nvidia nano平台通过tca9546适配两路imx219 sensor

free-jdx 2021-02-04 11:50:12 8174
NVIDIA
1. 前言

nano平台原生是支持imx219驱动的；
但是如果要扩展多路imx219需要修改硬件和设备树的；
需要通过I2C一分四芯片，对四个imx219进行分时复用；
这里暂时只调试两路imx219

2. CSI接口连接如下

MIPI-CSI接口使用如下:

`
1 -> Ground

2 -> CAM1_DN0 - Data Lane 0
3 -> CAM1_DP0 - Data Lane 0
4 -> Ground
5 -> CAM1_DN1 - Data Lane 1
6 -> CAM1_DP1 - Data Lane 1
7 -> Ground
8 -> CAM1_CN - MIPI Clock
9 -> CAM1_CP - MIPI Clock
10 -> Ground
11 -> CAM_GPIO
12 -> CAM_CLK
13 -> SCL0 - CAM_I2C
14 -> SDA0 - CAM_I2C
15 -> +3.3 V`

3. 修改设备树

参考其它dts
`/i2c@3180000/tca9545@70/i2c@0/imx219 // for first camera

...
/i2c@3180000/tca9545@70/i2c@1/imx219 // for second camera`

修改如下：

tegra-camera-platform {
        compatible = "nvidia, tegra-camera-platform";
        status = "okay";
        num_csi_lanes = <0x4>;
        max_lane_speed = <0x16e360>;
        min_bits_per_pixel = <0xa>;
        vi_peak_byte_per_pixel = <0x2>;
        vi_bw_margin_pct = <0x19>;
        max_pixel_rate = <0x3a980>;
        isp_peak_byte_per_pixel = <0x5>;
        isp_bw_margin_pct = <0x19>;

        modules {

            module0 {
                badge = "porg_front_RBPCV2";
                position = "front";
                orientation = [31 00];

                drivernode0 {
                    pcl_id = "v4l2_sensor";
                    devname = "imx219 30-0010";
                    proc-device-tree = "/proc/device-tree/host1x/i2c@546c0000/tca9546@70/i2c@0/rbpcv2_imx219_a@10";
                };

                drivernode1 {
                    pcl_id = "v4l2_lens";
                    proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
                };
            };

            module1 {
                badge = "porg_rear_RBPCV2";
                position = "rear";
                orientation = [31 00];

                drivernode0 {
                    pcl_id = "v4l2_sensor";
                    devname = "imx219 31-0010";
                    proc-device-tree = "/proc/device-tree/host1x/i2c@546c0000/tca9546@70/i2c@1/rbpcv2_imx219_f@10";
                };

                drivernode1 {
                    pcl_id = "v4l2_lens";
                    proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
                };
            };      
        };
    };

修改完后，驱动加载log如下：

[    3.468532] i2c /dev entries driver
[    3.470026] pca954x 6-0070: vcc-pullup regulator not found
[    3.470043] pca954x 6-0070: pca954x_probe: forcing device bus number, start 30.
[    3.470047] pca954x 6-0070: device detect skipped.
[    3.470596] i2c i2c-6: Added multiplexed i2c bus 30
[    3.470947] i2c i2c-6: Added multiplexed i2c bus 31
[    3.471283] i2c i2c-6: Added multiplexed i2c bus 32
[    3.471545] i2c i2c-6: Added multiplexed i2c bus 33
[    3.471551] pca954x 6-0070: registered 4 multiplexed busses for I2C switch pca9546
[    3.472267] imx219 30-0010: tegracam sensor driver:imx219_v2.0.6
[    3.498487] imx219 31-0010: tegracam sensor driver:imx219_v2.0.6

dev下成功生成两路videox设备

4. 查看节点信息

v4l2-ctl --list-devices

vi-output, imx219 30-0010 (platform:54080000.vi:0):
    /dev/video0

vi-output, imx219 31-0010 (platform:54080000.vi:5):
    /dev/video1

media-ctl -p -d /dev/media0

Media controller API version 0.1.0

Media device information
------------------------
driver          vi
model           NVIDIA Tegra Video Input Device
serial          
bus info        
hw revision     0x3
driver version  0.0.0

Device topology
- entity 1: nvcsi--2 (2 pads, 2 links)
            type V4L2 subdev subtype Unknown flags 0
            device node name /dev/v4l-subdev0
    pad0: Sink
        <- "imx219 30-0010":0 [ENABLED]
    pad1: Source
        -> "vi-output, imx219 30-0010":0 [ENABLED]

