高通CamX框架学习系列:Bring Up Actuator
这篇文章主要介绍在高通平台的CamX框架里面，如何去点亮摄像头马达，需要修改哪些相关的文件。
一、大体浏览
先来个整体的浏览，看下涉及到需要修改哪些目录下的文件。可以看下图，要让马达运转起来，我们需要修改的基本就是下面4个目录下的相关文件。
1、各种型号的马达配置文件目录 vendor/qcom/proprietary/chi-cdk/oem/qcom/actuator 2、Camera sensor配置文件目录 vendor/qcom/proprietary/chi-cdk/oem/qcom/module 3、各个Camera sensor编译配置的文件目录 vendor/qcom/proprietary/chi-cdk/tools/buildbins 4、这个目录下是dtsi文件，主要配置Camera sensor上电时序等信息 vendor/qcom/proprietary/camera-devicetree
二、修改文件内容详细分析
1）vendor/qcom/proprietary/chi-cdk/oem/qcom/actuator
这个目录下，是各个型号的马达配置文件，高通源码里面已经有一些比较常见的马达型号的配置文件，我们可以进行参考。
vendor/qcom/proprietary/chi-cdk/oem/qcom/actuator$ ls ak7371_actuator.xml dw9714v_actuator.xml dw9763b_actuator.xml gt9764_actuator.xml lc898217xc_actuator.xml ak7374_actuator.xml dw9718s_actuator.xml dw9767_actuator.xml gt9772_actuator.xml bu64297gwz_actuator.xml dw9763_actuator.xml dw9800_actuator.xml
针对我们项目上用到的Camera sensor，模组厂会给我们提供关于该颗sensor的相关文档，我们需要获取的马达相关信息，也能从提供的文档中找到。
如下图所示，就是模组厂提供的文档里面的截图，可以看到这个sensor是imx481,马达型号是dw9714v,也就是在vendor/qcom/proprietary/chi-cdk/oem/qcom/actuator 这个目录下，我们需要添加个dw9714v_actuator.xml的文件，如果sersor 用的马达型号高通源码已经有了，那直接用高通原始的配置就可以了。
我们随便打开个xml的文件，看下里面都配置了哪些相关的信息。
...... ak7374 0x18 FAST VCM 10 VAF 1 10 VAF 0 1 2）vendor/qcom/proprietary/chi-cdk/oem/qcom/module
这个目录下，就是关于camera sensor的配置文件了，关于某颗sensor的的详细信息，是在这边进行创建添加的。
vendor/qcom/proprietary/chi-cdk/oem/qcom/module$ ls altek1_imx577_module.xml liteon_max7366_eyetrack_module.xml pmd_irs1645_module.xml sunny_imx519_module_talos.xml altek2_imx577_module.xml liteon_max7366_ov6211_module.xml下面是其中某颗sensor的module文件内容。
0 oflim imx376 dw9800 pmic ofilm_imx376 REAR 0x3210 0 4.04 2.0 0.1 3.496 61.6 46.2 90 360 360 3）/vendor/qcom/proprietary/chi-cdk/tools/buildbins
前面我们说了马达信息的配置文件和camera sensor的配置文件，那这些配置信息是在哪里会用到的呢，好了，就是在这个目录下了。看到buildbins这个名字，我们就可以看到是和编译相关的了，camx里面，各个模块分的更细了，每颗sensor的module和turning等模块，都是可以编译成各自独立的so文件，修改某个模块的内容后，我们可以切到chi-cdk目录下，进行mm编译，编译生成的对应so文件在vendor/lib*/目录下。
vendor/qcom/proprietary/chi-cdk/tools/buildbins$ ls buildbins_bengal.yaml buildbins_lito.yaml buildbins_sm6150.yaml linux64 win32 buildbins_kona.yaml buildbins.py buildbins.yaml NOTICE yaml我们打开其中一个yaml文件，看下里面的内容：
sensor_drivers: - com.qti.sensormodule.truly_imx476: - sensor/imx476/imx476_sensor.xml - module/truly_imx476_module.xml - com.qti.sensormodule.sunny_imx519: - sensor/imx519/imx519_sensor.xml - sensor/imx519/imx519_pdaf.xml - module/sunny_imx519_module.xml - eeprom/gt24p64b_imx519_eeprom.xml - actuator/dw9718s_actuator.xml - flash/back_sensor_flash.xml4）vendor/qcom/proprietary/camera-devicetree
camera-devicetree 这边的dtsi文件，配置的就是和camera上电相关的内容了， 修改了该目录下的文件后，我们需要编译dtbo.img文件来烧录更新修改。
vendor/qcom/proprietary/camera-devicetree$ ls bengal-camera.dtsi kona-camera-sensor-mtp.dtsi lito-camera.dtsi bengal-camera-sensor-idp.dtsi kona-camera-sensor-qrd.dtsi lito-camera-sensor-cdp.dtsi我们打开其中一个dtsi文件，看下里面的内容；
