Banana Pi BPI-W3之 RK3588 开源硬件开发板调试imx415摄像头

sinovoip| 2023-11-09 09:16:02 阅读：108

发布文章

一、环境

[RK3588从入门到精通] 专栏总目录
soc：rk3588
sensor：imx415
board: ArmSoM-W3
linux：5.10

二、imx415简介

品牌：SONY
型号：IMX415
接口：MIPI CSI

三、驱动移植

瑞芯微支持的摄像头，有个support list，

此次从该list中选择了IMX415

3.1 驱动源文件及对应脚本

RK提供的默认sdk里面已经将支持的所有摄像头驱动都添加到了内核，所以不需要移植该驱动了。

需确认下移植驱动对应的一些信息

源程序

3588_linux/3588_linux5.10_v1.0.5/kernel/drivers/media/i2c/imx415.c 3588_linux/3588_linux5.10_v1.0.5/kernel/drivers/media/i2c/Makefile 3588_linux/3588_linux5.10_v1.0.5/kernel/drivers/media/i2c/Kconfig 3588_linux/3588_linux5.10_v1.0.5/kernel/arch/arm64/configs/rockchip_linxu_defconfig

Makefile脚本

obj-$(CONFIG_VIDEO_IMX415) += imx415.o

Kconfig脚本

config VIDEO_IMX415 tristate "Sony IMX415 sensor support" depends on I2C && VIDEO_V4L2 && VIDEO_V4L2_SUBDEV_API depends on MEDIA_CAMERA_SUPPORT help This is a Video4Linux2 sensor driver for the Sony IMX415 camera. To compile this driver as a module, choose M here: the module will be called imx415.

