rk3568制冷项目驱动开发流程汇总（只适用于部分模块CIF DVP等，自用）

hhhhhhh_hhhhhh_2024-12-24 23:25

采用fpga输入，3568采集并显示至hdmi
RKVICAP 驱动框架说明
RKVICAP驱动主要是基于 v4l2 / media 框架实现硬件的配置、中断处理、控制 buffer 轮转，以及控制 subdevice(如 mipi dphy 及 sensor) 的上下电等功能。
对于RK356X 芯片而言， VICAP 只有单核，同时拥有 dvp/mipi 两种接口， dvp 接口对应一个 rkvicap_dvp 节点，mipi 接口对应一个 rkvicap_mipi_lvds 节点（与 RV1126/RV1109 的 VICAP FULL 同名），各节点可独立采集。
为了将VICAP 采集数据信息同步给 isp 驱动，需要将 VICAP 驱动生成的逻辑 sditf 节点链接到 isp 所生成的虚拟节点设备。DVP 接口对应 rkvicap_dvp_sditf 节点， VICAP FULL 的 mipi/lvds 接口对应 rkvicap_mipi_lvds_sditf节点， VICAP LITE 对应 rkvicap_lite_sditf 。

1.DVP camera

RK3568有一个DVP接口，支持BT601/BT656/BT1120等，同样的，如果是RAW的sensor，需要配置到ISP，如果是YUV的，则不需经过ISP，关键配置如下

（1）在sensor驱动的g_mbus_config接口中，通过flag指明当前sensor的hsync-acitve/vsyncactive/pclk-ative的有效极性，否则会导致无法收到数据；

python 复制代码 
static int avafpga_g_mbus_config(struct v4l2_subdev *sd, unsigned int pad_id,
				struct v4l2_mbus_config *config)
{
	config->type = V4L2_MBUS_BT656;
	config->flags = V4L2_MBUS_HSYNC_ACTIVE_HIGH |
			        V4L2_MBUS_VSYNC_ACTIVE_HIGH |
			        V4L2_MBUS_PCLK_SAMPLE_RISING;
	return 0;
}

（2）设备树的节点中hsync-active/vsync-active 不要配置，否则 v4l2 框架异步注册时会识别为 BT601;
（3）pclk-sample/bus-width 可选；

python 复制代码 
bus-width = <16>;
pclk-sample = <1>;

（4）必须实现v4l2_subdev_video_ops中的querystd接口，指明当前接口为ATSC接口,否则会导致无法收到数据；

python 复制代码 
static int avafpga_querystd(struct v4l2_subdev *sd, v4l2_std_id *std)
{
	*std = V4L2_STD_ATSC;
	return 0;
}

（5）必须实现RKMODULE_GET_BT656_MBUS_INFO，BT656/BT1120都是调用这个ioctl，接口兼容，实现参考drivers/media/i2c/nvp6158_drv/nvp6158_v4l2.c

cpp 复制代码 
static __maybe_unused void
avafpga_get_bt656_module_inf(struct avafpga *avafpga,
			       struct rkmodule_bt656_mbus_info *inf)
{
	memset(inf, 0, sizeof(*inf));
	inf->flags = RKMODULE_CAMERA_BT656_PARSE_ID_LSB;
	switch (avafpga->ch_nums) {
	case 1:
		inf->flags |= RKMODULE_CAMERA_BT656_CHANNEL_0;
		break;
	case 2:
		inf->flags |= RKMODULE_CAMERA_BT656_CHANNEL_0 |
			      RKMODULE_CAMERA_BT656_CHANNEL_1;
		break;
	case 4:
		inf->flags |= RKMODULE_CAMERA_BT656_CHANNELS;
		break;
	default:
		inf->flags |= RKMODULE_CAMERA_BT656_CHANNELS;
	}
}

static long avafpga_ioctl(struct v4l2_subdev *sd, unsigned int cmd, void *arg)
{
	long ret = 0;
	switch (cmd) {

