IntelRealSense · Nir-Az · Feb 19, 2024 · Jan 2, 2024 · Feb 12, 2024 · Feb 12, 2024
diff --git a/README.md b/README.md
@@ -3,7 +3,7 @@
 # D457 MIPI on Jetson AGX Xavier
 The RealSense MIPI platform driver enables the user to control and stream RealSense 3D MIPI cameras.
 The system shall include:
-* Jetson platform (Currently Supported JetPack versions are: 5.0.2, 4.6.1)
+* Jetson platform (Currently Supported JetPack versions are: 6.0, 5.1.2, 5.0.2, 4.6.1)
 * RealSense De-Serialize board (https://store.intelrealsense.com/buy-intel-realsense-des457.html)
 * RS MIPI camera (e.g. https://store.intelrealsense.com/buy-intel-realsense-depth-camera-d457.html)
 
@@ -25,9 +25,26 @@ The developers can set up the source code with NVIDIA's Jetson git repositories
 ./setup_workspace.sh [JetPack_version]
 ```
 
-Or download Jetson Linux source code tarball from [JetPack 5.1.2 BSP sources](https://developer.nvidia.com/downloads/embedded/l4t/r35_release_v4.1/sources/public_sources.tbz2), [JetPack 5.0.2 BSP sources](https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/sources/public_sources.tbz2), [JetPack 4.6.1 BSP sources](https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/sources/t186/public_sources.tbz2).
+Or download Jetson Linux source code tarball from 
+- [JetPack 6.0-DP BSP sources](https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v2.0/sources/public_sources.tbz2)
+- [JetPack 5.1.2 BSP sources](https://developer.nvidia.com/downloads/embedded/l4t/r35_release_v4.1/sources/public_sources.tbz2) 
+- [JetPack 5.0.2 BSP sources](https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/sources/public_sources.tbz2) 
+- [JetPack 4.6.1 BSP sources](https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/sources/t186/public_sources.tbz2)
 
 ```
+# JetPack 6.0
+mkdir -p l4t-gcc/6.0
+cd ./l4t-gcc/6.0
+wget https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v2.0/toolchain/aarch64--glibc--stable-2022.08-1.tar.bz2 -O aarch64--glibc--stable-final.tar.bz2
+tar xf aarch64--glibc--stable-final.tar.bz2 --strip-components 1
+cd ../..
+wget https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v2.0/sources/public_sources.tbz2
+tar xjf public_sources.tbz2
+cd Linux_for_Tegra/source
+tar xjf kernel_src.tbz2
+tar xjf kernel_oot_modules_src.tbz2
+tar xjf nvidia_kernel_display_driver_source.tbz2
+
 # JetPack 5.1.2
 mkdir -p l4t-gcc/5.1.2
 cd ./l4t-gcc/5.1.2
@@ -43,14 +60,14 @@ tar xjf kernel_src.tbz2
 mkdir -p l4t-gcc/5.0.2
 cd ./l4t-gcc/5.0.2
 wget https://developer.nvidia.com/embedded/jetson-linux/bootlin-toolchain-gcc-93 -O aarch64--glibc--stable-final.tar.gz
-tar xf aarch64--glibc--stable-final.tar.gz
+tar xf aarch64--glibc--stable-final.tar.gz --strip-components 1
 cd ../..
 wget https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/sources/public_sources.tbz2
 tar xjf public_sources.tbz2
 cd Linux_for_Tegra/source/public
 tar xjf kernel_src.tbz2
 
-# or JetPack 4.6.1
+# JetPack 4.6.1
 mkdir -p l4t-gcc/4.6.1
 cd ./l4t-gcc/4.6.1
 wget http://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/aarch64-linux-gnu/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz
@@ -70,6 +87,8 @@ Apply D457 patches and build the kernel image, dtb and D457 driver.
 
