一套环境刚买回来，就想先试试能不能跑起来，果然还是翻车了，有没有大佬帮忙看看是什么原因
GS130WI物理接线图：
环境信息：
root@ubuntu:~# uname -a
Linux ubuntu 6.1.83 #1 SMP PREEMPT Wed Apr 8 21:09:59 CST 2026 aarch64 aarch64 aarch64 GNU/Linux
root@ubuntu:~# apt show tros-humble
Package: tros-humble
Version: 2.5.2-jammy.20260313.064039
Priority: optional
Section: misc
Maintainer: zhuo <zhuo.wang@d-robotics.cc>
Installed-Size: 52.2 kB
Depends: hobot-models-basic, tros-humble-ai-msgs, tros-humble-audio-control, tros-humble-audio-msg, tros-humble-audio-tracking, tros-humble-base, tros-humble-body-tracking, tros-humble-clip-encode-image, tros-humble-clip-encode-text, tros-humble-clip-manage, tros-humble-clip-msgs, tros-humble-dnn-benchmark-example, tros-humble-dnn-node, tros-humble-dnn-node-example, tros-humble-dnn-node-sample, tros-humble-dstereo-occnet, tros-humble-elevation-net, tros-humble-face-age-detection, tros-humble-face-landmarks-detection, tros-humble-gesture-control, tros-humble-hand-gesture-detection, tros-humble-hand-lmk-detection, tros-humble-hbm-img-msgs, tros-humble-hobot-audio, tros-humble-hobot-codec, tros-humble-hobot-cv, tros-humble-hobot-dosod, tros-humble-hobot-falldown-detection, tros-humble-hobot-hdmi, tros-humble-hobot-image-publisher, tros-humble-hobot-llamacpp, tros-humble-hobot-mot, tros-humble-hobot-rtsp-client, tros-humble-hobot-shm, tros-humble-hobot-stereonet, tros-humble-hobot-stereonet-utils, tros-humble-hobot-usb-cam, tros-humble-hobot-vio, tros-humble-hobot-visualization, tros-humble-hobot-yolo-world, tros-humble-hobot-zed-cam, tros-humble-img-msgs, tros-humble-imu-sensor, tros-humble-mipi-cam, tros-humble-mono-edgesam, tros-humble-mono-mobilesam, tros-humble-mono-pwcnet, tros-humble-mono2d-body-detection, tros-humble-mono2d-trash-detection, tros-humble-mono3d-indoor-detection, tros-humble-parking-perception, tros-humble-parking-search, tros-humble-reid, tros-humble-tros-lowpass-filter, tros-humble-tros-perception-fusion, tros-humble-websocket, tros-humble-ros-workspace
Download-Size: 6,356 B
APT-Manual-Installed: yes
APT-Sources: http://archive.d-robotics.cc/ubuntu-rdk-x5 jammy/main arm64 Packages
Description: TogetheROS Bot
运行官方脚本指令：
ros2 launch mipi_cam mipi_cam_dual_channel.launch.py mipi_image_width:=1088 mipi_image_height:=1280
打印信息：
root@ubuntu:~# ros2 launch mipi_cam mipi_cam_dual_channel.launch.py mipi_image_width:=1088 mipi_image_height:=1280
[INFO] [launch]: All log files can be found below /root/.ros/log/2026-08-18-22-38-17-374632-ubuntu-41643
[INFO] [launch]: Default logging verbosity is set to INFO
config_file_path is /opt/tros/humble/lib/mipi_cam/config/
Hobot shm pkg enables zero-copy with fastrtps profiles file: /opt/tros/humble/lib/hobot_shm/config/shm_fastdds.xml
Hobot shm pkg sets RMW_FASTRTPS_USE_QOS_FROM_XML: 1
env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
[INFO] [mipi_cam-1]: process started with pid [41652]
[mipi_cam-1] [WARN] [1787063898.012708155] [mipi_node]:
[mipi_cam-1] node params:
[mipi_cam-1] config_path: /opt/tros/humble/lib/mipi_cam/config/
[mipi_cam-1] video_device_name: default
[mipi_cam-1] channel: 2
[mipi_cam-1] channel2: 0
[mipi_cam-1] camera_info_url:
[mipi_cam-1] camera_calibration_file_path: /opt/tros/humble/lib/mipi_cam/config/calib_params.yaml
[mipi_cam-1] out_format_name: nv12
[mipi_cam-1] gdc_bin_file:
[mipi_cam-1] image_width: 1088
[mipi_cam-1] image_height: 1280
[mipi_cam-1] sub_image_width: 1920
[mipi_cam-1] sub_image_height: 1080
[mipi_cam-1] framerate: 10
[mipi_cam-1] rotation: 0.000000
[mipi_cam-1] device_mode: dual
[mipi_cam-1] dual_combine: 1
[mipi_cam-1] lpwm_enable: false
[mipi_cam-1] gdc_enable: true
[mipi_cam-1] frame_ts_type: sensor
[mipi_cam-1] frame_id: default_cam
[mipi_cam-1] link_type: 0
[mipi_cam-1] link_port: 0
[mipi_cam-1] io_method_name: ros
[mipi_cam-1] cal_alpha: 0.000
[mipi_cam-1] [WARN] [1787063898.930077864] [mipi_cap]: i2c bus: 4, EEPROM FLAG: UNION
[mipi_cam-1]
[mipi_cam-1] [WARN] [1787063898.931263370] [mipi_cap]: i2c bus: 4, EEPROM FLAG: UNION
[mipi_cam-1]
[mipi_cam-1] [WARN] [1787063898.993389028] [mipi_cap]: Target FOV 0.00° out of valid range [96.70°, 106.11°]
[mipi_cam-1] [WARN] [1787063898.993489737] [mipi_cap]: Use default alpha=0.0 (target FOV invalid)
[mipi_cam-1] [WARN] [1787063900.940776508] [mipi_cap]: best fov scale: 0.94
[mipi_cam-1] [WARN] [1787063901.573230919] [mipi_cap]: X5 start gdc rotation and cal.
[mipi_cam-1]
[mipi_cam-1] [WARN] [1787063902.354964227] [mipi_cap]: X5 start gdc rotation and cal.
[mipi_cam-1]
[mipi_cam-1] index: 0 sensor_name: sc230ai-30fps config_file:linear_1920x1080_raw10_30fps_1lane.c
[mipi_cam-1] index: 1 sensor_name: sc132gs-1280p config_file:linear_1088x1280_raw10_30fps_1lane.c
[mipi_cam-1] index: 2 sensor_name: ov5647 config_file:linear_1920x1080_raw10_30fps_2lane.c
[mipi_cam-1] index: 3 sensor_name: imx219-30fps config_file:linear_1920x1080_raw10_30fps_2lane.c
[mipi_cam-1] index: 4 sensor_name: imx477-1920x1080-50fps config_file:linear_1920x1080_raw12_50fps_2lane.c
[mipi_cam-1] index: 5 sensor_name: imx415-20fps-2lane config_file:linear_3840x2160_raw10_30fps_2lane.c
[mipi_cam-1] Searching camera sensor on device: /proc/device-tree/soc/cam/vcon@0 i2c bus: 6 mipi rx phy: 0
[mipi_cam-1] WARN: Sensor Name: sc230ai-30fps, Expected Chip ID: 0xCB34, Actual Chip ID Read: 0x132
[mipi_cam-1] WARN: Sensor Name: sc230ai-30fps, Expected Chip ID: 0xCB34, Actual Chip ID Read: 0x00
[mipi_cam-1] INFO: vp_sensor_detect_2 Support sensor index:0, sensor_name:sc132gs-1280p on mipi rx csi 0, i2c addr 0x30, config_file:linear_1088x1280_raw10_30fps_1lane.c
[mipi_cam-1] Searching camera sensor on device: /proc/device-tree/soc/cam/vcon@2 i2c bus: 4 mipi rx phy: 2
[mipi_cam-1] WARN: Sensor Name: sc230ai-30fps, Expected Chip ID: 0xCB34, Actual Chip ID Read: 0x00
[mipi_cam-1] WARN: Sensor Name: sc230ai-30fps, Expected Chip ID: 0xCB34, Actual Chip ID Read: 0x132
[mipi_cam-1] WARN: Sensor Name: sc132gs-1280p, Expected Chip ID: 0x132, Actual Chip ID Read: 0x00
[mipi_cam-1] INFO: vp_sensor_detect_2 Support sensor index:2, sensor_name:sc132gs-1280p on mipi rx csi 2, i2c addr 0x32, config_file:linear_1088x1280_raw10_30fps_1lane.c
[mipi_cam-1] Searching camera sensor on device: /proc/device-tree/soc/cam/vcon@0 i2c bus: 6 mipi rx phy: 0
[mipi_cam-1] INFO: vp_sensor_fixed_mipi_host_1 Found sensor_name:sc132gs-1280p on mipi rx csi 0, i2c addr 0x30, config_file:linear_1088x1280_raw10_30fps_1lane.c
[mipi_cam-1] Searching camera sensor on device: /proc/device-tree/soc/cam/vcon@2 i2c bus: 4 mipi rx phy: 2
[mipi_cam-1] WARN: Sensor Name: sc132gs-1280p, Expected Chip ID: 0x132, Actual Chip ID Read: 0x00
[mipi_cam-1] INFO: vp_sensor_fixed_mipi_host_1 Found sensor_name:sc132gs-1280p on mipi rx csi 2, i2c addr 0x32, config_file:linear_1088x1280_raw10_30fps_1lane.c
[mipi_cam-1] [WARN] [1787063902.976974828] [mipi_cam]: [init]->cap sc132gs-1280p init success.
