View source for Jetson/l4t/Camera BringUp

== Get Prepared == 
* Please read through "Camera Development" section in https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%20Linux%20Driver%20Package%20Development%20Guide/camera_sensor_prog.html#
== FAQ == 
=== Tips for debugging ===
* Boost the clock for debug.
 sudo su
 echo 1 > /sys/kernel/debug/bpmp/debug/clk/vi/mrq_rate_locked
 echo 1 > /sys/kernel/debug/bpmp/debug/clk/isp/mrq_rate_locked
 echo 1 > /sys/kernel/debug/bpmp/debug/clk/nvcsi/mrq_rate_locked
 cat /sys/kernel/debug/bpmp/debug/clk/vi/max_rate |tee /sys/kernel/debug/bpmp/debug/clk/vi/rate
 cat /sys/kernel/debug/bpmp/debug/clk/isp/max_rate | tee  /sys/kernel/debug/bpmp/debug/clk/isp/rate
 cat /sys/kernel/debug/bpmp/debug/clk/nvcsi/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/nvcsi/rate


'''TX1'''
* if you saw below error message
 tegra-vi4 15700000.vi: PXL_SOF syncpt timeout! err = -11

* please check below 4 items in your sensor device tree, these should follow the settings in your sensor datasheet
                                 mode0 {
                                         cil_settletime = "0";
                                         active_w = "1920";
                                         active_h = "1080";
                                         embedded_metadata_height = "1";

* if you saw below error message
 video4linux video0: MW_ACK_DONE syncpoint time out!

* Enable the csi debug message from below command, and use v4l2-ctl to verify the driver first.
 sudo su
 cd /sys/kernel/debug/dynamic_debug/
 echo file csi2_fops.c +p > control

 v4l2-ctl -d /dev/video0 --set-ctrl bypass_mode=0 --stream-mmap --stream-count=3

* please check below
 please review the configuration of "line_length" in sensor driver
 try to increase the delay between video lines data send via CSI
 review the sensor datasheet to check the settings of FPS range




'''TX2'''
* if you saw below message it could be the sensor output embedded data line but DT didn't declare embedded_metadata_height or it value is 0
 arm-smmu 12000000.iommu: Unhandled context fault: iova=0x00000000, fsynr=0x200011, cb=19, sid=4(0x4 - VI), pgd=0, pud=0, pmd=0, pte=0

<br />

=== Steps to enable more debug messages ===
* To enable logs from user-space for more details
 sudo su
 kill the process of argus_daemon/nvargus-daemon or nvcamera-daemon 
 export enableCamPclLogs=5
 export enableCamScfLogs=5
 /usr/sbin/argus_daemon(nvargus-daemon)      option for argus
 /usr/sbin/nvcamera-daemon   option for gst-launch
  
 launch camera from another console

* To enable trace for more information
 echo 1 > /sys/kernel/debug/tracing/tracing_on
 echo 30720 > /sys/kernel/debug/tracing/buffer_size_kb
 echo 1 > /sys/kernel/debug/tracing/events/tegra_rtcpu/enable
 echo 1 > /sys/kernel/debug/tracing/events/freertos/enable
 echo 2 > /sys/kernel/debug/camrtc/log-level
 echo 1 > /sys/kernel/debug/tracing/events/camera_common/enable
 echo > /sys/kernel/debug/tracing/trace
 cat /sys/kernel/debug/tracing/trace

VI error decoder map from trace
 CSIMUX_FRAME data bit field
     bit 0:2 STREAM_ID
     bit 3 VPR
     bit 4 FS_flag
     bit 5 FE_flag
     bit 6 FE_CSI_FAULT
     bit 7 FS_FAULT
     bit 8 FORCE_FE_FAULT
     bit 9 FE_FRAME_ID_FAULT
     bit 10 PXL_ENABLE_FAULT
     bit 20:25 '''CSI_FAULT_CODE'''
 '''CSI_FAULT_CODE''' data bit field
     bit 20 PP FSM timeout
     bit 21 PH single bit error repaired
     bit 22 CRC error on payload
     bit 23 Line short error

The bit 22 CRC error on payload. It could be CRC error at frame end package. Please contact with sensor vendor to check the CRC header.
     kworker/0:1-2059  [000] ...1   434.733650: rtcpu_vinotify_handle_msg: tstamp:13948014423 tag:CSIMUX_FRAME channel:0x00 frame:2 vi_tstamp:1063112012 data:0x00<big>4</big>00060

The bit 5 and 7 indicate lose the FE package cause the FS_FAULT
     kworker/4:0-30 [004] ...1 241.772651: rtcpu_vinotify_handle_msg: tstamp:7868711648 tag:CSIMUX_FRAME channel:0x00 frame:1 vi_tstamp:3573743671 data:0x000000a0 

