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# TK1-SOM CSI Camera Testing Guide # TK1-SOM AR0330 Camera Setup Guide
## Hardware Information ## Hardware Information
- The TK1-SOM supports dual CSI-2 ports - The TK1-SOM supports dual CSI-2 ports
- Default camera sensor: IMX135 - AR0330 sensor: 3MP, 1/3" CMOS
- Alternative sensor: AR0330 (3MP, 1/3" CMOS)
- Camera connects through CSI interface and I2C for control - Camera connects through CSI interface and I2C for control
## Prerequisites ## System Requirements
1. TK1-SOM running L4T (Linux for Tegra) - TK1-SOM running L4T (Linux for Tegra) R21.3
2. Camera module properly connected to CSI port
3. Required kernel modules:
- videobuf2-dma-contig.ko
- soc_camera_platform.ko
- nvhost-vi.ko
- tegra_camera.ko
## Checking Camera Presence
### 1. Hardware Connection Check
- Verify physical connection to CSI port
- Check cable orientation and connection integrity
- Ensure camera power supply is connected
### 2. I2C Detection
```bash
# Check each I2C bus for camera presence
for i in {0..5}; do
echo "=== i2c-$i ==="
sudo i2cdetect -y $i
done
```
The IMX135 sensor should appear on one of the I2C buses if properly connected.
For AR0330, check i2c-2 for addresses 0x10 or 0x18.
### 3. Kernel Module Status
```bash
# Check if camera modules are loaded
lsmod | grep -E 'video|tegra|camera'
# Check for video devices
ls -l /dev/video*
```
### 4. System Logs
```bash
# Check kernel messages for camera detection
dmesg | grep -i 'camera\|imx\|tegra\|ar0330'
```
## GStreamer Testing
### 1. Check Available GStreamer Plugins
```bash
# List NVIDIA-specific plugins
gst-inspect-1.0 | grep nv
# Check nvcamerasrc capabilities
gst-inspect-1.0 nvcamerasrc
```
### 2. Test Camera Stream
```bash
# Basic camera test pipeline
gst-launch-1.0 nvcamerasrc ! 'video/x-raw(memory:NVMM),width=1280,height=720,format=NV12,framerate=30/1' ! nvvidconv ! nvoverlaysink
```
## Troubleshooting
### 1. Initial Checks
- Verify camera is connected to CSI #1 port
- Check I2C detection:
- For IMX135: bus 0 (devices at 0x56 and 0x4c-0x4d)
- For AR0330: bus 2 (devices at 0x10 or 0x18)
- Verify appropriate driver is loaded in kernel logs
- Check for video device nodes (/dev/video*)
### 2. Module Loading Issues
- Kernel modules must match the running kernel version
- Current kernel: 3.10.40-gc017b03
- Required modules:
- videobuf2-dma-contig.ko
- soc_camera_platform.ko
- nvhost-vi.ko
- tegra_camera.ko
- Module paths:
- /lib/modules/3.10.40-gc017b03/kernel/drivers/media/v4l2-core/videobuf2-dma-contig.ko
- /lib/modules/3.10.40-gc017b03/kernel/drivers/media/platform/soc_camera/soc_camera_platform.ko
- /lib/modules/3.10.40-gc017b03/kernel/drivers/video/tegra/host/vi/nvhost-vi.ko
- /lib/modules/3.10.40-gc017b03/kernel/drivers/media/platform/soc_camera/tegra_camera/tegra_camera.ko
### 3. Device Node Issues
- Check if /dev/video- nodes exist
- Verify permissions on video devices
- Check video4linux subsystem: ls -l /sys/class/video4linux/
### 4. GStreamer Testing
- Verify nvcamerasrc plugin is available: gst-inspect-1.0 | grep nv
- Check nvcamerasrc capabilities: gst-inspect-1.0 nvcamerasrc
- Test camera stream with:
```bash
gst-launch-1.0 nvcamerasrc ! 'video/x-raw(memory:NVMM),width=1280,height=720,format=NV12,framerate=30/1' ! nvvidconv ! nvoverlaysink
```
- Common GStreamer errors:
- "Can not open camera device": Check physical connection and kernel modules
- "Pipeline doesn't want to pause": Verify camera power and CSI connection
### 5. Common Problems
- Missing kernel modules
- Mismatched L4T version
- Incorrect I2C address
- CSI lane configuration issues
- Power supply problems
- Camera not properly initialized
- Driver compatibility issues
### 6. AR0330 Specific Issues
- Built into kernel (CONFIG_VIDEO_AR0330=y)
- Uses Platform Camera Layer (PCL) for initialization
- Check device tree configuration:
```bash
# View camera PCL profiles
cat /proc/device-tree/camera-pcl/profiles/ar0330@2_*/name
```
- Common AR0330 problems:
- I2C communication failures on bus 2
- PCL initialization failures
- Video Input (vi) driver registration issues
- Power sequencing problems
- Hardware checks for AR0330:
- Verify correct I2C address selection (0x10 or 0x18)
- Check MIPI/Parallel interface configuration
- Confirm power supply meets 2.8V analog and 1.8V digital requirements
- Verify MCLK is properly configured
## System Information
- L4T Version: R21.3
- Kernel Version: 3.10.40 - Kernel Version: 3.10.40
- Architecture: armv7l - AR0330 driver built into kernel (CONFIG_VIDEO_AR0330=y)
- Camera Support:
- IMX135: Built into kernel (CONFIG_VIDEO_IMX135=y)
- AR0330: Built into kernel (CONFIG_VIDEO_AR0330=y)
- VI Support: Modular (CONFIG_TEGRA_GRHOST_VI=m)
## Additional Resources ## AR0330 Camera Module Conflict Resolution
- TK1-SOM Reference Guide The AR0330 camera on TK1-SOM has a known issue with module conflicts. The `nvhost_vi` and `tegra_camera` modules both try to register the VI driver, causing initialization failures.
