Hi @JerryChang,
After applying the “fix”, I actually lost camera 6 (/dev/video5) in addition to the previous cameras.
Can you take a look at the device tree and let me know if anything is incorrect?
All the cameras are identical.
tegra194-camera-jakku-rbpcv2-imx265.dtsi
/*
* Copyright (c) 2018-2020, NVIDIA CORPORATION. All rights reserved.
* Copyright (C) 2020, Leopard <leopard@leopardimaging.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
* more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "tegra194-camera-rbpcv2-imx265.dtsi"
#define CAM0_PWDN TEGRA194_MAIN_GPIO(P, 4)
#define CAM1_PWDN TEGRA194_MAIN_GPIO(P, 5)
#define CAMERA_I2C_MUX_BUS(x) (0x1E + x)
/ {
i2c@3180000{
tca9548@70 {
compatible = "nxp,pca9548";
reg = <0x70>;
#address-cells = <1>;
#size-cells = <0>;
vcc-supply = <&p3509_vdd_sys_en>;
vcc_lp = "vcc";
skip_mux_detect = "yes";
force_bus_start = <CAMERA_I2C_MUX_BUS(0)>;
status = "okay";
i2c@0 {
reg = <0>;
i2c-mux,deselect-on-exit;
#address-cells = <1>;
#size-cells = <0>;
status = "okay";
fpga_a: fpga_a@3c {
compatible = "nvidia,fpga";
reg = <0x3c>;
channel = "a";
};
rbpcv2_imx265_a@10 {
status = "okay";
clocks = <&bpmp_clks TEGRA194_CLK_EXTPERIPH1>,
<&bpmp_clks TEGRA194_CLK_EXTPERIPH1>;
clock-names = "extperiph1", "pllp_grtba";
mclk = "extperiph1";
nvidia,fpga-device = <&fpga_a>;
reset-gpios = <&tegra_main_gpio CAM0_PWDN GPIO_ACTIVE_HIGH>;
vana-supply = <&p3509_avdd_cam_2v8>;
vif-supply = <&p3509_vdd_1v8_cvb>;
vdig-supply = <&p3509_vdd_sys_en>;
};
};
i2c@1 {
reg = <1>;
i2c-mux,deselect-on-exit;
#address-cells = <1>;
#size-cells = <0>;
status = "okay";
fpga_e: fpga_e@3c {
compatible = "nvidia,fpga";
reg = <0x3c>;
channel = "e";
};
rbpcv2_imx265_e@10 {
status = "okay";
clocks = <&bpmp_clks TEGRA194_CLK_EXTPERIPH1>,
<&bpmp_clks TEGRA194_CLK_EXTPERIPH1>;
clock-names = "extperiph1", "pllp_grtba";
mclk = "extperiph1";
nvidia,fpga-device = <&fpga_e>;
reset-gpios = <&tegra_main_gpio CAM1_PWDN GPIO_ACTIVE_HIGH>;
vana-supply = <&p3509_avdd_cam_2v8>;
vif-supply = <&p3509_vdd_1v8_cvb>;
vdig-supply = <&p3509_vdd_sys_en>;
};
};
i2c@2 {
reg = <2>;
i2c-mux,deselect-on-exit;
#address-cells = <1>;
#size-cells = <0>;
status = "okay";
fpga_c: fpga_c@3c {
compatible = "nvidia,fpga";
reg = <0x3c>;
channel = "c";
};
rbpcv2_imx265_c@10 {
status = "okay";
clocks = <&bpmp_clks TEGRA194_CLK_EXTPERIPH1>,
<&bpmp_clks TEGRA194_CLK_EXTPERIPH1>;
clock-names = "extperiph1", "pllp_grtba";
mclk = "extperiph1";
nvidia,fpga-device = <&fpga_c>;
reset-gpios = <&imx265_gpio_rst 12 GPIO_ACTIVE_HIGH>;
vana-supply = <&p3509_avdd_cam_2v8>;
vif-supply = <&p3509_vdd_1v8_cvb>;
vdig-supply = <&p3509_vdd_sys_en>;
};
};
i2c@3 {
reg = <3>;
i2c-mux,deselect-on-exit;
#address-cells = <1>;
#size-cells = <0>;
status = "okay";
fpga_d: fpga_d@3c {
compatible = "nvidia,fpga";
reg = <0x3c>;
channel = "d";
};
rbpcv2_imx265_d@10 {
status = "okay";
clocks = <&bpmp_clks TEGRA194_CLK_EXTPERIPH1>,
<&bpmp_clks TEGRA194_CLK_EXTPERIPH1>;
clock-names = "extperiph1", "pllp_grtba";
mclk = "extperiph1";
nvidia,fpga-device = <&fpga_d>;
reset-gpios = <&imx265_gpio_rst 13 GPIO_ACTIVE_HIGH>;
vana-supply = <&p3509_avdd_cam_2v8>;
vif-supply = <&p3509_vdd_1v8_cvb>;
vdig-supply = <&p3509_vdd_sys_en>;
};
};
i2c@4 {
reg = <4>;
i2c-mux,deselect-on-exit;
#address-cells = <1>;
#size-cells = <0>;
status = "okay";
fpga_b: fpga_b@3c {
compatible = "nvidia,fpga";
reg = <0x3c>;
channel = "b";
};
rbpcv2_imx265_b@10 {
status = "okay";
clocks = <&bpmp_clks TEGRA194_CLK_EXTPERIPH1>,
<&bpmp_clks TEGRA194_CLK_EXTPERIPH1>;
clock-names = "extperiph1", "pllp_grtba";
mclk = "extperiph1";
nvidia,fpga-device = <&fpga_b>;
reset-gpios = <&imx265_gpio_rst 14 GPIO_ACTIVE_HIGH>;
vana-supply = <&p3509_avdd_cam_2v8>;
vif-supply = <&p3509_vdd_1v8_cvb>;
vdig-supply = <&p3509_vdd_sys_en>;
};
};
i2c@5 {
reg = <5>;
i2c-mux,deselect-on-exit;
