Hi team,
We used 2 mipi csi video ports to capture 4 cameras (2896X1887@46hz X4) data on orign nano platform, we have to used virtual channel here,so have edit dts and it work with one by one camera, and 2 cameras too,but when i run 3 or 4 camera,it didn’t work.we can’t get video data from 2 cameras .
Any hint will be appreciated! thanks.
this is device tree we edit from imx219:
/*
- Copyright (c) 2022, NVIDIA CORPORATION. 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>
/ {
tegra-capture-vi {
num-channels = <4>;
ports {
#address-cells = <1>;
#size-cells = <0>;
vi_port0: port@0 {
reg = <0>;
rbpcv2_imx219_vi_in0: endpoint {
vc-id = <0>;
port-index = <0>;
bus-width = <4>;
remote-endpoint = <&rbpcv2_imx219_csi_out0>;
};
};
vi_port1: port@1 {
reg = <1>;
rbpcv2_imx219_vi_in1: endpoint {
vc-id = <1>;
port-index = <0>;
bus-width = <4>;
remote-endpoint = <&rbpcv2_imx219_csi_out1>;
};
};
vi_port2: port@2 {
reg = <2>;
rbpcv2_imx219_vi_in2: endpoint {
vc-id = <0>;
port-index = <2>;
bus-width = <4>;
remote-endpoint = <&rbpcv2_imx219_csi_out2>;
};
};
vi_port3: port@3 {
reg = <3>;
rbpcv2_imx219_vi_in3: endpoint {
vc-id = <1>;
port-index = <2>;
bus-width = <4>;
remote-endpoint = <&rbpcv2_imx219_csi_out3>;
};
};
};
};
host1x@13e00000 {
nvcsi@15a00000 {
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>;
rbpcv2_imx219_csi_in0: endpoint@0 {
port-index = <0>;
bus-width = <4>;
remote-endpoint = <&rbpcv2_imx219_out0>;
};
};
csi_chan0_port1: port@1 {
reg = <1>;
rbpcv2_imx219_csi_out0: endpoint@1 {
remote-endpoint = <&rbpcv2_imx219_vi_in0>;
};
};
};
};
csi_chan1: channel@1 {
reg = <1>;
ports {
#address-cells = <1>;
#size-cells = <0>;
csi_chan1_port0: port@0 {
reg = <0>;
rbpcv2_imx219_csi_in1: endpoint@2 {
port-index = <0>;
bus-width = <4>;
remote-endpoint = <&rbpcv2_imx219_out1>;
};
};
csi_chan1_port1: port@1 {
reg = <1>;
rbpcv2_imx219_csi_out1: endpoint@3 {
remote-endpoint = <&rbpcv2_imx219_vi_in1>;
};
};
};
};
csi_chan2: channel@2 {
reg = <2>;
ports {
#address-cells = <1>;
#size-cells = <0>;
csi_chan2_port0: port@0 {
reg = <0>;
rbpcv2_imx219_csi_in2: endpoint@4 {
port-index = <2>;
bus-width = <4>;
remote-endpoint = <&rbpcv2_imx219_out2>;
};
};
csi_chan2_port1: port@1 {
reg = <1>;
rbpcv2_imx219_csi_out2: endpoint@5 {
remote-endpoint = <&rbpcv2_imx219_vi_in2>;
};
};
};
};
csi_chan3: channel@3 {
reg = <3>;
ports {
#address-cells = <1>;
#size-cells = <0>;
csi_chan3_port0: port@0 {
reg = <0>;
rbpcv2_imx219_csi_in3: endpoint@6 {
port-index = <2>;
bus-width = <4>;
remote-endpoint = <&rbpcv2_imx219_out3>;
};
};
csi_chan3_port1: port@1 {
reg = <1>;
rbpcv2_imx219_csi_out3: endpoint@7 {
remote-endpoint = <&rbpcv2_imx219_vi_in3>;
};
};
};
};
};
};
cam_i2cmux {
i2c_0:i2c@0 {
imx219_cam0: rbpcv2_imx219_d@1d {
compatible = "sony,imx219";
/* I2C device address */
reg = <0x1d>;
/* V4L2 device node location */
devnode = "video0";
/* Physical dimensions of sensor */
physical_w = "3.680";
physical_h = "5.800";
sensor_model = "imx219";
use_sensor_mode_id = "true";
mode0 { /* IMX219_MODE_3280x2464_21FPS */
mclk_khz = "24000";
num_lanes = "4";
tegra_sinterface = "serial_a";
phy_mode = "DPHY";
vc_id = "0";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
lane_polarity = "3";
active_w = "2896";
active_h = "1888";
mode_type = "bayer";
pixel_phase = "rggb";
csi_pixel_bit_depth = "12";
readout_orientation = "90";
line_length = "11200";
inherent_gain = "1";
mclk_multiplier = "80";
pix_clk_hz = "300000000";
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 = "46000000"; /* 21.0 fps */
step_framerate = "1";
default_framerate = "46000000"; /* 21.0 fps */
min_exp_time = "13"; /* us */
max_exp_time = "683709"; /* us */
