I am testing a custon baseboard with custom camera.
The hardware supports jetson nano som and cameras connected via serder link, see below
| Camera | Cable | Baseboard | Jetson Nano |
|---|---|---|---|
| AR0231AT -(2lane mipi)-ds90ub953 | FP3Link | ds90ub954-(2lane mipi) | CSI0( a )-Jetson Nano |
| AR0231AT -(2lane mipi)-ds90ub953 | FP3Link | ds90ub954-(2lane mipi) | CSI2( e )-Jetson Nano |
| AR0231AT -(2lane mipi)-ds90ub953 | FP3Link | ds90ub954-(2lane mipi) | CSI3( f )-Jetson Nano |
| AR0231AT -(2lane mipi)-ds90ub953 | FP3Link | ds90ub954-(2lane mipi) | CSI4( c )-Jetson Nano |
Using the jetson_multimedia_api/samples/13_multi_camera/main.cpp code. I have found that I can get only two of the four cameras working.
I have tested the following combinations;
| Cameras | Status | Result |
|---|---|---|
| 1 and 2 | continuously streams | PASSED |
| 1 and 3 | continuously streams | PASSED |
| 1 and 4 | continuously streams | PASSED |
| 2 and 3 | continuously streams | PASSED |
| 2 and 4 | continuously streams | PASSED |
| 3 and 4 | continuously streams | PASSED |
| 1 and 2 and 3 | single frame | FAILED |
| 2 and 3 and 4 | single frame | FAILED |
| 1 and 3 and 4 | single frame | FAILED |
| 1 and 2 and 4 | single frame | FAILED |
See below the dtsi file
#include <dt-bindings/media/camera.h>
#include <dt-bindings/platform/t210/t210.h>
#define CAM1_PWDN TEGRA_GPIO(S, 7)
#define CAM2_PWDN TEGRA_GPIO(T, 0)
#define CAM3_PWDN TEGRA_GPIO(S, 5)
#define CAM4_PWDN TEGRA_GPIO(S, 1)
/{
host1x {
vi_base: vi {
num-channels = <4>;
ports {
#address-cells = <1>;
#size-cells = <0>;
vi_port0: port@0 {
reg = <0>;
ar0231at_vi_in0: endpoint {
status = "okay";
port-index = <0>;
bus-width = <2>;
remote-endpoint = <&ar0231at_csi_out0>;
};
};
vi_port1: port@1 {
reg = <1>;
ar0231at_vi_in1: endpoint {
status = "okay";
port-index= <4>;
bus-width = <2>;
remote-endpoint = <&ar0231at_csi_out1>;
};
};
vi_port2: port@2 {
reg = <2>;
ar0231at_vi_in2: endpoint {
status = "okay";
port-index= <5>;
bus-width = <2>;
remote-endpoint = <&ar0231at_csi_out2>;
};
};
vi_port3: port@3 {
reg = <3>;
ar0231at_vi_in3: endpoint {
status = "okay";
port-index= <2>;
bus-width = <2>;
remote-endpoint = <&ar0231at_csi_out3>;
};
};
};
};
csi_base: nvcsi {
num-channels = <4>;
#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>;
ar0231at_csi_in0: endpoint@0 {
status = "okay";
port-index = <0>;
bus-width = <2>;
remote-endpoint = <&ar0231at_out0>;
};
};
csi_chan0_port1: port@1 {
reg = <1>;
ar0231at_csi_out0: endpoint@1 {
status = "okay";
remote-endpoint = <&ar0231at_vi_in0>;
};
};
};
};
csi_chan1: channel@1 {
reg = <1>;
ports {
#address-cells = <1>;
#size-cells = <0>;
csi_chan1_port0: port@2 {
reg = <0>;
ar0231at_csi_in1: endpoint@2 {
status = "okay";
port-index = <4>;
bus-width = <2>;
remote-endpoint = <&ar0231at_out1>;
};
};
csi_chan1_port1: port@3 {
reg = <1>;
ar0231at_csi_out1: endpoint@3 {
status = "okay";
remote-endpoint = <&ar0231at_vi_in1>;
};
};
};
};
csi_chan2: channel@2 {
reg = <2>;
ports {
#address-cells = <1>;
#size-cells = <0>;
