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Support RQX-58G with JetPack 5.1.2 / L4T R35.4.1
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@QQting
QQting committed Apr 3, 2024
1 parent e969b86 commit f663843
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Showing 2 changed files with 143 additions and 15 deletions.
20 changes: 15 additions & 5 deletions drivers/src/Makefile
View file
Original file line number Diff line number Diff line change
Expand Up @@ -127,11 +127,21 @@ else ifeq ($(L4T_RELEASE_MAIN), R34)
else ifeq ($(L4T_RELEASE_MAIN), R35)
ifeq ($(MODEL),$(ROScube_Xavier_Model_word))
# RQX-58G
KERNELRELEASE := 5.10.104-rqx58g
TARGET_ISX021_DTS := tier4-isx021-gmsl-device-tree-overlay-roscube-r351
TARGET_IMX490_DTS := tier4-imx490-gmsl-device-tree-overlay-roscube-r351
TARGET_ISX021_IMX490_DTS := tier4-isx021-imx490-gmsl-device-tree-overlay-roscube-r351
MAKE_OVERLAY_DTS_CMD := make_overlay_dts_roscube.py r35.1
ifeq ($(L4T_RELEASE_MAJOR), 4)
# R35.4
KERNELRELEASE := $(shell uname -r)
TARGET_ISX021_DTS := tier4-isx021-gmsl-device-tree-overlay-roscube-r354
TARGET_IMX490_DTS := tier4-imx490-gmsl-device-tree-overlay-roscube-r354
TARGET_ISX021_IMX490_DTS := tier4-isx021-imx490-gmsl-device-tree-overlay-roscube-r354
MAKE_OVERLAY_DTS_CMD := make_overlay_dts_roscube.py r35.4
else ifeq ($(L4T_RELEASE_MAJOR), 1)
# R35.1
KERNELRELEASE := $(shell uname -r)
TARGET_ISX021_DTS := tier4-isx021-gmsl-device-tree-overlay-roscube-r351
TARGET_IMX490_DTS := tier4-imx490-gmsl-device-tree-overlay-roscube-r351
TARGET_ISX021_IMX490_DTS := tier4-isx021-imx490-gmsl-device-tree-overlay-roscube-r351
MAKE_OVERLAY_DTS_CMD := make_overlay_dts_roscube.py r35.1
endif
else ifeq ($(MODEL),$(ROScube_Orin_Model_word))
# RQX-59G
ifeq ($(L4T_RELEASE_MAJOR), 4)
Expand Down
138 changes: 128 additions & 10 deletions drivers/src/make_overlay_dts_roscube.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -1700,6 +1700,8 @@

# ================== DSER ====================

# ---------- for R32.5 ----------------------------

str_fragment_dser_n = """
fragment@95{
Expand All @@ -1717,17 +1719,46 @@
"""

str_fragment_dser_0 = str_fragment_dser_n
str_fragment_dser_1 = str_fragment_dser_n \
str_fragment_dser_0_r325 = str_fragment_dser_n
str_fragment_dser_1_r325 = str_fragment_dser_n \
.replace("fragment@95", "fragment@96") \
.replace("&dser", "&dsera")
str_fragment_dser_2 = str_fragment_dser_n \
str_fragment_dser_2_r325 = str_fragment_dser_n \
.replace("fragment@95", "fragment@97") \
.replace("&dser", "&dserb")
str_fragment_dser_3 = str_fragment_dser_n \
str_fragment_dser_3_r325 = str_fragment_dser_n \
.replace("fragment@95", "fragment@98") \
.replace("&dser", "&dserc")

str_fragment_dser_0 = {"325x": str_fragment_dser_0_r325, "351": ""}
str_fragment_dser_1 = {"325x": str_fragment_dser_1_r325, "351": ""}
str_fragment_dser_2 = {"325x": str_fragment_dser_2_r325, "351": ""}
str_fragment_dser_3 = {"325x": str_fragment_dser_3_r325, "351": ""}