[mipi_cam-1]
[mipi_cam-1]
[mipi_cam-1] === Detected IIO Devices ===
[mipi_cam-1] Device: iio:device0 | Name: 34190000.adc
[mipi_cam-1] ============================
[mipi_cam-1]
dmesg打印信息：
root@ubuntu:~# dmesg
[ 4251.740228] [VPF mgr]:[L478]empty_camsys_reset: empty function
[ 4251.740252] [L1228]cim_open open_cnt :1
[ 4251.740259] [CIM]:[L192][S0]cim_video_open done ret val:0
[ 4251.740265] [L1227][S0]vin_node_open done
[ 4251.740272] [VIN_NODE]:[L694][C0]vin_node_video_open done
[ 4251.740278] [VPF ops]:[L2575][vin0_src] vpf_device_open: done
[ 4251.740299] [L1228]cim_open open_cnt :2
[ 4251.740304] [CIM]:[L192][S0]cim_video_open done ret val:0
[ 4251.740310] [L1227][S0]vin_node_open done
[ 4251.740315] [VIN_NODE]:[L694][C0]vin_node_video_open done
[ 4251.740320] [VPF ops]:[L2575][vin0_cap] vpf_device_open: done
[ 4251.740341] [L1228]cim_open open_cnt :3
[ 4251.740346] [CIM]:[L192][S0]cim_video_open done ret val:0
[ 4251.740351] [L1227][S0]vin_node_open done
[ 4251.740357] [VIN_NODE]:[L694][C0]vin_node_video_open done
[ 4251.740362] [VPF ops]:[L2575][vin0_emb] vpf_device_open: done
[ 4251.740378] [L1228]cim_open open_cnt :4
[ 4251.740383] [CIM]:[L192][S0]cim_video_open done ret val:0
[ 4251.740388] [L1227][S0]vin_node_open done
[ 4251.740394] [VIN_NODE]:[L694][C0]vin_node_video_open done
[ 4251.740399] [VPF ops]:[L2575][vin0_pdaf] vpf_device_open: done
[ 4251.740423] [VPF ops]:[L439][vin0_src][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4251.740432] [VPF ops]:[L1875][vin0_src][C0] vpf_video_bind_context: done
[ 4251.740440] [VPF ops]:[L439][vin0_cap][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4251.740446] [VPF ops]:[L1875][vin0_cap][C0] vpf_video_bind_context: done
[ 4251.740454] [VPF ops]:[L439][vin0_emb][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4251.740460] [VPF ops]:[L1875][vin0_emb][C0] vpf_video_bind_context: done
[ 4251.740467] [VPF ops]:[L439][vin0_pdaf][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4251.740474] [VPF ops]:[L1875][vin0_pdaf][C0] vpf_video_bind_context: done
[ 4251.740493] [VIN_NODE]:[L38]The vin node driver version is v1.1
[ 4251.740498] [VPF ops]:[L1031][vin0_src][C0] vpf_video_get_version: done
[ 4251.740525] [VPF ops]:[L1079][vin0_src][C0] vpf_video_get_struct_size: done
[ 4251.740542] [CIM]:[L247][C0]cim_video_set_attr done ret val:0
[ 4251.740548] [L423][C0] vin_node_set_attr ipi 0 done
[ 4251.740554] [VIN_NODE]:[L239][C0]vin_node_video_set_attr done
[ 4251.740560] [VPF ops]:[L689][vin0_cap][C0] vpf_video_set_init_attr: done
[ 4251.740570] vin vcon0: vcon0 open 0: flow65535 ctx0 real
[ 4251.740578] [L624][S65535][C0][ipi0]cim_subdev_init hw_id = 0
[ 4251.740585] [CIM]:[L247][C0]cim_video_set_attr done ret val:0
[ 4251.740594] vin vcon0: get attr valid bus6 rx0 done
[ 4251.740601] [L423][C0] vin_node_set_attr ipi 0 done
[ 4251.740606] [VIN_NODE]:[L239][C0]vin_node_video_set_attr done
[ 4251.740613] [VIO node]:[L104][vin0] vio_group_task_start: sched_mode 1
[ 4251.740619] [VPF ops]:[L689][vin0_src][C0] vpf_video_set_init_attr: done
[ 4251.740627] [CIM]:[L247][C0]cim_video_set_attr done ret val:0
[ 4251.740632] [L423][C0] vin_node_set_attr ipi 0 done
[ 4251.740637] [VIN_NODE]:[L239][C0]vin_node_video_set_attr done
[ 4251.740642] [VPF ops]:[L689][vin0_emb][C0] vpf_video_set_init_attr: done
[ 4251.740651] [CIM]:[L247][C0]cim_video_set_attr done ret val:0
[ 4251.740656] [L423][C0] vin_node_set_attr ipi 0 done
[ 4251.740662] [VIN_NODE]:[L239][C0]vin_node_video_set_attr done
[ 4251.740667] [VPF ops]:[L689][vin0_pdaf][C0] vpf_video_set_init_attr: done
[ 4251.740691] [VPF ops]:[L1079][vin0_src][C0] vpf_video_get_struct_size: done
[ 4251.740706] [L709][S65535] vin_node_set_ichn_attr begin format 43 width 1088
[ 4251.740716] [L527][S0][ipi0]cim_set_ichn_attr done
[ 4251.740722] [CIM]:[L309][S0]cim_video_set_ichn_attr done ret val:0
[ 4251.740728] [L724][S0]vin_node_set_ichn_attr done
[ 4251.740735] [VIN_NODE]:[L427][C0]vin_node_video_set_ichn_attr done
[ 4251.740742] [L1023][S0] vin_node_reqbufs done bit_map 0x1 planecount 1
[ 4251.740748] [VIN_NODE]:[L743][C0]vin_node_video_reqbufs done
[ 4251.740769] [VPF ops]:[L1193][F0] vpf_fill_frame_info: L0 use width instead of wstride
[ 4251.740775] [VPF ops]:[L1197][F0] vpf_fill_frame_info: L0 use height instead of vstride
[ 4251.740782] [VPF ops]:[L1193][F1] vpf_fill_frame_info: L0 use width instead of wstride
[ 4251.740787] [VPF ops]:[L1197][F1] vpf_fill_frame_info: L0 use height instead of vstride
[ 4251.740793] [VPF ops]:[L1193][F2] vpf_fill_frame_info: L0 use width instead of wstride
[ 4251.740798] [VPF ops]:[L1197][F2] vpf_fill_frame_info: L0 use height instead of vstride
[ 4251.740804] [VPF ops]:[L1193][F3] vpf_fill_frame_info: L0 use width instead of wstride
[ 4251.740809] [VPF ops]:[L1197][F3] vpf_fill_frame_info: L0 use height instead of vstride
[ 4251.740815] [VPF ops]:[L1193][F4] vpf_fill_frame_info: L0 use width instead of wstride
[ 4251.740820] [VPF ops]:[L1197][F4] vpf_fill_frame_info: L0 use height instead of vstride
[ 4251.740825] [VPF ops]:[L1193][F5] vpf_fill_frame_info: L0 use width instead of wstride
[ 4251.740831] [VPF ops]:[L1197][F5] vpf_fill_frame_info: L0 use height instead of vstride
[ 4251.740836] [VPF ops]:[L1193][F6] vpf_fill_frame_info: L0 use width instead of wstride
[ 4251.740841] [VPF ops]:[L1197][F6] vpf_fill_frame_info: L0 use height instead of vstride
[ 4251.740849] [VPF ops]:[L1193][F7] vpf_fill_frame_info: L0 use width instead of wstride
[ 4251.740854] [VPF ops]:[L1197][F7] vpf_fill_frame_info: L0 use height instead of vstride
[ 4251.740860] [VPF ops]:[L1193][F8] vpf_fill_frame_info: L0 use width instead of wstride
[ 4251.740865] [VPF ops]:[L1197][F8] vpf_fill_frame_info: L0 use height instead of vstride
[ 4251.740871] [VPF ops]:[L1193][F9] vpf_fill_frame_info: L0 use width instead of wstride
[ 4251.740876] [VPF ops]:[L1197][F9] vpf_fill_frame_info: L0 use height instead of vstride
[ 4251.740881] [VPF ops]:[L1193][F10] vpf_fill_frame_info: L0 use width instead of wstride
[ 4251.740886] [VPF ops]:[L1197][F10] vpf_fill_frame_info: L0 use height instead of vstride
[ 4251.740892] [VPF ops]:[L1193][F11] vpf_fill_frame_info: L0 use width instead of wstride
[ 4251.740897] [VPF ops]:[L1197][F11] vpf_fill_frame_info: L0 use height instead of vstride
[ 4251.740903] [VPF ops]:[L1193][F12] vpf_fill_frame_info: L0 use width instead of wstride
[ 4251.740909] [VPF ops]:[L1197][F12] vpf_fill_frame_info: L0 use height instead of vstride
[ 4251.740914] [VPF ops]:[L1193][F13] vpf_fill_frame_info: L0 use width instead of wstride
[ 4251.740920] [VPF ops]:[L1197][F13] vpf_fill_frame_info: L0 use height instead of vstride
[ 4251.740926] [VPF ops]:[L1193][F14] vpf_fill_frame_info: L0 use width instead of wstride
[ 4251.740931] [VPF ops]:[L1197][F14] vpf_fill_frame_info: L0 use height instead of vstride
[ 4251.740937] [VPF ops]:[L1193][F15] vpf_fill_frame_info: L0 use width instead of wstride
[ 4251.740942] [VPF ops]:[L1197][F15] vpf_fill_frame_info: L0 use height instead of vstride
[ 4251.740948] [VPF ops]:[L1325][vin0_src][C0] vpf_request_frames: reqbuf number 16
[ 4251.740955] [VPF ops]:[L850][vin0_src][C0] vpf_video_set_ichn_attr: done
[ 4251.740973] [VPF ops]:[L1079][vin0_src][C0] vpf_video_get_struct_size: done
[ 4251.740987] [L236][S0] ochn0 auto calc vstride 1280
[ 4251.740993] [L160]vin_basic_attr->format:43
[ 4251.741002] [L425][S0][ipi0][ochn0]cim_set_ochn_attr done
[ 4251.741008] [CIM]:[L340][S0]cim_video_set_ochn_attr done ret val:0
[ 4251.741013] [L652][S0]vin_node_set_ochn_attr done
[ 4251.741019] [VIN_NODE]:[L364][C0]vin_node_video_set_ochn_attr done
[ 4251.741027] [L975]VNODE_ID_CAP wstride 2176
[ 4251.741031] [L977]VNODE_ID_CAP vstride 1280