csi_chan2_port0: port@4 {
reg = <0>;
ar0231at_csi_in2: endpoint@4 {
status = "okay";
port-index = <5>;
bus-width = <2>;
remote-endpoint = <&ar0231at_out2>;
};
};
csi_chan2_port1: port@5 {
reg = <1>;
ar0231at_csi_out2: endpoint@5 {
status = "okay";
remote-endpoint = <&ar0231at_vi_in2>;
};
};
};
};
csi_chan3: channel@3 {
reg = <3>;
ports {
#address-cells = <1>;
#size-cells = <0>;
csi_chan3_port0: port@6 {
reg = <0>;
ar0231at_csi_in3: endpoint@6 {
status = "okay";
port-index = <2>;
bus-width = <2>;
remote-endpoint = <&ar0231at_out3>;
};
};
csi_chan3_port1: port@7 {
reg = <1>;
ar0231at_csi_out3: endpoint@7 {
status = "okay";
remote-endpoint = <&ar0231at_vi_in3>;
};
};
};
};
};
i2c@546c0000 {
pca9544@70 {
compatible = "nxp,pca9544";
reg = <0x70>;
#address-cells = <1>;
#size-cells = <0>;
vcc-supply = <&battery_reg>;
vcc-pullup-supply = <&battery_reg>;
skip_mux_detect;
i2c@0 {
reg = <0>;
i2c-mux,deselect-on-exit;
#address-cells = <1>;
#size-cells = <0>;
};
i2c@1 {
reg = <1>;
i2c-mux,deselect-on-exit;
#address-cells = <1>;
#size-cells = <0>;
};
i2c@2 {
reg = <2>;
i2c-mux,deselect-on-exit;
#address-cells = <1>;
#size-cells = <0>;
};
i2c@3 {
reg = <3>;
i2c-mux,deselect-on-exit;
#address-cells = <1>;
#size-cells = <0>;
};
i2c@4 {
reg = <4>;
i2c-mux,deselect-on-exit;
#address-cells = <1>;
#size-cells = <0>;
};
i2c@5 {
reg = <5>;
i2c-mux,deselect-on-exit;
#address-cells = <1>;
#size-cells = <0>;
};
};
pca9544@70 {
i2c_0: i2c@0 {
fpdlinkder_0: ds90ub954_a@30 {
compatible = "ti,ds90ub954";
reg = <0x30>;
status = "okay";
csi-lane-count = <2>;
csi-lane-speed = <800>;
i2c_address_d0_s0: num-alias-pairs0 {list-cells = <5>;};
fpdlinkser_0: serializers {
status = "okay";
num-channels = <2>;
#address-cells = <1>;
#size-cells = <0>;
ser0_port1: serializer@1 {
status = "okay";
rx-channel = <1>;
i2c-address = <0x18>;
csi-lane-count = <2>;
gpio0-output-enable = <0x01>;
gpio3-output-enable = <0x01>;
gpio0-control = <0x09>;
gpio3-control = <0x01>;
/*gpio0-control = <0x09>;
gpio3-control = <0x09>;*/
i2c-slave = <&i2c_address_d0_s0 0x38 0x51 0x59 0x68 0x69>;
slave-alias = <&i2c_address_d0_s0 0x38 0x51 0x59 0x68 0x69>;
};
};
};
};
i2c_1: i2c@1 {
fpdlinkder_1: ds90ub954_e@30 {
compatible = "ti,ds90ub954";
reg = <0x30>;
status = "okay";
csi-lane-count = <2>;
csi-lane-speed = <800>;
i2c_address_d1_s0: num-alias-pairs0 {list-cells = <5>;};
fpdlinkser_1: serializers {
status = "okay";
num-channels = <2>;
#address-cells = <1>;
#size-cells = <0>;
ser1_port1: serializer@1 {
status = "okay";
rx-channel = <1>;
i2c-address = <0x18>;
csi-lane-count = <2>;
gpio0-output-enable = <0x01>;
gpio3-output-enable = <0x01>;
/*gpio0-control = <0x02>;
gpio3-control = <0x01>;*/
gpio0-control = <0x09>;
gpio3-control = <0x01>;
i2c-slave = <&i2c_address_d1_s0 0x38 0x51 0x59 0x68 0x69>;
slave-alias = <&i2c_address_d1_s0 0x38 0x51 0x59 0x68 0x69>;
};
};
};
};
i2c_2: i2c@2 {
fpdlinkder_2: ds90ub954_f@30 {
compatible = "ti,ds90ub954";
reg = <0x30>;
status = "okay";
csi-lane-count = <2>;
csi-lane-speed = <800>;
i2c_address_d2_s0: num-alias-pairs0 {list-cells = <5>;};