#address-cells = <1>;
#size-cells = <0>;
status = "okay";
fpga_g: fpga_g@3c {
compatible = "nvidia,fpga";
reg = <0x3c>;
channel = "g";
};
rbpcv2_imx265_g@10 {
status = "okay";
clocks = <&bpmp_clks TEGRA194_CLK_EXTPERIPH1>,
<&bpmp_clks TEGRA194_CLK_EXTPERIPH1>;
clock-names = "extperiph1", "pllp_grtba";
mclk = "extperiph1";
nvidia,fpga-device = <&fpga_g>;
reset-gpios = <&imx265_gpio_rst 15 GPIO_ACTIVE_HIGH>;
vana-supply = <&p3509_avdd_cam_2v8>;
vif-supply = <&p3509_vdd_1v8_cvb>;
vdig-supply = <&p3509_vdd_sys_en>;
};
};
};
};
gpio@2200000 {
camera-control-output-low {
gpio-hog;
output-low;
gpios = <CAM0_PWDN 0 CAM1_PWDN 0>;
label = "cam0-pwdn","cam1-pwdn";
};
};
};
tegra194-camera-rbpcv2-imx265.dtsi
/*
* Copyright (c) 2018-2020, NVIDIA CORPORATION. All rights reserved.
* Copyright (C) 2020, Leopard <leopard@leopardimaging.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
* more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <dt-bindings/media/camera.h>
/ {
host1x {
vi@15c10000 {
num-channels = <6>;
ports {
#address-cells = <1>;
#size-cells = <0>;
vi_port0: port@0 {
reg = <0>;
rbpcv2_imx265_vi_in0: endpoint {
port-index = <0>;
bus-width = <2>;
remote-endpoint = <&rbpcv2_imx265_csi_out0>;
};
};
vi_port1: port@1 {
reg = <1>;
rbpcv2_imx265_vi_in1: endpoint {
port-index = <4>;
bus-width = <2>;
remote-endpoint = <&rbpcv2_imx265_csi_out1>;
};
};
vi_port2: port@2 {
reg = <2>;
rbpcv2_imx265_vi_in2: endpoint {
port-index = <2>;
bus-width = <2>;
remote-endpoint = <&rbpcv2_imx265_csi_out2>;
};
};
vi_port3: port@3 {
reg = <3>;
rbpcv2_imx265_vi_in3: endpoint {
port-index = <3>;
bus-width = <2>;
remote-endpoint = <&rbpcv2_imx265_csi_out3>;
};
};
vi_port4: port@4 {
reg = <4>;
rbpcv2_imx265_vi_in4: endpoint {
port-index = <1>;
bus-width = <2>;
remote-endpoint = <&rbpcv2_imx265_csi_out4>;
};
};
vi_port5: port@5 {
reg = <5>;
rbpcv2_imx265_vi_in5: endpoint {
port-index = <6>; // Changed from 5 to 6
bus-width = <2>;
remote-endpoint = <&rbpcv2_imx265_csi_out5>;
};
};
};
};
nvcsi@15a00000 {
num-channels = <6>;
#address-cells = <1>;
#size-cells = <0>;
csi_chan0: channel@0 {
reg = <0>;
ports {
#address-cells = <1>;
#size-cells = <0>;
csi_chan0_port0: port@0 {
reg = <0>;
rbpcv2_imx265_csi_in0: endpoint@0 {
port-index = <0>;
bus-width = <2>;
remote-endpoint = <&rbpcv2_imx265_out0>;
};
};
csi_chan0_port1: port@1 {
reg = <1>;
rbpcv2_imx265_csi_out0: endpoint@1 {
remote-endpoint = <&rbpcv2_imx265_vi_in0>;
};
};
};
};
csi_chan1: channel@1 {
reg = <1>;
ports {
#address-cells = <1>;
#size-cells = <0>;
csi_chan1_port0: port@0 {
reg = <0>;
rbpcv2_imx265_csi_in1: endpoint@2 {
port-index = <4>;
bus-width = <2>;
remote-endpoint = <&rbpcv2_imx265_out1>;
};
};
csi_chan1_port1: port@1 {
reg = <1>;
rbpcv2_imx265_csi_out1: endpoint@3 {
remote-endpoint = <&rbpcv2_imx265_vi_in1>;
};
};
};
};
csi_chan2: channel@2 {
reg = <2>;
ports {
#address-cells = <1>;
#size-cells = <0>;
csi_chan2_port0: port@0 {
reg = <0>;
rbpcv2_imx265_csi_in2: endpoint@4 {
port-index = <2>;
bus-width = <2>;
remote-endpoint = <&rbpcv2_imx265_out2>;
};
};
csi_chan2_port1: port@1 {
reg = <1>;
rbpcv2_imx265_csi_out2: endpoint@5 {
remote-endpoint = <&rbpcv2_imx265_vi_in2>;
};
};
};
};
csi_chan3: channel@3 {
reg = <3>;
ports {
#address-cells = <1>;
#size-cells = <0>;
csi_chan3_port0: port@0 {
reg = <0>;
rbpcv2_imx265_csi_in3: endpoint@6 {
port-index = <3>;
bus-width = <2>;
remote-endpoint = <&rbpcv2_imx265_out3>;
};
};
csi_chan3_port1: port@1 {
reg = <1>;
rbpcv2_imx265_csi_out3: endpoint@7 {
remote-endpoint = <&rbpcv2_imx265_vi_in3>;
};
};
};
};
csi_chan4: channel@4 {
reg = <4>;
ports {
#address-cells = <1>;
#size-cells = <0>;
csi_chan4_port0: port@0 {
reg = <0>;
rbpcv2_imx265_csi_in4: endpoint@8 {
port-index = <1>;
bus-width = <2>;
remote-endpoint = <&rbpcv2_imx265_out4>;
};
};
csi_chan4_port1: port@1 {
reg = <1>;
rbpcv2_imx265_csi_out4: endpoint@9 {
