Hello,
I am working on bringing up the Orin industrial module on a custom carrier board (L4T 35.1). My camera driver, which works well on the Orin devkit, does not work on the module. Our camera system comprises:
- Sony IMX490 sensor
- TI953 FPDLinkIII serializer
- TI954 FPDLinkIII deserializer
Here’s a devicetree excerpt for one of our camera nodes:
imx490_a@1b {
clock-names = "extperiph1", "pllp_grtba";
clocks = <0x02 0x24>, < 0x02 0x24>;
compatible = "nvidia,imx490";
def-addr = <0x1a>;
devnode = "video0";
mclk = "extperiph1";
physical_h = "12.5";
physical_w = "15.0";
post_crop_frame_drop = "0";
reg = <0x1b>;
sensor_model = "imx490";
use_decibel_gain = "true";
use_sensor_mode_id = "true";
mode0 {
active_h = "1860";
active_w = "2880";
cil_settletime = "0";
control_point_x_0 = "0";
control_point_x_1 = "800";
control_point_x_2 = "1600";
control_point_x_3 = "4400";
control_point_x_4 = "13000";
control_point_x_5 = "40000";
control_point_x_6 = "120000";
control_point_x_7 = "350080";
control_point_x_8 = "1048576";
control_point_y_0 = "0";
control_point_y_1 = "400";
control_point_y_2 = "600";
control_point_y_3 = "950";
control_point_y_4 = "1380";
control_point_y_5 = "1920";
control_point_y_6 = "2545";
control_point_y_7 = "3264";
control_point_y_8 = "4080";
csi_pixel_bit_depth = "12";
default_exp_time = "11000";
default_framerate = "20000000";
default_gain = "1800";
discontinuous_clk = "no";
dpcm_enable = "false";
dynamic_pixel_bit_depth = "20";
embedded_metadata_height = "1";
exposure_factor = "1000000";
framerate_factor = "1000000";
gain_factor = "100";
inherent_gain = "1";
line_length = "3330";
max_exp_time = "30000";
max_framerate = "20000000";
max_gain_val = "1800";
max_hdr_ratio = "64.0";
mclk_khz = "24000";
mclk_multiplier = "14.58";
min_exp_time = "2";
min_framerate = "20000000";
min_gain_val = "1800";
min_hdr_ratio = "64.0";
mode_type = "bayer_wdr_pwl";
num_control_point = "9";
num_lanes = "2";
pix_clk_hz = "133200000";
pixel_phase = "rggb";
readout_orientation = "0";
serdes_pix_clk_hz = "133333333";
step_exp_time = "1";
step_framerate = "1";
step_gain_val = "1";
tegra_sinterface = "serial_a";
vc_id = "0";
};
ports {
#address-cells = <0x01>;
#size-cells = <0x00>;
port@0 {
reg = <0x00>;
imx490_imx490_out0: endpoint {
bus-width = <0x02>;
phandle = <0x2a0>;
port-index = <0x00>;
remote-endpoint = <0x06>;
vc-id = <0x00>;
};
};
};
};
I can generate error with this command (which does not return):
2023-09-14T19:42:49+0000 root@JETSON:~ $ v4l2-ctl -d /dev/video0 --set-fmt-video=width=2880,height=1860,pixelformat=RG12 --stream-count=1 --stream-mmap --stream-to=csi.raw --verbose
VIDIOC_QUERYCAP: ok
VIDIOC_G_FMT: ok
VIDIOC_S_FMT: ok
Format Video Capture:
Width/Height : 2880/1860
Pixel Format : 'RG12' (12-bit Bayer RGRG/GBGB)
Field : None
Bytes per Line : 5760
Size Image : 10713600
Colorspace : sRGB
Transfer Function : Default (maps to sRGB)
YCbCr/HSV Encoding: Default (maps to ITU-R 601)
Quantization : Default (maps to Full Range)
Flags :
VIDIOC_REQBUFS returned 0 (Success)
VIDIOC_QUERYBUF returned 0 (Success)
VIDIOC_QUERYBUF returned 0 (Success)
VIDIOC_QUERYBUF returned 0 (Success)
VIDIOC_QUERYBUF returned 0 (Success)
VIDIOC_QBUF returned 0 (Success)
VIDIOC_QBUF returned 0 (Success)
VIDIOC_QBUF returned 0 (Success)
VIDIOC_QBUF returned 0 (Success)
VIDIOC_STREAMON returned 0 (Success)
cap dqbuf: 0 seq: 0 bytesused: 10713600 ts: 0.000000 (error, ts-monotonic, ts-src-eof)
cap dqbuf: 0 seq: 0 bytesused: 10713600 ts: 0.000000 (error, ts-monotonic, ts-src-eof)
cap dqbuf: 1 seq: 1 bytesused: 10713600 ts: 0.000000 (error, ts-monotonic, ts-src-eof)
