[[Category: OPOS93]]

{{Under_Construction}}

==Description==
This is the Armadeus System's standard development board/baseboard for the [[OPOS93]] module.

[[Image:OPOS93_Dev.png]]

==Errata==

==Resources==

* [[Datasheet#OPOS93Dev | Datasheet and schematics]]
* [https://www.opossom.com/english/product-opos93/index.html Product page on Armadeus Systems website]

==Feature list==

{| border="0" cellpadding="5" cellspacing="5" summary="Hardware Add-Ons by functionnalities"
|----------------
|- style="background:#f4f4f4; color:black; -moz-border-radius:18px;"
|

===Audio===
* [[S/PDIF]]: audio in/out
* [[ALSA]]

===Video Out===
* [[LCD]]
* [[BackLight]]
* [[FrameBuffer]]

===Video In===
*[[Camera interface]]
||
===User Input===
* [[Tslib|Touchscreen]]

===Wired communication===
* [[Uart|UART]]
* [[SPI]]
* [[I2C]]
* [[USB Host]]
* [[USB_OTG]]
* [[USB_Gadget]]
* [[CAN_bus_Linux_driver|CAN bus]]
* [[OneWire_GPIO_bus_Master|1-wire]]

===Storage===
* [[MultiMediaCard]]
||

===Wireless communication===
* [[Wifi|Wi-Fi usage on Linux]]
* [[Bluetooth|Bluetooth usage on Linux]]

===Other===
* [[I.MX6UL_internal_ADC|ADC]]
* [[GPIOlib]]
* [[JTAG]]

