RK3588-RD-V12多imx415运行调试

情况简述

之前买过一块RK3588-RD-V12，四个imx415摄像头工作正常，后板子经常硬重启，怀疑板卡出现问题，购买一块新的RK3588-RD-V12，调试imx415过程中发现问题，具体表现为：

四个摄像头只有两个注册成功
注册成功摄像头无法用gst命令工作

调试过程

开机启动dmesg查看imx415摄像头设备信息，两个注册失败

rpdzkj@debian11:~$ dmesg | grep imx
[    7.316092] imx415 2-001a: driver version: 00.01.08
[    7.316102] imx415 2-001a:  Get hdr mode failed! no hdr default
[    7.316120] imx415 2-001a: Failed to get reset-gpios
[    7.316132] imx415 2-001a: Failed to get power-gpios
[    7.316138] imx415 2-001a: could not get default pinstate
[    7.316142] imx415 2-001a: could not get sleep pinstate
[    7.316166] imx415 2-001a: supply dvdd not found, using dummy regulator
[    7.316227] imx415 2-001a: supply dovdd not found, using dummy regulator
[    7.316254] imx415 2-001a: supply avdd not found, using dummy regulator
[    7.384517] imx415 2-001a: Unexpected sensor id(000000), ret(-5)
[    7.385045] imx415 2-0037: driver version: 00.01.08
[    7.385062] imx415 2-0037:  Get hdr mode failed! no hdr default
[    7.385093] imx415 2-0037: Failed to get reset-gpios
[    7.385114] imx415 2-0037: Failed to get power-gpios
[    7.385124] imx415 2-0037: could not get default pinstate
[    7.385131] imx415 2-0037: could not get sleep pinstate
[    7.385164] imx415 2-0037: supply dvdd not found, using dummy regulator
[    7.385274] imx415 2-0037: supply dovdd not found, using dummy regulator
[    7.385318] imx415 2-0037: supply avdd not found, using dummy regulator
[    7.442084] imx415 2-0037: Detected imx415 id 0000e0
[    7.442895] imx415 3-001a: driver version: 00.01.08
[    7.442946] imx415 3-001a:  Get hdr mode failed! no hdr default
[    7.443020] imx415 3-001a: Failed to get reset-gpios
[    7.443073] imx415 3-001a: Failed to get power-gpios
[    7.443097] imx415 3-001a: could not get default pinstate
[    7.443115] imx415 3-001a: could not get sleep pinstate
[    7.443171] imx415 3-001a: supply dvdd not found, using dummy regulator
[    7.443441] imx415 3-001a: supply dovdd not found, using dummy regulator
[    7.443552] imx415 3-001a: supply avdd not found, using dummy regulator
[    7.505174] imx415 3-001a: Unexpected sensor id(000000), ret(-5)
[    7.505775] imx415 3-0037: driver version: 00.01.08
[    7.505803] imx415 3-0037:  Get hdr mode failed! no hdr default
[    7.505850] imx415 3-0037: Failed to get reset-gpios
[    7.505885] imx415 3-0037: Failed to get power-gpios
[    7.505901] imx415 3-0037: could not get default pinstate
[    7.505913] imx415 3-0037: could not get sleep pinstate
[    7.505949] imx415 3-0037: supply dvdd not found, using dummy regulator
[    7.506113] imx415 3-0037: supply dovdd not found, using dummy regulator
[    7.506188] imx415 3-0037: supply avdd not found, using dummy regulator
[    7.568599] imx415 3-0037: Detected imx415 id 0000e0
[    7.568686] rockchip-csi2-dphy csi2-dphy3: dphy3 matches m03_b_imx415 3-0037:bus type 5
[    7.739599] rockchip-csi2-dphy csi2-dcphy1: dphy1 matches m01_b_imx415 2-0037:bus type 5

检测图像输出设备：

rpdzkj@debian11:~$ media-ctl -d /dev/media4  -e "rkisp_mainpath"
/dev/video44
rpdzkj@debian11:~$ media-ctl -d /dev/media4  -e "rkisp_selfpath"
/dev/video45
rpdzkj@debian11:~$ media-ctl -d /dev/media5  -e "rkisp_mainpath"
/dev/video53
rpdzkj@debian11:~$ media-ctl -d /dev/media5  -e "rkisp_selfpath"
/dev/video54