驱动对应的宏开关

CONFIG_VIDEO_IMX415=y

3.2 dts设备树

1）摄像头链接示意图

IMX415摄像头与SOC连接的主要的引脚有：i2c、rst、pwdn、mclk、MIPI Clk、MIPI DATA

2）电路图

由电路图可知，几个关键引脚关系：

reset信号：gpio4 A0 power0 down信号：gpio1 B0 I2C通道：3 clock：CLK_MIPI_CAMARAOUT_M3

3）设备树节点

// SPDX-License-Identifier: (GPL-2.0+ OR MIT) /* * Copyright (c) 2022 Rockchip Electronics Co., Ltd. * */ / { compatible = "radxa,rock-5b", "rockchip,rk3588"; camera_pwdn_gpio: camera-pwdn-gpio { status = "okay"; compatible = "regulator-fixed"; regulator-name = "camera_pwdn_gpio"; regulator-always-on; regulator-boot-on; enable-active-high; gpio = <&gpio1 RK_PB0 GPIO_ACTIVE_HIGH>; pinctrl-names = "default"; pinctrl-0 = <&cam_pwdn_gpio>; }; clk_cam_24m: external-camera-clock-24m { status = "okay"; compatible = "fixed-clock"; clock-frequency = <24000000>; clock-output-names = "clk_cam_24m"; #clock-cells = <0>; }; }; &i2c3 { status = "okay"; imx415: imx415@1a { status = "okay"; compatible = "sony,imx415"; reg = <0x1a>; clocks = <&cru CLK_MIPI_CAMARAOUT_M3>; clock-names = "xvclk"; pinctrl-names = "default"; pinctrl-0 = <&mipim0_camera3_clk>; power-domains = <&power RK3588_PD_VI>; pwdn-gpios = <&gpio1 RK_PB0 GPIO_ACTIVE_HIGH>; reset-gpios = <&gpio4 RK_PA0 GPIO_ACTIVE_LOW>; rockchip,camera-module-index = <0>; rockchip,camera-module-facing = "back"; rockchip,camera-module-name = "CMK-OT2022-PX1"; rockchip,camera-module-lens-name = "IR0147-50IRC-8M-F20"; port { imx415_out0: endpoint { remote-endpoint = <&mipidphy0_in_ucam0>; data-lanes = <1 2 3 4>; }; }; }; camera_imx219: camera-imx219@10 { status = "disabled"; compatible = "sony,imx219"; reg = <0x10>; clocks = <&clk_cam_24m>; clock-names = "xvclk"; rockchip,camera-module-index = <0>; rockchip,camera-module-facing = "back"; rockchip,camera-module-name = "rpi-camera-v2"; rockchip,camera-module-lens-name = "default"; port { imx219_out0: endpoint { remote-endpoint = <&mipidphy0_in_ucam1>; data-lanes = <1 2>; }; }; }; }; &csi2_dphy0_hw { status = "okay"; }; &csi2_dphy0 { status = "okay"; ports { #address-cells = <1>; #size-cells = <0>; port@0 { reg = <0>; #address-cells = <1>; #size-cells = <0>; mipidphy0_in_ucam0: endpoint@1 { reg = <1>; remote-endpoint = <&imx415_out0>; data-lanes = <1 2 3 4>; }; mipidphy0_in_ucam1: endpoint@2 { reg = <2>; remote-endpoint = <&imx219_out0>; data-lanes = <1 2>; }; }; port@1 { reg = <1>; #address-cells = <1>; #size-cells = <0>; csidphy0_out: endpoint@0 { reg = <0>; remote-endpoint = <&mipi2_csi2_input>; }; }; }; }; &mipi2_csi2 { status = "okay"; ports { #address-cells = <1>; #size-cells = <0>; port@0 { reg = <0>; #address-cells = <1>; #size-cells = <0>; mipi2_csi2_input: endpoint@1 { reg = <1>; remote-endpoint = <&csidphy0_out>; }; }; port@1 { reg = <1>; #address-cells = <1>; #size-cells = <0>; mipi2_csi2_output: endpoint@0 { reg = <0>; remote-endpoint = <&cif_mipi2_in0>; }; }; }; }; &rkcif { status = "okay"; }; &rkcif_mipi_lvds2 { status = "okay"; port { cif_mipi2_in0: endpoint { remote-endpoint = <&mipi2_csi2_output>; }; }; }; &rkcif_mipi_lvds2_sditf { status = "okay"; port { mipi_lvds2_sditf: endpoint { remote-endpoint = <&isp0_vir0>; }; }; }; &rkcif_mmu { status = "okay"; }; &rkisp0 { status = "okay"; }; &isp0_mmu { status = "okay"; }; &rkisp0_vir0 { status = "okay"; port { #address-cells = <1>; #size-cells = <0>; isp0_vir0: endpoint@0 { reg = <0>; remote-endpoint = <&mipi_lvds2_sditf>; }; }; }; &pinctrl { camera { cam_pwdn_gpio: cam-pwdn-gpio { rockchip,pins = <1 RK_PB0 RK_FUNC_GPIO &pcfg_pull_up>; }; }; };

设备树的信息最终转换成i2c_client,并传递给IMX415驱动 imx415_probe(){ compatible = "imx415";与驱动的 of_match_table 保持一致

rockchip,camera-module-index = <0>; rockchip,camera-module-facing = "back"; rockchip,camera-module-name = "CMK-OT2022-PX1"; rockchip,camera-module-lens-name = "IR0147-50IRC-8M-F20";

匹配的是external\camera_engine_rkaiq\iqfiles\isp3x下面的iq文件

四、调试技能4.1 开机log

root@linaro-alip:/# dmesg | grep imx415 [ 2.547754] imx415 3-001a: driver version: 00.01.08 [ 2.547767] imx415 3-001a: Get hdr mode failed! no hdr default [ 2.547819] imx415 3-001a: Failed to get power-gpios [ 2.547826] imx415 3-001a: could not get default pinstate [ 2.547831] imx415 3-001a: could not get sleep pinstate [ 2.547850] imx415 3-001a: supply dvdd not found, using dummy regulator [ 2.547918] imx415 3-001a: supply dovdd not found, using dummy regulator [ 2.547945] imx415 3-001a: supply avdd not found, using dummy regulator [ 2.613843] imx415 3-001a: Detected imx415 id 0000e0 [ 2.613890] rockchip-csi2-dphy csi2-dphy0: dphy0 matches m00_b_imx415 3-001a:bus type 5 [ 18.386174] imx415 3-001a: set fmt: cur_mode: 3864x2192, hdr: 0 [ 18.389067] imx415 3-001a: set exposure(shr0) 2047 = cur_vts(2250) - val(203)

