RK3399教程: camera

公众号

欢迎扫码关注本人微信公众号:公众号上分享更多嵌入式知识和资料,分享个人学习嵌入式的心得体会。欢迎大家一起来玩呀。
RK3399教程: camera_第1张图片

RK3399 camera

名词解释

在现代移动设备中,常用一种接口用来连接SOC和LCD和Camera,这种接口就是MIPI。
其中SOC和LCD连接叫 DSI(DisplayCommandSet),SOC和Camera连接叫CSI(DisplaySerialInterface)。

硬件连接

RK3399教程: camera_第2张图片

一般情况下,Camera和SOC有两个接口进行连接,分为为MIPI接口和I2C接口,其中MIPI接口用来传输图像的数据,数据传输路径为从Sensor传输到SOC。另一个接口为I2C接口,主要是用来SOC对Sensor初始化配置寄存器和摄像头参数的配置,比如要进行图像数据捕获的时候就需要通过i2c对Sensor的寄存器进行配置。

图像数据路径

RK3399教程: camera_第3张图片

RK3399教程: camera_第4张图片

由上面的两个图可以看到,光线经过Sensor之后,Sensor芯片经过ADC转换生成图像数据,然后Sensor生成的图像数据经过MIPI总线进入SOC,进入SOC之后经过ISP进行图像处理。所以由此可以可以看出,Camera驱动V4L2一定有这3部分组成,第一部分与Sensor相关的,比如控制Sensor的寄存器进行配置,这一部分是有Sensor厂家提供。第二部分和MIPI相关的,需要MIPI进行图像传输,所以驱动应该就有这一部分的驱动,这部分一般是由SOC厂家提供。第三部分就是ISP部分,有些SOC有ISP图像处理模块,经过MIPI传输的图像进入SOC之后需要在传入SOC的ISP模块对图像进一步进行加工,所以一定是有一部分驱动是描述ISP模块的。

代码路径

和硬件相关的驱动有3部分,分别为Sensor相关的,MIPI相关,ISP相关的。
Sensor: \kernel\drivers\media\i2c\ov13850.c
MIPI相关:\kernel\drivers\phy\rockchip\phy-rockchip-mipi-rx.c
ISP相关:\kernel\drivers\media\platform\rockchip\isp1\rkisp1.c

dts

我们已经知道Camera有3部分的驱动,分别是描述Sensor、MIPI相关、ISP相关的,所以在dts中也有描述这3部分的。
下面是和摄像头相关的dts

//这部分是根Senser相关的
&i2c1 {
	status = "okay";
    ov13850: ov13850@10 {
		compatible = "ovti,ov13850";
		status = "disabled";
		reg = <0x10>;                     //i2c地址
		clocks = <&cru SCLK_CIF_OUT>;
		clock-names = "xvclk";
		/* avdd-supply = <>; */
		/* dvdd-supply = <>; */
		/* dovdd-supply = <>; */
		/* reset-gpios = <>; */
		reset-gpios = <&gpio2 10 GPIO_ACTIVE_HIGH>;   //复位脚配置
		pwdn-gpios = <&gpio1 4 GPIO_ACTIVE_HIGH>;     //power down脚配置
		pinctrl-names = "rockchip,camera_default";
		pinctrl-0 = <&cif_clkout>;
		rockchip,camera-module-index = <0>;           //其他的配置功能可以查看rochchip文档
		rockchip,camera-module-facing = "back";
		rockchip,camera-module-name = "CMK-CT0116";
		rockchip,camera-module-lens-name = "Largan-50013A1";
		lens-focus = <&vm149c>;
		port {
			ucam_out0: endpoint {
				remote-endpoint = <&mipi_in_ucam0>;  //Sensor连接到mipi
				//remote-endpoint = <&mipi_in_ucam1>;
				data-lanes = <1 2>;
			};
		};
	};
};

