相机抓图相关问题

[潘阳刚]

我尝试做转接板让edge2开发板支持raw-mipi-sc132m相机。
编译好驱动后，更改设备树如下：

// SPDX-License-Identifier: (GPL-2.0+ OR MIT)
/ {
	vcc_mipidphy0: vcc-mipidcphy0-regulator {//cam2-sc132m
		status = "okay";
		compatible = "regulator-fixed";
		gpio = <&gpio1 RK_PB2 GPIO_ACTIVE_HIGH>;
		pinctrl-names = "default";
		pinctrl-0 = <&mipidphy0_pwr>;
		regulator-name = "vcc_mipidphy0";
		enable-active-high;
		regulator-always-on;
	};
};
&csi2_dcphy0 {//cam2
	status = "okay";

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

			mipi_in_dcphy0: endpoint@1 {
				reg = <1>;
				remote-endpoint = <&mvcam_out0>;
				data-lanes = <1 2>;
			};
		};
		port@1 {
			reg = <1>;
			#address-cells = <1>;
			#size-cells = <0>;

			csidcphy0_out: endpoint@0 {
				reg = <0>;
				remote-endpoint = <&mipi0_csi2_input>;
			};
		};
	};
};

&mipi_dcphy0 {
	status = "okay";
};

&csi2_dcphy1 {//cam1
	status = "okay";

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

			mipi_in_dcphy1: endpoint@1 {
				reg = <1>;
				remote-endpoint = <&imx415f_out1>;
				data-lanes = <1 2 3 4>;
			};
		};
		port@1 {
			reg = <1>;
			#address-cells = <1>;
			#size-cells = <0>;

			csidcphy1_out: endpoint@0 {
				reg = <0>;
				remote-endpoint = <&mipi1_csi2_input>;
			};
		};
	};
};

&mipi_dcphy1 {
	status = "okay";
};

&csi2_dphy0 {//cam3
	status = "okay";

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

			mipidphy0_in_ucam0: endpoint@1 {
				reg = <1>;
				remote-endpoint = <&imx415c_out0>;
				data-lanes = <1 2 3 4>;
			};
		};
		port@1 {
			reg = <1>;
			#address-cells = <1>;
			#size-cells = <0>;

			csidphy0_out: endpoint@0 {
				reg = <0>;
				remote-endpoint = <&mipi2_csi2_input>;
			};
		};
	};
};

&csi2_dphy0_hw {
	status = "okay";
};

&i2c4 {//cam2
	status = "okay";
	pinctrl-names = "default";
	pinctrl-0 = <&i2c4m3_xfer>;

	dw9714b: dw9714b@c {
		compatible = "dongwoon,dw9714";
		status = "disable";
		reg = <0x0c>;
		pinctrl-names = "focusb_gpios";
		pinctrl-0 = <&focusb_gpio>;
		focus-gpios = <&gpio1 RK_PA0 GPIO_ACTIVE_HIGH>;
		rockchip,vcm-start-current = <20>;
		rockchip,vcm-rated-current = <76>;
		rockchip,vcm-step-mode = <0>;
		rockchip,camera-module-index = <0>;
		rockchip,camera-module-facing = "back";
	};

	imx415b: imx415b@1a {
		compatible = "sony,imx415";
		status = "disable";
		reg = <0x1a>;
		clocks = <&cru CLK_MIPI_CAMARAOUT_M1>;
		clock-names = "xvclk";
		power-domains = <&power RK3588_PD_VI>;
		pinctrl-names = "default", "camb_gpios";
		pinctrl-0 = <&mipim1_camera1_clk>, <&camb_gpio>;
		rockchip,grf = <&sys_grf>;
		reset-gpios = <&gpio1 RK_PB2 GPIO_ACTIVE_LOW>;
		pwdn-gpios = <&gpio1 RK_PB3 GPIO_ACTIVE_HIGH>;
		rockchip,camera-module-index = <0>;
		rockchip,camera-module-facing = "back";
		rockchip,camera-module-name = "CMK-OT2022-PX1";
		rockchip,camera-module-lens-name = "IR0147-50IRC-8M-F20";
		lens-focus = <&dw9714b>;
		port {
			imx415b_out0: endpoint {
				remote-endpoint = <&mipi_in_dcphy0>;
				data-lanes = <1 2 3 4>;
			};
		};
	};
	mvcam: mvcam@3b{
        compatible = "veye,mvcam";
		status = "okay";
        reg = <0x3b>;
        clocks = <&cru CLK_MIPI_CAMARAOUT_M1>;
        clock-names = "xvclk";
        pinctrl-names = "default";
        pinctrl-0 = <&mipim1_camera1_clk>;
        power-domains = <&power RK3588_PD_VI>;

