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PR #13055 from dmipx: L4T UVC/HID manual patch for JP6
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Nir-Az committed Jun 20, 2024
2 parents d9b4b08 + ee5f32d commit 5af61fb
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8 changes: 3 additions & 5 deletions doc/installation_jetson.md
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### 1. Prerequisites

* NVIDIA® **Jetson Nano™**, **Jetson TX2™**, **Jetson AGX Xavier™** or **Jetson Orin™** board (may also work on other Jetson devices)
* NVIDIA® **Jetson Nano™**, **Jetson TX2™**, **Jetson AGX Xavier™** or **Jetson AGX Orin™** board (may also work on other Jetson devices)
* A supported RealSense Camera device

### 2. Establish Developer's Environment

Follow [official instructions](https://developer.nvidia.com/embedded/learn/getting-started-jetson) to get your board ready. This guide will assume you are using **NVIDIA® L4T Ubuntu 18.04/20.04/22.04** image with kernels 4.9/5.10/5.15. Note that in most cases it is necessary to install a toll named "SDK Manager" to flash and install **Jetson** boards with both the L4T (Linux for Tegra) and NVIDIA-specific software packages (CUDA, Tensor Flow, AI, etc.)

For **Jetson Orin™** with JetPack 6.0 you will need to follow build for MIPI driver as NVIDIA released Kernel 5.15 default configuration with disabled HID: [Intel® RealSense™ camera driver for GMSL* interface](https://github.com/IntelRealSense/realsense_mipi_platform_driver)

For **Jetson Nano™** we strongly recommend enabling the Barrel Jack connector for extra power (See [jetsonhacks.com/jetson-nano-use-more-power/](https://www.jetsonhacks.com/2019/04/10/jetson-nano-use-more-power/) to learn how)

Expand Down Expand Up @@ -93,11 +92,10 @@ You can also double-TAB after typing `rs-` to see the full list of SDK examples.

⮕ Use the V4L Native backend by applying the kernel patching

The method was verified with **Jetson AGX** boards with JetPack **4.4**[L4T 32.4.3], **4.6.1**[L4T 32.7.1] and **5.0.2**[L4T 35.1.0].
The method was verified with **Jetson AGX Orin™** with JetPack 6.0, **Jetson AGX Xavier™** boards with JetPack **4.4**[L4T 32.4.3], **4.6.1**[L4T 32.7.1] and **5.0.2**[L4T 35.1.0].

The method has not yet been verified on the **Jetson Nano** board.
For **Jetson Nano™** setup, please see the following user instructions [NVIDIA Jetson Nano with Intel RealSense Depth Camera Using ROS2 Humble | by Kabilankb | May, 2024 | Medium](https://medium.com/@kabilankb2003/nvidia-jetson-nano-with-intel-realsense-depth-camera-using-ros2-humble-c5926566a4d8)

This method is incompatible for board **Jetson Orin™** with JetPack 6.0, checkout [Intel® RealSense™ camera driver for GMSL* interface](https://github.com/IntelRealSense/realsense_mipi_platform_driver)

* **Prerequisite**

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344 changes: 344 additions & 0 deletions scripts/Tegra/source_sync_6.0.sh
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#!/bin/bash

# SPDX-FileCopyrightText: Copyright (c) 2012-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: BSD-3-Clause
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice, this
# list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# 3. Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.


#
# This script sync's NVIDIA's version of
# 1. the kernel source
# from nv-tegra, NVIDIA's public git repository.
# The script also provides opportunities to the sync to a specific tag
# so that the binaries shipped with a release can be replicated.
#
# Usage:
# By default it will download all the listed sources
# ./source_sync.sh
# Use the -t <TAG> option to provide the TAG to be used to sync all the sources.
# Use the -k <TAG> option to download only the kernel and device tree repos and optionally sync to TAG
# For detailed usage information run with -h option.
#


# verify that git is installed
if ! which git > /dev/null ; then
echo "ERROR: git is not installed. If your linux distro is 10.04 or later,"
echo "git can be installed by 'sudo apt-get install git-core'."
exit 1
fi

