如何适配Sensor#
概述#
K230 Sensor 框架分为驱动层和应用层，底层为硬件层（如 ov9732、ov9286 等 Sensor），中间为驱动层（对应 /dev/sensor_xxx 设备节点），上层通过媒体接口层（kd_mpi_sensor_xxx）和 sensor_ops 实现对 Sensor 的操作。本文将以 IMX219 为例，详细介绍在 RTOS 操作系统中新增 Sensor 适配的完整流程，包括配置、驱动开发、应用层适配、编译运行及问题调试。
开发步骤#
整体配置#
增加 Sensor 开关配置#
在~/src/rtsmart/mpp/Kconfig中添加 IMX219 的配置项，支持通过make menuconfig控制该摄像头驱动的启用 / 禁用，并针对不同 CSI 接口（CSI0/CSI1/CSI2）配置 MCLK 使用选项。
menuconfig MPP_ENABLE_SENSOR_IMX219
bool "Enable IMX219"
if MPP_ENABLE_SENSOR_IMX219
config MPP_SENSOR_IMX219_ON_CSI0_USE_CHIP_CLK
bool "IMX219 On CSI0 Use CHIP MCLK"
default n
depends on MPP_ENABLE_CSI_DEV_0
config MPP_SENSOR_IMX219_ON_CSI1_USE_CHIP_CLK
bool "IMX219 On CSI1 Use CHIP MCLK"
default n
depends on MPP_ENABLE_CSI_DEV_1
config MPP_SENSOR_IMX219_ON_CSI2_USE_CHIP_CLK
bool "IMX219 On CSI2 Use CHIP MCLK"
default n
depends on MPP_ENABLE_CSI_DEV_2
endif
驱动层开发#
Makefile 编译配置#
在~/src/rtsmart/mpp/kernel/sensor/Makefile中添加 IMX219 的编译规则，确保启用配置后自动编译对应驱动文件。
src-$(CONFIG_MPP_ENABLE_SENSOR_IMX219) += src/imx219/imx219.c
Sensor 模式定义#
在~/src/rtsmart/mpp/include/comm/k_sensor_comm.h中，新增 IMX219 支持的分辨率、帧率、CSI 接口组合模式，共 3 种分辨率 ×3 个 CSI 接口 = 9 个宏定义。
typedef enum {
...
#if defined (CONFIG_MPP_ENABLE_SENSOR_IMX219)
IMX219_MIPI_CSI0_2LANE_3280x2464_21FPS_12BIT_LINEAR,
IMX219_MIPI_CSI0_2LANE_1920x1080_30FPS_12BIT_LINEAR,
IMX219_MIPI_CSI0_2LANE_1080x1920_30FPS_12BIT_LINEAR,
IMX219_MIPI_CSI1_2LANE_3280x2464_21FPS_12BIT_LINEAR,
IMX219_MIPI_CSI1_2LANE_1920x1080_30FPS_12BIT_LINEAR,
IMX219_MIPI_CSI1_2LANE_1080x1920_30FPS_12BIT_LINEAR,
IMX219_MIPI_CSI2_2LANE_3280x2464_21FPS_12BIT_LINEAR,
IMX219_MIPI_CSI2_2LANE_1920x1080_30FPS_12BIT_LINEAR,
IMX219_MIPI_CSI2_2LANE_1080x1920_30FPS_12BIT_LINEAR,
#endif
SENSOR_TYPE_MAX,
} k_vicap_sensor_type;
开机扫描检测配置#
在驱动初始化扫描逻辑中添加 IMX219 的检测支持，包括探针函数注册和类型名称映射。
探针函数注册#
修改~/src/rtsmart/mpp/kernel/sensor/src/sensor_dev.c，在sensor_probes数组中添加 IMX219 的探针函数，在sth_table中添加模式名称映射。
static sensor_probe_impl sensor_probes[] = {
...
#if defined (CONFIG_MPP_ENABLE_SENSOR_IMX219)
sensor_imx219_probe,
#endif // CONFIG_MPP_ENABLE_SENSOR_BF3238
0, // end
};
static const struct sensor_type_name sth_table[] = {
...