step_exp_time = "1";
default_exp_time = "2495"; /* us */
embedded_metadata_height = "0";
};
mode1 { /* IMX219_MODE_3280x2464_21FPS */
mclk_khz = "24000";
num_lanes = "4";
tegra_sinterface = "serial_a";
phy_mode = "DPHY";
vc_id = "0";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
lane_polarity = "3";
active_w = "2896";
active_h = "1888";
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 = "300000000";
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 = "46000000"; /* 21.0 fps */
step_framerate = "1";
default_framerate = "46000000"; /* 21.0 fps */
min_exp_time = "13"; /* us */
max_exp_time = "683709"; /* us */
step_exp_time = "1";
default_exp_time = "2495"; /* us */
embedded_metadata_height = "0";
};
ports {
#address-cells = <1>;
#size-cells = <0>;
port@0 {
reg = <0>;
rbpcv2_imx219_out0: endpoint {
vc-id = <0>;
port-index = <0>;
bus-width = <4>;
remote-endpoint = <&rbpcv2_imx219_csi_in0>;
};
};
};
};
imx219_cam1: rbpcv2_imx219_c@1c {
compatible = "sony,imx219";
/* I2C device address */
reg = <0x1c>;
/* V4L2 device node location */
devnode = "video1";
/* Physical dimensions of sensor */
physical_w = "3.680";
physical_h = "5.800";
sensor_model = "imx219";
use_sensor_mode_id = "true";
mode0 { /* IMX219_MODE_3280x2464_21FPS */
mclk_khz = "24000";
num_lanes = "4";
tegra_sinterface = "serial_a";
phy_mode = "DPHY";
vc_id = "1";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
lane_polarity = "3";
active_w = "2896";
active_h = "1888";
mode_type = "bayer";
pixel_phase = "rggb";
csi_pixel_bit_depth = "12";
readout_orientation = "90";
line_length = "11200";
inherent_gain = "1";
mclk_multiplier = "80";
pix_clk_hz = "300000000";
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 = "46000000"; /* 21.0 fps */
step_framerate = "1";
default_framerate = "46000000"; /* 21.0 fps */
min_exp_time = "13"; /* us */
max_exp_time = "683709"; /* us */
step_exp_time = "1";
default_exp_time = "2495"; /* us */
embedded_metadata_height = "0";
};
mode1 { /* IMX219_MODE_3280x2464_21FPS */
mclk_khz = "24000";
num_lanes = "4";
tegra_sinterface = "serial_a";
phy_mode = "DPHY";
vc_id = "1";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
lane_polarity = "3";
active_w = "2896";
active_h = "1888";
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 = "300000000";
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 = "46000000"; /* 21.0 fps */
step_framerate = "1";
default_framerate = "46000000"; /* 21.0 fps */
min_exp_time = "13"; /* us */
max_exp_time = "683709"; /* us */
step_exp_time = "1";
default_exp_time = "2495"; /* us */
embedded_metadata_height = "0";
};
ports {
#address-cells = <1>;
#size-cells = <0>;
port@0 {
reg = <0>;
rbpcv2_imx219_out1: endpoint {
vc-id = <1>;
port-index = <0>;
bus-width = <4>;
remote-endpoint = <&rbpcv2_imx219_csi_in1>;
};
};
};
};
imx219_cam2: rbpcv2_imx219_b@1b {
compatible = "sony,imx219";
/* I2C device address */
reg = <0x1b>;
/* V4L2 device node location */
devnode = "video2";
/* Physical dimensions of sensor */
physical_w = "3.680";
physical_h = "5.800";
sensor_model = "imx219";
use_sensor_mode_id = "true";
mode0 { /* IMX219_MODE_3280x2464_21FPS */
mclk_khz = "24000";//24000000
num_lanes = "4";
tegra_sinterface = "serial_c";
phy_mode = "DPHY";
vc_id = "0";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
lane_polarity = "5";
active_w = "2896";
active_h = "1888";
mode_type = "bayer";
pixel_phase = "rggb";
csi_pixel_bit_depth = "12";
readout_orientation = "90";
line_length = "11200";
inherent_gain = "1";
mclk_multiplier = "80";
pix_clk_hz = "300000000";
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 = "46000000"; /* 21.0 fps */
step_framerate = "1";
