Hello
We use the Sony IMX586 via MIPI /CSI on an NVIDIA Jetson Xavier NX. We can stream images, but the images are displayed two and a half times.
We use the following GStreamer command:
“gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! ‘video/x-raw(memory:NVMM),width=2464,height=2048,format=(string)NV12,framerate=(fraction)30/1’ ! nvvidconv ! queue ! autovideosink”
Does anyone have any idea what we have configured wrong?
Hi,
Please share vendor of the camera for reference. It looks like there is certain issue in sensor driver or device tree. Would suggest consult with the vendor for support.
Hi
The vandor is Vision Componant and the product is " VC MIPI IMX568". We use the following device tree file:
/*
* Copyright (c) 2020-2023, Vision Components GmbH. All rights reserved.
*
* 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>
#include <dt-bindings/version.h>
// ------------------------------------------------------------------------------------------------
// Driver Configuration for NVIDIA Jetson Xavier NX on NVIDIA Jetson Xavier NX Developer Kit
// ------------------------------------------------------------------------------------------------
#define VC_MIPI_CAM_0 1 // 1: Enabled, 0: Disabled (serial_a => CSI Port 0 => VI Stream 0)
#define VC_MIPI_CAM_1 1 // 1: Enabled, 0: Disabled (serial_c => CSI Port 2 => VI Stream 2)
// ------------------------------------------------------------------------------------------------
// Supported number of lanes
// -----+------------------------------------------------------------------------------------------
// 1 | OV7251, IMX296, IMX297
// 2 | OV9281, IMX264, IMX265
// 2,4 | IMX178, IMX183, IMX226, IMX250, IMX252, IMX273, IMX290, IMX327, IMX335, IMX392,
// | IMX412, IMX415, IMX462, IMX565, IMX566, IMX567, IMX568
// -----+------------------------------------------------------------------------------------------
#define VC_MIPI_LANES 2 // 1, 2 Lanes
// ------------------------------------------------------------------------------------------------
// Embedded Metadata Height
// -----+------------------------------------------------------------------------------------------
// 0 | IMX178, IMX183, IMX226, IMX250, IMX252, IMX264, IMX265, IMX273, IMX392, OV7251, OV9281
// 1 | IMX290, IMX327, IMX335, IMX415, IMX462
// 2 | IMX296, IMX297, IMX412
// 4 | IMX565, IMX566, IMX567, IMX568
// -----+------------------------------------------------------------------------------------------
#define VC_MIPI_METADATA_H "4" // "0", "1", "2", "4" Lines of meta data
// ------------------------------------------------------------------------------------------------
// Sensor Manufacturer
// -----+------------------------------------------------------------------------------------------
// 1 | Sony Sensor (IMX)
// 2 | Omni Vision Sensor (OV)
// -----+------------------------------------------------------------------------------------------
#define VC_MIPI_MANUFACTURER 1
// ------------------------------------------------------------------------------------------------
// GStreamer Support
// ------------------------------------------------------------------------------------------------
// If you want to use GStreamer with nvarguscamerasrc you have to adjust this settings in the
// device tree below. The sections which have to be modified are marked by a comment.