#if defined (CONFIG_MPP_ENABLE_SENSOR_IMX219)
SENSOR_TYPE_NAME(IMX219_MIPI_CSI0_2LANE_3280x2464_21FPS_12BIT_LINEAR),
SENSOR_TYPE_NAME(IMX219_MIPI_CSI0_2LANE_1920x1080_30FPS_12BIT_LINEAR),
SENSOR_TYPE_NAME(IMX219_MIPI_CSI0_2LANE_1080x1920_30FPS_12BIT_LINEAR),
SENSOR_TYPE_NAME(IMX219_MIPI_CSI1_2LANE_3280x2464_21FPS_12BIT_LINEAR),
SENSOR_TYPE_NAME(IMX219_MIPI_CSI1_2LANE_1920x1080_30FPS_12BIT_LINEAR),
SENSOR_TYPE_NAME(IMX219_MIPI_CSI1_2LANE_1080x1920_30FPS_12BIT_LINEAR),
SENSOR_TYPE_NAME(IMX219_MIPI_CSI2_2LANE_3280x2464_21FPS_12BIT_LINEAR),
SENSOR_TYPE_NAME(IMX219_MIPI_CSI2_2LANE_1920x1080_30FPS_12BIT_LINEAR),
SENSOR_TYPE_NAME(IMX219_MIPI_CSI2_2LANE_1080x1920_30FPS_12BIT_LINEAR),
#endif
/* last type set to U32 MAX */
{__UINT32_MAX__, "UNKNOWN"},
};
探针函数声明#
在~/src/rtsmart/mpp/kernel/sensor/src/sensor_dev.h中声明 IMX219 的探针函数。
extern k_s32 sensor_imx219_probe(struct k_sensor_probe_cfg *cfg, struct sensor_driver_dev *dev);
驱动文件目录创建#
拷贝现有类似 Sensor（如 gc2093）的驱动目录，修改为 IMX219 专属目录及文件名称。
cp -rf gc2093 imx219
cd imx219
mv gc2093.c imx219.c
# 新增目录结构如下
aaa@DESKTOP-OSN5BJK:~/canmv_k230_mmp/src/rtsmart/mpp/kernel/sensor/src/imx219$ ls
imx219.c sensor_csi0_mode_list.c sensor_csi1_mode_list.c sensor_csi2_mode_list.c sensor_reg_table.c
寄存器配置#
针对 3 种分辨率模式，添加对应的寄存器初始化序列（需从摄像头模组厂获取），序列以{REG_NULL, 0x00}结束。
/* MCLK:24MHz 3280x2464 21.2fps MIPI LANE2 */
static const k_sensor_reg imx219_mipi2lane_3280_2464_21fps[] = {
{0x30EB, 0x05}, /* Access Code for address over 0x3000 */
{0x30EB, 0x0C}, /* Access Code for address over 0x3000 */
{0x300A, 0xFF}, /* Access Code for address over 0x3000 */
{0x300B, 0xFF}, /* Access Code for address over 0x3000 */
{0x30EB, 0x05}, /* Access Code for address over 0x3000 */
{0x30EB, 0x09}, /* Access Code for address over 0x3000 */
{0x0114, 0x01}, /* CSI_LANE_MODE[1:0} */
{0x0128, 0x00}, /* DPHY_CNTRL */
{0x012A, 0x18}, /* EXCK_FREQ[15:8] */
{0x012B, 0x00}, /* EXCK_FREQ[7:0] */
{0x015A, 0x01}, /* INTEG TIME[15:8] */
{0x015B, 0xF4}, /* INTEG TIME[7:0] */
{0x0160, 0x09}, /* FRM_LENGTH_A[15:8] */
{0x0161, 0xC4}, /* FRM_LENGTH_A[7:0] */
{0x0162, 0x0D}, /* LINE_LENGTH_A[15:8] */
{0x0163, 0x78}, /* LINE_LENGTH_A[7:0] */
{0x0260, 0x09}, /* FRM_LENGTH_B[15:8] */
{0x0261, 0xC4}, /* FRM_LENGTH_B[7:0] */
{0x0262, 0x0D}, /* LINE_LENGTH_B[15:8] */
{0x0263, 0x78}, /* LINE_LENGTH_B[7:0] */
{0x0170, 0x01}, /* X_ODD_INC_A[2:0] */
{0x0171, 0x01}, /* Y_ODD_INC_A[2:0] */
{0x0270, 0x01}, /* X_ODD_INC_B[2:0] */
{0x0271, 0x01}, /* Y_ODD_INC_B[2:0] */
{0x0174, 0x00}, /* BINNING_MODE_H_A */
{0x0175, 0x00}, /* BINNING_MODE_V_A */
{0x0274, 0x00}, /* BINNING_MODE_H_B */
{0x0275, 0x00}, /* BINNING_MODE_V_B */
{0x018C, 0x0A}, /* CSI_DATA_FORMAT_A[15:8] */
{0x018D, 0x0A}, /* CSI_DATA_FORMAT_A[7:0] */
{0x028C, 0x0A}, /* CSI_DATA_FORMAT_B[15:8] */
