ArmSoM RK3588/RK3576核心板，Rockchip Camera 使用

原创已于 2025-01-08 14:51:27 修改 · 1.3k 阅读

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#rockchip #rk3588 #rk3576 #硬件工程 #嵌入式硬件

于 2025-01-08 14:43:25 首次发布

1. Camera 简介

ArmSoM系列产品使用的是mipi-csi接口的摄像头
ArmSoM-Sige7支持双摄同显：

2. RK3588硬件通路框图

rockchip-camera-hardware-phy

rk3588支持2个isp硬件，每个isp设备可虚拟出多个虚拟节点，软件上通过回读的方式，依次从ddr读取每一路的图像数据进isp处理。对于多摄方案，建议将数据流平均分配到两个isp上。
回读：指数据经过vicap采集到ddr，应用获取到数据后，将buffer地址推送给isp，isp再从ddr获取图像数据。

3. RK3588 的camera通路:

多sensor支持：

单路硬件isp最多支持4路复用，isp复用情况支持分辨率如下：
2路复用：最大分辨率3840x2160，dts对应配置2路rkisp_vir设备。
3路或4路复用：最大分辨率2560x1536，dts对应配置3或4路rkisp_vir设备。
硬件支持最多采集7路sensor：6mipi + 1dvp，多sensor软件通路如下：

下图是RK3588 camera连接链路示意图，可以支持7路camera。

rockchip-camera-entity

4. 链路解析：

图中：mipi camera2---> csi2_dphy1 ---> mipi2_csi2 ---> rkcif_mipi_lvds2--->rkcif_mipi_lvds2_sditf --->rkisp0_vir2
对应节点：imx415 ---> csi2_dphy0 ---> mipi2_csi2 ---> rkcif_mipi_lvds2--->rkcif_mipi_lvds2_sditf --->rkisp0_vir2
链接关系：sensor---> csi2 dphy---->mipi csi host--->vicap
实线链路解析： Camera sensor ---> dphy ---> 通过mipi_csi2模块解析mipi协议---> vicap ( rkcif节点代表vicap )
虚线链路解析：vicap ---> rkcif_mipi_lvds2_sditf ---> isp

提示

每个vicap节点与isp的链接关系，通过对应虚拟出的XXX_sditf来指明链接关系。

5. ArmSoM-Sige7双路Camera调试

这里以imx415摄像头为例，解析ArmSoM-Sige7双路Camera调试

5.1 原理图

Camera1：CSI0_MIPI：

rk3588开发板摄像头原理图

Camera2： CS1_MIPI：

rockchip-camera-sch1

5.2 双路Camera的dts配置：

链路配置1： imx415 —> csi2_dphy0 —> mipi2_csi2 —> rkcif_mipi_lvds2—>rkcif_mipi_lvds2_sditf —>rkisp0_vir2
链路配置2： imx415 —> csi2_dphy3 —> mipi4_csi2 —> rkcif_mipi_lvds4—>rkcif_mipi_lvds4_sditf —>rkisp1_vir1

