[ROC-RK3568-PC] [Firefly-Android] 10min带你了解Camera的使用

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• 🍇 专栏目录： 【Firefly-RK356x板卡】
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一、MIPI CSI

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

1.1 Full Mode特点

• 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

1.2 Split Mode特点

• 仅使用csi2_dphy1和csi2_dphy2，两者与 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

一般来说，如果用单目摄像头可以配置full mode，若使用双目摄像头可以配置split mode

二、Full Mode配置

链接关系: sensor->csi2_dphy0->isp

2.1 配置sensor端

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>;};};};
};

2.2 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";
};

2.3 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>;};};
};

三、Split Mode配置

链接关系:

sensor1->csi_dphy1->isp_vir0
sensor2->csi_dphy2->mipi_csi2->vicap->isp_vir1

3.1 配置sensor端

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 { //IRstatus = "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_ENpwdn-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 { //RGBstatus = "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>;};};};
};

3.2 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>;};};
};

3.3 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";
};

四、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

五、单目CAM-8MS1M/双目CAM-2MS2MF摄像头的使用

ROC-RK3568-PC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

5.1 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/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"

5.2 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"

六、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

七、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

八、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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