{0x028D, 0x0A}, /* CSI_DATA_FORMAT_B[7:0] */
{0x0301, 0x05}, /* VTPXCK_DIV */
{0x0303, 0x01}, /* VTSYCK_DIV */
{0x0304, 0x03}, /* PREPLLCK_VT_DIV[3:0] */
{0x0305, 0x03}, /* PREPLLCK_OP_DIV[3:0] */
{0x0306, 0x00}, /* PLL_VT_MPY[10:8] */
{0x0307, 0x39}, /* PLL_VT_MPY[7:0] */
{0x0309, 0x0A}, /* OPPXCK_DIV[4:0] */
{0x030B, 0x01}, /* OPSYCK_DIV */
{0x030C, 0x00}, /* PLL_OP_MPY[10:8] */
{0x030D, 0x72}, /* PLL_OP_MPY[7:0] */
{0x455E, 0x00}, /* CIS Tuning */
{0x471E, 0x4B}, /* CIS Tuning */
{0x4767, 0x0F}, /* CIS Tuning */
{0x4750, 0x14}, /* CIS Tuning */
{0x47B4, 0x14}, /* CIS Tuning */
{REG_NULL, 0x00},
};
/* MCLK:24MHz 1920x1080 30fps MIPI LANE2 */
static const k_sensor_reg imx219_mipi2lane_1920_1080_30fps[] = {
{0x30eb, 0x05},
{0x30eb, 0x0c},
{0x300a, 0xff},
{0x300b, 0xff},
{0x30eb, 0x05},
{0x30eb, 0x09},
{0x0114, 0x01}, //REG_CSI_LANE 01 -2lanes 03-4lanes
{0x0128, 0x00}, //REG_DPHY_CTRL
{0x012a, 0x18}, //REG_EXCK_FREQ_MSB
{0x012b, 0x00}, //REG_EXCK_FREQ_LSB
{0x0160, 0x04},//FRM_LENGTH_A[15:8] 1166
{0x0161, 0x8e},//FRM_LENGTH_A[7:0] 1166
{0x0162, 0x0d},//0x0d},//LINE_LENGTH_A[15:8] 3448
{0x0163, 0x94},//0x78},//LINE_LENGTH_A[7:0]
{0x0164, 0x02}, //X_ADD_STA_A[11:8]
{0x0165, 0xa8},//X_ADD_STA_A[7:0]
{0x0166, 0x0a}, //X_ADD_END_A[11:8]
{0x0167, 0x27}, //X_ADD_END_A[7:0]
{0x0168, 0x02},//Y_ADD_STA_A[11:8]
{0x0169, 0xb4},//Y_ADD_STA_A[7:0]
{0x016a, 0x06},//Y_ADD_END_A[11:8]
{0x016b, 0xeb},//Y_ADD_END_A[7:0]
{0x016c, 0x07},//x_output_size[11:8]
{0x016d, 0x80},//x_output_size[7:0]
{0x016e, 0x04},//y_output_size[11:8]
{0x016f, 0x38},// y_output_size[7:0]
{0x0170, 0x01},//X_ODD_INC_A
{0x0171, 0x01},//Y_ODD_INC_A
{0x0174, 0x00},//BINNING_MODE_H_A
{0x0175, 0x00},//BINNING_MODE_V_A
{0x0301, 0x05},//VTPXCK_DIV
{0x0303, 0x01},//VTSYCK_DIV
{0x0304, 0x03},//PREPLLCK_VT_DIV
{0x0305, 0x03},//PREPLLCK_OP_DIV
{0x0306, 0x00},//PLL_VT_MPY[10:8]
{0x0307, 0x26},//0x25},//PLL_VT_MPY[7:0] 0x39
{0x030b, 0x01},//OPSYCK_DIV
{0x030c, 0x00},//PLL_OP_MPY[10:8]
{0x030d, 0x30},//PLL_OP_MPY[7:0] 0x72
{0x0624, 0x07},
{0x0625, 0x80},
{0x0626, 0x04},
{0x0627, 0x38},
{0x455e, 0x00},
{0x471e, 0x4b},
{0x4767, 0x0f},
{0x4750, 0x14},
{0x4540, 0x00},
{0x47b4, 0x14},
{0x4713, 0x30},
{0x478b, 0x10},
{0x478f, 0x10},
{0x4793, 0x10},
{0x4797, 0x0e},
{0x479b, 0x0e},
{0x0157, 0x40},
{REG_NULL, 0x00},
};
/* MCLK:24MHz 1080x1920 30fps MIPI LANE2 */
static const k_sensor_reg imx219_mipi2lane_1080_1920_30fps[] = {
//Access command sequence
{0x30eb, 0x05},
{0x30eb, 0x0c},
{0x300a, 0xff},
{0x300b, 0xff},
{0x30eb, 0x05},
{0x30eb, 0x09},
{0x0114, 0x01}, //REG_CSI_LANE 01 -2lanes 03-4lanes
{0x0128, 0x00}, //REG_DPHY_CTRL
{0x012a, 0x18}, //REG_EXCK_FREQ_MSB
{0x012b, 0x00}, //REG_EXCK_FREQ_LSB
{0x0160, 0x08},//FRM_LENGTH_A[15:8] 1166
{0x0161, 0x98},//FRM_LENGTH_A[7:0] 1166
{0x0162, 0x0d},//0x0d},//LINE_LENGTH_A[15:8] 3476