# source dir
LDK_DIR=$(cd `dirname $0` && pwd)
# script name
SCRIPT_NAME=`basename $0`
# info about sources.
# NOTE: *Add only kernel repos here. Add new repos separately below. Keep related repos together*
# NOTE: nvethrnetrm.git should be listed after "linux-nv-oot.git" due to nesting of sync path
SOURCE_INFO="
k:kernel/kernel-jammy-src:nv-tegra.nvidia.com/3rdparty/canonical/linux-jammy.git:
k:nvgpu:nv-tegra.nvidia.com/linux-nvgpu.git:
k:nvidia-oot:nv-tegra.nvidia.com/linux-nv-oot.git:
k:hwpm:nv-tegra.nvidia.com/linux-hwpm.git:
k:nvethernetrm:nv-tegra.nvidia.com/kernel/nvethernetrm.git:
k:hardware/nvidia/t23x/nv-public:nv-tegra.nvidia.com/device/hardware/nvidia/t23x-public-dts.git:
k:hardware/nvidia/tegra/nv-public:nv-tegra.nvidia.com/device/hardware/nvidia/tegra-public-dts.git:
k:nvdisplay:nv-tegra.nvidia.com/tegra/kernel-src/nv-kernel-display-driver.git:
k:dtc-src/1.4.5:nv-tegra.nvidia.com/3rdparty/dtc-src/1.4.5.git:
o:tegra/argus-cam-libav/argus_cam_libavencoder:nv-tegra.nvidia.com/tegra/argus-cam-libav/argus_cam_libavencoder.git:
o:tegra/cuda-src/nvsample_cudaprocess:nv-tegra.nvidia.com/tegra/cuda-src/nvsample_cudaprocess.git:
o:tegra/gfx-src/nv-xconfig:nv-tegra.nvidia.com/tegra/gfx-src/nv-xconfig.git:
o:tegra/gst-src/gst-egl:nv-tegra.nvidia.com/tegra/gst-src/gst-egl.git:
o:tegra/gst-src/gst-jpeg:nv-tegra.nvidia.com/tegra/gst-src/gst-jpeg.git:
o:tegra/gst-src/gst-nvarguscamera:nv-tegra.nvidia.com/tegra/gst-src/gst-nvarguscamera.git:
o:tegra/gst-src/gst-nvcompositor:nv-tegra.nvidia.com/tegra/gst-src/gst-nvcompositor.git:
o:tegra/gst-src/gst-nvtee:nv-tegra.nvidia.com/tegra/gst-src/gst-nvtee.git:
o:tegra/gst-src/gst-nvv4l2camera:nv-tegra.nvidia.com/tegra/gst-src/gst-nvv4l2camera.git:
o:tegra/gst-src/gst-nvvidconv:nv-tegra.nvidia.com/tegra/gst-src/gst-nvvidconv.git:
o:tegra/gst-src/gst-nvvideo4linux2:nv-tegra.nvidia.com/tegra/gst-src/gst-nvvideo4linux2.git:
o:tegra/gst-src/nvgstapps:nv-tegra.nvidia.com/tegra/gst-src/nvgstapps.git:
o:tegra/gst-src/libgstnvcustomhelper:nv-tegra.nvidia.com/tegra/gst-src/libgstnvcustomhelper.git:
o:tegra/gst-src/libgstnvdrmvideosink:nv-tegra.nvidia.com/tegra/gst-src/libgstnvdrmvideosink.git:
o:tegra/gst-src/libgstnvvideosinks:nv-tegra.nvidia.com/tegra/gst-src/libgstnvvideosinks.git:
o:tegra/v4l2-src/libv4l2_nvargus:nv-tegra.nvidia.com/tegra/v4l2-src/libv4l2_nvargus.git:
o:tegra/nv-sci-src/nvsci_headers:nv-tegra.nvidia.com/tegra/nv-sci-src/nvsci_headers.git:
o:tegra/optee-src/atf:nv-tegra.nvidia.com/tegra/optee-src/atf.git:
o:tegra/optee-src/nv-optee:nv-tegra.nvidia.com/tegra/optee-src/nv-optee.git:
o:tegra/v4l2-src/v4l2_libs:nv-tegra.nvidia.com/tegra/v4l2-src/v4l2_libs.git:
"

