NVidia Jetson Jetpack 6 support?

Otca

@veye_xumm now I have used new fresh jetpack 6.0 (R36.3) on jetson orin NX.
here is dmesg log.
I have detected camera and it has shown itself on i2c, but still I have some issues to get the video stream.

sudo dmesg| grep -i 'mvcam'
[    7.284769] mvcam 9-003b: veye mv series camera driver version: 01.01.04
[    7.786350] veye_mvcam: mvcam_read: Reading register 0x04 failed
[    7.786363] mvcam 9-003b: failed to read chip id
[    7.786367] mvcam 9-003b: mvcam_identify_module failed.
[    7.786928] mvcam 10-003b: veye mv series camera driver version: 01.01.04
[    8.288616] mvcam 10-003b: camera is: MV-MIPI-IMX264M
[    8.289601] mvcam 10-003b: firmware version: 0x1410206
[    8.295434] tegra-camrtc-capture-vi tegra-capture-vi: subdev mvcam 10-003b bound
[  354.885790] mvcam 10-003b: csi2_try format
[  354.885832] mvcam 10-003b: csi2_try format
[  354.885835] mvcam 10-003b: mvcam_csi2_get_fmt_idx_by_code success
[  354.963253] mvcam 10-003b: camera_common_mclk_enable: no device power rail
[  354.963265] mvcam 10-003b: camera_common_s_power: failed to enable mclk
[  373.489937] mvcam 10-003b: camera_common_mclk_disable: no device power rail
[  758.620283] mvcam 10-003b: csi2_try format
[  758.620326] mvcam 10-003b: csi2_try format
[  758.620332] mvcam 10-003b: mvcam_csi2_get_fmt_idx_by_code success
[  758.712221] mvcam 10-003b: camera_common_mclk_enable: no device power rail
[  758.712233] mvcam 10-003b: camera_common_s_power: failed to enable mclk
[  766.783908] mvcam 10-003b: camera_common_mclk_disable: no device power rail

Full DMESG Log:

IMX264.OrinNX.txt

i2cdetect -y -r 10
    0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:                         -- -- -- -- -- -- -- -- 
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
30: -- -- -- -- -- -- -- -- -- -- -- UU -- -- -- -- 
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
70: -- -- -- -- -- -- -- --

VLC:

I closed vlc manually after 3 seconds.

vlc
VLC media player 3.0.16 Vetinari (revision 3.0.13-8-g41878ff4f2)
[0000aaab02f4e590] main libvlc: Running vlc with the default interface. Use 'cvlc' to use vlc without interface.
[0000aaab02fee350] main playlist: playlist is empty
Opening in BLOCKING MODE
ArgusV4L2_Open failed: No such file or directory
Opening in BLOCKING MODE 
[0000ffff44001150] v4l2 demux error: cannot get streaming parameters: Inappropriate ioctl for device
[0000ffff4c000ca0] main input error: Invalid PCR value in ES_OUT_SET_(GROUP_)PCR !
[0000ffff4c000ca0] main input error: Invalid PCR value in ES_OUT_SET_(GROUP_)PCR !
[0000ffff4c000ca0] main input error: Invalid PCR value in ES_OUT_SET_(GROUP_)PCR !
[0000ffff4c000ca0] main input error: Invalid PCR value in ES_OUT_SET_(GROUP_)PCR !
[0000ffff4c000ca0] main input error: Invalid PCR value in ES_OUT_SET_(GROUP_)PCR !
[0000ffff4c000ca0] main input error: Invalid PCR value in ES_OUT_SET_(GROUP_)PCR !
[0000ffff4c000ca0] main input error: Invalid PCR value in ES_OUT_SET_(GROUP_)PCR !
[0000ffff4c000ca0] main input error: Invalid PCR value in ES_OUT_SET_(GROUP_)PCR !
Segmentation fault (core dumped)

DTB :

 cat /boot/extlinux/extlinux.conf
TIMEOUT 30
DEFAULT imx264

MENU TITLE L4T boot options

LABEL primary
      MENU LABEL primary kernel
      LINUX /boot/Image
      INITRD /boot/initrd
      APPEND ${cbootargs} root=PARTUUID=a321b5a8-b267-427e-8e1b-73b06c528581 rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 firmware_class.path=/etc/firmware fbcon=map:0 net.ifnames=0 nospectre_bhb video=efifb:off console=tty0 nv-auto-config 


