D457 MIPI on Jetson AGX Xavier

Jetson AGX Xavier board setup

Please follow the instruction to flash JetPack to the Jetson AGX Xavier with NVIDIA SDK Manager or other methods NVIDIA provides. Make sure the board is ready to use.

Currently Supported JetPack versions are:

5.0.2 (default)
4.6.1

Build kernel, dtb and D457 driver for Leopard E3653 (Dser Maxim MAX96712)

./setup_workspace.sh [JetPack_version]

./apply_patches_leopard.sh apply [JetPack_version]

./build_all_deb.sh --no-dbg-pkg 5.1.1

AGX Orin additionally requires a display drivers to be build, thread with solution

./build_modules.sh 5.1.1

Origin instruction from Intel, Build kernel, dtb and D457 driver for Leopard E3653 (Dser Maxim max9296)

The developers can set up the source code with NVIDIA's Jetson git repositories by using the provided setup script:

# Using setup script, recommended for developers. If JetPack version is not given, default version will be chosen.
./setup_workspace.sh [JetPack_version]

Or download Jetson Linux source code tarball from JetPack 5.0.2 BSP sources, JetPack 4.6.1 BSP sources.

# JetPack 5.0.2
mkdir -p l4t-gcc/5.0.2
cd ./l4t-gcc/5.0.2
wget https://developer.nvidia.com/embedded/jetson-linux/bootlin-toolchain-gcc-93 -O aarch64--glibc--stable-final.tar.gz
tar xf aarch64--glibc--stable-final.tar.gz
cd ../..
wget https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/sources/public_sources.tbz2
tar xjf public_sources.tbz2
cd Linux_for_Tegra/source/public
tar xjf kernel_src.tbz2

# or JetPack 4.6.1
mkdir -p l4t-gcc/4.6.1
cd ./l4t-gcc/4.6.1
wget http://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/aarch64-linux-gnu/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz
tar xf gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz --strip-components 1
cd ../..
wget https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/sources/t186/public_sources.tbz2
tar xjf public_sources.tbz2
cd Linux_for_Tegra/source/public
tar xjf kernel_src.tbz2

Apply D457 patches and build the kernel image, dtb and D457 driver.

# if using setup script
./apply_patches.sh apply [JetPack_version]

# or, if using direct download method
# ./apply_patches_ext.sh ./Linux_for_tegra/source/public [JetPack_version]

# build kernel, dtb and D457 driver
# install dependencies
sudo apt install build-essential bc flex bison
# method 1: build kernel Debian packages
./build_all_deb.sh [--no-dbg-pkg] [JetPack_version] [JetPack_source_dir]
# method 2: build kernel and modules only
./build_all.sh [JetPack_version] [JetPack_source_dir]

# remove our patches from JetPack kernel source code if using setup script
# ./apply_patches.sh reset [JetPack_version]

Debian packages will be generated in images folder.

Install kernel and D457 driver to Jetson AGX Xavier

Install the kernel and modules

1.1 If building with build_all_deb.sh

Copy the Debian package linux-image-5.10.104-d457_5.10.104-d457-1_arm64.deb to the Jetson AGX Xavier board and install with sudo dpkg -i linux-image-5.10.104-d457_5.10.104-d457-1_arm64.deb. The header, libc-dev, dbg and firmware packages are optional.

1.2 If building with build_all.sh

The necessary files are at

kernel image images/<JetPack_version>/arch/arm64/boot/Image
dtb images/<JetPack_version>/arch/arm64/boot/dts/nvidia/tegra194-p2888-0001-p2822-0000.dtb, or images/4.6.1/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb for JetPack 4.6.1.
D457 driver images/<JetPack_version>/drivers/media/i2c/d4xx.ko
UVC Video driver images/<JetPack_version>/drivers/media/usb/uvc/uvcvideo.ko
V4L2 Core Video driver images/<JetPack_version>/drivers/media/v4l2-core/videobuf-core.ko
V4L2 VMalloc Video driver images/<JetPack_version>/drivers/media/v4l2-core/videobuf-vmalloc.ko

And copy them to the right places:

sudo cp Image /boot
sudo cp tegra194-p2888-0001-p2822-0000.dtb /boot/dtb
sudo cp d4xx.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/i2c/
sudo cp uvcvideo.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/usb/uvc/
sudo cp videobuf-core.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/v4l2-core/
sudo cp videobuf-vmalloc.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/v4l2-core/
sudo depmod

Edit /boot/extlinux/extlinux.conf primary boot option's LINUX/FDT lines to use built kernel image and dtb file:

LINUX /boot/Image-5.10.104-d457
FDT /usr/lib/linux-image-5.10.104-d457/tegra194-p2888-0001-p2822-0000.dtb

Make D457 I2C module autoload at boot time: echo "d4xx" | sudo tee /etc/modules-load.d/d4xx.conf

After rebooting Jetson, the D457 driver should work.

NOTE

Each JetPack version's kernel may be different, the user needs to change the kernel version in file names and paths accordingly, for example for JetPack 4.6.1 the version is 4.9.253-d457.
For JetPack 4.6.1, the dtb file is not included in the deb package. User needs to manually copy images/4.6.1/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb file to board and edit extlinux.conf to point to it.
It's recommended to save the original kernel image as backup boot option in /boot/extlinux/extlinux.conf.

Available directives on max9295/max9296 register setting

Dump registers

cat /sys/bus/i2c/drivers/max9295/30-0040/register_dump
cat /sys/bus/i2c/drivers/max9296/30-0048/register_dump

Dump setting version

cat /sys/module/max9295/parameters/max9295_setting_verison
cat /sys/module/max9296/parameters/max9296_setting_verison

Disable updating setting dynamically (updating setting manually by running script). 0 means disable updating setting dynamically, while 1 means enable updating setting dynamically.

echo 0 | sudo tee /sys/module/max9295/parameters/max9295_dynamic_update
echo 0 | sudo tee /sys/module/max9296/parameters/max9296_dynamic_update

Refresh max9295/max9295 register values, this is used for forcely set serdes setting when necessary

echo 1 | sudo tee /sys/bus/i2c/drivers/max9295/30-0040/refresh_setting
echo 1 | sudo tee /sys/bus/i2c/drivers/max9296/30-0048/refresh_setting