{0x0163, 0x94},//0x78},//LINE_LENGTH_A[7:0]
{0x0164, 0x02}, //X_ADD_STA_A[11:8] 680 + 1080 - 1 3476 * 2200
{0x0165, 0xb4},//X_ADD_STA_A[7:0]
{0x0166, 0x06}, //X_ADD_END_A[11:8] 1771
{0x0167, 0xeb}, //X_ADD_END_A[7:0]
{0x0168, 0x01},//Y_ADD_STA_A[11:8]
{0x0169, 0x00},//Y_ADD_STA_A[7:0]
{0x016a, 0x08},//Y_ADD_END_A[11:8] 2175
{0x016b, 0x7f},//Y_ADD_END_A[7:0]
{0x016c, 0x04},//x_output_size[11:8]
{0x016d, 0x38},//x_output_size[7:0]
{0x016e, 0x07},//y_output_size[11:8]
{0x016f, 0x80},// y_output_size[7:0]
{0x0170, 0x01},//X_ODD_INC_A
{0x0171, 0x01},//Y_ODD_INC_A
{0x0172, 0x00},//IMG_ORIENTATION_A
{0x0174, 0x00},//BINNING_MODE_H_A
{0x0175, 0x00},//BINNING_MODE_V_A
{0x0301, 0x05},//VTPXCK_DIV
{0x0303, 0x01},//VTSYCK_DIV
{0x0304, 0x03},//PREPLLCK_VT_DIV
{0x0305, 0x03},//PREPLLCK_OP_DIV
{0x0306, 0x00},//PLL_VT_MPY[10:8]
{0x0307, 0x48},//0x25},//PLL_VT_MPY[7:0] 0x39
{0x030b, 0x01},//OPSYCK_DIV
{0x030c, 0x00},//PLL_OP_MPY[10:8]
{0x030d, 0x40},//PLL_OP_MPY[7:0] 0x72 0x56 0x51 0x40
{0x0624, 0x07},
{0x0625, 0x80},
{0x0626, 0x04},
{0x0627, 0x38},
{0x455e, 0x00},
{0x471e, 0x4b},
{0x4767, 0x0f},
{0x4750, 0x14},
{0x4540, 0x00},
{0x47b4, 0x14},
{0x4713, 0x30},
{0x478b, 0x10},
{0x478f, 0x10},
{0x4793, 0x10},
{0x4797, 0x0e},
{0x479b, 0x0e},
{0x0157, 0x40},
{ REG_NULL, 0x00 }
};
CSI 模式配置（sensor_csi*_mode_list.c）#
修改sensor_csi0_mode_list.c、sensor_csi1_mode_list.c、sensor_csi2_mode_list.c，添加对应 CSI 接口的模式配置，包括分辨率、帧率、MIPI 通道数、数据格式等参数（注：目前仅 CSI0 支持 MCLK）。
static const k_sensor_mode sensor_csi0_mode_list[] = {
{
.index = 0,
.sensor_type = IMX219_MIPI_CSI0_2LANE_1920x1080_30FPS_12BIT_LINEAR,
.size = {
.bounds_width = 1920,
.bounds_height = 1080,
.top = 0,
.left = 0,
.width = 1920,
.height = 1080,
},
.fps = 30000,
.hdr_mode = SENSOR_MODE_LINEAR,
.bit_width = 10,
.bayer_pattern = BAYER_PAT_RGGB, //BAYER_PAT_RGGB,
.mipi_info = {
.csi_id = 0,
.mipi_lanes = 2,
.data_type = 0x2B,
},
#if defined (CONFIG_MPP_SENSOR_GC2093_ON_CSI0_USE_CHIP_CLK)
.mclk_setting = {
{
.mclk_setting_en = K_TRUE,
.setting.id = CONFIG_MPP_CSI_DEV0_MCLK_NUM,
.setting.mclk_sel = SENSOR_PLL1_CLK_DIV4,
.setting.mclk_div = 25, // 594/25 = 23.76MHz
},
{K_FALSE},
{K_FALSE},
},
.reg_list = gc2093_mipi2lane_1080p_30fps_linear,
.sensor_ae_info = &sensor_csi0_ae_info[0],
#else
.mclk_setting = {
{K_FALSE},
{K_FALSE},
{K_FALSE},
},
.reg_list = gc2093_mipi2lane_1080p_30fps_mclk_24m_linear,
.sensor_ae_info = &sensor_csi0_ae_info[4],
#endif
},
};
AE 参数配置#
在sensor_csi*_mode_list.c中添加自动曝光（AE）参数配置，包括帧长、曝光时间增量、增益范围等。
static k_sensor_ae_info sensor_csi2_ae_info[] = {
// list for external clk 23.76M
// 1920x1080
{
.frame_length = 1206,
.cur_frame_length = 1206,
.one_line_exp_time = 0.000027652,
.gain_accuracy = 1024,
.min_gain = 1,
.max_gain = 18,
.int_time_delay_frame = 2,
.gain_delay_frame = 2,
