Why is the camera not displaying images? Is there something wrong with vi?

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

Hi，ALL：
Why is the camera not displaying images? Is there something wrong with vi?

Orin NX

root@tegra:/home/robot# more /etc/nv_tegra_release
# R35 (release), REVISION: 6.0, GCID: 37391689, BOARD: t186ref, EABI: aarch64, DATE: Wed Aug 28 09:12:27 UTC 2024

v4l2-ctl -d /dev/gmsl3 --stream-mmap=3

root@tegra:/home/robot# dmesg
[50207.431103] tegra-capture-ivc bc00000.rtcpu:ivc-bus:ivccontrol@3: tegra_ivc_write: error -512
[50207.439927] tegra194-vi5 13e40000.host1x:vi0@15c00000: IVC control submit failed
[50207.448171] tegra-camrtc-capture-vi tegra-capture-vi: vi capture setup failed
[50207.455769] tegra-capture-ivc bc00000.rtcpu:ivc-bus:ivccontrol@3: tegra_ivc_write: error -512
[50207.464621] tegra194-vi5 13e40000.host1x:vi0@15c00000: IVC control submit failed
[50207.472450] tegra194-vi5 13e40000.host1x:vi0@15c00000: csi_stream_release: failed to disable nvcsi tpg on stream 0 virtual channel 0

root@tegra:/home/robot# v4l2-ctl -d /dev/gmsl2 -D
Driver Info:
        Driver name      : tegra-video
        Card type        : vi-output, ar0233 32-001c
        Bus info         : platform:tegra-capture-vi:2
        Driver version   : 5.10.216
        Capabilities     : 0x84200001
                Video Capture
                Streaming
                Extended Pix Format
                Device Capabilities
        Device Caps      : 0x04200001
                Video Capture
                Streaming
                Extended Pix Format
Media Driver Info:
        Driver name      : tegra-camrtc-ca
        Model            : NVIDIA Tegra Video Input Device
        Serial           :
        Bus info         :
        Media version    : 5.10.216
        Hardware revision: 0x00000003 (3)
        Driver version   : 5.10.216
Interface Info:
        ID               : 0x0300005b
        Type             : V4L Video
Entity Info:
        ID               : 0x00000059 (89)
        Name             : vi-output, ar0233 32-001c
        Function         : V4L2 I/O
        Pad 0x0100005a   : 0: Sink
          Link 0x0200005f: from remote pad 0x100000c of entity '13e40000.host1x:nvcsi@15a00000-': Data, Enabled
root@tegra:/home/robot#

root@tegra:/home/robot# cat /sys/kernel/debug/tracing/trace
# tracer: nop
#
# entries-in-buffer/entries-written: 18/18   #P:8
#
#                                _-----=> irqs-off
#                               / _----=> need-resched
#                              | / _---=> hardirq/softirq
#                              || / _--=> preempt-depth
#                              ||| /     delay
#           TASK-PID     CPU#  ||||   TIMESTAMP  FUNCTION
#              | |         |   ||||      |         |
     kworker/2:1-428966  [002] .... 51028.872668: rtcpu_dbg_set_loglevel: tstamp:1595326108048 old:2 new:2
     kworker/2:1-428966  [002] .... 51034.036667: rtcpu_string: tstamp:1595487977935 id:0x04010000 str:"VM0 deactivating."
        v4l2-ctl-626101  [007] .... 51064.458345: tegra_channel_open: vi-output, ar0233 30-001b
        v4l2-ctl-626101  [007] .... 51064.466362: tegra_channel_capture_setup: vnc_id 0 W 1920 H 1380 fmt 10
     kworker/2:1-428966  [002] .... 51064.512667: rtcpu_string: tstamp:1596439517366 id:0x04010000 str:"VM0 activating."
        v4l2-ctl-626101  [007] .... 51065.983187: tegra_channel_close: vi-output, ar0233 30-001b
     kworker/2:1-428966  [002] .... 51072.196674: rtcpu_string: tstamp:1596680896303 id:0x04010000 str:"VM0 deactivating."
        v4l2-ctl-626673  [007] .... 51218.886671: tegra_channel_open: vi-output, ar0233 32-001c
        v4l2-ctl-626673  [007] .... 51218.886811: tegra_channel_close: vi-output, ar0233 32-001c
        v4l2-ctl-626675  [007] .... 51218.888979: tegra_channel_open: vi-output, ar0233 32-001c
        v4l2-ctl-626675  [007] .... 51218.889116: tegra_channel_close: vi-output, ar0233 32-001c
        v4l2-ctl-626677  [007] .... 51218.891791: tegra_channel_open: vi-output, ar0233 32-001c
        v4l2-ctl-626677  [007] .... 51218.907439: tegra_channel_capture_setup: vnc_id 0 W 1920 H 1380 fmt 10
     kworker/2:1-428966  [002] .... 51218.964669: rtcpu_string: tstamp:1601266655263 id:0x04010000 str:"VM0 activating."
        v4l2-ctl-626677  [007] .... 51222.582090: tegra_channel_close: vi-output, ar0233 32-001c
     kworker/2:1-428966  [002] .... 51228.832675: rtcpu_string: tstamp:1601574667292 id:0x04010000 str:"VM0 deactivating."
        v4l2-ctl-626763  [007] .... 51250.561078: tegra_channel_open: vi-output, ar0233 32-001c
        v4l2-ctl-626763  [007] .... 51250.562879: tegra_channel_close: vi-output, ar0233 32-001c
root@tegra:/home/robot#
4

Get the trace log for JP6 by below.

