Failing camera on 2.0.0 with Connect Tech Anvil

[a-yyg]

Problem

Installing the latest version with support for Connect Tech Anvil shows a camera that fails consistently:

autoware@localhost:~$ sudo dmesg | grep Detection
[sudo] password for autoware: 
[   30.296226] tier4_isx021 12-001b: Detection for ISX021 sensor failed.
autoware@localhost:~$ ls -la /dev/video*
crw-rw----+ 1 root video 81,  0  2月  3 11:57 /dev/video0
crw-rw----+ 1 root video 81, 10  2月  3 11:57 /dev/video1
crw-rw----+ 1 root video 81, 12  2月  3 11:57 /dev/video2
crw-rw----+ 1 root video 81, 14  2月  3 11:57 /dev/video3
crw-rw----+ 1 root video 81, 16  2月  3 11:57 /dev/video4
crw-rw----+ 1 root video 81, 18  2月  3 11:57 /dev/video5
crw-rw----+ 1 root video 81, 20  2月  3 11:57 /dev/video6

I have eight C1 cameras connected, and they all work, apart from the one connected to port 12-001b. Switching cables does not change the failing port.

Environment

JetPack 6.1/L4T R36.4
ORIN-AGX-36.4.0-V002

Boot Files

autoware@localhost:~$ tree /boot/
/boot/
├── dtb
│   ├── kernel_tegra234-orin-agx-cti-AGX201.dtb
│   └── kernel_tegra234-orin-agx-cti-AGX201-t4.dtb
├── efi
│   └── EFI
│       └── BOOT
│           └── BOOTAA64.efi
├── extlinux
│   ├── extlinux.conf
│   └── extlinux.conf.nv-update-extlinux-backup
├── Image
├── Image.backup
├── initrd
├── initrd.img -> initrd.img-5.15.148-tegra
├── initrd.img-5.15.148-tegra
├── kernel_tegra234-orin-agx-cti-AGX201.dtb
├── tegra234-carveouts.dtbo
├── tegra234-orin-agx-cti-0000.dtbo
├── tegra234-orin-agx-cti-0004.dtbo
├── tegra234-orin-agx-cti-0005.dtbo
├── tegra234-orin-agx-cti-AGX201.dtb
├── tegra234-orin-agx-cti-AGX201-JCB002-ECON-STURDeCAM31.dtb
├── tegra234-orin-agx-cti-AGX201-JCB002-LI-IMX390.dtb
├── tegra234-orin-agx-cti-AGX201-JCB002-LI-OWL.dtb
├── tegra234-orin-agx-cti-AGX201-JCB002-ZEDX.dtb
├── tegra234-orin-agx-cti-AGX201-JCB003.dtb
├── tegra234-orin-agx-cti-AGX202.dtb
├── tegra234-orin-agx-cti-AGX202-JCB002-ECON-STURDeCAM31.dtb
├── tegra234-orin-agx-cti-AGX202-JCB002-LI-IMX390.dtb
├── tegra234-orin-agx-cti-AGX202-JCB002-LI-OWL.dtb
├── tegra234-orin-agx-cti-AGX202-JCB002-ZEDX.dtb
├── tegra234-orin-agx-cti-AGX202-JCB003.dtb
├── tegra234-orin-agxi-cti-AGX201.dtb
├── tegra234-orin-agxi-cti-AGX201-JCB002-ECON-STURDeCAM31.dtb
├── tegra234-orin-agxi-cti-AGX201-JCB002-LI-IMX390.dtb
├── tegra234-orin-agxi-cti-AGX201-JCB002-LI-OWL.dtb
├── tegra234-orin-agxi-cti-AGX201-JCB002-ZEDX.dtb
├── tegra234-orin-agxi-cti-AGX201-JCB003.dtb
├── tegra234-orin-agxi-cti-AGX202.dtb
├── tegra234-orin-agxi-cti-AGX202-JCB002-ECON-STURDeCAM31.dtb
├── tegra234-orin-agxi-cti-AGX202-JCB002-LI-IMX390.dtb
├── tegra234-orin-agxi-cti-AGX202-JCB002-LI-OWL.dtb
├── tegra234-orin-agxi-cti-AGX202-JCB002-ZEDX.dtb
├── tegra234-orin-agxi-cti-AGX202-JCB003.dtb
├── tegra-optee.dtbo
├── tier4-imx490-gmsl-device-tree-overlay-anvil-r36.dtbo
├── tier4-imx728-gmsl-device-tree-overlay-anvil-r36.dtbo
├── tier4-isx021-gmsl-device-tree-overlay-anvil-r36.dtbo
├── tier4-isx021-imx490-gmsl-device-tree-overlay-anvil-r36.dtbo
└── tier4-isx021-imx490-imx728-gmsl-device-tree-overlay-anvil-r36.dtbo

