The realsence camera can cause the USB controller to crash

Robotics & Edge Computing Jetson Systems Jetson AGX Orin
1

My robot has two reality cameras connected to a Jetson AGX Orin network via a USB hub. When they are working, the kernel shows the USB hub is constantly resetting, and the cameras are continuously being enumerated. After working for a period of time, the entire USB controller crashes. The specific kernel logs are as follows:

[21456.812351] usb 2-2.2: SerialNumber: 339423070249
[21456.820073] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 405  (8086:0b5b)
[21456.858541] input: Intel(R) RealSense(TM) Depth Ca as /devices/platform/3610000.xhci/usb2/2-2/2-2.2/2-2.2:1.0/input/input15
[21457.270801] uvcvideo: Failed to query (GET_CUR) UVC control 1 on unit 3: -32 (exp. 1024).
[21457.293537] uvcvideo: Failed to query (GET_CUR) UVC control 1 on unit 3: -32 (exp. 1024).
[21457.402264] uvcvideo: Failed to query (GET_CUR) UVC control 1 on unit 3: -32 (exp. 1024).
[22521.465496] iommu_context_dev 13e40000.host1x:niso0_ctx0: pin_array_ids: could not get buf err=-22
[22521.474935] falcon 154c0000.nvenc: nvhost_ioctl_channel_submit: failed with err -22
[23619.513191] uvcvideo: Failed to query (GET_DEF) UVC control 3 on unit 2: -110 (exp. 2).
[23639.224699] uvcvideo: Failed to query (GET_DEF) UVC control 3 on unit 2: -110 (exp. 2).
[23660.728215] uvcvideo: Failed to query (GET_DEF) UVC control 3 on unit 2: -110 (exp. 2).
[23739.322447] uvcvideo: Failed to query (GET_DEF) UVC control 3 on unit 2: -110 (exp. 2).
[24179.443918] usb 2-2.2: Disable of device-initiated U1 failed.
[24179.453747] usb 2-2.2: Disable of device-initiated U2 failed.
[24179.462045] uvcvideo: Failed to query (SET_CUR) UVC control 1 on unit 3: -71 (exp. 1024).
[24180.158634] usb 2-2.2: USB disconnect, device number 13
[24180.473160] uvcvideo: Failed to query (SET_CUR) UVC control 1 on unit 3: -71 (exp. 1024).
[24180.480429] usb 2-3.1: USB disconnect, device number 12
[24181.332476] usb 2-2.2: new SuperSpeed Gen 1 USB device number 14 using tegra-xusb
[24181.358952] usb 2-2.2: New USB device found, idVendor=8086, idProduct=0b5b, bcdDevice=51.00
[24181.358958] usb 2-2.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[24181.358959] usb 2-2.2: Product: Intel(R) RealSense(TM) Depth Camera 405 
[24181.358961] usb 2-2.2: Manufacturer: Intel(R) RealSense(TM) Depth Camera 405 
[24181.358962] usb 2-2.2: SerialNumber: 339423070249
[24181.366447] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 405  (8086:0b5b)
[24181.406787] input: Intel(R) RealSense(TM) Depth Ca as /devices/platform/3610000.xhci/usb2/2-2/2-2.2/2-2.2:1.0/input/input16
[24181.504471] usb 2-3.1: new SuperSpeed Gen 1 USB device number 15 using tegra-xusb
[24181.530956] usb 2-3.1: New USB device found, idVendor=8086, idProduct=0b5b, bcdDevice=51.00
[24181.530963] usb 2-3.1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[24181.530965] usb 2-3.1: Product: Intel(R) RealSense(TM) Depth Camera 405 
[24181.530967] usb 2-3.1: Manufacturer: Intel(R) RealSense(TM) Depth Camera 405 
[24181.530970] usb 2-3.1: SerialNumber: 339423070350
[24181.536443] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 405  (8086:0b5b)
[24181.567097] input: Intel(R) RealSense(TM) Depth Ca as /devices/platform/3610000.xhci/usb2/2-3/2-3.1/2-3.1:1.0/input/input17
[24182.007139] uvcvideo: Failed to query (GET_CUR) UVC control 1 on unit 3: -32 (exp. 1024).
[24182.028389] uvcvideo: Failed to query (GET_CUR) UVC control 1 on unit 3: -32 (exp. 1024).
[24182.086518] uvcvideo: Failed to query (GET_CUR) UVC control 1 on unit 3: -32 (exp. 1024).
[24193.979791] usb 2-2.2: Disable of device-initiated U1 failed.
[24193.990310] usb 2-2.2: Disable of device-initiated U2 failed.
[24194.548257] uvcvideo: Failed to query (SET_CUR) UVC control 1 on unit 3: -71 (exp. 1024).
[24194.560686] usb 2-3.1: USB disconnect, device number 15
[24194.705199] usb 2-2.2: USB disconnect, device number 14
[24195.664246] usb 2-2.2: new SuperSpeed Gen 1 USB device number 16 using tegra-xusb
[24195.690579] usb 2-2.2: New USB device found, idVendor=8086, idProduct=0b5b, bcdDevice=51.00
[24195.690599] usb 2-2.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[24195.690601] usb 2-2.2: Product: Intel(R) RealSense(TM) Depth Camera 405 
[24195.690602] usb 2-2.2: Manufacturer: Intel(R) RealSense(TM) Depth Camera 405 
[24195.690603] usb 2-2.2: SerialNumber: 339423070249
[24195.698075] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 405  (8086:0b5b)
[24195.736993] input: Intel(R) RealSense(TM) Depth Ca as /devices/platform/3610000.xhci/usb2/2-2/2-2.2/2-2.2:1.0/input/input18
[24195.836223] usb 2-3.1: new SuperSpeed Gen 1 USB device number 17 using tegra-xusb
[24195.862606] usb 2-3.1: New USB device found, idVendor=8086, idProduct=0b5b, bcdDevice=51.00
[24195.862612] usb 2-3.1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[24195.862614] usb 2-3.1: Product: Intel(R) RealSense(TM) Depth Camera 405 
[24195.862615] usb 2-3.1: Manufacturer: Intel(R) RealSense(TM) Depth Camera 405 
[24195.862616] usb 2-3.1: SerialNumber: 339423070350
[24195.868076] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 405  (8086:0b5b)
[24195.898797] input: Intel(R) RealSense(TM) Depth Ca as /devices/platform/3610000.xhci/usb2/2-3/2-3.1/2-3.1:1.0/input/input19
[24196.296517] uvcvideo: Failed to query (GET_CUR) UVC control 1 on unit 3: -32 (exp. 1024).
[24196.309259] uvcvideo: Failed to query (GET_CUR) UVC control 1 on unit 3: -32 (exp. 1024).
[24196.409165] uvcvideo: Failed to query (GET_CUR) UVC control 1 on unit 3: -32 (exp. 1024).
[24197.131892] uvcvideo: Failed to query (GET_CUR) UVC control 1 on unit 3: -32 (exp. 1024).
[24237.238820] tegra-xusb 3610000.xhci: xHCI host not responding to stop endpoint command.
[24237.247152] tegra-xusb 3610000.xhci: USBSTS: 0x00000000
[24237.252576] tegra-xusb 3610000.xhci: xHCI host controller not responding, assume dead
[24237.260779] tegra-xusb 3610000.xhci: HC died; cleaning up
[24237.329526] irq 238: nobody cared (try booting with the "irqpoll" option)
[24237.336572] CPU: 0 PID: 0 Comm: swapper/0 Tainted: G           OE     5.10.216-tegra #7
[24237.336574] Hardware name: NVIDIA Jetson AGX Orin Developer Kit/Jetson, BIOS 6.0-37391689 08/28/2024
[24237.336575] Call trace:
[24237.336583]  dump_backtrace+0x0/0x1e0
[24237.336586]  show_stack+0x2c/0x40
[24237.336590]  dump_stack+0xf0/0x130
[24237.336592]  __report_bad_irq+0x54/0xe0
[24237.336595]  note_interrupt+0x2f8/0x350
[24237.336597]  handle_irq_event_percpu+0x88/0x90
[24237.336598]  handle_irq_event+0x4c/0xa0
[24237.336600]  handle_fasteoi_irq+0xbc/0x170
[24237.336603]  generic_handle_irq+0x3c/0x60
[24237.336605]  __handle_domain_irq+0x6c/0xc0
[24237.336606]  gic_handle_irq+0x64/0x130
[24237.336607]  el1_irq+0xd0/0x180
[24237.336610]  _raw_spin_unlock_irqrestore+0x34/0x70
[24237.336614]  xhci_stop_endpoint_command_watchdog+0x138/0x2f0
[24237.336616]  call_timer_fn+0x38/0x200
[24237.336618]  run_timer_softirq+0x504/0x5d0
[24237.336619]  __do_softirq+0x138/0x3e0
[24237.336622]  irq_exit+0xc0/0xe0
[24237.336624]  __handle_domain_irq+0x70/0xc0
[24237.336625]  gic_handle_irq+0x64/0x130
[24237.336626]  el1_irq+0xd0/0x180
[24237.336629]  cpuidle_enter_state+0xb4/0x400
[24237.336630]  cpuidle_enter+0x3c/0x50
[24237.336632]  call_cpuidle+0x40/0x70
[24237.336634]  do_idle+0x1fc/0x260
[24237.336635]  cpu_startup_entry+0x2c/0x60
[24237.336636]  rest_init+0xd8/0xe4
[24237.336640]  arch_call_rest_init+0x14/0x1c
[24237.336641]  start_kernel+0x504/0x538
[24237.336642] handlers:
[24237.338999] [<00000000aec0ad08>] usb_hcd_irq
[24237.343430] Disabling IRQ #238
[24237.346621] tegra-xusb 3610000.xhci: hcd_reinit is disabled or in progress

