Vision Components MIPI CSI-2 driver for NVIDIA Jetson Nano, Xavier NX, AGX Xavier, TX2, Orin Nano, Orin NX and Orin AGX
Version 0.20.0 (History)
- Supported system on modules
- Supported carrier boards
- Supported board support packages
- Supported VC MIPI Camera Modules
- IMX178, IMX183, IMX226
- IMX250, IMX252, IMX264, IMX265, IMX273, IMX392
- IMX290, IMX327, IMX462
- IMX296, IMX297
- IMX335
- IMX412
- IMX415
- IMX540 (only NVIDIA Jetson Orin Nano Devkit)
- IMX565, IMX566, IMX567, IMX568
- IMX585 (only NVIDIA Jetson Xavier NX, Orin NX and Orin Nano)
- IMX900
- OV7251, OV9281
- Features
- Quickstart script for an easier installation process
- Auto detection of VC MIPI camera modules
- Image Streaming in GREY, Y10, Y12, SRGGB8, SRGGB10, SRGGB12, SGBRG8, SGBRG10, SGBRG12 format
- Exposure can be set via V4L2 control ‘exposure’
- Gain can be set via V4L2 control ‘gain’
- Trigger mode ‘0: disabled’, ‘1: external’, ‘2: pulsewidth’, ‘3: self’, ‘4: single’, ‘5: sync’, ‘6: stream_edge’, ‘7: stream_level’, ‘8: overlap’ can be set via device tree or V4L2 control ‘trigger_mode’
- Software trigger can be executed by V4L2 control ‘single_trigger’
- IO mode ‘0: disabled’, ‘1: flash active high’, ‘2: flash active low’, ‘3: trigger active low’, ‘4: trigger active low and flash active high’, ‘5: trigger and flash active low’ can be set via device tree or V4L2 control ‘flash_mode’
- Frame rate can be set via V4L2 control ‘frame_rate’ (except OV9281)
- Black level can be set via V4L2 control ‘black_level’ (except OV7251 and OV9281)
- ROI cropping can be set via device tree properties active_l, active_t, active_w and active_h or v4l2-ctl.
- Binning mode can be set via V4L2 control ‘binning_mode’ (IMX412, IMX565, IMX566, IMX567, IMX568 only)
Prerequisites for cross-compiling
Host PC
- Recommended OS is Ubuntu 18.04 LTS or Ubuntu 20.04 LTS
- You need git to clone this repository
- All other packages are installed by the scripts contained in this repository
Quickstart
-
Enter recovery mode by following the instructions in one of the guides:
Quick Start Guide L4T 35.3.1 (NVIDIA Jetson Orin Nano, Orin NX, Xavier NX and AGX Xavier)
Quick Start Guide L4T 32.7.3 (NVIDIA Jetson Nano, TX2, Xavier NX and AGX Xavier)
-
Create a directory and clone the repository.
cd <working_dir>
git clone https://github.com/VC-MIPI-modules/vc_mipi_nvidia
-
Start the quickstart installation process and follow the instructions.
cd vc_mipi_nvidia/bin
./quickstart.sh
If you have changed your hardware setup simply execute this script again.
During the setup process of the quickstart.sh script, there will be executed the l4t_create_default_user.sh script from NVIDIA, which will create a default user with the credentials given by the user.
- After setting up the toolchain, the user is prompted to this credentials mask.
- This script has been available since L4T 32.6.1 and will be applied accordingly.
-
(Optional)
Set up the target by executing one of the following commands on the host computer when the target device is already running:
cd vc_mipi_nvidia/bin
./setup.sh --target
This function will configure a connection with the running target. It will backup the users known_hosts file and copy the users public rsa key, so that every time when a ssh connection to the device is opened, the user don’t need to enter the password again. It will also copy the demo.sh and max_speed.sh script into the /home/username/test/ folder on the device.
For more information about the mentioned scripts, please run the appropriate script with the option “–help” in a shell on the running device.
vc@nvidia $./test/demo.sh --help
or
vc@nvidia $ ./test/max_speed.sh --help
When operating with the max_speed.sh script, it should be run as root.
E.g. speeding up the clocks:
vc@nvidia $ sudo ./test/max_speed.sh --max
Changing camera settings in the device tree
Some of the streaming tools need an adjustment of the Embedded Metadata Height to work properly.
While v4l2-ctl won’t work with a wrong metadata size, other streaming apps might be streaming, but will have a lack of timestamp information.
In the device tree include file of the configured board/som combination there is a parameter called VC_MIPI_METADATA_H.
This #define must be set according to your attached sensor. If you have a board with different sensors connected, it might be, that they need different values for the metadata height. In that case, you should alter the values in the parameter embedded_metadata_height directly in the modeX node of the attached sensor.
The Embedded Metadata Height parameter is available for nearly all soms with exception of the Jetson Nano.