fpdlinkser_2: serializers {
status = "okay";
num-channels = <2>;
#address-cells = <1>;
#size-cells = <0>;
ser2_port1: serializer@1 {
status = "okay";
rx-channel = <1>;
i2c-address = <0x18>;
csi-lane-count = <2>;
gpio0-output-enable = <0x01>;
gpio3-output-enable = <0x01>;
/*gpio0-control = <0x02>;
gpio3-control = <0x01>;*/
gpio0-control = <0x09>;
gpio3-control = <0x01>;
i2c-slave = <&i2c_address_d2_s0 0x38 0x51 0x59 0x68 0x69>;
slave-alias = <&i2c_address_d2_s0 0x38 0x51 0x59 0x68 0x69>;
};
};
};
};
i2c_3: i2c@3 {
fpdlinkder_3: ds90ub954_c@30 {
compatible = "ti,ds90ub954";
reg = <0x30>;
status = "okay";
csi-lane-count = <2>;
csi-lane-speed = <800>;
i2c_address_d3_s0: num-alias-pairs0 {list-cells = <5>;};
fpdlinkser_3: serializers {
status = "okay";
num-channels = <2>;
#address-cells = <1>;
#size-cells = <0>;
ser3_port1: serializer@1 {
status = "okay";
rx-channel = <1>;
i2c-address = <0x18>;
csi-lane-count = <2>;
gpio0-output-enable = <0x01>;
gpio3-output-enable = <0x01>;
/*gpio0-control = <0x02>;
gpio3-control = <0x01>;*/
gpio0-control = <0x09>;
gpio3-control = <0x01>;
i2c-slave = <&i2c_address_d3_s0 0x38 0x51 0x59 0x68 0x69>;
slave-alias = <&i2c_address_d3_s0 0x38 0x51 0x59 0x68 0x69>;
};
};
};
};
};
pca9544@70 {
i2c_0: i2c@0 {
eeprom_a@51 {
compatible = "st,24c512";
reg = <0x51>;
pagesize = <128>;
size = <512>;
};
ar0231at_cam0: ar0231at_a@38 {
compatible = "eiq,ar0231at";
status = "okay";
/* I2C device address */
reg = <0x38>;
/* V4L2 device node location */
devnode = "video0";
/* Physical dimensions of sensor */
physical_w = "5.784";
physical_h = "3.624";
set_mode_delay_ms = "3500";
sensor_model = "ar0231";
use_sensor_mode_id = "true";
//mclk = "extperiph3";
reset-gpios = <&gpio CAM1_PWDN GPIO_ACTIVE_HIGH>;
mode0 { /* AR0231_MODE_1920X1080_LINEAR_30FPS */
mclk_khz = "24000";
num_lanes = "2";
tegra_sinterface = "serial_a";
phy_mode = "DPHY";
discontinuous_clk = "yes";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
active_w = "1920";
active_h = "1080";
mode_type = "bayer";
pixel_phase = "bggr";
readout_orientation = "0";
line_length = "2632";
inherent_gain = "1";
//mclk_multiplier = "2.66";
pix_clk_hz = "85333333";
gain_factor = "16";
framerate_factor = "1000000";
exposure_factor = "1000000";
min_gain_val = "16"; /* 1.00x */
max_gain_val = "170"; /* 10.66x */
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 = "40000000"; /* 40.0 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 = "4";
};
mode1 { /* AR0231_MODE_640x480_MONO_30FPS */
mclk_khz = "24000";
num_lanes = "2";
tegra_sinterface = "serial_a";
phy_mode = "DPHY";
discontinuous_clk = "yes";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
active_w = "640";
active_h = "480";
mode_type = "bayer";
pixel_phase = "rggb";
readout_orientation = "0";
line_length = "749";
inherent_gain = "1";
//mclk_multiplier = "2.66";
pix_clk_hz = "64000000";
gain_factor = "16";
framerate_factor = "1000000";
exposure_factor = "1000000";
min_gain_val = "16"; /* 1.00x */
max_gain_val = "170"; /* 10.66x */
