fix devicetree for Orin NX/Nano

[flixr]

Fix device tree for cam0 on Orin NX/Nano on Auvidea JNX42.

Tested on Orin NX with two IMX296.

[xaprier]

We managed to get frames from OrinNano with 2 * IMX568 cameras. After a bunch of tries we could get frames from 2 csi ports at the same time(csi port 0 and 1) in Orin Nano with that device tree:

/*
 * Copyright (c) 2023, Vision Components GmbH.  All rights reserved.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
 * more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include <dt-bindings/media/camera.h>

// ------------------------------------------------------------------------------------------------
//  Driver Configuration for NVIDIA Jetson Orin Nano on NVIDIA Jetson Orin Nano Developer Kit
// ------------------------------------------------------------------------------------------------
#define VC_MIPI_CAM_1       1   // 1: Enabled, 0: Disabled  (serial_a => CSI Port 0 => VI Stream 0)
#define VC_MIPI_CAM_0       1   // 1: Enabled, 0: Disabled  (serial_c => CSI Port 2 => VI Stream 2)
// ------------------------------------------------------------------------------------------------
//  Supported number of lanes
// -----+------------------------------------------------------------------------------------------
//  1   | OV7251, IMX296, IMX297
//  2   | OV9281, IMX264, IMX265
//  2,4 | IMX178, IMX183, IMX226, IMX250, IMX252, IMX273, IMX290, IMX327, IMX335, IMX392, 
//      | IMX412, IMX415, IMX568
// -----+------------------------------------------------------------------------------------------
#define VC_MIPI_LANES       2   // 1, 2, 4 Lanes
// ------------------------------------------------------------------------------------------------
//  Embedded Metadata Height
// -----+------------------------------------------------------------------------------------------
//  0   | IMX178, IMX183, IMX226, IMX250, IMX252, IMX264, IMX265, IMX273, IMX392, OV7251, OV9281
//  1   | IMX290, IMX327, IMX335, IMX415, IMX462
//  2   | IMX296, IMX297, IMX412
//  4   | IMX565, IMX566, IMX567, IMX568
// -----+------------------------------------------------------------------------------------------
#define VC_MIPI_METADATA_H  "4" // "0", "1", "2", "4" Lines of meta data
// ------------------------------------------------------------------------------------------------
//   Sensor Manufacturer
// -----+------------------------------------------------------------------------------------------
//   1  | Sony Sensor (IMX)
//   2  | Omni Vision Sensor (OV)
// -----+------------------------------------------------------------------------------------------
#define VC_MIPI_MANUFACTURER 1
// ------------------------------------------------------------------------------------------------
//  GStreamer Support
// ------------------------------------------------------------------------------------------------
//  If you want to use GStreamer with nvarguscamerasrc you have to adjust this settings in the 
//  device tree below. The sections which have to be modified are marked by a comment. 
//  To find the correct parameter values please follow the instruction in the main README.md of 
//  this repository https://github.com/VC-MIPI-modules/vc_mipi_nvidia#gstreamer-support
// ------------------------------------------------------------------------------------------------

#if VC_MIPI_LANES == 1
    #define BUS_WIDTH 1
    #define NUM_LANES "1" 
    #define NUM_CSI_LANES 2
	#define PIX_CLK_HZ "150000000"
#endif
#if VC_MIPI_LANES == 2
    #define BUS_WIDTH 2
    #define NUM_LANES "2" 
    #define NUM_CSI_LANES 4
	#define PIX_CLK_HZ "300000000"
#endif
#if VC_MIPI_LANES == 4
    #define BUS_WIDTH 4
    #define NUM_LANES "4" 
    #define NUM_CSI_LANES 8
	#define PIX_CLK_HZ "600000000"
#endif

#if VC_MIPI_CAM_1 == 1 && VC_MIPI_CAM_0 == 1
    #define VC_MIPI_CAMERAS 2
#else
    #define VC_MIPI_CAMERAS 1
#endif

