GX mipi camera manual
GX Series MIPI Camera Module Manual
1 Overview
The GX series camera modules feature a high-performance ISP (Image Signal Processor), supporting multiple operating modes and providing extensive configuration options. The products have been thoroughly validated in terms of system stability, manufacturing quality control, and supply capability, making them suitable for embedded vision systems and AI vision applications.
GX series MIPI camera modules use a standard 22-pin FPC user interface, which simplifies system integration. They can be directly connected to a variety of mainstream embedded platforms, such as platforms based on Raspberry Pi Ltd, NVIDIA Jetson series, and the Rockchip RK3588 platform.
This document mainly introduces the functional features and working principles of the GX series products.
For the following topics, please refer to the corresponding dedicated documentation:
- Hardware Interface Manual
- Register Description Document
- Configuration Script Guide
- Driver and User Guides for each embedded platform
In this document, each functional section includes a [Script Function] column. This column lists the relevant commands of the gx_mipi_i2c.sh script to help users configure and debug specific features conveniently.
1.1 Camera Model List
| Series | Model | Max Resolution | Shutter Mode |
|---|---|---|---|
| GX series | GX-MIPI-IMX662 | 1920×1080@60 fps | Rolling Shutter |
| GX series | GX-MIPI-IMX664 | 2688×1520@30 fps | Rolling Shutter |
| GX series | GX-MIPI-AR0234 | 1920×1200@54 fps | Golbal Shutter |
2 Basic Functions
This chapter introduces the basic management functions of the camera, including device information access, parameter management, and system control.
Through these registers, users can obtain device identification information, manage camera configuration parameters, and perform system-level operations.
2.1 Device Information
The camera provides several read-only registers for querying basic device information. These parameters can be used for device identification, system management, and software debugging.
The information includes:
- Manufacturer name
- Product model
- Sensor model
- Device serial number
- Firmware version
2.1.1 Manufacturer Name
The name of the camera manufacturer.
Script Function: manufacturer
2.1.2 Product Model
The model identifier of the camera.
Script Function: model
2.1.3 Sensor Model
The image sensor model used by the camera.
Script Function: sensorname
2.1.4 Serial Number
Each camera is assigned a unique serial number during manufacturing.
The serial number contains information about the production date, batch, and unit number.
Script Function: serialno
2.1.5 Firmware Version
Returns the firmware version information of the camera.
This register is a 32-bit value in the format:
Where:
- AA.BB represents the control firmware version (C version)
- CC.DD represents the logic firmware version (L version)
2.2 Parameter Management
The camera supports saving the current configuration parameters to internal Flash memory.
Saved parameters are automatically loaded when the camera powers on.
2.2.1 Save Parameters
Saves the current camera configuration parameters to Flash.
Notes:
- This operation erases and rewrites the system Flash memory
- The power supply must remain stable during the operation
- Frequent execution of this operation is not recommended
Script Function: paramsave
2.2.2 Restore Factory Parameters
Restores all camera parameters to the factory default configuration.
Notes:
- This operation erases and rewrites the system Flash memory
- The power supply must remain stable during the operation
- Frequent factory resets are not recommended
Script Function: factoryparam
2.3 System Control
The camera provides several basic system control functions, such as device reboot and system uptime query.
2.3.1 System Reboot
Executing this operation will restart the camera.
Script Function: reboot
2.3.2 System Timestamp
The elapsed running time since the camera was powered on.
This parameter can be used for:
- System debugging
- Device uptime statistics
- Simple synchronization reference
Script Function: timestamp
2.3.3 I²C Address Configuration
The camera allows the I²C communication address to be configured through a register.
Users can modify the camera's I²C address according to system requirements to avoid address conflicts in multi-device systems.
Configuration details:
- Configurable address range: 0x08 – 0x77
- After modification, the Save Parameters operation must be executed
- The new address takes effect after the device is rebooted
Script Function: i2caddr
3 Image Acquisition
3.1 Rolling Shutter and Global Shutter
Image sensors can be classified into two types based on their exposure method: rolling shutter and global shutter.
Different exposure methods behave differently when capturing moving objects or operating in triggered modes.
3.1.1 Rolling Shutter
The operation of a rolling shutter sensor is illustrated in the following figure.
