Jetson Xavier平台 MIPI接口采集FPGA 图像视频 （2）驱动调试

free-jdx 2021-02-19 17:01:32 16535
NVIDIA英伟达
1. 前言

上一篇是完成了驱动移植；
这里主要是记录驱动调试过程

2. 调试如下

（1）dmesg

...
[    7.108554] ov5693 2-0036: probing v4l2 sensor no i2c.
[    7.109445] ov5693 2-0036: tegracam sensor driver:ov5693_v2.0.6
[    7.109486] tegra194-vi5 15c10000.vi: subdev ov5693 2-0036 bound

Xavier无法捕捉画面。
/dev/video0成功出现后，尝试了tegra194-camera-e3326-a00的各种编辑，但捕获结果都是相同的。

（2） v4l2-ctl --list-formats-ext

ioctl: VIDIOC_ENUM_FMT
    Index       : 0
    Type        : Video Capture
    Pixel Format: 'YUYV'
    Name        : YUYV 4:2:2
        Size: Discrete 1920x1080
            Interval: Discrete 0.033s (30.000 fps)

    Index       : 1
    Type        : Video Capture
    Pixel Format: 'YUYV'
    Name        : YUYV 4:2:2
        Size: Discrete 1920x1080
            Interval: Discrete 0.033s (30.000 fps)

（3）v4l2-ctl --all

Driver Info (not using libv4l2):
    Driver name   : tegra-video
    Card type     : vi-output, ov5693 2-0036
    Bus info      : platform:15c10000.vi:2
    Driver version: 4.9.140
    Capabilities  : 0x84200001
        Video Capture
        Streaming
        Extended Pix Format
        Device Capabilities
    Device Caps   : 0x04200001
        Video Capture
        Streaming
        Extended Pix Format
Priority: 2
Video input : 0 (Camera 2: no power)
Format Video Capture:
    Width/Height      : 1920/1080
    Pixel Format      : 'YUYV'
    Field             : None
    Bytes per Line    : 3840
    Size Image        : 4147200
    Colorspace        : sRGB
    Transfer Function : Default (maps to sRGB)
    YCbCr/HSV Encoding: Default (maps to ITU-R 601)
    Quantization      : Default (maps to Limited Range)
    Flags             : 

Camera Controls

                     group_hold 0x009a2003 (bool)   : default=0 value=0 flags=execute-on-write
                     hdr_enable 0x009a2004 (intmenu): min=0 max=1 default=0 value=0
                           gain 0x009a2009 (int64)  : min=0 max=0 step=0 default=0 value=10 flags=slider
                       exposure 0x009a200a (int64)  : min=0 max=0 step=0 default=0 value=34 flags=slider
                     frame_rate 0x009a200b (int64)  : min=0 max=0 step=0 default=0 value=1816577 flags=slider
                 exposure_short 0x009a200c (int64)  : min=0 max=0 step=0 default=0 value=34 flags=slider
           sensor_configuration 0x009a2032 (u32)    : min=0 max=0 step=0 default=0 flags=read-only, volatile, has-payload
         sensor_mode_i2c_packet 0x009a2033 (u32)    : min=0 max=0 step=0 default=0 flags=read-only, volatile, has-payload
      sensor_control_i2c_packet 0x009a2034 (u32)    : min=0 max=0 step=0 default=0 flags=read-only, volatile, has-payload
                    bypass_mode 0x009a2064 (intmenu): min=0 max=1 default=0 value=0
                override_enable 0x009a2065 (intmenu): min=0 max=1 default=0 value=0
                   height_align 0x009a2066 (int)    : min=1 max=16 step=1 default=1 value=1
                     size_align 0x009a2067 (intmenu): min=0 max=2 default=0 value=0
               write_isp_format 0x009a2068 (int)    : min=1 max=1 step=1 default=1 value=1
       sensor_signal_properties 0x009a2069 (u32)    : min=0 max=0 step=0 default=0 flags=read-only, has-payload
        sensor_image_properties 0x009a206a (u32)    : min=0 max=0 step=0 default=0 flags=read-only, has-payload
      sensor_control_properties 0x009a206b (u32)    : min=0 max=0 step=0 default=0 flags=read-only, has-payload
              sensor_dv_timings 0x009a206c (u32)    : min=0 max=0 step=0 default=0 flags=read-only, has-payload
               low_latency_mode 0x009a206d (bool)   : default=0 value=0
               preferred_stride 0x009a206e (int)    : min=0 max=65535 step=1 default=0 value=0
                   sensor_modes 0x009a2082 (int)    : min=0 max=30 step=1 default=30 value=1 flags=read-only

（4）v4l2-compliance

v4l2-compliance SHA   : not available

Driver Info:
    Driver name   : tegra-video
    Card type     : vi-output, ov5693 2-0036
    Bus info      : platform:15c10000.vi:2
    Driver version: 4.9.140
    Capabilities  : 0x84200001
        Video Capture
        Streaming
        Extended Pix Format
        Device Capabilities
    Device Caps   : 0x04200001
        Video Capture
        Streaming
        Extended Pix Format

Compliance test for device /dev/video0 (not using libv4l2):

Required ioctls:
    test VIDIOC_QUERYCAP: OK

Allow for multiple opens:
    test second video open: OK
    test VIDIOC_QUERYCAP: OK
    test VIDIOC_G/S_PRIORITY: OK
    test for unlimited opens: OK

Debug ioctls:
    test VIDIOC_DBG_G/S_REGISTER: OK (Not Supported)
    test VIDIOC_LOG_STATUS: OK

Input ioctls:
    test VIDIOC_G/S_TUNER/ENUM_FREQ_BANDS: OK (Not Supported)
    test VIDIOC_G/S_FREQUENCY: OK (Not Supported)
    test VIDIOC_S_HW_FREQ_SEEK: OK (Not Supported)
    test VIDIOC_ENUMAUDIO: OK (Not Supported)
    test VIDIOC_G/S/ENUMINPUT: OK
    test VIDIOC_G/S_AUDIO: OK (Not Supported)
    Inputs: 1 Audio Inputs: 0 Tuners: 0

Output ioctls:
    test VIDIOC_G/S_MODULATOR: OK (Not Supported)
    test VIDIOC_G/S_FREQUENCY: OK (Not Supported)
    test VIDIOC_ENUMAUDOUT: OK (Not Supported)
    test VIDIOC_G/S/ENUMOUTPUT: OK (Not Supported)
    test VIDIOC_G/S_AUDOUT: OK (Not Supported)
    Outputs: 0 Audio Outputs: 0 Modulators: 0

