Hello!
I am currently experimenting with the IMX477 HQ Camera on the Jetson Nano Developer Kit. I would like to use Balena in the future but I am not very familiar with Yocto and applying the kernel patches necessary to be able to use the camera.
I found these drivers from RidgeRun https://github.com/RidgeRun/NVIDIA-Jetson-IMX477-RPIV3 and would like to apply them (or the Arducam ones).
Thank you!
Hi,
i did something similar for the jetson xavier nx. Sadly i needed to take the hard route and apply a patch and build my own balena-os. If you have no experience with the yocto project, this will probably not help you 
This involves the following steps:
If you know about yocto, these code snippets might help you
From ec2cc3d111e7423fb2b8266f7fd5e110d8171bd0 Mon Sep 17 00:00:00 2001
From: Langhalsdino <github@tausch.me>
Date: Fri, 10 Dec 2021 00:09:02 +0100
Subject: [PATCH] patch kernel to ridgerun state
---
nvidia/drivers/media/i2c/imx477.c | 38 +-
.../tegra194-camera-jakku-rbpcv3-imx477.dtsi | 20 +-
.../common/tegra194-camera-rbpcv3-imx477.dtsi | 589 +++++++++++++-----
.../common/tegra194-p3509-0000-a00.dtsi | 1 -
4 files changed, 459 insertions(+), 189 deletions(-)
diff --git a/nvidia/drivers/media/i2c/imx477.c b/nvidia/drivers/media/i2c/imx477.c
index 8f436bb..3809e00 100644
--- a/nvidia/drivers/media/i2c/imx477.c
+++ b/nvidia/drivers/media/i2c/imx477.c
@@ -259,46 +259,54 @@ static int imx477_set_exposure(struct tegracam_device *tc_dev, s64 val)
struct device *dev = tc_dev->dev;
const struct sensor_mode_properties *mode =
&s_data->sensor_props.sensor_modes[s_data->mode_prop_idx];
-
int err = 0;
+ int i = 0;
imx477_reg ct_regs[2];
const s32 max_coarse_time = priv->frame_length - IMX477_MAX_COARSE_DIFF;
- const s32 fine_integ_time_factor = priv->fine_integ_time *
- mode->control_properties.exposure_factor /
- mode->signal_properties.pixel_clock.val;
- u32 coarse_time;
- int i;
+ u32 coarse_time = 0;
+ u32 fine_int_time = 0;
+ u32 int_factor = val * mode->signal_properties.pixel_clock.val /
+ mode->control_properties.exposure_factor;
+
+ coarse_time = int_factor / mode->image_properties.line_length;
+ fine_int_time = int_factor % mode->image_properties.line_length;
dev_dbg(dev, "%s: Setting exposure control to: %lld\n", __func__, val);
- coarse_time = (val - fine_integ_time_factor)
- * mode->signal_properties.pixel_clock.val
- / mode->control_properties.exposure_factor
- / mode->image_properties.line_length;
+ dev_dbg(dev, "%s: Calculated coarse time: %d [lines]\n",
+ __func__, coarse_time);
+ dev_dbg(dev, "%s: Calculated fine integration time: %d [pixels]\n",
+ __func__, fine_int_time);
if (coarse_time < IMX477_MIN_COARSE_EXPOSURE)
coarse_time = IMX477_MIN_COARSE_EXPOSURE;
else if (coarse_time > max_coarse_time) {
coarse_time = max_coarse_time;
- dev_dbg(dev,
+ dev_err(dev,
"%s: exposure limited by frame_length: %d [lines]\n",
__func__, max_coarse_time);
}
- dev_dbg(dev, "%s: val: %lld [us], coarse_time: %d [lines]\n",
- __func__, val, coarse_time);
-
imx477_get_coarse_integ_time_regs(ct_regs, coarse_time);
for (i = 0; i < 2; i++) {
err = imx477_write_reg(s_data, ct_regs[i].addr, ct_regs[i].val);
if (err) {
- dev_dbg(dev,
+ dev_err(dev,
"%s: coarse_time control error\n", __func__);
return err;
}
}
+ err = imx477_write_reg(s_data, IMX477_FINE_INTEG_TIME_ADDR_MSB,
+ (fine_int_time >> 8) & 0xFF);
+ err |= imx477_write_reg(s_data, IMX477_FINE_INTEG_TIME_ADDR_LSB,
+ fine_int_time & 0xFF);
+
+ if (err) {
+ dev_err(dev, "%s: fine integration time error\n", __func__);
+ }
+
return err;
}
diff --git a/nvidia/platform/t19x/jakku/kernel-dts/common/tegra194-camera-jakku-rbpcv3-imx477.dtsi b/nvidia/platform/t19x/jakku/kernel-dts/common/tegra194-camera-jakku-rbpcv3-imx477.dtsi
index 2cc928e..9c74c83 100644
--- a/nvidia/platform/t19x/jakku/kernel-dts/common/tegra194-camera-jakku-rbpcv3-imx477.dtsi
+++ b/nvidia/platform/t19x/jakku/kernel-dts/common/tegra194-camera-jakku-rbpcv3-imx477.dtsi
@@ -1,5 +1,7 @@
/*
- * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
+ * Copyright (c) 2020, RidgeRun. All rights reserved.