- entity 4: imx219 30-0010 (1 pad, 1 link)
            type V4L2 subdev subtype Sensor flags 0
            device node name /dev/v4l-subdev1
    pad0: Source
        [fmt:SRGGB10_1X10/1280x720 field:none colorspace:srgb]
        -> "nvcsi--2":0 [ENABLED]

- entity 6: vi-output, imx219 30-0010 (1 pad, 1 link)
            type Node subtype V4L flags 0
            device node name /dev/video0
    pad0: Sink
        <- "nvcsi--2":1 [ENABLED]

- entity 18: nvcsi--1 (2 pads, 2 links)
             type V4L2 subdev subtype Unknown flags 0
             device node name /dev/v4l-subdev2
    pad0: Sink
        <- "imx219 31-0010":0 [ENABLED]
    pad1: Source
        -> "vi-output, imx219 31-0010":0 [ENABLED]

- entity 21: imx219 31-0010 (1 pad, 1 link)
             type V4L2 subdev subtype Sensor flags 0
             device node name /dev/v4l-subdev3
    pad0: Source
        [fmt:SRGGB10_1X10/3280x2464 field:none colorspace:srgb]
        -> "nvcsi--1":0 [ENABLED]

- entity 23: vi-output, imx219 31-0010 (1 pad, 1 link)
             type Node subtype V4L flags 0
             device node name /dev/video1
    pad0: Sink
        <- "nvcsi--1":1 [ENABLED]
5. 采集图像

cmd如下：

gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! ‘video/x-raw(memory:NVMM),width=1280, height=720, framerate=30/1, format=NV12’ ! nvvidconv flip-method=0 ! ‘video/x-raw,width=640, height=480, format=(string)UYVY’ ! nvvidconv ! nvegltransform ! nveglglessink -e
Setting pipeline to PAUSED ...

Using winsys: x11 
Pipeline is live and does not need PREROLL ...
Got context from element 'eglglessink0': gst.egl.EGLDisplay=context, display=(GstEGLDisplay)NULL;
Setting pipeline to PLAYING ...
New clock: GstSystemClock
GST_ARGUS: Creating output stream
CONSUMER: Waiting until producer is connected...
GST_ARGUS: Available Sensor modes :
GST_ARGUS: 3280 x 2464 FR = 21,000000 fps Duration = 47619048 ; Analog Gain range min 1,000000, max 10,625000; Exposure Range min 13000, max 683709000;

GST_ARGUS: 3280 x 1848 FR = 28,000001 fps Duration = 35714284 ; Analog Gain range min 1,000000, max 10,625000; Exposure Range min 13000, max 683709000;

GST_ARGUS: 1920 x 1080 FR = 29,999999 fps Duration = 33333334 ; Analog Gain range min 1,000000, max 10,625000; Exposure Range min 13000, max 683709000;

GST_ARGUS: 1280 x 720 FR = 59,999999 fps Duration = 16666667 ; Analog Gain range min 1,000000, max 10,625000; Exposure Range min 13000, max 683709000;

GST_ARGUS: 1280 x 720 FR = 120,000005 fps Duration = 8333333 ; Analog Gain range min 1,000000, max 10,625000; Exposure Range min 13000, max 683709000;

GST_ARGUS: Running with following settings:
   Camera index = 0 
   Camera mode  = 4 
   Output Stream W = 1280 H = 720 
   seconds to Run    = 0 
   Frame Rate = 120,000005 
GST_ARGUS: PowerService: requested_clock_Hz=6048000
GST_ARGUS: Setup Complete, Starting captures for 0 seconds
GST_ARGUS: Starting repeat capture requests.
CONSUMER: Producer has connected; continuing.
^Chandling interrupt.
Interrupt: Stopping pipeline ...
EOS on shutdown enabled -- Forcing EOS on the pipeline
Waiting for EOS...
Got EOS from element "pipeline0".
EOS received - stopping pipeline...
Execution ended after 0:00:04.245766040
Setting pipeline to PAUSED ...
Setting pipeline to READY ...
GST_ARGUS: Cleaning up
GST_ARGUS: 
PowerServiceHwVic::cleanupResources
CONSUMER: Done Success
GST_ARGUS: Done Success
Setting pipeline to NULL ...
Freeing pipeline ...

