NVIDIA Jeston 相机驱动开发

环境准备：

HW:

• develop board
• X86 PC

SOFTWARE:

• cross compile gcc tools
• pulic source code
• your driver code and makefile

Device tree适配：

1. iic addr&drivber compatial适配

ov5640_single_cam0: rbpcv2_ov5640_a@3c {
				compatible = "nvidia,ov5640";
				/* I2C device address */
				reg = <0x3c>;

				/* V4L2 device node location */
				devnode = "video0";

				/* Physical dimensions of sensor */
				physical_w = "3.680";
				physical_h = "2.760";

				sensor_model = "ov5640";

				use_sensor_mode_id = "true";
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2. 分辨率&参数适配

mode0 { /* ov5640_MODE_1920x1080_30FPS */
					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";
					pixel_t = "bayer_rggb";
					readout_orientation = "90";
					line_length = "2200";
					inherent_gain = "1";
					mclk_multiplier = "9.33";
					pix_clk_hz = "84000000";

					gain_factor = "16";
					framerate_factor = "1000000";
					exposure_factor = "1000000";
					min_gain_val = "16"; /* 1.00x */
					max_gain_val = "170"; /* 10.66x */
					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 = "13"; /* us */
					max_exp_time = "683709"; /* us */
					step_exp_time = "1";
					default_exp_time = "2495"; /* us */

					embedded_metadata_height = "0";
				};
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3. mipi参数适配

		num_csi_lanes = <2>;
		max_lane_speed = <1500000>;
		min_bits_per_pixel = <10>;
		vi_peak_byte_per_pixel = <2>;
		vi_bw_margin_pct = <25>;
		max_pixel_rate = <240000>;
		isp_peak_byte_per_pixel = <5>;
		isp_bw_margin_pct = <25>;

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Driver适配：

1. probe适配

	/* Probe sensor model id registers */
	err = ov5640_read_reg(s_data, ov5640_MODEL_ID_ADDR_MSB, &reg_val[0]);
	if (err) {
		dev_err(dev, "%s: error during i2c read probe (%d)\n",
			__func__, err);
		goto err_reg_probe;
	}
	err = ov5640_read_reg(s_data, ov5640_MODEL_ID_ADDR_LSB, &reg_val[1]);
	if (err) {
		dev_err(dev, "%s: error during i2c read probe (%d)\n",
			__func__, err);
		goto err_reg_probe;
	}
	if (!((reg_val[0] == 0x56) && reg_val[1] == 0x40)) //ov5640
		dev_err(dev, "%s: invalid sensor model id: %x%x\n",
			__func__, reg_val[0], reg_val[1]);
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2. 配置表适配

enum {
	ov5640_MODE_1920x1080_30FPS,
	ov5640_MODE_1280x720_60FPS,

	ov5640_MODE_COMMON,
	ov5640_START_STREAM,
	ov5640_STOP_STREAM,
};

static ov5640_reg *mode_table[] = {
	[ov5640_MODE_1920x1080_30FPS] = ov5640_mode_1920x1080_30fps,
	[ov5640_MODE_1280x720_60FPS] = ov5640_mode_1280x720_60fps,

	[ov5640_MODE_COMMON]  = ov5640_mode_common,
	[ov5640_START_STREAM]  = ov5640_start_stream,
	[ov5640_STOP_STREAM]  = ov5640_stop_stream,
};

static const int ov5640_30fps[] = {
	30,
};

static const int ov5640_60fps[] = {
	60,
};

/*
 * WARNING: frmfmt ordering need to match mode definition in
 * device tree!
 */
static const struct camera_common_frmfmt ov5640_frmfmt[] = {
	{{1920, 1080},	ov5640_30fps, 1, 0, ov5640_MODE_1920x1080_30FPS},
	{{1280, 720},	ov5640_60fps, 1, 0, ov5640_MODE_1280x720_60FPS},
};
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3. 曝光增益适配

static struct tegracam_ctrl_ops ov5640_ctrl_ops = {
	.numctrls = ARRAY_SIZE(ctrl_cid_list),
	.ctrl_cid_list = ctrl_cid_list,
	.set_gain = ov5640_set_gain,
	.set_exposure = ov5640_set_exposure,
	//.set_frame_rate = ov5640_set_frame_rate,
	.set_group_hold = ov5640_set_group_hold,
};
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vi如果报错timeout，首先示波器看是否有mipi输出，如果没有有则查看驱动配置是否正确，参数等，如下：

[   99.405759] video4linux video0: frame start syncpt timeout!0
[   99.613754] video4linux video0: frame start syncpt timeout!0
[   99.821732] video4linux video0: frame start syncpt timeout!0
[  100.029746] video4linux video0: frame start syncpt timeout!0
[  100.237742] video4linux video0: frame start syncpt timeout!0
[  100.445745] video4linux video0: frame start syncpt timeout!0
[  100.653729] video4linux video0: frame start syncpt timeout!0
[  100.861730] video4linux video0: frame start syncpt timeout!0
[  101.069737] video4linux video0: frame start syncpt timeout!0
[  101.277768] video4linux video0: frame start syncpt timeout!0
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测试

查看内核log

dmesg | grep ov5640
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输出：

[  103.352239] ov5640: loading out-of-tree module taints kernel.
[  103.359115] ov5640 6-003c: tegracam sensor driver:ov5640_v2.0.6
[  103.362288] vi 54080000.vi: subdev ov5640 6-003c bound
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使用v4l2查看信息

v4l2-ctl -d  /dev/video0 --all
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输出：

Driver Info (not using libv4l2):
        Driver name   : tegra-video
        Card type     : vi-output, ov5640 6-003c
        Bus info      : platform:54080000.vi:0
        Driver version: 4.9.253
        Capabilities  : 0x84200001
                Video Capture
                Streaming
                Extended Pix Format
                Device Capabilities
        Device Caps   : 0x04200001
                Video Capture
                Streaming
                Extended Pix Format
Priority: 2
Video input : 0 (Camera 0: no power)
Format Video Capture:
        Width/Height      : 1920/1080
        Pixel Format      : 'RG10'
        Field             : None
        Bytes per Line    : 3840
        Size Image        : 4147200
        Colorspace        : sRGB
        Transfer Function : Default (maps to sRGB)
        YCbCr/HSV Encoding: Default (maps to ITU-R 601)
        Quantization      : Default (maps to Full Range)
        Flags             :

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使用v4l2-ctl保存raw图测试：

 v4l2-ctl --set-fmt-video=width=1920,height=1080,pixelformat=RG10 --stream-mmap --stream-count=1 -d /dev/video0 --stream-to=ov5640.raw 
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正常在当前目录下面会保存一张格式化好的raw图