In this mode, the rows of the image start exposure sequentially:
- The first row begins exposure first.
- After one row period, the second row starts exposure.
- This process continues, with the Nth row starting exposure immediately after the (N−1)th row.
Once the first row finishes exposure, data readout begins. Reading each row of data takes one row period, including the row blanking time.
When the first row has been read out, the second row begins reading. Subsequent rows are read sequentially until the entire image is output.
Rolling shutter sensors have the following characteristics:
- Relatively simple structure
- Lower cost
- Capable of achieving high resolution
Therefore, rolling shutter is suitable for imaging applications involving static scenes or slowly moving targets.
3.1.2 Global Shutter
The operation of a global shutter sensor is illustrated in the following figure.
In global shutter mode:
- All pixels on the sensor begin exposure simultaneously.
- All pixels end exposure simultaneously.
After the exposure ends, the sensor transfers the charges from the photosensitive area to the storage area, and then reads out pixel data row by row.
This method ensures that:
- All pixels are sampled at the same time.
- The image is free from motion distortion.
Therefore, global shutter is particularly suitable for capturing fast-moving targets, such as:
- Industrial inspection
- Robotic vision
- Motion tracking
3.2 Start/Stop Acquisition
Users can send a start acquisition or stop acquisition command to the camera at any time.
When the camera receives a start acquisition command:
- If it is currently operating in video streaming mode, the camera will immediately begin exposure and continuously output images.
- If it is currently operating in trigger mode, the camera will enter a waiting for trigger signal state.
At this point, the camera status changes to Running.
When the camera receives a stop acquisition command:
- The camera will first complete the transmission of the current image frame to ensure frame data integrity.
- Then it will stop outputting images.
- The camera status changes to Standby.
Note:
If the current configuration is multi-frame trigger mode and the trigger sequence is not yet complete, the stop acquisition command will interrupt the ongoing trigger process. Therefore, stopping acquisition only guarantees the integrity of the current frame, but does not guarantee the integrity of the entire trigger sequence.
In general, the driver automatically sends start/stop acquisition commands, so users do not need to manually control the registers.
Script function: imgacq
3.3 Video Mode
The GX series cameras support multiple video modes, with each mode corresponding to a specific resolution, maximum frame rate, and image readout method.
Readout methods include Normal Mode, Binning Mode, and Subsampling Mode. In video streaming mode, the camera continuously exposes images and outputs image data in real time according to the resolution, frame rate, and readout method of the selected video mode.
The supported image modes may vary depending on the camera model. Details are provided in the table below:
| Model | videomode | Resolution | Minimum Frame Rate | Maximum Frame Rate | Readout Method |
|---|---|---|---|---|---|
| GX-MIPI-IMX662 | 1 | 1920×1080 | 0.065fps | 60fps | Normal |
| GX-MIPI-IMX664 | 1 | 2688×1520 | TBD | 30fps | Normal |
| 2 | 1344x760 | TBD | 100fps | Binning | |
| GX-MIPI-AR0234 | 1 | 1920×1200 | TBD | 54 fps | Normal |
| 2 | 1920×1080 | TBD | 60fps | Normal | |
| 3 | 1600×1200 | TBD | 60fps | Normal |
Script function：videomodecap，videomodenum, vidoemodewh1-vidoemodewh8，videomodeparam1-videomodeparam8,videomode,fps,maxfps, curwh.
3.3.1 Pixel Readout Modes
The GX series cameras support multiple pixel readout modes: Normal Mode, Binning Mode, and Subsampling Mode. Each mode has different characteristics in terms of resolution, signal-to-noise ratio (SNR), and data bandwidth, and can be selected according to application requirements.
- Normal Mode
The sensor reads out the full pixel array row by row, with every pixel participating in acquisition and output. This mode provides the highest resolution and best image detail, but requires higher data bandwidth.
- Binning Mode
Adjacent pixels are combined internally on the sensor before output, improving SNR and low-light performance while reducing resolution and data bandwidth. This mode is suitable for low-light or high-sensitivity applications.
- Subsampling Mode
Pixels are read out at fixed intervals, reducing resolution and data volume while keeping SNR largely unchanged. This mode is suitable for scenarios that require higher frame rates or lower bandwidth.