+ *
+ * Contact us: support@ridgerun.com
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
@@ -22,18 +24,17 @@
#define CAM_I2C_MUX TEGRA194_AON_GPIO(CC, 3)
/ {
- cam_i2cmux {
+ cam_i2cmux{
compatible = "i2c-mux-gpio";
#address-cells = <1>;
#size-cells = <0>;
+ i2c-parent = <&cam_i2c>;
mux-gpios = <&tegra_aon_gpio CAM_I2C_MUX GPIO_ACTIVE_HIGH>;
- i2c-parent = <&i2c7>;
i2c@0 {
reg = <0>;
#address-cells = <1>;
#size-cells = <0>;
- rbpcv3_imx477_a@1a {
- status = "disabled";
+ rbpcv3_imx477_a@1a {
reset-gpios = <&tegra_main_gpio CAM0_PWDN GPIO_ACTIVE_HIGH>;
};
};
@@ -42,18 +43,17 @@
#address-cells = <1>;
#size-cells = <0>;
rbpcv3_imx477_c@1a {
- status = "disabled";
reset-gpios = <&tegra_main_gpio CAM1_PWDN GPIO_ACTIVE_HIGH>;
};
};
};
- gpio@6000d000 {
+ gpio@2200000 {
camera-control-output-low {
gpio-hog;
output-low;
- gpios = < CAM1_PWDN 0 CAM0_PWDN 0>;
- label = "cam1-pwdn", "cam0-pwdn";
+ gpios = <CAM0_PWDN 0 CAM1_PWDN 0>;
+ label = "cam0-pwdn","cam1-pwdn";
};
};
-};
+};
\ No newline at end of file
diff --git a/nvidia/platform/t19x/jakku/kernel-dts/common/tegra194-camera-rbpcv3-imx477.dtsi b/nvidia/platform/t19x/jakku/kernel-dts/common/tegra194-camera-rbpcv3-imx477.dtsi
index 8b7b1c6..9a5e99d 100644
--- a/nvidia/platform/t19x/jakku/kernel-dts/common/tegra194-camera-rbpcv3-imx477.dtsi
+++ b/nvidia/platform/t19x/jakku/kernel-dts/common/tegra194-camera-rbpcv3-imx477.dtsi
@@ -1,5 +1,7 @@
/*
- * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
+ * Copyright (c) 2020, RidgeRun. All rights reserved.
