标准系统方案之瑞芯微RK3568移植案例

{
    "device_name": "rk3568",
    "device_company": "rockchip",
    "target_os": "ohos",
    "target_cpu": "arm",
    "kernel_version": "",
    "device_build_path": "device/board/hihope/rk3568",
    "enable_ramdisk": true,   //是否支持ramdisk二级启动
    "build_selinux": true    // 是否支持selinux权限管理
}

{
  "product_name": "rk3568",
  "product_company" : "hihope",
  "product_device": "rk3568",
  "version": "2.0",
  "type": "standard",
  "parts":{
    "ace:ace_engine_standard":{},
    "ace:napi":{},
    ...
    "xts:phone_tests":{}
  }
}

device
├── board                                --- 单板厂商目录
│   └── hihope                           --- 单板厂商名字：
│       └── rk3568                       --- 单板名：rk3568,主要放置开发板相关的驱动业务代码
└── soc									 --- SoC厂商目录
    └── rockchip                       --- SoC厂商名字：rockchip
        └── rk3568						 --- SoC Series名：rk3568,主要为芯片原厂提供的一些方案，以及闭源库等
        
        

vendor
└── hihope					
    └── rk3568         			 --- 产品名字：产品、hcs以及demo相关

{
    "device_name": "rk3568",
    "device_company": "hihope",
    "target_os": "ohos",
    "target_cpu": "arm",
    "kernel_version": "",
    "device_build_path": "device/hihope/build",
    "enable_ramdisk": true,
    "build_selinux": true
}

function make_extlinux_conf()
{
	dtb_path=$1
	uart=$2
	image=$3
	
	echo "label rockchip-kernel-5.10" > ${EXTLINUX_CONF}
	echo "	kernel /extlinux/${image}" >> ${EXTLINUX_CONF}
	echo "	fdt /extlinux/${TOYBRICK_DTB}" >> ${EXTLINUX_CONF}
	if [ "enable_ramdisk" == "${ramdisk_flag}" ]; then
		echo "	initrd /extlinux/ramdisk.img" >> ${EXTLINUX_CONF}
	fi
	cmdline="append earlycon=uart8250,mmio32,${uart} root=PARTUUID=614e0000-0000-4b53-8000-1d28000054a9 rw rootwait rootfstype=ext4"
	echo "  ${cmdline}" >> ${EXTLINUX_CONF}
}

genext2fs -B ${blocks} -b ${block_size} -d boot_linux -i 8192 -U boot_linux.img

./device/board/hihope/rk3568/audio_drivers
├── codec
│   └── rk809_codec
│       ├── include
│       │   ├── rk809_codec_impl.h
│       │   └── rk817_codec.h
│       └── src
│           ├── rk809_codec_adapter.c
│           ├── rk809_codec_linux_driver.c
│           └── rk809_codec_ops.c
├── dai
│   ├── include
│   │   ├── rk3568_dai_linux.h
│   │   └── rk3568_dai_ops.h
│   └── src
│       ├── rk3568_dai_adapter.c
│       ├── rk3568_dai_linux_driver.c
│       └── rk3568_dai_ops.c
├── dsp
│   ├── include
│   │   └── rk3568_dsp_ops.h
│   └── src
│       ├── rk3568_dsp_adapter.c
│       └── rk3568_dsp_ops.c
├── include
│   ├── audio_device_log.h
│   └── rk3568_audio_common.h
└── soc
    ├── include
    │   └── rk3568_dma_ops.h
    └── src
        ├── rk3568_dma_adapter.c
        └── rk3568_dma_ops.c

        audio :: host {
            hostName = "audio_host";
            priority = 60;
            device_dai0 :: device {
                device0 :: deviceNode {
                    policy = 1;
                    priority = 50;
                    preload = 0;
                    permission = 0666;
                    moduleName = "DAI_RK3568";
                    serviceName = "dai_service";
                    deviceMatchAttr = "hdf_dai_driver";
                }
            }
            device_codec :: device {
                device0 :: deviceNode {
                    policy = 1;
                    priority = 50;
                    preload = 0;
                    permission = 0666;
                    moduleName = "CODEC_RK809";
                    serviceName = "codec_service_0";
                    deviceMatchAttr = "hdf_codec_driver";
                }
            }
            device_codec_ex :: device {
                device0 :: deviceNode {
                    policy = 1;
                    priority = 50;
                    preload = 0;
                    permission = 0666;
                    moduleName = "CODEC_RK817";
                    serviceName = "codec_service_1";
                    deviceMatchAttr = "hdf_codec_driver_ex";
                }
            }
            device_dsp :: device {
                device0 :: deviceNode {
                    policy = 1;
                    priority = 50;
                    preload = 0;
                    permission = 0666;
                    moduleName = "DSP_RK3568";
                    serviceName = "dsp_service_0";
                    deviceMatchAttr = "hdf_dsp_driver";
                }
            }
            device_dma :: device {
                device0 :: deviceNode {
                    policy = 1;
                    priority = 50;
                    preload = 0;
                    permission = 0666;
                    moduleName = "DMA_RK3568";
                    serviceName = "dma_service_0";
                    deviceMatchAttr = "hdf_dma_driver";
                }
            }
            ......
        }

[    1.548624] [E/"rk809_codec_adapter"]  [Rk809DriverBind][line:258]: enter
[    1.548635] [E/"rk809_codec_adapter"]  [Rk809DriverBind][line:260]: success
[    1.548655] [E/"rk809_codec_adapter"]  [Rk809DriverInit][line:270]: enter
[    1.549050] [E/"rk809_codec_adapter"]  [GetServiceName][line:226]: enter
[    1.549061] [E/"rk809_codec_adapter"]  [GetServiceName][line:250]: success
[    1.549072] [E/"rk809_codec_adapter"]  [Rk809DriverInit][line:316]: g_chip->accessory.drvAccessoryName = codec_service_1
[    1.549085] [E/audio_core]  [AudioSocRegisterDai][line:86]: Register [accessory_dai] success.
[    1.549096] [E/audio_core]  [AudioRegisterAccessory][line:120]: Register [codec_service_1] success.
[    1.549107] [E/"rk809_codec_adapter"]  [Rk809DriverInit][line:323]: success!

dmaRtd->dmaChn[streamType] = dma_request_slave_channel(dmaDevice, dmaChannelNames[streamType]);

   //设置通道配置参数
   // 放音通道参数配置
   slave_config.direction = DMA_MEM_TO_DEV;
   slave_config.dst_addr_width = DMA_SLAVE_BUSWIDTH_4_BYTES;
   slave_config.dst_addr = I2S1_ADDR + I2S_TXDR;
   slave_config.dst_maxburst = 8;
   // 录音通道参数配置
   slave_config.direction = DMA_DEV_TO_MEM;
   slave_config.src_addr_width = DMA_SLAVE_BUSWIDTH_4_BYTES;
   slave_config.src_addr = I2S1_ADDR + I2S_RXDR;
   slave_config.src_maxburst = 8;

   //使用Linux DMA原生接口函数完成DMA通道配置
   ret = dmaengine_slave_config(dmaChan, &slave_config);
   if (ret != 0) {
       AUDIO_DEVICE_LOG_ERR("dmaengine_slave_config failed");
       return HDF_FAILURE;
   }

  
   dma_chn = dmaRtd->dmaChn[DMA_TX_CHANNEL];
   buf_size = data->renderBufInfo.cirBufSize;
   dmaengine_tx_status(dma_chn, dmaRtd->cookie[DMA_TX_CHANNEL], &dma_state);
   if (dma_state.residue) {
       currentPointer = buf_size - dma_state.residue;
       *pointer = BytesToFrames(data->pcmInfo.frameSize, currentPointer);
   } else {
       *pointer = 0;
   }

|-- README_zh.md
|-- figures
|  -- logic-view-of-modules-related-to-this-repository_zh.png
|-- hal
|  |-- BUILD.gn               #Camera驱动框架构建入口
|  |-- adapter                 #平台适配层，适配平台
|  |-- buffer_manager
|  |-- camera.gni               #定义组件所使用的全局变量
|  |-- device_manager
|  |-- hdi_impl
|  |-- include
|  |-- init                   #demo sample
|  |-- pipeline_core
|  |-- test                   #测试代码
|  |-- utils
|-- hal_c                    #为海思平台提供专用C接口
|  |-- BUILD.gn
|  |-- camera.gni
|  |-- hdi_cif
|  |-- include
|-- interfaces                  #HDI接口
  |-- hdi_ipc
|-- hdi_passthrough
   |-- include

