Драйверы Camera Sensor Rockchip: V4L2, быстрый старт MCU, AOV и синхронизация

sensor: XXXX
mclk: 24MHz/27Mhz/37.5Mhz
mode: raw8/raw10/raw12/raw16
output: 720p/1080p/1440p/... (разрешение)
интерфейс: mipi 1/2/4 Lane
частота кадров: 30/60/120 fps
платформа: RK3588/RV1106/RV1103B/RV1126B/...
изделие: дверной звонок/дверной звонок/IPC/... (необязательно; повтор источника)

struct XXXX_mode {
    u32 bus_fmt;    //输出像素格式
    u32 width;      //输出宽度
    u32 height;     //输出⾼度
    struct v4l2_fract max_fps; //最⼤输出帧率
    u32 hts_def;    //默认⾏总周期
    u32 vts_def;    //默认帧总周期
    u32 exp_def;    //默认曝光值
    u32 mipi_freq_idx;//链接频率索引值
    u32 bpp;        //每像素所⽤bit数
    const struct regval *reg_list; //寄存器列表
    u32 hdr_mode;   //宽动态模式
    u32 vc[PAD_MAX];//虚拟通道数组
};

static const struct sc200ai_mode supported_modes[] = {
    { // 1080p 30fps 线性配置参数
    .width = 1920,
    .height = 1080,
    .max_fps = {
        .numerator = 10000,
        .denominator = 300000,
    },
    .exp_def = 0x0080,
    .hts_def = 0x44C * 2,
    .vts_def = 0x0465,
    .bus_fmt = MEDIA_BUS_FMT_SBGGR10_1X10,
    .reg_list = sc200ai_linear_10_1920x1080_30fps_regs,
    .hdr_mode = NO_HDR,
    .bpp = 10,
    .mipi_freq_idx = 1,
    .vc[PAD0] = V4L2_MBUS_CSI2_CHANNEL_0,
},
{ // 540p 120fps 线性配置参数
    .width = 960,
    .height = 540,
    .max_fps = {
        .numerator = 10000,
        .denominator = 1200000,
    },
    .exp_def = 0x0080,
    .hts_def = 0x420,
    .vts_def = 0x249,
    .bus_fmt = MEDIA_BUS_FMT_SBGGR10_1X10,
    .reg_list = sc200ai_linear_10_960x540_120fps_regs,
    .hdr_mode = NO_HDR,
    .bpp = 10,
    .mipi_freq_idx = 0,
    .vc[PAD0] = V4L2_MBUS_CSI2_CHANNEL_0,
},
{ // 1080p 30fps 宽动态配置参数
    .width = 1920,
    .height = 1080,
    .max_fps = {
        .numerator = 10000,
        .denominator = 300000,
    },
    .exp_def = 0x0080,
    .hts_def = 0x44C * 2,
    .vts_def = 0x08CC,
    .bus_fmt = MEDIA_BUS_FMT_SBGGR10_1X10,
    .reg_list = sc200ai_hdr_10_1920x1080_regs,
    .hdr_mode = HDR_X2,
    .bpp = 10,
    .mipi_freq_idx = 1,
    .vc[PAD0] = V4L2_MBUS_CSI2_CHANNEL_1,
    .vc[PAD1] = V4L2_MBUS_CSI2_CHANNEL_0,//L->csi wr0
    .vc[PAD2] = V4L2_MBUS_CSI2_CHANNEL_1,
    .vc[PAD3] = V4L2_MBUS_CSI2_CHANNEL_1,//M->csi wr2
},
}

#define CHIP_ID                 0xcb1c
#define SC200AI_REG_CHIP_ID     0x3107

#define SC200AI_REG_CTRL_MODE       0x0100
#define SC200AI_MODE_SW_STANDBY     0x0
#define SC200AI_MODE_STREAMING      BIT(0)

#define SC200AI_REG_EXPOSURE_H      0x3e00  //⻓曝光最⾼位
#define SC200AI_REG_EXPOSURE_M      0x3e01  //⻓曝光中间位
#define SC200AI_REG_EXPOSURE_L      0x3e02  //⻓曝光最低位
#define SC200AI_REG_SEXPOSURE_H     0x3e22  //短曝光最⾼位
#define SC200AI_REG_SEXPOSURE_M     0x3e04  //短曝光中间位
#define SC200AI_REG_SEXPOSURE_L     0x3e05  //短曝光最低位
#define SC200AI_EXPOSURE_MIN        1       //最新曝光⾏，⼀般不改，除⾮sensor有最⼩曝光限制
#define SC200AI_EXPOSURE_STEP       1       //曝光步进，⼀般不⽤修改

#define SC200AI_REG_DIG_GAIN        0x3e06  //数字主增益
#define SC200AI_REG_DIG_FINE_GAIN   0x3e07  //数组精增益
#define SC200AI_REG_ANA_GAIN        0x3e08  //模拟主增益
#define SC200AI_REG_ANA_FINE_GAIN   0x3e09  //模拟精增益
#define SC200AI_REG_SDIG_GAIN       0x3e10  //短帧的数字主增益
#define SC200AI_REG_SDIG_FINE_GAIN  0x3e11  //短帧的数组精增益
#define SC200AI_REG_SANA_GAIN       0x3e12  //短帧的模拟主增益
#define SC200AI_REG_SANA_FINE_GAIN  0x3e13  //短帧的模拟精增益
#define SC200AI_GAIN_MIN            0x0040  //增益最⼩值
#define SC200AI_GAIN_MAX            (54 * 32 * 64)       //53.975*31.75*64 增益最⼤值
#define SC200AI_GAIN_STEP           1   //增益步进
#define SC200AI_GAIN_DEFAULT        0x0800  //默认增益值
#define SC200AI_LGAIN               0   //⻓帧增益
#define SC200AI_SGAIN               1   //短帧增益

#define SC200AI_REG_GROUP_HOLD      0x3812 //group hold 控制寄存器
#define SC200AI_GROUP_HOLD_START    0x00  //开启Group Hold（冻结参数更新）即：Group Hold Start
#define SC200AI_GROUP_HOLD_END      0x30  //关闭Group Hold（释放参数更新)即：Group Hold End