You can check your configured Embedded Metadata Height parameter on the running system with e.g.:
cat /proc/device-tree/cam_i2cmux/i2c@0/vc_mipi@1a/mode0/embedded_metadata_height
The bold parts of the path might vary, depending on your configured board/som/sensor combination.
You can find this path in your configured dtsi file in the drivernode0 section of the moduleX node either in the variable proc-device-tree (Jetpack 4/5) or in the variable sysfs-device-tree (Jetpack 6)
GStreamer Support
If you want to use GStreamer with nvarguscamerasrc it is essential to adjust some properties in the device tree. To do that follow the instructions in this section. For each camera there is a mode0 node in the device tree. There is an additional comment in this node to mark the properties that you need to customize. In the tables below you will find the specific values for each camera.
The value of the property pixel_t lists the supported pixel formats. Here you have to choose one out of the following table.
| pixel_t |
value RAW08 |
value RAW10 |
value RAW12 |
| RGGB |
bayer_rggb8 |
bayer_rggb |
bayer_rggb12 |
| GBRG |
bayer_gbrg8 |
bayer_gbrg |
bayer_gbrg12 |
The property max_framerate is given for the number of lanes and the pixel format. For example, 4L10 stands for 4 lanes and the pixel format RAW10. Always set the def_framerate to the same value as max_framerate
GStreamer properties for IMX296, IMX297, OV7251 (cameras with 1 lane support only)
| Property |
IMX296 |
IMX297 |
OV7251 |
| physical_w |
4.968 |
4.968 |
1.920 |
| physical_h |
3.726 |
3.726 |
1.440 |
| active_w |
1440 |
720 |
640 |
| active_h |
1080 |
540 |
480 |
| pixel_t |
RG 10 |
RG 10 |
RG 8,10 |
| max_gain_val |
48 |
48 |
18 |
| step_gain_val |
0.100 |
0.100 |
0.018 |
| max_framerate (1L08) |
- |
- |
104.0 |
| max_framerate (1L10) |
60.3 |
120.8 |
104.0 |
| max_framerate (1L12) |
- |
- |
- |
GStreamer properties for IMX264, IMX265, OV9281 (cameras with 2 lanes support only)
| Property |
IMX264 |
IMX265 |
OV9281 |
| physical_w |
8.390 |
7.065 |
3.840 |
| physical_h |
7.066 |
5.299 |
2.400 |
| active_w |
2432 |
2048 |
1280 |
| active_h |
2048 |
1536 |
800 |
| pixel_t |
RG 8,10,12 |
RG 8,10,12 |
RG 8,10 |
| max_gain_val |
48 |
48 |
12 |
| step_gain_val |
0.100 |
0.100 |
0.050 |
| max_framerate (2L08) |
35.5 |
55.3 |
120.6 |
| max_framerate (2L10) |
35.5 |
55.3 |
120.6 |
| max_framerate (2L12) |
35.5 |
55.3 |
- |
GStreamer properties for IMX178, IMX183, IMX226 (cameras with 2 and 4 lanes support)
| Property |
IMX178 |
IMX183 |
IMX226 |
| physical_w |
7.373 |
13.056 |
7.222 |
| physical_h |
4.915 |
8.755 |
5.550 |
| active_w |
3072 |
5440 |
3904 |
| active_h |
2048 |
3648 |
3000 |
| pixel_t |
RG 8,10,12 |
RG 8,10,12 |
GB 8,10,12 |
| max_gain_val |
48 |
27 |
27 |
| step_gain_val |
0.100 |
0.026 |
0.014 |
| max_framerate (2L08) |
51.3 |
13.4 |
21.8 |
| max_framerate (2L10) |
41.6 |
13.4 |
21.8 |
| max_framerate (2L12) |
35.4 |
11.2 |
18.1 |
| max_framerate (4L08) |
58.2 |
26.8 |
43.6 |
| max_framerate (4L10) |
58.2 |
26.8 |
43.6 |
| max_framerate (4L12) |
51.3 |
22.4 |
36.3 |
GStreamer properties for IMX250, IMX252, IMX273, IMX392 (cameras with 2 and 4 lanes support)
| Property |
IMX250 |
IMX252 |
IMX273 |
IMX392 |
| physical_w |
8.390 |
7.066 |
4.968 |
6.624 |
| physical_h |
7.066 |
5.299 |
3.726 |
4.140 |
| active_w |
2432 |
2048 |
1440 |
1920 |
| active_h |
2048 |
1536 |
1080 |
1200 |
| pixel_t |
RG 8,10,12 |
RG 8,10,12 |
RG 8,10,12 |
RG 8,10,12 |
| max_gain_val |
48 |
48 |
48 |
48 |
| step_gain_val |
0.100 |
0.100 |
0.100 |
0.100 |
| max_framerate (2L08) |
65.7 |
102.0 |
195.6 |
132.4 |