dmesg | grep imx219

[    3.580410] imx219 30-0010: tegracam sensor driver:imx219_v2.0.6
[    3.606567] imx219 31-0010: tegracam sensor driver:imx219_v2.0.6
[    4.578752] vi 54080000.vi: subdev imx219 30-0010 bound
[    4.579471] vi 54080000.vi: subdev imx219 31-0010 bound
[  345.055162] imx219 30-0010: imx219_power_on: power on
[  345.118384] imx219 30-0010: imx219_set_gain: val: 71 (/16) [times], gain: 199
[  345.118930] imx219 30-0010: imx219_set_exposure: val: 29999 [us], coarse_time: 1475 [lines]
[  345.120128] imx219 30-0010: imx219_set_frame_rate: val: 30000001e-6 [fps], frame_length: 1639 [lines]
[  345.177118] imx219 30-0010: imx219_power_off: power off
[  345.177236] imx219 31-0010: imx219_power_on: power on
[  345.294933] imx219 31-0010: imx219_power_off: power off
[  345.295038] imx219 30-0010: imx219_power_on: power on
[  345.318297] imx219 30-0010: imx219_power_off: power off
[  345.318499] imx219 31-0010: imx219_power_on: power on
[  345.341729] imx219 31-0010: imx219_power_off: power off
[  345.344452] imx219 30-0010: imx219_power_on: power on
[  345.367759] imx219 30-0010: imx219_power_off: power off
[  345.368009] imx219 31-0010: imx219_power_on: power on
[  345.391253] imx219 31-0010: imx219_power_off: power off
[  345.415826] imx219 31-0010: imx219_power_on: power on
[  345.439043] imx219 31-0010: imx219_power_off: power off
[  345.439288] imx219 30-0010: imx219_power_on: power on
[  345.462517] imx219 30-0010: imx219_power_off: power off
[  345.462697] imx219 30-0010: imx219_power_on: power on
[  345.485950] imx219 30-0010: imx219_power_off: power off
[  345.486170] imx219 30-0010: imx219_power_on: power on
[  345.509733] imx219 30-0010: imx219_power_off: power off
[  345.546095] imx219 31-0010: imx219_power_on: power on
[  345.569274] imx219 31-0010: imx219_power_off: power off
[  345.569441] imx219 30-0010: imx219_power_on: power on
[  345.592633] imx219 30-0010: imx219_power_off: power off
[  345.592875] imx219 30-0010: imx219_power_on: power on
[  345.616223] imx219 30-0010: imx219_power_off: power off
[  345.616647] imx219 30-0010: imx219_power_on: power on
[  345.640093] imx219 30-0010: imx219_power_off: power off
[  345.920997] imx219 30-0010: imx219_power_on: power on
[  345.944266] imx219 30-0010: imx219_set_frame_rate: val: 120000000e-6 [fps], frame_length: 409 [lines]
[  345.945262] imx219 30-0010: imx219_set_gain: val: 16 (/16) [times], gain: 0
[  345.945736] imx219 30-0010: imx219_set_exposure: exposure limited by frame_length: 405 [lines]
[  345.945740] imx219 30-0010: imx219_set_exposure: val: 8333 [us], coarse_time: 405 [lines]
[  345.949261] imx219 30-0010: imx219_set_frame_rate: val: 30000001e-6 [fps], frame_length: 1639 [lines]
[  345.950324] imx219 30-0010: imx219_set_exposure: exposure limited by frame_length: 1635 [lines]
[  345.950329] imx219 30-0010: imx219_set_exposure: val: 33330 [us], coarse_time: 1635 [lines]
[  345.994944] imx219 30-0010: imx219_set_gain: val: 16 (/16) [times], gain: 0
[  345.995417] imx219 30-0010: imx219_set_exposure: exposure limited by frame_length: 1635 [lines]
[  345.995422] imx219 30-0010: imx219_set_exposure: val: 33330 [us], coarse_time: 1635 [lines]
[  345.996363] imx219 30-0010: imx219_set_frame_rate: val: 30000001e-6 [fps], frame_length: 1639 [lines]
[  346.002546] imx219 30-0010: imx219_set_frame_rate: val: 120000000e-6 [fps], frame_length: 409 [lines]
[  346.012095] imx219 30-0010: imx219_set_frame_rate: val: 30000001e-6 [fps], frame_length: 1639 [lines]
[  346.240710] imx219 30-0010: imx219_set_gain: val: 20 (/16) [times], gain: 52
[  346.275141] imx219 30-0010: imx219_set_gain: val: 24 (/16) [times], gain: 86
[  346.309575] imx219 30-0010: imx219_set_gain: val: 27 (/16) [times], gain: 105