.color_type = SENSOR_COLOR,
.integration_time_increment = 0.000027652, // 计算方式：1000/(FPS×frame_length) = 1000/(30×1166)≈0.02858
.gain_increment = IMX219_MIN_GAIN_STEP,
.max_integraion_line = 1206 - 1,
.min_integraion_line = 1,
.max_integraion_time = 0.000027652 * (1206 - 1),
.min_integraion_time = 0.000027652 * 1,
.cur_integration_time = 0.0,
.cur_again = 1.0,
.cur_dgain = 1.0,
.a_gain = {
.min = 1.0,
.max = 63.984375,
.step = (1.0f/64.0f),
},
.d_gain = {
.min = 1.0,
.max = 63.984375,
.step = (1.0f/1024.0f),
},
.cur_fps = 30,
},
};
核心驱动实现（imx219.c）#
寄存器定义#
根据 IMX219 芯片手册，定义芯片 ID、曝光、增益等关键寄存器地址。
/* Chip ID */
#define IMX219_CHIP_ID (219)
#define IMX219_REG_ID (0x10)
/* Exposure control */
#define IMX219_REG_EXP_SHORT_TIME_H (0x018a)
#define IMX219_REG_EXP_SHORT_TIME_L (0x018b)
#define IMX219_REG_EXP_TIME_H (0x015a)
#define IMX219_REG_EXP_TIME_L (0x015b)
/* Analog gain control */
#define IMX219_REG_DGAIN_H (0x0158)
#define IMX219_REG_DGAIN_L (0x0159)
#define IMX219_MIN_GAIN_STEP (1.0f/64.0f)
探针函数实现#
开机时通过 I2C 读取芯片 ID，确认 IMX219 是否接入，并初始化对应 CSI 接口的模式列表。
k_s32 sensor_imx219_probe(struct k_sensor_probe_cfg *cfg, struct sensor_driver_dev *dev)
{
k_s32 ret = 0;
k_u32 chip_id = 0;
const k_sensor_mode *sensor_mode = NULL;
#if defined (CONFIG_MPP_ENABLE_CSI_DEV_0)
if(0x00 == cfg->csi_num) {
dev->mode_count = sizeof(sensor_csi0_mode_list) / sizeof(sensor_csi0_mode_list[0]);
dev->sensor_mode_list = &sensor_csi0_mode_list[0];
sensor_mode = &dev->sensor_mode_list[0];
} else
#endif // CONFIG_MPP_ENABLE_CSI_DEV_0
#if defined (CONFIG_MPP_ENABLE_CSI_DEV_1)
if(0x01 == cfg->csi_num) {
dev->mode_count = sizeof(sensor_csi1_mode_list) / sizeof(sensor_csi1_mode_list[0]);
dev->sensor_mode_list = &sensor_csi1_mode_list[0];
sensor_mode = &dev->sensor_mode_list[0];
} else
#endif // CONFIG_MPP_ENABLE_CSI_DEV_1
#if defined (CONFIG_MPP_ENABLE_CSI_DEV_2)
if(0x02 == cfg->csi_num) {
dev->mode_count = sizeof(sensor_csi2_mode_list) / sizeof(sensor_csi2_mode_list[0]);
dev->sensor_mode_list = &sensor_csi2_mode_list[0];
sensor_mode = &dev->sensor_mode_list[0];
}
#endif // CONFIG_MPP_ENABLE_CSI_DEV_2
if(0x00 == dev->mode_count) {
goto _on_failed;
}
if(NULL == sensor_mode) {
rt_kprintf("FATAL error, %sn", __func__);
goto _on_failed;
}
/* update dev */
dev->pwd_gpio = cfg->pwd_gpio;
dev->reset_gpio = cfg->reset_gpio;
if(NULL == (dev->i2c_info.i2c_bus = rt_i2c_bus_device_find(cfg->i2c_name))) {
rt_kprintf("Can't find %sn", cfg->i2c_name);
goto _on_failed;
}
strncpy(&dev->i2c_info.i2c_name[0], cfg->i2c_name, sizeof(dev->i2c_info.i2c_name));
memcpy(&dev->sensor_func, &sensor_functions, sizeof(k_sensor_function));
//设置时钟
sensor_set_mclk(&sensor_mode->mclk_setting[0]);
/** NEW SENSOR MODIFY START */
snprintf(dev->sensor_name, sizeof(dev->sensor_name), "imx219_csi%d", cfg->csi_num);
//设置power上电
