270211] [RCE] NVCSI prod write phy: 0 cil: 0 reg=0x00011c6c mask=0xffffffff value=0x84208420 (was 0x95abcd6f)
[ 2360.270213] [RCE] NVCSI prod write phy: 0 cil: 0 reg=0x00011c90 mask=0x0000f0fc value=0x00002040 (was 0x00000055)
[ 2360.270216] [RCE] NVCSI prod write phy: 0 cil: 0 reg=0x00011c94 mask=0x000000ff value=0x00000011 (was 0x00070000)
[ 2360.270218] [RCE] NVCSI prod write phy: 0 cil: 0 reg=0x00011cb4 mask=0x007f7f7f value=0x00404444 (was 0x00000000)
[ 2360.270220] [RCE] NVCSI prod write phy: 0 cil: 0 reg=0x00011cec mask=0x000000ff value=0x00000027 (was 0x00007411)
[ 2360.270223] [RCE] CSI port AB IDAC calibration result with freqband=0:
[ 2360.270225] [RCE] Trio A0 rxab=16 rxbc=19 rxca=15
[ 2360.270227] [RCE] Trio A1 rxab=20 rxbc=12 rxca=20
[ 2360.270229] [RCE] CSI port AB IDAC calibration result with freqband=0:
[ 2360.270231] [RCE] Trio B0 rxab=24 rxbc=24 rxca=27
[ 2360.270233] [RCE] Trio B1 rxab=23 rxbc=24 rxca=17
[ 2360.270235] [RCE] CSI port AB
[ 2360.270237] [RCE] AFE_HFGAIN_IO0_A=7
[ 2360.270239] [RCE] AFE_HFGAIN_IO1_A=7
[ 2360.270241] [RCE] AFE_HFGAIN_CLK_A=7
[ 2360.270243] [RCE] AFE_HFGAIN_IO0_B=7
[ 2360.270245] [RCE] AFE_HFGAIN_IO1_B=7
[ 2360.270246] [RCE] AFE_HFGAIN_CLK_B=7
[ 2360.271188] gmsl-camera 12-0010: camera_start_streaming: start streaming
[ 2360.731889] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 512, vc: 0
[ 2360.902778] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2360.969494] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2361.069600] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2361.098996] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 512, vc: 0
[ 2361.132411] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2361.169719] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2361.203101] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2361.236626] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2361.265860] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 512, vc: 0
[ 2361.303240] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2361.432829] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2361.470198] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2361.499559] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2361.670447] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2361.703780] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2361.736998] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2361.770530] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2361.803908] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2361.870684] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2361.937429] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2361.970833] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2362.037591] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2362.066925] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 512, vc: 0
[ 2362.100372] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2362.133693] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 512, vc: 0
[ 2362.171079] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2362.204372] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 512, vc: 0
[ 2362.271173] tegra-camrtc-capture-vi tegra-capture-vi: corr_err: discarding frame 0, flags: 0, err_data 131072, vc: 0
[ 2362.272307] gmsl-camera 12-0010: camera_stop_streaming: stop streaming
[ 2362.290170] [RCE] NVCSI prod write phy: 0 cil: 0 reg=0x00011c1c mask=0x06000000 value=0x04000000 (was 0x00020000)
[ 2362.290182] [RCE] NVCSI prod write phy: 0 cil: 0 reg=0x00011c1c mask=0x06070000 value=0x00020000 (was 0x04020000)
[ 2362.290186] [RCE] NVCSI prod write phy: 0 cil: 0 reg=0x00011c58 mask=0x000f0000 value=0x000f0000 (was 0x000f0002)
[ 2362.290189] [RCE] NVCSI prod write phy: 0 cil: 0 reg=0x00011c68 mask=0xffffffff value=0x84208420 (was 0xa3297ce1)
[ 2362.290192] [RCE] NVCSI prod write phy: 0 cil: 0 reg=0x00011c6c mask=0xffffffff value=0x84208420 (was 0x8e2fde31)
[ 2362.290195] [RCE] NVCSI prod write phy: 0 cil: 0 reg=0x00011c90 mask=0x0000f0fc value=0x00002040 (was 0x00002041)
[ 2362.290198] [RCE] NVCSI prod write phy: 0 cil: 0 reg=0x00011c94 mask=0x000000ff value=0x00000011 (was 0x00700011)
[ 2362.290201] [RCE] NVCSI prod write phy: 0 cil: 0 reg=0x00011cb4 mask=0x007f7f7f value=0x00404444 (was 0x00404444)
[ 2362.290203] [RCE] NVCSI prod write phy: 0 cil: 0 reg=0x00011cec mask=0x000000ff value=0x00000027 (was 0x00007427)
what’s the reason,there are two error codes,what should i do,i sure max96712 output the mipi clock

11

err_data here decodes as:

  • 512 = 0x00000200 = VI5_TD_STATUS_PIXEL_SHORT_LINE.
  • 131072 = 0x00020000 = VI5_TD_STATUS_PIXEL_INCOMPLETE.

So your log means VI is dropping frame 0 because it sees:

  • one frame/line arriving shorter than expected (512), and then
  • subsequent frames with incomplete pixel data (131072).

An older internal case describes 0x20000 as an illegal low-pixel enable pattern caused by corrupted or incomplete CSI byte-level data, which is consistent with the newer PIXEL_INCOMPLETE naming.

So the practical takeaway is: this points more to bad/incomplete incoming CSI payload or frame geometry mismatch.

Most likely places to check:

  • programmed width/height vs actual sensor output,
  • line length / word count,
  • embedded-data / LI handling,
  • CSI signal integrity if it is intermittent.
12

Can I see in the code exactly how much data was received?

14

No,

Maybe boost the clocks to try.

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
17

If the MIPI signal exists but err_data is 64, what could be the problem?

19

The err_data 64 is decimal 64, that is 0x40. In VI CHANSEL_FAULT decode, 0x40 = PIXEL_RUNAWAY, meaning VI received more pixel lines than expected/programmed.