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2023-08-07 21:04| 来源: 网络整理| 查看: 265

Camera 使用 MIPI CSI用法

RK3566/RK3568平台仅有一个标准物理mipi csi2 dphy,可以工作在两个模式: full mode 和split mode, 拆分为csi2_dphy0/csi2_dphy1/csi2_dphy2三个逻辑dphy(参见rk3568.dtsi)

Full Mode

仅使用csi2_dphy0,csi2_dphy0与csi2_dphy1/csi2_dphy2互斥,不可同时使用;

data lane最大4 lanes;

最大速率2.5Gbps/lane;

Split Mode

仅使用csi2_dphy1和csi2_dphy2, 与csi2_dphy0互斥,不可同时使用;

csi2_dphy1和csi2_dphy2可同时使用;

csi2_dphy1和csi2_dphy2各自的data lane最大是2 lanes;

csi2_dphy1对应物理dphy的lane0/lane1;

csi2_dphy2对应物理dphy的lane2/lane3;

最大速率2.5Gbps/lane

简单点来讲，如果用单目摄像头我们可以配置full mode，若使用双目摄像头我们可以配置split mode

Full Mode配置

链接关系: sensor->csi2_dphy0->isp

Full Mode设备树配置要点配置sensor端

我们需要根据板子原理图的MIPI CSI接口找到sensor是挂在哪个I2C总线上，然后在对应的I2C节点配置camera节点，正确配置camera模组的I2C设备地址、引脚等属性。如下Core-3568J的xc7160配置：

&i2c4 { status = "okay"; XC7160: XC7160b@1b{ status = "okay"; compatible = "firefly,xc7160"; reg = ; clocks = ; clock-names = "xvclk"; power-domains = ; pinctrl-names = "default"; pinctrl-0 = ; power-gpios = ; reset-gpios = ; pwdn-gpios = ; firefly,clkout-enabled-index = ; rockchip,camera-module-index = ; rockchip,camera-module-facing = "back"; rockchip,camera-module-name = "NC"; rockchip,camera-module-lens-name = "NC"; port { xc7160_out: endpoint { remote-endpoint = ; data-lanes = ; }; }; }; }; csi2_dphy0相关配置

csi2_dphy0与csi2_dphy1/csi2_dphy2互斥,不可同时使用。另外需要使能csi2_dphy_hw节点

&csi2_dphy0 { status = "okay"; /* * dphy0 only used for full mode, * full mode and split mode are mutually exclusive */ ports { #address-cells = ; #size-cells = ; port@0 { reg = ; #address-cells = ; #size-cells = ; ... mipi_in_ucam4: endpoint@5 { reg = ; remote-endpoint = ; data-lanes = ; }; }; port@1 { reg = ; #address-cells = ; #size-cells = ; csidphy_out: endpoint@0 { reg = ; remote-endpoint = ; }; }; }; }; &csi2_dphy_hw { status = "okay"; }; &csi2_dphy1 { status = "disabled"; }; &csi2_dphy2 { status = "disabled"; }; isp相关配置

其中rkisp_vir0节点的remote-endpoint指向csidphy_out

链接关系:

sensor1->csi_dphy1->isp_vir0

sensor2->csi_dphy2->mipi_csi2->vicap->isp_vir1

Split Mode设备树配置要点配置sensor端

我们需要根据板子原理图的MIPI CSI接口找到两个sensor是挂在哪个I2C总线上，然后在对应的I2C节点配置两个camera节点，正确配置camera模组的I2C设备地址、引脚等属性。如下Core-3568J的gc2053/gc2093配置：

&i2c4 { status = "okay"; gc2053: gc2053@37 { //IR status = "okay"; compatible = "galaxycore,gc2053"; reg = ; avdd-supply = ; power-domains = ; clock-names = "xvclk"; pinctrl-names = "default"; clocks = ; pinctrl-0 = ; power-gpios = ; //IR_PWR_EN pwdn-gpios = ; firefly,clkout-enabled-index = ; rockchip,camera-module-index = ; rockchip,camera-module-facing = "back"; rockchip,camera-module-name = "YT-RV1109-2-V1"; rockchip,camera-module-lens-name = "40IR-2MP-F20"; port { gc2053_out: endpoint { remote-endpoint = ; data-lanes = ; }; }; }; gc2093: gc2093b@7e{ //RGB status = "okay"; compatible = "galaxycore,gc2093"; reg = ; avdd-supply = ; power-domains = ; clock-names = "xvclk"; pinctrl-names = "default"; flash-leds = ; pwdn-gpios = ; firefly,clkout-enabled-index = ; rockchip,camera-module-index = ; rockchip,camera-module-facing = "front"; rockchip,camera-module-name = "YT-RV1109-2-V1"; rockchip,camera-module-lens-name = "40IR-2MP-F20"; port { gc2093_out: endpoint { remote-endpoint = ; data-lanes = ; }; }; }; }; csi2_dphy1/csi2_dphy2相关配置