	default:
		ret = -ENOTTY;
		break;
	}

	return ret;
}

#ifdef CONFIG_COMPAT
static long avafpga_compat_ioctl32(struct v4l2_subdev *sd,
				   unsigned int cmd, unsigned long arg)
{
	long ret = 0;
	//struct rkmodule_bt656_mbus_info *bt565_inf;
	switch (cmd) {
		
	default:
		ret = -ENOIOCTLCMD;
		break;
	}

	return ret;
}
#endif

#define DST_XPOS 0
#define DST_YPOS 0
#define DST_WIDTH 1536 //1920
#define DST_HEIGHT 576 //1080

static int avafpga_get_selection(struct v4l2_subdev *sd,
				struct v4l2_subdev_pad_config *cfg,
				struct v4l2_subdev_selection *sel)
{
	if (sel->target == V4L2_SEL_TGT_CROP_BOUNDS) {
		sel->r.left = DST_XPOS;
		sel->r.top = DST_YPOS;
		sel->r.width = DST_WIDTH;
		sel->r.height = DST_HEIGHT;
		return 0;
	}
	return -EINVAL;
}

static int avafpga_initialize_controls(struct avafpga *avafpga)
{
	int ret;
	struct v4l2_ctrl_handler *handler;
	const struct avafpga_mode *mode;
	u32 h_blank, v_blank;

	handler = &avafpga->ctrl_handler;
	mode = avafpga->cur_mode;

	ret = v4l2_ctrl_handler_init(handler, 2);
	if (ret)
		return ret;
	handler->lock = &avafpga->mutex;

	h_blank = mode->hts_def - mode->width;
	avafpga->hblank_ctrl = v4l2_ctrl_new_std(handler, NULL,
				V4L2_CID_HBLANK, h_blank, h_blank, 1, h_blank);

	v_blank = mode->vts_def - mode->height;
	avafpga->vblank_ctrl = v4l2_ctrl_new_std(handler, NULL,
				V4L2_CID_VBLANK, v_blank, v_blank, 1, v_blank);

	if (handler->error) {
		ret = handler->error;
		dev_err(&avafpga->client->dev,
			"Failed to init controls(%d)\n", ret);
		goto err_free_handler;
	}

	avafpga->subdev.ctrl_handler = handler;

	return 0;

err_free_handler:
	v4l2_ctrl_handler_free(handler);

	return ret;
}

static const struct v4l2_subdev_core_ops avafpga_core_ops = {
	.s_power = avafpga_s_power,
	.ioctl = avafpga_ioctl,
#ifdef CONFIG_COMPAT
	.compat_ioctl32 = avafpga_compat_ioctl32,
#endif
};

（6）pinctrl需要引用对，以对bt656/bt1120相关gpio做相应iomux，否则会导致无法收到数据。
dts 配置如下：

python 复制代码 
&i2c0 {
    status =  "okay";

    sensor@3c{
        status =  "okay";
        compatible = "firefly,pc9202";
        reg = <0x3c>;
        wd-en-gpio = <&gpio3 23 GPIO_ACTIVE_HIGH>;
    };

	
	avafpga: avafpga@32 {
		status = "okay";
		compatible = "ava,fpga";
		reg = <0x32>;
		clocks = <&cru CLK_CIF_OUT>;
		clock-names = "xvclk";

		power-domains = <&power RK3568_PD_VI>;
		pwdn-gpios = <&gpio4 RK_PB4 GPIO_ACTIVE_HIGH>;
		reset-gpios = <&gpio3 RK_PB6 GPIO_ACTIVE_HIGH>;
		rockchip,grf = <&grf>;
		pinctrl-names = "default";
		pinctrl-0 = <&cif_clk&cif_dvp_clk&cif_dvp_bus16&cif_dvp_bus8>;
		rockchip,camera-module-index = <0>;
		rockchip,camera-module-facing = "back";
		rockchip,camera-module-name = "default";
		rockchip,camera-module-lens-name = "default";
		rockchip,dvp_mode = "BT1120"; //BT656 or BT1120 or BT656_TEST
		port {
			cam_para_out2: endpoint {
				remote-endpoint = <&dvp_in_bcam>;
				bus-width = <16>;
				pclk-sample = <1>;
			};
		};
	};
};

