# Sony Sensor Bring-Up

- 本文以 **imx586** 为例，说明在 X5 平台上适配 Sony 系列 Camera Sensor 的完整流程
- 流程包括驱动实现、App 配置与程序验证。通用概念与 dts 配置请先阅读 [Camera 调试指南](./Camera_sensor_bringup.md)。

**源码位置**

- **驱动接口实现**：`hbre/camsys/libcam/src/sensor/imx586/imx586_setting.c`
- **增益表与 Setting 配置**：`hbre/camsys/libcam/src/sensor/imx586/inc/imx586_setting.h`（`gain_lut`、init/stream_on/stream_off 寄存器数组）

---

## dts配置

- 关于dts配置和上电和sensor的id识别验证参考[修改平台设备树](../../multimedia_development/isp_tuning_guide/Camera_sensor_bringup.html#dts)

---

## 驱动

### sensor_module_t 与文件命名

- 文件名：`imx586_utility.c`；结构体/模块名：`imx586`；库名：`libimx586.so.1.0.0`，部署到板端 `/usr/hobot/lib/sensor/`。
- 需实现的接口：init、deinit、start、stop、power_on、power_off、aexp_gain_control、aexp_line_control、userspace_control。

```c
#ifdef CAMERA_FRAMEWORK_HBN
SENSOR_MODULE_F(imx586, CAM_MODULE_FLAG_A16D8);
sensor_module_t imx586 = {
        .module = SENSOR_MNAME(imx586),
#else
sensor_module_t imx586 = {
        .module = "imx586",
#endif
        .init = sensor_init,
        .start = sensor_start,
        .stop = sensor_stop,
        .deinit = sensor_deinit,
        .power_on = sensor_poweron,
        .power_off = sensor_poweroff,
        .aexp_gain_control = sensor_aexp_gain_control,
        .aexp_line_control = sensor_aexp_line_control,
        .userspace_control = sensor_userspace_control,
};
```

### power_on

1. power_on 通过 X5 GPIO 控制 sensor 上电，需结合 spec 上电时序。
2. sensor_poweron 一般在 sensor_init 中调用，只需要控制 XCLR 即可，以下为 imx586 power_on的代码实现：

  ![](./media/Sony_sensor_bringup/screenshot-20260210-154827.png)

```c
static int sensor_poweron(sensor_info_t *sensor_info)
{
        int gpio, ret = RET_OK;
        vin_dbg("%s gpio_num = %d \n", sensor_info->sensor_name, sensor_info->gpio_num);
        if(sensor_info->gpio_num > 0) {
                for(gpio = 0; gpio < sensor_info->gpio_num; gpio++) {
                        vin_dbg("%s gpio_pin[%d] = %d \n", sensor_info->sensor_name, gpio, sensor_info->gpio_pin[gpio]);
                        if(sensor_info->gpio_pin[gpio] != -1) {
                                ret = vin_power_ctrl(sensor_info->gpio_pin[gpio],
                                                sensor_info->gpio_level[gpio]);
                                usleep(100 * 1000);  // 100ms
                                ret |= vin_power_ctrl(sensor_info->gpio_pin[gpio],
                                                1 - sensor_info->gpio_level[gpio]);
                                if(ret < 0) {
                                        vin_err("vin_power_ctrl fail\n");
                                        return -HB_CAM_SENSOR_POWERON_FAIL;
                                }
                                usleep(100 * 1000);  // 100ms
                        }
                }
        }
        return ret;
}
```

### power_off

1. power_off 通过 X5 GPIO 控制 sensor 下电，需结合 spec 上电时序。
2. sensor_poweroff 一般在 sensor_deinit 中调用，只需要控制 XCLR 即可，以下为 imx586 power_off 的代码实现：