[ 4251.741036] [L981]vstride 1280 planecount 1
[ 4251.741040] [L1023][S0] vin_node_reqbufs done bit_map 0x1 planecount 1
[ 4251.741046] [VIN_NODE]:[L743][C0]vin_node_video_reqbufs done
[ 4251.741062] [VPF ops]:[L1325][vin0_cap][C0] vpf_request_frames: reqbuf number 16
[ 4251.741068] [VPF ops]:[L978][vin0_cap][C0] vpf_video_set_ochn_attr: done
[ 4251.741087] [L975]VNODE_ID_CAP wstride 2176
[ 4251.741092] [L977]VNODE_ID_CAP vstride 1280
[ 4251.741096] [L981]vstride 1280 planecount 1
[ 4251.741101] [L1023][S0] vin_node_reqbufs done bit_map 0x1 planecount 1
[ 4251.741107] [VIN_NODE]:[L743][C0]vin_node_video_reqbufs done
[ 4251.741118] [VPF ops]:[L1325][vin0_cap][C0] vpf_request_frames: reqbuf number 3
[ 4251.741246] [VPF ops]:[L1464][vin0_cap][C0] vpf_video_reqbufs: done
[ 4251.741331] [VPF ops]:[L2066][vin0_cap][C0] vpf_video_querybuf: done
[ 4251.741528] [VPF ops]:[L2066][vin0_cap][C0] vpf_video_querybuf: done
[ 4251.741629] [VPF ops]:[L2066][vin0_cap][C0] vpf_video_querybuf: done
[ 4251.741803] [VPF ops]:[L2575][vs-isp0_src] vpf_device_open: done
[ 4251.741827] [VPF ops]:[L2575][vs-isp0_src_pd] vpf_device_open: done
[ 4251.743005] [VPF ops]:[L2575][vs-isp0_cap] vpf_device_open: done
[ 4251.743035] [VPF ops]:[L2575][vs-isp0_cap_raw] vpf_device_open: done
[ 4251.743048] [VPF ops]:[L439][vs-isp0_src][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4251.743058] [VPF ops]:[L1875][vs-isp0_src][C0] vpf_video_bind_context: done
[ 4251.743067] [VPF ops]:[L439][vs-isp0_src_pd][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4251.743074] [VPF ops]:[L1875][vs-isp0_src_pd][C0] vpf_video_bind_context: done
[ 4251.743081] [VPF ops]:[L439][vs-isp0_cap][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4251.743088] [VPF ops]:[L1875][vs-isp0_cap][C0] vpf_video_bind_context: done
[ 4251.743095] [VPF ops]:[L439][vs-isp0_cap_raw][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4251.743101] [VPF ops]:[L1875][vs-isp0_cap_raw][C0] vpf_video_bind_context: done
[ 4251.743115] [VPF ops]:[L1079][vs-isp0_src][C0] vpf_video_get_struct_size: done
[ 4251.743126] [VPF ops]:[L689][vs-isp0_cap][C0] vpf_video_set_init_attr: done
[ 4251.746288] [VIO node]:[L104][isp0] vio_group_task_start: sched_mode 1
[ 4251.746298] [VPF ops]:[L689][vs-isp0_src][C0] vpf_video_set_init_attr: done
[ 4251.746310] [VPF ops]:[L689][vs-isp0_src_pd][C0] vpf_video_set_init_attr: done
[ 4251.746318] [VPF ops]:[L689][vs-isp0_cap_raw][C0] vpf_video_set_init_attr: done
[ 4251.746328] [VPF ops]:[L1079][vs-isp0_src][C0] vpf_video_get_struct_size: done
[ 4251.746338] isp_set_ochn_attr format=7,width=1088,stride=1088,height=1280
[ 4251.746397] isp_video_reqbufs done bit_map 0x1 planecount 2 vctx->id:8
[ 4251.746419] [VPF ops]:[L1325][vs-isp0_cap][C0] vpf_request_frames: reqbuf number 16
[ 4251.746427] [VPF ops]:[L978][vs-isp0_cap][C0] vpf_video_set_ochn_attr: done
[ 4251.746438] [VPF ops]:[L1079][vs-isp0_src][C0] vpf_video_get_struct_size: done
[ 4251.746448] isp_video_set_ichn_attr format=2,width=1088,stride=2176,height=1280,hdr_en=0
[ 4251.746498] isp_video_reqbufs done bit_map 0x1 planecount 1 vctx->id:0
[ 4251.746514] [VPF ops]:[L1325][vs-isp0_src][C0] vpf_request_frames: reqbuf number 16
[ 4251.746521] [VPF ops]:[L850][vs-isp0_src][C0] vpf_video_set_ichn_attr: done
[ 4251.746532] isp_video_reqbufs done bit_map 0x1 planecount 2 vctx->id:8
[ 4251.746545] [VPF ops]:[L1325][vs-isp0_cap][C0] vpf_request_frames: reqbuf number 3
[ 4251.746672] [VPF ops]:[L1464][vs-isp0_cap][C0] vpf_video_reqbufs: done
[ 4251.746693] [VPF ops]:[L2066][vs-isp0_cap][C0] vpf_video_querybuf: done
[ 4251.746919] [VPF ops]:[L2066][vs-isp0_cap][C0] vpf_video_querybuf: done
[ 4251.747015] [VPF ops]:[L2066][vs-isp0_cap][C0] vpf_video_querybuf: done
[ 4251.747134] isp_video_get_ichn_attr done
[ 4251.747152] isp_video_get_ichn_attr done
[ 4251.747230] [GDC ops]:[L87][gdc0_src][C0] gdc_subdev_open: cnt 1
[ 4251.747239] [VPF ops]:[L2575][gdc0_src] vpf_device_open: done
[ 4251.747260] [GDC ops]:[L87][gdc0_cap][C0] gdc_subdev_open: cnt 2
[ 4251.747266] [VPF ops]:[L2575][gdc0_cap] vpf_device_open: done
[ 4251.747276] [VPF ops]:[L1031][gdc0_src][C0] vpf_video_get_version: done
[ 4251.747286] [VPF ops]:[L439][gdc0_src][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4251.747294] [VPF ops]:[L1875][gdc0_src][C0] vpf_video_bind_context: done
[ 4251.747301] [VPF ops]:[L439][gdc0_cap][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4251.747308] [VPF ops]:[L1875][gdc0_cap][C0] vpf_video_bind_context: done
[ 4251.747319] [VPF ops]:[L1079][gdc0_src][C0] vpf_video_get_struct_size: done
[ 4251.747328] [VPF ops]:[L689][gdc0_cap][C0] vpf_video_set_init_attr: done
[ 4251.747347] [VIO node]:[L104][gdc0] vio_group_task_start: sched_mode 1
[ 4251.747353] [VPF ops]:[L689][gdc0_src][C0] vpf_video_set_init_attr: done
[ 4251.747362] [VPF ops]:[L1079][gdc0_src][C0] vpf_video_get_struct_size: done
[ 4251.747381] [VPF ops]:[L1325][gdc0_src][C0] vpf_request_frames: reqbuf number 16
[ 4251.747388] [VPF ops]:[L850][gdc0_src][C0] vpf_video_set_ichn_attr: done
[ 4251.747397] [VPF ops]:[L1079][gdc0_src][C0] vpf_video_get_struct_size: done
[ 4251.747414] [VPF ops]:[L1325][gdc0_cap][C0] vpf_request_frames: reqbuf number 16
[ 4251.747421] [VPF ops]:[L978][gdc0_cap][C0] vpf_video_set_ochn_attr: done
[ 4251.747435] [VPF ops]:[L1325][gdc0_cap][C0] vpf_request_frames: reqbuf number 3
[ 4251.747539] [VPF ops]:[L1464][gdc0_cap][C0] vpf_video_reqbufs: done
[ 4251.747556] [VPF ops]:[L2066][gdc0_cap][C0] vpf_video_querybuf: done
[ 4251.747664] [VPF ops]:[L2066][gdc0_cap][C0] vpf_video_querybuf: done
[ 4251.747776] [VPF ops]:[L2066][gdc0_cap][C0] vpf_video_querybuf: done
[ 4251.747907] [GDC dev]:[L288][gdc0_cap][C0] gdc_get_ochn_attr: done
[ 4251.748016] [VPF ops]:[L2575][vs-vse0_src] vpf_device_open: done
[ 4251.748041] [VPF ops]:[L2575][vs-vse0_cap0] vpf_device_open: done
[ 4251.748060] [VPF ops]:[L2575][vs-vse0_cap1] vpf_device_open: done
[ 4251.748077] [VPF ops]:[L2575][vs-vse0_cap2] vpf_device_open: done
[ 4251.748094] [VPF ops]:[L2575][vs-vse0_cap3] vpf_device_open: done
[ 4251.748110] [VPF ops]:[L2575][vs-vse0_cap4] vpf_device_open: done
[ 4251.748127] [VPF ops]:[L2575][vs-vse0_cap5] vpf_device_open: done
[ 4251.748139] [VPF ops]:[L439][vs-vse0_src][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4251.748148] [VPF ops]:[L1875][vs-vse0_src][C0] vpf_video_bind_context: done
[ 4251.748156] [VPF ops]:[L439][vs-vse0_cap0][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4251.748163] [VPF ops]:[L1875][vs-vse0_cap0][C0] vpf_video_bind_context: done
[ 4251.748170] [VPF ops]:[L439][vs-vse0_cap1][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4251.748176] [VPF ops]:[L1875][vs-vse0_cap1][C0] vpf_video_bind_context: done
[ 4251.748185] [VPF ops]:[L439][vs-vse0_cap2][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4251.748191] [VPF ops]:[L1875][vs-vse0_cap2][C0] vpf_video_bind_context: done
[ 4251.748200] [VPF ops]:[L439][vs-vse0_cap3][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4251.748206] [VPF ops]:[L1875][vs-vse0_cap3][C0] vpf_video_bind_context: done
[ 4251.748214] [VPF ops]:[L439][vs-vse0_cap4][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4251.748221] [VPF ops]:[L1875][vs-vse0_cap4][C0] vpf_video_bind_context: done
[ 4251.748228] [VPF ops]:[L439][vs-vse0_cap5][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4251.748234] [VPF ops]:[L1875][vs-vse0_cap5][C0] vpf_video_bind_context: done
[ 4251.748245] [VPF ops]:[L1079][vs-vse0_src][C0] vpf_video_get_struct_size: done
[ 4251.748253] [VPF ops]:[L689][vs-vse0_cap0][C0] vpf_video_set_init_attr: done
[ 4251.748260] vse_video_set_cfg set vse state to INITED