<span style="color:var(--prism-color)"><span style="background-color:var(--ifm-pre-background)"><span style="color:var(--ifm-pre-color)"><code><span style="color:#393a34"><span style="color:#393a34">&</span>i2c3 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34">    imx415: imx415@1a <span style="color:#393a34">{</span>
</span><span style="color:#393a34">        status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        compatible <span style="color:#393a34">=</span> <span style="color:#e3116c">"sony,imx415"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span>0x1a<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        clocks <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>cru CLK_MIPI_CAMARAOUT_M<span style="color:#393a34">3</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        clock-names <span style="color:#393a34">=</span> <span style="color:#e3116c">"xvclk"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        pinctrl-names <span style="color:#393a34">=</span> <span style="color:#e3116c">"default"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        pinctrl-0 <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>mipim0_camera3_clk<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        power-domains <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>power RK3588_PD_VI<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        pwdn-gpios <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>gpio1 RK_PB0 GPIO_ACTIVE_HIGH<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        reset-gpios <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>gpio4 RK_PA0 GPIO_ACTIVE_LOW<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        rockchip,camera-module-index <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">0</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        rockchip,camera-module-facing <span style="color:#393a34">=</span> <span style="color:#e3116c">"back"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        rockchip,camera-module-name <span style="color:#393a34">=</span> <span style="color:#e3116c">"CMK-OT2022-PX1"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        rockchip,camera-module-lens-name <span style="color:#393a34">=</span> <span style="color:#e3116c">"IR0147-50IRC-8M-F20"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        port <span style="color:#393a34">{</span>
</span><span style="color:#393a34">            imx415_out0: endpoint <span style="color:#393a34">{</span>
</span><span style="color:#393a34">                remote-endpoint <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>mipidphy0_in_ucam<span style="color:#393a34">0</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">                data-lanes <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#36acaa">1</span> <span style="color:#36acaa">2</span> <span style="color:#36acaa">3</span> <span style="color:#393a34">4</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">    <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>i2c4 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">    pinctrl-names <span style="color:#393a34">=</span> <span style="color:#e3116c">"default"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">    pinctrl-0 <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>i2c4m1_xfer<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">    imx415_1: imx415_1@1a <span style="color:#393a34">{</span>
</span><span style="color:#393a34">        status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        compatible <span style="color:#393a34">=</span> <span style="color:#e3116c">"sony,imx415"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span>0x1a<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        clocks <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>cru CLK_MIPI_CAMARAOUT_M<span style="color:#393a34">2</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        clock-names <span style="color:#393a34">=</span> <span style="color:#e3116c">"xvclk"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        pinctrl-names <span style="color:#393a34">=</span> <span style="color:#e3116c">"default"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        pinctrl-0 <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>mipim0_camera2_clk<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        power-domains <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>power RK3588_PD_VI<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        pwdn-gpios <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>gpio3 RK_PA2 GPIO_ACTIVE_HIGH<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        reset-gpios <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>gpio3 RK_PA0 GPIO_ACTIVE_LOW<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        rockchip,camera-module-index <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">1</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        rockchip,camera-module-facing <span style="color:#393a34">=</span> <span style="color:#e3116c">"back"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        rockchip,camera-module-name <span style="color:#393a34">=</span> <span style="color:#e3116c">"CMK-OT2022-PX1"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        rockchip,camera-module-lens-name <span style="color:#393a34">=</span> <span style="color:#e3116c">"IR0147-50IRC-8M-F20"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        port <span style="color:#393a34">{</span>
</span><span style="color:#393a34">            imx415_out3: endpoint <span style="color:#393a34">{</span>
</span><span style="color:#393a34">                remote-endpoint <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>mipidphy3_in_ucam<span style="color:#393a34">3</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">                data-lanes <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#36acaa">1</span> <span style="color:#36acaa">2</span> <span style="color:#36acaa">3</span> <span style="color:#393a34">4</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">    <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>csi2_dphy0_hw <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>csi2_dphy1_hw <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>csi2_dphy0 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34">    ports <span style="color:#393a34">{</span>
</span><span style="color:#393a34">        <span style="color:#999988"><em>#address-cells = <1>;</em></span>
</span><span style="color:#393a34">        <span style="color:#999988"><em>#size-cells = <0>;</em></span>
</span>
<span style="color:#393a34">        port@0 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">            reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">0</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            <span style="color:#999988"><em>#address-cells = <1>;</em></span>
</span><span style="color:#393a34">            <span style="color:#999988"><em>#size-cells = <0>;</em></span>
</span>
<span style="color:#393a34">            mipidphy0_in_ucam0: endpoint@1 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">                reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">1</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">                remote-endpoint <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>imx415_out<span style="color:#393a34">0</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">                data-lanes <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#36acaa">1</span> <span style="color:#36acaa">2</span> <span style="color:#36acaa">3</span> <span style="color:#393a34">4</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34">        <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34">        port@1 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">            reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">1</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            <span style="color:#999988"><em>#address-cells = <1>;</em></span>
</span><span style="color:#393a34">            <span style="color:#999988"><em>#size-cells = <0>;</em></span>
</span>
<span style="color:#393a34">            csidphy0_out: endpoint@0 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">                reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">0</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">                remote-endpoint <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>mipi2_csi2_input<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">    <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>csi2_dphy3 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34">    ports <span style="color:#393a34">{</span>
</span><span style="color:#393a34">        <span style="color:#999988"><em>#address-cells = <1>;</em></span>
</span><span style="color:#393a34">        <span style="color:#999988"><em>#size-cells = <0>;</em></span>
</span>
<span style="color:#393a34">        port@0 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">            reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">0</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            <span style="color:#999988"><em>#address-cells = <1>;</em></span>
</span><span style="color:#393a34">            <span style="color:#999988"><em>#size-cells = <0>;</em></span>
</span>