Input/Output configuration ioctls:
    test VIDIOC_ENUM/G/S/QUERY_STD: OK (Not Supported)
    test VIDIOC_ENUM/G/S/QUERY_DV_TIMINGS: OK (Not Supported)
    test VIDIOC_DV_TIMINGS_CAP: OK (Not Supported)
    test VIDIOC_G/S_EDID: OK (Not Supported)

Test input 0:

    Control ioctls:
        test VIDIOC_QUERY_EXT_CTRL/QUERYMENU: OK
        test VIDIOC_QUERYCTRL: OK
        test VIDIOC_G/S_CTRL: OK
        test VIDIOC_G/S/TRY_EXT_CTRLS: OK
        test VIDIOC_(UN)SUBSCRIBE_EVENT/DQEVENT: OK
        test VIDIOC_G/S_JPEGCOMP: OK (Not Supported)
        Standard Controls: 1 Private Controls: 21

    Format ioctls:
        fail: v4l2-test-formats.cpp(273): duplicate format 56595559 (YUYV)
        test VIDIOC_ENUM_FMT/FRAMESIZES/FRAMEINTERVALS: FAIL
        fail: v4l2-test-formats.cpp(1184): ret && node->has_frmintervals
        test VIDIOC_G/S_PARM: FAIL
        test VIDIOC_G_FBUF: OK (Not Supported)
        test VIDIOC_G_FMT: OK
        test VIDIOC_TRY_FMT: OK
        test VIDIOC_S_FMT: OK
        test VIDIOC_G_SLICED_VBI_CAP: OK (Not Supported)
        test Cropping: OK (Not Supported)
        test Composing: OK (Not Supported)
        test Scaling: OK (Not Supported)

    Codec ioctls:
        test VIDIOC_(TRY_)ENCODER_CMD: OK (Not Supported)
        test VIDIOC_G_ENC_INDEX: OK (Not Supported)
        test VIDIOC_(TRY_)DECODER_CMD: OK (Not Supported)

    Buffer ioctls:
        test VIDIOC_REQBUFS/CREATE_BUFS/QUERYBUF: OK
        test VIDIOC_EXPBUF: OK

Test input 0:

Total: 43, Succeeded: 41, Failed: 2, Warnings: 0

（5）v4l2-ctl -d /dev/video0 --set-ctrl bypass_mode=0 --stream-mmap --stream-count=1 --stream-to=test.raw --verbose

VIDIOC_QUERYCAP: ok
VIDIOC_S_EXT_CTRLS: ok
VIDIOC_REQBUFS: ok
VIDIOC_QUERYBUF: ok
VIDIOC_QBUF: ok
VIDIOC_QUERYBUF: ok
VIDIOC_QBUF: ok
VIDIOC_QUERYBUF: ok
VIDIOC_QBUF: ok
VIDIOC_QUERYBUF: ok
VIDIOC_QBUF: ok
VIDIOC_STREAMON: ok
    Index    : 0
    Type     : Video Capture
    Flags    : mapped, error
    Field    : None
    Sequence : 0
    Length   : 4147200
    Bytesused: 4147200
    Timestamp: 0.000000s (Monotonic, End-of-Frame)

    Index    : 0
    Type     : Video Capture
    Flags    : mapped, error
    Field    : None
    Sequence : 0
    Length   : 4147200
    Bytesused: 4147200
    Timestamp: 0.000000s (Monotonic, End-of-Frame)

    Index    : 1
    Type     : Video Capture
    Flags    : mapped, error
    Field    : None
    Sequence : 1
    Length   : 4147200
    Bytesused: 4147200
    Timestamp: 0.000000s (Monotonic, End-of-Frame)

    Index    : 2
    Type     : Video Capture
    Flags    : mapped, error
    Field    : None
    Sequence : 2
    Length   : 4147200
    Bytesused: 4147200
    Timestamp: 0.000000s (Monotonic, End-of-Frame)

    Index    : 3
    Type     : Video Capture
    Flags    : mapped, error
    Field    : None
    Sequence : 3
    Length   : 4147200
    Bytesused: 4147200
    Timestamp: 0.000000s (Monotonic, End-of-Frame)

尝试捕获时的输出显示了以下“无回调”和“无应答”消息，以及[RCE]消息。只要捕获的v4l-ctl命令处于活动状态，“no reply”和[RCE]消息就会重复。

..
[  646.329062] [RCE] vi5_hwinit: firmware CL2018101701 protocol version 2.2
[  649.049066] tegra194-vi5 15c10000.vi: no reply from camera processor
[  649.049238] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[  649.049421] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[  649.051956] tegra-capture-ivc ivc-bc00000.rtcpu:ivccontrol@3: No callback found for msg id: 0x39
[  649.052198] tegra-capture-ivc ivc-bc00000.rtcpu:ivccontrol@3: No callback found for msg id: 0x41
[  649.052355] tegra-capture-ivc ivc-bc00000.rtcpu:ivccontrol@3: No callback found for msg id: 0x37
[  649.052569] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel
[  651.609039] tegra194-vi5 15c10000.vi: no reply from camera processor
[  651.609234] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[  651.609385] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[  651.611768] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel
[  654.169155] tegra194-vi5 15c10000.vi: no reply from camera processor
[  654.169320] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[  654.169503] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[  654.171807] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel
[  656.673063] tegra194-vi5 15c10000.vi: no reply from camera processor
[  656.673233] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[  656.673369] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[  656.675863] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel
...
[  822.113081] [RCE] Configuring VI GoS.
[  822.113092] [RCE] VM GOS[#0] addr=0xc2100000
[  822.113123] [RCE] VM GOS[#1] addr=0xc2101000
[  822.113127] [RCE] VM GOS[#2] addr=0xc2102000
[  822.113132] [RCE] VM GOS[#3] addr=0xc2103000
[  822.113137] [RCE] VM GOS[#4] addr=0xc2104000
[  822.113142] [RCE] VM GOS[#5] addr=0xc2105000
[  822.113148] [RCE] vi5_hwinit: firmware CL2018101701 protocol version 2.2
[  822.113156] [RCE] VI GOS[#0] set to VM GOS[4] base 0xc2104000
[  824.665113] tegra194-vi5 15c10000.vi: no reply from camera processor
[  824.665285] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[  824.665437] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[  824.668518] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel

（6）修改clock

root@xavier:/home/nvidia# echo 1 > /sys/kernel/debug/bpmp/debug/clk/vi/mrq_rate_locked
root@xavier:/home/nvidia# echo 1 > /sys/kernel/debug/bpmp/debug/clk/isp/mrq_rate_locked
root@xavier:/home/nvidia# echo 1 > /sys/kernel/debug/bpmp/debug/clk/nvcsi/mrq_rate_locked
root@xavier:/home/nvidia# cat /sys/kernel/debug/bpmp/debug/clk/vi/max_rate |tee /sys/kernel/debug/bpmp/debug/clk/vi/rate
998400000
root@xavier:/home/nvidia# cat /sys/kernel/debug/bpmp/debug/clk/isp/max_rate | tee  /sys/kernel/debug/bpmp/debug/clk/isp/rate
1190400000
root@xavier:/home/nvidia# cat /sys/kernel/debug/bpmp/debug/clk/nvcsi/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/nvcsi/rate
400000000

运行跟踪会产生一系列失败:

root@xavier:/home/nvidia# echo 1 > /sys/kernel/debug/tracing/events/camera_common/enable
root@xavier:/home/nvidia# echo > /sys/kernel/debug/tracing/trace
root@xavier:/home/nvidia# cat /sys/kernel/debug/tracing/trace
# tracer: nop
#
# entries-in-buffer/entries-written: 55/55   #P:4
#
#                              _-----=> irqs-off
#                             / _----=> need-resched
#                            | / _---=> hardirq/softirq
#                            || / _--=> preempt-depth
#                            ||| /     delay
#           TASK-PID   CPU#  ||||    TIMESTAMP  FUNCTION
#              | |       |   ||||       |         |
     kworker/0:2-8798  [000] ....   834.781128: rtos_queue_peek_from_isr_failed: tstamp:26455774612 queue:0x0bcbcf78
 vi-output, ov56-9418  [000] ....   834.907538: tegra_channel_capture_setup: vnc_id 0 W 1920 H 1080 fmt 10
     kworker/0:2-8798  [000] ....   834.949053: rtos_queue_send_from_isr_failed: tstamp:26460695653 queue:0x0bcb41f8
     kworker/0:2-8798  [000] ....   834.949059: rtos_queue_send_from_isr_failed: tstamp:26460695815 queue:0x0bcb8a60
     kworker/0:2-8798  [000] ....   834.949061: rtos_queue_send_from_isr_failed: tstamp:26460695976 queue:0x0bcba5e0
     kworker/0:2-8798  [000] ....   834.949062: rtos_queue_send_from_isr_failed: tstamp:26460696138 queue:0x0bcbb3a0
     kworker/0:2-8798  [000] ....   834.949063: rtos_queue_send_from_isr_failed: tstamp:26460696295 queue:0x0bcbc160
     kworker/0:2-8798  [000] ....   834.949065: rtos_queue_send_from_isr_failed: tstamp:26460754717 queue:0x0bcb41f8
     kworker/0:2-8798  [000] ....   834.949066: rtos_queue_send_from_isr_failed: tstamp:26460754877 queue:0x0bcb8a60
     kworker/0:2-8798  [000] ....   834.949068: rtos_queue_send_from_isr_failed: tstamp:26460755039 queue:0x0bcba5e0
     kworker/0:2-8798  [000] ....   834.949069: rtos_queue_send_from_isr_failed: tstamp:26460755197 queue:0x0bcbb3a0
     kworker/0:2-8798  [000] ....   834.949070: rtos_queue_send_from_isr_failed: tstamp:26460755352 queue:0x0bcbc160
     kworker/0:2-8798  [000] ....   834.949074: rtcpu_string: tstamp:26460761763 id:0x04010000 str:"Configuring VI GoS.
"
     kworker/0:2-8798  [000] ....   834.949120: rtcpu_string: tstamp:26460761972 id:0x04010000 str:"VM GOS[#0] addr=0xc2100000
"
     kworker/0:2-8798  [000] ....   834.949127: rtcpu_string: tstamp:26460762235 id:0x04010000 str:"VM GOS[#1] addr=0xc2101000
"
     kworker/0:2-8798  [000] ....   834.949134: rtcpu_string: tstamp:26460762513 id:0x04010000 str:"VM GOS[#2] addr=0xc2102000
"
     kworker/0:2-8798  [000] ....   834.949141: rtcpu_string: tstamp:26460762755 id:0x04010000 str:"VM GOS[#3] addr=0xc2103000
"
     kworker/0:2-8798  [000] ....   834.949147: rtcpu_string: tstamp:26460762998 id:0x04010000 str:"VM GOS[#4] addr=0xc2104000
"
     kworker/0:2-8798  [000] ....   834.949153: rtcpu_string: tstamp:26460763240 id:0x04010000 str:"VM GOS[#5] addr=0xc2105000
"
     kworker/0:2-8798  [000] ....   834.949190: rtos_queue_send_from_isr_failed: tstamp:26460767921 queue:0x0bcb41f8
     kworker/0:2-8798  [000] ....   834.949191: rtos_queue_send_from_isr_failed: tstamp:26460768081 queue:0x0bcb8a60
     kworker/0:2-8798  [000] ....   834.949193: rtos_queue_send_from_isr_failed: tstamp:26460768243 queue:0x0bcba5e0