LABEL imx264
      MENU LABEL primary kernel
      LINUX /boot/Image
      FDT /boot/dtb/kernel_tegra234-p3768-0000+p3767-0000-nv.dtb
      INITRD /boot/initrd
      APPEND ${cbootargs} root=PARTUUID=a321b5a8-b267-427e-8e1b-73b06c528581 rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 firmware_class.path=/etc/firmware fbcon=map:0 net.ifnames=0 nospectre_bhb video=efifb:off console=tty0 nv-auto-config 
      OVERLAYS /boot/dtb/tegra234-p3767-camera-p3768-veye_mvcam-dual.dtbo

ls /sys/firmware/devicetree/base/bus@0/cam_i2cmux/i2c@0/

'#address-cells'   phandle              rbpcv3_mvcam_a@3b  '#size-cells'
 name              rbpcv2_imx219_a@10   reg                 status

ls /sys/bus/i2c/drivers/

at24             dummy               max8973      pca954x             sec_pmic          vc5
axp20x-i2c       fan53555-regulator  mp8859       pf8x00              simple-mfd-i2c
bd9571mwv        fusb301             mvcam        pfuze100-regulator  smbus_alert
bq27xxx-battery  ina3221             nvvrs_pseq   rk808               tpm_i2c_infineon
cros-ec-i2c      max732x             nxp-pca9450  rohm-bd718x7        ucsi_ccg
cs2000-cp        max77620            pca953x      rtc-ds3232          usb3503

Otca

@veye_xumm
would u please give me the complete guide to build drivers needed for IMX264 on Orin NX 16GB?
For Jetpack 6.0 R36.3, I didn't find any clear instruction on the wiki.
Thanks

Otca

Hi,
I have successfully built the drivers for downstream/i2c on the Jetson Orin NX running Jetpack 6 (r36.3). Based on my testing, it appears that the issue is likely related to v4l2 in the upstream code, or possibly the tegra-camera.ko module.

Could you kindly provide me with the source code for v4l2 so I can attempt to build it myself? Alternatively, if possible, please share the pre-built .ko module.

Just to clarify, the board model I'm working with is the Jetson Orin NX, though v4l2 reports it as XAVIER 10-bit. I have also attached the relevant Dmesg log for your reference.

Additionally, I’ve tried both the prebuilt .ko file from your Git repository and my own built version, but both resulted in the same issue. This suggests that the problem isn’t related to the downstream/i2c modules.

Thanks in advance for your support!

Dmesg Logs

Dmesg_01.txt

v4l2-ctl --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
	Type: Video Capture

	[0]: 'GREY' (8-bit Greyscale)
		Size: Discrete 1920x1080
			Interval: Discrete 0.033s (30.000 fps)
	[1]: 'XY10' (XAVIER 10-bit/16-bit Greyscale)
		Size: Discrete 1920x1080
			Interval: Discrete 0.033s (30.000 fps)
	[2]: 'XY12' (XAVIER 12-bit/16-bit Greyscale)
		Size: Discrete 1920x1080
			Interval: Discrete 0.033s (30.000 fps)

veye_xumm

@otca
Based on your suggestion, I believe the driver is fine. Please try the following command to see if it can receive data properly.

export WIDTH=2432
export HEIGHT=2056
export FPS=28
v4l2-ctl --set-ctrl roi_x=0
v4l2-ctl --set-ctrl roi_y=0
v4l2-ctl --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat=GREY
v4l2-ctl --set-ctrl frame_rate=$FPS
v4l2-ctl --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat=GREY --stream-mmap --stream-count=-1 --stream-to=/dev/null

If there are no issues, please refer to the link below and try capturing images using qV4l2 and a Python script. I remember that VLC had some problems with JetPack version 6.

https://wiki.veye.cc/index.php/Mv_series_camera_appnotes_4_jetson#Preview_GREY_format_images_using_opencv

Otca

@veye_xumm Hi,
this is the results:
The following lines and corresponding Dmesg log:

export WIDTH=2432
export HEIGHT=2056
export FPS=28
v4l2-ctl --set-ctrl roi_x=0
v4l2-ctl --set-ctrl roi_y=0
v4l2-ctl --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat=GREY
v4l2-ctl --set-ctrl frame_rate=$FPS

Dmesg log:

[   84.571478] mvcam 10-003b: csi2_try format
[   84.571495] mvcam 10-003b: mvcam_csi2_get_fmt_idx_by_code success

and The last line didnt run successfully:

v4l2-ctl --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat=GREY --stream-mmap --stream-count=-1 --stream-to=/dev/null

####Dmesg of Last Line:
I terminated the above command after 10 seconds.