remote-endpoint = <&rbpcv2_imx265_vi_in4>;
};
};
};
};
csi_chan5: channel@5 {
reg = <5>;
ports {
#address-cells = <1>;
#size-cells = <0>;
csi_chan5_port0: port@0 {
reg = <0>;
rbpcv2_imx265_csi_in5: endpoint@10 {
port-index = <6>;
bus-width = <2>;
remote-endpoint = <&rbpcv2_imx265_out5>;
};
};
csi_chan5_port1: port@1 {
reg = <1>;
rbpcv2_imx265_csi_out5: endpoint@11 {
remote-endpoint = <&rbpcv2_imx265_vi_in5>;
};
};
};
};
};
};
i2c@3180000 {
tca9548@70 {
i2c@0 {
imx265_cam0: rbpcv2_imx265_a@10 {
compatible = "nvidia,imx265";
/* I2C device address */
reg = <0x10>;
/* V4L2 device node location */
devnode = "video0";
/* Physical dimensions of sensor */
physical_w = "3.680";
physical_h = "2.760";
sensor_model = "imx265";
use_decibel_gain = "true";
use_sensor_mode_id = "true";
avdd-reg = "vana";
iovdd-reg = "vif";
dvdd-reg = "vdig";
/**
* ==== Modes ====
* A modeX node is required to support v4l2 driver
* implementation with NVIDIA camera software stack
*
* == Signal properties ==
*
* phy_mode = "";
* PHY mode used by the MIPI lanes for this device
*
* tegra_sinterface = "";
* CSI Serial interface connected to tegra
* Incase of virtual HW devices, use virtual
* For SW emulated devices, use host
*
* pix_clk_hz = "";
* Sensor pixel clock used for calculations like exposure and framerate
*
* readout_orientation = "0";
* Based on camera module orientation.
* Only change readout_orientation if you specifically
* Program a different readout order for this mode
*
* == Image format Properties ==
*
* active_w = "";
* Pixel active region width
*
* active_h = "";
* Pixel active region height
*
* pixel_t = "";
* The sensor readout pixel pattern
*
* line_length = "";
* Pixel line length (width) for sensor mode.
*
* == Source Control Settings ==
*
* Gain factor used to convert fixed point integer to float
* Gain range [min_gain/gain_factor, max_gain/gain_factor]
* Gain step [step_gain/gain_factor is the smallest step that can be configured]
* Default gain [Default gain to be initialized for the control.
* use min_gain_val as default for optimal results]
* Framerate factor used to convert fixed point integer to float
* Framerate range [min_framerate/framerate_factor, max_framerate/framerate_factor]
* Framerate step [step_framerate/framerate_factor is the smallest step that can be configured]
* Default Framerate [Default framerate to be initialized for the control.
* use max_framerate to get required performance]
* Exposure factor used to convert fixed point integer to float
* For convenience use 1 sec = 1000000us as conversion factor
* Exposure range [min_exp_time/exposure_factor, max_exp_time/exposure_factor]
* Exposure step [step_exp_time/exposure_factor is the smallest step that can be configured]
* Default Exposure Time [Default exposure to be initialized for the control.
* Set default exposure based on the default_framerate for optimal exposure settings]
*
* gain_factor = ""; (integer factor used for floating to fixed point conversion)
* min_gain_val = ""; (ceil to integer)
* max_gain_val = ""; (ceil to integer)
* step_gain_val = ""; (ceil to integer)
* default_gain = ""; (ceil to integer)
* Gain limits for mode
*
* exposure_factor = ""; (integer factor used for floating to fixed point conversion)
* min_exp_time = ""; (ceil to integer)
* max_exp_time = ""; (ceil to integer)
* step_exp_time = ""; (ceil to integer)
* default_exp_time = ""; (ceil to integer)
* Exposure Time limits for mode (sec)
*
* framerate_factor = ""; (integer factor used for floating to fixed point conversion)
* min_framerate = ""; (ceil to integer)
* max_framerate = ""; (ceil to integer)
* step_framerate = ""; (ceil to integer)
* default_framerate = ""; (ceil to integer)
* Framerate limits for mode (fps)
*
* embedded_metadata_height = "";
* Sensor embedded metadata height in units of rows.