        //power-gpios = <&gpio1 RK_PC4 GPIO_ACTIVE_LOW>;
        reset-gpios = <&gpio3 RK_PA6 GPIO_ACTIVE_HIGH>;//用原来的19和20引脚，SC132M似乎不需要考虑这两个引脚
        pwdn-gpios = <&gpio1 RK_PB3 GPIO_ACTIVE_HIGH>;

        //avdd-supply = <&vcc_mipidcphy0>;
        //firefly,clkout-enabled-index = <0>;
        rockchip,camera-module-index = <0>;
        rockchip,camera-module-facing = "back";
        rockchip,camera-module-name = "NC";
        rockchip,camera-module-lens-name = "NC";
               
        port {
            mvcam_out0: endpoint {
                remote-endpoint = <&mipi_in_dcphy0>;
                data-lanes = <1 2>;
            };
        };
    };
};

&i2c3 {//cam1
	status = "okay";
	pinctrl-names = "default";
	pinctrl-0 = <&i2c3m0_xfer>;

	dw9714f: dw9714f@c {
		compatible = "dongwoon,dw9714";
		status = "okay";
		reg = <0x0c>;
		pinctrl-names = "focusf_gpios";
		pinctrl-0 = <&focusf_gpio>;
		focus-gpios = <&gpio1 RK_PA1 GPIO_ACTIVE_HIGH>;
		rockchip,vcm-start-current = <20>;
		rockchip,vcm-rated-current = <76>;
		rockchip,vcm-step-mode = <0>;
		rockchip,camera-module-index = <1>;
		rockchip,camera-module-facing = "front";
	};

	imx415f: imx415f@1a {
		compatible = "sony,imx415";
		status = "okay";
		reg = <0x1a>;
		clocks = <&cru CLK_MIPI_CAMARAOUT_M2>;
		clock-names = "xvclk";
		power-domains = <&power RK3588_PD_VI>;
		pinctrl-names = "default", "camf_gpios";
		pinctrl-0 = <&mipim1_camera2_clk>, <&camf_gpio>;
		rockchip,grf = <&sys_grf>;
		reset-gpios = <&gpio3 RK_PC6 GPIO_ACTIVE_LOW>;
		pwdn-gpios = <&gpio3 RK_PC5 GPIO_ACTIVE_HIGH>;
		rockchip,camera-module-index = <1>;
		rockchip,camera-module-facing = "front";
		rockchip,camera-module-name = "CMK-OT2022-PX1";
		rockchip,camera-module-lens-name = "IR0147-50IRC-8M-F20";
		lens-focus = <&dw9714f>;
		port {
			imx415f_out1: endpoint {
				remote-endpoint = <&mipi_in_dcphy1>;
				data-lanes = <1 2 3 4>;
			};
		};
	};
};

&i2c8 {//cam3
	status = "okay";
	pinctrl-names = "default";
	pinctrl-0 = <&i2c8m2_xfer>;

	dw9714c: dw9714c@c {
		compatible = "dongwoon,dw9714";
		status = "okay";
		reg = <0x0c>;
		pinctrl-names = "focusc_gpios";
		pinctrl-0 = <&focusc_gpio>;
		focus-gpios = <&gpio1 RK_PA6 GPIO_ACTIVE_HIGH>;
		rockchip,vcm-start-current = <20>;
		rockchip,vcm-rated-current = <76>;
		rockchip,vcm-step-mode = <0>;
		rockchip,camera-module-index = <0>;
		rockchip,camera-module-facing = "back";
	};

	imx415: imx415@1a {
		compatible = "sony,imx415";
		reg = <0x1a>;
		clocks = <&cru CLK_MIPI_CAMARAOUT_M3>;
		clock-names = "xvclk";
		pinctrl-names = "default", "camc_gpios";
		pinctrl-0 = <&mipim1_camera3_clk>, <&camc_gpio>;
		power-domains = <&power RK3588_PD_VI>;
		reset-gpios = <&gpio3 RK_PB4 GPIO_ACTIVE_LOW>;	
		pwdn-gpios = <&gpio1 RK_PA4 GPIO_ACTIVE_HIGH>;
		rockchip,camera-module-index = <0>;
		rockchip,camera-module-facing = "back";
		rockchip,camera-module-name = "CMK-OT2022-PX1";
		rockchip,camera-module-lens-name = "IR0147-50IRC-8M-F20";
		lens-focus = <&dw9714c>;
		port {
			imx415c_out0: endpoint {
				remote-endpoint = <&mipidphy0_in_ucam0>;
				data-lanes = <1 2 3 4>;
			};
		};
	};
};