The CSIMUX_FRAME bit 21 PH single bit error repaired. Possible the sensor didn't send the ECC package.
     kworker/4:0-2238  [004] ...1   543.467972: rtcpu_vinotify_handle_msg: tstamp:17333540584 tag:CSIMUX_FRAME channel:0x00 frame:0 vi_tstamp:153670980 data:0x00200060
Can try disable the ECC check by modify the REG INTR_STATUS/ERR_INTR_MASK/ERROR_STATUS2VI_MASK to try it
 
 CHANSEL_FAULT data bit field
     bit 16:31  LINE_NUMBER
     bit 15	DTYPE_MISMATCH
     bit 14	EMBED_INFRINGE
     bit 13	EMBED_LONG_LINE
     bit 12	EMBED_SPURIOUS
     bit 11	EMBED_RUNAWAY
     bit 10	EMBED_MISSING_LE
     bit 9	PIXEL_SHORT_LINE
     bit 8	PIXEL_LONG_LINE
     bit 7	PIXEL_SPURIOUS
     bit 6	PIXEL_RUNAWAY
     bit 5	PIXEL_MISSING_LE
     bit 4	PIXEL_LINE_TIMER
     bit 3	EMBED_EOF
     bit 2	EMBED_SOF
     bit 1	PIXEL_EOF
     bit 0	PIXEL_SOF

The trace show the 0x0ada0040 0x40 means CHANSEL_FAULT of PIXEL_RUNAWAY means VI receives more lines than expected. The 0xad9(2778) is the lines report from the sensor driver.
    kworker/5:2-275 [005] ...1 122.290528: rtcpu_vinotify_handle_msg: tstamp:4155862787 tag:CHANSEL_PXL_SOF channel:0x00 frame:0 vi_tstamp:4155862337 data:0x00000001
     kworker/5:2-275 [005] ...1 122.290531: rtcpu_vinotify_handle_msg: tstamp:4155867990 tag:CHANSEL_LOAD_FRAMED channel:0x01 frame:0 vi_tstamp:4155867544 data:0x08000000
     kworker/5:2-275 [005] ...1 122.342572: rtcpu_vinotify_handle_msg: tstamp:4156521216 tag:CHANSEL_PXL_EOF channel:0x00 frame:0 vi_tstamp:4156520630 data:0x0ad90002
     kworker/5:2-275 [005] ...1 122.342579: rtcpu_vinotify_handle_msg: tstamp:4156521395 tag:CHANSEL_FAULT channel:0x00 frame:0 vi_tstamp:4156520667 data:0x0ada0040
     kworker/5:2-275 [005] ...1 122.342582: rtcpu_vinotify_handle_msg: tstamp:4156522342 tag:CHANSEL_LOAD_FRAMED channel:0x01 frame:0 vi_tstamp:4156521558 data:0x08000000
     kworker/5:2-275 [005] ...1 122.342585: rtcpu_vinotify_handle_msg: tstamp:4156522509 tag:CHANSEL_FAULT_FE channel:0x01 frame:0 vi_tstamp:4156521559 data:0x00000001
     kworker/5:2-275 [005] ...1 122.342588: rtcpu_vinotify_handle_msg: tstamp:4156522706 tag:ATOMP_FE channel:0x00 frame:0 vi_tstamp:4156521562 data:0x00000000

 CSIMUX_STREAM data bit field
     bit 31	FIFO_BADPKT_STREAM_HI
     bit 30	FIFO_LOF_STREAM_HI
     bit 29	FIFO_OVERFLOW_STREAM_HI
     bit 28	SPURIOUS_DATA_STREAM_HI
     bit 27	FIFO_BADPKT_STREAM_LO
     bit 26	FIFO_LOF_STREAM_LO
     bit 25	FIFO_OVERFLOW_STREAM_LO
     bit 24	SPURIOUS_DATA_STREAM_LO
     bit 23	FIFO_BADPKT_STREAM_5
     bit 22	FIFO_LOF_STREAM_5
     bit 21	FIFO_OVERFLOW_STREAM_5
     bit 20	SPURIOUS_DATA_STREAM_5
     bit 19	FIFO_BADPKT_STREAM_4
     bit 18	FIFO_LOF_STREAM_4
     bit 17	FIFO_OVERFLOW_STREAM_4
     bit 16	SPURIOUS_DATA_STREAM_4
     bit 15	FIFO_BADPKT_STREAM_3
     bit 14	FIFO_LOF_STREAM_3
     bit 13	FIFO_OVERFLOW_STREAM_3
     bit 12	SPURIOUS_DATA_STREAM_3
     bit 11	FIFO_BADPKT_STREAM_2
     bit 10	FIFO_LOF_STREAM_2
     bit  9	FIFO_OVERFLOW_STREAM_2
     bit  8	SPURIOUS_DATA_STREAM_2
     bit  7	FIFO_BADPKT_STREAM_1
     bit  6	FIFO_LOF_STREAM_1
     bit  5	FIFO_OVERFLOW_STREAM_1
     bit  4	SPURIOUS_DATA_STREAM_1
     bit  3	FIFO_BADPKT_STREAM_0
     bit  2	FIFO_LOF_STREAM_0
     bit  1	FIFO_OVERFLOW_STREAM_0
     bit  0	SPURIOUS_DATA_STREAM_0

