一、环境

二、imx415简介

品牌：SONY

型号：IMX415

接口：MIPI CSI

(资料图片仅供参考)

三、驱动移植

瑞芯微支持的摄像头，有个support list，

此次从该list中选择了IMX415

3.1 驱动源文件及对应脚本

RK提供的默认sdk里面已经将支持的所有摄像头驱动都添加到了内核，所以不需要移植该驱动了。

需确认下移植驱动对应的一些信息

3588_linux/3588_linux5.10_v1.0.5/kernel/drivers/media/i2c/imx415.c 3588_linux/3588_linux5.10_v1.0.5/kernel/drivers/media/i2c/Makefile 3588_linux/3588_linux5.10_v1.0.5/kernel/drivers/media/i2c/Kconfig 3588_linux/3588_linux5.10_v1.0.5/kernel/arch/arm64/configs/rockchip_linxu_defconfig

obj-$(CONFIG_VIDEO_IMX415)+= imx415.o

config VIDEO_IMX415tristate "Sony IMX415 sensor support"depends on I2C && VIDEO_V4L2 && VIDEO_V4L2_SUBDEV_APIdepends on MEDIA_CAMERA_SUPPORThelp  This is a Video4Linux2 sensor driver for the Sony  IMX415 camera.  To compile this driver as a module, choose M here: the  module will be called imx415.