- L4T Documentation
- GStreamer Documentation for NVIDIA plugins
- AR0330 Datasheet for detailed sensor specifications
## AR0330 Camera Troubleshooting Solution ### Manual Fix
If you're experiencing issues with the AR0330 camera not being detected or initialized properly, follow these steps: To manually fix the issue:
### Module Conflict Resolution
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:
1. Check if the `nvhost_vi` module is loaded: 1. Check if the `nvhost_vi` module is loaded:
```bash ```bash
lsmod | grep -i vi lsmod | grep -i vi
``` ```
2. If `nvhost_vi` is loaded but `tegra_camera` is not, unload `nvhost_vi` and load `tegra_camera`: 2. Unload `nvhost_vi` and load `tegra_camera`:
```bash ```bash
sudo rmmod nvhost_vi sudo rmmod nvhost_vi
sudo modprobe tegra_camera sudo modprobe tegra_camera
@ -193,7 +36,7 @@ There is a known conflict between the `nvhost_vi` and `tegra_camera` modules. Bo
lsmod | grep -E "video|tegra|camera" lsmod | grep -E "video|tegra|camera"
``` ```
You should see output similar to: Expected output:
``` ```
tegra_camera 20484 0 tegra_camera 20484 0
soc_camera_platform 2106 1 soc_camera_platform 2106 1
@ -204,22 +47,83 @@ There is a known conflict between the `nvhost_vi` and `tegra_camera` modules. Bo
```bash ```bash
ls -l /dev/video* ls -l /dev/video*
``` ```
You should see `/dev/video0` or similar device nodes.
5. Verify the camera is working by checking its properties: ### Automatic Fix (Recommended)
For a permanent solution that works across reboots, create an init script:
1. Create the init script:
```bash
sudo tee /etc/init.d/camera-module-fix << EOF
#!/bin/sh
### BEGIN INIT INFO
# Provides: camera-module-fix
# Required-Start: \$local_fs \$remote_fs
# Required-Stop: \$local_fs \$remote_fs
# Default-Start: 2 3 4 5
# Default-Stop: 0 1 6
# Short-Description: Fix camera module loading
### END INIT INFO
case "\$1" in
start)
echo "Unloading nvhost_vi module..."
rmmod nvhost_vi || true
echo "Loading tegra_camera module..."
modprobe tegra_camera || true
;;
stop)
;;
*)
echo "Usage: /etc/init.d/camera-module-fix {start|stop}"
exit 1
;;
esac
exit 0
EOF
```
2. Make the script executable and enable it to run at boot time:
```bash
sudo chmod +x /etc/init.d/camera-module-fix
sudo update-rc.d camera-module-fix defaults
```
3. Run the script manually to apply changes immediately:
```bash
sudo /etc/init.d/camera-module-fix start
```
## Testing the Camera
1. Verify the camera is working by checking its properties:
```bash ```bash
v4l2-ctl --all --device /dev/video0 v4l2-ctl --all --device /dev/video0
``` ```
### Kernel Version Considerations 2. Test camera stream with GStreamer:
```bash
gst-launch-1.0 nvcamerasrc ! 'video/x-raw(memory:NVMM),width=1280,height=720,format=NV12,framerate=30/1' ! nvvidconv ! nvoverlaysink
```
- The solution above was tested on kernel version `3.10.40-grinch-21.3.4` ## Troubleshooting
- Make sure you're using the correct module for your kernel version
- Module path: `/lib/modules/3.10.40-grinch-21.3.4/kernel/drivers/media/platform/soc_camera/tegra_camera/tegra_camera.ko`
### Additional Notes If the camera is still not detected:
- The AR0330 driver is built into the kernel (`CONFIG_VIDEO_AR0330=y`) 1. Check physical connections to CSI port
- 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` 2. Verify I2C detection (AR0330 should be on bus 2 at address 0x10 or 0x18):
- Even if the camera is not detected on I2C bus 2 (addresses 0x10 or 0x18), this module conflict resolution may still fix the issue ```bash
for i in {0..5}; do echo "=== i2c-$i ==="; sudo i2cdetect -y $i; done
```
3. Check kernel logs for errors:
```bash
dmesg | grep -i "camera\|ar0330\|tegra\|vi"
```
## Additional Resources
- TK1-SOM Reference Guide
- AR0330 Datasheet
- L4T Documentation