#define SC200AI_REG_TEST_PATTERN        0x4501 //测试图案控制寄存器
#define SC200AI_TEST_PATTERN_BIT_MASK   BIT(3) //测试图案开启掩码

#define SC200AI_REG_VTS_H       0x320e
#define SC200AI_REG_VTS_L       0x320f

#define SC200AI_FLIP_MIRROR_REG     0x3221 // 镜像翻转控制寄存器

#define SC200AI_FETCH_MIRROR(VAL, ENABLE)   (ENABLE ? VAL | 0x06 : VAL & 0xf9)//设置镜像
#define SC200AI_FETCH_FLIP(VAL, ENABLE)     (ENABLE ? VAL | 0x60 : VAL & 0x9f)//设置翻转

// /dev/v4l-subdev2节点对应 Sensor ⼦设备节点。参考5.4 章节
v4l2-ctl --set-ctrl=horizontal_flip=1 -d /dev/v4l-subdev2  # 启⽤⽔平镜像
v4l2-ctl --set-ctrl=horizontal_flip=0 -d /dev/v4l-subdev2  # 禁⽤⽔平镜像

v4l2-ctl --set-ctrl=vertical_flip=1 -d /dev/v4l-subdev2    # 启⽤垂直翻转
v4l2-ctl --set-ctrl=vertical_flip=0  -d /dev/v4l-subdev2   # 禁⽤垂直翻转

v4l2-ctl --set-ctrl=horizontal_flip=1 --set-ctrl=vertical_flip=1 -d /dev/v4l-subdev2
 # 同时启⽤镜像和翻转
v4l2-ctl --set-ctrl=horizontal_flip=0 --set-ctrl=vertical_flip=0  -d /dev/v4l-subdev2#
同时禁⽤镜像和翻转

struct i2c_driver {
    ...

    /* Standard driver model interfaces */
    int (*probe)(struct i2c_client *client, const struct i2c_device_id *id);
    int (*remove)(struct i2c_client *client);
    ...
    struct device_driver driver;
    const struct i2c_device_id *id_table;
    ...
};

#if IS_ENABLED(CONFIG_OF)
static const struct of_device_id sc200ai_of_match[] = {
    { .compatible = "smartsens,sc200ai" },
    {},
};
MODULE_DEVICE_TABLE(of, sc200ai_of_match);
#endif

static const struct i2c_device_id sc200ai_match_id[] = {
    { "smartsens,sc200ai", 0 },
    { },
};

static struct i2c_driver sc200ai_i2c_driver = {
    .driver = {
        .name = SC200AI_NAME,
        .pm = &sc200ai_pm_ops,
        .of_match_table = of_match_ptr(sc200ai_of_match),
    },
    .probe      = &sc200ai_probe,
    .remove     = &sc200ai_remove,
    .id_table   = sc200ai_match_id,
};

static int __init sensor_mod_init(void)
{
    return i2c_add_driver(&sc200ai_i2c_driver);
}

static void __exit sensor_mod_exit(void)
{
    i2c_del_driver(&sc200ai_i2c_driver);
}

struct v4l2_subdev_ops {
    const struct v4l2_subdev_core_ops   *core;
    const struct v4l2_subdev_video_ops  *video;
    const struct v4l2_subdev_pad_ops    *pad;
    ...
};

static const struct v4l2_subdev_ops sc200ai_subdev_ops = {
    .core   = &sc200ai_core_ops,
    .video  = &sc200ai_video_ops,
    .pad    = &sc200ai_pad_ops,
};

struct v4l2_subdev_core_ops {
    ...
    long (*ioctl)(struct v4l2_subdev *sd, unsigned int cmd, void *arg);
#ifdef CONFIG_COMPAT
    long (*compat_ioctl32)(struct v4l2_subdev *sd, unsigned int cmd,
                   unsigned long arg);
#endif
    int (*s_power)(struct v4l2_subdev *sd, int on);
    ...
};

static const struct v4l2_subdev_core_ops sc200ai_core_ops = {
    .s_power = sc200ai_s_power,
    .ioctl = sc200ai_ioctl,
#ifdef CONFIG_COMPAT
    .compat_ioctl32 = sc200ai_compat_ioctl32,
#endif
};c

struct v4l2_subdev_video_ops {
    ...
    int (*s_stream)(struct v4l2_subdev *sd, int enable);
    int (*g_frame_interval)(struct v4l2_subdev *sd,
                struct v4l2_subdev_frame_interval *interval);
    int (*s_frame_interval)(struct v4l2_subdev *sd,
                struct v4l2_subdev_frame_interval *interval);
    ...

};

static const struct v4l2_subdev_video_ops sc200ai_video_ops = {
    .s_stream = sc200ai_s_stream,
    .g_frame_interval = sc200ai_g_frame_interval,
    .s_frame_interval = sc200ai_s_frame_interval,
};

struct v4l2_subdev_pad_ops {
    ...
    int (*enum_mbus_code)(struct v4l2_subdev *sd,
                  struct v4l2_subdev_pad_config *cfg,
                  struct v4l2_subdev_mbus_code_enum *code);
    int (*enum_frame_size)(struct v4l2_subdev *sd,
                   struct v4l2_subdev_pad_config *cfg,
                   struct v4l2_subdev_frame_size_enum *fse);
    int (*enum_frame_interval)(struct v4l2_subdev *sd,
                   struct v4l2_subdev_pad_config *cfg,
                   struct v4l2_subdev_frame_interval_enum *fie);
    int (*get_fmt)(struct v4l2_subdev *sd,
               struct v4l2_subdev_pad_config *cfg,
               struct v4l2_subdev_format *format);
    int (*set_fmt)(struct v4l2_subdev *sd,
               struct v4l2_subdev_pad_config *cfg,
               struct v4l2_subdev_format *format);
    int (*get_selection)(struct v4l2_subdev *sd,
                 struct v4l2_subdev_pad_config *cfg,
                 struct v4l2_subdev_selection *sel);
    int (*set_selection)(struct v4l2_subdev *sd,
                 struct v4l2_subdev_pad_config *cfg,
                 struct v4l2_subdev_selection *sel);
    int (*get_edid)(struct v4l2_subdev *sd, struct v4l2_edid *edid);
    int (*set_edid)(struct v4l2_subdev *sd, struct v4l2_edid *edid);
    int (*dv_timings_cap)(struct v4l2_subdev *sd,
                  struct v4l2_dv_timings_cap *cap);
    int (*enum_dv_timings)(struct v4l2_subdev *sd,
                   struct v4l2_enum_dv_timings *timings);
    ...