/ {
	tegra-capture-vi  {
		num-channels = <VC_MIPI_CAMERAS>;
		ports {
			#address-cells = <1>;
			#size-cells = <0>;
#if VC_MIPI_CAM_1 == 1
			vc_vi_port0: port@0 {
				reg = <0>;
				vc_vi_in0: endpoint {
					port-index = <1>;
					bus-width = <2>;
					remote-endpoint = <&vc_csi_out0>;
				};
			};
#endif
#if VC_MIPI_CAM_0 == 1
			vc_vi_port1: port@1 {
				reg = <1>;
				vc_vi_in1: endpoint {
					port-index = <2>;
					bus-width = <BUS_WIDTH>;
					remote-endpoint = <&vc_csi_out1>;
				};
			};
#endif
		}; // ports
	};

	host1x@13e00000 {
		nvcsi@15a00000 {
			num-channels = <VC_MIPI_CAMERAS>;
			#address-cells = <1>;
			#size-cells = <0>;
#if VC_MIPI_CAM_1 == 1
			vc_csi_chan0: channel@0 {
				reg = <0>;
				ports {
					#address-cells = <1>;
					#size-cells = <0>;
					vc_csi_chan0_port0: port@0 {
						reg = <0>;
						vc_csi_in0: endpoint@0 {
							port-index = <1>;
							bus-width = <2>;
							remote-endpoint = <&vc_mipi_out0>;
						};
					};
					vc_csi_chan0_port1: port@1 {
						reg = <1>;
						vc_csi_out0: endpoint@1 {
							remote-endpoint = <&vc_vi_in0>;
						};
					};
				};
			};
#endif
#if VC_MIPI_CAM_0 == 1
			vc_csi_chan1: channel@1 {
				reg = <1>;
				ports {
					#address-cells = <1>;
					#size-cells = <0>;
					vc_csi_chan1_port0: port@0 {
						reg = <0>;
						vc_csi_in1: endpoint@2 {
							port-index = <2>;
							bus-width = <BUS_WIDTH>;
							remote-endpoint = <&vc_mipi_out1>;
						};
					};
					vc_csi_chan1_port1: port@1 {
						reg = <1>;
						vc_csi_out1: endpoint@3 {
							remote-endpoint = <&vc_vi_in1>;
						};
					};
				};
			};
#endif
		};
	};

	cam_i2cmux {
#if VC_MIPI_CAM_1 == 1
		i2c@0 {
#if VC_MIPI_MANUFACTURER == 1
			vc_mipi_cam0: vc_mipi@1a {
				reg                     = <0x1a>;
#else
			vc_mipi_cam0: vc_mipi@60 {
				reg                     = <0x60>;
#endif
				compatible              = "nvidia,vc_mipi";
				devnode                 = "video0";
				use_sensor_mode_id      = "false";
				sensor_model            = "vc_mipi";

				num_lanes               = "2";
				trigger_mode            = "1";
				io_mode                 = "0";

				// ----------------------------------------------------
				// If you want to use GStreamer with nvarguscamerasrc
				// you have to adjust this settings
				physical_w              = "6.752";
				physical_h              = "5.612";
				// ----------------------------------------------------

				// This node is needed by the Tegra framework.
				// You don't have to change any settings if just want 
				// to use the V4L API.
				mode0 {
					num_lanes                = "2";
					tegra_sinterface         = "serial_b";
					embedded_metadata_height = VC_MIPI_METADATA_H;
					readout_orientation      = "0";
					lane_polarity            = "4";

					// ----------------------------------------------------
					// If you want to use GStreamer with nvarguscamerasrc
					// you have to adjust this settings. 
					active_l                 = "0";
					active_t                 = "0";
					active_w                 = "2464";
					active_h                 = "2048";
					mode_type                = "bayer";
					pixel_phase              = "rggb";
					csi_pixel_bit_depth      = "10";

					min_gain_val             = "0";         // mdB
					max_gain_val             = "48000";     // mdB
					step_gain_val            = "100";       // mdB
					default_gain             = "0";         // mdB

					min_exp_time             = "1";         // us
					max_exp_time             = "1000000";   // us
					step_exp_time            = "1";         // us
					default_exp_time         = "10000";     // us

