RK3568/RK3566 mipi双摄调试（gc2093+gc2053）
这篇文章给大家介绍一下RK3568双摄的调试，RK3568有一个4lane的mipi dphy，最高支持2.5G/bps每lane，ISP自带csi host，最高处理8M的图像，rk3568这个mipi dphy还有一个处理方法，就是拆分成2个2lane的使用，其中一个连接到单独的csi host，另一个连接到isp内部自带的csi host，这样就可以支持双摄同时的应用场景，下面介绍一下双摄的调试。
目录
（1）RK3568 camera资源介绍
①RK3568 MIPI CSI
②VICAP
③ISP
（2）RK3568双摄调试
①双摄硬件连接
②dts配置
③抓数据流确认
④HAL层适配
⑤接vicap的sensor的MIPI信号异常导致画面异常复位机制
（3）总结
（1）RK3568 camera资源介绍
①RK3568 MIPI CSI
RK356x有一个DPHY，其中有两个clk lane，可做4lane使用，也可以做2x2lane使用。
| type | Max bandwidth | NUM | Mode | |
| DPHY | DPHY v1.2 | 2.5Gbps x 4 lanes | 1 | 4lane or 2lane+2lane |
②VICAP
VICAP控制器可以接CSI HOST的输入，输入分辨率一般没有限制，主要是ddr带宽的限制。
| 接口 | 数量 | 输入 | 输出 |
| VICAP | 1 | BT601 YCbCr 422 8bit, RAW 8/10/12 BT656 YCbCr 422 8bit 逐行/隔行 BT1120 YCbCr 422 16bit 逐行/隔行，单/双边沿采样 2/4 通道交错BT656/BT1120 YCbCr 422 8/16bit 逐行/隔行 MIPI CSI 4路IDs虚拟通道 MIPI CSI RAW8/10/12/14, YUV422 |
NV16/NV12/YUV400/YUYV 紧凑/非紧凑 RAW |
③ISP
RK3568ISP属于RKISP V2.1的版本
| 吞吐率 | 最大分辨率 | 输入格式 | |
| 单ISP 单CIS | 8M@30 | 4096x2304 | raw8/raw10/raw12/YUV422 |
（2）RK3568双摄调试
RK3568双摄同时打开的话，需要满足吞吐率符合要求，因为DPHY总计只有4lane，因此双摄都必须是2lane或者小于2lane的sensor。
①双摄硬件连接
需要使用到MIPI的 CLK0 和 CLK1：
MIPI_RX_CLK0 和 MIPI_RX_D0-1 一组，使用CLK0
MIPI_RX_CLK1 和 MIPI_RX_D2-3 一组，使用CLK1
②dts配置
链接关系 1： sensor1->csi2_dphy1->isp_vir0
链接关系 2： sensor2->csi2_dphy2->mipi_csi2->vicap ......->isp_vir1
实例使用gc2093+gc2053，参考配置如下：
// SPDX-License-Identifier: (GPL-2.0+ OR MIT)
/*
* Copyright (c) 2022 Rockchip Electronics Co., Ltd.
*
*/
&csi2_dphy_hw {
status = "okay";
};
/*
* csi2_dphy1 & csi2_dphy2 used for split mode,
* csi2_dphy0 used for full mode,
* full mode and split mode are mutually exclusive
*/
&csi2_dphy0 {
status = "disabled";
/delete-node/ ports;
};
&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>;
port@0 {
reg = <0>;
#address-cells = <1>;
#size-cells = <0>;
mipi_in_gc2093_rgb: endpoint@2 {
reg = <2>;
remote-endpoint = <&gc2093_out>;
data-lanes = <1 2>;
};
};
port@1 {
reg = <1>;
#address-cells = <1>;
#size-cells = <0>;
dphy1_out: endpoint@1 {
reg = <1>;
remote-endpoint = <&mipi_csi2_input>;
};
};
};
};
&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>;
port@0 {
reg = <0>;
#address-cells = <1>;
#size-cells = <0>;
mipi_in_gc2053_ir: endpoint@1 {
reg = <1>;
remote-endpoint = <&gc2053_out>;
data-lanes = <1 2>;
};
};
port@1 {
reg = <1>;
#address-cells = <1>;
#size-cells = <0>;
dphy2_out: endpoint@1 {
reg = <1>;
remote-endpoint = <&isp_in1>;
};
};
};
};
&mipi_csi2 {
status = "okay";
ports {
#address-cells = <1>;
#size-cells = <0>;
port@0 {
reg = <0>;
#address-cells = <1>;
#size-cells = <0>;
mipi_csi2_input: endpoint@1 {
reg = <1>;
remote-endpoint = <&dphy1_out>;
data-lanes = <1 2>;
};
};
port@1 {
reg = <1>;
#address-cells = <1>;
#size-cells = <0>;
mipi_csi2_output: endpoint@0 {
reg = <0>;
remote-endpoint = <&cif_mipi_in>;
data-lanes = <1 2>;
};
};
};
};
&i2c4 {
status = "okay";
/delete-node/ gc8034@37;
/delete-node/ os04a10@36;
/delete-node/ ov5695@36;
gc2053: gc2053@37 {
status = "okay";
compatible = "galaxycore,gc2053";
reg = <0x37>;
clocks = <&pmucru CLK_WIFI>;
clock-names = "xvclk";
power-domains = <&power RK3568_PD_VI>;
pinctrl-names = "default";
pinctrl-0 = <&refclk_pins>;
reset-gpios = <&gpio3 RK_PB5 GPIO_ACTIVE_LOW>;
pwdn-gpios = <&gpio4 RK_PB5 GPIO_ACTIVE_LOW>;
rockchip,camera-module-index = <1>;
rockchip,camera-module-facing = "front";
rockchip,camera-module-name = "DW-RV2093-V1.0";
rockchip,camera-module-lens-name = "JZ-7070AS-A3";