<span style="color:#393a34">            mipidphy3_in_ucam3: endpoint@1 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">                reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">1</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">                remote-endpoint <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>imx415_out<span style="color:#393a34">3</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">                data-lanes <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#36acaa">1</span> <span style="color:#36acaa">2</span> <span style="color:#36acaa">3</span> <span style="color:#393a34">4</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34">        <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34">        port@1 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">            reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">1</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            <span style="color:#999988"><em>#address-cells = <1>;</em></span>
</span><span style="color:#393a34">            <span style="color:#999988"><em>#size-cells = <0>;</em></span>
</span>
<span style="color:#393a34">            csidphy3_out: endpoint@0 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">                reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">0</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">                remote-endpoint <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>mipi4_csi2_input<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">    <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>mipi2_csi2 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34">    ports <span style="color:#393a34">{</span>
</span><span style="color:#393a34">        <span style="color:#999988"><em>#address-cells = <1>;</em></span>
</span><span style="color:#393a34">        <span style="color:#999988"><em>#size-cells = <0>;</em></span>
</span>
<span style="color:#393a34">        port@0 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">            reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">0</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            <span style="color:#999988"><em>#address-cells = <1>;</em></span>
</span><span style="color:#393a34">            <span style="color:#999988"><em>#size-cells = <0>;</em></span>
</span>
<span style="color:#393a34">            mipi2_csi2_input: endpoint@1 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">                reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">1</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">                remote-endpoint <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>csidphy0_out<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34">        port@1 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">            reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">1</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            <span style="color:#999988"><em>#address-cells = <1>;</em></span>
</span><span style="color:#393a34">            <span style="color:#999988"><em>#size-cells = <0>;</em></span>
</span>
<span style="color:#393a34">            mipi2_csi2_output: endpoint@0 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">                reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">0</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">                remote-endpoint <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>cif_mipi2_in<span style="color:#393a34">0</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">    <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>mipi4_csi2 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34">    ports <span style="color:#393a34">{</span>
</span><span style="color:#393a34">        <span style="color:#999988"><em>#address-cells = <1>;</em></span>
</span><span style="color:#393a34">        <span style="color:#999988"><em>#size-cells = <0>;</em></span>
</span>
<span style="color:#393a34">        port@0 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">            reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">0</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            <span style="color:#999988"><em>#address-cells = <1>;</em></span>
</span><span style="color:#393a34">            <span style="color:#999988"><em>#size-cells = <0>;</em></span>
</span>
<span style="color:#393a34">            mipi4_csi2_input: endpoint@1 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">                reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">1</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">                remote-endpoint <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>csidphy3_out<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34">        port@1 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">            reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">1</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            <span style="color:#999988"><em>#address-cells = <1>;</em></span>
</span><span style="color:#393a34">            <span style="color:#999988"><em>#size-cells = <0>;</em></span>
</span>
<span style="color:#393a34">            mipi4_csi2_output: endpoint@0 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">                reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">0</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">                remote-endpoint <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>cif_mipi_in<span style="color:#393a34">4</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">    <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>rkcif <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>rkcif_mipi_lvds2 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34">    port <span style="color:#393a34">{</span>
</span><span style="color:#393a34">        cif_mipi2_in0: endpoint <span style="color:#393a34">{</span>
</span><span style="color:#393a34">            remote-endpoint <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>mipi2_csi2_output<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">    <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>rkcif_mipi_lvds2_sditf <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34">    port <span style="color:#393a34">{</span>
</span><span style="color:#393a34">        mipi_lvds2_sditf: endpoint <span style="color:#393a34">{</span>
</span><span style="color:#393a34">            remote-endpoint <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>isp0_vir<span style="color:#393a34">2</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">    <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>rkcif_mipi_lvds4 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34">    port <span style="color:#393a34">{</span>
</span><span style="color:#393a34">        cif_mipi_in4: endpoint <span style="color:#393a34">{</span>
</span><span style="color:#393a34">            remote-endpoint <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>mipi4_csi2_output<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">    <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>rkcif_mipi_lvds4_sditf <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34">    port <span style="color:#393a34">{</span>
</span><span style="color:#393a34">        mipi4_lvds_sditf: endpoint <span style="color:#393a34">{</span>
</span><span style="color:#393a34">            remote-endpoint <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>isp1_vir<span style="color:#393a34">1</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">    <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>rkcif_mmu <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>rkisp0 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>isp0_mmu <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>rkisp0_vir2 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34">    port <span style="color:#393a34">{</span>
</span><span style="color:#393a34">        <span style="color:#999988"><em>#address-cells = <1>;</em></span>
</span><span style="color:#393a34">        <span style="color:#999988"><em>#size-cells = <0>;</em></span>
</span>
<span style="color:#393a34">        isp0_vir2: endpoint@0 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">            reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">0</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            remote-endpoint <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>mipi_lvds2_sditf<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">    <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>rkisp1 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>isp1_mmu <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34"><span style="color:#393a34">&</span>rkisp1_vir1 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    status <span style="color:#393a34">=</span> <span style="color:#e3116c">"okay"</span><span style="color:#393a34">;</span>
</span>
<span style="color:#393a34">    port <span style="color:#393a34">{</span>
</span><span style="color:#393a34">        <span style="color:#999988"><em>#address-cells = <1>;</em></span>
</span><span style="color:#393a34">        <span style="color:#999988"><em>#size-cells = <0>;</em></span>
</span>
<span style="color:#393a34">        isp1_vir1: endpoint@0 <span style="color:#393a34">{</span>
</span><span style="color:#393a34">            reg <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#393a34">0</span><span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">            remote-endpoint <span style="color:#393a34">=</span> <span style="color:#393a34"><&</span>mipi4_lvds_sditf<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">    <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span>

