Upgrade driver to support JetPack 6.1 (L4T R36.4) on RQX-59G

.gitignore

@@ -47,3 +47,4 @@ modules.order
 Module.symvers
 Mkfile.old
 build
+*.dts

drivers/debian/control

@@ -9,5 +9,5 @@ Homepage: <https://sensor.tier4.jp/automotive-hdr-camera-jp>
 Package: tier4-camera-gmsl
 Architecture: arm64
 Provides: tier4-camera-gmsl
-Depends: ${misc:Depends}
+Depends: ${misc:Depends}, gpiod
 Description: Tier4 ISX021 GMSL2 Camera Kernel Module.

drivers/debian/etc/modprobe.d/tier4-imx490.conf

@@ -1,27 +1,32 @@
 # Configurations: 
 # "trigger_mode=0" run cameras in master 10fps mode. (Default)
 # "trigger_mode=1" run cameras in slave(External pulse sync) 10fps mode.
-# "trigger_mode=2" run cameras in maste 20fps mode.
+# "trigger_mode=2" run cameras in master 20fps mode.
 # "trigger_mode=3" run cameras in slave(External pulse sync) 20fps mode.
 # "trigger_mode=4" run cameras in master 30fps mode.
 # "trigger_mode=5" run cameras in slave(External pulse sync) 30fps mode.
-# 
-# "trigger_mode=1,3 and 5" are valid for ADLINK RQX-58G only.
+#
+# "trigger_mode=1,3 and 5" are valid for ADLINK RQX-58G/59G only.
 #
 # "enable_auto_exposure=0" disable auto-exposure feature. 
 # "enable_auto_exposure=1" enable auto-exposure feature. (Default)
 #
 # "enable_distortion_correction=0" disable distortion correction feature.
-# "enable_distortion_correction=1" enable distortion correction feature.(Default)
+# "enable_distortion_correction=1" enable distortion correction feature. (Default)
 #
-
 options tier4_imx490 trigger_mode=0 enable_auto_exposure=1 enable_distortion_correction=1
 
+
+# Note: 
+# The following parameters are valid for RQX-58G and RQX-59G.
+# 
+# "fsync_mode=0" disable FPGA Fsync mode. (Default)
+# "fsync_mode=1" enable FPGA Fsync Auto Trigger mode.
+# "fsync_mode=2" enable FPGA Fsync Manual Trigger mode.
 #
-# The following parameter is valid for ADLINK RQX-58G only.
-#
-# "generate_fsync=0" External pulse is not automatically genereated by FPGA(Default).
-# "generate_fsync=1" External pulse is automatically genereated by FPGA( not supported yet).
+# "fps_cam1_cam2=10" set 10fps for cam1&2 in Fsync Auto Trigger mode. (FPS 10/20/30)
+# "fps_cam3_cam4=10" set 10fps for cam3&4 in Fsync Auto Trigger mode. (FPS 10/20/30)
+# "fps_cam5_cam6=10" set 10fps for cam5&6 in Fsync Auto Trigger mode. (FPS 10/20/30)
+# "fps_cam7_cam8=10" set 10fps for cam7&8 in Fsync Auto Trigger mode. (FPS 10/20/30)
 #
-
-options tier4_fpga generate_fsync=0
+options tier4_fpga fsync_mode=0 fps_cam1_cam2=10 fps_cam3_cam4=10 fps_cam5_cam6=10 fps_cam7_cam8=10

drivers/debian/etc/modprobe.d/tier4-isx021.conf

@@ -1,19 +1,26 @@
 # Configurations: 
 # "trigger_mode=0" run cameras in master mode. (Default)
-# "trigger_mode=1" run cameras in slave(External pulse sync) mode, and valid for ADLINK RQX-58G only.
+# "trigger_mode=1" run cameras in slave(External pulse sync) mode, and valid for ADLINK RQX-58G/59G only.
 #
 # "enable_auto_exposure=0" disable auto-exposure feature. 
 # "enable_auto_exposure=1" enable auto-exposure feature. (Default)
 #
-# "enable_distortion_correction=0" disable distortion correction feature. (Default)
-# "enable_distortion_correction=1" enable distortion correction feature.
+# "enable_distortion_correction=0" disable distortion correction feature.
+# "enable_distortion_correction=1" enable distortion correction feature. (Default)
 #
-
 options tier4_isx021 trigger_mode=0 enable_auto_exposure=1 enable_distortion_correction=1
 
-# The following parameter is valid for ADLINK RQX-58G only.
-# "generate_fsync=0" External pulse is not automatically genereated by FPGA. (Default)
-# "generate_fsync=1" External pulse is automatically genereated by FPGA( not supported yet).
-#
 