[ 4251.749800] [VIO node]:[L104][vse0] vio_group_task_start: sched_mode 1
[ 4251.749810] [VPF ops]:[L689][vs-vse0_src][C0] vpf_video_set_init_attr: done
[ 4251.749820] [VPF ops]:[L689][vs-vse0_cap1][C0] vpf_video_set_init_attr: done
[ 4251.749827] [VPF ops]:[L689][vs-vse0_cap2][C0] vpf_video_set_init_attr: done
[ 4251.749834] [VPF ops]:[L689][vs-vse0_cap3][C0] vpf_video_set_init_attr: done
[ 4251.749840] [VPF ops]:[L689][vs-vse0_cap4][C0] vpf_video_set_init_attr: done
[ 4251.749847] [VPF ops]:[L689][vs-vse0_cap5][C0] vpf_video_set_init_attr: done
[ 4251.749857] vse_video_get_ichn_attr vctx->ctx_id=0,vctx->id=0
[ 4251.749868] [VPF ops]:[L1079][vs-vse0_src][C0] vpf_video_get_struct_size: done
[ 4251.749877] vse_video_set_ichn_attr format=7,width=1088,stride=1088,height=1280
[ 4251.749926] vse_video_reqbufs done bit_map 0x1 planecount 2
[ 4251.749944] [VPF ops]:[L1325][vs-vse0_src][C0] vpf_request_frames: reqbuf number 16
[ 4251.749951] [VPF ops]:[L850][vs-vse0_src][C0] vpf_video_set_ichn_attr: done
[ 4251.749964] [VPF ops]:[L1079][vs-vse0_src][C0] vpf_video_get_struct_size: done
[ 4251.749972] vse_video_set_ochn_attr vctx->ctx_id=0,vctx->id=8
[ 4251.749980] vse_video_set_ochn_attr ochn_id=0,format=7,width=1088,stride=1088,height=1280
[ 4251.750021] [vse_drv]: vse_set_fps_rate: vse-0 chn-0, fps.src 10, fps.dst 10
[ 4251.750030] vse_video_reqbufs done bit_map 0x1 planecount 2
[ 4251.750045] [VPF ops]:[L1325][vs-vse0_cap0][C0] vpf_request_frames: reqbuf number 16
[ 4251.750051] [VPF ops]:[L978][vs-vse0_cap0][C0] vpf_video_set_ochn_attr: done
[ 4251.750063] vse_video_reqbufs done bit_map 0x1 planecount 2
[ 4251.750073] [VPF ops]:[L1325][vs-vse0_cap0][C0] vpf_request_frames: reqbuf number 3
[ 4251.750191] [VPF ops]:[L1464][vs-vse0_cap0][C0] vpf_video_reqbufs: done
[ 4251.750212] [VPF ops]:[L2066][vs-vse0_cap0][C0] vpf_video_querybuf: done
[ 4251.750375] [VPF ops]:[L2066][vs-vse0_cap0][C0] vpf_video_querybuf: done
[ 4251.750489] [VPF ops]:[L2066][vs-vse0_cap0][C0] vpf_video_querybuf: done
[ 4251.750654] [VPF ops]:[L2575][flow] vpf_device_open: done
[ 4251.750669] [VPF ops]:[L1031][flow][C0] vpf_video_get_version: done
[ 4251.750688] [VPF ops]:[L360][S0] vpf_bind_chain: bind done
[ 4251.750698] [VPF ops]:[L2223][flow][C0] vpf_video_bind_pipeline: done
[ 4251.750729] [VPF ops]:[L1685][vin0_src][S0][C0] vpf_chain_add_vnode: done
[ 4251.750737] [VPF ops]:[L1825][vin0_src][C0] vpf_video_add_vnode: done
[ 4251.750752] [VPF ops]:[L1685][vs-isp0_src][S0][C0] vpf_chain_add_vnode: done
[ 4251.750759] [VPF ops]:[L1825][vs-isp0_src][C0] vpf_video_add_vnode: done
[ 4251.750768] [VPF ops]:[L1685][gdc0_src][S0][C0] vpf_chain_add_vnode: done
[ 4251.750775] [VPF ops]:[L1825][gdc0_src][C0] vpf_video_add_vnode: done
[ 4251.750783] [VPF ops]:[L1685][vs-vse0_src][S0][C0] vpf_chain_add_vnode: done
[ 4251.750789] [VPF ops]:[L1825][vs-vse0_src][C0] vpf_video_add_vnode: done
[ 4251.750812] [L899][S0][V8] vin_node chn_attr format(24) slod_id(0) width(1088) height(1280) wstride(2176) vstride(1280)
[ 4251.750822] isp_allow_bind online_mode=0,bind_type=3
[ 4251.750854] [VPF ops]:[L319][S0] vpf_bind_vnode: vin0_cap bind_type(3) vs-isp0_src
[ 4251.750862] [VPF ops]:[L2258][flow][C0] vpf_video_bind_vnode: done
[ 4251.750973] isp_allow_bind online_mode=0,bind_type=3
[ 4251.751004] [VPF ops]:[L319][S0] vpf_bind_vnode: vs-isp0_cap bind_type(3) gdc0_src
[ 4251.751011] [VPF ops]:[L2258][flow][C0] vpf_video_bind_vnode: done
[ 4251.751022] vse_allow_bind ext_mode 0 online_mode=0,bind_type=3
[ 4251.751047] [VPF ops]:[L319][S0] vpf_bind_vnode: gdc0_cap bind_type(3) vs-vse0_src
[ 4251.751054] [VPF ops]:[L2258][flow][C0] vpf_video_bind_vnode: done
[ 4251.751120] [CIM]:[L419][S0]cim_video_get_attr done ret val:0
[ 4251.751130] vin vcon0: get attr valid bus6 rx0 done
[ 4251.751137] [L306][S0]vin_node_get_attr done
[ 4251.751143] [VIN_NODE]:[L286][C0]vin_node_video_get_attr done
[ 4251.751571] vin sensor0: camera_init_req cmd: initing
[ 4252.009322] vin sensor0: sc132gs open i2c6@0x30
[ 4252.009350] vin sensor0: camera_tuning_update_param done
[ 4252.009765] vin sensor0: ctrl_mode set to user
[ 4252.009835] vin sensor0: camera_init_result cmd: done wake
[ 4252.009859] vin sensor0: sensor_evu_do: default to wait
[ 4252.009902] vin sensor0: camera_set_intrinsic_param port 0 done
[ 4252.009991] [VPF ops]:[L1079][vin0_src][C0] vpf_video_get_struct_size: done
[ 4252.010015] [L517][S0]vin_node_set_attr_ex done
[ 4252.010021] [VIN_NODE]:[L324][C0]vin_node_video_set_attr_ex done
[ 4252.010027] [VPF ops]:[L763][vin0_src][C0] vpf_video_set_attr_ex: done
[ 4252.010035] [L517][S0]vin_node_set_attr_ex done
[ 4252.010041] [VIN_NODE]:[L324][C0]vin_node_video_set_attr_ex done
[ 4252.010046] [VPF ops]:[L763][vin0_cap][C0] vpf_video_set_attr_ex: done
[ 4252.010069] vin sensor0: sensor_attach flow0 ctx0 to sensor0 sc132gs
[ 4252.010076] vin vcon0: flow0.ctx0 attach sensor0 done
[ 4252.010082] vin vcon0: set internal attr attach done
[ 4252.010096] vin mipi0: get param cmd
[ 4252.010102] vin mipi0: set param cmd
[ 4252.010108] vin mipi0: init cmd: 0 real
[ 4252.010118] vin mipi0: 1 lane 1088x1280 10fps datatype 0x2b
[ 4252.010125] vin mipi0: snrclk set en not support
[ 4252.010130] vin mipi0: ipiclk limit 7000000 up to 600000000
[ 4252.010146] vin mipi0: ipiclk set 600000000 get 600000000
[ 4252.010153] vin mipi0: dphy 1200Mbps/1lane: ppi 8bit settle 20
[ 4252.043191] vin mipi0: linelenth: 1400, framelenth: 1500, fps: 10, ipiclk: 600000000, rx_bit_clk: 1200000000
[ 4252.043215] vin mipi0: ipi config hsa: 4, hbp: 4, hsd: 42
[ 4252.043224] vin mipi0: config 1/1 ipi done
[ 4252.043230] vin mipi0: check phy stop state
[ 4252.046245] [L587][S0]vin_node_set_internal_attr done
[ 4252.046251] [VIN_NODE]:[L514][C0]vin_node_video_set_internal_attr done
[ 4252.046259] [L1023][S0] vin_node_reqbufs done bit_map 0x1 planecount 1
[ 4252.046265] [VIN_NODE]:[L743][C0]vin_node_video_reqbufs done
[ 4252.046271] [VPF ops]:[L1005][vin0_src][C0] vpf_video_set_inter_attr: done
[ 4252.046297] isp_video_set_inter_attr flow_id = 0, sensor_name = sc132gs, sensor_cali_name = sc132gs_tuning.json
[ 4252.373946] ctx_id 0, inst id 0, sensor sc132gs_tuning.json
[ 4252.373971] isp_video_reqbufs done bit_map 0x1 planecount 1 vctx->id:0
[ 4252.373979] [VPF ops]:[L1005][vs-isp0_src][C0] vpf_video_set_inter_attr: done
[ 4252.527808] [VPF mgr]:[L478]empty_camsys_reset: empty function
[ 4252.527830] [L1228]cim_open open_cnt :1
[ 4252.527837] [CIM]:[L192][S0]cim_video_open done ret val:0
[ 4252.527842] [L1227][S0]vin_node_open done
[ 4252.527849] [VIN_NODE]:[L694][C0]vin_node_video_open done
[ 4252.527855] [VPF ops]:[L2575][vin2_src] vpf_device_open: done
[ 4252.527878] [L1228]cim_open open_cnt :2
[ 4252.527883] [CIM]:[L192][S0]cim_video_open done ret val:0
[ 4252.527889] [L1227][S0]vin_node_open done
[ 4252.527894] [VIN_NODE]:[L694][C0]vin_node_video_open done
[ 4252.527899] [VPF ops]:[L2575][vin2_cap] vpf_device_open: done
[ 4252.527915] [L1228]cim_open open_cnt :3
[ 4252.527920] [CIM]:[L192][S0]cim_video_open done ret val:0
[ 4252.527925] [L1227][S0]vin_node_open done
[ 4252.527931] [VIN_NODE]:[L694][C0]vin_node_video_open done
[ 4252.527936] [VPF ops]:[L2575][vin2_emb] vpf_device_open: done
[ 4252.527952] [L1228]cim_open open_cnt :4
[ 4252.527957] [CIM]:[L192][S0]cim_video_open done ret val:0
[ 4252.527963] [L1227][S0]vin_node_open done
[ 4252.527968] [VIN_NODE]:[L694][C0]vin_node_video_open done
[ 4252.527973] [VPF ops]:[L2575][vin2_pdaf] vpf_device_open: done
[ 4252.527985] [VPF ops]:[L439][vin2_src][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4252.527994] [VPF ops]:[L1875][vin2_src][C0] vpf_video_bind_context: done