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 = "40000000"; /* 40.0 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";
};
mode2 { /* AR0231_MODE_1920X1080_HDR_30FPS */
mclk_khz = "24000";
num_lanes = "2";
tegra_sinterface = "serial_a";
phy_mode = "DPHY";
discontinuous_clk = "yes";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "16";
csi_pixel_bit_depth = "12";
active_w = "1920";
active_h = "1080";
mode_type = "bayer_wdr_pwl";
pixel_phase = "rggb";
num_control_point="4";
control_point_x_0="0";
control_point_x_1="2048";
control_point_x_2="16384";
control_point_x_3="65536";
control_point_y_0="0";
control_point_y_1="2048";
control_point_y_2="3040";
control_point_y_3="4000";
readout_orientation = "0";
line_length = "1680";
inherent_gain = "1";
//mclk_multiplier = "2.66";
pix_clk_hz = "85333333";
gain_factor = "16";
framerate_factor = "1000000";
exposure_factor = "1000000";
min_gain_val = "16"; /* 1.00x */
max_gain_val = "170"; /* 10.66x */
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 = "40000000"; /* 40.0 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 = "4";
};
ports {
#address-cells = <1>;
#size-cells = <0>;
port@0 {
reg = <0>;
ar0231at_out0: endpoint {
port-index = <0>;
bus-width = <2>;
remote-endpoint = <&ar0231at_csi_in0>;
};
};
};
};
};
i2c_1: i2c@1 {
eeprom_e@51 {
compatible = "st,24c512";
reg = <0x51>;
pagesize = <128>;
size = <512>;
};
ar0231at_cam1: ar0231at_e@38 {
compatible = "eiq,ar0231at";
status = "okay";
/* I2C device address */
reg = <0x38>;
/* V4L2 device node location */
devnode = "video1";
/* Physical dimensions of sensor */
physical_w = "5.784";
physical_h = "3.624";
set_mode_delay_ms = "3500";
sensor_model = "ar0231";
use_sensor_mode_id = "true";
//mclk = "extperiph3";
reset-gpios = <&gpio CAM2_PWDN GPIO_ACTIVE_HIGH>;
mode0 { /* AR0231_MODE_1920X1080_LINEAR_30FPS */
mclk_khz = "24000";
num_lanes = "2";
tegra_sinterface = "serial_e";
phy_mode = "DPHY";
discontinuous_clk = "yes";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
active_w = "1920";
active_h = "1080";
mode_type = "bayer";
pixel_phase = "bggr";
readout_orientation = "0";
line_length = "2632";
inherent_gain = "1";
//mclk_multiplier = "2.66";
pix_clk_hz = "85333333";
gain_factor = "16";
framerate_factor = "1000000";
exposure_factor = "1000000";
min_gain_val = "16"; /* 1.00x */
max_gain_val = "170"; /* 10.66x */
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 = "40000000"; /* 40.0 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 = "4";
};
mode1 { /* AR0231_MODE_640x480_MONO_30FPS */
mclk_khz = "24000";
num_lanes = "2";
tegra_sinterface = "serial_e";
phy_mode = "DPHY";
discontinuous_clk = "yes";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
active_w = "640";
active_h = "480";
mode_type = "bayer";
pixel_phase = "rggb";
readout_orientation = "0";
line_length = "749";
inherent_gain = "1";
//mclk_multiplier = "2.66";
pix_clk_hz = "64000000";
gain_factor = "16";
framerate_factor = "1000000";
exposure_factor = "1000000";
min_gain_val = "16"; /* 1.00x */
max_gain_val = "170"; /* 10.66x */