* If sensor does not support embedded metadata value should be 0.
*/
mode0 { /* IMX265_MODE_2448x2048_27FPS */
mclk_khz = "37125";
num_lanes = "2";
tegra_sinterface = "serial_a";
phy_mode = "DPHY";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
mode_type = "bayer";
pixel_phase = "rggb";
active_w = "2048";
active_h = "1554";
readout_orientation = "0";
line_length = "2256";
inherent_gain = "1";
mclk_multiplier = "20";
pix_clk_hz = "198000000"; // 198 MHz
gain_factor = "10";
min_gain_val = "1"; // 0.1dB
max_gain_val = "480"; // 48dB
step_gain_val = "1"; // 0.1dB
default_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
framerate_factor = "1000000";
min_framerate = "1000000"; // 1 FPS
max_framerate = "60000000"; // 60 FPS
step_framerate = "1";
default_framerate = "27000000"; // 27 FPS
exposure_factor = "1000000";
min_exp_time = "30"; // us
max_exp_time = "660000"; // us
step_exp_time = "1";
default_exp_time = "33334"; // us
embedded_metadata_height = "0";
};
mode1 { /* IMX265_MODE_1920x1080_30FPS */
mclk_khz = "37125";
num_lanes = "2";
tegra_sinterface = "serial_a";
phy_mode = "DPHY";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
mode_type = "bayer";
pixel_phase = "rggb";
active_w = "1936";
active_h = "1106";
readout_orientation = "0";
line_length = "2200";
inherent_gain = "1";
mclk_multiplier = "20";
pix_clk_hz = "148500000";
gain_factor = "10";
min_gain_val = "1";
max_gain_val = "480";
step_gain_val = "1";
default_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
framerate_factor = "1000000";
min_framerate = "1000000";
max_framerate = "60000000";
step_framerate = "1";
default_framerate = "30000000";
exposure_factor = "1000000";
min_exp_time = "30";
max_exp_time = "660000";
step_exp_time = "1";
default_exp_time = "33334";
embedded_metadata_height = "0";
};
mode2 { /* IMX265_MODE_1032x772_58FPS */
mclk_khz = "37125";
num_lanes = "2";
tegra_sinterface = "serial_a";
phy_mode = "DPHY";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
mode_type = "bayer";
pixel_phase = "rggb";
active_w = "1032";
active_h = "772";
readout_orientation = "0";
line_length = "2112";
inherent_gain = "1";
mclk_multiplier = "20";
pix_clk_hz = "198000000";
gain_factor = "10";
min_gain_val = "1";
max_gain_val = "480";
step_gain_val = "1";
default_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
framerate_factor = "1000000";
min_framerate = "1000000";
max_framerate = "60000000";
step_framerate = "1";
default_framerate = "58000000";
exposure_factor = "1000000";
min_exp_time = "30";
max_exp_time = "660000";
step_exp_time = "1";
default_exp_time = "33334";
embedded_metadata_height = "0";
};
ports {
#address-cells = <1>;
#size-cells = <0>;
port@0 {
reg = <0>;
rbpcv2_imx265_out0: endpoint {
status = "okay";
port-index = <0>;
bus-width = <2>;
remote-endpoint = <&rbpcv2_imx265_csi_in0>;
};
};
};
};
};
i2c@1 {
imx265_cam1: rbpcv2_imx265_e@10 {
compatible = "nvidia,imx265";
/* I2C device address */
reg = <0x10>;
/* V4L2 device node location */
devnode = "video1";
/* Physical dimensions of sensor */
physical_w = "3.680";
physical_h = "2.760";
sensor_model = "imx265";
use_decibel_gain = "true";
use_sensor_mode_id = "true";
avdd-reg = "vana";
iovdd-reg = "vif";
dvdd-reg = "vdig";
mode0 { /* IMX265_MODE_2448x2048_27FPS */
mclk_khz = "37125";
num_lanes = "2";
tegra_sinterface = "serial_e";
phy_mode = "DPHY";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
mode_type = "bayer";
pixel_phase = "rggb";
active_w = "2048";
active_h = "1554";
readout_orientation = "0";
line_length = "2256";
inherent_gain = "1";
mclk_multiplier = "20";
pix_clk_hz = "198000000";
gain_factor = "10";
min_gain_val = "1";
max_gain_val = "480";
step_gain_val = "1";
default_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
framerate_factor = "1000000";
min_framerate = "1000000";
max_framerate = "60000000";
step_framerate = "1";
default_framerate = "27000000";
exposure_factor = "1000000";
min_exp_time = "30";
max_exp_time = "660000";
step_exp_time = "1";
default_exp_time = "33334";
embedded_metadata_height = "0";
};
mode1 { /* IMX265_MODE_1920x1080_30FPS */
mclk_khz = "37125";
num_lanes = "2";
tegra_sinterface = "serial_e";
phy_mode = "DPHY";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
mode_type = "bayer";
pixel_phase = "rggb";
active_w = "1936";
active_h = "1106";
readout_orientation = "0";
line_length = "2200";
inherent_gain = "1";
mclk_multiplier = "20";
pix_clk_hz = "148500000";
gain_factor = "10";