| max_framerate (2L10) |
53.7 |
83.8 |
156.5 |
111.9 |
| max_framerate (2L12) |
45.5 |
69.8 |
136.9 |
95.0 |
| max_framerate (4L08) |
101.3 |
151.4 |
276.0 |
201.7 |
| max_framerate (4L10) |
82.5 |
123.5 |
226.5 |
167.0 |
| max_framerate (4L12) |
69.5 |
105.7 |
165.9 |
134.4 |
GStreamer properties for IMX290, IMX327, IMX335, IMX412, IMX415, IMX462 and IMX585 (cameras with 2 and 4 lanes support)
| Property |
IMX290/327 |
IMX335 |
IMX412 |
IMX415 |
IMX462 |
IMX585 |
| physical_w |
5.568 |
5.184 |
6.250 |
5.568 |
5.568 |
11.136 |
| physical_h |
3.132 |
3.888 |
4.712 |
3.132 |
3.132 |
6.264 |
| active_w |
1920 |
2592 |
4032 |
3840 |
1920 |
3840 |
| active_h |
1080 |
1944 |
3040 |
2160 |
1080 |
2160 |
| pixel_t |
RG 10 |
RG 10,12 |
RG 10 |
GB 10 |
RG 10 |
RG 10,12 |
| max_gain_val |
71 |
72 |
51 |
72 |
71 |
72 |
| step_gain_val |
0.300 |
0.300 |
0.050 |
0.300 |
0.300 |
0.300 |
| max_framerate (2L08) |
- |
- |
- |
- |
- |
- |
| max_framerate (2L10) |
60.0 |
30.0 |
20.0 |
31.7 |
60.0 |
30.0 |
| max_framerate (2L12) |
- |
30.0 |
- |
- |
- |
25.0 |
| max_framerate (4L08) |
- |
- |
- |
- |
- |
- |
| max_framerate (4L10) |
60.0 |
60.0 |
40.0 |
59.9 |
120.0 |
60.0 |
| max_framerate (4L12) |
- |
30.3 |
- |
- |
- |
50.0 |
GStreamer properties for IMX540, IMX565, IMX566, IMX567, IMX568 and IMX900 (cameras with 2 and 4 lanes support)
| Property |
IMX540 |
IMX565 |
IMX566 |
IMX567/568 |
IMX900 |
| physical_w |
14.555 |
11.311 |
7.804 |
6.752 |
4.608 |
| physical_h |
12.604 |
8.220 |
7.804 |
5.655 |
3.456 |
| active_w |
5312 |
4128 |
2848 |
2464 |
2048 |
| active_h |
4600 |
3000 |
2848 |
2064 |
1536 |
| pixel_t |
RG 8,10,12 |
RG 8,10,12 |
RG 8,10,12 |
RG 8,10,12 |
RG 8,10,12 |
| max_gain_val |
48 |
48 |
48 |
48 |
48 |
| step_gain_val |
0.100 |
0.100 |
0.100 |
0.100 |
0.100 |
| max_framerate (2L08) |
14.0 |
21.1 |
33.3 |
49.8 |
88.8 |
| max_framerate (2L10) |
11.3 |
17.0 |
26.9 |
41.3 |
72.5 |
| max_framerate (2L12) |
9.5 |
14.2 |
22.6 |
34.6 |
61.3 |
| max_framerate (4L08) |
22.0 |
40.7 |
68.2 |
96.2 |
121.0 |
| max_framerate (4L10) |
17.6 |
34.3 |
51.6 |
78.8 |
112.3 |
| max_framerate (4L12) |
14.7 |
27.8 |
43.6 |
66.7 |
67.0 |
Example
As an example the device tree for the IMX226 with 4 lanes and pixel format RAW10 is shown on the code snippet. Be aware of that the property values for gain are given in mdB [:)] and the frame rate in mHz. So, you have to multiply the values from the table with 1000.
...
// ----------------------------------------------------
// If you want to use GStreamer with nvarguscamerasrc
// you have to adjust this settings
physical_w = "7.222";
physical_h = "5.550";
// ----------------------------------------------------
// This node is needed by the Tegra framework.
// You don't have to change any settings if just want to use the V4L API.
mode0 {
...
// ----------------------------------------------------
// If you want to use GStreamer with nvarguscamerasrc
// you have to adjust this settings.
active_l = "0";
active_t = "0";
active_w = "3904";
active_h = "3000";
#if LINUX_VERSION < 500
pixel_t = "bayer_gbrg";
#else
mode_type = "bayer";
pixel_phase = "gbrg";
csi_pixel_bit_depth = "10";
#endif
min_gain_val = "0"; // 0.0 dB
max_gain_val = "27000"; // 27.0 dB
step_gain_val = "14"; // 0.014 dB
default_gain = "0"; // 0.0 dB
min_exp_time = "1"; // 1 us
max_exp_time = "1000000"; // 1000000 us
step_exp_time = "1"; // 1 us
default_exp_time = "10000"; // 10000 us
min_framerate = "1000"; // 1 Hz
max_framerate = "43600"; // 43.6 Hz
step_framerate = "100"; // 0.1 Hz
default_framerate = "43600"; // 43.6 Hz
// ----------------------------------------------------
...
