CSI4 D0/D1 port-index values on Xavier NX

Robotics & Edge Computing Jetson & Embedded Systems Jetson Xavier NX
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1

Hello,

What are the expected port-index values for running a 2-lane MIPI camera (imx477) on CSI4 D0 and D1? The Port Index section of the docs is ambiguous for Xavier NX. My best guess so far has been:

  • Sensor scope with port-index = <4>, bus-width = <2>, and tegra_sinterface = "serial_e"
  • nvcsi with port-index = <4>, bus-width=<2>,
  • vi with port-index = <4>, bus-width=<2>

However, with this configuration (and many other presumably incorrect combinations), I get:

[  123.993815] tegra194-vi5 15c10000.vi: no reply from camera processor
[  123.993971] tegra194-vi5 15c10000.vi: uncorr_err: request timed out after 2500 ms

I know i2c and the imager are working because I can see the i2c signals and csi activity on the scope when running the v4l2-ctl command.

Here’s my full dtsi:

/ {
	host1x {
		vi@15c10000 {
			num-channels = <1>;
			ports {
				#address-cells = <1>;
				#size-cells = <0>;
				port@0 {
					reg = <0>;
					rbpcv3_imx477_vi_in0: endpoint {
						port-index = <4>;
						bus-width = <2>;
						remote-endpoint = <&rbpcv3_imx477_csi_out0>;
					};
				};
			};
		};

		nvcsi@15a00000 {
			num-channels = <1>;
			#address-cells = <1>;
			#size-cells = <0>;
			channel@0 {
				reg = <0>;
				ports {
					#address-cells = <1>;
					#size-cells = <0>;
					port@0 {
						reg = <0>;
						rbpcv3_imx477_csi_in0: endpoint@0 {
							port-index = <4>;
							bus-width = <2>;
							remote-endpoint = <&rbpcv3_imx477_dual_out0>;
						};
					};
					port@1 {
						reg = <1>;
						rbpcv3_imx477_csi_out0: endpoint@1 {
							remote-endpoint = <&rbpcv3_imx477_vi_in0>;
						};
					};
				};
			};
		};
	};

	cam_i2cmux {
		i2c@1 {
			imx477_cam0: rbpcv3_imx477_c@1a {
				compatible = "ridgerun,imx477";
				/* I2C device address */
				reg = <0x1a>;

				/* V4L2 device node location */
				devnode = "video0";

				/* Physical dimensions of sensor */
				physical_w = "3.680";
				physical_h = "2.760";

				sensor_model = "imx477";

				use_sensor_mode_id = "true";

				mode0 { /* IMX477_MODE_3840x2160 */
					mclk_khz = "24000";
					num_lanes = "2";
					tegra_sinterface = "serial_e";
					phy_mode = "DPHY";
					discontinuous_clk = "no";
					dpcm_enable = "false";
					cil_settletime = "0";

					active_w = "3840";
					active_h = "2160";
					mode_type = "bayer";
					pixel_phase = "rggb";
					csi_pixel_bit_depth = "10";
					readout_orientation = "90";
					line_length = "11200";
					inherent_gain = "1";
					mclk_multiplier = "80";
					pix_clk_hz = "840000000";

					gain_factor = "16";
					framerate_factor = "1000000";
					exposure_factor = "1000000";
					min_gain_val = "16"; /* 1.00x */
					max_gain_val = "356"; /* 22x */
					step_gain_val = "1";
					default_gain = "16"; /* 1.00x */
					min_hdr_ratio = "1";
					max_hdr_ratio = "1";
					min_framerate = "2000000"; /* 2.0 fps */
					max_framerate = "30000000"; /* 30.0 fps */
					step_framerate = "1";
					default_framerate = "30000000"; /* 30.0 fps */
					min_exp_time = "13"; /* us */
					max_exp_time = "683709"; /* us */
					step_exp_time = "1";
					default_exp_time = "2495"; /* us */

					embedded_metadata_height = "2";
				};
				mode1 { /* IMX477_MODE_1920X1080 */
					mclk_khz = "24000";
					num_lanes = "2";
					tegra_sinterface = "serial_e";
					phy_mode = "DPHY";
					discontinuous_clk = "no";
					dpcm_enable = "false";
					cil_settletime = "0";

					active_w = "1920";
					active_h = "1080";
					mode_type = "bayer";
					pixel_phase = "rggb";
					csi_pixel_bit_depth = "10";
					readout_orientation = "90";
					line_length = "7000";
					inherent_gain = "1";
					mclk_multiplier = "80";
					pix_clk_hz = "840000000";

					gain_factor = "16";
					framerate_factor = "1000000";
					exposure_factor = "1000000";
					min_gain_val = "16"; /* 1.00x */
					max_gain_val = "356"; /* 22x */
					step_gain_val = "1";
					default_gain = "16"; /* 1.00x */
					min_hdr_ratio = "1";
					max_hdr_ratio = "1";
					min_framerate = "2000000"; /* 2.0 fps */
					max_framerate = "60000000"; /* 60.0 fps */
					step_framerate = "1";
					default_framerate = "60000000"; /* 60.0 fps */
					min_exp_time = "13"; /* us */
					max_exp_time = "683709"; /* us */
					step_exp_time = "1";
					default_exp_time = "2495"; /* us */

					embedded_metadata_height = "2";
				};

				ports {
					#address-cells = <1>;
					#size-cells = <0>;

					port@0 {
						reg = <0>;
						rbpcv3_imx477_dual_out0: endpoint {
							port-index = <4>;
							bus-width = <2>;
							remote-endpoint = <&rbpcv3_imx477_csi_in0>;
						};
					};
				};
			};
		};
	
	};
};

/ {
	tegra-camera-platform {
		compatible = "nvidia, tegra-camera-platform";

		num_csi_lanes = <2>;
		max_lane_speed = <1500000>;
		min_bits_per_pixel = <10>;
		vi_peak_byte_per_pixel = <2>;
		vi_bw_margin_pct = <25>;
		max_pixel_rate = <7500000>;
		isp_peak_byte_per_pixel = <5>;
		isp_bw_margin_pct = <25>;

		modules {
			module0 {
				badge = "jakku_front_IMX477";
				position = "front";
				orientation = "1";
				drivernode0 {
					pcl_id = "v4l2_sensor";
					devname = "imx477 9-001a";
					proc-device-tree = "/proc/device-tree/cam_i2cmux/i2c@1/rbpcv3_imx477_c@1a";
				};
			};
		};
	};
};
3

Did you try connect to CSI0 to verify?

4

No sir, I cannot. We are developing a custom carrier board with only CSI2 and CSI 4 broken out to headers. For now I’m just trying to get the imager on CSI 4 working. To start, I’m just looking to confirm the port-index values. Thanks

5

The configure for CSI4 is correct.

6

Thanks Shane, I will mark that as the solution and take my next issues to another post.

8

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