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ROC-RK3568-PC的xc7160配置: &i2c4 { status = "okay"; XC7160: XC7160b@1b{ status = "okay"; compatible = "firefly,xc7160"; reg = <0x1b>; clocks = <&cru CLK_CIF_OUT>; clock-names = "xvclk"; power-domains = <&power RK3568_PD_VI>; pinctrl-names = "default"; pinctrl-0 = <&cif_clk>; power-gpios = <&gpio4 RK_PB5 GPIO_ACTIVE_LOW>; reset-gpios = <&gpio0 RK_PD5 GPIO_ACTIVE_HIGH>; pwdn-gpios = <&gpio4 RK_PB4 GPIO_ACTIVE_HIGH>; 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_out: endpoint { remote-endpoint = <&mipi_in_ucam4>; data-lanes = <1 2 3 4>; }; }; }; }; 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 = <1>; #size-cells = <0>; port@0 { reg = <0>; #address-cells = <1>; #size-cells = <0>; ... mipi_in_ucam4: endpoint@5 { reg = <5>; remote-endpoint = <&xc7160_out>; data-lanes = <1 2 3 4>; }; }; port@1 { reg = <1>; #address-cells = <1>; #size-cells = <0>; csidphy_out: endpoint@0 { reg = <0>; remote-endpoint = <&isp0_in>; }; }; }; }; &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" &rkisp { status = "okay"; }; &rkisp_mmu { status = "okay"; }; &rkisp_vir0 { status = "okay"; port { #address-cells = <1>; #size-cells = <0>; isp0_in: endpoint@0 { reg = <0>; remote-endpoint = <&csidphy_out>; }; }; }; Split Mode配置 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ROC-RK3568-PC的gc2053/gc2093配置: &i2c4 { status = "okay"; gc2053: gc2053@37 { //IR status = "okay"; compatible = "galaxycore,gc2053"; reg = <0x37>; avdd-supply = <&vcc_camera>; power-domains = <&power RK3568_PD_VI>; clock-names = "xvclk"; pinctrl-names = "default"; clocks = <&pmucru CLK_WIFI>; pinctrl-0 = <&refclk_pins>; power-gpios = <&gpio0 RK_PD5 GPIO_ACTIVE_HIGH>;//IR_PWR_EN pwdn-gpios = <&gpio4 RK_PB5 GPIO_ACTIVE_LOW>; firefly,clkout-enabled-index = <1>; rockchip,camera-module-index = <0>; 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 = <&dphy1_in>; data-lanes = <1 2>; }; }; }; gc2093: gc2093b@7e{ //RGB status = "okay"; compatible = "galaxycore,gc2093"; reg = <0x7e>; avdd-supply = <&vcc_camera>; power-domains = <&power RK3568_PD_VI>; clock-names = "xvclk"; pinctrl-names = "default"; flash-leds = <&flash_led>; pwdn-gpios = <&gpio4 RK_PB4 GPIO_ACTIVE_HIGH>; firefly,clkout-enabled-index = <0>; rockchip,camera-module-index = <1>; 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 = <&dphy2_in>; data-lanes = <1 2>; }; }; }; }; 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 = <1>; #size-cells = <0>; port@0 { reg = <0>; #address-cells = <1>; #size-cells = <0>; dphy1_in: endpoint@1 { reg = <1>; remote-endpoint = <&gc2053_out>; data-lanes = <1 2>; }; }; port@1 { reg = <1>; #address-cells = <1>; #size-cells = <0>; dphy1_out: endpoint@1 { reg = <1>; remote-endpoint = <&isp0_in>; }; }; }; }; &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 = <1>; #size-cells = <0>; port@0 { reg = <0>; #address-cells = <1>; #size-cells = <0>; dphy2_in: endpoint@1 { reg = <1>; remote-endpoint = <&gc2093_out>; data-lanes = <1 2>; }; }; port@1 { reg = <1>; #address-cells = <1>; #size-cells = <0>; dphy2_out: endpoint@1 { reg = <1>; remote-endpoint = <&mipi_csi2_input>; }; }; }; }; &csi2_dphy_hw { status = "okay"; }; &mipi_csi2 { status = "okay"; ports { #address-cells = <1>; #size-cells = <0>; port@0 { reg = <0>; #address-cells = <1>; #size-cells = <0>; mipi_csi2_input: endpoint@1 { reg = <1>; remote-endpoint = <&dphy2_out>; data-lanes = <1 2>; }; }; port@1 { reg = <1>; #address-cells = <1>; #size-cells = <0>; mipi_csi2_output: endpoint@0 { reg = <0>; remote-endpoint = <&cif_mipi_in>; data-lanes = <1 2>; }; }; }; }; &rkcif_mipi_lvds { status = "okay"; port { cif_mipi_in: endpoint { remote-endpoint = <&mipi_csi2_output>; data-lanes = <1 2>; }; }; }; &rkcif_mipi_lvds_sditf { status = "okay"; port { mipi_lvds_sditf: endpoint { remote-endpoint = <&isp1_in>; data-lanes = <1 2>; }; }; }; 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 = <1>; #size-cells = <0>; isp0_in: endpoint@0 { reg = <0>; remote-endpoint = <&dphy1_out>; }; }; }; &rkisp_vir1 { status = "okay"; port { reg = <0>; #address-cells = <1>; #size-cells = <0>; isp1_in: endpoint@0 { reg = <0>; remote-endpoint = <&mipi_lvds_sditf>; }; }; }; &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 Linux 已经配置好各种组合的 dts 和 mk 文件,编译前按需选择,不用修改文 件 Android 需要如下修改: 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-roc-pc.dts b/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-roc-pc.dts index 7e2a8b2..14fa027 100755 --- a/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-roc-pc.dts +++ b/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-roc-pc.dts @@ -7,6 +7,15 @@ +#include "rk3568-firefly-roc-pc-cam-8ms1m.dtsi" +//#include "rk3568-firefly-roc-pc-cam-2ms2m.dtsi" 使用双目摄像头CAM-2MS2MF diff --git a/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-roc-pc.dts b/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-roc-pc.dts index 7e2a8b2..14fa027 100755 --- a/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-roc-pc.dts +++ b/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-roc-pc.dts @@ -7,6 +7,15 @@ - #include "rk3568-firefly-roc-pc-cam-8ms1m.dtsi" +//#include "rk3568-firefly-roc-pc-cam-8ms1m.dtsi" - //#include "rk3568-firefly-roc-pc-cam-2ms2m.dtsi" + #include "rk3568-firefly-roc-pc-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 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/gstreamer-1.0 WIDTH=1920 HEIGHT=1080 SINK=xvimagesink gst-launch-1.0 v4l2src device=/dev/video0 ! video/x-raw,format=NV12,width=${WIDTH},height=${HEIGHT}, framerate=30/1 ! videoconvert ! $SINK & wait 也可以使用之前提到的抓帧方法,抓到数据后用mpv播放: mpv test.yuv --demuxer=rawvideo --demuxer-rawvideo-w=1920 --demuxer-rawvideo-h=1080 对于双目摄像头预览,则使用如下脚本: #!/bin/bash export DISPLAY=:0 export XAUTHORITY=/home/firefly/.Xauthority export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/gstreamer-1.0 WIDTH=640 HEIGHT=480 SINK=xvimagesink 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