Difference between revisions of "GX Camera on Firfly Boards"

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−
[[MV Camera on Firfly Boards/zh|查看中文]]
+
[[GX Camera on Firfly Boards/zh|查看中文]]
  
−
=== Overview ===
+
'''<big>How to use the GX series cameras on the Firefly board</big>'''
−
The GX series cameras are designed for AI applications in the industrial field. They use the MIPI CSI-2 interface and are particularly suitable for embedded computing platforms. They feature a wide range of data formats and triggering capabilities, extremely low latency, high bandwidth, and reliable stability.
 
  
−
This article takes the Firefly's ROC-RK3588S-PC, ROC-RK3576-PC and ROC-RK3566-PC motherboards as examples to introduce how to connect GX series cameras to the RK3566/RK3568, RK3576 and RK3588S/RK3588 systems.  
+
===Overview===
 +
The GX series cameras are designed for embedded AI applications. They offer high-performance ISP capabilities, support multiple operating modes, provide a wide range of configurable features, and are built with a robust and reliable design. The cameras use the MIPI CSI-2 interface and are well suited for embedded computing platforms.  
  
−
We provide drivers for the Linux operating system (taking Ubuntu as an example).
+
This article uses the Firefly ROC-RK3588S-PC, ROC-RK3576-PC, and ROC-RK3566-PC boards as examples to describe how to connect GX series cameras to RK3566/RK3568, RK3576, and RK3588S/RK3588-based systems.
  
−
==== Camera Module List ====
+
Linux drivers are provided for the GX series cameras, with Ubuntu used as the reference operating system.
 +
 
 +
====Camera Module List====
 
{| class="wikitable"
 
{| class="wikitable"
 
!Series
 
!Series
Line 18: Line 20:
 
|Done
 
|Done
 
|}
 
|}
−
In addition, the driver for the V-by-One HS connection mode has been finished on the Ubuntu system.
 
−
 
−
=== Hardware Setup ===
 
−
The GX series and RAW series cameras require an [[ADP-MV2 Adapter Board Data Sheet/zh|ADP-MV2]] adapter board to connect to the ROC-RK35xx-PC motherboard.
 
−
 
−
==== Connection of  new ADP-MV2 ====
 
  
−
=====Connection of GX series camera and ADP-MV2=====
+
====Supported boards====
−
The two are connected using 0.5 mm pitch*30P FFC cable with opposite-side contacts. The cable must be inserted with the silver contacts facing outside.
 
 
{| class="wikitable"
 
{| class="wikitable"
−
!TOP
+
!manufacturers
−
!BOTTOM
+
!model
 +
!status
 
|-
 
|-
−
|[[File:ADP-MV2-V2 to MV-MIPI-X.jpg|alt=|center|thumb|600x600px|ADP-MV2 to MV-MIPI-X|link=http://wiki.veye.cc/index.php/File:ADP-MV2-V2_to_MV-MIPI-X.jpg]]
+
|Firefly
−
|[[File:ADP-MV2-V2 to MV-MIPI-X No.2.jpg|alt=|center|thumb|600x600px|ADP-MV2 to MV-MIPI-X|link=http://wiki.veye.cc/index.php/File:ADP-MV2-V2_to_MV-MIPI-X_No.2.jpg]]
+
|ROC-RK3588S-PC
−
|}
+
|Done
−
 
 
−
===== Connection of RAW-MIPI-SC132M and ADP-MV2 =====
 
−
The two are connected using 1.0 mm pitch*15P FFC cable with opposite-side contacts. The cable must be inserted with the silver contacts facing outside.
 
−
{| class="wikitable"
 
−
! TOP
 
−
!BOTTOM
 
 
|-
 
|-
−
|[[File:ADP-MV2 to RAW-MIPI-SC132M.jpg|alt=|center|thumb|600x600px|ADP-MV2 to RAW-MIPI-SC132M|link=http://wiki.veye.cc/index.php/File:ADP-MV2_to_RAW-MIPI-SC132M.jpg]]
+
|Firefly
−
|[[File:ADP-MV2 to RAW-MIPI-SC132M No.2.jpg|alt=ADP-MV2 to RAW-MIPI-SC132M|center|thumb|600x600px|ADP-MV2 to RAW-MIPI-SC132M|link=http://wiki.veye.cc/index.php/File:ADP-MV2_to_RAW-MIPI-SC132M_No.2.jpg]]
+
|ROC-RK3576-PC
−
|}
+
|TBD
−
===== Connection of  other RAW series camera and ADP-MV2 =====
 
−
The two are connected using 0.5 mm pitch*pin FFC cable with opposite-side contacts. The cable must be inserted with the silver contacts facing outside.
 