尝试gst播放，出现warning，且卡住，无播放进度

rpdzkj@debian11:~$ gst-launch-1.0 v4l2src device=/dev/video44 ! videoconvert! videoscale ! video/x-raw, width=800, height=1080 ! kmssink -v 
Setting pipeline to PAUSED ...
Pipeline is live and does not need PREROLL ...
/GstPipeline:pipeline0/GstKMSSink:kmssink0: display-width = 1920
/GstPipeline:pipeline0/GstKMSSink:kmssink0: display-height = 1080
0:00:03.428497093  2241   0x556f34ac00 WARN                    v4l2 gstv4l2object.c:4497:gst_v4l2_object_probe_caps:<v4l2src0:src> Failed to probe pixel aspect ratio with VIDIOC_CROPCAP: Invalid argument
Pipeline is PREROLLED ...
Setting pipeline to PLAYING ...
New clock: GstSystemClock
...

播放后再次查询dmesg

rpdzkj@debian11:~$ dmesg | grep imx
[  141.570954] imx415 2-0037: s_stream: 1. 3864x2192, hdr: 0, bpp: 10
[  141.628798] imx415 2-0037: set vblank 0x3a vts 2250
[  141.630361] imx415 2-0037: set exposure(shr0) 8 = cur_vts(2250) - val(2242)
[  141.631450] imx415 2-0037: set analog gain 0x0
[  144.315430] imx415 2-0037: s_stream: 0. 3864x2192, hdr: 0, bpp: 10
[  173.086958] imx415 2-0037: s_stream: 1. 3864x2192, hdr: 0, bpp: 10
[  173.139052] imx415 2-0037: set vblank 0x3a vts 2250
[  173.140487] imx415 2-0037: set exposure(shr0) 8 = cur_vts(2250) - val(2242)
[  173.141411] imx415 2-0037: set analog gain 0x0
[  179.792067] imx415 2-0037: s_stream: 0. 3864x2192, hdr: 0, bpp: 10
[  189.553972] imx415 2-0037: s_stream: 1. 3864x2192, hdr: 0, bpp: 10
[  189.614564] imx415 2-0037: set vblank 0x3a vts 2250
[  189.615926] imx415 2-0037: set exposure(shr0) 8 = cur_vts(2250) - val(2242)
[  189.617039] imx415 2-0037: set analog gain 0x0
[  207.667478] imx415 2-0037: s_stream: 0. 3864x2192, hdr: 0, bpp: 10

1. camera0默认不开启原因

根据 camera0默认不开启原因，调整硬件后，dmesg得到:

[    7.310055] imx415 2-001a: driver version: 00.01.08
[    7.310070] imx415 2-001a:  Get hdr mode failed! no hdr default
[    7.310095] imx415 2-001a: Failed to get reset-gpios
[    7.310113] imx415 2-001a: Failed to get power-gpios
[    7.310121] imx415 2-001a: could not get default pinstate
[    7.310127] imx415 2-001a: could not get sleep pinstate
[    7.310154] imx415 2-001a: supply dvdd not found, using dummy regulator
[    7.310240] imx415 2-001a: supply dovdd not found, using dummy regulator
[    7.310278] imx415 2-001a: supply avdd not found, using dummy regulator
[    7.375947] imx415 2-001a: Detected imx415 id 0000e0
[    7.376262] imx415 2-0037: driver version: 00.01.08
[    7.376272] imx415 2-0037:  Get hdr mode failed! no hdr default
[    7.376291] imx415 2-0037: Failed to get reset-gpios
[    7.376303] imx415 2-0037: Failed to get power-gpios
[    7.376309] imx415 2-0037: could not get default pinstate
[    7.376314] imx415 2-0037: could not get sleep pinstate
[    7.376332] imx415 2-0037: supply dvdd not found, using dummy regulator
[    7.376398] imx415 2-0037: supply dovdd not found, using dummy regulator
[    7.376432] imx415 2-0037: supply avdd not found, using dummy regulator
[    7.446044] imx415 2-0037: Detected imx415 id 0000e0
[    7.446295] imx415 3-001a: driver version: 00.01.08
[    7.446308] imx415 3-001a:  Get hdr mode failed! no hdr default
[    7.446326] imx415 3-001a: Failed to get reset-gpios
[    7.446338] imx415 3-001a: Failed to get power-gpios
[    7.446344] imx415 3-001a: could not get default pinstate
[    7.446348] imx415 3-001a: could not get sleep pinstate
[    7.446363] imx415 3-001a: supply dvdd not found, using dummy regulator
[    7.446427] imx415 3-001a: supply dovdd not found, using dummy regulator
[    7.446454] imx415 3-001a: supply avdd not found, using dummy regulator
[    7.506497] imx415 3-001a: Unexpected sensor id(000000), ret(-5)
[    7.507651] imx415 3-0037: driver version: 00.01.08
[    7.507693] imx415 3-0037:  Get hdr mode failed! no hdr default
[    7.507764] imx415 3-0037: Failed to get reset-gpios
[    7.507816] imx415 3-0037: Failed to get power-gpios
[    7.507840] imx415 3-0037: could not get default pinstate
[    7.507857] imx415 3-0037: could not get sleep pinstate
[    7.507911] imx415 3-0037: supply dvdd not found, using dummy regulator
[    7.508145] imx415 3-0037: supply dovdd not found, using dummy regulator
[    7.508325] imx415 3-0037: supply avdd not found, using dummy regulator
[    7.563449] imx415 3-0037: Detected imx415 id 0000e0
[    7.563540] rockchip-csi2-dphy csi2-dphy3: dphy3 matches m03_b_imx415 3-0037:bus type 5
[    7.735428] rockchip-csi2-dphy csi2-dcphy0: dphy0 matches m00_f_imx415 2-001a:bus type 5
[    7.737064] rockchip-csi2-dphy csi2-dcphy1: dphy1 matches m01_b_imx415 2-0037:bus type 5

