Vision Components MIPI CSI-2 driver for NVIDIA Jetson Nano, Xavier NX, AGX Xavier and TX2

Version 0.10.0 (History)

• Supported system on modules
  • NVIDIA Jetson Nano 4GB/2GB (production + devkit)
  • NVIDIA Jetson Xavier NX (production + devkit)
  • NVIDIA Jetson AGX Xavier
  • NVIDIA Jetson TX2
• Supported carrier boards
  • NVIDIA Jetson Nano Developer Kit B01
  • NVIDIA Jetson Nano 2GB Developer Kit
  • NVIDIA Jetson Xavier NX Developer Kit
  • Auvidea JNX30-LC-PD
  • Auvidea J20 on Devkit Jetson AGX Xavier or TX2 (only connector 2+3)
• Supported board support packages
  • NVIDIA L4T 32.3.1 (only NVIDIA Jetson AGX Xavier)
  • NVIDIA L4T 32.5.0
  • NVIDIA L4T 32.5.1
  • NVIDIA L4T 32.5.2
  • NVIDIA L4T 32.6.1
• Supported VC MIPI Camera Modules
  • IMX178, IMX183, IMX226
  • IMX250, IMX252, IMX264, IMX265, IMX273, IMX392
  • IMX290, IMX327
  • IMX296, IMX297
  • IMX335
  • IMX412
  • IMX415
  • IMX568
  • 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 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' can be set via device tree or V4L2 control 'trigger_mode'
  • Flash mode '0: disabled', '1: enabled' can be set via device tree or V4L2 control 'flash_mode'
  • Frame rate can be set via V4L2 control 'frame_rate' (except IMX412 and OV9281)
  • Black level can be set via V4L2 control 'black_level' (except IMX290, IMX327, IMX412, IMX415, OV7251 and OV9281)

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

1. Enter recovery mode by following the Quick Start Guide instructions.

2. Create a directory and clone the repository.

     $ cd <working_dir>
     $ git clone https://github.com/pmliquify/vc_mipi_nvidia
   

3. 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.

Changing camera settings in the device tree

If you want to change some settings of a camera in the device tree, please follow these steps.

1. Edit the device tree file for your hardware setup. Currently there are six device tree files for six different combinations of SoMs and carrier boards.

   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-LC-PD	src/devicetree/Auvidea_JNX30_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-LC-PD	src/devicetree/Auvidea_JNX30_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

   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
   

2. Enter recovery mode by following the Quick Start Guide instructions.

3. Build and flash the device tree files to the target.

     $ ./build.sh --dt
     $ ./flash.sh --dt
   

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. In this case please change following line of code.

system on module	line	in file
NVIDIA Jetson Nano	232	/kernel/nvidia/drivers/media/platform/tegra/camera/vi/vi2_fops.c
NVIDIA Jetson Xavier NX	36	/kernel/nvidia/drivers/media/platform/tegra/camera/vi/vi5_fops.c
NVIDIA Jetson AGX Xavier	36	/kernel/nvidia/drivers/media/platform/tegra/camera/vi/vi5_fops.c
NVIDIA Jetson TX2	1097	/kernel/nvidia/drivers/media/platform/tegra/camera/vi/vi4_fops.c

Tested with VC MIPI Camera Module Revision

• IMX178 (Rev.01), IMX183 (Rev.12), IMX226 (Rev.13),
• IMX250 (Rev.07), IMX252 (Rev.10), IMX264 (Rev.03), IMX265 (Rev.01), IMX273 (Rev.13), IMX392 (Rev.06)
• IMX290 (Rev.02), IMX327 (Rev.02)
• IMX296 (Rev.42), IMX297 (Rev.??)
• IMX335 (Rev.00)
• IMX412 (Rev.02)
• IMX415 (Rev.01)
• IMX568 (Rev.01)
• 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.

1. Apply all 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	32.5.0 - 32.5.2	dt_camera_Nano_32.5.0+ kernel_Nano_32.5.0+
   		32.6.1	dt_camera_Nano_32.6.1+ kernel_Nano_32.5.0+
   	Auvidea JNX30	32.5.0 - 32.5.2	dt_Auvidea_JNX30_Nano_32.5.0+ dt_camera_Nano_32.5.0+ kernel_Nano_32.5.0+
   		32.6.1	dt_Auvidea_JNX30_Nano_32.5.0+ dt_camera_Nano_32.6.1+ kernel_Nano_32.5.0+
   NVIDIA Jetson Xavier NX	NVIDIA DevKit	32.5.0 - 32.5.2	dt_camera_XavierNX_32.5.0+ kernel_Xavier_32.5.0+
   		32.6.1	dt_camera_XavierNX_32.6.1+ kernel_Xavier_32.6.1+
   	Auvidea JNX30	32.5.0 - 32.5.2	dt_Auvidea_JNX30_XavierNX_32.5.0+ dt_camera_XavierNX_32.5.0+ kernel_Xavier_32.5.0+
   		32.6.1	dt_Auvidea_JNX30_XavierNX_32.5.0+ dt_camera_XavierNX_32.6.1+ kernel_Xavier_32.6.1+
   NVIDIA Jetson AGX Xavier	DevKit + J20	32.3.1	dt_camera_AGXXavier_32.3.1+ kernel_Xavier_32.3.1+
   		32.5.0 - 32.5.2	dt_camera_AGXXavier_32.3.1+ kernel_Xavier_32.5.0+
   		32.6.1	dt_camera_AGXXavier_32.3.1+ kernel_Xavier_32.6.1+
   NVIDIA Jetson TX2	DevKit + J20	32.5.0 - 32.5.2	dt_camera_TX2_32.5.0+ kernel_TX_32.5.0+
   		32.6.1	dt_camera_TX2_32.5.0+ kernel_TX_32.6.1+

2. 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
   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
   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

3. Copy all driver files from folder src/driver to /kernel/nvidia/drivers/media/i2c

Testing the camera

To test the camera you can use Vision Components MIPI CSI-2 demo software