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Diff_dronecore

Created about a year agoDiff never expires

* This program is free software; you can redistribute it and/or modify

* it under the terms of the GNU General Public License as published by

* the Free Software Foundation; either version 2 of the License, or

* (at your option) any later version.

* This program is distributed in the hope that it will be useful, but WITHOUT

* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or

* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for

* more details.

* You should have received a copy of the GNU General Public License

* along with this program. If not, see <http://www.gnu.org/licenses/>.

#include <dt-bindings/media/camera.h>

/ {

host1x {

vi@15c10000 {

num-channels = <6>;

ports {

status="okay";

#address-cells = <1>;

#size-cells = <0>;

vi_port0: port@0 {

status="okay";

reg = <0>;

rbpcv2_imx219_vi_in0: endpoint {

status="okay";

port-index = <0>;

bus-width = <2>;

remote-endpoint = <&rbpcv2_imx219_csi_out0>;

};

vi_port1: port@1 {

status="okay";

reg = <1>;

rbpcv2_imx219_vi_in1: endpoint {

status="okay";

port-index = <2>;

bus-width = <2>;

remote-endpoint = <&rbpcv2_imx219_csi_out1>;

};

vi_port2: port@2 {

status="okay";

reg = <2>;

rbpcv2_imx219_vi_in2: endpoint {

status="okay";

port-index = <3>;

port-index = <4>;

bus-width = <2>;

remote-endpoint = <&rbpcv2_imx219_csi_out2>;

};

vi_port3: port@3 {

status="okay";

reg = <3>;

rbpcv2_imx219_vi_in3: endpoint {

status="okay";

port-index = <4>;

port-index = <3>;

bus-width = <2>;

bus-width = <4>;

remote-endpoint = <&rbpcv2_imx219_csi_out3>;

};

vi_port4: port@4 {

status="okay";

reg = <4>;

rbpcv2_imx219_vi_in4: endpoint {

status="okay";

port-index = <1>;

bus-width = <2>;

remote-endpoint = <&rbpcv2_imx219_csi_out4>;

};

vi_port5: port@5 {

status="okay";

reg = <5>;

rbpcv2_imx219_vi_in5: endpoint {

status="okay";

port-index = <6>;

bus-width = <2>;

remote-endpoint = <&rbpcv2_imx219_csi_out5>;

};

nvcsi@15a00000 {

num-channels = <6>;

#address-cells = <1>;

#size-cells = <0>;

status="okay";

csi_chan0: channel@0 {

reg = <0>;

status="okay";

ports {

#address-cells = <1>;

#size-cells = <0>;

status="okay";

csi_chan0_port0: port@0 {

reg = <0>;

status="okay";

rbpcv2_imx219_csi_in0: endpoint@0 {

status="okay";

port-index = <0>;

bus-width = <2>;

remote-endpoint = <&rbpcv2_imx219_out0>;

};

csi_chan0_port1: port@1 {

reg = <1>;

status="okay";

rbpcv2_imx219_csi_out0: endpoint@1 {

status="okay";

remote-endpoint = <&rbpcv2_imx219_vi_in0>;

};

csi_chan1: channel@1 {

reg = <1>;

status="okay";

ports {

#address-cells = <1>;

#size-cells = <0>;

status="okay";

csi_chan1_port0: port@0 {

status="okay";

reg = <0>;

rbpcv2_imx219_csi_in1: endpoint@2 {

status="okay";

port-index = <2>;

bus-width = <2>;

remote-endpoint = <&rbpcv2_imx219_out1>;

};

csi_chan1_port1: port@1 {

reg = <1>;

status="okay";

rbpcv2_imx219_csi_out1: endpoint@3 {

status="okay";

remote-endpoint = <&rbpcv2_imx219_vi_in1>;

};

csi_chan2: channel@2 {

reg = <2>;

status="okay";

ports {

#address-cells = <1>;

#size-cells = <0>;

status="okay";

csi_chan2_port0: port@0 {

status="okay";

reg = <0>;

rbpcv2_imx219_csi_in2: endpoint@4 {

status="okay";

port-index = <3>;

port-index = <4>;

bus-width = <2>;

remote-endpoint = <&rbpcv2_imx219_out2>;

};

csi_chan2_port1: port@1 {

status="okay";

reg = <1>;

rbpcv2_imx219_csi_out2: endpoint@5 {

status="okay";

remote-endpoint = <&rbpcv2_imx219_vi_in2>;

};

csi_chan3: channel@3 {

reg = <3>;

status="okay";

ports {

#address-cells = <1>;

#size-cells = <0>;

status="okay";

csi_chan3_port0: port@0 {

status="okay";

reg = <0>;

rbpcv2_imx219_csi_in3: endpoint@6 {

status="okay";

port-index = <4>;

port-index = <3>;

bus-width = <2>;

bus-width = <4>;

remote-endpoint = <&rbpcv2_imx219_out3>;

};

csi_chan3_port1: port@1 {

status="okay";

reg = <1>;

rbpcv2_imx219_csi_out3: endpoint@7 {

status="okay";

remote-endpoint = <&rbpcv2_imx219_vi_in3>;

};

csi_chan4: channel@4 {

reg = <4>;

status="okay";

ports {

#address-cells = <1>;

#size-cells = <0>;

status="okay";

csi_chan4_port0: port@0 {

status="okay";

reg = <0>;

rbpcv2_imx219_csi_in4: endpoint@8 {

status="okay";

port-index = <1>;

bus-width = <2>;

remote-endpoint = <&rbpcv2_imx219_out4>;

};

csi_chan4_port1: port@1 {

status="okay";

reg = <1>;

rbpcv2_imx219_csi_out4: endpoint@9 {

status="okay";

remote-endpoint = <&rbpcv2_imx219_vi_in4>;

};

csi_chan5: channel@5 {

reg = <5>;

status="okay";

ports {

#address-cells = <1>;

#size-cells = <0>;

status="okay";

csi_chan5_port0: port@0 {

status="okay";

reg = <0>;

rbpcv2_imx219_csi_in5: endpoint@10 {

status="okay";

port-index = <6>;

bus-width = <2>;

remote-endpoint = <&rbpcv2_imx219_out5>;

};

csi_chan5_port1: port@1 {

status="okay";

reg = <1>;

rbpcv2_imx219_csi_out5: endpoint@11 {

status="okay";

remote-endpoint = <&rbpcv2_imx219_vi_in5>;

};

i2c@3180000{

tca9548@70 {

i2c_0: i2c@0 {

imx219_cam0: rbpcv2_imx219_a@10 {

status="okay";

compatible = "nvidia,imx219";

/* I2C device address */

reg = <0x10>;

/* V4L2 device node location */

devnode = "video0";

/* Physical dimensions of sensor */

physical_w = "3.680";

physical_h = "2.760";

sensor_model = "imx219";

use_sensor_mode_id = "true";

/**

* ==== Modes ====

* A modeX node is required to support v4l2 driver

* implementation with NVIDIA camera software stack

* == Signal properties ==

* phy_mode = "";

* PHY mode used by the MIPI lanes for this device

* tegra_sinterface = "";

* CSI Serial interface connected to tegra

* Incase of virtual HW devices, use virtual

* For SW emulated devices, use host

* pix_clk_hz = "";

* Sensor pixel clock used for calculations like exposure and framerate

* readout_orientation = "0";

* Based on camera module orientation.

* Only change readout_orientation if you specifically

* Program a different readout order for this mode

* == Image format Properties ==

* active_w = "";

* Pixel active region width

* active_h = "";

* Pixel active region height

* pixel_t = "";

* The sensor readout pixel pattern

* line_length = "";

* Pixel line length (width) for sensor mode.

* == Source Control Settings ==

* Gain factor used to convert fixed point integer to float

* Gain range [min_gain/gain_factor, max_gain/gain_factor]

* Gain step [step_gain/gain_factor is the smallest step that can be configured]

* Default gain [Default gain to be initialized for the control.

* use min_gain_val as default for optimal results]

* Framerate factor used to convert fixed point integer to float

* Framerate range [min_framerate/framerate_factor, max_framerate/framerate_factor]

* Framerate step [step_framerate/framerate_factor is the smallest step that can be configured]

* Default Framerate [Default framerate to be initialized for the control.

* use max_framerate to get required performance]

* Exposure factor used to convert fixed point integer to float

* For convenience use 1 sec = 1000000us as conversion factor

* Exposure range [min_exp_time/exposure_factor, max_exp_time/exposure_factor]

* Exposure step [step_exp_time/exposure_factor is the smallest step that can be configured]

* Default Exposure Time [Default exposure to be initialized for the control.

* Set default exposure based on the default_framerate for optimal exposure settings]

* gain_factor = ""; (integer factor used for floating to fixed point conversion)

* min_gain_val = ""; (ceil to integer)

* max_gain_val = ""; (ceil to integer)

* step_gain_val = ""; (ceil to integer)

* default_gain = ""; (ceil to integer)

* Gain limits for mode

* exposure_factor = ""; (integer factor used for floating to fixed point conversion)

* min_exp_time = ""; (ceil to integer)

* max_exp_time = ""; (ceil to integer)

* step_exp_time = ""; (ceil to integer)

* default_exp_time = ""; (ceil to integer)

* Exposure Time limits for mode (sec)

* framerate_factor = ""; (integer factor used for floating to fixed point conversion)

* min_framerate = ""; (ceil to integer)

* max_framerate = ""; (ceil to integer)

* step_framerate = ""; (ceil to integer)

* default_framerate = ""; (ceil to integer)

* Framerate limits for mode (fps)

* embedded_metadata_height = "";

* Sensor embedded metadata height in units of rows.

* If sensor does not support embedded metadata value should be 0.

mode0 { /* IMX219_MODE_3264x2464_21FPS */

mclk_khz = "24000";

num_lanes = "2";

tegra_sinterface = "serial_a";

phy_mode = "DPHY";

discontinuous_clk = "yes";

dpcm_enable = "false";

cil_settletime = "0";

active_w = "3264";

active_h = "2464";

pixel_t = "bayer_rggb";

readout_orientation = "90";

line_length = "3448";

inherent_gain = "1";

mclk_multiplier = "9.33";

pix_clk_hz = "182400000";

gain_factor = "16";

framerate_factor = "1000000";

exposure_factor = "1000000";

min_gain_val = "16"; /* 1.00x */

max_gain_val = "170"; /* 10.66x */

step_gain_val = "1";

default_gain = "16"; /* 1.00x */

min_hdr_ratio = "1";

max_hdr_ratio = "1";

min_framerate = "2000000"; /* 2.0 fps */

max_framerate = "21000000"; /* 21.0 fps */

step_framerate = "1";

default_framerate = "21000000"; /* 21.0 fps */

min_exp_time = "13"; /* us */

max_exp_time = "683709"; /* us */

step_exp_time = "1";

default_exp_time = "2495"; /* us */

embedded_metadata_height = "2";

};

mode1 { /* IMX219_MODE_3264x1848_28FPS */

mclk_khz = "24000";

num_lanes = "2";

tegra_sinterface = "serial_a";

phy_mode = "DPHY";

discontinuous_clk = "yes";

dpcm_enable = "false";

cil_settletime = "0";

active_w = "3264";

active_h = "1848";

pixel_t = "bayer_rggb";

readout_orientation = "90";

line_length = "3448";

inherent_gain = "1";

mclk_multiplier = "9.33";

pix_clk_hz = "182400000";

gain_factor = "16";

framerate_factor = "1000000";

exposure_factor = "1000000";

min_gain_val = "16"; /* 1.00x */

max_gain_val = "170"; /* 10.66x */

step_gain_val = "1";

default_gain = "16"; /* 1.00x */

min_hdr_ratio = "1";

max_hdr_ratio = "1";

min_framerate = "2000000"; /* 2.0 fps */

max_framerate = "28000000"; /* 28.0 fps */

step_framerate = "1";

default_framerate = "28000000"; /* 28.0 fps */

min_exp_time = "13"; /* us */

max_exp_time = "683709"; /* us */

step_exp_time = "1";

default_exp_time = "2495"; /* us */

embedded_metadata_height = "2";