    int (*get_mbus_config)(struct v4l2_subdev *sd, unsigned int pad,
                   struct v4l2_mbus_config *config);
    int (*set_mbus_config)(struct v4l2_subdev *sd, unsigned int pad,
                   struct v4l2_mbus_config *config);
};

static const struct v4l2_subdev_pad_ops sc200ai_pad_ops = {
    .enum_mbus_code = sc200ai_enum_mbus_code,
    .enum_frame_size = sc200ai_enum_frame_sizes,
    .enum_frame_interval = sc200ai_enum_frame_interval,
    .get_fmt = sc200ai_get_fmt,
    .set_fmt = sc200ai_set_fmt,
    .get_mbus_config = sc200ai_g_mbus_config,
};

struct v4l2_ctrl_ops {
    ...
    int (*s_ctrl)(struct v4l2_ctrl *ctrl);
};

static int sc200ai_set_ctrl(struct v4l2_ctrl *ctrl)
{
    struct sc200ai *sc200ai = container_of(ctrl->handler,
                           struct sc200ai, ctrl_handler);
    struct i2c_client *client = sc200ai->client;

    ...

    if (!pm_runtime_get_if_in_use(&client->dev))
        return 0;

    switch (ctrl->id) {
    case V4L2_CID_EXPOSURE:
        dev_dbg(&client->dev, "set exposure value 0x%x\n", ctrl->val);
        ...
        break;
    case V4L2_CID_ANALOGUE_GAIN:
        dev_dbg(&client->dev, "set gain value 0x%x\n", ctrl->val);
        ...
        break;
    case V4L2_CID_VBLANK:
        dev_dbg(&client->dev, "set blank value 0x%x\n", ctrl->val);
        ...
        break;
    case V4L2_CID_TEST_PATTERN:
        ...
        break;
    case V4L2_CID_HFLIP:
        ...
        break;
    case V4L2_CID_VFLIP:
        ...
        break;
    default:
        dev_warn(&client->dev, "%s Unhandled id:0x%x, val:0x%x\n",
             __func__, ctrl->id, ctrl->val);
        break;
    }

    pm_runtime_put(&client->dev);

    return ret;
}

static const struct v4l2_ctrl_ops sc200ai_ctrl_ops = {
    .s_ctrl = sc200ai_set_ctrl,
};

static int xxxx_set_fmt(struct v4l2_subdev *sd,
                        struct v4l2_subdev_pad_config *cfg,
                        struct v4l2_subdev_format *fmt)

static int xxxx_get_fmt(struct v4l2_subdev *sd,
                        struct v4l2_subdev_pad_config *cfg,
                        struct v4l2_subdev_format *fmt)

static int xxxx_enum_m bus_code(struct v4l2_subdev *sd,
                                struct v4l2_subdev_pad_config *cfg,
                                struct v4l2_subdev_mbus_code_enum *code)

static int xxxx_enum_frame_sizes(struct v4l2_subdev *sd,
                                struct v4l2_subdev_pad_config *cfg,
                                struct v4l2_subdev_frame_size_enum *fse)

static int xxxx_g_frame_interval(struct v4l2_subdev *sd,
                                struct v4l2_subdev_frame_interval *fi)

static int xxxx_s_stream(struct v4l2_subdev *sd, int on)

static int xxxx_runtime_resume(struct device *dev)

static int xxxx_runtime_suspend(struct device *dev)

static int xxxx_set_ctrl(struct v4l2_ctrl *ctrl)

static int xxxx_enum_frame_interval(struct v4l2_subdev *sd,
                                    struct v4l2_subdev_pad_config *cfg,
                                    struct v4l2_subdev_frame_interval_enum *fie)

static int xxxx_g_m bus_config(struct v4l2_subdev *sd,
                                struct v4l2_m bus_config *config)

static int xxxx_get_selection(struct v4l2_subdev *sd,
                             struct v4l2_subdev_pad_config *cfg,
                             struct v4l2_subdev_selection *sel)

static long xxxx_ioctl(struct v4l2_subdev *sd, unsigned int cmd, void *arg)

struct v4l2_subdev_core_ops
struct v4l2_subdev_video_ops
struct v4l2_subdev_pad_ops

PIXEL_RATE = HTS * VTS * FPS

VTS = sensor_height_out + VBLANK;

......
obj-$(CONFIG_VIDEO_SC200AI) += sc200ai.o
......

config VIDEO_SC200AI
    tristate "SmartSens SC200AI sensor support"
    depends on I2C && VIDEO_V4L2
    select MEDIA_CONTROLLER
    select VIDEO_V4L2_SUBDEV_API
    select V4L2_FWNODE
    help
      This is a Video4Linux2 sensor driver for the SmartSens
      SC200AI camera.

