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kdb364: Using MIPI CSI-2 cameras on Connect Tech ASG006 (Spacely)

Introduction

Using MIPI CSI-2 cameras with the Spacely carrier can be done with Gstreamer. The following guide will outline how the CSI-2 lanes in Ubuntu map the physical connectors on our carriers. The “sensor-id” column of the tables details which CSI-2 lane corresponds to the camera connector label indicated on the PCB silkscreen.

When installing less then the maximum number of sensors, the cameras must be connected starting with sensor-id 0, please see the chart below for connector to sensor-id mappings.

Note: Many of the commands shown in this guide will require you to be the root user or to use sudo

MIPI CSI-2 TX1 Reference Table

Profile	Connector	sensor-id
Profile	Connector	L4T 24.2.1	L4T 28.1	L4T 28.2
x4 lane MIPI CSI-2 (3cam)	CSI0,1	0	0	2
	CSI2,3	1	1	1
	CSI4,5	2	2	0
x2 lane MIPI CSI-2 (6cam)	CSI0,1	3		0
	CSI1	4		1
	CSI2,3	5		2
	CSI3	0		3
	CSI4,5	1		4
	CSI5	2		5

MIPI CSI-2 TX2 Reference Table

Profile	Connector	sensor-id
x4 lane MIPI CSI-2 (3cam)	CSI0,1	1	2	0
CSI2,3	0	1	1
CSI4,5	2	0	2
x2 lane MIPI CSI-2 (6cam)	CSI0,1		5	0
CSI1	4	1
CSI2,3	3	2
CSI3	2	3
CSI4,5	1	4
CSI5	0	5

Using Gstreamer pipeline

The following code segment can be used for IMX274/IMX185 camera as an input source by replacing “sensor-id=0” with your desired sensor id number. If you are using a different camera, this code can be used as a template.

L4T 28.2 and Below

gst-launch-1.0 nvcamerasrc sensor-id=0 ! "video/x-raw(memory:NVMM),height=1080, width=1920, format=I420, framerate=60/1" ! nvvidconv ! xvimagesink -ev &

L4T 32.1 and Above

gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! "video/x-raw(memory:NVMM),height=1080, width=1920, format=NV12, framerate=60/1" ! nvvidconv ! xvimagesink -ev &

Rev 2.0 – Updated 01-20-22