Orin Nano Devkit JetPack6.0 i2c-mux 9/10 chan_id different with JetPack5.1.2

Hi NV_Team,

We are porting JetPack6.0 CSI cameras, i2c-mux chan_id is different with Jetpack5.1.2, how to modify it same s as JetPack5.1.2.

JetPack6.0 (Orin Nano Devkit)

nvidia@nvidia-desktop:~$ i2cdetect -l
i2c-0	i2c       	3160000.i2c                     	I2C adapter
i2c-1	i2c       	c240000.i2c                     	I2C adapter
i2c-2	i2c       	3180000.i2c                     	I2C adapter
i2c-4	i2c       	Tegra BPMP I2C adapter          	I2C adapter
i2c-5	i2c       	31b0000.i2c                     	I2C adapter
i2c-7	i2c       	c250000.i2c                     	I2C adapter
i2c-9	i2c       	i2c-2-mux (chan_id 1)           	I2C adapter
i2c-10	i2c       	i2c-2-mux (chan_id 0)           	I2C adapter
i2c-11	i2c       	NVIDIA SOC i2c adapter 0        	I2C adapter

JetPack5.1.2 (Orin Nano Devkit)

nvidia@nvidia-desktop:~$ i2cdetect -l
...
i2c-9	i2c       	i2c-2-mux (chan_id 0)           	I2C adapter
i2c-10	i2c       	i2c-2-mux (chan_id 1)           	I2C adapter

What’s the different? Both of them are bus 9 and 10?

Hi ShaneCCC,

JetPack5.1.2 i2c-9 = i2c-mux-chan_id 0, i2c-10 = i2c-mux-chan_id 1
But
JetPack6.0 i2c-9 = i2c-mux-chan_id 1, i2c-10 = i2c-mux-chan_id 0

My question is why the chan_id is different in JetPack6.0

I think it could be the tools or kernel different get the different showing.
Suppose shouldn’t have any functionality issue?

Thanks

Hi ShaneCCC,

I’m porting a new sensor.
When it connect to iic-bus9 always be known as iic-bus10, if I change it to bus10 and it was kwown as iic-bus9.

Hi ShaneCCC,

Can you compare Orin Nano Developer kit with JetPack5.1.2 and JetPack6.0 ?
You will find CAM1 & 0 switched, why this happened ?

#JetPack5.1.2  --- IMX219 connected to CAM1 
nvidia@nvidia-desktop:~$ sudo dmesg | grep imx219
[sudo] password for nvidia: 
[   12.717804] imx219 9-0010: tegracam sensor driver:imx219_v2.0.6
[   12.747644] imx219 9-0010: imx219_board_setup: error during i2c read probe (-121)
[   12.790912] imx219 9-0010: board setup failed
[   12.826208] imx219: probe of 9-0010 failed with error -121
[   12.843461] imx219 10-0010: tegracam sensor driver:imx219_v2.0.6
[   12.876091] tegra-camrtc-capture-vi tegra-capture-vi: subdev imx219 10-0010 bound

nvidia@nvidia-desktop:~$ v4l2-ctl --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
	Type: Video Capture

	[0]: 'RG10' (10-bit Bayer RGRG/GBGB)
		Size: Discrete 3280x2464
			Interval: Discrete 0.048s (21.000 fps)
		Size: Discrete 3280x1848
			Interval: Discrete 0.036s (28.000 fps)
		Size: Discrete 1920x1080
			Interval: Discrete 0.033s (30.000 fps)
		Size: Discrete 1640x1232
			Interval: Discrete 0.033s (30.000 fps)
		Size: Discrete 1280x720
			Interval: Discrete 0.017s (60.000 fps)

nvidia@nvidia-desktop:~$ v4l2-ctl --list-devices
NVIDIA Tegra Video Input Device (platform:tegra-camrtc-ca):
	/dev/media0

vi-output, imx219 10-0010 (platform:tegra-capture-vi:2):
	/dev/video0

JetPack6.0   --- IMX219 connected to CAM1 
nvidia@nvidia-desktop:~$ sudo dmesg | grep imx219
[   13.579348] imx219 9-0010: tegracam sensor driver:imx219_v2.0.6
[   13.596058] tegra-camrtc-capture-vi tegra-capture-vi: subdev imx219 9-0010 bound
[   13.645393] imx219 10-0010: tegracam sensor driver:imx219_v2.0.6
[   13.656261] imx219 10-0010: imx219_board_setup: error during i2c read probe (-121)
[   13.661429] imx219 10-0010: board setup failed
[   13.661485] imx219: probe of 10-0010 failed with error -121


nvidia@ubuntu:~$ v4l2-ctl --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
	Type: Video Capture