4.2 查看IMX415设备

驱动加载成功后，会有以下信息

查看摄像头设备节点：

root@linaro-alip:/rockchip-test# ls /dev/video* -l crw-rw----+ 1 root video 81, 0 8月 7 15:26 /dev/video0 crw-rw----+ 1 root video 81, 1 8月 7 15:26 /dev/video1 crw-rw----+ 1 root video 81, 10 8月 7 15:26 /dev/video10 crw-rw----+ 1 root video 81, 11 8月 7 15:26 /dev/video11 crw-rw----+ 1 root video 81, 12 8月 7 15:26 /dev/video12 crw-rw----+ 1 root video 81, 13 8月 7 15:26 /dev/video13 crw-rw----+ 1 root video 81, 14 8月 7 15:26 /dev/video14 crw-rw----+ 1 root video 81, 15 8月 7 15:26 /dev/video15 crw-rw----+ 1 root video 81, 16 8月 7 15:26 /dev/video16 crw-rw----+ 1 root video 81, 17 8月 7 15:26 /dev/video17 crw-rw----+ 1 root video 81, 18 8月 7 15:26 /dev/video18 crw-rw----+ 1 root video 81, 19 8月 7 15:26 /dev/video19 crw-rw----+ 1 root video 81, 2 8月 7 15:26 /dev/video2 crw-rw----+ 1 root video 81, 20 8月 7 15:26 /dev/video20 crw-rw----+ 1 root video 81, 3 8月 7 15:26 /dev/video3 crw-rw----+ 1 root video 81, 4 8月 7 15:26 /dev/video4 crw-rw----+ 1 root video 81, 5 8月 7 15:26 /dev/video5 crw-rw----+ 1 root video 81, 6 8月 7 15:26 /dev/video6 crw-rw----+ 1 root video 81, 7 8月 7 15:26 /dev/video7 crw-rw----+ 1 root video 81, 8 8月 7 15:26 /dev/video8 crw-rw----+ 1 root video 81, 9 8月 7 15:26 /dev/video9 lrwxrwxrwx 1 root root 7 8月 7 15:26 /dev/video-camera0 -> video11 -rw-rw---- 1 root video 4 8月 7 15:26 /dev/video-dec0 -rw-rw---- 1 root video 4 8月 7 15:26 /dev/video-enc0

4.3 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

root@linaro-alip:grep imx415 /sys/class/video4linux/v*/name root@linaro-alip:/rockchip-test# grep imx415 /sys/class/video4linux/v*/name /sys/class/video4linux/v4l-subdev2/name:m00_b_imx415 3-001a

root@linaro-alip:/rockchip-test# grep "" /sys/class/video4linux/v*/name | grep mainpath /sys/class/video4linux/video11/name:rkisp_mainpath

