Jetson AGX Orin PPS获取失败的内核代码修改

目录

前言描述

 问题分析

1. 检查DTSI是否有配置PPS 

2. 检查DTB更新系统启动后的dts信息是否匹配

3. 检查系统启动后的pps log信息

4. 排查代码并对比Kernel4.9版本

5. 重新编译内核Image并更新后，查看dmesg信息，申请pps 成功

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前言描述

由于公司的项目中采用了GPS/北斗模块进行定位和授时，在使用PPS进行授时时发现，Kernel-5.10版本在申请pps gpio时报错失败，错误信息如下图所示

问题分析

1. 检查DTSI是否有配置PPS 

pps {
	// here use gpio for the pin in which you want pps signal. GPIO13_based_SCH
	gpios = <&tegra_main_gpio TEGRA234_MAIN_GPIO(H, 0) GPIO_ACTIVE_LOW>; 
	compatible = "pps-gpio";
	assert-falling-edge;
	status = "okay";
};

2. 检查DTB更新系统启动后的dts信息是否匹配

待系统启动后，检查升级的dtb 文件是否已更新

$sudo dtc -I fs -O dts -o extracted.dts /proc/device-tree

$gedit extracted.dts 

检查是否与步骤1 中的内容相符

3. 检查系统启动后的pps log信息

 dmesg log 查看是failed to request PPS GPIO 

nvidia@nvidia-desktop:~$ sudo dmesg | grep pps
[sudo] password for nvidia: 
[    1.602688] pps_core: LinuxPPS API ver. 1 registered
[    1.607650] pps_core: Software ver. 5.3.6 - Copyright 2005-2007 Rodolfo Giometti <giometti@linux.it>
[    4.339057] pps-gpio pps: failed to request PPS GPIO
[    4.344157] pps-gpio pps: failed to map GPIO to IRQ: -22
[    4.349623] pps-gpio: probe of pps failed with error -22

4. 排查代码并对比Kernel4.9版本

kernel/kernel-5.10/drivers/pps/clients/pps-gpio.c
需修改Line189 一行内容，“return -EINVAL;” 改为 “return ret;”

/* GPIO setup */
if (pdata) {
		data->gpio_pin = pdata->gpio_pin;
		data->echo_pin = pdata->echo_pin;

		data->assert_falling_edge = pdata->assert_falling_edge;
		data->capture_clear = pdata->capture_clear;
		data->echo_active_ms = pdata->echo_active_ms;
} else {
		ret = pps_gpio_setup(pdev);
		if (ret)
				return ret; //-EINVAL;
}

5. 重新编译内核Image并更新后，查看dmesg信息，申请pps 成功

nvidia@nvidia-desktop:~$ sudo dmesg | grep pps
[    1.589752] pps_core: LinuxPPS API ver. 1 registered
[    1.594714] pps_core: Software ver. 5.3.6 - Copyright 2005-2007 Rodolfo Giometti <giometti@linux.it>
[   14.385358] pps pps0: new PPS source pps.
[   14.389714] pps pps0: Registered IRQ 294 as PPS source


nvidia@nvidia-desktop:~$ ls -l /dev/pps0 
crw------- 1 root root 246, 0 Sep  8 05:58 /dev/pps0

#安装pps-tools 进行对应操作即可
sudo apt install pps-tools
sudo ppstest /dev/pps*
sudo ppswatch -a /dev/pps0

#Debug 查看IO和Interrupt状态
sudo cat /sys/kernel/debug/gpio | grep -i pps
sudo cat /proc/interrupts | grep pps

后续搜寻NVIDIA Forum上发现也有给出对应的解决措施！

参考连接：

JetPack 5.0.2,Orin AGX dev kit, /dev/pps1 not found - #3 by JerryChang - Jetson AGX Orin - NVIDIA Developer Forums