Hello,
I have a problem with connecting two VLS128 and 8 Cameras ( 128 beam lidar from Velodyne ) to Drive AGX Pegasus with dGPUs (E3550) which has Drive 10.0 Software installed
Operating System:
Linux tegra-ubuntu 4.14.102-rt53-tegra #1 SMP PREEMPT RT Fri Sep 20 16:23:45 PDT 2019 aarch64 aarch64 aarch64 GNU/Linux
Aurix Firmware:
SW Version: DRIVE-V5.1.6-E3550-EB-Aurix-With3LSS-ForHyperion-StepA-3.05.04
Complation date: Jun 25 2019, 14:25:36
The detailed explanation of the problem, problem persists both for Tegra A and Tegra B:
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When we have 8 cameras plugged into Fakra-A and Fakra-B connectors of AGX Pegasus. I can visualize the cameras without a problem and I can ping Aurix from VLAN 200 ( 10.42.0.146 )
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When we have 8 cameras plugged into Fakra-A and Fakra-B and one VLS128 Lidar plugged into 1Gb/S Link 1&2 connector via ethernet dongle Channel A supplied from Nvidia ( shown as the connectors for lidar connections on Drive OS 10.0 documentation ), I can visualize the cameras and also the lidar ( 192.168.1.201, Port: 2368 )
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When we have 8 cameras plugged into Fakra-A and Fakra-B and two VLS128 Lidars plugged into 1Gb/S Link 1&2 connector via ethernet dongle Channel A and Channel B supplied from Nvidia ( shown as the connectors for lidar connections on Drive OS 10.0 documentation ), I can’t visualize the cameras but I can visualize the lidars! But there is a huge package loss when we ping lidars and Aurix through 10.42.0.146. We also tried to connecting two lidars to seperate 1Gb/s connectors, Link 1&2 and Link3&4 we also tried to connect lidars to 10Gb/s connectors separately too. The problem persisted.
Here is the error output from the visualizer command:
nvidia@tegra-ubuntu:~/samples$ ./sample_camera_gmsl --tegra-slave=1
[21-09-2019 01:14:18] Platform: Detected DDPX - Tegra B
[21-09-2019 01:14:18] TimeSource: monotonic epoch time offset is 1569027511537396
[21-09-2019 01:14:18] PTP Time is available from NVPPS Driver
[21-09-2019 01:14:18] Platform: number of GPU devices detected 2
[21-09-2019 01:14:18] Platform: currently selected GPU device discrete ID 0
[21-09-2019 01:14:18] SDK: Resource failed to mount from ‘…/./data/’: VirtualFileSystem: Failed to mount ‘…/./data/[.pak]’
[21-09-2019 01:14:18] SDK: Resources mounted from /usr/local/driveworks-2.2/data/
[21-09-2019 01:14:18] SDK: Create NvMediaDevice
[21-09-2019 01:14:18] SDK: use EGL display as provided
[21-09-2019 01:14:18] TimeSource: monotonic epoch time offset is 1569027511537396
[21-09-2019 01:14:18] PTP Time is available from NVPPS Driver
[21-09-2019 01:14:18] Initialize DriveWorks SDK v2.2.3136
[21-09-2019 01:14:18] Release build with GNU 7.3.1 from heads/buildbrain-branch-0-gca7b4b26e65 against Drive PDK v5.1.6.1
[21-09-2019 01:14:18] Initialize DriveWorks VisualizationSDK v2.2.3136
[21-09-2019 01:14:18] Initialize DriveWorksGL SDK v2.2.3136
[21-09-2019 01:14:20] SensorFactory::createSensor() → camera.gmsl, output-format=yuv,fifo-size=3,isp-mode=yuv420-uint8,camera-type=ar0231-rccb-bae-sf3324,camera-group=a,slave=1
[21-09-2019 01:14:20] CameraGMSL: Couldn’t set CameraGMSL setup thread sched params!