CONFIG_VIDEO_IMX415=y

3.2 dts设备树

1）摄像头链接示意图

IMX415摄像头与SOC连接的主要的引脚有：i2c、rst、pwdn、mclk、MIPI Clk、MIPI DATA

2）电路图

由电路图可知，几个关键引脚关系：

reset信号：gpio4 A0

power0 down信号：gpio1 B0

I2C通道：3

clock：CLK_MIPI_CAMARAOUT_M3

3）设备树节点

// SPDX-License-Identifier: (GPL-2.0+ OR MIT)/* * Copyright (c) 2022 Rockchip Electronics Co., Ltd. * *// {compatible = "radxa,rock-5b", "rockchip,rk3588";camera_pwdn_gpio: camera-pwdn-gpio {status = "okay";compatible = "regulator-fixed";regulator-name = "camera_pwdn_gpio";regulator-always-on;regulator-boot-on;enable-active-high;gpio = < &gpio1 RK_PB0 GPIO_ACTIVE_HIGH >;pinctrl-names = "default";pinctrl-0 = < &cam_pwdn_gpio >;};clk_cam_24m: external-camera-clock-24m {status = "okay";compatible = "fixed-clock";clock-frequency = < 24000000 >;clock-output-names = "clk_cam_24m";#clock-cells = < 0 >;};};&i2c3 {status = "okay";imx415: imx415@1a {status = "okay";compatible = "sony,imx415";reg = < 0x1a >;clocks = < &cru CLK_MIPI_CAMARAOUT_M3 >;clock-names = "xvclk";pinctrl-names = "default";pinctrl-0 = < &mipim0_camera3_clk >;power-domains = < &power RK3588_PD_VI >;pwdn-gpios = < &gpio1 RK_PB0 GPIO_ACTIVE_HIGH >;reset-gpios = < &gpio4 RK_PA0 GPIO_ACTIVE_LOW >;rockchip,camera-module-index = < 0 >;rockchip,camera-module-facing = "back";rockchip,camera-module-name = "CMK-OT2022-PX1";rockchip,camera-module-lens-name = "IR0147-50IRC-8M-F20";port {imx415_out0: endpoint {remote-endpoint = < &mipidphy0_in_ucam0 >;data-lanes = < 1 2 3 4 >;};};};camera_imx219: camera-imx219@10 {status = "disabled";compatible = "sony,imx219";reg = < 0x10 >;clocks = < &clk_cam_24m >;clock-names = "xvclk";rockchip,camera-module-index = < 0 >;rockchip,camera-module-facing = "back";rockchip,camera-module-name = "rpi-camera-v2";rockchip,camera-module-lens-name = "default";port {imx219_out0: endpoint {remote-endpoint = < &mipidphy0_in_ucam1 >;data-lanes = < 1 2 >;};};};};&csi2_dphy0_hw {status = "okay";};&csi2_dphy0 {status = "okay";ports {#address-cells = < 1 >;#size-cells = < 0 >;port@0 {reg = < 0 >;#address-cells = < 1 >;#size-cells = < 0 >;mipidphy0_in_ucam0: endpoint@1 {reg = < 1 >;remote-endpoint = < &imx415_out0 >;data-lanes = < 1 2 3 4 >;};mipidphy0_in_ucam1: endpoint@2 {reg = < 2 >;remote-endpoint = < &imx219_out0 >;data-lanes = < 1 2 >;};};port@1 {reg = < 1 >;#address-cells = < 1 >;#size-cells = < 0 >;csidphy0_out: endpoint@0 {reg = < 0 >;remote-endpoint = < &mipi2_csi2_input >;};};};};&mipi2_csi2 {status = "okay";ports {#address-cells = < 1 >;#size-cells = < 0 >;port@0 {reg = < 0 >;#address-cells = < 1 >;#size-cells = < 0 >;mipi2_csi2_input: endpoint@1 {reg = < 1 >;remote-endpoint = < &csidphy0_out >;};};port@1 {reg = < 1 >;#address-cells = < 1 >;#size-cells = < 0 >;mipi2_csi2_output: endpoint@0 {reg = < 0 >;remote-endpoint = < &cif_mipi2_in0 >;};};};};&rkcif {status = "okay";};&rkcif_mipi_lvds2 {status = "okay";port {cif_mipi2_in0: endpoint {remote-endpoint = < &mipi2_csi2_output >;};};};&rkcif_mipi_lvds2_sditf {status = "okay";port {mipi_lvds2_sditf: endpoint {remote-endpoint = < &isp0_vir0 >;};};};&rkcif_mmu {status = "okay";};&rkisp0 {status = "okay";};&isp0_mmu {status = "okay";};&rkisp0_vir0 {status = "okay";port {#address-cells = < 1 >;#size-cells = < 0 >;isp0_vir0: endpoint@0 {reg = < 0 >;remote-endpoint = < &mipi_lvds2_sditf >;};};};&pinctrl {camera {cam_pwdn_gpio: cam-pwdn-gpio {rockchip,pins = < 1 RK_PB0 RK_FUNC_GPIO &pcfg_pull_up >;};};};

设备树的信息最终转换成i2c_client,并传递给IMX415驱动 imx415_probe(){ compatible = "imx415";与驱动的 of_match_table 保持一致

rockchip,camera-module-index = < 0 >;rockchip,camera-module-facing = "back";rockchip,camera-module-name = "CMK-OT2022-PX1";rockchip,camera-module-lens-name = "IR0147-50IRC-8M-F20";

匹配的是external\\camera_engine_rkaiq\\iqfiles\\isp3x下面的iq文件

四、调试技能

4.1 开机log

root@linaro-alip:/# dmesg | grep imx415[    2.547754] imx415 3-001a: driver version: 00.01.08[    2.547767] imx415 3-001a:  Get hdr mode failed! no hdr default[    2.547819] imx415 3-001a: Failed to get power-gpios[    2.547826] imx415 3-001a: could not get default pinstate[    2.547831] imx415 3-001a: could not get sleep pinstate[    2.547850] imx415 3-001a: supply dvdd not found, using dummy regulator[    2.547918] imx415 3-001a: supply dovdd not found, using dummy regulator[    2.547945] imx415 3-001a: supply avdd not found, using dummy regulator[    2.613843] imx415 3-001a: Detected imx415 id 0000e0[    2.613890] rockchip-csi2-dphy csi2-dphy0: dphy0 matches m00_b_imx415 3-001a:bus type 5[   18.386174] imx415 3-001a: set fmt: cur_mode: 3864x2192, hdr: 0[   18.389067] imx415 3-001a: set exposure(shr0) 2047 = cur_vts(2250) - val(203)