&soc { led_flash_rear: qcom,camera-flash0 { cell-index = <0>; compatible = "qcom,camera-flash"; flash-source = <&pm8150l_flash0 &pm8150l_flash1>; torch-source = <&pm8150l_torch0 &pm8150l_torch1>; switch-source = <&pm8150l_switch2>; status = "ok"; }; led_flash_rear_aux: qcom,camera-flash1 { cell-index = <1>; compatible = "qcom,camera-flash"; flash-source = <&pm8150l_flash0 &pm8150l_flash1>; torch-source = <&pm8150l_torch0 &pm8150l_torch1>; switch-source = <&pm8150l_switch2>; status = "ok"; }; led_flash_triple_rear: qcom,camera-flash@4 { cell-index = <4>; compatible = "qcom,camera-flash"; flash-source = <&pm8150l_flash0 &pm8150l_flash1>; torch-source = <&pm8150l_torch0 &pm8150l_torch1>; switch-source = <&pm8150l_switch2>; status = "ok"; }; led_flash_triple_rear_aux: qcom,camera-flash@5 { cell-index = <5>; compatible = "qcom,camera-flash"; flash-source = <&pm8150l_flash0 &pm8150l_flash1>; torch-source = <&pm8150l_torch0 &pm8150l_torch1>; switch-source = <&pm8150l_switch2>; status = "ok"; }; led_flash_triple_rear_aux2: qcom,camera-flash@6 { cell-index = <6>; compatible = "qcom,camera-flash"; flash-source = <&pm8150l_flash0 &pm8150l_flash1>; torch-source = <&pm8150l_torch0 &pm8150l_torch1>; switch-source = <&pm8150l_switch2>; status = "ok"; }; qcom,cam-res-mgr { compatible = "qcom,cam-res-mgr"; status = "ok"; }; }; &cam_cci0 { actuator_rear: qcom,actuator0 { cell-index = <0>; compatible = "qcom,actuator"; cci-master = <0>; cam_vaf-supply = <&pm8150a_l7>; regulator-names = "cam_vaf"; rgltr-cntrl-support; rgltr-min-voltage = <2856000>; rgltr-max-voltage = <3104000>; rgltr-load-current = <100000>; }; actuator_rear_aux: qcom,actuator1 { cell-index = <1>; compatible = "qcom,actuator"; cci-master = <1>; cam_vaf-supply = <&pm8150a_l7>; regulator-names = "cam_vaf"; }; actuator_triple_wide: qcom,actuator4 { cell-index = <4>; compatible = "qcom,actuator"; cci-master = <0>; cam_vaf-supply = <&pm8150a_l7>; regulator-names = "cam_vaf"; rgltr-cntrl-support; rgltr-min-voltage = <2856000>; rgltr-max-voltage = <3104000>; rgltr-load-current = <100000>; }; actuator_triple_tele: qcom,actuator5 { cell-index = <5>; compatible = "qcom,actuator"; cci-master = <0>; cam_vaf-supply = <&pm8150a_l7>; regulator-names = "cam_vaf"; rgltr-cntrl-support; rgltr-min-voltage = <2856000>; rgltr-max-voltage = <3104000>; rgltr-load-current = <100000>; }; actuator_triple_uw: qcom,actuator6 { cell-index = <6>; compatible = "qcom,actuator"; cci-master = <1>; cam_vaf-supply = <&pm8150a_l7>; regulator-names = "cam_vaf"; rgltr-cntrl-support; rgltr-min-voltage = <2856000>; rgltr-max-voltage = <3104000>; rgltr-load-current = <100000>; }; eeprom_rear: qcom,eeprom0 { cell-index = <0>; compatible = "qcom,eeprom"; cam_vio-supply = <&pm8009_l7>; cam_vana-supply = <&pm8009_l5>; cam_vdig-supply = <&pm8009_l1>; cam_clk-supply = <&titan_top_gdsc>; cam_vaf-supply = <&pm8150a_l7>; regulator-names = "cam_vio", "cam_vana", "cam_vdig", "cam_clk", "cam_vaf"; rgltr-cntrl-support; rgltr-min-voltage = <1800000 2800000 1104000 0 2856000>; rgltr-max-voltage = <1800000 3000000 1104000 0 3104000>; rgltr-load-current = <120000 80000 1200000 0 100000>; gpio-no-mux = <0>; pinctrl-names = "cam_default", "cam_suspend"; pinctrl-0 = <&cam_sensor_mclk0_active &cam_sensor_active_rear>; pinctrl-1 = <&cam_sensor_mclk0_suspend &cam_sensor_suspend_rear>; gpios = <&tlmm 94 0>, <&tlmm 93 0>; gpio-reset = <1>; gpio-req-tbl-num = <0 1>; gpio-req-tbl-flags = <1 0>; gpio-req-tbl-label = "CAMIF_MCLK0", "CAM_RESET0"; sensor-position = <0>; sensor-mode = <0>; cci-master = <0>; status = "ok"; clocks = <&clock_camcc CAM_CC_MCLK0_CLK>; clock-names = "cam_clk"; clock-cntl-level = "turbo"; clock-rates = <24000000>; }; eeprom_rear_aux: qcom,eeprom1 { cell-index = <1>; compatible = "qcom,eeprom"; cam_vdig-supply = <&pm8009_l2>; cam_vio-supply = <&pm8009_l7>; cam_vana-supply = <&pm8009_l6>; cam_clk-supply = <&titan_top_gdsc>; cam_vaf-supply = <&pm8150a_l7>; regulator-names = "cam_vio", "cam_vana", "cam_vdig", "cam_clk", "cam_vaf"; rgltr-cntrl-support; rgltr-min-voltage = <1800000 2800000 1200000 0 2856000>; rgltr-max-voltage = <1800000 3000000 1200000 0 3104000>; rgltr-load-current = <120000 80000 1200000 0 100000>; gpio-no-mux = <0>; pinctrl-names = "cam_default", "cam_suspend"; pinctrl-0 = <&cam_sensor_mclk1_active &cam_sensor_active_rear_aux>; pinctrl-1 = <&cam_sensor_mclk1_suspend &cam_sensor_suspend_rear_aux>; gpios = <&tlmm 95 0>, <&tlmm 92 0>; gpio-reset = <1>; gpio-req-tbl-num = <0 1>; gpio-req-tbl-flags = <1 0>; gpio-req-tbl-label = "CAMIF_MCLK1", "CAM_RESET1"; sensor-position = <0>; sensor-mode = <0>; cci-master = <1>; status = "ok"; clocks = <&clock_camcc CAM_CC_MCLK2_CLK>; clock-names = "cam_clk"; clock-cntl-level = "turbo"; clock-rates = <24000000>; }; qcom,cam-sensor0 { cell-index = <0>; compatible = "qcom,cam-sensor"; csiphy-sd-index = <0>; sensor-position-roll = <90>; sensor-position-pitch = <0>; sensor-position-yaw = <180>; actuator-src = <&actuator_rear>; led-flash-src = <&led_flash_rear>; eeprom-src = <&eeprom_rear>; cam_vio-supply = <&pm8009_l7>; cam_bob-supply = <&pm8150a_bob>; cam_vana-supply = <&pm8009_l5>; cam_vdig-supply = <&pm8009_l1>; cam_clk-supply = <&titan_top_gdsc>; regulator-names = "cam_vio", "cam_vana", "cam_vdig", "cam_clk", "cam_bob"; rgltr-cntrl-support; pwm-switch; rgltr-min-voltage = <1800000 2800000 1104000 0 3008000>; rgltr-max-voltage = <1800000 3000000 1104000 0 3960000>; rgltr-load-current = <120000 80000 1200000 0 2000000>; gpio-no-mux = <0>; pinctrl-names = "cam_default", "cam_suspend"; pinctrl-0 = <&cam_sensor_mclk0_active &cam_sensor_active_rear>; pinctrl-1 = <&cam_sensor_mclk0_suspend &cam_sensor_suspend_rear>; gpios = <&tlmm 94 0>, <&tlmm 93 0>; gpio-reset = <1>; gpio-req-tbl-num = <0 1>; gpio-req-tbl-flags = <1 0>; gpio-req-tbl-label = "CAMIF_MCLK0", gpio-req-tbl-label = "CAMIF_MCLK0", "CAM_RESET0"; sensor-mode = <0>; cci-master = <0>; status = "ok"; clocks = <&clock_camcc CAM_CC_MCLK0_CLK>; clock-names = "cam_clk"; clock-cntl-level = "turbo"; clock-rates = <24000000>; }; qcom,cam-sensor1 { cell-index = <1>; compatible = "qcom,cam-sensor"; csiphy-sd-index = <1>; sensor-position-roll = <90>; sensor-position-pitch = <0>; sensor-position-yaw = <180>; eeprom-src = <&eeprom_rear_aux>; led-flash-src = <&led_flash_rear_aux>; actuator-src = <&actuator_rear_aux>; cam_bob-supply = <&pm8150a_bob>; cam_vdig-supply = <&pm8009_l2>; cam_vio-supply = <&pm8009_l7>; regulator-names = "cam_vio", "cam_vana", "cam_vdig", "cam_clk", "cam_bob"; rgltr-cntrl-support; pwm-switch; rgltr-min-voltage = <1800000 2800000 1200000 0 3008000>; rgltr-max-voltage = <1800000 3000000 1200000 0 3960000>; rgltr-load-current = <120000 80000 1200000 0 2000000>; gpio-no-mux = <0>; pinctrl-names = "cam_default", "cam_suspend"; pinctrl-0 = <&cam_sensor_mclk1_active &cam_sensor_active_rear_aux>; pinctrl-1 = <&cam_sensor_mclk1_suspend &cam_sensor_suspend_rear_aux>; gpios = <&tlmm 95 0>, <&tlmm 92 0>; gpio-reset = <1>; gpio-req-tbl-num = <0 1>; gpio-req-tbl-flags = <1 0>; gpio-req-tbl-label = "CAMIF_MCLK1", "CAM_RESET1"; sensor-mode = <0>; cci-master = <1>; status = "ok"; clocks = <&clock_camcc CAM_CC_MCLK1_CLK>; clock-names = "cam_clk"; clock-cntl-level = "turbo"; clock-rates = <24000000>; }; &cam_cci1 { qcom,cam-sensor2 { cell-index = <2>; compatible = "qcom,cam-sensor"; csiphy-sd-index = <2>; sensor-position-roll = <270>; sensor-position-pitch = <0>; sensor-position-yaw = <0>; eeprom-src = <&eeprom_front>; cam_vio-supply = <&pm8009_l7>; cam_bob-supply = <&pm8150a_bob>; cam_vana-supply = <&pm8009_l6>; cam_vdig-supply = <&pm8009_l3>; cam_clk-supply = <&titan_top_gdsc>; regulator-names = "cam_vio", "cam_vana", "cam_vdig", "cam_clk", "cam_bob"; rgltr-cntrl-support; pwm-switch; rgltr-min-voltage = <1800000 2800000 1056000 0 3008000>; pinctrl-0 = <&cam_sensor_mclk2_active &cam_sensor_active_rst2>; pinctrl-1 = <&cam_sensor_mclk2_suspend &cam_sensor_suspend_rst2>; gpios = <&tlmm 96 0>, <&tlmm 78 0>; gpio-reset = <1>; gpio-req-tbl-num = <0 1>; gpio-req-tbl-flags = <1 0>; gpio-req-tbl-label = "CAMIF_MCLK2", "CAM_RESET2"; sensor-mode = <0>; cci-master = <0>; status = "ok"; clocks = <&clock_camcc CAM_CC_MCLK2_CLK>; clock-names = "cam_clk"; clock-cntl-level = "turbo"; clock-rates = <24000000>; }; qcom,cam-sensor3 { cell-index = <3>; compatible = "qcom,cam-sensor"; csiphy-sd-index = <3>; eeprom-src = <&eeprom_tof>; sensor-position-roll = <270>; sensor-position-pitch = <0>; sensor-position-yaw = <0>; cam_vio-supply = <&pm8009_l7>; cam_vdig-supply = <&vreg_tof>; cam_clk-supply = <&titan_top_gdsc>; rgltr-min-voltage = <1800000 3600000 0>; rgltr-max-voltage = <1800000 3600000 0>; rgltr-load-current = <180000 120000 0>; gpio-no-mux = <0>; pinctrl-names = "cam_default", "cam_suspend"; pinctrl-0 = <&cam_sensor_mclk3_active &cam_sensor_active_3>; pinctrl-1 = <&cam_sensor_mclk3_suspend &cam_sensor_suspend_3>; gpios = <&tlmm 97 0>, <&tlmm 109 0>; gpio-reset = <1>; gpio-req-tbl-num = <0 1>; gpio-req-tbl-flags = <1 0>; gpio-req-tbl-label = "CAMIF_MCLK3", "CAM_RESET3"; sensor-mode = <0>; cci-master = <1>; status = "ok"; clocks = <&clock_camcc CAM_CC_MCLK3_CLK>; clock-names = "cam_clk"; clock-cntl-level = "turbo"; clock-rates = <24000000>; }; };