====== 双MAX9296-GMSL2摄像头接入扩展板 ======
===== 主要特征 =====
* 适配TI-TDA系列板卡（下列板卡已测试：tda4vm evaluation kit(EVM)， tda4vm-starter-kit（SK））；
* 接入最多4通道摄像头（MAX9296， 2通道*2）
* 使用GPIO进行电源控制，可控制每一通道摄像头供电
* 预留多相机同步触发接口，最多可实现4路像机同步触发。
* 提供部分摄像头驱动参考
===== 发货清单 =====
* 扩展板，数量1
* 固定螺丝， 若干， （SK版：直径2.5,长度5mm; EVM版：直径2.5mm,长度11cm）
===== 总体结构 =====
{{ :扩展卡:dual_max9296_struct.png?400 |}}
（随版本更新，上图会略有差异， 请以板上丝印为准）
==== 基本参数 ====
* GMSL接口通道数， 4max
* 供电电压， 5-20V， USB-c, 推荐使用45W以上笔记本电源
* GMSL摄像头 POC供电电压 8.8 - 9V， 1.5A
* 支持多摄头的内同步，外同步
* 支持GMSL状态指示
===== 安装与连接 =====
**注意，必须使用合适的支撑柱及螺丝进行安装，否则可能影响稳定性**
==== SK板安装 ====
如图所示， 扩展板与主板之间使用3颗直径2.5mm， 高5mm 的铜柱支撑。
{{ :扩展卡:dual9296_sk_stack_v5.png?direct&600 |}}
{{ :扩展卡:dual9296_sk_stack_v5_1.png?direct&600 |}}
==== EVM板安装 ====
如图所示， 扩展板与主板之间使用3颗直径2.5mm， 高11mm 的铜柱支撑。
{{ :扩展卡:dual9296_evm_stack_v4-3.png?direct&600 |}}
{{ :扩展卡:dual9296_evm_stack_v4-4.png?direct&600 |}}
==== 连接电源 ====
必须使用主板官方指定的电源， 并保证足够的功率， 否则运行过程中可能会非预期重启。
==== 连接GMSL相机 ====
* 确认相机POC电源与扩展板是否匹配
* 如不需要节电及使用GPIO电源控制，可安装强制供电跳线。
> 还没有GMSL相机？可以试试揖越的GMSL视频输入设备：[[摄像头及视频源:gmsl2摄像头]]
===== 快速上手 =====
#: 步骤一：连接硬件
请参数上述步骤连接主板与扩展卡。必须保持二者的连接可靠。不可靠连接可能导致工作不正常甚至损坏硬件。
{{ :扩展卡:微信图片_20230226222957.jpg?direct&600 |}}
:#
#: 步骤二： 连接相机
附带的SD卡，预设置了一些出厂适配完成的摄像头/视频源，分别为：
* 森云 IMX390
* HDMI转GMSL2 视频注入 （本公司产品）
{{ :扩展卡:微信图片_20230226222909.jpg?direct&600 |}}
其它测试使用相机，可以参考[]
**请注意相机电压与扩展板供电电压是否匹配**
:#
#: 步骤三： 主板配置
插入附带的SD卡。目前仅提供SK板的测试用SD卡。此卡官方SK板镜像相比，做了如下修改：
* 显示改为由R5控制
* 视频输入使用RTOS，OPENVX框架，由R5控制
* 神经网络运行，openvx框架， OSRT支持受限
连接显示器、网线， 串口线。使用HDMI连接显示器 （默认使用HDMI显示），网线主要用于调试。
:#
#: 步骤四： 上电
插上供电口USB （sk板），确认扩展板指示灯显示正常。需要注意：
* Type-C USB的供电功率是否充足，推荐使用笔记本电源
* 摄像头GMSL的POC电源跳线是否接上
（各个Channel的供电由GPIO控制，可不用跳线）
:#
#: 步骤五： 运行测试程序
上电进入terminal,需运行以下脚本，建立工作环境。
cd /opt/vision_apps
source ./vision_apps_init.sh
./run_app_single_cam.sh
**注意，注意，如果摄像头连接的是CH1，需要运行针对CSIRX2_1编译的程序。**
./run_app_single_cam_ch1.sh
正常运行时的log [采购后可查看]
root@j7-evm:/opt/vision_apps# ./run_app_single_cam.sh
APP: Init ... !!!
