# Raspberry Pi camera and Jetson TX2 **URL:** \ **Category:** Jetson TX2\ **Tags:** camera\ **Created:** [May 13, 2020, 10:27am UTC](https://forums.developer.nvidia.com/t/raspberry-pi-camera-and-jetson-tx2/122966 "2020-05-13T10:27:51Z")\ **Posts on this page:** 12\ **Page:** 1
**Author:** ![pszszszemo](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@pszszszemo](https://forums.developer.nvidia.com/u/pszszszemo)\ **Post date:** [May 13, 2020, 10:27am UTC](https://forums.developer.nvidia.com/t/raspberry-pi-camera-and-jetson-tx2/122966/1 "2020-05-13T10:27:51Z")
Hi! I am working on connecting [Raspberry Pi Camera](https://www.raspberrypi.org/products/camera-module-v2/) to Jetson TX2 through [Auvidea J106](https://auvidea.eu/j106/) board using CSI E port. Following [Sensor Software Driver Programming Guide](https://docs.nvidia.com/jetson/l4t/index.html?fbclid=IwAR2poUIndn-h1rwAZddTkDTASjk4heoxNcQouYDytLRp-rIRJ2Q51BfLREc#page/Tegra%2520Linux%2520Driver%2520Package%2520Development%2520Guide%2Fcamera_sensor_prog.html%23) I created device tree entry for this camera: ```auto #include "dt-bindings/clock/tegra186-clock.h" #include #include #define CAM_RST_L TEGRA_MAIN_GPIO(R, 5) / { gpio@2200000 { camera-control-output-high { status = "okay"; gpio-hog; output-high; gpios = < CAM_RST_L 0>; label = "cam-rst"; }; }; }; / { host1x { vi@15700000 { num-channels = <1>; ports { #address-cells = <1>; #size-cells = <0>; port@0 { status = "okay"; reg = <0>; vi_in4: endpoint { status = "okay"; port-index = <4>; bus-width = <2>; remote-endpoint = <&imx219_csi_out4>; }; }; }; }; }; }; / { host1x { nvcsi@150c0000 { status = "okey"; num-channels = <1>; #address-cells = <1>; #size-cells = <0>; channel@0 { reg = <0>; status = "okay"; ports { #address-cells = <1>; #size-cells = <0>; port@0 { status = "okay"; reg = <0>; imx219_csi_in4: endpoint@0 { status = "okay"; port-index = <4>; bus-width = <2>; remote-endpoint = <&imx219_phy_out4>; }; }; port@1 { status = "okay"; reg = <1>; imx219_csi_out4: endpoint@1 { status = "okay"; remote-endpoint = <&vi_in4>; }; }; }; }; }; }; }; / { i2c@c250000 { imx219_e@10 { #address-cells = <1>; #size-cells = <0>; reset-gpios = <&tegra_main_gpio CAM_RST_L GPIO_ACTIVE_LOW>; devnode = "video4"; compatible = "nvidia,imx219"; reg = <0x10>; physical_w = "3.680"; physical_h = "2.760"; sensor_model ="imx219"; use_sensor_mode_id = "true"; mode0 { // IMX219_MODE_1920X1080 mclk_khz = "24000"; num_lanes = "2"; tegra_sinterface = "serial_e"; phy_mode = "DPHY"; discontinuous_clk = "yes"; dpcm_enable = "false"; cil_settletime = "0"; active_w = "1920"; active_h = "1080"; pixel_t = "bayer_rggb"; readout_orientation = "90"; line_length = "3448"; inherent_gain = "1"; mclk_multiplier = "9.33"; pix_clk_hz = "182400000"; gain_factor = "16"; framerate_factor = "1000000"; exposure_factor = "1000000"; min_gain_val = "16"; /* 1.00x */ max_gain_val = "170"; /* 10.66x */ step_gain_val = "1"; default_gain = "16"; /* 1.00x */ min_hdr_ratio = "1"; max_hdr_ratio = "1"; min_framerate = "2000000"; /* 2.0 fps */ max_framerate = "30000000"; /* 30.0 fps */ step_framerate = "1"; default_framerate = "30000000"; /* 30.0 fps */ min_exp_time = "13"; /* us */ max_exp_time = "683709"; /* us */ step_exp_time = "1"; default_exp_time = "2495"; /* us */ embedded_metadata_height = "2"; }; ports { #address-cells = <1>; #size-cells = <0>; port@0 { reg = <0>; imx219_phy_out4: endpoint { port-index = <4>; bus-width = <2>; remote-endpoint = <&imx219_csi_in4>; }; }; }; }; }; }; /* camera control gpio definitions */ / { tegra-camera-platform { compatible = "nvidia, tegra-camera-platform"; num_csi_lanes = <2>; max_lane_speed = <1500000>; max_pixel_rate = <240000>; min_bits_per_pixel = <10>; vi_peak_byte_per_pixel = <2>; vi_bw_margin_pct = <25>; isp_peak_byte_per_pixel = <5>; isp_bw_margin_pct = <25>; modules { cam_module0: module0 { status = "okay"; //badge = "imx185_bottom_liimx185"; //badge = "e3322_bottom_A815P2"; badge = "e3326_bottom_P5V27C"; position = "bottom"; orientation = "0"; cam_module0_drivernode0: drivernode0 { status = "okay"; pcl_id = "v4l2_sensor"; devname = "imx219 7-0010"; proc-device-tree = "/proc/device-tree/i2c@c250000/imx219_e@10"; }; }; }; }; }; ``` After Jetson start up camera is recognized on i2c bus: ```auto [1.243627] i2c /dev entries driver [1.245379] imx219 7-0010: tegracam sensor driver:imx219_v2.0.6 ``` Also i got this message: ```auto [1.577188] tegra-vi4 15700000.vi: subdev imx219 7-0010 bound ``` `sudo media-ctl -v -p -d /dev/media0` gives me this output: ```auto Opening media device /dev/media0 Enumerating entities Found 1 entities Enumerating pads and links Media controller API version 0.1.0 Media device information ------------------------ driver tegra-vi4 model NVIDIA Tegra Video Input Device serial bus info hw revision 0x3 driver version 0.0.0 Device topology - entity 1: imx219 7-0010 (1 pad, 0 link) type V4L2 subdev subtype Sensor flags 0 pad0: Source v4l2_subdev_open: Failed to open subdev device node v4l2_subdev_open: Failed to open subdev device node v4l2_subdev_open: Failed to open subdev device node ``` Comparing this output to example given in Driver Programing Guide I am missing nvcsi and vi-output entity. Does anyone have any idea why those entities are not listed in output from `media-ctl` and how to fix it? ---
**Author:** ![ShaneCCC](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/shaneccc/32/14043_2.png) [@ShaneCCC](https://forums.developer.nvidia.com/u/ShaneCCC)\ **Post date:** [May 14, 2020, 3:39am UTC](https://forums.developer.nvidia.com/t/raspberry-pi-camera-and-jetson-tx2/122966/3 "2020-05-14T03:39:08Z")
Any warning/error message in the kernel message? Dump the device tree from below command to check the context. sudo dtc -I fs -O dts -o imx219.dts /proc/device-tree ---
**Author:** ![pszszszemo](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@pszszszemo](https://forums.developer.nvidia.com/u/pszszszemo)\ **Post date:** [May 14, 2020, 9:57am UTC](https://forums.developer.nvidia.com/t/raspberry-pi-camera-and-jetson-tx2/122966/4 "2020-05-14T09:57:29Z")
I don’t see any errors in kernel messages. Attaching dumped device tree and output of dmesg. [dmesg.log](https://forums.developer.nvidia.com/uploads/short-url/332r2JShslf9SPHCfWBqCeUXt4j.log) (54.5 KB) [imx219.dts.log](https://forums.developer.nvidia.com/uploads/short-url/r18ySHDPhnJC4i1RL129cTQN1WG.log) (325.6 KB) ---
**Author:** ![ShaneCCC](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/shaneccc/32/14043_2.png) [@ShaneCCC](https://forums.developer.nvidia.com/u/ShaneCCC)\ **Post date:** [May 15, 2020, 3:59am UTC](https://forums.developer.nvidia.com/t/raspberry-pi-camera-and-jetson-tx2/122966/5 "2020-05-15T03:59:54Z")
Didn’t find any suspect error. Can have v4l2-ctl to capture frame data? ---
