行业知识
RK3568/RK3566 mipi双摄调试（gc2093+gc2053）
2026-11-08 03:24:26
来源：互联网转载
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。
| type | Max bandwidth | NUM | Mode | |
| DPHY | DPHY v1.2 | 2.5Gbps x 4 lanes | 1 | 4lane or 2lane+2lane |
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。
| 接口 | 数量 | 输入 | 输出 |
| VICAP | 1 | BT601 YCbCr 422 8bit, RAW 8/10/12 BT656 YCbCr 422 8bit 逐行/隔行 BT1120 YCbCr 422 16bit 逐行/隔行，单/双边沿采样 2/4 通道交错BT656/BT1120 YCbCr 422 8/16bit 逐行/隔行 MIPI CSI 4路IDs虚拟通道 MIPI CSI RAW8/10/12/14, YUV422 | NV16/NV12/YUV400/YUYV 紧凑/非紧凑 RAW |
③ISP
RK3568ISP属于RKISP V2.1的版本
| 吞吐率 | 最大分辨率 | 输入格式 | |
| 单ISP 单CIS | 8M@30 | 4096x2304 | raw8/raw10/raw12/YUV422 |
（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)/* * Copyright (c) 2022 Rockchip Electronics Co., Ltd. * */&csi2_dphy_hw {status = "okay";};/* * csi2_dphy1 & csi2_dphy2 used for split mode, * csi2_dphy0 used for full mode, * full mode and split mode are mutually exclusive */&csi2_dphy0 {status = "disabled";/delete-node/ ports;};&csi2_dphy1 {status = "okay";/* * dphy1 only used for split mode, * can be used concurrently with dphy2 * full mode and split mode are mutually exclusive */ports {#address-cells = ;#size-cells = ;port@0 {reg = ;#address-cells = ;#size-cells = ;mipi_in_gc2093_rgb: endpoint@2 {reg = ;remote-endpoint = ;data-lanes = ;};};port@1 {reg = ;#address-cells = ;#size-cells = ;dphy1_out: endpoint@1 {reg = ;remote-endpoint = ;};};};};&csi2_dphy2 {status = "okay";/* * dphy2 only used for split mode, * can be used concurrently with dphy1 * full mode and split mode are mutually exclusive */ports {#address-cells = ;#size-cells = ;port@0 {reg = ;#address-cells = ;#size-cells = ;mipi_in_gc2053_ir: endpoint@1 {reg = ;remote-endpoint = ;data-lanes = ;};};port@1 {reg = ;#address-cells = ;#size-cells = ;dphy2_out: endpoint@1 {reg = ;remote-endpoint = ;};};};};&mipi_csi2 {status = "okay";ports {#address-cells = ;#size-cells = ;port@0 {reg = ;#address-cells = ;#size-cells = ;mipi_csi2_input: endpoint@1 {reg = ;remote-endpoint = ;data-lanes = ;};};port@1 {reg = ;#address-cells = ;#size-cells = ;mipi_csi2_output: endpoint@0 {reg = ;remote-endpoint = ;data-lanes = ;};};};};&i2c4 {status = "okay";/delete-node/ gc8034@37;/delete-node/ os04a10@36;/delete-node/ ov5695@36;gc2053: gc2053@37 {status = "okay";compatible = "galaxycore,gc2053";reg = ;clocks = ;clock-names = "xvclk";power-domains = ;pinctrl-names = "default";pinctrl-0 = ;reset-gpios = ;pwdn-gpios = ;rockchip,camera-module-index = ;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 = ;data-lanes = ;};};};gc2093: gc2093@7e {status = "okay";compatible = "galaxycore,gc2093";reg = ;clocks = ;clock-names = "xvclk";power-domains = ;pinctrl-names = "default";pinctrl-0 = ;reset-gpios = ;pwdn-gpios = ;rockchip,camera-module-index = ;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 = ;data-lanes = ;};};};};&rkcif {status = "okay";};&rkcif_mipi_lvds {status = "okay";port {cif_mipi_in: endpoint {remote-endpoint = ;data-lanes = ;};};};&rkcif_mipi_lvds_sditf {status = "okay";port {mipi_lvds_sditf: endpoint {remote-endpoint = ;data-lanes = ; };};};&rkcif_mmu {status = "okay";};&rkisp {status = "okay";max-input = ;};&rkisp_mmu {status = "okay";};&rkisp_vir0 {status = "okay";/* gc2053-ir->dphy2->isp_vir0 */port {#address-cells = ;#size-cells = ;isp_in1: endpoint@0 {reg = ;remote-endpoint = ;};};};&rkisp_vir1 {status = "okay";/* gc2093-rgb->dphy1->csi2->vicap *//* vicap sditf->isp_vir1 */port {#address-cells = ;#size-cells = ;isp_in2: endpoint@0 {reg = ;remote-endpoint = ;};};}; 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";/* parameters for do cif reset detecting: * index0: monitor mode, 0 for idle, 1 for continue, 2 for trigger, 3 for hotplug (for nextchip) * index1: the frame id to start timer, min is 2 * index2: frame num of monitoring cycle * index3: err time for keep monitoring after finding out err (ms) * index4: csi2 err reference val for resetting */rockchip,cif-monitor = ; port { cif_mipi_in: endpoint { remote-endpoint = ; data-lanes = ; }; };}; （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。
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