[ 4252.528001] [VPF ops]:[L439][vin2_cap][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4252.528008] [VPF ops]:[L1875][vin2_cap][C0] vpf_video_bind_context: done
[ 4252.528015] [VPF ops]:[L439][vin2_emb][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4252.528022] [VPF ops]:[L1875][vin2_emb][C0] vpf_video_bind_context: done
[ 4252.528029] [VPF ops]:[L439][vin2_pdaf][C0] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4252.528035] [VPF ops]:[L1875][vin2_pdaf][C0] vpf_video_bind_context: done
[ 4252.528043] [VIN_NODE]:[L38]The vin node driver version is v1.1
[ 4252.528048] [VPF ops]:[L1031][vin2_src][C0] vpf_video_get_version: done
[ 4252.528062] [VPF ops]:[L1079][vin2_src][C0] vpf_video_get_struct_size: done
[ 4252.528075] [CIM]:[L247][C0]cim_video_set_attr done ret val:0
[ 4252.528081] [L423][C0] vin_node_set_attr ipi 0 done
[ 4252.528087] [VIN_NODE]:[L239][C0]vin_node_video_set_attr done
[ 4252.528092] [VPF ops]:[L689][vin2_cap][C0] vpf_video_set_init_attr: done
[ 4252.528102] vin vcon2: vcon2 open 0: flow65535 ctx0 real
[ 4252.528111] [L624][S65535][C0][ipi0]cim_subdev_init hw_id = 2
[ 4252.528117] [CIM]:[L247][C0]cim_video_set_attr done ret val:0
[ 4252.528124] vin vcon2: get attr valid bus4 rx2 done
[ 4252.528130] [L423][C0] vin_node_set_attr ipi 0 done
[ 4252.528135] [VIN_NODE]:[L239][C0]vin_node_video_set_attr done
[ 4252.528141] [VIO node]:[L104][vin2] vio_group_task_start: sched_mode 1
[ 4252.528147] [VPF ops]:[L689][vin2_src][C0] vpf_video_set_init_attr: done
[ 4252.528155] [CIM]:[L247][C0]cim_video_set_attr done ret val:0
[ 4252.528160] [L423][C0] vin_node_set_attr ipi 0 done
[ 4252.528165] [VIN_NODE]:[L239][C0]vin_node_video_set_attr done
[ 4252.528170] [VPF ops]:[L689][vin2_emb][C0] vpf_video_set_init_attr: done
[ 4252.528177] [CIM]:[L247][C0]cim_video_set_attr done ret val:0
[ 4252.528182] [L423][C0] vin_node_set_attr ipi 0 done
[ 4252.528187] [VIN_NODE]:[L239][C0]vin_node_video_set_attr done
[ 4252.528192] [VPF ops]:[L689][vin2_pdaf][C0] vpf_video_set_init_attr: done
[ 4252.528213] [VPF ops]:[L1079][vin2_src][C0] vpf_video_get_struct_size: done
[ 4252.528224] [L709][S65535] vin_node_set_ichn_attr begin format 43 width 1088
[ 4252.528234] [L527][S0][ipi0]cim_set_ichn_attr done
[ 4252.528240] [CIM]:[L309][S0]cim_video_set_ichn_attr done ret val:0
[ 4252.528245] [L724][S0]vin_node_set_ichn_attr done
[ 4252.528250] [VIN_NODE]:[L427][C0]vin_node_video_set_ichn_attr done
[ 4252.528257] [L1023][S0] vin_node_reqbufs done bit_map 0x1 planecount 1
[ 4252.528263] [VIN_NODE]:[L743][C0]vin_node_video_reqbufs done
[ 4252.528281] [VPF ops]:[L1193][F0] vpf_fill_frame_info: L0 use width instead of wstride
[ 4252.528287] [VPF ops]:[L1197][F0] vpf_fill_frame_info: L0 use height instead of vstride
[ 4252.528294] [VPF ops]:[L1193][F1] vpf_fill_frame_info: L0 use width instead of wstride
[ 4252.528300] [VPF ops]:[L1197][F1] vpf_fill_frame_info: L0 use height instead of vstride
[ 4252.528305] [VPF ops]:[L1193][F2] vpf_fill_frame_info: L0 use width instead of wstride
[ 4252.528311] [VPF ops]:[L1197][F2] vpf_fill_frame_info: L0 use height instead of vstride
[ 4252.528317] [VPF ops]:[L1193][F3] vpf_fill_frame_info: L0 use width instead of wstride
[ 4252.528322] [VPF ops]:[L1197][F3] vpf_fill_frame_info: L0 use height instead of vstride
[ 4252.528328] [VPF ops]:[L1193][F4] vpf_fill_frame_info: L0 use width instead of wstride
[ 4252.528333] [VPF ops]:[L1197][F4] vpf_fill_frame_info: L0 use height instead of vstride
[ 4252.528339] [VPF ops]:[L1193][F5] vpf_fill_frame_info: L0 use width instead of wstride
[ 4252.528344] [VPF ops]:[L1197][F5] vpf_fill_frame_info: L0 use height instead of vstride
[ 4252.528349] [VPF ops]:[L1193][F6] vpf_fill_frame_info: L0 use width instead of wstride
[ 4252.528354] [VPF ops]:[L1197][F6] vpf_fill_frame_info: L0 use height instead of vstride
[ 4252.528360] [VPF ops]:[L1193][F7] vpf_fill_frame_info: L0 use width instead of wstride
[ 4252.528365] [VPF ops]:[L1197][F7] vpf_fill_frame_info: L0 use height instead of vstride
[ 4252.528370] [VPF ops]:[L1193][F8] vpf_fill_frame_info: L0 use width instead of wstride
[ 4252.528376] [VPF ops]:[L1197][F8] vpf_fill_frame_info: L0 use height instead of vstride
[ 4252.528381] [VPF ops]:[L1193][F9] vpf_fill_frame_info: L0 use width instead of wstride
[ 4252.528386] [VPF ops]:[L1197][F9] vpf_fill_frame_info: L0 use height instead of vstride
[ 4252.528392] [VPF ops]:[L1193][F10] vpf_fill_frame_info: L0 use width instead of wstride
[ 4252.528397] [VPF ops]:[L1197][F10] vpf_fill_frame_info: L0 use height instead of vstride
[ 4252.528402] [VPF ops]:[L1193][F11] vpf_fill_frame_info: L0 use width instead of wstride
[ 4252.528408] [VPF ops]:[L1197][F11] vpf_fill_frame_info: L0 use height instead of vstride
[ 4252.528413] [VPF ops]:[L1193][F12] vpf_fill_frame_info: L0 use width instead of wstride
[ 4252.528418] [VPF ops]:[L1197][F12] vpf_fill_frame_info: L0 use height instead of vstride
[ 4252.528424] [VPF ops]:[L1193][F13] vpf_fill_frame_info: L0 use width instead of wstride
[ 4252.528429] [VPF ops]:[L1197][F13] vpf_fill_frame_info: L0 use height instead of vstride
[ 4252.528434] [VPF ops]:[L1193][F14] vpf_fill_frame_info: L0 use width instead of wstride
[ 4252.528439] [VPF ops]:[L1197][F14] vpf_fill_frame_info: L0 use height instead of vstride
[ 4252.528445] [VPF ops]:[L1193][F15] vpf_fill_frame_info: L0 use width instead of wstride
[ 4252.528450] [VPF ops]:[L1197][F15] vpf_fill_frame_info: L0 use height instead of vstride
[ 4252.528455] [VPF ops]:[L1325][vin2_src][C0] vpf_request_frames: reqbuf number 16
[ 4252.528461] [VPF ops]:[L850][vin2_src][C0] vpf_video_set_ichn_attr: done
[ 4252.528471] [VPF ops]:[L1079][vin2_src][C0] vpf_video_get_struct_size: done
[ 4252.528481] [L236][S0] ochn0 auto calc vstride 1280
[ 4252.528488] [L160]vin_basic_attr->format:43
[ 4252.528494] [L425][S0][ipi0][ochn0]cim_set_ochn_attr done
[ 4252.528500] [CIM]:[L340][S0]cim_video_set_ochn_attr done ret val:0
[ 4252.528505] [L652][S0]vin_node_set_ochn_attr done
[ 4252.528510] [VIN_NODE]:[L364][C0]vin_node_video_set_ochn_attr done
[ 4252.528515] [L975]VNODE_ID_CAP wstride 2176
[ 4252.528520] [L977]VNODE_ID_CAP vstride 1280
[ 4252.528524] [L981]vstride 1280 planecount 1
[ 4252.528529] [L1023][S0] vin_node_reqbufs done bit_map 0x1 planecount 1
[ 4252.528534] [VIN_NODE]:[L743][C0]vin_node_video_reqbufs done
[ 4252.528548] [VPF ops]:[L1325][vin2_cap][C0] vpf_request_frames: reqbuf number 16
[ 4252.528554] [VPF ops]:[L978][vin2_cap][C0] vpf_video_set_ochn_attr: done
[ 4252.528565] [L975]VNODE_ID_CAP wstride 2176
[ 4252.528570] [L977]VNODE_ID_CAP vstride 1280
[ 4252.528574] [L981]vstride 1280 planecount 1
[ 4252.528579] [L1023][S0] vin_node_reqbufs done bit_map 0x1 planecount 1
[ 4252.528584] [VIN_NODE]:[L743][C0]vin_node_video_reqbufs done
[ 4252.528596] [VPF ops]:[L1325][vin2_cap][C0] vpf_request_frames: reqbuf number 3
[ 4252.528730] [VPF ops]:[L1464][vin2_cap][C0] vpf_video_reqbufs: done
[ 4252.528753] [VPF ops]:[L2066][vin2_cap][C0] vpf_video_querybuf: done
[ 4252.528960] [VPF ops]:[L2066][vin2_cap][C0] vpf_video_querybuf: done
[ 4252.529072] [VPF ops]:[L2066][vin2_cap][C0] vpf_video_querybuf: done
[ 4252.529198] [VPF ops]:[L2575][vs-isp0_src] vpf_device_open: done
[ 4252.529219] [VPF ops]:[L2575][vs-isp0_src_pd] vpf_device_open: done
[ 4252.529237] [VPF ops]:[L2575][vs-isp0_cap] vpf_device_open: done
[ 4252.529253] [VPF ops]:[L2575][vs-isp0_cap_raw] vpf_device_open: done
[ 4252.529265] [VPF ops]:[L439][vs-isp0_src][C1] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4252.529273] [VPF ops]:[L1875][vs-isp0_src][C1] vpf_video_bind_context: done
[ 4252.529281] [VPF ops]:[L439][vs-isp0_src_pd][C1] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4252.529288] [VPF ops]:[L1875][vs-isp0_src_pd][C1] vpf_video_bind_context: done
