data_collection: add IMX219 MIPI CSI-2 capture

Wire the WaveShare ESP32-P4-Nano's IMX219 (RPi Camera v2) into data_collection
over MIPI CSI-2 using the new rosterloh-drivers video_esp32_csi receiver:

- Board overlay: imx219@10 on i2c0 (self-clocked module, 2 data lanes),
  CSI receiver endpoint, chosen zephyr,camera. Schematic-confirmed wiring.
- prj.conf: enable VIDEO + VIDEO_ESP32_CSI + the video shell, and PSRAM-backed
  frame buffers (shared multi-heap, external attribute) for RAW10 frames.
- main.c: set format, enqueue buffers, stream, dequeue one frame and log stats.

WIP: builds and flashes. Runtime capture not yet verified - blocked by a
board-level PSRAM early-boot hang and a pre-existing data_collection console
silence over the CH343 UART port (the original app is equally silent).
Requires the matching rosterloh-drivers branch esp32p4-csi-imx219.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

Author: rosterloh

applications/data_collection/boards/esp32p4_nano_esp32p4_hpcore.overlay

@@ -0,0 +1,61 @@
+/*
+ * Copyright (c) 2026 Richard Osterloh
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * IMX219 (Raspberry Pi Camera v2) over MIPI CSI-2 on the Waveshare
+ * ESP32-P4-Nano. Mirrors the upstream raspberry_pi_camera_module_2 shield.
+ *
+ * ┌─ BOARD WIRING TO CONFIRM AGAINST THE WAVESHARE SCHEMATIC ──────────────┐
+ * │ - Sensor I2C (SCCB): assumed &i2c0 (the bus enabled on the board). If   │
+ * │   the CSI FPC routes SCCB to a different bus, move the imx219 node.     │
+ * │ - XCLK 24 MHz: the IMX219 needs an external master clock. The RPi cam   │
+ * │   module has no oscillator, so the P4 must drive 24 MHz onto the CSI    │
+ * │   connector clock pin (e.g. via LEDC/CLK_OUT). The fixed-clock below is │
+ * │   informational only (the sensor driver reads its frequency for timing);│
+ * │   generating the actual clock is a separate hardware bring-up step.     │
+ * │ - Sensor reset/XSHUTDOWN GPIO and the 2.5 V D-PHY LDO rail may also need │
+ * │   asserting before probe (see the board &ldo node).                     │
+ * └─────────────────────────────────────────────────────────────────────────┘
+ */
+
+#include <zephyr/dt-bindings/video/video-interfaces.h>
+
+/ {
+	imx219_input_clock: imx219-input-clock {
+		compatible = "fixed-clock";
+		clock-frequency = <24000000>;
+		#clock-cells = <0>;
+	};
+
+	chosen {
+		zephyr,camera = &mipi_csi;
+	};
+};
+
+&mipi_csi {
+	status = "okay";
+
+	port {
+		csi_ep_in: endpoint {
+			remote-endpoint-label = "imx219_ep_out";
+			bus-type = <VIDEO_BUS_TYPE_CSI2_DPHY>;
+			data-lanes = <1 2>;
+		};
+	};
+};
+
+&i2c0 {
+	imx219: imx219@10 {
+		compatible = "sony,imx219";
+		reg = <0x10>;
+		clocks = <&imx219_input_clock>;
+
+		port {
+			imx219_ep_out: endpoint {
+				remote-endpoint-label = "csi_ep_in";
+				bus-type = <VIDEO_BUS_TYPE_CSI2_DPHY>;
+				data-lanes = <1 2>;
+			};
+		};
+	};
+};

applications/data_collection/prj.conf

@@ -18,6 +18,19 @@ CONFIG_NET_MGMT_EVENT=y
 CONFIG_NET_CONFIG_SETTINGS=y
 CONFIG_NET_CONFIG_NEED_IPV4=y
 
+# Camera: IMX219 over MIPI CSI-2. Frames are large RAW10 (~2.5 MB at
+# 1640x1232), so video buffers are drawn from PSRAM via the shared multi-heap
+# (SMH attribute 2 = external) and aligned to the 64-byte D-cache line.
+CONFIG_VIDEO=y
+CONFIG_VIDEO_ESP32_CSI=y
+CONFIG_VIDEO_SHELL=y
+CONFIG_VIDEO_BUFFER_POOL_NUM_MAX=2
+CONFIG_VIDEO_BUFFER_POOL_ALIGN=64
+CONFIG_VIDEO_BUFFER_USE_SHARED_MULTI_HEAP=y
+CONFIG_VIDEO_BUFFER_SMH_ATTRIBUTE=2
+CONFIG_ESP_SPIRAM=y
+CONFIG_ESP_SPIRAM_HEAP_SIZE=6291456
+
 # MCUmgr: SMP over UDP for remote OS management (reboot / echo / taskstat).
 # NOTE: image-upgrade OTA is intentionally NOT enabled here. It requires the
 # MCUboot bootloader (sysbuild), which does not boot on the rev v1.3 ESP32-P4

applications/data_collection/src/main.c

@@ -8,9 +8,16 @@
 #include <zephyr/net/net_if.h>
 #include <zephyr/net/net_mgmt.h>
 #include <zephyr/net/net_event.h>
+#include <zephyr/drivers/video.h>
 