4.4 查看拓扑 media-ctl -d /dev/media0 -p

root@linaro-alip:/rockchip-test# media-ctl -d /dev/media0 -p Media controller API version 5.10.110 Media device information ------------------------ driver rkcif model rkcif-mipi-lvds2 serial bus info hw revision 0x0 driver version 5.10.110 Device topology - entity 1: stream_cif_mipi_id0 (1 pad, 11 links) type Node subtype V4L flags 0 device node name /dev/video0 pad0: Sink <- "rockchip-mipi-csi2":1 [ENABLED] <- "rockchip-mipi-csi2":2 [] <- "rockchip-mipi-csi2":3 [] <- "rockchip-mipi-csi2":4 [] <- "rockchip-mipi-csi2":5 [] <- "rockchip-mipi-csi2":6 [] <- "rockchip-mipi-csi2":7 [] <- "rockchip-mipi-csi2":8 [] <- "rockchip-mipi-csi2":9 [] <- "rockchip-mipi-csi2":10 [] <- "rockchip-mipi-csi2":11 [] - entity 5: stream_cif_mipi_id1 (1 pad, 11 links) type Node subtype V4L flags 0 device node name /dev/video1 pad0: Sink <- "rockchip-mipi-csi2":1 [] <- "rockchip-mipi-csi2":2 [ENABLED] <- "rockchip-mipi-csi2":3 [] <- "rockchip-mipi-csi2":4 [] <- "rockchip-mipi-csi2":5 [] <- "rockchip-mipi-csi2":6 [] <- "rockchip-mipi-csi2":7 [] <- "rockchip-mipi-csi2":8 [] <- "rockchip-mipi-csi2":9 [] <- "rockchip-mipi-csi2":10 [] <- "rockchip-mipi-csi2":11 [] - entity 9: stream_cif_mipi_id2 (1 pad, 11 links) type Node subtype V4L flags 0 device node name /dev/video2 pad0: Sink <- "rockchip-mipi-csi2":1 [] <- "rockchip-mipi-csi2":2 [] <- "rockchip-mipi-csi2":3 [ENABLED] <- "rockchip-mipi-csi2":4 [] <- "rockchip-mipi-csi2":5 [] <- "rockchip-mipi-csi2":6 [] <- "rockchip-mipi-csi2":7 [] <- "rockchip-mipi-csi2":8 [] <- "rockchip-mipi-csi2":9 [] <- "rockchip-mipi-csi2":10 [] <- "rockchip-mipi-csi2":11 [] - entity 13: stream_cif_mipi_id3 (1 pad, 11 links) type Node subtype V4L flags 0 device node name /dev/video3 pad0: Sink <- "rockchip-mipi-csi2":1 [] <- "rockchip-mipi-csi2":2 [] <- "rockchip-mipi-csi2":3 [] <- "rockchip-mipi-csi2":4 [ENABLED] <- "rockchip-mipi-csi2":5 [] <- "rockchip-mipi-csi2":6 [] <- "rockchip-mipi-csi2":7 [] <- "rockchip-mipi-csi2":8 [] <- "rockchip-mipi-csi2":9 [] <- "rockchip-mipi-csi2":10 [] <- "rockchip-mipi-csi2":11 [] - entity 17: rkcif_scale_ch0 (1 pad, 11 links) type Node subtype V4L flags 0 device node name /dev/video4 pad0: Sink <- "rockchip-mipi-csi2":1 [] <- "rockchip-mipi-csi2":2 [] <- "rockchip-mipi-csi2":3 [] <- "rockchip-mipi-csi2":4 [] <- "rockchip-mipi-csi2":5 [ENABLED] <- "rockchip-mipi-csi2":6 [] <- "rockchip-mipi-csi2":7 [] <- "rockchip-mipi-csi2":8 [] <- "rockchip-mipi-csi2":9 [] <- "rockchip-mipi-csi2":10 [] <- "rockchip-mipi-csi2":11 [] - entity 21: rkcif_scale_ch1 (1 pad, 11 links) type