&rkcif {
        status = "okay";
};

&rkcif_mmu {
        status = "okay";
};

&rkcif_dvp {
        status = "okay";
		port {
		dvp_in_bcam: endpoint {
		remote-endpoint = <&cam_para_out2>;
		bus-width = <16>;
		};
		};
};

（7）/rk356x_sdk-linux5.10/kernel/drivers/media/i2c目录下增加fpga.c，并在kconfig和makefile中增加相关模块的设置

python 复制代码 
//kconfig
config VIDEO_FPGA
	tristate "AVA FPGA sensor support"
	depends on I2C && VIDEO_V4L2 && VIDEO_V4L2_SUBDEV_API
	depends on MEDIA_CAMERA_SUPPORT
	help
	  This is a Video4Linux2 sensor driver for the AVA
	  FPGA camera.

	  To compile this driver as a module, choose M here: the
	  module will be called fpga.
python 复制代码 
//makefile
obj-y += fpga.o

完整的fpga的c代码如下，亦可见附件（开始未设置ioctl，上电v4l2抓图时，打印_avafpga_start_stream enter然后崩掉，后经查阅资料以及参考rv1126的内容，加入ioctl和vblank的ctrl对应部分，可以成功获取数据，且不会崩掉）

python 复制代码 
#include <linux/clk.h>
#include <linux/device.h>
#include <linux/delay.h>
#include <linux/gpio/consumer.h>
#include <linux/i2c.h>
#include <linux/module.h>
#include <linux/pm_runtime.h>
#include <linux/regulator/consumer.h>
#include <linux/sysfs.h>
#include <linux/slab.h>
#include <linux/version.h>
#include <linux/rk-camera-module.h>
#include <media/media-entity.h>
#include <media/v4l2-async.h>
#include <media/v4l2-ctrls.h>
#include <media/v4l2-subdev.h>
#include <linux/pinctrl/consumer.h>
#include <linux/rk-preisp.h>

#include <media/v4l2-fwnode.h>
#include <linux/of.h>
#include <linux/of_device.h>
#include <linux/of_graph.h>
#include <linux/of_platform.h>
#include <linux/of_gpio.h>
#include <linux/mfd/syscon.h>
#include <linux/version.h>


#define DRIVER_VERSION			KERNEL_VERSION(0, 0x0, 0x01)
//#define PIX_FORMAT			MEDIA_BUS_FMT_UYVY8_2X8
#define PIX_FORMAT                    MEDIA_BUS_FMT_YUYV8_2X8
#define AVAFPGA_NAME			"avafpga"

struct regval {
	u16 addr;
	u8 val;
};

struct avafpga_mode {
	u32 width;
	u32 height;
	struct v4l2_fract max_fps;
	u32 hts_def;
	u32 vts_def;
	u32 exp_def;
	const struct regval *reg_list;
};

struct avafpga {
	struct i2c_client	*client;
	struct clk		*xvclk;
	struct gpio_desc	*reset_gpio;
	struct gpio_desc	*pwdn_gpio;

	struct v4l2_subdev	subdev;
	struct media_pad	pad;
	struct v4l2_ctrl_handler ctrl_handler;
	struct v4l2_ctrl	*exposure;
	struct v4l2_ctrl	*anal_gain;
	struct v4l2_ctrl	*digi_gain;
	struct v4l2_ctrl	*hblank;
	struct v4l2_ctrl	*vblank;
	struct v4l2_ctrl	*test_pattern;
	struct mutex		mutex;
	bool			streaming;
	bool			power_on;
	const struct avafpga_mode *cur_mode;
	u32			module_index;
	const char		*module_facing;
	const char		*module_name;
	const char		*len_name;
	u32			ch_nums;
	//hjk
	struct v4l2_ctrl	*vblank_ctrl;
	struct v4l2_ctrl	*hblank_ctrl;

	u8 is_reset;
};

