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Camera in linux
参考文档 Camera_Engine_Rkisp_User_Manual
硬件框图
- dphy0(D-PHY TX0)
- dphy1(D-PHY TX1RX1)
- dphy2(D-PHY RX0)
名词说明
rkisp1表示新版本isp驱动,在devicetree中有如下两个节点
rkisp1@ff910000
rkisp1@ff920000
cif_isp表示就版本isp驱动,在devicetree中有如下两个节点
cif_isp@ff910000
cif_isp@ff920000
CIS(cmos image sensor)摄像头驱动
查看驱动版本信息(dmesg | grep rkisp)
rkisp1 ff910000.rkisp1: rkisp1 driver version: v00.01.02
或查看节点信息
cat /sys/module/video_rkisp1/parameters/version
MIPI CIS注册
下面以isp0和ov13850为例进行说明(只做链路联通实例,其余信息省略)
连接情况sensor<-->mipi_dphy<-->isp
//sensor
ov13850:ov13850@10 {
port {
ucam_out0: endpoint {
remote-endpoint = <&mipi_in_ucam0>; //mipi dphy端的port名
data-lanes = <1>; // 1lane
//data-lanes = <1 2>; // 2lane
//data-lanes = <1 2 3 4>; // 4lane
};
};
//mipi dphy
&mipi_dphy_rx0 {
port {
port@0 {
mipi_in_ucam0: endpoint@1 {
remote-endpoint = <&ucam_out0>; //sensor端的port名
};
};
port@1 {
dphy_rx0_out: endpoint@0 {
remote-endpoint = <&isp0_mipi_in>; //isp端的port名
};
};
};
};
//isp
&rkisp1_0 {
port {
isp0_mipi_in: endpoint@0 {
remote-endpoint = <dphy_rx0_out>; //mipi dphy端的port名
};
};
};
&isp0_mmu {
status = "okay"; // isp驱动使用了iommu,所以isp iommu也需要打开
};
DVP CIS注册
两个DVP连接到一个ISP上(前,后摄像头)
// dvp sensor1
gc0312@21 {
port {
gc0312_out: endpoint {
remote-endpoint = <&dvp_in_fcam>;// isp端的port名
};
};
};
// dvp sensor2
gc2145@3c {
port {
gc2145_out: endpoint {
remote-endpoint = <&dvp_in_bcam>;// isp 端的 port 名
};
};
};
// isp
&rkisp1 {
ports {
port@0 {
dvp_in_fcam: endpoint@0 {
remote-endpoint = <&gc0312_out>; // sensor端port名
};
dvp_in_bcam: endpoint@1 {
remote-endpoint = <&gc2145_out>; // sensor端port名
};
};
};
};
使用media-ctl查看拓扑结构
[root@rk3399:/]# media-ctl -p
Media controller API version 0.1.0
Media device information
------------------------
driver rkisp1
model rkisp1
serial
bus info
hw revision 0x0
driver version 0.0.0
Device topology
- entity 1: rkisp1-isp-subdev (4 pads, 5 links)
type V4L2 subdev subtype Unknown flags 0
device node name /dev/v4l-subdev0
pad0: Sink
[fmt:SBGGR10_1X10/2112x1568 field:none
crop.bounds:(0,0)/2112x1568
crop:(0,0)/2112x1568]
<- "rockchip-mipi-dphy-rx":1 [ENABLED]
pad1: Sink
<- "rkisp1-input-params":0 [ENABLED]
pad2: Source
[fmt:YUYV8_2X8/2112x1568 field:none
crop.bounds:(0,0)/2112x1568
crop:(0,0)/2112x1568]
-> "rkisp1_selfpath":0 [ENABLED]
-> "rkisp1_mainpath":0 [ENABLED]
pad3: Source
-> "rkisp1-statistics":0 [ENABLED]
- entity 2: rkisp1_mainpath (1 pad, 1 link)
type Node subtype V4L flags 0
device node name /dev/video0
pad0: Sink
<- "rkisp1-isp-subdev":2 [ENABLED]
- entity 3: rkisp1_selfpath (1 pad, 1 link)
