diff --git a/README_JP6.md b/README_JP6.md index bb7429e..6e142e9 100644 --- a/README_JP6.md +++ b/README_JP6.md @@ -93,6 +93,7 @@ Note: dev_dbg() log support will be enabled by default. If not needed, run the ` - kernel image (not modified if `--no-dev-dbg` option is used while building): `images/6.0/rootfs/boot/Image` - dtb: `images/6.0/rootfs/boot/dtb/tegra234-p3737-0000+p3701-0000-nv.dtb` - dtb overlay: `images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay.dtbo` +- dtb dual camera overlay: `images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay-dual.dtbo` - nvidia-oot modules: `images/6.0/rootfs/lib/modules/5.15.136-tegra/updates` - kernel modules: `images/6.0/rootfs/lib/modules/5.15.136-tegra/extra` @@ -119,17 +120,20 @@ Following steps required: 1. Copy entire directory `images/6.0/rootfs/lib/modules/5.15.136-tegra/updates` from host to `/lib/modules/5.15.136-tegra/` on Orin target 2. Copy entire directory `images/6.0/rootfs/lib/modules/5.15.136-tegra/extra` from host to `/lib/modules/5.15.136-tegra/` on Orin target 3. Copy `tegra234-camera-d4xx-overlay.dtbo` from host to `/boot/tegra234-camera-d4xx-overlay.dtbo` on Orin target -4. Copy `tegra234-p3737-0000+p3701-0000-nv.dtb` from host to `/boot/` on Orin -5. Copy `Image` from host to `/boot/` on Orin -6. Run $ `sudo /opt/nvidia/jetson-io/jetson-io.py` +4. For dual camera, copy `tegra234-camera-d4xx-overlay-dual.dtbo` from host to `/boot/tegra234-camera-d4xx-overlay-dual.dtbo` on Orin target +5. Copy `tegra234-p3737-0000+p3701-0000-nv.dtb` from host to `/boot/` on Orin +6. Copy `Image` from host to `/boot/` on Orin +7. Run $ `sudo /opt/nvidia/jetson-io/jetson-io.py` 1. Configure Jetson AGX CSI Connector 2. Configure for compatible hardware - 3. Jetson RealSense Camera D457 + 3. Choose appropriate configuration: + 1. Jetson RealSense Camera D457 + 2. Jetson RealSense Camera D457 dual 4. Enable depmod scan for "extra" modules $ `sudo sed -i 's/search updates/search extra updates/g' /etc/depmod.d/ubuntu.conf` 5. $ `sudo depmod` 6. $ `echo "d4xx" | sudo tee /etc/modules-load.d/d4xx.conf` -7. Verify bootloader configuration +8. Verify bootloader configuration ``` cat /boot/extlinux/extlinux.conf @@ -142,7 +146,7 @@ Following steps required: OVERLAYS /boot/tegra234-camera-d4xx-overlay.dtbo -------- ``` -7. Reboot +9. Reboot ## Deploy build results on Jetson target On build host, copy build results to the right places. @@ -167,9 +171,12 @@ sudo cp -r ~/updates /lib/modules/$(uname -r)/ sudo cp ~/boot/tegra234-camera-d4xx-overlay.dtbo /boot/ sudo cp ./boot/dtb/tegra234-p3737-0000+p3701-0000-nv.dtb /boot/tegra234-p3737-0000+p3701-0000-nv.dtb sudo cp ./boot/Image /boot/Image -# Enable d4xx overlay: +# Enable d4xx overlay for single camera: sudo /opt/nvidia/jetson-io/config-by-hardware.py -n 2="Jetson RealSense Camera D457" +# For dual camera setup: +# sudo /opt/nvidia/jetson-io/config-by-hardware.py -n 3="Jetson RealSense Camera D457 dual" + # Enable d4xx autoload: echo "d4xx" | sudo tee /etc/modules-load.d/d4xx.conf # Enable depmod scan for "extra" modules @@ -211,4 +218,57 @@ nvidia@ubuntu:~$ sudo dmesg | grep d4xx [ 10.044759] d4xx 14-001a: D4XX Sensor: IMU, firmware build: 5.15.1.0 ``` + +### Known issues +- Camera not recognized +Verify I2C MUX detected. If "probe failed" reported, replace extension board adapter (LI-JTX1-SUB-ADPT). +``` +nvidia@ubuntu:~$ sudo dmesg | grep pca954x +[ 3.933113] pca954x 2-0072: probe failed +``` + +- Configuration with jetson-io tool system fail to boot with message "couldn't find root partition" +Verfiy bootloader configuration +`/boot/extlinux/extlinux.conf` +Sometimes configuration tool missing APPEND parameters. Duplicate `primary` section `APPEND` line to `JetsonIO` `APPEND` section, verify it's similar. + +Exaple Bad: +``` +LABEL primary + MENU LABEL primary kernel + LINUX /boot/Image + INITRD /boot/initrd + APPEND ${cbootargs} root=PARTUUID=634b7e44-aacc-4dd9-a769-3a664b83b159 rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 console=ttyAMA0,115200 firmware_class.path=/etc/firmware fbcon=map:0 net.ifnames=0 nospectre_bhb video=efifb:off console=tty0 nv-auto-config + +LABEL JetsonIO + MENU LABEL Custom Header Config: + LINUX /boot/Image + FDT /boot/dtb/kernel_tegra234-p3737-0000+p3701-0000-nv.dtb + INITRD /boot/initrd + APPEND ${cbootargs} + OVERLAYS /boot/tegra234-camera-d4xx-overlay-dual.dtbo +``` +Exaple Good: +``` +LABEL primary + MENU LABEL primary kernel + LINUX /boot/Image + INITRD /boot/initrd + APPEND ${cbootargs} root=PARTUUID=634b7e44-aacc-4dd9-a769-3a664b83b159 rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 console=ttyAMA0,115200 firmware_class.path=/etc/firmware fbcon=map:0 net.ifnames=0 nospectre_bhb video=efifb:off console=tty0 nv-auto-config + +LABEL JetsonIO + MENU LABEL Custom Header Config: + LINUX /boot/Image + FDT /boot/dtb/kernel_tegra234-p3737-0000+p3701-0000-nv.dtb + INITRD /boot/initrd + APPEND ${cbootargs} root=PARTUUID=634b7e44-aacc-4dd9-a769-3a664b83b159 rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 console=ttyAMA0,115200 firmware_class.path=/etc/firmware fbcon=map:0 net.ifnames=0 nospectre_bhb video=efifb:off console=tty0 nv-auto-config + OVERLAYS /boot/tegra234-camera-d4xx-overlay-dual.dtbo +``` +- Configuration tool jetson-io terminates without configuration menu. +verify that `/boot/dtb` has only one dtb file +``` +nvidia@ubuntu:~$ ls /boot/dtb/ +kernel_tegra234-p3737-0000+p3701-0000-nv.dtb +``` + ---