#define to_avafpga(sd) container_of(sd, struct avafpga, subdev)

static const struct avafpga_mode supported_modes[] = {
	{
		//.width = 1920,
		//.height = 1080,
		.width = 1536,
		.height = 576,		
		.max_fps = {
			.numerator = 10000,
			.denominator = 600000,
		},
		.exp_def = 0x0100,
		.hts_def = 0x044c * 2,
		.vts_def = 0x0465,
	}
};

static int __avafpga_start_stream(struct avafpga *avafpga)
{
	printk(KERN_ERR "%s enter\n", __func__);
	avafpga->is_reset = 1;//hjk1126
	printk(KERN_ERR "%s exit\n", __func__);//hjk1126

	return 0;
}

static int __avafpga_stop_stream(struct avafpga *avafpga)
{
	printk(KERN_ERR "%s enter\n", __func__);
	return 0;
}

static int avafpga_s_stream(struct v4l2_subdev *sd, int on)
{
	struct avafpga *avafpga = to_avafpga(sd);
	struct i2c_client *client = avafpga->client;
	int ret = 0;

	mutex_lock(&avafpga->mutex);
	on = !!on;
	if (on == avafpga->streaming)
		goto unlock_and_return;

	if (on) {
		ret = pm_runtime_get_sync(&client->dev);
		if (ret < 0) {
			pm_runtime_put_noidle(&client->dev);
			goto unlock_and_return;
		}

		ret = __avafpga_start_stream(avafpga);
		if (ret) {
			v4l2_err(sd, "start stream failed while write regs\n");
			pm_runtime_put(&client->dev);
			goto unlock_and_return;
		}
	} else {
		__avafpga_stop_stream(avafpga);
		pm_runtime_put(&client->dev);
	}

	avafpga->streaming = on;
unlock_and_return:
	mutex_unlock(&avafpga->mutex);

	return ret;
}


#ifdef CONFIG_VIDEO_V4L2_SUBDEV_API
static int avafpga_open(struct v4l2_subdev *sd, struct v4l2_subdev_fh *fh)
{
	struct avafpga *avafpga = to_avafpga(sd);
	struct v4l2_mbus_framefmt *try_fmt =
				v4l2_subdev_get_try_format(sd, fh->pad, 0);
	const struct avafpga_mode *def_mode = &supported_modes[0];

	mutex_lock(&avafpga->mutex);
	/* Initialize try_fmt */
	try_fmt->width = def_mode->width;
	try_fmt->height = def_mode->height;
	try_fmt->code = PIX_FORMAT;
	try_fmt->field = V4L2_FIELD_NONE;
	mutex_unlock(&avafpga->mutex);
	/* No crop or compose */

	return 0;
}
#endif

static int avafpga_g_mbus_config(struct v4l2_subdev *sd, unsigned int pad_id,
				struct v4l2_mbus_config *config)
{
	//config->type = V4L2_MBUS_BT656;
	//config->flags = V4L2_MBUS_PCLK_SAMPLE_RISING;

	config->type = V4L2_MBUS_BT656;
	config->flags = V4L2_MBUS_PCLK_SAMPLE_RISING;
	//config->flags = V4L2_MBUS_HSYNC_ACTIVE_LOW |
 			//V4L2_MBUS_VSYNC_ACTIVE_LOW |
			//V4L2_MBUS_PCLK_SAMPLE_FALLING;
	//config->type = V4L2_MBUS_BT656;
	//config->flags = RKMODULE_CAMERA_BT656_CHANNELS |
				//V4L2_MBUS_PCLK_SAMPLE_RISING;

	//config->type = V4L2_MBUS_BT656;
	config->flags = V4L2_MBUS_HSYNC_ACTIVE_HIGH |
			V4L2_MBUS_VSYNC_ACTIVE_HIGH |
			V4L2_MBUS_PCLK_SAMPLE_RISING;
	return 0;