<span style="color:#393a34"><span style="color:#393a34">&</span>pinctrl <span style="color:#393a34">{</span>
</span><span style="color:#393a34">    camera <span style="color:#393a34">{</span>
</span><span style="color:#393a34">        cam_pwdn_gpio: cam-pwdn-gpio <span style="color:#393a34">{</span>
</span><span style="color:#393a34">            rockchip,pins <span style="color:#393a34">=</span> <span style="color:#393a34"><</span><span style="color:#36acaa">1</span> RK_PB0 RK_FUNC_GPIO <span style="color:#393a34">&</span>pcfg_pull_up<span style="color:#393a34">></span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">        <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34">    <span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span><span style="color:#393a34"><span style="color:#393a34">}</span><span style="color:#393a34">;</span>
</span></code></span></span></span>

6. 调试技巧

6.1 查看Camera是否挂载到i2c总线下

<span style="color:var(--prism-color)"><span style="background-color:var(--ifm-pre-background)"><span style="color:var(--ifm-pre-color)"><code><span style="color:#393a34">i2cdetect <span style="color:#36acaa">-y</span> <span style="color:#36acaa">3</span>
</span></code></span></span></span>

6.2 查看拓扑结构

<span style="color:var(--prism-color)"><span style="background-color:var(--ifm-pre-background)"><span style="color:var(--ifm-pre-color)"><code><span style="color:#393a34"> media-ctl <span style="color:#36acaa">-d</span> /dev/media0 <span style="color:#36acaa">-p</span>
</span></code></span></span></span>

6.3 imx415 相关的log信息

<span style="color:var(--prism-color)"><span style="background-color:var(--ifm-pre-background)"><span style="color:var(--ifm-pre-color)"><code><span style="color:#393a34"><span style="color:#d73a49">dmesg</span> <span style="color:#393a34">|</span> <span style="color:#d73a49">grep</span> imx415
</span></code></span></span></span>

6.4 查看sys文件系统中文件信息

内核会为摄像头在目录/sys/class/video4linux下分配设备信息描述文件

<span style="color:var(--prism-color)"><span style="background-color:var(--ifm-pre-background)"><span style="color:var(--ifm-pre-color)"><code><span style="color:#393a34">armsom@armsom:~$  <span style="color:#d73a49">grep</span> imx415 /sys/class/video4linux/v*/name
</span><span style="color:#393a34">/sys/class/video4linux/v4l-subdev2/name:m00_b_imx415 <span style="color:#36acaa">3</span>-001a
</span><span style="color:#393a34">/sys/class/video4linux/v4l-subdev7/name:m01_b_imx415 <span style="color:#36acaa">4</span>-001a
</span></code></span></span></span>