**Author:** ![pszszszemo](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@pszszszemo](https://forums.developer.nvidia.com/u/pszszszemo)\ **Post date:** [May 19, 2020, 9:39am UTC](https://forums.developer.nvidia.com/t/raspberry-pi-camera-and-jetson-tx2/122966/6 "2020-05-19T09:39:19Z")
`sudo v4l2-ctl --all` gives output: `Failed to open /dev/video0: No such file or directory` ---
**Author:** ![ShaneCCC](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/shaneccc/32/14043_2.png) [@ShaneCCC](https://forums.developer.nvidia.com/u/ShaneCCC)\ **Post date:** [May 19, 2020, 9:44am UTC](https://forums.developer.nvidia.com/t/raspberry-pi-camera-and-jetson-tx2/122966/7 "2020-05-19T09:44:05Z")
Looks like the imx219 didn’t register successfully. Could you have trace the imx219 register function to check the failed. ---
**Author:** ![pszszszemo](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@pszszszemo](https://forums.developer.nvidia.com/u/pszszszemo)\ **Post date:** [May 19, 2020, 9:59am UTC](https://forums.developer.nvidia.com/t/raspberry-pi-camera-and-jetson-tx2/122966/8 "2020-05-19T09:59:52Z")
with enabled kernel debug `dmesg` gives me this: ```auto [4.036148] imx219 7-0010: probing v4l2 sensor at addr 0x10 [4.036260] imx219 7-0010: mclk name not present, assume sensor driven externally [4.036269] imx219 7-0010: avdd, iovdd and/or dvdd reglrs. not present, assume sensor powered independently [4.036353] imx219 7-0010: tegracam sensor driver:imx219_v2.0.6 [4.042322] imx219 7-0010: imx219_power_on: power on [4.066271] imx219 7-0010: imx219_power_off: power off [4.066353] imx219 7-0010: detected imx219 sensor ``` ---
**Author:** ![dmc](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@dmc](https://forums.developer.nvidia.com/u/dmc)\ **Post date:** [May 19, 2020, 2:24pm UTC](https://forums.developer.nvidia.com/t/raspberry-pi-camera-and-jetson-tx2/122966/9 "2020-05-19T14:24:47Z")
FYI, you have ‘okey’ instead of ‘okay’ in nvcsi ---
**Author:** ![ShaneCCC](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/shaneccc/32/14043_2.png) [@ShaneCCC](https://forums.developer.nvidia.com/u/ShaneCCC)\ **Post date:** [May 20, 2020, 4:05am UTC](https://forums.developer.nvidia.com/t/raspberry-pi-camera-and-jetson-tx2/122966/10 "2020-05-20T04:05:56Z")
@dmc Awesome, That’s too detail to find it. ---
**Author:** ![pszszszemo](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@pszszszemo](https://forums.developer.nvidia.com/u/pszszszemo)\ **Post date:** [June 1, 2020, 2:53pm UTC](https://forums.developer.nvidia.com/t/raspberry-pi-camera-and-jetson-tx2/122966/12 "2020-06-01T14:53:02Z")
Oh well, unbelievable that this was a problem. `v4l2-compilance` looks fine now: ```auto v4l2-compliance SHA : not available Driver Info: Driver name : tegra-video Card type : vi-output, imx219 7-0010 Bus info : platform:15700000.vi:4 Driver version: 4.9.140 Capabilities : 0x84200001 Video Capture Streaming Extended Pix Format Device Capabilities Device Caps : 0x04200001 Video Capture Streaming Extended Pix Format Compliance test for device /dev/video0 (not using libv4l2): Required ioctls: test VIDIOC_QUERYCAP: OK Allow for multiple opens: test second video 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) Test input 0: Control ioctls: 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: 16 Format