# exit on error on sync
EOE=0
# after processing SOURCE_INFO
NSOURCES=0
declare -a SOURCE_INFO_PROCESSED
# download all?
DALL=1

function Usages {
local ScriptName=$1
local LINE
local OP
local DESC
local PROCESSED=()
local i

echo "Use: $1 [options]"
echo "Available general options are,"
echo " -h : help"
echo " -e : exit on sync error"
echo " -d [DIR] : root of source is DIR"
echo " -t [TAG] : Git tag that will be used to sync all the sources"
echo ""
echo "By default, all sources are downloaded."
echo "Only specified sources are downloaded, if one or more of the following options are mentioned."
echo ""
echo "$SOURCE_INFO" | while read LINE; do
if [ ! -z "$LINE" ]; then
OP=$(echo "$LINE" | cut -f 1 -d ':')
DESC=$(echo "$LINE" | cut -f 2 -d ':')
if [[ ! " ${PROCESSED[@]} " =~ " ${OP} " ]]; then
echo " -${OP} [TAG]: Download $DESC source and optionally sync to TAG"
PROCESSED+=("${OP}")
else
echo " and download $DESC source and sync to the same TAG"
fi
fi
done
echo ""
}

function ProcessSwitch {
local SWITCH="$1"
local TAG="$2"
local i
local found=0

for ((i=0; i < NSOURCES; i++)); do
local OP=$(echo "${SOURCE_INFO_PROCESSED[i]}" | cut -f 1 -d ':')
if [ "-${OP}" == "$SWITCH" ]; then
SOURCE_INFO_PROCESSED[i]="${SOURCE_INFO_PROCESSED[i]}${TAG}:y"
DALL=0
found=1
fi
done

if [ "$found" == 1 ]; then
return 0
fi

echo "Terminating... wrong switch: ${SWITCH}" >&2
Usages "$SCRIPT_NAME"
exit 1
}

function UpdateTags {
local SWITCH="$1"
local TAG="$2"
local i

for ((i=0; i < NSOURCES; i++)); do
local OP=$(echo "${SOURCE_INFO_PROCESSED[i]}" | cut -f 1 -d ':')
if [ "${OP}" == "$SWITCH" ]; then
SOURCE_INFO_PROCESSED[i]=$(echo "${SOURCE_INFO_PROCESSED[i]}" \
| awk -F: -v OFS=: -v var="${TAG}" '{$4=var; print}')
fi
done
}

function DownloadAndSync {
local WHAT_SOURCE="$1"
local LDK_SOURCE_DIR="$2"
local REPO_URL="$3"
local TAG="$4"
local OPT="$5"
local RET=0

if [ -d "${LDK_SOURCE_DIR}" ]; then
echo "Directory for $WHAT, ${LDK_SOURCE_DIR}, already exists!"
pushd "${LDK_SOURCE_DIR}" > /dev/null
git status 2>&1 >/dev/null
if [ $? -ne 0 ]; then
echo "But the directory is not a git repository -- clean it up first"
echo ""
echo ""
popd > /dev/null
return 1
fi
git fetch --all 2>&1 >/dev/null
popd > /dev/null
else
echo "Downloading default $WHAT source..."