查找Camera对应的vedio节点：

<span style="color:var(--prism-color)"><span style="background-color:var(--ifm-pre-background)"><span style="color:var(--ifm-pre-color)"><code><span style="color:#393a34">armsom@armsom:~$ <span style="color:#d73a49">grep</span> <span style="color:#e3116c">""</span> /sys/class/video4linux/v*/name <span style="color:#393a34">|</span> <span style="color:#d73a49">grep</span> mainpath
</span><span style="color:#393a34">/sys/class/video4linux/video22/name:rkisp_mainpath
</span><span style="color:#393a34">/sys/class/video4linux/video31/name:rkisp_mainpath
</span></code></span></span></span>

可以看到，在ArmSoM-Sige7中，双Camera的节点对应的是：video22和video31

6.5 查找所有摄像头设备

<span style="color:var(--prism-color)"><span style="background-color:var(--ifm-pre-background)"><span style="color:var(--ifm-pre-color)"><code><span style="color:#393a34">armsom@armsom:~$ v4l2-ctl --list-devices
</span><span style="color:#393a34">rkisp-statistics <span style="color:#393a34">(</span>platform: rkisp<span style="color:#393a34">)</span>:
</span><span style="color:#393a34">        /dev/video29
</span><span style="color:#393a34">        /dev/video30
</span><span style="color:#393a34">        /dev/video38
</span><span style="color:#393a34">        /dev/video39
</span>
<span style="color:#393a34">rkcif-mipi-lvds2 <span style="color:#393a34">(</span>platform:rkcif<span style="color:#393a34">)</span>:
</span><span style="color:#393a34">        /dev/media0
</span><span style="color:#393a34">        /dev/media1
</span>
<span style="color:#393a34">rkcif <span style="color:#393a34">(</span>platform:rkcif-mipi-lvds2<span style="color:#393a34">)</span>:
</span><span style="color:#393a34">        /dev/video0
</span><span style="color:#393a34">        /dev/video1
</span><span style="color:#393a34">        /dev/video2
</span><span style="color:#393a34">        /dev/video3
</span><span style="color:#393a34">        /dev/video4
</span><span style="color:#393a34">        /dev/video5
</span><span style="color:#393a34">        /dev/video6
</span><span style="color:#393a34">        /dev/video7
</span><span style="color:#393a34">        /dev/video8
</span><span style="color:#393a34">        /dev/video9
</span><span style="color:#393a34">        /dev/video10
</span>
<span style="color:#393a34">rkcif <span style="color:#393a34">(</span>platform:rkcif-mipi-lvds4<span style="color:#393a34">)</span>:
</span><span style="color:#393a34">        /dev/video11
</span><span style="color:#393a34">        /dev/video12
</span><span style="color:#393a34">        /dev/video13
</span><span style="color:#393a34">        /dev/video14
</span><span style="color:#393a34">        /dev/video15
</span><span style="color:#393a34">        /dev/video16
</span><span style="color:#393a34">        /dev/video17
</span><span style="color:#393a34">        /dev/video18
</span><span style="color:#393a34">        /dev/video19
</span><span style="color:#393a34">        /dev/video20
</span><span style="color:#393a34">        /dev/video21
</span>
<span style="color:#393a34">rkisp_mainpath <span style="color:#393a34">(</span>platform:rkisp0-vir0<span style="color:#393a34">)</span>:
</span><span style="color:#393a34">        /dev/video22
</span><span style="color:#393a34">        /dev/video23
</span><span style="color:#393a34">        /dev/video24
</span><span style="color:#393a34">        /dev/video25
</span><span style="color:#393a34">        /dev/video26
</span><span style="color:#393a34">        /dev/video27
</span><span style="color:#393a34">        /dev/video28
</span><span style="color:#393a34">        /dev/media2
</span>
<span style="color:#393a34">rkisp_mainpath <span style="color:#393a34">(</span>platform:rkisp1-vir1<span style="color:#393a34">)</span>:
</span><span style="color:#393a34">        /dev/video31
</span><span style="color:#393a34">        /dev/video32
</span><span style="color:#393a34">        /dev/video33
</span><span style="color:#393a34">        /dev/video34
</span><span style="color:#393a34">        /dev/video35
</span><span style="color:#393a34">        /dev/video36
</span><span style="color:#393a34">        /dev/video37
</span><span style="color:#393a34">        /dev/media3
</span></code></span></span></span>

