[PATCH 0/2] arm64: dts: rockchip: enable OV9281 CAM0 and CAM1 on RK3588 Jaguar

[PATCH 0/2] arm64: dts: rockchip: enable OV9281 CAM0 and CAM1 on RK3588 Jaguar

[Quentin Schulz]

RK3588 Jaguar has two proprietary camera connectors, P14 and P15. This
adds support for the only camera module we currently have for this
connector.

The camera module has a 2-lane OV9281 camera sensor, an IMU, a
magnetometer and an EEPROM.

We have new camera modules based on an OV13850 that should be coming up
soon, hence why I made the support into their own separate DTSO instead
of directly integrating them in the main DTS.

Known issues:
- lis2mdl driver currently doesn't support being instantiated twice, so
  only one magnetometer will show up, if the two cameras modules are
  connected,
- OV9281 test patterns (no upstream support) returns broken patterns,
  see discussion on IRC
  https://libera.catirclogs.org/linux-rockchip/2026-11-02, the image I
  get without the test pattern *looks* okay to my non-expert eyes. In
  any case, it's unlikely to be an issue in the Device Tree,

Image capture test:
  #!/usr/bin/env bash

  set -o pipefail
  set -eux

  CAM=$1
  COLORFMT=$2
  SIZE=$3

  if [ "$COLORFMT" = "GREY" ] || [ "$COLORFMT" = "Y8" ]; then
  	MEDIACTLFMT="fmt:Y8_1X8/$SIZE field:none colorspace:raw xfer:none"
  	BITDEPTH=8
  else
  	MEDIACTLFMT="fmt:Y10_1X10/$SIZE field:none colorspace:raw xfer:none"
  	BITDEPTH=10
  fi

  if [ "$CAM" = "P14" ]; then
  	MEDIACTL_SENSOR="ov9281 2-0060"
  	MEDIACTL_RKCIF="rkcif-mipi2"
  	MEDIACTL_CSIRX="dw-mipi-csi2rx fdd30000.csi"
  else
  	MEDIACTL_SENSOR="ov9281 7-0060"
  	MEDIACTL_RKCIF="rkcif-mipi4"
  	MEDIACTL_CSIRX="dw-mipi-csi2rx fdd50000.csi"
  fi

  for dev in /sys/class/video4linux/video*/; do
  	if [ "$(cat "$dev/name")" != "$MEDIACTL_RKCIF-id0" ]; then
  		continue
  	fi
  
  	VIDEODEV=$(basename "$dev")
  	break
  done

  media-ctl -d 0 --set-v4l2 "'$MEDIACTL_SENSOR':0 [$MEDIACTLFMT]"
  media-ctl -d 0 --set-v4l2 "'$MEDIACTL_RKCIF':0 [$MEDIACTLFMT]"
  media-ctl -d 0 --set-v4l2 "'$MEDIACTL_CSIRX':0 [$MEDIACTLFMT]"
  # Name the file a format YUView can recognize automatically
  /root/yavta/build/yavta -f"$COLORFMT" -s$SIZE -c1 -n1 /dev/$VIDEODEV -Fframe-#_${SIZE}_${BITDEPTH}b_yuv400.yuv

With yavta[1] and checked with YUView[2] as gstreamer doesn't seem[3] to
have support for Y10.

Ran:
 - ./test-cam.sh P14 Y8 1280x800
 - ./test-cam.sh P15 Y8 1280x800
 - ./test-cam.sh P14 Y10 1280x800
 - ./test-cam.sh P15 Y10 1280x800

Pictures look decent to me.

Wrote random data to the EEPROMs and read it back identical.

Moved the cameras, accel and gyro raw sysfs values changed.

Magnetometers tested individually, with small magnet, raw values
changed.

I've not tested IIO buffers and/or the various interrupts.