modprobe rtcpu_debug

echo 1 > /sys/kernel/debug/tracing/tracing_on
echo 30720 > /sys/kernel/debug/tracing/buffer_size_kb
echo 1 > /sys/kernel/debug/tracing/events/tegra_rtcpu/enable
echo 1 > /sys/kernel/debug/tracing/events/freertos/enable
echo 3 > /sys/kernel/debug/camrtc/log-level
echo 1 > /sys/kernel/debug/tracing/events/camera_common/enable
echo > /sys/kernel/debug/tracing/trace

cat /sys/kernel/debug/tracing/trace
5

My version is JP5.1.4. I have executed the following command and obtained the log.

sudo su
cd /sys/kernel/debug/dynamic_debug/
echo file csi5_fops.c +p > control

echo 1 > /sys/kernel/debug/bpmp/debug/clk/vi/mrq_rate_locked
echo 1 > /sys/kernel/debug/bpmp/debug/clk/isp/mrq_rate_locked
echo 1 > /sys/kernel/debug/bpmp/debug/clk/nvcsi/mrq_rate_locked
echo 1 > /sys/kernel/debug/bpmp/debug/clk/emc/mrq_rate_locked
cat /sys/kernel/debug/bpmp/debug/clk/vi/max_rate |tee /sys/kernel/debug/bpmp/debug/clk/vi/rate
cat /sys/kernel/debug/bpmp/debug/clk/isp/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/isp/rate
cat /sys/kernel/debug/bpmp/debug/clk/nvcsi/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/nvcsi/rate
cat /sys/kernel/debug/bpmp/debug/clk/emc/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/emc/rate

echo 1 > /sys/kernel/debug/tracing/tracing_on
echo 30720 > /sys/kernel/debug/tracing/buffer_size_kb
echo 1 > /sys/kernel/debug/tracing/events/tegra_rtcpu/enable
echo 1 > /sys/kernel/debug/tracing/events/freertos/enable
echo 2 > /sys/kernel/debug/camrtc/log-level
echo 1 > /sys/kernel/debug/tracing/events/camera_common/enable
echo > /sys/kernel/debug/tracing/trace
cat /sys/kernel/debug/tracing/trace


root@tegra:/home/robot# cat /sys/kernel/debug/tracing/trace
# tracer: nop
#
# entries-in-buffer/entries-written: 18/18   #P:8
#
#                                _-----=> irqs-off
#                               / _----=> need-resched
#                              | / _---=> hardirq/softirq
#                              || / _--=> preempt-depth
#                              ||| /     delay
#           TASK-PID     CPU#  ||||   TIMESTAMP  FUNCTION
#              | |         |   ||||      |         |
     kworker/2:1-428966  [002] .... 51028.872668: rtcpu_dbg_set_loglevel: tstamp:1595326108048 old:2 new:2
     kworker/2:1-428966  [002] .... 51034.036667: rtcpu_string: tstamp:1595487977935 id:0x04010000 str:"VM0 deactivating."
        v4l2-ctl-626101  [007] .... 51064.458345: tegra_channel_open: vi-output, ar0233 30-001b
        v4l2-ctl-626101  [007] .... 51064.466362: tegra_channel_capture_setup: vnc_id 0 W 1920 H 1380 fmt 10
     kworker/2:1-428966  [002] .... 51064.512667: rtcpu_string: tstamp:1596439517366 id:0x04010000 str:"VM0 activating."
        v4l2-ctl-626101  [007] .... 51065.983187: tegra_channel_close: vi-output, ar0233 30-001b
     kworker/2:1-428966  [002] .... 51072.196674: rtcpu_string: tstamp:1596680896303 id:0x04010000 str:"VM0 deactivating."
        v4l2-ctl-626673  [007] .... 51218.886671: tegra_channel_open: vi-output, ar0233 32-001c
        v4l2-ctl-626673  [007] .... 51218.886811: tegra_channel_close: vi-output, ar0233 32-001c
        v4l2-ctl-626675  [007] .... 51218.888979: tegra_channel_open: vi-output, ar0233 32-001c
        v4l2-ctl-626675  [007] .... 51218.889116: tegra_channel_close: vi-output, ar0233 32-001c
        v4l2-ctl-626677  [007] .... 51218.891791: tegra_channel_open: vi-output, ar0233 32-001c
        v4l2-ctl-626677  [007] .... 51218.907439: tegra_channel_capture_setup: vnc_id 0 W 1920 H 1380 fmt 10
     kworker/2:1-428966  [002] .... 51218.964669: rtcpu_string: tstamp:1601266655263 id:0x04010000 str:"VM0 activating."
        v4l2-ctl-626677  [007] .... 51222.582090: tegra_channel_close: vi-output, ar0233 32-001c
     kworker/2:1-428966  [002] .... 51228.832675: rtcpu_string: tstamp:1601574667292 id:0x04010000 str:"VM0 deactivating."
        v4l2-ctl-626763  [007] .... 51250.561078: tegra_channel_open: vi-output, ar0233 32-001c
        v4l2-ctl-626763  [007] .... 51250.562879: tegra_channel_close: vi-output, ar0233 32-001c
root@tegra:/home/robot#
6

Looks like didn’t receive any data from the sensor.
Maybe confirm the pix_clk_hz for deskew.

Skew calibration is required if sensor or deserializer is using DPHY, and the output data rate is > 1.5Gbps.
An initiation deskew signal should be sent by sensor or deserializer to perform the skew calibration. If the deskew signals is not sent, the receiver will stall, and the capture will time out.
You can calculate the output data rate with the following equation:

Output data rate = (sensor or deserializer pixel clock in hertz) * (bits per pixel) / (number of CSI lanes)
8

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