−
{| class="wikitable"
 
−
!TOP
 
−
!BOTTOM
 
 
|-
 
|-
−
|[[File:ADP-MV2 to RAW series camera.jpg|alt=|center|thumb|600x600px|ADP-MV2 to RAW series camera|link=http://wiki.veye.cc/index.php/File:ADP-MV2_to_RAW_series_camera.jpg]]
+
|Firefly
−
|[[File:ADP-MV2 to RAW series camera No.2.jpg|alt=ADP-MV2 to RAW series camera No.2|center|thumb|600x600px|ADP-MV2 to RAW series camera|link=http://wiki.veye.cc/index.php/File:ADP-MV2_to_RAW_series_camera_No.2.jpg]]
+
|ROC-RK3566-PC
 +
|TBD<br />
 
|}
 
|}
−
=====Connection with Main board using ADP-MV2=====
 
−
The two are connected using 0.5mm pitch * 30P FFC coaxial wires, paying attention to the direction of the contact surfaces, silver contacts facing outside on the ADP-MV2 and facing inside on the RK board.
 
−
<br />[[File:RK-ADP-MV2-V2-RAW-MIPI 02.jpg|alt=|center|thumb|800x800px|RK to ADP-MV2 and MV cam|link=http://wiki.veye.cc/index.php/File:RK-ADP-MV2-V2-RAW-MIPI_02.jpg]]
 
  
−
==== V-by-One-HS-KIT Camera Connection Diagram ====
+
===Hardware Setup===
−
[[File:VBYONE connection with rk3588.jpg|center|thumb|800x800px|VBYONE connection with rk3588]]
+
Firefly boards use a 30-pin camera connector, while GX series cameras feature a 22-pin interface and require an independent 5 V power supply. Therefore, a dedicated FFC adapter cable and a separate power cable have been designed to support proper connection and power delivery.
 +
 
 +
=====Connection Diagram=====
 +
<br />[[File:Gx to firfly.png|alt=GX Camera to Firfly|center|thumb|800x800px|GX Camera to Firfly]]
 
<br />
 
<br />
−
===Introduction to github repositories===
+
 
 +
===Introduction to the GitHub Repos===
 +
====General part of the Rockchip platform====
 
https://github.com/veyeimaging/rk35xx_veye_bsp
 
https://github.com/veyeimaging/rk35xx_veye_bsp
−
 
−
https://github.com/veyeimaging/rk35xx_firefly
 
  
 
includes：
 
includes：
Line 71: Line 57:
 
*application demo
 
*application demo
  
−
In addition, a compiled linux kernel installation package and Android image is provided in the [https://github.com/veyeimaging/rk356x_firefly/releases releases].
+
====Firefly Board–Related Resources====
 +
https://github.com/veyeimaging/rk35xx_firefly
 +
 
 +
This repository mainly includes the following contents:
  
−
=== Upgrade Firefly Ubuntu system ===
+
*Device Tree Source (DTS) files and compiled DTB files
−
For the ROC-RK3566-PC,ROC-RK3576-PC and ROC-RK3588S-PC, we have provided an image of the release system.
+
*Driver compilation and build instructions
  
−
Download the latest Ubuntu imge from https://github.com/veyeimaging/rk35xx_firefly/releases/ .
+
====Board Image Flashing====
 +
Precompiled Linux system images are provided in the [https://github.com/veyeimaging/rk356x_firefly/releases GitHub ''Releases'' section].  
  
−
Refer to the Firefly documentation [https://wiki.t-firefly.com/en/ROC-RK3588S-PC/upgrade_bootmode.html ROC-RK3588S-PC] [https://wiki.t-firefly.com/en/ROC-RK3566-PC/03-upgrade_firmware.html ROC-RK3566-PC] [https://wiki.t-firefly.com/en/ROC-RK3576-PC/03-upgrade_firmware.html ROC-RK3576-PC] to burn in a standard system.
+
===Upgrade Firefly Ubuntu system===
−
===Check system status===
+
For the ROC-RK3566-PC, ROC-RK3576-PC, and ROC-RK3588S-PC boards, we provide release-version system images for flashing.
  
−
==== Whether the camera is correctly recognized ====
+
Please locate the system image corresponding to your specific board that includes support for GX series cameras from the previously mentioned download paths.
−
After system update, reboot the main board.
 
  
−
Execute the following command on the main board to check if the camera is properly connected.
+
Refer to the official Firefly documentation ([https://wiki.t-firefly.com/en/ROC-RK3588S-PC/upgrade_bootmode.html ROC-RK3588S-PC] [https://wiki.t-firefly.com/en/ROC-RK3566-PC/03-upgrade_firmware.html ROC-RK3566-PC] [https://wiki.t-firefly.com/en/ROC-RK3576-PC/upgrade_bootmode.html ROC-RK3576-PC]) for detailed instructions on flashing the system image.
  
