The V3Link board is supported in the Processor SDK Linux for AM62A. To enable 4x IMX219 cameras, use the following dtbo files in the overlay at /run/media/BOOT-mmcblk1p1/uEnv.txt:

k3-am62x-sk-csi2-v3link-fusion.dtbo  
k3-v3link-imx219-0-0.dtbo  
k3-v3link-imx219-0-1.dtbo  
k3-v3link-imx219-0-2.dtbo  
k3-v3link-imx219-0-3.dtbo

To configure the cameras and CSI-2 Rx interface, run script /opt/edgeai-gst-apps/scripts/setup_cameras_v3link.sh. The result of running this script are shown below:

root@am62axx-evm:/opt/edgeai-gst-apps# ./scripts/setup_cameras_v3link.sh
IMX219 Camera 0 detected
    device = /dev/video-imx219-cam0
    name = imx219
    format = [fmt:SRGGB8_1X8/1920x1080 field: none]
    subdev_id = /dev/v4l-imx219-subdev0
    isp_required = yes
    ldc_required = yes
IMX219 Camera 1 detected
    device = /dev/video-imx219-cam1
    name = imx219
    format = [fmt:SRGGB8_1X8/1920x1080 field: none]
    subdev_id = /dev/v4l-imx219-subdev1
    isp_required = yes
    ldc_required = yes
IMX219 Camera 2 detected
    device = /dev/video-imx219-cam2
    name = imx219
    format = [fmt:SRGGB8_1X8/1920x1080 field: none]
    subdev_id = /dev/v4l-imx219-subdev2
    isp_required = yes
    ldc_required = yes
IMX219 Camera 3 detected
    device = /dev/video-imx219-cam3
    name = imx219
    format = [fmt:SRGGB8_1X8/1920x1080 field: none]
    subdev_id = /dev/v4l-imx219-subdev3
    isp_required = yes
    ldc_required = yes

After running this script, the camera format, the CSI-2 RX interface format, and the routes from each camera to the corresponding video node are configured properly. A total of 6 video nodes are created. Each video node corresponds to a DMA context allocated by the CSI2 RX driver. Out of the 6 video nodes, 4 are used for the 4 IMX219 cameras, as shown in the media pipe topology below:

root@am62axx-evm:~# media-ctl -p

Device topology
- entity 1: 30102000.ticsi2rx (7 pads, 7 links, 4 routes)
            type V4L2 subdev subtype Unknown flags 0
            device node name /dev/v4l-subdev0
        routes:
                0/0 -> 1/0 [ACTIVE]
                0/1 -> 2/0 [ACTIVE]
                0/2 -> 3/0 [ACTIVE]
                0/3 -> 4/0 [ACTIVE]
        pad0: Sink
                [stream:0 fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
                [stream:1 fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
                [stream:2 fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
                [stream:3 fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
                <- "cdns_csi2rx.30101000.csi-bridge":1 [ENABLED,IMMUTABLE]
        pad1: Source
                [stream:0 fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
                -> "30102000.ticsi2rx context 0":0 [ENABLED,IMMUTABLE]
        pad2: Source
                [stream:0 fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
                -> "30102000.ticsi2rx context 1":0 [ENABLED,IMMUTABLE]
        pad3: Source
                [stream:0 fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
                -> "30102000.ticsi2rx context 2":0 [ENABLED,IMMUTABLE]
        pad4: Source
                [stream:0 fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
                -> "30102000.ticsi2rx context 3":0 [ENABLED,IMMUTABLE]
        pad5: Source
                -> "30102000.ticsi2rx context 4":0 [ENABLED,IMMUTABLE]
        pad6: Source
                -> "30102000.ticsi2rx context 5":0 [ENABLED,IMMUTABLE]

As shown above, media entity 30102000.ticsi2rx has 6 source pads, but only the first 4 are used, each for one IMX219. The media pipe topology can also be illustrated graphically. Run the following command to generate a dot file:

root@am62axx-evm:~# media-ctl --print-dot > media.dot

Then run the command below on a Linux host PC to generate a png file:

$ dot -Tpng media-top.dot -o media-top.png

Figure 4-2 is a picture generated using the commands given above. The components in the software architecture of Figure 3-1 can be found in this graph.

Figure 4-2 Media Topology of a Multi-Camera System