  ![](./media/Sony_sensor_bringup/screenshot-20260210-154309.png)

```c
static int sensor_poweroff(sensor_info_t *sensor_info)
{
        int gpio, ret = RET_OK;
        if(sensor_info->gpio_num > 0) {
                for(gpio = 0; gpio < sensor_info->gpio_num; gpio++) {
                        if(sensor_info->gpio_pin[gpio] != -1) {
                                ret = vin_power_ctrl(sensor_info->gpio_pin[gpio],
                                        sensor_info->gpio_level[gpio]);
                                if(ret < 0) {
                                        vin_err("vin_power_ctrl fail\n");
                                        return -HB_CAM_SENSOR_POWEROFF_FAIL;
                                }
                        }
                }
        }
        return ret;
}
```

### init

1. 将 sensor 初始化寄存器列表通过i2c写函数写入 sensor；不同分辨率使用不同 setting 数组
2. imx586_linear_data_init 用于填充turning_data信息。
3. sensor_init 调用时机为 hbn_camera_attach_to_vin

```c
static int sensor_init(sensor_info_t *sensor_info)
{
        int ret = RET_OK;
        int setting_size = 0;

        ret = sensor_poweron(sensor_info);
        if (ret < 0) {
                vin_err("%d : sensor reset %s fail\n", __LINE__, sensor_info->sensor_name);
                return ret;
        }
        switch(sensor_info->sensor_mode) {
        case NORMAL_M:
                vin_info("imx586 in normal/linear mode\n");
                vin_info("bus_num = %d, sensor_addr = 0x%0x, fps = %d\n",
                        sensor_info->bus_num, sensor_info->sensor_addr, sensor_info->fps);
                setting_size = sizeof(imx586_init_3840x2160_4lane_linear_setting) / sizeof(uint32_t) / 2;
                ret = vin_write_array(sensor_info->bus_num, sensor_info->sensor_addr, REG_WIDTH,
                        setting_size, imx586_init_3840x2160_4lane_linear_setting);
                if (ret < 0) {
                        vin_err("%d : init %s fail\n", __LINE__, sensor_info->sensor_name);
                        return -HB_CAM_I2C_WRITE_FAIL;
                }
                ret = imx586_linear_data_init(sensor_info);
                if (ret < 0) {
                        vin_err("%d : linear data init %s fail\n", __LINE__, sensor_info->sensor_name);
                        return -HB_CAM_INIT_FAIL;
                }
                break;
        default:
                vin_err("%d not support mode %d\n", __LINE__, sensor_info->sensor_mode);
                ret = -HB_CAM_INIT_FAIL;
                break;
        }
        vin_info("imx586 config success under %d mode\n", sensor_info->sensor_mode);
        return ret;
}
```

### deinit

1. deinit 一般调用于 sensor的反初始化，直接调用 power_off 下电即可。
2. sensor_deinit 调用时机为 hbn_camera_destroy 或者 hbn_camera_detach_from_vin。

```c
static int sensor_deinit(sensor_info_t *sensor_info)
{
        int ret = RET_OK;
        ret = sensor_poweroff(sensor_info);
        if (ret < 0) {
                vin_err("%d : deinit %s fail\n", __LINE__, sensor_info->sensor_name);
                return ret;
        }
        return ret;
}
```

### start

1. start 实现下发开流寄存器0x0100 为0x01，使 sensor 出流。
2. sensor_start 调用时机为 上层调用 hbn_vflow_start。

  ![](./media/Sony_sensor_bringup/screenshot-20260210-204256.png)

```c
static int sensor_start(sensor_info_t *sensor_info)
{
        int ret = RET_OK;
        int setting_size = 0;

        setting_size = sizeof(imx586_stream_on_setting)/sizeof(uint32_t)/2;
        vin_info("%s start normal/linear mode\n", sensor_info->sensor_name);
        ret = vin_write_array(sensor_info->bus_num, sensor_info->sensor_addr, REG_WIDTH,
                setting_size, imx586_stream_on_setting);
        if(ret < 0) {
                vin_err("start %s fail\n", sensor_info->sensor_name);
                return -HB_CAM_I2C_WRITE_FAIL;
        }
        return ret;
}
```