−
<code>dmesg | grep gxcam</code>
+
===Check system status===
  
−
You can see the camera model and the camera version number probed.
+
====Camera Detection====
 +
After completing the system installation and connecting the camera hardware, power on the system. On the Firefly board, execute the following command to verify whether the camera has been detected correctly:
  
−
A prompt as below indicates that the GX-MIPI-IMX662 camera is detected on the i2c-7 bus.
+
<code>$ dmesg | grep gxcam</code>
 +
 
 +
There should be similar prompts like the following:
  
 
<code>[6.667547] gxcam 7-003b: veye gx series camera driver version: 01.00.01</code>
 
<code>[6.667547] gxcam 7-003b: veye gx series camera driver version: 01.00.01</code>
Line 102: Line 94:
 
<code>[6.891209] rockchip-csi2-dphy csi2-dphy0: dphy0 matches m00_b_gxcam 7-003b:bus type 5</code>
 
<code>[6.891209] rockchip-csi2-dphy csi2-dphy0: dphy0 matches m00_b_gxcam 7-003b:bus type 5</code>
  
−
On the ROC-RK3588S-PC, the camera is mounted on i2c-7, with an i2c address of 0x3b.
+
From the log messages above, it can be confirmed that the detected camera model is '''GX-MIPI-IMX662'''.
  
−
On the ROC-RK3566-PC and ROC-RK3576-PC, the camera is mounted on i2c-4.
+
The identifier <code>7-003b</code> indicates that the camera is connected to '''I²C bus 7''' with an '''I²C address of 0x3b'''.
  
−
* Check the video0 device node:
+
*On the '''ROC-RK3588S-PC''', the camera is connected to '''i2c-7'''
 +
*On the '''ROC-RK3566-PC''' and '''ROC-RK3576-PC''', the camera is connected to '''i2c-4'''
 +
 
 +
Next, execute the following command to check the video device node:
  
 
<code>ls /dev/video0</code>
 
<code>ls /dev/video0</code>
  
−
You should see:
+
If the output shows:
  
 
<code>video0</code>
 
<code>video0</code>
  
−
After successfully identifying the camera, the camera will be recognized as /dev/video0.
+
this indicates that the camera has been successfully registered as <code>/dev/video0</code>.
−
===='''State Detection and Environment Variable Configuration'''====
 
−
[https://github.com/veyeimaging/rk35xx_veye_bsp/tree/main/mv_tools_rockchip/i2c_tools Here], We have provided two scripts that can automatically retrieve some information about the camera.
 
−
 
 
−
First, try using the probe_camera_info-rk.sh script. This script is used to detect the connected and successfully registered camera devices, retrieve the corresponding media device nodes, video device nodes, sub-device nodes, I²C buses, and device identifiers and other low-level information. After execution, it will generate an auto_camera_index.json file in the current directory and record the retrieved information in the file.
 
−
 
 
−
./probe_camera_info-rk.sh
 
−
 
 
−
cat auto_camera_index.json
 
−
 
 
−
[
 
−
 
 
−
  {
 
−
 
 
−
    "media_node": "/dev/media0",
 
−
 
 
−
    "video_node": "/dev/video0",
 
−
 
 
−
    "video_subnode": "/dev/v4l-subdev2",
 
−
 
 
−
    "media_entity_name": "m00_b_gxcam 7-003b",
 
−
 
 
−
    "i2c_bus": "7"
 
−
 
 
−
  }
 
−
 
 
−
]
 
−
 
 
−
By referring to the index information, we can see the "i2c_bus": "7" corresponding i2c_bus information, as well as the number of devices connected. The current index shows that only one device is connected, and the i2c_bus number is 7. If multiple devices are connected, the index information may include "i2c_bus": "10", "i2c_bus": "11" and so on. Then, using the gx_probe.sh script, if it is a multi-camera system, the i2c_bus can be executed based on the information read from the previous script, and the corresponding camera model, width, height, frame rate and other information can be configured in the environment variables.
 
−
 
 
−
Usage:
 
−
 
 
−
<code>source ./gx_probe.sh 7</code>
 
−
 
 
−
A typical output:
 
−
 
 
−
<code>$ source ./gx_probe.sh 7</code>
 
−
 
 
−
<code>Found veye_gxcam camera on i2c-7.</code>
 
−
 
 
−
<code>Setenv CAMERAMODEL = GX-MIPI-IMX662</code>
 
−
 
 
−
<code>Setenv FPS = 60</code>
 
−
 
 
−
<code>Setenv WIDTH = 1920</code>
 
−
 
 
−
<code>Setenv HEIGHT = 1080</code>
 
−
 
 
−
You can verify the environment variable output using:
 
−
 
 
−
<code>echo $CAMERAMODEL</code>
 
−
 
 
−
Note that these environment variables are only valid for the current session.
 