Node subtype V4L flags 0 device node name /dev/video5 pad0: Sink <- "rockchip-mipi-csi2":1 [] <- "rockchip-mipi-csi2":2 [] <- "rockchip-mipi-csi2":3 [] <- "rockchip-mipi-csi2":4 [] <- "rockchip-mipi-csi2":5 [] <- "rockchip-mipi-csi2":6 [ENABLED] <- "rockchip-mipi-csi2":7 [] <- "rockchip-mipi-csi2":8 [] <- "rockchip-mipi-csi2":9 [] <- "rockchip-mipi-csi2":10 [] <- "rockchip-mipi-csi2":11 [] - entity 25: rkcif_scale_ch2 (1 pad, 11 links) type Node subtype V4L flags 0 device node name /dev/video6 pad0: Sink <- "rockchip-mipi-csi2":1 [] <- "rockchip-mipi-csi2":2 [] <- "rockchip-mipi-csi2":3 [] <- "rockchip-mipi-csi2":4 [] <- "rockchip-mipi-csi2":5 [] <- "rockchip-mipi-csi2":6 [] <- "rockchip-mipi-csi2":7 [ENABLED] <- "rockchip-mipi-csi2":8 [] <- "rockchip-mipi-csi2":9 [] <- "rockchip-mipi-csi2":10 [] <- "rockchip-mipi-csi2":11 [] - entity 29: rkcif_scale_ch3 (1 pad, 11 links) type Node subtype V4L flags 0 device node name /dev/video7 pad0: Sink <- "rockchip-mipi-csi2":1 [] <- "rockchip-mipi-csi2":2 [] <- "rockchip-mipi-csi2":3 [] <- "rockchip-mipi-csi2":4 [] <- "rockchip-mipi-csi2":5 [] <- "rockchip-mipi-csi2":6 [] <- "rockchip-mipi-csi2":7 [] <- "rockchip-mipi-csi2":8 [ENABLED] <- "rockchip-mipi-csi2":9 [] <- "rockchip-mipi-csi2":10 [] <- "rockchip-mipi-csi2":11 [] - entity 33: rkcif_tools_id0 (1 pad, 11 links) type Node subtype V4L flags 0 device node name /dev/video8 pad0: Sink <- "rockchip-mipi-csi2":1 [] <- "rockchip-mipi-csi2":2 [] <- "rockchip-mipi-csi2":3 [] <- "rockchip-mipi-csi2":4 [] <- "rockchip-mipi-csi2":5 [] <- "rockchip-mipi-csi2":6 [] <- "rockchip-mipi-csi2":7 [] <- "rockchip-mipi-csi2":8 [] <- "rockchip-mipi-csi2":9 [ENABLED] <- "rockchip-mipi-csi2":10 [] <- "rockchip-mipi-csi2":11 [] - entity 37: rkcif_tools_id1 (1 pad, 11 links) type Node subtype V4L flags 0 device node name /dev/video9 pad0: Sink <- "rockchip-mipi-csi2":1 [] <- "rockchip-mipi-csi2":2 [] <- "rockchip-mipi-csi2":3 [] <- "rockchip-mipi-csi2":4 [] <- "rockchip-mipi-csi2":5 [] <- "rockchip-mipi-csi2":6 [] <- "rockchip-mipi-csi2":7 [] <- "rockchip-mipi-csi2":8 [] <- "rockchip-mipi-csi2":9 [] <- "rockchip-mipi-csi2":10 [ENABLED] <- "rockchip-mipi-csi2":11 [] - entity 41: rkcif_tools_id2 (1 pad, 11 links) type Node subtype V4L flags 0 device node name /dev/video10 pad0: Sink <- "rockchip-mipi-csi2":1 [] <- "rockchip-mipi-csi2":2 [] <- "rockchip-mipi-csi2":3 [] <- "rockchip-mipi-csi2":4 [] <- "rockchip-mipi-csi2":5 [] <- "rockchip-mipi-csi2":6 [] <- "rockchip-mipi-csi2":7 [] <- "rockchip-mipi-csi2":8 [] <- "rockchip-mipi-csi2":9 [] <- "rockchip-mipi-csi2":10 [] <- "rockchip-mipi-csi2":11 [ENABLED] - entity 45: rockchip-mipi-csi2 (12 pads, 122 links) type V4L2 subdev subtype Unknown flags 0 device node name /dev/v4l-subdev0 pad0: Sink [fmt:SGBRG10_1X10/3864x2192 field:none crop.bounds:(12,16)/3840x2160 crop:(12,16)/3840x2160] <- "rockchip-csi2-dphy0":1 [ENABLED] pad1: Source -> "stream_cif_mipi_id0":0 [ENABLED] -> "stream_cif_mipi_id1":0 [] -> "stream_cif_mipi_id2":0 [] -> "stream_cif_mipi_id3":0 [] -> "rkcif_scale_ch0":0 [] -> "rkcif_scale_ch1":0 [] -> "rkcif_scale_ch2":0 [] -> "rkcif_scale_ch3":0 [] -> "rkcif_tools_id0":0 [] -> "rkcif_tools_id1":0 [] -> "rkcif_tools_id2":0 [] pad2: Source -> "stream_cif_mipi_id0":0 [] -> "stream_cif_mipi_id1":0 [ENABLED] -> "stream_cif_mipi_id2":0 [] -> "stream_cif_mipi_id3":0 [] -> "rkcif_scale_ch0":0 [] -> "rkcif_scale_ch1":0 [] -> "rkcif_scale_ch2":0 [] -> "rkcif_scale_ch3":0 [] -> "rkcif_tools_id0":0 [] -> "rkcif_tools_id1":0 [] -> "rkcif_tools_id2":0 [] pad3: Source -> "stream_cif_mipi_id0":0 [] -> "stream_cif_mipi_id1":0 [] -> "stream_cif_mipi_id2":0 [ENABLED] -> "stream_cif_mipi_id3":0 [] -> "rkcif_scale_ch0":0 [] -> "rkcif_scale_ch1":0 [] -> "rkcif_scale_ch2":0 [] -> "rkcif_scale_ch3":0 [] -> "rkcif_tools_id0":0 [] -> "rkcif_tools_id1":0 [] -> "rkcif_tools_id2":0 [] pad4: Source -> "stream_cif_mipi_id0":0 [] -> "stream_cif_mipi_id1":0 [] -> "stream_cif_mipi_id2":0 [] -> "stream_cif_mipi_id3":0 [ENABLED] -> "rkcif_scale_ch0":0 [] -> "rkcif_scale_ch1":0 [] -> "rkcif_scale_ch2":0 [] -> "rkcif_scale_ch3":0 [] -> "rkcif_tools_id0":0 [] -> "rkcif_tools_id1":0 [] -> "rkcif_tools_id2":0 [] pad5: Source -> "stream_cif_mipi_id0":0 [] -> "stream_cif_mipi_id1":0 [] -> "stream_cif_mipi_id2":0 [] -> "stream_cif_mipi_id3":0 [] -> "rkcif_scale_ch0":0 [ENABLED] -> "rkcif_scale_ch1":0 [] -> "rkcif_scale_ch2":0 [] -> "rkcif_scale_ch3":0 [] -> "rkcif_tools_id0":0 [] -> "rkcif_tools_id1":0 [] -> "rkcif_tools_id2":0 [] pad6: Source -> "stream_cif_mipi_id0":0 [] -> "stream_cif_mipi_id1":0 [] -> "stream_cif_mipi_id2":0 [] -> "stream_cif_mipi_id3":0 [] -> "rkcif_scale_ch0":0 [] -> "rkcif_scale_ch1":0 [ENABLED] -> "rkcif_scale_ch2":0 [] -> "rkcif_scale_ch3":0 [] -> "rkcif_tools_id0":0 [] -> "rkcif_tools_id1":0 [] -> "rkcif_tools_id2":0 [] pad7: Source -> "stream_cif_mipi_id0":0 [] -> "stream_cif_mipi_id1":0 [] -> "stream_cif_mipi_id2":0 [] -> "stream_cif_mipi_id3":0 [] -> "rkcif_scale_ch0":0 [] -> "rkcif_scale_ch1":0 [] -> "rkcif_scale_ch2":0 [ENABLED] -> "rkcif_scale_ch3":0 [] -> "rkcif_tools_id0":0 [] -> "rkcif_tools_id1":0 [] -> "rkcif_tools_id2":0 [] pad8: Source -> "stream_cif_mipi_id0":0 [] -> "stream_cif_mipi_id1":0 [] -> "stream_cif_mipi_id2":0 [] -> "stream_cif_mipi_id3":0 [] -> "rkcif_scale_ch0":0 [] -> "rkcif_scale_ch1":0 [] -> "rkcif_scale_ch2":0 [] -> "rkcif_scale_ch3":0 [ENABLED] -> "rkcif_tools_id0":0 [] -> "rkcif_tools_id1":0 [] -> "rkcif_tools_id2":0 [] pad9: Source -> "stream_cif_mipi_id0":0 [] -> "stream_cif_mipi_id1":0 [] -> "stream_cif_mipi_id2":0 [] -> "stream_cif_mipi_id3":0 [] -> "rkcif_scale_ch0":0 [] -> "rkcif_scale_ch1":0 [] -> "rkcif_scale_ch2":0 [] -> "rkcif_scale_ch3":0 [] -> "rkcif_tools_id0":0 [ENABLED] -> "rkcif_tools_id1":0 [] -> "rkcif_tools_id2":0 [] pad10: Source -> "stream_cif_mipi_id0":0 [] -> "stream_cif_mipi_id1":0 [] -> "stream_cif_mipi_id2":0 [] -> "stream_cif_mipi_id3":0 [] -> "rkcif_scale_ch0":0 [] -> "rkcif_scale_ch1":0 [] -> "rkcif_scale_ch2":0 [] -> "rkcif_scale_ch3":0 [] -> "rkcif_tools_id0":0 [] -> "rkcif_tools_id1":0 [ENABLED] -> "rkcif_tools_id2":0 [] pad11: Source -> "stream_cif_mipi_id0":0 [] -> "stream_cif_mipi_id1":0 [] -> "stream_cif_mipi_id2":0 [] -> "stream_cif_mipi_id3":0 [] -> "rkcif_scale_ch0":0 [] -> "rkcif_scale_ch1":0 [] -> "rkcif_scale_ch2":0 [] -> "rkcif_scale_ch3":0 [] -> "rkcif_tools_id0":0 [] -> "rkcif_tools_id1":0 [] -> "rkcif_tools_id2":0 [ENABLED] - entity 58: rockchip-csi2-dphy0 (2 pads, 2 links) type V4L2 subdev subtype Unknown flags 0 device node name /dev/v4l-subdev1 pad0: Sink [fmt:SGBRG10_1X10/3864x2192@10000/300000 field:none crop.bounds:(12,16)/3840x2160] <- "m00_b_imx415 3-001a":0 [ENABLED] pad1: Source -> "rockchip-mipi-csi2":0 [ENABLED] - entity 63: m00_b_imx415 3-001a (1 pad, 1 link) type V4L2 subdev subtype Sensor flags 0 device node name /dev/v4l-subdev2 pad0: Source [fmt:SGBRG10_1X10/3864x2192@10000/300000 field:none crop.bounds:(12,16)/3840x2160] -> "rockchip-csi2-dphy0":0 [ENABLED]

从entity 63信息中可以看到：

该Entity完整的名称是：m00_b_imx415 3-001a 是一个V4L2 subdev(Sub-Device) Sensor 对应的节点是 /dev/v4l-subdev2，应用程序（如v4l2-ctl）可以打开它，并进行配置仅有一个输出（Source）节点，记为pad0 它的输出格式是 [fmt:SGBRG10_1X10/3864x2192@10000/300000 field:none crop.bounds:(12,16)/3840x2160]，其中SBGGR10是一种mbus-code的简称 Source pad0 链接到"rockchip-csi2-dphy0"的pad0，并且当前的状态是 ENABLED。

media-ctl -d /dev/media1 -p

- entity 6: rkisp_mainpath (1 pad, 1 link) type Node subtype V4L flags 0 device node name /dev/video11 pad0: Sink <- "rkisp-isp-subdev":2 [ENABLED]

五、测试

确认调试成功后，使用gst-launch-1.0命令可直接看到 imx415摄像头输入

gst-launch-1.0 v4l2src device=/dev/video11 ! video/x-raw,format=NV12,width=3840,height=2160, framerate=30/1 ! xvimagesink

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