// SPDX-License-Identifier: GPL-2.0-only // SPDX-FileCopyrightText: Copyright (c) 2023-2024, NVIDIA CORPORATION & AFFILIATES. All rights reserved. /dts-v1/; /plugin/; #define CAM0_RST TEGRA234_MAIN_GPIO(H, 3) #define CAM0_PWDN TEGRA234_MAIN_GPIO(H, 6) #define CAM1_PWDN TEGRA234_MAIN_GPIO(AC, 0) #define CAM_I2C_MUX TEGRA234_AON_GPIO(CC, 3) #include / { overlay-name = "Camera IMX219-A and IMX477-C"; jetson-header-name = "Jetson 24pin CSI Connector"; compatible = JETSON_COMPATIBLE_P3768; /* IMX477 connected on cam0 and IMX219 connected on cam1 port */ fragment@0 { target-path = "/"; __overlay__ { tegra-capture-vi { num-channels = <2>; ports { #address-cells = <1>; #size-cells = <0>; vi_port0: port@0 { reg = <0>; rbpcv2_imx219_vi_in0: endpoint { port-index = <1>; bus-width = <2>; remote-endpoint = <&rbpcv2_imx219_csi_out0>; }; }; port@1 { reg = <1>; rbpcv3_imx477_vi_in1: endpoint { port-index = <2>; bus-width = <2>; remote-endpoint = <&rbpcv3_imx477_csi_out1>; }; }; }; }; tegra-camera-platform { compatible = "nvidia, tegra-camera-platform"; /** * Physical settings to calculate max ISO BW * * num_csi_lanes = <>; * Total number of CSI lanes when all cameras are active * * max_lane_speed = <>; * Max lane speed in Kbit/s * * min_bits_per_pixel = <>; * Min bits per pixel * * vi_peak_byte_per_pixel = <>; * Max byte per pixel for the VI ISO case * * vi_bw_margin_pct = <>; * Vi bandwidth margin in percentage * * max_pixel_rate = <>; * Max pixel rate in Kpixel/s for the ISP ISO case * * isp_peak_byte_per_pixel = <>; * Max byte per pixel for the ISP ISO case * * isp_bw_margin_pct = <>; * Isp bandwidth margin in percentage */ num_csi_lanes = <4>; max_lane_speed = <1500000>; min_bits_per_pixel = <10>; vi_peak_byte_per_pixel = <2>; vi_bw_margin_pct = <25>; max_pixel_rate = <7500000>; isp_peak_byte_per_pixel = <5>; isp_bw_margin_pct = <25>; /** * The general guideline for naming badge_info contains 3 parts, and is as follows, * The first part is the camera_board_id for the module; if the module is in a FFD * platform, then use the platform name for this part. * The second part contains the position of the module, ex. "rear" or "front". * The third part contains the last 6 characters of a part number which is found * in the module's specsheet from the vendor. */ modules { cam_module0: module0 { badge = "jakku_front_RBP194"; position = "front"; orientation = "1"; cam_module0_drivernode0: drivernode0 { pcl_id = "v4l2_sensor"; sysfs-device-tree = "/sys/firmware/devicetree/base/bus@0/cam_i2cmux/i2c@0/rbpcv2_imx219_a@10"; }; cam_module0_drivernode1: drivernode1 { pcl_id = "v4l2_lens"; sysfs-device-tree = "/sys/firmware/devicetree/base/bus@0/lens_imx219@RBPCV2"; }; }; module1 { badge = "jakku_rear_RBPCV3"; position = "rear"; orientation = "1"; drivernode0 { pcl_id = "v4l2_sensor"; sysfs-device-tree = "/sys/firmware/devicetree/base/bus@0/cam_i2cmux/i2c@1/rbpcv3_imx477_c@1a"; }; }; }; }; bus@0 { host1x@13e00000 { nvcsi@15a00000 { num-channels = <2>; #address-cells = <1>; #size-cells = <0>; csi_chan0: channel@0 { reg = <0>; ports { #address-cells = <1>; #size-cells = <0>; csi_chan0_port0: port@0 { reg = <0>; rbpcv2_imx219_csi_in0: endpoint@0 { port-index = <1>; bus-width = <2>; remote-endpoint = <&rbpcv2_imx219_out0>; }; }; csi_chan0_port1: port@1 { reg = <1>; rbpcv2_imx219_csi_out0: endpoint@1 { remote-endpoint = <&rbpcv2_imx219_vi_in0>; }; }; }; }; channel@1 { reg = <1>; ports { #address-cells = <1>; #size-cells = <0>; port@0 { reg = <0>; rbpcv3_imx477_csi_in1: endpoint@2 { port-index = <2>; bus-width = <2>; remote-endpoint = <&rbpcv3_imx477_out1>; }; }; port@1 { reg = <1>; rbpcv3_imx477_csi_out1: endpoint@3 { remote-endpoint = <&rbpcv3_imx477_vi_in1>; }; }; }; }; }; }; cam_i2cmux { status = "okay"; compatible = "i2c-mux-gpio"; #address-cells = <1>; #size-cells = <0>; mux-gpios = <&gpio_aon CAM_I2C_MUX GPIO_ACTIVE_HIGH>; i2c-parent = <&cam_i2c>; i2c@0 { status = "okay"; reg = <0>; #address-cells = <1>; #size-cells = <0>; rbpcv2_imx219_a@10 { reset-gpios = <&gpio CAM0_PWDN GPIO_ACTIVE_HIGH>; compatible = "sony,imx219"; /* I2C device address */ reg = <0x10>; /* V4L2 device node location */ devnode = "video0"; /* Physical dimensions of sensor */ physical_w = "3.680"; physical_h = "2.760"; sensor_model = "imx219"; use_sensor_mode_id = "true"; /** * ==== Modes ==== * A modeX node is required to support v4l2 driver * implementation with NVIDIA camera software stack * * == Signal properties == * * phy_mode = ""; * PHY mode used by the MIPI lanes for this device * * tegra_sinterface = ""; * CSI Serial interface connected to tegra * Incase of virtual HW devices, use virtual * For SW emulated devices, use host * * pix_clk_hz = ""; * Sensor pixel clock used for calculations like exposure and framerate * * readout_orientation = "0"; * Based on camera module orientation. * Only change readout_orientation if you specifically * Program a different readout order for this mode * * == Image format Properties == * * active_w = ""; * Pixel active region width * * active_h = ""; * Pixel active region height * * pixel_t = ""; * The sensor readout pixel pattern * * line_length = ""; * Pixel line length (width) for sensor mode. * * == Source Control Settings == * * Gain factor used to convert fixed point integer to float * Gain range [min_gain/gain_factor, max_gain/gain_factor] * Gain step [step_gain/gain_factor is the smallest step that can be configured] * Default gain [Default gain to be initialized for the control. * use min_gain_val as default for optimal results] * Framerate factor used to convert fixed point integer to float * Framerate range [min_framerate/framerate_factor, max_framerate/framerate_factor] * Framerate step [step_framerate/framerate_factor is the smallest step that can be configured] * Default Framerate [Default framerate to be initialized for the control. * use max_framerate to get required performance] * Exposure factor used to convert fixed point integer to float * For convenience use 1 sec = 1000000us as conversion factor * Exposure range [min_exp_time/exposure_factor, max_exp_time/exposure_factor] * Exposure step [step_exp_time/exposure_factor is the smallest step that can be configured] * Default Exposure Time [Default exposure to be initialized for the control. * Set default exposure based on the default_framerate for optimal exposure settings] * * gain_factor = ""; (integer factor used for floating to fixed point conversion) * min_gain_val = ""; (ceil to integer) * max_gain_val = ""; (ceil to integer) * step_gain_val = ""; (ceil to integer) * default_gain = ""; (ceil to integer) * Gain limits for mode * * exposure_factor = ""; (integer factor used for floating to fixed point conversion) * min_exp_time = ""; (ceil to integer) * max_exp_time = ""; (ceil to