#include "../platform/rockchip/isp/rkisp_tb_helper.h"
#include "cam-tb-setup.h"

struct sc200ai {
    ......
    bool            is_thunderboot;
    ......
};

sc200ai->is_thunderboot = IS_ENABLED(CONFIG_VIDEO_ROCKCHIP_THUNDER_BOOT_ISP);

static int __sc200ai_start_stream(struct sc200ai *sc200ai)
{
    int ret = 0;
    ......
    if (!sc200ai->is_thunderboot) { //⾮快启，写⼊完整寄存器配置
        ret = sc200ai_write_array(sc200ai->client, sc200ai->cur_mode->reg_list);
        if (ret)
            return ret;
        ......
    }

    if (sc200ai->sync_mode == NO_SYNC_MODE)//否则，配置起流
        ret |= sc200ai_write_reg(sc200ai->client, SC200AI_REG_CTRL_MODE,
                     SC200AI_REG_VALUE_08BIT, SC200AI_MODE_STREAMING);
    return ret;
}

static int __sc200ai_stop_stream(struct sc200ai *sc200ai)
{
    int ret = 0;
    sc200ai->has_init_exp = false;

    if (sc200ai->is_thunderboot) {
        sc200ai->is_first_streamoff = true;
        pm_runtime_put(&sc200ai->client->dev);
    }
    ......

    ret |= sc200ai_write_reg(sc200ai->client, SC200AI_REG_CTRL_MODE,
                 SC200AI_REG_VALUE_08BIT, SC200AI_MODE_SW_STANDBY);
    return ret;
}

struct rk_camera_ops {
    ret_err_t (*init)(struct rk_camera_device *dev);  // 初始化相机设备
    ret_err_t (*open)(struct rk_camera_device *dev, rt_uint16_t oflag);  // 打开相机设备
    ret_err_t (*close)(struct rk_camera_device *dev);  // 关闭相机设备
    ret_err_t (*control)(struct rk_camera_device *dev, int cmd, void *args);  // 控制相机设备
};

struct rk_camera_ops rk_sc450ai_ops =
{
    rk_sc450ai_init,
    rk_sc450ai_open,
    NULL,
    rk_sc450ai_control
};

struct xxxx_mode
{
    struct v4l2_fract max_fps;
    uint16_t bus_fmt;
    uint16_t width;
    uint16_t height;
    uint16_t hts_def;
    uint16_t vts_def;
    uint16_t exp_def;
    uint32_t xvclk;
    uint32_t link_freq;
#ifndef REG_LIST_CONVERSION_DEBUG
    const uint8_t *reg_list;
#else
    const struct sc450ai_sensor_reg *reg_list;
#endif
    const int reg_list_size;
    uint8_t hdr_mode;
} __attribute__((__packed__));

static const struct sc450ai_mode supported_modes_4lane[] =
{
    {
        .bus_fmt = MEDIA_BUS_FMT_SBGGR10_1X10,
        .width = 1344,
        .height = 760,
        .max_fps = {
            .numerator = 10000,
            .denominator = 1200000,
        },
        .exp_def = 0x80,
        .hts_def = 0x03a8,
        .vts_def = 0x030c,
        .xvclk = 27000000,
        .link_freq = 360000000,
        .reg_list = g_sc450ai_1344x760_4lane_120fps_reg_table,
        .reg_list_size = ARRAY_SIZE(g_sc450ai_1344x760_4lane_120fps_reg_table),
        .hdr_mode = NO_HDR,
    },
    {/* */}，
}

struct xxx_dev
{
    struct rk_camera_device parent;
    char name[RK_CAMERA_DEVICE_NAME_SIZE];
    uint8_t time_valid_delay;
    uint8_t gain_valid_delay;
    char i2c_name[RK_CAMERA_I2C_NAME_SIZE];
    struct rt_i2c_bus_device *i2c_bus;
    uint8_t i2c_addr;
    uint8_t flip;
    struct rt_mutex mutex_lock;
    struct rk_camera_exp_val init_exp;
    uint8_t modes_num;
    const struct sc450ai_mode *supported_modes;
    const struct sc450ai_mode *cur_mode;
    const struct sc450ai_mode *pdst_mode;
    struct sc450ai_mode dst_mode;
    bool has_init_exp;
    bool streaming;
};

ret_err_t rk_sc450ai_control(struct rk_camera_device *dev,
                             dt_cmd_t cmd,
                             void *args);

ret_err_t rk_sc450ai_control(struct rk_camera_device *dev,
                             dt_cmd_t cmd,
                             void *args)
{
    ...
    switch (cmd)
    {
    case RK_DEVICE_CTRL_DEVICE_INIT:
    {
        ret = rk_sc450ai_init(dev);
    }
    break;
    ...
    default:
        sc450ai_dbg("exit CMD %d\n", cmd);
        break;
    }

    return ret;
}

ret_err_t rk_xxx_init(struct rk_camera_device *dev);

static void xxx_stream_on(struct xxx_dev *dev);

static void xxx_stream_off(struct xxx_dev *dev);

static ret_err_t rk_xxx_get_expinf(struct xxx_dev *dev, struct rk_camera_exp_info *exp);

static ret_err_t rk_xxx_set_expval(struct xxx_dev *dev, struct rk_camera_exp_val *exp);

static ret_err_t rk_xxx_set_vts(struct xxx_dev *dev, uint32_t dst_vts);

static ret_err_t rk_xxx_get_intput_fmt(struct xxx_dev *dev, struct rk_camera_mbus_framefmt
*mbus_fmt);

static ret_err_t rk_xxx_set_intput_fmt(struct xxx_dev *dev, struct rk_camera_mbus_framefmt
*mbus_fmt);

static ret_err_t rk_xxx_match_dst_config(struct xxx_dev *dev, struct rk_camera_dst_config
*dst_config);

static ret_err_t rk_xxx_set_flip_mirror(struct xxx_dev *dev, uint32_t flip)

static void xxx_stream_on_late(struct xxx_dev *dev);

static void xxx_quick_stream(struct xxx_dev *dev, int on);

int rk_xxx_check_sensor_id(struct xxx_dev *dev)

@@ -506,6 +506,8 @@ menu "supported camera"
        bool "Enable GC2053"
    config RT_USING_F37
        bool "Enable F37"
    config RT_USING_SC230AI
        bool "Enable SC230AI"
+   config RT_USING_SC450AI
+       bool "Enable SC450AI"
    config RT_USING_SC850SL
        bool "Enable SC850SL"

cd <sdk>/sysdrv/source/mcu/project/scripts/camera_reg_convert/
python2 reg_conver.py

