Initial instructions. IMX708 camera driver setup

The following instructions are based on the following RidgeRun's Developer Wiki: Raspberry Pi Camera Module 3 IMX708 Linux driver for Jetson

Download JetPack

The current version of the driver is supported on Jetpack 5.1.1 on Orin NX. Porting the driver to other versions and platforms is possible.

1. Download and install the NVIDIA SDK Manager (membership is required).

2. Put your NVIDIA membership credentials in the SDK Manager main window:

Figure 2. Required SDK Manager credentials.

3. Select JetPack version and Jetson Orin NX as shown below and press Continue:

Figure 3. Required SDK Manager options.

4. Accept the terms and conditions and press Continue. The SDK Manager will download and install the selected components:

Figure 4. SDK Manager download and install software.

5. Be careful with the platform you will be flashing, the image shown is for Jetson Xavier, in your case Jetson Orin NX must be shown. Select Manual Setup. Make sure the board is in Recovery Mode and then press Flash:

Figure 5. Manual setup to start the flashing process.

Recovery Mode for Jetson Orin NX

To set the Jetson Orin Nano developer kit in Recovery Mode the following steps are required:

Ensure the device is powered off and the power adapter is disconnected.
Place a jumper across the Force Recovery Mode pins (9 and 10) on the button header [J14]. Please, see Figure 6 below.
Connect your host computer to the developer kit's USB Micro-B connector.
Connect the power supply to the power jack [J16]. The developer kit automatically powers on in Force Recovery Mode.
Remove the jumper from the Force Recovery Mode pins.
Use the lsusb command to check if the NVidia corp message is shown.

Figure 6. Jumper between pins 9 and 10 to get the board on Recovery Mode (top view).

6. When the OS has been installed successfully in the Orin Nano, you will be asked to enter the board IP, a username and a password, as shown below in Figure7:

Figure 7. Required username and password for your profile in the board.

7. Don't close the window of Figure 7 and don't modify its content yet. You need to connect a screen to the board via HDMI, a keyboard/mouse via USB port, and a network cable via Ethernet port. You can remove the jumper that keeps the board in Recovery Mode and then reboot the Jetson board at this point if necessary.

Installing the Driver - JetPack sources patch and SCP files copy

Install dependencies on the host computer

sudo apt update
sudo apt install git \
wget \
quilt \
build-essential \
bc \
libncurses5-dev libncursesw5-dev \
rsync

Get the source code from NVIDIA oficial repository

cd
wget https://developer.nvidia.com/downloads/embedded/l4t/r35_release_v3.1/sources/public_sources.tbz2/ -O public_sources.tbz2
tar -xjf public_sources.tbz2 Linux_for_Tegra/source/public/kernel_src.tbz2 --strip-components 3

Export the Jetpack directory as the environment variable DEVDIR:

(In our case the nvidia directory is in the HOME directory, which in our case is /home/nvidia/ Remember that this directory is created by the sdk manager when you downloaded the sources and flashed your Jetson board).

export DEVDIR=~/nvidia/nvidia_sdk/JetPack_5.1.1_Linux_JETSON_ORIN_NX_TARGETS/Linux_for_Tegra

And now create the sources directory and extract the kernel sources:

mkdir $DEVDIR/sources
tar -xjf kernel_src.tbz2 -C $DEVDIR/sources

Build and install the driver

Get the driver patches

Download contents provided in RidgeRun GitHub by running the command:

git clone https://github.com/RidgeRun/NVIDIA-Jetson-IMX708-RPIV3.git
cd NVIDIA-Jetson-IMX708-RPIV3/patches_orin_nano

Then you will need the patch in the directory $DEVDIR/sources by running:

cp -r patches/ $DEVDIR/sources

Next, you can then apply the patch and go back to the Linux_for_Tegra directory.

cd $DEVDIR/sources
quilt push -a
cd ..

