DS90UB954-Q1: 不能出图

int main(int argc, char *argv[])
{
  if (Hardware::PC())
  {
    printf("exiting, camerad is not meant to run on PC\n");
    return 0;
  }

  int ret = util::set_realtime_priority(53);
  assert(ret == 0);
  ret = util::set_core_affinity({6});
  assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores

  // camerad_thread();
  LOGE("-- UB954 TEST --");

  LOGE("-- Opening devices");
  // video0 is req_mgr, the target of many ioctls
  cameras.video0_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-soc:qcom_cam-req-mgr-video-index0", O_RDWR | O_NONBLOCK));
  assert(cameras.video0_fd >= 0);
  LOGE("opened video0");

  // video1 is cam_sync, the target of some ioctls
  cameras.cam_sync_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-cam_sync-video-index0", O_RDWR | O_NONBLOCK));
  assert(cameras.cam_sync_fd >= 0);
  LOGE("opened video1 (cam_sync)");

  // looks like there'cameras only one of these
  cameras.isp_fd = open_v4l_by_name_and_index("cam-isp");
  assert(cameras.isp_fd >= 0);
  LOGE("opened isp");

  // query icp for MMU handles
  LOGE("-- Query ICP for MMU handles");
  struct cam_isp_query_cap_cmd isp_query_cap_cmd = {0};
  struct cam_query_cap_cmd query_cap_cmd = {0};
  query_cap_cmd.handle_type = 1;
  query_cap_cmd.caps_handle = (uint64_t)&isp_query_cap_cmd;
  query_cap_cmd.size = sizeof(isp_query_cap_cmd);
  ret = do_cam_control(cameras.isp_fd, CAM_QUERY_CAP, &query_cap_cmd, sizeof(query_cap_cmd));
  assert(ret == 0);
  LOGE("using MMU handle: %x", isp_query_cap_cmd.device_iommu.non_secure);
  LOGE("using MMU handle: %x", isp_query_cap_cmd.cdm_iommu.non_secure);
  cameras.device_iommu = isp_query_cap_cmd.device_iommu.non_secure;
  cameras.cdm_iommu = isp_query_cap_cmd.cdm_iommu.non_secure;

  // subscribe
  LOG("-- Subscribing");
  struct v4l2_event_subscription sub = {0};
  sub.type = V4L_EVENT_CAM_REQ_MGR_EVENT;
  sub.id = V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS;
  ret = HANDLE_EINTR(ioctl(cameras.video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
  LOGE("req mgr subscribe: %d", ret);

  sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", 1);
  assert(sensor_fd >= 0);
  LOGE("TIAN opened sensor for %d", 1);

  // init memorymanager for this camera
  mm.init(cameras.video0_fd);

  LOGE("-- Probing sensor %d", 1);
  ret = sensors_init(0x60, 0x1E);
  if (ret != 0)
  {
    LOGE("init failed----");
    return 0;
  }

  // create session
  struct cam_req_mgr_session_info session_info = {};
  ret = do_cam_control(cameras.video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info));
  LOGE("get session: %d 0x%X", ret, session_info.session_hdl);
  session_handle = session_info.session_hdl;

  // access the sensor
  LOGE("-- Accessing sensor");
  auto sensor_dev_handle_ = device_acquire(sensor_fd, session_handle, nullptr);
  assert(sensor_dev_handle_);
  sensor_dev_handle = *sensor_dev_handle_;
  LOGE("acquire sensor dev");

  LOGE("-- Configuring sensor");

  ret = i2c_compare(0x00, 0x60);
  ret = i2c_write(0x4C, 0x01); // select port 0，依赖与硬件设计
  ret = i2c_write(0x0C, 0x01); // enable port0
  ret = i2c_write(0x6D, 0x7C);
  ret = i2c_write(0x58, 0x5E); //i2c PASS-THROUGH 该寄存器直接导致I2c是否能通过954透传给953或者sensor
  ret = i2c_write(0x5C, 0x30); //953 i2c addr
  ret = i2c_write(0x5D, 0x6C); // sensor ox03c10  i2c addr
  ret = i2c_write(0x65, 0x6C); // sensor i2c addr
  ret = i2c_write(0x20, 0x20); //FWD_CTL1  很重要，Forwarding enabled for RX Port 0
  ret = i2c_write(0x7C, 0x81);
  ret = i2c_write(0x70, 0x1E);
  ret = i2c_write(0x33, 0x03); //4 lanes
  ret = i2c_compare(0x04, 0xCF);

  ret = sensors_init(0x30, 0x73);
  if (ret != 0)
  {
    ret = sensors_init(0x30, 0x33);
    if (ret != 0)
    {
      LOGE("init failed----");
      return 0;
    }
  }

  ret = i2c_compare(0x00, 0x30);
  ret = i2c_write(0x0E, 0xF0); //enable gpio out
  ret = i2c_write(0x0D, 0x00); //gpio out LOW
  ret = i2c_write(0x06, 0x81); //HS 16  M=1
  ret = i2c_write(0x07, 0x05); //N=5
  ret = i2c_write(0x03, 0x5A); //很重要，异步模式CSI-2 Non-synchronous external clock Mode
  ret = i2c_write(0x02, 0x73); //continues clock  ,4 lane
  ret = i2c_write(0x0D, 0x04);  //gpio HIGH  0x03c10 sensor  使能

  return 0;
}