MEM: Init ... !!!
MEM: Initialized DMA HEAP (fd=4) !!!
MEM: Init ... Done !!!
IPC: Init ... !!!
IPC: Init ... Done !!!
REMOTE_SERVICE: Init ... !!!
REMOTE_SERVICE: Init ... Done !!!
535.601103 s: GTC Frequency = 200 MHz
APP: Init ... Done !!!
535.601221 s: VX_ZONE_INIT:Enabled
535.601231 s: VX_ZONE_ERROR:Enabled
535.601243 s: VX_ZONE_WARNING:Enabled
535.601917 s: VX_ZONE_INIT:[tivxInitLocal:130] Initialization Done !!!
535.602127 s: VX_ZONE_INIT:[tivxHostInitLocal:86] Initialization Done for HOST !!!
sensor_selection = [0]
ldc_enable = [0]
num_frames_to_run = [1000000000]
is_interactive = [1]
IttCtrl_registerHandler: command echo registered at location 0
IttCtrl_registerHandler: command iss_read_2a_params registered at location 1
IttCtrl_registerHandler: command iss_write_2a_params registered at location 2
IttCtrl_registerHandler: command iss_raw_save registered at location 3
IttCtrl_registerHandler: command iss_yuv_save registered at location 4
IttCtrl_registerHandler: command iss_read_sensor_reg registered at location 5
IttCtrl_registerHandler: command iss_write_sensor_reg registered at location 6
IttCtrl_registerHandler: command dev_ctrl registered at location 7
IttCtrl_registerHandler: command iss_send_dcc_file registered at location 8
NETWORK: Opened at IP Addr = 192.168.123.158, socket port=5000!!!
535.606638 s: ISS: Enumerating sensors ... !!!
535.607496 s: ISS: Enumerating sensors ... found 0 : ON_AR0231_9296_96705_1K_CH0
535.607506 s: ISS: Enumerating sensors ... found 1 : S_IMX390_9296_9295_2K_CH1
535.607514 s: ISS: Enumerating sensors ... found 2 : S_OX01_9296_96705_1K_S_CH1
535.607521 s: ISS: Enumerating sensors ... found 3 : S_OX08_9296_9295_4K_CH0
535.607527 s: ISS: Enumerating sensors ... found 4 : XREAL_0231_9296_9295_2K_CH0
535.607533 s: ISS: Enumerating sensors ... found 5 : XREAL_LT6911_HDMI_4K
535.607539 s: ISS: Enumerating sensors ... found 6 : XREAL_LT6911_HDMI_3K
535.607546 s: ISS: Enumerating sensors ... found 7 : XREAL_LT6911_9296_9295_4K_CH0
535.607552 s: ISS: Enumerating sensors ... found 8 : XREAL_LT6911_9296_9295_2K_CH0
Select camera port index 0-7 : [MCU2_0] 535.606849 s: ImageSensor_RemoteServiceHandler: IM_SENSOR_CMD_CREATE
[MCU2_0] 535.606969 s: set I2C mux to config serdes and camera.
0
9 registered sensor drivers
a : ON_AR0231_9296_96705_1K_CH0
b : S_IMX390_9296_9295_2K_CH1
c : S_OX01_9296_96705_1K_S_CH1
d : S_OX08_9296_9295_4K_CH0
e : XREAL_0231_9296_9295_2K_CH0
f : XREAL_LT6911_HDMI_4K
g : XREAL_LT6911_HDMI_3K
h : XREAL_LT6911_9296_9295_4K_CH0
i : XREAL_LT6911_9296_9295_2K_CH0
Select a sensor above or press '0' to autodetect the sensor : Invalid selection
. Try again
9 registered sensor drivers
a : ON_AR0231_9296_96705_1K_CH0
b : S_IMX390_9296_9295_2K_CH1
c : S_OX01_9296_96705_1K_S_CH1
d : S_OX08_9296_9295_4K_CH0
e : XREAL_0231_9296_9295_2K_CH0
f : XREAL_LT6911_HDMI_4K
g : XREAL_LT6911_HDMI_3K
h : XREAL_LT6911_9296_9295_4K_CH0
i : XREAL_LT6911_9296_9295_2K_CH0
Select a sensor above or press '0' to autodetect the sensor : c
Sensor selected : S_OX01_9296_96705_1K_S_CH1
LDC Selection Yes(1)/No(0) : LDC Selection Yes(1)/No(0) : 0
Querying S_OX01_9296_96705_1K_S_CH1
540.507882 s: ISS: Querying sensor [S_OX01_9296_96705_1K_S_CH1] ... !!!