Set up the toolchain

You will need to download the toolchain to compile the sources:

mkdir $HOME/l4t-gcc
cd $HOME/l4t-gcc
wget -O toolchain.tar.xz https://developer.nvidia.com/embedded/jetson-linux/bootlin-toolchain-gcc-93
sudo tar -xf toolchain.tar.xz

Build

Create output directories:

KERNEL_OUT=$DEVDIR/sources/kernel_out
MODULES_OUT=$DEVDIR/sources/modules_out
mkdir -p $KERNEL_OUT
mkdir -p $MODULES_OUT

export CROSS_COMPILE_AARCH64=$HOME/l4t-gcc/bin/aarch64-buildroot-linux-gnu-

Compile the Kernel:

cd $DEVDIR/sources
make -C kernel/kernel-5.10/ ARCH=arm64 O=$KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${CROSS_COMPILE_AARCH64} tegra_defconfig

make -C kernel/kernel-5.10/ ARCH=arm64 O=$KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${CROSS_COMPILE_AARCH64} menuconfig

Be sure that IMX708 is selected and deselect any other IMX driver:

Device Drivers  --->
  <*> Multimedia support  --->
      Media ancillary drivers  --->
          NVIDIA overlay Encoders, decoders, sensors and other helper chips  --->
              <*> IMX708 camera sensor support

make -C kernel/kernel-5.10/ ARCH=arm64 O=$KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${CROSS_COMPILE_AARCH64} Image

make -C kernel/kernel-5.10/ ARCH=arm64 O=$KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${CROSS_COMPILE_AARCH64} dtbs

make -C kernel/kernel-5.10/ ARCH=arm64 O=$KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${CROSS_COMPILE_AARCH64} modules

make -C kernel/kernel-5.10/ ARCH=arm64 O=$KERNEL_OUT LOCALVERSION=-tegra INSTALL_MOD_PATH=$MODULES_OUT modules_install

Installation

Install using scp command

Get the Jetson IP address going to your board, connect it by ethernet, run the command shown below and copy the ip address showed in eth0 (inet):

ifconfig

In your computer, copy the files via SSH by running

scp $KERNEL_OUT/arch/arm64/boot/Image nvidia@orin_ip_address:/tmp
scp $KERNEL_OUT/arch/arm64/boot/dts/nvidia/tegra234-p3767-0000-p3768-0000-a0.dtb nvidia@orin_ip_address:/tmp

Open a terminal on your Jetson and run:

sudo cp /tmp/Image /boot/
sudo cp /tmp/tegra234-p3767-0000-p3768-0000-a0.dtb /boot/dtb/kernel_tegra234-p3767-0000-p3768-0000-a0.dtb

Modify the extlinux.conf to accept the modified dtb by copying this code in the extlinux.conf file:

sudo nano /boot/extlinux/extlinux.conf

TIMEOUT 30
DEFAULT primary

MENU TITLE L4T boot options

LABEL primary
      MENU LABEL primary kernel
      LINUX /boot/Image
      FDT /boot/dtb/kernel_tegra234-p3767-0000-p3768-0000-a0.dtb
      INITRD /boot/initrd
      APPEND ${cbootargs} root=PARTUUID=77f45bd2-b473-4f54-8ff7-4ba0edc48af8 rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 console=ttyAMA0,115200 firmware_class.path=/etc/firmware fbcon=map:0 net.ifnames=0 nv-auto-config 

# When testing a custom kernel, it is recommended that you create a backup of
# the original kernel and add a new entry to this file so that the device can
# fallback to the original kernel. To do this:
#
# 1, Make a backup of the original kernel
#      sudo cp /boot/Image /boot/Image.backup
#
# 2, Copy your custom kernel into /boot/Image
#
# 3, Uncomment below menu setting lines for the original kernel
#
# 4, Reboot

# LABEL backup
#    MENU LABEL backup kernel
#    LINUX /boot/Image.backup
#    FDT /boot/dtb/kernel_tegra234-p3767-0000-p3768-0000-a0.dtb
#    INITRD /boot/initrd
#    APPEND ${cbootargs}

And now you can reboot

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