min_gain_val = "1";
max_gain_val = "480";
step_gain_val = "1";
default_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
framerate_factor = "1000000";
min_framerate = "1000000";
max_framerate = "60000000";
step_framerate = "1";
default_framerate = "30000000";
exposure_factor = "1000000";
min_exp_time = "30";
max_exp_time = "660000";
step_exp_time = "1";
default_exp_time = "33334";
embedded_metadata_height = "0";
};
mode2 { /* IMX265_MODE_1032x772_58FPS */
mclk_khz = "37125";
num_lanes = "2";
tegra_sinterface = "serial_e";
phy_mode = "DPHY";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
mode_type = "bayer";
pixel_phase = "rggb";
active_w = "1032";
active_h = "772";
readout_orientation = "0";
line_length = "2112";
inherent_gain = "1";
mclk_multiplier = "20";
pix_clk_hz = "198000000";
gain_factor = "10";
min_gain_val = "1";
max_gain_val = "480";
step_gain_val = "1";
default_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
framerate_factor = "1000000";
min_framerate = "1000000";
max_framerate = "60000000";
step_framerate = "1";
default_framerate = "58000000";
exposure_factor = "1000000";
min_exp_time = "30";
max_exp_time = "660000";
step_exp_time = "1";
default_exp_time = "33334";
embedded_metadata_height = "0";
};
ports {
#address-cells = <1>;
#size-cells = <0>;
port@0 {
reg = <0>;
rbpcv2_imx265_out1: endpoint {
status = "okay";
port-index = <4>;
bus-width = <2>;
remote-endpoint = <&rbpcv2_imx265_csi_in1>;
};
};
};
};
};
i2c@2 {
imx265_cam2: rbpcv2_imx265_c@10 {
compatible = "nvidia,imx265";
/* I2C device address */
reg = <0x10>;
/* V4L2 device node location */
devnode = "video2";
/* Physical dimensions of sensor */
physical_w = "3.680";
physical_h = "2.760";
sensor_model = "imx265";
use_decibel_gain = "true";
use_sensor_mode_id = "true";
avdd-reg = "vana";
iovdd-reg = "vif";
dvdd-reg = "vdig";
mode0 { /* IMX265_MODE_2448x2048_27FPS */
mclk_khz = "37125";
num_lanes = "2";
tegra_sinterface = "serial_c";
phy_mode = "DPHY";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
mode_type = "bayer";
pixel_phase = "rggb";
active_w = "2048";
active_h = "1554";
readout_orientation = "0";
line_length = "2256";
inherent_gain = "1";
mclk_multiplier = "20";
pix_clk_hz = "198000000";
gain_factor = "10";
min_gain_val = "1";
max_gain_val = "480";
step_gain_val = "1";
default_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
framerate_factor = "1000000";
min_framerate = "1000000";
max_framerate = "60000000";
step_framerate = "1";
default_framerate = "27000000";
exposure_factor = "1000000";
min_exp_time = "30";
max_exp_time = "660000";
step_exp_time = "1";
default_exp_time = "33334";
embedded_metadata_height = "0";
};
mode1 { /* IMX265_MODE_1920x1080_30FPS */
mclk_khz = "37125";
num_lanes = "2";
tegra_sinterface = "serial_c";
phy_mode = "DPHY";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
mode_type = "bayer";
pixel_phase = "rggb";
active_w = "1936";
active_h = "1106";
readout_orientation = "0";
line_length = "2200";
inherent_gain = "1";
mclk_multiplier = "20";
pix_clk_hz = "148500000";
gain_factor = "10";
min_gain_val = "1";
max_gain_val = "480";
step_gain_val = "1";
default_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
framerate_factor = "1000000";
min_framerate = "1000000";
max_framerate = "60000000";
step_framerate = "1";
default_framerate = "30000000";
exposure_factor = "1000000";
min_exp_time = "30";
max_exp_time = "660000";
step_exp_time = "1";
default_exp_time = "33334";
embedded_metadata_height = "0";
};
mode2 { /* IMX265_MODE_1032x772_58FPS */
mclk_khz = "37125";
num_lanes = "2";
tegra_sinterface = "serial_c";
phy_mode = "DPHY";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
mode_type = "bayer";
pixel_phase = "rggb";
active_w = "1032";
active_h = "772";
readout_orientation = "0";
line_length = "2112";
inherent_gain = "1";
mclk_multiplier = "20";
pix_clk_hz = "198000000";
gain_factor = "10";
min_gain_val = "1";
max_gain_val = "480";
step_gain_val = "1";
default_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
framerate_factor = "1000000";
min_framerate = "1000000";
max_framerate = "60000000";
step_framerate = "1";
default_framerate = "58000000";
exposure_factor = "1000000";
min_exp_time = "30";
max_exp_time = "660000";
step_exp_time = "1";
default_exp_time = "33334";
embedded_metadata_height = "0";
};
ports {
#address-cells = <1>;
#size-cells = <0>;
port@0 {
reg = <0>;
rbpcv2_imx265_out2: endpoint {
status = "okay";
port-index = <2>;