//这部分是和mipi相关
&mipi_dphy_rx0 {
	status = "disabled";

	ports {
		#address-cells = <1>;
		#size-cells = <0>;
        //mipi有两端一段连接Sensor,另一端连接ISP
		port@0 {
			reg = <0>;
			#address-cells = <1>;
			#size-cells = <0>;
            //连接到Sensor
			mipi_in_ucam0: endpoint@1 {
				reg = <1>;
				remote-endpoint = <&ucam_out0>;
				data-lanes = <1 2>;
			};
		};

		port@1 {
			reg = <1>;
			#address-cells = <1>;
			#size-cells = <0>;
            //连接到ISP
			dphy_rx0_out: endpoint@0 {
				reg = <0>;
				remote-endpoint = <&isp0_mipi_in>;
			};
		};
	};
};


//这部分是和ISP相关的
&rkisp1_0 {
	status = "disabled";

	port {
		#address-cells = <1>;
		#size-cells = <0>;
        //连接到MIPI
		isp0_mipi_in: endpoint@0 {
			reg = <0>;
			remote-endpoint = <&dphy_rx0_out>;
		};
	};
};
   

从dts我们可以看出Sensor和mipi和isp的连接关系,其中Sensor连接到mipi,然后mipi连接到isp。
ucam_out0 ->mipi_in_ucam0->dphy_rx0_out->isp0_mipi_in。

查看Sensor驱动ov13850.c

根据dts可以知道Sensor是挂载在i2c下的,根据dts的使用方法在ov13850.c一定会有一个struct i2c_driver,任何根据设备树的匹配规则,compatible = “ovti,ov13850”;和.of_match_table = of_match_ptr(ov13850_of_match), 进行匹配,然后i2c_driver里面的probe函数被调用,然后进入这个函数ov13850_probe,我们主要是查看ov13850_probe这个函数做了什么。

static struct i2c_driver ov13850_i2c_driver = {
	.driver = {
		.name = OV13850_NAME,
		.pm = &ov13850_pm_ops,
		.of_match_table = of_match_ptr(ov13850_of_match),
	},
	.probe		= &ov13850_probe,   //函数重要函数入口
	.remove		= &ov13850_remove,
	.id_table	= ov13850_match_id,
};

//完整代码,完整代码主要是解析dts里面的数据,获取reset脚等和硬件相关的配置,可以不用看,硬件操作我们不关心,因为不同的Sensor会有不同的硬件操作。
static int ov13850_probe(struct i2c_client *client,
			 const struct i2c_device_id *id)
{
	struct device *dev = &client->dev;
	struct device_node *node = dev->of_node;
	struct ov13850 *ov13850;
	struct v4l2_subdev *sd;
	char facing[2];
	int ret;

	dev_info(dev, "driver version: %02x.%02x.%02x",
		DRIVER_VERSION >> 16,
		(DRIVER_VERSION & 0xff00) >> 8,
		DRIVER_VERSION & 0x00ff);

	ov13850 = devm_kzalloc(dev, sizeof(*ov13850), GFP_KERNEL);
	if (!ov13850)
		return -ENOMEM;

	ret = of_property_read_u32(node, RKMODULE_CAMERA_MODULE_INDEX,
				   &ov13850->module_index);
	ret |= of_property_read_string(node, RKMODULE_CAMERA_MODULE_FACING,
				       &ov13850->module_facing);
	ret |= of_property_read_string(node, RKMODULE_CAMERA_MODULE_NAME,
				       &ov13850->module_name);
	ret |= of_property_read_string(node, RKMODULE_CAMERA_LENS_NAME,
				       &ov13850->len_name);
	if (ret) {
		dev_err(dev, "could not get module information!\n");
		return -EINVAL;
	}

	ov13850->client = client;
	ov13850->cur_mode = &supported_modes[0];

