[PATCH 0/4] arm64: dts: ti: BeagleY-AI camera overlays

[PATCH 0/4] arm64: dts: ti: BeagleY-AI camera overlays

[Jai Luthra]

This series adds support for using RPi V2.1 camera module on any of the
two 22-pin CSI ports of BeagleY-AI.

The first two patches fix the base DTB to support I2C-2 (used by CSI0)
and setup the DSI0/CSI1 mux (used by CSI1).

Next two patches add the two DT overlays for CSI0 and CSI1.

Signed-off-by: Jai Luthra <jai.luthra@ideasonboard.com>
---
Jai Luthra (4):
      arm64: dts: ti: k3-am67a-beagley-ai: Add I2C2 pinctrl
      arm64: dts: ti: k3-am67a-beagley-ai: Add DSI0/CSI1 mux
      arm64: dts: ti: k3-am67a-beagley-ai: Add overlay for IMX219 on CSI0
      arm64: dts: ti: k3-am67a-beagley-ai: Add overlay for IMX219 on CSI1

 arch/arm64/boot/dts/ti/Makefile                    |   8 ++
 .../dts/ti/k3-am67a-beagley-ai-csi0-imx219.dtso    | 121 +++++++++++++++++++++
 .../dts/ti/k3-am67a-beagley-ai-csi1-imx219.dtso    | 121 +++++++++++++++++++++
 arch/arm64/boot/dts/ti/k3-am67a-beagley-ai.dts     |  27 +++++
 4 files changed, 277 insertions(+)
---
base-commit: 254f49634ee16a731174d2ae34bc50bd5f45e731
change-id: 20260514-beagley-cameras-21ce6a98a7f1

Best regards,
-- 
Jai Luthra <jai.luthra@ideasonboard.com>

[PATCH 1/4] arm64: dts: ti: k3-am67a-beagley-ai: Add I2C2 pinctrl

[Jai Luthra]

I2C2 is used by camera sensor devices connected on the 22-pin CSI0
connector. Add the pin definition here so I2C2 may be enabled by the
camera sensor overlays.

Signed-off-by: Jai Luthra <jai.luthra@ideasonboard.com>
---
 arch/arm64/boot/dts/ti/k3-am67a-beagley-ai.dts | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai.dts b/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai.dts
index 5255e04b9ac7..06aac02a7668 100644
--- a/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai.dts
+++ b/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai.dts
@@ -157,6 +157,13 @@ J722S_IOPAD(0x01e4, PIN_INPUT_PULLUP, 0) /* (B22) I2C0_SDA */
 		bootph-all;
 	};
 
+	main_i2c2_pins_default: main-i2c2-default-pins {
+		pinctrl-single,pins = <
+			J722S_IOPAD(0x00b0, PIN_INPUT_PULLUP, 1) /* (P22) GPMC0_CSn2.I2C2_SCL */
+			J722S_IOPAD(0x00b4, PIN_INPUT_PULLUP, 1) /* (P23) GPMC0_CSn3.I2C2_SDA */
+		>;
+	};
+
 	main_uart0_pins_default: main-uart0-default-pins {
 		pinctrl-single,pins = <
 			J722S_IOPAD(0x01c8, PIN_INPUT, 0)	/* (A22) UART0_RXD */

-- 
2.54.0

[PATCH 2/4] arm64: dts: ti: k3-am67a-beagley-ai: Add DSI0/CSI1 mux

[Jai Luthra]

The DSI0 connector is shared withe CSI1 and selectable via the TMUX646
switch present on the board. Model it using a gpio-mux so that camera
sensor or DSI panel overlays can override it.

Signed-off-by: Jai Luthra <jai.luthra@ideasonboard.com>
---
 arch/arm64/boot/dts/ti/k3-am67a-beagley-ai.dts | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai.dts b/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai.dts
index 06aac02a7668..041aee2cd5b1 100644
--- a/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai.dts
+++ b/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai.dts
@@ -146,6 +146,19 @@ led-1 {
 			default-state = "on";
 		};
 	};
+
+	dsi_csi_mux: mux-controller {
+		compatible = "gpio-mux";
+		#mux-state-cells = <1>;
+		pinctrl-names = "default";
+		pinctrl-0 = <&dsi_csi_mux_pins_default>;
+
+		mux-gpios = <&main_gpio0 2 GPIO_ACTIVE_HIGH>,
+			    <&main_gpio0 1 GPIO_ACTIVE_HIGH>;
+
+		/* state = SEL + 2*OE : 0 = DSI0, 1 = CSI1, 2,3 = off */
+		idle-state = <2>;
+	};
 };
 