+ *
+ * Contact us: support@ridgerun.com
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
@@ -14,26 +16,29 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
+#include <dt-bindings/media/camera.h>
/ {
host1x {
- vi@15c10000 {
+ vi@15c10000 {
num-channels = <2>;
ports {
#address-cells = <1>;
#size-cells = <0>;
- port@0 {
+ vi_port0: port@0 {
reg = <0>;
rbpcv3_imx477_vi_in0: endpoint {
+ status = "okay";
port-index = <0>;
bus-width = <2>;
remote-endpoint = <&rbpcv3_imx477_csi_out0>;
};
};
- port@1 {
+ vi_port1: port@1 {
reg = <1>;
rbpcv3_imx477_vi_in1: endpoint {
- port-index = <4>;
+ status = "okay";
+ port-index = <2>;
bus-width = <2>;
remote-endpoint = <&rbpcv3_imx477_csi_out1>;
};
@@ -45,42 +50,47 @@
num-channels = <2>;
#address-cells = <1>;
#size-cells = <0>;
- channel@0 {
+ csi_chan0: channel@0 {
reg = <0>;
ports {
#address-cells = <1>;
#size-cells = <0>;
- port@0 {
+ csi_chan0_port0: port@0 {
reg = <0>;
+ status = "okay";
rbpcv3_imx477_csi_in0: endpoint@0 {
port-index = <0>;
bus-width = <2>;
- remote-endpoint = <&rbpcv3_imx477_dual_out0>;
+ remote-endpoint = <&rbpcv3_imx477_out0>;
};
};
- port@1 {
+ csi_chan0_port1: port@1 {
reg = <1>;
+ status = "okay";
rbpcv3_imx477_csi_out0: endpoint@1 {
+ status = "okay";
remote-endpoint = <&rbpcv3_imx477_vi_in0>;
};
};
};
};
- channel@1 {
+ csi_chan1: channel@1 {
reg = <1>;
ports {
#address-cells = <1>;
#size-cells = <0>;
- port@2 {
+ csi_chan1_port0: port@0 {
reg = <0>;
rbpcv3_imx477_csi_in1: endpoint@2 {
port-index = <2>;
bus-width = <2>;
+ status = "okay";
remote-endpoint = <&rbpcv3_imx477_out1>;
};
};
- port@3 {
+ csi_chan1_port1: port@1 {
reg = <1>;
+ status = "okay";
rbpcv3_imx477_csi_out1: endpoint@3 {
remote-endpoint = <&rbpcv3_imx477_vi_in1>;
};
@@ -91,7 +101,7 @@
};
cam_i2cmux {
- i2c@0 {
+ i2c_0:i2c@0 {
imx477_cam0: rbpcv3_imx477_a@1a {
compatible = "ridgerun,imx477";
/* I2C device address */
@@ -101,95 +111,14 @@
devnode = "video0";
/* Physical dimensions of sensor */
- physical_w = "3.680";
- physical_h = "2.760";
+ physical_w = "7.564";
+ physical_h = "5.476";
sensor_model = "imx477";
use_sensor_mode_id = "true";
- /**
- * ==== Modes ====
- * A modeX node is required to support v4l2 driver
- * implementation with NVIDIA camera software stack
- *
- * == Signal properties ==
- *
- * phy_mode = "";
- * PHY mode used by the MIPI lanes for this device
- *
- * tegra_sinterface = "";
- * CSI Serial interface connected to tegra
- * Incase of virtual HW devices, use virtual
- * For SW emulated devices, use host
- *
- * pix_clk_hz = "";
- * Sensor pixel clock used for calculations like exposure and framerate
- *
- * readout_orientation = "0";
- * Based on camera module orientation.
- * Only change readout_orientation if you specifically
- * Program a different readout order for this mode
- *
- * == Image format Properties ==
- *
- * active_w = "";
- * Pixel active region width
- *
- * active_h = "";
- * Pixel active region height
- *
- * pixel_t = "";
- * The sensor readout pixel pattern
- *
- * line_length = "";
- * Pixel line length (width) for sensor mode.
- *
- * == Source Control Settings ==
- *
- * Gain factor used to convert fixed point integer to float
- * Gain range [min_gain/gain_factor, max_gain/gain_factor]
- * Gain step [step_gain/gain_factor is the smallest step that can be configured]
- * Default gain [Default gain to be initialized for the control.
- * use min_gain_val as default for optimal results]
- * Framerate factor used to convert fixed point integer to float
- * Framerate range [min_framerate/framerate_factor, max_framerate/framerate_factor]
- * Framerate step [step_framerate/framerate_factor is the smallest step that can be configured]
- * Default Framerate [Default framerate to be initialized for the control.
- * use max_framerate to get required performance]
- * Exposure factor used to convert fixed point integer to float
- * For convenience use 1 sec = 1000000us as conversion factor
- * Exposure range [min_exp_time/exposure_factor, max_exp_time/exposure_factor]
- * Exposure step [step_exp_time/exposure_factor is the smallest step that can be configured]
- * Default Exposure Time [Default exposure to be initialized for the control.