					// For applications like argus_camera, there should 
					// be a minimal frame rate greater than zero!
					min_framerate            = "100";       // mHz
					max_framerate            = "41300";     // mHz
					step_framerate           = "100";       // mHz
					default_framerate        = "41300";     // mHz
					// ----------------------------------------------------

					gain_factor              = "1000";
					exposure_factor          = "1000000";
					framerate_factor         = "1000";
					inherent_gain            = "1";
					min_hdr_ratio            = "1";
					max_hdr_ratio            = "1";

					line_length              = "0";
					phy_mode                 = "DPHY";
					discontinuous_clk        = "no";
					mclk_khz                 = "24000";
					pix_clk_hz               = "300000000";
					mclk_multiplier          = "0.0";		// deprecated
					cil_settletime           = "0";
					dpcm_enable              = "false";
				};

				ports {
					#address-cells = <1>;
					#size-cells = <0>;
					port@0 {
						reg = <0>;
						vc_mipi_out0: endpoint {
							port-index = <1>;
							bus-width = <2>;
							remote-endpoint = <&vc_csi_in0>;
						};
					};
				};
			};
		};
#endif // VC_MIPI_CAM_1

#if VC_MIPI_CAM_0 == 1
		i2c@1 {
#if VC_MIPI_MANUFACTURER == 1
			vc_mipi_cam1: vc_mipi@1a {
				reg                     = <0x1a>;
#else
			vc_mipi_cam1: vc_mipi@60 {
				reg                     = <0x60>;
#endif
				compatible              = "nvidia,vc_mipi";
				devnode                 = "video1";
				use_sensor_mode_id      = "false";
				sensor_model            = "vc_mipi";

				num_lanes               = NUM_LANES;
				trigger_mode            = "1";
				io_mode                 = "0";

				// ----------------------------------------------------
				// If you want to use GStreamer with nvarguscamerasrc
				// you have to adjust this settings
				physical_w              = "6.752";
				physical_h              = "5.612";
				// ----------------------------------------------------

				// This node is needed by the Tegra framework.
				// You don't have to change any settings if just want 
				// to use the V4L API.
				mode0 {
					num_lanes                = NUM_LANES;
					tegra_sinterface         = "serial_c";
					embedded_metadata_height = VC_MIPI_METADATA_H;
					readout_orientation      = "0";
					lane_polarity            = "0";

					// ----------------------------------------------------
					// If you want to use GStreamer with nvarguscamerasrc
					// you have to adjust this settings. 
					active_l                 = "0";
					active_t                 = "0";
					active_w                 = "2464";
					active_h                 = "2048";
					mode_type                = "bayer";
					pixel_phase              = "rggb";
					csi_pixel_bit_depth      = "10";

					min_gain_val             = "0";         // mdB
					max_gain_val             = "48000";     // mdB
					step_gain_val            = "100";       // mdB
					default_gain             = "0";         // mdB

					min_exp_time             = "1";         // us
					max_exp_time             = "1000000";   // us
					step_exp_time            = "1";         // us
					default_exp_time         = "10000";     // us

					// For applications like argus_camera, there should 
					// be a minimal frame rate greater than zero!
					min_framerate            = "100";       // mHz
					max_framerate            = "41300";     // mHz
					step_framerate           = "100";       // mHz
					default_framerate        = "41300";     // mHz
					// ----------------------------------------------------

					gain_factor              = "1000";
					exposure_factor          = "1000000";
					framerate_factor         = "1000";
					inherent_gain            = "1";
					min_hdr_ratio            = "1";
					max_hdr_ratio            = "1";

					line_length              = "0";
					phy_mode                 = "DPHY";
					discontinuous_clk        = "no";
					mclk_khz                 = "24000";
					pix_clk_hz               = PIX_CLK_HZ;
					mclk_multiplier          = "0.0";		// deprecated
					cil_settletime           = "0";
					dpcm_enable              = "false";
				};

				ports {
					#address-cells = <1>;
					#size-cells = <0>;
					port@0 {
						reg = <0>;
						vc_mipi_out1: endpoint {
							port-index = <2>;
							bus-width = <BUS_WIDTH>;
							remote-endpoint = <&vc_csi_in1>;
						};
					};
				};
			};
		};
#endif // VC_MIPI_CAM_0
	};

	lens@vc_mipi {
		min_focus_distance  = "0.0";
		hyper_focal         = "0.0";
		focal_length        = "6.0";
		f_number            = "2.0";
		aperture            = "0.0";
	};
};

