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河南省建设厅网站中级职称,网络广告的形式有哪些,网站备案号省份,宁波市住宅建设集团网站#x1f347; 博主主页#xff1a; 【Systemcall小酒屋】#x1f347; 博主追寻#xff1a;热衷于用简单的案例讲述复杂的技术#xff0c;“假传万卷书#xff0c;真传一案例”#xff0c;这是林群院士说过的一句话#xff0c;另外“成就是最好的老师”#xff0c;技术… 博主主页 【Systemcall小酒屋】 博主追寻热衷于用简单的案例讲述复杂的技术“假传万卷书真传一案例”这是林群院士说过的一句话另外“成就是最好的老师”技术既要沉淀也得分享成就感的正反馈是支持我持续耕耘的动力 专栏目录 【Firefly-RK356x板卡】 专栏说明基于Firefly旗下的RK356x板卡进行入门篇讲述欢迎订阅博主会持续更新 文章目录一、MIPI CSI1.1 Full Mode特点1.2 Split Mode特点二、Full Mode配置2.1 配置sensor端2.2 csi2_dphy0相关配置2.3 isp相关配置三、Split Mode配置3.1 配置sensor端3.2 csi2_dphy1/csi2_dphy2相关配置3.3 isp相关配置四、软件相关目录五、单目CAM-8MS1M/双目CAM-2MS2MF摄像头的使用5.1 使用单目摄像头CAM-8MS1M5.2 使用双目摄像头CAM-2MS2MF六、Camera底层调试七、Android系统使用camera应用八、IQ文件一、MIPI CSI RK3566/RK3568平台仅有一个标准物理mipi csi2 dphy可以工作在两个模式full mode 和split mode拆分为csi2_dphy0/csi2_dphy1/csi2_dphy2三个逻辑dphy 1.1 Full Mode特点 仅使用csi2_dphy0。csi2_dphy0与csi2_dphy1/csi2_dphy2互斥不可同时使用data lane最大4 lanes最大速率2.5Gbps/lane 1.2 Split Mode特点 仅使用csi2_dphy1和csi2_dphy2两者与 csi2_dphy0 互斥不可同时使用csi2_dphy1和csi2_dphy2可同时使用csi2_dphy1和csi2_dphy2各自的data lane最大是2 lanescsi2_dphy1对应物理dphy的lane0/lane1csi2_dphy2对应物理dphy的lane2/lane3最大速率2.5Gbps/lane 一般来说如果用单目摄像头可以配置full mode若使用双目摄像头可以配置split mode 二、Full Mode配置 链接关系: sensor-csi2_dphy0-isp 2.1 配置sensor端 需要根据板子原理图的MIPI CSI接口找到sensor是挂在哪个I2C总线上然后在对应的I2C节点配置camera节点正确配置camera模组的I2C设备地址、引脚等属性。 如下ROC-RK3568-PC的xc7160配置 i2c4 {status okay;XC7160: XC7160b1b {status okay;compatible firefly,xc7160;reg 0x1b;clocks cru CLK_CIF_OUT;clock-names xvclk;power-domains power RK3568_PD_VI;pinctrl-names default;pinctrl-0 cif_clk;power-gpios gpio4 RK_PB5 GPIO_ACTIVE_LOW;reset-gpios gpio0 RK_PD5 GPIO_ACTIVE_HIGH;pwdn-gpios gpio4 RK_PB4 GPIO_ACTIVE_HIGH;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 {xc7160_out: endpoint {remote-endpoint mipi_in_ucam4;data-lanes 1 2 3 4;};};}; };2.2 csi2_dphy0相关配置 csi2_dphy0与csi2_dphy1/csi2_dphy2互斥,不可同时使用。另外需要使能csi2_dphy_hw节点 csi2_dphy0 {status okay;/** dphy0 only used for full mode,* full mode and split mode are mutually exclusive/ports {#address-cells 1;#size-cells 0;port0 {reg 0;#address-cells 1;#size-cells 0; …mipi_in_ucam4: endpoint5 {reg 5;remote-endpoint xc7160_out;data-lanes 1 2 3 4;};};port1 {reg 1;#address-cells 1;#size-cells 0;csidphy_out: endpoint0 {reg 0;remote-endpoint isp0_in;};};}; };csi2_dphy_hw {status okay; };csi2_dphy1 {status disabled; };csi2_dphy2 {status disabled; };2.3 isp相关配置 其中rkisp_vir0节点的remote-endpoint指向csidphy_out rkisp {status okay; };rkisp_mmu {status okay; };rkisp_vir0 {status okay;port {#address-cells 1;#size-cells 0;isp0_in: endpoint0 {reg 0;remote-endpoint csidphy_out;};}; };三、Split Mode配置 链接关系: sensor1-csi_dphy1-isp_vir0 sensor2-csi_dphy2-mipi_csi2-vicap-isp_vir1 3.1 配置sensor端 根据板子原理图的MIPI CSI接口找到两个sensor是挂在哪个I2C总线上然后在对应的I2C节点配置两个camera节点正确配置camera模组的I2C设备地址、引脚等属性。