};

mode2 { /* IMX219_MODE_1920x1080_30FPS */

mclk_khz = "24000";

num_lanes = "2";

tegra_sinterface = "serial_a";

phy_mode = "DPHY";

discontinuous_clk = "yes";

dpcm_enable = "false";

cil_settletime = "0";

active_w = "1920";

active_h = "1080";

pixel_t = "bayer_rggb";

readout_orientation = "90";

line_length = "3448";

inherent_gain = "1";

mclk_multiplier = "9.33";

pix_clk_hz = "182400000";

gain_factor = "16";

framerate_factor = "1000000";

exposure_factor = "1000000";

min_gain_val = "16"; /* 1.00x */

max_gain_val = "170"; /* 10.66x */

step_gain_val = "1";

default_gain = "16"; /* 1.00x */

min_hdr_ratio = "1";

max_hdr_ratio = "1";

min_framerate = "2000000"; /* 2.0 fps */

max_framerate = "30000000"; /* 30.0 fps */

step_framerate = "1";

default_framerate = "30000000"; /* 30.0 fps */

min_exp_time = "13"; /* us */

max_exp_time = "683709"; /* us */

step_exp_time = "1";

default_exp_time = "2495"; /* us */

embedded_metadata_height = "2";

};

mode3 { /* IMX219_MODE_1280x720_60FPS */

mclk_khz = "24000";

num_lanes = "2";

tegra_sinterface = "serial_a";

phy_mode = "DPHY";

discontinuous_clk = "yes";

dpcm_enable = "false";

cil_settletime = "0";

active_w = "1280";

active_h = "720";

pixel_t = "bayer_rggb";

readout_orientation = "90";

line_length = "3448";

inherent_gain = "1";

mclk_multiplier = "9.33";

pix_clk_hz = "182400000";

gain_factor = "16";

framerate_factor = "1000000";

exposure_factor = "1000000";

min_gain_val = "16"; /* 1.00x */

max_gain_val = "170"; /* 10.66x */

step_gain_val = "1";

default_gain = "16"; /* 1.00x */

min_hdr_ratio = "1";

max_hdr_ratio = "1";

min_framerate = "2000000"; /* 2.0 fps */

max_framerate = "60000000"; /* 60.0 fps */

step_framerate = "1";

default_framerate = "60000000"; /* 60.0 fps */

min_exp_time = "13"; /* us */

max_exp_time = "683709"; /* us */

step_exp_time = "1";

default_exp_time = "2495"; /* us */

embedded_metadata_height = "2";

};

mode4 { /* IMX219_MODE_1280x720_120FPS */

mclk_khz = "24000";

num_lanes = "2";

tegra_sinterface = "serial_a";

phy_mode = "DPHY";

discontinuous_clk = "yes";

dpcm_enable = "false";

cil_settletime = "0";

active_w = "1280";

active_h = "720";

pixel_t = "bayer_rggb";

readout_orientation = "90";

line_length = "3448";

inherent_gain = "1";

mclk_multiplier = "9.33";

pix_clk_hz = "169600000";

gain_factor = "16";

framerate_factor = "1000000";

exposure_factor = "1000000";

min_gain_val = "16"; /* 1.00x */

max_gain_val = "170"; /* 10.66x */

step_gain_val = "1";

default_gain = "16"; /* 1.00x */

min_hdr_ratio = "1";

max_hdr_ratio = "1";

min_framerate = "2000000"; /* 2.0 fps */

max_framerate = "120000000"; /* 120.0 fps */

step_framerate = "1";

default_framerate = "120000000"; /* 120.0 fps */

min_exp_time = "13"; /* us */

max_exp_time = "683709"; /* us */

step_exp_time = "1";

default_exp_time = "2495"; /* us */

embedded_metadata_height = "2";

};

ports {

#address-cells = <1>;

#size-cells = <0>;

status="okay";

port@0 {

reg = <0>;

status="okay";

rbpcv2_imx219_out0: endpoint {

status="okay";

port-index = <0>;

bus-width = <2>;

remote-endpoint = <&rbpcv2_imx219_csi_in0>;

};

i2c_1: i2c@1 {

imx219_cam1: rbpcv2_imx219_c@10 {

status="okay";

compatible = "nvidia,imx219";

/* I2C device address */

reg = <0x10>;

/* V4L2 device node location */

devnode = "video1";

/* Physical dimensions of sensor */

physical_w = "3.680";

physical_h = "2.760";

sensor_model = "imx219";

use_sensor_mode_id = "true";

mode0 { /* IMX219_MODE_3264x2464_21FPS */

mclk_khz = "24000";

num_lanes = "2";

tegra_sinterface = "serial_c";

phy_mode = "DPHY";

discontinuous_clk = "yes";

dpcm_enable = "false";

cil_settletime = "0";

active_w = "3264";

active_h = "2464";

pixel_t = "bayer_rggb";

readout_orientation = "90";

line_length = "3448";

inherent_gain = "1";

mclk_multiplier = "9.33";

pix_clk_hz = "182400000";

gain_factor = "16";

framerate_factor = "1000000";

exposure_factor = "1000000";

min_gain_val = "16"; /* 1.00x */

max_gain_val = "170"; /* 10.66x */

step_gain_val = "1";

default_gain = "16"; /* 1.00x */

min_hdr_ratio = "1";

max_hdr_ratio = "1";

min_framerate = "2000000"; /* 2.0 fps */

max_framerate = "21000000"; /* 21.0 fps */

step_framerate = "1";

default_framerate = "21000000"; /* 21.0 fps */

min_exp_time = "13"; /* us */

max_exp_time = "683709"; /* us */

step_exp_time = "1";

default_exp_time = "2495"; /* us */

embedded_metadata_height = "2";

};

mode1 { /* IMX219_MODE_3264x1848_28FPS */

mclk_khz = "24000";

num_lanes = "2";

tegra_sinterface = "serial_c";

phy_mode = "DPHY";

discontinuous_clk = "yes";

dpcm_enable = "false";

cil_settletime = "0";

active_w = "3264";

active_h = "1848";

pixel_t = "bayer_rggb";

readout_orientation = "90";

line_length = "3448";

inherent_gain = "1";

mclk_multiplier = "9.33";

pix_clk_hz = "182400000";

gain_factor = "16";

framerate_factor = "1000000";

exposure_factor = "1000000";

min_gain_val = "16"; /* 1.00x */

max_gain_val = "170"; /* 10.66x */

step_gain_val = "1";

default_gain = "16"; /* 1.00x */

min_hdr_ratio = "1";

max_hdr_ratio = "1";

min_framerate = "2000000"; /* 2.0 fps */

max_framerate = "28000000"; /* 28.0 fps */

step_framerate = "1";

default_framerate = "28000000"; /* 28.0 fps */

min_exp_time = "13"; /* us */

max_exp_time = "683709"; /* us */

step_exp_time = "1";

default_exp_time = "2495"; /* us */

embedded_metadata_height = "2";

};

mode2 { /* IMX219_MODE_1920x1080_30FPS */

mclk_khz = "24000";

num_lanes = "2";

tegra_sinterface = "serial_c";

phy_mode = "DPHY";

discontinuous_clk = "yes";

dpcm_enable = "false";

cil_settletime = "0";

active_w = "1920";

active_h = "1080";

pixel_t = "bayer_rggb";

readout_orientation = "90";

line_length = "3448";

inherent_gain = "1";

mclk_multiplier = "9.33";

pix_clk_hz = "182400000";

gain_factor = "16";

framerate_factor = "1000000";

exposure_factor = "1000000";

min_gain_val = "16"; /* 1.00x */

max_gain_val = "170"; /* 10.66x */

step_gain_val = "1";

default_gain = "16"; /* 1.00x */

min_hdr_ratio = "1";

max_hdr_ratio = "1";

min_framerate = "2000000"; /* 2.0 fps */

max_framerate = "30000000"; /* 30.0 fps */

step_framerate = "1";

default_framerate = "30000000"; /* 30.0 fps */

min_exp_time = "13"; /* us */

max_exp_time = "683709"; /* us */

step_exp_time = "1";

default_exp_time = "2495"; /* us */

embedded_metadata_height = "2";

};

mode3 { /* IMX219_MODE_1280x720_60FPS */

mclk_khz = "24000";

num_lanes = "2";

tegra_sinterface = "serial_c";

phy_mode = "DPHY";

discontinuous_clk = "yes";

dpcm_enable = "false";

cil_settletime = "0";

active_w = "1280";

active_h = "720";

pixel_t = "bayer_rggb";

readout_orientation = "90";

line_length = "3448";

inherent_gain = "1";

mclk_multiplier = "9.33";

pix_clk_hz = "182400000";

gain_factor = "16";

framerate_factor = "1000000";

exposure_factor = "1000000";

min_gain_val = "16"; /* 1.00x */

max_gain_val = "170"; /* 10.66x */

step_gain_val = "1";

default_gain = "16"; /* 1.00x */

min_hdr_ratio = "1";

max_hdr_ratio = "1";

min_framerate = "2000000"; /* 2.0 fps */

max_framerate = "60000000"; /* 60.0 fps */

step_framerate = "1";

default_framerate = "60000000"; /* 60.0 fps */

min_exp_time = "13"; /* us */

max_exp_time = "683709"; /* us */

step_exp_time = "1";

default_exp_time = "2495"; /* us */

embedded_metadata_height = "2";

};

mode4 { /* IMX219_MODE_1280x720_120FPS */

mclk_khz = "24000";

num_lanes = "2";

tegra_sinterface = "serial_c";

phy_mode = "DPHY";

discontinuous_clk = "yes";

dpcm_enable = "false";

cil_settletime = "0";

active_w = "1280";

active_h = "720";

pixel_t = "bayer_rggb";

readout_orientation = "90";

line_length = "3448";

inherent_gain = "1";

mclk_multiplier = "9.33";

pix_clk_hz = "169600000";

gain_factor = "16";

framerate_factor = "1000000";

exposure_factor = "1000000";

min_gain_val = "16"; /* 1.00x */

max_gain_val = "170"; /* 10.66x */

step_gain_val = "1";

default_gain = "16"; /* 1.00x */

min_hdr_ratio = "1";

max_hdr_ratio = "1";

min_framerate = "2000000"; /* 2.0 fps */

max_framerate = "120000000"; /* 120.0 fps */

step_framerate = "1";

default_framerate = "120000000"; /* 120.0 fps */

min_exp_time = "13"; /* us */

max_exp_time = "683709"; /* us */

step_exp_time = "1";

default_exp_time = "2495"; /* us */

embedded_metadata_height = "2";

};

mode5 { /* IMX219_MODE_640x480_200FPS */

mclk_khz = "24000";

num_lanes = "2";

tegra_sinterface = "serial_c";

phy_mode = "DPHY";

discontinuous_clk = "yes";

dpcm_enable = "false";

cil_settletime = "0";

active_w = "640";

active_h = "480";

mode_type = "bayer";

pixel_phase = "rggb";

csi_pixel_bit_depth = "10";

readout_orientation = "90";

line_length = "3448";

inherent_gain = "1";

mclk_multiplier = "9.33";

pix_clk_hz = "348800000";

gain_factor = "16";

framerate_factor = "1000000";

exposure_factor = "1000000";

min_gain_val = "16"; /* 1.00x */

max_gain_val = "170"; /* 10.66x */

step_gain_val = "1";

default_gain = "16"; /* 1.00x */

min_hdr_ratio = "1";

max_hdr_ratio = "1";

min_framerate = "2000000"; /* 2.0 fps */

max_framerate = "200000000"; /* 200.0 fps */

step_framerate = "1";

default_framerate = "200000000"; /* 200.0 fps */

min_exp_time = "13"; /* us */

max_exp_time = "683709"; /* us */

step_exp_time = "1";

default_exp_time = "2495"; /* us */

embedded_metadata_height = "2";

};

ports {

#address-cells = <1>;

#size-cells = <0>;

status="okay";

port@0 {

reg = <0>;

status="okay";

rbpcv2_imx219_out1: endpoint {

status="okay";

port-index = <2>;

bus-width = <2>;

remote-endpoint = <&rbpcv2_imx219_csi_in1>;

};

i2c_2: i2c@2 {

imx219_cam2: rbpcv2_imx219_d@10 {

status="okay";

compatible = "nvidia,imx219";

/* I2C device address */

reg = <0x10>;

/* V4L2 device node location */

devnode = "video2";