├── hdi_impl
│   └── camera_host_config.hcs
└── pipeline_core
    ├── config.hcs
    ├── ipp_algo_config.hcs
    └── params.hcs

├── BUILD.gn
├── demo
│   └── include
│       └── project_camera_demo.h
├── device_manager
│   ├── BUILD.gn
│   ├── include
│   │   ├── imx600.h
│   │   ├── project_hardware.h
│   │   └── rkispv5.h
│   └── src
│       ├── imx600.cpp
│       └── rkispv5.cpp
├── driver_adapter
│   └── test
│       ├── BUILD.gn
│       ├── unittest
│       │   ├── include
│       │   │   └── utest_v4l2_dev.h
│       │   └── src
│       │       └── utest_v4l2_dev.cpp
│       └── v4l2_test
│           └── include
│               └── project_v4l2_main.h
└── pipeline_core
    ├── BUILD.gn
    └── src
        ├── ipp_algo_example
        │   └── ipp_algo_example.c
        └── node
            ├── rk_codec_node.cpp
            └── rk_codec_node.h     

        hdi_server :: host {
            hostName = "camera_host";
            priority = 50;
            caps = ["DAC_OVERRIDE", "DAC_READ_SEARCH"];
            camera_device :: device {
                 device0 :: deviceNode {
                     policy = 2;
                     priority = 100;
                     moduleName = "libcamera_hdi_impl.z.so";
                     serviceName = "camera_service";
                 }
             }
            ...
        }

static int32_t CameraServiceDispatch(struct HdfDeviceIoClient *client, int cmdId,
    struct HdfSBuf *data, struct HdfSBuf *reply)
{
    HdfCameraService *hdfCameraService = CONTAINER_OF(client->device->service, HdfCameraService, ioservice);
      return CameraHostServiceOnRemoteRequest(hdfCameraService->instance, cmdId, data, reply);
 }

int HdfCameraHostDriverBind(HdfDeviceObject *deviceObject)
{
    HDF_LOGI("HdfCameraHostDriverBind enter!");
    if (deviceObject == nullptr) {
        HDF_LOGE("HdfCameraHostDriverBind: HdfDeviceObject is NULL !");
        return HDF_FAILURE;
}

int HdfCameraHostDriverInit(struct HdfDeviceObject *deviceObject)
{
      return HDF_SUCCESS;
}

  void HdfCameraHostDriverRelease(HdfDeviceObject *deviceObject)
  {
          if (deviceObject == nullptr || deviceObject->service == nullptr) {
          HDF_LOGE("%{public}s deviceObject or deviceObject->service  is NULL!", __FUNCTION__);
                return;
      }
          HdfCameraService *hdfCameraService = CONTAINER_OF(deviceObject->service, HdfCameraService, ioservice);
      if (hdfCameraService == nullptr) {
           HDF_LOGE("%{public}s hdfCameraService is NULL!", __FUNCTION__);
           return;
       }

 struct HdfDriverEntry g_cameraHostDriverEntry = {
      .moduleVersion = 1,
      .moduleName = "camera_service",
      .Bind = HdfCameraHostDriverBind,
      .Init = HdfCameraHostDriverInit,
      .Release = HdfCameraHostDriverRelease,
  };   

 hc_gen("build_camera_host_config") {
    sources = [ rebase_path(
                  "$camera_product_name_path/hdf_config/uhdf/camera/hdi_impl/camera_host_config.hcs") ]
  }
        
  ohos_prebuilt_etc("camera_host_config.hcb") {
          deps = [ ":build_camera_host_config" ]
    hcs_outputs = get_target_outputs(":build_camera_host_config")
          source = hcs_outputs[0]
    relative_install_dir = "hdfconfig"
          install_images = [ chipset_base_dir ]
    subsystem_name = "hdf"
          part_name = "camera_device_driver"
  }

  if (defined(ohos_lite)) {
          import("//build/lite/config/component/lite_component.gni")
    import(
              "//device/soc/hisilicon/common/hal/media/camera/hi3516dv300/linux_standard/camera/product.gni")
  } else {
          import("//build/ohos.gni")
    if ("${product_name}" == "ohos-arm64") {
            import(
          "//drivers/peripheral/camera/hal/adapter/chipset/rpi/rpi3/device/camera/product.gni")
          } else if ("${product_name}" == "Hi3516DV300") {
      import(
                "//device/soc/hisilicon/common/hal/media/camera/hi3516dv300/linux_standard/camera/product.gni")
    } else if ("${product_name}" == "watchos") {
            import(
          "//device/soc/hisilicon/common/hal/media/camera/hi3516dv300/linux_standard/camera/product.gni")
          } else {
      import(
                "//device/board/${product_company}/${device_name}/camera/product.gni")
    }
        }

 device/${product_company}/${device_name}/camera/

  camera_device_name_path = "//device/board/${product_company}/${device_name}"
        is_support_v4l2 = true
  if (is_support_v4l2) {
          is_support_mpi = false
    defines += [ "SUPPORT_V4L2" ]
          chipset_build_deps = "$camera_device_name_path/camera/:chipset_build"
    camera_device_manager_deps =
              "$camera_device_name_path/camera/src/device_manager:camera_device_manager"
    camera_pipeline_core_deps =
              "$camera_device_name_path/camera/src/pipeline_core:camera_pipeline_core"
  }

    ![dayu200-camera-01.png](figures/dayu200/dayu200-camera-01.png)

  ├── hdi_impl
  │   └── camera_host_config.hcs
  └── pipeline_core
      ├── config.hcs
      ├── ipp_algo_config.hcs
      └── params.hcs

 vendor/${product_company}/${product_name}/ hdf_config/uhdf/camera/  

template ability {
  logicCameraId = "lcam001";
  physicsCameraIds = [
  "CAMERA_FIRST",
  "CAMERA_SECOND"
  ];
metadata {
   aeAvailableAntiBandingModes = [
       "OHOS_CONTROL_AE_ANTIBANDING_MODE_OFF",
       "OHOS_CONTROL_AE_ANTIBANDING_MODE_50HZ",
       "OHOS_CONTROL_AE_ANTIBANDING_MODE_60HZ",
       "OHOS_CONTROL_AE_ANTIBANDING_MODE_AUTO"
        ];
        

      normal_preview :: pipeline_spec {
      name = "normal_preview";
            v4l2_source :: node_spec {
          name = "v4l2_source#0";
                status = "new";
          out_port_0 :: port_spec {
                    name = "out0";
              peer_port_name = "in0";
                    peer_port_node_name = "sink#0";
              direction = 1;
                    width = 0;
              height = 0;
                    format = 0;
          }
            }
      sink :: node_spec {
                name = "sink#0";
          status = "new";
                stream_type = "preview";
          in_port_0 :: port_spec {
                    name = "in0";
              peer_port_name = "out0";
                    peer_port_node_name = "v4l2_source#0";
              direction = 0;
                }
      }
    }

 root {
  module = "";
        template stream_info {
      id = 0;
            name = "";
  }
        template scene_info {
      id = 0;
            name = "";
  }
        preview :: stream_info {
      id = 0;
            name = "preview";
  }
        video :: stream_info {
      id = 1;
            name = "video";
  }

  drivers/peripheral/camera/hal/adapter/platform
  ├── mpp
  │   └── src
  │       ├── device_manager
  │       └── pipeline_core
  └── v4l2
      └── src
          ├── device_manager
          ├── driver_adapter
          └── pipeline_core

 namespace OHOS::Camera {
  class V4L2SourceNode : public SourceNode {
        public:
      V4L2SourceNode(const std::string& name, const std::string& type);
            ~V4L2SourceNode() override;
      RetCode Init(const int32_t streamId) override;
            RetCode Start(const int32_t streamId) override;
      RetCode Flush(const int32_t streamId) override;
            RetCode Stop(const int32_t streamId) override;
      RetCode GetDeviceController();
            void SetBufferCallback() override;
      RetCode ProvideBuffers(std::shared_ptr<FrameSpec> frameSpec) override;
        
  private:
            std::mutex                              requestLock_;
      std::map<int32_t, std::list<int32_t>>   captureRequests_ = {};
            std::shared_ptr<SensorController>       sensorController_ = nullptr;
      std::shared_ptr<IDeviceManager>     deviceManager_ = nullptr;
        };
  } // namespace OHOS::Camera

