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。

（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。
typeMax bandwidthNUMModeDPHYDPHY v1.22.5Gbps x 4 lanes14lane 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VICAP1
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CIS8M@304096x2304raw8/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 = "<not_set>";
    mManufacturerName = "<not set>";
     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：

<cITMaxMargin value="10"/> <!--coarse integration time max margin -->
 <aiq.multicamera value="true"/> <!-- true or false -->

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。