−
 
 
−
'''Important Notes:'''
 
−
 
 
−
*This script requires the <code>mvcam</code> driver version '''1.1.06 or later'''.
 
−
*If your driver version is '''earlier than 1.1.06''' or you need to use different width, height, or frame rate values, refer to the camera module manual and manually configure the following environment variables. Otherwise, subsequent programs may not function correctly.
 
−
 
 
−
Example:
 
−
 
 
−
<code>export WIDTH=2432</code>
 
−
 
 
−
<code>export HEIGHT=2048</code>
 
−
 
 
−
<code>export FPS=50</code>
 
−
====Configuring  global variables====
 
−
Based on the board model, configure the I2C_BUS global variable as follows:
 
−
 
 
−
* ROC-RK3588S-PC
 
−
 
 
−
<code>export I2C_BUS=7</code>
 
−
 
 
−
* ROC-RK3566-PC and ROC-RK3576-PC
 
−
 
 
−
<code>export I2C_BUS=4</code>
 
−
==== Using media-ctl to view topology ====
 
−
Using the media-ctl command can clearly display the current topography structure.
 
−
 
 
−
<code>media-ctl -p -d /dev/media0</code>
 
−
 
 
−
===== Link relationship =====
 
−
mv camera->rockchip-csi2-dphy0->rockchip-mipi-csi2->stream_cif_mipi_id0 - - ->DDR(/dev/video0)
 
−
 
 
−
The application can obtain images through the /dev/video0 node.
 
−
 
 
−
===== mv camera entity information =====
 
−
Taking the MV-MIPI-IMX296M as an example:
 
  
−
<code>- entity 63: m00_b_mvcam 7-003b (1 pad, 1 link)</code>
+
At this point, both the camera hardware installation and driver setup are complete. For further application development, please refer to the following sections.
  
−
<code>             type V4L2 subdev subtype Sensor flags 0</code>
+
===Camera Application Development Guide===
−
 
+
[[GX Camera Application Development Guide|Application Development Guide]]
−
<code>             device node name /dev/v4l-subdev2</code>
 
−
 
 
−
<code>        pad0: Source</code>
 
−
 
 
−
<code>                [fmt:Y8_1X8/1456x1088@100/6000 field:none]</code>
 
−
 
 
−
<code>                -> "rockchip-csi2-dphy0":0 [ENABLED]</code>
 
−
 
 
−
You can see that:
 
−
 
 
−
* The complete name of this entity is: <code>m00_b_mvcam 7-003b</code>.(It is <code>m00_b_mvcam 4-003b</code>on ROC-RK3566-PC.)
 
−
* It is a V4L2 subdev (Sub-Device) Sensor.
 
−
* Its corresponding node is <code>/dev/v4l-subdev2</code>, which can be opened and configured by applications (such as <code>v4l2-ctl</code>).
 
−
* Its output format is <code>[fmt:Y8_1X8/1456x1088@100/6000 field:none]</code>, where <code>Y8_1X8</code> is a shorthand for a mbus-code, which will be listed in the next section of this article.
 
−
* The current resolution is <code>1456x1088</code>.
 
−
* The current frame interval is <code>100/6000</code>, which means the frame rate is 60.
 
−
* The data format output by the camera can be modified using the media-ctl command.
 
−
 
 
−
===== mbus-code list =====
 
−
MV series and RAW series cameras have different data format capabilities, which can be found in the data manual for each camera model.
 
−
{| class="wikitable"
 
−
!Format on datasheet
 
−
!mbus-code for media-ctl
 
−
!FourCC pixelformat for v4l2-ctl
 
−
|-
 
−
|RAW8
 
−
|Y8_1X8
 
−
|GREY
 
−
|-
 
−
|RAW10
 
−
|Y10_1X10
 
−
|'Y10 '
 
−
|-
 
−
|RAW12
 
−
|Y12_1X12
 
−
|'Y12 '
 
−
|-
 
−
|UYVY
 
−
|UYVY8_2X8
 
−
|UYVY
 
−
|}
 
−
 
 
−
=== Raw data format ===
 
−
The VICAP module of RK3588 supports two data saving formats, Compact and Noncompact RAW. You can modify the mode using the RKCIF_CMD_SET_CSI_MEMORY_MODE ioctl command of RKCIF. By default, the output is in Compact RAW format.[[File:Compact raw and noncompact raw of rk3588 vicap.png|center|thumb|800x800px|Compact raw and noncompact raw of rk3588 VICAP|link=http://wiki.veye.cc/index.php/File:Compact_raw_and_noncompact_raw_of_rk3588_vicap.png]]
 
−
 
 
−
==== Noncompact RAW ====
 
−
For pixel data with 10-bit depth or 12-bit depth, two bytes are always used to store one pixel. This storage method is convenient for software processing, but it has the disadvantage of occupying a large amount of space.
 