 device/board/hihope/rk3568/camera
  ├── BUILD.gn
  ├── camera_demo
  │   └── project_camera_demo.h
  ├── include
  │   └── device_manager
  ├── product.gni
  └── src
      ├── device_manager
      ├── driver_adapter
      └── pipeline_core

      class SensorController : public IController {
      public:
          SensorController();
          explicit SensorController(std::string hardwareName);
          virtual ~SensorController();
          RetCode Init();
          RetCode PowerUp();
          RetCode PowerDown();
          RetCode Configure(std::shared_ptr<CameraStandard::CameraMetadata> meta);
          RetCode Start(int buffCont, DeviceFormat& format);
          RetCode Stop();
          RetCode SendFrameBuffer(std::shared_ptr<FrameSpec> buffer);
          void SetNodeCallBack(const NodeBufferCb cb);
          void SetMetaDataCallBack(const MetaDataCb cb);
          void BufferCallback(std::shared_ptr<FrameSpec> buffer);
          void SetAbilityMetaDataTag(std::vector<int32_t> abilityMetaDataTag);
    } 

  root {
     module="sample";
     ipp_algo_config {
     algo1 {
          name = "example";
          description = "example algorithm";
          path = "libcamera_ipp_algo_example.z.so";
          mode = "IPP_ALGO_MODE_NORMAL";
     }
     }
  }

  enum IppAlgoMode {
      IPP_ALGO_MODE_BEGIN,
      IPP_ALGO_MODE_NORMAL = IPP_ALGO_MODE_BEGIN,
      IPP_ALGO_MODE_BEAUTY,
      IPP_ALGO_MODE_HDR,
      IPP_ALGO_MODE_END
  };

  typedef struct IppAlgoFunc {
      int (*Init)(IppAlgoMeta* meta);
      int (*Start)();
      int (*Flush)();
      int (*Process)(IppAlgoBuffer* inBuffer[], int inBufferCount, IppAlgoBuffer* outBuffer, IppAlgoMeta* meta);
      int (*Stop)();
  } IppAlgoFunc;

typedef struct IppAlgoBuffer {
      void* addr;
      unsigned int width;
      unsigned int height;
      unsigned int stride;
      unsigned int size;
      int id;
  } IppAlgoBuffer;

  drivers/peripheral/camera/hal/adapter/platform/v4l2/src/
  ├── device_manager
  │   ├── enumerator_manager.cpp
  │   ├── flash_controller.cpp
  │   ├── flash_manager.cpp
  │   ├── idevice_manager.cpp
  │   ├── include
  │   ├── isp_controller.cpp
  │   ├── isp_manager.cpp
  │   ├── sensor_controller.cpp
  │   ├── sensor_manager.cpp
  │   └── v4l2_device_manager.cpp
  ├── driver_adapter
  │   ├── BUILD.gn
  │   ├── include
  │   ├── main_test
  │   └── src
  └── pipeline_core
      └── nodes

  ├── BUILD.gn
  ├── camera_demo
  │   └── project_camera_demo.h
  ├── include
  │   └── device_manager
  ├── product.gni
  └── src
      ├── device_manager
      ├── driver_adapter
      └── pipeline_core

 namespace OHOS::Camera {
    std::vector<HardwareConfiguration> hardware = {
        {CAMERA_FIRST, DM_M_SENSOR, DM_C_SENSOR, (std::string) "rkisp_v5"},
        {CAMERA_FIRST, DM_M_ISP, DM_C_ISP, (std::string) "isp"},
        {CAMERA_FIRST, DM_M_FLASH, DM_C_FLASH, (std::string) "flash"},
        {CAMERA_SECOND, DM_M_SENSOR, DM_C_SENSOR, (std::string) "Imx600"},
        {CAMERA_SECOND, DM_M_ISP, DM_C_ISP, (std::string) "isp"},
        {CAMERA_SECOND, DM_M_FLASH, DM_C_FLASH, (std::string) "flash"}
   };
  } // namespace OHOS::Camera

  camera_product_name_path = "//vendor/${product_company}/${product_name}"
  camera_device_name_path = "//device/board/${product_company}/${device_name}"
  is_support_v4l2 = true
  if (is_support_v4l2) {
      is_support_mpi = false
      defines += [ "SUPPORT_V4L2" ]
      chipset_build_deps = "$camera_device_name_path/camera/:chipset_build"
      camera_device_manager_deps =
          "$camera_device_name_path/camera/src/device_manager:camera_device_manager"
      camera_pipeline_core_deps =
          "$camera_device_name_path/camera/src/pipeline_core:camera_pipeline_core"
  }

  import("//build/ohos.gni")
  if ("${product_name}" == "ohos-arm64") {
    import(
        "//drivers/peripheral/camera/hal/adapter/chipset/rpi/rpi3/device/camera/product.gni")
  } else if ("${product_name}" == "Hi3516DV300") {
    import(
        "//device/soc/hisilicon/common/hal/media/camera/hi3516dv300/linux_standard/camera/product.gni")

     print("product_name : , ${product_name}")
      group("camera_hal") {
        if (is_standard_system) {
          deps = [
            "$camera_path/../interfaces/hdi_ipc/client:libcamera_client",
            "buffer_manager:camera_buffer_manager",
            "device_manager:camera_device_manager",
            "hdi_impl:camera_hdi_impl",
            "init:ohos_camera_demo",
            "pipeline_core:camera_pipeline_core",
            "utils:camera_utils",
          ]
          deps += [ "${chipset_build_deps}" ]
        }

        ├── icamera_device_callback.h
        ├── icamera_device.h
        ├── icamera_host_callback.h
        ├── icamera_host.h
        ├── ioffline_stream_operator.h
        ├── istream_operator_callback.h
        ├── istream_operator.h

  #ifdef PRODUCT_RK
      previewSurface_->SetUserData(SURFACE_FORMAT, std::to_string(PIXEL_FMT_RGBA_8888));
      previewSurface_->SetUserData(CameraStandard::CameraManager::surfaceFormat,
                                   std::to_string(OHOS_CAMERA_FORMAT_RGBA_8888));
  #else
      previewSurface_->SetUserData(SURFACE_FORMAT, std::to_string(PIXEL_FMT_YCRCB_420_SP));
      previewSurface_->SetUserData(CameraStandard::CameraManager::surfaceFormat,
                                   std::to_string(OHOS_CAMERA_FORMAT_YCRCB_420_SP));
  #endif

void HStreamRepeat::SetStreamInfo(std::shared_ptr<Camera::StreamInfo> streamInfo)
    {
        int32_t pixelFormat;
        auto it = g_cameraToPixelFormat.find(format_);
        if (it != g_cameraToPixelFormat.end()) {
            pixelFormat = it->second;
        } else {
    #ifdef RK_CAMERA
            pixelFormat = PIXEL_FMT_RGBA_8888;
    #else
            pixelFormat = PIXEL_FMT_YCRCB_420_SP;
    #endif

  #ifdef PRODUCT_RK
      option->SetWindowType(SUBWINDOW_TYPE_NORMAL);
  #else
      option->SetWindowType(SUBWINDOW_TYPE_VIDEO);
  #endif

          normal_preview_snapshot :: pipeline_spec {
                name = "normal_preview_snapshot";
                v4l2_source :: node_spec {
                    name = "v4l2_source#0";
                    status = "new";
                    out_port_0 :: port_spec {
                        name = "out0";
                        peer_port_name = "in0";
                        peer_port_node_name = "fork#0";
                        direction = 1;
                    }
                }
                fork :: node_spec {
                    name = "fork#0";
                    status = "new";
                    in_port_0 :: port_spec {
                        name = "in0";
                        peer_port_name = "out0";
                        peer_port_node_name = "v4l2_source#0";
                        direction = 0;
                    }
                    out_port_0 :: port_spec {
                        name = "out0";
                        peer_port_name = "in0";
                        peer_port_node_name = "RKCodec#0";
                        direction = 1;
                    }
                    out_port_1 :: port_spec {
                        name = "out1";
                        peer_port_name = "in0";
                        peer_port_node_name = "RKCodec#1";
                        direction = 1;
                    }
                }
                RKCodec_1 :: node_spec {
                    name = "RKCodec#0";
                    status = "new";
                    in_port_0 :: port_spec {
                        name = "in0";
                        peer_port_name = "out0";
                        peer_port_node_name = "fork#0";
                        direction = 0;
                    }
                    out_port_0 :: port_spec {
                        name = "out0";
                        peer_port_name = "in0";
                        peer_port_node_name = "sink#0";
                        direction = 1;
                    }
                }
                RKCodec_2 :: node_spec {
                    name = "RKCodec#1";