port {
gc2053_out: endpoint {
remote-endpoint = <&mipi_in_gc2053_ir>;
data-lanes = <1 2>;
};
};
};
gc2093: gc2093@7e {
status = "okay";
compatible = "galaxycore,gc2093";
reg = <0x7e>;
clocks = <&cru CLK_CIF_OUT>;
clock-names = "xvclk";
power-domains = <&power RK3568_PD_VI>;
pinctrl-names = "default";
pinctrl-0 = <&cif_clk>;
reset-gpios = <&gpio3 RK_PB6 GPIO_ACTIVE_LOW>;
pwdn-gpios = <&gpio4 RK_PB4 GPIO_ACTIVE_HIGH>;
rockchip,camera-module-index = <0>;
rockchip,camera-module-facing = "front";
rockchip,camera-module-name = "DW-RV2093-V1.0";
rockchip,camera-module-lens-name = "JZ-7070AS-A1";
port {
gc2093_out: endpoint {
remote-endpoint = <&mipi_in_gc2093_rgb>;
data-lanes = <1 2>;
};
};
};
};
&rkcif {
status = "okay";
};
&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 = <&isp_in2>;
data-lanes = <1 2>;
};
};
};
&rkcif_mmu {
status = "okay";
};
&rkisp {
status = "okay";
max-input = <3840 2160 30>;
};
&rkisp_mmu {
status = "okay";
};
&rkisp_vir0 {
status = "okay";
/* gc2053-ir->dphy2->isp_vir0 */
port {
#address-cells = <1>;
#size-cells = <0>;
isp_in1: endpoint@0 {
reg = <0>;
remote-endpoint = <&dphy2_out>;
};
};
};
&rkisp_vir1 {
status = "okay";
/* gc2093-rgb->dphy1->csi2->vicap */
/* vicap sditf->isp_vir1 */
port {
#address-cells = <1>;
#size-cells = <0>;
isp_in2: endpoint@0 {
reg = <0>;
remote-endpoint = <&mipi_lvds_sditf>;
};
};
};
③抓数据流确认
需要注意一个点是，RK3568双摄的使用场景时，第二路必须使用回读模式，也就是必须将AIQ跑起来才可以同时从两路的ISP输出抓到数据流。
第一路直通ISP的sensor可以直接从对应的ISP节点抓数据流，第二路链路可以先保证从vicap的节点抓到数据流，之后再跑aiq的回读模式确认回读到ISP的数据。
使用如下命令可以查看对应的节点：
rk3568_t:/ # grep -H '' /sys/class/video4linux/video*/name
/sys/class/video4linux/video0/name:stream_cif_mipi_id0
/sys/class/video4linux/video1/name:stream_cif_mipi_id1
/sys/class/video4linux/video10/name:rkisp_rawrd0_m
/sys/class/video4linux/video11/name:rkisp_rawrd2_s
/sys/class/video4linux/video12/name:rkisp-statistics
/sys/class/video4linux/video13/name:rkisp-input-params
/sys/class/video4linux/video14/name:rkisp_mainpath
/sys/class/video4linux/video15/name:rkisp_selfpath
/sys/class/video4linux/video16/name:rkisp_rawwr0
/sys/class/video4linux/video17/name:rkisp_rawwr2
/sys/class/video4linux/video18/name:rkisp_rawwr3
/sys/class/video4linux/video19/name:rkisp_rawrd0_m
/sys/class/video4linux/video2/name:stream_cif_mipi_id2
/sys/class/video4linux/video20/name:rkisp_rawrd2_s
/sys/class/video4linux/video21/name:rkisp-statistics
/sys/class/video4linux/video22/name:rkisp-input-params
/sys/class/video4linux/video3/name:stream_cif_mipi_id3
/sys/class/video4linux/video4/name:rkcif-mipi-luma
/sys/class/video4linux/video5/name:rkisp_mainpath
/sys/class/video4linux/video6/name:rkisp_selfpath
/sys/class/video4linux/video7/name:rkisp_rawwr0
/sys/class/video4linux/video8/name:rkisp_rawwr2
/sys/class/video4linux/video9/name:rkisp_rawwr3 一般是video0和video5两个同时抓数据流确认，如果正常，则说明底层通路是正常的。
④HAL层适配
HAL层主要需要适配pipeline，双摄对应场景的pipeline，HAL层可能没有完全支持，可以在如下位置进行自行按需求增加修改：
hardware/rockchip/camera/psl/rkisp2/RKISP2GraphConfig.cpp:
if(mIsMipiInterface){
if ((mipName.find("dphy2") != std::string::npos) && (mipName2.find("mipi") != std::string::npos)) {
//for dual camera
if(PlatformData::supportDualVideo()) {
addLinkParams(mipName, mipSrcPad, mipName2, csiSinkPad, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
addLinkParams(mipName2, 1, "stream_cif_mipi_id0", 0, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
addLinkParams(mipName2, 2, "stream_cif_mipi_id1", 0, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