cap dqbuf: 2 seq: 2 bytesused: 10713600 ts: 0.000000 (error, ts-monotonic, ts-src-eof)
cap dqbuf: 3 seq: 3 bytesused: 10713600 ts: 0.000000 (error, ts-monotonic, ts-src-eof)
cap dqbuf: 0 seq: 0 bytesused: 10713600 ts: 0.000000 (error, ts-monotonic, ts-src-eof)
cap dqbuf: 0 seq: 0 bytesused: 10713600 ts: 0.000000 (error, ts-monotonic, ts-src-eof)
cap dqbuf: 1 seq: 1 bytesused: 10713600 ts: 0.000000 (error, ts-monotonic, ts-src-eof)
cap dqbuf: 2 seq: 2 bytesused: 10713600 ts: 0.000000 (error, ts-monotonic, ts-src-eof)
cap dqbuf: 3 seq: 3 bytesused: 10713600 ts: 0.000000 (error, ts-monotonic, ts-src-eof)
^C
Here’s trace:
2023-09-14T19:42:41+0000 root@JETSON:~ $ cat /sys/kernel/debug/tracing/trace
# tracer: nop
#
# entries-in-buffer/entries-written: 37/37 #P:12
#
# _-----=> irqs-off
# / _----=> need-resched
# | / _---=> hardirq/softirq
# || / _--=> preempt-depth
# ||| / delay
# TASK-PID CPU# |||| TIMESTAMP FUNCTION
# | | | |||| | |
kworker/4:0-2242 [004] .... 2956.288819: rtcpu_string: tstamp:93076672123 id:0x04010000 str:"VM0 deactivating."
v4l2-ctl-5260 [004] .... 2996.466235: tegra_channel_open: vi-output, imx490 0-001b
v4l2-ctl-5260 [004] .... 2996.477647: tegra_channel_set_power: imx490 0-001b : 0x1
v4l2-ctl-5260 [004] .... 2996.477659: camera_common_s_power: status : 0x1
v4l2-ctl-5260 [004] .... 2996.500226: tegra_channel_set_power: 13e40000.host1x:nvcsi@15a00000- : 0x1
v4l2-ctl-5260 [004] .... 2996.500229: csi_s_power: enable : 0x1
v4l2-ctl-5260 [004] .... 2996.501310: tegra_channel_capture_setup: vnc_id 0 W 2880 H 1860 fmt c4
kworker/4:0-2242 [004] .... 2996.507676: rtcpu_string: tstamp:94335069078 id:0x04010000 str:"VM0 activating."
v4l2-ctl-5260 [005] .... 2996.514776: tegra_channel_set_stream: enable : 0x1
v4l2-ctl-5260 [005] .... 2996.530467: tegra_channel_set_stream: 13e40000.host1x:nvcsi@15a00000- : 0x1
v4l2-ctl-5260 [005] .... 2996.530472: csi_s_stream: enable : 0x1
v4l2-ctl-5260 [005] .... 2996.530775: tegra_channel_set_stream: imx490 0-001b : 0x1
kworker/4:0-2242 [004] .... 2996.563686: rtcpu_vinotify_event: tstamp:94335619795 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:3018730945792 data:0x359d580010000000
kworker/4:0-2242 [004] .... 2996.563688: rtcpu_vinotify_event: tstamp:94335619974 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:3018730951168 data:0x0000000031000001
kworker/4:0-2242 [004] .... 2996.563688: rtcpu_vinotify_event: tstamp:94335620167 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:3018731005824 data:0x359d550010000000
kworker/4:0-2242 [004] .... 2996.563689: rtcpu_vinotify_event: tstamp:94335620333 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:3018731011264 data:0x0000000031000002
vi-output, imx4-5262 [004] .... 2999.221013: tegra_channel_capture_setup: vnc_id 0 W 2880 H 1860 fmt c4
kworker/4:0-2242 [004] .... 2999.251616: rtcpu_vinotify_event: tstamp:94420130957 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:3021437822752 data:0x359d580010000000
kworker/4:0-2242 [004] .... 2999.251617: rtcpu_vinotify_event: tstamp:94420131095 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:3021437828128 data:0x0000000031000001
kworker/4:0-2242 [004] .... 2999.251617: rtcpu_vinotify_event: tstamp:94420131249 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:3021437870368 data:0x359d550010000000
kworker/4:0-2242 [004] .... 2999.251618: rtcpu_vinotify_event: tstamp:94420131381 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:3021437875840 data:0x0000000031000002
vi-output, imx4-5262 [004] .... 3001.765866: tegra_channel_capture_setup: vnc_id 0 W 2880 H 1860 fmt c4