- * Set default exposure based on the default_framerate for optimal exposure settings]
- *
- * gain_factor = ""; (integer factor used for floating to fixed point conversion)
- * min_gain_val = ""; (ceil to integer)
- * max_gain_val = ""; (ceil to integer)
- * step_gain_val = ""; (ceil to integer)
- * default_gain = ""; (ceil to integer)
- * Gain limits for mode
- *
- * exposure_factor = ""; (integer factor used for floating to fixed point conversion)
- * min_exp_time = ""; (ceil to integer)
- * max_exp_time = ""; (ceil to integer)
- * step_exp_time = ""; (ceil to integer)
- * default_exp_time = ""; (ceil to integer)
- * Exposure Time limits for mode (sec)
- *
- * framerate_factor = ""; (integer factor used for floating to fixed point conversion)
- * min_framerate = ""; (ceil to integer)
- * max_framerate = ""; (ceil to integer)
- * step_framerate = ""; (ceil to integer)
- * default_framerate = ""; (ceil to integer)
- * Framerate limits for mode (fps)
- *
- * embedded_metadata_height = "";
- * Sensor embedded metadata height in units of rows.
- * If sensor does not support embedded metadata value should be 0.
- */
- mode0 { /* IMX477_MODE_3840x2160 */
+ mode0 { /* IMX477_MODE_4032X3040 */
mclk_khz = "24000";
num_lanes = "2";
tegra_sinterface = "serial_a";
@@ -198,13 +127,13 @@
dpcm_enable = "false";
cil_settletime = "0";
- active_w = "3840";
- active_h = "2160";
+ active_w = "4032";
+ active_h = "3040";
mode_type = "bayer";
pixel_phase = "rggb";
csi_pixel_bit_depth = "10";
readout_orientation = "90";
- line_length = "11200";
+ line_length = "9024";
inherent_gain = "1";
mclk_multiplier = "80";
pix_clk_hz = "840000000";
@@ -222,8 +151,8 @@
max_framerate = "30000000"; /* 30.0 fps */
step_framerate = "1";
default_framerate = "30000000"; /* 30.0 fps */
- min_exp_time = "13"; /* us */
- max_exp_time = "683709"; /* us */
+ min_exp_time = "11"; /* us */
+ max_exp_time = "500000"; /* us */
step_exp_time = "1";
default_exp_time = "2495"; /* us */
@@ -244,7 +173,7 @@
pixel_phase = "rggb";
csi_pixel_bit_depth = "10";
readout_orientation = "90";
- line_length = "7000";
+ line_length = "9024";
inherent_gain = "1";
mclk_multiplier = "80";
pix_clk_hz = "840000000";
@@ -262,8 +191,8 @@
max_framerate = "60000000"; /* 60.0 fps */
step_framerate = "1";
default_framerate = "60000000"; /* 60.0 fps */
- min_exp_time = "13"; /* us */
- max_exp_time = "683709"; /* us */
+ min_exp_time = "11"; /* us */
+ max_exp_time = "500000"; /* us */
step_exp_time = "1";
default_exp_time = "2495"; /* us */
@@ -273,10 +202,9 @@
ports {
#address-cells = <1>;
#size-cells = <0>;
-
port@0 {
reg = <0>;
- rbpcv3_imx477_dual_out0: endpoint {
+ rbpcv3_imx477_out0: endpoint {
port-index = <0>;
bus-width = <2>;
remote-endpoint = <&rbpcv3_imx477_csi_in0>;
@@ -285,7 +213,7 @@
};
};
};
- i2c@1 {
+ i2c_1: i2c@1 {
imx477_cam1: rbpcv3_imx477_c@1a {
compatible = "ridgerun,imx477";
/* I2C device address */
@@ -295,14 +223,14 @@
devnode = "video1";
/* Physical dimensions of sensor */
- physical_w = "3.680";
- physical_h = "2.760";
+ physical_w = "7.564";
+ physical_h = "5.476";
sensor_model = "imx477";
use_sensor_mode_id = "true";
- mode0 { /* IMX477_MODE_3840x2160 */
+ mode0 { /* IMX477_MODE_4032X3040 */
mclk_khz = "24000";
num_lanes = "2";
tegra_sinterface = "serial_c";
@@ -311,13 +239,13 @@
dpcm_enable = "false";
cil_settletime = "0";
- active_w = "3840";
- active_h = "2160";
+ active_w = "4032";
+ active_h = "3040";
mode_type = "bayer";
pixel_phase = "rggb";