/* Physical dimensions of sensor */

physical_w = "3.680";

physical_h = "2.760";

sensor_model = "imx219";

use_sensor_mode_id = "true";

mode0 { /* IMX219_MODE_3264x2464_21FPS */

mclk_khz = "24000";

num_lanes = "2";

tegra_sinterface = "serial_d";

phy_mode = "DPHY";

discontinuous_clk = "yes";

dpcm_enable = "false";

cil_settletime = "0";

active_w = "3264";

active_h = "2464";

pixel_t = "bayer_rggb";

readout_orientation = "90";

line_length = "3448";

inherent_gain = "1";

mclk_multiplier = "9.33";

pix_clk_hz = "182400000";

gain_factor = "16";

framerate_factor = "1000000";

exposure_factor = "1000000";

min_gain_val = "16"; /* 1.00x */

max_gain_val = "170"; /* 10.66x */

step_gain_val = "1";

default_gain = "16"; /* 1.00x */

min_hdr_ratio = "1";

max_hdr_ratio = "1";

min_framerate = "2000000"; /* 2.0 fps */

max_framerate = "21000000"; /* 21.0 fps */

step_framerate = "1";

default_framerate = "21000000"; /* 21.0 fps */

min_exp_time = "13"; /* us */

max_exp_time = "683709"; /* us */

step_exp_time = "1";

default_exp_time = "2495"; /* us */

embedded_metadata_height = "2";

};

mode1 { /* IMX219_MODE_3264x1848_28FPS */

mclk_khz = "24000";

num_lanes = "2";

tegra_sinterface = "serial_d";

phy_mode = "DPHY";

discontinuous_clk = "yes";

dpcm_enable = "false";

cil_settletime = "0";

active_w = "3264";

active_h = "1848";

pixel_t = "bayer_rggb";

readout_orientation = "90";

line_length = "3448";

inherent_gain = "1";

mclk_multiplier = "9.33";

pix_clk_hz = "182400000";

gain_factor = "16";

framerate_factor = "1000000";

exposure_factor = "1000000";

min_gain_val = "16"; /* 1.00x */

max_gain_val = "170"; /* 10.66x */

step_gain_val = "1";

default_gain = "16"; /* 1.00x */

min_hdr_ratio = "1";

max_hdr_ratio = "1";

min_framerate = "2000000"; /* 2.0 fps */

max_framerate = "28000000"; /* 28.0 fps */

step_framerate = "1";

default_framerate = "28000000"; /*

Saved diffs

Original text

Open file

/*
 * Copyright (c) 2015-2019, NVIDIA CORPORATION.  All rights reserved.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
 * more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include <dt-bindings/media/camera.h>

/ {
	host1x {
		vi@15c10000  {
			num-channels = <6>;
			ports {
				status="okay";
				#address-cells = <1>;
				#size-cells = <0>;
				vi_port0: port@0 {
					status="okay";
					reg = <0>;
					rbpcv2_imx219_vi_in0: endpoint {
						status="okay";
						port-index = <0>;
						bus-width = <2>;
						remote-endpoint = <&rbpcv2_imx219_csi_out0>;
					};
				};
				vi_port1: port@1 {
					status="okay";
					reg = <1>;
					rbpcv2_imx219_vi_in1: endpoint {
						status="okay";
						port-index = <2>;
						bus-width = <2>;
						remote-endpoint = <&rbpcv2_imx219_csi_out1>;
					};
				};
				vi_port2: port@2 {
					status="okay";
					reg = <2>;
					rbpcv2_imx219_vi_in2: endpoint {
						status="okay";
						port-index = <3>;
						bus-width = <2>;
						remote-endpoint = <&rbpcv2_imx219_csi_out2>;
					};
				};
				vi_port3: port@3 {
					status="okay";
					reg = <3>;
					rbpcv2_imx219_vi_in3: endpoint {
						status="okay";
						port-index = <4>;
						bus-width = <2>;
						remote-endpoint = <&rbpcv2_imx219_csi_out3>;
					};
				};
				vi_port4: port@4 {
					status="okay";
					reg = <4>;
					rbpcv2_imx219_vi_in4: endpoint {
						status="okay";
						port-index = <1>;
						bus-width = <2>;
						remote-endpoint = <&rbpcv2_imx219_csi_out4>;
					};
				};
				vi_port5: port@5 {
					status="okay";
					reg = <5>;
					rbpcv2_imx219_vi_in5: endpoint {
						status="okay";
						port-index = <6>;
						bus-width = <2>;
						remote-endpoint = <&rbpcv2_imx219_csi_out5>;
					};
				};				
			};
		};

		nvcsi@15a00000 {
			num-channels = <6>;
			#address-cells = <1>;
			#size-cells = <0>;
			status="okay";
			csi_chan0: channel@0 {
				reg = <0>;
				status="okay";
				ports {
					#address-cells = <1>;
					#size-cells = <0>;
					status="okay";
					csi_chan0_port0: port@0 {
						reg = <0>;
						status="okay";
						rbpcv2_imx219_csi_in0: endpoint@0 {
							status="okay";
							port-index = <0>;
							bus-width = <2>;
							remote-endpoint = <&rbpcv2_imx219_out0>;
						};
					};
					csi_chan0_port1: port@1 {
						reg = <1>;
						status="okay";
						rbpcv2_imx219_csi_out0: endpoint@1 {
							status="okay";
							remote-endpoint = <&rbpcv2_imx219_vi_in0>;
						};
					};
				};
			};
			csi_chan1: channel@1 {
				reg = <1>;
				status="okay";
				ports {
					#address-cells = <1>;
					#size-cells = <0>;
					status="okay";
					csi_chan1_port0: port@0 {
						status="okay";
						reg = <0>;
						rbpcv2_imx219_csi_in1: endpoint@2 {
							status="okay";
							port-index = <2>;
							bus-width = <2>;
							remote-endpoint = <&rbpcv2_imx219_out1>;
						};
					};
					csi_chan1_port1: port@1 {
						reg = <1>;
						status="okay";
						rbpcv2_imx219_csi_out1: endpoint@3 {
							status="okay";
							remote-endpoint = <&rbpcv2_imx219_vi_in1>;
						};
					};
				};
			};
			csi_chan2: channel@2 {
				reg = <2>;
				status="okay";
				ports {
					#address-cells = <1>;
					#size-cells = <0>;
					status="okay";
					csi_chan2_port0: port@0 {
						status="okay";
						reg = <0>;
						rbpcv2_imx219_csi_in2: endpoint@4 {
							status="okay";
							port-index = <3>;
							bus-width = <2>;
							remote-endpoint = <&rbpcv2_imx219_out2>;
						};
					};
					csi_chan2_port1: port@1 {
						status="okay";
						reg = <1>;
						rbpcv2_imx219_csi_out2: endpoint@5 {
							status="okay";
							remote-endpoint = <&rbpcv2_imx219_vi_in2>;
						};
					};
				};
			};
			csi_chan3: channel@3 {
				reg = <3>;
				status="okay";
				ports {
					#address-cells = <1>;
					#size-cells = <0>;
					status="okay";
					csi_chan3_port0: port@0 {
						status="okay";
						reg = <0>;
						rbpcv2_imx219_csi_in3: endpoint@6 {
							status="okay";
							port-index = <4>;
							bus-width = <2>;
							remote-endpoint = <&rbpcv2_imx219_out3>;
						};
					};
					csi_chan3_port1: port@1 {
						status="okay";
						reg = <1>;
						rbpcv2_imx219_csi_out3: endpoint@7 {
							status="okay";
							remote-endpoint = <&rbpcv2_imx219_vi_in3>;
						};
					};
				};
			};
			csi_chan4: channel@4 {
				reg = <4>;
				status="okay";
				ports {
					#address-cells = <1>;
					#size-cells = <0>;
					status="okay";
					csi_chan4_port0: port@0 {
						status="okay";
						reg = <0>;
						rbpcv2_imx219_csi_in4: endpoint@8 {
							status="okay";
							port-index = <1>;
							bus-width = <2>;
							remote-endpoint = <&rbpcv2_imx219_out4>;
						};
					};
					csi_chan4_port1: port@1 {
						status="okay";
						reg = <1>;
						rbpcv2_imx219_csi_out4: endpoint@9 {
							status="okay";
							remote-endpoint = <&rbpcv2_imx219_vi_in4>;
						};
					};
				};
			};
			csi_chan5: channel@5 {
				reg = <5>;
				status="okay";
				ports {
					#address-cells = <1>;
					#size-cells = <0>;
					status="okay";
					csi_chan5_port0: port@0 {
						status="okay";
						reg = <0>;
						rbpcv2_imx219_csi_in5: endpoint@10 {
							status="okay";
							port-index = <6>;
							bus-width = <2>;
							remote-endpoint = <&rbpcv2_imx219_out5>;
						};
					};
					csi_chan5_port1: port@1 {
						status="okay";
						reg = <1>;
						rbpcv2_imx219_csi_out5: endpoint@11 {
							status="okay";
							remote-endpoint = <&rbpcv2_imx219_vi_in5>;
						};
					};
				};
			};
		};	
	};

	i2c@3180000{ 		
		tca9548@70 {			
			i2c_0: i2c@0 {				
				imx219_cam0: rbpcv2_imx219_a@10 {
					status="okay";
					compatible = "nvidia,imx219";
					/* I2C device address */ 
					reg = <0x10>;

					/* V4L2 device node location */
					devnode = "video0";

					/* Physical dimensions of sensor */
					physical_w = "3.680";
					physical_h = "2.760";

					sensor_model = "imx219";

					use_sensor_mode_id = "true";

					/**
					* ==== Modes ====
					* A modeX node is required to support v4l2 driver
					* implementation with NVIDIA camera software stack
					*
					* == Signal properties ==
					*
					* phy_mode = "";
					* PHY mode used by the MIPI lanes for this device
					*
					* tegra_sinterface = "";
					* CSI Serial interface connected to tegra
					* Incase of virtual HW devices, use virtual
					* For SW emulated devices, use host
					*
					* pix_clk_hz = "";
					* Sensor pixel clock used for calculations like exposure and framerate
					*
					* readout_orientation = "0";
					* Based on camera module orientation.
					* Only change readout_orientation if you specifically
					* Program a different readout order for this mode
					*
					* == Image format Properties ==
					*
					* active_w = "";
					* Pixel active region width
					*
					* active_h = "";
					* Pixel active region height
					*
					* pixel_t = "";
					* The sensor readout pixel pattern
					*
					* line_length = "";
					* Pixel line length (width) for sensor mode.
					*
					* == Source Control Settings ==
					*
					* Gain factor used to convert fixed point integer to float
					* Gain range [min_gain/gain_factor, max_gain/gain_factor]
					* Gain step [step_gain/gain_factor is the smallest step that can be configured]
					* Default gain [Default gain to be initialized for the control.
					*     use min_gain_val as default for optimal results]
					* Framerate factor used to convert fixed point integer to float
					* Framerate range [min_framerate/framerate_factor, max_framerate/framerate_factor]
					* Framerate step [step_framerate/framerate_factor is the smallest step that can be configured]
					* Default Framerate [Default framerate to be initialized for the control.
					*     use max_framerate to get required performance]
					* Exposure factor used to convert fixed point integer to float
					* For convenience use 1 sec = 1000000us as conversion factor
					* Exposure range [min_exp_time/exposure_factor, max_exp_time/exposure_factor]
					* Exposure step [step_exp_time/exposure_factor is the smallest step that can be configured]
					* Default Exposure Time [Default exposure to be initialized for the control.
					*     Set default exposure based on the default_framerate for optimal exposure settings]
					*
					* gain_factor = ""; (integer factor used for floating to fixed point conversion)
					* min_gain_val = ""; (ceil to integer)
					* max_gain_val = ""; (ceil to integer)
					* step_gain_val = ""; (ceil to integer)
					* default_gain = ""; (ceil to integer)
					* Gain limits for mode
					*
					* exposure_factor = ""; (integer factor used for floating to fixed point conversion)
					* min_exp_time = ""; (ceil to integer)
					* max_exp_time = ""; (ceil to integer)
					* step_exp_time = ""; (ceil to integer)
					* default_exp_time = ""; (ceil to integer)
					* Exposure Time limits for mode (sec)
					*
					* framerate_factor = ""; (integer factor used for floating to fixed point conversion)
					* min_framerate = ""; (ceil to integer)
					* max_framerate = ""; (ceil to integer)
					* step_framerate = ""; (ceil to integer)
					* default_framerate = ""; (ceil to integer)
					* Framerate limits for mode (fps)
					*
					* embedded_metadata_height = "";
					* Sensor embedded metadata height in units of rows.
					* If sensor does not support embedded metadata value should be 0.
					*/
					mode0 { /* IMX219_MODE_3264x2464_21FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_a";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "2464";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "21000000"; /* 21.0 fps */
						step_framerate = "1";
						default_framerate = "21000000"; /* 21.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode1 { /* IMX219_MODE_3264x1848_28FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_a";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "1848";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "28000000"; /* 28.0 fps */
						step_framerate = "1";
						default_framerate = "28000000"; /* 28.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode2 { /* IMX219_MODE_1920x1080_30FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_a";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1920";
						active_h = "1080";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "30000000"; /* 30.0 fps */
						step_framerate = "1";
						default_framerate = "30000000"; /* 30.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode3 { /* IMX219_MODE_1280x720_60FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_a";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "60000000"; /* 60.0 fps */
						step_framerate = "1";
						default_framerate = "60000000"; /* 60.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode4 { /* IMX219_MODE_1280x720_120FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_a";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "169600000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "120000000"; /* 120.0 fps */
						step_framerate = "1";
						default_framerate = "120000000"; /* 120.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};