csi2_dphy0与csi2_dphy1/csi2_dphy2互斥,不可同时使用

&csi2_dphy0 { status = "disabled"; }; &csi2_dphy1 { status = "okay"; /* * dphy1 only used for split mode, * can be used concurrently with dphy2 * full mode and split mode are mutually exclusive */ ports { #address-cells = ; #size-cells = ; port@0 { reg = ; #address-cells = ; #size-cells = ; dphy1_in: endpoint@1 { reg = ; remote-endpoint = ; data-lanes = ; }; }; port@1 { reg = ; #address-cells = ; #size-cells = ; dphy1_out: endpoint@1 { reg = ; remote-endpoint = ; }; }; }; }; &csi2_dphy2 { status = "okay"; /* * dphy2 only used for split mode, * can be used concurrently with dphy1 * full mode and split mode are mutually exclusive */ ports { #address-cells = ; #size-cells = ; port@0 { reg = ; #address-cells = ; #size-cells = ; dphy2_in: endpoint@1 { reg = ; remote-endpoint = ; data-lanes = ; }; }; port@1 { reg = ; #address-cells = ; #size-cells = ; dphy2_out: endpoint@1 { reg = ; remote-endpoint = ; }; }; }; }; &csi2_dphy_hw { status = "okay"; }; &mipi_csi2 { status = "okay"; ports { #address-cells = ; #size-cells = ; port@0 { reg = ; #address-cells = ; #size-cells = ; mipi_csi2_input: endpoint@1 { reg = ; remote-endpoint = ; data-lanes = ; }; }; port@1 { reg = ; #address-cells = ; #size-cells = ; mipi_csi2_output: endpoint@0 { reg = ; remote-endpoint = ; data-lanes = ; }; }; }; }; &rkcif_mipi_lvds { status = "okay"; port { cif_mipi_in: endpoint { remote-endpoint = ; data-lanes = ; }; }; }; &rkcif_mipi_lvds_sditf { status = "okay"; port { mipi_lvds_sditf: endpoint { remote-endpoint = ; data-lanes = ; }; }; }; isp相关配置

其中rkisp_vir0节点的remote-endpoint指向dphy1_out

&rkisp { status = "okay"; }; &rkisp_mmu { status = "okay"; }; &rkisp_vir0 { status = "okay"; port { #address-cells = ; #size-cells = ; isp0_in: endpoint@0 { reg = ; remote-endpoint = ; }; }; }; &rkisp_vir1 { status = "okay"; port { reg = ; #address-cells = ; #size-cells = ; isp1_in: endpoint@0 { reg = ; remote-endpoint = ; }; }; }; &rkcif_mmu { status = "okay"; }; &rkcif { status = "okay"; }; 软件相关目录 Linux Kernel-4.19 |-- arch/arm/boot/dts #DTS配置文件 |-- drivers/phy/rockchip |-- phy-rockchip-mipi-rx.c #mipi dphy驱动 |-- phy-rockchip-csi2-dphy-common.h |-- phy-rockchip-csi2-dphy-hw.c |-- phy-rockchip-csi2-dphy.c |-- drivers/media |-- platform/rockchip/cif #RKCIF驱动 |-- platform/rockchip/isp #RKISP驱动 |-- dev #包含 probe、异步注册、clock、pipeline、 iommu及media/v4l2 framework |-- capture #包含 mp/sp/rawwr的配置及 vb2,帧中断处理 |-- dmarx #包含 rawrd的配置及 vb2,帧中断处理 |-- isp_params #3A相关参数设置 |-- isp_stats #3A相关统计 |-- isp_mipi_luma #mipi数据亮度统计 |-- regs #寄存器相关的读写操作 |-- rkisp #isp subdev和entity注册 |-- csi #csi subdev和mipi配置 |-- bridge #bridge subdev,isp和ispp交互桥梁 |-- platform/rockchip/ispp #rkispp驱动 |-- dev #包含 probe、异步注册、clock、pipeline、 iommu及media/v4l2 framework |-- stream #包含 4路video输出的配置及 vb2,帧中断处理 |-- rkispp #ispp subdev和entity注册 |-- params #TNR/NR/SHP/FEC/ORB参数设置 |-- stats #ORB统计信息 |-- i2 单目CAM-8MS1M/双目CAM-2MS2MF摄像头的使用