[ 4252.529295] [VPF ops]:[L439][vs-isp0_cap][C1] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4252.529302] [VPF ops]:[L1875][vs-isp0_cap][C1] vpf_video_bind_context: done
[ 4252.529309] [VPF ops]:[L439][vs-isp0_cap_raw][C1] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4252.529315] [VPF ops]:[L1875][vs-isp0_cap_raw][C1] vpf_video_bind_context: done
[ 4252.529327] [VPF ops]:[L1079][vs-isp0_src][C1] vpf_video_get_struct_size: done
[ 4252.529337] [VPF ops]:[L689][vs-isp0_cap][C1] vpf_video_set_init_attr: done
[ 4252.532242] [VPF ops]:[L689][vs-isp0_src][C1] vpf_video_set_init_attr: done
[ 4252.532276] [VPF ops]:[L689][vs-isp0_src_pd][C1] vpf_video_set_init_attr: done
[ 4252.532286] [VPF ops]:[L689][vs-isp0_cap_raw][C1] vpf_video_set_init_attr: done
[ 4252.532300] [VPF ops]:[L1079][vs-isp0_src][C1] vpf_video_get_struct_size: done
[ 4252.532315] isp_set_ochn_attr format=7,width=1088,stride=1088,height=1280
[ 4252.532377] isp_video_reqbufs done bit_map 0x1 planecount 2 vctx->id:8
[ 4252.532399] [VPF ops]:[L1325][vs-isp0_cap][C1] vpf_request_frames: reqbuf number 16
[ 4252.532407] [VPF ops]:[L978][vs-isp0_cap][C1] vpf_video_set_ochn_attr: done
[ 4252.532419] [VPF ops]:[L1079][vs-isp0_src][C1] vpf_video_get_struct_size: done
[ 4252.532429] isp_video_set_ichn_attr format=2,width=1088,stride=2176,height=1280,hdr_en=0
[ 4252.532482] isp_video_reqbufs done bit_map 0x1 planecount 1 vctx->id:0
[ 4252.532500] [VPF ops]:[L1325][vs-isp0_src][C1] vpf_request_frames: reqbuf number 16
[ 4252.532508] [VPF ops]:[L850][vs-isp0_src][C1] vpf_video_set_ichn_attr: done
[ 4252.532521] isp_video_reqbufs done bit_map 0x1 planecount 2 vctx->id:8
[ 4252.532535] [VPF ops]:[L1325][vs-isp0_cap][C1] vpf_request_frames: reqbuf number 3
[ 4252.532672] [VPF ops]:[L1464][vs-isp0_cap][C1] vpf_video_reqbufs: done
[ 4252.532698] [VPF ops]:[L2066][vs-isp0_cap][C1] vpf_video_querybuf: done
[ 4252.532907] [VPF ops]:[L2066][vs-isp0_cap][C1] vpf_video_querybuf: done
[ 4252.533014] [VPF ops]:[L2066][vs-isp0_cap][C1] vpf_video_querybuf: done
[ 4252.533116] isp_video_get_ichn_attr done
[ 4252.533127] isp_video_get_ichn_attr done
[ 4252.533165] [GDC ops]:[L87][gdc0_src][C0] gdc_subdev_open: cnt 3
[ 4252.533173] [VPF ops]:[L2575][gdc0_src] vpf_device_open: done
[ 4252.533194] [GDC ops]:[L87][gdc0_cap][C0] gdc_subdev_open: cnt 4
[ 4252.533202] [VPF ops]:[L2575][gdc0_cap] vpf_device_open: done
[ 4252.533212] [VPF ops]:[L1031][gdc0_src][C0] vpf_video_get_version: done
[ 4252.533223] [VPF ops]:[L439][gdc0_src][C1] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4252.533231] [VPF ops]:[L1875][gdc0_src][C1] vpf_video_bind_context: done
[ 4252.533238] [VPF ops]:[L439][gdc0_cap][C1] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4252.533245] [VPF ops]:[L1875][gdc0_cap][C1] vpf_video_bind_context: done
[ 4252.533257] [VPF ops]:[L1079][gdc0_src][C1] vpf_video_get_struct_size: done
[ 4252.533266] [VPF ops]:[L689][gdc0_cap][C1] vpf_video_set_init_attr: done
[ 4252.533289] [VPF ops]:[L689][gdc0_src][C1] vpf_video_set_init_attr: done
[ 4252.533298] [VPF ops]:[L1079][gdc0_src][C1] vpf_video_get_struct_size: done
[ 4252.533318] [VPF ops]:[L1325][gdc0_src][C1] vpf_request_frames: reqbuf number 16
[ 4252.533325] [VPF ops]:[L850][gdc0_src][C1] vpf_video_set_ichn_attr: done
[ 4252.533334] [VPF ops]:[L1079][gdc0_src][C1] vpf_video_get_struct_size: done
[ 4252.533351] [VPF ops]:[L1325][gdc0_cap][C1] vpf_request_frames: reqbuf number 16
[ 4252.533358] [VPF ops]:[L978][gdc0_cap][C1] vpf_video_set_ochn_attr: done
[ 4252.533373] [VPF ops]:[L1325][gdc0_cap][C1] vpf_request_frames: reqbuf number 3
[ 4252.533486] [VPF ops]:[L1464][gdc0_cap][C1] vpf_video_reqbufs: done
[ 4252.533504] [VPF ops]:[L2066][gdc0_cap][C1] vpf_video_querybuf: done
[ 4252.533629] [VPF ops]:[L2066][gdc0_cap][C1] vpf_video_querybuf: done
[ 4252.533734] [VPF ops]:[L2066][gdc0_cap][C1] vpf_video_querybuf: done
[ 4252.533835] [GDC dev]:[L288][gdc0_cap][C1] gdc_get_ochn_attr: done
[ 4252.533876] [VPF ops]:[L2575][vs-vse0_src] vpf_device_open: done
[ 4252.533898] [VPF ops]:[L2575][vs-vse0_cap0] vpf_device_open: done
[ 4252.533915] [VPF ops]:[L2575][vs-vse0_cap1] vpf_device_open: done
[ 4252.533932] [VPF ops]:[L2575][vs-vse0_cap2] vpf_device_open: done
[ 4252.533950] [VPF ops]:[L2575][vs-vse0_cap3] vpf_device_open: done
[ 4252.533966] [VPF ops]:[L2575][vs-vse0_cap4] vpf_device_open: done
[ 4252.533983] [VPF ops]:[L2575][vs-vse0_cap5] vpf_device_open: done
[ 4252.533994] [VPF ops]:[L439][vs-vse0_src][C1] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4252.534003] [VPF ops]:[L1875][vs-vse0_src][C1] vpf_video_bind_context: done
[ 4252.534011] [VPF ops]:[L439][vs-vse0_cap0][C1] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4252.534018] [VPF ops]:[L1875][vs-vse0_cap0][C1] vpf_video_bind_context: done
[ 4252.534026] [VPF ops]:[L439][vs-vse0_cap1][C1] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4252.534032] [VPF ops]:[L1875][vs-vse0_cap1][C1] vpf_video_bind_context: done
[ 4252.534040] [VPF ops]:[L439][vs-vse0_cap2][C1] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4252.534047] [VPF ops]:[L1875][vs-vse0_cap2][C1] vpf_video_bind_context: done
[ 4252.534054] [VPF ops]:[L439][vs-vse0_cap3][C1] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4252.534060] [VPF ops]:[L1875][vs-vse0_cap3][C1] vpf_video_bind_context: done
[ 4252.534067] [VPF ops]:[L439][vs-vse0_cap4][C1] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4252.534074] [VPF ops]:[L1875][vs-vse0_cap4][C1] vpf_video_bind_context: done
[ 4252.534081] [VPF ops]:[L439][vs-vse0_cap5][C1] vpf_vctx_bind_vdev: done, ctx_index(0) refcount(1)
[ 4252.534087] [VPF ops]:[L1875][vs-vse0_cap5][C1] vpf_video_bind_context: done
[ 4252.534099] [VPF ops]:[L1079][vs-vse0_src][C1] vpf_video_get_struct_size: done
[ 4252.534108] [VPF ops]:[L689][vs-vse0_cap0][C1] vpf_video_set_init_attr: done
[ 4252.534115] vse_video_set_cfg set vse state to INITED
[ 4252.534752] [VPF ops]:[L689][vs-vse0_src][C1] vpf_video_set_init_attr: done
[ 4252.534766] [VPF ops]:[L689][vs-vse0_cap1][C1] vpf_video_set_init_attr: done
[ 4252.534774] [VPF ops]:[L689][vs-vse0_cap2][C1] vpf_video_set_init_attr: done
[ 4252.534781] [VPF ops]:[L689][vs-vse0_cap3][C1] vpf_video_set_init_attr: done
[ 4252.534788] [VPF ops]:[L689][vs-vse0_cap4][C1] vpf_video_set_init_attr: done
[ 4252.534796] [VPF ops]:[L689][vs-vse0_cap5][C1] vpf_video_set_init_attr: done
[ 4252.534806] vse_video_get_ichn_attr vctx->ctx_id=1,vctx->id=0
[ 4252.534817] [VPF ops]:[L1079][vs-vse0_src][C1] vpf_video_get_struct_size: done
[ 4252.534826] vse_video_set_ichn_attr format=7,width=1088,stride=1088,height=1280
[ 4252.534875] vse_video_reqbufs done bit_map 0x1 planecount 2
[ 4252.534895] [VPF ops]:[L1325][vs-vse0_src][C1] vpf_request_frames: reqbuf number 16
[ 4252.534902] [VPF ops]:[L850][vs-vse0_src][C1] vpf_video_set_ichn_attr: done
[ 4252.534914] [VPF ops]:[L1079][vs-vse0_src][C1] vpf_video_get_struct_size: done
[ 4252.534923] vse_video_set_ochn_attr vctx->ctx_id=1,vctx->id=8
[ 4252.534931] vse_video_set_ochn_attr ochn_id=0,format=7,width=1088,stride=1088,height=1280
[ 4252.534973] [vse_drv]: vse_set_fps_rate: vse-1 chn-0, fps.src 10, fps.dst 10
[ 4252.534981] vse_video_reqbufs done bit_map 0x1 planecount 2
[ 4252.534996] [VPF ops]:[L1325][vs-vse0_cap0][C1] vpf_request_frames: reqbuf number 16
[ 4252.535003] [VPF ops]:[L978][vs-vse0_cap0][C1] vpf_video_set_ochn_attr: done
[ 4252.535014] vse_video_reqbufs done bit_map 0x1 planecount 2
[ 4252.535026] [VPF ops]:[L1325][vs-vse0_cap0][C1] vpf_request_frames: reqbuf number 3
[ 4252.535164] [VPF ops]:[L1464][vs-vse0_cap0][C1] vpf_video_reqbufs: done