					ports {
						#address-cells = <1>;
						#size-cells = <0>;
						status="okay";

						port@0 {
							reg = <0>;
							status="okay";
							rbpcv2_imx219_out0: endpoint {
								status="okay";
								port-index = <0>;
								bus-width = <2>;
								remote-endpoint = <&rbpcv2_imx219_csi_in0>;
							};
						};
					};
				};
			};
			i2c_1: i2c@1 {				
				imx219_cam1: rbpcv2_imx219_c@10 {
					status="okay";
					compatible = "nvidia,imx219";
					/* I2C device address */
					reg = <0x10>;

					/* V4L2 device node location */
					devnode = "video1";

					/* Physical dimensions of sensor */
					physical_w = "3.680";
					physical_h = "2.760";

					sensor_model = "imx219";

					use_sensor_mode_id = "true";


					mode0 { /* IMX219_MODE_3264x2464_21FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_c";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "2464";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "21000000"; /* 21.0 fps */
						step_framerate = "1";
						default_framerate = "21000000"; /* 21.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode1 { /* IMX219_MODE_3264x1848_28FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_c";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "1848";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "28000000"; /* 28.0 fps */
						step_framerate = "1";
						default_framerate = "28000000"; /* 28.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode2 { /* IMX219_MODE_1920x1080_30FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_c";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1920";
						active_h = "1080";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "30000000"; /* 30.0 fps */
						step_framerate = "1";
						default_framerate = "30000000"; /* 30.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode3 { /* IMX219_MODE_1280x720_60FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_c";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "60000000"; /* 60.0 fps */
						step_framerate = "1";
						default_framerate = "60000000"; /* 60.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode4 { /* IMX219_MODE_1280x720_120FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_c";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "169600000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "120000000"; /* 120.0 fps */
						step_framerate = "1";
						default_framerate = "120000000"; /* 120.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};

					ports {
						#address-cells = <1>;
						#size-cells = <0>;
						status="okay";

						port@0 {
							reg = <0>;
							status="okay";
							rbpcv2_imx219_out1: endpoint {
								status="okay";
								port-index = <2>;
								bus-width = <2>;
								remote-endpoint = <&rbpcv2_imx219_csi_in1>;
							};
						};
					};
				};
			};
			i2c_2: i2c@2 {				
				imx219_cam2: rbpcv2_imx219_d@10 {
					status="okay";
					compatible = "nvidia,imx219";
					/* I2C device address */
					reg = <0x10>;

					/* V4L2 device node location */
					devnode = "video2";

					/* Physical dimensions of sensor */
					physical_w = "3.680";
					physical_h = "2.760";

					sensor_model = "imx219";

					use_sensor_mode_id = "true";

					
					mode0 { /* IMX219_MODE_3264x2464_21FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_d";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "2464";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "21000000"; /* 21.0 fps */
						step_framerate = "1";
						default_framerate = "21000000"; /* 21.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode1 { /* IMX219_MODE_3264x1848_28FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_d";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "1848";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "28000000"; /* 28.0 fps */
						step_framerate = "1";
						default_framerate = "28000000"; /* 28.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode2 { /* IMX219_MODE_1920x1080_30FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_d";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1920";
						active_h = "1080";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "30000000"; /* 30.0 fps */
						step_framerate = "1";
						default_framerate = "30000000"; /* 30.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode3 { /* IMX219_MODE_1280x720_60FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_d";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "60000000"; /* 60.0 fps */
						step_framerate = "1";
						default_framerate = "60000000"; /* 60.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode4 { /* IMX219_MODE_1280x720_120FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_d";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "169600000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "120000000"; /* 120.0 fps */
						step_framerate = "1";
						default_framerate = "120000000"; /* 120.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};

					ports {
						#address-cells = <1>;
						#size-cells = <0>;
						status="okay";

						port@0 {
							status="okay";
							reg = <0>;
							rbpcv2_imx219_out2: endpoint {
								status="okay";
								port-index = <3>;
								bus-width = <2>;
								remote-endpoint = <&rbpcv2_imx219_csi_in2>;
							};
						};
					};
				};
			};
			i2c_3: i2c@3 {				
				imx219_cam3: rbpcv2_imx219_e@10 {
					status="okay";
					compatible = "nvidia,imx219";
					/* I2C device address */
					reg = <0x10>;

					/* V4L2 device node location */
					devnode = "video3";

					/* Physical dimensions of sensor */
					physical_w = "3.680";
					physical_h = "2.760";

					sensor_model = "imx219";

					use_sensor_mode_id = "true";


					mode0 { /* IMX219_MODE_3264x2464_21FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_e";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "2464";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "21000000"; /* 21.0 fps */
						step_framerate = "1";
						default_framerate = "21000000"; /* 21.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode1 { /* IMX219_MODE_3264x1848_28FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_e";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "1848";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "28000000"; /* 28.0 fps */
						step_framerate = "1";
						default_framerate = "28000000"; /* 28.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode2 { /* IMX219_MODE_1920x1080_30FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_e";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1920";
						active_h = "1080";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "30000000"; /* 30.0 fps */
						step_framerate = "1";
						default_framerate = "30000000"; /* 30.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode3 { /* IMX219_MODE_1280x720_60FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_e";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "60000000"; /* 60.0 fps */
						step_framerate = "1";
						default_framerate = "60000000"; /* 60.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode4 { /* IMX219_MODE_1280x720_120FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_e";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "169600000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "120000000"; /* 120.0 fps */
						step_framerate = "1";
						default_framerate = "120000000"; /* 120.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};

					ports {
						#address-cells = <1>;
						#size-cells = <0>;
						status="okay";

						port@0 {
							status="okay";
							reg = <0>;
							rbpcv2_imx219_out3: endpoint {
								status="okay";
								port-index = <4>;
								bus-width = <2>;
								remote-endpoint = <&rbpcv2_imx219_csi_in3>;
							};
						};
					};
				};
			};
			i2c_4: i2c@4 {				
				imx219_cam4: rbpcv2_imx219_b@10 {
					status="okay";
					compatible = "nvidia,imx219";
					/* I2C device address */ 
					reg = <0x10>;

					/* V4L2 device node location */
					devnode = "video4";

					/* Physical dimensions of sensor */
					physical_w = "3.680";
					physical_h = "2.760";

					sensor_model = "imx219";

					use_sensor_mode_id = "true";

					/**
					* ==== Modes ====
					* A modeX node is required to support v4l2 driver
					* implementation with NVIDIA camera software stack
					*
					* == Signal properties ==
					*
					* phy_mode = "";
					* PHY mode used by the MIPI lanes for this device
					*
					* tegra_sinterface = "";
					* CSI Serial interface connected to tegra
					* Incase of virtual HW devices, use virtual
					* For SW emulated devices, use host
					*
					* pix_clk_hz = "";
					* Sensor pixel clock used for calculations like exposure and framerate
					*
					* readout_orientation = "0";
					* Based on camera module orientation.
					* Only change readout_orientation if you specifically
					* Program a different readout order for this mode
					*
					* == Image format Properties ==
					*
					* active_w = "";
					* Pixel active region width
					*
					* active_h = "";
					* Pixel active region height
					*
					* pixel_t = "";
					* The sensor readout pixel pattern
					*
					* line_length = "";
					* Pixel line length (width) for sensor mode.
					*
					* == Source Control Settings ==
					*
					* Gain factor used to convert fixed point integer to float
					* Gain range [min_gain/gain_factor, max_gain/gain_factor]
					* Gain step [step_gain/gain_factor is the smallest step that can be configured]
					* Default gain [Default gain to be initialized for the control.
					*     use min_gain_val as default for optimal results]
					* Framerate factor used to convert fixed point integer to float
					* Framerate range [min_framerate/framerate_factor, max_framerate/framerate_factor]
					* Framerate step [step_framerate/framerate_factor is the smallest step that can be configured]
					* Default Framerate [Default framerate to be initialized for the control.
					*     use max_framerate to get required performance]
					* Exposure factor used to convert fixed point integer to float
					* For convenience use 1 sec = 1000000us as conversion factor
					* Exposure range [min_exp_time/exposure_factor, max_exp_time/exposure_factor]
					* Exposure step [step_exp_time/exposure_factor is the smallest step that can be configured]
					* Default Exposure Time [Default exposure to be initialized for the control.
					*     Set default exposure based on the default_framerate for optimal exposure settings]
					*
					* gain_factor = ""; (integer factor used for floating to fixed point conversion)
					* min_gain_val = ""; (ceil to integer)
					* max_gain_val = ""; (ceil to integer)
					* step_gain_val = ""; (ceil to integer)
					* default_gain = ""; (ceil to integer)
					* Gain limits for mode
					*
					* exposure_factor = ""; (integer factor used for floating to fixed point conversion)
					* min_exp_time = ""; (ceil to integer)
					* max_exp_time = ""; (ceil to integer)
					* step_exp_time = ""; (ceil to integer)
					* default_exp_time = ""; (ceil to integer)
					* Exposure Time limits for mode (sec)
					*
					* framerate_factor = ""; (integer factor used for floating to fixed point conversion)
					* min_framerate = ""; (ceil to integer)
					* max_framerate = ""; (ceil to integer)
					* step_framerate = ""; (ceil to integer)
					* default_framerate = ""; (ceil to integer)
					* Framerate limits for mode (fps)
					*
					* embedded_metadata_height = "";
					* Sensor embedded metadata height in units of rows.
					* If sensor does not support embedded metadata value should be 0.
					*/
					mode0 { /* IMX219_MODE_3264x2464_21FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_b";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "2464";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "21000000"; /* 21.0 fps */
						step_framerate = "1";
						default_framerate = "21000000"; /* 21.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode1 { /* IMX219_MODE_3264x1848_28FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_b";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "1848";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "28000000"; /* 28.0 fps */
						step_framerate = "1";
						default_framerate = "28000000"; /* 28.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode2 { /* IMX219_MODE_1920x1080_30FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_b";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1920";
						active_h = "1080";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "30000000"; /* 30.0 fps */
						step_framerate = "1";
						default_framerate = "30000000"; /* 30.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode3 { /* IMX219_MODE_1280x720_60FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_b";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "60000000"; /* 60.0 fps */
						step_framerate = "1";
						default_framerate = "60000000"; /* 60.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode4 { /* IMX219_MODE_1280x720_120FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_b";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "169600000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "120000000"; /* 120.0 fps */
						step_framerate = "1";
						default_framerate = "120000000"; /* 120.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};

					ports {
						#address-cells = <1>;
						#size-cells = <0>;
						status="okay";

						port@0 {
							reg = <0>;
							status="okay";
							rbpcv2_imx219_out4: endpoint {
								status="okay";
								port-index = <1>;
								bus-width = <2>;
								remote-endpoint = <&rbpcv2_imx219_csi_in4>;
							};
						};
					};
				};
			};
			i2c_5: i2c@5 {				
				imx219_cam5: rbpcv2_imx219_g@10 {
					status="okay";
					compatible = "nvidia,imx219";
					/* I2C device address */ 
					reg = <0x10>;

