Jp6 - dual camera configuration

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
     ----<CUT>----
     ```
-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: <CSI Jetson RealSense Camera D457 dual>
+        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: <CSI Jetson RealSense Camera D457 dual>
+        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
+```
+
 ---

apply_patches.sh

@@ -66,7 +66,7 @@ if [ $1 = 'apply' ]; then
     cp $DEVDIR/kernel/realsense/d4xx.c $DEVDIR/sources_$JETPACK_VERSION/${D4XX_SRC_DST}/drivers/media/i2c/
     if [[ "$JETPACK_VERSION" == "6.0" ]]; then
         # jp6 overlay
-        cp $DEVDIR/hardware/realsense/tegra234-camera-d4xx-overlay.dts $DEVDIR/sources_$JETPACK_VERSION/hardware/nvidia/t23x/nv-public/overlay/
+        cp $DEVDIR/hardware/realsense/tegra234-camera-d4xx-overlay*.dts $DEVDIR/sources_$JETPACK_VERSION/hardware/nvidia/t23x/nv-public/overlay/
     else
         cp $DEVDIR/hardware/realsense/$JP5_D4XX_DTSI $DEVDIR/sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts/common/tegra194-camera-d4xx.dtsi
     fi

build_all.sh

@@ -73,7 +73,7 @@ if [[ "$JETPACK_VERSION" == "6.0" ]]; then
     make ARCH=arm64 dtbs
     mkdir -p $TEGRA_KERNEL_OUT/rootfs/boot/dtb
     cp $SRCS/nvidia-oot/device-tree/platform/generic-dts/dtbs/tegra234-p3737-0000+p3701-0000-nv.dtb $TEGRA_KERNEL_OUT/rootfs/boot/dtb/
-    cp $SRCS/nvidia-oot/device-tree/platform/generic-dts/dtbs/tegra234-camera-d4xx-overlay.dtbo $TEGRA_KERNEL_OUT/rootfs/boot/
+    cp $SRCS/nvidia-oot/device-tree/platform/generic-dts/dtbs/tegra234-camera-d4xx-overlay*.dtbo $TEGRA_KERNEL_OUT/rootfs/boot/
     export INSTALL_MOD_PATH=$TEGRA_KERNEL_OUT/rootfs/
     make ARCH=arm64 install -C kernel
     make ARCH=arm64 modules_install

hardware/nvidia/t23x/nv-public/6.0/0001-overlay-enable-d4xx-camera-for-Orin-jp6.patch

@@ -5,18 +5,19 @@ Subject: [PATCH] overlay: enable d4xx camera for Orin jp6
 
 Signed-off-by: Dmitry Perchanov <[email protected]>
 ---
- overlay/Makefile | 1 +
- 1 file changed, 1 insertion(+)
+ overlay/Makefile | 2 ++
+ 1 file changed, 2 insertion(+)
 
 diff --git a/overlay/Makefile b/overlay/Makefile
 index c88bbe2..3f6354e 100644
 --- a/overlay/Makefile
 +++ b/overlay/Makefile
-@@ -60,6 +60,7 @@ dtbo-y += tegra234-p3767-camera-p3768-imx219-A.dtbo
+@@ -60,6 +60,8 @@ dtbo-y += tegra234-p3767-camera-p3768-imx219-A.dtbo
  dtbo-y += tegra234-p3767-camera-p3768-imx219-imx477.dtbo
  dtbo-y += tegra234-p3767-camera-p3768-imx477-C.dtbo
  dtbo-y += tegra234-p3767-camera-p3768-imx477-A.dtbo
 +dtbo-y += tegra234-camera-d4xx-overlay.dtbo
++dtbo-y += tegra234-camera-d4xx-overlay-dual.dtbo
 
  ifneq ($(dtb-y),)
  dtb-y := $(addprefix $(makefile-path)/,$(dtb-y))