	ov13850->xvclk = devm_clk_get(dev, "xvclk");
	if (IS_ERR(ov13850->xvclk)) {
		dev_err(dev, "Failed to get xvclk\n");
		return -EINVAL;
	}
	ret = clk_set_rate(ov13850->xvclk, OV13850_XVCLK_FREQ);
	if (ret < 0) {
		dev_err(dev, "Failed to set xvclk rate (24MHz)\n");
		return ret;
	}
	if (clk_get_rate(ov13850->xvclk) != OV13850_XVCLK_FREQ)
		dev_warn(dev, "xvclk mismatched, modes are based on 24MHz\n");

	ov13850->reset_gpio = devm_gpiod_get(dev, "reset", GPIOD_OUT_LOW);
	if (IS_ERR(ov13850->reset_gpio))
		dev_warn(dev, "Failed to get reset-gpios\n");

	ov13850->pwdn_gpio = devm_gpiod_get(dev, "pwdn", GPIOD_OUT_LOW);
	if (IS_ERR(ov13850->pwdn_gpio))
		dev_warn(dev, "Failed to get pwdn-gpios\n");

	ret = ov13850_configure_regulators(ov13850);
	if (ret) {
		dev_err(dev, "Failed to get power regulators\n");
		return ret;
	}

	ov13850->pinctrl = devm_pinctrl_get(dev);
	if (!IS_ERR(ov13850->pinctrl)) {
		ov13850->pins_default =
			pinctrl_lookup_state(ov13850->pinctrl,
					     OF_CAMERA_PINCTRL_STATE_DEFAULT);
		if (IS_ERR(ov13850->pins_default))
			dev_err(dev, "could not get default pinstate\n");

		ov13850->pins_sleep =
			pinctrl_lookup_state(ov13850->pinctrl,
					     OF_CAMERA_PINCTRL_STATE_SLEEP);
		if (IS_ERR(ov13850->pins_sleep))
			dev_err(dev, "could not get sleep pinstate\n");
	}

	mutex_init(&ov13850->mutex);

	sd = &ov13850->subdev;
	v4l2_i2c_subdev_init(sd, client, &ov13850_subdev_ops);
	ret = ov13850_initialize_controls(ov13850);
	if (ret)
		goto err_destroy_mutex;

	ret = __ov13850_power_on(ov13850);
	if (ret)
		goto err_free_handler;

	ret = ov13850_check_sensor_id(ov13850, client);
	if (ret)
		goto err_power_off;

#ifdef CONFIG_VIDEO_V4L2_SUBDEV_API
	sd->internal_ops = &ov13850_internal_ops;
	sd->flags |= V4L2_SUBDEV_FL_HAS_DEVNODE;
#endif
#if defined(CONFIG_MEDIA_CONTROLLER)
	ov13850->pad.flags = MEDIA_PAD_FL_SOURCE;
	sd->entity.type = MEDIA_ENT_T_V4L2_SUBDEV_SENSOR;
	ret = media_entity_init(&sd->entity, 1, &ov13850->pad, 0);
	if (ret < 0)
		goto err_power_off;
#endif

	memset(facing, 0, sizeof(facing));
	if (strcmp(ov13850->module_facing, "back") == 0)
		facing[0] = 'b';
	else
		facing[0] = 'f';

	snprintf(sd->name, sizeof(sd->name), "m%02d_%s_%s %s",
		 ov13850->module_index, facing,
		 OV13850_NAME, dev_name(sd->dev));
	ret = v4l2_async_register_subdev_sensor_common(sd);
	if (ret) {
		dev_err(dev, "v4l2 async register subdev failed\n");
		goto err_clean_entity;
	}

	pm_runtime_set_active(dev);
	pm_runtime_enable(dev);
	pm_runtime_idle(dev);

	return 0;

err_clean_entity:
#if defined(CONFIG_MEDIA_CONTROLLER)
	media_entity_cleanup(&sd->entity);
#endif
err_power_off:
	__ov13850_power_off(ov13850);
err_free_handler:
	v4l2_ctrl_handler_free(&ov13850->ctrl_handler);
err_destroy_mutex:
	mutex_destroy(&ov13850->mutex);

	return ret;
}

//上面的函数精简版
static int ov13850_probe(struct i2c_client *client,
			 const struct i2c_device_id *id)
{
      //这个prob函数最重要的功能就是下面这两个函数。