// To find the correct parameter values please follow the instruction in the main README.md of
// this repository https://github.com/VC-MIPI-modules/vc_mipi_nvidia#gstreamer-support
// ------------------------------------------------------------------------------------------------
#if VC_MIPI_LANES == 1
#define BUS_WIDTH 1
#define NUM_LANES "1"
#define NUM_CSI_LANES 2
#endif
#if VC_MIPI_LANES == 2
#define BUS_WIDTH 2
#define NUM_LANES "2"
#define NUM_CSI_LANES 4
#endif
#if VC_MIPI_CAM_0 == 1 && VC_MIPI_CAM_1 == 1
#define VC_MIPI_CAMERAS 2
#else
#define VC_MIPI_CAMERAS 1
#endif
/ {
#if LINUX_VERSION < 500
host1x {
vc_vi_base: vi@15c10000 {
#else
tegra-capture-vi {
#endif
num-channels = <VC_MIPI_CAMERAS>;
ports {
#address-cells = <1>;
#size-cells = <0>;
#if VC_MIPI_CAM_0 == 1
vc_vi_port0: port@0 {
reg = <0>;
vc_vi_in0: endpoint {
port-index = <0>;
bus-width = <BUS_WIDTH>;
remote-endpoint = <&vc_csi_out0>;
};
};
#endif
#if VC_MIPI_CAM_1 == 1
vc_vi_port1: port@1 {
reg = <1>;
vc_vi_in1: endpoint {
port-index = <2>;
bus-width = <BUS_WIDTH>;
remote-endpoint = <&vc_csi_out1>;
};
};
#endif
}; // ports
};
#if LINUX_VERSION < 500
vc_csi_base: nvcsi@15a00000 {
#else
host1x@13e00000 {
nvcsi@15a00000 {
#endif
num-channels = <VC_MIPI_CAMERAS>;
#address-cells = <1>;
#size-cells = <0>;
#if VC_MIPI_CAM_0 == 1
vc_csi_chan0: channel@0 {
reg = <0>;
ports {
#address-cells = <1>;
#size-cells = <0>;
vc_csi_chan0_port0: port@0 {
reg = <0>;
vc_csi_in0: endpoint@0 {
port-index = <0>;
bus-width = <BUS_WIDTH>;
remote-endpoint = <&vc_mipi_out0>;
};
};
vc_csi_chan0_port1: port@1 {
reg = <1>;
vc_csi_out0: endpoint@1 {
remote-endpoint = <&vc_vi_in0>;
};
};
};
};
#endif
#if VC_MIPI_CAM_1 == 1
vc_csi_chan1: channel@1 {
reg = <1>;
ports {
#address-cells = <1>;
#size-cells = <0>;
vc_csi_chan1_port0: port@0 {
reg = <0>;
vc_csi_in1: endpoint@2 {
port-index = <2>;
bus-width = <BUS_WIDTH>;
remote-endpoint = <&vc_mipi_out1>;
};
};
vc_csi_chan1_port1: port@1 {
reg = <1>;
vc_csi_out1: endpoint@3 {
remote-endpoint = <&vc_vi_in1>;
};
};
};
};
#endif
#if LINUX_VERSION >= 500
};
#endif
};
#if LINUX_VERSION < 500
};
#endif
cam_i2cmux {
#if VC_MIPI_CAM_0 == 1
i2c@0 {
#if VC_MIPI_MANUFACTURER == 1
vc_mipi_cam0: vc_mipi@1a {
reg = <0x1a>;
#else
vc_mipi_cam0: vc_mipi@60 {
reg = <0x60>;
#endif
compatible = "nvidia,vc_mipi";
devnode = "video0";
use_sensor_mode_id = "false";
sensor_model = "vc_mipi";
num_lanes = NUM_LANES;
trigger_mode = "0";
io_mode = "0";
// ----------------------------------------------------
// If you want to use GStreamer with nvarguscamerasrc
// you have to adjust this settings
physical_w = "6.752";
physical_h = "5.612";
// ----------------------------------------------------
// This node is needed by the Tegra framework.
// You don't have to change any settings if just want to use the V4L API.
mode0 {
num_lanes = NUM_LANES;
tegra_sinterface = "serial_a";
embedded_metadata_height = VC_MIPI_METADATA_H;
readout_orientation = "0";
// ----------------------------------------------------
// If you want to use GStreamer with nvarguscamerasrc
// you have to adjust this settings.
active_l = "0";
active_t = "0";
active_w = "2464";
active_h = "2048";
mode_type = "bayer";
pixel_phase = "rggb";
csi_pixel_bit_depth = "12";
min_gain_val = "0"; // mdB
max_gain_val = "48000"; // mdB
step_gain_val = "100"; // mdB
default_gain = "0"; // mdB
min_exp_time = "1"; // us
max_exp_time = "1000000"; // us
step_exp_time = "1"; // us
default_exp_time = "10000"; // us
// For applications like argus_camera, there should
// be a minimal frame rate greater than zero!