[21-09-2019 01:14:20] CameraGMSL: Create NvMediaIPPManager
[21-09-2019 01:14:20] CameraGMSL: required FPS = 30, resolution = 1920x1208
nvmedia isc: GetCameraPowerControlLevel: 936: Camera power control library: NVCCP
receive_from: Timeout Error.
Please check Ethernet ip configuration or
Update Aurix firmware version by the following command
sudo /bin/bash /etc/systemd/scripts/nv_aurix_check_fw.sh -auto_update
nvmedia isc: NvccpCamPowerControl: 544: NVCCP command failed with ret NVCCP_REQ_TIMEOUT
iscRootDevOpen: Failed to request ownership
NvMediaISCRootDeviceCreate: Unable to open root device
nvmedia: ERROR: Init: Failed to create NvMedia ISC root device
[21-09-2019 01:14:25] Driveworks exception thrown: DW_SAL_CANNOT_CREATE_SENSOR: CameraGMSL: cannot connect to camera
terminate called after throwing an instance of ‘std::runtime_error’
what(): [2019-09-21 01:14:25] DW Error DW_SAL_CANNOT_CREATE_SENSOR executing DW function:
dwSAL_createSensor(&m_camera, params, m_sal)
at /dvs/git/dirty/gitlab-master_av/dw/sdk/samples/sensors/camera/camera_gmsl/main.cpp:174
Aborted (core dumped)
nvidia@tegra-ubuntu:~/samples$
Pinging First VLS128:
nvidia@tegra-ubuntu:~/samples$ ping 192.168.1.201
PING 192.168.1.201 (192.168.1.201) 56(84) bytes of data.
64 bytes from 192.168.1.201: icmp_seq=10 ttl=64 time=1.26 ms
64 bytes from 192.168.1.201: icmp_seq=11 ttl=64 time=0.921 ms
64 bytes from 192.168.1.201: icmp_seq=15 ttl=64 time=0.553 ms
^C
— 192.168.1.201 ping statistics —
15 packets transmitted, 3 received, 80% packet loss, time 14256ms
rtt min/avg/max/mdev = 0.553/0.913/1.265/0.290 ms
nvidia@tegra-ubuntu:~/samples$
Pinging Second VLS128:
nvidia@tegra-ubuntu:~/samples$ ping 192.168.1.202
PING 192.168.1.202 (192.168.1.202) 56(84) bytes of data.
64 bytes from 192.168.1.202: icmp_seq=2 ttl=64 time=200 ms
64 bytes from 192.168.1.202: icmp_seq=4 ttl=64 time=0.498 ms
64 bytes from 192.168.1.202: icmp_seq=5 ttl=64 time=157 ms
64 bytes from 192.168.1.202: icmp_seq=7 ttl=64 time=0.460 ms
^C
— 192.168.1.202 ping statistics —
7 packets transmitted, 4 received, 42% packet loss, time 6064ms
rtt min/avg/max/mdev = 0.460/89.921/200.908/90.731 ms
nvidia@tegra-ubuntu:~/samples$
Pinging Aurix:
nvidia@tegra-ubuntu:~/samples$ ping 10.42.0.146
PING 10.42.0.146 (10.42.0.146) 56(84) bytes of data.
64 bytes from 10.42.0.146: icmp_seq=2 ttl=255 time=10.1 ms
64 bytes from 10.42.0.146: icmp_seq=4 ttl=255 time=9.32 ms
64 bytes from 10.42.0.146: icmp_seq=6 ttl=255 time=8.47 ms
64 bytes from 10.42.0.146: icmp_seq=7 ttl=255 time=6.88 ms
64 bytes from 10.42.0.146: icmp_seq=8 ttl=255 time=9.92 ms
^C
— 10.42.0.146 ping statistics —
9 packets transmitted, 5 received, 44% packet loss, time 8046ms
rtt min/avg/max/mdev = 6.883/8.944/10.112/1.178 ms
nvidia@tegra-ubuntu:~/samples$
We can connect two VLP16s without a problem with cameras without a problem in either of the configuration explained above.
Best Regards.