 # or, if using direct download method
 # ./apply_patches_ext.sh [--one-cam | --dual-cam] ./Linux_for_tegra/source/public [JetPack_version]
+# for JP6.0, source path is ./Linux_for_tegra/source :
+# ./apply_patches_ext.sh ./Linux_for_tegra/source 6.0
 
 Note: The `--one-cam` and `--dual-cam` option applies only for JetPack 5.0.2,
 compatible with adapter: https://store.intelrealsense.com/buy-intel-realsense-des457.html.
@@ -91,6 +110,71 @@ sudo apt install build-essential bc flex bison
 
 Debian packages will be generated in `images` folder.
 
+## Install kernel and D457 driver to Jetson Orin
+<details>
+<summary>JP6.0 build results</summary>
+
+- kernel image (not modified): `images/6.0/rootfs/boot/Image`
+- dtb overlay: `images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay.dtbo`
+- oot modules: `images/6.0/rootfs/lib/modules/5.15.122-tegra/extra`
+
+Following steps required:
+
+1.	Copy entire directory `images/6.0/rootfs/lib/modules/5.15.122-tegra/extra/` from host to `/lib/modules/5.15.122-tegra/extra/` on Orin
+2.	Copy `tegra234-camera-d4xx-overlay.dtbo` from host to `/boot/tegra234-camera-d4xx-overlay.dtbo` on Orin
+3.	Run  $ `sudo /opt/nvidia/jetson-io/jetson-io.py`
+    1.	Configure Jetson AGX CSI Connector
+    2.	Configure for compatible hardware
+    3.	Jetson RealSense Camera D457
+    4.	$ `sudo depmod`
+    5.	$ `echo "d4xx" | sudo tee /etc/modules-load.d/d4xx.conf`
+4.	Reboot
+
+Copy them to the right places:
+
+```
+scp -r images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay.dtbo [email protected]:~/
+scp -r images/6.0/rootfs/lib/modules/5.15.122-tegra/extra [email protected]:~/
+```
+
+on target:
+
+```
+sudo cp ~/tegra234-camera-d4xx-overlay.dtbo /boot/
+# backup:
+sudo tar -cjf /lib/modules/$(uname -r)/modules_$(uname -r)_extra.tar.bz2 /lib/modules/$(uname -r)/extra
+sudo cp -r ~/extra /lib/modules/$(uname -r)/
+```
+
+Enable d4xx overlay:
+
+With Jetson-IO tool:
+`sudo /opt/nvidia/jetson-io/jetson-io.py`
+
+1.	Configure Jetson AGX CSI Connector
+2.	Configure for compatible hardware
+3.	Jetson RealSense Camera D457
+
+With command line
+
+`sudo /opt/nvidia/jetson-io/config-by-hardware.py -n 2="Jetson RealSense Camera D457"`
+
+Expected:
+```
+nvidia@ubuntu:~$ sudo /opt/nvidia/jetson-io/config-by-hardware.py -n 2="Jetson RealSense Camera D457"
+Configuration saved to /boot/tegra234-camera-d4xx-overlay.dtbo.
+Reboot system to reconfigure.
+```
+Enable d4xx autoload:
+
+`echo "d4xx" | sudo tee /etc/modules-load.d/d4xx.conf`
+
+`sudo depmod`
+
+---
+
+</details>
+
 ## Install kernel and D457 driver to Jetson AGX Xavier
 
 1. Install the kernel and modules
@@ -101,7 +185,8 @@ Copy the Debian package `linux-image-5.10.104-d457_5.10.104-d457-1_arm64.deb` to
 
 1.2 If building with `build_all.sh`
 
-The necessary files are at
+The necessary files are:
+
 - kernel image `images/<JetPack_version>/arch/arm64/boot/Image`
 - dtb `images/<JetPack_version>/arch/arm64/boot/dts/nvidia/tegra194-p2888-0001-p2822-0000.dtb`, or `images/4.6.1/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb` for JetPack 4.6.1.
 - D457 driver `images/<JetPack_version>/drivers/media/i2c/d4xx.ko`