-options tier4_fpga generate_fsync=0
+# Note: 
+# The following parameters are valid for RQX-58G and RQX-59G.
+# 
+# "fsync_mode=0" disable FPGA Fsync mode. (Default)
+# "fsync_mode=1" enable FPGA Fsync Auto Trigger mode.
+# "fsync_mode=2" enable FPGA Fsync Manual Trigger mode.
+#
+# "fps_cam1_cam2=10" set 10fps for cam1&2 in Fsync Auto Trigger mode. (FPS 1~30)
+# "fps_cam3_cam4=10" set 10fps for cam3&4 in Fsync Auto Trigger mode. (FPS 1~30)
+# "fps_cam5_cam6=10" set 10fps for cam5&6 in Fsync Auto Trigger mode. (FPS 1~30)
+# "fps_cam7_cam8=10" set 10fps for cam7&8 in Fsync Auto Trigger mode. (FPS 1~30)
+#
+options tier4_fpga fsync_mode=0 fps_cam1_cam2=10 fps_cam3_cam4=10 fps_cam5_cam6=10 fps_cam7_cam8=10

drivers/debian/etc/modules-load.d/tier4-imx490-gmsl.conf

@@ -1,6 +1,7 @@
+max20089
+tier4-fpga
 tier4-max9295
 tier4-max9296
-tier4-fpga
 tier4-gw5300
 tier4-isx021
 tier4-imx490

drivers/debian/etc/modules-load.d/tier4-isx021-gmsl.conf

@@ -1,4 +1,5 @@
+max20089
+tier4-fpga
 tier4-isx021
 tier4-max9295
 tier4-max9296
-tier4-fpga

drivers/debian/etc/udev/rules.d/99-tier4-isx021-imx490-gmsl.rules

@@ -0,0 +1,38 @@
+# Checking with 'udevadm info --path=/sys/class/video4linux/video0 --attribute-walk'
+
+# for JetPack 5.x (L4T R35.x)
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 30-002b", SYMLINK+= "gmsl/tier4-imx490-cam1"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 30-001b", SYMLINK+= "gmsl/tier4-isx021-cam1"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 30-002c", SYMLINK+= "gmsl/tier4-imx490-cam2"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 30-001c", SYMLINK+= "gmsl/tier4-isx021-cam2"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 31-002b", SYMLINK+= "gmsl/tier4-imx490-cam3"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 31-001b", SYMLINK+= "gmsl/tier4-isx021-cam3"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 31-002c", SYMLINK+= "gmsl/tier4-imx490-cam4"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 31-001c", SYMLINK+= "gmsl/tier4-isx021-cam4"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 32-002b", SYMLINK+= "gmsl/tier4-imx490-cam5"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 32-001b", SYMLINK+= "gmsl/tier4-isx021-cam5"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 32-002c", SYMLINK+= "gmsl/tier4-imx490-cam6"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 32-001c", SYMLINK+= "gmsl/tier4-isx021-cam6"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 33-002b", SYMLINK+= "gmsl/tier4-imx490-cam7"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 33-001b", SYMLINK+= "gmsl/tier4-isx021-cam7"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 33-002c", SYMLINK+= "gmsl/tier4-imx490-cam8"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 33-001c", SYMLINK+= "gmsl/tier4-isx021-cam8"
+
+# for JetPack 6.x (L4T R36.x)
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 9-001b", SYMLINK+= "gmsl/tier4-isx021-cam1"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 9-001c", SYMLINK+= "gmsl/tier4-isx021-cam2"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 10-001b", SYMLINK+= "gmsl/tier4-isx021-cam3"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 10-001c", SYMLINK+= "gmsl/tier4-isx021-cam4"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 11-001b", SYMLINK+= "gmsl/tier4-isx021-cam5"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 11-001c", SYMLINK+= "gmsl/tier4-isx021-cam6"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 12-001b", SYMLINK+= "gmsl/tier4-isx021-cam7"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 12-001c", SYMLINK+= "gmsl/tier4-isx021-cam8"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 9-002b", SYMLINK+= "gmsl/tier4-imx490-cam1"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 9-002c", SYMLINK+= "gmsl/tier4-imx490-cam2"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 10-002b", SYMLINK+= "gmsl/tier4-imx490-cam3"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 10-002c", SYMLINK+= "gmsl/tier4-imx490-cam4"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 11-002b", SYMLINK+= "gmsl/tier4-imx490-cam5"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 11-002c", SYMLINK+= "gmsl/tier4-imx490-cam6"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 12-002b", SYMLINK+= "gmsl/tier4-imx490-cam7"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 12-002c", SYMLINK+= "gmsl/tier4-imx490-cam8"
+