−
 
 
−
Depending on whether the effective data is stored in the high bits or low bits, it can be further divided into two types: high align and low align.
 
−
 
 
−
=====Noncompact RAW(high align)=====
 
−
Data is saved to the high bits, and the unused low bits are filled with 0. This is one of the data formats supported by RK VICAP.
 
−
 
 
−
===== Noncompact RAW(low align) =====
 
−
In Noncompact RAW (low align) format, data is saved to the low bits, and the unused high bits are filled with 0. The V4L2 standard 'Y10' (10-bit Greyscale) and 'Y12' (12-bit Greyscale) formats are both stored in this way.
 
−
 
 
−
The pixel_layer_convert conversion tool mentioned later in the article also converts Compact RAW to this storage format for easy display using image players.
 
−
 
 
−
==== Compact RAW ====
 
−
As shown above，there is no bit padding between pixels in this storage format.
 
−
 
 
−
==== Line stride ====
 
−
To facilitate fast operations on images, the system usually provides row-aligned buffer sizes for each line of data. RK3588 uses 256-byte alignment for this purpose.
 
−
 
 
−
line_stride = ALIGN_UP（image_width*bits_per_pixel/8,256）
 
−
 
 
−
For example, when the image width is 1456:
 
−
 
 
−
8bit depth，line_stride=1536
 
−
 
 
−
10bit depth，preferred_stride=2048
 
−
 
 
−
12bit depth，preferred_stride=2304
 
−
====Format convert tool====
 
−
We have written a small tool: [https://github.com/veyeimaging/pixel_layer_convert pixel_layer_convert], which can easily convert Compact images to Noncompact (low align) images.
 
−
 
 
−
For example, the following command can convert a Compact RAW10 image with a width of 1456 to Noncompact RAW10 format:
 
−
 
 
−
<code>./pixel_layer_convert -I R10C -i y10-1456x1088_0001.raw -o y10-1456x1088_0001_new.raw -w 1456</code>
 
−
====Raw data image player====
 
−
We recommend using [https://www.offminor.de/ vooya] as the player, which supports GREY, and unpacked image formats.
 
−
 
 
−
Also, y8 file can be used with this player: [https://yuv-player-deluxe.software.informer.com/2.6/ YUV Displayer Deluxe].
 
−
 
 
−
=== Application examples ===
 
−
==== Configure parameters using v4l2-ctl ====
 
−
<code>$ v4l2-ctl -d /dev/v4l-subdev2 -L</code>
 
−
 
 
−
<code>User Controls</code>
 
−
 
 
−
<code>                   trigger_mode 0x00981901 (int)    : min=0 max=2 step=1 default=0 value=0 flags=volatile, execute-on-write</code>
 
−
 
 
−
<code>                    trigger_src 0x00981902 (int)    : min=0 max=1 step=1 default=1 value=1 flags=volatile, execute-on-write</code>
 
−
 
 
−
<code>                    soft_trgone 0x00981903 (button) : flags=write-only, execute-on-write</code>
 
−
 
 
−
<code>                     frame_rate 0x00981904 (int)    : min=1 max=60 step=1 default=60 value=60 flags=volatile, execute-on-write</code>
 
−
 
 
−
<code>                          roi_x 0x00981905 (int)    : min=0 max=1376 step=8 default=0 value=0</code>
 
−
 
 
−
<code>                          roi_y 0x00981906 (int)    : min=0 max=1024 step=4 default=0 value=0</code>
 
−
 
 
−
Parameters can be set and get using the following methods.
 
−
 
 
−
<code>v4l2-ctl --set-ctrl [ctrl_type]=[val]</code>
 
−
 
 
−
<code>v4l2-ctl --get-ctrl [ctrl_type]</code>
 
−
 
 
−
All the above functions can be implemented using [[Mv mipi i2c.sh user guide|mv_mipi_i2c.sh]].
 
−
 
 
−
Note that the above parameters cannot be modified during the capture process.
 
−
 
 
−
The following is an explanation of each parameter:
 
−
=====Trigger Mode=====
 
−
<code>v4l2-ctl --set-ctrl <small>trigger_mode=[0-2]</small></code>
 
−
 
 
−
0：Video streaming mode
 
−
 
 
−
1：Normal trigger mode.
 
−
 
 
−
2：High-speed continuous trigger mode.
 
−
=====Trigger Source=====
 
−
<code>v4l2-ctl --set-ctrl <small>trigger_src=[0-1]</small></code>
 
−
 
 
−
0: Software trigger mode.
 