     //v4l2框架将Sensor统一描述为 struct v4l2_subdev对象,这个对象里面有硬件相关的操作函数,这函数描述的对象为struct v4l2_subdev_ops,由下面的函数可以知道我们将Sensor当成一个对象sd,ov13850_subdev_ops是Sensor操作硬件的函数。struct v4l2_subdev_ops可以指向struct v4l2_subdev_ops,所以应用就可以通过ioctrl找到Sensor这个实体,然后找到硬件操作函数,从而控制寄存器的配置。
 
     v4l2_i2c_subdev_init(sd, client, &ov13850_subdev_ops);
     //最重要的函数,将Sensor对象sd,添加到框架的链表当中 
     ret = v4l2_async_register_subdev_sensor_common(sd);
}

//和Sensor相关的操作函数,最后是通过ioctrl一层一层的调用到这里,
这里面的操作函数对于不同的Sensor不一定全部相同,有些Sensor的功能多一点可能操作函数就多一点。
static const struct v4l2_subdev_ops ov13850_subdev_ops = {
	.core	= &ov13850_core_ops,   //对Sensor控制的核心操作函数
	.video	= &ov13850_video_ops,  //录像的时候控制的操作函数
	.pad	= &ov13850_pad_ops,
};


static const struct v4l2_subdev_core_ops ov13850_core_ops = {
	.s_power = ov13850_s_power,
	.ioctl = ov13850_ioctl,
#ifdef CONFIG_COMPAT
	.compat_ioctl32 = ov13850_compat_ioctl32,
#endif
};

static const struct v4l2_subdev_video_ops ov13850_video_ops = {
	.s_stream = ov13850_s_stream,
	.g_frame_interval = ov13850_g_frame_interval,
};


static const struct v4l2_subdev_pad_ops ov13850_pad_ops = {
	.enum_mbus_code = ov13850_enum_mbus_code,
	.enum_frame_size = ov13850_enum_frame_sizes,
	.get_fmt = ov13850_get_fmt,
	.set_fmt = ov13850_set_fmt,
};


查看MIPI相关驱动phy-rockchip-mipi-rx.c

MIPI相关的驱动主要是用来配置MIPI接口的寄存器,然后在使能接收MIPI接口等功能。其入口其实是和Sensor差不多的,只不过是使用struct platform_driver而已与struct i2c_driver类似,最后还是调用probe函数。

//MIPI相关驱动的入口函数rockchip_mipidphy_probe
static struct platform_driver rockchip_isp_mipidphy_driver = {
	.probe = rockchip_mipidphy_probe,
	.remove = rockchip_mipidphy_remove,
	.driver = {
			.name = "rockchip-mipi-dphy-rx",
			.pm = &rockchip_mipidphy_pm_ops,
			.of_match_table = rockchip_mipidphy_match_id,
	},
};


//全部代码,下面会精简代码
static int rockchip_mipidphy_probe(struct platform_device *pdev)
{
	struct device *dev = &pdev->dev;
	struct v4l2_subdev *sd;
	struct mipidphy_priv *priv;
	struct regmap *grf;
	struct resource *res;
	const struct of_device_id *of_id;
	const struct dphy_drv_data *drv_data;
	int i, ret;

	priv = devm_kzalloc(dev, sizeof(*priv), GFP_KERNEL);
	if (!priv)
		return -ENOMEM;
	priv->dev = dev;

	of_id = of_match_device(rockchip_mipidphy_match_id, dev);
	if (!of_id)
		return -EINVAL;