/*
 * Xclk 27Mhz
 * max_framerate 30fps
 * mipi_datarate per lane 720Mbps, 4lane
 * full resolution
 */
static const uint8_t g_sc450ai_2688x1520_4lane_30fps_reg_table[] =
{
    0x3, 0x01, 0x00, 0x00,
    0x3, 0x36, 0xe9, 0x80,
    0x3, 0x36, 0xf9, 0x80,
    0x3, 0x30, 0x1c, 0x78,
    0x3, 0x30, 0x1f, 0x01,
    0x3, 0x30, 0x2e, 0x00,
    0xa, 0x32, 0x08, 0x0a, 0x80, 0x05, 0xf0, 0x02, 0xee, 0x06, 0x18,
    0x4, 0x32, 0x14, 0x11, 0x11,
    0x8,
};

struct gpio_desc
{
    uint32_t gpio_pin;
    struct GPIO_REG *gpio_group;
};

struct camera_board_desc
{
    struct gpio_desc rst_gpio;
    struct gpio_desc pwdn_gpio;
    struct gpio_desc pwren_gpio;
    eCLOCK_Name mclk_id;
    uint32_t mclk_out_gate_id;
    char isp_subdev_name[RK_CAMERA_DEVICE_NAME_SIZE];
    char i2c_bus[RK_CAMERA_I2C_NAME_SIZE];
    uint8_t i2c_addr;
    uint8_t time_valid_delay;
    uint8_t gain_valid_delay;
    uint8_t mode_id;
    uint32_t width;
    uint32_t height;
    uint32_t pixelcode;
    uint32_t maxfps;
    uint32_t lanes;
    uint32_t hdr_mode;
    uint32_t dst_width;
    uint32_t dst_height;
    uint32_t dst_pixelcode;
    uint32_t dst_maxfps;
    uint32_t dst_hdr_mode;
    bool rst_active;
    bool pwdn_active;
    bool pwren_active;
};

const struct camera_board_desc camera_sc450ai =
{
    .i2c_addr = 0x30,
    .rst_gpio =
    {
        .gpio_pin = GPIO_PIN_A7,
        .gpio_group = GPIO4,
    },
    .pwdn_gpio =
    {
        .gpio_pin = GPIO_PIN_A2,
        .gpio_group = GPIO4,
    },
    .time_valid_delay = 2,
    .gain_valid_delay = 2,
    .width = 1344,
    .height = 760,
    .maxfps = 120,
    .lanes = 4,
    .pixelcode = MEDIA_BUS_FMT_SBGGR10_1X10,
    .hdr_mode = NO_HDR,
    .dst_width = 2688,
    .dst_height = 1520,
    .dst_maxfps = 60,
    .dst_pixelcode = MEDIA_BUS_FMT_SBGGR10_1X10,
    .dst_hdr_mode = NO_HDR,
    .isp_subdev_name = RK_ISP_MAIN_SUBDEV_NAME,
    .i2c_bus = "i2c3",
    .rst_active = 0,
    .pwdn_active = 1,
    .mclk_id = CLK_MIPI0_OUT2IO,
    .mclk_out_gate_id = CLK_MIPI0_OUT2IO_GATE,
};
void cif_hw_config(void)
{
    struct dphy_board_desc *csi2_dphy = (struct dphy_board_desc *)&csi2_dphy_board;
    struct csi2_board_desc *csi_host_0 = (struct csi2_board_desc *)&csi2_host0_board;
    struct vicap_board_desc *vicap = (struct vicap_board_desc *)&vicap_board;
    csi2_dphy->enable = true;
    csi2_dphy->csi2_dphy1.enable = true;
    csi2_dphy->csi2_dphy1.csi_host_idx = 0;
    csi2_dphy->csi2_dphy1.isp_subdev_name = RK_ISP_MAIN_SUBDEV_NAME;

    csi_host_0->enable = true;

    vicap->enable = true;
}

sc200ai: sc200ai@30 {
    compatible = "smartsens,sc200ai";
    status = "okay";
    reg = <0x30>;
    ...
    rockchip,camera-module-stb = <1>;
    port {
        sc200ai_out: endpoint {
            remote-endpoint = <&csi_dphy_input1>;
            data-lanes = <1 2>;
        };
    };
};

static long sc200ai_ioctl(struct v4l2_subdev *sd, unsigned int cmd, void *arg)
{
    ......
    switch (cmd) {
    case RKMODULE_SET_QUICK_STREAM:
            stream = *((u32 *)arg);

            if (sc200ai->standby_hw) { // hardware standby
                if (stream) {
                    if (!IS_ERR(sc200ai->pwdn_gpio))
                        gpiod_set_value_cansleep(sc200ai->pwdn_gpio, 1);
                    // Make sure __v4l2_ctrl_handler_setup can be called correctly
                    sc200ai->is_standby = false;
                    ret = sc200ai_write_reg(sc200ai->client, SC200AI_REG_MIPI_CTRL,
                        SC200AI_REG_VALUE_08BIT, SC200AI_MIPI_CTRL_ON);

                    #if IS_REACHABLE(CONFIG_VIDEO_CAM_SLEEP_WAKEUP)
                    if (__v4l2_ctrl_handler_setup(&sc200ai->ctrl_handler))
                        dev_err(&sc200ai->client->dev, "__v4l2_ctrl_handler_setup fail!");
                    if (sc200ai->cur_mode->hdr_mode != NO_HDR) {
                        if (sc200ai->cam_sw_inf) {
                            ret = sc200ai_ioctl(&sc200ai->subdev,
                                        PREISP_CMD_SET_HDRAE_EXP,
                                        &sc200ai->cam_sw_inf->hdr_ae);
                            if (ret) {
                                dev_err(&sc200ai->client->dev,
                                    "init exp fail in hdr mode\n");
                                return ret;
                            }
                        }
                    }
                    #endif

                    ret |= sc200ai_write_reg(sc200ai->client, SC200AI_REG_CTRL_MODE,
                        SC200AI_REG_VALUE_08BIT, SC200AI_MODE_STREAMING);

                    dev_info(&sc200ai->client->dev, "quickstream, streaming on: exit hw
standby mode\n");
                } else {
                    ret = sc200ai_write_reg(sc200ai->client, SC200AI_REG_CTRL_MODE,
                        SC200AI_REG_VALUE_08BIT, SC200AI_MODE_SW_STANDBY);

