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imx477 - patched NVIDIA tegracam driver

Out-of-tree build of NVIDIA's nv_imx477 (L4T 36.4.3 tegracam), patched to add the 4032x3040 @ 30fps mode (4:3, 10-bit Bayer; near-full-sensor, the array is 4056x3040) for the Jetson Orin Nano on L4T R36.5 / JetPack 6. The stock driver does not expose this mode; the patch follows RidgeRun's reference.

Built against /usr/src/nvidia/nvidia-oot/Module.symvers so the module resolves tegracam_device_register and friends correctly.

Files

  • nv_imx477.c - upstream NVIDIA L4T 36.4.3 driver (with a small conftest.h stub so it compiles against L4T 36.5 headers).
  • imx477_mode_tbls.h - patched mode tables. Adds 4032x3040@30 (sensor_mode=0) and 2028x1520@60 (sensor_mode=3, currently VI-rejected). See the history backups:
    • .before0x0820 - pre CSI link-rate fix
    • .withbadfrm - had the 4-lane duplicate frmfmt row that shifted all mode indices (fixed by removing that row).
    • .pre_2k60 - last known good before the 2K60 experiment.
  • Makefile - builds out-of-tree against nvidia-oot symbols.
  • nvidia/conftest.h - one-line stub that defines NV_I2C_DRIVER_STRUCT_REMOVE_RETURN_TYPE_INT 1 so the driver compiles on 36.5's kernel headers.

Build + install

On the Jetson:

cd ~/imx477_build
make
sudo cp nv_imx477.ko /lib/modules/$(uname -r)/updates/drivers/media/i2c/nv_imx477.ko
sudo depmod -a
sudo reboot

Device tree

This driver requires a matching device-tree overlay at /boot/tegra234-p3767-camera-p3768-imx477-dual.dtbo with line_length=9024, pix_clk_hz=840000000, max_framerate=30000000 on mode0. Install it with the scripts in ../dtbo_patches/ (sudo ./apply.sh).

Argus (the normal path)

Normal use goes through Argus, not raw V4L2. The overlay in dtbo_patches/ declares the sensor to NVIDIA's camera stack (tegra-camera-platform + per-mode descriptors) and this driver binds to it via compatible = "ridgerun,imx477", so nvarguscamerasrc sees the 4K mode.

# confirm Argus enumerates the 4032x3040 mode
gst-launch-1.0 nvarguscamerasrc sensor-id=0 num-buffers=1 ! fakesink 2>&1 | grep -A20 'Available Sensor modes'

# capture 4032x3040 @ 30fps through Argus (zero-copy NVMM)
gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! \
  'video/x-raw(memory:NVMM),width=4032,height=3040,framerate=30/1' ! \
  nvvidconv ! fakesink

Raw sensor check (V4L2, ISP-bypassed)

A register-level sanity check that the sensor streams; not the normal path.

# 4032x3040 @ 30fps (main mode; use --stream-to=/dev/null to avoid USB rootfs bottleneck)
v4l2-ctl -d /dev/video0 --set-fmt-video=width=4032,height=3040,pixelformat=RG10
v4l2-ctl -d /dev/video0 --set-ctrl=bypass_mode=0,override_enable=1,sensor_mode=0,frame_rate=30000000,exposure=20000,gain=50
v4l2-ctl -d /dev/video0 --stream-mmap=4 --stream-count=N --stream-to=<sink>

bypass_mode=0 and override_enable=1 are required -- without them, the driver ignores user exposure/gain ctrl values.

Upstream references