     kworker/0:2-8798  [000] ....   834.949194: rtos_queue_send_from_isr_failed: tstamp:26460768398 queue:0x0bcbb3a0
     kworker/0:2-8798  [000] ....   834.949195: rtos_queue_send_from_isr_failed: tstamp:26460768554 queue:0x0bcbc160
     kworker/0:2-8798  [000] ....   834.949198: rtos_queue_peek_from_isr_failed: tstamp:26460774608 queue:0x0bcbcf78
     kworker/0:2-8798  [000] ....   834.949199: rtos_queue_send_from_isr_failed: tstamp:26460779228 queue:0x0bcb41f8
     kworker/0:2-8798  [000] ....   834.949201: rtos_queue_send_from_isr_failed: tstamp:26460779389 queue:0x0bcb8a60
     kworker/0:2-8798  [000] ....   834.949202: rtos_queue_send_from_isr_failed: tstamp:26460779550 queue:0x0bcba5e0
     kworker/0:2-8798  [000] ....   834.949203: rtos_queue_send_from_isr_failed: tstamp:26460779705 queue:0x0bcbb3a0
     kworker/0:2-8798  [000] ....   834.949205: rtos_queue_send_from_isr_failed: tstamp:26460779861 queue:0x0bcbc160
     kworker/0:2-8798  [000] ....   834.949206: rtos_queue_send_from_isr_failed: tstamp:26460788485 queue:0x0bcb41f8
     kworker/0:2-8798  [000] ....   834.949208: rtos_queue_send_from_isr_failed: tstamp:26460788643 queue:0x0bcb8a60
     kworker/0:2-8798  [000] ....   834.949209: rtos_queue_send_from_isr_failed: tstamp:26460788804 queue:0x0bcba5e0
     kworker/0:2-8798  [000] ....   834.949210: rtos_queue_send_from_isr_failed: tstamp:26460788965 queue:0x0bcbb3a0
     kworker/0:2-8798  [000] ....   834.949212: rtos_queue_send_from_isr_failed: tstamp:26460789119 queue:0x0bcbc160
     kworker/0:2-8798  [000] ....   834.949213: rtos_queue_send_from_isr_failed: tstamp:26460799931 queue:0x0bcb41f8
     kworker/0:2-8798  [000] ....   834.949214: rtos_queue_send_from_isr_failed: tstamp:26460800089 queue:0x0bcb8a60
     kworker/0:2-8798  [000] ....   834.949216: rtos_queue_send_from_isr_failed: tstamp:26460800250 queue:0x0bcba5e0
     kworker/0:2-8798  [000] ....   834.949217: rtos_queue_send_from_isr_failed: tstamp:26460800406 queue:0x0bcbb3a0
     kworker/0:2-8798  [000] ....   834.949218: rtos_queue_send_from_isr_failed: tstamp:26460800562 queue:0x0bcbc160
     kworker/0:2-8798  [000] ....   834.949221: rtcpu_vinotify_event: tstamp:26461038493 tag:RESERVED_18 channel:0x23 frame:0 vi_tstamp:26405888704 data:0x10000000
     kworker/0:2-8798  [000] ....   834.949223: rtcpu_vinotify_event: tstamp:26461038674 tag:RESERVED_18 channel:0x23 frame:0 vi_tstamp:26405892512 data:0x31000001
     kworker/0:2-8798  [000] ....   834.949224: rtcpu_vinotify_event: tstamp:26461038826 tag:RESERVED_19 channel:0x23 frame:0 vi_tstamp:26405893504 data:0x07020001
     kworker/0:2-8798  [000] ....   834.949226: rtcpu_vinotify_event: tstamp:26461038997 tag:RESERVED_18 channel:0x23 frame:0 vi_tstamp:26406249088 data:0x10000000
     kworker/0:2-8798  [000] ....   834.949227: rtcpu_vinotify_event: tstamp:26461039144 tag:RESERVED_18 channel:0x23 frame:0 vi_tstamp:26406252960 data:0x31000002
     kworker/0:2-8798  [000] ....   835.117032: rtos_queue_peek_from_isr_failed: tstamp:26465774613 queue:0x0bcbcf78
     kworker/0:2-8798  [000] ....   835.229022: rtos_queue_peek_from_isr_failed: tstamp:26470774613 queue:0x0bcbcf78
     kworker/0:2-8798  [000] ....   835.397026: rtos_queue_peek_from_isr_failed: tstamp:26475774613 queue:0x0bcbcf78
     kworker/0:2-8798  [000] ....   835.565041: rtos_queue_peek_from_isr_failed: tstamp:26480774606 queue:0x0bcbcf78
     kworker/0:2-8798  [000] ....   835.733049: rtos_queue_peek_from_isr_failed: tstamp:26485774607 queue:0x0bcbcf78
     kworker/0:2-8798  [000] ....   835.901035: rtos_queue_peek_from_isr_failed: tstamp:26490774608 queue:0x0bcbcf78
     kworker/0:2-8798  [000] ....   836.069076: rtos_queue_peek_from_isr_failed: tstamp:26495774613 queue:0x0bcbcf78
     kworker/0:2-8798  [000] ....   836.237037: rtos_queue_peek_from_isr_failed: tstamp:26500774612 queue:0x0bcbcf78
     kworker/0:2-8798  [000] ....   836.349060: rtos_queue_peek_from_isr_failed: tstamp:26505774611 queue:0x0bcbcf78
     kworker/0:2-8798  [000] ....   836.517055: rtos_queue_peek_from_isr_failed: tstamp:26510774612 queue:0x0bcbcf78