kworker/4:0-2242 [004] .... 3001.827556: rtcpu_vinotify_event: tstamp:94499633855 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:3023982810528 data:0x359d580010000000
kworker/4:0-2242 [004] .... 3001.827557: rtcpu_vinotify_event: tstamp:94499633997 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:3023982815872 data:0x0000000031000001
kworker/4:0-2242 [004] .... 3001.827557: rtcpu_vinotify_event: tstamp:94499634152 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:3023982858144 data:0x359d550010000000
kworker/4:0-2242 [004] .... 3001.827557: rtcpu_vinotify_event: tstamp:94499634284 cch:0 vi:0 tag:VIFALC_TDSTATE channel:0x23 frame:0 vi_tstamp:3023982863584 data:0x0000000031000002
v4l2-ctl-5260 [005] .... 3002.635779: tegra_channel_close: vi-output, imx490 0-001b
vi-output, imx4-5262 [001] .... 3004.294006: tegra_channel_capture_setup: vnc_id 0 W 2880 H 1860 fmt c4
v4l2-ctl-5260 [005] .... 3004.294608: tegra_channel_set_stream: enable : 0x0
v4l2-ctl-5260 [005] .... 3004.294612: tegra_channel_set_stream: imx490 0-001b : 0x0
v4l2-ctl-5260 [005] .... 3004.295216: tegra_channel_set_stream: 13e40000.host1x:nvcsi@15a00000- : 0x0
v4l2-ctl-5260 [005] .... 3004.295221: csi_s_stream: enable : 0x0
v4l2-ctl-5260 [000] .... 3004.307593: tegra_channel_set_power: imx490 0-001b : 0x0
v4l2-ctl-5260 [000] .... 3004.307606: camera_common_s_power: status : 0x0
v4l2-ctl-5260 [000] .... 3004.307850: tegra_channel_set_power: 13e40000.host1x:nvcsi@15a00000- : 0x0
v4l2-ctl-5260 [000] .... 3004.307852: csi_s_power: enable : 0x0
kworker/4:0-2242 [004] .... 3010.343380: rtcpu_string: tstamp:94767163821 id:0x04010000 str:"VM0 deactivating."
Kernel ringbuf:
...
[ 3350.172526] bwmgr API not supported
[ 3352.732676] tegra-camrtc-capture-vi tegra-capture-vi: uncorr_err: request timed out after 2500 ms
[ 3352.733089] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: attempting to reset the capture channel
[ 3352.748698] (NULL device *): vi_capture_control_message: NULL VI channel received
[ 3352.748925] t194-nvcsi 13e40000.host1x:nvcsi@15a00000: csi5_stream_close: Error in closing stream_id=0, csi_port=0
[ 3352.749224] (NULL device *): vi_capture_control_message: NULL VI channel received
[ 3352.749435] t194-nvcsi 13e40000.host1x:nvcsi@15a00000: csi5_stream_open: VI channel not found for stream- 0 vc- 0
[ 3352.749907] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: successfully reset the capture channel
[ 3355.260627] tegra-camrtc-capture-vi tegra-capture-vi: uncorr_err: request timed out after 2500 ms
[ 3355.260931] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: attempting to reset the capture channel
[ 3355.261614] (NULL device *): vi_capture_control_message: NULL VI channel received
[ 3355.261846] t194-nvcsi 13e40000.host1x:nvcsi@15a00000: csi5_stream_close: Error in closing stream_id=0, csi_port=0
[ 3355.262161] (NULL device *): vi_capture_control_message: NULL VI channel received
[ 3355.262387] t194-nvcsi 13e40000.host1x:nvcsi@15a00000: csi5_stream_open: VI channel not found for stream- 0 vc- 0
[ 3355.263077] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: successfully reset the capture channel
media-ctl outputs:
2023-09-14T19:49:14+0000 root@JETSON:~ $ media-ctl -p -d /dev/media0
Media controller API version 5.10.120
Media device information
------------------------
driver tegra-camrtc-ca
model NVIDIA Tegra Video Input Device
serial
bus info
hw revision 0x3
driver version 5.10.120
Device topology
- entity 1: 13e40000.host1x:nvcsi@15a00000- (2 pads, 2 links)
type V4L2 subdev subtype Unknown flags 0
device node name /dev/v4l-subdev0
pad0: Sink
<- "imx490 0-001b":0 [ENABLED]
pad1: Source
-> "vi-output, imx490 0-001b":0 [ENABLED]