Device Tree File
If you want to change some settings of a camera in the device tree, please follow these steps.
-
Edit the device tree file for your hardware setup.
| system on module |
carrier board |
device tree file |
| NVIDIA Jetson Nano |
NVIDIA Jetson Nano Developer Kit |
src/devicetree/NV_DevKit_Nano/tegra210-camera-vc-mipi-cam.dtsi |
| NVIDIA Jetson Nano |
Auvidea JNX30 |
src/devicetree/Auvidea_JNX30_Nano/tegra210-camera-vc-mipi-cam.dtsi |
| NVIDIA Jetson Nano |
Auvidea JNX42 |
src/devicetree/Auvidea_JNX42_Nano/tegra210-camera-vc-mipi-cam.dtsi |
| NVIDIA Jetson Xavier NX |
NVIDIA Jetson Xavier NX Developer Kit |
src/devicetree/NV_DevKit_XavierNX/tegra194-camera-vc-mipi-cam.dtsi |
| NVIDIA Jetson Xavier NX |
Auvidea JNX30 |
src/devicetree/Auvidea_JNX30_XavierNX/tegra194-camera-vc-mipi-cam.dtsi |
| NVIDIA Jetson Xavier NX |
Auvidea JNX42 |
src/devicetree/Auvidea_JNX42_XavierNX/tegra194-camera-vc-mipi-cam.dtsi |
| NVIDIA Jetson AGX Xavier |
Auvidea J20 on DevKit |
src/devicetree/Auvidea_J20_AGXXavier/tegra194-camera-vc-mipi-cam.dtsi |
| NVIDIA Jetson TX2 |
Auvidea J20 on DevKit |
src/devicetree/Auvidea_J20_TX2/tegra186-camera-vc-mipi-cam.dtsi |
| NVIDIA Jetson TX2 NX |
Auvidea JNX30D |
src/devicetree/Auvidea_JNX30D_TX2NX/tegra186-camera-vc-mipi-cam.dtsi |
| NVIDIA Jetson Orin Nano |
NVIDIA Jetson Orin Nano Developer Kit |
src/devicetree/NV_DevKit_OrinNano/tegra234-camera-vc-mipi-cam.dtsi
Jetpack 5 (L4T 35.3.1, L4T 35.4.1, L4T 35.6.0) |
| NVIDIA Jetson Orin Nano |
NVIDIA Jetson Orin Nano Developer Kit |
src/devicetree/NV_DevKit_OrinNano/tegra234-p3767-camera-p3768-vc_mipi-dual.dts
Jetpack 6 (L4T 36.x.y) |
| NVIDIA Jetson Orin Nano |
Auvidea JNX42 |
src/devicetree/Auvidea_JNX42_OrinNano/tegra234-camera-vc-mipi-cam.dtsi
Jetpack 5 (L4T 35.3.1, L4T 35.4.1, L4T 35.6.0) |
| NVIDIA Jetson Orin Nano |
Auvidea JNX42 |
src/devicetree/NV_DevKit_OrinNano/tegra234-p3767-camera-p3768-vc_mipi-dual.dts
Jetpack 6 (L4T 36.x.y) |
| NVIDIA Jetson Orin NX |
NVIDIA Jetson Orin Nano Developer Kit |
src/devicetree/NV_DevKit_OrinNano/tegra234-p3767-camera-p3768-vc_mipi-dual.dts
Jetpack 6 (L4T 36.x.y) |
| NVIDIA Jetson Orin NX |
Auvidea JNX42 |
src/devicetree/Auvidea_JNX42_OrinNX/tegra234-camera-vc-mipi-cam.dtsi
Jetpack 5 (L4T 35.2.1, L4T 35.3.1, L4T 35.4.1, L4T 35.6.0) |
| NVIDIA Jetson Orin NX |
Auvidea JNX42 |
src/devicetree/Auvidea_JNX42_OrinNX/tegra234-p3767-camera-p3768-vc_mipi-dual.dts
Jetpack 6 (L4T 36.x.y) |
| NVIDIA Jetson Orin AGX |
Forecr DSADDON on DevKit |
src/devicetree/Forecr_DSADDON_OrinAGX/tegra234-p3737-camera-vc_mipi-overlay.dts
Jetpack 6 (L4T 36.x.y) |
To edit the correct device tree file you can simply use the setup script. It will open the correct device tree file in the nano editor.
./setup.sh --camera
-
Enter recovery mode by following the instructions in one of the guides:
Quick Start Guide L4T 35.3.1 (NVIDIA Jetson Orin Nano, Orin NX, Xavier NX and AGX Xavier)
Quick Start Guide L4T 32.7.3 (NVIDIA Jetson Nano, TX2, Xavier NX and AGX Xavier)
-
Build and flash the device tree files to the target.