					/* V4L2 device node location */
					devnode = "video5";

					/* Physical dimensions of sensor */
					physical_w = "3.680";
					physical_h = "2.760";

					sensor_model = "imx219";

					use_sensor_mode_id = "true";

					/**
					* ==== Modes ====
					* A modeX node is required to support v4l2 driver
					* implementation with NVIDIA camera software stack
					*
					* == Signal properties ==
					*
					* phy_mode = "";
					* PHY mode used by the MIPI lanes for this device
					*
					* tegra_sinterface = "";
					* CSI Serial interface connected to tegra
					* Incase of virtual HW devices, use virtual
					* For SW emulated devices, use host
					*
					* pix_clk_hz = "";
					* Sensor pixel clock used for calculations like exposure and framerate
					*
					* readout_orientation = "0";
					* Based on camera module orientation.
					* Only change readout_orientation if you specifically
					* Program a different readout order for this mode
					*
					* == Image format Properties ==
					*
					* active_w = "";
					* Pixel active region width
					*
					* active_h = "";
					* Pixel active region height
					*
					* pixel_t = "";
					* The sensor readout pixel pattern
					*
					* line_length = "";
					* Pixel line length (width) for sensor mode.
					*
					* == Source Control Settings ==
					*
					* Gain factor used to convert fixed point integer to float
					* Gain range [min_gain/gain_factor, max_gain/gain_factor]
					* Gain step [step_gain/gain_factor is the smallest step that can be configured]
					* Default gain [Default gain to be initialized for the control.
					*     use min_gain_val as default for optimal results]
					* Framerate factor used to convert fixed point integer to float
					* Framerate range [min_framerate/framerate_factor, max_framerate/framerate_factor]
					* Framerate step [step_framerate/framerate_factor is the smallest step that can be configured]
					* Default Framerate [Default framerate to be initialized for the control.
					*     use max_framerate to get required performance]
					* Exposure factor used to convert fixed point integer to float
					* For convenience use 1 sec = 1000000us as conversion factor
					* Exposure range [min_exp_time/exposure_factor, max_exp_time/exposure_factor]
					* Exposure step [step_exp_time/exposure_factor is the smallest step that can be configured]
					* Default Exposure Time [Default exposure to be initialized for the control.
					*     Set default exposure based on the default_framerate for optimal exposure settings]
					*
					* gain_factor = ""; (integer factor used for floating to fixed point conversion)
					* min_gain_val = ""; (ceil to integer)
					* max_gain_val = ""; (ceil to integer)
					* step_gain_val = ""; (ceil to integer)
					* default_gain = ""; (ceil to integer)
					* Gain limits for mode
					*
					* exposure_factor = ""; (integer factor used for floating to fixed point conversion)
					* min_exp_time = ""; (ceil to integer)
					* max_exp_time = ""; (ceil to integer)
					* step_exp_time = ""; (ceil to integer)
					* default_exp_time = ""; (ceil to integer)
					* Exposure Time limits for mode (sec)
					*
					* framerate_factor = ""; (integer factor used for floating to fixed point conversion)
					* min_framerate = ""; (ceil to integer)
					* max_framerate = ""; (ceil to integer)
					* step_framerate = ""; (ceil to integer)
					* default_framerate = ""; (ceil to integer)
					* Framerate limits for mode (fps)
					*
					* embedded_metadata_height = "";
					* Sensor embedded metadata height in units of rows.
					* If sensor does not support embedded metadata value should be 0.
					*/
					mode0 { /* IMX219_MODE_3264x2464_21FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_g";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "2464";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "21000000"; /* 21.0 fps */
						step_framerate = "1";
						default_framerate = "21000000"; /* 21.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode1 { /* IMX219_MODE_3264x1848_28FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_g";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "1848";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "28000000"; /* 28.0 fps */
						step_framerate = "1";
						default_framerate = "28000000"; /* 28.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode2 { /* IMX219_MODE_1920x1080_30FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_g";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1920";
						active_h = "1080";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "30000000"; /* 30.0 fps */
						step_framerate = "1";
						default_framerate = "30000000"; /* 30.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode3 { /* IMX219_MODE_1280x720_60FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_g";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "60000000"; /* 60.0 fps */
						step_framerate = "1";
						default_framerate = "60000000"; /* 60.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode4 { /* IMX219_MODE_1280x720_120FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_g";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "169600000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "120000000"; /* 120.0 fps */
						step_framerate = "1";
						default_framerate = "120000000"; /* 120.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};

					ports {
						#address-cells = <1>;
						#size-cells = <0>;
						status="okay";

						port@0 {
							reg = <0>;
							status="okay";
							rbpcv2_imx219_out5: endpoint {
								status="okay";
								port-index = <6>;
								bus-width = <2>;
								remote-endpoint = <&rbpcv2_imx219_csi_in5>;
							};
						};
					};
				};
			};
		};		
	};		
	

	lens_imx219@RBPCV2 {
		status="okay";
		min_focus_distance = "0.0";
		hyper_focal = "0.0";
		focal_length = "3.04";
		f_number = "2.0";
		aperture = "0.0";
	};

};

/ {
	tcp: tegra-camera-platform {
		compatible = "nvidia, tegra-camera-platform";	
		/**
		* Physical settings to calculate max ISO BW
		*
		* num_csi_lanes = <>;
		* Total number of CSI lanes when all cameras are active
		*
		* max_lane_speed = <>;
		* Max lane speed in Kbit/s
		*
		* min_bits_per_pixel = <>;
		* Min bits per pixel
		*
		* vi_peak_byte_per_pixel = <>;
		* Max byte per pixel for the VI ISO case
		*
		* vi_bw_margin_pct = <>;
		* Vi bandwidth margin in percentage
		*
		* max_pixel_rate = <>;
		* Max pixel rate in Kpixel/s for the ISP ISO case
		* Set this to the highest pix_clk_hz out of all available modes.
		*
		* isp_peak_byte_per_pixel = <>;
		* Max byte per pixel for the ISP ISO case
		*
		* isp_bw_margin_pct = <>;
		* Isp bandwidth margin in percentage
		*/
		num_csi_lanes = <12>;
		max_lane_speed = <1500000>;
		min_bits_per_pixel = <10>;
		vi_peak_byte_per_pixel = <2>;
		vi_bw_margin_pct = <25>;
		max_pixel_rate = <240000>;
		isp_peak_byte_per_pixel = <5>;
		isp_bw_margin_pct = <25>;

		/**
		* The general guideline for naming badge_info contains 3 parts, and is as follows,
		* The first part is the camera_board_id for the module; if the module is in a FFD
		* platform, then use the platform name for this part.
		* The second part contains the position of the module, ex. “rear” or “front”.
		* The third part contains the last 6 characters of a part number which is found
		* in the module's specsheet from the vender.
		*/
		modules { 
			status="okay";
			cam_module0: module0 {
				badge = "jakku_bottomright_RBP194";
				position = "bottomright";
				orientation = "1";
				status="okay";
				cam_module0_drivernode0: drivernode0 {
					status="okay";
					pcl_id = "v4l2_sensor";
					devname = "imx219 30-0010";
					proc-device-tree = "/proc/device-tree/i2c@3180000/tca9548@70/i2c@0/rbpcv2_imx219_a@10"; 
				};
				cam_module0_drivernode1: drivernode1 {
 					status="okay";
					pcl_id = "v4l2_lens";
					proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
				};
			};
			cam_module1: module1 {
				badge = "jakku_centerright_RBP194";
				position = "centerright";
				orientation = "1";
				status="okay";
				cam_module1_drivernode0: drivernode0 {
					status="okay";
					pcl_id = "v4l2_sensor";
					devname = "imx219 31-0010";
					proc-device-tree = "/proc/device-tree/i2c@3180000/tca9548@70/i2c@1/rbpcv2_imx219_c@10";
				};
				cam_module1_drivernode1: drivernode1 {
					status="okay";
					pcl_id = "v4l2_lens";
					proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
				};
			};
			cam_module2: module2 {
				badge = "jakku_bottomleft_RBP194";
				position = "bottomleft";
				orientation = "1";
				status="okay";
				cam_module2_drivernode0: drivernode0 {
					status="okay";
					pcl_id = "v4l2_sensor";
					devname = "imx219 32-0010";
					proc-device-tree = "/proc/device-tree/i2c@3180000/tca9548@70/i2c@2/rbpcv2_imx219_d@10";
				};
				cam_module2_drivernode1: drivernode1 {
					status="okay";
					pcl_id = "v4l2_lens";
					proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
				};
			};
			cam_module3: module3 {
				badge = "jakku_centerleft_RBP194";
				position = "centerleft";
				orientation = "1";
				status="okay";
				cam_module3_drivernode0: drivernode0 {
					status="okay";
					pcl_id = "v4l2_sensor";
					devname = "imx219 33-0010";
					proc-device-tree = "/proc/device-tree/i2c@3180000/tca9548@70/i2c@3/rbpcv2_imx219_e@10";
				};
				cam_module3_drivernode1: drivernode1 {
					status="okay";
					pcl_id = "v4l2_lens";
					proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
				};
			};
			cam_module4: module4 {
				badge = "jakku_topright_RBP194";
				position = "centerleft";
				orientation = "1";
				status="okay";
				cam_module4_drivernode0: drivernode0 {
					status="okay";
					pcl_id = "v4l2_sensor";
					devname = "imx219 34-0010";
					proc-device-tree = "/proc/device-tree/i2c@3180000/tca9548@70/i2c@4/rbpcv2_imx219_b@10";
				};
				cam_module4_drivernode1: drivernode1 {
					status="okay";
					pcl_id = "v4l2_lens";
					proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
				};
			};
			cam_module5: module5 {
				badge = "jakku_topleft_RBP194";
				position = "centerleft";
				orientation = "1";
				status="okay";
				cam_module5_drivernode0: drivernode0 {
					status="okay";
					pcl_id = "v4l2_sensor";
					devname = "imx219 35-0010";
					proc-device-tree = "/proc/device-tree/i2c@3180000/tca9548@70/i2c@5/rbpcv2_imx219_g@10";
				};
				cam_module5_drivernode1: drivernode1 {
					status="okay";
					pcl_id = "v4l2_lens";
					proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
				};
			};
		};
	};
};

Changed text

Open file

/*
 * Copyright (c) 2015-2019, NVIDIA CORPORATION.  All rights reserved.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
 * more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include <dt-bindings/media/camera.h>

/ {
	host1x {
		vi@15c10000  {
			num-channels = <6>;
			ports {
				status="okay";
				#address-cells = <1>;
				#size-cells = <0>;
				vi_port0: port@0 {
					status="okay";
					reg = <0>;
					rbpcv2_imx219_vi_in0: endpoint {
						status="okay";
						port-index = <0>;
						bus-width = <2>;
						remote-endpoint = <&rbpcv2_imx219_csi_out0>;
					};
				};
				vi_port1: port@1 {
					status="okay";
					reg = <1>;
					rbpcv2_imx219_vi_in1: endpoint {
						status="okay";
						port-index = <2>;
						bus-width = <2>;
						remote-endpoint = <&rbpcv2_imx219_csi_out1>;
					};
				};
				vi_port2: port@2 {
					status="okay";
					reg = <2>;
					rbpcv2_imx219_vi_in2: endpoint {
						status="okay";
						port-index = <4>;
						bus-width = <2>;
						remote-endpoint = <&rbpcv2_imx219_csi_out2>;
					};
				};
				vi_port3: port@3 {
					status="okay";
					reg = <3>;
					rbpcv2_imx219_vi_in3: endpoint {
						status="okay";
						port-index = <3>;
						bus-width = <4>;
						remote-endpoint = <&rbpcv2_imx219_csi_out3>;
					};
				};
				vi_port4: port@4 {
					status="okay";
					reg = <4>;
					rbpcv2_imx219_vi_in4: endpoint {
						status="okay";
						port-index = <1>;
						bus-width = <2>;
						remote-endpoint = <&rbpcv2_imx219_csi_out4>;
					};
				};
				vi_port5: port@5 {
					status="okay";
					reg = <5>;
					rbpcv2_imx219_vi_in5: endpoint {
						status="okay";
						port-index = <6>;
						bus-width = <2>;
						remote-endpoint = <&rbpcv2_imx219_csi_out5>;
					};
				};				
			};
		};