drivers/debian/etc/udev/rules.d/99-tier4-isx021-imx490-rqx59g.rules

@@ -0,0 +1,37 @@
+# Checking with 'udevadm info --path=/sys/class/video4linux/video0 --attribute-walk'
+
+# for JetPack 5.x (L4T R35.x)
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 30-001d", SYMLINK+= "gmsl/tier4-isx021-cam1"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 30-001e", SYMLINK+= "gmsl/tier4-isx021-cam2"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 31-001d", SYMLINK+= "gmsl/tier4-isx021-cam3"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 31-001e", SYMLINK+= "gmsl/tier4-isx021-cam4"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 32-001d", SYMLINK+= "gmsl/tier4-isx021-cam5"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 32-001e", SYMLINK+= "gmsl/tier4-isx021-cam6"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 33-001d", SYMLINK+= "gmsl/tier4-isx021-cam7"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 33-001e", SYMLINK+= "gmsl/tier4-isx021-cam8"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 30-002b", SYMLINK+= "gmsl/tier4-imx490-cam1"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 30-002c", SYMLINK+= "gmsl/tier4-imx490-cam2"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 31-002b", SYMLINK+= "gmsl/tier4-imx490-cam3"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 31-002c", SYMLINK+= "gmsl/tier4-imx490-cam4"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 32-002b", SYMLINK+= "gmsl/tier4-imx490-cam5"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 32-002c", SYMLINK+= "gmsl/tier4-imx490-cam6"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 33-002b", SYMLINK+= "gmsl/tier4-imx490-cam7"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 33-002c", SYMLINK+= "gmsl/tier4-imx490-cam8"
+
+# for JetPack 6.x (L4T R36.x)
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 9-001d", SYMLINK+= "gmsl/tier4-isx021-cam1"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 9-001e", SYMLINK+= "gmsl/tier4-isx021-cam2"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 10-001d", SYMLINK+= "gmsl/tier4-isx021-cam3"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 10-001e", SYMLINK+= "gmsl/tier4-isx021-cam4"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 11-001d", SYMLINK+= "gmsl/tier4-isx021-cam5"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 11-001e", SYMLINK+= "gmsl/tier4-isx021-cam6"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 12-001d", SYMLINK+= "gmsl/tier4-isx021-cam7"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_isx021 12-001e", SYMLINK+= "gmsl/tier4-isx021-cam8"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 9-002b", SYMLINK+= "gmsl/tier4-imx490-cam1"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 9-002c", SYMLINK+= "gmsl/tier4-imx490-cam2"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 10-002b", SYMLINK+= "gmsl/tier4-imx490-cam3"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 10-002c", SYMLINK+= "gmsl/tier4-imx490-cam4"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 11-002b", SYMLINK+= "gmsl/tier4-imx490-cam5"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 11-002c", SYMLINK+= "gmsl/tier4-imx490-cam6"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 12-002b", SYMLINK+= "gmsl/tier4-imx490-cam7"
+SUBSYSTEM=="video4linux", ATTR{name}=="vi-output, tier4_imx490 12-002c", SYMLINK+= "gmsl/tier4-imx490-cam8"

drivers/debian/postinst

@@ -37,6 +37,17 @@ case "$1" in
 	;;
 esac
 
+# Preserve the udev rules for the running hardware platform, and delete the others
+RQX59G_DT=RQX590
+RQX59G_CNT=$(head /proc/device-tree/model | tr -d "\0" | grep -c $RQX59G_DT) || true
+if [ $RQX59G_CNT -eq 1 ]; then
+	# Preserve udev rules for RQX59G, delete the others
+	rm -f /etc/udev/rules.d/99-tier4-isx021-imx490-gmsl.rules
+else
+	# Preserve udev rules for default Orin, delete the others
+	rm -f /etc/udev/rules.d/99-tier4-isx021-imx490-rqx59g.rules
+fi
+
 # dh_installdeb will replace this with shell code automatically
 # generated by other debhelper scripts.
 

drivers/debian/prerm

@@ -5,13 +5,13 @@ NAME=tier4-camera-gmsl
 VERSION=1.5.0
 KERNEL_REL=$(uname -r)
 
-ISX021_GMSL_DTBO=$(ls /boot/tier4-isx021-gmsl*)
+ISX021_GMSL_DTBO=$(ls /boot/tier4-isx021-*.dtbo)
 ISX021_GMSL_DTBO_EXIST=$?
 