其中/dev/video22和/dev/video31都是摄像头的设备。

6.6 查看设备的预览支持格式

如下是video22节点： imx415 摄像头的查询结果：

<span style="color:var(--prism-color)"><span style="background-color:var(--ifm-pre-background)"><span style="color:var(--ifm-pre-color)"><code><span style="color:#393a34">armsom@armsom:~$ v4l2-ctl <span style="color:#36acaa">-d</span> /dev/video22 --list-formats-ext
</span><span style="color:#393a34">ioctl: VIDIOC_ENUM_FMT
</span><span style="color:#393a34">        Type: Video Capture Multiplanar
</span>
<span style="color:#393a34">        <span style="color:#393a34">[</span><span style="color:#36acaa">0</span><span style="color:#393a34">]</span>: <span style="color:#e3116c">'UYVY'</span> <span style="color:#393a34">(</span>UYVY <span style="color:#36acaa">4</span>:2:2<span style="color:#393a34">)</span>
</span><span style="color:#393a34">                Size: Stepwise 32x32 - 3840x2160 with step <span style="color:#36acaa">8</span>/8
</span><span style="color:#393a34">        <span style="color:#393a34">[</span><span style="color:#36acaa">1</span><span style="color:#393a34">]</span>: <span style="color:#e3116c">'NV16'</span> <span style="color:#393a34">(</span>Y/CbCr <span style="color:#36acaa">4</span>:2:2<span style="color:#393a34">)</span>
</span><span style="color:#393a34">                Size: Stepwise 32x32 - 3840x2160 with step <span style="color:#36acaa">8</span>/8
</span><span style="color:#393a34">        <span style="color:#393a34">[</span><span style="color:#36acaa">2</span><span style="color:#393a34">]</span>: <span style="color:#e3116c">'NV61'</span> <span style="color:#393a34">(</span>Y/CrCb <span style="color:#36acaa">4</span>:2:2<span style="color:#393a34">)</span>
</span><span style="color:#393a34">                Size: Stepwise 32x32 - 3840x2160 with step <span style="color:#36acaa">8</span>/8
</span><span style="color:#393a34">        <span style="color:#393a34">[</span><span style="color:#36acaa">3</span><span style="color:#393a34">]</span>: <span style="color:#e3116c">'NV21'</span> <span style="color:#393a34">(</span>Y/CrCb <span style="color:#36acaa">4</span>:2:0<span style="color:#393a34">)</span>
</span><span style="color:#393a34">                Size: Stepwise 32x32 - 3840x2160 with step <span style="color:#36acaa">8</span>/8
</span><span style="color:#393a34">        <span style="color:#393a34">[</span><span style="color:#36acaa">4</span><span style="color:#393a34">]</span>: <span style="color:#e3116c">'NV12'</span> <span style="color:#393a34">(</span>Y/CbCr <span style="color:#36acaa">4</span>:2:0<span style="color:#393a34">)</span>
</span><span style="color:#393a34">                Size: Stepwise 32x32 - 3840x2160 with step <span style="color:#36acaa">8</span>/8
</span><span style="color:#393a34">        <span style="color:#393a34">[</span><span style="color:#36acaa">5</span><span style="color:#393a34">]</span>: <span style="color:#e3116c">'NM21'</span> <span style="color:#393a34">(</span>Y/CrCb <span style="color:#36acaa">4</span>:2:0 <span style="color:#393a34">(</span>N-C<span style="color:#393a34">))</span>
</span><span style="color:#393a34">                Size: Stepwise 32x32 - 3840x2160 with step <span style="color:#36acaa">8</span>/8
</span><span style="color:#393a34">        <span style="color:#393a34">[</span><span style="color:#36acaa">6</span><span style="color:#393a34">]</span>: <span style="color:#e3116c">'NM12'</span> <span style="color:#393a34">(</span>Y/CbCr <span style="color:#36acaa">4</span>:2:0 <span style="color:#393a34">(</span>N-C<span style="color:#393a34">))</span>
</span><span style="color:#393a34">                Size: Stepwise 32x32 - 3840x2160 with step <span style="color:#36acaa">8</span>/8
</span></code></span></span></span>