./build.sh --dt
./flash.sh --dt
Regarding to Jetpack5 and higher, please have a look at the section Annotations.
Flashing the device
Using long exposure times or external trigger mode with long waiting times (> 5 seconds)
If you want to use your camera in an application with long exposure times or external trigger and the time between two consecutively triggers is potentially long (> 5 seconds) it is necessary to adjust the timeout of the csi receiver.
Since different Jetson devices are using different video inputs (VI2, VI4 and VI5), the adjustment has to be done at the appropriate location.
| video input |
file |
location |
call |
| VI2 |
vi2_fops.c |
function tegra_channel_ec_init |
chan->timeout = msecs_to_jiffies(5000); |
| VI4 |
vi4_fops.c |
function vi4_channel_start_streaming |
chan->timeout = msecs_to_jiffies(5000); |
| VI5 |
vi5_fops.c |
define |
#define CAPTURE_TIMEOUT_MS 5000 |
The following table lists the Jetson device and the necessary file:
| system on module |
in file |
| NVIDIA Jetson Nano |
/kernel/nvidia/drivers/media/platform/tegra/camera/vi/vi2_fops.c |
| NVIDIA Jetson TX2 |
/kernel/nvidia/drivers/media/platform/tegra/camera/vi/vi4_fops.c |
| NVIDIA Jetson TX2 NX |
/kernel/nvidia/drivers/media/platform/tegra/camera/vi/vi4_fops.c |
| NVIDIA Jetson Xavier NX |
/kernel/nvidia/drivers/media/platform/tegra/camera/vi/vi5_fops.c |
| NVIDIA Jetson AGX Xavier |
/kernel/nvidia/drivers/media/platform/tegra/camera/vi/vi5_fops.c |
| NVIDIA Jetson Orin Nano |
/kernel/nvidia/drivers/media/platform/tegra/camera/vi/vi5_fops.c |
| NVIDIA Jetson Orin NX |
/kernel/nvidia/drivers/media/platform/tegra/camera/vi/vi5_fops.c |
| NVIDIA Jetson Orin AGX |
/kernel/nvidia/drivers/media/platform/tegra/camera/vi/vi5_fops.c |
Be aware that a high timeout value might cause a high wait penalty when stopping the stream from single or external trigger mode.
Tested with VC MIPI Camera Module Revision
- IMX178 (Rev.02), IMX183 (Rev.15), IMX226 (Rev.16),
- IMX250 (Rev.09), IMX252 (Rev.15), IMX264 (Rev.05), IMX265 (Rev.05), IMX273 (Rev.16), IMX392 (Rev.08)
- IMX290 (Rev.02), IMX327 (Rev.02), IMX462 (Rev.01)
- IMX296 (Rev.43), IMX297 (Rev.43)
- IMX335 (Rev.02)
- IMX412 (Rev.05)
- IMX415 (Rev.02)
- IMX540 (Rev.01)
- IMX565 (Rev.03), IMX566 (Rev.03), IMX567 (Rev.03), IMX568 (Rev.04)
- IMX900 (Rev.02)
- OV7251 (Rev.01), OV9281 (Rev.02)
You can find the revision of the camera module in the dmesg log.
dmesg | grep 'i2c'
[...] i2c 6-0010: +--- VC MIPI Camera -----------------------------------+
[...] i2c 6-0010: | MANUF. | Vision Components MID: 0x0427 |
[...] i2c 6-0010: | MODULE | ID: 0x0183 REV: 0012 |
[...] i2c 6-0010: | SENSOR | SONY IMX183 |
...
Integrate the driver in your own BSP
If you have your own BSP, you have to integrate the driver into it. Please follow these steps.
