3. Camera 使用¶

接口效果图

_images/usage_camera_mipicsi.jpg

3.1. MIPI CSI用法¶

RK3588/RK3588S平台支持两个DPHY硬件, 分别是 dphy0_hw/ dphy1_hw, 两个dphy硬件都可以工作在两个模式: full mode 和split mode, 其中 dphy0_hw 拆分为 csi2_dphy0/ csi2_dphy1/ csi2_dphy2 三个逻辑dphy(参见rk3588s.dtsi)。

目前Core-3588SG硬件只支持一个DPHY硬件。

3.2. DPHY¶

3.2.1. 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;

3.2.2. 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;

_images/usage_camera_rk3588_mipi_csi_mode.png

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。

3.3. Full Mode配置¶

链接关系: sensor->csi2_dphy0->mipi2_csi2->rkcif_mipi_lvds2 - - -> rkcif_mipi_lvds2_sditf->rkisp0_vir0

3.3.1. Full Mode设备树配置要点¶

3.3.2. 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-3588SG的xc7160配置：

参考kernel-5.10/arch/arm64/boot/dts/rockchip/rk3588s-firefly-aio-3588sg-cam-8ms1m.dtsi

&i2c7 {
    status = "okay";
    pinctrl-names = "default";
    pinctrl-0 = <&i2c7m0_xfer>;

    XC7160: XC7160b@1b{
        compatible = "firefly,xc7160";
        reg = <0x1b>;
        clocks = <&cru CLK_MIPI_CAMARAOUT_M1>;
        clock-names = "xvclk";
        pinctrl-names = "default";
        pinctrl-0 = <&mipim1_camera1_clk>;
        power-domains = <&power RK3588_PD_VI>;

        power-gpios = <&gpio1 RK_PC4 GPIO_ACTIVE_LOW>;
        reset-gpios = <&gpio1 RK_PD5 GPIO_ACTIVE_HIGH>;
        pwdn-gpios = <&gpio3 RK_PC0 GPIO_ACTIVE_HIGH>;

        //avdd-supply = <&vcc_mipidcphy0>;
        firefly,clkout-enabled-index = <0>;
        rockchip,camera-module-index = <0>;
        rockchip,camera-module-facing = "back";
        rockchip,camera-module-name = "NC";
        rockchip,camera-module-lens-name = "NC";
        port {
            xc7160_out2: endpoint {
                remote-endpoint = <&mipidphy0_in_ucam0>;
                data-lanes = <1 2 3 4>;
            };
        };
    };

};

3.3.3. 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_dphy0_hw节点

&csi2_dphy0 {
        status = "okay";
...
};

&csi2_dphy0_hw {
   status = "okay";
};

&mipi2_csi2 {
        status = "okay";
...
};

&rkcif {
        status = "okay";
};

&rkcif_mmu {
        status = "okay";
};

&rkcif_mipi_lvds2 {
        status = "okay";
...
};

3.3.4. isp相关配置¶

其中rkisp_vir0节点的remote-endpoint指向mipi_lvds2_sditf

Core-3588SG的xc7160自带ISP，因此不需要RKISP，其他情况sensor默认请打开以下配置

&rkcif_mipi_lvds2_sditf {
        status = "disabled";
};

&rkisp0 {
        status = "disabled";
};

&isp0_mmu {
        status = "disabled";
};

&rkisp0_vir0 {
        status = "disabled";
};

3.4. Split Mode配置¶

链接关系:

sensor1->csi2_dphy1->mipi2_csi2->rkcif_mipi_lvds2 - - -> rkcif_mipi_lvds2_sditf->rkisp0_vir2

sensor2->csi2_dphy2->mipi3_csi2->rkcif_mipi_lvds3 - - -> rkcif_mipi_lvds3_sditf->rkisp1_vir0

3.4.1. Split Mode设备树配置要点¶

3.4.2. 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-3588SG的gc2053/gc2093配置：

3.4.3. 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_hw {
        status = "okay";
};

&csi2_dphy1 {
        status = "okay";
...
};
&csi2_dphy2 {
        status = "okay";
...
};
&mipi2_csi2 {
        status = "okay";
...
};
&mipi3_csi2 {
        status = "okay";
...
};