6.7 查看设备的所有信息：

<span style="color:var(--prism-color)"><span style="background-color:var(--ifm-pre-background)"><span style="color:var(--ifm-pre-color)"><code><span style="color:#393a34">armsom@armsom:~$ v4l2-ctl <span style="color:#36acaa">--all</span> <span style="color:#36acaa">--device</span> /dev/video22
</span><span style="color:#393a34">Driver Info:
</span><span style="color:#393a34">        Driver name      : rkisp_v6
</span><span style="color:#393a34">        Card type        : rkisp_mainpath
</span><span style="color:#393a34">        Bus info         : platform:rkisp0-vir0
</span><span style="color:#393a34">        Driver version   : <span style="color:#36acaa">2.3</span>.0
</span><span style="color:#393a34">        Capabilities     : 0x84201000
</span><span style="color:#393a34">                Video Capture Multiplanar
</span><span style="color:#393a34">                Streaming
</span><span style="color:#393a34">                Extended Pix Format
</span><span style="color:#393a34">                Device Capabilities
</span><span style="color:#393a34">        Device Caps      : 0x04201000
</span><span style="color:#393a34">                Video Capture Multiplanar
</span><span style="color:#393a34">                Streaming
</span><span style="color:#393a34">                Extended Pix Format
</span><span style="color:#393a34">Media Driver Info:
</span><span style="color:#393a34">        Driver name      : rkisp0-vir0
</span><span style="color:#393a34">        Model            : rkisp0
</span><span style="color:#393a34">        Serial           :
</span><span style="color:#393a34">        Bus info         :
</span><span style="color:#393a34">        Media version    : <span style="color:#36acaa">5.10</span>.160
</span><span style="color:#393a34">        Hardware revision: 0x00000000 <span style="color:#393a34">(</span><span style="color:#36acaa">0</span><span style="color:#393a34">)</span>
</span><span style="color:#393a34">        Driver version   : <span style="color:#36acaa">5.10</span>.160
</span><span style="color:#393a34">Interface Info:
</span><span style="color:#393a34">        ID               : 0x03000007
</span><span style="color:#393a34">        Type             : V4L Video
</span><span style="color:#393a34">Entity Info:
</span><span style="color:#393a34">        ID               : 0x00000006 <span style="color:#393a34">(</span><span style="color:#36acaa">6</span><span style="color:#393a34">)</span>
</span><span style="color:#393a34">        Name             : rkisp_mainpath
</span><span style="color:#393a34">        Function         : V4L2 I/O
</span><span style="color:#393a34">        Pad 0x01000009   : <span style="color:#36acaa">0</span>: Sink
</span><span style="color:#393a34">          Link 0x0200000a: from remote pad 0x1000004 of entity <span style="color:#e3116c">'rkisp-isp-subdev'</span> <span style="color:#393a34">(</span>Unknown V4L2 Sub-Device<span style="color:#393a34">)</span>: Data, Enabled
</span><span style="color:#393a34">Priority: <span style="color:#36acaa">2</span>
</span><span style="color:#393a34">Format Video Capture Multiplanar:
</span><span style="color:#393a34">        Width/Height      : <span style="color:#36acaa">3840</span>/2160
</span><span style="color:#393a34">        Pixel Format      : <span style="color:#e3116c">'NM12'</span> <span style="color:#393a34">(</span>Y/CbCr <span style="color:#36acaa">4</span>:2:0 <span style="color:#393a34">(</span>N-C<span style="color:#393a34">))</span>
</span><span style="color:#393a34">        Field             : None
</span><span style="color:#393a34">        Number of planes  : <span style="color:#36acaa">2</span>
</span><span style="color:#393a34">        Flags             :
</span><span style="color:#393a34">        Colorspace        : sRGB
</span><span style="color:#393a34">        Transfer Function : Rec. <span style="color:#36acaa">709</span>
</span><span style="color:#393a34">        YCbCr/HSV Encoding: Rec. <span style="color:#36acaa">709</span>
</span><span style="color:#393a34">        Quantization      : Full Range
</span><span style="color:#393a34">        Plane <span style="color:#36acaa">0</span>           :
</span><span style="color:#393a34">           Bytes per Line : <span style="color:#36acaa">3840</span>
</span><span style="color:#393a34">           Size Image     : <span style="color:#36acaa">8294400</span>
</span><span style="color:#393a34">        Plane <span style="color:#36acaa">1</span>           :
</span><span style="color:#393a34">           Bytes per Line : <span style="color:#36acaa">3840</span>
</span><span style="color:#393a34">           Size Image     : <span style="color:#36acaa">4147200</span>
</span><span style="color:#393a34">Selection Video Capture: crop, Left <span style="color:#36acaa">0</span>, Top <span style="color:#36acaa">0</span>, Width <span style="color:#36acaa">3840</span>, Height <span style="color:#36acaa">2160</span>, Flags:
</span><span style="color:#393a34">Selection Video Capture: crop_bounds, Left <span style="color:#36acaa">0</span>, Top <span style="color:#36acaa">0</span>, Width <span style="color:#36acaa">3840</span>, Height <span style="color:#36acaa">2160</span>, Flags:
</span><span style="color:#393a34">Selection Video Output: crop, Left <span style="color:#36acaa">0</span>, Top <span style="color:#36acaa">0</span>, Width <span style="color:#36acaa">3840</span>, Height <span style="color:#36acaa">2160</span>, Flags:
</span><span style="color:#393a34">Selection Video Output: crop_bounds, Left <span style="color:#36acaa">0</span>, Top <span style="color:#36acaa">0</span>, Width <span style="color:#36acaa">3840</span>, Height <span style="color:#36acaa">2160</span>, Flags:
</span>
<span style="color:#393a34">Image Processing Controls
</span>
<span style="color:#393a34">                     pixel_rate 0x009f0902 <span style="color:#393a34">(</span>int64<span style="color:#393a34">)</span>  : <span style="color:#36acaa">min</span><span style="color:#393a34">=</span><span style="color:#36acaa">0</span> <span style="color:#36acaa">max</span><span style="color:#393a34">=</span><span style="color:#36acaa">1000000000</span> <span style="color:#36acaa">step</span><span style="color:#393a34">=</span><span style="color:#36acaa">1</span> <span style="color:#36acaa">default</span><span style="color:#393a34">=</span><span style="color:#36acaa">1000000000</span> <span style="color:#36acaa">value</span><span style="color:#393a34">=</span><span style="color:#36acaa">356800000</span> <span style="color:#36acaa">flags</span><span style="color:#393a34">=</span>read-only, volatile
</span></code></span></span></span>