		nvcsi@15a00000 {
			num-channels = <6>;
			#address-cells = <1>;
			#size-cells = <0>;
			status="okay";
			csi_chan0: channel@0 {
				reg = <0>;
				status="okay";
				ports {
					#address-cells = <1>;
					#size-cells = <0>;
					status="okay";
					csi_chan0_port0: port@0 {
						reg = <0>;
						status="okay";
						rbpcv2_imx219_csi_in0: endpoint@0 {
							status="okay";
							port-index = <0>;
							bus-width = <2>;
							remote-endpoint = <&rbpcv2_imx219_out0>;
						};
					};
					csi_chan0_port1: port@1 {
						reg = <1>;
						status="okay";
						rbpcv2_imx219_csi_out0: endpoint@1 {
							status="okay";
							remote-endpoint = <&rbpcv2_imx219_vi_in0>;
						};
					};
				};
			};
			csi_chan1: channel@1 {
				reg = <1>;
				status="okay";
				ports {
					#address-cells = <1>;
					#size-cells = <0>;
					status="okay";
					csi_chan1_port0: port@0 {
						status="okay";
						reg = <0>;
						rbpcv2_imx219_csi_in1: endpoint@2 {
							status="okay";
							port-index = <2>;
							bus-width = <2>;
							remote-endpoint = <&rbpcv2_imx219_out1>;
						};
					};
					csi_chan1_port1: port@1 {
						reg = <1>;
						status="okay";
						rbpcv2_imx219_csi_out1: endpoint@3 {
							status="okay";
							remote-endpoint = <&rbpcv2_imx219_vi_in1>;
						};
					};
				};
			};
			csi_chan2: channel@2 {
				reg = <2>;
				status="okay";
				ports {
					#address-cells = <1>;
					#size-cells = <0>;
					status="okay";
					csi_chan2_port0: port@0 {
						status="okay";
						reg = <0>;
						rbpcv2_imx219_csi_in2: endpoint@4 {
							status="okay";
							port-index = <4>;
							bus-width = <2>;
							remote-endpoint = <&rbpcv2_imx219_out2>;
						};
					};
					csi_chan2_port1: port@1 {
						status="okay";
						reg = <1>;
						rbpcv2_imx219_csi_out2: endpoint@5 {
							status="okay";
							remote-endpoint = <&rbpcv2_imx219_vi_in2>;
						};
					};
				};
			};
			csi_chan3: channel@3 {
				reg = <3>;
				status="okay";
				ports {
					#address-cells = <1>;
					#size-cells = <0>;
					status="okay";
					csi_chan3_port0: port@0 {
						status="okay";
						reg = <0>;
						rbpcv2_imx219_csi_in3: endpoint@6 {
							status="okay";
							port-index = <3>;
							bus-width = <4>;
							remote-endpoint = <&rbpcv2_imx219_out3>;
						};
					};
					csi_chan3_port1: port@1 {
						status="okay";
						reg = <1>;
						rbpcv2_imx219_csi_out3: endpoint@7 {
							status="okay";
							remote-endpoint = <&rbpcv2_imx219_vi_in3>;
						};
					};
				};
			};
			csi_chan4: channel@4 {
				reg = <4>;
				status="okay";
				ports {
					#address-cells = <1>;
					#size-cells = <0>;
					status="okay";
					csi_chan4_port0: port@0 {
						status="okay";
						reg = <0>;
						rbpcv2_imx219_csi_in4: endpoint@8 {
							status="okay";
							port-index = <1>;
							bus-width = <2>;
							remote-endpoint = <&rbpcv2_imx219_out4>;
						};
					};
					csi_chan4_port1: port@1 {
						status="okay";
						reg = <1>;
						rbpcv2_imx219_csi_out4: endpoint@9 {
							status="okay";
							remote-endpoint = <&rbpcv2_imx219_vi_in4>;
						};
					};
				};
			};
			csi_chan5: channel@5 {
				reg = <5>;
				status="okay";
				ports {
					#address-cells = <1>;
					#size-cells = <0>;
					status="okay";
					csi_chan5_port0: port@0 {
						status="okay";
						reg = <0>;
						rbpcv2_imx219_csi_in5: endpoint@10 {
							status="okay";
							port-index = <6>;
							bus-width = <2>;
							remote-endpoint = <&rbpcv2_imx219_out5>;
						};
					};
					csi_chan5_port1: port@1 {
						status="okay";
						reg = <1>;
						rbpcv2_imx219_csi_out5: endpoint@11 {
							status="okay";
							remote-endpoint = <&rbpcv2_imx219_vi_in5>;
						};
					};
				};
			};
		};	
	};

	i2c@3180000{ 		
		tca9548@70 {			
			i2c_0: i2c@0 {				
				imx219_cam0: rbpcv2_imx219_a@10 {
					status="okay";
					compatible = "nvidia,imx219";
					/* I2C device address */ 
					reg = <0x10>;

					/* V4L2 device node location */
					devnode = "video0";

					/* Physical dimensions of sensor */
					physical_w = "3.680";
					physical_h = "2.760";

					sensor_model = "imx219";

					use_sensor_mode_id = "true";

					/**
					* ==== Modes ====
					* A modeX node is required to support v4l2 driver
					* implementation with NVIDIA camera software stack
					*
					* == Signal properties ==
					*
					* phy_mode = "";
					* PHY mode used by the MIPI lanes for this device
					*
					* tegra_sinterface = "";
					* CSI Serial interface connected to tegra
					* Incase of virtual HW devices, use virtual
					* For SW emulated devices, use host
					*
					* pix_clk_hz = "";
					* Sensor pixel clock used for calculations like exposure and framerate
					*
					* readout_orientation = "0";
					* Based on camera module orientation.
					* Only change readout_orientation if you specifically
					* Program a different readout order for this mode
					*
					* == Image format Properties ==
					*
					* active_w = "";
					* Pixel active region width
					*
					* active_h = "";
					* Pixel active region height
					*
					* pixel_t = "";
					* The sensor readout pixel pattern
					*
					* line_length = "";
					* Pixel line length (width) for sensor mode.
					*
					* == Source Control Settings ==
					*
					* Gain factor used to convert fixed point integer to float
					* Gain range [min_gain/gain_factor, max_gain/gain_factor]
					* Gain step [step_gain/gain_factor is the smallest step that can be configured]
					* Default gain [Default gain to be initialized for the control.
					*     use min_gain_val as default for optimal results]
					* Framerate factor used to convert fixed point integer to float
					* Framerate range [min_framerate/framerate_factor, max_framerate/framerate_factor]
					* Framerate step [step_framerate/framerate_factor is the smallest step that can be configured]
					* Default Framerate [Default framerate to be initialized for the control.
					*     use max_framerate to get required performance]
					* Exposure factor used to convert fixed point integer to float
					* For convenience use 1 sec = 1000000us as conversion factor
					* Exposure range [min_exp_time/exposure_factor, max_exp_time/exposure_factor]
					* Exposure step [step_exp_time/exposure_factor is the smallest step that can be configured]
					* Default Exposure Time [Default exposure to be initialized for the control.
					*     Set default exposure based on the default_framerate for optimal exposure settings]
					*
					* gain_factor = ""; (integer factor used for floating to fixed point conversion)
					* min_gain_val = ""; (ceil to integer)
					* max_gain_val = ""; (ceil to integer)
					* step_gain_val = ""; (ceil to integer)
					* default_gain = ""; (ceil to integer)
					* Gain limits for mode
					*
					* exposure_factor = ""; (integer factor used for floating to fixed point conversion)
					* min_exp_time = ""; (ceil to integer)
					* max_exp_time = ""; (ceil to integer)
					* step_exp_time = ""; (ceil to integer)
					* default_exp_time = ""; (ceil to integer)
					* Exposure Time limits for mode (sec)
					*
					* framerate_factor = ""; (integer factor used for floating to fixed point conversion)
					* min_framerate = ""; (ceil to integer)
					* max_framerate = ""; (ceil to integer)
					* step_framerate = ""; (ceil to integer)
					* default_framerate = ""; (ceil to integer)
					* Framerate limits for mode (fps)
					*
					* embedded_metadata_height = "";
					* Sensor embedded metadata height in units of rows.
					* If sensor does not support embedded metadata value should be 0.
					*/
					mode0 { /* IMX219_MODE_3264x2464_21FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_a";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "2464";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "21000000"; /* 21.0 fps */
						step_framerate = "1";
						default_framerate = "21000000"; /* 21.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode1 { /* IMX219_MODE_3264x1848_28FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_a";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "1848";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "28000000"; /* 28.0 fps */
						step_framerate = "1";
						default_framerate = "28000000"; /* 28.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode2 { /* IMX219_MODE_1920x1080_30FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_a";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1920";
						active_h = "1080";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "30000000"; /* 30.0 fps */
						step_framerate = "1";
						default_framerate = "30000000"; /* 30.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode3 { /* IMX219_MODE_1280x720_60FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_a";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "60000000"; /* 60.0 fps */
						step_framerate = "1";
						default_framerate = "60000000"; /* 60.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode4 { /* IMX219_MODE_1280x720_120FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_a";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "169600000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "120000000"; /* 120.0 fps */
						step_framerate = "1";
						default_framerate = "120000000"; /* 120.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};

					ports {
						#address-cells = <1>;
						#size-cells = <0>;
						status="okay";

						port@0 {
							reg = <0>;
							status="okay";
							rbpcv2_imx219_out0: endpoint {
								status="okay";
								port-index = <0>;
								bus-width = <2>;
								remote-endpoint = <&rbpcv2_imx219_csi_in0>;
							};
						};
					};
				};
			};
			i2c_1: i2c@1 {				
				imx219_cam1: rbpcv2_imx219_c@10 {
					status="okay";
					compatible = "nvidia,imx219";
					/* I2C device address */
					reg = <0x10>;

					/* V4L2 device node location */
					devnode = "video1";

					/* Physical dimensions of sensor */
					physical_w = "3.680";
					physical_h = "2.760";

					sensor_model = "imx219";

					use_sensor_mode_id = "true";


					mode0 { /* IMX219_MODE_3264x2464_21FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_c";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "2464";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "21000000"; /* 21.0 fps */
						step_framerate = "1";
						default_framerate = "21000000"; /* 21.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode1 { /* IMX219_MODE_3264x1848_28FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_c";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "1848";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "28000000"; /* 28.0 fps */
						step_framerate = "1";
						default_framerate = "28000000"; /* 28.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode2 { /* IMX219_MODE_1920x1080_30FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_c";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1920";
						active_h = "1080";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "30000000"; /* 30.0 fps */
						step_framerate = "1";
						default_framerate = "30000000"; /* 30.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode3 { /* IMX219_MODE_1280x720_60FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_c";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "60000000"; /* 60.0 fps */
						step_framerate = "1";
						default_framerate = "60000000"; /* 60.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode4 { /* IMX219_MODE_1280x720_120FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_c";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "169600000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "120000000"; /* 120.0 fps */
						step_framerate = "1";
						default_framerate = "120000000"; /* 120.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode5 { /* IMX219_MODE_640x480_200FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_c";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "640";
						active_h = "480";
						mode_type = "bayer";
						pixel_phase = "rggb";
						csi_pixel_bit_depth = "10";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "348800000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "200000000"; /* 200.0 fps */
						step_framerate = "1";
						default_framerate = "200000000"; /* 200.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
	 					default_exp_time = "2495"; /* us */
	 
	 					embedded_metadata_height = "2";
	 				};

					ports {
						#address-cells = <1>;
						#size-cells = <0>;
						status="okay";

						port@0 {
							reg = <0>;
							status="okay";
							rbpcv2_imx219_out1: endpoint {
								status="okay";
								port-index = <2>;
								bus-width = <2>;
								remote-endpoint = <&rbpcv2_imx219_csi_in1>;
							};
						};
					};
				};
			};
			i2c_2: i2c@2 {				
				imx219_cam2: rbpcv2_imx219_d@10 {
					status="okay";
					compatible = "nvidia,imx219";
					/* I2C device address */
					reg = <0x10>;

					/* V4L2 device node location */
					devnode = "video2";