type Node subtype V4L flags 0
device node name /dev/video1
pad0: Sink
<- "rkisp1-isp-subdev":2 [ENABLED]
- entity 4: rkisp1-statistics (1 pad, 1 link)
type Node subtype V4L flags 0
device node name /dev/video2
pad0: Sink
<- "rkisp1-isp-subdev":3 [ENABLED]
- entity 5: rkisp1-input-params (1 pad, 1 link)
type Node subtype V4L flags 0
device node name /dev/video3
pad0: Source
-> "rkisp1-isp-subdev":1 [ENABLED]
- entity 6: rockchip-mipi-dphy-rx (2 pads, 2 links)
type V4L2 subdev subtype Unknown flags 0
device node name /dev/v4l-subdev1
pad0: Sink
[fmt:SBGGR10_1X10/2112x1568 field:none]
<- "ov13850 1-0036":0 [ENABLED]
pad1: Source
[fmt:SBGGR10_1X10/2112x1568 field:none]
-> "rkisp1-isp-subdev":0 [ENABLED]
- entity 7: ov13850 1-0036 (1 pad, 1 link)
type V4L2 subdev subtype Sensor flags 0
device node name /dev/v4l-subdev2
pad0: Source
[fmt:SBGGR10_1X10/2112x1568@10000/300000 field:none]
-> "rockchip-mipi-dphy-rx":0 [ENABLED]
摄像头应用
Buildroot中手动编译camera_engine
make -C /path/to/buildroot O=/path/to/buildroot/output/rockchip_rk3399 camera_engine_rkisp-rebuild
Buildroot编译中间产物目录/path/to/buildroot/output/rockchip_rk3399/build Buildroot目标文件系统目录/path/to/buildroot/output/rockchip_rk3399/target
拷贝生成的文件到目标文件系统中
camera_engine_rkisp-1.0/build/lib/librkisp.so ==> /path/to/target/usr/lib/
camera_engine_rkisp-1.0/plugins/3a/rkiq/af/lib64/librkisp_af.so ==> usr/lib/rkisp/af/
camera_engine_rkisp-1.0/plugins/3a/rkiq/aec/lib64/librkisp_aec.so ==> usr/lib/rkisp/ae/
camera_engine_rkisp-1.0/plugins/3a/rkiq/awb/lib64/librkisp_awb.so ==> usr/lib/rkisp/awb/
camera_engine_rkisp-1.0/build/lib/libgstrkisp.so ==> usr/lib/gstreamer-1.0/
buildroot SDK中(buildroot/package/rockchip/camera_engine_rkisp/camera_engine_rkisp.mk)已完成上述拷贝
$(INSTALL) -D -m 644 $(@D)/build/lib/librkisp.so $(TARGET_DIR)/usr/lib/
$(INSTALL) -D -m 644 $(@D)/plugins/3a/rkiq/af/$(CAMERA_ENGINE_RKISP_LIB)/librkisp_af.so $(RKafDir)/
$(INSTALL) -D -m 644 $(@D)/plugins/3a/rkiq/aec/$(CAMERA_ENGINE_RKISP_LIB)/librkisp_aec.so $(RKaeDir)/
$(INSTALL) -D -m 644 $(@D)/plugins/3a/rkiq/awb/$(CAMERA_ENGINE_RKISP_LIB)/librkisp_awb.so $(RKawbDir)/
$(INSTALL) -D -m 644 $(@D)/build/lib/libgstrkisp.so $(RKgstDir)/
IQ文件会全部拷贝到etc/iqfiles目录下
$(INSTALL) -D -m 644 $(@D)/iqfiles/*.xml $(TARGET_DIR)/etc/iqfiles/
当系统启动后,如下脚本来匹配当前连接的sensor来设置链接/etc/cam_iq.xml
/etc/init.d/S50set_pipeline start
Test mipi camera(on Buildroot system)
Test mipi camera using gstreamer(camera_rkisp.sh)
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/gstreamer-1.0
gst-launch-1.0 rkisp device=/dev/video0 io-mode=1 analyzer=1 enable-3a=1 path-iqf=/etc/cam_iq.xml ! video/x-raw,format=NV12,width=640,height=480, framerate=30/1 ! videoconvert ! autovideosink