- entity 4: 13e40000.host1x:nvcsi@15a00000- (2 pads, 2 links)
type V4L2 subdev subtype Unknown flags 0
device node name /dev/v4l-subdev1
pad0: Sink
<- "imx490 0-001c":0 [ENABLED]
pad1: Source
-> "vi-output, imx490 0-001c":0 [ENABLED]
- entity 7: 13e40000.host1x:nvcsi@15a00000- (2 pads, 2 links)
type V4L2 subdev subtype Unknown flags 0
device node name /dev/v4l-subdev2
pad0: Sink
<- "imx490 1-001b":0 [ENABLED]
pad1: Source
-> "vi-output, imx490 1-001b":0 [ENABLED]
- entity 10: 13e40000.host1x:nvcsi@15a00000- (2 pads, 2 links)
type V4L2 subdev subtype Unknown flags 0
device node name /dev/v4l-subdev3
pad0: Sink
<- "imx490 1-001c":0 [ENABLED]
pad1: Source
-> "vi-output, imx490 1-001c":0 [ENABLED]
- entity 13: 13e40000.host1x:nvcsi@15a00000- (2 pads, 2 links)
type V4L2 subdev subtype Unknown flags 0
device node name /dev/v4l-subdev4
pad0: Sink
<- "imx490 2-001b":0 [ENABLED]
pad1: Source
-> "vi-output, imx490 2-001b":0 [ENABLED]
- entity 16: 13e40000.host1x:nvcsi@15a00000- (2 pads, 2 links)
type V4L2 subdev subtype Unknown flags 0
device node name /dev/v4l-subdev5
pad0: Sink
<- "imx490 2-001c":0 [ENABLED]
pad1: Source
-> "vi-output, imx490 2-001c":0 [ENABLED]
- entity 19: imx490 0-001b (1 pad, 1 link)
type V4L2 subdev subtype Sensor flags 0
device node name /dev/v4l-subdev6
pad0: Source
[fmt:SRGGB12_1X12/2880x1860 field:none colorspace:srgb]
-> "13e40000.host1x:nvcsi@15a00000-":0 [ENABLED]
- entity 21: vi-output, imx490 0-001b (1 pad, 1 link)
type Node subtype V4L flags 0
device node name /dev/video0
pad0: Sink
<- "13e40000.host1x:nvcsi@15a00000-":1 [ENABLED]
- entity 43: imx490 0-001c (1 pad, 1 link)
type V4L2 subdev subtype Sensor flags 0
device node name /dev/v4l-subdev7
pad0: Source
[fmt:SRGGB12_1X12/2880x1860 field:none colorspace:srgb]
-> "13e40000.host1x:nvcsi@15a00000-":0 [ENABLED]
- entity 45: vi-output, imx490 0-001c (1 pad, 1 link)
type Node subtype V4L flags 0
device node name /dev/video1
pad0: Sink
<- "13e40000.host1x:nvcsi@15a00000-":1 [ENABLED]
- entity 55: imx490 1-001b (1 pad, 1 link)
type V4L2 subdev subtype Sensor flags 0
device node name /dev/v4l-subdev8
pad0: Source
[fmt:SRGGB12_1X12/2880x1860 field:none colorspace:srgb]
-> "13e40000.host1x:nvcsi@15a00000-":0 [ENABLED]
- entity 57: vi-output, imx490 1-001b (1 pad, 1 link)
type Node subtype V4L flags 0
device node name /dev/video2
pad0: Sink
<- "13e40000.host1x:nvcsi@15a00000-":1 [ENABLED]
- entity 67: imx490 1-001c (1 pad, 1 link)
type V4L2 subdev subtype Sensor flags 0
device node name /dev/v4l-subdev9
pad0: Source
[fmt:SRGGB12_1X12/2880x1860 field:none colorspace:srgb]
-> "13e40000.host1x:nvcsi@15a00000-":0 [ENABLED]
- entity 69: vi-output, imx490 1-001c (1 pad, 1 link)
type Node subtype V4L flags 0
device node name /dev/video3
pad0: Sink
<- "13e40000.host1x:nvcsi@15a00000-":1 [ENABLED]
- entity 79: imx490 2-001b (1 pad, 1 link)
type V4L2 subdev subtype Sensor flags 0
device node name /dev/v4l-subdev10
pad0: Source
[fmt:SRGGB12_1X12/2880x1860 field:none colorspace:srgb]
-> "13e40000.host1x:nvcsi@15a00000-":0 [ENABLED]
- entity 81: vi-output, imx490 2-001b (1 pad, 1 link)
type Node subtype V4L flags 0
device node name /dev/video4
pad0: Sink
<- "13e40000.host1x:nvcsi@15a00000-":1 [ENABLED]
- entity 91: imx490 2-001c (1 pad, 1 link)
type V4L2 subdev subtype Sensor flags 0
device node name /dev/v4l-subdev11
pad0: Source
[fmt:SRGGB12_1X12/2880x1860 field:none colorspace:srgb]
-> "13e40000.host1x:nvcsi@15a00000-":0 [ENABLED]
- entity 93: vi-output, imx490 2-001c (1 pad, 1 link)
type Node subtype V4L flags 0
device node name /dev/video5
pad0: Sink
<- "13e40000.host1x:nvcsi@15a00000-":1 [ENABLED]