bus-width = <2>;
remote-endpoint = <&rbpcv2_imx265_csi_in2>;
};
};
};
};
};
i2c@3 {
imx265_cam3: rbpcv2_imx265_d@10 {
compatible = "nvidia,imx265";
/* I2C device address */
reg = <0x10>;
/* V4L2 device node location */
devnode = "video3";
/* Physical dimensions of sensor */
physical_w = "3.680";
physical_h = "2.760";
sensor_model = "imx265";
use_decibel_gain = "true";
use_sensor_mode_id = "true";
avdd-reg = "vana";
iovdd-reg = "vif";
dvdd-reg = "vdig";
mode0 { /* IMX265_MODE_2448x2048_27FPS */
mclk_khz = "37125";
num_lanes = "2";
tegra_sinterface = "serial_d";
phy_mode = "DPHY";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
mode_type = "bayer";
pixel_phase = "rggb";
active_w = "2048";
active_h = "1554";
readout_orientation = "0";
line_length = "2256";
inherent_gain = "1";
mclk_multiplier = "20";
pix_clk_hz = "198000000";
gain_factor = "10";
min_gain_val = "1";
max_gain_val = "480";
step_gain_val = "1";
default_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
framerate_factor = "1000000";
min_framerate = "1000000";
max_framerate = "60000000";
step_framerate = "1";
default_framerate = "27000000";
exposure_factor = "1000000";
min_exp_time = "30";
max_exp_time = "660000";
step_exp_time = "1";
default_exp_time = "33334";
embedded_metadata_height = "0";
};
mode1 { /* IMX265_MODE_1920x1080_30FPS */
mclk_khz = "37125";
num_lanes = "2";
tegra_sinterface = "serial_d";
phy_mode = "DPHY";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
mode_type = "bayer";
pixel_phase = "rggb";
active_w = "1936";
active_h = "1106";
readout_orientation = "0";
line_length = "2200";
inherent_gain = "1";
mclk_multiplier = "20";
pix_clk_hz = "148500000";
gain_factor = "10";
min_gain_val = "1";
max_gain_val = "480";
step_gain_val = "1";
default_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
framerate_factor = "1000000";
min_framerate = "1000000";
max_framerate = "60000000";
step_framerate = "1";
default_framerate = "30000000";
exposure_factor = "1000000";
min_exp_time = "30";
max_exp_time = "660000";
step_exp_time = "1";
default_exp_time = "33334";
embedded_metadata_height = "0";
};
mode2 { /* IMX265_MODE_1032x772_58FPS */
mclk_khz = "37125";
num_lanes = "2";
tegra_sinterface = "serial_d";
phy_mode = "DPHY";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
mode_type = "bayer";
pixel_phase = "rggb";
active_w = "1032";
active_h = "772";
readout_orientation = "0";
line_length = "2112";
inherent_gain = "1";
mclk_multiplier = "20";
pix_clk_hz = "198000000";
gain_factor = "10";
min_gain_val = "1";
max_gain_val = "480";
step_gain_val = "1";
default_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
framerate_factor = "1000000";
min_framerate = "1000000";
max_framerate = "60000000";
step_framerate = "1";
default_framerate = "58000000";
exposure_factor = "1000000";
min_exp_time = "30";
max_exp_time = "660000";
step_exp_time = "1";
default_exp_time = "33334";
embedded_metadata_height = "0";
};
ports {
#address-cells = <1>;
#size-cells = <0>;
port@0 {
reg = <0>;
rbpcv2_imx265_out3: endpoint {
status = "okay";
port-index = <3>;
bus-width = <2>;
remote-endpoint = <&rbpcv2_imx265_csi_in3>;
};
};
};
};
};
i2c@4 {
imx265_gpio_rst: gpio@77 {
compatible = "ti,tca9539";
reg = <0x77>;
gpio-controller;
#gpio-cells = <2>;
vcc-supply = <&p3509_vdd_1v8_cvb>;
};
imx265_cam4: rbpcv2_imx265_b@10 {
compatible = "nvidia,imx265";
/* I2C device address */
reg = <0x10>;
/* V4L2 device node location */
devnode = "video4";
/* Physical dimensions of sensor */
physical_w = "3.680";
physical_h = "2.760";
sensor_model = "imx265";
use_decibel_gain = "true";
use_sensor_mode_id = "true";
avdd-reg = "vana";
iovdd-reg = "vif";
dvdd-reg = "vdig";
mode0 { /* IMX265_MODE_2448x2048_27FPS */
mclk_khz = "37125";
num_lanes = "2";
tegra_sinterface = "serial_b";
phy_mode = "DPHY";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
mode_type = "bayer";
pixel_phase = "rggb";
active_w = "2048";
active_h = "1554";
readout_orientation = "0";
line_length = "2256";
inherent_gain = "1";
mclk_multiplier = "20";
pix_clk_hz = "198000000";
gain_factor = "10";
min_gain_val = "1";
max_gain_val = "480";
step_gain_val = "1";
default_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
framerate_factor = "1000000";
min_framerate = "1000000";
max_framerate = "60000000";
step_framerate = "1";
default_framerate = "27000000";
exposure_factor = "1000000";
min_exp_time = "30";
max_exp_time = "660000";
step_exp_time = "1";
default_exp_time = "33334";