					/* Physical dimensions of sensor */
					physical_w = "3.680";
					physical_h = "2.760";

					sensor_model = "imx219";

					use_sensor_mode_id = "true";

					
					mode0 { /* IMX219_MODE_3264x2464_21FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_d";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "2464";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "21000000"; /* 21.0 fps */
						step_framerate = "1";
						default_framerate = "21000000"; /* 21.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode1 { /* IMX219_MODE_3264x1848_28FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_d";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "1848";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "28000000"; /* 28.0 fps */
						step_framerate = "1";
						default_framerate = "28000000"; /* 28.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode2 { /* IMX219_MODE_1920x1080_30FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_d";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1920";
						active_h = "1080";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "30000000"; /* 30.0 fps */
						step_framerate = "1";
						default_framerate = "30000000"; /* 30.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode3 { /* IMX219_MODE_1280x720_60FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_d";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "60000000"; /* 60.0 fps */
						step_framerate = "1";
						default_framerate = "60000000"; /* 60.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode4 { /* IMX219_MODE_1280x720_120FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_d";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "169600000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "120000000"; /* 120.0 fps */
						step_framerate = "1";
						default_framerate = "120000000"; /* 120.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};

					ports {
						#address-cells = <1>;
						#size-cells = <0>;
						status="okay";

						port@0 {
							status="okay";
							reg = <0>;
							rbpcv2_imx219_out2: endpoint {
								status="okay";
								port-index = <4>;
								bus-width = <2>;
								remote-endpoint = <&rbpcv2_imx219_csi_in2>;
							};
						};
					};
				};
			};
			i2c_3: i2c@3 {				
				imx219_cam3: rbpcv2_imx219_e@10 {
					status="okay";
					compatible = "nvidia,imx219";
					/* I2C device address */
					reg = <0x10>;

					/* V4L2 device node location */
					devnode = "video3";

					/* Physical dimensions of sensor */
					physical_w = "3.680";
					physical_h = "2.760";

					sensor_model = "imx219";

					use_sensor_mode_id = "true";


					mode0 { /* IMX219_MODE_3264x2464_21FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_e";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "2464";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "21000000"; /* 21.0 fps */
						step_framerate = "1";
						default_framerate = "21000000"; /* 21.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode1 { /* IMX219_MODE_3264x1848_28FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_e";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "1848";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "28000000"; /* 28.0 fps */
						step_framerate = "1";
						default_framerate = "28000000"; /* 28.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode2 { /* IMX219_MODE_1920x1080_30FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_e";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1920";
						active_h = "1080";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "30000000"; /* 30.0 fps */
						step_framerate = "1";
						default_framerate = "30000000"; /* 30.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					// mode3 { /* IMX219_MODE_1280x720_60FPS */
					// 	mclk_khz = "24000";
					// 	num_lanes = "2";
					// 	tegra_sinterface = "serial_e";
					// 	phy_mode = "DPHY";
					// 	discontinuous_clk = "yes";
					// 	dpcm_enable = "false";
					// 	cil_settletime = "0";

					// 	active_w = "1280";
					// 	active_h = "720";
					// 	pixel_t = "bayer_rggb";
					// 	readout_orientation = "90";
					// 	line_length = "3448";
					// 	inherent_gain = "1";
					// 	mclk_multiplier = "9.33";
					// 	pix_clk_hz = "182400000";

					// 	gain_factor = "16";
					// 	framerate_factor = "1000000";
					// 	exposure_factor = "1000000";
					// 	min_gain_val = "16"; /* 1.00x */
					// 	max_gain_val = "170"; /* 10.66x */
					// 	step_gain_val = "1";
					// 	default_gain = "16"; /* 1.00x */
					// 	min_hdr_ratio = "1";
					// 	max_hdr_ratio = "1";
					// 	min_framerate = "2000000"; /* 2.0 fps */
					// 	max_framerate = "60000000"; /* 60.0 fps */
					// 	step_framerate = "1";
					// 	default_framerate = "60000000"; /* 60.0 fps */
					// 	min_exp_time = "13"; /* us */
					// 	max_exp_time = "683709"; /* us */
					// 	step_exp_time = "1";
					// 	default_exp_time = "2495"; /* us */

					// 	embedded_metadata_height = "2";
					// };
					// mode4 { /* IMX219_MODE_1280x720_120FPS */
					// 	mclk_khz = "24000";
					// 	num_lanes = "4";
					// 	tegra_sinterface = "serial_e";
					// 	phy_mode = "DPHY";
					// 	discontinuous_clk = "yes";
					// 	dpcm_enable = "false";
					// 	cil_settletime = "0";

					// 	active_w = "1280";
					// 	active_h = "720";
					// 	pixel_t = "bayer_rggb";
					// 	readout_orientation = "90";
					// 	line_length = "3448";
					// 	inherent_gain = "1";
					// 	mclk_multiplier = "9.33";
					// 	pix_clk_hz = "169600000";

					// 	gain_factor = "16";
					// 	framerate_factor = "1000000";
					// 	exposure_factor = "1000000";
					// 	min_gain_val = "16"; /* 1.00x */
					// 	max_gain_val = "170"; /* 10.66x */
					// 	step_gain_val = "1";
					// 	default_gain = "16"; /* 1.00x */
					// 	min_hdr_ratio = "1";
					// 	max_hdr_ratio = "1";
					// 	min_framerate = "2000000"; /* 2.0 fps */
					// 	max_framerate = "120000000"; /* 120.0 fps */
					// 	step_framerate = "1";
					// 	default_framerate = "120000000"; /* 120.0 fps */
					// 	min_exp_time = "13"; /* us */
					// 	max_exp_time = "683709"; /* us */
					// 	step_exp_time = "1";
					// 	default_exp_time = "2495"; /* us */

					// 	embedded_metadata_height = "2";
					// };

					mode3 { /* IMX219_MODE_1280x720_180FPS */
						mclk_khz = "24000";
						num_lanes = "4";
						tegra_sinterface = "serial_e";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "11.7"; //Tried 9.33
						pix_clk_hz = "280800000"; //182400000 348800000

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "180000000"; /* 180.0 fps */
						step_framerate = "1";
						default_framerate = "180000000"; /* 180.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};

					// mode5 { /* IMX219_MODE_640x480_200FPS */
					// 	mclk_khz = "24000";
					// 	num_lanes = "4";
					// 	tegra_sinterface = "serial_e";
					// 	phy_mode = "DPHY";
					// 	discontinuous_clk = "yes";
					// 	dpcm_enable = "false";
					// 	cil_settletime = "0";

					// 	active_w = "640";
					// 	active_h = "480";
					// 	mode_type = "bayer";
					// 	pixel_phase = "rggb";
					// 	csi_pixel_bit_depth = "10";
					// 	readout_orientation = "90";
					// 	line_length = "3448";
					// 	inherent_gain = "1";
					// 	mclk_multiplier = "9.33";
					// 	pix_clk_hz = "348800000";

					// 	gain_factor = "16";
					// 	framerate_factor = "1000000";
					// 	exposure_factor = "1000000";
					// 	min_gain_val = "16"; /* 1.00x */
					// 	max_gain_val = "170"; /* 10.66x */
					// 	step_gain_val = "1";
					// 	default_gain = "16"; /* 1.00x */
					// 	min_hdr_ratio = "1";
					// 	max_hdr_ratio = "1";
					// 	min_framerate = "2000000"; /* 2.0 fps */
					// 	max_framerate = "200000000"; /* 200.0 fps */
					// 	step_framerate = "1";
					// 	default_framerate = "200000000"; /* 200.0 fps */
					// 	min_exp_time = "13"; /* us */
					// 	max_exp_time = "683709"; /* us */
					// 	step_exp_time = "1";
	 				// 	default_exp_time = "2495"; /* us */
	 
	 				// 	embedded_metadata_height = "2";
	 				// };
				

					ports {
						#address-cells = <1>;
						#size-cells = <0>;
						status="okay";

						port@0 {
							status="okay";
							reg = <0>;
							rbpcv2_imx219_out3: endpoint {
								status="okay";
								port-index = <3>;
								bus-width = <4>;
								remote-endpoint = <&rbpcv2_imx219_csi_in3>;
							};
						};
					};
				};
			};
			i2c_4: i2c@4 {				
				imx219_cam4: rbpcv2_imx219_b@10 {
					status="okay";
					compatible = "nvidia,imx219";
					/* I2C device address */ 
					reg = <0x10>;

					/* V4L2 device node location */
					devnode = "video4";

					/* Physical dimensions of sensor */
					physical_w = "3.680";
					physical_h = "2.760";

					sensor_model = "imx219";

					use_sensor_mode_id = "true";

					/**
					* ==== Modes ====
					* A modeX node is required to support v4l2 driver
					* implementation with NVIDIA camera software stack
					*
					* == Signal properties ==
					*
					* phy_mode = "";
					* PHY mode used by the MIPI lanes for this device
					*
					* tegra_sinterface = "";
					* CSI Serial interface connected to tegra
					* Incase of virtual HW devices, use virtual
					* For SW emulated devices, use host
					*
					* pix_clk_hz = "";
					* Sensor pixel clock used for calculations like exposure and framerate
					*
					* readout_orientation = "0";
					* Based on camera module orientation.
					* Only change readout_orientation if you specifically
					* Program a different readout order for this mode
					*
					* == Image format Properties ==
					*
					* active_w = "";
					* Pixel active region width
					*
					* active_h = "";
					* Pixel active region height
					*
					* pixel_t = "";
					* The sensor readout pixel pattern
					*
					* line_length = "";
					* Pixel line length (width) for sensor mode.
					*
					* == Source Control Settings ==
					*
					* Gain factor used to convert fixed point integer to float
					* Gain range [min_gain/gain_factor, max_gain/gain_factor]
					* Gain step [step_gain/gain_factor is the smallest step that can be configured]
					* Default gain [Default gain to be initialized for the control.
					*     use min_gain_val as default for optimal results]
					* Framerate factor used to convert fixed point integer to float
					* Framerate range [min_framerate/framerate_factor, max_framerate/framerate_factor]
					* Framerate step [step_framerate/framerate_factor is the smallest step that can be configured]
					* Default Framerate [Default framerate to be initialized for the control.
					*     use max_framerate to get required performance]
					* Exposure factor used to convert fixed point integer to float
					* For convenience use 1 sec = 1000000us as conversion factor
					* Exposure range [min_exp_time/exposure_factor, max_exp_time/exposure_factor]
					* Exposure step [step_exp_time/exposure_factor is the smallest step that can be configured]
					* Default Exposure Time [Default exposure to be initialized for the control.
					*     Set default exposure based on the default_framerate for optimal exposure settings]
					*
					* gain_factor = ""; (integer factor used for floating to fixed point conversion)
					* min_gain_val = ""; (ceil to integer)
					* max_gain_val = ""; (ceil to integer)
					* step_gain_val = ""; (ceil to integer)
					* default_gain = ""; (ceil to integer)
					* Gain limits for mode
					*
					* exposure_factor = ""; (integer factor used for floating to fixed point conversion)
					* min_exp_time = ""; (ceil to integer)
					* max_exp_time = ""; (ceil to integer)
					* step_exp_time = ""; (ceil to integer)
					* default_exp_time = ""; (ceil to integer)
					* Exposure Time limits for mode (sec)
					*
					* framerate_factor = ""; (integer factor used for floating to fixed point conversion)
					* min_framerate = ""; (ceil to integer)
					* max_framerate = ""; (ceil to integer)
					* step_framerate = ""; (ceil to integer)
					* default_framerate = ""; (ceil to integer)
					* Framerate limits for mode (fps)
					*
					* embedded_metadata_height = "";
					* Sensor embedded metadata height in units of rows.
					* If sensor does not support embedded metadata value should be 0.
					*/
					mode0 { /* IMX219_MODE_3264x2464_21FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_b";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "2464";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "21000000"; /* 21.0 fps */
						step_framerate = "1";
						default_framerate = "21000000"; /* 21.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode1 { /* IMX219_MODE_3264x1848_28FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_b";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "1848";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "28000000"; /* 28.0 fps */
						step_framerate = "1";
						default_framerate = "28000000"; /* 28.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode2 { /* IMX219_MODE_1920x1080_30FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_b";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1920";
						active_h = "1080";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "30000000"; /* 30.0 fps */
						step_framerate = "1";
						default_framerate = "30000000"; /* 30.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode3 { /* IMX219_MODE_1280x720_60FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_b";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "60000000"; /* 60.0 fps */
						step_framerate = "1";
						default_framerate = "60000000"; /* 60.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode4 { /* IMX219_MODE_1280x720_120FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_b";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "169600000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "120000000"; /* 120.0 fps */
						step_framerate = "1";
						default_framerate = "120000000"; /* 120.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};

					ports {
						#address-cells = <1>;
						#size-cells = <0>;
						status="okay";

						port@0 {
							reg = <0>;
							status="okay";
							rbpcv2_imx219_out4: endpoint {
								status="okay";
								port-index = <1>;
								bus-width = <2>;
								remote-endpoint = <&rbpcv2_imx219_csi_in4>;
							};
						};
					};
				};
			};
			i2c_5: i2c@5 {				
				imx219_cam5: rbpcv2_imx219_g@10 {
					status="okay";
					compatible = "nvidia,imx219";
					/* I2C device address */ 
					reg = <0x10>;