&pinctrl {
	cam {
		mipidphy0_pwr: mipidphy0-pwr {
			rockchip,pins =
				/* camera power en */
				<1 RK_PB2 RK_FUNC_GPIO &pcfg_output_high>;
		};
		camf_gpio: camf-gpio {//imx415
			rockchip,pins =
				<3 RK_PC6 RK_FUNC_GPIO &pcfg_pull_none>,
				<3 RK_PC5 RK_FUNC_GPIO &pcfg_pull_none>;
		};
		camb_gpio: camb-gpio {//imx415
			rockchip,pins =
				<1 RK_PB2 RK_FUNC_GPIO &pcfg_pull_none>,
				<1 RK_PB3 RK_FUNC_GPIO &pcfg_pull_none>;
		};
		camc_gpio: camc-gpio {//imx415
			rockchip,pins =
				<3 RK_PB4 RK_FUNC_GPIO &pcfg_pull_none>,
				<1 RK_PA4 RK_FUNC_GPIO &pcfg_pull_none>;
		};
		focusb_gpio: focusb-gpio {//dw9714
			rockchip,pins =
				<1 RK_PA0 RK_FUNC_GPIO &pcfg_pull_none>;
		};
		focusf_gpio: focusf-gpio {//dw9714
			rockchip,pins =
				<1 RK_PA1 RK_FUNC_GPIO &pcfg_pull_none>;
		};
		focusc_gpio: focusc-gpio {//dw9714
			rockchip,pins =
				<1 RK_PA6 RK_FUNC_GPIO &pcfg_pull_none>;
		};
	};
};

&mipi0_csi2 {//cam2
	status = "okay";

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

		port@0 {
			reg = <0>;
			#address-cells = <1>;
			#size-cells = <0>;

			mipi0_csi2_input: endpoint@1 {
				reg = <1>;
				remote-endpoint = <&csidcphy0_out>;
			};
		};

		port@1 {
			reg = <1>;
			#address-cells = <1>;
			#size-cells = <0>;

			mipi0_csi2_output: endpoint@0 {
				reg = <0>;
				remote-endpoint = <&cif_mipi_in0>;
			};
		};
	};
};

&mipi1_csi2 {//cam1
	status = "okay";

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

		port@0 {
			reg = <0>;
			#address-cells = <1>;
			#size-cells = <0>;

			mipi1_csi2_input: endpoint@1 {
				reg = <1>;
				remote-endpoint = <&csidcphy1_out>;
			};
		};

		port@1 {
			reg = <1>;
			#address-cells = <1>;
			#size-cells = <0>;

			mipi1_csi2_output: endpoint@0 {
				reg = <0>;
				remote-endpoint = <&cif_mipi_in1>;
			};
		};
	};
};

&mipi2_csi2 {//cam3
	status = "okay";

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

		port@0 {
			reg = <0>;
			#address-cells = <1>;
			#size-cells = <0>;

			mipi2_csi2_input: endpoint@1 {
				reg = <1>;
				remote-endpoint = <&csidphy0_out>;
			};
		};

		port@1 {
			reg = <1>;
			#address-cells = <1>;
			#size-cells = <0>;

			mipi2_csi2_output: endpoint@0 {
				reg = <0>;
				remote-endpoint = <&cif_mipi2_in0>;
			};
		};
	};
};

&rkcif {
	status = "okay";
};

&rkcif_mipi_lvds {
	status = "okay";

	port {
		cif_mipi_in0: endpoint {
			remote-endpoint = <&mipi0_csi2_output>;
		};
	};
};

&rkcif_mipi_lvds_sditf {
	status = "okay";

	port {
		mipi_lvds_sditf: endpoint {
			remote-endpoint = <&isp0_vir0>;
		};
	};
};

&rkcif_mipi_lvds1 {
	status = "okay";

	port {
		cif_mipi_in1: endpoint {
			remote-endpoint = <&mipi1_csi2_output>;
		};
	};
};

&rkcif_mipi_lvds1_sditf {
	status = "okay";

	port {
		mipi1_lvds_sditf: endpoint {
			remote-endpoint = <&isp0_vir1>;
		};
	};
};

&rkcif_mipi_lvds2 {
	status = "okay";

	port {
		cif_mipi2_in0: endpoint {
			remote-endpoint = <&mipi2_csi2_output>;
		};
	};
};

&rkcif_mipi_lvds2_sditf {
	status = "okay";

	port {
		mipi_lvds2_sditf: endpoint {
			remote-endpoint = <&isp1_vir0>;
		};
	};
};

&rkcif_mmu {
	status = "okay";
};

&rkisp0 {
	status = "okay";

};

&isp0_mmu {
	status = "okay";
};

&rkisp0_vir0 {
	status = "okay";

