i.MX95 Configuration

i.MX95 Configuration (Advanced)

The i.MX95 platform is a powerhouse for vision applications but requires careful configuration due to its Crossbar routing architecture. Unlike simpler chips, the i.MX95 uses a chain of intermediate devices (csidev, formatter, crossbar) to route data to the ISP.

Visualizing the Architecture

The i.MX95 routing topology is complex. Data flows through several blocks before reaching the processing pipeline.

Collision Risk: Crossbar Output Config

The Crossbar sits at the end of the pipeline, collecting streams from the Formatters and distributing them to the ISIs.

• Pipeline A (Formatter@20) connects to Crossbar Input Pad 2.
• Pipeline B (Formatter@120) connects to Crossbar Input Pad 3.

CRITICAL: Avoid Crossbar Collisions

A collision occurs if you try to route both input pipelines to the same output destination (ISI) simultaneously.

• Correct: Pipeline A -> route to ISI.0 (Pad 5) | Pipeline B -> route to ISI.1 (Pad 9).
• Collision: Pipeline A -> ISI.0 | Pipeline B -> ISI.0.

Physical Port Mapping Table

Use the table below to ensure you are targeting the correct devices in your YAML file.

Physical Port	YAML Device Name	Connected Pipeline
CSI1	csidev-4ad30000.csi	Pipeline A (via Formatter@20)
CSI2	csidev-4ad40000.csi	Pipeline B (via Formatter@120)

Crossbar Pad Reference

The Crossbar is the core routing component. Understanding the pad layout is critical for avoiding collisions.

Pad Type	Pad Number	Connected Device	Pipeline
Input	Pad 2	Formatter@20	Pipeline A (CSI1)
Input	Pad 3	Formatter@120	Pipeline B (CSI2)
Output	Pad 5	mxc_isi.0	ISI Channel 0
Output	Pad 6	mxc_isi.1	ISI Channel 1
Output	Pad 7	mxc_isi.2	ISI Channel 2
Output	Pad 8	mxc_isi.3	ISI Channel 3
Output	Pad 9	mxc_isi.4	ISI Channel 4
Output	Pad 10	mxc_isi.5	ISI Channel 5
Output	Pad 11	mxc_isi.6	ISI Channel 6
Output	Pad 12	mxc_isi.7	ISI Channel 7

Pad Usage Guide

• Pipeline A cameras (CSI1) typically route from Pad 2 → Pads 5-8 (ISI.0-3)
• Pipeline B cameras (CSI2) typically route from Pad 3 → Pads 9-12 (ISI.4-7)

YAML Configuration Examples

For complete configuration files, check our GitHub Repository:

Configuration	Connection	Description
VxRoute_iMX95_GMSL_2CAM_CSI1.yaml		2 cameras on CSI1
VxRoute_iMX95_GMSL_CSI1.yaml		4 cameras on CSI1
VxRoute_iMX95_GMSL_CSI2.yaml		4 cameras on CSI2
VxRoute_iMX95_GMSL_CSI1_CSI2.yaml		8 cameras (both ports)

Complete Data Flow

Each device in the chain requires internal routing configuration:

Sensor → max96717 (Serializer) → max96724 (Deserializer) → csidev → formatter → crossbar → mxc_isi

Example: Routing 2 cameras on CSI1 to ISI.0 and ISI.1

Routes:
  # 1. Crossbar: Route Pipeline A inputs to ISI.0 and ISI.1
  - device: "crossbar"
    links:
      - {src: "2/0", dst: "5/0", enable: 1}  # Camera 1 (VC0) -> mxc_isi.0
      - {src: "2/1", dst: "6/0", enable: 1}  # Camera 2 (VC1) -> mxc_isi.1

  # 2. Formatter: Enable data pass-through for 2 virtual channels
  - device: "4ac15000.syscon:formatter@20"
    links:
      - {src: "0/0", dst: "1/0", enable: 1}
      - {src: "0/1", dst: "1/1", enable: 1}

  # 3. CSI Device: Route input to formatter
  - device: "csidev-4ad30000.csi"
    links:
      - {src: "0/0", dst: "1/0", enable: 1}
      - {src: "0/1", dst: "1/1", enable: 1}

  # 4. Deserializer: Aggregate 2 serializer inputs to CSI output (Pad 4)
  - device: "max96724 1-002e"
    links:
      - {src: "0/0", dst: "4/0", enable: 1}  # Port A -> VC0
      - {src: "1/0", dst: "4/1", enable: 1}  # Port B -> VC1

  # 5. Serializers: Pass sensor data through
  - device: "max96717 12-0040"
    links:
      - {src: "0/0", dst: "1/0", enable: 1}
  - device: "max96717 13-0040"
    links:
      - {src: "0/0", dst: "1/0", enable: 1}

MediaLinks:
  # Connect deserializer output (Pad 4) to CSI device input (Pad 0)
  - {src: "max96724 1-002e:4", dst: "csidev-4ad30000.csi:0", enable: 1}