# /boot/extlinux/extlinux.conf
TIMEOUT 30
DEFAULT t4_primary_c1x8

MENU TITLE L4T boot options

LABEL primary
      MENU LABEL primary kernel
      LINUX /boot/Image
      INITRD /boot/initrd
      APPEND ${cbootargs} root=/dev/mmcblk0p1 rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 console=ttyAMA0,115200 firmware_class.path=/etc/firmware fbcon=map:0 nospectre_bhb video=efifb:off console=tty0 

# BEGIN ANSIBLE MANAGED BLOCK FOR t4_primary_c1x8
LABEL t4_primary_c1x8
        MENU LABEL Custom Header Config: t4_primary_c1x8
        LINUX /boot/Image
        INITRD /boot/initrd
        FDT /boot/dtb/kernel_tegra234-orin-agx-cti-AGX201-t4.dtb
        OVERLAYS /boot/tier4-isx021-gmsl-device-tree-overlay-anvil-r36.dtbo
        APPEND ${cbootargs} root=/dev/mmcblk0p1 rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 console=ttyAMA0,115200 firmware_class.path=/etc/firmware fbcon=map:0 nospectre_bhb video=efifb:off console=tty0
# END ANSIBLE MANAGED BLOCK FOR t4_primary_c1x8

[drwnz]

@a-yyg Thank you for reporting this issue. Have you tried connecting just one camera to the affected port?

[a-yyg]

@drwnz Connecting with just one camera to the failing port causes all detections to fail.

autoware@localhost:~$ sudo dmesg | grep Detection
[sudo] password for autoware: 
[   20.185942] tier4_isx021 9-001b: Detection for ISX021 sensor failed.
[   20.401897] tier4_isx021 9-001c: Detection for ISX021 sensor failed.
[   21.721939] tier4_isx021 10-001b: Detection for ISX021 sensor failed.
[   21.941533] tier4_isx021 10-001c: Detection for ISX021 sensor failed.
[   23.368875] tier4_isx021 11-001b: Detection for ISX021 sensor failed.
[   23.819624] tier4_isx021 11-001c: Detection for ISX021 sensor failed.
[   25.141311] tier4_isx021 12-001b: Detection for ISX021 sensor failed.
[   25.365453] tier4_isx021 12-001c: Detection for ISX021 sensor failed.
autoware@localhost:~$ ls /dev/video*
ls: cannot access '/dev/video*': No such file or directory

Switching the port from 12-001b to 10-001b, the camera is succesfully detected.

autoware@localhost:~$ sudo dmesg | grep isx | grep Detect
[   20.088121] tier4_isx021 9-001b: Detection for ISX021 sensor failed.
[   20.304089] tier4_isx021 9-001c: Detection for ISX021 sensor failed.
[   23.042407] tier4_isx021 10-001b: Detected ISX021 sensor.
[   23.324924] tier4_isx021 10-001c: Detection for ISX021 sensor failed.
[   24.643046] tier4_isx021 11-001b: Detection for ISX021 sensor failed.
[   24.859582] tier4_isx021 11-001c: Detection for ISX021 sensor failed.
[   26.111192] tier4_isx021 12-001b: Detection for ISX021 sensor failed.
[   26.327039] tier4_isx021 12-001c: Detection for ISX021 sensor failed.
autoware@localhost:~$ ls /dev/video*
/dev/video0