|}

==Connectors==
* RPi compatible connector:
{| class="wikitable" border="1" cellpadding="5" summary="RPi compatible connector of OPOS6ULDev"
|- style="background:#efefef;"
! Linux GPIO or device !! i.MX93 Mux !! wiringPi N° !! RPi name !! Function !! JX Pin !! JX Pin !! Function !! RPi name !! wiringPi N° !! i.MX93 Mux !! Linux GPIO or device
|-
| style="background:orange;"| - || style="background:orange;"| || style="background:orange;"| || style="background:orange;"| 3.3V PWR || style="background:orange;"| '''3.3V''' || style="color:yellow;background:black;" align=center | '''1''' || style="color:yellow;background:black;" align=center | '''2''' || '''5V''' || || || || -
|-
| /dev/i2c-1 || I2C1_SDA || || SDA1 || I2C data|| style="color:yellow;background:black;" align=center | '''3''' || style="color:yellow;background:black;" align=center | '''4''' || '''5V''' || || || || -
|-
| /dev/i2c-1 || I2C1_SCL || || SCL1 || I2C clock || style="color:yellow;background:black;" align=center | '''5''' || style="color:yellow;background:black;" align=center | '''6''' || style="background:grey;" | '''GND''' || style="background:grey;" | || style="background:grey;" | || style="background:grey;" | || style="background:grey;"| -
|-
| gpio9 || GPIO_IO24__GPIO2_IO24 || 7 || GPIO7 || GPIO / AIN9 || style="color:yellow;background:black;" align=center | '''7''' || style="color:yellow;background:black;" align=center | '''8''' || UART Tx || TxD || || GPIO_IO14__LPUART4_TX || /dev/ttyLP3
|-
| style="background:grey;" | - || style="background:grey;" | || style="background:grey;" | || style="background:grey;" | || style="background:grey;" | '''GND''' || style="color:yellow;background:black;" align=center | '''9''' || style="color:yellow;background:black;" align=center | '''10''' || UART Rx || RxD || || GPIO_IO15__LPUART4_RX || /dev/ttyLP3
|-
| gpio24 || GPIO_IO21__GPIO2_IO21 || 0 || GPIO0 || GPIO || style="color:yellow;background:black;" align=center | '''11''' || style="color:yellow;background:black;" align=center | '''12''' || GPIO / AIN8 || GPIO1 || || GPIO_IO20__GPIO2_IO20 || gpio8
|-
| gpio25 || GPIO_IO19__GPIO2_IO19 || || GPIO2 || GPIO || style="color:yellow;background:black;" align=center | '''13''' || style="color:yellow;background:black;" align=center | '''14''' || style="background:grey;" | '''GND''' || style="background:grey;" | || style="background:grey;" | || style="background:grey;" | || style="background:grey;" | -
|-
| gpio96 || GPIO_IO18__GPIO2_IO18 || || GPIO3 || GPIO || style="color:yellow;background:black;" align=center | '''15''' || style="color:yellow;background:black;" align=center | '''16''' || GPIO || GPIO4 || 4 || GPIO_IO17__GPIO2_IO17 || gpio18
|-
| || || || || '''3,3V''' || style="color:yellow;background:black;" align=center | '''17''' || style="color:yellow;background:black;" align=center | '''18''' || GPIO || GPIO5 || 5 || GPIO_IO13__GPIO2_IO13 || gpio19
|-
| || SAI1_RXD0__LPSPI1_SOUT || || || SPI MOSI || style="color:yellow;background:black;" align=center | '''19''' || style="color:yellow;background:black;" align=center | '''20''' || style="background:grey;" | '''GND''' || style="background:grey;" | || style="background:grey;" | || style="background:grey;" | || style="background:grey;" | -
|-
| || SAI1_TXC__LPSPI1_SIN || || || SPI MISO || style="color:yellow;background:black;" align=center | '''21''' || style="color:yellow;background:black;" align=center | '''22''' || GPIO || GPIO6 || 6 || GPIO_IO12__GPIO2_IO12 || gpio
|-
| || SAI1_TXD0__LPSPI1_SCK || || || SPI CLK || style="color:yellow;background:black;" align=center | '''23''' || style="color:yellow;background:black;" align=center | '''24''' || SPI_CS0 || || || SAI1_TXFS__LPSPI1_PCS0 ||
|-
| style="background:grey;" | - || style="background:grey;" | || style="background:grey;" | || style="background:grey;" | || style="background:grey;" | '''GND''' || style="color:yellow;background:black;" align=center | '''25''' || style="color:yellow;background:black;" align=center | '''26''' || SPI_CS1 || || || GPIO_IO11__GPIO2_IO11 ||
|-
| || GPIO_IO10__GPIO2_IO10 || || || I2C Data || style="color:yellow;background:black;" align=center | '''27''' || style="color:yellow;background:black;" align=center | '''28''' || I2C clock || || || GPIO_IO09__LPI2C7_SCL ||
|-
| gpio132 || GPIO_IO08__GPIO2_IO08 || || GPIO5 || GPIO || style="color:yellow;background:black;" align=center | '''29''' || style="color:yellow;background:black;" align=center | '''30''' || style="background:grey;" | '''GND''' || style="background:grey;" | || style="background:grey;" | || style="background:grey;" | || style="background:grey;" | -
|-
| || GPIO_IO07__GPIO2_IO07 || || GPIO6 || GPIO || style="color:yellow;background:black;" align=center | '''31''' || style="color:yellow;background:black;" align=center | '''32''' || GPIO || GPIO12 || || GPIO_IO06__GPIO2_IO06 || gpio128
|-
| gpio134 || GPIO_IO05__GPIO2_IO05 || || GPIO13 || GPIO || style="color:yellow;background:black;" align=center | '''33''' || style="color:yellow;background:black;" align=center | '''34''' || style="background:grey;" | '''GND''' || style="background:grey;" | || style="background:grey;" | || style="background:grey;" | || style="background:grey;" | -
|-
| gpio135 || GPIO_IO04__GPIO2_IO04 || || GPIO19 || GPIO || style="color:yellow;background:black;" align=center | '''35''' || style="color:yellow;background:black;" align=center | '''36''' || GPIO || GPIO16 || || GPIO_IO03__GPIO2_IO03 || gpio131
|-
| || GPIO_IO02__GPIO2_IO02 || || GPIO26 || GPIO || style="color:yellow;background:black;" align=center | '''37''' || style="color:yellow;background:black;" align=center | '''38''' || GPIO || GPIO20 || || GPIO_IO01__GPIO2_IO01 || gpio130
|-
| style="background:grey;" | - || style="background:grey;" | || style="background:grey;" | || style="background:grey;" | || style="background:grey;" | '''GND''' || style="color:yellow;background:black;" align=center | '''39''' || style="color:yellow;background:black;" align=center | '''40''' || GPIO / 1-Wire || GPIO21 || || GPIO_IO00__GPIO2_IO00 || gpio129
|}