### stop

1. stop 实现下发关流寄存器 0x0100 为0x00，使 sensor 关流。
2. sensor_stop 调用时机为 上层调用 hbn_vflow_stop

```c
static int sensor_stop(sensor_info_t *sensor_info)
{
        int ret = RET_OK;
        int setting_size = 0;

        setting_size = sizeof(imx586_stream_off_setting) / sizeof(uint32_t) / 2;
        vin_info("%s sensor stop\n", sensor_info->sensor_name);
        ret = vin_write_array(sensor_info->bus_num, sensor_info->sensor_addr, REG_WIDTH,
                setting_size, imx586_stream_off_setting);
        if (ret < 0) {
                vin_err("start %s fail\n", sensor_info->sensor_name);
                return -HB_CAM_I2C_WRITE_FAIL;
        }
        return ret;
}
```

### ISP 配置与 linear_data_init

  ![](./media/Sony_sensor_bringup/screenshot-20260210-150959.png)

  ![](./media/Sony_sensor_bringup/screenshot-20260210-202708.png)

  ![](./media/Sony_sensor_bringup/screenshot-20260210-222914.png)

在 `imx586_linear_data_init` 中填充 tuning 参数：
- 从 sensor 读 VTS（寄存器 0x0340/0x0341），计算 lines_per_second；
- exposure_time_max/min、analog_gain_max、digital_gain_max；
- 填充 bayer（sensor_data_bayer_fill、sensor_data_bits_fill）；
- 设置 stream_ctrl；将 **again_lut** 从 `imx586_setting.h` 中的 `imx586_gain_lut` 拷贝到 `turning_data.normal.again_lut`，再通过 ioctl 下发。


关键参数配置：

- `lines_per_second = vts * sensor_info->fps`
- `exposure_time_max = vts - 48`  文档中为FRM_LENGTH_LINES - 48 即 VTS-48
- `analog_gain_max = 160` 与 gain_lut 最大索引一致，32x 对应 160，参照 [gain 索引值和 增益倍率 对照表](../../multimedia_development/isp_tuning_guide/Camera_sensor_FAQ.html#gain%20索引值和%20增益倍率%20对照表)
- `digital_gain_max = 0` dgain 未用配置0即可，如果使用参照analog_gain_max
- `exposure_time_min = 1`
- `sensor_data_bayer_fill(..., 10, BAYER_START_R, BAYER_PATTERN_RGGB)`；`sensor_data_bits_fill(..., 12)`，0,0位置BAYER_START是 BAYER_START_R，BAYER_PATTERN是RGGB，raw10格式，sensor_data_bits_fill pwl mode 才会用到，这里配置12即可

### aexp_gain_control

对于 Sony 的sensor gain控制一般以线性公式进行控制，以 imx586 为例，需要根据增益倍数推导寄存器值计算公式，具体方式如下:

**参考文档和gain_table.xlsx：**

  ![](./media/Sony_sensor_bringup/screenshot-20260116-110906.png)

  ![](./media/Sony_sensor_bringup/screenshot-20260116-103726.png)

**公式解析：**
```bash
"0x" & DEC2HEX(1024 - 1024/B4, 0)
```

IMX586 的模拟增益公式为：
Analog Gain = 1024 / (1024 - X)

