Xavier-Nx模块上使GPIO7和GPIO14为PWM8和PWM7_专栏

1.前言

使用GMSL的串行器和解串器9295 9296
两路imx390相机
有两种采集方式，一种是在前端拼接好作为一路采集；
另一种是独立采集，使用MIPI的虚拟通道；
下面为调试记录

2. 搭建环境

设备树：
只截取部分

{ num-channels = <2>;
            ports { #address-cells = <1>;
                #size-cells = <0>;
                port@0 { reg = <0>;
                    imx390_vi_in0: endpoint { vc-id = <0>;
                        port-index = <0>;
                        bus-width = <2>;
                        remote-endpoint = <&imx390_csi_out0>; }; };
                port@1 { reg = <1>;
                    imx390_vi_in1: endpoint { vc-id = <1>;
                        port-index = <0>;
                        bus-width = <2>;
                        remote-endpoint = <&imx390_csi_out1>; }; }; }; }

                        mode0 {/*mode IMX390_MODE_1920X1080_CROP_30FPS*/ mclk_khz = "24000";
                    num_lanes = "2";
                    tegra_sinterface = "serial_a";
                    vc_id = "0";
                    discontinuous_clk = "no";
                    dpcm_enable = "false";
                    cil_settletime = "0";
                    dynamic_pixel_bit_depth = "8";
                    csi_pixel_bit_depth = "8";
                    mode_type = "bayer";
                    pixel_phase = "rggb";
                    active_w = "256";
                    active_h = "1";
                    readout_orientation = "0";
                    line_length = "300";
                    inherent_gain = "1";
                    pix_clk_hz = "337500000";
                    serdes_pix_clk_hz = "337500000";
                    gain_factor = "10";
                    min_gain_val = "0"; /* dB */
                    max_gain_val = "300"; /* dB */
                    step_gain_val = "3"; /* 0.3 */
                    default_gain = "0";
                    min_hdr_ratio = "1";
                    max_hdr_ratio = "1";
                    framerate_factor = "1000000";
                    min_framerate = "30000000";
                    max_framerate = "30000000";
                    step_framerate = "1";
                    default_framerate = "30000000";
                    exposure_factor = "1000000";
                    min_exp_time = "59"; /*us, 2 lines*/
                    max_exp_time = "33333";
                    step_exp_time = "1";
                    default_exp_time = "33333";/* us */
                    embedded_metadata_height = "0"; };

驱动：使用官方驱动直接进行移植

/hardware/nvidia/platform/t19x/下的两个设备树文件夹。
jakku/是NX平台的DT来源，galen/包括Xavier平台的DT。

驱动加载ok

[ 5.334391] imx390 30-001b: probing v4l2 sensor.
[ 5.335400] imx390 30-001b: tegracam sensor driver:imx390_v2.0.6
[ 5.335498] imx390 30-001b: Detected IMX390 sensor
[ 5.335586] imx390 30-001c: probing v4l2 sensor.
[ 5.335767] imx390 30-001c: couldn’t create debugfs
[ 5.335970] imx390 30-001c: tegracam sensor driver:imx390_v2.0.6
[ 5.336033] imx390 30-001c: Detected IMX390 sensor

3. 视频采集

成功注册了Xavier NX板中的imx390驱动程序。
当采集数据时产生错误

 kworker/0:0-4     [000] ....   436.167754: rtos_queue_peek_from_isr_failed: tstamp:14032721488 queue:0x0bcbcf78
    v4l2-ctl-10518 [001] ....   436.255902: tegra_channel_set_stream: enable : 0x0
    v4l2-ctl-10518 [001] ....   436.255906: tegra_channel_set_stream: imx390 30-001c : 0x0
    v4l2-ctl-10518 [001] ....   436.255918: tegra_channel_set_stream: 15a00000.nvcsi--1 : 0x0
    v4l2-ctl-10518 [001] ....   436.255920: csi_s_stream: enable : 0x0
    v4l2-ctl-10518 [000] ....   436.261468: tegra_channel_set_power: imx390 30-001c : 0x0
    v4l2-ctl-10518 [000] ....   436.261483: camera_common_s_power: status : 0x0
    v4l2-ctl-10518 [000] ....   436.261617: tegra_channel_set_power: 15a00000.nvcsi--1 : 0x0
    v4l2-ctl-10518 [000] ....   436.261620: csi_s_power: enable : 0x0
 kworker/0:0-4     [000] ....   436.279807: rtos_queue_send_from_isr_failed: tstamp:14036251427 queue:0x0bcb41f8
 kworker/0:0-4     [000] ....   436.279823: rtos_queue_send_from_isr_failed: tstamp:14036251581 queue:0x0bcb8a60
 kworker/0:0-4     [000] ....   436.279825: rtos_queue_send_from_isr_failed: tstamp:14036251737 queue:0x0bcba5e0
 kworker/0:0-4     [000] ....   436.279826: rtos_queue_send_from_isr_failed: tstamp:14036251