					/* V4L2 device node location */
					devnode = "video5";

					/* Physical dimensions of sensor */
					physical_w = "3.680";
					physical_h = "2.760";

					sensor_model = "imx219";

					use_sensor_mode_id = "true";

					/**
					* ==== Modes ====
					* A modeX node is required to support v4l2 driver
					* implementation with NVIDIA camera software stack
					*
					* == Signal properties ==
					*
					* phy_mode = "";
					* PHY mode used by the MIPI lanes for this device
					*
					* tegra_sinterface = "";
					* CSI Serial interface connected to tegra
					* Incase of virtual HW devices, use virtual
					* For SW emulated devices, use host
					*
					* pix_clk_hz = "";
					* Sensor pixel clock used for calculations like exposure and framerate
					*
					* readout_orientation = "0";
					* Based on camera module orientation.
					* Only change readout_orientation if you specifically
					* Program a different readout order for this mode
					*
					* == Image format Properties ==
					*
					* active_w = "";
					* Pixel active region width
					*
					* active_h = "";
					* Pixel active region height
					*
					* pixel_t = "";
					* The sensor readout pixel pattern
					*
					* line_length = "";
					* Pixel line length (width) for sensor mode.
					*
					* == Source Control Settings ==
					*
					* Gain factor used to convert fixed point integer to float
					* Gain range [min_gain/gain_factor, max_gain/gain_factor]
					* Gain step [step_gain/gain_factor is the smallest step that can be configured]
					* Default gain [Default gain to be initialized for the control.
					*     use min_gain_val as default for optimal results]
					* Framerate factor used to convert fixed point integer to float
					* Framerate range [min_framerate/framerate_factor, max_framerate/framerate_factor]
					* Framerate step [step_framerate/framerate_factor is the smallest step that can be configured]
					* Default Framerate [Default framerate to be initialized for the control.
					*     use max_framerate to get required performance]
					* Exposure factor used to convert fixed point integer to float
					* For convenience use 1 sec = 1000000us as conversion factor
					* Exposure range [min_exp_time/exposure_factor, max_exp_time/exposure_factor]
					* Exposure step [step_exp_time/exposure_factor is the smallest step that can be configured]
					* Default Exposure Time [Default exposure to be initialized for the control.
					*     Set default exposure based on the default_framerate for optimal exposure settings]
					*
					* gain_factor = ""; (integer factor used for floating to fixed point conversion)
					* min_gain_val = ""; (ceil to integer)
					* max_gain_val = ""; (ceil to integer)
					* step_gain_val = ""; (ceil to integer)
					* default_gain = ""; (ceil to integer)
					* Gain limits for mode
					*
					* exposure_factor = ""; (integer factor used for floating to fixed point conversion)
					* min_exp_time = ""; (ceil to integer)
					* max_exp_time = ""; (ceil to integer)
					* step_exp_time = ""; (ceil to integer)
					* default_exp_time = ""; (ceil to integer)
					* Exposure Time limits for mode (sec)
					*
					* framerate_factor = ""; (integer factor used for floating to fixed point conversion)
					* min_framerate = ""; (ceil to integer)
					* max_framerate = ""; (ceil to integer)
					* step_framerate = ""; (ceil to integer)
					* default_framerate = ""; (ceil to integer)
					* Framerate limits for mode (fps)
					*
					* embedded_metadata_height = "";
					* Sensor embedded metadata height in units of rows.
					* If sensor does not support embedded metadata value should be 0.
					*/
					mode0 { /* IMX219_MODE_3264x2464_21FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_g";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "2464";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "21000000"; /* 21.0 fps */
						step_framerate = "1";
						default_framerate = "21000000"; /* 21.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode1 { /* IMX219_MODE_3264x1848_28FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_g";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "3264";
						active_h = "1848";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "28000000"; /* 28.0 fps */
						step_framerate = "1";
						default_framerate = "28000000"; /* 28.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode2 { /* IMX219_MODE_1920x1080_30FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_g";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1920";
						active_h = "1080";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "30000000"; /* 30.0 fps */
						step_framerate = "1";
						default_framerate = "30000000"; /* 30.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode3 { /* IMX219_MODE_1280x720_60FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_g";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "182400000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "60000000"; /* 60.0 fps */
						step_framerate = "1";
						default_framerate = "60000000"; /* 60.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};
					mode4 { /* IMX219_MODE_1280x720_120FPS */
						mclk_khz = "24000";
						num_lanes = "2";
						tegra_sinterface = "serial_g";
						phy_mode = "DPHY";
						discontinuous_clk = "yes";
						dpcm_enable = "false";
						cil_settletime = "0";

						active_w = "1280";
						active_h = "720";
						pixel_t = "bayer_rggb";
						readout_orientation = "90";
						line_length = "3448";
						inherent_gain = "1";
						mclk_multiplier = "9.33";
						pix_clk_hz = "169600000";

						gain_factor = "16";
						framerate_factor = "1000000";
						exposure_factor = "1000000";
						min_gain_val = "16"; /* 1.00x */
						max_gain_val = "170"; /* 10.66x */
						step_gain_val = "1";
						default_gain = "16"; /* 1.00x */
						min_hdr_ratio = "1";
						max_hdr_ratio = "1";
						min_framerate = "2000000"; /* 2.0 fps */
						max_framerate = "120000000"; /* 120.0 fps */
						step_framerate = "1";
						default_framerate = "120000000"; /* 120.0 fps */
						min_exp_time = "13"; /* us */
						max_exp_time = "683709"; /* us */
						step_exp_time = "1";
						default_exp_time = "2495"; /* us */

						embedded_metadata_height = "2";
					};

					ports {
						#address-cells = <1>;
						#size-cells = <0>;
						status="okay";

						port@0 {
							reg = <0>;
							status="okay";
							rbpcv2_imx219_out5: endpoint {
								status="okay";
								port-index = <6>;
								bus-width = <2>;
								remote-endpoint = <&rbpcv2_imx219_csi_in5>;
							};
						};
					};
				};
			};
		};		
	};		
	

	lens_imx219@RBPCV2 {
		status="okay";
		min_focus_distance = "0.0";
		hyper_focal = "0.0";
		focal_length = "3.04";
		f_number = "2.0";
		aperture = "0.0";
	};

};

/ {
	tcp: tegra-camera-platform {
		compatible = "nvidia, tegra-camera-platform";	
		/**
		* Physical settings to calculate max ISO BW
		*
		* num_csi_lanes = <>;
		* Total number of CSI lanes when all cameras are active
		*
		* max_lane_speed = <>;
		* Max lane speed in Kbit/s
		*
		* min_bits_per_pixel = <>;
		* Min bits per pixel
		*
		* vi_peak_byte_per_pixel = <>;
		* Max byte per pixel for the VI ISO case
		*
		* vi_bw_margin_pct = <>;
		* Vi bandwidth margin in percentage
		*
		* max_pixel_rate = <>;
		* Max pixel rate in Kpixel/s for the ISP ISO case
		* Set this to the highest pix_clk_hz out of all available modes.
		*
		* isp_peak_byte_per_pixel = <>;
		* Max byte per pixel for the ISP ISO case
		*
		* isp_bw_margin_pct = <>;
		* Isp bandwidth margin in percentage
		*/
		num_csi_lanes = <12>;
		max_lane_speed = <1500000>;
		min_bits_per_pixel = <10>;
		vi_peak_byte_per_pixel = <2>;
		vi_bw_margin_pct = <25>;
		max_pixel_rate = <240000>;
		isp_peak_byte_per_pixel = <5>;
		isp_bw_margin_pct = <25>;

		/**
		* The general guideline for naming badge_info contains 3 parts, and is as follows,
		* The first part is the camera_board_id for the module; if the module is in a FFD
		* platform, then use the platform name for this part.
		* The second part contains the position of the module, ex. “rear” or “front”.
		* The third part contains the last 6 characters of a part number which is found
		* in the module's specsheet from the vender.
		*/
		modules { 
			status="okay";
			cam_module0: module0 {
				badge = "jakku_bottomright_RBP194";
				position = "bottomright";
				orientation = "1";
				status="okay";
				cam_module0_drivernode0: drivernode0 {
					status="okay";
					pcl_id = "v4l2_sensor";
					devname = "imx219 30-0010";
					proc-device-tree = "/proc/device-tree/i2c@3180000/tca9548@70/i2c@0/rbpcv2_imx219_a@10"; 
				};
				cam_module0_drivernode1: drivernode1 {
 					status="okay";
					pcl_id = "v4l2_lens";
					proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
				};
			};
			cam_module1: module1 {
				badge = "jakku_centerright_RBP194";
				position = "centerright";
				orientation = "1";
				status="okay";
				cam_module1_drivernode0: drivernode0 {
					status="okay";
					pcl_id = "v4l2_sensor";
					devname = "imx219 31-0010";
					proc-device-tree = "/proc/device-tree/i2c@3180000/tca9548@70/i2c@1/rbpcv2_imx219_c@10";
				};
				cam_module1_drivernode1: drivernode1 {
					status="okay";
					pcl_id = "v4l2_lens";
					proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
				};
			};
			cam_module2: module2 {
				badge = "jakku_bottomleft_RBP194";
				position = "bottomleft";
				orientation = "1";
				status="okay";
				cam_module2_drivernode0: drivernode0 {
					status="okay";
					pcl_id = "v4l2_sensor";
					devname = "imx219 32-0010";
					proc-device-tree = "/proc/device-tree/i2c@3180000/tca9548@70/i2c@2/rbpcv2_imx219_d@10";
				};
				cam_module2_drivernode1: drivernode1 {
					status="okay";
					pcl_id = "v4l2_lens";
					proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
				};
			};
			cam_module3: module3 {
				badge = "jakku_centerleft_RBP194";
				position = "centerleft";
				orientation = "1";
				status="okay";
				cam_module3_drivernode0: drivernode0 {
					status="okay";
					pcl_id = "v4l2_sensor";
					devname = "imx219 33-0010";
					proc-device-tree = "/proc/device-tree/i2c@3180000/tca9548@70/i2c@3/rbpcv2_imx219_e@10";
				};
				cam_module3_drivernode1: drivernode1 {
					status="okay";
					pcl_id = "v4l2_lens";
					proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
				};
			};
			cam_module4: module4 {
				badge = "jakku_topright_RBP194";
				position = "topright";
				orientation = "1";
				status="okay";
				cam_module4_drivernode0: drivernode0 {
					status="okay";
					pcl_id = "v4l2_sensor";
					devname = "imx219 34-0010";
					proc-device-tree = "/proc/device-tree/i2c@3180000/tca9548@70/i2c@4/rbpcv2_imx219_b@10";
				};
				cam_module4_drivernode1: drivernode1 {
					status="okay";
					pcl_id = "v4l2_lens";
					proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
				};
			};
			cam_module5: module5 {
				badge = "jakku_topleft_RBP194";
				position = "topleft";
				orientation = "1";
				status="okay";
				cam_module5_drivernode0: drivernode0 {
					status="okay";
					pcl_id = "v4l2_sensor";
					devname = "imx219 35-0010";
					proc-device-tree = "/proc/device-tree/i2c@3180000/tca9548@70/i2c@5/rbpcv2_imx219_g@10";
				};
				cam_module5_drivernode1: drivernode1 {
					status="okay";
					pcl_id = "v4l2_lens";
					proc-device-tree = "/proc/device-tree/lens_imx219@RBPCV2/";
				};
			};
		};
	};
};