其中：
Analog Gain 是增益倍数（如 2.0x、4.0x 等）
X 是要写入寄存器的值（范围 112-1008）

推导过程：
```bash
Analog Gain = 1024 / (1024 - X)
=> 1024 - X = 1024 / Analog Gain
=> X = 1024 - 1024 / Analog Gain
```

```c
static int sensor_aexp_gain_control(hal_control_info_t *info, uint32_t mode, uint32_t *again, uint32_t *dgain, uint32_t gain_num)
{
        const uint16_t AGAIN_H = 0x0204;
        const uint16_t AGAIN_L = 0x0205;
        char again_reg_value_h = 0, again_reg_value_l = 0;
        int gain_index = 0;

        if (mode == NORMAL_M) {
                if (again[0] >= sizeof(imx586_gain_lut)/sizeof(uint32_t))
                        gain_index = sizeof(imx586_gain_lut)/sizeof(uint32_t) - 1;
                else
                        gain_index = again[0];

                again_reg_value_h = (imx586_gain_lut[gain_index] >> 8) & 0xFF;
                again_reg_value_l = (imx586_gain_lut[gain_index]) & 0xFF;

                vin_i2c_write8(info->bus_num, 16, info->sensor_addr, AGAIN_H, again_reg_value_h);
                vin_i2c_write8(info->bus_num, 16, info->sensor_addr, AGAIN_L, again_reg_value_l);
        } else {
                vin_err(" unsupport mode %d\n", mode);
        }
        return 0;
}
```

### aexp_line_control

`aexp_line_control`这个函数是主要实现了曝光的控制，主要负责：
1. 接收ISP 3A算法计算的下发的曝光的行数
2. 将曝光的行数转换为sensor寄存器值
3. 配置通过i2c下发给sensor 曝光寄存器
4. 这里曝光寄存器为 0x0202、0x0203。

  ![](./media/Sony_sensor_bringup/screenshot-20260210-202303.png)

```c
static int sensor_aexp_line_control(hal_control_info_t *info, uint32_t mode, uint32_t *line, uint32_t line_num)
{
        const uint16_t EXP_LINE0 = 0x0202;
        const uint16_t EXP_LINE1 = 0x0203;
        char temp0 = 0, temp1 = 0;

        if (mode == NORMAL_M) {
                uint32_t sline = line[0];
                if (sline > 3063) sline = 3063;
                if (sline < 8) sline = 8;

                temp0 = (sline >> 8) & 0xFF;
                vin_i2c_write8(info->bus_num, 16, info->sensor_addr, EXP_LINE0, temp0);
                temp1 = (sline) & 0xFF;
                vin_i2c_write8(info->bus_num, 16, info->sensor_addr, EXP_LINE1, temp1);
        } else {
                vin_err(" unsupport mode %d\n", mode);
        }
        return 0;
}
```

### userspace_control

- 这里 sensor_userspace_control 用于 Gain Control 与 Exposure Control开关。
- 用于 hbplayer 调试时排查 flicker 或画面异常，可开关 HAL_GAIN_CONTROL / HAL_LINE_CONTROL确认问题。

```c
static int sensor_userspace_control(uint32_t port, uint32_t *enable)
{
        vin_info("enable userspace gain control and line control\n");
        *enable = HAL_GAIN_CONTROL | HAL_LINE_CONTROL | HAL_AF_CONTROL;
        return 0;
}
```

### 驱动部署

1. `./bd.sh hbre camsys/libcam` 编译。
2. 将 `out/deploy/hbre/lib/sensor/libimx586.so.1.0.0` 拷贝到板端 `/usr/hobot/lib/sensor/`。

---

## App 配置

- 在路径 `app/samples/platform_samples/vp_sensors/imx586/` 中为 imx586 添加配置，
- 需配置 mipi（lane、datatype、mipiclk、linelenth、framelenth、settle）、camera（name、addr、sensor_mode、gpio、fps、width、height、format）、vin_node_attr（mipi_rx、cim_isp_flyby 等）、vin_ichn_attr、vin_ochn_attr（wstride 等）、isp_attr、isp_ichn_attr、isp_ochn_attr。

- HTS/VTS 可从寄存器 0x342/0x343、0x340/0x341 读取或咨询 Sensor FAE 提供或者使用示波器测量，测量方法参考 [mipi-参数确定](../../multimedia_development/isp_tuning_guide/Camera_sensor_FAQ.html#mipi-参数确定)
- mipiclk 一般询问 Sensor FAE即可，计算方法参考 [MIPI CLK](../../multimedia_development/isp_tuning_guide/Camera_sensor_FAQ.html#mipi-clk)
- 其他的都为通用配置，参考文档 [数据结构](../../multimedia_development/1-HBN_API_zh_CN.html#id165)。 进行配置即可