-
Apply all patches in the folder kernel_common_32.3.1+ and the patches listed in the following table that match your hardware setup
| system on module |
carrier board |
BSP |
all patches in folder patch/… |
| NVIDIA Jetson Nano |
NVIDIA DevKit |
32.7.1 - 32.7.3 |
kernel_Nano_32.6.1+ |
|
|
32.7.4 |
kernel_Nano_32.6.1+
kernel_Nano_32.7.4 |
|
|
32.7.5 |
kernel_Nano_32.6.1+
kernel_Nano_32.7.5 |
|
Auvidea JNX30 |
32.7.1 - 32.7.3 |
kernel_Nano_32.6.1+
dt_Auvidea_JNX30_Nano_32.5.0+ |
|
|
32.7.4 |
kernel_Nano_32.6.1+
kernel_Nano_32.7.4
dt_Auvidea_JNX30_Nano_32.5.0+ |
|
|
32.7.5 |
kernel_Nano_32.6.1+
kernel_Nano_32.7.5
dt_Auvidea_JNX30_Nano_32.5.0+ |
|
Auvidea JNX42 |
32.7.1 - 32.7.3 |
kernel_Nano_32.6.1+
dt_Auvidea_JNX30_Nano_32.5.0+ |
|
|
32.7.4 |
kernel_Nano_32.6.1+
kernel_Nano_32.7.4
dt_Auvidea_JNX30_Nano_32.5.0+ |
|
|
32.7.5 |
kernel_Nano_32.6.1+
kernel_Nano_32.7.5
dt_Auvidea_JNX30_Nano_32.5.0+ |
| NVIDIA Jetson Xavier NX |
NVIDIA DevKit |
32.7.1 - 32.7.2 |
kernel_Xavier_32.6.1+ |
|
|
32.7.3 |
kernel_Xavier_32.7.3+ |
|
|
35.1.0 |
kernel_Xavier_35.1.0+ |
|
|
35.2.1 |
kernel_Xavier_35.2.1+ |
|
|
35.3.1 |
kernel_Xavier_35.3.1+ |
|
|
35.4.1 |
kernel_Xavier_35.4.1+ |
|
|
35.6.0 |
kernel_Xavier_35.6.0 |
|
Auvidea JNX30 |
32.7.1 - 32.7.2 |
kernel_Xavier_32.6.1+
dt_Auvidea_JNX30_XavierNX_32.5.0+ |
|
|
32.7.3 |
kernel_Xavier_32.7.3+
dt_Auvidea_JNX30_XavierNX_32.5.0+ |
|
|
35.1.0 |
kernel_Xavier_35.1.0+ |
|
|
35.2.1 |
kernel_Xavier_35.2.1+ |
|
|
35.3.1 |
kernel_Xavier_35.3.1+ |
|
|
35.4.1 |
kernel_Xavier_35.4.1+ |
|
|
35.6.0 |
kernel_Xavier_35.6.0 |
|
Auvidea JNX42 |
32.7.1 - 32.7.2 |
kernel_Xavier_32.6.1+
dt_Auvidea_JNX30_XavierNX_32.5.0+ |
|
|
32.7.3 |
kernel_Xavier_32.7.3+
dt_Auvidea_JNX30_XavierNX_32.5.0+ |
|
|
35.1.0 |
kernel_Xavier_35.1.0+ |
|
|
35.2.1 |
kernel_Xavier_35.2.1+ |
|
|
35.3.1 |
kernel_Xavier_35.3.1+ |
|
|
35.4.1 |
kernel_Xavier_35.4.1+ |
|
|
35.6.0 |
kernel_Xavier_35.6.0 |
| NVIDIA Jetson AGX Xavier |
DevKit + J20 |
32.7.1 - 32.7.2 |
kernel_Xavier_32.6.1+ |
|
|
32.7.3 |
kernel_Xavier_32.7.3+ |
|
|
35.1.0 |
kernel_Xavier_35.1.0+ |
|
|
35.2.1 |
kernel_Xavier_35.2.1+ |
|
|
35.3.1 |
kernel_Xavier_35.3.1+ |
|
|
35.4.1 |
kernel_Xavier_35.4.1+ |
|
|
35.6.0 |
kernel_Xavier_35.6.0 |
| NVIDIA Jetson TX2 |
DevKit + J20 |
32.7.1 - 32.7.2 |
kernel_Xavier_32.6.1+ |
|
|
32.7.3 |
kernel_Xavier_32.7.3+ |
| NVIDIA Jetson TX2 NX |
Auvidea JNX30D |
32.7.1 - 32.7.2 |
kernel_Xavier_32.6.1+ |
|
|
32.7.3 |
kernel_Xavier_32.7.3+ |
| NVIDIA Jetson Orin Nano |
NVIDIA DevKit |
35.3.1 |
kernel_Xavier_35.3.1+ |
|
|
35.4.1 |
kernel_Xavier_35.4.1+ |
|
|
35.6.0 |
kernel_Xavier_35.6.0 |
|
|
36.2.0 |
kernel_Xavier_36.2.0+ * |
|
|
36.4.0 |
kernel_Xavier_36.4.0+ * |
|
|
36.4.3 |
kernel_Xavier_36.4.3 * |
|
|
36.4.4 |
kernel_Xavier_36.4.4 * |
|
|
36.5.0 |
kernel_Xavier_36.5.0 * |
|
Auvidea JNX42 |
35.3.1 |
kernel_Xavier_35.3.1+ |
|
|
35.4.1 |
kernel_Xavier_35.4.1+ |
|
|
35.6.0 |
kernel_Xavier_35.6.0 |
|
|
36.2.0 |
kernel_Xavier_36.2.0+ * |
|
|
36.4.0 |
kernel_Xavier_36.4.0+ * |
|
|
36.4.3 |
kernel_Xavier_36.4.3 * |
|
|
36.4.4 |
kernel_Xavier_36.4.4 * |
|
|
36.5.0 |
kernel_Xavier_36.5.0 * |
| NVIDIA Jetson Orin NX |
NVIDIA DevKit |
35.6.0 |
kernel_Xavier_35.6.0 |
|
|
36.2.0 |
kernel_Xavier_36.2.0+ * |
|
|
36.4.0 |
kernel_Xavier_36.4.0+ * |
|
|
36.4.3 |
kernel_Xavier_36.4.3 * |
|
|
36.4.4 |
kernel_Xavier_36.4.4 * |
|
|
36.5.0 |
kernel_Xavier_36.5.0 * |
|
Auvidea JNX42 |
35.2.1 |
kernel_Xavier_35.2.1+ |
|
|
35.3.1 |
kernel_Xavier_35.3.1+ |
|
|
35.4.1 |
kernel_Xavier_35.4.1+ |
|
|
35.6.0 |
kernel_Xavier_35.6.0 |
|
|
36.2.0 |
kernel_Xavier_36.2.0+ * |
|
|
36.4.0 |
kernel_Xavier_36.4.0+ * |
|
|
36.4.3 |
kernel_Xavier_36.4.3 * |
|
|
36.4.4 |
kernel_Xavier_36.4.4 * |
|
|
36.5.0 |
kernel_Xavier_36.5.0 * |
| NVIDIA Jetson Orin AGX |
DevKit + DSADDON |
36.4.4 |
kernel_Xavier_36.4.4 * |
|
|
36.5.0 |
kernel_Xavier_36.5.0 * |
*) For L4T 36.x.y, the kernel_common_32.3.1+ must be left out.