==Tested RPi shields/hats==
* [[Dragino Lora/GPS HAT]]
* [[PiTinfoV1.2 HAT]]
* [[NHD-2.4C-CTXP-BREAKOUT]]

==Tips==
===Bootstrap===
* Put ''Boot0'' jumper to go in [[Bootstrap]] mode

===U-Boot===
* Use OPOS93Dev "User" LED in U-Boot scripts:
** ON: <pre class="apf"> BIOS> gpio clear 27 </pre>
** OFF: <pre class="apf"> BIOS> gpio set 27 </pre>

* Boot from a USB Mass Storage:
<pre class="apf">
BIOS> setenv addusbargs 'setenv bootargs ${bootargs} root=/dev/sda1 rootfstype=ext4 rootwait'
BIOS> setenv usbboot 'run initargs; run addusbargs; usb start; load usb 0:1 ${loadaddr} /boot/${kernelimg} && load usb 0:1 ${fdt_addr} /boot/imx93-${fdt_name}.dtb && booti ${loadaddr} - ${fdt_addr};
BIOS> saveenv

BIOS> run usbboot
</pre>

===Linux===
* to activate login in Framebuffer console, please uncomment ''/etc/inittab'' line 35 this way:
<pre class="apf">
# Set up a getty on LCD
tty1::respawn:/sbin/getty 38400 tty1
</pre>

=Links=
* RaspberryPi is a registered trademark of RaspberryPi Foundation.

[[Category:DevelopmentBoards]]
[[Category:Hardware]]

File:OPOS93 Dev.png

2026-09-09T12:56:55Z

JulienB:

2026-01-19T17:04:56Z

JulienB: /* Test */

On this page you will find useful informations on how to use the Camera/CMOS Sensor Interface (CSI/CSI2) of the i.MX chip found on your APF and OPOS93Dev board.
Currently only the [[APF27]], [[APF6]] & [[OPOS93]] are supported.

==Hardware==
===APF27===
* All the signals of the i.MX27 CSI interface can be found on the J9 connector of the [[APF27Dev|APF27Dev development board]].
* You should connect an external camera/sensor compatible with the CSI interface (8bits data bus) to see something ;-). Here are the tested sensor models:
** [[OV9653]] / [[OV9655]]
** [[OV7670]]
** [[OV3640]]
* All these sensors are controllable through an I2C interface. The one on J8 connector of [[APF27Dev]] can for example be used.

===APF6===
* [[APF6Dev]] boards have a wandcam (OV5640) compatible connector (near the PCIexpress one).
* MIPI bus is used on [[APF6Dev]]

===OPOS93===
* The [[OPOS93DEV]] board has a 15-pin Raspberry Pi Camera compatible connector (located below the OPOS93 SoC).
* A 2-lane MIPI CSI-2 bus is used.
* Tested with the OmniVision OV5647 sensor.

