Comments (9)
kgugala
commented on August 17, 2024
1
Hi @atoaster,
One of the differences between the devkit and our board is that on our board the cameras I2C lines are connected through an I2C mux:
You need to modify your devicetree to express this. See the patches we provide for Allied Vision cameras. Here https://github.com/antmicro/jetson-nano-baseboard/blob/master/linux-patches/32.4.4.patch#L131 we define the extender and here https://github.com/antmicro/jetson-nano-baseboard/blob/master/linux-patches/32.4.4.patch#L144 we attach the camera driver (as a device one of the child buses of the I2C mux). You need to do similar modification to you DTS and the camera should get detected.
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atoaster
commented on August 17, 2024
Hi @kgugala, thanks for getting back to me!
I don't really know what I'm doing so bear with me...
I'm trying to edit the existing sources/hardware/nvidia/platform/t19x/jakku/kernel-dts/common/tegra194-camera-rbpcv2-imx219.dtsi file, since it has the word camera in it.
Since I'm using the 15pin flex cable from CapableRobots, I shouldn't have to change any pin configurations, right? In other words, I should be able to use the regular device tree .dts configuration, but put them behind an i2c node (the same one from your av patches)?
Here's the existing dtsi (tegra194-camera-rbpcv2-imx219.dtsi):
/ {
host1x {
...
};
cam_i2cmux {
i2c_0:i2c@0 {
imx219_cam0: rbpcv2_imx219_a@10 {
...
};
};
i2c_1: i2c@1 {
imx219_cam1: rbpcv2_imx219_c@10 {
...
};
};
};
I'm going to try this :
/ {
host1x {
...
};
i2c@3180000 {
avt_pca9548: avt_pca9548@70 {
compatible = "nxp,pca9548";
status = "okay";
reg = <0x70>;
#address-cells = <1>;
#size-cells = <0>;
vcc-supply = <&battery_reg>;
force_bus_start = <CAMERA_I2C_MUX_BUS(0)>;
i2c@2 {
reg = <2>;
i2c-mux,deselect-on-exit;
#address-cells = <1>;
#size-cells = <0>;
imx219_cam0: rbpcv2_imx219_a@10 {
...
}
}
}
}
}
I'm assuming I won't have to do anything to the properties of the i2c@2 node (hopefully)
Will report back, hopefully this can help anyone else using this board :)
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atoaster
commented on August 17, 2024
Hi @kgugala,
Is the patch meant for the Tegra Xavier SoC? I can't seem to find the 0x3180000 address in the Tegra X1 Technical Reference Manual.
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kgugala
commented on August 17, 2024
Tegra X1 is not meant to work with this baseboard. The patches are for Jetson Xavier NX (see https://github.com/antmicro/jetson-nano-baseboard#bsp)
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atoaster
commented on August 17, 2024
Woops, I was referencing the wrong document! I'm actually using a Jetson Nano. I said Tegra X1 by mistake.
I've actually gotten the i2cmux working with the following device tree nodes (Apparently the i2c node in the Nano is /host1x/i2c@546c0000)
So now my tree looks like this:
host1x {
i2c@546c0000 {
#address-cells = <0x01>;
#size-cells = <0x00>;
compatible = "nvidia,tegra210-vii2c";
reg = <0x00 0x546c0000 0x00 0x34000>;
iommus = <0x30 0x12>;
interrupts = <0x00 0x11 0x04>;
scl-gpio = <0x5b 0x92 0x00>;
sda-gpio = <0x5b 0x93 0x00>;
status = "okay";
clocks = <0x26 0xd0 0x26 0x51 0x26 0x1c>;
clock-names = "vii2c\0i2cslow\0host1x";
resets = <0x26 0xd0>;
reset-names = "vii2c";
clock-frequency = <0x61a80>;
bus-pullup-supply = <0x47>;
avdd_dsi_csi-supply = <0x3b>;
linux,phandle = <0xad>;
phandle = <0xad>;
tca9548@70 {
compatible = "nxp,pca9548";
status = "okay";
reg = <0x70>;
#address-cells = <1>;
#size-cells = <0>;
vcc-supply = <0x4c>;
force_bus_start = <0x1E>;
i2c@0 {
reg = <0>;
i2c-mux,deselect-on-exit;
rbpcv2_imx219_a@10 {
compatible = "nvidia,imx219";
reg = <0x10>;
devnode = "video0";
physical_w = "3.680";
physical_h = "2.760";
sensor_model = "imx219";
use_sensor_mode_id = "true";
status = "okay";
reset-gpios = <0x5b 0x97 0x00>;
linux,phandle = <0xbe>;
phandle = <0xbe>;
mode0 { ...
};
...
