CAM1 Port Setup Guide

Second CSI Camera Configuration — Lectron PI5 Autopilot (CM5 Carrier Board)


Board Model	Lectron PI5 Autopilot
MIPI Connectors	22-pin FPC (SFV22R-2STE1HLF)
Supported Module	Raspberry Pi Compute Module 5

Overview

The Lectron PI5 Autopilot carrier board provides two MIPI CSI-2 camera ports for the Raspberry Pi Compute Module 5. The first port (CAM0) works with standard Raspberry Pi camera overlays. The second port (CAM1) uses a dedicated I2C bus and CSI receiver that requires a custom device tree overlay.

This guide covers how to configure the CAM1 port using the provided cam1-autodetect.sh script, which automatically generates and installs the correct device tree overlay for any supported Raspberry Pi camera module.

Board Configuration

Parameter	Value
Module	Raspberry Pi Compute Module 5 (CM5)
Carrier Board	Lectron PI5 Autopilot
MIPI Connectors	2 × 22-pin FPC (SFV22R-2STE1HLF)
Camera Support	10 Raspberry Pi–compatible camera modules
OS	Ubuntu 24.04

CAM0 Port (MIPI0)

The primary camera port uses dedicated CM5 I2C pins and works with standard Raspberry Pi camera overlays out of the box.

Signal	Pin	RP1 Controller	Linux I2C Bus
CM5_SDA0	22	i2c@88000 (rp1_i2c6)	i2c-10
CM5_SCL0	21	i2c@88000 (rp1_i2c6)	i2c-10
MIPI0 Data	1–15	csi@110000	—

CAM1 Port (MIPI1)

The secondary camera port uses the ID_SC/ID_SD I2C pins routed through a dedicated RP1 I2C controller. This port requires a custom device tree overlay, which the cam1-autodetect.sh script generates automatically.

Signal	Pin	RP1 Controller	Linux I2C Bus
ID_SD	20	i2c@70000 (rp1_i2c0)	i2c-0
ID_SC	19	i2c@70000 (rp1_i2c0)	i2c-0
MIPI1 Data	1–15	csi@128000	—

Info

Both connectors include 2.2 kΩ I2C pull-up resistors to CM5_3V3_OUTPUT and ESD protection.

Supported Cameras

The cam1-autodetect.sh script supports the following camera modules on the CAM1 port:

ID	Description	Resolution	Lanes	Compatible	Tested
`imx219`	Camera Module v2	8 MP	2-lane	`sony,imx219`	✅
`imx477`	HQ Camera	12.3 MP	2-lane	`sony,imx477`	❌
`imx708`	Camera Module v3	12 MP	2-lane	`sony,imx708`	✅
`imx296`	Global Shutter Camera	1.6 MP	1-lane	`sony,imx296`	❌
`imx500`	AI Camera Module	12.3 MP	2-lane	`sony,imx500`	❌
`ov5647`	Camera Module v1	5 MP	2-lane	`ovti,ov5647`	❌
`ov7251`	NoIR v2 (IR)	0.3 MP	1-lane	`ovti,ov7251`	✅
`ov9281`	Global Shutter (wide)	1 MP	2-lane	`ovti,ov9281`	✅
`imx258`	13 MP AF Module	13 MP	2-lane	`sony,imx258`	❌
`imx462`	Starlight Module	2.1 MP	2-lane	`sony,imx462`	❌

Prerequisites

Install the required packages before running the setup script:

sudo apt install i2c-tools device-tree-compiler git

Ensure camera_auto_detect is disabled in /boot/firmware/config.txt:

#camera_auto_detect=1

Downloading the Setup Script

The cam1-autodetect.sh script is available from the Lectron GitHub repository.

Clone the repositoryDownload only the script

git clone https://github.com/lectron/pi5-autopilot-cam1.git
cd pi5-autopilot-cam1
chmod +x cam1-autodetect.sh

wget https://raw.githubusercontent.com/lectron/pi5-autopilot-cam1/main/cam1-autodetect.sh
chmod +x cam1-autodetect.sh

Setting Up the CAM1 Port

Script Usage

The cam1-autodetect.sh script generates, compiles, and installs the correct device tree overlay for any supported camera on the CAM1 port.