[  346.343922] imx219 30-0010: imx219_set_gain: val: 30 (/16) [times], gain: 120
[  346.344622] imx219 30-0010: imx219_set_exposure: exposure limited by frame_length: 1635 [lines]
[  346.344627] imx219 30-0010: imx219_set_exposure: val: 33329 [us], coarse_time: 1635 [lines]
[  346.378355] imx219 30-0010: imx219_set_exposure: exposure limited by frame_length: 1635 [lines]
[  346.378361] imx219 30-0010: imx219_set_exposure: val: 33330 [us], coarse_time: 1635 [lines]
[  346.412794] imx219 30-0010: imx219_set_gain: val: 31 (/16) [times], gain: 124
[  346.413410] imx219 30-0010: imx219_set_exposure: exposure limited by frame_length: 1635 [lines]
[  346.413416] imx219 30-0010: imx219_set_exposure: val: 33329 [us], coarse_time: 1635 [lines]
[  346.447166] imx219 30-0010: imx219_set_gain: val: 32 (/16) [times], gain: 128
[  346.447718] imx219 30-0010: imx219_set_exposure: exposure limited by frame_length: 1635 [lines]
[  346.447723] imx219 30-0010: imx219_set_exposure: val: 33330 [us], coarse_time: 1635 [lines]
[  346.481616] imx219 30-0010: imx219_set_gain: val: 34 (/16) [times], gain: 136
[  346.516007] imx219 30-0010: imx219_set_gain: val: 37 (/16) [times], gain: 146
[  346.550352] imx219 30-0010: imx219_set_gain: val: 39 (/16) [times], gain: 151
[  346.584822] imx219 30-0010: imx219_set_gain: val: 41 (/16) [times], gain: 157
[  346.619141] imx219 30-0010: imx219_set_gain: val: 43 (/16) [times], gain: 161
[  346.653599] imx219 30-0010: imx219_set_gain: val: 44 (/16) [times], gain: 163
[  346.654274] imx219 30-0010: imx219_set_exposure: exposure limited by frame_length: 1635 [lines]
[  346.654279] imx219 30-0010: imx219_set_exposure: val: 33329 [us], coarse_time: 1635 [lines]
[  346.687967] imx219 30-0010: imx219_set_gain: val: 45 (/16) [times], gain: 165
[  346.688814] imx219 30-0010: imx219_set_exposure: exposure limited by frame_length: 1635 [lines]
[  346.688824] imx219 30-0010: imx219_set_exposure: val: 33330 [us], coarse_time: 1635 [lines]
[  346.722348] imx219 30-0010: imx219_set_gain: val: 47 (/16) [times], gain: 169
[  346.722948] imx219 30-0010: imx219_set_exposure: exposure limited by frame_length: 1635 [lines]
[  346.722953] imx219 30-0010: imx219_set_exposure: val: 33329 [us], coarse_time: 1635 [lines]
[  346.756768] imx219 30-0010: imx219_set_gain: val: 48 (/16) [times], gain: 171
[  346.757441] imx219 30-0010: imx219_set_exposure: exposure limited by frame_length: 1635 [lines]
[  346.757447] imx219 30-0010: imx219_set_exposure: val: 33330 [us], coarse_time: 1635 [lines]
[  346.791252] imx219 30-0010: imx219_set_gain: val: 50 (/16) [times], gain: 175
[  346.791865] imx219 30-0010: imx219_set_exposure: exposure limited by frame_length: 1635 [lines]
[  346.791871] imx219 30-0010: imx219_set_exposure: val: 33329 [us], coarse_time: 1635 [lines]
[  346.825565] imx219 30-0010: imx219_set_gain: val: 56 (/16) [times], gain: 183
[  346.826113] imx219 30-0010: imx219_set_exposure: val: 29999 [us], coarse_time: 1475 [lines]
[  346.859983] imx219 30-0010: imx219_set_gain: val: 58 (/16) [times], gain: 186
[  346.894372] imx219 30-0010: imx219_set_gain: val: 59 (/16) [times], gain: 187
[  346.928807] imx219 30-0010: imx219_set_gain: val: 60 (/16) [times], gain: 188
[  346.997648] imx219 30-0010: imx219_set_gain: val: 62 (/16) [times], gain: 190
[  347.032011] imx219 30-0010: imx219_set_gain: val: 64 (/16) [times], gain: 192
[  347.066606] imx219 30-0010: imx219_set_gain: val: 65 (/16) [times], gain: 193
[  347.100776] imx219 30-0010: imx219_set_gain: val: 67 (/16) [times], gain: 195
[  347.203991] imx219 30-0010: imx219_set_gain: val: 68 (/16) [times], gain: 196
[  347.272904] imx219 30-0010: imx219_set_gain: val: 70 (/16) [times], gain: 198
[  349.457148] imx219 30-0010: imx219_power_off: power off