                    ret |= sc200ai_write_reg(sc200ai->client, SC200AI_REG_MIPI_CTRL,
                        SC200AI_REG_VALUE_08BIT, SC200AI_MIPI_CTRL_OFF);

                    if (!IS_ERR(sc200ai->pwdn_gpio))
                        gpiod_set_value_cansleep(sc200ai->pwdn_gpio, 0);

                    dev_info(&sc200ai->client->dev, "quickstream, streaming off: enter hw
standby mode\n");
                    sc200ai->is_standby = true;
                }
            }
        ......
}

static long sc200ai_ioctl(struct v4l2_subdev *sd, unsigned int cmd, void *arg)
{
    ......
    switch (cmd) {
    case RKMODULE_SET_QUICK_STREAM:
            stream = *((u32 *)arg);
            ......
            else {  // software standby
            if (stream) {
                ret = sc200ai_write_reg(sc200ai->client, SC200AI_REG_MIPI_CTRL,
                    SC200AI_REG_VALUE_08BIT, SC200AI_MIPI_CTRL_ON);

                ret |= sc200ai_write_reg(sc200ai->client, SC200AI_REG_CTRL_MODE,
                    SC200AI_REG_VALUE_08BIT, SC200AI_MODE_STREAMING);
                dev_info(&sc200ai->client->dev, "quickstream, streaming on: exit soft
standby mode\n");
            } else {
                ret = sc200ai_write_reg(sc200ai->client, SC200AI_REG_CTRL_MODE,
                    SC200AI_REG_VALUE_08BIT, SC200AI_MODE_SW_STANDBY);

                ret |= sc200ai_write_reg(sc200ai->client, SC200AI_REG_MIPI_CTRL,
                    SC200AI_REG_VALUE_08BIT, SC200AI_MIPI_CTRL_OFF);
                dev_info(&sc200ai->client->dev, "quickstream, streaming off: enter soft
standby mode\n");
            }
        }

        break;
        ......
    }

/* sync mode regs */
static __maybe_unused const struct regval sc200ai_interal_sync_master_start_regs[] = {
    {0x300a, 0x24}, //sync as output PAD
    {0x3032, 0xa0},
    {0x3222, 0x00}, //master mode
    {0x3216, 0x00},
    {0x3217, 0x04},
    {REG_NULL, 0x00},
};

static __maybe_unused const struct regval sc200ai_interal_sync_master_stop_regs[] = {
    {REG_NULL, 0x00},
};

static __maybe_unused const struct regval sc200ai_interal_sync_slaver_start_regs[] = {
    {0x3222, 0x02}, //slave mode
    {0x3230, 0x00},
    {0x3231, 0x04}, //Rows Before Read
    {0x3224, 0x82}, //fsync trigger
    {REG_NULL, 0x00},
};

static __maybe_unused const struct regval sc200ai_interal_sync_slaver_stop_regs[] = {
    {REG_NULL, 0x00},
};

struct sc200ai {
    ......
    enum rkmodule_sync_mode sync_mode;
    ......
};

/*
 * sensor exposure sync mode
 */
enum rkmodule_sync_mode {
    NO_SYNC_MODE = 0,
    EXTERNAL_MASTER_MODE,
    INTERNAL_MASTER_MODE,
    SLAVE_MODE,
    SOFT_SYNC_MODE,
};

static int sc200ai_probe(struct i2c_client *client,
             const struct i2c_device_id *id)
    ......
    ret = of_property_read_string(node, RKMODULE_CAMERA_SYNC_MODE,
                      &sync_mode_name);
    if (ret) {
        sc200ai->sync_mode = NO_SYNC_MODE;
        dev_err(dev, "could not get sync mode!\n");
    } else {
        if (strcmp(sync_mode_name, RKMODULE_EXTERNAL_MASTER_MODE) == 0) {
            sc200ai->sync_mode = EXTERNAL_MASTER_MODE;
            dev_info(dev, "sync_mode = [EXTERNAL_MASTER_MODE]\n");
        } else if (strcmp(sync_mode_name, RKMODULE_INTERNAL_MASTER_MODE) == 0) {
            sc200ai->sync_mode = INTERNAL_MASTER_MODE;
            dev_info(dev, "sync_mode = [INTERNAL_MASTER_MODE]\n");
        } else if (strcmp(sync_mode_name, RKMODULE_SLAVE_MODE) == 0) {
            sc200ai->sync_mode = SLAVE_MODE;
            dev_info(dev, "sync_mode = [SLAVE_MODE]\n");
        } else if (strcmp(sync_mode_name, RKMODULE_SOFT_SYNC_MODE) == 0) {
            sc200ai->sync_mode = SOFT_SYNC_MODE;
            dev_info(dev, "sync_mode = [SOFT_SYNC_MODE]\n");
        } else {
            dev_info(dev, "sync_mode = [NO_SYNC_MODE]\n");
        }
    }
    ......

#define RKMODULE_CAMERA_SYNC_MODE       "rockchip,camera-module-sync-mode"
#define RKMODULE_INTERNAL_MASTER_MODE   "internal_master"
#define RKMODULE_EXTERNAL_MASTER_MODE   "external_master"
#define RKMODULE_SLAVE_MODE             "slave"
#define RKMODULE_SOFT_SYNC_MODE         "soft_sync"

static int __sc200ai_start_stream(struct sc200ai *sc200ai)
{
    int ret = 0;
    ......
    if (!sc200ai->is_thunderboot) {
        ret = sc200ai_write_array(sc200ai->client, sc200ai->cur_mode->reg_list);
        if (ret)
            return ret;

        ......