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 = "40000000"; /* 40.0 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";
};
mode2 { /* AR0231_MODE_1920X1080_HDR_30FPS */
mclk_khz = "24000";
num_lanes = "2";
tegra_sinterface = "serial_e";
phy_mode = "DPHY";
discontinuous_clk = "yes";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "16";
csi_pixel_bit_depth = "12";
active_w = "1920";
active_h = "1080";
mode_type = "bayer_wdr_pwl";
pixel_phase = "rggb";
num_control_point="4";
control_point_x_0="0";
control_point_x_1="2048";
control_point_x_2="16384";
control_point_x_3="65536";
control_point_y_0="0";
control_point_y_1="2048";
control_point_y_2="3040";
control_point_y_3="4000";
readout_orientation = "0";
line_length = "1680";
inherent_gain = "1";
//mclk_multiplier = "2.66";
pix_clk_hz = "85333333";
gain_factor = "16";
framerate_factor = "1000000";
exposure_factor = "1000000";
min_gain_val = "16"; /* 1.00x */
max_gain_val = "170"; /* 10.66x */
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 = "40000000"; /* 40.0 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 = "4";
};
ports {
#address-cells = <1>;
#size-cells = <0>;
port@0 {
reg = <0>;
ar0231at_out1: endpoint {
port-index = <4>;
bus-width = <2>;
remote-endpoint = <&ar0231at_csi_in1>;
};
};
};
};
};
i2c_2: i2c@2 {
eeprom_f@51 {
compatible = "st,24c512";
reg = <0x51>;
pagesize = <128>;
size = <512>;
};
ar0231at_cam2: ar0231at_f@38 {
compatible = "eiq,ar0231at";
status = "okay";
// I2C device address
reg = <0x38>;
// V4L2 device node location
devnode = "video2";
// Physical dimensions of sensor
physical_w = "5.784";
physical_h = "3.624";
set_mode_delay_ms = "3500";
sensor_model = "ar0231";
use_sensor_mode_id = "true";
//mclk = "extperiph3";
reset-gpios = <&gpio CAM3_PWDN GPIO_ACTIVE_HIGH>;
mode0 { // AR0231_MODE_1920X1080_LINEAR_30FPS
mclk_khz = "24000";
num_lanes = "2";
tegra_sinterface = "serial_f";
phy_mode = "DPHY";
discontinuous_clk = "yes";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
active_w = "1920";
active_h = "1080";
mode_type = "bayer";
pixel_phase = "bggr";
readout_orientation = "0";
line_length = "2632";
inherent_gain = "1";
//mclk_multiplier = "2.66";
pix_clk_hz = "85333333";
gain_factor = "16";
framerate_factor = "1000000";
exposure_factor = "1000000";
min_gain_val = "16"; /* 1.00x */
max_gain_val = "170"; /* 10.66x */
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 = "40000000"; /* 40.0 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 = "4";
};
mode1 { /* AR0231_MODE_640x480_MONO_30FPS */
mclk_khz = "24000";
num_lanes = "2";
tegra_sinterface = "serial_f";
phy_mode = "DPHY";
discontinuous_clk = "yes";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
active_w = "640";
active_h = "480";
mode_type = "bayer";
pixel_phase = "rggb";
readout_orientation = "0";
line_length = "749";
inherent_gain = "1";
//mclk_multiplier = "2.66";
pix_clk_hz = "64000000";
gain_factor = "16";
framerate_factor = "1000000";
exposure_factor = "1000000";
min_gain_val = "16"; /* 1.00x */
max_gain_val = "170"; /* 10.66x */