}

static int avafpga_g_frame_interval(struct v4l2_subdev *sd,
				   struct v4l2_subdev_frame_interval *fi)
{
	struct avafpga *avafpga = to_avafpga(sd);
	const struct avafpga_mode *mode = avafpga->cur_mode;

	mutex_lock(&avafpga->mutex);
	fi->interval = mode->max_fps;
	mutex_unlock(&avafpga->mutex);

	return 0;
}

static int avafpga_querystd(struct v4l2_subdev *sd, v4l2_std_id *std)
{
	*std = V4L2_STD_ATSC;
	return 0;
}


static int avafpga_enum_frame_interval(struct v4l2_subdev *sd,
				       struct v4l2_subdev_pad_config *cfg,
				       struct v4l2_subdev_frame_interval_enum *fie)
{
	if (fie->index >= ARRAY_SIZE(supported_modes))
		return -EINVAL;

	//if (fie->code != PIX_FORMAT)
		//return -EINVAL;

	fie->width = supported_modes[fie->index].width;
	fie->height = supported_modes[fie->index].height;
	fie->interval = supported_modes[fie->index].max_fps;
	return 0;
}

static int avafpga_enum_mbus_code(struct v4l2_subdev *sd,
				 struct v4l2_subdev_pad_config *cfg,
				 struct v4l2_subdev_mbus_code_enum *code)
{
	if (code->index != 0)
		return -EINVAL;
	code->code = PIX_FORMAT;

	return 0;
}

static int avafpga_enum_frame_sizes(struct v4l2_subdev *sd,
				   struct v4l2_subdev_pad_config *cfg,
				   struct v4l2_subdev_frame_size_enum *fse)
{
	if (fse->index >= ARRAY_SIZE(supported_modes))
		return -EINVAL;

	//if (fse->code != PIX_FORMAT)//hjk1126中没有这个
		//return -EINVAL;//hjk1126中没有这个

	fse->min_width  = supported_modes[fse->index].width;
	fse->max_width  = supported_modes[fse->index].width;
	fse->max_height = supported_modes[fse->index].height;
	fse->min_height = supported_modes[fse->index].height;

	return 0;
}

static int avafpga_set_fmt(struct v4l2_subdev *sd,
			  struct v4l2_subdev_pad_config *cfg,
			  struct v4l2_subdev_format *fmt)
{
	struct avafpga *avafpga = to_avafpga(sd);
	const struct avafpga_mode *mode;

	mutex_lock(&avafpga->mutex);

	mode = avafpga->cur_mode;
	fmt->format.code = PIX_FORMAT;
	fmt->format.width = mode->width;
	fmt->format.height = mode->height;
	fmt->format.field = V4L2_FIELD_NONE;
	//fmt->format.field = V4L2_FIELD_INTERLACED；
	if (fmt->which == V4L2_SUBDEV_FORMAT_TRY) {
#ifdef CONFIG_VIDEO_V4L2_SUBDEV_API
		*v4l2_subdev_get_try_format(sd, cfg, fmt->pad) = fmt->format;
#else
		mutex_unlock(&avafpga->mutex);
		return -ENOTTY;
#endif
	} else {
		avafpga->cur_mode = mode;
	}

	mutex_unlock(&avafpga->mutex);

	return 0;
}

static int avafpga_get_fmt(struct v4l2_subdev *sd,
			  struct v4l2_subdev_pad_config *cfg,
			  struct v4l2_subdev_format *fmt)
{
	struct avafpga *avafpga = to_avafpga(sd);
	const struct avafpga_mode *mode = avafpga->cur_mode;

	mutex_lock(&avafpga->mutex);
	if (fmt->which == V4L2_SUBDEV_FORMAT_TRY) {
#ifdef CONFIG_VIDEO_V4L2_SUBDEV_API
		fmt->format = *v4l2_subdev_get_try_format(sd, cfg, fmt->pad);
#else
		mutex_unlock(&avafpga->mutex);
		return -ENOTTY;
#endif
	} else {
		fmt->format.width = mode->width;
		fmt->format.height = mode->height;
		fmt->format.code = PIX_FORMAT;
		fmt->format.field = V4L2_FIELD_NONE;
	}
	mutex_unlock(&avafpga->mutex);

	return 0;
}

static int avafpga_s_power(struct v4l2_subdev *sd, int on)
{
	struct avafpga *avafpga = to_avafpga(sd);
	struct i2c_client *client = avafpga->client;
	int ret = 0;

	mutex_lock(&avafpga->mutex);