_sensor_power_state_set(dev, 1, 1);
/* probe different slave address */
dev->i2c_info.reg_addr_size = SENSOR_REG_VALUE_16BIT;
dev->i2c_info.reg_val_size = SENSOR_REG_VALUE_8BIT;
dev->i2c_info.slave_addr = 0x10;
//读取chip ID
if((0x00 != _sensor_read_chip_id_r(dev, &chip_id))) {
_sensor_power_state_set(dev, 1, 1);
goto _on_failed;
}
/** NEW SENSOR MODIFY END */
return 0;
_on_failed:
memset(dev, 0, sizeof(*dev));
return -1;
}
传感器功能函数映射#
实现 Sensor 的电源控制、初始化、参数配置（增益、曝光、帧率等）函数映射，下面标注的必须实现的函数需要根据摄像头datasheet文档完成参数配置。
static const k_sensor_function sensor_functions = {
//sensor 上电初始化（必须实现）
.sensor_power = sensor_power_impl,
//初始化配置函数，用来对sensor reset，gpio控制等（必须实现）
.sensor_init = sensor_init_impl,
//读取sensor chip id(必须实现)
.sensor_get_chip_id = sensor_get_chip_id_impl,
//获取当前模式，可以参考其他sensor实现(必须实现)
.sensor_get_mode = sensor_get_mode_impl,
//设置当前模式，进行模式切换，可以参考其他sensor实现(必须实现)
.sensor_set_mode = sensor_set_mode_impl,
//列举当前支持的模式，可以参考其他sensor实现(必须实现)
.sensor_enum_mode = sensor_enum_mode_impl,
//获取当前sensor的能力，包括位宽、分辨率和RAW格式(必须实现)
.sensor_get_caps = sensor_get_caps_impl,
//获取当前设备的连接状态
.sensor_conn_check = sensor_conn_check_impl,
//使能或者关闭码流(必须实现)
.sensor_set_stream = sensor_set_stream_impl,
//获取当前的again(必须实现)
.sensor_get_again = sensor_get_again_impl,
//设置当前的again(必须实现)
.sensor_set_again = sensor_set_again_impl,
//获取当前的Dgain
.sensor_get_dgain = sensor_get_dgain_impl,
//设置当前的Dgain
.sensor_set_dgain = sensor_set_dgain_impl,
//获取当前的曝光时间(必须实现)
.sensor_get_intg_time = sensor_get_intg_time_impl,
//设置当前的曝光时间(必须实现)
.sensor_set_intg_time = sensor_set_intg_time_impl,
//获取当前曝光参数
.sensor_get_exp_parm = sensor_get_exp_parm_impl,
//设置当前曝光参数
.sensor_set_exp_parm = sensor_set_exp_parm_impl,
//获取当前的帧率
.sensor_get_fps = sensor_get_fps_impl,
//设置当前帧率
.sensor_set_fps = sensor_set_fps_impl,
//获取当前ISP状态
.sensor_get_isp_status = sensor_get_isp_status_impl,
//设置blc
.sensor_set_blc = sensor_set_blc_impl,
//设置wb
.sensor_set_wb = sensor_set_wb_impl,
//获取tpg配置
.sensor_get_tpg = sensor_get_tpg_impl,
//设置tpg
.sensor_set_tpg = sensor_set_tpg_impl,
//读取expand_curve数据
.sensor_get_expand_curve = sensor_get_expand_curve_impl,
//读取sensor otp数据
.sensor_get_otp_data = sensor_get_otp_data_impl,
//设置sensor mirror
.sensor_mirror_set = sensor_mirror_set_impl,
//自动对焦相关函数，设置对焦距离
.sensor_set_focus_pos = sensor_autofocus_dev_set_position,
//自动对焦相关函数，获取对焦距离
.sensor_get_focus_pos = sensor_autofocus_dev_get_position,
//自动对焦相关函数，获取自动对焦能力
.sensor_get_foucs_cap = sensor_autofocus_dev_get_capability,
//自动对焦相关函数，设置自动对焦上电
.sensor_set_focus_power = sensor_autofocus_dev_power,
};
应用层适配#
Sensor 类型映射#
在~/src/rtsmart/mpp/userapps/src/sensor/mpi_sensor_type_to_mirror.c中，添加 IMX219 的模式与镜像配置映射（根据开发板型号适配）。
#elif defined(CONFIG_BOARD_K230_CANMV_01STUDIO)
static struct sensor_type_mirror_t type_mirror_tbl[] = {
...