csi_pixel_bit_depth = "10";
readout_orientation = "90";
- line_length = "11200";
+ line_length = "9024";
inherent_gain = "1";
mclk_multiplier = "80";
pix_clk_hz = "840000000";
@@ -335,8 +263,8 @@
max_framerate = "30000000"; /* 30.0 fps */
step_framerate = "1";
default_framerate = "30000000"; /* 30.0 fps */
- min_exp_time = "13"; /* us */
- max_exp_time = "683709"; /* us */
+ min_exp_time = "11"; /* us */
+ max_exp_time = "500000"; /* us */
step_exp_time = "1";
default_exp_time = "2495"; /* us */
@@ -357,7 +285,7 @@
pixel_phase = "rggb";
csi_pixel_bit_depth = "10";
readout_orientation = "90";
- line_length = "7000";
+ line_length = "9024";
inherent_gain = "1";
mclk_multiplier = "80";
pix_clk_hz = "840000000";
@@ -375,8 +303,8 @@
max_framerate = "60000000"; /* 60.0 fps */
step_framerate = "1";
default_framerate = "60000000"; /* 60.0 fps */
- min_exp_time = "13"; /* us */
- max_exp_time = "683709"; /* us */
+ min_exp_time = "11"; /* us */
+ max_exp_time = "500000"; /* us */
step_exp_time = "1";
default_exp_time = "2495"; /* us */
@@ -386,7 +314,6 @@
ports {
#address-cells = <1>;
#size-cells = <0>;
-
port@0 {
reg = <0>;
rbpcv3_imx477_out1: endpoint {
@@ -400,38 +327,378 @@
};
};
};
-
/ {
- tegra-camera-platform {
+ tcp: tegra-camera-platform {
compatible = "nvidia, tegra-camera-platform";
+ num_csi_lanes = <4>;
+ max_lane_speed = <1500000>;
+ min_bits_per_pixel = <10>;
+ vi_peak_byte_per_pixel = <2>;
+ vi_bw_margin_pct = <25>;
+ max_pixel_rate = <7500000>;
+ isp_peak_byte_per_pixel = <5>;
+ isp_bw_margin_pct = <25>;
+
+ modules {
+ cam_module0: module0 {
+ badge = "jakku_front_RBP194";
+ position = "front";
+ orientation = "1";
+ status = "okay";
+ cam_module0_drivernode0: drivernode0 {
+ status = "okay";
+ pcl_id = "v4l2_sensor";
+ devname = "imx477 9-001a";
+ proc-device-tree = "/proc/device-tree/cam_i2cmux/i2c@0/rbpcv3_imx477_a@1a";
+ };
+ };
+ cam_module1: module1 {
+ badge = "jakku_rear_RBP194";
+ position = "rear";
+ orientation = "1";
+ status = "okay";
+ cam_module1_drivernode0: drivernode0 {
+ status = "okay";
+ pcl_id = "v4l2_sensor";
+ devname = "imx477 10-001a";
+ proc-device-tree = "/proc/device-tree/cam_i2cmux/i2c@1/rbpcv3_imx477_c@1a";
+ };
+ };
+ };
+ };
+};
+/*
+ * Copyright (c) 2020, RidgeRun. All rights reserved.
+ *
+ * Contact us: support@ridgerun.com
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ * more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+#include <dt-bindings/media/camera.h>
+
+/ {
+ host1x {
+ vi@15c10000 {
+ num-channels = <2>;
+ ports {
+ #address-cells = <1>;
+ #size-cells = <0>;
+ vi_port0: port@0 {
+ reg = <0>;
+ rbpcv3_imx477_vi_in0: endpoint {
+ status = "okay";
+ port-index = <0>;
+ bus-width = <2>;
+ remote-endpoint = <&rbpcv3_imx477_csi_out0>;
+ };
+ };
+ vi_port1: port@1 {
+ reg = <1>;
+ rbpcv3_imx477_vi_in1: endpoint {
+ status = "okay";
+ port-index = <2>;
+ bus-width = <2>;
+ remote-endpoint = <&rbpcv3_imx477_csi_out1>;
+ };
+ };
+ };
+ };
+
+ nvcsi@15a00000 {
+ num-channels = <2>;
+ #address-cells = <1>;
+ #size-cells = <0>;
+ csi_chan0: channel@0 {
+ reg = <0>;
+ ports {
+ #address-cells = <1>;
+ #size-cells = <0>;
+ csi_chan0_port0: port@0 {
+ reg = <0>;
+ status = "okay";
+ rbpcv3_imx477_csi_in0: endpoint@0 {
+ port-index = <0>;
+ bus-width = <2>;
+ remote-endpoint = <&rbpcv3_imx477_out0>;
+ };
+ };
+ csi_chan0_port1: port@1 {
+ reg = <1>;
+ status = "okay";
+ rbpcv3_imx477_csi_out0: endpoint@1 {
+ status = "okay";
+ remote-endpoint = <&rbpcv3_imx477_vi_in0>;