# ---------- for R35.1 ----------------------------

str_i2c_dser_n = """
dser_0: max9296@48 {
compatible = \"nvidia,tier4_max9296\";
reg = <0x48>;
status = \"okay\";
csi-mode = \"2x4\";
max-src = <2>;
//reset-gpios = <&tegra_main_gpio CAM0_PWDN GPIO_ACTIVE_HIGH>;
//reset-gpios = <&tegra_main_gpio 0x3E 0x0>;
};
"""
str_i2c_dser_0_r351 = str_i2c_dser_n
str_i2c_dser_1_r351 = str_i2c_dser_n.replace("dser_0:", "dser_1:")
str_i2c_dser_2_r351 = str_i2c_dser_n.replace("dser_0:", "dser_2:")
str_i2c_dser_3_r351 = str_i2c_dser_n.replace("dser_0:", "dser_3:")

str_i2c_dser_0 = {"325x": "", "351": str_i2c_dser_0_r351}
str_i2c_dser_1 = {"325x": "", "351": str_i2c_dser_1_r351}
str_i2c_dser_2 = {"325x": "", "351": str_i2c_dser_2_r351}
str_i2c_dser_3 = {"325x": "", "351": str_i2c_dser_3_r351}

# ================== SER ====================

str_i2c_ser_n = """
Expand Down Expand Up @@ -2141,6 +2172,18 @@
"serial_a", "serial_g"
)

dict_min_gain_val = {
"354": 'min_gain_val = "1"',
"351": 'min_gain_val = "0"',
}

def get_min_gain_val(rev_r354_exception):
if rev_r354_exception == True:
str_rc = dict_min_gain_val["354"]
else:
str_rc = dict_min_gain_val["351"]
return str_rc

# -----------------------------------------------

str_i2c_isx021_n_p3 = """
Expand Down Expand Up @@ -2577,7 +2620,17 @@

# ============= DSER in Base DTB ==============

str_fragment_dser_in_base_dtb_r351 = ""
str_fragment_dser_in_base_dtb_r351 = """
dser_0: max9296@48 {
compatible = \"nvidia,tier4_max9296\";
reg = <0x48>;
status = \"okay\";
csi-mode = \"2x4\";
max-src = <2>;
//reset-gpios = <&tegra_main_gpio CAM0_PWDN GPIO_ACTIVE_HIGH>;
//reset-gpios = <&tegra_main_gpio 0x3E 0x0>;
};
"""

str_fragment_dser_in_base_dtb_r325 = """
Expand Down Expand Up @@ -2971,10 +3024,14 @@ def get_serdes_pix_clk(str_revision, str_camera_type):

l4t_revision = args[1].upper()