Mode Comparison
| Mode | Readout Method | Resolution | SNR | Data Bandwidth |
|---|---|---|---|---|
| Normal | Full Pixel Readout | High | Baseline | High |
| Binning | Pixel Binning | Medium | Improved | Low |
| Subsampling | Interval | Medium | Largely Unchanged | Low |
3.3.2 Current Image Parameters
The camera provides a set of registers that allow accurate reading of the current image width, height, and readout mode during secondary development or debugging.
Script functions: curwh, readmode
3.3.2.1 Pixel Format
The camera’s output format complies with the MIPI CSI-2 standard. Currently supported pixel formats are UYVY and YUYV, with UYVY as the default.
Script function: pixelformat
3.3.3 Frame Rate Configuration
3.3.3.1 Frame Rate Range
The camera provides the minimum and maximum frame rates supported in the current operating mode, which can be read via read-only registers.
Script functions: minfps, maxfps
3.3.3.2 Setting the Frame Rate
Within the range of minimum and maximum frame rates, the current frame rate can be freely set. Note that the frame rate must be configured while acquisition is stopped (Standby state) to ensure the setting takes effect.
Script function: fps
3.3.3.3 Frame Count Statistics
The camera supports statistics for both sensor output frames and camera output frames. The frame count is reset each time acquisition is started.
Script function: framecount
3.4 Work Modes
The camera may support multiple work modes, including Video Stream Mode, Normal Trigger Mode, Level Trigger Mode, and Multi-Camera Synchronization Mode.
The types of operating modes supported may vary depending on the camera model and can be queried using the workmodecap command.
Script functions: workmodecap, workmode
3.4.1 Switching Work Modes
Operating modes cannot be switched directly while the camera is running.
The following sequence must be followed:
- Send a stop acquisition command.
- Wait for the camera to enter Standby state.
- Modify the operating mode configuration.
- Start acquisition again.
Script function: workmode
3.4.2 Video Stream Mode
In video stream mode, the camera continuously exposes and outputs image data according to the configured video mode (videomode) and frame rate (fps).
In general, the driver automatically sets the registers based on the application layer’s configuration for video mode and frame rate, so users do not need to manually operate the registers.
Script functions: videomode, fps, maxfps
3.4.3 Normal Trigger Mode
3.4.3.1 Rolling Shutter
Applicable models: GX-MIPI-IMX662, GX-MIPI-IMX664
To ensure consistency of triggered images, the generation of a complete image frame (from exposure to output) requires three consecutive image cycles. Therefore, the maximum frame rate in video stream mode for these models is only one-third of the selected video mode frame rate.
These three consecutive image cycles are defined as a Trigger Cycle.
In normal trigger mode, if multiple frames are output per trigger, the trigger delay starts from the current trigger signal, while the trigger interval and exposure delay take effect before each trigger cycle begins, ensuring consistent image output for every cycle.
The figure below shows an example with trigger frame count set to 2:
Script functions: trgnum, trginterval, trgsrc, trgexp_delay, trgdelay, triggercyclemin
3.4.3.2 Global Shutter (Smartsens Type)
Applicable models: GX-MIPI-AR0234
For Global Shutter sensors of this type, the acquisition of one frame consists of two stages:
- Exposure Stage
- Readout Stage
The next frame’s exposure can only start after readout is complete.
Thus, in trigger mode, a Trigger Cycle consists of one exposure period + one readout period.
Because the exposure time affects the total duration of the trigger cycle, the maximum frame rate in trigger mode is usually lower than that in video stream mode.
The figure below shows an example with trigger frame count set to 2:
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Script functions: trgnum, trginterval, trgsrc, trgexp_delay, trgdelay, triggercyclemin
3.4.3.3 Trigger Source
The camera supports two types of trigger sources: software trigger and hardware trigger. The only difference between them is the source of the trigger signal. Configurations and functions such as trigger delay, exposure delay, trigger frame count, and trigger interval are identical for both sources.
Note: Trigger source settings are only effective in Normal Trigger Mode and Rolling Shutter Multi-Frame Trigger Mode.
Script function: trgsrc
- Software Trigger
A software trigger is initiated by writing 1 to the corresponding register of the camera via the I²C bus.