+ };
+ };
+ };
+ };
+ csi_chan1: channel@1 {
+ reg = <1>;
+ ports {
+ #address-cells = <1>;
+ #size-cells = <0>;
+ csi_chan1_port0: port@0 {
+ reg = <0>;
+ rbpcv3_imx477_csi_in1: endpoint@2 {
+ port-index = <2>;
+ bus-width = <2>;
+ status = "okay";
+ remote-endpoint = <&rbpcv3_imx477_out1>;
+ };
+ };
+ csi_chan1_port1: port@1 {
+ reg = <1>;
+ status = "okay";
+ rbpcv3_imx477_csi_out1: endpoint@3 {
+ remote-endpoint = <&rbpcv3_imx477_vi_in1>;
+ };
+ };
+ };
+ };
+ };
+ };
+
+ cam_i2cmux {
+ i2c_0:i2c@0 {
+ imx477_cam0: rbpcv3_imx477_a@1a {
+ compatible = "ridgerun,imx477";
+ /* I2C device address */
+ reg = <0x1a>;
+
+ /* V4L2 device node location */
+ devnode = "video0";
+
+ /* Physical dimensions of sensor */
+ physical_w = "7.564";
+ physical_h = "5.476";
+
+ sensor_model = "imx477";
+
+ use_sensor_mode_id = "true";
+
+ mode0 { /* IMX477_MODE_4032X3040 */
+ mclk_khz = "24000";
+ num_lanes = "2";
+ tegra_sinterface = "serial_a";
+ phy_mode = "DPHY";
+ discontinuous_clk = "no";
+ dpcm_enable = "false";
+ cil_settletime = "0";
+
+ active_w = "4032";
+ active_h = "3040";
+ mode_type = "bayer";
+ pixel_phase = "rggb";
+ csi_pixel_bit_depth = "10";
+ readout_orientation = "90";
+ line_length = "9024";
+ inherent_gain = "1";
+ mclk_multiplier = "80";
+ pix_clk_hz = "840000000";
+
+ gain_factor = "16";
+ framerate_factor = "1000000";
+ exposure_factor = "1000000";
+ min_gain_val = "16"; /* 1.00x */
+ max_gain_val = "356"; /* 22x */
+ step_gain_val = "1";
+ default_gain = "16"; /* 1.00x */
+ min_hdr_ratio = "1";
+ max_hdr_ratio = "1";
+ min_framerate = "2000000"; /* 2.0 fps */
+ max_framerate = "30000000"; /* 30.0 fps */
+ step_framerate = "1";
+ default_framerate = "30000000"; /* 30.0 fps */
+ min_exp_time = "11"; /* us */
+ max_exp_time = "500000"; /* us */
+ step_exp_time = "1";
+ default_exp_time = "2495"; /* us */
+
+ embedded_metadata_height = "2";
+ };
+ mode1 { /* IMX477_MODE_1920X1080 */
+ mclk_khz = "24000";
+ num_lanes = "2";
+ tegra_sinterface = "serial_a";
+ phy_mode = "DPHY";
+ discontinuous_clk = "no";
+ dpcm_enable = "false";
+ cil_settletime = "0";
+
+ active_w = "1920";
+ active_h = "1080";
+ mode_type = "bayer";
+ pixel_phase = "rggb";
+ csi_pixel_bit_depth = "10";
+ readout_orientation = "90";
+ line_length = "9024";
+ inherent_gain = "1";
+ mclk_multiplier = "80";
+ pix_clk_hz = "840000000";
+
+ gain_factor = "16";
+ framerate_factor = "1000000";
+ exposure_factor = "1000000";
+ min_gain_val = "16"; /* 1.00x */
+ max_gain_val = "356"; /* 22x */
+ step_gain_val = "1";
+ default_gain = "16"; /* 1.00x */
+ min_hdr_ratio = "1";
+ max_hdr_ratio = "1";
+ min_framerate = "2000000"; /* 2.0 fps */
+ max_framerate = "60000000"; /* 60.0 fps */
+ step_framerate = "1";
+ default_framerate = "60000000"; /* 60.0 fps */
+ min_exp_time = "11"; /* us */
+ max_exp_time = "500000"; /* us */
+ step_exp_time = "1";
+ default_exp_time = "2495"; /* us */
+
+ embedded_metadata_height = "2";
+ };
+
+ ports {
+ #address-cells = <1>;
+ #size-cells = <0>;
+ port@0 {
+ reg = <0>;
+ rbpcv3_imx477_out0: endpoint {
+ port-index = <0>;
+ bus-width = <2>;
+ remote-endpoint = <&rbpcv3_imx477_csi_in0>;
+ };
+ };
+ };
+ };
+ };
+ i2c_1: i2c@1 {
+ imx477_cam1: rbpcv3_imx477_c@1a {
+ compatible = "ridgerun,imx477";
+ /* I2C device address */
+ reg = <0x1a>;
+
+ /* V4L2 device node location */
+ devnode = "video1";
+
+ /* Physical dimensions of sensor */
+ physical_w = "7.564";
+ physical_h = "5.476";
+
+ sensor_model = "imx477";
+
