无法生成v4l2子节点

Robotics & Edge Computing Jetson & Embedded Systems Jetson Orin NX
,
1

您好，我这边创建一个相机的驱动程序，但是加载后发现没有生成/dev/video0，probe里面没有执行alg031_subdev_internal_ops，但tegracam_device_register函数等没有报错，加了日志，发现设备树映射的I2C地址和devnode也没有问题，请问我应该如何进一步排查呢？

static int alg031_probe(struct i2c_client *client,
	const struct i2c_device_id *id)
{
	struct device *dev = &client->dev;
	struct device_node *node = dev->of_node;
	struct tegracam_device *tc_dev;
	struct alg031 *priv;
	int err;

    dev_info(dev,"alg031 probing v4l2 sensor at addr 0x%0x\n",client->addr);

	if (!IS_ENABLED(CONFIG_OF) || !node)
		return -EINVAL;

	priv = devm_kzalloc(dev,sizeof(struct alg031), GFP_KERNEL);
	if (!priv){
		dev_err(dev,"unable to allocate memory!\n");
		return -ENOMEM;
	}

	tc_dev = devm_kzalloc(dev,
			sizeof(struct tegracam_device), GFP_KERNEL);
	if (!tc_dev)
		return -ENOMEM;

	priv->i2c_client = tc_dev->client = client;
	tc_dev->dev = dev;
	strncpy(tc_dev->name, "alg031", sizeof(tc_dev->name));
	tc_dev->dev_regmap_config = &sensor_regmap_config;
	tc_dev->sensor_ops = &alg031_common_ops;
	tc_dev->v4l2sd_internal_ops = &alg031_subdev_internal_ops;
	tc_dev->tcctrl_ops = &alg031_ctrl_ops;
3

hello tiancai1234,

may I double confirm the Jetpack release version now you’re working with?
besides, is it your 1st time to bring-up alg031? had you verified it on any previous Jetpack release, or other Jetson platforms?

4

使用36.2版本，alg031之前在35.2.1平台上使用过，现在移植过来

5

我在probe函数里面加了一些打印，发现能够正确识别设备树的devnode值是video0，但是我再进一步打印num_channels和port@0，却发现我设置的num_channels是8，但读取的是2，并且port@0也无法读取，我不知道是我打印的有问题，还是说设备树设置哪里不对，下面是dmesg日志，以及设备树和我加打印的部分源码

 alg031 7-001a: alg031 probing v4l2 sensor at addr 0x1a
[   78.958171] alg031 7-001a: Device node full name: alg031_a@1a
[   78.958173] alg031 7-001a: I2C Bus: 7, I2C Adapter Name: c250000.i2c
[   78.958175] alg031 7-001a: Device tree node devnode: video0
[   78.958443] num-channels: 2
[   78.958445] endpoint node not found in port@0
[   78.958447] alg031 7-001a: Tegracam Device:
[   78.958449] alg031 7-001a:   Client Addr: 0x1a
[   78.958450] alg031 7-001a:   Device Name: alg031
[   78.958451] alg031 7-001a:   Sensor Ops: 0000000000000000
[   78.958453] alg031 7-001a:   V4L2 SD Internal Ops: 0000000000000000
[   78.958454] alg031 7-001a:   TC Control Ops: 0000000000000000
[   78.958455] alg031 7-001a:   V4L2 SD Internal Ops: 000000003729f4e3

// 查找 tegra-capture-vi 节点
    vi_node = of_find_node_by_name(NULL, "tegra-capture-vi");
    if (!vi_node) {
        pr_err("tegra-capture-vi node not found\n");
        return -ENODEV;
    }

    // 读取 num-channels 属性
    if (of_property_read_u32(vi_node, "num-channels", &num_channels)) {
        pr_err("Failed to read num-channels\n");
    } else {
        pr_info("num-channels: %u\n", num_channels);
    }

    // 遍历 tegra-capture-vi 节点的子节点
    for_each_child_of_node(vi_node, child) {
        // 查找 port@0 节点
        if (of_node_name_eq(child, "port@0")) {
            port_node = child;
            break;
        }
    }

    if (!port_node) {
        pr_err("port@0 node not found\n");
    } else {
        // 查找 port@0 下的 endpoint 节点
        struct device_node *endpoint_node = of_get_child_by_name(port_node, "endpoint");
        if (endpoint_node) {
            // 读取 vc-id 属性
            if (of_property_read_u32(endpoint_node, "vc-id", &vc_id)) {
                pr_err("Failed to read vc-id\n");
            } else {
                pr_info("vc-id of port@0: %u\n", vc_id);
            }
        } else {
            pr_err("endpoint node not found in port@0\n");
        }
    }


i2c@c250000 {
                alg031_a@1a {
                        compatible = "nvidia,alg031";

                        reg = <0x1a>;

                        /* V4L2 device node location */
                        devnode = "video0";

                        /* Physical dimensions of sensor */
                        physical_w = "15.0";
                        physical_h = "12.5";

                        sensor_model ="alg031";

                        post_crop_frame_drop = "0";

                        /* Convert Gain to unit of dB (decibel) befor passing to kernel driver */
                        use_decibel_gain = "true";

                        /* enable CID_SENSOR_MODE_ID for sensor modes selection */
                        use_sensor_mode_id = "true";


/ {
        tegra-capture-vi  {
                num-channels = <8>;
                ports {
                        #address-cells = <1>;
                        #size-cells = <0>;
                        port@0 {
                                reg = <0>;
                                alg031_vi_in0: endpoint {
                                        vc-id = <0>;
                                        port-index = <0>;
                                        bus-width = <4>;
                                        remote-endpoint = <&alg031_csi_out0>;
                                };
                        };
6

与正常的日志相比，发现缺少这一行打印

tegra-camrtc-capture-vi tegra-capture-vi: subdev alg031 0-001a bound
7

hello tiancai1234,

we may dig into your device tree settings. please disassembler the dtb file into text file for reference.
for instance, $ dtc -I dtb -O dts -o output.txt tegra234-xxx.dtb

8

output.txt (335.1 KB)
您好，这是反编译设备树的文件

9

hello tiancai1234,

it looks you’ve using two 4-lane CSI ports, (i.e. CSI-A/B and CSI-C/D), each of them running with 4 virtual channels.

is it a customization carrier board?
FYI, p3768 (Orin Nano DevKit carrier board) can work with 4-lane camera only on Cam0 slot,
we’re not support CSI-B in 4-lane config because of CSI clock limitations.

BTW,
there’re something wrong within your nvcsi@15a00000 node, it looks you did not utilize the port bindings correctly. please double check the node definitions.

11

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