−
 
 
−
1: Hardware trigger mode.
 
−
=====Software trigger command=====
 
−
<code>v4l2-ctl --set-ctrl <small>soft_trgone=1</small></code>
 
−
=====Set frame rate=====
 
−
<code>v4l2-ctl --set-ctrl frame_rate=[1-max]</code>
 
−
 
 
−
The maximum frame rate is automatically updated as the resolution changed.
 
−
 
 
−
===== Set the starting position of the ROI =====
 
−
<code>v4l2-ctl -d /dev/v4l-subdev2 --set-ctrl roi_x=0</code>
 
−
 
 
−
<code>v4l2-ctl -d /dev/v4l-subdev2 --set-ctrl roi_y=0</code>
 
−
 
 
−
After setting the ROI starting position, you need to complete the full ROI configuration using the <code>media-ctl</code> command.
 
−
 
 
−
Note that setting the ROI may affect the maximum frame rate, and the ROI parameters need to meet the requirements specified in the camera manual.
 
−
 
 
−
==== Set image format using media-ctl ====
 
−
use the following command to configure the camera's data format, resolution, and frame rate using <code>media-ctl</code>:
 
−
 
 
−
<code>media-ctl -d /dev/media0 --set-v4l2 '"m00_b_mvcam '"$I2C_BUS"'-003b":0[fmt:Y8_1X8/'"$WIDTH"'x'"$HEIGHT"'@1/'"$FPS"']'</code>
 
−
 
 
−
Among them: <code>"m00_b_mvcam '"$I2C_BUS"'-003b"</code> refers to the complete name of the camera entity, <code>Y8_1X8</code> is the mbus-code, <code>'"$WIDTH"'x'"$HEIGHT"'</code> indicates the resolution, <code>1/'"$FPS"'</code> indicates the resolution frame rate.
 
−
 
 
−
The width and height here cooperate with the roi_x and roi_y of the v4l2-ctl command to form the ROI parameter.
 
−
 
 
−
For example, for MV-MIPI-IMX296M, the command after variable replacement would be:
 
−
 
 
−
<code>media-ctl -d /dev/media0 --set-v4l2 '"m00_b_mvcam 7-003b":0[fmt:Y8_1X8/1456x1088@1/60 field:none]'</code>
 
−
 
 
−
You can not only configure the data format, resolution, and frame rate in one command, but also modify them separately as needed.
 
−
 
 
−
==== Video Streaming mode ====
 
−
 
 
−
===== Set data format, resolution, frame rate =====
 
−
<code>v4l2-ctl -d /dev/v4l-subdev2 --set-ctrl roi_x=0</code>
 
−
 
 
−
<code>v4l2-ctl -d /dev/v4l-subdev2 --set-ctrl roi_y=0</code>
 
−
 
 
−
<code>media-ctl -d /dev/media0 --set-v4l2 '"m00_b_mvcam '"$I2C_BUS"'-003b":0[fmt:Y8_1X8/'"$WIDTH"'x'"$HEIGHT"'@1/'"$FPS"']'</code>
 
−
=====Frame rate statistics=====
 
−
In streaming mode, the following commands can be used for frame rate statistics：
 
−
 
 
−
<code>v4l2-ctl --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat=GREY --stream-mmap --stream-count=-1 --stream-to=/dev/null</code>
 
−
 
 
−
Or：
 
−
 
 
−
<code>./yavta -c1000 --skip 0 -f Y8 -s ${WIDTH}x${HEIGHT} /dev/video0</code>
 
−
===== Save image to file =====
 
−
 
 
−
*raw8
 
−
 
 
−
<code>v4l2-ctl -d /dev/video0 --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat=GREY --stream-mmap --stream-count=1 --stream-to=y8-${WIDTH}x${HEIGHT}.raw</code>
 
−
 
 
−
*raw10
 
−
 
 
−
<code>v4l2-ctl -d /dev/video0 --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat='Y10 ' --stream-mmap --stream-count=1 --stream-to=y10-${WIDTH}x${HEIGHT}.raw</code>
 
−
 
 
−
*raw12
 
−
 
 
−
<code>v4l2-ctl -d /dev/video0 --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat='Y12 ' --stream-mmap --stream-count=1 --stream-to=y12-${WIDTH}x${HEIGHT}.raw</code>
 
−
 
 
−
Please refer to the description in the previous section for the image format.
 
