Integrating IMX586 Camera Driver into Jetson Orin Nano Kernel

Issue Overview

Users are experiencing difficulties integrating the IMX586 camera driver into the Jetson Orin Nano kernel. The main issues include:

• Inability to detect the IMX586 camera after adding driver files and device tree sources (DTS)
• Confusion about the correct placement of driver files and DTS for the Orin Nano platform
• Uncertainty regarding the necessary modifications to adapt T19x series drivers to the T23x series platform
• Lack of clear documentation for T23x series device tree implementation

The problem occurs during the setup process, specifically when trying to add custom camera support to the Jetson Orin Nano. Users are unable to successfully enable the IMX586 camera using the nvgstcapture-1.0 command after connecting the camera and powering it on.

Possible Causes

1. Incorrect Device Tree Source (DTS) placement: The user initially placed T19x series DTS files in the wrong directory, which is incompatible with the Orin Nano (T23x series) platform.

2. Incompatible driver files: The IMX586 driver files may not be properly adapted for the T23x series architecture.

3. Improper device tree modifications: The device tree files may not be correctly modified to support the IMX586 camera on the Orin Nano platform.

4. Missing or incorrect port bindings: The CSI/VI port bindings in the device tree may be incorrect or missing, preventing the system from detecting the camera.

5. Incompatible header files: The included header files in the device tree sources may be referencing T19x series components instead of T23x series.

6. Lack of camera tuning: MIPI bayer camera sensors require additional tuning for image quality, which may not have been performed.

Troubleshooting Steps, Solutions & Fixes

1. Correct DTS placement:

   • Move the IMX586 related DTS files to the correct directory: $public_sources/kernel_src/hardware/nvidia/platform/t23x/p3768/kernel-dts/
   • Ensure the main device tree file (e.g., tegra234-p3768-0000-a0.dtsi) includes the new IMX586 DTS files

2. Adapt driver files for T23x series:

   • Review and modify the IMX586 driver files (imx586.c and imx586.h) to ensure compatibility with the T23x series architecture
   • Consult the Jetson Linux Driver Package (L4T) documentation for T23x series-specific requirements

3. Modify device tree sources:

   • Rename DTS files from tegra194-* to tegra234-* to match the Orin Nano platform
   • Update header includes in DTS files:

     #include <dt-bindings/gpio/tegra234-gpio.h>
     #include "dt-bindings/clock/tegra234-clock.h"
     

   • Adapt the device tree structure to match the T23x series requirements

4. Verify and correct port bindings:

   • Ensure correct CSI/VI port bindings in the device tree
   • Use the following commands to verify port bindings (install required packages if not found):

     sudo apt-get install v4l-utils
     sudo apt-get install media-ctl
     v4l2-compliance -d /dev/video0
     sudo media-ctl -p -d /dev/media0
     

5. Review reference device trees:

   • Study the existing camera sensor device trees (e.g., IMX219, IMX477) in the Orin Nano sources
   • Use them as templates to create the IMX586 device tree

6. Implement proper camera tuning:

   • Consult the camera manufacturer or Jetson documentation for IMX586-specific tuning requirements
   • Implement necessary image quality tuning processes

7. Rebuild and flash the kernel:

   • After making all necessary changes, rebuild the kernel:

     cd $TEGRA_KERNEL_OUT
     make -j$(nproc)
     

   • Flash the updated kernel to the Jetson Orin Nano

8. Verify camera detection:

   • Connect the IMX586 camera and power it on
   • Run nvgstcapture-1.0 to check if the camera is detected
   • If issues persist, check kernel logs for any error messages:

     dmesg | grep -i camera
     

9. Consider using supported cameras:

   • If difficulties persist, consider using cameras officially supported by Jetson Camera Partners
   • Refer to the Jetson Partner Supported Cameras list for compatible options

10. Seek additional resources:

    • Review the Sensor Software Driver Programming guide in the Jetson documentation
    • Consult the Debugging Tips section in the developer guide for further troubleshooting

Remember that bringing up a new camera sensor requires expertise in driver development and device tree implementation. If problems persist, consider seeking assistance from NVIDIA developer forums or consulting with the camera manufacturer for Jetson-specific support.