[1] https://git.ideasonboard.com/camera/yavta
[2] https://github.com/IENT/YUView
[3] https://gitlab.freedesktop.org/gstreamer/gstreamer/-/work_items/3738

Light dependency on
https://lore.kernel.org/linux-media/20261102-v4l-y8-y10-csi-vicap-v2-0-0a4149d96dae@cherry.de/
for it to actually work (no impact on binding or device tree).

Signed-off-by: Quentin Schulz <quentin.schulz@cherry.de>
---
Quentin Schulz (2):
      arm64: dts: rockchip: enable OV9281 CAM0 P14 on RK3588 Jaguar
      arm64: dts: rockchip: enable OV9281 CAM1 P15 on RK3588 Jaguar

 arch/arm64/boot/dts/rockchip/Makefile              |   7 ++
 .../dts/rockchip/rk3588-jaguar-p14-ov9281.dtso     | 113 +++++++++++++++++++++
 .../dts/rockchip/rk3588-jaguar-p15-ov9281.dtso     | 112 ++++++++++++++++++++
 arch/arm64/boot/dts/rockchip/rk3588-jaguar.dts     |  36 ++++++-
 4 files changed, 267 insertions(+), 1 deletion(-)
---
base-commit: 233ebf31c98e1d7185d12d1ff332f3354f4950f5
change-id: 20261015-jaguar-cam0-cam1-dcc02f56766a

Best regards,
--  
Quentin Schulz <quentin.schulz@cherry.de>

[PATCH 1/2] arm64: dts: rockchip: enable OV9281 CAM0 P14 on RK3588 Jaguar

[Quentin Schulz]

From: Quentin Schulz <quentin.schulz@cherry.de>

RK3588 Jaguar has two proprietary camera connectors, P14 and P15. This
adds support for the only camera module we currently have for this
connector, on P14.

The camera module has a 2-lane OV9281 camera sensor, an IMU, a
magnetometer and an EEPROM.

Signed-off-by: Quentin Schulz <quentin.schulz@cherry.de>
---
 arch/arm64/boot/dts/rockchip/Makefile              |   5 +
 .../dts/rockchip/rk3588-jaguar-p14-ov9281.dtso     | 113 +++++++++++++++++++++
 arch/arm64/boot/dts/rockchip/rk3588-jaguar.dts     |  36 ++++++-
 3 files changed, 153 insertions(+), 1 deletion(-)

diff --git a/arch/arm64/boot/dts/rockchip/Makefile b/arch/arm64/boot/dts/rockchip/Makefile
index 442d322a20cf7..cf977e883c374 100644
--- a/arch/arm64/boot/dts/rockchip/Makefile
+++ b/arch/arm64/boot/dts/rockchip/Makefile
@@ -204,6 +204,7 @@ dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-h96-max-v58.dtb
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-jaguar.dtb
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-jaguar-can1-can2-uart4.dtbo
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-jaguar-ethernet-switch.dtbo
+dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-jaguar-p14-ov9281.dtbo
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-jaguar-pre-ict-tester.dtbo
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-lubancat-5io.dtb
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-mnt-reform2.dtb
@@ -336,6 +337,10 @@ dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-jaguar-can1-can2-uart4.dtb
 rk3588-jaguar-can1-can2-uart4-dtbs := rk3588-jaguar.dtb \
 	rk3588-jaguar-can1-can2-uart4.dtbo
 
+dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-jaguar-p14-ov9281-p15-ov9281.dtb
+rk3588-jaguar-p14-ov9281-p15-ov9281-dtbs := rk3588-jaguar.dtb \
+	rk3588-jaguar-p14-ov9281.dtbo
+
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-jaguar-ethernet-switch.dtb
 rk3588-jaguar-ethernet-switch-dtbs := rk3588-jaguar.dtb \
 	rk3588-jaguar-ethernet-switch.dtbo
diff --git a/arch/arm64/boot/dts/rockchip/rk3588-jaguar-p14-ov9281.dtso b/arch/arm64/boot/dts/rockchip/rk3588-jaguar-p14-ov9281.dtso
new file mode 100644
index 0000000000000..155101c8497de
--- /dev/null
+++ b/arch/arm64/boot/dts/rockchip/rk3588-jaguar-p14-ov9281.dtso
@@ -0,0 +1,113 @@
+// SPDX-License-Identifier: (GPL-2.0+ OR MIT)
+/*
+ * Copyright (c) 2026 Cherry Embedded Solutions GmbH
+ */
+
+/dts-v1/;
+/plugin/;
+
+#include <dt-bindings/clock/rockchip,rk3588-cru.h>
+#include <dt-bindings/gpio/gpio.h>
+#include <dt-bindings/interrupt-controller/irq.h>
+#include <dt-bindings/media/video-interfaces.h>
+#include <dt-bindings/pinctrl/rockchip.h>
+
+&csi_dphy0 {
+	status = "okay";
+};
+
+&csi2 {
+	status = "okay";
+};
+
+&csi2_in {
+	csi2_input: endpoint {
+		bus-type = <MEDIA_BUS_TYPE_CSI2_DPHY>;
+		data-lanes = <1 2>;
+		link-frequencies = /bits/ 64 <400000000>;
+		remote-endpoint = <&cam0_output>;
+	};
+};
+
+&i2c2 {
+	#address-cells = <1>;
+	clock-frequency = <400000>;
+	#size-cells = <0>;
+	status = "okay";
+
+	magnetometer@1e {
+		compatible = "st,lis2mdl";
+		reg = <0x1e>;
+		interrupt-parent = <&gpio1>;
+		interrupts = <RK_PC7 IRQ_TYPE_EDGE_RISING>;
+		pinctrl-0 = <&cam0_imu_int3>;
+		pinctrl-names = "default";
+		vdd-supply = <&vcc_2v8_imu>;
+		vddio-supply = <&vcc_1v8_s3>;
+	};
+
+	eeprom@50 {
+		compatible = "st,24c64", "atmel,24c64";
+		reg = <0x50>;
+		pagesize = <32>;
+		vcc-supply = <&vcc_1v8_s3>;
+	};
+
+	camera@60 {
+		compatible = "ovti,ov9281";
+		reg = <0x60>;
+		assigned-clocks = <&cru CLK_MIPI_CAMARAOUT_M1>;
+		assigned-clock-rates = <24000000>;
+		avdd-supply = <&vcc_2v8_cam>;
+		clocks = <&cru CLK_MIPI_CAMARAOUT_M1>;
+		dovdd-supply = <&vcc_1v8_s3>;
+		dvdd-supply = <&cam_vcc_1v2>;
+		pinctrl-0 = <&cam0_rst &mipim0_camera1_clk>;
+		pinctrl-names = "default";
+		reset-gpios = <&gpio0 RK_PB0 GPIO_ACTIVE_HIGH>;
+
+		port {
+			cam0_output: endpoint {
+				bus-type = <MEDIA_BUS_TYPE_CSI2_DPHY>;
+				data-lanes = <1 2>;
+				link-frequencies = /bits/ 64 <400000000>;
+				remote-endpoint = <&csi2_input>;
+			};
+		};
+	};
+
+	imu@6a {
+		compatible = "st,lsm6dsr";
+		reg = <0x6a>;
+		interrupt-parent = <&gpio1>;
+		interrupts = <RK_PC0 IRQ_TYPE_EDGE_RISING>;
+		pinctrl-0 = <&csi0_imu_int1>;
+		pinctrl-names = "default";
+		vdd-supply = <&vcc_2v8_imu>;
+		vddio-supply = <&vcc_1v8_s3>;
+	};
+};
+
+&pinctrl {
+	cam0_p14 {
+		cam0_imu_int3: cam0-imu-int3 {
+			rockchip,pins = <1 RK_PC7 RK_FUNC_GPIO &pcfg_pull_none>;
+		};
+
+		cam0_rst: cam0-reset {
+			rockchip,pins = <0 RK_PB0 RK_FUNC_GPIO &pcfg_pull_none>;
+		};
+
+		csi0_imu_int1: csi0-imu-int1 {
+			rockchip,pins = <1 RK_PC0 RK_FUNC_GPIO &pcfg_pull_none>;
+		};
+	};
+};
+
+&vicap {
+	status = "okay";
+};
+
+&vicap_mmu {
+	status = "okay";
+};
diff --git a/arch/arm64/boot/dts/rockchip/rk3588-jaguar.dts b/arch/arm64/boot/dts/rockchip/rk3588-jaguar.dts
index 0446834e84d5d..99baf89167d35 100644
--- a/arch/arm64/boot/dts/rockchip/rk3588-jaguar.dts
+++ b/arch/arm64/boot/dts/rockchip/rk3588-jaguar.dts
@@ -40,6 +40,16 @@ aliases {
 		rtc0 = &rtc_twi;
 	};
 