	grf = syscon_node_to_regmap(dev->parent->of_node);
	if (IS_ERR(grf)) {
		grf = syscon_regmap_lookup_by_phandle(dev->of_node,
						      "rockchip,grf");
		if (IS_ERR(grf)) {
			dev_err(dev, "Can't find GRF syscon\n");
			return -ENODEV;
		}
	}
	priv->regmap_grf = grf;

	drv_data = of_id->data;
	for (i = 0; i < drv_data->num_clks; i++) {
		priv->clks[i] = devm_clk_get(dev, drv_data->clks[i]);

		if (IS_ERR(priv->clks[i]))
			dev_dbg(dev, "Failed to get %s\n", drv_data->clks[i]);
	}

	priv->grf_regs = drv_data->grf_regs;
	priv->txrx_regs = drv_data->txrx_regs;
	priv->csiphy_regs = drv_data->csiphy_regs;
	priv->drv_data = drv_data;
	if (drv_data->ctl_type == MIPI_DPHY_CTL_CSI_HOST) {
		res = platform_get_resource(pdev, IORESOURCE_MEM, 0);
		priv->csihost_base_addr = devm_ioremap_resource(dev, res);
		priv->stream_on = csi_mipidphy_stream_on;
		priv->stream_off = csi_mipidphy_stream_off;
	} else {
		priv->stream_on = mipidphy_txrx_stream_on;
		priv->txrx_base_addr = NULL;
		res = platform_get_resource(pdev, IORESOURCE_MEM, 0);
		priv->txrx_base_addr = devm_ioremap_resource(dev, res);
		if (IS_ERR(priv->txrx_base_addr))
			priv->stream_on = mipidphy_rx_stream_on;
		priv->stream_off = NULL;
	}

	sd = &priv->sd;
	v4l2_subdev_init(sd, &mipidphy_subdev_ops);
	sd->flags |= V4L2_SUBDEV_FL_HAS_DEVNODE;
	snprintf(sd->name, sizeof(sd->name), "rockchip-mipi-dphy-rx");
	sd->dev = dev;

	platform_set_drvdata(pdev, &sd->entity);

	ret = rockchip_mipidphy_media_init(priv);
	if (ret < 0)
		return ret;

	pm_runtime_enable(&pdev->dev);
	drv_data->individual_init(priv);

	return 0;
}


static int rockchip_mipidphy_media_init(struct mipidphy_priv *priv)
{
	int ret;

	priv->pads[MIPI_DPHY_RX_PAD_SOURCE].flags =
		MEDIA_PAD_FL_SOURCE | MEDIA_PAD_FL_MUST_CONNECT;
	priv->pads[MIPI_DPHY_RX_PAD_SINK].flags =
		MEDIA_PAD_FL_SINK | MEDIA_PAD_FL_MUST_CONNECT;

	ret = media_entity_init(&priv->sd.entity,
				MIPI_DPHY_RX_PADS_NUM, priv->pads, 0);
	if (ret < 0)
		return ret;

	ret = v4l2_async_notifier_parse_fwnode_endpoints_by_port(
		priv->dev, &priv->notifier,
		sizeof(struct sensor_async_subdev), 0,
		rockchip_mipidphy_fwnode_parse);
	if (ret < 0)
		return ret;

	if (!priv->notifier.num_subdevs)
		return -ENODEV;	/* no endpoint */

	priv->sd.subdev_notifier = &priv->notifier;
	priv->notifier.ops = &rockchip_mipidphy_async_ops;
	ret = v4l2_async_subdev_notifier_register(&priv->sd, &priv->notifier);
	if (ret) {
		dev_err(priv->dev,
			"failed to register async notifier : %d\n", ret);
		v4l2_async_notifier_cleanup(&priv->notifier);
		return ret;
	}