    ohos_shared_library("camera_pipeline_core") {
        sources = [
          "$camera_device_name_path/camera/src/pipeline_core/node/rk_codec_node.cpp",
          "$camera_path/adapter/platform/v4l2/src/pipeline_core/nodes/uvc_node/uvc_node.cpp",
                  "$camera_path/adapter/platform/v4l2/src/pipeline_core/nodes/v4l2_source_node/v4l2_source_node.cpp",
           deps = [
            "$camera_path/buffer_manager:camera_buffer_manager",
            "$camera_path/device_manager:camera_device_manager",
            "//device/soc/rockchip/hardware/mpp:libmpp",
            "//device/soc/rockchip/hardware/rga:librga",
            "//foundation/multimedia/camera_standard/frameworks/native/metadata:metadata",
            "//third_party/libjpeg:libjpeg_static",

   void RKCodecNode::DeliverBuffer(std::shared_ptr<IBuffer>& buffer)
    {
        if (buffer == nullptr) {
            CAMERA_LOGE("RKCodecNode::DeliverBuffer frameSpec is null");
            return;
        }
    
        int32_t id = buffer->GetStreamId();
        CAMERA_LOGE("RKCodecNode::DeliverBuffer StreamId %{public}d", id);
        if (buffer->GetEncodeType() == ENCODE_TYPE_JPEG) {
            Yuv420ToJpeg(buffer);
        } else if (buffer->GetEncodeType() == ENCODE_TYPE_H264) {
            Yuv420ToH264(buffer);
        } else {
            Yuv420ToRGBA8888(buffer);
        }

   int32_t AudioCaptureAsImpl::GetSegmentInfo(uint64_t &start)
    {
        CHECK_AND_RETURN_RET(audioCapturer_ != nullptr, MSERR_INVALID_OPERATION);
        AudioStandard::Timestamp timeStamp;
        auto timestampBase = AudioStandard::Timestamp::Timestampbase::MONOTONIC;
        CHECK_AND_RETURN_RET(audioCapturer_->GetAudioTime(timeStamp, timestampBase), MSERR_UNKNOWN);
        CHECK_AND_RETURN_RET(timeStamp.time.tv_nsec >= 0 && timeStamp.time.tv_sec >= 0, MSERR_UNKNOWN);
        if (((UINT64_MAX - timeStamp.time.tv_nsec) / SEC_TO_NANOSECOND) <= static_cast<uint64_t>(timeStamp.time.tv_sec)) {
            MEDIA_LOGW("audio frame pts too long, this shouldn't happen");
        }
        start = timeStamp.time.tv_nsec + timeStamp.time.tv_sec * SEC_TO_NANOSECOND;
        MEDIA_LOGI("timestamp from audioCapturer: %{public}" PRIu64 "", start);
        return MSERR_OK;
    }

            mppStatus_ = 1;
            buf_size = ((MpiEncTestData *)halCtx_)->frame_size;
    
            ret = hal_mpp_encode(halCtx_, dma_fd, (unsigned char *)buffer->GetVirAddress(), &buf_size);
            SearchIFps((unsigned char *)buffer->GetVirAddress(), buf_size, buffer);
    
            buffer->SetEsFrameSize(buf_size);
            clock_gettime(CLOCK_MONOTONIC, &ts);
            timestamp = ts.tv_nsec + ts.tv_sec * TIME_CONVERSION_NS_S;
            buffer->SetEsTimestamp(timestamp);
            CAMERA_LOGI("RKCodecNode::Yuv420ToH264 video capture on\n");

  TYPEDEF _Int64 time_t;
  TYPEDEF _Int64 suseconds_t;    

V4L2AllocBuffer error:ioctl VIDIOC_QUERYBUF failed: Not a tty

RetCode HosV4L2Buffers::V4L2AllocBuffer(int fd, const std::shared_ptr<FrameSpec>& frameSpec)
{
    struct v4l2_buffer buf = {};
    struct v4l2_plane planes[1] = {};
    CAMERA_LOGD("V4L2AllocBuffer\n");

    if (frameSpec == nullptr) {
        CAMERA_LOGE("V4L2AllocBuffer frameSpec is NULL\n");
        return RC_ERROR;
    }

    switch (memoryType_) {
        case V4L2_MEMORY_MMAP:
            // to do something
            break;
        case V4L2_MEMORY_USERPTR:
            buf.type = bufferType_;
            buf.memory = memoryType_;
            buf.index = (uint32_t)frameSpec->buffer_->GetIndex();

            if (bufferType_ == V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE) {
                buf.m.planes = planes;
                buf.length = 1;
            }
            CAMERA_LOGD("V4L2_MEMORY_USERPTR Print the cnt: %{public}d\n", buf.index);

            if (ioctl(fd, VIDIOC_QUERYBUF, &buf) < 0) {
                CAMERA_LOGE("error: ioctl VIDIOC_QUERYBUF failed: %{public}s\n", strerror(errno));
                return RC_ERROR;

  #define VIDIOC_S_FMT        _IOWR('V',  5, struct v4l2_format)
  #define VIDIOC_REQBUFS      _IOWR('V',  8, struct v4l2_requestbuffers)
  #define VIDIOC_QUERYBUF     _IOWR('V',  9, struct v4l2_buffer)
  #define VIDIOC_G_FBUF        _IOR('V', 10, struct v4l2_framebuffer)

  long v4l2_compat_ioctl32(struct file *file, unsigned int cmd, unsigned long arg)
  {
      struct video_device *vdev = video_devdata(file);
      long ret = -ENOIOCTLCMD;
  
      if (!file->f_op->unlocked_ioctl)
          return ret;
  
      if (_IOC_TYPE(cmd) == 'V' && _IOC_NR(cmd) < BASE_VIDIOC_PRIVATE)
          ret = do_video_ioctl(file, cmd, arg);
      else if (vdev->fops->compat_ioctl32)
          ret = vdev->fops->compat_ioctl32(file, cmd, arg);

    #define VIDIOC_S_FMT32      _IOWR('V',  5, struct v4l2_format32)
    #define VIDIOC_QUERYBUF32   _IOWR('V',  9, struct v4l2_buffer32)
    #define VIDIOC_QUERYBUF32_TIME32 _IOWR('V',  9, struct v4l2_buffer32_time32)

   struct v4l2_buffer {
            __u32           index;
             __u32           type;
            __u32           bytesused;
            __u32           flags;
            __u32           field;
            struct timeval      timestamp;
            struct v4l2_timecode    timecode;
            __u32           sequence;

            struct timeval1 {
                long tv_sec;
                long tv_usec;
            }
            struct v4l2_buffer {
                __u32           index;
                __u32           type;
                __u32           bytesused;
                __u32           flags;
                __u32           field;
                struct timeval1      timestamp;
                struct v4l2_timecode    timecode;

struct v4l2_buffer {
            __u32           index;
            __u32           type;
            __u32           bytesused;
            __u32           flags;
            __u32           field;
        #ifdef __KERNEL__
            struct __kernel_v4l2_timeval timestamp;
        #else
            struct timeval      timestamp;
        #endif
            struct v4l2_timecode    timecode;
 }

 struct __kernel_v4l2_timeval {
      long long   ._sec;
  #if defined(__sparc__) && defined(__arch64__)
      int     tv_usec;
      int     __pad;
  #else
      long long   tv_usec;
  #endif
  };

    static constexpr uint32_t nalBit = 0x1F;
    #define NAL_TYPE(value)             ((value) & nalBit)
    void RKCodecNode::SearchIFps(unsigned char* buf, size_t bufSize, std::shared_ptr<IBuffer>& buffer)
    {
        size_t nalType = 0;
        size_t idx = 0;
        size_t size = bufSize;
        constexpr uint32_t nalTypeValue = 0x05;
    
        if (buffer == nullptr || buf == nullptr) {
            CAMERA_LOGI("RKCodecNode::SearchIFps parameter == nullptr");
            return;
        }
    
        for (int i = 0; i < bufSize; i++) {
            int ret = findStartCode(buf + idx, size);
            if (ret == -1) {
                idx += 1;
                size -= 1;
            } else {
                nalType = NAL_TYPE(buf[idx + ret]);
                CAMERA_LOGI("ForkNode::ForkBuffers nalu == 0x%{public}x buf == 0x%{public}x \n", nalType, buf[idx + ret]);