[  113.809582] mvcam 10-003b: csi2_try format
[  113.809604] mvcam 10-003b: mvcam_csi2_get_fmt_idx_by_code success
[  113.886292] mvcam 10-003b: camera_common_mclk_enable: no device power rail
[  113.886304] mvcam 10-003b: camera_common_s_power: failed to enable mclk
[  116.962475] tegra-camrtc-capture-vi tegra-capture-vi: uncorr_err: request timed out after 2500 ms
[  116.962505] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: attempting to reset the capture channel
[  116.963052] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: successfully reset the capture channel
[  119.522644] tegra-camrtc-capture-vi tegra-capture-vi: uncorr_err: request timed out after 2500 ms
[  119.522668] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: attempting to reset the capture channel
[  119.524143] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: successfully reset the capture channel
[  122.082687] tegra-camrtc-capture-vi tegra-capture-vi: uncorr_err: request timed out after 2500 ms
[  122.082714] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: attempting to reset the capture channel
[  122.084142] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: successfully reset the capture channel
[  124.642482] tegra-camrtc-capture-vi tegra-capture-vi: uncorr_err: request timed out after 2500 ms
[  124.642508] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: attempting to reset the capture channel
[  124.643091] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: successfully reset the capture channel
[  127.202701] tegra-camrtc-capture-vi tegra-capture-vi: uncorr_err: request timed out after 2500 ms
[  127.202723] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: attempting to reset the capture channel
[  127.204101] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: successfully reset the capture channel
[  129.762461] tegra-camrtc-capture-vi tegra-capture-vi: uncorr_err: request timed out after 2500 ms
[  129.762476] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: attempting to reset the capture channel
[  129.762955] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: successfully reset the capture channel
[  132.322481] tegra-camrtc-capture-vi tegra-capture-vi: uncorr_err: request timed out after 2500 ms
[  132.322507] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: attempting to reset the capture channel
[  132.323031] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: successfully reset the capture channel
[  134.850487] tegra-camrtc-capture-vi tegra-capture-vi: uncorr_err: request timed out after 2500 ms
[  134.850507] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: attempting to reset the capture channel
[  134.851082] tegra-camrtc-capture-vi tegra-capture-vi: err_rec: successfully reset the capture channel
[  134.854840] mvcam 10-003b: camera_common_mclk_disable: no device power rail

Full Dmesg log:

Dmesg.txt

veye_xumm

@otca Please check the version of camera.

https://wiki.veye.cc/index.php/Mv_mipi_i2c.sh_user_guide#version

sudo ./mv_mipi_i2c.sh -r -f version -b 10

Otca

@veye_xumm said in NVidia Jetson Jetpack 6 support?:

sudo ./mv_mipi_i2c.sh -r -f version -b 10

sure!

sudo ./mv_mipi_i2c.sh -r -f version -b 10

version is C 01.41 and L 02.06

veye_xumm

@otca
The version is OK. Have you set the camera's operating mode? Please try this command:

sudo ./mv_mipi_i2c.sh -r -f trgmode -b 10

I did encounter images not being received properly due to compromised mipi signal quality caused by third party carrier board, but your board is supposed to be an official nvidia board, right?

Could you please try connecting the camera to another csi port?

Otca

@veye_xumm said in NVidia Jetson Jetpack 6 support?:

sudo ./mv_mipi_i2c.sh -r -f trgmode -b 10

sure I will try other CSI port and my board is Jetson Orin NX DeveloperKit (16GB). It's supported by VEYE and Nvidia.

sudo ./mv_mipi_i2c.sh -r -f trgmode -b 10
r trigger mode is 0

I'll reboot and give you the result for other CSI

Otca

@veye_xumm
I am experiencing an issue with CSI number 1. Specifically, it is not functioning properly on CSI-1, while everything works fine on CSI-0.
I would appreciate it if you could provide insight into why this might be happening. Additionally, I would like to mention that the vlc component is working without any issues, so the problem seems isolated to CSI-1 in my case.

v4l2-ctl --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat=GREY --stream-mmap --stream-count=-1 --stream-to=/dev/null
<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 27.99 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<< 27.99 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<< 27.99 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<< 27.99 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<< 27.99 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<< 27.99 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<< 27.99 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<< 27.99 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<< 27.99 fps                                                                 
<<<<<<<<<<<<<<<<<<<<<<<<<<<< 27.99 fps                                                                 
<<<<<<<<<<<<<<<<<<<<<<<<<<<< 27.99 fps

In the End, I cannot express how truly grateful I am for all the assistance you've provided over the past two weeks. Your patience and dedication throughout the entire process have been remarkable. Thanks to your consistent help, everything is finally working perfectly, and I am incredibly appreciative of your efforts.