6.8 摄像头预览

ArmSoM-Sige7中，双Camera的预览命令：

预览摄像头1：

<span style="color:var(--prism-color)"><span style="background-color:var(--ifm-pre-background)"><span style="color:var(--ifm-pre-color)"><code><span style="color:#393a34">gst-launch-1.0 v4l2src <span style="color:#36acaa">device</span><span style="color:#393a34">=</span>/dev/video22 <span style="color:#393a34">!</span> video/x-raw,format<span style="color:#393a34">=</span>NV12,width<span style="color:#393a34">=</span><span style="color:#36acaa">3840</span>,height<span style="color:#393a34">=</span><span style="color:#36acaa">2160</span>,framerate<span style="color:#393a34">=</span><span style="color:#36acaa">30</span>/1 <span style="color:#393a34">!</span> videoconvert <span style="color:#393a34">!</span> autovideosink
</span></code></span></span></span>

预览摄像头2：

<span style="color:var(--prism-color)"><span style="background-color:var(--ifm-pre-background)"><span style="color:var(--ifm-pre-color)"><code><span style="color:#393a34">gst-launch-1.0 v4l2src <span style="color:#36acaa">device</span><span style="color:#393a34">=</span>/dev/video31 <span style="color:#393a34">!</span> video/x-raw,format<span style="color:#393a34">=</span>NV12,width<span style="color:#393a34">=</span><span style="color:#36acaa">3840</span>,height<span style="color:#393a34">=</span><span style="color:#36acaa">2160</span>,framerate<span style="color:#393a34">=</span><span style="color:#36acaa">30</span>/1 <span style="color:#393a34">!</span> videoconvert <span style="color:#393a34">!</span> autovideosink
</span></code></span></span></span>

rockchip-camera-gts