Command	Description
`sudo ./cam1-autodetect.sh`	Auto-detect camera via I2C and install overlay
`sudo ./cam1-autodetect.sh imx219`	Install overlay for a specific camera
`sudo ./cam1-autodetect.sh --list`	Show all supported cameras
`sudo ./cam1-autodetect.sh --clean`	Remove all auto-installed overlays

Step-by-Step Setup

Follow these steps to configure a camera on the CAM1 port.

Step 1 — Configure CAM0 (if using dual cameras)

If you are using a camera on CAM0 as well, add the standard overlay to /boot/firmware/config.txt with the cam0 parameter:

dtoverlay=imx219,cam0

Note

Replace imx219 with your CAM0 camera model. The cam0 parameter is required to avoid conflicts with the CAM1 overlay.

Step 2 — Run the setup script for CAM1

Connect your camera to the CAM1 port and run the script, specifying the camera model:

sudo ./cam1-autodetect.sh imx708

The script will generate the device tree source, compile it, install the overlay to /boot/firmware/overlays/, and add the dtoverlay entry to /boot/firmware/config.txt.

Step 3 — Reboot

sudo reboot

Step 4 — Verify

After rebooting, verify both cameras are detected:

rpicam-hello --list-cameras

Expected output for a dual-camera setup (e.g., IMX219 on CAM0, IMX708 on CAM1):

Available cameras
-----------------
0 : imx219 [3280x2464] (/base/axi/pcie@120000/rp1/i2c@88000/imx219@10)
1 : imx708 [4608x2592] (/base/axi/pcie@120000/rp1/i2c@70000/imx708@1a)

You can also verify through the kernel log:

sudo dmesg | grep "Using sensor"
rp1-cfe 1f00110000.csi: Using sensor imx219 10-0010 for capture
rp1-cfe 1f00128000.csi: Using sensor imx708 0-001a for capture

Switching Cameras

To replace the camera on the CAM1 port with a different model:

sudo ./cam1-autodetect.sh --clean
sudo ./cam1-autodetect.sh ov9281
sudo reboot

Usage Examples

Quick Test with `rpicam-hello`

Test individual cameras using the camera index:

rpicam-hello --camera 0 -t 3000   # Test CAM0 for 3 seconds
rpicam-hello --camera 1 -t 3000   # Test CAM1 for 3 seconds

Capture a Still Image

rpicam-still --camera 1 -o cam1_photo.jpg

Record Video

rpicam-vid --camera 1 -t 10000 -o cam1_video.h264

Network Streaming with GStreamer

Stream video from the CAM1 port over TCP using GStreamer. Replace the camera-name path and host IP address with your actual values.

Sender — standard camera (IMX708 @ 1280×720)Sender — low-res camera (OV7251 @ 640×480)Receiver (viewing machine)

gst-launch-1.0 libcamerasrc \
  camera-name="/base/axi/pcie\@120000/rp1/i2c\@70000/imx708\@1a" \
  ! video/x-raw,colorimetry=bt709,format=NV12,width=1280,height=720,framerate=30/1 \
  ! queue ! jpegenc ! multipartmux \
  ! tcpserversink host=<BOARD_IP> port=5000

gst-launch-1.0 libcamerasrc \
  camera-name="/base/axi/pcie\@120000/rp1/i2c\@70000/ov7251\@60" \
  ! video/x-raw,colorimetry=bt709,format=NV12,width=640,height=480,framerate=30/1 \
  ! queue ! jpegenc ! multipartmux \
  ! tcpserversink host=<BOARD_IP> port=5000

gst-launch-1.0 tcpclientsrc host=<BOARD_IP> port=5000 \
  ! multipartdemux ! jpegdec ! autovideosink

Info

The camera-name path can be found in the output of rpicam-hello --list-cameras or gst-device-monitor-1.0 Video.