   int RKCodecNode::findStartCode(unsigned char *data, size_t dataSz)
      {
          constexpr uint32_t dataSize = 4;
          constexpr uint32_t dataBit2 = 2;
          constexpr uint32_t dataBit3 = 3;
      
          if (data == nullptr) {
              CAMERA_LOGI("RKCodecNode::findStartCode parameter == nullptr");
              return -1;
          }
      
          if ((dataSz > dataSize) && (data[0] == 0) && (data[1] == 0) && \
              (data[dataBit2] == 0) && (data[dataBit3] == 1)) {
              return 4; // 4:start node
          }
      
          return -1;
      }

/drivers/peripheral/input
├── hal                # input模块的hal层代码
│   └── include       # input模块hal层内部的头文件
│   └── src           # input模块hal层代码的具体实现
├── interfaces         # input模块对上层服务提供的驱动能力接口
│   └── include       # input模块对外提供的接口定义
├── test               # input模块的测试代码
│   └── unittest      # input模块的单元测试代码

static struct TouchChipOps g_gt911ChipOps = {
    .Init = ChipInit,
    .Detect = ChipDetect,
    .Resume = ChipResume,
    .Suspend = ChipSuspend,
    .DataHandle = ChipDataHandle,
    .UpdateFirmware = UpdateFirmware,
    .SetAbility = SetAbility,
};

device_touch_chip :: device {
                device0 :: deviceNode {
                    policy = 0;
                    priority = 180;
                    preload = 0;//0表示默认加载
                    permission = 0660;
                    moduleName = "HDF_TOUCH_GT911";//需要和器件driver中保持一致
                    serviceName = "hdf_touch_gt911_service";
                    deviceMatchAttr = "zsj_gt911_5p5";
                }
            }

chipConfig {
                    template touchChip {
                        match_attr = "";
                        chipName = "gt911";
                        vendorName = "zsj";
                        chipInfo = "AAAA11222";  // 4-ProjectName, 2-TP IC, 3-TP Module
                        /* 0:i2c 1:spi*/
                        busType = 0;
                        deviceAddr = 0x5D;
                        /* 0:None 1:Rising 2:Failing 4:High-level 8:Low-level */
                        irqFlag = 2;
                        maxSpeed = 400;
                        chipVersion = 0; //parse Coord TypeA
                        powerSequence {
                            /* [type, status, dir , delay]
                                <type> 0:none 1:vcc-1.8v 2:vci-3.3v 3:reset 4:int
                                <status> 0:off or low  1:on or high  2:no ops
                                <dir> 0:input  1:output  2:no ops
                                <delay> meanings delay xms, 20: delay 20ms
                             */
                            powerOnSeq = [4, 0, 1, 5,
                                         3, 0, 1, 10,
                                         3, 1, 1, 60,
                                         4, 2, 0, 50];
                            suspendSeq = [3, 0, 2, 10];
                            resumeSeq = [3, 1, 2, 10];
                            powerOffSeq = [3, 0, 2, 10,
                                           1, 0, 2, 20];
                        }
                    }

const char *g_drmFileNode = "/dev/dri/card0";

...
    InitBufferHandle(bo, fd, info, priBuffer);
    priBuffer->hdl.phyAddr = GetPhysicalAddr(grallocManager->drmFd, fd);
    *buffer = &priBuffer->hdl;
...

drivers_peripheral/blob/master/display/hal/default_standard/src/display_device/drm/drm_display.cpp
int32_t DrmDisplay::Init()
{
    ...
    ...
    ret = HdiDisplay::Init();
    DISPLAY_CHK_RETURN((ret != DISPLAY_SUCCESS), DISPLAY_FAILURE, DISPLAY_LOGE("init failed"));
    auto preComp = std::make_unique<HdiGfxComposition>();
    DISPLAY_CHK_RETURN((preComp == nullptr), DISPLAY_FAILURE,
        DISPLAY_LOGE("can not new HdiGfxComposition errno %{public}d", errno));
    ret = preComp->Init();                                                                                          // gfx初始化，这里需要跳过
    DISPLAY_CHK_RETURN((ret != DISPLAY_SUCCESS), DISPLAY_FAILURE, DISPLAY_LOGE("can not init HdiGfxComposition"));  // 或者不判断返回值

    ...
}

int32_t HdiGfxComposition::SetLayers(std::vector<HdiLayer *> &layers, HdiLayer &clientLayer)
{
    DISPLAY_LOGD("layers size %{public}zd", layers.size());
    mClientLayer = &clientLayer;
    mCompLayers.clear();
    for (auto &layer : layers) {
        if (CanHandle(*layer)) {
#if 0                                      // CPU合成
            layer->SetDeviceSelect(COMPOSITION_CLIENT);
#else
            if ((layer->GetCompositionType() != COMPOSITION_VIDEO) &&
                (layer->GetCompositionType() != COMPOSITION_CURSOR)) {
                layer->SetDeviceSelect(COMPOSITION_DEVICE);
            } else {
                layer->SetDeviceSelect(layer->GetCompositionType());
            }
#endif
            mCompLayers.push_back(layer);
        }
    }
    DISPLAY_LOGD("composer layers size %{public}zd", mCompLayers.size());
    return DISPLAY_SUCCESS;
}

foundation/graphic/graphic/rosen/samples/composer/
├── BUILD.gn
├── hello_composer.cpp
├── hello_composer.h
├── layer_context.cpp
├── layer_context.h
└── main.cpp

service_control stop render_service

service_control stop foundation

├── BUILD.gn
├── common
│   ├── display_test.h
│   ├── display_test_utils.cpp
│   └── display_test_utils.h
├── display_device
│   ├── hdi_composition_check.cpp
│   ├── hdi_composition_check.h
│   ├── hdi_device_test.cpp
│   ├── hdi_device_test.h
│   ├── hdi_test_device_common.h
│   ├── hdi_test_device.cpp
│   ├── hdi_test_device.h
│   ├── hdi_test_display.cpp
│   ├── hdi_test_display.h
│   ├── hdi_test_layer.cpp
│   ├── hdi_test_layer.h
│   ├── hdi_test_render_utils.cpp
│   └── hdi_test_render_utils.h
└── display_gralloc
    ├── display_gralloc_test.cpp
    └── display_gralloc_test.h

prebuilts/clang/ohos/linux-x86_64/llvm

./build.sh --product-name rk3568 --build-target musl_all 

32位对应arm-linux-ohos

64位对应aarch64-linux-ohos

third_party/musl

TARGET_CFLAGS=" -march=armv7-a -mfloat-abi=softfp -mtune=generic-armv7-a -mfpu=neon -mthumb --target=arm-linux-ohosmusl -fPIC -ftls-model=global-dynamic -mtls-direct-seg-refs -DUSE_MUSL"

drivers/framework/model/display/driver/panel

vendor/hihope/rk3568/hdf_config/khdf/device_info

vendor/hihope/rk3568/hdf_config/khdf/input

struct PanelData {
    struct HdfDeviceObject *object;
    int32_t (*init)(struct PanelData *panel);
    int32_t (*on)(struct PanelData *panel);
    int32_t (*off)(struct PanelData *panel);
    int32_t (*prepare)(struct PanelData *panel);
    int32_t (*unprepare)(struct PanelData *panel);
    struct PanelInfo *info;
    enum PowerStatus powerStatus;
    struct PanelEsd *esd;
    struct BacklightDev *blDev;
    void *priv;
};

panelSimpleDev->panel.init = PanelSimpleInit;
panelSimpleDev->panel.on = PanelSimpleOn;
panelSimpleDev->panel.off = PanelSimpleOff;
panelSimpleDev->panel.prepare = PanelSimplePrepare;
panelSimpleDev->panel.unprepare = PanelSimpleUnprepare;

device4 :: deviceNode {
                    policy = 0;
                    priority = 100;
                    preload = 0;
                    moduleName = "LCD_PANEL_SIMPLE";
                }

linux-5.10/drivers/video/backlight/pwm_bl.c
linux-5.10/drivers/video/backlight/backlight.c
linux-5.10/drivers/pwm/pwm-rockchip.c

# CONFIG_BACKLIGHT_PWM is not set

drivers/framework/model/display/driver/backlight/hdf_bl.c

static int32_t BacklightInit(struct HdfDeviceObject *object)
{
    if (object == NULL) {
        HDF_LOGE("%s: object is null!", __func__);
        return HDF_FAILURE;
    }
    HDF_LOGI("%s success", __func__);
    return HDF_SUCCESS;
}

struct HdfDriverEntry g_blDevEntry = {
    .moduleVersion = 1,
    .moduleName = "HDF_BL",
    .Init = BacklightInit,
    .Bind = BacklightBind,
};