从上面的trace信息看 MIPI没有接收到图像信号；

需要检测发送端是否有正常发送图像数据

（7）修改CSI发送lane数

通过示波器检测FPGA发送端的CSI信号，是正常的，默认设置的是4lane；
这里尝试将发送端修改为单lane，发现图像可以正常采集

【这里需要修改FPGA的发送lane数配置，以及xavier接收端与lane相关的配置】

nvidia@xavier:~$ v4l2-ctl -d /dev/video0 --set-ctrl bypass_mode=0 --stream-mmap --stream-count=1 --stream-to=test_20210204_1.uyvy --verbose
VIDIOC_QUERYCAP: ok
VIDIOC_S_EXT_CTRLS: ok
VIDIOC_REQBUFS: ok
VIDIOC_QUERYBUF: ok
VIDIOC_QBUF: ok
VIDIOC_QUERYBUF: ok
VIDIOC_QBUF: ok
VIDIOC_QUERYBUF: ok
VIDIOC_QBUF: ok
VIDIOC_QUERYBUF: ok
VIDIOC_QBUF: ok
VIDIOC_STREAMON: ok
    Index    : 0
    Type     : Video Capture
    Flags    : mapped, error
    Field    : None
    Sequence : 0
    Length   : 4147200
    Bytesused: 4147200
    Timestamp: 0.000000s (Monotonic, End-of-Frame)

    Index    : 0
    Type     : Video Capture
    Flags    : mapped, error
    Field    : None
    Sequence : 0
    Length   : 4147200
    Bytesused: 4147200
    Timestamp: 0.000000s (Monotonic, End-of-Frame)