4.2 查看IMX415设备

驱动加载成功后，会有以下信息

root@linaro-alip:/rockchip-test# ls /dev/video* -lcrw-rw----+ 1 root video 81,  0  8月  7 15:26 /dev/video0crw-rw----+ 1 root video 81,  1  8月  7 15:26 /dev/video1crw-rw----+ 1 root video 81, 10  8月  7 15:26 /dev/video10crw-rw----+ 1 root video 81, 11  8月  7 15:26 /dev/video11crw-rw----+ 1 root video 81, 12  8月  7 15:26 /dev/video12crw-rw----+ 1 root video 81, 13  8月  7 15:26 /dev/video13crw-rw----+ 1 root video 81, 14  8月  7 15:26 /dev/video14crw-rw----+ 1 root video 81, 15  8月  7 15:26 /dev/video15crw-rw----+ 1 root video 81, 16  8月  7 15:26 /dev/video16crw-rw----+ 1 root video 81, 17  8月  7 15:26 /dev/video17crw-rw----+ 1 root video 81, 18  8月  7 15:26 /dev/video18crw-rw----+ 1 root video 81, 19  8月  7 15:26 /dev/video19crw-rw----+ 1 root video 81,  2  8月  7 15:26 /dev/video2crw-rw----+ 1 root video 81, 20  8月  7 15:26 /dev/video20crw-rw----+ 1 root video 81,  3  8月  7 15:26 /dev/video3crw-rw----+ 1 root video 81,  4  8月  7 15:26 /dev/video4crw-rw----+ 1 root video 81,  5  8月  7 15:26 /dev/video5crw-rw----+ 1 root video 81,  6  8月  7 15:26 /dev/video6crw-rw----+ 1 root video 81,  7  8月  7 15:26 /dev/video7crw-rw----+ 1 root video 81,  8  8月  7 15:26 /dev/video8crw-rw----+ 1 root video 81,  9  8月  7 15:26 /dev/video9lrwxrwxrwx  1 root root       7  8月  7 15:26 /dev/video-camera0 - > video11-rw-rw----  1 root video      4  8月  7 15:26 /dev/video-dec0-rw-rw----  1 root video      4  8月  7 15:26 /dev/video-enc0

4.3 查看sys文件系统中文件信息

内核会为摄像头在目录/sys/class/video4linux下分配设备信息描述文件

root@linaro-alip:grep imx415 /sys/class/video4linux/v*/nameroot@linaro-alip:/rockchip-test# grep imx415 /sys/class/video4linux/v*/name/sys/class/video4linux/v4l-subdev2/name:m00_b_imx415 3-001a

root@linaro-alip:/rockchip-test# grep "" /sys/class/video4linux/v*/name | grep mainpath/sys/class/video4linux/video11/name:rkisp_mainpath