git clone "$REPO_URL" -n ${LDK_SOURCE_DIR} 2>&1 >/dev/null
if [ $? -ne 0 ]; then
echo "$2 source sync failed!"
echo ""
echo ""
return 1
fi

echo "The default $WHAT source is downloaded in: ${LDK_SOURCE_DIR}"
fi

if [ -z "$TAG" ]; then
echo "Please enter a tag to sync $2 source to"
echo -n "(enter nothing to skip): "
read TAG
TAG=$(echo $TAG)
UpdateTags $OPT $TAG
fi

if [ ! -z "$TAG" ]; then
pushd ${LDK_SOURCE_DIR} > /dev/null
git tag -l 2>/dev/null | grep -q -P "^$TAG\$"
if [ $? -eq 0 ]; then
echo "Syncing up with tag $TAG..."
git checkout -b mybranch_$(date +%Y-%m-%d-%s) $TAG
echo "$2 source sync'ed to tag $TAG successfully!"
else
echo "Couldn't find tag $TAG"
echo "$2 source sync to tag $TAG failed!"
RET=1
fi
popd > /dev/null
fi
echo ""
echo ""

return "$RET"
}

# prepare processing ....
GETOPT=":ehd:t:"

OIFS="$IFS"
IFS=$(echo -en "\n\b")
SOURCE_INFO_PROCESSED=($(echo "$SOURCE_INFO"))
IFS="$OIFS"
NSOURCES=${#SOURCE_INFO_PROCESSED[*]}

for ((i=0; i < NSOURCES; i++)); do
OP=$(echo "${SOURCE_INFO_PROCESSED[i]}" | cut -f 1 -d ':')
GETOPT="${GETOPT}${OP}:"
done

# parse the command line first
while getopts "$GETOPT" opt; do
case $opt in
d)
case $OPTARG in
-[A-Za-z]*)
Usages "$SCRIPT_NAME"
exit 1
;;
*)
LDK_DIR="$OPTARG"
;;
esac
;;
e)
EOE=1
;;
h)
Usages "$SCRIPT_NAME"
exit 1
;;
t)
TAG="$OPTARG"
PROCESSED=()
for ((i=0; i < NSOURCES; i++)); do
OP=$(echo "${SOURCE_INFO_PROCESSED[i]}" | cut -f 1 -d ':')
if [[ ! " ${PROCESSED[@]} " =~ " ${OP} " ]]; then
UpdateTags $OP $TAG
PROCESSED+=("${OP}")
fi
done
;;
[A-Za-z])
case $OPTARG in
-[A-Za-z]*)
eval arg=\$$((OPTIND-1))
case $arg in
-[A-Za-Z]-*)
Usages "$SCRIPT_NAME"
exit 1
;;
*)
ProcessSwitch "-$opt" ""
OPTIND=$((OPTIND-1))
;;
esac
;;
*)
ProcessSwitch "-$opt" "$OPTARG"
;;
esac
;;
:)
case $OPTARG in
#required arguments
d)
Usages "$SCRIPT_NAME"
exit 1
;;
#optional arguments
[A-Za-z])
ProcessSwitch "-$OPTARG" ""
;;
esac
;;
\?)
echo "Terminating... wrong switch: $@" >&2
Usages "$SCRIPT_NAME"
exit 1
;;
esac
done
shift $((OPTIND-1))

GRET=0
for ((i=0; i < NSOURCES; i++)); do
OPT=$(echo "${SOURCE_INFO_PROCESSED[i]}" | cut -f 1 -d ':')
WHAT=$(echo "${SOURCE_INFO_PROCESSED[i]}" | cut -f 2 -d ':')
REPO=$(echo "${SOURCE_INFO_PROCESSED[i]}" | cut -f 3 -d ':')
TAG=$(echo "${SOURCE_INFO_PROCESSED[i]}" | cut -f 4 -d ':')
DNLOAD=$(echo "${SOURCE_INFO_PROCESSED[i]}" | cut -f 5 -d ':')

if [ $DALL -eq 1 -o "x${DNLOAD}" == "xy" ]; then
DownloadAndSync "$WHAT" "${LDK_DIR}/${WHAT}" "git://${REPO}" "${TAG}" "${OPT}"
tRET=$?
let GRET=GRET+tRET
if [ $tRET -ne 0 -a $EOE -eq 1 ]; then
exit $tRET
fi
fi
done

ln -sf ../../../../../../nvethernetrm ${LDK_DIR}/nvidia-oot/drivers/net/ethernet/nvidia/nvethernet/nvethernetrm

exit $GRET
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