    Index    : 1
    Type     : Video Capture
    Flags    : mapped, error
    Field    : None
    Sequence : 1
    Length   : 4147200
    Bytesused: 4147200
    Timestamp: 0.000000s (Monotonic, End-of-Frame)

    Index    : 2
    Type     : Video Capture
    Flags    : mapped, error
    Field    : None
    Sequence : 2
    Length   : 4147200
    Bytesused: 4147200
    Timestamp: 0.000000s (Monotonic, End-of-Frame)

    Index    : 3
    Type     : Video Capture
    Flags    : mapped, error
    Field    : None
    Sequence : 3
    Length   : 4147200
    Bytesused: 4147200
    Timestamp: 0.000000s (Monotonic, End-of-Frame)

（8）修改发送lane为4lane

由于实际使用是4lane的CSI通道，这样传输的分辨率和帧率才可以达到使用需求；
所以这里继续调试4lane配置；

将lane相关的配置恢复成4lane，调试如下

avier:/home/nvidia# cat /sys/kernel/debug/tracing/trace
# tracer: nop
#
# entries-in-buffer/entries-written: 271771/271771   #P:4
#
#                              _-----=> irqs-off
#                             / _----=> need-resched
#                            | / _---=> hardirq/softirq
#                            || / _--=> preempt-depth
#                            ||| /     delay
#           TASK-PID   CPU#  ||||    TIMESTAMP  FUNCTION
#              | |       |   ||||       |         |
     kworker/0:3-1652  [000] ....   124.000935: rtos_queue_peek_from_isr_failed: tstamp:4222656399 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   124.168924: rtos_queue_peek_from_isr_failed: tstamp:4227656400 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   124.336891: rtos_queue_peek_from_isr_failed: tstamp:4232656399 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   124.504875: rtos_queue_peek_from_isr_failed: tstamp:4237656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   124.672908: rtos_queue_peek_from_isr_failed: tstamp:4242656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   124.784878: rtos_queue_peek_from_isr_failed: tstamp:4247656399 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   124.952918: rtos_queue_peek_from_isr_failed: tstamp:4252656399 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   125.120910: rtos_queue_peek_from_isr_failed: tstamp:4257656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   125.288939: rtos_queue_peek_from_isr_failed: tstamp:4262656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   125.456952: rtos_queue_peek_from_isr_failed: tstamp:4267656399 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   125.624974: rtos_queue_peek_from_isr_failed: tstamp:4272656399 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   125.792907: rtos_queue_peek_from_isr_failed: tstamp:4277656403 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   125.904913: rtos_queue_peek_from_isr_failed: tstamp:4282656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   126.072959: rtos_queue_peek_from_isr_failed: tstamp:4287656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   126.240983: rtos_queue_peek_from_isr_failed: tstamp:4292656399 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   126.408935: rtos_queue_peek_from_isr_failed: tstamp:4297656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   126.576916: rtos_queue_peek_from_isr_failed: tstamp:4302656399 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   126.744936: rtos_queue_peek_from_isr_failed: tstamp:4307656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   126.912933: rtos_queue_peek_from_isr_failed: tstamp:4312656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   127.024933: rtos_queue_peek_from_isr_failed: tstamp:4317656399 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   127.192933: rtos_queue_peek_from_isr_failed: tstamp:4322656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   127.360917: rtos_queue_peek_from_isr_failed: tstamp:4327656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   127.528943: rtos_queue_peek_from_isr_failed: tstamp:4332656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   127.696915: rtos_queue_peek_from_isr_failed: tstamp:4337656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   127.864936: rtos_queue_peek_from_isr_failed: tstamp:4342656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   128.032945: rtos_queue_peek_from_isr_failed: tstamp:4347656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   128.144942: rtos_queue_peek_from_isr_failed: tstamp:4352656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   128.312921: rtos_queue_peek_from_isr_failed: tstamp:4357656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   128.480891: rtos_queue_peek_from_isr_failed: tstamp:4362656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   128.648906: rtos_queue_peek_from_isr_failed: tstamp:4367656397 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   128.816900: rtos_queue_peek_from_isr_failed: tstamp:4372656404 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   128.984887: rtos_queue_peek_from_isr_failed: tstamp:4377656398 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   129.152883: rtos_queue_peek_from_isr_failed: tstamp:4382656399 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   129.264885: rtos_queue_peek_from_isr_failed: tstamp:4387656399 queue:0x0bcbcf78
     kworker/0:3-1652  [000] ....   129.376903: rtos_queue_peek_from_isr_failed: tstamp:4391245765 queue:0x0bcbcf78
        v4l2-ctl-8625  [003] ....   146.728575: tegra_channel_open: vi-output, ov5693 30-001a
        v4l2-ctl-8625  [002] ....   146.731453: tegra_channel_set_power: ov5693 30-001a : 0x1
        v4l2-ctl-8625  [002] ....   146.731469: camera_common_s_power: status : 0x1
        v4l2-ctl-8625  [002] ....   146.736243: tegra_channel_set_power: 15a00000.nvcsi--1 : 0x1
        v4l2-ctl-8625  [002] ....   146.736248: csi_s_power: enable : 0x1
        v4l2-ctl-8625  [000] ....   146.743514: tegra_channel_capture_setup: vnc_id 0 W 1920 H 1080 fmt 13
        v4l2-ctl-8625  [000] ....   146.747018: tegra_channel_set_stream: enable : 0x1
        v4l2-ctl-8625  [000] ....   146.748672: tegra_channel_set_stream: 15a00000.nvcsi--1 : 0x1
        v4l2-ctl-8625  [000] ....   146.748677: csi_s_stream: enable : 0x1
        v4l2-ctl-8625  [000] ....   146.748705: tegra_channel_set_stream: ov5693 30-001a : 0x1
     kworker/0:0-4     [000] ....   146.796890: rtos_queue_peek_from_isr_failed: tstamp:4934144483 queue:0x0bcbcf78
     kworker/0:0-4     [000] ....   146.796897: rtcpu_start: tstamp:4934146364
     kworker/0:0-4     [000] ....   146.796898: rtos_queue_send_from_isr_failed: tstamp:4934156312 queue:0x0bcb41f8
     kworker/0:0-4     [000] ....   146.796899: rtos_queue_send_from_isr_failed: tstamp:4934156474 queue:0x0bcb8a60
     kworker/0:0-4     [000] ....   146.796900: rtos_queue_send_from_isr_failed: tstamp:4934156635 queue:0x0bcba5e0
     kworker/0:0-4     [000] ....   146.796901: rtos_queue_send_from_isr_failed: tstamp:4934156792 queue:0x0bcbb3a0
     kworker/0:0-4     [000] ....   146.796901: rtos_queue_send_from_isr_failed: tstamp:4934156949 queue:0x0bcbc160
     kworker/0:0-4     [000] ....   146.796903: rtcpu_string: tstamp:4934157400 id:0x04010000 str:"Configuring VI GoS.
"
     kworker/0:0-4     [000] ....   146.796931: rtcpu_string: tstamp:4934157593 id:0x04010000 str:"VM GOS[#0] addr=0xc2100000
"
     kworker/0:0-4     [000] ....   146.796944: rtcpu_string: tstamp:4934157862 id:0x04010000 str:"VM GOS[#1] addr=0xc2101000
"
     kworker/0:0-4     [000] ....   146.796951: rtcpu_string: tstamp:4934158142 id:0x04010000 str:"VM GOS[#2] addr=0xc2102000
"