540.508334 s: ISS: Querying sensor [S_OX01_9296_96705_1K_S_CH1] ... Done !!!
YUV Input selected. VISS and AEWB nodes will be bypassed.
540.508352 s: ISS: Initializing sensor [S_OX01_9296_96705_1K_S_CH1], doing IM_SENSOR_CMD_PWRON ... !!!
540.508796 s: ISS: Initializing sensor [S_OX01_9296_96705_1K_S_CH1], doing IM_SENSOR_CMD_CONFIG ... !!!
[MCU2_0] 540.508085 s: ImageSensor_RemoteServiceHandler: IM_SENSOR_CMD_QUERY
[MCU2_0] 540.508146 s: Received Query for S_OX01_9296_96705_1K_S_CH1
[MCU2_0] 540.508540 s: ImageSensor_RemoteServiceHandler: IM_SENSOR_CMD_PWRON
[MCU2_0] 540.508592 s: IM_SENSOR_CMD_PWRON : channel_mask = 0x1
[MCU2_0] 540.508637 s: OV10640s_PowerOn : chMask = 0x0
[MCU2_0] 540.508969 s: ImageSensor_RemoteServiceHandler: IM_SENSOR_CMD_CONFIG
[MCU2_0] 540.509020 s: Application requested features = 0x0
[MCU2_0]
[MCU2_0] 540.509061 s: Configuring camera # 0
[MCU2_0] 540.509096 s:
[MCU2_0] reset max9296
[MCU2_0] 540.608392 s:
[MCU2_0] power off all cameras.
[MCU2_0] 540.608438 s:
[MCU2_0] Turn on surround view cameras, channel 0.
[MCU2_0] 541.108387 s:
[MCU2_0] turn off output serializer.
[MCU2_0] 541.108432 s: Config de-serial.
[MCU2_0] 541.108465 s: i2c write: Ins:3, dev:0x48, reg:0x313, val:0x0
[MCU2_0] 541.113392 s:
[MCU2_0] 541.113424 s: config serializer.
[MCU2_0] 541.113455 s: i2c write: Ins:3, dev:0x40, reg:0x4d, val:0xc0
[MCU2_0] 541.163879 s: Reg: 0x4d: val: 0xc0
[MCU2_0] 541.164876 s: Reg: 0x 0: val: 0x80
[MCU2_0] 541.165877 s: Reg: 0x 1: val: 0x90
[MCU2_0] 541.166391 s: i2c write: Ins:3, dev:0x40, reg:0x4, val:0x43
[MCU2_0] 541.216389 s: i2c write: Ins:3, dev:0x40, reg:0x6, val:0xab
[MCU2_0] 541.266390 s: i2c write: Ins:3, dev:0x40, reg:0x34, val:0xae
[MCU2_0] 541.316389 s: i2c write: Ins:3, dev:0x40, reg:0xc, val:0x80
[MCU2_0] 541.366390 s: i2c write: Ins:3, dev:0x40, reg:0x1, val:0x94
[MCU2_0] 541.416389 s: i2c write: Ins:3, dev:0x40, reg:0xb, val:0x8a
[MCU2_0] 541.466390 s: i2c write: Ins:3, dev:0x40, reg:0x7, val:0x84
[MCU2_0] 541.516390 s: i2c write: Ins:3, dev:0x40, reg:0xf, val:0xbf
[MCU2_0] 541.566388 s: i2c write: Ins:3, dev:0x40, reg:0x67, val:0xc4
[MCU2_0] 541.616389 s: i2c write: Ins:3, dev:0x40, reg:0x43, val:0x25
[MCU2_0] 541.666390 s: i2c write: Ins:3, dev:0x40, reg:0x48, val:0x2d
[MCU2_0] 541.716388 s: i2c write: Ins:3, dev:0x40, reg:0x49, val:0x98
[MCU2_0] 541.766389 s: i2c write: Ins:3, dev:0x40, reg:0x4, val:0x83
[MCU2_0] 542.049338 s: set I2C mux to config serdes and camera.