#if defined (CONFIG_MPP_ENABLE_SENSOR_IMX219)
{.type = IMX219_MIPI_CSI0_2LANE_1920x1080_30FPS_10BIT_LINEAR, .mirror = 0},
{.type = IMX219_MIPI_CSI0_2LANE_1080x1920_30FPS_10BIT_LINEAR, .mirror = 0},
{.type = IMX219_MIPI_CSI1_2LANE_1920x1080_30FPS_10BIT_LINEAR, .mirror = 0},
{.type = IMX219_MIPI_CSI1_2LANE_1080x1920_30FPS_10BIT_LINEAR, .mirror = 0},
{.type = IMX219_MIPI_CSI2_2LANE_1920x1080_30FPS_10BIT_LINEAR, .mirror = 0},
{.type = IMX219_MIPI_CSI2_2LANE_1080x1920_30FPS_10BIT_LINEAR, .mirror = 0},
#endif // CONFIG_MPP_ENABLE_SENSOR_IMX219
};
默认配置添加#
在~/src/rtsmart/mpp/userapps/src/sensor/mpi_sensor.c中，添加 IMX219 的默认参数配置，包括 CSI 接口、分辨率、帧率、数据格式等。
static const k_vicap_sensor_info sensor_info_list[] = {
...
#if defined (CONFIG_MPP_ENABLE_SENSOR_IMX219)
#if defined (CONFIG_MPP_ENABLE_CSI_DEV_0)
{
"imx219_csi0",
"imx219-1920x1080",
1920,
1080,
VICAP_CSI0,
VICAP_MIPI_2LANE,
VICAP_SOURCE_CSI0,
K_FALSE,
VICAP_MIPI_PHY_1200M,
VICAP_CSI_DATA_TYPE_RAW10,
VICAP_LINERA_MODE,
VICAP_FLASH_DISABLE,
VICAP_VI_FIRST_FRAME_FS_TR0,
0,
30,
IMX219_MIPI_CSI0_2LANE_1920x1080_30FPS_10BIT_LINEAR,
},
{
"imx219_csi0",
"imx219-1080x1920",
1080,
1920,
VICAP_CSI0,
VICAP_MIPI_2LANE,
VICAP_SOURCE_CSI0,
K_FALSE,
VICAP_MIPI_PHY_1200M,
VICAP_CSI_DATA_TYPE_RAW10,
VICAP_LINERA_MODE,
VICAP_FLASH_DISABLE,
VICAP_VI_FIRST_FRAME_FS_TR0,
0,
60,
IMX219_MIPI_CSI0_2LANE_1080x1920_30FPS_10BIT_LINEAR,
},
#endif // CONFIG_MPP_ENABLE_CSI_DEV_0
#if defined (CONFIG_MPP_ENABLE_CSI_DEV_1)
{
"imx219_csi1",
"imx219-1920x1080",
1920,
1080,
VICAP_CSI1,
VICAP_MIPI_2LANE,
VICAP_SOURCE_CSI1,
K_FALSE,
VICAP_MIPI_PHY_1200M,
VICAP_CSI_DATA_TYPE_RAW10,
VICAP_LINERA_MODE,
VICAP_FLASH_DISABLE,
VICAP_VI_FIRST_FRAME_FS_TR0,
0,
30,
IMX219_MIPI_CSI1_2LANE_1920x1080_30FPS_10BIT_LINEAR,
},
{
"imx219_csi1",
"imx219-1080x1920",
1080,
1920,
VICAP_CSI1,
VICAP_MIPI_2LANE,
VICAP_SOURCE_CSI1,
K_FALSE,
VICAP_MIPI_PHY_1200M,
VICAP_CSI_DATA_TYPE_RAW10,
VICAP_LINERA_MODE,
VICAP_FLASH_DISABLE,
VICAP_VI_FIRST_FRAME_FS_TR0,
0,
60,
IMX219_MIPI_CSI1_2LANE_1080x1920_30FPS_10BIT_LINEAR,
},
#endif // CONFIG_MPP_ENABLE_CSI_DEV_1
#if defined (CONFIG_MPP_ENABLE_CSI_DEV_2)
{
"imx219_csi2",
"imx219-1920x1080",
1920,
1080,
VICAP_CSI2,
VICAP_MIPI_2LANE,
VICAP_SOURCE_CSI2,
K_FALSE,
VICAP_MIPI_PHY_1200M,
VICAP_CSI_DATA_TYPE_RAW10,
VICAP_LINERA_MODE,
VICAP_FLASH_DISABLE,
VICAP_VI_FIRST_FRAME_FS_TR0,
0,
30,
IMX219_MIPI_CSI2_2LANE_1920x1080_30FPS_10BIT_LINEAR,
},
{
"imx219_csi2",
"imx219-1080x1920",
1080,
1920,
VICAP_CSI2,
VICAP_MIPI_2LANE,
VICAP_SOURCE_CSI2,
K_FALSE,
VICAP_MIPI_PHY_1200M,
VICAP_CSI_DATA_TYPE_RAW10,
VICAP_LINERA_MODE,
VICAP_FLASH_DISABLE,
VICAP_VI_FIRST_FRAME_FS_TR0,
0,
30,
IMX219_MIPI_CSI2_2LANE_1080x1920_30FPS_10BIT_LINEAR,
},
#endif // CONFIG_MPP_ENABLE_CSI_DEV_2
#endif // CONFIG_MPP_ENABLE_SENSOR_IMX219
...