default_framerate = "46000000"; /* 21.0 fps */
min_exp_time = "13"; /* us */
max_exp_time = "683709"; /* us */
step_exp_time = "1";
default_exp_time = "2495"; /* us */
embedded_metadata_height = "0";
};
mode1 { /* IMX219_MODE_3280x2464_21FPS */
mclk_khz = "24000";//24000000
num_lanes = "4";
tegra_sinterface = "serial_c";
phy_mode = "DPHY";
vc_id = "0";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
lane_polarity = "5";
active_w = "2896";
active_h = "1888";
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 = "300000000";
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 = "46000000"; /* 21.0 fps */
step_framerate = "1";
default_framerate = "46000000"; /* 21.0 fps */
min_exp_time = "13"; /* us */
max_exp_time = "683709"; /* us */
step_exp_time = "1";
default_exp_time = "2495"; /* us */
embedded_metadata_height = "0";
};
ports {
#address-cells = <1>;
#size-cells = <0>;
port@0 {
reg = <0>;
rbpcv2_imx219_out2: endpoint {
status = "okay";
vc-id = <0>;
port-index = <2>;
bus-width = <4>;
remote-endpoint = <&rbpcv2_imx219_csi_in2>;
};
};
};
};
imx219_cam3: rbpcv2_imx219_a@1a {
compatible = "sony,imx219";
/* I2C device address */
reg = <0x1a>;
/* V4L2 device node location */
devnode = "video3";
/* Physical dimensions of sensor */
physical_w = "3.680";
physical_h = "5.800";
sensor_model = "imx219";
use_sensor_mode_id = "true";
mode0 { /* IMX219_MODE_3280x2464_21FPS */
mclk_khz = "24000";//24000000
num_lanes = "4";
tegra_sinterface = "serial_c";
phy_mode = "DPHY";
vc_id = "1";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
lane_polarity = "5";
active_w = "2896";
active_h = "1888";
mode_type = "bayer";
pixel_phase = "rggb";
csi_pixel_bit_depth = "12";
readout_orientation = "90";
line_length = "11200";
inherent_gain = "1";
mclk_multiplier = "80";
pix_clk_hz = "300000000";
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 = "46000000"; /* 21.0 fps */
step_framerate = "1";
default_framerate = "46000000"; /* 21.0 fps */
min_exp_time = "13"; /* us */
max_exp_time = "683709"; /* us */
step_exp_time = "1";
default_exp_time = "2495"; /* us */
embedded_metadata_height = "0";
};
mode1 { /* IMX219_MODE_3280x2464_21FPS */
mclk_khz = "24000";//24000000
num_lanes = "4";
tegra_sinterface = "serial_c";
phy_mode = "DPHY";
vc_id = "1";
discontinuous_clk = "no";
dpcm_enable = "false";
cil_settletime = "0";
lane_polarity = "5";
active_w = "2896";
active_h = "1888";
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 = "300000000";
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 = "46000000"; /* 21.0 fps */
step_framerate = "1";
default_framerate = "46000000"; /* 21.0 fps */
min_exp_time = "13"; /* us */
max_exp_time = "683709"; /* us */
step_exp_time = "1";
default_exp_time = "2495"; /* us */
embedded_metadata_height = "0";
};
ports {
#address-cells = <1>;
#size-cells = <0>;
port@0 {
reg = <0>;
rbpcv2_imx219_out3: endpoint {
status = "okay";
vc-id = <1>;
port-index = <2>;
bus-width = <4>;
remote-endpoint = <&rbpcv2_imx219_csi_in3>;
};
};
};
};
};
i2c_1: i2c@1 {
};
};
lens_imx219@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”;
num_csi_lanes = <8>;
max_lane_speed = <2500000>;
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 = "jakku_front_RBP234";
position = "front";
orientation = "1";
cam_module0_drivernode0: drivernode0 {
pcl_id = "v4l2_sensor";
devname = "imx219 9-001d";
proc-device-tree = "/proc/device-tree/cam_i2cmux/i2c@0/rbpcv2_imx219_d@1d";
};
cam_module0_drivernode1: drivernode1 {
pcl_id = "v4l2_lens";
proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
};
};
cam_module1: module1 {
badge = "jakku_front_RBP234";
position = "rear";
orientation = "1";