[MCU2_0] 542.050296 s: Reg: 0x 4: val: 0x83
[MCU2_0] 542.050927 s: Reg: 0x48: val: 0x2d
[MCU2_0] 542.051920 s: Reg: 0x49: val: 0x98
[MCU2_0] 542.252391 s: Config de-serial.
[MCU2_0] 542.252433 s: i2c write: Ins:3, dev:0x48, reg:0xb06, val:0x87
[MCU2_0] 542.257388 s: i2c write: Ins:3, dev:0x48, reg:0xc06, val:0x87
[MCU2_0] 542.295387 s: i2c write: Ins:3, dev:0x48, reg:0xb07, val:0x84
[MCU2_0] 542.300388 s: i2c write: Ins:3, dev:0x48, reg:0xc07, val:0x84
[MCU2_0] 542.305386 s: i2c write: Ins:3, dev:0x48, reg:0x11, val:0xf
[MCU2_0] 542.310387 s: i2c write: Ins:3, dev:0x48, reg:0x6, val:0x1f
[MCU2_0] 542.315388 s: i2c write: Ins:3, dev:0x48, reg:0xb0d, val:0x80
[MCU2_0] 542.320388 s: i2c write: Ins:3, dev:0x48, reg:0xc0d, val:0x80
[MCU2_0] 542.325386 s: i2c write: Ins:3, dev:0x48, reg:0x322, val:0x30
[MCU2_0] 542.330388 s: i2c write: Ins:3, dev:0x48, reg:0xf00, val:0x1
[MCU2_0] 542.335389 s: i2c write: Ins:3, dev:0x48, reg:0x40b, val:0x7
[MCU2_0] 542.340386 s: i2c write: Ins:3, dev:0x48, reg:0x42d, val:0x15
[MCU2_0] 542.345387 s: i2c write: Ins:3, dev:0x48, reg:0x40d, val:0x1e
[MCU2_0] 542.350387 s: i2c write: Ins:3, dev:0x48, reg:0x40e, val:0x1e
[MCU2_0] 542.355387 s: i2c write: Ins:3, dev:0x48, reg:0x40f, val:0x0
[MCU2_0] 542.360385 s: i2c write: Ins:3, dev:0x48, reg:0x410, val:0x0
[MCU2_0] 542.365388 s: i2c write: Ins:3, dev:0x48, reg:0x411, val:0x1
[MCU2_0] 542.370387 s: i2c write: Ins:3, dev:0x48, reg:0x412, val:0x1
[MCU2_0] 542.375387 s: i2c write: Ins:3, dev:0x48, reg:0x330, val:0x4
[MCU2_0] 542.380387 s: i2c write: Ins:3, dev:0x48, reg:0x44a, val:0xd0
[MCU2_0] 542.385387 s: i2c write: Ins:3, dev:0x48, reg:0x320, val:0x24
[MCU2_0] 542.390387 s: i2c write: Ins:3, dev:0x48, reg:0x325, val:0x80
[MCU2_0] 542.395386 s: i2c write: Ins:3, dev:0x48, reg:0x319, val:0x8
[MCU2_0] 542.400388 s: i2c write: Ins:3, dev:0x48, reg:0x316, val:0x5e
[MCU2_0] 542.405387 s: i2c write: Ins:3, dev:0x48, reg:0x317, val:0xe
[MCU2_0] 542.410386 s: i2c write: Ins:3, dev:0x48, reg:0x31d, val:0xc0
[MCU2_0] 542.415388 s: i2c write: Ins:3, dev:0x48, reg:0x1da, val:0x18
[MCU2_0] 542.420388 s: i2c write: Ins:3, dev:0x48, reg:0x1fa, val:0x18
[MCU2_0] 542.425387 s: i2c write: Ins:3, dev:0x48, reg:0xb0f, val:0x8
[MCU2_0] 542.430387 s: i2c write: Ins:3, dev:0x48, reg:0xc0f, val:0x8
542.635601 s: ISS: Initializing sensor [S_OX01_9296_96705_1K_S_CH1] ... Done !!!