+ use_sensor_mode_id = "true";
+
+ mode0 { /* IMX477_MODE_4032X3040 */
+ mclk_khz = "24000";
+ num_lanes = "2";
+ tegra_sinterface = "serial_c";
+ phy_mode = "DPHY";
+ discontinuous_clk = "no";
+ dpcm_enable = "false";
+ cil_settletime = "0";
+
+ active_w = "4032";
+ active_h = "3040";
+ mode_type = "bayer";
+ pixel_phase = "rggb";
+ csi_pixel_bit_depth = "10";
+ readout_orientation = "90";
+ line_length = "9024";
+ inherent_gain = "1";
+ mclk_multiplier = "80";
+ pix_clk_hz = "840000000";
+
+ gain_factor = "16";
+ framerate_factor = "1000000";
+ exposure_factor = "1000000";
+ min_gain_val = "16"; /* 1.00x */
+ max_gain_val = "356"; /* 22x */
+ step_gain_val = "1";
+ default_gain = "16"; /* 1.00x */
+ min_hdr_ratio = "1";
+ max_hdr_ratio = "1";
+ min_framerate = "2000000"; /* 2.0 fps */
+ max_framerate = "30000000"; /* 30.0 fps */
+ step_framerate = "1";
+ default_framerate = "30000000"; /* 30.0 fps */
+ min_exp_time = "11"; /* us */
+ max_exp_time = "500000"; /* us */
+ step_exp_time = "1";
+ default_exp_time = "2495"; /* us */
+
+ embedded_metadata_height = "2";
+ };
+ mode1 { /* IMX477_MODE_1920X1080 */
+ mclk_khz = "24000";
+ num_lanes = "2";
+ tegra_sinterface = "serial_c";
+ phy_mode = "DPHY";
+ discontinuous_clk = "no";
+ dpcm_enable = "false";
+ cil_settletime = "0";
- /**
- * Physical settings to calculate max ISO BW
- *
- * num_csi_lanes = <>;
- * Total number of CSI lanes when all cameras are active
- *
- * max_lane_speed = <>;
- * Max lane speed in Kbit/s
- *
- * min_bits_per_pixel = <>;
- * Min bits per pixel
- *
- * vi_peak_byte_per_pixel = <>;
- * Max byte per pixel for the VI ISO case
- *
- * vi_bw_margin_pct = <>;
- * Vi bandwidth margin in percentage
- *
- * max_pixel_rate = <>;
- * Max pixel rate in Kpixel/s for the ISP ISO case
- *
- * isp_peak_byte_per_pixel = <>;
- * Max byte per pixel for the ISP ISO case
- *
- * isp_bw_margin_pct = <>;
- * Isp bandwidth margin in percentage
- */
+ active_w = "1920";
+ active_h = "1080";
+ mode_type = "bayer";
+ pixel_phase = "rggb";
+ csi_pixel_bit_depth = "10";
+ readout_orientation = "90";
+ line_length = "9024";
+ inherent_gain = "1";
+ mclk_multiplier = "80";
+ pix_clk_hz = "840000000";
+
+ gain_factor = "16";
+ framerate_factor = "1000000";
+ exposure_factor = "1000000";
+ min_gain_val = "16"; /* 1.00x */
+ max_gain_val = "356"; /* 22x */
+ step_gain_val = "1";
+ default_gain = "16"; /* 1.00x */
+ min_hdr_ratio = "1";
+ max_hdr_ratio = "1";
+ min_framerate = "2000000"; /* 2.0 fps */
+ max_framerate = "60000000"; /* 60.0 fps */
+ step_framerate = "1";
+ default_framerate = "60000000"; /* 60.0 fps */
+ min_exp_time = "11"; /* us */
+ max_exp_time = "500000"; /* us */
+ step_exp_time = "1";
+ default_exp_time = "2495"; /* us */
+
+ embedded_metadata_height = "2";
+ };
+
+ ports {
+ #address-cells = <1>;
+ #size-cells = <0>;
+ port@0 {
+ reg = <0>;
+ rbpcv3_imx477_out1: endpoint {
+ port-index = <2>;
+ bus-width = <2>;
+ remote-endpoint = <&rbpcv3_imx477_csi_in1>;
+ };
+ };
+ };
+ };
+ };
+ };
+};
+/ {
+ tcp: tegra-camera-platform {
+ compatible = "nvidia, tegra-camera-platform";
num_csi_lanes = <4>;
max_lane_speed = <1500000>;
min_bits_per_pixel = <10>;
@@ -441,30 +708,26 @@
isp_peak_byte_per_pixel = <5>;
isp_bw_margin_pct = <25>;
- /**
- * The general guideline for naming badge_info contains 3 parts, and is as follows,
- * The first part is the camera_board_id for the module; if the module is in a FFD
- * platform, then use the platform name for this part.