==Driver==
* From now we consider that you have a supported camera module plugged on your development board
* CSI interface can be driven through the V4L2 (Video For Linux) standard interface as soon as CSI/MIPI driver is loaded:
{| border="1" cellpadding="10" cellspacing="0" summary="Camera drivers" class="wikitable"
|- style="background:#efefef;" align="center"
! APF27 || APF6 (kernel 3.19+)
|---
|<pre class="apf">
# modprobe mx27_camera
</pre>
* Then you have to load your camera driver in order for him to "attach" to the CSI one (for example for the OV9653):
<pre class="apf">
# modprobe ov96xx
</pre>
|
<pre class="apf">
# modprobe -a mx6-camera mipi-csi2 ov5640-mipi
</pre>
|}

* On OPOS93, the driver is automatically loaded when the camera is connected.
* Now it's up to you to configure your camera with the tools/API the camera driver is offering...

==Test==
* We have a small SDL/V4L2 app to quickly test that your camera is working properly (you will also need a LCD interface): ''target/demos/camera/capture/''
** it may be installed by default on your rootfs depending on your Buildroot defconfig.
** to launch it (here to have a 640x480 camera image on a LW700 TFT):
<pre class="apf">
# capture --width 640 --height 480 --cam_width 640 --cam_height 480
</pre>

* To trigger autofocus (APF6 with 3.19+ kernel):
<pre class="apf">
# v4l2-ctl -c auto_focus_start=1
</pre>

* On OPOS93DEV, the pipeline must have the same configuration on every link in the pipeline.
* Let's create a script:
<pre class="apf">
# vi setCam.sh

SOURCE=$3
FORV4L2=$4
XL=$1
YL=$2

if [[$SOURCE == ""]]; then
SOURCE=SBGGR10_1X10
fi
if [[$FORV4L2 == ""]]; then
FORV4L2=BG10
fi
if [[$XL == ""]]; then
XL=640
YL=480
fi

BAYER=$SOURCE/$XL\x$YL
echo Setting format to $XL/x$YL in $SOURCE - $FORV4L2
media-ctl -v -V "'csidev-4ae00000.csi':0 [fmt:$BAYER field:none]"
media-ctl -v -V "'csidev-4ae00000.csi':1 [fmt:$BAYER field:none]"
media-ctl -v -V "'mxc_isi.0':0 [fmt:$BAYER field:none]"
media-ctl -v -V "'mxc_isi.0':1 [fmt:$BAYER field:none]"
media-ctl -v -V "'crossbar':0 [fmt:$BAYER field:none]"
media-ctl -v -V "'crossbar':2 [fmt:$BAYER field:none]"
media-ctl -v -V "'ov5647 2-0036':0 [fmt:$BAYER field:none]"
media-ctl -l "'ov5647 2-0036':0 -> 'csidev-4ae00000.csi':0[1]"
v4l2-ctl -d /dev/video0 --set-fmt-video=width=$XL,height=$YL,pixelformat=$FORV4L2
v4l2-ctl -d /dev/v4l-subdev3 -c exposure=855
v4l2-ctl -d /dev/v4l-subdev3 -c gain_automatic=1
v4l2-ctl -d /dev/v4l-subdev3 -c auto_exposure=0
v4l2-ctl -d /dev/v4l-subdev3 -c white_balance_automatic=1

</pre>
<pre class="apf">
# chmod +x setCam.sh
</pre>

* Run your script (if you put some arguments, remember the entire pipeline must have the same configuration) and check that all pads have the same format.

<pre class="apf">
# .setCam.sh
# media-ctl -p
</pre>

* Try streaming to the framebuffer.
<pre class="apf">
# gst-launch-1.0 --no-position v4l2src ! 'video/x-bayer,format=bggr10le,width=640,height=480,bpp=10,framerate=(fraction)10/1' ! bayer2rgbneon reduce-bpp=t show-fps=t silent=t ! fbdevsink device=/dev/fb0
</pre>

==Going further==
* [[Using the i.MX27 video codec|Using the i.MX27 video codec]]

==Links==
* [http://linux.bytesex.org/v4l2/ Video4Linux]

[[Category:Vision]]