D457 GMSL/FAKRA integration with Nvidia AGX Orin

• MartyG

  • February 10, 2023 20:31

  Hi Pbhamare  The D457 is not a 'plug and play' camera like the other RealSense 400 Series camera models. It requires a special 'reference driver'.  Intel have published this driver for the Jetson AGX Xavier at the link below.

  https://github.com/IntelRealSense/realsense_mipi_platform_driver

   

  In order to use the driver with platforms other than AGX Xavier, customers need to port the driver themselves. Intel unfortunately are unable to assist with this porting process.

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• MartyG

  • February 10, 2023 20:36

  Further information resources about D457, including a link to Connect Tech's D457 product page, can be found here:

  https://github.com/IntelRealSense/librealsense/issues/10984

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• Pbhamare

  • February 10, 2023 22:36

  Thankyou MartyG. I can understand that you won't be able to assist with the porting process. But can you pinpoint me to the list of files that needs these changes? It would be great help.

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• Pbhamare

  • February 10, 2023 23:01

  Also can you let me know are there any plans to publish the D457 special drivers for the jetson AGX Orin any time soon?

  Thanks!

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• MartyG

  • February 11, 2023 16:44

  Advice about a list of files to change is also not available, unfortunately.  Porting the reference driver is a challenging task that is best suited to a team of developers in a large company rather than individual developers.  

  In regard to your question about a Jetson AGX Orin version of the driver, I will refer your question to a member of the Intel RealSense Help Center support team.

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• Pbhamare

  • February 13, 2023 18:24
  • Edited

  Hi MartyG, thankyou! I will await your response regarding the Jetson AGX Orin version of the driver.

  In addition, if I follow the instructions mentioned in here https://docs.nvidia.com/jetson/archives/r35.1/DeveloperGuide/text/SD/CameraDevelopment/SensorSoftwareDriverProgramming.html , which I think is related to configuring the kernel device tree so that the connected hardware (in this case - D457) would be detected by the system (Orin). So my question is - do we still need reference D457 drivers that needs to be ported to Orin in this situation as well?

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• Rizvi, Sahira

  • February 13, 2023 23:02

  Hi Pbhamare 

  Find it here: 

  https://github.com/IntelRealSense/realsense_mipi_platform_driver

  Sincerely,

  Sahira 

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• Pbhamare

  • February 14, 2023 15:52

  Hi Sahira,

  I already followed the instructions mentioned on the provided link. I tried to build kernel, dtb and D457 driver using both methods:

  a. Initially using setup_script and and executing 

  1. ./apply_patches.sh 
  2. ./build_all.sh [JetPack_version] [JetPack_source_dir]

  b. Downloading the Linux source code tarball from JetPack 5.0.2 BSP sources and executing 

  1. ./apply_patches_ext.sh ./Linux_for_tegra/source/public [JetPack_version]
  2. ./build_all.sh [JetPack_version] [JetPack_source_dir]
  

  Though I was able to apply patches successfully, when I tried to build kernel using either of the above-mentioned methods, I am getting following error:

  make[1]: Entering directory '/home/ubuntu/realsense_mipi_platform_driver/images/5.0.2'
    GEN     Makefile
    HOSTCC  scripts/basic/fixdep
    HOSTCC  scripts/kconfig/conf.o
    HOSTCC  scripts/kconfig/confdata.o
    HOSTCC  scripts/kconfig/expr.o
    LEX     scripts/kconfig/lexer.lex.c
    YACC    scripts/kconfig/parser.tab.[ch]
    HOSTCC  scripts/kconfig/lexer.lex.o
    HOSTCC  scripts/kconfig/parser.tab.o
    HOSTCC  scripts/kconfig/preprocess.o
    HOSTCC  scripts/kconfig/symbol.o
    HOSTCC  scripts/kconfig/util.o
    HOSTLD  scripts/kconfig/conf
  /home/ubuntu/realsense_mipi_platform_driver/Linux_for_Tegra/source/public/kernel/kernel-5.10/scripts/gcc-version.sh: 17: /home/ubuntu/realsense_mipi_platform_driver/l4t-gcc/5.0.2/bin/aarch64-buildroot-linux-gnu-gcc: Exec format error
  /home/ubuntu/realsense_mipi_platform_driver/Linux_for_Tegra/source/public/kernel/kernel-5.10/scripts/gcc-version.sh: 18: /home/ubuntu/realsense_mipi_platform_driver/l4t-gcc/5.0.2/bin/aarch64-buildroot-linux-gnu-gcc: Exec format error
  /home/ubuntu/realsense_mipi_platform_driver/Linux_for_Tegra/source/public/kernel/kernel-5.10/scripts/gcc-version.sh: 19: /home/ubuntu/realsense_mipi_platform_driver/l4t-gcc/5.0.2/bin/aarch64-buildroot-linux-gnu-gcc: Exec format error
  sh: 1: /home/ubuntu/realsense_mipi_platform_driver/l4t-gcc/5.0.2/bin/aarch64-buildroot-linux-gnu-ld: Exec format error
  init/Kconfig:39: syntax error
  init/Kconfig:38: invalid statement
  /home/ubuntu/realsense_mipi_platform_driver/Linux_for_Tegra/source/public/kernel/kernel-5.10/scripts/clang-version.sh: 11: /home/ubuntu/realsense_mipi_platform_driver/l4t-gcc/5.0.2/bin/aarch64-buildroot-linux-gnu-gcc: Exec format error
  /home/ubuntu/realsense_mipi_platform_driver/Linux_for_Tegra/source/public/kernel/kernel-5.10/scripts/lld-version.sh: 24: /home/ubuntu/realsense_mipi_platform_driver/l4t-gcc/5.0.2/bin/aarch64-buildroot-linux-gnu-ld: Exec format error
  sh: 1: /home/ubuntu/realsense_mipi_platform_driver/l4t-gcc/5.0.2/bin/aarch64-buildroot-linux-gnu-gcc: Exec format error
  make[2]: *** [/home/ubuntu/realsense_mipi_platform_driver/Linux_for_Tegra/source/public/kernel/kernel-5.10/scripts/kconfig/Makefile:89: tegra_defconfig] Error 1
  make[1]: *** [/home/ubuntu/realsense_mipi_platform_driver/Linux_for_Tegra/source/public/kernel/kernel-5.10/Makefile:633: tegra_defconfig] Error 2
  make[1]: Leaving directory '/home/ubuntu/realsense_mipi_platform_driver/images/5.0.2'
  make: *** [Makefile:213: __sub-make] Error 2

  Is this error occuring because I am trying to install D457 drivers on Jetson AGX Orin? Please note that instructions given on the github are for installing D457 drivers on Jetson AGX Xavier.

  Initially when I talked with MartyG, I was informed that I will need to port the D457 drivers for the Jetson AGX Orin. You can follow the initial thread for further reference to our discussion. 

   

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• Pbhamare

  • February 14, 2023 16:05

  Also can you please look into my previous discussion- https://support.intelrealsense.com/hc/en-us/community/posts/13866515884307/comments/13943784286867 and give your feedback for it as well?

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