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RichardSchrader / vc_mipi_nvidia

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

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

VC MIPI camera

Version 0.12.3 (History)

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

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, OV7281 (cameras with 1 lane support only)
Property IMX296 IMX297 OV7281
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 60.3 104.0
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 7.430 13.305 7.533
physical_h 4.992 8.865 5.635
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 8.446 7.066 4.970 6.679
physical_h 7.066 5.299 3.726 4.195
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, IMX568 (cameras with 2 and 4 lanes support)
Property IMX290/327 IMX335 IMX412 IMX415 IMX568
physical_w 5.617 5.120 6.287 5.602 6.773
physical_h 3.181 3.928 4.712 3.155 5.655
active_w 1920 2560 4032 3840 2472
active_h 1080 1944 3040 2160 2048
pixel_t RG 10 RG 10,12 RG 10 GB 10 RG 8,10,12
max_gain_val 71 72 51 72 48
step_gain_val 0.300 0.300 0.050 0.300 0.100
max_framerate (2L08) - - - - 49.8
max_framerate (2L10) 60.0 15.0 20.0 31.7 41.3
max_framerate (2L12) - 15.0 - - 34.6
max_framerate (4L08) - - - - 96.2
max_framerate (4L10) 60.0 22.3 40.0 59.9 78.8
max_framerate (4L12) - 22.3 - - 66.7

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 mbB [:)] 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              = "7.533";
  physical_h              = "5.635";
  // ----------------------------------------------------

  // 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";
      pixel_t                  = "bayer_gbrg";

      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            = "0";         //       0 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.

  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 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 32.5.0 - 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

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

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