−
 
 
−
===== Example of yavta =====
 
−
 
 
−
====== Install yavta ======
 
−
<code>git clone <nowiki>git://git.ideasonboard.org/yavta.git</nowiki></code>
 
−
 
 
−
<code>cd yavta;make</code>
 
−
 
 
−
====== Save image to file ======
 
−
After setting data format, resolution, frame rate，run:
 
−
 
 
−
<code>./yavta -c1 -Fy8-${WIDTH}x${HEIGHT}.raw --skip 0 -f Y8 -s ${WIDTH}x${HEIGHT} /dev/video0</code>
 
−
 
 
−
===== Example of import image to OpenCV =====
 
−
<code>sudo apt install python3-opencv</code>
 
−
 
 
−
See the [https://github.com/veyeimaging/rk35xx_veye_bsp/tree/main/samples samples] directory on github for details.
 
−
 
 
−
<code>python ./v4l2dev_2_opencv_show_grey.py --width 1456 --height 1088 --fps 60 --i2c 7</code>
 
−
 
 
−
===== Example of gstreamer application =====
 
−
We provide several gstreamer routines that implement the preview function. See the [https://github.com/veyeimaging/rk35xx_veye_bsp/tree/main/samples samples] directory on github for details.
 
−
 
 
−
==== Trigger mode ====
 
−
 
 
−
===== Set data format, resolution, frame rate =====
 
−
<code>v4l2-ctl -d /dev/v4l-subdev2 --set-ctrl roi_x=0</code>
 
−
 
 
−
<code>v4l2-ctl -d /dev/v4l-subdev2 --set-ctrl roi_y=0</code>
 
−
 
 
−
<code>media-ctl -d /dev/media0 --set-v4l2 '"m00_b_mvcam '"$I2C_BUS"'-003b":0[fmt:Y8_1X8/'"$WIDTH"'x'"$HEIGHT"'@1/'"$FPS"']'</code>
 
−
=====Software trigger mode=====
 
−
======Set mode======
 
−
<code>v4l2-ctl -d /dev/v4l-subdev2 --set-ctrl <small>trigger_mode=1</small></code>
 
−
 
 
−
<code>v4l2-ctl -d /dev/v4l-subdev2 --set-ctrl <small>trigger_src=0</small></code>
 
−
 
 
−
====== Start acquisition ======
 
−
<code>v4l2-ctl -d /dev/video0 --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat=GREY --stream-mmap --stream-count=1 --stream-to=y8-${WIDTH}x${HEIGHT}.raw</code>
 
−
 
 
−
======Perform soft trigger operation======
 
−
In other shell terminals, you can execute the following command multiple times for multiple triggers.
 
−
 
 
−
<code>v4l2-ctl -d /dev/v4l-subdev2 --set-ctrl <small>soft_trgone=1</small></code>
 
−
 
 
−
===== Hardware trigger mode =====
 
−
 
 
−
====== Set mode ======
 
−
<code>v4l2-ctl -d /dev/v4l-subdev2 --set-ctrl <small>trigger_mode=1</small></code>
 
−
 
 
−
<code>v4l2-ctl -d /dev/v4l-subdev2 --set-ctrl <small>trigger_src=1</small></code>
 
−
 
 
−
The [[Mv mipi i2c.sh user guide|mv_mipi_i2c.sh]] script can be used to set rich trigger parameters.
 
−
 
 
−
====== Start acquisition ======
 
−
<code>v4l2-ctl -d /dev/video0 --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat=GREY --stream-mmap --stream-count=1 --stream-to=y8-${WIDTH}x${HEIGHT}.raw</code>
 
−
 
 
−
====== Perform hardware trigger operation ======
 
−
Connect the appropriate trigger signal to the trigger pin of the camera and trigger it.
 
−
 
 
−
===i2c script for parameter configuration===
 
−
We provide shell scripts to configure the parameters.
 
−
 
 
−
[[mv_mipi_i2c.sh user guide]]
 
−
 
 
−
=== Question Feedback ===
 
−
We are committed to providing richer possibilities for image applications on embedded platforms. Therefore, our software for embedded platforms is based on the principle of open source.
 
−
 
 
−
If you have any questions or suggestions about our existing software, please feel free to submit them to the [http://forum.veye.cc/ forum] or email our technical staff at xumm#csoneplus.com.
 
  
 
===References===
 
===References===
Line 485: Line 135:
 
===Document History===
 
===Document History===
  
−
*2025-04-14
+
*2025-12-20
  
−
Add support for RK3576.
+
The document format was adjusted, it was appropriately polished.  
  
−
* 2025-03-23
+
*2025-11-28
  
−
Add description of mv_probe.sh.
+
The first version.
  
−
* 2024-07-09
+
<br />
−
 
 
−
Add support for RAW-MIPI-SC535M.
 
−
 
 
−
* 2024-04-17
 
−
 
 
−
Support  RK3566.
 
−
 
 
−
* 2024-03-10
 
−
 
 
−
Add pictures and descriptions of hardware connections for the new version of ADP-MV2.
 