### vp_sensor 配置文件：linear_3840x2160_raw10_30fps_4lane.c

- 配置文件路径：`imx586/linear_3840x2160_raw10_30fps_4lane.c`。
- 配置结构体名：`linear_3840x2160_raw10_30fps_4lane`（需在 vp_sensor_config_list 中注册）。
- 当前示例为 **RAW10** 输出；datatype/format 配置为 0x2B主要参数如下：

| 配置项         | 参数名 / 位置                  | 取值说明                                         |
|----------------|--------------------------------|--------------------------------------------------|
| **顶层**       | `config_file`                  | `"linear_3840x2160_raw10_30fps_4lane.c"`        |
|                | `sensor_name`                  | `"imx586-30fps-4lane"`                          |
|                | `chip_id_reg` / `chip_id`      | 0x0016 / 0x0586                                 |
|                | `sensor_i2c_addr_list`         | {0x1A}                                          |
|                | `support_sensor_mode`          | {NORMAL_M}                                      |
| **MIPI**       | `lane`                         | 4                                               |
|                | `datatype`                     | RAW10 (0x2B)                                    |
|                | `fps`                          | 30                                              |
|                | `mipiclk`                      | 4500（Mbps）                                    |
|                | `width` / `height`             | 3840 / 2160（4K UHD）                           |
|                | `linelenth` / `framelenth`     | 8976 / 3064（与 sensor HTS/VTS）               |
|                | `settle`                       | 30                                              |
|                | `channel_num`                  | 1                                               |
|                | `stop_check_instart`           | 1                                                |
| **Camera**     | `name` / `addr`                | "imx586" / 0x1A                                 |
|                | `sensor_mode`                  | 1 (NORMAL_M)                                    |
|                | `format`                       | RAW10                                           |
|                | `gpio_enable_bit` / `gpio_level_bit` | 0x01 / 0x00                             |
|                | `calib_lname`                  | "disable"                                       |
| **VIN**        | `mipi_rx`                      | 0                                               |
|                | `cim_isp_flyby`                | 0（offline）                                    |
|                | `hdr_mode`                     | NOT_HDR                                         |
|                | `mclk_freq` (vin_attr_ex)      | 24000000                                        |
| **VIN 输出**   | `wstride`                      | SENSOR_WIDTH * 2（RAW10 为 ×2）                 |
| **ISP 输入**   | `input_mode`                   | DDR_MODE                                        |
|                | `sensor_mode`                  | ISP_NORMAL_M                                    |
|                | `crop`                         | x=0, y=0, w=3840, h=2160                        |
|                | `input_fmt`                    | FRM_FMT_RAW                                     |
|                | `input_bit_width`              | 10                                              |
| **ISP 输出**   | `output_fmt`                   | FRM_FMT_NV12                                    |
|                | `output_bit_width`             | 8                                               |
|                | `ddr_en`                       | 1                                               |

---

## 程序验证

1. **get_vin_data**：确认 raw 图无严重偏色、帧率符合配置。
2. **get_isp_data**：准备 `imx586_tuning.json`（可拷贝同分辨率 json 并改 sensor_name），确认 YUV 正常。
3. **hbplayer**：连接板端预览，见 [hbplayer 和 tuning_tool 工具使用指南](./Hobot_Player_User_Guide.md)。
4. **tuning_tool**：使用tuning_tool连接hbplayer后，输入命令 e，配置 Manual AE，设置 aGain、integrationTime，看驱动打印核对 0x0204/0x0205、0x0202/0x0203 与 spec 一致，ISP 增益限制可在 imx586_tuning.json 中配置以便自测。

常见问题见 [Camera Sensor FAQ](./Camera_sensor_FAQ.md)。
