Skip to content

Pi5 GMSL improvements #16

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Demon000 wants to merge 5 commits into
base: master
Choose a base branch
from
Open

Pi5 GMSL improvements #16

Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
1ec5de4
rpi5-gmsl: make deserializer TPG pad/stream dynamic
Demon000 Jun 4, 2025
f938def
rpi5-gmsl: fix entity not using incremental channel index
Demon000 Jun 5, 2025
a9b3df5
rpi5-gmsl: allow serializers to have unconnected cameras
Demon000 Jun 17, 2025
6a4993e
rpi5-gmsl: switch TPG to 1080p
Demon000 Jun 5, 2025
4aa8d73
rpi5-gmsl: set empty routing for unused serializers
Demon000 Jul 18, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
81 changes: 60 additions & 21 deletions utils/cam/cam-configs/rpi5-gmsl.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -36,13 +36,14 @@

# TPG

mbus_fmt_tpg = (640, 480, v4l2.BusFormat.RGB888_1X24)
fmt_tpg = (640, 480, v4l2.PixelFormats.BGR888)
mbus_fmt_tpg = (1920, 1080, v4l2.BusFormat.RGB888_1X24)
fmt_tpg = (1920, 1080, v4l2.PixelFormats.BGR888)


def gen_imx219_pixel(des_ent, des_src_pad, ch_index, cameras, port):
sensor_ent = cameras[port][1]
ser_ent = cameras[port][0]
assert sensor_ent is not None

return {
'media': MEDIA_DEVICE_NAME,
Expand Down Expand Up @@ -117,6 +118,7 @@ def gen_imx219_pixel(des_ent, des_src_pad, ch_index, cameras, port):
def gen_imx219_meta(des_ent, des_src_pad, ch_index, cameras, port):
sensor_ent = cameras[port][1]
ser_ent = cameras[port][0]
assert sensor_ent is not None

return {
'media': MEDIA_DEVICE_NAME,
Expand Down Expand Up @@ -188,7 +190,10 @@ def gen_imx219_meta(des_ent, des_src_pad, ch_index, cameras, port):
],
}

def gen_des_tpg(des_ent, des_src_pad, ch_index):
def gen_des_tpg(des_ent, des_src_pad, deser_tpg_pad, ch_index):
assert deser_tpg_pad is not None

tpg_stream = 16
return {
'media': MEDIA_DEVICE_NAME,

Expand All @@ -197,22 +202,22 @@ def gen_des_tpg(des_ent, des_src_pad, ch_index):
{
'entity': des_ent,
'routing': [
{ 'src': (8, 0), 'dst': (des_src_pad, 0) },
{ 'src': (deser_tpg_pad, 0), 'dst': (des_src_pad, tpg_stream) },
],
'pads': [
{ 'pad': (8, 0), 'fmt': mbus_fmt_tpg },
{ 'pad': (des_src_pad, 0), 'fmt': mbus_fmt_tpg },
{ 'pad': (deser_tpg_pad, 0), 'fmt': mbus_fmt_tpg },
{ 'pad': (des_src_pad, tpg_stream), 'fmt': mbus_fmt_tpg },
],
},

# CSI-2 RX
{
'entity': CSI2_NAME,
'routing': [
{ 'src': (0, 0), 'dst': (1 + ch_index, 0) },
{ 'src': (0, tpg_stream), 'dst': (1 + ch_index, 0) },
],
'pads': [
{ 'pad': (0, 0), 'fmt': mbus_fmt_tpg },
{ 'pad': (0, tpg_stream), 'fmt': mbus_fmt_tpg },
{ 'pad': (1 + ch_index, 0), 'fmt': mbus_fmt_tpg },
],
},
Expand All @@ -234,6 +239,8 @@ def gen_des_tpg(des_ent, des_src_pad, ch_index):
def gen_ser_tpg(des_ent, des_src_pad, ch_index, cameras, port):
ser_ent = cameras[port][0]

ser_tpg_stream = 2
des_tpg_stream = port + 8
return {
'media': MEDIA_DEVICE_NAME,