ports {
#address-cells = <0x01>;
#size-cells = <0x00>;
port@0 {
reg = <0x00>;
endpoint {
port-index = <0x00>;
bus-width = <0x02>;
remote-endpoint = <0x78>;
linux,phandle = <0xc7>;
phandle = <0xc7>;
};
};
};
};
};
Which allows for the i2c mux to be detected by i2cdetect:
i2cdetect -l
i2c-35 i2c i2c-6-mux (chan_id 5) I2C adapter
i2c-3 i2c 7000c700.i2c I2C adapter
i2c-33 i2c i2c-6-mux (chan_id 3) I2C adapter
i2c-1 i2c 7000c400.i2c I2C adapter
i2c-31 i2c i2c-6-mux (chan_id 1) I2C adapter
i2c-6 i2c Tegra I2C adapter I2C adapter
i2c-36 i2c i2c-6-mux (chan_id 6) I2C adapter
i2c-4 i2c 7000d000.i2c I2C adapter
i2c-34 i2c i2c-6-mux (chan_id 4) I2C adapter
i2c-2 i2c 7000c500.i2c I2C adapter
i2c-32 i2c i2c-6-mux (chan_id 2) I2C adapter
i2c-0 i2c 7000c000.i2c I2C adapter
i2c-30 i2c i2c-6-mux (chan_id 0) I2C adapter
i2c-37 i2c i2c-6-mux (chan_id 7) I2C adapter
i2c-5 i2c 7000d100.i2c I2C adapter
But during boot I'm still getting
imx219 7-0010: imx219_board_setup: error during i2c read probe (-121)
Do you know which i2c@# number I should be using for the tca9548? I've assumed the 15pin flex cable from capablerobots uses the first one, ie i2c@0, but it clearly isn't working for me.
I noticed the patches use i2c@2 and i2c@3, is that significant only to the Allied Vision cameras?
Thanks again for all your help
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osterwood
commented on August 17, 2024
The FFC on the narrow side of the PCB is J7, which has i2c@2 and i2c@3. The FFC on the long side of the PCB is J6, which has i2c@0 and i2c@1. If you've connected the 15 pin FFC cable to J7, your imx219 node should be under tca9548@70 -> i2c@2
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atoaster
commented on August 17, 2024
@osterwood Thanks for helping me out!
I've now got the camera seemingly being detected, but I'm having a hard time getting it working. It's hitting me with a
[ 1.843288] imx219 32-0010: i2c bus regbase unavailable
[ 1.848560] imx219 32-0010: Could not initialize sensor properties.
[ 1.854869] imx219 32-0010: Failed to initialize imx219
[ 1.860117] imx219 32-0010: tegra camera driver registration failed
I know it's a long shot, but do you have a working tca9548@70/i2c@x/rbpcv2_imx219_a dts node that I can copy? I've tried copying the default imx219 nodes into the i2c@2 tree and they all seem to throw this exact error. I'm guessing it's to do with the properties of the rbpcv2_imx219_a node. I've also tried copying the tegra186-camera-e3322-a00.dtsi imx219 node but it does the same thing.
I feel like the solution is so close!
Relevant node:
i2c@546c0000 {
#address-cells = <0x01>;
#size-cells = <0x00>;
compatible = "nvidia,tegra210-vii2c";
reg = <0x00 0x546c0000 0x00 0x34000>;
iommus = <0x30 0x12>;
interrupts = <0x00 0x11 0x04>;
scl-gpio = <0x5b 0x92 0x00>;
sda-gpio = <0x5b 0x93 0x00>;
status = "okay";
clocks = <0x26 0xd0 0x26 0x51 0x26 0x1c>;
clock-names = "vii2c\0i2cslow\0host1x";
resets = <0x26 0xd0>;
reset-names = "vii2c";
clock-frequency = <0x61a80>;
bus-pullup-supply = <0x47>;
avdd_dsi_csi-supply = <0x3b>;
linux,phandle = <0xad>;
phandle = <0xad>;
tca9548@70 {
compatible = "nxp,pca9548";
status = "okay";
reg = <0x70>;
#address-cells = <1>;
#size-cells = <0>;
vcc-supply = <0x4c>;
force_bus_start = <0x1E>;
i2c@2 {
status = "okay";
reg = <2>;
#address-cells = <0x01>;
#size-cells = <0x00>;
rbpcv2_imx219_a@10 {
compatible = "nvidia,imx219";
reg = <0x10>;
devnode = "video0";
physical_w = "3.680";
physical_h = "2.760";
sensor_model = "imx219";
use_sensor_mode_id = "true";
status = "okay";
reset-gpios = <0x5b 0x97 0x00>;
linux,phandle = <0xcb>;
phandle = <0xcb>;
// ommitted modes
...
ports {
#address-cells = <0x01>;
#size-cells = <0x00>;
port@0 {
reg = <0x00>;
endpoint {
port-index = <0x00>;
bus-width = <0x02>;
remote-endpoint = <0x78>;
linux,phandle = <0x79>;
phandle = <0x79>;
};
};
};
};
};
};
EDIT: Ugh, it throws the same error even when there is no camera attached to J7. Guess I'll go beat my head against a wall for a while
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atoaster
commented on August 17, 2024
Update: I've finally gotten the DTB working! There was an issue where running a sudo apt update && sudo apt upgrade on L4T would replace the DTB, so I had to get it working like follows:
- Flash Nano
- copy signed *.dtb from /boot (whichever is relevant to your board version)
sudo apt update && sudo apt upgrade- copy signed dtb back to /boot
- add FDT /boot/your-custom-device-tree-binary.dtb to the /boot/extlinux/extlinux.conf
But now for some reason nvgstcapture will start but it doesn't display the camera feed, not entirely sure why that is, probably has something to do with the DTS I guess
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atoaster
commented on August 17, 2024
Ok, final comment! Looks like nvgstcapture doesn't play nice with fps less than 30 sometimes. Here's what I use to display the stream from the camera.
gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=3280, height=2464, format=NV12, framerate=(fraction)21/1' ! nvvidconv ! xvimagesink
If anyone wants the DTS I used for making an IMX219 work with this baseboard and a Jetson Nano, here ya go:
https://gist.github.com/atoaster/15a533de112f50cc0ee8299dcef8c859
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