Can't detect 2 out of 6 cameras

I have 6 csi cameras connected to a custom carrier board over MIPI. 2 of the cameras do not work. I am looking for advice on how to continue debugging, and how to determine whether its a software or hardware problem.

Extra details

  • It is always the same ports on the board that do not work. Camera 2 (/dev/video1) and camera 5 (/dev/video4) are still down after changing cameras and MIPI cables
  • I’m ssh’ing into the Xavier NX
  • Drivers have previously worked on the leopard imaging dev board
  • Using i2cdetect responds with UU for all the camera related devices (mux, fpga, etc), even for the cameras that work

dmesg after running V4L2 command

$ v4l2-ctl --set-fmt-video=width=1936,height=1106,pixelformat=RG12 --set-ctrl bypass_mode=0 --set-ctrl sensor_mode=1 --stream-mmap --stream-count=100 -d /dev/video1
[...] imx265 31-0010: imx265_power_on: power on
[...] ========> get parent node success 
[...] ========>in imx265_set_mode: parent_reg = 1
[...] imx265 31-0010: imx265_set_mode: 
[...] imx265 31-0010: imx265_start_streaming: width = 1936
[...] tegra194-vi5 15c10000.vi: no reply from camera processor
[...] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms
[...] tegra194-vi5 15c10000.vi: err_rec: attempting to reset the capture channel
[...] tegra194-vi5 15c10000.vi: err_rec: successfully reset the capture channel

Gstreamer command and results

gst-launch-1.0 nvarguscamerasrc sensor-id=1 ! 'video/x-raw(memory:NVMM), width=(int)1936, height=(int)1106, format=(string)NV12, framerate=(fraction)30/1' ! nv3dsink -e
nvbuf_utils: dmabuf_fd -1 mapped entry NOT found
nvbuf_utils: Can not get HW buffer from FD... Exiting...
CONSUMER: ERROR OCCURRED
ERROR: from element /GstPipeline:pipeline0/GstNvArgusCameraSrc:nvarguscamerasrc0: CANCELLED
Additional debug info:
Argus Error Status
EOS on shutdown enabled -- waiting for EOS after Error
Waiting for EOS...
Caught SIGSEGV
#0  0x0000007f9579be28 in __GI___poll (fds=0x5589d52b10, nfds=547969733512, timeout=<optimized out>) at ../sysdeps/unix/sysv/linux/poll.c:41
#1  0x0000007f958a8f58 in  () at /usr/lib/aarch64-linux-gnu/libglib-2.0.so.0
#2  0x0000005589c482d0 in  ()

hello Hommus,

are those six identical cameras, or, you’re having heterogeneous cameras?
please review your device tree for port binding definition.
you may see-also Port Index session for reference, please note that, there’s only 6 VI streams, specific to CSI-E/F and CSI-G/H only have single VI brick.

Hi @JerryChang,

I took a look at the port bindings and there was a mismatch of port-indexes. I’ve updated the relevant port-indexes to 6 to make use of VI Stream 5 as well. I will verify that this has fixed the problem on Monday when I can access the hardware again.

Thank you for the help!

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/";
				};
			};
		};
	};
};

hello Hommus,

your vi_port5 definition is incorrect.
you should have 6th camera connection as… Camera -> CSI-G (port-index=6) -> VI stream-5 (port-index=5).
please revise the port index as following.

		vi@15c10000  {
				vi_port5: port@5 {
					reg = <5>;
					rbpcv2_imx265_vi_in5: endpoint {
						port-index = <5>; // Changed from 5 to 6

		nvcsi@15a00000 {
			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>;

		i2c@5 {
						rbpcv2_imx265_out5: endpoint {
							status = "okay";
							port-index = <6>; // Changed from 5 to 6

Hi @JerryChang,
I’ve applied your change and I’m back to where I was previously with 2 cameras still unavailable. What are some next steps I could take to debug this issue?

hello Hommus,

may I know what’s the CSI interface these two camera were using?

BTW,
it looks you have CAM0_PWDN and CAM1_PWDN as reset-gpios, and configure the default as output-low.
why others 4 camera toggle the reset pin directly without default configure?

Hi @JerryChang,

  • Camera 2 (/dev/video1) = CSI E = CSI 4
  • Camera 5 (/dev/video4) = CSI B = CSI 1

I think they might be swapped, I’ll try and swap them back in the device tree.

The default configuration for the imx265_gpio_rst is in the tegra194-camera-rbpcv2-imx265.dtsi:

imx265_gpio_rst: gpio@77 {
	compatible = "ti,tca9539";
	reg = <0x77>;
	gpio-controller;
	#gpio-cells = <2>;
	vcc-supply = <&p3509_vdd_1v8_cvb>;
};

hello Hommus,

it’s prefer to have default GPIO definitions,
you may add below paragraph into device tree to specify these reset pins as output-low.
for example,

                        tca9539_outlow {
                                gpio-hog;
                                gpios = <12 0 13 0 14 0 15 0>;
                                output-low;

Hi @JerryChang,
Thanks for the help debugging. The issue was the inverse setup of CSI B and CSI E.

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