@veye_xumm 好的 一定

@veye_xumm 感谢 感谢，，，mmap的方式 已经OK了，我继续去问一下firefly

@veye_xumm V4L2-CTL 如下

Driver Info:
	Driver name      : rkcif
	Card type        : rkcif
	Bus info         : platform:rkcif-mipi-lvds2
	Driver version   : 5.10.198
	Capabilities     : 0x84201000
		Video Capture Multiplanar
		Streaming
		Extended Pix Format
		Device Capabilities
	Device Caps      : 0x04201000
		Video Capture Multiplanar
		Streaming
		Extended Pix Format

修改了代码：

    for(int i = 0; i < req_buffer.count; ++i)
    {
        struct v4l2_buffer buf;
        struct v4l2_plane planes[num_planes];
        memset(&buf, 0, sizeof(struct v4l2_buffer));
        memset(&planes, 0, sizeof(planes));

        buf.index = i;
        buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
        buf.memory = V4L2_MEMORY_DMABUF;
        buf.m.planes = planes;
        buf.length = 1;
        buf.bytesused = fmt.fmt.pix.sizeimage;
        buf.m.planes[0].m.fd = dmabuf_fds[i];
        planes[0].bytesused = fmt.fmt.pix.sizeimage;
        planes[0].m.fd = dmabuf_fds[i];
        planes[0].length = fmt.fmt.pix.sizeimage;
        printf("index: %d\n bytesused: %d  fd: %d length: %d\n",
               buf.index,planes[0].bytesused,planes[0].m.fd ,planes[0].length );
        if (0 != ioctl(cam_dev_fd, VIDIOC_QBUF, &buf))
        {
            perror("Unable to queue buffer");
            return -1;
        }
    }

我打印了信息，如下：
dam申请内存是没问题的
alloc dma_heap buffer. fd: 5, raw_buf: 0x7f7df08000, size: 3110400
alloc dma_heap buffer. fd: 6, raw_buf: 0x7f7dc10000, size: 3110400
alloc dma_heap buffer. fd: 7, raw_buf: 0x7f7d918000, size: 3110400
qbuf第一个缓冲区就报错
index: 0
bytesused: 3110400 fd: 5 length: 3110400
Unable to queue buffer: Invalid argument
我用了3个缓冲，DMA_AALLOC都正确，目前看似乎是这个相机驱动不支持DMA-BUF的模式，您看呢

@veye_xumm 我看了 那个源码 内存采用 普通的内存，我希望的是用 drm 或dmaheap 的，这样可以实现零copy

@veye_xumm 现在遇到个新的问题，我不知道是板子硬件支持，我是用DMABUF 作为V4L2的qbuf, 但是返回错误 Failed to queue buffer: Invalid argument，您看一下我这部分代码，是不是该驱动支持，
//将缓冲区注册到摄像头
struct v4l2_buffer buf={0};
struct v4l2_plane planes[1]={0};
buf.index =0;
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
buf.memory = V4L2_MEMORY_DMABUF;
buf.length = 1;
buf.m.planes = planes;
planes[0].m.fd = frame_buffers[i].dmabuf_fd;
planes[0].length =buffer_size;

    if (ioctl(cam_fd, VIDIOC_QBUF, &buf) < 0) {
        perror("Failed to queue buffer");
        return -1;
    }

@veye_xumm 测试 出图像了，搞定了 ，谢谢

@veye_xumm
[ 7.047946] veyecam2m 7-003b: veye camera driver version: 00.01.01
[ 7.047980] veyecam2m 7-003b: Failed to get power-gpios, maybe no use
[ 7.048101] veyecam2m 7-003b: supply avdd not found, using dummy regulator
[ 7.048213] veyecam2m 7-003b: supply dovdd not found, using dummy regulator
[ 7.048278] veyecam2m 7-003b: supply dvdd not found, using dummy regulator
[ 7.048303] veyecam2m 7-003b: could not get default pinstate
[ 7.048309] veyecam2m 7-003b: could not get sleep pinstate
[ 7.048320] veyecam2m 7-003b: Success to get veyecam2m endpoint data lanes, dts uses 2 lanes
[ 7.170539] veyecam2m 7-003b: camera id is veyecam2m
[ 7.173503] veyecam2m 7-003b: sensor is IMX385
[ 7.173564] veyecam2m 7-003b: board type is ONE board
[ 7.219705] rockchip-csi2-dphy csi2-dphy0: dphy0 matches m00_b_veyecam2m 7-003b:bus type 5
以上电源的错误，但是ls /dev/video0 可以看到设备了

@veye_xumm 我再试一下吧，不知道咋回事，，，编译什么都没问题

@veye_xumm zhge dsi的头您看 有问题吗 检测不到相机，
#include "roc-rk3588s-pc.dtsi"

//#include "rk3588-roc-pc-cam-8ms1m.dtsi"

//open this line to enable fpdlink-III link
//#include "rk3588-roc-pc-fpdlink-90ub954.dtsi"

//open this line to enable v-by-one hs link
#include "rk3588-roc-pc-vbyone-overlay.dtsi"

#include "rk3588-roc-pc-cam-veyecam2m.dtsi"
#include "rk3588-roc-pc-cam-veyemvcam.dtsi"

#include "roc-rk3588s-pc-v10-diff.dtsi"
#define WHICHDSI 0 /* dsi0 = 0,dsi1 = 1*/

@veye_xumm dts 参考这个 可以吗？https://github.com/veyeimaging/rk35xx_firefly/tree/main/linux/drivers/rk358x