	/* If the power state is not modified - no work to do. */
	if (avafpga->power_on == !!on)
		goto unlock_and_return;

	if (on) {
		ret = pm_runtime_get_sync(&client->dev);
		if (ret < 0) {
			pm_runtime_put_noidle(&client->dev);
			goto unlock_and_return;
		}

		avafpga->power_on = true;
	} else {
		pm_runtime_put(&client->dev);
		avafpga->power_on = false;
	}

unlock_and_return:
	mutex_unlock(&avafpga->mutex);

	return ret;
}

static int __avafpga_power_on(struct avafpga *avafpga)
{
	return 0;
}

static void __avafpga_power_off(struct avafpga *avafpga)
{
	return;
}

static int avafpga_runtime_resume(struct device *dev)
{
	struct i2c_client *client = to_i2c_client(dev);
	struct v4l2_subdev *sd = i2c_get_clientdata(client);
	struct avafpga *avafpga = to_avafpga(sd);

	return __avafpga_power_on(avafpga);
}

static int avafpga_runtime_suspend(struct device *dev)
{
	struct i2c_client *client = to_i2c_client(dev);
	struct v4l2_subdev *sd = i2c_get_clientdata(client);
	struct avafpga *avafpga = to_avafpga(sd);

	__avafpga_power_off(avafpga);

	return 0;
}

hjk///
static __maybe_unused void
avafpga_get_bt656_module_inf(struct avafpga *avafpga,
			       struct rkmodule_bt656_mbus_info *inf)
{
	memset(inf, 0, sizeof(*inf));
	inf->flags = RKMODULE_CAMERA_BT656_PARSE_ID_LSB;
	switch (avafpga->ch_nums) {
	case 1:
		inf->flags |= RKMODULE_CAMERA_BT656_CHANNEL_0;
		break;
	case 2:
		inf->flags |= RKMODULE_CAMERA_BT656_CHANNEL_0 |
			      RKMODULE_CAMERA_BT656_CHANNEL_1;
		break;
	case 4:
		inf->flags |= RKMODULE_CAMERA_BT656_CHANNELS;
		break;
	default:
		inf->flags |= RKMODULE_CAMERA_BT656_CHANNELS;
	}
}

static long avafpga_ioctl(struct v4l2_subdev *sd, unsigned int cmd, void *arg)
{
	long ret = 0;
	//struct avafpga *avafpga = to_avafpga(sd);
	switch (cmd) {
		/*case RKMODULE_GET_BT656_MBUS_INFO:
		avafpga_get_bt656_module_inf(avafpga,
					       (struct rkmodule_bt656_mbus_info
						*)arg);
		break;*/

	default:
		ret = -ENOTTY;
		break;
	}

	return ret;
}

#ifdef CONFIG_COMPAT
static long avafpga_compat_ioctl32(struct v4l2_subdev *sd,
				   unsigned int cmd, unsigned long arg)
{
	//void __user *up = compat_ptr(arg);
	//struct rkmodule_inf *inf;
	//struct rkmodule_awb_cfg *cfg;
	//int *seq;
	long ret = 0;
	//struct rkmodule_bt656_mbus_info *bt565_inf;
	switch (cmd) {
		/*case RKMODULE_GET_BT656_MBUS_INFO:
		bt565_inf = kzalloc(sizeof(*bt565_inf), GFP_KERNEL);
		if (!bt565_inf) {
			ret = -ENOMEM;
			return ret;
		}

		ret = avafpga_ioctl(sd, cmd, bt565_inf);
		if (!ret) {
			ret = copy_to_user(up, bt565_inf, sizeof(*bt565_inf));
			if (ret)
				ret = -EFAULT;
		}
		kfree(bt565_inf);
		break;*/
	default:
		ret = -ENOIOCTLCMD;
		break;
	}

	return ret;
}
#endif

#define DST_XPOS 0
#define DST_YPOS 0
#define DST_WIDTH 1536 //1920
#define DST_HEIGHT 576 //1080