addLinkParams(mipName2, 3, "stream_cif_mipi_id2", 0, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
addLinkParams(mipName2, 4, "stream_cif_mipi_id3", 0, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
addLinkParams("rkisp-csi-subdev", 2, "rkisp_rawwr0", 0, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
addLinkParams("rkisp-csi-subdev", 4, "rkisp_rawwr2", 0, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
addLinkParams("rkisp-csi-subdev", 5, "rkisp_rawwr3", 0, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
addLinkParams("rkisp-isp-subdev", 2, "rkisp_mainpath", 0, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
addLinkParams("rkisp-isp-subdev", 2, "rkisp_selfpath", 0, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
}
} else if(mipName2.find("mipi") != std::string::npos) {
addLinkParams(mipName, mipSrcPad, mipName2, csiSinkPad, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
addLinkParams(mipName2, 1, "stream_cif_mipi_id0", 0, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
addLinkParams(mipName2, 2, "stream_cif_mipi_id1", 0, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
addLinkParams(mipName2, 3, "stream_cif_mipi_id2", 0, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
addLinkParams(mipName2, 4, "stream_cif_mipi_id3", 0, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
mSensorLinkedToCIF = true;
} else {
addLinkParams(mipName, mipSrcPad, csiName, csiSinkPad, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
addLinkParams(csiName, csiSrcPad, IspName, ispSinkPad, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
addLinkParams(csiName, 2, "rkisp_rawwr0", 0, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
addLinkParams(csiName, 4, "rkisp_rawwr2", 0, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
addLinkParams(csiName, 5, "rkisp_rawwr3", 0, 1, MEDIA_LNK_FL_ENABLED, mediaCtlConfig);
}
}HAL 还需要配置双摄的属性，通知AIQ走回读模式：
diff --git a/common/platformdata/PlatformData.cpp b/common/platformdata/PlatformData.cpp
index 4d9257f..91cf277 100755
--- a/common/platformdata/PlatformData.cpp
+++ b/common/platformdata/PlatformData.cpp
@@ -1047,7 +1047,7 @@ CameraHWInfo::CameraHWInfo() :
mProductName = "";
mManufacturerName = "";
mCameraDeviceAPIVersion = CAMERA_DEVICE_API_VERSION_3_3;
- mSupportDualVideo = false;
+ mSupportDualVideo = true;
mSupportExtendedMakernote = false;
mSupportFullColorRange = true;
mSupportIPUAcceleration = false; 如果是比较新的SDK，通过XML配置属性即可：
⑤接vicap的sensor的MIPI信号异常导致画面异常复位机制
mipi 信号出错，导致 vicap（356x 的 mipi接收端）从某帧开始丢了几行，少的几行由下一帧的前面几行补上；所以造成画面断层（仔细观察预览画面，画面底部会有断层），如果刚好丢的行数是奇数行，那由于bayer rgb顺序变掉，isp出来的效果就是偏紫的这种是处理信号低概率出错情况，概率如果高，一直reset也不是办法，且reset会丢帧卡顿，也有可能会闪红一两帧的如果高概率出现mipi报错，还是要硬件信号确认下。
&rkcif_mipi_lvds {
status = "okay";
/* parameters for do cif reset detecting:
* index0: monitor mode,
0 for idle,
1 for continue,
2 for trigger,
3 for hotplug (for nextchip)
* index1: the frame id to start timer,
min is 2
* index2: frame num of monitoring cycle
* index3: err time for keep monitoring
after finding out err (ms)
* index4: csi2 err reference val for resetting
*/
rockchip,cif-monitor = <3 2 3 1000 5>;
port {
cif_mipi_in: endpoint {
remote-endpoint = <&mipi_csi2_output>;
data-lanes = <1 2>;
};
};
};（3）总结
这篇文章主要介绍了RK3568/rk3566的camera资源以及双摄的配置调试，很多人会发现rk3568除了两路mipi camera的支持，还能支持一路dvp接口的camera，是否可以同时支持3路camera的场景？当然是可以的，下次再给大家分享一下3摄的配置调试。