- * The second part contains the position of the module, ex. "rear" or "front".
- * The third part contains the last 6 characters of a part number which is found
- * in the module's specsheet from the vendor.
- */
modules {
- module0 {
- badge = "jakku_front_IMX477";
+ cam_module0: module0 {
+ badge = "jakku_front_RBP194";
position = "front";
orientation = "1";
- drivernode0 {
+ status = "okay";
+ cam_module0_drivernode0: drivernode0 {
+ status = "okay";
pcl_id = "v4l2_sensor";
devname = "imx477 9-001a";
proc-device-tree = "/proc/device-tree/cam_i2cmux/i2c@0/rbpcv3_imx477_a@1a";
};
};
- module1 {
- badge = "jakku_rear_IMX477";
+ cam_module1: module1 {
+ badge = "jakku_rear_RBP194";
position = "rear";
orientation = "1";
- drivernode0 {
+ status = "okay";
+ cam_module1_drivernode0: drivernode0 {
+ status = "okay";
pcl_id = "v4l2_sensor";
devname = "imx477 10-001a";
proc-device-tree = "/proc/device-tree/cam_i2cmux/i2c@1/rbpcv3_imx477_c@1a";
diff --git a/nvidia/platform/t19x/jakku/kernel-dts/common/tegra194-p3509-0000-a00.dtsi b/nvidia/platform/t19x/jakku/kernel-dts/common/tegra194-p3509-0000-a00.dtsi
index b99d72a..633e8c5 100644
--- a/nvidia/platform/t19x/jakku/kernel-dts/common/tegra194-p3509-0000-a00.dtsi
+++ b/nvidia/platform/t19x/jakku/kernel-dts/common/tegra194-p3509-0000-a00.dtsi
@@ -17,7 +17,6 @@
#include "tegra194-audio-p3668.dtsi"
#include "tegra194-super-module-e2614-p3509.dtsi"
#include "tegra194-camera-jakku-rbpcv3-imx477.dtsi"
-#include "tegra194-camera-jakku-rbpcv2-imx219.dtsi"
/ {
gpio-keys {
compatible = "gpio-keys";
--
2.24.3 (Apple Git-128)
isp-config.bb
FILESEXTRAPATHS:append := ":${THISDIR}/${PN}"
inherit systemd allarch
LICENSE = "MIT"
LIC_FILES_CHKSUM = "file://${COMMON_LICENSE_DIR}/MIT;md5=0835ade698e0bcf8506ecda2f7b4f302"
SRC_URI += " \
file://camera_overrides.isp \
"
FILES:${PN} = " \
/var/nvidia/nvcam/settings/camera_overrides.isp \
"
S = "${WORKDIR}"
RDEPENDS:${PN} = " bash systemd"
do_install:append() {
install -d ${D}${localstatedir}/nvidia/nvcam/settings
install -m 0644 ${WORKDIR}/camera_overrides.isp ${D}${localstatedir}/nvidia/nvcam/settings/camera_overrides.isp
}
You can get the camera_overrides.isp from ridgerun 
I just found the kernel patch for the jetson nano in my local dev folder from last year, that might help you
0004-add-imx477.patch.txt (55.1 KB)