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

		isp0_vir0: endpoint@0 {
			reg = <0>;
			remote-endpoint = <&mipi_lvds_sditf>;
		};
	};
};

&rkisp0_vir1 {
	status = "okay";

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

		isp0_vir1: endpoint@0 {
			reg = <0>;
			remote-endpoint = <&mipi1_lvds_sditf>;
		};
	};
};

&rkisp1 {
	status = "okay";
};

&isp1_mmu {
	status = "okay";
};

&rkisp1_vir0 {
	status = "okay";

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

		isp1_vir0: endpoint@0 {
			reg = <0>;
			remote-endpoint = <&mipi_lvds2_sditf>;
		};
	};
};

开发板能够识别到相机：

[   10.868932] mvcam 4-003b: veye mv series camera driver version: 01.01.04
[   11.872574] mvcam 4-003b: camera is: RAW-MIPI-SC132M
[   11.873598] mvcam 4-003b: firmware version: 0x1040000
[   11.877481] mvcam 4-003b: mvcam_get_mipifeature: lane num 2, datarate 1500000000 bps
[   11.877588] mvcam 4-003b: Success to get mvcam endpoint data lanes, dts uses 2 lanes
[   11.891182] mvcam 4-003b: mvcam_enum_controls success

但是使用命令

v4l2-ctl -d /dev/video0 --set-fmt-video=width=1080,height=1280,pixelformat=GREY --stream-mmap --stream-count=1 --stream-to=y8-1088x1280.raw

会报错：

[ 2912.107051] rkcif-mipi-lvds: ERROR: csi size err, intstat:0x1000000, lastline:0!!

之后我通过v4l2-ctl -L命令发现：

[ 3120.790050] rockchip-csi2-dphy csi2-dcphy0: csi2_dphy_update_sensor_mbus fail to get dphy param, used default value

我不知道哪里出现了问题，请问我该如何排查？

[veye_xumm]

@潘阳刚 这个问题有可能是edge2的linux kernel 源码缺少一些对数据格式的支持。
kernel\drivers\media\platform\rockchip\cif\capture.c
附件这份代码，你聊做参考。
capture.c.txt

[潘阳刚]

@veye_xumm 确实缺少支持，我修改了这个文件。重新烧录镜像之后再次尝试，现在的log是这样的：

v4l2-ctl -d /dev/video0 --set-fmt-video=width=1080,height=1280,pixelformat=GREY --stream-mmap --stream-count=1 --stream-to=y8-1088x1280.raw
[ 1189.005947] rockchip-csi2-dphy csi2-dcphy0: csi2_dphy_update_sensor_mbus fail to get dphy param, used default value
[ 1189.009415] rockchip-csi2-dphy csi2-dcphy0: csi2_dphy_update_sensor_mbus fail to get dphy param, used default value
[ 1189.009978] rockchip-mipi-csi2 fdd10000.mipi0-csi2: stream on, src_sd: 000000002ff232b9, sd_name:rockchip-csi2-dphy0
[ 1189.010005] rockchip-mipi-csi2 fdd10000.mipi0-csi2: stream ON
[ 1189.010037] rockchip-csi2-dphy csi2-dcphy0: csi2_dphy_update_sensor_mbus fail to get dphy param, used default value
[ 1189.010057] rockchip-csi2-dphy csi2-dcphy0: csi2_dphy_update_sensor_mbus fail to get dphy param, used default value
[ 1189.010084] rockchip-csi2-dphy csi2-dcphy0: csi2_dphy_update_sensor_mbus fail to get dphy param, used default value
<[ 1189.032767] rockchip-mipi-csi2 fdd10000.mipi0-csi2: stream off, src_sd: 000000002ff232b9, sd_name:rockchip-csi2-dphy0
[ 1189.032803] rockchip-mipi-csi2 fdd10000.mipi0-csi2: stream OFF

还是没能获取到图像数据。

[veye_xumm]

@潘阳刚 感觉你现在问题更麻烦了。 上次给你的文件，不能直接替换掉，你从中把关于数据类型的几个地方修改到原来edge2的源码中即可。

[潘阳刚]

capture.txt @veye_xumm 我没有直接替换，原始文件和您给我的文件只有如下几处不一样，我进行了修改：

绿色的几行本不在原始文件中。
其他有区别但是我未作改动的：

其他的都一致。现在的问题有没有可能是转接板PCB设计不恰当导致的？
capture.txt

[veye_xumm]

@潘阳刚 整体上我看你的操作没有太大问题。 现在不出图，不太清楚是咋回事。 要不你把板子寄过来，我们给看一下吧。

[潘阳刚]

@veye_xumm 地址是什么？

[veye_xumm]

已私信。已私信。