 &main_pmx0 {
@@ -199,6 +212,13 @@ J722S_IOPAD(0x015c, PIN_INPUT, 0) /* (AD25) MDIO0_MDIO */
 		>;
 	};
 
+	dsi_csi_mux_pins_default: dsi-csi-mux-default-pins {
+		pinctrl-single,pins = <
+			J722S_IOPAD(0x0004, PIN_OUTPUT, 7) /* (L23) OSPI0_LBCLKO.GPIO0_1 */
+			J722S_IOPAD(0x0008, PIN_OUTPUT, 7) /* (L22) OSPI0_DQS.GPIO0_2 */
+		>;
+	};
+
 	rgmii1_pins_default: rgmii1-default-pins {
 		pinctrl-single,pins = <
 			J722S_IOPAD(0x014c, PIN_INPUT, 0) /* (AC25) RGMII1_RD0 */

-- 
2.54.0

[PATCH 3/4] arm64: dts: ti: k3-am67a-beagley-ai: Add overlay for IMX219 on CSI0

[Jai Luthra]

RPi v2 Camera (IMX219) is an 8MP camera that can be used with BeagleY AI
through the 22-pin CSI-RX connectors. Add a DT overlay to enable use of
this camera sensor through the CSI0 connector.

Signed-off-by: Jai Luthra <jai.luthra@ideasonboard.com>
---
 arch/arm64/boot/dts/ti/Makefile                    |   4 +
 .../dts/ti/k3-am67a-beagley-ai-csi0-imx219.dtso    | 121 +++++++++++++++++++++
 2 files changed, 125 insertions(+)

diff --git a/arch/arm64/boot/dts/ti/Makefile b/arch/arm64/boot/dts/ti/Makefile
index 5269c9619b65..68a82e161c20 100644
--- a/arch/arm64/boot/dts/ti/Makefile
+++ b/arch/arm64/boot/dts/ti/Makefile
@@ -152,6 +152,7 @@ dtb-$(CONFIG_ARCH_K3) += k3-j721s2-evm-usb0-type-a.dtbo
 