	[0]: 'RG10' (10-bit Bayer RGRG/GBGB)
		Size: Discrete 3280x2464
			Interval: Discrete 0.048s (21.000 fps)
		Size: Discrete 3280x1848
			Interval: Discrete 0.036s (28.000 fps)
		Size: Discrete 1920x1080
			Interval: Discrete 0.033s (30.000 fps)
		Size: Discrete 1640x1232
			Interval: Discrete 0.033s (30.000 fps)
		Size: Discrete 1280x720
			Interval: Discrete 0.017s (60.000 fps)

nvidia@ubuntu:~$ v4l2-ctl --list-devices
NVIDIA Tegra Video Input Device (platform:tegra-camrtc-ca):
	/dev/media0

vi-output, imx219 9-0010 (platform:tegra-capture-vi:2):
	/dev/video0

OK, does any functionality for it?

My question is why i2c-9/10 switched in JetPack6.0, and how to make it same as JetPack5.1.2 ?

Suppose it could be the version regression. I don’t have idea to make it the same for different kernel now.

Thanks

I have two questions about JetPack6.0 CSI?

  1. how to confirm /dev/videoX with CSI/VI ports pairs in JetPack6.0GA?
  2. how to enable csi trace log ? we follow 5.1.2 can’t get csi trace log.
  1. Enable the log in csi5_fops.c
  2. Below command to enable the trace log for JP6.x
sudo su
modprobe rtcpu_debug

echo 1 > /sys/kernel/debug/tracing/tracing_on
echo 30720 > /sys/kernel/debug/tracing/buffer_size_kb
echo 1 > /sys/kernel/debug/tracing/events/tegra_rtcpu/enable
echo 1 > /sys/kernel/debug/tracing/events/freertos/enable
echo 3 > /sys/kernel/debug/camrtc/log-level
echo 1 > /sys/kernel/debug/tracing/events/camera_common/enable
echo > /sys/kernel/debug/tracing/trace
cat /sys/kernel/debug/tracing/trace

Hi ShaneCCC,

Thanks. Can you help to check which vi/csi in the csi trace log ?