-
Copy the camera device tree to the folder listed in the following table
| system on module |
carrier board |
copy from src/devicetree/… to folder |
| NVIDIA Jetson Nano |
NVIDIA DevKit |
NV_DevKit_Nano/tegra210-camera-vc-mipi-cam.dtsi
=> /hardware/nvidia/platform/t210/porg/kernel-dts/porg-platforms |
|
Auvidea JNX30 |
Auvidea_JNX30_Nano/tegra210-camera-vc-mipi-cam.dtsi
=> /hardware/nvidia/platform/t210/porg/kernel-dts/porg-platforms |
|
Auvidea JNX42 |
Auvidea_JNX42_Nano/tegra210-camera-vc-mipi-cam.dtsi
=> /hardware/nvidia/platform/t210/porg/kernel-dts/porg-platforms |
| NVIDIA Jetson Xavier NX |
NVIDIA DevKit |
NV_DevKit_XavierNX/tegra194-camera-vc-mipi-cam.dtsi
=> /hardware/nvidia/platform/t19x/jakku/kernel-dts/common |
|
Auvidea JNX30 |
Auvidea_JNX30_XavierNX/tegra194-camera-vc-mipi-cam.dtsi
=> /hardware/nvidia/platform/t19x/jakku/kernel-dts/common |
|
Auvidea JNX42 |
Auvidea_JNX42_XavierNX/tegra194-camera-vc-mipi-cam.dtsi
=> /hardware/nvidia/platform/t19x/jakku/kernel-dts/common |
| NVIDIA Jetson AGX Xavier |
DevKit + J20 |
Auvidea_J20_AGXXavier/tegra194-camera-vc-mipi-cam.dtsi
=> /hardware/nvidia/platform/t19x/common/kernel-dts/t19x-common-modules |
| NVIDIA Jetson TX2 |
DevKit + J20 |
Auvidea_J20_TX2/tegra186-camera-vc-mipi-cam.dtsi
=> /hardware/nvidia/platform/t18x/common/kernel-dts/t18x-common-modules |
| NVIDIA Jetson TX2 NX |
Auvidea JNX30D |
Auvidea_JNX30D_TX2NX/tegra186-camera-vc-mipi-cam.dtsi
=> /hardware/nvidia/platform/t18x/lanai/kernel-dts/common |
| NVIDIA Jetson Orin Nano |
NVIDIA DevKit |
NV_DevKit_OrinNano/tegra234-camera-vc-mipi-cam.dtsi
=> /hardware/nvidia/platform/t23x/p3768/kernel-dts/cvb
(device tree include file used for Jetpack 5) |
|
|
NV_DevKit_OrinNano/tegra234-p3767-camera-p3768-vc_mipi-dual.dts
=> /hardware/nvidia/t23x/nv-public/overlay
(device tree overlay file for Jetpack 6) |
|
Auvidea JNX42 |
Auvidea_JNX42_OrinNano/tegra234-camera-vc-mipi-cam.dtsi
=> /hardware/nvidia/platform/t23x/p3768/kernel-dts/cvb
(device tree include file used for Jetpack 5) |
|
|
Auvidea_JNX42_OrinNano/tegra234-p3767-camera-p3768-vc_mipi-dual.dts
=> /hardware/nvidia/t23x/nv-public/overlay
(device tree overlay file for Jetpack 6) |
| NVIDIA Jetson Orin NX |
Auvidea JNX42 |
Auvidea_JNX42_OrinNX/tegra234-camera-vc-mipi-cam.dtsi
=> /hardware/nvidia/platform/t23x/p3768/kernel-dts/cvb
(device tree include file used for Jetpack 5) |
|
|
Auvidea_JNX42_OrinNX/tegra234-p3767-camera-p3768-vc_mipi-dual.dts
=> /hardware/nvidia/t23x/nv-public/overlay
(device tree overlay file for Jetpack 6) |
| NVIDIA Jetson Orin AGX |
DevKit + DSADDON |
Forecr_DSADDON_OrinAGX/tegra234-p3737-camera-vc_mipi-overlay.dts
=> /hardware/nvidia/t23x/nv-public/overlay
(device tree overlay file for Jetpack 6) |
-
Copy all driver files from folder src/driver to either
/kernel/nvidia/drivers/media/i2c (Jetpack 5) or
/nvidia-oot/drivers/media/i2c/vc_mipi (Jetpack 6)
Testing the camera
For testing the camera, please refer to Test applications
Annotations
When working on the target system, no matter which Jetpack version is installed,
⚠️ you must not perform an upgrade! ⚠️
Otherwise the patched in infrastructure for the mipi driver is exchanged and the driver won’t get loaded during future boots.