（1）检查设备树的属性设置。
这些DT属性应该与实际的传感器MIPI信号相匹配。
VI引擎设置缓冲区接收信号根据设备树的属性

（2）看起来VI引擎没有收到帧信号。
看到PXL_SOF和PXL_EOF，表示帧的开始和结束。

（3）检查传感器像素时钟设置
相机软件使用传感器像素时钟来计算曝光和帧率的传感器。
必须正确配置pix_clk_hz

按照上面的思路，调整了设备树的各种参数
实现了2路拼接视频采集

4. 使用虚拟通道独立采集

（1）参考多虚拟通道驱动

设备树属性添加VC -id和vc_id的VC支持。
参考如下；

$L4T_Sources/r32.4.3/Linux_for_Tegra/source/public/hardware/nvidia/platform/t18x/common/kernel-dts/t18x-common-modules/tegra186-camera-imx390-a00.dtsi

（2）调整端口绑定关系

启用了4个虚拟通道，驱动程序也成功加载。
但是sub dev和/dev/ videoo2和/dev/video3没有注册。我
日志如下

[ 0.000000] Inode-cache hash table entries: 524288 (order: 10, 4194304 bytes)
[ 0.429603] DTS File Name: …/arch/arm64/boot/dts/…/…/…/…/…/…/hardware/nvidia/platform/t19x/jakku/kernel-dts/tegra194-p3668-all-p3509-0000.dts
[ 0.700706] DTS File Name: …/arch/arm64/boot/dts/…/…/…/…/…/…/hardware/nvidia/platform/t19x/jakku/kernel-dts/tegra194-p3668-all-p3509-0000.dts
[ 0.719456] iommu: Adding device 3180000.i2c to group 12
[ 0.788194] vdd-sdmmc1-sw: 3300 mV
[ 1.457135] t194-nvcsi 15a00000.nvcsi: initialized
[ 2.118946] tegra194_cpufreq_probe: platform driver Initialization: pass
[ 2.146144] misc nvmap: cvsram :dma coherent mem declare 0x0000000050000000,4194304
[ 2.993281] tegra194-isp5 14800000.isp: initialized
[ 2.999694] tegra194-vi5 15c10000.vi: using default number of vi channels, 36
[ 3.006886] tegra194-vi5 15c10000.vi: initialized
[ 3.010860] tegra194-vi5 15c10000.vi: subdev 15a00000.nvcsi–2 bound
[ 3.010929] tegra194-vi5 15c10000.vi: subdev 15a00000.nvcsi–1 bound
[ 5.429971] tegra194-vi5 15c10000.vi: subdev imx390 30-001b bound
[ 5.431616] tegra194-vi5 15c10000.vi: subdev imx390 30-001c bound
[ 0.573907] CPU4: Booted secondary processor [4e0f0040]
[ 5.429320] imx390 30-001b: probing v4l2 sensor.
[ 5.429919] imx390 30-001b: tegracam sensor driver:imx390_v2.0.6
[ 5.429971] tegra194-vi5 15c10000.vi: subdev imx390 30-001b bound
[ 5.431118] imx390 30-001b: Detected IMX390 sensor
[ 5.431185] imx390 30-001c: probing v4l2 sensor.
[ 5.431366] imx390 30-001c: couldn’t create debugfs
[ 5.431579] imx390 30-001c: tegracam sensor driver:imx390_v2.0.6
[ 5.431616] tegra194-vi5 15c10000.vi: subdev imx390 30-001c bound
[ 5.432205] imx390 30-001c: Detected IMX390 sensor
[ 5.432288] imx390 30-001d: probing v4l2 sensor.
[ 5.432466] imx390 30-001d: couldn’t create debugfs
[ 5.432664] imx390 30-001d: tegracam sensor driver:imx390_v2.0.6
[ 5.432700] imx390 30-001d: Detected IMX390 sensor
[ 5.432812] imx390 30-001e: probing v4l2 sensor.
[ 5.432950] imx390 30-001e: couldn’t create debugfs
[ 5.433124] imx390 30-001e: tegracam sensor driver:imx390_v2.0.6
[ 5.433154] imx390 30-001e: Detected IMX390 sensor

调整设备树的端口绑定关系；
可解决上述问题

（3）MIPI速率问题

驱动程序在850Mbps以上工作正常。
但它不能在低于850Mbps的数据速率下工作。
我已经改变了解决时间，然后也没有改善

传感器可以通过配置将速率从200mbps配到1.3Gbps。
通过在imx390中配置传感器和dtsi(像素时钟和定位时间)文件来测试不同的数据速率。
在1.3Gbps和900Mbps的速度下工作，但是当传感器配置为650、450、220和350 Mbps时，它就不工作了

（4）添加set_mode_delay_ms

Xavier的VI引擎是定时敏感的，
尝试添加set_mode_delay_ms属性来增加第一帧的超时值。

set_mode_delay_ms |捕获开始后第一帧的最大等待时间，以毫秒为单位。

修改如下：

调试后仍无变化

（5）尝试设置固定硬编码时间

$L4T_Sources/r32.4.4/Linux_for_Tegra/source/public/kernel/nvidia/drivers/media/platform/tegra/camera/nvcsi/csi5_fops.c

static int csi5_stream_set_config(struct tegra_csi_channel *chan, u32 stream_id, u32 csi_port, int csi_lanes)
{
...
        unsigned int cil_settletime = read_settle_time_from_dt(chan);

修改后也无变化