4.4 查看拓扑 media-ctl -d /dev/media0 -p

root@linaro-alip:/rockchip-test# media-ctl -d /dev/media0 -pMedia controller API version 5.10.110Media device information------------------------driver          rkcifmodel           rkcif-mipi-lvds2serialbus infohw revision     0x0driver version  5.10.110Device topology- entity 1: stream_cif_mipi_id0 (1 pad, 11 links)            type Node subtype V4L flags 0            device node name /dev/video0        pad0: Sink                < - "rockchip-mipi-csi2":1 [ENABLED]                < - "rockchip-mipi-csi2":2 []                < - "rockchip-mipi-csi2":3 []                < - "rockchip-mipi-csi2":4 []                < - "rockchip-mipi-csi2":5 []                < - "rockchip-mipi-csi2":6 []                < - "rockchip-mipi-csi2":7 []                < - "rockchip-mipi-csi2":8 []                < - "rockchip-mipi-csi2":9 []                < - "rockchip-mipi-csi2":10 []                < - "rockchip-mipi-csi2":11 []- entity 5: stream_cif_mipi_id1 (1 pad, 11 links)            type Node subtype V4L flags 0            device node name /dev/video1        pad0: Sink                < - "rockchip-mipi-csi2":1 []                < - "rockchip-mipi-csi2":2 [ENABLED]                < - "rockchip-mipi-csi2":3 []                < - "rockchip-mipi-csi2":4 []                < - "rockchip-mipi-csi2":5 []                < - "rockchip-mipi-csi2":6 []                < - "rockchip-mipi-csi2":7 []                < - "rockchip-mipi-csi2":8 []                < - "rockchip-mipi-csi2":9 []                < - "rockchip-mipi-csi2":10 []                < - "rockchip-mipi-csi2":11 []- entity 9: stream_cif_mipi_id2 (1 pad, 11 links)            type Node subtype V4L flags 0            device node name /dev/video2        pad0: Sink                < - "rockchip-mipi-csi2":1 []                < - "rockchip-mipi-csi2":2 []                < - "rockchip-mipi-csi2":3 [ENABLED]                < - "rockchip-mipi-csi2":4 []                < - "rockchip-mipi-csi2":5 []                < - "rockchip-mipi-csi2":6 []                < - "rockchip-mipi-csi2":7 []                < - "rockchip-mipi-csi2":8 []                < - "rockchip-mipi-csi2":9 []                < - "rockchip-mipi-csi2":10 []                < - "rockchip-mipi-csi2":11 []- entity 13: stream_cif_mipi_id3 (1 pad, 11 links)             type Node subtype V4L flags 0             device node name /dev/video3        pad0: Sink                < - "rockchip-mipi-csi2":1 []                < - "rockchip-mipi-csi2":2 []                < - "rockchip-mipi-csi2":3 []                < - "rockchip-mipi-csi2":4 [ENABLED]                < - "rockchip-mipi-csi2":5 []                < - "rockchip-mipi-csi2":6 []                < - "rockchip-mipi-csi2":7 []                < - "rockchip-mipi-csi2":8 []                < - "rockchip-mipi-csi2":9 []                < - "rockchip-mipi-csi2":10 []                < - "rockchip-mipi-csi2":11 []- entity 17: rkcif_scale_ch0 (1 pad, 11 links)             type Node subtype V4L flags 0             device node name /dev/video4        pad0: Sink                < - "rockchip-mipi-csi2":1 []                < - "rockchip-mipi-csi2":2 []                < - "rockchip-mipi-csi2":3 []                < - "rockchip-mipi-csi2":4 []                < - "rockchip-mipi-csi2":5 [ENABLED]                < - "rockchip-mipi-csi2":6 []                < - "rockchip-mipi-csi2":7 []                < - "rockchip-mipi-csi2":8 []                < - "rockchip-mipi-csi2":9 []                < - "rockchip-mipi-csi2":10 []                < - "rockchip-mipi-csi2":11 []- entity 21: rkcif_scale_ch1 (1 pad, 11 links)             type Node subtype V4L flags 0             device node name /dev/video5        pad0: Sink                < - "rockchip-mipi-csi2":1 []                < - "rockchip-mipi-csi2":2 []                < - "rockchip-mipi-csi2":3 []                < - "rockchip-mipi-csi2":4 []                < - "rockchip-mipi-csi2":5 []                < - "rockchip-mipi-csi2":6 [ENABLED]                < - "rockchip-mipi-csi2":7 []                < - "rockchip-mipi-csi2":8 []                < - "rockchip-mipi-csi2":9 []                < - "rockchip-mipi-csi2":10 []                < - "rockchip-mipi-csi2":11 []- entity 25: rkcif_scale_ch2 (1 pad, 11 links)             type Node subtype V4L flags 0             device node name /dev/video6        pad0: Sink                < - "rockchip-mipi-csi2":1 []                < - "rockchip-mipi-csi2":2 []                < - "rockchip-mipi-csi2":3 []                < - "rockchip-mipi-csi2":4 []                < - "rockchip-mipi-csi2":5 []                < - "rockchip-mipi-csi2":6 []                < - "rockchip-mipi-csi2":7 [ENABLED]                < - "rockchip-mipi-csi2":8 []                < - "rockchip-mipi-csi2":9 []                < - "rockchip-mipi-csi2":10 []                < - "rockchip-mipi-csi2":11 []- entity 29: rkcif_scale_ch3 (1 pad, 11 links)             type Node subtype V4L flags 0             device node name /dev/video7        pad0: Sink                < - "rockchip-mipi-csi2":1 []                < - "rockchip-mipi-csi2":2 []                < - "rockchip-mipi-csi2":3 []                < - "rockchip-mipi-csi2":4 []                < - "rockchip-mipi-csi2":5 []                < - "rockchip-mipi-csi2":6 []                < - "rockchip-mipi-csi2":7 []                < - "rockchip-mipi-csi2":8 [ENABLED]                < - "rockchip-mipi-csi2":9 []                < - "rockchip-mipi-csi2":10 []                < - "rockchip-mipi-csi2":11 []- entity 33: rkcif_tools_id0 (1 pad, 11 links)             type Node subtype V4L flags 0             device node name /dev/video8        pad0: Sink                < - "rockchip-mipi-csi2":1 []                < - "rockchip-mipi-csi2":2 []                < - "rockchip-mipi-csi2":3 []                < - "rockchip-mipi-csi2":4 []                < - "rockchip-mipi-csi2":5 []                < - "rockchip-mipi-csi2":6 []                < - "rockchip-mipi-csi2":7 []                < - "rockchip-mipi-csi2":8 []                < - "rockchip-mipi-csi2":9 [ENABLED]                < - "rockchip-mipi-csi2":10 []                < - "rockchip-mipi-csi2":11 []- entity 37: rkcif_tools_id1 (1 pad, 11 links)             type Node subtype V4L flags 0             device node name /dev/video9        pad0: Sink                < - "rockchip-mipi-csi2":1 []                < - "rockchip-mipi-csi2":2 []                < - "rockchip-mipi-csi2":3 []                < - "rockchip-mipi-csi2":4 []                < - "rockchip-mipi-csi2":5 []                < - "rockchip-mipi-csi2":6 []                < - "rockchip-mipi-csi2":7 []                < - "rockchip-mipi-csi2":8 []                < - "rockchip-mipi-csi2":9 []                < - "rockchip-mipi-csi2":10 [ENABLED]                < - "rockchip-mipi-csi2":11 []- entity 41: rkcif_tools_id2 (1 pad, 11 links)             type Node subtype V4L flags 0             device node name /dev/video10        pad0: Sink                < - "rockchip-mipi-csi2":1 []                < - "rockchip-mipi-csi2":2 []                < - "rockchip-mipi-csi2":3 []                < - "rockchip-mipi-csi2":4 []                < - "rockchip-mipi-csi2":5 []                < - "rockchip-mipi-csi2":6 []                < - "rockchip-mipi-csi2":7 []                < - "rockchip-mipi-csi2":8 []                < - "rockchip-mipi-csi2":9 []                < - "rockchip-mipi-csi2":10 []                < - "rockchip-mipi-csi2":11 [ENABLED]- entity 45: rockchip-mipi-csi2 (12 pads, 122 links)             type V4L2 subdev subtype Unknown flags 0             device node name /dev/v4l-subdev0        pad0: Sink                [fmt:SGBRG10_1X10/3864x2192 field:none                 crop.bounds:(12,16)/3840x2160                 crop:(12,16)/3840x2160]                < - "rockchip-csi2-dphy0":1 [ENABLED]        pad1: Source                - > "stream_cif_mipi_id0":0 [ENABLED]                - > "stream_cif_mipi_id1":0 []                - > "stream_cif_mipi_id2":0 []                - > "stream_cif_mipi_id3":0 []                - > "rkcif_scale_ch0":0 []                - > "rkcif_scale_ch1":0 []                - > "rkcif_scale_ch2":0 []                - > "rkcif_scale_ch3":0 []                - > "rkcif_tools_id0":0 []                - > "rkcif_tools_id1":0 []                - > "rkcif_tools_id2":0 []        pad2: Source                - > "stream_cif_mipi_id0":0 []                - > "stream_cif_mipi_id1":0 [ENABLED]                - > "stream_cif_mipi_id2":0 []                - > "stream_cif_mipi_id3":0 []                - > "rkcif_scale_ch0":0 []                - > "rkcif_scale_ch1":0 []                - > "rkcif_scale_ch2":0 []                - > "rkcif_scale_ch3":0 []                - > "rkcif_tools_id0":0 []                - > "rkcif_tools_id1":0 []                - > "rkcif_tools_id2":0 []        pad3: Source                - > "stream_cif_mipi_id0":0 []                - > "stream_cif_mipi_id1":0 []                - > "stream_cif_mipi_id2":0 [ENABLED]                - > "stream_cif_mipi_id3":0 []                - > "rkcif_scale_ch0":0 []                - > "rkcif_scale_ch1":0 []                - > "rkcif_scale_ch2":0 []                - > "rkcif_scale_ch3":0 []                - > "rkcif_tools_id0":0 []                - > "rkcif_tools_id1":0 []                - > "rkcif_tools_id2":0 []        pad4: Source                - > "stream_cif_mipi_id0":0 []                - > "stream_cif_mipi_id1":0 []                - > "stream_cif_mipi_id2":0 []                - > "stream_cif_mipi_id3":0 [ENABLED]                - > "rkcif_scale_ch0":0 []                - > "rkcif_scale_ch1":0 []                - > "rkcif_scale_ch2":0 []                - > "rkcif_scale_ch3":0 []                - > "rkcif_tools_id0":0 []                - > "rkcif_tools_id1":0 []                - > "rkcif_tools_id2":0 []        pad5: Source                - > "stream_cif_mipi_id0":0 []                - > "stream_cif_mipi_id1":0 []                - > "stream_cif_mipi_id2":0 []                - > "stream_cif_mipi_id3":0 []                - > "rkcif_scale_ch0":0 [ENABLED]                - > "rkcif_scale_ch1":0 []                - > "rkcif_scale_ch2":0 []                - > "rkcif_scale_ch3":0 []                - > "rkcif_tools_id0":0 []                - > "rkcif_tools_id1":0 []                - > "rkcif_tools_id2":0 []        pad6: Source                - > "stream_cif_mipi_id0":0 []                - > "stream_cif_mipi_id1":0 []                - > "stream_cif_mipi_id2":0 []                - > "stream_cif_mipi_id3":0 []                - > "rkcif_scale_ch0":0 []                - > "rkcif_scale_ch1":0 [ENABLED]                - > "rkcif_scale_ch2":0 []                - > "rkcif_scale_ch3":0 []                - > "rkcif_tools_id0":0 []                - > "rkcif_tools_id1":0 []                - > "rkcif_tools_id2":0 []        pad7: Source                - > "stream_cif_mipi_id0":0 []                - > "stream_cif_mipi_id1":0 []                - > "stream_cif_mipi_id2":0 []                - > "stream_cif_mipi_id3":0 []                - > "rkcif_scale_ch0":0 []                - > "rkcif_scale_ch1":0 []                - > "rkcif_scale_ch2":0 [ENABLED]                - > "rkcif_scale_ch3":0 []                - > "rkcif_tools_id0":0 []                - > "rkcif_tools_id1":0 []                - > "rkcif_tools_id2":0 []        pad8: Source                - > "stream_cif_mipi_id0":0 []                - > "stream_cif_mipi_id1":0 []                - > "stream_cif_mipi_id2":0 []                - > "stream_cif_mipi_id3":0 []                - > "rkcif_scale_ch0":0 []                - > "rkcif_scale_ch1":0 []                - > "rkcif_scale_ch2":0 []                - > "rkcif_scale_ch3":0 [ENABLED]                - > "rkcif_tools_id0":0 []                - > "rkcif_tools_id1":0 []                - > "rkcif_tools_id2":0 []        pad9: Source                - > "stream_cif_mipi_id0":0 []                - > "stream_cif_mipi_id1":0 []                - > "stream_cif_mipi_id2":0 []                - > "stream_cif_mipi_id3":0 []                - > "rkcif_scale_ch0":0 []                - > "rkcif_scale_ch1":0 []                - > "rkcif_scale_ch2":0 []                - > "rkcif_scale_ch3":0 []                - > "rkcif_tools_id0":0 [ENABLED]                - > "rkcif_tools_id1":0 []                - > "rkcif_tools_id2":0 []        pad10: Source                - > "stream_cif_mipi_id0":0 []                - > "stream_cif_mipi_id1":0 []                - > "stream_cif_mipi_id2":0 []                - > "stream_cif_mipi_id3":0 []                - > "rkcif_scale_ch0":0 []                - > "rkcif_scale_ch1":0 []                - > "rkcif_scale_ch2":0 []                - > "rkcif_scale_ch3":0 []                - > "rkcif_tools_id0":0 []                - > "rkcif_tools_id1":0 [ENABLED]                - > "rkcif_tools_id2":0 []        pad11: Source                - > "stream_cif_mipi_id0":0 []                - > "stream_cif_mipi_id1":0 []                - > "stream_cif_mipi_id2":0 []                - > "stream_cif_mipi_id3":0 []                - > "rkcif_scale_ch0":0 []                - > "rkcif_scale_ch1":0 []                - > "rkcif_scale_ch2":0 []                - > "rkcif_scale_ch3":0 []                - > "rkcif_tools_id0":0 []                - > "rkcif_tools_id1":0 []                - > "rkcif_tools_id2":0 [ENABLED]- entity 58: rockchip-csi2-dphy0 (2 pads, 2 links)             type V4L2 subdev subtype Unknown flags 0             device node name /dev/v4l-subdev1        pad0: Sink                [fmt:SGBRG10_1X10/3864x2192@10000/300000 field:none                 crop.bounds:(12,16)/3840x2160]                < - "m00_b_imx415 3-001a":0 [ENABLED]        pad1: Source                - > "rockchip-mipi-csi2":0 [ENABLED]- entity 63: m00_b_imx415 3-001a (1 pad, 1 link)             type V4L2 subdev subtype Sensor flags 0             device node name /dev/v4l-subdev2        pad0: Source                [fmt:SGBRG10_1X10/3864x2192@10000/300000 field:none                 crop.bounds:(12,16)/3840x2160]                - > "rockchip-csi2-dphy0":0 [ENABLED]

从entity 63信息中可以看到：

该Entity完整的名称是：m00_b_imx415 3-001a

它是一个V4L2 subdev(Sub-Device) Sensor

它对应的节点是 /dev/v4l-subdev2，应用程序（如v4l2-ctl）可以打开它，并进行配置

它仅有一个输出（Source）节点，记为pad0

它的输出格式是 [fmt:SGBRG10_1X10/3864x2192@10000/300000 field:none

crop.bounds:(12,16)/3840x2160]，其中SBGGR10是一种mbus-code的简称

它的Source pad0 链接到"rockchip-csi2-dphy0"的pad0，并且当前的状态是 ENABLED。

media-ctl -d /dev/media1 -p

- entity 6: rkisp_mainpath (1 pad, 1 link)            type Node subtype V4L flags 0            device node name /dev/video11        pad0: Sink                < - "rkisp-isp-subdev":2 [ENABLED]

五、测试

使用

gst-launch-1.0 v4l2src device=/dev/video11 ! video/x-raw,format=NV12,width=3840,height=2160, framerate=30/1 ! xvimagesink