[ 4252.535186] [VPF ops]:[L2066][vs-vse0_cap0][C1] vpf_video_querybuf: done
[ 4252.535349] [VPF ops]:[L2066][vs-vse0_cap0][C1] vpf_video_querybuf: done
[ 4252.535453] [VPF ops]:[L2066][vs-vse0_cap0][C1] vpf_video_querybuf: done
[ 4252.535571] [VPF ops]:[L2575][flow] vpf_device_open: done
[ 4252.535585] [VPF ops]:[L1031][flow][C0] vpf_video_get_version: done
[ 4252.535594] [VPF ops]:[L360][S1] vpf_bind_chain: bind done
[ 4252.535604] [VPF ops]:[L2223][flow][C1] vpf_video_bind_pipeline: done
[ 4252.535619] [VPF ops]:[L1685][vin2_src][S1][C0] vpf_chain_add_vnode: done
[ 4252.535626] [VPF ops]:[L1825][vin2_src][C0] vpf_video_add_vnode: done
[ 4252.535637] [VPF ops]:[L1685][vs-isp0_src][S1][C1] vpf_chain_add_vnode: done
[ 4252.535643] [VPF ops]:[L1825][vs-isp0_src][C1] vpf_video_add_vnode: done
[ 4252.535652] [VPF ops]:[L1685][gdc0_src][S1][C1] vpf_chain_add_vnode: done
[ 4252.535658] [VPF ops]:[L1825][gdc0_src][C1] vpf_video_add_vnode: done
[ 4252.535666] [VPF ops]:[L1685][vs-vse0_src][S1][C1] vpf_chain_add_vnode: done
[ 4252.535671] [VPF ops]:[L1825][vs-vse0_src][C1] vpf_video_add_vnode: done
[ 4252.535685] [L899][S0][V8] vin_node chn_attr format(24) slod_id(0) width(1088) height(1280) wstride(2176) vstride(1280)
[ 4252.535695] isp_allow_bind online_mode=0,bind_type=3
[ 4252.535725] [VPF ops]:[L319][S1] vpf_bind_vnode: vin2_cap bind_type(3) vs-isp0_src
[ 4252.535732] [VPF ops]:[L2258][flow][C1] vpf_video_bind_vnode: done
[ 4252.535868] isp_allow_bind online_mode=0,bind_type=3
[ 4252.535905] [VPF ops]:[L319][S1] vpf_bind_vnode: vs-isp0_cap bind_type(3) gdc0_src
[ 4252.535914] [VPF ops]:[L2258][flow][C1] vpf_video_bind_vnode: done
[ 4252.535925] vse_allow_bind ext_mode 0 online_mode=0,bind_type=3
[ 4252.535952] [VPF ops]:[L319][S1] vpf_bind_vnode: gdc0_cap bind_type(3) vs-vse0_src
[ 4252.535960] [VPF ops]:[L2258][flow][C1] vpf_video_bind_vnode: done
[ 4252.535988] [CIM]:[L419][S0]cim_video_get_attr done ret val:0
[ 4252.535997] vin vcon2: get attr valid bus4 rx2 done
[ 4252.536003] [L306][S0]vin_node_get_attr done
[ 4252.536009] [VIN_NODE]:[L286][C0]vin_node_video_get_attr done
[ 4252.536247] vin sensor1: camera_init_req cmd: initing
[ 4252.793672] vin sensor1: sc132gs open i2c4@0x32
[ 4252.793699] vin sensor1: camera_tuning_update_param done
[ 4252.794079] vin sensor1: ctrl_mode set to user
[ 4252.794165] vin sensor1: camera_init_result cmd: done wake
[ 4252.794193] vin sensor1: sensor_evu_do: default to wait
[ 4252.794223] vin sensor1: camera_set_intrinsic_param port 1 done
[ 4252.794273] [VPF ops]:[L1079][vin2_src][C0] vpf_video_get_struct_size: done
[ 4252.794291] [L517][S0]vin_node_set_attr_ex done
[ 4252.794297] [VIN_NODE]:[L324][C0]vin_node_video_set_attr_ex done
[ 4252.794303] [VPF ops]:[L763][vin2_src][C0] vpf_video_set_attr_ex: done
[ 4252.794312] [L517][S0]vin_node_set_attr_ex done
[ 4252.794317] [VIN_NODE]:[L324][C0]vin_node_video_set_attr_ex done
[ 4252.794322] [VPF ops]:[L763][vin2_cap][C0] vpf_video_set_attr_ex: done
[ 4252.794336] vin sensor1: sensor_attach flow1 ctx0 to sensor1 sc132gs
[ 4252.794343] vin vcon2: flow1.ctx0 attach sensor1 done
[ 4252.794349] vin vcon2: set internal attr attach done
[ 4252.794363] vin mipi2: get param cmd
[ 4252.794369] vin mipi2: set param cmd
[ 4252.794374] vin mipi2: init cmd: 0 real
[ 4252.794384] vin mipi2: 1 lane 1088x1280 10fps datatype 0x2b
[ 4252.794392] vin mipi2: snrclk set en not support
[ 4252.794397] vin mipi2: ipiclk limit 7000000 up to 600000000
[ 4252.794413] vin mipi2: ipiclk set 600000000 get 600000000
[ 4252.794420] vin mipi2: dphy 1200Mbps/1lane: ppi 8bit settle 20
[ 4252.827457] vin mipi2: linelenth: 1400, framelenth: 1500, fps: 10, ipiclk: 600000000, rx_bit_clk: 1200000000
[ 4252.827479] vin mipi2: ipi config hsa: 4, hbp: 4, hsd: 42
[ 4252.827488] vin mipi2: config 1/1 ipi done
[ 4252.827495] vin mipi2: check phy stop state
[ 4252.830509] [L587][S0]vin_node_set_internal_attr done
[ 4252.830515] [VIN_NODE]:[L514][C0]vin_node_video_set_internal_attr done
[ 4252.830524] [L1023][S0] vin_node_reqbufs done bit_map 0x1 planecount 1
[ 4252.830530] [VIN_NODE]:[L743][C0]vin_node_video_reqbufs done
[ 4252.830536] [VPF ops]:[L1005][vin2_src][C0] vpf_video_set_inter_attr: done
[ 4252.830559] isp_video_set_inter_attr flow_id = 1, sensor_name = sc132gs, sensor_cali_name = sc132gs_tuning.json
[ 4253.155874] ctx_id 1, inst id 1, sensor sc132gs_tuning.json
[ 4253.155901] isp_video_reqbufs done bit_map 0x1 planecount 1 vctx->id:0
[ 4253.155908] [VPF ops]:[L1005][vs-isp0_src][C1] vpf_video_set_inter_attr: done
[ 4253.167140] [VPF chain]:[L279]vio_chain_path_show: [S1] vin2_C0*(dma)-m2m-isp0_C1-m2m-gdc0_C1-m2m-vse0_C1
[ 4253.167164] [VPF ops]:[L632][gdc0_cap][S1] vpf_prepare_buffers: done
[ 4253.167172] [GDC dev]:[L398][gdc0_cap][S1][C1] gdc_video_streamon leader 0
[ 4253.167180] [VPF ops]:[L1639][gdc0_cap][S1][C1] vpf_video_start: done start_cnt 1
[ 4253.167190] [GDC dev]:[L398][gdc0_src][S1][C1] gdc_video_streamon leader 1
[ 4253.167196] [VPF ops]:[L1639][gdc0_src][S1][C1] vpf_video_start: done start_cnt 2
[ 4253.167215] [VPF ops]:[L632][vs-vse0_cap0][S1] vpf_prepare_buffers: done
[ 4253.167222] [VPF ops]:[L1639][vs-vse0_cap0][S1][C1] vpf_video_start: done start_cnt 1
[ 4253.167240] vse_video_streamon ctx.sink_online_en=0
[ 4253.167404] [VPF ops]:[L1639][vs-vse0_src][S1][C1] vpf_video_start: done start_cnt 2
[ 4253.167425] [VPF ops]:[L632][vs-isp0_cap][S1] vpf_prepare_buffers: done
[ 4253.167436] isp_video_streamon inst: 1, set isp state to STARTED
[ 4253.169854] [VPF ops]:[L1639][vs-isp0_cap][S1][C1] vpf_video_start: done start_cnt 1
[ 4253.169887] [VPF ops]:[L1639][vs-isp0_src][S1][C1] vpf_video_start: done start_cnt 2
[ 4253.169911] [VPF ops]:[L632][vin2_cap][S1] vpf_prepare_buffers: done
[ 4253.169919] [VPF ops]:[L1639][vin2_cap][S1][C0] vpf_video_start: done start_cnt 1
[ 4253.169930] [L716][S0][ipi0]cim_subdev_start ddr_en and ochn request bufs
[ 4253.169949] [L757][S1]cim_subdev_start
[ 4253.169955] [CIM]:[L113][S0]cim_video_streamon done ret val:0
[ 4253.169965] vin sensor1: sensor_evk_do: wait to doing
[ 4253.170511] vin sensor1: sensor_evk_do: done to finish
[ 4253.170521] vin sensor1: sensor_start sc132gs flow1 start done
[ 4253.170528] vin vcon2: sensor1 start real done
[ 4253.170537] vin mipi2: start cmd: 0 real
[ 4253.170558] [L1096][S0]vin_node_start done
[ 4253.170563] [VIN_NODE]:[L546][C0]vin_node_video_streamon done
[ 4253.170568] [VPF ops]:[L1639][vin2_src][S1][C0] vpf_video_start: done start_cnt 2
[ 4253.170600] [VPF chain]:[L279]vio_chain_path_show: [S0] vin0_C0*(dma)-m2m-isp0_C0-m2m-gdc0_C0-m2m-vse0_C0
[ 4253.170611] [VPF ops]:[L632][gdc0_cap][S0] vpf_prepare_buffers: done
[ 4253.170618] [GDC dev]:[L398][gdc0_cap][S0][C0] gdc_video_streamon leader 0
[ 4253.170625] [VPF ops]:[L1639][gdc0_cap][S0][C0] vpf_video_start: done start_cnt 1
[ 4253.170634] [GDC dev]:[L398][gdc0_src][S0][C0] gdc_video_streamon leader 1
[ 4253.170640] [VPF ops]:[L1639][gdc0_src][S0][C0] vpf_video_start: done start_cnt 2
[ 4253.170654] [VPF ops]:[L632][vs-vse0_cap0][S0] vpf_prepare_buffers: done
[ 4253.170660] [VPF ops]:[L1639][vs-vse0_cap0][S0][C0] vpf_video_start: done start_cnt 1
[ 4253.170675] vse_video_streamon ctx.sink_online_en=0
[ 4253.170819] [VPF ops]:[L1639][vs-vse0_src][S0][C0] vpf_video_start: done start_cnt 2
[ 4253.170839] [VPF ops]:[L632][vs-isp0_cap][S0] vpf_prepare_buffers: done
[ 4253.170847] isp_video_streamon inst: 0, set isp state to STARTED
[ 4253.173113] [VPF ops]:[L1639][vs-isp0_cap][S0][C0] vpf_video_start: done start_cnt 1
[ 4253.173141] [VPF ops]:[L1639][vs-isp0_src][S0][C0] vpf_video_start: done start_cnt 2
[ 4253.173164] [VPF ops]:[L632][vin0_cap][S0] vpf_prepare_buffers: done