 LOG_MODULE_REGISTER(main, LOG_LEVEL_INF);
 
+/* IMX219 2x2-binned full-FoV RAW10 frame. */
+#define CAPTURE_WIDTH  1640
+#define CAPTURE_HEIGHT 1232
+#define CAPTURE_FORMAT VIDEO_PIX_FMT_SBGGR10P
+#define CAPTURE_NBUFS  2
+
 static struct net_mgmt_event_callback ipv4_cb;
 
 static void on_ipv4_addr_add(struct net_mgmt_event_callback *cb, uint64_t mgmt_event,
@@ -33,12 +40,82 @@ static void on_ipv4_addr_add(struct net_mgmt_event_callback *cb, uint64_t mgmt_e
 	}
 }
 
+static int capture_one_frame(const struct device *cam)
+{
+	struct video_format fmt = {
+		.type = VIDEO_BUF_TYPE_OUTPUT,
+		.pixelformat = CAPTURE_FORMAT,
+		.width = CAPTURE_WIDTH,
+		.height = CAPTURE_HEIGHT,
+	};
+	struct video_buffer *vbuf;
+	int ret;
+
+	ret = video_set_format(cam, &fmt);
+	if (ret < 0) {
+		LOG_ERR("Failed to set format (%d)", ret);
+		return ret;
+	}
+
+	ret = video_get_format(cam, &fmt);
+	if (ret < 0) {
+		return ret;
+	}
+	LOG_INF("Capturing %ux%u, pitch %u, %u bytes/frame", fmt.width, fmt.height, fmt.pitch,
+		fmt.pitch * fmt.height);
+
+	for (int i = 0; i < CAPTURE_NBUFS; i++) {
+		vbuf = video_buffer_aligned_alloc(fmt.pitch * fmt.height,
+						  CONFIG_VIDEO_BUFFER_POOL_ALIGN, K_NO_WAIT);
+		if (vbuf == NULL) {
+			LOG_ERR("Failed to allocate video buffer %d", i);
+			return -ENOMEM;
+		}
+		vbuf->type = VIDEO_BUF_TYPE_OUTPUT;
+		ret = video_enqueue(cam, vbuf);
+		if (ret < 0) {
+			LOG_ERR("Failed to enqueue buffer %d (%d)", i, ret);
+			return ret;
+		}
+	}
+
+	ret = video_stream_start(cam, VIDEO_BUF_TYPE_OUTPUT);
+	if (ret < 0) {
+		LOG_ERR("Failed to start stream (%d)", ret);
+		return ret;
+	}
+
+	ret = video_dequeue(cam, &vbuf, K_SECONDS(2));
+	if (ret < 0) {
+		LOG_ERR("Failed to dequeue frame (%d)", ret);
+		video_stream_stop(cam, VIDEO_BUF_TYPE_OUTPUT);
+		return ret;
+	}
+
+	LOG_INF("Frame captured: %u bytes, first pixels %02x %02x %02x %02x", vbuf->bytesused,
+		vbuf->buffer[0], vbuf->buffer[1], vbuf->buffer[2], vbuf->buffer[3]);
+
+	video_stream_stop(cam, VIDEO_BUF_TYPE_OUTPUT);
+	return 0;
+}
+
 int main(void)
 {
+	const struct device *cam = DEVICE_DT_GET(DT_CHOSEN(zephyr_camera));
+
 	LOG_INF("data_collection starting (SMP/UDP management ready)");
 
 	net_mgmt_init_event_callback(&ipv4_cb, on_ipv4_addr_add, NET_EVENT_IPV4_ADDR_ADD);
 	net_mgmt_add_event_callback(&ipv4_cb);
 
+	if (!device_is_ready(cam)) {
+		LOG_ERR("Camera %s not ready", cam->name);
+		return 0;
+	}
+
+	if (capture_one_frame(cam) == 0) {
+		LOG_INF("Camera capture OK; use the `video` shell for further captures");
+	}
+
 	return 0;
 }