/ {
	tcp: tegra-camera-platform {
		compatible = "nvidia, tegra-camera-platform";

		num_csi_lanes = <NUM_CSI_LANES>;
		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>;

		modules {
#if VC_MIPI_CAM_1 == 1
			cam_module0: module0 {
				badge = "jakku_front_vc_mipi";
				position = "front";
				orientation = "1";
				cam_module0_drivernode0: drivernode0 {
					pcl_id = "v4l2_sensor";
#if VC_MIPI_MANUFACTURER == 1
					devname = "vc_mipi 9-001a";
					proc-device-tree = "/proc/device-tree/cam_i2cmux/i2c@0/vc_mipi@1a";
#else
					devname = "vc_mipi 9-0060";
					proc-device-tree = "/proc/device-tree/cam_i2cmux/i2c@0/vc_mipi@60";
#endif
				};
				cam_module0_drivernode1: drivernode1 {
					pcl_id = "v4l2_lens";
					proc-device-tree = "/proc/device-tree/lens@vc_mipi/";
				};
			};
#endif // VC_MIPI_CAM_1
			
#if VC_MIPI_CAM_0 == 1
			cam_module1: module1 {
				badge = "jakku_rear_vc_mipi";
				position = "rear";
				orientation = "1";
				cam_module1_drivernode0: drivernode0 {
					pcl_id = "v4l2_sensor";
#if VC_MIPI_MANUFACTURER == 1
					devname = "vc_mipi 10-001a";
					proc-device-tree = "/proc/device-tree/cam_i2cmux/i2c@1/vc_mipi@1a";
#else
					devname = "vc_mipi 10-0060";
					proc-device-tree = "/proc/device-tree/cam_i2cmux/i2c@1/vc_mipi@60";
#endif	
				};
				cam_module1_drivernode1: drivernode1 {
					pcl_id = "v4l2_lens";
					proc-device-tree = "/proc/device-tree/lens@vc_mipi/";
				};
			};
#endif // VC_MIPI_CAM_0
		};
	};
};

#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)

/ {
	cam_i2cmux {
		status = "okay";
		compatible = "i2c-mux-gpio";
		#address-cells = <1>;
		#size-cells = <0>;
		mux-gpios = <&tegra_aon_gpio CAM_I2C_MUX GPIO_ACTIVE_HIGH>;
		i2c-parent = <&cam_i2c>;
#if VC_MIPI_CAM_1 == 1
		i2c@0 {
			status = "okay";
			reg = <0>;
			#address-cells = <1>;
			#size-cells = <0>;
#if VC_MIPI_MANUFACTURER == 1
			vc_mipi@1a {
#else
			vc_mipi@60 {
#endif
				reset-gpios = <&tegra_main_gpio CAM0_PWDN GPIO_ACTIVE_HIGH>;
			};
		};
#endif
#if VC_MIPI_CAM_0 == 1
		i2c@1 {
			status = "okay";
			reg = <1>;
			#address-cells = <1>;
			#size-cells = <0>;
#if VC_MIPI_MANUFACTURER == 1
			vc_mipi@1a {
#else
            		vc_mipi@60 {
#endif
				reset-gpios = <&tegra_main_gpio CAM1_PWDN GPIO_ACTIVE_HIGH>;
			};
		};
#endif
	};

	gpio@2200000 {
		camera-control-output-low {
			gpio-hog;
			output-low;
			gpios = <CAM0_PWDN 0 CAM1_PWDN 0>;
			label = "cam0-pwdn","cam1-pwdn";
		};
	};
};

There are similar changes compare to updated branch. Setting VC_MIPI_LANES to 2 for all ports, port-index to <1> and tegra_sinterface to serial_b for CAM0. CAM1 can be 4 lanes but the cameras cannot be same fps in that situation. So setting the lanes same for 2 ports will set cameras as equal. I don't know if there is any settings to set 2 csi ports as 4 lanes but I don't think so. Because Orin Nano supports CAM0 port as 2 lane and CAM1 as 2-4 lane as datasheet's says in 3.2 Camera Connector.

Also there is another issue with driver and device tree. When we checked the table for GStreamer Properties active_w and active_h is 2464x2048 for device tree. But it has adjusted to 2464x2064 in the driver.