三个摄像头注册成功，且用gst运行video44，仍无法播放，怀疑dts存在问题。

2. 自带软件测试

根据荣品技术人员建议，使用自带软件测试，但并未发现Devitest测试demo，远程协助下分别用rockchip-test和V4L2 Test Bench展开测试：

2.1 `rockchip-test`

cd /rockchip-test/camera/
export DISPLAY=:0.0
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/gstreamer-1.0
export GST_DEBUG=3

run ./camera_rkaiq_test.sh

rkaiq_3A_server: no process found
Start RKAIQ Camera Preview!
./camera_rkaiq_test.sh: line 7: warning: command substitution: ignored null byte in input
media get entity by name: rkisp-isp-subdev is null
media get entity by name: rkisp-input-params is null
media get entity by name: rkisp-statistics is null
media get entity by name: rkisp_mainpath is null
Cound not find rkisp dev names, skipped /dev/media0
ERR: Bad media topology for: /dev/media0
media get entity by name: rkisp-isp-subdev is null
media get entity by name: rkisp-input-params is null
media get entity by name: rkisp-statistics is null
media get entity by name: rkisp_mainpath is null
Cound not find rkisp dev names, skipped /dev/media1
ERR: Bad media topology for: /dev/media1
media get entity by name: rkisp-isp-subdev is null
media get entity by name: rkisp-input-params is null
media get entity by name: rkisp-statistics is null
media get entity by name: rkisp_mainpath is null
Cound not find rkisp dev names, skipped /dev/media2
ERR: Bad media topology for: /dev/media2
media get entity by name: rkisp-isp-subdev is null
media get entity by name: rkisp-input-params is null
media get entity by name: rkisp-statistics is null
media get entity by name: rkisp_mainpath is null
Cound not find rkisp dev names, skipped /dev/media3
ERR: Bad media topology for: /dev/media3
DBG: get rkisp-isp-subdev devname: /dev/v4l-subdev13
DBG: get rkisp-input-params devname: /dev/video52
DBG: get rkisp-statistics devname: /dev/video51
DBG: get rkisp_mainpath devname: /dev/video44
rkaiq log level ff0