&rkcif {
        status = "okay";
};

&rkcif_mipi_lvds2 {
        status = "okay";
...
};

&rkcif_mipi_lvds2_sditf {
        status = "okay";
...
};

&rkcif_mipi_lvds3 {
        status = "okay";
... 
};

&rkcif_mipi_lvds3_sditf {
        status = "okay";
... 
};

&rkcif_mmu {
        status = "okay";
};

3.4.4. isp相关配置¶

其中rkisp0_vir2节点的remote-endpoint指向mipi2_lvds_sditf, rkisp1_vir0节点的remote-endpoint指向mipi3_lvds_sditf

&rkisp0 {
        status = "okay";
};

&isp0_mmu {
        status = "okay";
};

&rkisp1 {
        status = "okay";
};

&isp1_mmu {
        status = "okay";
};

&rkisp0_vir2 {
        status = "okay";
...
};

&rkisp1_vir0 {
        status = "okay";
...
};

3.5. 软件相关目录¶

Linux Kernel-5.10
|-- 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
|-- i2c
  |-- ov13850.c #CIS(cmos image sensor)驱动

3.6. 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

3.6.1. 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/rk3588s-firefly-aio-3588sg.dts b/kernel/arch/arm64/boot/dts/rockchip/rk3588s-firefly-aio-3588sg.dts
index 7e2a8b2..14fa027 100755
--- a/kernel/arch/arm64/boot/dts/rockchip/rk3588s-firefly-aio-3588sg.dts
+++ b/kernel/arch/arm64/boot/dts/rockchip/rk3588s-firefly-aio-3588sg.dts
@@ -7,6 +7,15 @@
+#include "rk3588s-firefly-aio-3588sg-cam-8ms1m.dtsi"

3.6.2. 使用双目摄像头CAM-2MS2MF¶

diff --git a/kernel/arch/arm64/boot/dts/rockchip/rk3588s-firefly-aio-3588sg.dts b/kernel/arch/arm64/boot/dts/rockchip/rk3588s-firefly-aio-3588sg.dts
index 7e2a8b2..14fa027 100755
--- a/kernel/arch/arm64/boot/dts/rockchip/rk3588s-firefly-aio-3588sg.dts
+++ b/kernel/arch/arm64/boot/dts/rockchip/rk3588s-firefly-aio-3588sg.dts
@@ -7,6 +7,15 @@
-#include "rk3588s-firefly-aio-3588sg-cam-8ms1m.dtsi"
-//#include "rk3588s-firefly-aio-3588sg-cam-2ms2mf.dtsi"
+//#include "rk3588s-firefly-aio-3588sg-cam-8ms1m.dtsi"
+#include "rk3588s-firefly-aio-3588sg-cam-2ms2mf.dtsi"

3.7. 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

3.8. Android 系统使用 Camera 应用¶

除了官方默认支持的摄像头外，Android系统使用camera的apk打开摄像头都需要配置camera3_profiles*.xml，具体可参考Android SDK hardware/rockchip/camera/etc/camera目录下的文件

3.9. Linux 系统预览摄像头¶

Ubuntu 固件集成了 test_camera-cifisp.sh 测试脚本，直接运行该脚本就可以了，脚本路径：test_camera-cifisp.sh。

#!/bin/sh

export DISPLAY=:0.0
#export GST_DEBUG=*:5
#export GST_DEBUG_FILE=/tmp/2.txt

echo "Start MIPI CSI Camera Preview!"

export XDG_RUNTIME_DIR=/run/user/1000

if cat /proc/device-tree/model | grep -q "3588" ;then
        gst-launch-1.0 v4l2src device=/dev/video0 io-mode=4 ! queue ! video/x-raw,format=NV12,width=1920,height=1080,framerate=30/1  ! glimagesink
else
        gst-launch-1.0 v4l2src device=/dev/video0 io-mode=4 ! videoconvert ! video/x-raw,format=NV12,width=640,height=480  ! rkximagesink
fi

3.10. IQ文件¶

raw摄像头支持的iq文件路径external/camera_engine_rkaiq/iqfiles/isp3x, 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isp3x，同样isp21的json也不适用isp3x。

若使用raw摄像头sensor，请留意isp3x目录所支持的iq文件