这篇文章给大家介绍一下RK3568双摄的调试，RK3568有一个4lane的mipi dphy，最高支持2.5G/bps每lane，ISP自带csi host，最高处理8M的图像，rk3568这个mipi dphy还有一个处理方法，就是拆分成2个2lane的使用，其中一个连接到单独的csi host，另一个连接到isp内部自带的csi host，这样就可以支持双摄同时的应用场景，下面介绍一下双摄的调试。

目录

（1）RK3568 camera资源介绍

①RK3568 MIPI CSI

②VICAP

③ISP

（2）RK3568双摄调试

①双摄硬件连接

②dts配置

③抓数据流确认

④HAL层适配

⑤接vicap的sensor的MIPI信号异常导致画面异常复位机制

（3）总结

（1）RK3568 camera资源介绍

①RK3568 MIPI CSI

RK356x有一个DPHY，其中有两个clk lane，可做4lane使用，也可以做2x2lane使用。

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。

③ISP

RK3568ISP属于RKISP V2.1的版本

（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)&csi2_dphy_hw {status = "okay";};&csi2_dphy0 {status = "disabled";/delete-node/ ports;};&csi2_dphy1 {status = "okay";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";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";port {#address-cells = <1>;#size-cells = <0>;isp_in1: endpoint@0 {reg = <0>;remote-endpoint = <&dphy2_out>;};};};&rkisp_vir1 {status = "okay";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.cppindex 4d9257f..91cf277 100755--- a/common/platformdata/PlatformData.cpp+++ b/common/platformdata/PlatformData.cpp@@ -1047,7 +1047,7 @@ CameraHWInfo::CameraHWInfo() : mProductName = "";mManufacturerName = ""; mCameraDeviceapiVersion = CAMERA_DEVICE_API_VERSION_3_3;- mSupportDualVideo = false;+ mSupportDualVideo = true; mSupportExtendedMakernote = false; mSupportFullColorRange = true; mSupportIPUAcceleration = false;

如果是比较新的SDK，通过XML配置属性即可：

⑤接vicap的sensor的MIPI信号异常导致画面异常复位机制

mipi 信号出错，导致 vicap（356x 的 mipi接收端）从某帧开始丢了几行，少的几行由下一帧的前面几行补上；所以造成画面断层（仔细观察预览画面，画面底部会有断层），如果刚好丢的行数是奇数行，那由于bayer rgb顺序变掉，isp出来的效果就是偏紫的这种是处理信号低概率出错情况，概率如果高，一直reset也不是办法，且reset会丢帧卡顿，也有可能会闪红一两帧的如果高概率出现mipi报错，还是要硬件信号确认下。

&rkcif_mipi_lvds {        status = "okay";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。

来源地址：https://blog.csdn.net/qq_34341546/article/details/129235864