Please follow the documentation to upgrade your system to latest version.

If you want to use the MIPI camera, you need to enable it in overlays.
khadas/khadas-linux-kernel-dt-overlays/tree/main/overlays/vim4/5.4

• Add vim4n-os08a10 to fdt_overlays in /boot/dtb/amlogic/kvim4.dtb.overlay.env to enable OS08A10
• Add vim4n-imx415 to fdt_overlays in /boot/dtb/amlogic/kvim4.dtb.overlay.env to enable IMX415

Enable OS08A10: /khadas/khadas-linux-kernel-dt-overlays/blob/main/overlays/vim4/5.4/vim4n-os08a10.dts

$ cat /boot/dtb/amlogic/kvim4.dtb.overlay.env 
fdt_overlays=vim4n-os08a10

Enable IMX415: /khadas/khadas-linux-kernel-dt-overlays/blob/main/overlays/vim4/5.4/vim4n-imx415.dts

$ cat /boot/dtb/amlogic/kvim4.dtb.overlay.env 
fdt_overlays=vim4n-imx415

And then reboot to take effect.

The video node is /dev/media0.

Record video and perform H264 encoding:

gst-launch-1.0 v4l2src device=/dev/media0  io-mode=mmap num-buffers=300 ! video/x-raw,format=NV21,width=1920,height=1080,framerate=30/1 ! amlvenc bitrate=8000 ! h264parse ! qtmux ! filesink location=test-h264.mp4

Record video and perform H265 encoding:

gst-launch-1.0 v4l2src device=/dev/media0  io-mode=mmap num-buffers=300 ! video/x-raw,format=NV21,width=1920,height=1080,framerate=30/1 ! amlvenc bitrate=8000 ! h265parse ! qtmux ! filesink location=test-h265.mp4

Download and build the test source code: numbqq/v4l2_media_test

$ git clone https://github.com/numbqq/v4l2_media_test
$ cd v4l2_media_test
$ git checkout e0482794337c01935593a91b621f9c42123cf175
$ g++ v4l2_test_raw.cpp -o v4l2_test_raw  -Wall -Wno-int-to-pointer-cast -Wno-pointer-to-int-cast -pthread -fPIE -lispaml -ldl -lmediaAPI -ltuning -lm -fPIC -D_FORTIFY_SOURCE=2 -O3
$ ls v4l2_test_raw
v4l2_test_raw

$ git clone https://github.com/numbqq/v4l2_media_test
$ cd v4l2_media_test
$ g++ v4l2_test_raw.cpp -o v4l2_test_raw  -Wall -Wno-int-to-pointer-cast -Wno-pointer-to-int-cast -pthread -fPIE -lispaml -ldl -lmediaAPI -ltuning -llens -lm -fPIC -D_FORTIFY_SOURCE=2 -O3
$ ls v4l2_test_raw
v4l2_test_raw

Test:

$ ./v4l2_test_raw -p 0 -n 10 -m /dev/media0

It will capture 10 frames to file /tmp/dst_mif_0.yuv.

Preview the file:

$ ffplay -f rawvideo -pixel_format nv21 -video_size 3840x2160 /tmp/dst_mif_0.yuv