CSI Trace log

root@nvidia-desktop:/home/nvidia# cat /sys/kernel/debug/tracing/trace
# tracer: nop
#
# entries-in-buffer/entries-written: 84/84   #P:6
#
#                                _-------=> irqs-off
#                               / _------=> need-resched
#                              | / _-----=> need-resched-lazy
#                              || / _----=> hardirq/softirq
#                              ||| / _---=> preempt-depth
#                              |||| / _--=> preempt-lazy-depth
#                              ||||| / _-=> migrate-disable
#                              |||||| /     delay
#           TASK-PID     CPU#  |||||||  TIMESTAMP  FUNCTION
#              | |         |   |||||||      |         |
     kworker/5:1-5926    [005] ....... 17398.426362: rtcpu_string: tstamp:544299966738 id:0x04010000 str:"VM0 deactivating."
 gst-plugin-scan-6056    [002] ....... 17400.435011: tegra_channel_open: vi-output, twgmsl 9-001d
 gst-plugin-scan-6056    [002] ....... 17400.435149: tegra_channel_close: vi-output, twgmsl 9-001d
 gst-plugin-scan-6056    [002] ....... 17400.435162: tegra_channel_open: vi-output, twgmsl 9-001c
 gst-plugin-scan-6056    [002] ....... 17400.435289: tegra_channel_close: vi-output, twgmsl 9-001c
 gst-plugin-scan-6056    [002] ....... 17400.435300: tegra_channel_open: vi-output, twgmsl 10-001b
 gst-plugin-scan-6056    [002] ....... 17400.435425: tegra_channel_close: vi-output, twgmsl 10-001b
 gst-plugin-scan-6056    [002] ....... 17400.435436: tegra_channel_open: vi-output, twgmsl 10-001a
 gst-plugin-scan-6056    [002] ....... 17400.435458: tegra_channel_close: vi-output, twgmsl 10-001a
     kworker/5:1-5926    [005] ....... 17400.666272: rtcpu_string: tstamp:544369600949 id:0x04010000 str:"VM0 activating."
  nvargus-daemon-6058    [000] ....... 17400.774520: tegra_channel_open: vi-output, twgmsl 9-001d
  nvargus-daemon-6058    [000] ....... 17400.774611: tegra_channel_close: vi-output, twgmsl 9-001d
  nvargus-daemon-6058    [000] ....... 17400.774659: tegra_channel_open: vi-output, twgmsl 9-001c
  nvargus-daemon-6058    [000] ....... 17400.774706: tegra_channel_close: vi-output, twgmsl 9-001c
  nvargus-daemon-6058    [000] ....... 17400.774716: tegra_channel_open: vi-output, twgmsl 10-001b
  nvargus-daemon-6058    [000] ....... 17400.774755: tegra_channel_close: vi-output, twgmsl 10-001b
  nvargus-daemon-6058    [000] ....... 17400.774764: tegra_channel_open: vi-output, twgmsl 10-001a
  nvargus-daemon-6058    [000] ....... 17400.774799: tegra_channel_close: vi-output, twgmsl 10-001a
  nvargus-daemon-6058    [000] ....... 17400.775678: tegra_channel_open: vi-output, twgmsl 9-001d
  nvargus-daemon-6058    [000] ....... 17400.775723: tegra_channel_close: vi-output, twgmsl 9-001d
  nvargus-daemon-6058    [000] ....... 17400.775734: tegra_channel_open: vi-output, twgmsl 9-001c
  nvargus-daemon-6058    [000] ....... 17400.775765: tegra_channel_close: vi-output, twgmsl 9-001c
  nvargus-daemon-6058    [000] ....... 17400.775772: tegra_channel_open: vi-output, twgmsl 10-001b
  nvargus-daemon-6058    [000] ....... 17400.775801: tegra_channel_close: vi-output, twgmsl 10-001b
  nvargus-daemon-6058    [000] ....... 17400.775808: tegra_channel_open: vi-output, twgmsl 10-001a
  nvargus-daemon-6058    [000] ....... 17400.775836: tegra_channel_close: vi-output, twgmsl 10-001a
     kworker/5:1-5926    [005] ....... 17401.622242: rtcpu_isp_falcon_task_start: tstamp:3234197855 ch:0 task:HANDLE_EVENT
     kworker/5:1-5926    [005] ....... 17401.622248: rtcpu_isp_falcon_task_end: tstamp:3234198162 task:HANDLE_EVENT
  gst-launch-1.0-6055    [003] ....... 17402.236362: tegra_channel_open: vi-output, twgmsl 9-001d
  gst-launch-1.0-6055    [003] ....... 17402.236562: tegra_channel_close: vi-output, twgmsl 9-001d
  gst-launch-1.0-6055    [003] ....... 17402.236581: tegra_channel_open: vi-output, twgmsl 9-001c