};
ISP 配置文件添加#
在~/src/rtsmart/mpp/userapps/src/sensor/config目录下，添加 IMX219 对应分辨率的 ISP 配置文件（xml/json 格式）。
zhangchenli@DESKTOP-OSN5BJK:~/canmv_k230_mmp/src/rtsmart/mpp/userapps/src/sensor/config$ ls imx219*
imx219-1920x1080.xml imx219-1920x1080_auto.json imx219_1920x1080_manual.json
编译拷贝配置#
在~/src/rtsmart/Makefile中添加配置，确保编译时自动拷贝 IMX219 的应用层文件到镜像目录。
ifeq ($(CONFIG_MPP_ENABLE_SENSOR_IMX219),y)
@rsync -a --delete $(SDK_RTSMART_SRC_DIR)/rtsmart/userapps/root/bin/imx219-* ${SDK_BUILD_IMAGES_DIR}/bin/
endif
编译运行#
执行
make menuconfig，在MPP配置中启用IMX219Sensor 支持回到 RTOS 根目录，执行
make编译生成镜像使用烧录工具（如 rufus）将镜像写入 TF 卡
将 TF 卡插入开发板，上电启动，验证 IMX219 是否正常工作
问题调试#
黑屏问题排查#
若对接后显示黑屏，按以下步骤排查：
步骤 1：查看 ISP 状态#
通过命令查看 ISP 是否有数据输入：
msh /sdcard>cat /proc/umap/vicap
----------------------------------ISP STATUS INFO----------------------------------
ISP-DEV ISP-Interrups MI-Interrups FE-Interrups
0 0 0 0
1 0 0 0
2 0 0 0
ISP-DEV MCMW0-Interrups MCMW1-Interrups MCMW2-Interrups RDMA-Interrups
0 0 0 0 0
1 0 0 0 0
2 0 0 0 0
ISP-DEV MP-Interrups SP1-Interrups SP2-Interrups ISP-OUT-Interrups
0 0 0 0 0
1 0 0 0 0
2 0 0 0 0
ISP-DEV MIS-Interrups MIS1-Interrups MIS2-Interrups MIS3-Interrups
0 0 0 0 0
1 0 0 0 0
2 0 0 0 0
ISP-DEV Input-Frames Output0-Frames Output1-Frames Output2-Frames
0 0 0 0 0
1 0 0 0 0
2 0 0 0 0
ISP-DEV INPUT OUTPUT0 OUTPUT1 OUTPUT2
0 1920x1080 1920x1080@YUV_SEMIPLANAR_420 N/A N/A
ISP-DEV AE AWB CCM 2DNR 3DNR DEWARP
0 On On On On Off Off
若所有
Input-Frames为 0，说明 Sensor 端无数据输出，需检查 Sensor 驱动或硬件连接。
步骤 2：验证 I2C 通信#
通过i2c_read命令读取 IMX219 寄存器，确认 I2C 通信是否正常：
msh />i2c_read -h
USAGE: i2c_read i2c_id salve_addr reg_addr
msh />i2c_read 0 0x10 0x3a0a
i2c_read 0 0x10 0x3a0a
0x3a0a=0x00
步骤 3：检查 CSI 寄存器状态#
读取 CSI 接口对应的寄存器值，确认 CSI 是否正常配置：
msh />devmem2 0x9000980c # CSI0寄存器地址：0x9000980c；CSI1：0x9000a00c；CSI2：0x9000a80c
Value at address 0x9000980C (00000000c00d280c): 0x0
步骤 4：调整 MIPI PHY 频率#
MIPI CSI PHY 仅支持VICAP_MIPI_PHY_800M和VICAP_MIPI_PHY_1200M，若频率不匹配会导致数据传输失败，需在应用层配置中切换尝试：
/**
* @brief Defines the MIPI CSI PHY freq
**/
typedef enum {
VICAP_MIPI_PHY_800M = 1,
VICAP_MIPI_PHY_1200M = 2,
VICAP_MIPI_PHY_1600M = 3, // 不支持，需排除
} k_vicap_mipi_phy_freq;