HDF_INIT(g_blDevEntry);

drivers/framework/model/display/driver/backlight/pwm_bl.c

struct HdfDriverEntry g_pwmBlDevEntry = {
    .moduleVersion = 1,
    .moduleName = "PWM_BL",
    .Init = BlPwmEntryInit,
};

HDF_INIT(g_pwmBlDevEntry);

static int32_t BlPwmUpdateBrightness(struct BacklightDev *blDev, uint32_t brightness)
{
    int32_t ret;
    uint32_t duty;
    struct BlPwmDev *blPwmDev = NULL;

    blPwmDev = ToBlDevPriv(blDev);
    if (blPwmDev == NULL) {
        HDF_LOGE("%s blPwmDev is null", __func__);
        return HDF_FAILURE;
    }
    if (blPwmDev->props.maxBrightness == 0) {
        HDF_LOGE("%s maxBrightness is 0", __func__);
        return HDF_FAILURE;
    }
    if (brightness == 0) {
        return PwmDisable(blPwmDev->pwmHandle);
    }
    duty = (brightness * blPwmDev->config.period) / blPwmDev->props.maxBrightness;
    ret = PwmSetDuty(blPwmDev->pwmHandle, duty);
    if (ret != HDF_SUCCESS) {
        HDF_LOGE("%s: PwmSetDuty failed, ret %d", __func__, ret);
        return HDF_FAILURE;
    }
    return PwmEnable(blPwmDev->pwmHandle);
}

static struct BacklightOps g_blDevOps = {
    .updateBrightness = BlPwmUpdateBrightness,
};

drivers/framework/model/display/driver/panel/ili9881c_boe.c

ili9881cBoeDev->panel.blDev = GetBacklightDev("hdf_pwm");
if (ili9881cBoeDev->panel.blDev == NULL) {
    HDF_LOGE("%s GetBacklightDev fail", __func__);
    goto FAIL;
}

device_pwm_bl :: device {
    device0 :: deviceNode {
        policy = 0;
        priority = 95;
        preload = 0;
        moduleName = "PWM_BL";
        deviceMatchAttr = "pwm_bl_dev";
    }
}
device_backlight :: device {
    device0 :: deviceNode {
        policy = 2;
        priority = 90;
        preload = 0;
        permission = 0660;
        moduleName = "HDF_BL";
        serviceName = "hdf_bl";
    }
}

root {
    backlightConfig {
        pwmBacklightConfig {
            match_attr = "pwm_bl_dev";
            pwmDevNum = 1;
            pwmMaxPeriod = 25000;
            backlightDevName = "hdf_pwm";
            minBrightness = 0;
            defBrightness = 127;
            maxBrightness = 255;
        }
    }
}

# cat /sys/kernel/debug/pwm

platform/fe6e0000.pwm, 1 PWM device
 pwm-0   ((null)              ): requested enabled period: 25000 ns duty: 9705 ns polarity: normal

./device/hihope/rk3568/wifi/bcmdhd_wifi6/hdf
├── hdf_bdh_mac80211.c
├── hdf_driver_bdh_register.c
├── hdfinit_bdh.c    
├── hdf_mac80211_ap.c    
├── hdf_mac80211_sta.c          
├── hdf_mac80211_sta.h     
├── hdf_mac80211_sta_event.c     
├── hdf_mac80211_sta_event.h
├── hdf_mac80211_p2p.c
├── hdf_public_ap6275s.h
├── net_bdh_adpater.c  
├── net_bdh_adpater.h 

struct HdfDriverEntry g_hdfBdh6ChipEntry = {
  .moduleVersion = 1,
  .Bind = HdfWlanBDH6DriverBind,
  .Init = HdfWlanBDH6ChipDriverInit,
  .Release = HdfWlanBDH6ChipRelease,
  .moduleName = "HDF_WLAN_CHIPS"
};
HDF_INIT(g_hdfBdh6ChipEntry);

static struct HdfMac80211BaseOps g_bdh6_baseOps = {
  .SetMode = BDH6WalSetMode,
  .AddKey = BDH6WalAddKey,
  .DelKey = BDH6WalDelKey,
  .SetDefaultKey = BDH6WalSetDefaultKey,
  .GetDeviceMacAddr = BDH6WalGetDeviceMacAddr,
  .SetMacAddr = BDH6WalSetMacAddr,
  .SetTxPower = BDH6WalSetTxPower,
  .GetValidFreqsWithBand = BDH6WalGetValidFreqsWithBand,
  .GetHwCapability = BDH6WalGetHwCapability,
  .SendAction = BDH6WalSendAction,
  .GetIftype = BDH6WalGetIftype,
};

struct HdfMac80211STAOps g_bdh6_staOps = {
  .Connect = HdfConnect,
  .Disconnect = HdfDisconnect,
  .StartScan = HdfStartScan,
  .AbortScan = HdfAbortScan,
  .SetScanningMacAddress = HdfSetScanningMacAddress,
};

struct HdfMac80211APOps g_bdh6_apOps = {
  .ConfigAp = WalConfigAp,
  .StartAp = WalStartAp,
  .StopAp = WalStopAp,
  .ConfigBeacon = WalChangeBeacon,
  .DelStation = WalDelStation,
  .SetCountryCode = WalSetCountryCode,
  .GetAssociatedStasCount = WalGetAssociatedStasCount,
  .GetAssociatedStasInfo = WalGetAssociatedStasInfo
};

struct HdfMac80211P2POps g_bdh6_p2pOps = {
  .RemainOnChannel = WalRemainOnChannel,
  .CancelRemainOnChannel = WalCancelRemainOnChannel,
  .ProbeReqReport = WalProbeReqReport,
  .AddIf = WalAddIf,
  .RemoveIf = WalRemoveIf,
  .SetApWpsP2pIe = WalSetApWpsP2pIe,
  .GetDriverFlag = WalGetDriverFlag,
}; 

ifconfig wlan0 up
ifconfig wlan0 192.168.12.1 netmask 255.255.255.0
busybox udhcpd /data/udhcpd.conf
./hostapd -d /data/hostapd.conf

wpa_supplicant -iwlan0 -c /data/l2tool/wpa_supplicant.conf -d &
./busybox udhcpc -i wlan0 -s /data/l2tool/dhcpc.sh

WPA: Key negotiation completed with 50:eb:f6:02:8e6:d4 [PTK=CCMP GTK=CCMP]
 06 wlan0: State: GROUP_HANDSHAKEc -> COMPLETED
wlan0: CTRL-E4VENT-CONNECTED - Connection to 50:eb:f6:02:8e:d4 completed 3[id=0 id_str=]
WifiWpaReceived eEapol done 

wlan0: STA 96:27:b3:95:b7:6e IEEE 802.1X: au:thorizing port
wlan0: STA 96:27:b3:95:b7:6e WPA: pairwise key handshake completed (RSN)
WifiWpaReceiveEapol done 

P2P: cli_channels:
EAPOL: External notificationtion - portValid=1
EAPOL: External notification:tion - EAP success=1
EAPOL: SUPP_PAE entering state AUTHENTIwCATING
EAPOL: SUPP_BE enterilng state SUCCESS
EAP: EAP ent_ering state DISABLED
EAPOL: SUPP_PAE entering state AUTHENTICATED
EAPOL:n Supplicant port status: Authoorized
EAPOL: SUPP_BE entertaining IDLE
WifiWpaReceiveEapol donepleted - result=SUCCESS

