i.MX95 Configuration

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.

GMSL YAML Configurator & Exporter

Use the interactive configurator below to start from a predefined Hardware Preset, or manually enable CSI modules and toggle individual ports. The YAML output updates in real-time and can be copied directly into your media_link.yaml file.

When to enable a CSI module

Enable a CSI module only if the corresponding CSI connector is physically attached to the board.
If a connector is unplugged or absent, leave the module disabled. Enabling a module whose connector is not present will cause the route to fail.

Configuration	Connection	Active Ports	Action
2 cameras on CSI1 VxRoute_iMX95_GMSL_2CAM_CSI1.yaml		CSI2 P3P2P1P0 CSI1 P0P1P2P3
2 cameras on CSI1 ONLY VxRoute_iMX95_GMSL_2CAM_CSI1_ONLY.yaml		CSI1 P0P1P2P3
4 cameras on CSI1 VxRoute_iMX95_GMSL_CSI1.yaml		CSI2 P3P2P1P0 CSI1 P0P1P2P3
4 cameras on CSI1 ONLY VxRoute_iMX95_GMSL_CSI1_ONLY.yaml		CSI1 P0P1P2P3
4 cameras on CSI2 VxRoute_iMX95_GMSL_CSI2.yaml		CSI2 P3P2P1P0 CSI1 P0P1P2P3
8 cameras (both ports) VxRoute_iMX95_GMSL_CSI1_CSI2.yaml		CSI2 P3P2P1P0 CSI1 P0P1P2P3

CSI2 Module (Upper)

DISABLED

CSI2_BOARD_PCB

Port 3

Port 2

Port 1

Port 0

CSI1 Module (Lower)

DISABLED

CSI1_BOARD_PCB

Port 0

Port 1

Port 2

Port 3

generated_media_link.yaml

Advanced: Port Mapping and Collision Prevention (Click to expand)

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)