     kworker/0:0-4     [000] ....   146.796957: rtcpu_string: tstamp:4934158383 id:0x04010000 str:"VM GOS[#3] addr=0xc2103000
"
     kworker/0:0-4     [000] ....   146.796963: rtcpu_string: tstamp:4934158624 id:0x04010000 str:"VM GOS[#4] addr=0xc2104000
"
     kworker/0:0-4     [000] ....   146.796969: rtcpu_string: tstamp:4934158867 id:0x04010000 str:"VM GOS[#5] addr=0xc2105000
"
     kworker/0:0-4     [000] ....   146.796975: rtcpu_string: tstamp:4934166463 id:0x04010000 str:"vi5_hwinit: firmware CL2018101701 protocol versi"
     kworker/0:0-4     [000] ....   146.796977: rtcpu_string: tstamp:4934166592 id:0x04010000 str:"on 2.2
"
     kworker/0:0-4     [000] ....   146.796983: rtos_queue_send_from_isr_failed: tstamp:4934183418 queue:0x0bcb41f8
     kworker/0:0-4     [000] ....   146.796984: rtos_queue_send_from_isr_failed: tstamp:4934183600 queue:0x0bcb8a60
     kworker/0:0-4     [000] ....   146.796984: rtos_queue_send_from_isr_failed: tstamp:4934183764 queue:0x0bcba5e0
     kworker/0:0-4     [000] ....   146.796985: rtos_queue_send_from_isr_failed: tstamp:4934183923 queue:0x0bcbb3a0
     kworker/0:0-4     [000] ....   146.796986: rtos_queue_send_from_isr_failed: tstamp:4934184078 queue:0x0bcbc160
     kworker/0:0-4     [000] ....   146.796986: rtcpu_string: tstamp:4934185000 id:0x04010000 str:"VI GOS[#0] set to VM GOS[4] base 0xc2104000
"
     kworker/0:0-4     [000] ....   146.796992: rtos_queue_send_from_isr_failed: tstamp:4934236638 queue:0x0bcb41f8
     kworker/0:0-4     [000] ....   146.796993: rtos_queue_send_from_isr_failed: tstamp:4934236801 queue:0x0bcb8a60
     kworker/0:0-4     [000] ....   146.796994: rtos_queue_send_from_isr_failed: tstamp:4934236967 queue:0x0bcba5e0
     kworker/0:0-4     [000] ....   146.796994: rtos_queue_send_from_isr_failed: tstamp:4934237123 queue:0x0bcbb3a0
     kworker/0:0-4     [000] ....   146.796995: rtos_queue_send_from_isr_failed: tstamp:4934237281 queue:0x0bcbc160
     kworker/0:0-4     [000] ....   146.796997: rtcpu_nvcsi_intr: tstamp:4934239865 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x00000001
     kworker/0:0-4     [000] ....   146.796997: rtcpu_nvcsi_intr: tstamp:4934242998 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
     kworker/0:0-4     [000] ....   146.796998: rtcpu_nvcsi_intr: tstamp:4934242998 class:CORRECTABLE_ERR type:PHY_INTR phy:0 cil:0 st:0 vc:0 status:0x00001040
     kworker/0:0-4     [000] ....   146.796999: rtcpu_nvcsi_intr: tstamp:4934243579 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
     kworker/0:0-4     [000] ....   146.797000: rtcpu_nvcsi_intr: tstamp:4934243579 class:CORRECTABLE_ERR type:PHY_INTR phy:0 cil:0 st:0 vc:0 status:0x00001040
     kworker/0:0-4     [000] ....   146.797000: rtcpu_nvcsi_intr: tstamp:4934244151 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
     kworker/0:0-4     [000] ....   146.797030: rtcpu_nvcsi_intr: tstamp:4934244151 class:CORRECTABLE_ERR type:PHY_INTR phy:0 cil:0 st:0 vc:0 status:0x00001040
     kworker/0:0-4     [000] ....   146.797031: rtcpu_nvcsi_intr: tstamp:4934244721 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
     kworker/0:0-4     [000] ....   146.797031: rtcpu_nvcsi_intr: tstamp:4934244721 class:CORRECTABLE_ERR type:PHY_INTR phy:0 cil:0 st:0 vc:0 status:0x00001040
     kworker/0:0-4     [000] ....   146.797032: rtcpu_nvcsi_intr: tstamp:4934245293 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
     kworker/0:0-4     [000] ....   146.797033: rtcpu_nvcsi_intr: tstamp:4934245293 class:CORRECTABLE_ERR type:PHY_INTR phy:0 cil:0 st:0 vc:0 status:0x00001040
     kworker/0:0-4     [000] ....   146.797034: rtcpu_nvcsi_intr: tstamp:4934245865 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
     kworker/0:0-4     [000] ....   146.797034: rtcpu_nvcsi_intr: tstamp:4934245865 class:CORRECTABLE_ERR type:PHY_INTR phy:0 cil:0 st:0 vc:0 status:0x00001040
     kworker/0:0-4     [000] ....   146.797035: rtcpu_nvcsi_intr: tstamp:4934246428 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
     kworker/0:0-4     [000] ....   146.797036: rtcpu_nvcsi_intr: tstamp:4934246428 class:CORRECTABLE_ERR type:PHY_INTR phy:0 cil:0 st:0 vc:0 status:0x00001040
     kworker/0:0-4     [000] ....   146.797036: rtcpu_nvcsi_intr: tstamp:4934246994 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
     kworker/0:0-4     [000] ....   146.797037: rtcpu_nvcsi_intr: tstamp:4934246994 class:CORRECTABLE_ERR type:PHY_INTR phy:0 cil:0 st:0 vc:0 status:0x00001040
     kworker/0:0-4     [000] ....   146.797038: rtcpu_nvcsi_intr: tstamp:4934247566 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
     kworker/0:0-4     [000] ....   146.797038: rtcpu_nvcsi_intr: tstamp:4934247566 class:CORRECTABLE_ERR type:PHY_INTR phy:0 cil:0 st:0 vc:0 status:0x00001040
     kworker/0:0-4     [000] ....   146.797039: rtcpu_nvcsi_intr: tstamp:4934248137 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
     kworker/0:0-4     [000] .n..   146.797040: rtcpu_nvcsi_intr: tstamp:4934248137 class:CORRECTABLE_ERR type:PHY_INTR phy:0 cil:0 st:0 vc:0 status:0x00001040
     kworker/0:0-4     [000] ....   146.797088: rtcpu_nvcsi_intr: tstamp:4934248707 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
     kworker/0:0-4     [000] ....   146.797089: rtcpu_nvcsi_intr: tstamp:4934248707 class:CORRECTABLE_ERR type:PHY_INTR phy:0 cil:0 st:0 vc:0 status:0x00001040
     kworker/0:0-4     [000] ....   146.797090: rtcpu_nvcsi_intr: tstamp:4934249274 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
     kworker/0:0-4     [000] ....   146.797090: rtcpu_nvcsi_intr: tstamp:4934249274 class:CORRECTABLE_ERR type:PHY_INTR phy:0 cil:0 st:0 vc:0 status:0x00001040
     kworker/0:0-4     [000] ....   146.797091: rtcpu_nvcsi_intr: tstamp:4934249843 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
     kworker/0:0-4     [000] ....   146.797092: rtcpu_nvcsi_intr: tstamp:4934249843 class:CORRECTABLE_ERR type:PHY_INTR phy:0 cil:0 st:0 vc:0 status:0x00001040
     kworker/0:0-4     [000] ....   146.797092: rtcpu_nvcsi_intr: tstamp:4934250407 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
     kworker/0:0-4     [000] ....   146.797093: rtcpu_nvcsi_intr: tstamp:4934250407 class:CORRECTABLE_ERR type:PHY_INTR phy:0 cil:0 st:0 vc:0 status:0x00001040
     kworker/0:0-4     [000] ....   146.797094: rtcpu_nvcsi_intr: tstamp:4934250975 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
     kworker/0:0-4     [000] ....   146.797095: rtcpu_nvcsi_intr: tstamp:4934250975 class:CORRECTABLE_ERR type:PHY_INTR phy:0 cil:0 st:0 vc:0 status:0x00001040
     kworker/0:0-4     [000] ....   146.797095: rtcpu_nvcsi_intr: tstamp:4934251552 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
     kworker/0:0-4     [000] ....   146.797096: rtcpu_nvcsi_intr: tstamp:4934251552 class:CORRECTABLE_ERR type:PHY_INTR phy:0 cil:0 st:0 vc:0 status:0x00001040
     kworker/0:0-4     [000] ....   146.797097: rtcpu_nvcsi_intr: tstamp:4934252120 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
     kworker/0:0-4     [000] ....   146.797097: rtcpu_nvcsi_intr: tstamp:4934252120 class:CORRECTABLE_ERR type:PHY_INTR phy:0 cil:0 st:0 vc:0 status:0x00001040
     kworker/0:0-4     [000] ....   146.797098: rtcpu_nvcsi_intr: tstamp:4934252684 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
     kworker/0:0-4     [000] ....   146.797099: rtcpu_nvcsi_intr: tstamp:4934252684 class:CORRECTABLE_ERR type:PHY_INTR phy:0 cil:0 st:0 vc:0 status:0x00001040
     kworker/0:0-4     [000] ....   146.797099: rtcpu_nvcsi_intr: tstamp:4934253252 class:GLOBAL type:PHY_INTR0 phy:0 cil:0 st:0 vc:0 status:0x10000040
Kernel output:

vidia@xavier:~$ dmesg
[  146.747877] misc tegra_camera_ctrl: tegra_camera_update_isobw: Warning, Requested ISO BW 4882812 has been capped to VI's max BW 1875000
[  146.796925] [RCE] Configuring VI GoS.
[  146.796942] [RCE] VM GOS[#0] addr=0xc2100000
[  146.796949] [RCE] VM GOS[#1] addr=0xc2101000
[  146.796955] [RCE] VM GOS[#2] addr=0xc2102000
[  146.796961] [RCE] VM GOS[#3] addr=0xc2103000
[  146.796967] [RCE] VM GOS[#4] addr=0xc2104000
[  146.796973] [RCE] VM GOS[#5] addr=0xc2105000
[  146.796980] [RCE] vi5_hwinit: firmware CL2018101701 protocol version 2.2
[  146.796990] [RCE] VI GOS[#0] set to VM GOS[4] base 0xc2104000
[  149.340913] tegra194-vi5 15c10000.vi: no reply from camera processor
[  149.341114] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[  149.341264] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[  149.343983] tegra-capture-ivc ivc-bc00000.rtcpu:ivccontrol@3: No callback found for msg id: 0x39
[  149.344185] tegra-capture-ivc ivc-bc00000.rtcpu:ivccontrol@3: No callback found for msg id: 0x41
[  149.344341] tegra-capture-ivc ivc-bc00000.rtcpu:ivccontrol@3: No callback found for msg id: 0x37
[  149.344531] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel
[  149.373209] [RCE] Configuring VI GoS.
[  149.373230] [RCE] VM GOS[#0] addr=0xc2100000
[  149.373248] [RCE] VM GOS[#1] addr=0xc2101000
[  149.373262] [RCE] VM GOS[#2] addr=0xc2102000
[  149.373276] [RCE] VM GOS[#3] addr=0xc2103000
[  149.373289] [RCE] VM GOS[#4] addr=0xc2104000
[  149.373302] [RCE] VM GOS[#5] addr=0xc2105000
[  151.900896] tegra194-vi5 15c10000.vi: no reply from camera processor
[  151.901070] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[  151.901218] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[  151.904147] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel
[  151.948907] [RCE] Configuring VI GoS.
[  151.948924] [RCE] VM GOS[#0] addr=0xc2100000
[  151.948949] [RCE] VM GOS[#1] addr=0xc2101000
[  151.948960] [RCE] VM GOS[#2] addr=0xc2102000
[  151.948973] [RCE] VM GOS[#3] addr=0xc2103000
[  151.948983] [RCE] VM GOS[#4] addr=0xc2104000
[  151.948986] [RCE] VM GOS[#5] addr=0xc2105000
 . . .
[  479.324948] tegra194-vi5 15c10000.vi: no reply from camera processor
[  479.325128] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[  479.325286] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[  479.343488] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel
[  479.369562] [RCE] Configuring VI GoS.
[  479.369583] [RCE] VM GOS[#0] addr=0xc2100000
[  479.369630] [RCE] VM GOS[#1] addr=0xc2101000
[  479.369678] [RCE] VM GOS[#2] addr=0xc2102000
[  479.369692] [RCE] VM GOS[#3] addr=0xc2103000
[  479.369704] [RCE] VM GOS[#4] addr=0xc2104000
[  479.369717] [RCE] VM GOS[#5] addr=0xc2105000
[  481.884892] tegra194-vi5 15c10000.vi: no reply from camera processor
[  481.885094] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[  481.885272] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[  481.888197] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel
[  481.889601] [RCE] Configuring VI GoS.
[  481.889660] [RCE] VM GOS[#0] addr=0xc2100000
[  481.889668] [RCE] VM GOS[#1] addr=0xc2101000
[  481.889674] [RCE] VM GOS[#2] addr=0xc2102000
[  481.889683] [RCE] VM GOS[#3] addr=0xc2103000
[  481.889740] [RCE] VM GOS[#4] addr=0xc2104000
[  481.889746] [RCE] VM GOS[#5] addr=0xc2105000
[  484.444907] tegra194-vi5 15c10000.vi: no reply from camera processor
[  484.445084] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[  484.445252] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[  484.451165] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel
[  484.465232] [RCE] Configuring VI GoS.
[  484.465242] [RCE] VM GOS[#0] addr=0xc2100000
[  484.465246] [RCE] VM GOS[#1] addr=0xc2101000
[  484.465249] [RCE] VM GOS[#2] addr=0xc2102000
[  484.465253] [RCE] VM GOS[#3] addr=0xc2103000
[  484.465257] [RCE] VM GOS[#4] addr=0xc2104000
[  484.465265] [RCE] VM GOS[#5] addr=0xc2105000
[  487.004898] tegra194-vi5 15c10000.vi: no reply from camera processor
[  487.005106] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[  487.005258] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[  487.012300] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel
[  487.045269] [RCE] Configuring VI GoS.
[  487.045281] [RCE] VM GOS[#0] addr=0xc2100000
[  487.045285] [RCE] VM GOS[#1] addr=0xc2101000
[  487.045289] [RCE] VM GOS[#2] addr=0xc2102000
[  487.045294] [RCE] VM GOS[#3] addr=0xc2103000
[  487.045322] [RCE] VM GOS[#4] addr=0xc2104000
[  487.045327] [RCE] VM GOS[#5] addr=0xc2105000
[  489.564939] tegra194-vi5 15c10000.vi: no reply from camera processor
[  489.565160] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[  489.565323] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[  489.578145] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel
[  489.621178] [RCE] Configuring VI GoS.
[  489.621193] [RCE] VM GOS[#0] addr=0xc2100000
[  489.621200] [RCE] VM GOS[#1] addr=0xc2101000
[  489.621207] [RCE] VM GOS[#2] addr=0xc2102000
[  489.621213] [RCE] VM GOS[#3] addr=0xc2103000
[  489.621219] [RCE] VM GOS[#4] addr=0xc2104000
[  489.621226] [RCE] VM GOS[#5] addr=0xc2105000
[  492.124894] tegra194-vi5 15c10000.vi: no reply from camera processor
[  492.125082] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[  492.125265] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[  492.142810] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel
[  492.196922] [RCE] Configuring VI GoS.
[  492.196932] [RCE] VM GOS[#0] addr=0xc2100000
[  492.196936] [RCE] VM GOS[#1] addr=0xc2101000
[  492.196940] [RCE] VM GOS[#2] addr=0xc2102000
[  492.196970] [RCE] VM GOS[#3] addr=0xc2103000
[  492.196973] [RCE] VM GOS[#4] addr=0xc2104000
[  492.196977] [RCE] VM GOS[#5] addr=0xc2105000
[  494.684876] tegra194-vi5 15c10000.vi: no reply from camera processor
[  494.685053] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[  494.685238] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[  494.689077] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel
[  494.717100] [RCE] Configuring VI GoS.
[  494.717111] [RCE] VM GOS[#0] addr=0xc2100000
[  494.717115] [RCE] VM GOS[#1] addr=0xc2101000
[  494.717118] [RCE] VM GOS[#2] addr=0xc2102000
[  494.717121] [RCE] VM GOS[#3] addr=0xc2103000
[  494.717125] [RCE] VM GOS[#4] addr=0xc2104000
[  494.717128] [RCE] VM GOS[#5] addr=0xc2105000
[  497.244892] tegra194-vi5 15c10000.vi: no reply from camera processor
[  497.245096] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[  497.245269] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[  497.248025] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel
[  497.292979] [RCE] Configuring VI GoS.
[  497.292989] [RCE] VM GOS[#0] addr=0xc2100000
[  497.292993] [RCE] VM GOS[#1] addr=0xc2101000
[  497.292997] [RCE] VM GOS[#2] addr=0xc2102000
[  497.293000] [RCE] VM GOS[#3] addr=0xc2103000
[  497.293003] [RCE] VM GOS[#4] addr=0xc2104000
[  497.293006] [RCE] VM GOS[#5] addr=0xc2105000

这可能与NVCSI_PHY_0_CILA_INTR_0_STATUS_CILA_0有关，
特别是intr_cil_data_lane_sot_mb_err1_a

（9）与nvidia的技术人员沟通

那边给出的结论是发送端的图像信号有问题，需要检验

（10）更换FPGA设备调试
通过更换FPGA设备，发现通过4lane的CSI发送，可以正常出图，之前使用的FPGA板硬件出现了损坏；

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