如下ROC-RK3568-PC的gc2053/gc2093配置 i2c4 {status okay;gc2053: gc205337 { //IRstatus okay;compatible galaxycore,gc2053;reg 0x37;avdd-supply vcc_camera;power-domains power RK3568_PD_VI;clock-names xvclk;pinctrl-names default;clocks pmucru CLK_WIFI;pinctrl-0 refclk_pins;power-gpios gpio0 RK_PD5 GPIO_ACTIVE_HIGH;//IR_PWR_ENpwdn-gpios gpio4 RK_PB5 GPIO_ACTIVE_LOW;firefly,clkout-enabled-index 1;rockchip,camera-module-index 0;rockchip,camera-module-facing back;rockchip,camera-module-name YT-RV1109-2-V1;rockchip,camera-module-lens-name 40IR-2MP-F20;port {gc2053_out: endpoint {remote-endpoint dphy1_in;data-lanes 1 2;};};};gc2093: gc2093b7e { //RGBstatus okay;compatible galaxycore,gc2093;reg 0x7e;avdd-supply vcc_camera;power-domains power RK3568_PD_VI;clock-names xvclk;pinctrl-names default;flash-leds flash_led;pwdn-gpios gpio4 RK_PB4 GPIO_ACTIVE_HIGH;firefly,clkout-enabled-index 0;rockchip,camera-module-index 1;rockchip,camera-module-facing front;rockchip,camera-module-name YT-RV1109-2-V1;rockchip,camera-module-lens-name 40IR-2MP-F20;port {gc2093_out: endpoint {remote-endpoint dphy2_in;data-lanes 1 2;};};}; };3.2 csi2_dphy1/csi2_dphy2相关配置 csi2_dphy0与csi2_dphy1/csi2_dphy2互斥,不可同时使用 csi2_dphy0 {status disabled; };csi2_dphy1 {status okay;/** dphy1 only used for split mode, can be used concurrently with dphy2* full mode and split mode are mutually exclusive/ports {#address-cells 1;#size-cells 0;port0 {reg 0;#address-cells 1;#size-cells 0;dphy1_in: endpoint1 {reg 1;remote-endpoint gc2053_out;data-lanes 1 2;};};port1 {reg 1;#address-cells 1;#size-cells 0;dphy1_out: endpoint1 {reg 1;remote-endpoint isp0_in;};};}; };csi2_dphy2 {status okay;/** dphy2 only used for split mode, can be used concurrently with dphy1* full mode and split mode are mutually exclusive*/ports {#address-cells 1;#size-cells 0;port0 {reg 0;#address-cells 1;#size-cells 0;dphy2_in: endpoint1 {reg 1;remote-endpoint gc2093_out;data-lanes 1 2;};};port1 {reg 1;#address-cells 1;#size-cells 0;dphy2_out: endpoint1 {reg 1;remote-endpoint mipi_csi2_input;};};}; };csi2_dphy_hw {status okay; };mipi_csi2 {status okay;ports {#address-cells 1;#size-cells 0;port0 {reg 0;#address-cells 1;#size-cells 0;mipi_csi2_input: endpoint1 {reg 1;remote-endpoint dphy2_out;data-lanes 1 2;};};port1 {reg 1;#address-cells 1;#size-cells 0;mipi_csi2_output: endpoint0 {reg 0;remote-endpoint cif_mipi_in;data-lanes 1 2;};};}; };rkcif_mipi_lvds {status okay;port {cif_mipi_in: endpoint {remote-endpoint mipi_csi2_output;data-lanes 1 2;};}; };rkcif_mipi_lvds_sditf {status okay;port {mipi_lvds_sditf: endpoint {remote-endpoint isp1_in;data-lanes 1 2;};}; };3.3 isp相关配置 其中rkisp_vir0节点的remote-endpoint指向dphy1_out rkisp {status okay; };rkisp_mmu {status okay; };rkisp_vir0 {status okay;port {#address-cells 1;#size-cells 0;isp0_in: endpoint0 {reg 0;remote-endpoint dphy1_out;};}; };rkisp_vir1 {status okay;port {reg 0;#address-cells 1;#size-cells 0;isp1_in: endpoint0 {reg 0;remote-endpoint mipi_lvds_sditf;};}; };rkcif_mmu {status okay; };rkcif {status okay; };四、软件相关目录 Linux Kernel-4.19 |– arch/arm/boot/dts #DTS配置文件 |– drivers/phy/rockchip|– phy-rockchip-mipi-rx.c #mipi dphy驱动|– phy-rockchip-csi2-dphy-common.h|– phy-rockchip-csi2-dphy-hw.c|– phy-rockchip-csi2-dphy.c |– drivers/media|– platform/rockchip/cif #RKCIF驱动|– platform/rockchip/isp #RKISP驱动|– dev #包含 probe、异步注册、clock、pipeline、 iommu及media/v4l2 framework|– capture #包含 mp/sp/rawwr的配置及 vb2,帧中断处理|– dmarx #包含 rawrd的配置及 vb2,帧中断处理|– isp_params #3A相关参数设置|– isp_stats #3A相关统计|– isp_mipi_luma #mipi数据亮度统计|– regs #寄存器相关的读写操作|– rkisp #isp subdev和entity注册|– csi #csi subdev和mipi配置|– bridge #bridge subdev,isp和ispp交互桥梁|– platform/rockchip/ispp #rkispp驱动|– dev #包含 probe、异步注册、clock、pipeline、 iommu及media/v4l2 framework|– stream #包含 4路video输出的配置及 vb2,帧中断处理|– rkispp #ispp subdev和entity注册|– params #TNR/NR/SHP/FEC/ORB参数设置|– stats #ORB统计信息五、单目CAM-8MS1M/双目CAM-2MS2MF摄像头的使用 ROC-RK3568-PC已经配置好相应的dts单目摄像头CAM-8MS1M和双目摄像头CAM-2MS2MF使用互斥只需包含相应的dtsi文件即可使用单目摄像头CAM-8MS1M或双目摄像头CAM-2MS2MF 5.1 使用单目摄像头CAM-8MS1M dts的配置默认使用单目摄像头 diff –git a/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-roc-pc.dts b/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-roc-pc.dts index 7e2a8b2..14fa027 100755 — a/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-roc-pc.dtsb/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-roc-pc.dts-7,6 7,15 #include rk3568-firefly-roc-pc-cam-8ms1m.dtsi //#include rk3568-firefly-roc-pc-cam-2ms2m.dtsi5.2 使用双目摄像头CAM-2MS2MF diff –git a/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-roc-pc.dts b/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-roc-pc.dts index 7e2a8b2..14fa027 100755 — a/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-roc-pc.dtsb/kernel/arch/arm64/boot/dts/rockchip/rk3568-firefly-roc-pc.dts-7,6 7,15

• #include rk3568-firefly-roc-pc-cam-8ms1m.dtsi //#include rk3568-firefly-roc-pc-cam-8ms1m.dtsi
• //#include rk3568-firefly-roc-pc-cam-2ms2m.dtsi#include rk3568-firefly-roc-pc-cam-2ms2m.dtsi六、Camera底层调试 使用v4l2-ctl抓取camera数据帧 v4l2-ctl –verbose -d /dev/video0 –set-fmt-videowidth1920,height1080,pixelformatNV12 –stream-mmap4 –set-selectiontargetcrop,flags0,top0,left0,width1920,height1080 –stream-to/data/out.yuv把out.yuv文件拷贝出来通过ubuntu去查看 ffplay -f rawvideo -video_size 1920x1080 -pix_fmt nv12 out.yuv七、Android系统使用camera应用 Android系统使用camera的apk打开摄像头需要配置camera3_profiles*.xml具体可参考Android SDK hardware/rockchip/camera/etc/camera目录下的文件 八、IQ文件 raw摄像头支持的iq文件路径external/camera_engine_rkaiq/iqfiles/isp21, 与以前不一样的地方是iq文件不再采用.xml的方式而是采用.json的方式。虽有提供xml转json的工具, 但isp20的xml配置转换后也不适用isp21。 若使用raw摄像头sensor请留意isp21目录所支持的iq文件。