驱动运行起来还有点问题

6. 继续修改设备树

kernel_src\hardware\nvidia\platform\t210\porg\kernel-dts\porg-platforms\tegra210-camera-rbpcv2-dual-imx219.dtsi

...
tegra-camera-platform {
        isp_bw_margin_pct = <0x19>;
        compatible = "nvidia, tegra-camera-platform";
        max_pixel_rate = <0x3a980>;
        num_csi_lanes = <0x4>;
        vi_peak_byte_per_pixel = <0x2>;
        status = "okay";
        max_lane_speed = <0x16e360>;
        vi_bw_margin_pct = <0x19>;
        min_bits_per_pixel = <0xa>;
        isp_peak_byte_per_pixel = <0x5>;

        modules {

            module0 {
                badge = "porg_front_RBPCV2";
                position = "front";
                orientation = [31 00];

                drivernode1 {
                    pcl_id = "v4l2_lens";
                    proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
                };

                drivernode0 {
                    devname = "imx219 30-0010";
                    pcl_id = "v4l2_sensor";
                    proc-device-tree = "/proc/device-tree/host1x/i2c@546c0000/tca9546@70/i2c@0/rbpcv2_imx219_a@10";
                };
            };

            module1 {
                badge = "porg_rear_RBPCV2";
                position = "rear";
                orientation = [32 00];

                drivernode1 {
                    pcl_id = "v4l2_lens";
                    proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
                };

                drivernode0 {
                    devname = "imx219 31-0010";
                    pcl_id = "v4l2_sensor";
                    proc-device-tree = "/proc/device-tree/host1x/i2c@546c0000/tca9546@70/i2c@1/rbpcv2_imx219_f@10";
                };
            };
        };
    };
...

module0 {
                badge = "porg_center_RBPCV2";
                position = "center";
                orientation = [31 00];

                drivernode0 {
                    pcl_id = "v4l2_sensor";
                    devname = "imx219 30-0010";
                    proc-device-tree = "/proc/device-tree/host1x/i2c@546c0000/tca9546@70/i2c@0/rbpcv2_imx219_a@10";                         
                };

                drivernode1 {
                    pcl_id = "v4l2_lens";
                    proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
                };
            };

module1 {
                badge = "porg_top_RBPCV2";
                position = "top";
                orientation = [31 00];

                drivernode0 {
                    pcl_id = "v4l2_sensor";
                    devname = "imx219 31-0010";
                    proc-device-tree = "/proc/device-tree/host1x/i2c@546c0000/tca9546@70/i2c@1/rbpcv2_imx219_f@10";         
                };

                drivernode1 {
                    pcl_id = "v4l2_lens";
                    proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
                };
            };
badge = "porg_center_RBPCV2";
position = "center";
badge = "porg_top_RBPCV2";
position = "top";

badge = "imx219_top_RBPCV2";
position = "top"; 
badge = "imx219_center_RBPCV2";
position = "center";

badge = "imx219_front_RBPCV2";
position = "front"; 
badge = "imx219_rear_RBPCV2";
position = "rear";

按照上面修改后，图像采集正常

7. 原因分析

由于dts中的port节点，module中的节点有一定关联性；
很容易混淆错乱，需要严格根据硬件特性 以及 nvidia的规则来修改

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free-jdx
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  • 易百纳技术社区
    free-jdx 2021-02-05 11:11:30
    回复

    tca9546

  • 易百纳技术社区
    david 2021-02-05 10:46:59
    回复

    i2c 一分四是啥芯片？

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