An update is allowed, respectively recommended:
sudo apt update
For Jetpack 5 (L4T 35.1.0, 35.2.1, 35.3.1, 35.4.1, 35.6.0):
-
When the system (NVIDIA Jetson Xavier NX or AGX Xavier) has booted successfully, it is necessary to run the script max_speed.sh from the /target folder as superuser. It will read out the maximum frequencies and set them as the current ones. This is a recommendation from nvidia.
sudo ./max_speed.sh --max
For Jetpack 6 (L4T 36.2.0 DP, L4T 36.4.0, L4T 36.4.3, L4T 36.4.4 and L4T 36.5.0):
-
with L4T 36.x.y version, the tegra part is completely separated from the kernel
-
VC Mipi driver is now running as a couple of kernel modules
-
modifications to the camera device tree are realised with device tree overlays
-
nvarguscamerasrc+nvvidconv must be installed separately (gst-nvarguscamera_src.tbz2 and gst-nvvidconv_src.tbz2 are residing in the Linux_for_Tegra/source folder and will be copied automatically into the home directory of the target device)
- the argus_camera sample application (nvidia-l4t-jetson-multimedia-api) can be used alternatively
-
a convenience script setup_nvidia.sh can be called on the running jetson to install some prerequisites (an internet connection must be present)
- this script will install build essentials, nvidia-l4t-jetson-multimedia-api, lib-cuda-dev and v4l-utils
- the nvarguscamerasrc and nvvidconv will be generated
- the NVIDIA samples (including argus_camera) will be built and installed
-
device tree handling
- the file tegra234-p3767-camera-p3768-vc_mipi-dual.dts can be edited with
./setup.sh --camera
- the tegra234-p3767-camera-p3768-vc_mipi-dual.dtbo file will be generated with
./build.sh --dt | this step is automatically done by ./build.sh --all
- the dtbo will be generated into the kernel/dtb directory on the host pc
- when flashing the first time with
sudo ./flash.sh --all, the overlay file will be flashed into uefi
- to modify the camera-settings via tegra234-p3767-camera-p3768-vc_mipi-dual.dtbo file, the /boot/extlinux/extlinux.conf entry must be modified/duplicated and the
OVERLAYS /boot/tegra234-p3767-camera-p3768-vc_mipi-dual.dtbo
entry must be added. This will override the initial uefi dtbo and modifications can take effect
- the dtbo file must be copied into the specified location before the restart
LABEL secondary
MENU LABEL secondary kernel
LINUX /boot/Image
FDT /boot/dtb/kernel_tegra234-p3768-0000+p3767-0005-nv.dtb
INITRD /boot/initrd
APPEND ...
OVERLAYS /boot/tegra234-p3767-camera-p3768-vc_mipi-dual.dtbo
- this version has been tested with two identical IMX565, IMX567/8, IMX296, IMX226, IMX415 sensors
- there might be problems when using only a single sensor
For NVIDIA Jetson TX2 NX
- Currently the following camera modules do not work with the TX2 NX
- IMX178, IMX183
- IMX250, IMX252, IMX264, IMX265, IMX273, IMX392
Troubleshooting
Regarding to flashing issues, please have a look at Flashing the device
Docker support
For older setups there is also docker environment available Docker support
Support info
In case of errors or problems related to the sensor setup, there is the script collect_support_info.sh in the target folder, which can be copied to the Jetson, either manually or automatically by calling:
./setup.sh --target
On the Jetson you can call:
sudo ./collect_support_info.sh
This script will run different commands and create several trace files, which will be compressed into a tarball file.
The tar.gz file can be attached to the support ticket.
ISP Tuning files
We also have a variety of ISP tuning files for color sensors. Please contact the Vision Components team [email protected]
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