rev_r354_exception = False
if l4t_revision == "R32.5.1" or l4t_revision == "R32.5.2" or l4t_revision == "R32.6.1":
str_rev_num = "325x"
elif l4t_revision == "R35.1":
str_rev_num = "351"
elif l4t_revision == "R35.4":
str_rev_num = "351"
rev_r354_exception = True
else:
print(" Error!! : The first argument should be R32.5.1, R32.5.2, R32.6.1 or R35.1.")
usage()
Expand Down Expand Up @@ -3043,6 +3100,9 @@ def get_serdes_pix_clk(str_revision, str_camera_type):
str_w_i2c_isx021_0_p2 = str_i2c_isx021_0_p2.replace(
dict_isx021_serdes_pix_clk["325x"],
get_serdes_pix_clk(str_rev_num, camera[i]),
).replace(
dict_min_gain_val["351"],
get_min_gain_val(rev_r354_exception)
)
str_camera1 = (
str_i2c_isx021_0_p1[str_rev_num]
Expand All @@ -3057,6 +3117,9 @@ def get_serdes_pix_clk(str_revision, str_camera_type):
str_w_i2c_imx490_0_p2 = str_i2c_imx490_0_p2.replace(
dict_imx490_serdes_pix_clk["325x"],
get_serdes_pix_clk(str_rev_num, camera[i]),
).replace(
dict_min_gain_val["351"],
get_min_gain_val(rev_r354_exception)
)
str_camera1 = (
str_i2c_imx490_0_p1[str_rev_num]
Expand Down Expand Up @@ -3088,6 +3151,9 @@ def get_serdes_pix_clk(str_revision, str_camera_type):
str_w_i2c_isx021_1_p2 = str_i2c_isx021_1_p2.replace(
dict_isx021_serdes_pix_clk["325x"],
get_serdes_pix_clk(str_rev_num, camera[i]),
).replace(
dict_min_gain_val["351"],
get_min_gain_val(rev_r354_exception)
)
str_camera2 = (
str_i2c_isx021_1_p1[str_rev_num]
Expand All @@ -3102,6 +3168,9 @@ def get_serdes_pix_clk(str_revision, str_camera_type):
str_w_i2c_imx490_1_p2 = str_i2c_imx490_1_p2.replace(
dict_imx490_serdes_pix_clk["325x"],
get_serdes_pix_clk(str_rev_num, camera[i]),
).replace(
dict_min_gain_val["351"],
get_min_gain_val(rev_r354_exception)
)
str_camera2 = (
str_i2c_imx490_1_p1[str_rev_num]
Expand Down Expand Up @@ -3133,6 +3202,9 @@ def get_serdes_pix_clk(str_revision, str_camera_type):
str_w_i2c_isx021_2_p2 = str_i2c_isx021_2_p2.replace(
dict_isx021_serdes_pix_clk["325x"],
get_serdes_pix_clk(str_rev_num, camera[i]),
).replace(
dict_min_gain_val["351"],
get_min_gain_val(rev_r354_exception)
)
str_camera3 = (
str_i2c_isx021_2_p1[str_rev_num]
Expand All @@ -3147,6 +3219,9 @@ def get_serdes_pix_clk(str_revision, str_camera_type):
str_w_i2c_imx490_2_p2 = str_i2c_imx490_2_p2.replace(
dict_imx490_serdes_pix_clk["325x"],
get_serdes_pix_clk(str_rev_num, camera[i]),
).replace(
dict_min_gain_val["351"],
get_min_gain_val(rev_r354_exception)
)
str_camera3 = (
str_i2c_imx490_2_p1[str_rev_num]
Expand Down Expand Up @@ -3178,6 +3253,9 @@ def get_serdes_pix_clk(str_revision, str_camera_type):
str_w_i2c_isx021_3_p2 = str_i2c_isx021_3_p2.replace(
dict_isx021_serdes_pix_clk["325x"],
get_serdes_pix_clk(str_rev_num, camera[i]),
).replace(
dict_min_gain_val["351"],
get_min_gain_val(rev_r354_exception)
)
str_camera4 = (
str_i2c_isx021_3_p1[str_rev_num]
Expand All @@ -3192,6 +3270,9 @@ def get_serdes_pix_clk(str_revision, str_camera_type):
str_w_i2c_imx490_3_p2 = str_i2c_imx490_3_p2.replace(
dict_imx490_serdes_pix_clk["325x"],
get_serdes_pix_clk(str_rev_num, camera[i]),
).replace(
dict_min_gain_val["351"],
get_min_gain_val(rev_r354_exception)
)
str_camera4 = (
str_i2c_imx490_3_p1[str_rev_num]
Expand Down Expand Up @@ -3223,6 +3304,9 @@ def get_serdes_pix_clk(str_revision, str_camera_type):
str_w_i2c_isx021_4_p2 = str_i2c_isx021_4_p2.replace(
dict_isx021_serdes_pix_clk["325x"],
get_serdes_pix_clk(str_rev_num, camera[i]),
).replace(
dict_min_gain_val["351"],
get_min_gain_val(rev_r354_exception)
)
str_camera5 = (
str_i2c_isx021_4_p1[str_rev_num]
Expand All @@ -3237,6 +3321,9 @@ def get_serdes_pix_clk(str_revision, str_camera_type):
str_w_i2c_imx490_4_p2 = str_i2c_imx490_4_p2.replace(
dict_imx490_serdes_pix_clk["325x"],
get_serdes_pix_clk(str_rev_num, camera[i]),
).replace(
dict_min_gain_val["351"],
get_min_gain_val(rev_r354_exception)
)
str_camera5 = (
str_i2c_imx490_4_p1[str_rev_num]
Expand Down Expand Up @@ -3268,6 +3355,9 @@ def get_serdes_pix_clk(str_revision, str_camera_type):
str_w_i2c_isx021_5_p2 = str_i2c_isx021_5_p2.replace(
dict_isx021_serdes_pix_clk["325x"],
get_serdes_pix_clk(str_rev_num, camera[i]),
).replace(
dict_min_gain_val["351"],
get_min_gain_val(rev_r354_exception)
)
str_camera6 = (
str_i2c_isx021_5_p1[str_rev_num]
Expand All @@ -3282,6 +3372,9 @@ def get_serdes_pix_clk(str_revision, str_camera_type):
str_w_i2c_imx490_5_p2 = str_i2c_imx490_5_p2.replace(
dict_imx490_serdes_pix_clk["325x"],
get_serdes_pix_clk(str_rev_num, camera[i]),
).replace(
dict_min_gain_val["351"],
get_min_gain_val(rev_r354_exception)
)
str_camera6 = (
str_i2c_imx490_5_p1[str_rev_num]
Expand Down Expand Up @@ -3313,6 +3406,9 @@ def get_serdes_pix_clk(str_revision, str_camera_type):
str_w_i2c_isx021_6_p2 = str_i2c_isx021_6_p2.replace(
dict_isx021_serdes_pix_clk["325x"],
get_serdes_pix_clk(str_rev_num, camera[i]),
).replace(
dict_min_gain_val["351"],
get_min_gain_val(rev_r354_exception)
)
str_camera7 = (
str_i2c_isx021_6_p1[str_rev_num]
Expand All @@ -3327,6 +3423,9 @@ def get_serdes_pix_clk(str_revision, str_camera_type):
str_w_i2c_imx490_6_p2 = str_i2c_imx490_6_p2.replace(
dict_imx490_serdes_pix_clk["325x"],
get_serdes_pix_clk(str_rev_num, camera[i]),
).replace(
dict_min_gain_val["351"],
get_min_gain_val(rev_r354_exception)
)
str_camera7 = (
str_i2c_imx490_6_p1[str_rev_num]
Expand Down Expand Up @@ -3358,6 +3457,9 @@ def get_serdes_pix_clk(str_revision, str_camera_type):
str_w_i2c_isx021_7_p2 = str_i2c_isx021_7_p2.replace(
dict_isx021_serdes_pix_clk["325x"],
get_serdes_pix_clk(str_rev_num, camera[i]),
).replace(
dict_min_gain_val["351"],
get_min_gain_val(rev_r354_exception)
)
str_camera8 = (
str_i2c_isx021_7_p1[str_rev_num]
Expand All @@ -3372,6 +3474,9 @@ def get_serdes_pix_clk(str_revision, str_camera_type):
str_w_i2c_imx490_7_p2 = str_i2c_imx490_7_p2.replace(
dict_imx490_serdes_pix_clk["325x"],
get_serdes_pix_clk(str_rev_num, camera[i]),
).replace(
dict_min_gain_val["351"],
get_min_gain_val(rev_r354_exception)
)
str_camera8 = (
str_i2c_imx490_7_p1[str_rev_num]
Expand Down Expand Up @@ -3401,6 +3506,7 @@ def get_serdes_pix_clk(str_revision, str_camera_type):