firefly已经配置好相应的dts，单目摄像头CAM-8MS1M和双目摄像头CAM-2MS2MF使用互斥，只需包含相应的dtsi文件即可使用单目摄像头CAM-8MS1M或双目摄像头CAM-2MS2MF

使用单目摄像头CAM-8MS1M

dts的配置默认使用单目摄像头

diff --git a/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-aioj.dts b/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-aioj.dts index 7e2a8b2..14fa027 100755 --- a/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-aioj.dts +++ b/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-aioj.dts @@ -7,6 +7,15 @@ +#include "rk3568-firefly-aioj-cam-8ms1m.dtsi" +//#include "rk3568-firefly-aioj-cam-2ms2m.dtsi" 使用双目摄像头CAM-2MS2MF diff --git a/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-aioj.dts b/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-aioj.dts index 7e2a8b2..14fa027 100755 --- a/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-aioj.dts +++ b/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-aioj.dts @@ -7,6 +7,15 @@ - #include "rk3568-firefly-aioj-cam-8ms1m.dtsi" +//#include "rk3568-firefly-aioj-cam-8ms1m.dtsi" - //#include "rk3568-firefly-aioj-cam-2ms2m.dtsi" + #include "rk3568-firefly-aioj-cam-2ms2m.dtsi" Camera底层调试

使用v4l2-ctl抓取camera数据帧

v4l2-ctl --verbose -d /dev/video0 --set-fmt-video=width=1920,height=1080,pixelformat='NV12' --stream-mmap=4 --set-selection=target=crop,flags=0,top=0,left=0,width=1920,height=1080 --stream-to=/data/out.yuv

把out.yuv文件拷贝出来通过ubuntu去查看

ffplay -f rawvideo -video_size 1920x1080 -pix_fmt nv12 out.yuv Android系统使用camera应用

Android系统使用camera的apk打开摄像头需要配置camera3_profiles*.xml，具体可参考Android SDK hardware/rockchip/camera/etc/camera目录下的文件

Linux系统预览摄像头

Buildroot直接使用qcamera打开摄像头，可进行拍摄与录制，详细参考 Buildroot使用手册

Ubuntu 单目摄像头预览可以使用如下脚本：

#!/bin/bash export DISPLAY=:0 export XAUTHORITY=/home/firefly/.Xauthority WIDTH=1920 HEIGHT=1080 SINK=gtksink gst-launch-1.0 v4l2src device=/dev/video0 ! video/x-raw,format=NV12,width=${WIDTH},height=${HEIGHT}, framerate=30/1 ! videoconvert ! $SINK & wait

也可以使用之前提到的抓帧方法，抓到数据后用mpv播放：

mpv test.yuv --demuxer=rawvideo --demuxer-rawvideo-w=1920 --demuxer-rawvideo-h=1080

对于双目摄像头预览，则使用如下脚本：

#!/bin/bash export DISPLAY=:0 export XAUTHORITY=/home/firefly/.Xauthority WIDTH=640 HEIGHT=480 SINK=gtksink gst-launch-1.0 v4l2src device=/dev/video14 ! video/x-raw,format=NV12,width=${WIDTH},height=${HEIGHT}, framerate=30/1 ! videoconvert ! $SINK & gst-launch-1.0 v4l2src device=/dev/video5 ! video/x-raw,format=NV12,width=${WIDTH},height=${HEIGHT}, framerate=30/1 ! videoconvert ! $SINK & wait IQ文件

raw摄像头支持的iq文件路径external/camera_engine_rkaiq/iqfiles/isp21, 与以前不一样的地方是iq文件不再采用.xml的方式，而是采用.json的方式。虽有提供xml转json的工具, 但isp20的xml配置转换后也不适用isp21。

若使用raw摄像头sensor，请留意isp21目录所支持的iq文件

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