Dual Camera Streaming

To stream both cameras simultaneously, run two GStreamer pipelines on different ports:

# Terminal 1 — CAM0 on port 5000
gst-launch-1.0 libcamerasrc \
  camera-name="/base/axi/pcie\@120000/rp1/i2c\@88000/imx219\@10" \
  ! video/x-raw,colorimetry=bt709,format=NV12,width=1280,height=720,framerate=30/1 \
  ! queue ! jpegenc ! multipartmux \
  ! tcpserversink host=<BOARD_IP> port=5000

# Terminal 2 — CAM1 on port 5001
gst-launch-1.0 libcamerasrc \
  camera-name="/base/axi/pcie\@120000/rp1/i2c\@70000/imx708\@1a" \
  ! video/x-raw,colorimetry=bt709,format=NV12,width=1280,height=720,framerate=30/1 \
  ! queue ! jpegenc ! multipartmux \
  ! tcpserversink host=<BOARD_IP> port=5001

Camera Resolutions

When configuring GStreamer pipelines, use a resolution supported by your camera. Common maximum resolutions:

Camera	Max Resolution	Max FPS	Notes
`imx219`	3280×2464	21 fps (full)	Bayer RGGB
`imx477`	4056×3040	10 fps (full)	Bayer RGGB
`imx708`	4608×2592	14 fps (full)	Bayer RGGB
`ov5647`	2592×1944	15 fps (full)	Bayer RGGB
`ov7251`	640×480	107 fps	Mono 10-bit
`ov9281`	1280×800	120 fps	Mono 10-bit

Info

Use rpicam-hello --list-cameras to see all available modes and frame rates for your specific camera.

`config.txt` Reference

A complete /boot/firmware/config.txt camera section for a dual-camera setup:

# Disable auto-detection
#camera_auto_detect=1

# CAM0: standard Raspberry Pi overlay
dtoverlay=imx219,cam0

# CAM1: auto-generated overlay (managed by cam1-autodetect.sh)
# cam1-autodetect managed
dtoverlay=cam1-auto-imx708

Important

When using both camera ports, the CAM0 overlay must include the ,cam0 parameter. Without it, the standard overlay defaults to the CAM1 I2C bus, causing a conflict.

Device Tree Label Reference

For advanced users and custom overlay development, the following device tree labels are relevant on the CM5:

Label	Device Tree Path	Description
`i2c_csi_dsi0`	`/axi/.../rp1/i2c@88000`	Camera 0 I2C bus
`i2c_csi_dsi1`	`/axi/.../rp1/i2c@70000`	Camera 1 I2C bus
`csi0`	`/axi/.../rp1/csi@110000`	CSI-2 receiver for Camera 0
`csi1`	`/axi/.../rp1/csi@128000`	CSI-2 receiver for Camera 1
`cam0_clk`	`/cam0_clk`	Clock source for Camera 0
`cam1_clk`	`/cam1_clk`	Clock source for Camera 1
`i2c0if`	`/i2c0if`	Firmware flag — I2C0 interface enable
`i2c0mux`	`/i2c0mux`	Firmware flag — I2C0 mux enable

Troubleshooting

Camera not listed in rpicam-hello --list-cameras

Verify the camera is securely connected to the CAM1 FPC connector.
Check the kernel log for detection messages:
```
sudo dmesg | grep -E "csi|imx|ov"
```
Ensure the correct overlay is loaded by checking /boot/firmware/config.txt.
Run sudo ./cam1-autodetect.sh --clean and re-run the setup.

GStreamer pipeline fails with \"not-negotiated\"

The requested resolution or frame rate is not supported by the camera. Run rpicam-hello --list-cameras to see available modes and adjust the width, height, and framerate values in the pipeline.

\"Could not find a camera named\" error in GStreamer

The camera-name path is incorrect. Use gst-device-monitor-1.0 Video to find the exact device path.

Switching to a different camera model

Always run sudo ./cam1-autodetect.sh --clean before installing an overlay for a different camera, then reboot after installing the new one.

CAM1 Port Setup Guide

Overview

Board Configuration

CAM0 Port (MIPI0)

CAM1 Port (MIPI1)

Supported Cameras

Prerequisites

Downloading the Setup Script

Setting Up the CAM1 Port

Script Usage

Step-by-Step Setup

Switching Cameras

Usage Examples

Quick Test with rpicam-hello

Capture a Still Image

Record Video

Network Streaming with GStreamer

Dual Camera Streaming

Camera Resolutions

config.txt Reference

Device Tree Label Reference

Troubleshooting

Quick Test with `rpicam-hello`

`config.txt` Reference