L4T UVC/HID manual patch for JP6

**Jetson Orin™** with JetPack 6.0 manual patches for UVC compatibility with LRS Tracked-by: LRS-1066 Signed-off-by: Dmitry Perchanov <[email protected]>
dmipx · Jun 20, 2024 · ee5f32d · ee5f32d
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diff --git a/doc/installation_jetson.md b/doc/installation_jetson.md
@@ -8,14 +8,13 @@
 
 ### 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)
 
@@ -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**
 

diff --git a/scripts/Tegra/source_sync_6.0.sh b/scripts/Tegra/source_sync_6.0.sh
@@ -0,0 +1,344 @@
+#!/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