Expand All @@ -242,41 +249,41 @@ def gen_ser_tpg(des_ent, des_src_pad, ch_index, cameras, port):
{
'entity': ser_ent,
'routing': [
{ 'src': (2, 0), 'dst': (1, 0) },
{ 'src': (2, 0), 'dst': (1, ser_tpg_stream) },
],
'pads': [
{ 'pad': (2, 0), 'fmt': mbus_fmt_tpg },
{ 'pad': (1, 0), 'fmt': mbus_fmt_tpg },
{ 'pad': (1, ser_tpg_stream), 'fmt': mbus_fmt_tpg },
],
},
# Deserializer
{
'entity': des_ent,
'routing': [
{ 'src': (port, 0), 'dst': (des_src_pad, port) },
{ 'src': (port, ser_tpg_stream), 'dst': (des_src_pad, des_tpg_stream) },
],
'pads': [
{ 'pad': (port, 0), 'fmt': mbus_fmt_tpg },
{ 'pad': (des_src_pad, port), 'fmt': mbus_fmt_tpg },
{ 'pad': (port, ser_tpg_stream), 'fmt': mbus_fmt_tpg },
{ 'pad': (des_src_pad, des_tpg_stream), 'fmt': mbus_fmt_tpg },
],
},

# CSI-2 RX
{
'entity': CSI2_NAME,
'routing': [
{ 'src': (0, port), 'dst': (1 + ch_index, 0) },
{ 'src': (0, des_tpg_stream), 'dst': (1 + ch_index, 0) },
],
'pads': [
{ 'pad': (0, port), 'fmt': mbus_fmt_tpg },
{ 'pad': (0, des_tpg_stream), 'fmt': mbus_fmt_tpg },
{ 'pad': (1 + ch_index, 0), 'fmt': mbus_fmt_tpg },
],
},
],

'devices': [
{
'entity': f'rp1-cfe-csi2-ch{port}',
'entity': f'rp1-cfe-csi2-ch{ch_index}',
'fmt': fmt_tpg,
},
],
Expand All @@ -288,6 +295,21 @@ def gen_ser_tpg(des_ent, des_src_pad, ch_index, cameras, port):
],
}

def gen_empty_ser(cameras, port):
ser_ent = cameras[port][0]

return {
'media': MEDIA_DEVICE_NAME,

'subdevs': [
# Serializer
{
'entity': ser_ent,
'routing': [],
},
],
}

# Find serializers and sensors connected to the deserializer
def find_devices(mdev_name, deser_regex):
md = v4l2.MediaDevice(*mdev_name)
Expand All @@ -296,13 +318,19 @@ def find_devices(mdev_name, deser_regex):
assert deser

deser_src_pad = None
deser_tpg_pad = None
for p in deser.pads:
if p.is_source and len(p.links) == 1 and \
p.links[0].sink.entity.name == CSI2_NAME:
deser_src_pad = p.index
break
assert deser_src_pad is not None

for p in deser.pads:
if p.is_internal:
deser_tpg_pad = p.index
break

cameras = {}

for p in deser.pads:
Expand All @@ -315,43 +343,54 @@ def find_devices(mdev_name, deser_regex):
assert len(p.links) == 1

ser = p.links[0].source.entity
sensor = ser.pads[0].links[0].source.entity
sensor_name = None
if len(ser.pads[0].links) == 1:
sensor = ser.pads[0].links[0].source.entity
sensor_name = sensor.name

cameras[p.index] = (ser.name, sensor.name)
cameras[p.index] = (ser.name, sensor_name)

return deser.name, deser_src_pad, cameras
return deser.name, deser_src_pad, deser_tpg_pad, cameras

def get_configs(config_names):
des_name, des_src_pad, cameras = find_devices(MEDIA_DEVICE_NAME, DESER_REGEX)
des_name, des_src_pad, deser_tpg_pad, cameras = find_devices(MEDIA_DEVICE_NAME, DESER_REGEX)

cfgs = []
ch_index = 0
for i in cameras:
cam = f'cam{i}'
cam_meta = f'cam{i}-meta'
ser_tpg = f'ser{i}-tpg'
ser_in_use = False

if cam in config_names:
config_names.remove(cam)
cfg = gen_imx219_pixel(des_name, des_src_pad, ch_index, cameras, i)
cfgs.append(cfg)
ch_index += 1
ser_in_use = True

if cam_meta in config_names:
config_names.remove(cam_meta)
cfg = gen_imx219_meta(des_name, des_src_pad, ch_index, cameras, i)
cfgs.append(cfg)
ch_index += 1
ser_in_use = True

if ser_tpg in config_names:
cfg = gen_ser_tpg(des_name, des_src_pad, ch_index, cameras, i)
config_names.remove(ser_tpg)
cfgs.append(cfg)
ch_index += 1
ser_in_use = True

if not ser_in_use:
cfg = gen_empty_ser(cameras, i)
cfgs.append(cfg)

if 'des-tpg' in config_names:
config_names.remove('des-tpg')
cfg = gen_des_tpg(des_name, des_src_pad, ch_index)
cfg = gen_des_tpg(des_name, des_src_pad, deser_tpg_pad, ch_index)
cfgs.append(cfg)
ch_index += 1

Expand Down