diff --git a/apply_patches.sh b/apply_patches.sh
@@ -31,7 +31,11 @@ cd "$DEVDIR"
 if [[ "$JETPACK_VERSION" == "4.6.1" ]]; then
     JP5_D4XX_DTSI="tegra194-camera-d4xx.dtsi"
 fi
-
+if [[ "$JETPACK_VERSION" == "6.0" ]]; then
+    D4XX_SRC_DST=nvidia-oot
+else
+    D4XX_SRC_DST=kernel/nvidia
+fi
 # NVIDIA SDK Manager's JetPack 4.6.1 source_sync.sh doesn't set the right folder name, it mismatches with the direct tar
 # package source code. Correct the folder name.
 if [ -d sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen-industrial-dts ]; then
@@ -46,13 +50,26 @@ apply_external_patches() {
     fi
 }
 
-apply_external_patches $1 kernel/nvidia
-apply_external_patches $1 $KERNEL_DIR
-apply_external_patches $1 hardware/nvidia/platform/t19x/galen/kernel-dts
+apply_external_patches $1 $D4XX_SRC_DST
+
+if [ -d ${KERNEL_DIR}/${JETPACK_VERSION} ]; then
+    apply_external_patches $1 $KERNEL_DIR
+fi
+
+if [[ "$JETPACK_VERSION" == "6.0" ]]; then
+    apply_external_patches $1 hardware/nvidia/t23x/nv-public
+else
+    apply_external_patches $1 hardware/nvidia/platform/t19x/galen/kernel-dts
+fi
 
 if [ $1 = 'apply' ]; then
-    cp $DEVDIR/kernel/realsense/d4xx.c $DEVDIR/sources_$JETPACK_VERSION/kernel/nvidia/drivers/media/i2c/
-    cp $DEVDIR/hardware/realsense/$JP5_D4XX_DTSI $DEVDIR/sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts/common/tegra194-camera-d4xx.dtsi
+    cp $DEVDIR/kernel/realsense/d4xx.c $DEVDIR/sources_$JETPACK_VERSION/${D4XX_SRC_DST}/drivers/media/i2c/
+    if [[ "$JETPACK_VERSION" == "6.0" ]]; then
+        # jp6 overlay
+        cp $DEVDIR/hardware/realsense/tegra234-camera-d4xx-overlay.dts $DEVDIR/sources_$JETPACK_VERSION/hardware/nvidia/t23x/nv-public/overlay/
+    else
+        cp $DEVDIR/hardware/realsense/$JP5_D4XX_DTSI $DEVDIR/sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts/common/tegra194-camera-d4xx.dtsi
+    fi
 elif [ $1 = 'reset' ]; then
-    [[ -f $DEVDIR/sources_$JETPACK_VERSION/kernel/nvidia/drivers/media/i2c/d4xx.c ]] && rm $DEVDIR/sources_$JETPACK_VERSION/kernel/nvidia/drivers/media/i2c/d4xx.c
+    [[ -f $DEVDIR/sources_$JETPACK_VERSION/${D4XX_SRC_DST}/drivers/media/i2c/d4xx.c ]] && rm $DEVDIR/sources_$JETPACK_VERSION/${D4XX_SRC_DST}/drivers/media/i2c/d4xx.c
 fi
diff --git a/apply_patches_ext.sh b/apply_patches_ext.sh
@@ -1,4 +1,6 @@
 #!/bin/bash
+# Jetson Linux
+# JP6.0 https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v2.0/sources/public_sources.tbz2
 set -e
 
 if [[ $# < 1 ]]; then
@@ -29,21 +31,36 @@ cd "$DEVDIR"
 if [[ "$JETPACK_VERSION" == "4.6.1" ]]; then
     JP5_D4XX_DTSI="tegra194-camera-d4xx.dtsi"
 fi
-
+if [[ "$JETPACK_VERSION" == "6.0" ]]; then
+    D4XX_SRC_DST=nvidia-oot
+else
+    D4XX_SRC_DST=kernel/nvidia
+fi
 # NVIDIA SDK Manager's JetPack 4.6.1 source_sync.sh doesn't set the right folder name, it mismatches with the direct tar
 # package source code. Correct the folder name.
 if [ -d $1/hardware/nvidia/platform/t19x/galen-industrial-dts ]; then
     mv $1/hardware/nvidia/platform/t19x/galen-industrial-dts $1/hardware/nvidia/platform/t19x/galen-industrial
 fi
 