−
 
 
−
*2023-08-30
 
−
 
 
−
Add support for RAW-MIPI-IMX462M and RAW-MIPI-AR0234M.
 
−
 
 
−
* 2023-07-31
 
−
 
 
−
Support V-by-One on ubuntu system.
 
−
 
 
−
*2023-04-12
 
−
 
 
−
Release 1st version.<br />
 

Latest revision as of 14:18, 30 December 2025

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How to use the GX series cameras on the Firefly board

1 Overview

The GX series cameras are designed for embedded AI applications. They offer high-performance ISP capabilities, support multiple operating modes, provide a wide range of configurable features, and are built with a robust and reliable design. The cameras use the MIPI CSI-2 interface and are well suited for embedded computing platforms.

This article uses the Firefly ROC-RK3588S-PC, ROC-RK3576-PC, and ROC-RK3566-PC boards as examples to describe how to connect GX series cameras to RK3566/RK3568, RK3576, and RK3588S/RK3588-based systems.

Linux drivers are provided for the GX series cameras, with Ubuntu used as the reference operating system.

1.1 Camera Module List

Series Model Status
GX series GX-MIPI-IMX662 Done

1.2 Supported boards

manufacturers model status
Firefly ROC-RK3588S-PC Done
Firefly ROC-RK3576-PC TBD
Firefly ROC-RK3566-PC TBD

2 Hardware Setup

Firefly boards use a 30-pin camera connector, while GX series cameras feature a 22-pin interface and require an independent 5 V power supply. Therefore, a dedicated FFC adapter cable and a separate power cable have been designed to support proper connection and power delivery.

2.1 Connection Diagram


GX Camera to Firfly
GX Camera to Firfly


3 Introduction to the GitHub Repos

3.1 General part of the Rockchip platform

https://github.com/veyeimaging/rk35xx_veye_bsp

includes：

  • driver source code
  • i2c toolkits
  • application demo

3.2 Firefly Board–Related Resources

https://github.com/veyeimaging/rk35xx_firefly

This repository mainly includes the following contents:

  • Device Tree Source (DTS) files and compiled DTB files
  • Driver compilation and build instructions

3.3 Board Image Flashing

Precompiled Linux system images are provided in the GitHub Releases section.

4 Upgrade Firefly Ubuntu system

For the ROC-RK3566-PC, ROC-RK3576-PC, and ROC-RK3588S-PC boards, we provide release-version system images for flashing.

Please locate the system image corresponding to your specific board that includes support for GX series cameras from the previously mentioned download paths.

Refer to the official Firefly documentation (ROC-RK3588S-PC ROC-RK3566-PC ROC-RK3576-PC) for detailed instructions on flashing the system image.

5 Check system status

5.1 Camera Detection

After completing the system installation and connecting the camera hardware, power on the system. On the Firefly board, execute the following command to verify whether the camera has been detected correctly:

$ dmesg | grep gxcam

There should be similar prompts like the following:

[6.667547] gxcam 7-003b: veye gx series camera driver version: 01.00.01

[6.781681] gxcam 7-003b: camera is: GX-MIPI-IMX662

[6.820210] gxcam 7-003b: Success to get gxcam endpoint data lanes, dts uses 2 lanes,will set to camera

[6.834597] gxcam 7-003b: gxcam_enum_controls success

[6.891209] rockchip-csi2-dphy csi2-dphy0: dphy0 matches m00_b_gxcam 7-003b:bus type 5

From the log messages above, it can be confirmed that the detected camera model is GX-MIPI-IMX662.

The identifier 7-003b indicates that the camera is connected to I²C bus 7 with an I²C address of 0x3b.

  • On the ROC-RK3588S-PC, the camera is connected to i2c-7
  • On the ROC-RK3566-PC and ROC-RK3576-PC, the camera is connected to i2c-4

Next, execute the following command to check the video device node:

ls /dev/video0

If the output shows:

video0

this indicates that the camera has been successfully registered as /dev/video0.

At this point, both the camera hardware installation and driver setup are complete. For further application development, please refer to the following sections.

6 Camera Application Development Guide

Application Development Guide

7 References

  • ROC-RK3566-PC Manual

https://wiki.t-firefly.com/en/ROC-RK3566-PC/

  • ROC-RK3588S-PC Manual

https://wiki.t-firefly.com/en/ROC-RK3588S-PC/

  • ROC-RK3576-PC Manual

https://wiki.t-firefly.com/en/ROC-RK3576-PC/

  • Firefly Linux User Guide

https://wiki.t-firefly.com/en/Firefly-Linux-Guide/index.html

8 Document History

  • 2025-12-20

The document format was adjusted, it was appropriately polished.

  • 2025-11-28

The first version.


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