        if (sc200ai->sync_mode == INTERNAL_MASTER_MODE ||
            sc200ai->sync_mode == SOFT_SYNC_MODE) {
            ret |= sc200ai_write_array(sc200ai->client,
                           sc200ai_interal_sync_master_start_regs);
        } else if (sc200ai->sync_mode == EXTERNAL_MASTER_MODE) {
            ret |= sc200ai_write_array(sc200ai->client,
                           sc200ai_interal_sync_slaver_start_regs);
        } else if (sc200ai->sync_mode == SLAVE_MODE) {
            ret |= sc200ai_write_array(sc200ai->client,
                           sc200ai_interal_sync_slaver_start_regs);
        }
        if (ret) {
            dev_err(&sc200ai->client->dev,
                "write sync regs failed\n");
            return ret;
        }
    }

    if (sc200ai->sync_mode == NO_SYNC_MODE)
        ret |= sc200ai_write_reg(sc200ai->client, SC200AI_REG_CTRL_MODE,
                     SC200AI_REG_VALUE_08BIT, SC200AI_MODE_STREAMING);
    return ret;
}

static long sc200ai_ioctl(struct v4l2_subdev *sd, unsigned int cmd, void *arg)
{
    ......
    case RKMODULE_GET_SYNC_MODE:
        sync_mode = (u32 *)arg;
        *sync_mode = sc200ai->sync_mode;
        break;
    case RKMODULE_SET_SYNC_MODE:
        sync_mode = (u32 *)arg;
        if (sync_mode) {
            sc200ai->sync_mode = *sync_mode;
            dev_info(&sc200ai->client->dev, "set sync mode is: %s\n",
                 ((*sync_mode == EXTERNAL_MASTER_MODE) ||
                  (*sync_mode == SLAVE_MODE)) ? "secondary" : "primary");
        } else {
            dev_info(&sc200ai->client->dev, "set sync mode is: NO_SYNC_MODE\n");
        }
        break;
    ......
}

#include "light_ctl.h"

struct xxxx {
    ......
    bool                    enable_light_ctl;
    struct rk_light_param   light_param;
    ......
}；

static long xxxx_ioctl(struct v4l2_subdev *sd, unsigned int cmd, void *arg)
    ......
    struct rk_light_param *light_param;
    ......
    case RKCIS_CMD_FLASH_LIGHT_CTRL:
        dev_info(&mis5001->client->dev, "set flash light param\n");
        light_param = (struct rk_light_param *)arg;
        if (light_param->light_enable) {
            memcpy(&mis5001->light_param, light_param, sizeof(struct rk_light_param));
            mis5001->enable_light_ctl = true;
        } else {
            mis5001->enable_light_ctl = false;
        }
        ret = light_ctl_write(mis5001->module_index, light_param);
        break;

    ......
};

static long xxxx_compat_ioctl32(struct v4l2_subdev *sd,
                   unsigned int cmd, unsigned long arg)
{
        ......
        struct rk_light_param *light_param;
        ......
        switch (cmd) {
        ......
        case RKCIS_CMD_FLASH_LIGHT_CTRL:
            light_param = kzalloc(sizeof(*light_param), GFP_KERNEL);
            if (!light_param) {
                ret = -ENOMEM;
                return ret;
            }

            ret = copy_from_user(light_param, up, sizeof(*light_param));
            if (!ret)
                ret = mis5001_ioctl(sd, cmd, light_param);
            else
                ret = -EFAULT;
            kfree(light_param);
            break;
        }
        .....
}

static int sc200ai_set_setting(struct sc200ai *sc200ai, struct rk_sensor_setting *setting)
{
    int i = 0;
    int cur_fps = 0;
    s64 h_blank, vblank_def;
    u64 pixel_rate = 0;
    const struct sc200ai_mode *mode = NULL;
    const struct sc200ai_mode *match = NULL;

    dev_info(&sc200ai->client->dev,
        "sensor setting: %d x %d, fps:%d fmt:%d, mode:%d\n",
        setting->width, setting->height,
        setting->fps, setting->fmt, setting->mode);

    for (i = 0; i < ARRAY_SIZE(supported_modes); i++) {
        mode = &supported_modes[i];
        if (mode->width == setting->width &&
            mode->height == setting->height &&
            mode->hdr_mode == setting->mode &&
            mode->bus_fmt == setting->fmt) {
            cur_fps = DIV_ROUND_CLOSEST(mode->max_fps.denominator, mode->max_fps.numerator);
            if (cur_fps == setting->fps) {
                match = mode;
                break;
            }
        }
    }

    if (match) {
        dev_info(&sc200ai->client->dev, "-----%s: match the support mode, mode idx:%d-----
\n",
            __func__, i);
        sc200ai->cur_mode = mode;

        h_blank = mode->hts_def - mode->width;
        __v4l2_ctrl_modify_range(sc200ai->hblank, h_blank,
                     h_blank, 1, h_blank);
        vblank_def = mode->vts_def - mode->height;
        __v4l2_ctrl_modify_range(sc200ai->vblank, vblank_def,
                     SC200AI_VTS_MAX - mode->height,
                     1, vblank_def);
        __v4l2_ctrl_s_ctrl(sc200ai->link_freq, mode->mipi_freq_idx);
        pixel_rate = (u32)link_freq_menu_items[mode->mipi_freq_idx] /
                 mode->bpp * 2 * SC200AI_LANES;
        __v4l2_ctrl_s_ctrl_int64(sc200ai->pixel_rate, pixel_rate);
        dev_info(&sc200ai->client->dev, "freq_idx:%d pixel_rate:%lld\n",
            mode->mipi_freq_idx, pixel_rate);
        sc200ai->cur_vts = mode->vts_def;
        sc200ai->cur_fps = mode->max_fps;

        dev_info(&sc200ai->client->dev, "hts_def:%d cur_vts:%d cur_fps:%d\n",
            mode->hts_def, mode->vts_def,
            sc200ai->cur_fps.denominator / sc200ai->cur_fps.numerator);
    } else {
        dev_err(&sc200ai->client->dev, "couldn't match the support modes\n");
        return -EINVAL;
    }

    return 0;
}

static long sc200ai_ioctl(struct v4l2_subdev *sd, unsigned int cmd, void *arg)
    ......
    struct rk_sensor_setting *setting;
    ......

    switch (cmd) {
    ......
    case RKCIS_CMD_SELECT_SETTING:
        setting = (struct rk_sensor_setting *)arg;
        ret = sc200ai_set_setting(sc200ai, setting);
        break;