min_framerate = "1000"; // mHz
max_framerate = "34600"; // mHz
step_framerate = "100"; // mHz
default_framerate = "34600"; // mHz
// ----------------------------------------------------
gain_factor = "1000";
exposure_factor = "1000000";
framerate_factor = "1000";
inherent_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
line_length = "0";
phy_mode = "DPHY";
discontinuous_clk = "no";
mclk_khz = "24000";
pix_clk_hz = "74250000";
mclk_multiplier = "9.33";
cil_settletime = "0";
dpcm_enable = "false";
};
ports {
#address-cells = <1>;
#size-cells = <0>;
port@0 {
reg = <0>;
vc_mipi_out0: endpoint {
port-index = <0>;
bus-width = <BUS_WIDTH>;
remote-endpoint = <&vc_csi_in0>;
};
};
};
};
};
#endif // VC_MIPI_CAM_0
#if VC_MIPI_CAM_1 == 1
i2c@1 {
#if VC_MIPI_MANUFACTURER == 1
vc_mipi_cam1: vc_mipi@1a {
reg = <0x1a>;
#else
vc_mipi_cam1: vc_mipi@60 {
reg = <0x60>;
#endif
compatible = "nvidia,vc_mipi";
devnode = "video1";
use_sensor_mode_id = "false";
sensor_model = "vc_mipi";
num_lanes = NUM_LANES;
trigger_mode = "0";
io_mode = "0";
// ----------------------------------------------------
// If you want to use GStreamer with nvarguscamerasrc
// you have to adjust this settings
physical_w = "6.752";
physical_h = "5.612";
// ----------------------------------------------------
// This node is needed by the Tegra framework.
// You don't have to change any settings if just want to use the V4L API.
mode0 {
num_lanes = NUM_LANES;
tegra_sinterface = "serial_c";
embedded_metadata_height = VC_MIPI_METADATA_H;
readout_orientation = "0";
// ----------------------------------------------------
// If you want to use GStreamer with nvarguscamerasrc
// you have to adjust this settings.
active_l = "0";
active_t = "0";
active_w = "2464";
active_h = "2048";
mode_type = "bayer";
pixel_phase = "rggb";
csi_pixel_bit_depth = "12";
min_gain_val = "0"; // mdB
max_gain_val = "48000"; // mdB
step_gain_val = "100"; // mdB
default_gain = "0"; // mdB
min_exp_time = "1"; // us
max_exp_time = "1000000"; // us
step_exp_time = "1"; // us
default_exp_time = "10000"; // us
// For applications like argus_camera, there should
// be a minimal frame rate greater than zero!
min_framerate = "1000"; // mHz
max_framerate = "34600"; // mHz
step_framerate = "100"; // mHz
default_framerate = "34600"; // mHz
// ----------------------------------------------------
gain_factor = "1000";
exposure_factor = "1000000";
framerate_factor = "1000";
inherent_gain = "1";
min_hdr_ratio = "1";
max_hdr_ratio = "1";
line_length = "0";
phy_mode = "DPHY";
discontinuous_clk = "no";
mclk_khz = "24000";
pix_clk_hz = "74250000";
mclk_multiplier = "9.33";
cil_settletime = "0";
dpcm_enable = "false";
};
ports {
#address-cells = <1>;
#size-cells = <0>;
port@0 {
reg = <0>;
vc_mipi_out1: endpoint {
port-index = <2>;
bus-width = <BUS_WIDTH>;
remote-endpoint = <&vc_csi_in1>;
};
};
};
};
};
#endif // VC_MIPI_CAM_1
};
lens@vc_mipi {
min_focus_distance = "0.0";
hyper_focal = "0.0";
focal_length = "6.0";
f_number = "2.0";
aperture = "0.0";
};
};
/ {
tcp: tegra-camera-platform {
compatible = "nvidia, tegra-camera-platform";