 # Boards with J722s SoC
 dtb-$(CONFIG_ARCH_K3) += k3-am67a-beagley-ai.dtb
+dtb-$(CONFIG_ARCH_K3) += k3-am67a-beagley-ai-csi0-imx219.dtbo
 dtb-$(CONFIG_ARCH_K3) += k3-j722s-evm.dtb
 dtb-$(CONFIG_ARCH_K3) += k3-j722s-evm-csi2-quad-rpi-cam-imx219.dtbo
 dtb-$(CONFIG_ARCH_K3) += k3-j722s-evm-csi2-quad-tevi-ov5640.dtbo
@@ -245,6 +246,8 @@ k3-am642-tqma64xxl-mbax4xxl-sdcard-dtbs := \
 	k3-am642-tqma64xxl-mbax4xxl.dtb k3-am64-tqma64xxl-mbax4xxl-sdcard.dtbo
 k3-am642-tqma64xxl-mbax4xxl-wlan-dtbs := \
 	k3-am642-tqma64xxl-mbax4xxl.dtb k3-am64-tqma64xxl-mbax4xxl-wlan.dtbo
+k3-am67a-beagley-ai-csi0-imx219-dtbs := k3-am67a-beagley-ai.dtb \
+	k3-am67a-beagley-ai-csi0-imx219.dtbo
 k3-am68-sk-base-board-csi2-dual-imx219-dtbs := k3-am68-sk-base-board.dtb \
 	k3-j721e-sk-csi2-dual-imx219.dtbo
 k3-am68-sk-base-board-pcie1-ep-dtbs := k3-am68-sk-base-board.dtb \
@@ -318,6 +321,7 @@ dtb- += k3-am625-beagleplay-csi2-ov5640.dtb \
 	k3-am642-phyboard-electra-x27-gpio1-spi1-uart3.dtb \
 	k3-am642-tqma64xxl-mbax4xxl-sdcard.dtb \
 	k3-am642-tqma64xxl-mbax4xxl-wlan.dtb \
+	k3-am67a-beagley-ai-csi0-imx219.dtb \
 	k3-am68-phyboard-izar-lvds-ph128800t006.dtb \
 	k3-am68-phyboard-izar-peb-av-15.dtb \
 	k3-am68-sk-base-board-csi2-dual-imx219.dtb \
diff --git a/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai-csi0-imx219.dtso b/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai-csi0-imx219.dtso
new file mode 100644
index 000000000000..52698d1a0f08
--- /dev/null
+++ b/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai-csi0-imx219.dtso
@@ -0,0 +1,121 @@
+// SPDX-License-Identifier: GPL-2.0-only OR MIT
+/*
+ * RPi Camera V2.1 on BeagleY AI CSI0 port
+ *
+ * Copyright (C) 2026 Ideas On Board Oy
+ */
+
+/dts-v1/;
+/plugin/;
+
+#include <dt-bindings/gpio/gpio.h>
+#include "k3-pinctrl.h"
+
+&{/} {
+	clk_imx219_csi0: imx219-csi0-xclk {
+		compatible = "fixed-clock";
+		#clock-cells = <0>;
+		clock-frequency = <24000000>;
+	};
+
+	reg_2p8v_csi0: regulator-2p8v-csi0 {
+		compatible = "regulator-fixed";
+		regulator-name = "2P8V_CSI0";
+		regulator-min-microvolt = <2800000>;
+		regulator-max-microvolt = <2800000>;
+		vin-supply = <&vdd_3v3>;
+		regulator-always-on;
+	};
+
+	reg_1p8v_csi0: regulator-1p8v-csi0 {
+		compatible = "regulator-fixed";
+		regulator-name = "1P8V_CSI0";
+		regulator-min-microvolt = <1800000>;
+		regulator-max-microvolt = <1800000>;
+		vin-supply = <&vdd_3v3>;
+		regulator-always-on;
+	};
+
+	reg_1p2v_csi0: regulator-1p2v-csi0 {
+		compatible = "regulator-fixed";
+		regulator-name = "1P2V_CSI0";
+		regulator-min-microvolt = <1200000>;
+		regulator-max-microvolt = <1200000>;
+		vin-supply = <&vdd_3v3>;
+		regulator-always-on;
+	};
+};
+
+&mcu_pmx0 {
+	cam0_reset_pins_default: cam0-default-reset-pins {
+		pinctrl-single,pins = <
+			J722S_MCU_IOPAD(0x003c, PIN_INPUT, 7) /* (C1) MCU_MCAN1_TX.MCU_GPIO0_15 */
+		>;
+	};
+};
+
+&mcu_gpio0 {
+	status = "okay";
+};
+
+&main_i2c2 {
+	status = "okay";
+	pinctrl-names = "default";
+	pinctrl-0 = <&main_i2c2_pins_default>;
+	clock-frequency = <400000>;
+
+	#address-cells = <1>;
+	#size-cells = <0>;
+
+	imx219_0: sensor@10 {
+		compatible = "sony,imx219";
+		reg = <0x10>;
+
+		clocks = <&clk_imx219_csi0>;
+
+		VANA-supply = <&reg_2p8v_csi0>;
+		VDIG-supply = <&reg_1p8v_csi0>;
+		VDDL-supply = <&reg_1p2v_csi0>;
+
+		pinctrl-names = "default";
+		pinctrl-0 = <&cam0_reset_pins_default>;
+
+		reset-gpios = <&mcu_gpio0 15 GPIO_ACTIVE_HIGH>;
+
+		port {
+			csi2_cam0: endpoint {
+				remote-endpoint = <&csi2rx0_in_sensor>;
+				link-frequencies = /bits/ 64 <456000000>;
+				clock-lanes = <0>;
+				data-lanes = <1 2>;
+			};
+		};
+	};
+};
+
+&cdns_csi2rx0 {
+	ports {
+		#address-cells = <1>;
+		#size-cells = <0>;
+
+		csi0_port0: port@0 {
+			reg = <0>;
+			status = "okay";
+
+			csi2rx0_in_sensor: endpoint {
+				remote-endpoint = <&csi2_cam0>;
+				bus-type = <4>; /* CSI2 DPHY. */
+				clock-lanes = <0>;
+				data-lanes = <1 2>;
+			};
+		};
+	};
+};
+
+&ti_csi2rx0 {
+	status = "okay";
+};
+
+&dphy0 {
+	status = "okay";
+};

-- 
2.54.0

[PATCH 4/4] arm64: dts: ti: k3-am67a-beagley-ai: Add overlay for IMX219 on CSI1

[Jai Luthra]

RPi v2 Camera (IMX219) is an 8MP camera that can be used with BeagleY AI
through the 22-pin CSI-RX connectors. Add a DT overlay to enable use of
this camera sensor through the CSI1 connector.

The CSI1 connector is muxed with DSI0, so ensure that we route it to
CSI1 (DSI_CSI_OE=0 and DSI_CSI_SEL=1).