 apply_external_patches() {
-cat ${PWD}/$2/$JETPACK_VERSION/* | patch -p1 --directory=${PWD}/$1/$2/
+    cat ${PWD}/$2/$JETPACK_VERSION/* | patch -p1 --directory=${PWD}/$1/$2/
 }
 
-apply_external_patches $1 kernel/nvidia
-apply_external_patches $1 $KERNEL_DIR
-apply_external_patches $1 hardware/nvidia/platform/t19x/galen/kernel-dts
+apply_external_patches $1 $D4XX_SRC_DST
+if [ -d ${KERNEL_DIR}/${JETPACK_VERSION} ]; then
+    apply_external_patches $1 $KERNEL_DIR
+fi
+if [[ "$JETPACK_VERSION" == "6.0" ]]; then
+    apply_external_patches $1 hardware/nvidia/t23x/nv-public
+else
+    apply_external_patches $1 hardware/nvidia/platform/t19x/galen/kernel-dts
+fi
 
 # For a common driver for JP4 + JP5 we override the i2c driver and ignore the previous that was created from patches
-cp $DEVDIR/kernel/realsense/d4xx.c $DEVDIR/$1/kernel/nvidia/drivers/media/i2c/
-cp $DEVDIR/hardware/realsense/$JP5_D4XX_DTSI $DEVDIR/$1/hardware/nvidia/platform/t19x/galen/kernel-dts/common/tegra194-camera-d4xx.dtsi
+cp $DEVDIR/kernel/realsense/d4xx.c $DEVDIR/$1/${D4XX_SRC_DST}/drivers/media/i2c/
+if [[ "$JETPACK_VERSION" == "6.0" ]]; then
+    # jp6 overlay
+    cp $DEVDIR/hardware/realsense/tegra234-camera-d4xx-overlay.dts $DEVDIR/$1/hardware/nvidia/t23x/nv-public/overlay/
+else
+    cp $DEVDIR/hardware/realsense/$JP5_D4XX_DTSI $DEVDIR/$1/hardware/nvidia/platform/t19x/galen/kernel-dts/common/tegra194-camera-d4xx.dtsi
+fi
diff --git a/build_all.sh b/build_all.sh
@@ -9,15 +9,18 @@ if [[ "$1" == "-h" ]]; then
 fi
 
 export DEVDIR=$(cd `dirname $0` && pwd)
+NPROC=$(nproc)
 
 . $DEVDIR/scripts/setup-common "$1"
 
 SRCS="$DEVDIR/sources_$JETPACK_VERSION"
 if [[ -n "$2" ]]; then
-    SRCS="$2"
+    SRCS=$(realpath $2)
 fi
 
-if [[ "$JETPACK_VERSION" == "5.1.2" ]]; then
+if [[ "$JETPACK_VERSION" == "6.0" ]]; then
+    export CROSS_COMPILE=$DEVDIR/l4t-gcc/$JETPACK_VERSION/bin/aarch64-buildroot-linux-gnu-
+elif [[ "$JETPACK_VERSION" == "5.1.2" ]]; then
     export CROSS_COMPILE=$DEVDIR/l4t-gcc/$JETPACK_VERSION/bin/aarch64-buildroot-linux-gnu-
 elif [[ "$JETPACK_VERSION" == "5.0.2" ]]; then
     export CROSS_COMPILE=$DEVDIR/l4t-gcc/$JETPACK_VERSION/bin/aarch64-buildroot-linux-gnu-
@@ -32,8 +35,28 @@ export KERNEL_MODULES_OUT=$TEGRA_KERNEL_OUT/modules
 # Check if BUILD_NUMBER is set as it will add a postfix to the kernel name "vermagic" (normally it happens on CI who have BUILD_NUMBER defined)
 [[ -n "${BUILD_NUMBER}" ]] && echo "Warning! You have BUILD_NUMBER set to ${BUILD_NUMBER}, This will affect your vermagic"
 