FIFO_OVERFLOW. It could be the pix_clk_hz in DT too small cause the ISP can't handle the input.
     kworker/5:3-1359  [005] ...1   253.671478: rtcpu_vinotify_handle_msg: tstamp:8279969890 tag:ISPBUF_FIFO_OVERFLOW channel:0x00 frame:12340 vi_tstamp:3985001981 data:0x00000000

CHANSEL_NOMATCH
    bit 0        no_match
    bit 1-4    CTYPE
    bit 5-10  DTYPE

    CTYPE:
        FS    = 0x8, FE   = 0x1 
        LS    = 0x4, LE   = 0x2  
        LS_LE = 0x6, DATA = 0x9

    DTYPE:
        NvCsiDataType_Unspecified             = 0,
        NvCsiDataType_YUV420_10               = 25,
        NvCsiDataType_LEG_YUV420_8            = 26,
        NvCsiDataType_YUV420_8                = 24,
        NvCsiDataType_YUV420CSPS_8            = 28,
        NvCsiDataType_YUV420CSPS_10           = 29,
        NvCsiDataType_YUV422_8                = 30,
        NvCsiDataType_YUV422_10               = 31,
        NvCsiDataType_RGB444                  = 32,
        NvCsiDataType_RGB555                  = 33,
        NvCsiDataType_RGB565                  = 34,
        NvCsiDataType_RGB666                  = 35,
        NvCsiDataType_RGB888                  = 36,
        NvCsiDataType_RAW6                    = 40,
        NvCsiDataType_RAW7                    = 41,
        NvCsiDataType_RAW8                    = 42,
        NvCsiDataType_RAW10                   = 43,
        NvCsiDataType_RAW12                   = 44,
        NvCsiDataType_RAW14                   = 45,
        NvCsiDataType_RAW16                   = 46,
        NvCsiDataType_RAW20                   = 47,
        NvCsiDataType_User_1                  = 48,
        NvCsiDataType_User_2                  = 49,
        NvCsiDataType_User_3                  = 50,
        NvCsiDataType_User_4                  = 51,
        NvCsiDataType_User_5                  = 52,
        NvCsiDataType_User_6                  = 53,
        NvCsiDataType_User_7                  = 54,
        NvCsiDataType_User_8                  = 55,
        NvCsiDataType_Unknown                 = 64,

Didn't receive any package from the MIPI bus. Make sure the sensor have output data to the MIPI bus     
     kworker/5:2-2980  [005] ...1  4162.509492: rtos_queue_peek_from_isr_failed: tstamp:130384213094 queue:0x0b4a3c58
     kworker/5:2-2980  [005] ...1  4162.509496: rtcpu_start: tstamp:130384214513
     kworker/5:2-2980  [005] ...1  4162.665213: rtos_queue_peek_from_isr_failed: tstamp:130389214019 queue:0x0b4a3c58
     kworker/5:2-2980  [005] ...1  4162.821197: rtos_queue_peek_from_isr_failed: tstamp:130394214523 queue:0x0b4a3c58
     kworker/5:2-2980  [005] ...1  4162.977226: rtos_queue_peek_from_isr_failed: tstamp:130399215027 queue:0x0b4a3c58
     kworker/5:2-2980  [005] ...1  4163.133208: rtos_queue_peek_from_isr_failed: tstamp:130404215532 queue:0x0b4a3c58
     kworker/5:2-2980  [005] ...1  4163.289207: rtos_queue_peek_from_isr_failed: tstamp:130409216052 queue:0x0b4a3c58
     kworker/5:2-2980  [005] ...1  4163.445214: rtos_queue_peek_from_isr_failed: tstamp:130414216548 queue:0x0b4a3c58
     kworker/5:2-2980  [005] ...1  4163.601218: rtos_queue_peek_from_isr_failed: tstamp:130419217056 queue:0x0b4a3c58


=== Analysis NVCSI register reporting ===
Please access Jetson Download Center for [[https://developer.nvidia.com/embedded/downloads#?search=trm Technical Reference Manual]], 
you may see [NVCSI Registers] session for NVCSI register descriptions. <br>
for example, 
 NVCSI_STREAM_0_PH_WC_0 / Status register on WC
 Bit    Reset   Description
 31:16  0x0     calc_wc: 16 bit WC computed over current packet (has to match with the WC in PH for a good packet)
  15:0  0x0     rx_wc: 16 bit WC from PH

 NVCSI_STREAM_0_PF_CRC_0 / Status register on packet data CRC
 Bit    Reset   Description
 31:16  0x0     calc_crc: 16 bit CRC computed over current packet (has to match with the CRC in PF for a good packet)
  15:0  0x0     rx_crc: 16 bit CRC from PF