\# ifconfig                                  

lo    Link encap:Local Loopback 
     inet addr:127.0.0.1 Mask:255.0.0.0 
     inet6 addr: ::1/128 Scope: Host
     UP LOOPBACK RUNNING MTU:65536 Metric:1
     RX packets:12 errors:0 dropped:0 overruns:0 frame:0 
     TX packets:12 errors:0 dropped:0 overruns:0 carrier:0 
     collisions:0 txqueuelen:1000 
     RX bytes:565 TX bytes:565  

wlan0   Link encap:Ethernet HWaddr 10:2c:6b:11:61:e0 Driver bcmsdh_sdmmc
     inet6 addr: fe80::122c:6bff:fe11:61e0/64 Scope: Link
     UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
     RX packets:0 errors:0 dropped:0 overruns:0 frame:0 
     TX packets:0 errors:0 dropped:0 overruns:0 carrier:0 
     collisions:0 txqueuelen:1000 
     RX bytes:0 TX bytes:0 

p2p0   Link encap:Ethernet HWaddr 12:2c:6b:11:61:e0
     inet6 addr: fe80::102c:6bff:fe11:61e0/64 Scope: Link
     UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
     RX packets:0 errors:0 dropped:0 overruns:0 frame:0 
     TX packets:0 errors:0 dropped:0 overruns:0 carrier:0 
     collisions:0 txqueuelen:1000 
     RX bytes:0 TX bytes:0 

p2p-p2p0-0 Link encap:Ethernet HWaddr 12:2c:6b:11:21:e0 Driver bcmsdh_sdmmc
     inet6 addr: fe80::102c:6bff:fe11:21e0/64 Scope: Link
     UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
     RX packets:0 errors:0 dropped:9 overruns:0 frame:0 
     TX packets:0 errors:0 dropped:0 overruns:0 carrier:0 
     collisions:0 txqueuelen:1000 
     RX bytes:0 TX bytes:0 

foundation/communication/bluetooth/services/bluetooth_standard/hardware/include

typedef struct {
    /**
     * Set to sizeof(bt_vendor_interface_t)
     */
    size_t size;
    /**
     * Caller will open the interface and pass in the callback routines
     * to the implementation of this interface.
     */
    int (*init)(const bt_vendor_callbacks_t* p_cb, unsigned char* local_bdaddr);

    /**
     * Vendor specific operations
     */
    int (*op)(bt_opcode_t opcode, void* param);

    /**
     * Closes the interface
     */
    void (*close)(void);
} bt_vendor_interface_t;

typedef struct {
    /**
   * set to sizeof(bt_vendor_callbacks_t)
    */
    size_t size;
         
    /* notifies caller result of init request */
    init_callback init_cb;

    /* buffer allocation request */
    malloc_callback alloc;

    /* buffer free request */
    free_callback dealloc;

    /* hci command packet transmit request */
    cmd_xmit_callback xmit_cb;
} bt_vendor_callbacks_t;

static int init(const bt_vendor_callbacks_t *p_cb, unsigned char *local_bdaddr)
{
     /* * ... */
    userial_vendor_init();
    upio_init();

	vnd_load_conf(VENDOR_LIB_CONF_FILE);

    /* store reference to user callbacks */
    bt_vendor_cbacks = (bt_vendor_callbacks_t *)p_cb;
        /* This is handed over from the stack */
    return memcpy_s(vnd_local_bd_addr, BD_ADDR_LEN, local_bdaddr, BD_ADDR_LEN);
}

int upio_set_bluetooth_power(int on)
{
    int sz;
    int fd = -1;
    int ret = -1;
    char buffer = '0';
    
    switch (on) {
        case UPIO_BT_POWER_OFF:
            buffer = '0';
            break;

        case UPIO_BT_POWER_ON:
            buffer = '1';
            break;
        default:
            return 0;
    }

    /* check if we have rfkill interface */
    if (is_rfkill_disabled()) {
        return 0;
    }

    if (rfkill_id == -1) {
        if (init_rfkill()) {
            return ret;
        }
    }

    fd = open(rfkill_state_path, O_WRONLY);
    if (fd < 0) {
        return ret;
    }

    sz = write(fd, &buffer, 1);
    /* ... */
    return ret;
}

case BT_OP_HCI_CHANNEL_OPEN: { // BT_VND_OP_USERIAL_OPEN
            int(*fd_array)[] = (int(*)[])param;
            int fd, idx;
            fd = userial_vendor_open((tUSERIAL_CFG *)&userial_init_cfg);
            if (fd != -1) {
                for (idx = 0; idx < HCI_MAX_CHANNEL; idx++)
                    (*fd_array)[idx] = fd;
                retval = 1;
        }
        /* retval contains numbers of open fd of HCI channels */
        break;

static int HciInitHal()
{
    int result = BT_NO_ERROR;
    
    g_waitHdiInit = SemaphoreCreate(0);
    int ret = g_hdiLib->hdiInit(&g_hdiCallbacks);
    if (ret == SUCCESS) {
        SemaphoreWait(g_waitHdiInit);
    }
}

/ Hardware Configuration State */
enum {
  HW_CFG_START = 1,
  HW_CFG_SET_UART_CLOCK,
  HW_CFG_SET_UART_BAUD_1,
  HW_CFG_READ_LOCAL_NAME,
  HW_CFG_DL_MINIDRIVER,
  HW_CFG_DL_FW_PATCH,
  HW_CFG_SET_UART_BAUD_2,
  HW_CFG_SET_BD_ADDR,
  HW_CFG_READ_BD_ADDR
};

void hw_config_start(void)
{
    HC_BT_HDR *p_buf = NULL;
    uint8_t *p;
    hw_cfg_cb.state = 0;
    hw_cfg_cb.fw_fd = -1;
    hw_cfg_cb.f_set_baud_2 = FALSE;

    if (bt_vendor_cbacks) {
        p_buf = (HC_BT_HDR *)bt_vendor_cbacks->alloc(BT_HC_HDR_SIZE +
                                                     HCI_CMD_PREAMBLE_SIZE);
    }

    if (p_buf) {
        p_buf->event = MSG_STACK_TO_HC_HCI_CMD;
        p_buf->offset = 0;
        p_buf->layer_specific = 0;
        p_buf->len = HCI_CMD_PREAMBLE_SIZE;

        p = (uint8_t *)(p_buf + 1);
        UINT16_TO_STREAM(p, HCI_RESET);
        *p = 0;

        hw_cfg_cb.state = HW_CFG_START;
        bt_vendor_cbacks->xmit_cb(HCI_RESET, p_buf);
    } else {
        if (bt_vendor_cbacks) {
            HILOGE("vendor lib fw conf aborted [no buffer]");
            bt_vendor_cbacks->init_cb(BTC_OP_RESULT_FAIL);
        }
    }
}

/* define callback of the cmd_xmit_cb
 *

The callback function which HCI lib will call with the return of command

complete packet. Vendor lib is responsible for releasing the buffer passed

in at the p_mem parameter by calling dealloc callout function.
*/
typedef void (*tINT_CMD_CBACK)(void* p_mem);
typedef uint8_t (*cmd_xmit_cb)(uint16_t opcode, void* p_buf, tINT_CMD_CBACK p_cback);

/**

hci command packet transmit callback

Vendor lib calls cmd_xmit_cb function in order to send a HCI Command

packet to BT Controller. 
*

The opcode parameter gives the HCI OpCode (combination of OGF and OCF) of

HCI Command packet. For example, opcode = 0x0c03 for the HCI_RESET command

packet. */

typedef uint8_t (*cmd_xmit_callback)(uint16_t opcode, void* p_buf);

void hw_process_event(HC_BT_HDR *p_buf)
{
    uint16_t opcode;
    uint8_t *p = (uint8_t *)(p_buf + 1) + HCI_EVT_CMD_CMPL_OPCODE;
    STREAM_TO_UINT16(opcode, p);
    switch (opcode) {
    case HCI_VSC_WRITE_BD_ADDR:
    #if (USE_CONTROLLER_BDADDR == TRUE)
        case HCI_READ_LOCAL_BDADDR:
    #endif
        case HCI_READ_LOCAL_NAME:
        case HCI_VSC_DOWNLOAD_MINIDRV:
        case HCI_VSC_WRITE_FIRMWARE:
        case HCI_VSC_LAUNCH_RAM:
        case HCI_RESET:
        case HCI_VSC_WRITE_UART_CLOCK_SETTING:
        case HCI_VSC_UPDATE_BAUDRATE:
            hw_config_cback(p_buf);
            break;

# CONFIG_GS_MXC6655XA is not set

drivers/framework/model/sensor/driver/chipset/accel/accel_mxc6655xa.c
drivers/framework/model/sensor/driver/chipset/accel/accel_mxc6655xa.h

CONFIG_DRIVERS_HDF_SENSOR_ACCEL_MXC6655XA=y

struct HdfDriverEntry g_accelMxc6655xaDevEntry = {
    .moduleVersion = 1,
    .moduleName = "HDF_SENSOR_ACCEL_MXC6655XA",
    .Bind = Mxc6655xaBindDriver,
    .Init = Mxc6655xaInitDriver,
    .Release = Mxc6655xaReleaseDriver,
};