  gst-launch-1.0-6055    [003] ....... 17402.236767: tegra_channel_close: vi-output, twgmsl 9-001c
  gst-launch-1.0-6055    [003] ....... 17402.236784: tegra_channel_open: vi-output, twgmsl 10-001b
  gst-launch-1.0-6055    [003] ....... 17402.236971: tegra_channel_close: vi-output, twgmsl 10-001b
  gst-launch-1.0-6055    [003] ....... 17402.236988: tegra_channel_open: vi-output, twgmsl 10-001a
  gst-launch-1.0-6055    [003] ....... 17402.237022: tegra_channel_close: vi-output, twgmsl 10-001a
  gst-launch-1.0-6055    [003] ....... 17402.246213: tegra_channel_open: vi-output, twgmsl 9-001d
    v4l2src0:src-6107    [001] ....... 17402.253176: tegra_channel_set_power: twgmsl 9-001d : 0x1
    v4l2src0:src-6107    [001] ....... 17402.253192: camera_common_s_power: status : 0x1
    v4l2src0:src-6107    [001] ....... 17402.253201: tegra_channel_set_power: 13e00000.host1x:nvcsi@15a00000- : 0x1
    v4l2src0:src-6107    [001] ....... 17402.253203: csi_s_power: enable : 0x1
    v4l2src0:src-6107    [001] ....... 17402.253536: tegra_channel_capture_setup: vnc_id 0 W 1920 H 1080 fmt 13
 vi-output, fzca-6109    [000] ....... 17402.255064: vi_task_submit: class_id:48 ch:0 syncpt_id:26 syncpt_thresh:0 pid:6109 tid:6109
 vi-output, fzca-6109    [000] ....... 17402.255078: vi_task_submit: class_id:48 ch:0 syncpt_id:26 syncpt_thresh:0 pid:6109 tid:6109
 vi-output, fzca-6109    [000] ....... 17402.255080: vi_task_submit: class_id:48 ch:0 syncpt_id:26 syncpt_thresh:0 pid:6109 tid:6109
 vi-output, fzca-6109    [000] ....... 17402.255081: vi_task_submit: class_id:48 ch:0 syncpt_id:26 syncpt_thresh:0 pid:6109 tid:6109
    v4l2src0:src-6107    [001] ....... 17402.255099: tegra_channel_set_stream: enable : 0x1
    v4l2src0:src-6107    [001] ....... 17402.257217: tegra_channel_set_stream: 13e00000.host1x:nvcsi@15a00000- : 0x1
    v4l2src0:src-6107    [001] ....... 17402.257220: csi_s_stream: enable : 0x1
    v4l2src0:src-6107    [001] ....... 17402.257633: tegra_channel_set_stream: twgmsl 9-001d : 0x1
     kworker/5:1-5926    [005] ....... 17402.294207: rtcpu_vinotify_event: tstamp:544421271434 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:17421463759936 data:0x799d580010000000
     kworker/5:1-5926    [005] ....... 17402.294211: rtcpu_vinotify_event: tstamp:544421271700 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:17421463832640 data:0x0000000031000001
     kworker/5:1-5926    [005] ....... 17402.294212: rtcpu_vinotify_event: tstamp:544421271998 cch:0 vi:0 tag:VIFALC_ACTIONLST channel:0x23 frame:0 vi_tstamp:17421463854304 data:0x0000000007020001
     kworker/5:1-5926    [005] ....... 17402.294213: rtcpu_vinotify_event: tstamp:544421272249 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:17421463921856 data:0x799d550010000000
     kworker/5:1-5926    [005] ....... 17402.294213: rtcpu_vinotify_event: tstamp:544421272531 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:17421463964576 data:0x0000000031000002
 vi-output, fzca-6110    [005] ....... 17404.999579: tegra_channel_capture_setup: vnc_id 0 W 1920 H 1080 fmt 13
 vi-output, fzca-6109    [000] ....... 17404.999926: vi_task_submit: class_id:48 ch:0 syncpt_id:26 syncpt_thresh:0 pid:6109 tid:6109
 vi-output, fzca-6109    [000] ....... 17404.999945: vi_task_submit: class_id:48 ch:0 syncpt_id:26 syncpt_thresh:0 pid:6109 tid:6109
 vi-output, fzca-6109    [000] ....... 17404.999947: vi_task_submit: class_id:48 ch:0 syncpt_id:26 syncpt_thresh:0 pid:6109 tid:6109
     kworker/5:1-5926    [005] ....... 17405.038087: rtcpu_vinotify_event: tstamp:544506992526 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:17424208669504 data:0x799d580010000000
     kworker/5:1-5926    [005] ....... 17405.038089: rtcpu_vinotify_event: tstamp:544506992819 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:17424208726400 data:0x0000000031000001