integer) * step_exp_time = ""; (ceil to integer) * default_exp_time = ""; (ceil to integer) * Exposure Time limits for mode (sec) * * framerate_factor = ""; (integer factor used for floating to fixed point conversion) * min_framerate = ""; (ceil to integer) * max_framerate = ""; (ceil to integer) * step_framerate = ""; (ceil to integer) * default_framerate = ""; (ceil to integer) * Framerate limits for mode (fps) * * embedded_metadata_height = ""; * Sensor embedded metadata height in units of rows. * If sensor does not support embedded metadata value should be 0. */ mode0 { /* IMX219_MODE_3280x2464_21FPS */ mclk_khz = "24000"; num_lanes = "2"; tegra_sinterface = "serial_b"; lane_polarity = "6"; phy_mode = "DPHY"; discontinuous_clk = "yes"; dpcm_enable = "false"; cil_settletime = "0"; active_w = "3280"; active_h = "2464"; mode_type = "bayer"; pixel_phase = "rggb"; csi_pixel_bit_depth = "10"; readout_orientation = "90"; line_length = "3448"; inherent_gain = "1"; mclk_multiplier = "9.33"; pix_clk_hz = "182400000"; 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 = "21000000"; /* 21.0 fps */ step_framerate = "1"; default_framerate = "21000000"; /* 21.0 fps */ min_exp_time = "13"; /* us */ max_exp_time = "683709"; /* us */ step_exp_time = "1"; default_exp_time = "2495"; /* us */ embedded_metadata_height = "2"; }; mode1 { /* IMX219_MODE_3280x1848_28FPS */ mclk_khz = "24000"; num_lanes = "2"; tegra_sinterface = "serial_b"; lane_polarity = "6"; phy_mode = "DPHY"; discontinuous_clk = "yes"; dpcm_enable = "false"; cil_settletime = "0"; active_w = "3280"; active_h = "1848"; mode_type = "bayer"; pixel_phase = "rggb"; csi_pixel_bit_depth = "10"; readout_orientation = "90"; line_length = "3448"; inherent_gain = "1"; mclk_multiplier = "9.33"; pix_clk_hz = "182400000"; 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 = "28000000"; /* 28.0 fps */ step_framerate = "1"; default_framerate = "28000000"; /* 28.0 fps */ min_exp_time = "13"; /* us */ max_exp_time = "683709"; /* us */ step_exp_time = "1"; default_exp_time = "2495"; /* us */ embedded_metadata_height = "2"; }; mode2 { /* IMX219_MODE_1920x1080_30FPS */ mclk_khz = "24000"; num_lanes = "2"; tegra_sinterface = "serial_b"; lane_polarity = "6"; phy_mode = "DPHY"; discontinuous_clk = "yes"; dpcm_enable = "false"; cil_settletime = "0"; active_w = "1920"; active_h = "1080"; mode_type = "bayer"; pixel_phase = "rggb"; csi_pixel_bit_depth = "10"; readout_orientation = "90"; line_length = "3448"; inherent_gain = "1"; mclk_multiplier = "9.33"; pix_clk_hz = "182400000"; 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 = "2"; }; mode3 { /* IMX219_MODE_1640x1232_30FPS */ mclk_khz = "24000"; num_lanes = "2"; tegra_sinterface = "serial_b"; lane_polarity = "6"; phy_mode = "DPHY"; discontinuous_clk = "yes"; dpcm_enable = "false"; cil_settletime = "0"; active_w = "1640"; active_h = "1232"; mode_type = "bayer"; pixel_phase = "rggb"; csi_pixel_bit_depth = "10"; readout_orientation = "90"; line_length = "3448"; inherent_gain = "1"; mclk_multiplier = "9.33"; pix_clk_hz = "182400000"; 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"; /* 60.0 fps */ step_framerate = "1"; default_framerate = "30000000"; /* 60.0 fps */ min_exp_time = "13"; /* us */ max_exp_time = "683709"; /* us */ step_exp_time = "1"; default_exp_time = "2495"; /* us */ embedded_metadata_height = "2"; }; mode4 { /* IMX219_MODE_1280x720_60FPS */ mclk_khz = "24000"; num_lanes = "2"; tegra_sinterface = "serial_b"; lane_polarity = "6"; phy_mode = "DPHY"; discontinuous_clk = "yes"; dpcm_enable = "false"; cil_settletime = "0"; active_w = "1280"; active_h = "720"; mode_type = "bayer"; pixel_phase = "rggb"; csi_pixel_bit_depth = "10"; readout_orientation = "90"; line_length = "3448"; inherent_gain = "1"; mclk_multiplier = "9.33"; pix_clk_hz = "182400000"; 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 = "60000000"; /* 60.0 fps */ step_framerate = "1"; default_framerate = "60000000"; /* 60.0 fps */ min_exp_time = "13"; /* us */ max_exp_time = "683709"; /* us */ step_exp_time = "1"; default_exp_time = "2495"; /* us */ embedded_metadata_height = "2"; }; ports { #address-cells = <1>; #size-cells = <0>; port@0 { reg = <0>; rbpcv2_imx219_out0: endpoint { port-index = <1>; bus-width = <2>; remote-endpoint = <&rbpcv2_imx219_csi_in0>; }; }; }; }; }; i2c@1 { status = "okay"; reg = <1>; #address-cells = <1>; #size-cells = <0>; rbpcv2_imx219_c@10 { status = "disabled"; }; rbpcv3_imx477_c@1a { reset-gpios = <&gpio CAM1_PWDN GPIO_ACTIVE_HIGH>; compatible = "ridgerun,imx477"; /* I2C device address */ reg = <0x1a>; /* V4L2 device node location */ devnode = "video1"; /* Physical dimensions of sensor */ physical_w = "3.680"; physical_h = "2.760"; sensor_model = "imx477"; use_sensor_mode_id = "true"; mode0 { /* IMX477_MODE_3840x2160 */ mclk_khz = "24000"; num_lanes = "2"; tegra_sinterface = "serial_c"; phy_mode = "DPHY"; discontinuous_clk = "no"; dpcm_enable = "false"; cil_settletime = "0"; lane_polarity = "0"; active_w = "3840"; active_h = "2160"; mode_type = "bayer"; pixel_phase = "rggb"; csi_pixel_bit_depth = "10"; readout_orientation = "90"; line_length = "11200"; inherent_gain = "1"; mclk_multiplier = "80"; pix_clk_hz = "300000000"; gain_factor = "16"; framerate_factor = "1000000"; exposure_factor = "1000000"; min_gain_val = "16"; /* 1.00x */ max_gain_val = "356"; /* 22x */ 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 = "2"; }; mode1 { /* IMX477_MODE_1920X1080 */ mclk_khz = "24000"; num_lanes = "2"; tegra_sinterface = "serial_c"; phy_mode = "DPHY"; discontinuous_clk = "no"; dpcm_enable = "false"; cil_settletime = "0"; lane_polarity = "0"; active_w = "1920"; active_h = "1080"; mode_type = "bayer"; pixel_phase = "rggb"; csi_pixel_bit_depth = "10"; readout_orientation = "90"; line_length = "7000"; inherent_gain = "1"; mclk_multiplier = "80"; pix_clk_hz = "300000000"; gain_factor = "16"; framerate_factor = "1000000"; exposure_factor = "1000000"; min_gain_val = "16"; /* 1.00x */ max_gain_val = "356"; /* 22x */ 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 = "60000000"; /* 60.0 fps */ step_framerate = "1"; default_framerate = "60000000"; /* 60.0 fps */ min_exp_time = "13"; /* us */ max_exp_time = "683709"; /* us */ step_exp_time = "1"; default_exp_time = "2495"; /* us */ embedded_metadata_height = "2"; }; ports { #address-cells = <1>; #size-cells = <0>; port@0 { reg = <0>; rbpcv3_imx477_out1: endpoint { port-index = <2>; bus-width = <2>; remote-endpoint = <&rbpcv3_imx477_csi_in1>; }; }; }; }; }; }; lens_imx219@RBPCV2 { min_focus_distance = "0.0"; hyper_focal = "0.0"; focal_length = "3.04"; f_number = "2.0"; aperture = "0.0"; }; gpio@6000d000 { camera-control-output-low { gpio-hog; output-low; gpios = ; label = "cam1-pwdn", "cam0-pwdn"; }; }; }; }; }; };