Signed-off-by: Jai Luthra <jai.luthra@ideasonboard.com>
---
 arch/arm64/boot/dts/ti/Makefile                    |   4 +
 .../dts/ti/k3-am67a-beagley-ai-csi1-imx219.dtso    | 121 +++++++++++++++++++++
 2 files changed, 125 insertions(+)

diff --git a/arch/arm64/boot/dts/ti/Makefile b/arch/arm64/boot/dts/ti/Makefile
index 68a82e161c20..51e74f26c803 100644
--- a/arch/arm64/boot/dts/ti/Makefile
+++ b/arch/arm64/boot/dts/ti/Makefile
@@ -153,6 +153,7 @@ dtb-$(CONFIG_ARCH_K3) += k3-j721s2-evm-usb0-type-a.dtbo
 # Boards with J722s SoC
 dtb-$(CONFIG_ARCH_K3) += k3-am67a-beagley-ai.dtb
 dtb-$(CONFIG_ARCH_K3) += k3-am67a-beagley-ai-csi0-imx219.dtbo
+dtb-$(CONFIG_ARCH_K3) += k3-am67a-beagley-ai-csi1-imx219.dtbo
 dtb-$(CONFIG_ARCH_K3) += k3-j722s-evm.dtb
 dtb-$(CONFIG_ARCH_K3) += k3-j722s-evm-csi2-quad-rpi-cam-imx219.dtbo
 dtb-$(CONFIG_ARCH_K3) += k3-j722s-evm-csi2-quad-tevi-ov5640.dtbo
@@ -248,6 +249,8 @@ k3-am642-tqma64xxl-mbax4xxl-wlan-dtbs := \
 	k3-am642-tqma64xxl-mbax4xxl.dtb k3-am64-tqma64xxl-mbax4xxl-wlan.dtbo
 k3-am67a-beagley-ai-csi0-imx219-dtbs := k3-am67a-beagley-ai.dtb \
 	k3-am67a-beagley-ai-csi0-imx219.dtbo
+k3-am67a-beagley-ai-csi1-imx219-dtbs := k3-am67a-beagley-ai.dtb \
+	k3-am67a-beagley-ai-csi1-imx219.dtbo
 k3-am68-sk-base-board-csi2-dual-imx219-dtbs := k3-am68-sk-base-board.dtb \
 	k3-j721e-sk-csi2-dual-imx219.dtbo
 k3-am68-sk-base-board-pcie1-ep-dtbs := k3-am68-sk-base-board.dtb \
@@ -322,6 +325,7 @@ dtb- += k3-am625-beagleplay-csi2-ov5640.dtb \
 	k3-am642-tqma64xxl-mbax4xxl-sdcard.dtb \
 	k3-am642-tqma64xxl-mbax4xxl-wlan.dtb \
 	k3-am67a-beagley-ai-csi0-imx219.dtb \
+	k3-am67a-beagley-ai-csi1-imx219.dtb \
 	k3-am68-phyboard-izar-lvds-ph128800t006.dtb \
 	k3-am68-phyboard-izar-peb-av-15.dtb \
 	k3-am68-sk-base-board-csi2-dual-imx219.dtb \
diff --git a/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai-csi1-imx219.dtso b/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai-csi1-imx219.dtso
new file mode 100644
index 000000000000..4a0fa16d30e1
--- /dev/null
+++ b/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai-csi1-imx219.dtso
@@ -0,0 +1,121 @@
+// SPDX-License-Identifier: GPL-2.0-only OR MIT
+/*
+ * RPi Camera V2.1 on BeagleY AI CSI1 port
+ *
+ * Copyright (C) 2026 Ideas On Board Oy
+ */
+
+/dts-v1/;
+/plugin/;
+
+#include <dt-bindings/gpio/gpio.h>
+#include "k3-pinctrl.h"
+
+&{/} {
+	clk_imx219_csi1: imx219-csi1-xclk {
+		compatible = "fixed-clock";
+		#clock-cells = <0>;
+		clock-frequency = <24000000>;
+	};
+
+	reg_2p8v_csi1: regulator-2p8v-csi1 {
+		compatible = "regulator-fixed";
+		regulator-name = "2P8V_CSI1";
+		regulator-min-microvolt = <2800000>;
+		regulator-max-microvolt = <2800000>;
+		vin-supply = <&vdd_3v3>;
+		regulator-always-on;
+	};
+
+	reg_1p8v_csi1: regulator-1p8v-csi1 {
+		compatible = "regulator-fixed";
+		regulator-name = "1P8V_CSI1";
+		regulator-min-microvolt = <1800000>;
+		regulator-max-microvolt = <1800000>;
+		vin-supply = <&vdd_3v3>;
+		regulator-always-on;
+	};
+
+	reg_1p2v_csi1: regulator-1p2v-csi1 {
+		compatible = "regulator-fixed";
+		regulator-name = "1P2V_CSI1";
+		regulator-min-microvolt = <1200000>;
+		regulator-max-microvolt = <1200000>;
+		vin-supply = <&vdd_3v3>;
+		regulator-always-on;
+	};
+};
+
+&main_pmx0 {
+	cam1_reset_pins_default: cam1-default-reset-pins {
+		pinctrl-single,pins = <
+			J722S_IOPAD(0x01d8, PIN_INPUT, 7) /* (D22) MCAN0_TX.GPIO1_24 */
+		>;
+	};
+};
+
+&dsi_csi_mux {
+	idle-state = <1>;
+};
+
+&main_i2c0 {
+	status = "okay";
+	pinctrl-names = "default";
+	pinctrl-0 = <&main_i2c0_pins_default>;
+	clock-frequency = <400000>;
+
+	#address-cells = <1>;
+	#size-cells = <0>;
+
+	imx219_1: sensor@10 {
+		compatible = "sony,imx219";
+		reg = <0x10>;
+
+		clocks = <&clk_imx219_csi1>;
+
+		VANA-supply = <&reg_2p8v_csi1>;
+		VDIG-supply = <&reg_1p8v_csi1>;
+		VDDL-supply = <&reg_1p2v_csi1>;
+
+		pinctrl-names = "default";
+		pinctrl-0 = <&cam1_reset_pins_default>;
+
+		reset-gpios = <&main_gpio1 24 GPIO_ACTIVE_HIGH>;
+
+		port {
+			csi2_cam1: endpoint {
+				remote-endpoint = <&csi2rx1_in_sensor>;
+				link-frequencies = /bits/ 64 <456000000>;
+				clock-lanes = <0>;
+				data-lanes = <1 2>;
+			};
+		};
+	};
+};
+
+&cdns_csi2rx1 {
+	ports {
+		#address-cells = <1>;
+		#size-cells = <0>;
+
+		csi1_port0: port@0 {
+			reg = <0>;
+			status = "okay";
+
+			csi2rx1_in_sensor: endpoint {
+				remote-endpoint = <&csi2_cam1>;
+				bus-type = <4>; /* CSI2 DPHY. */
+				clock-lanes = <0>;
+				data-lanes = <1 2>;
+			};
+		};
+	};
+};
+
+&ti_csi2rx1 {
+	status = "okay";
+};
+
+&dphy1 {
+	status = "okay";
+};