[MCU2_0] 542.635387 s: IM_SENSOR_CMD_CONFIG returning status = 0
Scaler is disabled
542.643076 s: ISS: Starting sensor [S_OX01_9296_96705_1K_S_CH1] ... !!!
==========================
Demo : Single Camera w/ 2A
==========================
p: Print performance statistics
s: Save Sensor RAW, VISS Output and H3A output images to File System
e: Export performance statistics
u: Update DCC from File System
x: Exit
Enter Choice:
Unsupported command
==========================
Demo : Single Camera w/ 2A
==========================
p: Print performance statistics
s: Save Sensor RAW, VISS Output and H3A output images to File System
e: Export performance statistics
u: Update DCC from File System
x: Exit
Enter Choice: [MCU2_0] 542.643377 s: ImageSensor_RemoteServiceHandler: IM_SENSOR_CMD_STREAM_ON
[MCU2_0] 542.643464 s: IM_SENSOR_CMD_STREAM_ON: channel_mask = 0x1
[MCU2_0] 542.643514 s: start streaming
[MCU2_0] 542.643543 s: i2c write: Ins:3, dev:0x48, reg:0x313, val:0x42
[MCU2_0] 542.844203 s: Reg: 0x313: val: 0x42
[MCU2_0] 542.894188 s: Reg: 0x1dc: val: 0x 0
[MCU2_0] 542.944185 s: Reg: 0x1fc: val: 0x 1
[MCU2_0] 542.994182 s: Reg: 0x21c: val: 0x 0
[MCU2_0] 543.044186 s: Reg: 0x23c: val: 0x 0
[MCU2_0] 543.094181 s: Reg: 0x3e0: val: 0x e
[MCU2_0] 543.194182 s: Reg: 0x127: val: 0x40
543.293582 s: ISS: Starting sensor [S_OX01_9296_96705_1K_S_CH1] ... !!!
:#
===== 其它注意事项 =====
==== 软件开发环境建立 ====
=== 使用EVM板 ===
可以直接使用，具体使用方法，请参考官方文档。
=== 使用SK板 ===
需要对SDK进行一些修改，请参考文档 [[TDA4VM-SK-GMSL:利用Starter-Kit开发板开发RTOS应用]]
==== 解串的地址 ====
MAX9296的默认地址
** CH0: 0x48
** CH1: 0x4a
==== 默认工作模式及修改 ====
=== 默认工作模式 ===
CH0, CH1的MAX9296的默认工作模式均为：GMSL2, 6Gbps.
=== 通过硬件跳线修改默认工作模式 ===
Max9296 支持GMSL1/GMSL2, 3G/6G， coax/stp， i2c/uart 等在上电时通过分压电阻进行配置。这些配置不建议修改，但如需修改，推荐使用I2C修改寄存器的方式修改。如果确需要修改硬件，参考下图：
{{ :扩展卡:whiteboard_exported_image_3_.png?direct&600 |}}
电阻的选择请参考 美信 数据手册。
=== 通过软件I2C配置工作模式 ===
使用I2C修改GMSL模式，参考如下代码，可以在不变更硬件的情况下，在GMSL1/GMSL2模式下切换。
具体操作，请参考：[[GMSL相关文章:软件修改MAX9296的模式及速率]] 。
==== 配置帧同步信号 ====
使用多个摄像头需要进行同步。当MAX9296工作于GMSL1，或GMSL2模式时，其同步配置是不同的。
具体的操作及配置，请参考：[[GMSL相关文章:MAX9296的多相机FSYNC配置]].