	return v4l2_async_register_subdev(&priv->sd);
}


static int rockchip_mipidphy_probe(struct platform_device *pdev)
{
    //分配一个struct v4l2_subdev *sd;
    //将mipidphy_subdev_ops放置到struct v4l2_subdev *sd
    //大家看到这里应该就明白了,不管是Sensor还是MIPI相关的还是ISP相关的,在V4L2的架构中,都会描述为一个对象struct v4l2_subdev,这个对象里面有对硬件操作的函数struct v4l2_subdev_ops,然后在将这个对象struct v4l2_subde注册到v4l2_async_register_subdev,从而注册到V4L2的框架的链表当中。然后将Sensor和MIPI和ISP绑定起来,形成一个完整的Camera驱动。

    v4l2_subdev_init(sd, &mipidphy_subdev_ops);
    
    //将port绑定起来,还记得我们dts上面的port么?就是将Sensor和MIPI和ISP绑定起来。
    ret = v4l2_async_notifier_parse_fwnode_endpoints_by_port(
		priv->dev, &priv->notifier,
		sizeof(struct sensor_async_subdev), 0,
		rockchip_mipidphy_fwnode_parse);

    //将对象struct v4l2_subdev注册到V4L2框架中。
    v4l2_async_register_subdev(&priv->sd);
}

查看ISP相关驱动rkisp1.c

//入口ISP函数rkisp1_plat_probe
static struct platform_driver rkisp1_plat_drv = {
	.driver = {
		   .name = DRIVER_NAME,
		   .of_match_table = of_match_ptr(rkisp1_plat_of_match),
		   .pm = &rkisp1_plat_pm_ops,
	},
	.probe = rkisp1_plat_probe,
	.remove = rkisp1_plat_remove,
};

//下面是isp代码从入口到注册到v4l2_device_register_subdev流程,原理和上面的Sensor类似,都是分配struct v4l2_subdev对象,然后注册到V4L2的架构当中。
rkisp1_plat_probe
    ret = rkisp1_register_platform_subdevs(isp_dev);
         	ret = rkisp1_register_isp_subdev(dev, &dev->v4l2_dev);
           v4l2_subdev_init(sd, &rkisp1_isp_sd_ops);
                ret = v4l2_device_register_subdev(v4l2_dev, sd);

总结

通过上面可以知道不管是Sensor还是MIPI还是ISP,统一描述为struct v4l2_subdev对象,然后将这个对象struct v4l2_subdev通过不同函数注册到V4L2框架中。比如Sensor使用v4l2_async_register_subdev_sensor_common(),MIPI使用v4l2_async_register_subdev(&priv->sd);,ISP使用v4l2_device_register_subdev(v4l2_dev, sd);,其实功能都是一样的。

RK3399教程: camera_第5张图片

应用层ioctl如何调用到驱动

我们可以在linux console终端下面 ls /dev/video* 可以查看到我们的Camera设备,由此可见我们的Camera也是一个字符型设备,只是为了摄像头的复杂性,框架做的比较复杂而已,既然是字符型设备,肯定就少不了我们很熟悉的struct file_operations这个结构体里面的ioctl。

一般来说,摄像头驱动需要实现与向核心层提交下面十几个ioctl接口
VIDIOC_REQBUFS:分配内存
VIDIOC_QUERYCAP:查询驱动功能
VIDIOC_ENUM_FMT:获取当前驱动支持的视频格式
VIDIOC_S_FMT:设置当前驱动的频捕获格式
VIDIOC_G_FMT:读取当前驱动的频捕获格式
VIDIOC_TRY_FMT:验证当前驱动的显示格式
VIDIOC_CROPCAP:查询驱动的修剪能力
VIDIOC_S_CROP:设置视频信号的边框
VIDIOC_G_CROP:读取视频信号的边框
VIDIOC_QBUF:把数据放回缓存队列
VIDIOC_DQBUF:把数据从缓存中读取出来
VIDIOC_STREAMON:开始图像捕获
VIDIOC_STREAMOFF:结束图像捕获