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 = "40000000"; /* 40.0 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";
};
mode2 { /* AR0231_MODE_1920X1080_HDR_30FPS */
mclk_khz = "24000";
num_lanes = "2";
tegra_sinterface = "serial_f";
phy_mode = "DPHY";
discontinuous_clk = "yes";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "16";
csi_pixel_bit_depth = "12";
active_w = "1920";
active_h = "1080";
mode_type = "bayer_wdr_pwl";
pixel_phase = "rggb";
num_control_point="4";
control_point_x_0="0";
control_point_x_1="2048";
control_point_x_2="16384";
control_point_x_3="65536";
control_point_y_0="0";
control_point_y_1="2048";
control_point_y_2="3040";
control_point_y_3="4000";
readout_orientation = "0";
line_length = "1680";
inherent_gain = "1";
//mclk_multiplier = "2.66";
pix_clk_hz = "85333333";
gain_factor = "16";
framerate_factor = "1000000";
exposure_factor = "1000000";
min_gain_val = "16"; /* 1.00x */
max_gain_val = "170"; /* 10.66x */
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 = "40000000"; /* 40.0 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 = "4";
};
ports {
#address-cells = <1>;
#size-cells = <0>;
port@0 {
reg = <0>;
ar0231at_out2: endpoint {
port-index = <5>;
bus-width = <2>;
remote-endpoint = <&ar0231at_csi_in2>;
};
};
};
};
};
i2c_3: i2c@3 {
eeprom_c@51 {
compatible = "st,24c512";
reg = <0x51>;
pagesize = <128>;
size = <512>;
};
ar0231at_cam3: ar0231at_c@38 {
compatible = "eiq,ar0231at";
status = "okay";
// I2C device address
reg = <0x38>;
// V4L2 device node location
devnode = "video3";
// Physical dimensions of sensor
physical_w = "5.784";
physical_h = "3.624";
set_mode_delay_ms = "3500";
sensor_model = "ar0231";
use_sensor_mode_id = "true";
//mclk = "extperiph3";
reset-gpios = <&gpio CAM4_PWDN GPIO_ACTIVE_HIGH>;
mode0 { // AR0231_MODE_1920X1080_LINEAR_30FPS
mclk_khz = "24000";
num_lanes = "2";
tegra_sinterface = "serial_c";
phy_mode = "DPHY";
discontinuous_clk = "yes";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
active_w = "1920";
active_h = "1080";
mode_type = "bayer";
pixel_phase = "bggr";
readout_orientation = "0";
line_length = "2632";
inherent_gain = "1";
//mclk_multiplier = "2.66";
pix_clk_hz = "85333333";
gain_factor = "16";
framerate_factor = "1000000";
exposure_factor = "1000000";
min_gain_val = "16"; /* 1.00x */
max_gain_val = "170"; /* 10.66x */
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 = "40000000"; /* 40.0 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 = "4";
};
mode1 { /* AR0231_MODE_640x480_MONO_30FPS */
mclk_khz = "24000";
num_lanes = "2";
tegra_sinterface = "serial_c";
phy_mode = "DPHY";
discontinuous_clk = "yes";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "12";
csi_pixel_bit_depth = "12";
active_w = "640";
active_h = "480";
mode_type = "bayer";
pixel_phase = "rggb";
readout_orientation = "0";
line_length = "749";
inherent_gain = "1";
//mclk_multiplier = "2.66";
pix_clk_hz = "64000000";
gain_factor = "16";
framerate_factor = "1000000";
exposure_factor = "1000000";