-cd $SRCS/$KERNEL_DIR
+# Build jp6 out-of-tree modules
+# following: 
+# https://docs.nvidia.com/jetson/archives/r36.2/DeveloperGuide/SD/Kernel/KernelCustomization.html#building-the-jetson-linux-kernel
+if [[ "$JETPACK_VERSION" == "6.0" ]]; then
+    cd $SRCS
+    export KERNEL_HEADERS=$SRCS/kernel/kernel-jammy-src
+    ln -sf $TEGRA_KERNEL_OUT $SRCS/out
+    make ARCH=arm64 -C kernel
+    # export KERNEL_HEADERS=$SRCS/out
+    make ARCH=arm64 modules
+    make ARCH=arm64 dtbs
+    mkdir -p $TEGRA_KERNEL_OUT/rootfs/boot/dtb
+    cp $SRCS/nvidia-oot/device-tree/platform/generic-dts/dtbs/tegra234-p3737-0000+p3701-0000-nv.dtb $TEGRA_KERNEL_OUT/rootfs/boot/dtb/
+    cp $SRCS/nvidia-oot/device-tree/platform/generic-dts/dtbs/tegra234-camera-d4xx-overlay.dtbo $TEGRA_KERNEL_OUT/rootfs/boot/
+    export INSTALL_MOD_PATH=$TEGRA_KERNEL_OUT/rootfs/
+    make ARCH=arm64 install -C kernel
+    make ARCH=arm64 modules_install
+else
+#jp4/5
+    cd $SRCS/$KERNEL_DIR
+    make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_defconfig
+    make ARCH=arm64 O=$TEGRA_KERNEL_OUT -j${NPROC}
+    make ARCH=arm64 O=$TEGRA_KERNEL_OUT modules_install INSTALL_MOD_PATH=$KERNEL_MODULES_OUT
+fi
 
-make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_defconfig
-make ARCH=arm64 O=$TEGRA_KERNEL_OUT -j`nproc`
-make ARCH=arm64 O=$TEGRA_KERNEL_OUT modules_install INSTALL_MOD_PATH=$KERNEL_MODULES_OUT -j`nproc`
diff --git a/hardware/nvidia/t23x/nv-public/6.0/0001-overlay-enable-d4xx-camera-for-Orin-jp6.patch b/hardware/nvidia/t23x/nv-public/6.0/0001-overlay-enable-d4xx-camera-for-Orin-jp6.patch
@@ -0,0 +1,25 @@
+From 91e9bb1de78dbd96dc80d47e1a7c1fd28873e8fa Mon Sep 17 00:00:00 2001
+From: Dmitry Perchanov <[email protected]>
+Date: Mon, 29 Jan 2024 05:52:20 +0200
+Subject: [PATCH] overlay: enable d4xx camera for Orin jp6
+
+Signed-off-by: Dmitry Perchanov <[email protected]>
+---
+ overlay/Makefile | 1 +
+ 1 file changed, 1 insertion(+)
+
+diff --git a/overlay/Makefile b/overlay/Makefile
+index b3b0638..ff0cb54 100644
+--- a/overlay/Makefile
++++ b/overlay/Makefile
+@@ -54,6 +54,7 @@ dtbo-y += tegra234-p3737-camera-dual-hawk-ar0234-e3653-overlay.dtbo
+ dtbo-y += tegra234-p3737-camera-imx390-overlay.dtbo
+ dtbo-y += tegra234-p3737-camera-p3762-a00-overlay.dtbo
+ dtbo-y += tegra234-p3740-camera-p3783-a00-overlay.dtbo
++dtbo-y += tegra234-camera-d4xx-overlay.dtbo
+
+
+ ifneq ($(dtb-y),)
+-- 
+2.34.1
+