+	cam_vcc_1v2: regulator-cam-vcc-1v2 {
+		compatible = "regulator-fixed";
+		regulator-name = "cam_vcc_1v2";
+		regulator-always-on;
+		regulator-boot-on;
+		regulator-min-microvolt = <1200000>;
+		regulator-max-microvolt = <1200000>;
+		vin-supply = <&vcc_1v2_s3>;
+	};
+
 	chosen {
 		stdout-path = "serial2:115200n8";
 	};
@@ -123,7 +133,26 @@ vcc_1v2_s3: regulator-vcc-1v2-s3 {
 		vin-supply = <&vcc5v0_sys>;
 	};
 
-	/* Exposed on P14 and P15 */
+	vcc_2v8_cam: regulator-vcc-2v8-cam {
+		compatible = "regulator-fixed";
+		regulator-name = "vcc_2v8_cam";
+		regulator-always-on;
+		regulator-boot-on;
+		regulator-min-microvolt = <2800000>;
+		regulator-max-microvolt = <2800000>;
+		vin-supply = <&vcc_2v8_s3>;
+	};
+
+	vcc_2v8_imu: regulator-vcc-2v8-imu {
+		compatible = "regulator-fixed";
+		regulator-name = "vcc_2v8_imu";
+		regulator-always-on;
+		regulator-boot-on;
+		regulator-min-microvolt = <2800000>;
+		regulator-max-microvolt = <2800000>;
+		vin-supply = <&vcc_2v8_s3>;
+	};
+
 	vcc_2v8_s3: regulator-vcc-2v8-s3 {
 		compatible = "regulator-fixed";
 		regulator-name = "vcc_2v8_s3";
@@ -437,6 +466,11 @@ &i2c1 {
 	pinctrl-names = "default";
 };
 
+&i2c2 {
+	pinctrl-0 = <&i2c2m3_xfer>;
+	pinctrl-names = "default";
+};
+
 &i2c6 {
 	pinctrl-0 = <&i2c6m4_xfer>;
 	pinctrl-names = "default";

-- 
2.56.0

[PATCH 2/2] arm64: dts: rockchip: enable OV9281 CAM1 P15 on RK3588 Jaguar

[Quentin Schulz]

From: Quentin Schulz <quentin.schulz@cherry.de>

RK3588 Jaguar has two proprietary camera connectors, P14 and P15. This
adds support for the only camera module we currently have for this
connector, on P15.

The camera module has a 2-lane OV9281 camera sensor, an IMU, a
magnetometer and an EEPROM.