    ......
    }
}

// 4 Lane 寄存器配置⽀持列表
static const struct sc450ai_mode supported_modes_4lane[] = {
    {
        ...
    },
    {
        ...
    },
};
// 2 Lane 寄存器配置⽀持列表
static const struct sc450ai_mode supported_modes_2lane[] = {
    {
        ...
    },
    {
        ...
    },
}
static int sc450ai_probe(struct i2c_client *client,
             const struct i2c_device_id *id)
{
    struct device_node *node = dev->of_node;
    struct device_node *endpoint;
    ......
    endpoint = of_graph_get_next_endpoint(dev->of_node, NULL);
    if (!endpoint) {
        dev_err(dev, "Failed to get endpoint\n");
        return -EINVAL;
    }
    ret = v4l2_fwnode_endpoint_parse(of_fwnode_handle(endpoint),
        &sc450ai->bus_cfg);
    of_node_put(endpoint);
    if (ret) {
        dev_err(dev, "Failed to get bus config\n");
        return -EINVAL;
    }

    // 根据dts配置的lane数选择不同的寄存器⽀持列表数组
    if (sc450ai->bus_cfg.bus.mipi_csi2.num_data_lanes == 4) {
        sc450ai->supported_modes = supported_modes_4lane;
        sc450ai->cfg_num = ARRAY_SIZE(supported_modes_4lane);
        dev_info(dev, "detect sc450ai lane: %d\n",
             sc450ai->bus_cfg.bus.mipi_csi2.num_data_lanes);
    } else {
        sc450ai->supported_modes = supported_modes_2lane;
        sc450ai->cfg_num = ARRAY_SIZE(supported_modes_2lane);
        dev_info(dev, "detect sc450ai lane: %d\n",
             sc450ai->bus_cfg.bus.mipi_csi2.num_data_lanes);
    }
    ......
}

#define SC200AI_REG_VTS_H       0x320e
#define SC200AI_REG_VTS_L       0x320f
...
static const struct regval sc200ai_linear_10_1920x1080_30fps_regs[] = {
    ...
    //HTS=1100*2=2200
    {0x320c, 0x04},
    {0x320d, 0x4c},
    //VTS=1125
    {0x320e, 0x04},
    {0x320f, 0x65},
    ...
};

static const struct sc200ai_mode supported_modes[] = {
    {
        .width = 1920,
        .height = 1080,
        .max_fps = {
            .numerator = 10000,
            .denominator = 300000,
        },
        .exp_def = 0x0080,  // exp曝光默认值，⼀般应⼩于vts默认值，最⼤vts_def - 8 (曝光⾏，具体减去
多少，参考 Sensor ⼿册，可能4/8/10)
        .hts_def = 0x44C * 2,// hts默认值填写对应寄存器列表中给出的默认值(可乘倍数)
        .vts_def = 0x0465,  // vts默认值填对应寄存器列表中给出的默认值
        ...
    },
    ...
};

link_freq = width * height * fps * bits_per_pixel / lanes / 2

pclk = link_freq * 2 * lanes / bits_per_pixel

# media-ctl -p -d /dev/media0 | tail -n 30
                -> "rkcif_tools_id2":0 []
        pad11: Source
                -> "stream_cif_mipi_id0":0 []
                -> "stream_cif_mipi_id1":0 []
                -> "stream_cif_mipi_id2":0 []
                -> "stream_cif_mipi_id3":0 []
                -> "rkcif_scale_ch0":0 []
                -> "rkcif_scale_ch1":0 []
                -> "rkcif_scale_ch2":0 []
                -> "rkcif_scale_ch3":0 []
                -> "rkcif_tools_id0":0 []
                -> "rkcif_tools_id1":0 []
                -> "rkcif_tools_id2":0 [ENABLED]

- entity 58: rockchip-csi2-dphy0 (2 pads, 2 links)
             type V4L2 subdev subtype Unknown flags 0
             device node name /dev/v4l-subdev1
        pad0: Sink
                [fmt:SBGGR10_1X10/1920x1080@10000/300000 field:none]
                <- "m00_b_sc200ai 4-0030":0 [ENABLED]
        pad1: Source
                -> "rockchip-mipi-csi2":0 [ENABLED]

- entity 63: m00_b_sc200ai 4-0030 (1 pad, 1 link)
             type V4L2 subdev subtype Sensor flags 0
             device node name /dev/v4l-subdev2
        pad0: Source
                [fmt:SBGGR10_1X10/1920x1080@10000/300000 field:none]
                -> "rockchip-csi2-dphy0":0 [ENABLED]

[  126.741234] rockchip-mipi-csi2 feaa0000.csi2-dphy: ERR1: 0x00000040 (ECC Error,
VC1), FIFO overflow? Check timings!
[  126.741259] rockchip-mipi-csi2 feaa0000.csi2-dphy: ERR2: 0x00000010 (CRC Error,
VC0)

media-ctl -p -d /dev/mediaX  # 查看 Entity 之间的链路和当前格式
v4l2-ctl -d /dev/v4l-subdevY --get-fmt-video # 查看 Sensor 输出格式
v4l2-ctl -d /dev/v4l-subdevZ --get-fmt-video # 查看 CSI-DPHY 输⼊格式

csi2_dphy_hw: csi2-dphy@fedc0000 {
    compatible = "rockchip,rk3588-csi2-dphy-hw";
    clocks = ...; // 时钟配置必须正确
    resets = ...;
    rockchip,hw = <&csi2_dphy0>; // 硬件版本
};
csi2_dphy0: csi2-dphy0 {
    compatible = "rockchip,rk3568-csi2-dphy";
    phys = <&mipi_dphy0>; // 指向正确的PHY
    phy-names = "dphy";
    ports {
        port@0 {
            reg = <0>;
            #address-cells = <1>;
            #size-cells = <0>;
            // 关键点: CSI 接收 VC 设置
            endpoint {
                remote-endpoint = <&sensor_out>;
                data-lanes = <1 2 3 4>; // Lane数量必须匹配Sensor
                virtual-channel-index = <0>; // 必须等于Sensor输出VC
            };
        };
    };
};

v4l2-ctl -d /dev/video0 --stream-mmap --stream-count=100 --stream-skip=100