str_i2c0 = (
str_fragment_i2c_0
+ str_i2c_dser_0[str_rev_num]
+ str_i2c_ser_0[str_rev_num]
+ str_i2c_0_isp
+ str_camera2
Expand All @@ -3410,6 +3516,7 @@ def get_serdes_pix_clk(str_revision, str_camera_type):

str_i2c1 = (
str_fragment_i2c_1
+ str_i2c_dser_1[str_rev_num]
+ str_i2c_ser_1[str_rev_num]
+ str_i2c_1_isp
+ str_camera4
Expand All @@ -3419,6 +3526,7 @@ def get_serdes_pix_clk(str_revision, str_camera_type):

str_i2c2 = (
str_fragment_i2c_2
+ str_i2c_dser_2[str_rev_num]
+ str_i2c_ser_2[str_rev_num]
+ str_i2c_2_isp
+ str_camera6
Expand All @@ -3428,6 +3536,7 @@ def get_serdes_pix_clk(str_revision, str_camera_type):

str_i2c3 = (
str_fragment_i2c_3
+ str_i2c_dser_3[str_rev_num]
+ str_i2c_ser_3[str_rev_num]
+ str_i2c_3_isp
+ str_camera8
Expand Down Expand Up @@ -3494,23 +3603,32 @@ def get_serdes_pix_clk(str_revision, str_camera_type):
+ str_camera_module5
+ str_camera_module6
+ str_camera_module7
+ str_fragment_i2c
+ str_i2c0
+ str_i2c1
+ str_i2c2
+ str_i2c3
+ str_fragment_dser_0
+ str_fragment_dser_1
+ str_fragment_dser_2
+ str_fragment_dser_3
+ str_fragment_dser_0[str_rev_num]
+ str_fragment_dser_1[str_rev_num]
+ str_fragment_dser_2[str_rev_num]
+ str_fragment_dser_3[str_rev_num]
+ str_fpga
+ str_overlay_end
)

if str_rev_num == "351":
if rev_r354_exception == True:
str_fname_rev_num = "354"
else:
str_fname_rev_num = "351"
else:
str_fname_rev_num = str_rev_num

overlay_dts_file_name = (
"tier4"
+ str_w_camera_type
+ "-gmsl-device-tree-overlay-roscube-r"
+ str_rev_num
+ str_fname_rev_num
+ ".dts"
)

Expand Down

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