Signed-off-by: Quentin Schulz <quentin.schulz@cherry.de>
---
 arch/arm64/boot/dts/rockchip/Makefile              |   4 +-
 .../dts/rockchip/rk3588-jaguar-p15-ov9281.dtso     | 112 +++++++++++++++++++++
 2 files changed, 115 insertions(+), 1 deletion(-)

diff --git a/arch/arm64/boot/dts/rockchip/Makefile b/arch/arm64/boot/dts/rockchip/Makefile
index cf977e883c374..e89e3123cb719 100644
--- a/arch/arm64/boot/dts/rockchip/Makefile
+++ b/arch/arm64/boot/dts/rockchip/Makefile
@@ -205,6 +205,7 @@ dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-jaguar.dtb
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-jaguar-can1-can2-uart4.dtbo
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-jaguar-ethernet-switch.dtbo
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-jaguar-p14-ov9281.dtbo
+dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-jaguar-p15-ov9281.dtbo
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-jaguar-pre-ict-tester.dtbo
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-lubancat-5io.dtb
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-mnt-reform2.dtb
@@ -339,7 +340,8 @@ rk3588-jaguar-can1-can2-uart4-dtbs := rk3588-jaguar.dtb \
 
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-jaguar-p14-ov9281-p15-ov9281.dtb
 rk3588-jaguar-p14-ov9281-p15-ov9281-dtbs := rk3588-jaguar.dtb \
-	rk3588-jaguar-p14-ov9281.dtbo
+	rk3588-jaguar-p14-ov9281.dtbo \
+	rk3588-jaguar-p15-ov9281.dtbo
 
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3588-jaguar-ethernet-switch.dtb
 rk3588-jaguar-ethernet-switch-dtbs := rk3588-jaguar.dtb \
diff --git a/arch/arm64/boot/dts/rockchip/rk3588-jaguar-p15-ov9281.dtso b/arch/arm64/boot/dts/rockchip/rk3588-jaguar-p15-ov9281.dtso
new file mode 100644
index 0000000000000..051a5f9a7d4e2
--- /dev/null
+++ b/arch/arm64/boot/dts/rockchip/rk3588-jaguar-p15-ov9281.dtso
@@ -0,0 +1,112 @@
+// SPDX-License-Identifier: (GPL-2.0+ OR MIT)
+/*
+ * Copyright (c) 2026 Cherry Embedded Solutions GmbH
+ */
+
+/dts-v1/;
+/plugin/;
+
+#include <dt-bindings/clock/rockchip,rk3588-cru.h>
+#include <dt-bindings/gpio/gpio.h>
+#include <dt-bindings/interrupt-controller/irq.h>
+#include <dt-bindings/media/video-interfaces.h>
+#include <dt-bindings/pinctrl/rockchip.h>
+
+&csi_dphy1 {
+	status = "okay";
+};
+
+&csi4 {
+	status = "okay";
+};
+
+&csi4_in {
+	csi4_input: endpoint {
+		bus-type = <MEDIA_BUS_TYPE_CSI2_DPHY>;
+		data-lanes = <1 2>;
+		link-frequencies = /bits/ 64 <400000000>;
+		remote-endpoint = <&cam1_output>;
+	};
+};
+
+&i2c7 {
+	#address-cells = <1>;
+	clock-frequency = <400000>;
+	#size-cells = <0>;
+
+	magnetometer@1e {
+		compatible = "st,lis2mdl";
+		reg = <0x1e>;
+		interrupt-parent = <&gpio1>;
+		interrupts = <RK_PB0 IRQ_TYPE_EDGE_RISING>;
+		pinctrl-0 = <&cam1_imu_int3>;
+		pinctrl-names = "default";
+		vdd-supply = <&vcc_2v8_imu>;
+		vddio-supply = <&vcc_1v8_s3>;
+	};
+
+	eeprom@50 {
+		compatible = "st,24c64", "atmel,24c64";
+		reg = <0x50>;
+		pagesize = <32>;
+		vcc-supply = <&vcc_1v8_s3>;
+	};
+
+	camera@60 {
+		compatible = "ovti,ov9281";
+		reg = <0x60>;
+		assigned-clocks = <&cru CLK_MIPI_CAMARAOUT_M2>;
+		assigned-clock-rates = <24000000>;
+		avdd-supply = <&vcc_2v8_cam>;
+		clocks = <&cru CLK_MIPI_CAMARAOUT_M2>;
+		dovdd-supply = <&vcc_1v8_s3>;
+		dvdd-supply = <&cam_vcc_1v2>;
+		pinctrl-0 = <&cam1_rst &mipim0_camera2_clk>;
+		pinctrl-names = "default";
+		reset-gpios = <&gpio4 RK_PC6 GPIO_ACTIVE_HIGH>;
+
+		port {
+			cam1_output: endpoint {
+				bus-type = <MEDIA_BUS_TYPE_CSI2_DPHY>;
+				data-lanes = <1 2>;
+				link-frequencies = /bits/ 64 <400000000>;
+				remote-endpoint = <&csi4_input>;
+			};
+		};
+	};
+
+	imu@6a {
+		compatible = "st,lsm6dsr";
+		reg = <0x6a>;
+		interrupt-parent = <&gpio2>;
+		interrupts = <RK_PC4 IRQ_TYPE_EDGE_RISING>;
+		pinctrl-0 = <&csi1_imu_int1>;
+		pinctrl-names = "default";
+		vdd-supply = <&vcc_2v8_imu>;
+		vddio-supply = <&vcc_1v8_s3>;
+	};
+};
+
+&pinctrl {
+	cam1_p15 {
+		cam1_imu_int3: cam1-imu-int3 {
+			rockchip,pins = <1 RK_PB0 RK_FUNC_GPIO &pcfg_pull_none>;
+		};
+
+		cam1_rst: cam1-reset {
+			rockchip,pins = <4 RK_PC6 RK_FUNC_GPIO &pcfg_pull_none>;
+		};
+
+		csi1_imu_int1: csi1-imu-int1 {
+			rockchip,pins = <2 RK_PC4 RK_FUNC_GPIO &pcfg_pull_none>;
+		};
+	};
+};
+
+&vicap {
+	status = "okay";
+};
+
+&vicap_mmu {
+	status = "okay";
+};