-- 
2.54.0

Re: [PATCH 3/4] arm64: dts: ti: k3-am67a-beagley-ai: Add overlay for IMX219 on CSI0

[sashiko-bot]

Thank you for your contribution! Sashiko AI review found 1 potential issue(s) to consider:
- [Low] The camera reset GPIO pin is incorrectly configured as PIN_INPUT instead of PIN_OUTPUT.
--

commit 993d862219c5039d0e1b221804ac5c16ba10eb4d
Author: Jai Luthra <jai.luthra@ideasonboard.com>

arm64: dts: ti: k3-am67a-beagley-ai: Add overlay for IMX219 on CSI0

This commit adds a device tree overlay for the BeagleY AI board to enable
the IMX219 camera sensor. It configures the clocks, regulators, pinmuxing,
and CSI2 receiver endpoints for the camera connected to the CSI0 port.

> diff --git a/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai-csi0-imx219.dtso b/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai-csi0-imx219.dtso
> new file mode 100644
> index 0000000000000..52698d1a0f08f
> --- /dev/null
> +++ b/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai-csi0-imx219.dtso

[ ... ]

> +&mcu_pmx0 {
> +	cam0_reset_pins_default: cam0-default-reset-pins {
> +		pinctrl-single,pins = <
> +			J722S_MCU_IOPAD(0x003c, PIN_INPUT, 7) /* (C1) MCU_MCAN1_TX.MCU_GPIO0_15 */

Is PIN_INPUT the intended configuration for this camera reset pin?

Since this pin is used as an output signal to drive the reset line for the
IMX219 sensor, should it be configured as PIN_OUTPUT? While the GPIO
subsystem will set the direction correctly, configuring it as an input
enables the input receiver which might be unnecessary for a unidirectional
output.

> +		>;
> +	};
> +};

-- 
Sashiko AI review · https://sashiko.dev/#/patchset/20260514-beagley-cameras-v1-0-5c3500b5a436@ideasonboard.com?part=3