embedded_metadata_height = "0";
};
mode1 { /* IMX265_MODE_1920x1080_30FPS */
mclk_khz = "37125";
num_lanes = "2";
tegra_sinterface = "serial_b";
phy_mode = "DPHY";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
mode_type = "bayer";
pixel_phase = "rggb";
active_w = "1936";
active_h = "1106";
readout_orientation = "0";
line_length = "2200";
inherent_gain = "1";
mclk_multiplier = "20";
pix_clk_hz = "148500000";
gain_factor = "10";
min_gain_val = "1";
max_gain_val = "480";
step_gain_val = "1";
default_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
framerate_factor = "1000000";
min_framerate = "1000000";
max_framerate = "60000000";
step_framerate = "1";
default_framerate = "30000000";
exposure_factor = "1000000";
min_exp_time = "30";
max_exp_time = "660000";
step_exp_time = "1";
default_exp_time = "33334";
embedded_metadata_height = "0";
};
mode2 { /* IMX265_MODE_1032x772_58FPS */
mclk_khz = "37125";
num_lanes = "2";
tegra_sinterface = "serial_b";
phy_mode = "DPHY";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
mode_type = "bayer";
pixel_phase = "rggb";
active_w = "1032";
active_h = "772";
readout_orientation = "0";
line_length = "2112";
inherent_gain = "1";
mclk_multiplier = "20";
pix_clk_hz = "198000000";
gain_factor = "10";
min_gain_val = "1";
max_gain_val = "480";
step_gain_val = "1";
default_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
framerate_factor = "1000000";
min_framerate = "1000000";
max_framerate = "60000000";
step_framerate = "1";
default_framerate = "58000000";
exposure_factor = "1000000";
min_exp_time = "30";
max_exp_time = "660000";
step_exp_time = "1";
default_exp_time = "33334";
embedded_metadata_height = "0";
};
ports {
#address-cells = <1>;
#size-cells = <0>;
port@0 {
reg = <0>;
rbpcv2_imx265_out4: endpoint {
status = "okay";
port-index = <1>;
bus-width = <2>;
remote-endpoint = <&rbpcv2_imx265_csi_in4>;
};
};
};
};
};
i2c@5 {
imx265_cam5: rbpcv2_imx265_g@10 {
compatible = "nvidia,imx265";
/* I2C device address */
reg = <0x10>;
/* V4L2 device node location */
devnode = "video5";
/* Physical dimensions of sensor */
physical_w = "3.680";
physical_h = "2.760";
sensor_model = "imx265";
use_decibel_gain = "true";
use_sensor_mode_id = "true";
avdd-reg = "vana";
iovdd-reg = "vif";
dvdd-reg = "vdig";
mode0 { /* IMX265_MODE_2448x2048_27FPS */
mclk_khz = "37125";
num_lanes = "2";
tegra_sinterface = "serial_g";
phy_mode = "DPHY";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
mode_type = "bayer";
pixel_phase = "rggb";
active_w = "2048";
active_h = "1554";
readout_orientation = "0";
line_length = "2256";
inherent_gain = "1";
mclk_multiplier = "20";
pix_clk_hz = "198000000";
gain_factor = "10";
min_gain_val = "1";
max_gain_val = "480";
step_gain_val = "1";
default_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
framerate_factor = "1000000";
min_framerate = "1000000";
max_framerate = "60000000";
step_framerate = "1";
default_framerate = "27000000";
exposure_factor = "1000000";
min_exp_time = "30";
max_exp_time = "660000";
step_exp_time = "1";
default_exp_time = "33334";
embedded_metadata_height = "0";
};
mode1 { /* IMX265_MODE_1920x1080_30FPS */
mclk_khz = "37125";
num_lanes = "2";
tegra_sinterface = "serial_g";
phy_mode = "DPHY";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
mode_type = "bayer";
pixel_phase = "rggb";
active_w = "1936";
active_h = "1106";
readout_orientation = "0";
line_length = "2200";
inherent_gain = "1";
mclk_multiplier = "20";
pix_clk_hz = "148500000";
gain_factor = "10";
min_gain_val = "1";
max_gain_val = "480";
step_gain_val = "1";
default_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
framerate_factor = "1000000";
min_framerate = "1000000";
max_framerate = "60000000";
step_framerate = "1";
default_framerate = "30000000";
exposure_factor = "1000000";
min_exp_time = "30";
max_exp_time = "660000";
step_exp_time = "1";
default_exp_time = "33334";
embedded_metadata_height = "0";
};
mode2 { /* IMX265_MODE_1032x772_58FPS */
mclk_khz = "37125";
num_lanes = "2";
tegra_sinterface = "serial_g";
phy_mode = "DPHY";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
mode_type = "bayer";
pixel_phase = "rggb";
active_w = "1032";
active_h = "772";
readout_orientation = "0";
line_length = "2112";
inherent_gain = "1";
mclk_multiplier = "20";
pix_clk_hz = "198000000";
gain_factor = "10";
min_gain_val = "1";
max_gain_val = "480";
step_gain_val = "1";
default_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