-- 
2.56.0

Re: [PATCH 1/2] arm64: dts: rockchip: enable OV9281 CAM0 P14 on RK3588 Jaguar

[sashiko-bot]

Thank you for your contribution! Sashiko AI review found 1 potential issue(s) to consider:
- [Low] arm64: dts: rockchip: underscore in cam0_p14 pinctrl node name
--

commit d626daefe6323fd02925a1f931694d66c7b92c2d
Author: Quentin Schulz <quentin.schulz@cherry.de>

arm64: dts: rockchip: enable OV9281 CAM0 P14 on RK3588 Jaguar

This commit adds a device tree overlay for the P14 camera module on the
RK3588 Jaguar board, supporting an OV9281 camera sensor, an IMU, a
magnetometer, and an EEPROM.

> diff --git a/arch/arm64/boot/dts/rockchip/rk3588-jaguar-p14-ov9281.dtso b/arch/arm64/boot/dts/rockchip/rk3588-jaguar-p14-ov9281.dtso
> new file mode 100644
> index 0000000000000..155101c8497de
> --- /dev/null
> +++ b/arch/arm64/boot/dts/rockchip/rk3588-jaguar-p14-ov9281.dtso
> @@ -0,0 +1,113 @@

[ ... ]

> +&pinctrl {
> +	cam0_p14 {
> +		cam0_imu_int3: cam0-imu-int3 {
> +			rockchip,pins = <1 RK_PC7 RK_FUNC_GPIO &pcfg_pull_none>;
> +		};

[Severity: Low]
Should the cam0_p14 node under &pinctrl in
arch/arm64/boot/dts/rockchip/rk3588-jaguar-p14-ov9281.dtso be named cam0-p14
using a hyphen instead of an underscore?

Device tree coding style reserves underscores for labels and uses hyphens in
node names, and building with W=2 enables -Wnode_name_chars_strict in dtc,
which warns about the underscore in cam0_p14.

-- 
Sashiko AI review · https://sashiko.dev/#/patchset/20261102-jaguar-cam0-cam1-v1-0-c3aafcdab5dd@cherry.de?part=1