我们以VIDIOC_STREAMON这个ioctl这个命令开始,一步一步探索应用成是如何使用这个命令,然后一步一步从应用到kernel层一步一步调用下来的。
我们在代码中搜索VIDIOC_STREAMON这个宏定义,可以查看到在kernel\drivers\media\v4l2-core\v4l2-ioctl.c里面有如下的定于。

RK3399教程: camera_第6张图片

所以我们可以知道,应用层使用ioctl使用VIDIOC_STREAMON这个命令的时候,会调用到kernel里面的v4l_streamon这个函数,下面我们就跟踪这个函数看看如何是一步,一步调用到MIPI驱动里面的函数,设置MIPI控制器的寄存器的。

v4l_streamon
    ops->vidioc_streamon(file, fh, *(unsigned int *)arg);
  //代码中查找vidioc_streamon,看看最后调用那个函数,最后查找到是调用,\kernel\drivers\media\platform\soc_camera\soc_camera.c 中的soc_camera_streamon
       
soc_camera_streamon
  v4l2_subdev_call(sd, video, s_stream, 1);  
       ici->ops->s_stream(icd, 1);  //到这里搜索s_stream,最后发现是有可能是调用mipidphy_s_stream,代码在phy-rockchip-mipi-rx.c,还记得phy-rockchip-mipi-rx.c么,就是我们说的Camera驱动有三部分,分别是Sensor相关的,MIPI相关的,ISP相关的,其他的部分MIPI相关的,ISP相关的,也是类似,下面都是以MIPI相关举例。
            

static const struct v4l2_subdev_video_ops mipidphy_video_ops = {
	.g_mbus_config = mipidphy_g_mbus_config,
	.s_stream = mipidphy_s_stream,
};

//下面继续追踪mipidphy_s_stream这个函数
mipidphy_s_stream
     mipidphy_s_stream_start
            mipidphy_get_sensor_data_rate
            mipidphy_update_sensor_mbus
            priv->stream_on(priv, sd);
                 csi_mipidphy_stream_on;//最终调用到这里,这个函数就是设置mipi的寄存器,初始化MIPI,开始接收图像


// in code kernel\drivers\phy\rockchip\phy-rockchip-mipi-rx.c
static int csi_mipidphy_stream_on(struct mipidphy_priv *priv,
				  struct v4l2_subdev *sd)
{
	struct v4l2_subdev *sensor_sd = get_remote_sensor(sd);
	struct mipidphy_sensor *sensor = sd_to_sensor(priv, sensor_sd);
	const struct dphy_drv_data *drv_data = priv->drv_data;
	const struct hsfreq_range *hsfreq_ranges = drv_data->hsfreq_ranges;
	int num_hsfreq_ranges = drv_data->num_hsfreq_ranges;
	int i, hsfreq = 0;

	write_grf_reg(priv, GRF_DVP_V18SEL, 0x1);

	/* phy start */
	write_csiphy_reg(priv, CSIPHY_CTRL_PWRCTL, 0xe4);

	/* set data lane num and enable clock lane */
	write_csiphy_reg(priv, CSIPHY_CTRL_LANE_ENABLE,
		((GENMASK(sensor->lanes - 1, 0) << MIPI_CSI_DPHY_CTRL_DATALANE_ENABLE_OFFSET_BIT) |
		(0x1 << MIPI_CSI_DPHY_CTRL_CLKLANE_ENABLE_OFFSET_BIT) | 0x1));

	/* Reset dphy analog part */
	write_csiphy_reg(priv, CSIPHY_CTRL_PWRCTL, 0xe0);
	usleep_range(500, 1000);

	/* Reset dphy digital part */
	write_csiphy_reg(priv, CSIPHY_CTRL_DIG_RST, 0x1e);
	write_csiphy_reg(priv, CSIPHY_CTRL_DIG_RST, 0x1f);