num_csi_lanes = <NUM_CSI_LANES>;
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>;
modules {
#if VC_MIPI_CAM_0 == 1
cam_module0: module0 {
status = "okay";
badge = "jakku_front_vc_mipi";
position = "front";
orientation = "1";
cam_module0_drivernode0: drivernode0 {
status = "okay";
pcl_id = "v4l2_sensor";
#if VC_MIPI_MANUFACTURER == 1
devname = "vc_mipi 9-001a";
proc-device-tree = "/proc/device-tree/cam_i2cmux/i2c@0/vc_mipi@1a";
#else
devname = "vc_mipi 9-0060";
proc-device-tree = "/proc/device-tree/cam_i2cmux/i2c@0/vc_mipi@60";
#endif
};
cam_module0_drivernode1: drivernode1 {
status = "okay";
pcl_id = "v4l2_lens";
proc-device-tree = "/proc/device-tree/lens@vc_mipi/";
};
};
#endif // VC_MIPI_CAM_0
#if VC_MIPI_CAM_1 == 1
cam_module1: module1 {
status = "okay";
badge = "jakku_rear_vc_mipi";
position = "rear";
orientation = "1";
cam_module1_drivernode0: drivernode0 {
status = "okay";
pcl_id = "v4l2_sensor";
#if VC_MIPI_MANUFACTURER == 1
devname = "vc_mipi 10-001a";
proc-device-tree = "/proc/device-tree/cam_i2cmux/i2c@1/vc_mipi@1a";
#else
devname = "vc_mipi 10-0060";
proc-device-tree = "/proc/device-tree/cam_i2cmux/i2c@1/vc_mipi@60";
#endif
};
cam_module1_drivernode1: drivernode1 {
status = "okay";
pcl_id = "v4l2_lens";
proc-device-tree = "/proc/device-tree/lens@vc_mipi/";
};
};
#endif // VC_MIPI_CAM_1
};
};
};
#define CAM0_PWDN TEGRA194_MAIN_GPIO(P, 4)
#define CAM1_PWDN TEGRA194_MAIN_GPIO(P, 5)
#define CAM_I2C_MUX TEGRA194_AON_GPIO(CC, 3)
/ {
cam_i2cmux {
status = "okay";
compatible = "i2c-mux-gpio";
#address-cells = <1>;
#size-cells = <0>;
mux-gpios = <&tegra_aon_gpio CAM_I2C_MUX GPIO_ACTIVE_HIGH>;
i2c-parent = <&cam_i2c>;
#if VC_MIPI_CAM_0 == 1
i2c@0 {
status = "okay";
reg = <0>;
#address-cells = <1>;
#size-cells = <0>;
#if VC_MIPI_MANUFACTURER == 1
vc_mipi@1a {
#else
vc_mipi@60 {
#endif
status = "okay";
reset-gpios = <&tegra_main_gpio CAM0_PWDN GPIO_ACTIVE_HIGH>;
};
};
#endif
#if VC_MIPI_CAM_1 == 1
i2c@1 {
status = "okay";
reg = <1>;
#address-cells = <1>;
#size-cells = <0>;
#if VC_MIPI_MANUFACTURER == 1
vc_mipi@1a {
#else
vc_mipi@60 {
#endif
status = "okay";
reset-gpios = <&tegra_main_gpio CAM1_PWDN GPIO_ACTIVE_HIGH>;
};
};
#endif
};
gpio@2200000 {
camera-control-output-low {
gpio-hog;
output-low;
gpios = <CAM0_PWDN 0 CAM1_PWDN 0>;
label = "cam0-pwdn","cam1-pwdn";
};
};
};
Hi,
It looks like the vendor has validated it in multiple Jetpack releases. Please make sure your version matches and the device tree is well applied. You can check if the device tree is correct by running xxd command. Here is an example of xxd command:
USB doen’t work on Custom Board //JetPack 4.3 R32.31 - #4 by DaneLLL
Hi,
Thanks for your suggestions. We will test this as soon as possible.
As a note, we have used the instructions on the following website:
Hi,
here the status of the camera driver:
We would like to read out the format that is set on the MIPI. Is there a command that outputs the settings?
We found a solution for our problem. It was a wrong value for the “pix_clk_hz”.
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