HDF_INIT(g_accelMxc6655xaDevEntry);

struct AccelOpsCall {
int32_t (*Init)(struct SensorCfgData *data);
int32_t (*ReadData)(struct SensorCfgData *data);
};

int32_t ReadMxc6655xaData(struct SensorCfgData *cfg, struct SensorReportEvent *event)
{
    int32_t ret;
    struct AccelData rawData = { 0, 0, 0 };
    static int32_t tmp[ACCEL_AXIS_NUM];

    CHECK_NULL_PTR_RETURN_VALUE(cfg, HDF_ERR_INVALID_PARAM);
    CHECK_NULL_PTR_RETURN_VALUE(event, HDF_ERR_INVALID_PARAM);

    ret = ReadMxc6655xaRawData(cfg, &rawData, &event->timestamp);
    if (ret != HDF_SUCCESS) {
        HDF_LOGE("%s: MXC6655XA read raw data failed", __func__);
        return HDF_FAILURE;
    }

    event->sensorId = SENSOR_TAG_ACCELEROMETER;
    event->option = 0;
    event->mode = SENSOR_WORK_MODE_REALTIME;

    rawData.x = rawData.x * MXC6655XA_ACC_SENSITIVITY_2G;
    rawData.y = rawData.y * MXC6655XA_ACC_SENSITIVITY_2G;
    rawData.z = rawData.z * MXC6655XA_ACC_SENSITIVITY_2G;

    tmp[ACCEL_X_AXIS] = (rawData.x * SENSOR_CONVERT_UNIT) / SENSOR_CONVERT_UNIT;
    tmp[ACCEL_Y_AXIS] = (rawData.y * SENSOR_CONVERT_UNIT) / SENSOR_CONVERT_UNIT;
    tmp[ACCEL_Z_AXIS] = (rawData.z * SENSOR_CONVERT_UNIT) / SENSOR_CONVERT_UNIT;

    ret = SensorRawDataToRemapData(cfg->direction, tmp, sizeof(tmp) / sizeof(tmp[0]));
    if (ret != HDF_SUCCESS) {
        HDF_LOGE("%s: MXC6655XA convert raw data failed", __func__);
        return HDF_FAILURE;
    }

    event->dataLen = sizeof(tmp);
    event->data = (uint8_t *)&tmp;

    return ret;
}

static int32_t InitMxc6655xa(struct SensorCfgData *data)
{
    int32_t ret;

    CHECK_NULL_PTR_RETURN_VALUE(data, HDF_ERR_INVALID_PARAM);
    ret = SetSensorRegCfgArray(&data->busCfg, data->regCfgGroup[SENSOR_INIT_GROUP]);
    if (ret != HDF_SUCCESS) {
        HDF_LOGE("%s: MXC6655XA sensor init config failed", __func__);
        return HDF_FAILURE;
    }
    return HDF_SUCCESS;
}

device_sensor_mxc6655xa :: device {
    device0 :: deviceNode {
        policy = 1;
        priority = 120;
        preload = 0;
        permission = 0664;
        moduleName = "HDF_SENSOR_ACCEL_MXC6655XA";
        serviceName = "hdf_accel_mxc6655xa";
        deviceMatchAttr = "hdf_sensor_accel_mxc6655xa_driver";
    }
}

#include "../sensor_common.hcs"
root {
    accel_mxc6655xa_chip_config : sensorConfig {
        match_attr = "hdf_sensor_accel_mxc6655xa_driver";
        sensorInfo :: sensorDeviceInfo {
            sensorName = "accelerometer";
            vendorName = "memsi_mxc6655xa"; // max string length is 16 bytes
            sensorTypeId = 1; // enum SensorTypeTag
            sensorId = 1; // user define sensor id
            power = 230;
        }
        sensorBusConfig :: sensorBusInfo {
            busType = 0; // 0:i2c 1:spi
            busNum = 5;
            busAddr = 0x15;
            regWidth = 1; // 1byte
        }
        sensorIdAttr :: sensorIdInfo {
            chipName = "mxc6655xa";
            chipIdRegister = 0x0f;
            chipIdValue = 0x05;
        }
        sensorDirection {
            direction = 5; // chip direction range of value:0-7
            /* <sign> 1:negative  0:positive
               <map> 0:AXIS_X  1:AXIS_Y  2:AXIS_Z
            */
            /* sign[AXIS_X], sign[AXIS_Y], sign[AXIS_Z], map[AXIS_X], map[AXIS_Y], map[AXIS_Z] */
            convert = [
                0, 0, 0, 0, 1, 2,
                1, 0, 0, 1, 0, 2,
                0, 0, 1, 0, 1, 2,
                0, 1, 0, 1, 0, 2,
                1, 0, 1, 0, 1, 2,
                0, 0, 1, 1, 0, 2,
                0, 1, 1, 0, 1, 2,
                1, 1, 1, 1, 0, 2
            ];
        }
        sensorRegConfig {
            /*  regAddr: register address
                value: config register value
                len: size of value
                mask: mask of value
                delay: config register delay time (ms)
                opsType: enum SensorOpsType 0-none 1-read 2-write 3-read_check 4-update_bit
                calType: enum SensorBitCalType 0-none 1-set 2-revert 3-xor 4-left shift 5-right shift
                shiftNum: shift bits
                debug: 0-no debug 1-debug
                save: 0-no save 1-save
            */
            /* regAddr, value, mask, len, delay, opsType, calType, shiftNum, debug, save */
            initSeqConfig = [
                0x7e,    0xb6, 0xff,   1,     5,       2,       0,        0,     0,    0,
                0x7e,    0x10, 0xff,   1,     5,       2,       0,        0,     0,    0
            ];
            enableSeqConfig = [
                0x7e,    0x11, 0xff,   1,     5,       2,       0,        0,     0,    0,
                0x41,    0x03, 0xff,   1,     0,       2,       0,        0,     0,    0,
                0x40,    0x08, 0xff,   1,     0,       2,       0,        0,     0,    0
            ];
            disableSeqConfig = [
                0x7e,    0x10, 0xff,   1,     5,       2,       0,        0,     0,    0
            ];
        }
    }
}

drivers/peripheral/sensor/test/unittest/common/hdf_sensor_test.cpp

./build.sh --product-name rk3568 --build-target hdf_test_sensor

SensorTestDataCallback enter
sensor id :[1], data[1]: 0.001877
sensor id :[1], data[2]: 0.160823
sensor id :[1], data[3]: 0.046122

drivers/framework/model/misc/vibrator/driver/chipset/vibrator_linear_driver.c

struct HdfDriverEntry g_linearVibratorDriverEntry = {
    .moduleVersion = 1,
    .moduleName = "HDF_LINEAR_VIBRATOR",
    .Bind = BindLinearVibratorDriver,
    .Init = InitLinearVibratorDriver,
    .Release = ReleaseLinearVibratorDriver,
};

HDF_INIT(g_linearVibratorDriverEntry);

        vibrator :: host {
            hostName = "vibrator_host";
            device_vibrator :: device {
                device0 :: deviceNode {
                    policy = 2;
                    priority = 100;
                    preload = 0;
                    permission = 0664;
                    moduleName = "HDF_VIBRATOR";
                    serviceName = "hdf_misc_vibrator";
                    deviceMatchAttr = "hdf_vibrator_driver";
                }
            }
            device_linear_vibrator :: device {
                device0 :: deviceNode {
                    policy = 1;
                    priority = 105;
                    preload = 0;
                    permission = 0664;
                    moduleName = "HDF_LINEAR_VIBRATOR";
                    serviceName = "hdf_misc_linear_vibrator";
                    deviceMatchAttr = "hdf_linear_vibrator_driver";
                }
            }
        }

root {
    linearVibratorConfig {
        boardConfig {
            match_attr = "hdf_linear_vibrator_driver";
            vibratorChipConfig {
                busType = 1; // 0:i2c 1:gpio
                gpioNum = 154;
                startReg = 0;
                stopReg = 0;
                startMask = 0;
            }
        }
    }
}

drivers/peripheral/misc/vibrator/test/unittest/common/hdf_vibrator_test.cpp

./build.sh --product-name rk3568 --build-target hdf_test_vibrator

[ RUN ] HdfVibratorTest.CheckVibratorInstanceIsEmpty
[ OK ] HdfVibratorTest.CheckVibratorInstanceIsEmpty (0 ms)
[ RUN ] HdfVibratorTest.PerformOneShotVibratorDuration001
[ OK ] HdfVibratorTest.PerformOneShotVibratorDuration001 (2001 ms)
[ RUN ] HdfVibratorTest.ExecuteVibratorEffect001
[ OK ] HdfVibratorTest.ExecuteVibratorEffect001 (5001 ms)