Due to software processing and I²C transmission delays, the responsiveness of a software trigger is lower than that of a hardware trigger. For applications requiring high timing accuracy, hardware trigger is recommended.
Script function: trgone
- Hardware Trigger
In hardware trigger mode, the camera detects trigger signals via the TrigIN IO level changes. For details, see the IO Control section.
Script function: trgedge
3.4.3.4 Trigger Statistics
The trigger statistics function tracks the total number of triggers and the number of lost triggers.
- Definition of total triggers:
- In hardware trigger mode: the number of triggers after trigger filtering.
- In software trigger mode: all triggers are counted.
If the camera receives a hardware or software trigger signal while it is already within a trigger cycle, it cannot respond to the new signal, causing trigger loss.
Switching the operating mode or trigger source does not automatically clear these statistics.
Script functions: trgcount, trgclr
3.4.4 Synchronization Mode
Applicable models: GX-MIPI-IMX662, GX-MIPI-IMX664
In synchronization mode, one camera module is configured as Master, and one or more modules are configured as Slave. The Master module outputs the XVS signal, which the Slave modules receive to synchronize exposure and data output with the Master.
When using synchronization mode, ensure that videomode, workmode, and fps are identical across all cameras.
In this mode, each camera module’s exposure parameters can be configured as either Manual or Auto.
Script function: slavemode
4 Image Properties
4.1 Image Orientation
Used to set or read the output orientation of the camera image.
Values:
- 0 — Normal
- 1 — Mirror (horizontal flip)
- 2 — Flip (vertical flip)
- 3 — Flip & Mirror (horizontal + vertical flip)
Script function: imgdir
4.2 Day/Night Mode and ICR (IR-CUT) Control
This feature is used in surveillance scenarios. Typically, day/night mode, infrared (IR) illuminators, and ICR work together to achieve clear, color images during the day and high-contrast, discreet images at night.
| Mode | Image | IR Illuminator | ICR |
|---|---|---|---|
| Day Mode | Color | Off | IR Filter |
| Night Mode | B/W | On | Glass |
Among these three, the camera only controls day/night mode and ICR status, not the IR illuminator.
Typically, the IR illuminator board supports day/night detection and outputs a level signal to the camera to trigger day/night mode switching. The GX series cameras use J2-1 pin to receive this signal.
4.2.1 Day/Night Mode Values:
- 0: Color mode
- 1: B/W mode
- 2: External trigger mode
In modes 0 and 1, day/night mode is controlled via software registers, ignoring the J2-1 signal. In mode 2, the J2-1 pin level determines day/night mode.
Script function: daynightmode
4.2.2 Trigger Pin Polarity
Configures the polarity of the J2-1 pin. By default, high = day, low = night. Setting this value to 1 reverses the polarity (high = night, low = day).
Script function: pinpolarity
4.2.3 ICR Control
ICR (IR-CUT) usually has two control pins to switch between IR filter and clear glass in front of the sensor, controlling light filtering.
The camera supports the ircutdir parameter to adapt to different ICR pin configurations.
J4: IRCUT Function Table
| Mode | Pin | Name | Polarity | Filter Position (ircutdir=0) | Filter Position (ircutdir=1) |
|---|---|---|---|---|---|
| 1 | J4-1 | IRCUT1 | - | IR Cut | Full Spectrum Pass |
| J4-2 | IRCUT2 | + | |||
| 2 | J4-1 | IRCUT1 | + | Full Spectrum Pass | IR Cut |
| J4-2 | IRCUT2 | - |
The camera supports periodic ICR control:
- Enabled: outputs a control signal at a default cycle. Suitable for unstable or high-vibration scenarios but slightly increases overall power consumption.
- Disabled: outputs control signal only during mode switching. Suitable for stable, low-vibration environments.
Script functions: ircutdir, ircuttimer
4.3 MIPI Signal Parameters
4.3.1 Number of MIPI Lanes
Reads the current number of MIPI lanes. This is read-only. Default: 2 lanes.
Script function: lanenum
4.3.2 MIPI Lane Data Rate
Reads the current MIPI lane data rate. This is read-only. Default: 1188 Mbps.
Script function: mipidatarate
4.4 Test Image
4.4.1 Vertical Color Stripes
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Script function: testimg