Once again, thank you so much for your unwavering support and understanding.

veye_xumm

@otca You are welcome.
I just tested it on my side with the Orin NX 8G version (P3767-0001), and both camera channels are working fine.
This issue is a bit strange.
Do you have any other cameras? Could you check if the cam1 on your board is functioning properly?

Otca

@veye_xumm Sure, I'll Check it.
would mind helping me for getting Max FPS please?

export WIDTH=1920             
export HEIGHT=1080                                                                
export FPS=67                                                                                                                                                                              
v4l2-ctl --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat=GREY --stream-mmap --stream-count=-1 --stream-to=/dev/null
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps

According to Veye Wiki, I can get 67 frames per second.

Would you please tell me what should I do in addition to get the highest FPS?
Thanks

Otca

@otca Solved:

./mv_mipi_i2c.sh -r -f roi -b 9
./mv_mipi_i2c.sh -w -f roi -p1 0 -p2 0 -p3 1920 -p4 1080 -b 9
./mv_mipi_i2c.sh -r -f maxfps -b 9
./mv_mipi_i2c.sh -r -f fps -b 9
./mv_mipi_i2c.sh -w -f fps -p1 67 -b 9

vitob

Ok, I have the same mvcam imx296m with adp-mv1 adapter connected to Orin nx 16GB board from seeed studio.

I used overlay dtbo loading method. The ‘sudo insmod veye_mvcam.ko’ ran w/o error returning.
But I got these errors checking ‘dmesg| grep -i mvcam’:

What could be the reason? I tried both local build .ko and downloaded (latest version) .ko files. Same symptom.

My system is R36.3 Jetpack 6.0.

BTW, where does the tegra_camera.ko come from? I seem do not find place to compile it. Thanks.

vitob

Also, besides the tegra-camera.ko question, I noticed the v4l2-core/*.ko also different between nvidia_jetson_veye_bsp release tar ball and default *.ko in /lib/modules/$(uname -r)/kernel/drivers/media/v4l2-core/. How are these *.ko files are compiled in nvidia_jetson_veye_bsp.tar.gz and where are the source files?

sudo cp nvidia_jetson_veye_bsp/ko/$(uname -r)/upstream/*.ko /lib/modules/$(uname -r)/kernel/drivers/media/v4l2-core/ -f

veye_xumm

@vitob
I think the first thing you need to check is whether this baseboard from seed is compatible with the official nVidia carrier board and whether it uses the same dtb？

veye_xumm

@vitob Pls try to get version:
https://wiki.veye.cc/index.php/Mv_mipi_i2c.sh_user_guide#model

vitob

@veye_xumm

nvidia@ubuntu:/work/git_repo/nvidia_jetson_veye_bsp/mv_tools_jetson/i2c_tools$ ./mv_mipi_i2c.sh -r -f model -b 0
model 0 not recognized
nvidia@ubuntu:/work/git_repo/nvidia_jetson_veye_bsp/mv_tools_jetson/i2c_tools$ ./mv_mipi_i2c.sh -r -f model -b 1
model 0 not recognized
nvidia@ubuntu:/work/git_repo/nvidia_jetson_veye_bsp/mv_tools_jetson/i2c_tools$ ./mv_mipi_i2c_new.sh -r -f model -b 1
NOT SUPPORTED!
nvidia@ubuntu:/work/git_repo/nvidia_jetson_veye_bsp/mv_tools_jetson/i2c_tools$ ./mv_mipi_i2c_new.sh -r -f model -b 0
NOT SUPPORTED!

vitob

@veye_xumm , let me confirm this, although I used sdkmanager to flash the board with nvidia native packages w/o issues.

vitob

@vitob said in NVidia Jetson Jetpack 6 support?:

tegra-camera.ko question, I noticed the v4l2-core/*.ko

In the meantime, can you help explain this question on tegra-camera.ko and v4l2-core/*.ko? Why they needs to be updated and where can I find the source code of them? Once updating them using the veye release .ko, will that affect other cameras (for example, I want to port/develop driver for another sensor myself)? Thanks.