cam_module1_drivernode0: drivernode0 {
pcl_id = "v4l2_sensor";
devname = "imx219 9-001c";
proc-device-tree = "/proc/device-tree/cam_i2cmux/i2c@0/rbpcv2_imx219_c@1c";
};
cam_module1_drivernode1: drivernode1 {
pcl_id = "v4l2_lens";
proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
};
};
cam_module2: module2 {
badge = "jakku_front_RBP234";
position = "bottomleft";
orientation = "1";
cam_module2_drivernode0: drivernode0 {
pcl_id = "v4l2_sensor";
devname = "imx219 9-001b";
proc-device-tree = "/proc/device-tree/cam_i2cmux/i2c@0/rbpcv2_imx219_b@1b";
};
cam_module2_drivernode1: drivernode1 {
pcl_id = "v4l2_lens";
proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
};
};
cam_module3: module3 {
badge = "jakku_front_RBP234";
position = "bottomright";
orientation = "1";
cam_module3_drivernode0: drivernode0 {
pcl_id = "v4l2_sensor";
devname = "imx219 9-001a";
proc-device-tree = "/proc/device-tree/cam_i2cmux/i2c@0/rbpcv2_imx219_a@1a";
};
cam_module3_drivernode1: drivernode1 {
pcl_id = "v4l2_lens";
proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
};
};
};
};
};
Hi @dukezuo
Maybe the pixel-clock need to be adjusted when supporting more cameras.
You can try to boost the VI, NVCSI, ISP clocks, to see you get the capture working:
sudo su
echo 1 > /sys/kernel/debug/bpmp/debug/clk/vi/mrq_rate_locked
echo 1 > /sys/kernel/debug/bpmp/debug/clk/isp/mrq_rate_locked
echo 1 > /sys/kernel/debug/bpmp/debug/clk/nvcsi/mrq_rate_locked
cat /sys/kernel/debug/bpmp/debug/clk/vi/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/vi/rate
cat /sys/kernel/debug/bpmp/debug/clk/isp/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/isp/rate
cat /sys/kernel/debug/bpmp/debug/clk/nvcsi/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/nvcsi/rate
Or try defining higher pix_clk_hz values
Best Regards,
Enrique Ramirez
Embedded SW Engineer at RidgeRun
Contact us: support@ridgerun.com
Developers wiki: https://developer.ridgerun.com
Website: www.ridgerun.com
Thanks Enrique ,We have change the pix_clk_hzvalue from 300000000 to 400000000,it show the same error:
kworker/2:2-4647 [002] .... 11056.569150: rtcpu_vinotify_error: tstamp:345997164578 cch:0 vi:1 tag:CHANSEL_NOMATCH channel:0xc4 frame:189 vi_tstamp:11071909220128 data:0x0000000000000589
kworker/2:2-4647 [002] .... 11056.569151: rtcpu_vinotify_error: tstamp:345997165243 cch:-1 vi:1 tag:CHANSEL_NOMATCH channel:0x84 frame:87 vi_tstamp:11071909225408 data:0x0000000000000589
kworker/2:2-4647 [002] .... 11056.624911: rtcpu_vinotify_error: tstamp:345997844281 cch:0 vi:1 tag:CHANSEL_NOMATCH channel:0xc4 frame:190 vi_tstamp:11071930970880 data:0x0000000000000589
kworker/2:2-4647 [002] .... 11056.624912: rtcpu_vinotify_error: tstamp:345997844941 cch:-1 vi:1 tag:CHANSEL_NOMATCH channel:0x84 frame:88 vi_tstamp:11071930976160 data:0x0000000000000589
kworker/2:2-4647 [002] .... 11056.624917: rtcpu_vinotify_error: tstamp:345998524670 cch:0 vi:1 tag:CHANSEL_NOMATCH channel:0xc4 frame:191 vi_tstamp:11071952743296 data:0x0000000000000589by the way,we used v4l2-ctl to get raw data and got this result.no isp used yet.
Hi @dukezuo
From your log message you are getting a no-match error:
kworker/2:2-4647 [002] .... 11056.569151: rtcpu_vinotify_error: tstamp:345997165243 cch:-1 vi:1 tag:CHANSEL_NOMATCH channel:0x84 frame:87 vi_tstamp:11071909225408 data:0x0000000000000589
The data code 589 means that the system is expecting RAW12, but looks like the data received is not matching. Are you sure the camera is sending the right format?
thanks, we have found it is deserial issue，we reduce the mipi speed from 2.5G to 2.4G, it works.
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