[ 4253.173171] [VPF ops]:[L1639][vin0_cap][S0][C0] vpf_video_start: done start_cnt 1
[ 4253.173182] [L716][S0][ipi0]cim_subdev_start ddr_en and ochn request bufs
[ 4253.173200] [L757][S0]cim_subdev_start
[ 4253.173205] [CIM]:[L113][S0]cim_video_streamon done ret val:0
[ 4253.173214] vin sensor0: sensor_evk_do: wait to doing
[ 4253.173684] vin sensor0: sensor_evk_do: done to finish
[ 4253.173694] vin sensor0: sensor_start sc132gs flow0 start done
[ 4253.173701] vin vcon0: sensor0 start real done
[ 4253.173710] vin mipi0: start cmd: 0 real
[ 4253.173730] [L1096][S0]vin_node_start done
[ 4253.173736] [VIN_NODE]:[L546][C0]vin_node_video_streamon done
[ 4253.173741] [VPF ops]:[L1639][vin0_src][S0][C0] vpf_video_start: done start_cnt 2
[ 4253.183505] hobot-sif 3d020000.sif: sif frame size incorrect, hsize count:0x0 vsize count:0x500 for inst:0
运行官方脚本指令：
ros2 launch mipi_cam mipi_cam_dual_channel_websocket.launch.py
root@ubuntu:~# # launch 方式启动
ros2 launch mipi_cam mipi_cam_dual_channel_websocket.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2026-08-18-22-41-19-201259-ubuntu-44031
[INFO] [launch]: Default logging verbosity is set to INFO
camera_type is None
Hobot shm pkg enables zero-copy with fastrtps profiles file: /opt/tros/humble/lib/hobot_shm/config/shm_fastdds.xml
Hobot shm pkg sets RMW_FASTRTPS_USE_QOS_FROM_XML: 1
config_file_path is /opt/tros/humble/lib/mipi_cam/config/
env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
webserver has launch
env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
config_file_path is /opt/tros/humble/lib/mipi_cam/config/
env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
webserver has launch
[INFO] [mipi_cam-1]: process started with pid [44034]
[INFO] [hobot_codec_republish-2]: process started with pid [44036]
[INFO] [websocket-3]: process started with pid [44038]
[hobot_codec_republish-2] [WARN] [1787064079.804310704] [hobot_codec_encoder_f578e1a2]: Parameters:
[hobot_codec_republish-2] sub_topic: /image_combine_raw
[hobot_codec_republish-2] pub_topic: /image_combine_jpeg
[hobot_codec_republish-2] channel: 1
[hobot_codec_republish-2] in_mode: ros
[hobot_codec_republish-2] out_mode: ros
[hobot_codec_republish-2] in_format: nv12
[hobot_codec_republish-2] out_format: jpeg
[hobot_codec_republish-2] jpg_quality: 85.00
[hobot_codec_republish-2] input_framerate: 30
[hobot_codec_republish-2] output_framerate: -1
[hobot_codec_republish-2] dump_output: false
[hobot_codec_republish-2] dump_file_prefix: ./dump_codec_output
[hobot_codec_republish-2] dump_frame_count: -1 (unlimited)
[hobot_codec_republish-2] [WARN] [1787064079.812360943] [HobotCodecImpl]: platform x5
[mipi_cam-1] [WARN] [1787064080.107992922] [mipi_node]:
[mipi_cam-1] node params:
[mipi_cam-1] config_path: /opt/tros/humble/lib/mipi_cam/config/
[mipi_cam-1] video_device_name: default
[mipi_cam-1] channel: 2
[mipi_cam-1] channel2: 0
[mipi_cam-1] camera_info_url:
[mipi_cam-1] camera_calibration_file_path: default
[mipi_cam-1] out_format_name: nv12
[mipi_cam-1] gdc_bin_file: ./sc230ai_gdc.bin
[mipi_cam-1] image_width: 1280
[mipi_cam-1] image_height: 640
[mipi_cam-1] sub_image_width: 1920
[mipi_cam-1] sub_image_height: 1080
[mipi_cam-1] framerate: 10
[mipi_cam-1] rotation: 0.000000
[mipi_cam-1] device_mode: dual
[mipi_cam-1] dual_combine: 2
[mipi_cam-1] lpwm_enable: false
[mipi_cam-1] gdc_enable: true
[mipi_cam-1] frame_ts_type: sensor
[mipi_cam-1] frame_id: default_cam
[mipi_cam-1] link_type: 0
[mipi_cam-1] link_port: 0
[mipi_cam-1] io_method_name: ros
[mipi_cam-1] cal_alpha: 0.000
[mipi_cam-1] [ERROR] [1787064080.110600849] [mipi_cam]: There are no available host.
[mipi_cam-1]
[mipi_cam-1] [ERROR] [1787064080.111099851] [mipi_cam]: [init]->init X5_RDK's mipi host and gpio failure: (�i���
[mipi_cam-1]
[mipi_cam-1] [ERROR] [1787064080.111425644] [mipi_node]: [init]->mipinode init failure.
[mipi_cam-1]
[mipi_cam-1] [WARN] [1787064080.113600777] [mipi_node]: get camera calibration parameters failed
[mipi_cam-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[mipi_cam-1] what(): could not create publisher: rcl node's context is invalid, at ./src/rcl/node.c:428
[ERROR] [mipi_cam-1]: process has died [pid 44034, exit code -6, cmd '/opt/tros/humble/lib/mipi_cam/mipi_cam --ros-args --log-level warn --ros-args --params-file /tmp/launch_params__ybn40qw --params-file /tmp/launch_params_oczlydic --params-file /tmp/launch_params_to91iwnb --params-file /tmp/launch_params_i4wkjcjt --params-file /tmp/launch_params_ka3u29zu --params-file /tmp/launch_params_is3vtfan --params-file /tmp/launch_params_t2uphzf_ --params-file /tmp/launch_params_8w2lta0t --params-file /tmp/launch_params_24kzkxmz --params-file /tmp/launch_params_vjc479ak --params-file /tmp/launch_params_qs03g2he --params-file /tmp/launch_params_15xhj6y6 --params-file /tmp/launch_params_lzqfrf7r --params-file /tmp/launch_params_8hnjt2uj --params-file /tmp/launch_params_mtpqtbq0 --params-file /tmp/launch_params_tcwoh67x --params-file /tmp/launch_params_bl6ijdah --params-file /tmp/launch_params_5n1jnjpd --params-file /tmp/launch_params_wmci1ag6 --params-file /tmp/launch_params_8z56mhnk --params-file /tmp/launch_params_ru76jp1v --params-file /tmp/launch_params_06nmh_ta --params-file /tmp/launch_params_kuv1e8ej --params-file /tmp/launch_params_aptep4jt'].
[websocket-3] [WARN] [1787064080.185604420] [websocket]:
[websocket-3] Parameter:
[websocket-3] image_topic: /image_combine_jpeg
[websocket-3] image_type: mjpeg
[websocket-3] only_show_image: 1
[websocket-3] output_fps: 0
[hobot_codec_republish-2] [ERROR] [1787064084.812752125] [hobot_codec_encoder_f578e1a2]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by 'ros2 topic info /image_combine_raw'!
[websocket-3] [ERROR] [1787064085.206905959] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by 'ros2 topic info /image_combine_jpeg'!
[hobot_codec_republish-2] [ERROR] [1787064089.812848055] [hobot_codec_encoder_f578e1a2]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by 'ros2 topic info /image_combine_raw'!
[websocket-3] [ERROR] [1787064090.206902333] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by 'ros2 topic info /image_combine_jpeg'!
[hobot_codec_republish-2] [ERROR] [1787064094.812901982] [hobot_codec_encoder_f578e1a2]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by 'ros2 topic info /image_combine_raw'!
[websocket-3] [ERROR] [1787064095.206922831] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by 'ros2 topic info /image_combine_jpeg'!
[hobot_codec_republish-2] [ERROR] [1787064099.812854994] [hobot_codec_encoder_f578e1a2]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by 'ros2 topic info /image_combine_raw'!
[websocket-3] [ERROR] [1787064100.206948372] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by 'ros2 topic info /image_combine_jpeg'!
[hobot_codec_republish-2] [ERROR] [1787064104.812783174] [hobot_codec_encoder_f578e1a2]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by 'ros2 topic info /image_combine_raw'!
[websocket-3] [ERROR] [1787064105.206971539] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by 'ros2 topic info /image_combine_jpeg'!
[hobot_codec_republish-2
dmesg无新增打印
i2cdetect检测：
root@ubuntu:~# i2cdetect -y 4
Warning: Can't use SMBus Quick Write command, will skip some addresses
0 1 2 3 4 5 6 7 8 9 a b c d e f
00:
10:
20:
30: -- -- 32 -- -- -- -- --
40:
50: 50 -- -- -- -- -- -- -- 58 -- -- -- -- -- -- --
60:
70:
root@ubuntu:~# i2cdetect -y 6
Warning: Can't use SMBus Quick Write command, will skip some addresses
0 1 2 3 4 5 6 7 8 9 a b c d e f
00:
10:
20:
30: 30 -- -- -- -- -- -- --
40:
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60:
70:
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