min_gain_val = "16"; /* 1.00x */
max_gain_val = "170"; /* 10.66x */
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 = "40000000"; /* 40.0 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";
};
mode2 { /* AR0231_MODE_1920X1080_HDR_30FPS */
mclk_khz = "24000";
num_lanes = "2";
tegra_sinterface = "serial_c";
phy_mode = "DPHY";
discontinuous_clk = "yes";
dpcm_enable = "false";
cil_settletime = "0";
dynamic_pixel_bit_depth = "16";
csi_pixel_bit_depth = "12";
active_w = "1920";
active_h = "1080";
mode_type = "bayer_wdr_pwl";
pixel_phase = "rggb";
num_control_point="4";
control_point_x_0="0";
control_point_x_1="2048";
control_point_x_2="16384";
control_point_x_3="65536";
control_point_y_0="0";
control_point_y_1="2048";
control_point_y_2="3040";
control_point_y_3="4000";
readout_orientation = "0";
line_length = "1680";
inherent_gain = "1";
//mclk_multiplier = "2.66";
pix_clk_hz = "85333333";
gain_factor = "16";
framerate_factor = "1000000";
exposure_factor = "1000000";
min_gain_val = "16"; /* 1.00x */
max_gain_val = "170"; /* 10.66x */
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 = "40000000"; /* 40.0 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 = "4";
};
ports {
#address-cells = <1>;
#size-cells = <0>;
port@0 {
reg = <0>;
ar0231at_out3: endpoint {
port-index = <2>;
bus-width = <2>;
remote-endpoint = <&ar0231at_csi_in3>;
};
};
};
};
};
};
};
};
gpio@6000d000 {
camera-control-output-low {
gpio-hog;
output-low;
gpios = < CAM1_PWDN 0 CAM2_PWDN 0 CAM3_PWDN 0 CAM4_PWDN 0>;
label = "cam1-pwdn", "cam2-pwdn, cam3-pwdn, cam4-pwdn";
};
};
};
/ {
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 = <8>;
max_lane_speed = <1500000>;
min_bits_per_pixel = <12>;
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 {
status = "okay";
badge = "porg_front_AR0231AT";
position = "front";
orientation = "1";
cam_module0_drivernode0: drivernode0 {
pcl_id = "v4l2_sensor";
devname = "ar0231at 7-0038";
proc-device-tree = "/proc/device-tree/host1x/i2c@546c0000/pca9544@70/i2c@0/ar0231at_a@38";
};
};
cam_module1: module1 {
status = "okay";
badge = "porg_rear_AR0231AT";
position = "rear";
orientation = "1";
cam_module1_drivernode0: drivernode0 {
pcl_id = "v4l2_sensor";
devname = "ar0231at 8-0038";
proc-device-tree = "/proc/device-tree/host1x/i2c@546c0000/pca9544@70/i2c@1/ar0231at_e@38";
};
};
cam_module2: module2 {
status = "okay";
badge = "porg_center_AR0231AT";
position = "center";
orientation = "1";
cam_module2_drivernode0: drivernode0 {
pcl_id = "v4l2_sensor";
devname = "ar0231at 9-0038";
proc-device-tree = "/proc/device-tree/host1x/i2c@546c0000/pca9544@70/i2c@2/ar0231at_f@38";
};
};
cam_module3: module3 {
status = "okay";
badge = "porg_topleft_AR0231AT";
position = "topleft";
orientation = "1";
cam_module3_drivernode0: drivernode0 {
pcl_id = "v4l2_sensor";
devname = "ar0231at 10-0038";
proc-device-tree = "/proc/device-tree/host1x/i2c@546c0000/pca9544@70/i2c@3/ar0231at_c@38";
};
};
};
};
};
I suspect it is a device tree issue or nvargus-daemon issue. Please let me know if you need any debug.