framerate_factor = "1000000";
min_framerate = "1000000";
max_framerate = "60000000";
step_framerate = "1";
default_framerate = "58000000";
exposure_factor = "1000000";
min_exp_time = "30";
max_exp_time = "660000";
step_exp_time = "1";
default_exp_time = "33334";
embedded_metadata_height = "0";
};
ports {
#address-cells = <1>;
#size-cells = <0>;
port@0 {
reg = <0>;
rbpcv2_imx265_out5: endpoint {
status = "okay";
port-index = <6>; // Changed from 5 to 6
bus-width = <2>;
remote-endpoint = <&rbpcv2_imx265_csi_in5>;
};
};
};
};
};
};
};
lens_imx265@RBPCV2 {
min_focus_distance = "0.0";
hyper_focal = "0.0";
focal_length = "3.04";
f_number = "2.0";
aperture = "0.0";
};
};
/ {
tcp: tegra-camera-platform {
compatible = "nvidia, tegra-camera-platform";
/**
* Physical settings to calculate max ISO BW
*
* num_csi_lanes = <>;
* Total number of CSI lanes when all cameras are active
*
* max_lane_speed = <>;
* Max lane speed in Kbit/s
*
* min_bits_per_pixel = <>;
* Min bits per pixel
*
* vi_peak_byte_per_pixel = <>;
* Max byte per pixel for the VI ISO case
*
* vi_bw_margin_pct = <>;
* Vi bandwidth margin in percentage
*
* max_pixel_rate = <>;
* Max pixel rate in Kpixel/s for the ISP ISO case
*
* isp_peak_byte_per_pixel = <>;
* Max byte per pixel for the ISP ISO case
*
* isp_bw_margin_pct = <>;
* Isp bandwidth margin in percentage
*/
num_csi_lanes = <12>;
max_lane_speed = <1500000>;
min_bits_per_pixel = <10>;
vi_peak_byte_per_pixel = <2>;
vi_bw_margin_pct = <25>;
max_pixel_rate = <240000>;
isp_peak_byte_per_pixel = <5>;
isp_bw_margin_pct = <25>;
/**
* The general guideline for naming badge_info contains 3 parts, and is as follows,
* The first part is the camera_board_id for the module; if the module is in a FFD
* platform, then use the platform name for this part.
* The second part contains the position of the module, ex. "rear" or "front".
* The third part contains the last 6 characters of a part number which is found
* in the module's specsheet from the vendor.
*/
modules {
cam_module0: module0 {
badge = "porg_bottomleft_RBPCV2";
position = "bottomleft";
orientation = "1";
cam_module0_drivernode0: drivernode0 {
pcl_id = "v4l2_sensor";
devname = "imx265 30-0010";
proc-device-tree = "/proc/device-tree/i2c@3180000/tca9548@70/i2c@0/rbpcv2_imx265_a@10";
};
cam_module0_drivernode1: drivernode1 {
pcl_id = "v4l2_lens";
proc-device-tree = "/proc/device-tree/lens_imx265@RBPCV2/";
};
};
cam_module1: module1 {
badge = "porg_centerleft_RBPCV2";
position = "centerleft";
orientation = "1";
cam_module1_drivernode0: drivernode0 {
pcl_id = "v4l2_sensor";
devname = "imx265 31-0010";
proc-device-tree = "/proc/device-tree/i2c@3180000/tca9548@70/i2c@1/rbpcv2_imx265_e@10";
};
cam_module1_drivernode1: drivernode1 {
pcl_id = "v4l2_lens";
proc-device-tree = "/proc/device-tree/lens_imx265@RBPCV2/";
};
};
cam_module2: module2 {
badge = "porg_centerright_RBPCV2";
position = "centerright";
orientation = "1";
cam_module2_drivernode0: drivernode0 {
pcl_id = "v4l2_sensor";
devname = "imx265 32-0010";
proc-device-tree = "/proc/device-tree/i2c@3180000/tca9548@70/i2c@2/rbpcv2_imx265_c@10";
};
cam_module2_drivernode1: drivernode1 {
pcl_id = "v4l2_lens";
proc-device-tree = "/proc/device-tree/lens_imx265@RBPCV2/";
};
};
cam_module3: module3 {
badge = "porg_topleft_RBPCV2";
position = "topleft";
orientation = "1";
cam_module3_drivernode0: drivernode0 {
pcl_id = "v4l2_sensor";
devname = "imx265 33-0010";
proc-device-tree = "/proc/device-tree/i2c@3180000/tca9548@70/i2c@3/rbpcv2_imx265_d@10";
};
cam_module3_drivernode1: drivernode1 {
pcl_id = "v4l2_lens";
proc-device-tree = "/proc/device-tree/lens_imx265@RBPCV2/";
};
};
cam_module4: module4 {
badge = "porg_bottomright_RBPCV2";
position = "bottomright";
orientation = "1";
cam_module4_drivernode0: drivernode0 {
pcl_id = "v4l2_sensor";
devname = "imx265 34-0010";
proc-device-tree = "/proc/device-tree/i2c@3180000/tca9548@70/i2c@4/rbpcv2_imx265_b@10";
};
cam_module4_drivernode1: drivernode1 {
pcl_id = "v4l2_lens";
proc-device-tree = "/proc/device-tree/lens_imx265@RBPCV2/";
};
};
cam_module5: module5 {
badge = "porg_topright_RBPCV2";
position = "topright";
orientation = "1";
cam_module5_drivernode0: drivernode0 {
pcl_id = "v4l2_sensor";
devname = "imx265 35-0010";
proc-device-tree = "/proc/device-tree/i2c@3180000/tca9548@70/i2c@5/rbpcv2_imx265_g@10";
};
cam_module5_drivernode1: drivernode1 {
pcl_id = "v4l2_lens";
proc-device-tree = "/proc/device-tree/lens_imx265@RBPCV2/";
};
};
};
};
};