************************** VERSION INFOS **************************
version release date: 2023-03-02
         AIQ:       AIQ v5.0x1.2-rc2
   IQ PARSER:       Calib v1.4.8,magicCode:1170944
************************ VERSION INFOS END ************************
DBG: get rkisp-isp-subdev devname: /dev/v4l-subdev3
DBG: get rkisp-input-params devname: /dev/video61
DBG: get rkisp-statistics devname: /dev/video60
DBG: get rkisp_mainpath devname: /dev/video53
DBG: get rkisp-isp-subdev devname: /dev/v4l-subdev8
DBG: get rkisp-input-params devname: /dev/video70
DBG: get rkisp-statistics devname: /dev/video69
DBG: get rkisp_mainpath devname: /dev/video62
DBG: get rkisp-isp-subdev devname: /dev/v4l-subdev17
DBG: get rkisp-input-params devname: /dev/video79
DBG: get rkisp-statistics devname: /dev/video78
DBG: get rkisp_mainpath devname: /dev/video71
ERR: Bad media topology for: /dev/media8
ERR: Bad media topology for: /dev/media9
ERR: Bad media topology for: /dev/media10
ERR: Bad media topology for: /dev/media11
ERR: Bad media topology for: /dev/media12
ERR: Bad media topology for: /dev/media13
ERR: Bad media topology for: /dev/media14
ERR: Bad media topology for: /dev/media15
Setting pipeline to PAUSED ...
Pipeline is live and does not need PREROLL ...
Pipeline is PREROLLED ...
Setting pipeline to PLAYING ...
0:00:01.903068420  4403   0x55ab2cd4c0 WARN                    v4l2 gstv4l2object.c:4497:gst_v4l2_object_probe_caps:<v4l2src0:src> Failed to probe pixel aspect ratio with VIDIOC_CROPCAP: Invalid argument
New clock: GstSystemClock
0:00:02.184899921  4403   0x55ab2cd4c0 WARN          v4l2bufferpool gstv4l2bufferpool.c:1288:gst_v4l2_buffer_pool_dqbuf:<v4l2src0:pool0:src> Driver should never set v4l2_buffer.field to ANY
0:00:07.9 / 99:99:99.

按以往经验，gst控制成功播放应该会有进度条滚动，用/video0播放会有进度条滚动，但它输出是绿色，应该是没有获取到帧。用/video44播放直接没有进度条滚动。

gst-launch-1.0 v4l2src device=/dev/video11 ! video/x-raw,format=NV12,width=1920,height=1080, framerate=30/1 ! xvimagesink
gst-launch-1.0 v4l2src device=/dev/video44 ! video/x-raw,format=NV12,width=1920,height=1080, framerate=30/1 ! xvimagesink

2.2 `V4L2 Test Bench`

/video44

3. Bugs and fix of not playing

根据指示运行了该脚本，远程辅助调试同学说有图像，排查出用gst命令播放之前要手动开启：

systemctl start rkisp_demo.service

或让系统启动时便开启该服务：

sudo systemctl enable rkisp_demo.service

后面便可播放已检测到的相机。与之前不同在于，播放相机video设备号都加一为45, 54, 63，都为selfpath设备，且mainpath设备无法播放，显示busy：

rpdzkj@debian11:/$ media-ctl -d /dev/media4 -e "rkisp_selfpath" 
/dev/video45
rpdzkj@debian11:/$ media-ctl -d /dev/media4 -e "rkisp_mainpath" 
/dev/video44
rpdzkj@debian11:/$ gst-launch-1.0 v4l2src device=/dev/video44 ! video/x-raw,format=NV12,width=1920,height=1080, framerate=30/1 ! xvimagesink
Setting pipeline to PAUSED ...
Pipeline is live and does not need PREROLL ...
Pipeline is PREROLLED ...
Setting pipeline to PLAYING ...
New clock: GstSystemClock
ERROR: from element /GstPipeline:pipeline0/GstV4l2Src:v4l2src0: Device '/dev/video44' is busy
Additional debug info:
../sys/v4l2/gstv4l2object.c(4060): gst_v4l2_object_set_format_full (): /GstPipeline:pipeline0/GstV4l2Src:v4l2src0:
Call to S_FMT failed for NM12 @ 1920x1080: Device or resource busy
Execution ended after 0:00:00.067362722
Setting pipeline to NULL ...
Freeing pipeline ...

4. fix_tmp on can't register all IMX415

荣品科技技术人员：

前面看有沟通过你这边用的是rd-k3588-v12的版本那，摄像头相关的硬件问题是有修复的，你这边能读到对应的摄像头的i2c地址吗

i2c地址在dmesg中便有：

[    7.188474] rockchip-csi2-dphy csi2-dphy3: dphy3 matches m03_b_imx415 3-0037:bus type 5
[    7.273783] rockchip-csi2-dphy csi2-dcphy0: dphy0 matches m00_f_imx415 2-001a:bus type 5
[    7.275465] rockchip-csi2-dphy csi2-dcphy1: dphy1 matches m01_b_imx415 2-0037:bus type 5

结合ls /sys/bus/i2c/devices/:

0-0042  2-001a  3-0037  6-005d  i2c-1   i2c-2  i2c-6
0-0043  2-0037  4-0022  7-001c  i2c-10  i2c-3  i2c-7
1-0042  3-001a  4-0051  i2c-0   i2c-11  i2c-4  i2c-9

其中3-0037,2-001a,2-0037为已注册三摄像头的i2c地址