Dump picture to file(using 7yuv to view the file)
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/gstreamer-1.0
gst-launch-1.0 rkisp device=/dev/video0 io-mode=1 analyzer=1 enable-3a=1 path-iqf=/etc/cam_iq.xml ! video/x-raw,format=NV12,width=640,height=480, framerate=30/1 ! videoconvert ! filesink location=/tmp/streamer.yuv
Dump picture to file(using 7yuv to view the file)
rkisp_demo --device=/dev/video0 --output=/tmp/streamer.yuv
抓取isp输出的yuv数据
使用如下命令获取yuv数据(7yuv中用格式1280x720 YUV420 planar NV21查看)
media-ctl -d /dev/media0 --set-v4l2 '"ov13850 1-0036":0[fmt:SBGGR10_1X10/2112x1568]'
media-ctl -d /dev/media0 --set-v4l2 '"rkisp1-isp-subdev":0[fmt:SBGGR10_1X10/2112x1568]'
media-ctl -d /dev/media0 --set-v4l2 '"rkisp1-isp-subdev":0[crop:(0,0)/2112x1568]'
media-ctl -d /dev/media0 --set-v4l2 '"rkisp1-isp-subdev":2[fmt:YUYV8_2X8/2112x1568]'
media-ctl -d /dev/media0 --set-v4l2 '"rkisp1-isp-subdev":2[crop:(0,0)/2112x1568]'
v4l2-ctl -d /dev/video0 \
--set-selection=target=crop,top=336,left=432,width=1920,height=1080 \
--set-fmt-video=width=1280,height=720,pixelformat=NV21 \
--stream-mmap=3 --stream-to=/tmp/mp.out --stream-count=20 --stream-poll
抓取Sensor输出的Raw Bayer原始数据
使用如下命令获取raw bayer数据
media-ctl -d /dev/media0 --set-v4l2 '"ov13850 1-0036":0[fmt:SBGGR10_1X10/2112x1568]'
media-ctl -d /dev/media0 --set-v4l2 '"rkisp1-isp-subdev":0[fmt:SBGGR10_1X10/2112x1568]'
media-ctl -d /dev/media0 --set-v4l2 '"rkisp1-isp-subdev":0[crop:(0,0)/2112x1568]'
media-ctl -d /dev/media0 --set-v4l2 '"rkisp1-isp-subdev":2[fmt:SBGGR10_1X10/2112x1568]'
media-ctl -d /dev/media0 --set-v4l2 '"rkisp1-isp-subdev":2[crop:(0,0)/2112x1568]'
v4l2-ctl -d /dev/video0 --set-ctrl 'exposure=1216,analogue_gain=10' \
--set-selection=target=crop,top=0,left=0,width=2592,height=1944 \
--set-fmt-video=width=2112,height=1568,pixelformat=SBGGR10 \
--stream-mmap=3 --stream-to=/tmp/mp.raw.out --stream-count=1 --stream-poll
USB摄像头使用(linux distro系统)
使用如下命令使用UVC摄像头(非root用户, /dev/video0)
export DISPLAY=:0.0
gst-launch-1.0 v4l2src device=/dev/video0 ! mppvideodec ! rkximagesink sync=false
指定输出格式和大小
gst-launch-1.0 v4l2src device=/dev/video0 ! "image/jpeg,width=640,height=480,framerate=30/1" ! mppvideodec ! rkximagesink sync=false
如果是用root用户则按如下执行(这里假设切换到linaro用户)
export DISPLAY=:0.0
su linaro -c "gst-launch-1.0 v4l2src device=/dev/video0 ! mppvideodec ! rkximagesink sync=false"
指定输出格式和大小
su linaro -c 'gst-launch-1.0 v4l2src device=/dev/video0 ! "image/jpeg,width=640,height=480,framerate=30/1" ! mppvideodec ! rkximagesink sync=false'