Message from syslogd@galbot-echo at May 28 16:52:56 ...
 kernel:[24237.343430] Disabling IRQ #238
[24237.346948] usb 1-2.3: Not enough bandwidth for altsetting 0
[24237.348429] usb 1-1: USB disconnect, device number 6
[24237.348437] usb 1-1.4: USB disconnect, device number 7
[24237.348600] usb 2-2: USB disconnect, device number 3
[24237.348604] usb 2-2.2: USB disconnect, device number 16
[24237.349988] usb 1-2: USB disconnect, device number 2
[24237.349997] usb 1-2.2: USB disconnect, device number 4
[24237.350617] usb 1-2.3: USB disconnect, device number 5
[24237.443949] usb 2-3: USB disconnect, device number 2
[24237.443958] usb 2-3.1: USB disconnect, device number 17
[24237.552184] usb 1-3: USB disconnect, device number 3
2

What could be the cause? Do you have any troubleshooting ideas?

3

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After the crash, the system only has these two root hubs left.

5

Hi,
Looks like the signal quality is not stable. Do you use AGX Orin developer kit or your custom board. If you use custom board, would suggest do compliance test. If you use developer kit, may try to shift one camera to either type-C port. To use bandwidth of another USB3 roothub.

6

Regarding the custom circuit board used, and the reason why the two RealSense cameras disappeared and reappeared, I asked my colleagues, and they said it was because they manually turned off the RealSense cameras; therefore, the disconnection is normal.

The aforementioned XHCI crash occurred after the cameras had been restored for a while. What could be the reason for this?