ioctls: test VIDIOC_ENUM_FMT/FRAMESIZES/FRAMEINTERVALS: OK fail: v4l2-test-formats.cpp(1184): 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: 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: test VIDIOC_REQBUFS/CREATE_BUFS/QUERYBUF: OK test VIDIOC_EXPBUF: OK Test input 0: Total: 43, Succeeded: 42, Failed: 1, Warnings: 0 ``` After some changes to device tree: ```auto i2c@c250000 { imx219_e@10 { #address-cells = <1>; #size-cells = <0>; reset-gpios = <&tegra_main_gpio CAM_RST_L GPIO_ACTIVE_LOW>; //ADDED //dovdd-supply = <&en_vdd_cam>; //avdd-reg = "vana"; //dvdd-reg = "vdig"; //iovdd-reg = "dovdd"; mclk = "extperiph1"; devnode = "video4"; compatible = "nvidia,imx219"; reg = <0x10>; physical_w = "3.680"; physical_h = "2.760"; sensor_model ="imx219"; use_sensor_mode_id = "true"; mode0 { mclk_khz = "24000"; num_lanes = "2"; tegra_sinterface = "serial_e"; phy_mode = "DPHY"; discontinuous_clk = "yes"; dpcm_enable = "false"; cil_settletime = "0"; active_w = "3264"; active_h = "2464"; mode_type = "bayer"; pixel_phase = "rggb"; csi_pixel_bit_depth = "10"; pixel_t = "bayer_rggb"; readout_orientation = "90"; line_length = "3448"; inherent_gain = "1"; mclk_multiplier = "18.67"; pix_clk_hz = "182400000"; gain_factor = "16"; framerate_factor = "1000000"; exposure_factor = "1000000"; min_gain_val = "16"; /* 1.00x */ max_gain_val = "170"; /* 10.66x */ step_gain_val = "1"; default_gain = "16"; /* 1.00x */ min_hdr_ratio = "1"; max_hdr_ratio = "1"; min_framerate = "2000000"; /* 2.0 fps */ max_framerate = "30000000"; /* 30.0 fps */ step_framerate = "1"; default_framerate = "21000000"; /* 21.0 fps */ min_exp_time = "13"; /* us */ max_exp_time = "683709"; /* us */ step_exp_time = "1"; default_exp_time = "2495"; /* us */ embedded_metadata_height = "2"; }; ports { #address-cells = <1>; #size-cells = <0>; port@0 { reg = <0>; imx219_phy_out4: endpoint { port-index = <4>; bus-width = <2>; remote-endpoint = <&imx219_csi_in4>; }; }; }; }; }; ``` I was able to capture image with `v4l2-ctl -d /dev/video0 --set-fmt-video=width=3280,height=2464,pixelformat=RG10 --set-ctrl bypass_mode=0 --stream-mmap --stream-count=1 --stream-to=test_3280x2464.bayer` and then convert it with `gst-launch-1.0 -v filesrc location=test_3280x2464.bayer blocksize=16400384 ! "video/x-bayer,format=rggb,width=3280,height=2464,framerate=1/1" ! bayer2rgb ! videoconvert ! avenc_mjpeg ! filesink location=frame.jpeg -v` but output image looks very bad(attached in post). Any idea what is the cause of this? ![frame](https://global.discourse-cdn.com/nvidia/original/3X/e/0/e0a430c63f1e2e653b268f996fb877eb0878dc92.jpeg) ---
**Author:** ![ShaneCCC](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/shaneccc/32/14043_2.png) [@ShaneCCC](https://forums.developer.nvidia.com/u/ShaneCCC)\ **Post date:** [June 2, 2020, 1:27am UTC](https://forums.developer.nvidia.com/t/raspberry-pi-camera-and-jetson-tx2/122966/13 "2020-06-02T01:27:05Z")
Possible using v4l2-ctl to capture that won’t set to the suitable gain/expourse. Have you try the argus\_camera or nvgstcapture-1.0? ---
**Author:** ![nadeemm](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/nadeemm/32/367020_2.png) [@nadeemm](https://forums.developer.nvidia.com/u/nadeemm)\ **Post date:** [October 18, 2021, 6:18pm UTC](https://forums.developer.nvidia.com/t/raspberry-pi-camera-and-jetson-tx2/122966/14 "2021-10-18T18:18:02Z")