     kworker/5:1-5926    [005] ....... 17405.038090: rtcpu_vinotify_event: tstamp:544506993077 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:17424208744448 data:0x799d550010000000
     kworker/5:1-5926    [005] ....... 17405.038091: rtcpu_vinotify_event: tstamp:544506993368 cch:0 vi:0 tag:VIFALC_ACTIONLST channel:0x23 frame:0 vi_tstamp:17424208764768 data:0x0000000007020001
     kworker/5:1-5926    [005] ....... 17405.038092: rtcpu_vinotify_event: tstamp:544506993623 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:17424208807168 data:0x0000000031000002
 vi-output, fzca-6110    [005] ....... 17407.558977: tegra_channel_capture_setup: vnc_id 0 W 1920 H 1080 fmt 13
 vi-output, fzca-6109    [005] ....... 17407.559297: vi_task_submit: class_id:48 ch:0 syncpt_id:26 syncpt_thresh:0 pid:6109 tid:6109
 vi-output, fzca-6109    [005] ....... 17407.559306: vi_task_submit: class_id:48 ch:0 syncpt_id:26 syncpt_thresh:0 pid:6109 tid:6109
 vi-output, fzca-6109    [005] ....... 17407.559307: vi_task_submit: class_id:48 ch:0 syncpt_id:26 syncpt_thresh:0 pid:6109 tid:6109
     kworker/5:1-5926    [005] ....... 17407.613983: rtcpu_vinotify_event: tstamp:544586745446 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:17426768036800 data:0x799d580010000000
     kworker/5:1-5926    [005] ....... 17407.613984: rtcpu_vinotify_event: tstamp:544586745708 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:17426768093728 data:0x0000000031000001
     kworker/5:1-5926    [005] ....... 17407.613985: rtcpu_vinotify_event: tstamp:544586745996 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:17426768111904 data:0x799d550010000000
     kworker/5:1-5926    [005] ....... 17407.613986: rtcpu_vinotify_event: tstamp:544586746248 cch:0 vi:0 tag:VIFALC_ACTIONLST channel:0x23 frame:0 vi_tstamp:17426768132224 data:0x0000000007020001
     kworker/5:1-5926    [005] ....... 17407.613986: rtcpu_vinotify_event: tstamp:544586746532 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:17426768174592 data:0x0000000031000002
 vi-output, fzca-6109    [005] ....... 17409.624457: vi_task_submit: class_id:48 ch:0 syncpt_id:26 syncpt_thresh:0 pid:6109 tid:6109
 vi-output, fzca-6110    [001] ....... 17410.087056: tegra_channel_capture_setup: vnc_id 0 W 1920 H 1080 fmt 13
  gst-launch-1.0-6055    [002] ....... 17410.087334: tegra_channel_set_stream: enable : 0x0
  gst-launch-1.0-6055    [002] ....... 17410.087337: tegra_channel_set_stream: twgmsl 9-001d : 0x0
  gst-launch-1.0-6055    [002] ....... 17410.087359: tegra_channel_set_stream: 13e00000.host1x:nvcsi@15a00000- : 0x0
  gst-launch-1.0-6055    [002] ....... 17410.087362: csi_s_stream: enable : 0x0
  gst-launch-1.0-6055    [002] ....... 17410.090690: tegra_channel_set_power: twgmsl 9-001d : 0x0
  gst-launch-1.0-6055    [002] ....... 17410.090704: camera_common_s_power: status : 0x0
  gst-launch-1.0-6055    [002] ....... 17410.090712: tegra_channel_set_power: 13e00000.host1x:nvcsi@15a00000- : 0x0
  gst-launch-1.0-6055    [002] ....... 17410.090714: csi_s_power: enable : 0x0
  gst-launch-1.0-6055    [002] ....... 17410.095543: tegra_channel_close: vi-output, twgmsl 9-001d

Looks like didn’t receive any validate data from the sensor.

Yes, the same driver works fine in 5.1.2 but not work in 6.0ga.

The root cause is VI/CSI/IIC-Bus not matched.
6.0ga is different with 5.1.2, my question is how to check /dev/videoX, iic, csi, vi from software ?

Suppose can show by v4l2-ctl --list-devices

nvidia@dhcp-10-19-106-222:~$ v4l2-ctl --list-devices
NVIDIA Tegra Video Input Device (platform:tegra-camrtc-ca):
        /dev/media0

vi-output, imx274 9-001a (platform:tegra-capture-vi:0):
        /dev/video0

vi-output, imx274 10-001a (platform:tegra-capture-vi:2):
        /dev/video1

Yes,

CAM0/1 – /dev/video0/1

JetPack6.0 different with JetPack5.1.2 — Switched.

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