static int avafpga_get_selection(struct v4l2_subdev *sd,
				struct v4l2_subdev_pad_config *cfg,
				struct v4l2_subdev_selection *sel)
{
	if (sel->target == V4L2_SEL_TGT_CROP_BOUNDS) {
		sel->r.left = DST_XPOS;
		sel->r.top = DST_YPOS;
		sel->r.width = DST_WIDTH;
		sel->r.height = DST_HEIGHT;
		return 0;
	}
	return -EINVAL;
}

static int avafpga_initialize_controls(struct avafpga *avafpga)
{
	int ret;
	struct v4l2_ctrl_handler *handler;
	const struct avafpga_mode *mode;
	u32 h_blank, v_blank;

	handler = &avafpga->ctrl_handler;
	mode = avafpga->cur_mode;

	ret = v4l2_ctrl_handler_init(handler, 2);
	if (ret)
		return ret;
	handler->lock = &avafpga->mutex;

	h_blank = mode->hts_def - mode->width;
	avafpga->hblank_ctrl = v4l2_ctrl_new_std(handler, NULL,
				V4L2_CID_HBLANK, h_blank, h_blank, 1, h_blank);

	v_blank = mode->vts_def - mode->height;
	avafpga->vblank_ctrl = v4l2_ctrl_new_std(handler, NULL,
				V4L2_CID_VBLANK, v_blank, v_blank, 1, v_blank);

	if (handler->error) {
		ret = handler->error;
		dev_err(&avafpga->client->dev,
			"Failed to init controls(%d)\n", ret);
		goto err_free_handler;
	}

	avafpga->subdev.ctrl_handler = handler;

	return 0;

err_free_handler:
	v4l2_ctrl_handler_free(handler);

	return ret;
}
hjk//

static const struct dev_pm_ops avafpga_pm_ops = {
	SET_RUNTIME_PM_OPS(avafpga_runtime_suspend,
			   avafpga_runtime_resume, NULL)
};

#ifdef CONFIG_VIDEO_V4L2_SUBDEV_API
static const struct v4l2_subdev_internal_ops avafpga_internal_ops = {
	.open = avafpga_open,
};
#endif

static const struct v4l2_subdev_core_ops avafpga_core_ops = {
	.s_power = avafpga_s_power,
	//hjk
	.ioctl = avafpga_ioctl,
#ifdef CONFIG_COMPAT
	.compat_ioctl32 = avafpga_compat_ioctl32,
#endif
    //hjk
};

static const struct v4l2_subdev_video_ops avafpga_video_ops = {
	.s_stream = avafpga_s_stream,
	.g_frame_interval = avafpga_g_frame_interval,
	.querystd = avafpga_querystd,
};

static const struct v4l2_subdev_pad_ops avafpga_pad_ops = {
	.enum_mbus_code = avafpga_enum_mbus_code,
	.enum_frame_size = avafpga_enum_frame_sizes,
	.enum_frame_interval = avafpga_enum_frame_interval,
	.get_fmt = avafpga_get_fmt,
	.set_fmt = avafpga_set_fmt,
	.get_selection = avafpga_get_selection,
	.get_mbus_config = avafpga_g_mbus_config,
};

static const struct v4l2_subdev_ops avafpga_subdev_ops = {
	.core	= &avafpga_core_ops,
	.video	= &avafpga_video_ops,
	.pad	= &avafpga_pad_ops,
};


static int avafpga_probe(struct i2c_client *client,
			const struct i2c_device_id *id)
{
	struct device *dev = &client->dev;
	struct avafpga *avafpga;
	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);

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

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

	avafpga->xvclk = devm_clk_get(dev, "xvclk");
	if (IS_ERR(avafpga->xvclk)) {
		dev_err(dev, "Failed to get xvclk\n");
		return -EINVAL;
	}
	//avafpga->reset_gpio = devm_gpiod_get(dev, "reset", GPIOD_OUT_LOW);
	//if (IS_ERR(avafpga->reset_gpio))
		//dev_warn(dev, "Failed to get reset-gpios\n");
	//avafpga->pwdn_gpio = devm_gpiod_get(dev, "pwdn", GPIOD_OUT_LOW);
	//if (IS_ERR(avafpga->pwdn_gpio))
		//dev_warn(dev, "Failed to get pwdn-gpios\n");

	mutex_init(&avafpga->mutex);

	sd = &avafpga->subdev;
	v4l2_i2c_subdev_init(sd, client, &avafpga_subdev_ops);