	/* not into receive mode/wait stopstate */
	write_grf_reg(priv, GRF_DPHY_CSIPHY_FORCERXMODE, 0x0);

	/* enable calibration */
	if (priv->data_rate_mbps > 1500) {
		write_csiphy_reg(priv, CSIPHY_CLK_CALIB_ENABLE, 0x80);
		if (sensor->lanes > 0x00)
			write_csiphy_reg(priv, CSIPHY_LANE0_CALIB_ENABLE, 0x80);
		if (sensor->lanes > 0x01)
			write_csiphy_reg(priv, CSIPHY_LANE1_CALIB_ENABLE, 0x80);
		if (sensor->lanes > 0x02)
			write_csiphy_reg(priv, CSIPHY_LANE2_CALIB_ENABLE, 0x80);
		if (sensor->lanes > 0x03)
			write_csiphy_reg(priv, CSIPHY_LANE3_CALIB_ENABLE, 0x80);
	}

	/* set clock lane and data lane */
	for (i = 0; i < num_hsfreq_ranges; i++) {
		if (hsfreq_ranges[i].range_h >= priv->data_rate_mbps) {
			hsfreq = hsfreq_ranges[i].cfg_bit;
			break;
		}
	}

	if (i == num_hsfreq_ranges) {
		i = num_hsfreq_ranges - 1;
		dev_warn(priv->dev, "data rate: %lld mbps, max support %d mbps",
			 priv->data_rate_mbps, hsfreq_ranges[i].range_h + 1);
		hsfreq = hsfreq_ranges[i].cfg_bit;
	}

	csi_mipidphy_wr_ths_settle(priv, hsfreq, MIPI_DPHY_LANE_CLOCK);
	if (sensor->lanes > 0x00)
		csi_mipidphy_wr_ths_settle(priv, hsfreq, MIPI_DPHY_LANE_DATA0);
	if (sensor->lanes > 0x01)
		csi_mipidphy_wr_ths_settle(priv, hsfreq, MIPI_DPHY_LANE_DATA1);
	if (sensor->lanes > 0x02)
		csi_mipidphy_wr_ths_settle(priv, hsfreq, MIPI_DPHY_LANE_DATA2);
	if (sensor->lanes > 0x03)
		csi_mipidphy_wr_ths_settle(priv, hsfreq, MIPI_DPHY_LANE_DATA3);

	write_grf_reg(priv, GRF_DPHY_CSIPHY_CLKLANE_EN, 0x1);
	write_grf_reg(priv, GRF_DPHY_CSIPHY_DATALANE_EN,
		      GENMASK(sensor->lanes - 1, 0));

	return 0;
}

        

全部总结

由上面分析我们可以知道在Camera的框架中在不同板子或者说不同平台,有3部分是需要实现的,第一部分Sensor相关即不同板子摄像头选型肯定是不一样的,这部分的驱动就是要实现Sensor的初始化,寄存器的配置等,比如启动图像捕获的时候,需要配置寄存器,从应用层会使用一个ioctl一步一步的调用下来到驱动中,所以这部分是Sensor相关的,需要Sensor提供相应的驱动。第二部分MIPI相关,比如我们常用的SOC和Sensor连接就是使用MIPI接口,所以就需要实现MIPI相关部分的驱动,这部分一般来说是由SOC厂商进行提供。第三部分ISP相关部分,如果我们的SOC平台如果有ISP模块那么就有ISP模块部分的驱动代码,这部分也是SOC厂商提供的。从dts的配置中我们可以看到,驱动的绑定路径为,从Sensor连接到MIPI然后MIPI连接到ISP,所以说Sensor捕获到的数据通过MIPI传入ISP,然后通过ISP处理后传动应用层进行处理,整个Camera的驱动框架大概就是这个流程。

你可能感兴趣的:(RK3399,单片机,嵌入式硬件)