-IMX490_GMSL_DTBO=$(ls /boot/tier4-imx490-gmsl-*)
-ISX490_GMSL_DTBO_EXIST=$?
+IMX490_GMSL_DTBO=$(ls /boot/tier4-imx490-*.dtbo)
+IMX490_GMSL_DTBO_EXIST=$?
 
-IMX728_GMSL_DTBO=$(ls /boot/tier4-imx728-gmsl-*)
+IMX728_GMSL_DTBO=$(ls /boot/tier4-imx728-*.dtbo)
 IMX728_GMSL_DTBO_EXIST=$?
 
 
@@ -28,6 +28,7 @@ case "$1" in
          rm -f /lib/modules/$KERNEL_REL/updates/dkms/tier4-max9296.ko
          rm -f /lib/modules/$KERNEL_REL/updates/dkms/tier4-gw5300.ko
          rm -f /lib/modules/$KERNEL_REL/updates/dkms/tier4-fpga.ko
+         rm -f /lib/modules/$KERNEL_REL/updates/dkms/max20089.ko
          rm -f /lib/firmware/tier4-isx021.bin
          rm -f /etc/modules-load.d/tier4-isx021-gmsl.conf
          rm -f /etc/modules-load.d/tier4-imx490-gmsl.conf

drivers/dkms.conf

@@ -26,5 +26,8 @@ DEST_MODULE_LOCATION[5]="/updates"
 BUILT_MODULE_NAME[6]="tier4-imx728"
 DEST_MODULE_LOCATION[6]="/updates"
 
+BUILT_MODULE_NAME[7]="max20089"
+DEST_MODULE_LOCATION[7]="/updates"
+
 AUTOINSTALL="yes"
 # REMAKE_INITRD=no

drivers/src/Makefile

@@ -265,6 +265,24 @@ else ifeq ($(L4T_RELEASE_MAIN), R35)
             TARGET_ISX021_IMX490_DTS        := Unknown
             TARGET_ISX021_IMX490_IMX728_DTS := Unknown
         endif
+else ifeq ($(L4T_RELEASE_MAIN), R36)
+        ifeq ($(MODEL),$(ROScube_Orin_Model_word))
+            # RQX-59G R36.x
+            KERNELRELEASE                   := $(shell uname -r)
+            TARGET_ISX021_DTS               := tier4-isx021-gmsl-device-tree-overlay-roscube-orin-r364
+            TARGET_IMX490_DTS               := tier4-imx490-gmsl-device-tree-overlay-roscube-orin-r364
+            TARGET_IMX728_DTS               := tier4-imx728-gmsl-device-tree-overlay-roscube-orin-r364
+            TARGET_ISX021_IMX490_DTS        := tier4-isx021-imx490-gmsl-device-tree-overlay-roscube-orin-r364
+            TARGET_ISX021_IMX490_IMX728_DTS := tier4-isx021-imx490-imx728-gmsl-device-tree-overlay-roscube-orin-r364
+            MAKE_OVERLAY_DTS_CMD            := make_overlay_dts_roscube-orin-r364.py r36.4
+        else
+            KERNELRELEASE                   := $(shell uname -r)
+            TARGET_ISX021_DTS               := Unknown
+            TARGET_IMX490_DTS               := Unknown
+            TARGET_IMX729_DTS               := Unknown
+            TARGET_ISX021_IMX490_DTS        := Unknown
+            TARGET_ISX021_IMX490_IMX728_DTS := Unknown
+        endif
 else
     KERNELRELEASE := Unknown
     TARGET_ISX021_DTS               := Unknown
@@ -305,9 +323,14 @@ ifeq ($(ARCH), arm64)
     endif
 endif
 
+# for JetPack 6.x (L4T R36.x)
+KBUILD_EXTRA_SYMBOLS += /usr/src/nvidia/nvidia-oot/Module.symvers
+ccflags-y += -I/usr/src/nvidia/nvidia-oot/include
+#
+
 ccflags-y += -DBUILD_STAMP="\"`date +'%Y-%m-%d %H:%M:%S'`\""
 
-obj-m := tier4-max9295.o tier4-max9296.o tier4-isx021.o tier4-imx490.o tier4-imx728.o tier4-gw5300.o tier4-fpga.o
+obj-m := tier4-max9295.o tier4-max9296.o tier4-isx021.o tier4-imx490.o tier4-imx728.o tier4-gw5300.o tier4-fpga.o max20089.o
 
 # ------------------------------------------------