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# TK1-SOM CSI Camera Testing Guide
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## Hardware Information
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- The TK1-SOM supports dual CSI-2 ports
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- Default camera sensor: IMX135
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- Alternative sensor: AR0330 (3MP, 1/3" CMOS)
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- Camera connects through CSI interface and I2C for control
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## Prerequisites
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1. TK1-SOM running L4T (Linux for Tegra)
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2. Camera module properly connected to CSI port
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3. Required kernel modules:
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- videobuf2-dma-contig.ko
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- soc_camera_platform.ko
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- nvhost-vi.ko
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- tegra_camera.ko
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## Checking Camera Presence
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### 1. Hardware Connection Check
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- Verify physical connection to CSI port
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- Check cable orientation and connection integrity
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- Ensure camera power supply is connected
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### 2. I2C Detection
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```bash
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# Check each I2C bus for camera presence
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for i in {0..5}; do
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echo "=== i2c-$i ==="
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sudo i2cdetect -y $i
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done
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```
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The IMX135 sensor should appear on one of the I2C buses if properly connected.
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For AR0330, check i2c-2 for addresses 0x10 or 0x18.
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### 3. Kernel Module Status
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```bash
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# Check if camera modules are loaded
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lsmod | grep -E 'video|tegra|camera'
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# Check for video devices
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ls -l /dev/video*
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```
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### 4. System Logs
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```bash
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# Check kernel messages for camera detection
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dmesg | grep -i 'camera\|imx\|tegra\|ar0330'
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```
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## GStreamer Testing
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### 1. Check Available GStreamer Plugins
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```bash
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# List NVIDIA-specific plugins
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gst-inspect-1.0 | grep nv
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# Check nvcamerasrc capabilities
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gst-inspect-1.0 nvcamerasrc
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```
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### 2. Test Camera Stream
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```bash
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# Basic camera test pipeline
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gst-launch-1.0 nvcamerasrc ! 'video/x-raw(memory:NVMM),width=1280,height=720,format=NV12,framerate=30/1' ! nvvidconv ! nvoverlaysink
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```
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## Troubleshooting
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### 1. Initial Checks
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- Verify camera is connected to CSI #1 port
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- Check I2C detection:
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- For IMX135: bus 0 (devices at 0x56 and 0x4c-0x4d)
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- For AR0330: bus 2 (devices at 0x10 or 0x18)
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- Verify appropriate driver is loaded in kernel logs
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- Check for video device nodes (/dev/video*)
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### 2. Module Loading Issues
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- Kernel modules must match the running kernel version
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- Current kernel: 3.10.40-gc017b03
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- Required modules:
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- videobuf2-dma-contig.ko
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- soc_camera_platform.ko
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- nvhost-vi.ko
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- tegra_camera.ko
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- Module paths:
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- /lib/modules/3.10.40-gc017b03/kernel/drivers/media/v4l2-core/videobuf2-dma-contig.ko
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- /lib/modules/3.10.40-gc017b03/kernel/drivers/media/platform/soc_camera/soc_camera_platform.ko
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- /lib/modules/3.10.40-gc017b03/kernel/drivers/video/tegra/host/vi/nvhost-vi.ko
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- /lib/modules/3.10.40-gc017b03/kernel/drivers/media/platform/soc_camera/tegra_camera/tegra_camera.ko
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### 3. Device Node Issues
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- Check if /dev/video- nodes exist
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- Verify permissions on video devices
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- Check video4linux subsystem: ls -l /sys/class/video4linux/
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### 4. GStreamer Testing
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- Verify nvcamerasrc plugin is available: gst-inspect-1.0 | grep nv
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- Check nvcamerasrc capabilities: gst-inspect-1.0 nvcamerasrc
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- Test camera stream with:
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```bash
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gst-launch-1.0 nvcamerasrc ! 'video/x-raw(memory:NVMM),width=1280,height=720,format=NV12,framerate=30/1' ! nvvidconv ! nvoverlaysink
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```
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- Common GStreamer errors:
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- "Can not open camera device": Check physical connection and kernel modules
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- "Pipeline doesn't want to pause": Verify camera power and CSI connection
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### 5. Common Problems
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- Missing kernel modules
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- Mismatched L4T version
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- Incorrect I2C address
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- CSI lane configuration issues
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- Power supply problems
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- Camera not properly initialized
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- Driver compatibility issues
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### 6. AR0330 Specific Issues
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- Built into kernel (CONFIG_VIDEO_AR0330=y)
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- Uses Platform Camera Layer (PCL) for initialization
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- Check device tree configuration:
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```bash
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# View camera PCL profiles
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cat /proc/device-tree/camera-pcl/profiles/ar0330@2_*/name
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```
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- Common AR0330 problems:
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- I2C communication failures on bus 2
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- PCL initialization failures
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- Video Input (vi) driver registration issues
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- Power sequencing problems
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- Hardware checks for AR0330:
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- Verify correct I2C address selection (0x10 or 0x18)
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- Check MIPI/Parallel interface configuration
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- Confirm power supply meets 2.8V analog and 1.8V digital requirements
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- Verify MCLK is properly configured
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## System Information
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- L4T Version: R21.3
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- Kernel Version: 3.10.40
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- Architecture: armv7l
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- Camera Support:
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- IMX135: Built into kernel (CONFIG_VIDEO_IMX135=y)
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- AR0330: Built into kernel (CONFIG_VIDEO_AR0330=y)
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- VI Support: Modular (CONFIG_TEGRA_GRHOST_VI=m)
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## Additional Resources
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- TK1-SOM Reference Guide
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- L4T Documentation
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- GStreamer Documentation for NVIDIA plugins
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- AR0330 Datasheet for detailed sensor specifications
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## AR0330 Camera Troubleshooting Solution
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If you're experiencing issues with the AR0330 camera not being detected or initialized properly, follow these steps:
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### Module Conflict Resolution
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There is a known conflict between the `nvhost_vi` and `tegra_camera` modules. Both try to register the VI driver, causing initialization failures. To resolve this:
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1. Check if the `nvhost_vi` module is loaded:
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```bash
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lsmod | grep -i vi
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```
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2. If `nvhost_vi` is loaded but `tegra_camera` is not, unload `nvhost_vi` and load `tegra_camera`:
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```bash
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sudo rmmod nvhost_vi
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sudo modprobe tegra_camera
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```
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3. Verify that the camera modules are now loaded correctly:
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```bash
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lsmod | grep -E "video|tegra|camera"
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```
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You should see output similar to:
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```
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tegra_camera 20484 0
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soc_camera_platform 2106 1
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videobuf2_dma_contig 8796 1 tegra_camera
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```
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4. Check if the video device node has been created:
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```bash
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ls -l /dev/video*
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```
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You should see `/dev/video0` or similar device nodes.
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5. Verify the camera is working by checking its properties:
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```bash
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v4l2-ctl --all --device /dev/video0
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```
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### Kernel Version Considerations
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- The solution above was tested on kernel version `3.10.40-grinch-21.3.4`
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- Make sure you're using the correct module for your kernel version
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- Module path: `/lib/modules/3.10.40-grinch-21.3.4/kernel/drivers/media/platform/soc_camera/tegra_camera/tegra_camera.ko`
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### Additional Notes
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- The AR0330 driver is built into the kernel (`CONFIG_VIDEO_AR0330=y`)
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- The PCL profiles for AR0330 are present at `/proc/device-tree/camera-pcl/profiles/ar0330@2_0010` and `/proc/device-tree/camera-pcl/profiles/ar0330@2_0018`
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- Even if the camera is not detected on I2C bus 2 (addresses 0x10 or 0x18), this module conflict resolution may still fix the issue
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