	//hjk
	ret = avafpga_initialize_controls(avafpga);
	if (ret) {
		dev_err(dev, "Failed to initialize controls fpga\n");
		goto err_free_handler;
	}
	//hjk

	ret = __avafpga_power_on(avafpga);
	if (ret)
		goto err_free_handler;

#ifdef CONFIG_VIDEO_V4L2_SUBDEV_API
	sd->internal_ops = &avafpga_internal_ops;
	sd->flags |= V4L2_SUBDEV_FL_HAS_DEVNODE |
		     V4L2_SUBDEV_FL_HAS_EVENTS;
#endif

#if defined(CONFIG_MEDIA_CONTROLLER)
	avafpga->pad.flags = MEDIA_PAD_FL_SOURCE;
	sd->entity.function = MEDIA_ENT_F_CAM_SENSOR;
	ret = media_entity_pads_init(&sd->entity, 1, &avafpga->pad);
	if (ret < 0)
		goto err_power_off;
#endif

	memset(facing, 0, sizeof(facing));

	if (!sd->dev)
		dev_err(dev, "sd dev is null\n");

	snprintf(sd->name, sizeof(sd->name), "m%02d_%s_%s %s",
		 avafpga->module_index, facing,
		 AVAFPGA_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);

	dev_err(dev, "v4l2 async register subdev sucessfully\n");

	return 0;

err_clean_entity:
#if defined(CONFIG_MEDIA_CONTROLLER)
	media_entity_cleanup(&sd->entity);
#endif
err_power_off:
	__avafpga_power_off(avafpga);
err_free_handler:
	v4l2_ctrl_handler_free(&avafpga->ctrl_handler);

	mutex_destroy(&avafpga->mutex);

	return ret;
}

static int avafpga_remove(struct i2c_client *client)
{
	struct v4l2_subdev *sd = i2c_get_clientdata(client);
	struct avafpga *avafpga = to_avafpga(sd);

	v4l2_async_unregister_subdev(sd);
#if defined(CONFIG_MEDIA_CONTROLLER)
	media_entity_cleanup(&sd->entity);
#endif
	v4l2_ctrl_handler_free(&avafpga->ctrl_handler);
	mutex_destroy(&avafpga->mutex);

	pm_runtime_disable(&client->dev);
	if (!pm_runtime_status_suspended(&client->dev))
		__avafpga_power_off(avafpga);
	pm_runtime_set_suspended(&client->dev);

	return 0;
}

#if IS_ENABLED(CONFIG_OF)
static const struct of_device_id avafpga_of_match[] = {
	{ .compatible = "ava,fpga" },
	{},
};
MODULE_DEVICE_TABLE(of, avafpga_of_match);
#endif

static const struct i2c_device_id avafpga_match_id[] = {
	{"ava,fpga", 0 },
	{},
};

static struct i2c_driver avafpga_i2c_driver = {
	.driver = {
		.name = AVAFPGA_NAME,
		.of_match_table = of_match_ptr(avafpga_of_match),
	},
	.probe		= &avafpga_probe,
	.remove		= &avafpga_remove,
	.id_table	= avafpga_match_id,
};

static int __init sensor_mod_init(void)
{
	return i2c_add_driver(&avafpga_i2c_driver);
}

static void __exit sensor_mod_exit(void)
{
	i2c_del_driver(&avafpga_i2c_driver);
}

device_initcall_sync(sensor_mod_init);
module_exit(sensor_mod_exit);

MODULE_DESCRIPTION("AVA FPGA sensor driver");
MODULE_LICENSE("GPL v2");

编译后会在路径下生成fpga.o，加载进内核模块

具体的调试结果如下

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