{"id":26287,"url":"https://patchwork.libcamera.org/api/1.1/patches/26287/?format=json","web_url":"https://patchwork.libcamera.org/patch/26287/","project":{"id":1,"url":"https://patchwork.libcamera.org/api/1.1/projects/1/?format=json","name":"libcamera","link_name":"libcamera","list_id":"libcamera_core","list_email":"libcamera-devel@lists.libcamera.org","web_url":"","scm_url":"","webscm_url":""},"msgid":"<20260313-mali-cru-v4-4-c0d9bc8cd8fa@ideasonboard.com>","date":"2026-03-13T11:33:45","name":"[v4,4/7] libcamera: mali-c55: Register memory input camera","commit_ref":null,"pull_url":null,"state":"superseded","archived":false,"hash":"12f45699c8ba915a3c6abd0308219cfe0ccc80c9","submitter":{"id":143,"url":"https://patchwork.libcamera.org/api/1.1/people/143/?format=json","name":"Jacopo Mondi","email":"jacopo.mondi@ideasonboard.com"},"delegate":null,"mbox":"https://patchwork.libcamera.org/patch/26287/mbox/","series":[{"id":5829,"url":"https://patchwork.libcamera.org/api/1.1/series/5829/?format=json","web_url":"https://patchwork.libcamera.org/project/libcamera/list/?series=5829","date":"2026-03-13T11:33:41","name":"libcamera: mali-c55: Add support for memory-to-memory","version":4,"mbox":"https://patchwork.libcamera.org/series/5829/mbox/"}],"comments":"https://patchwork.libcamera.org/api/patches/26287/comments/","check":"pending","checks":"https://patchwork.libcamera.org/api/patches/26287/checks/","tags":{},"headers":{"Return-Path":"","X-Original-To":"parsemail@patchwork.libcamera.org","Delivered-To":"parsemail@patchwork.libcamera.org","Received":["from lancelot.ideasonboard.com (lancelot.ideasonboard.com\n\t[92.243.16.209])\n\tby patchwork.libcamera.org (Postfix) with ESMTPS id CB350BE086\n\tfor ;\n\tFri, 13 Mar 2026 11:34:30 +0000 (UTC)","from lancelot.ideasonboard.com (localhost [IPv6:::1])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTP id 7F7166268F;\n\tFri, 13 Mar 2026 12:34:30 +0100 (CET)","from perceval.ideasonboard.com (perceval.ideasonboard.com\n\t[IPv6:2001:4b98:dc2:55:216:3eff:fef7:d647])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTPS id 5CC0762695\n\tfor ;\n\tFri, 13 Mar 2026 12:34:28 +0100 (CET)","from [192.168.224.131] (unknown [37.159.92.229])\n\tby perceval.ideasonboard.com (Postfix) with ESMTPSA id B96801783;\n\tFri, 13 Mar 2026 12:33:17 +0100 (CET)"],"Authentication-Results":"lancelot.ideasonboard.com; dkim=pass (1024-bit key;\n\tunprotected) header.d=ideasonboard.com header.i=@ideasonboard.com\n\theader.b=\"alIezC1o\"; dkim-atps=neutral","DKIM-Signature":"v=1; a=rsa-sha256; c=relaxed/simple; d=ideasonboard.com;\n\ts=mail; t=1773401599;\n\tbh=4IEqM7B3Z4FbQ2TizCoNOEr5YoUJQyY+Zj02Cdcr2LU=;\n\th=From:Date:Subject:References:In-Reply-To:To:Cc:From;\n\tb=alIezC1oflvEB+qaI60YDxPVd8mLYGOHPJqnSB2sgJ+Y1bk0i6BaCV6PdY5dDcMiP\n\tx8+INS+enE1kLfVQphhV6wJE6vWZi8DyVhkR8L4t46Jp9Y4OpsnSyN7zHTWth0Syz1\n\tH5dPhxnt15SKn+JMLYBoyVqzlFh5QBJ4pMURaTQI=","From":"Jacopo Mondi ","Date":"Fri, 13 Mar 2026 12:33:45 +0100","Subject":"[PATCH v4 4/7] libcamera: mali-c55: Register memory input camera","MIME-Version":"1.0","Content-Type":"text/plain; charset=\"utf-8\"","Content-Transfer-Encoding":"7bit","Message-Id":"<20260313-mali-cru-v4-4-c0d9bc8cd8fa@ideasonboard.com>","References":"<20260313-mali-cru-v4-0-c0d9bc8cd8fa@ideasonboard.com>","In-Reply-To":"<20260313-mali-cru-v4-0-c0d9bc8cd8fa@ideasonboard.com>","To":"Daniel Scally , \n\tlibcamera-devel@lists.libcamera.org","Cc":"Jacopo Mondi ","X-Mailer":"b4 0.14.3","X-Developer-Signature":"v=1; a=openpgp-sha256; l=9060;\n\ti=jacopo.mondi@ideasonboard.com; h=from:subject:message-id;\n\tbh=v+nSg38rCLd41D6bC4lR0TADFlsu+yXwxFH+Di1xrDU=;\n\tb=owEBbQKS/ZANAwAKAXI0Bo8WoVY8AcsmYgBps/Y0dMX2GLRQAV6osQ9hcx6np1M1GdW8K+bgw\n\t1/FN1/0LoSJAjMEAAEKAB0WIQS1xD1IgJogio9YOMByNAaPFqFWPAUCabP2NAAKCRByNAaPFqFW\n\tPGS3D/9q21tk2HREJqtSc209wipUMw2s6x68VrDtYNwK1CdBw/YoBKxWjfluG1ImJir5/XraNlV\n\tbTbTvX8iHV7V3hN2ceq3HA+tPY+Ifyk4G7P116K6iw2r0Osso0SdZIkiL4RVmcq3sWuwptIcMbu\n\t8WcbhLJcNqKGUS1/za2KXZvWCLcUvA7nvvigSFdQAwEVldP2RltCzX2FJeSK3kcuuERupxIgvIx\n\tHMNcPbaSJo1i8Un1n1Kx0oFLMQRWwng50ycSHORGhlTj35HtH5e7bJ43Y0yY17ZeQ7AfD+S46Rf\n\tJzfQekpClh+f+wCX0apyloGAeaQ8C+JoyfygrNOZ6VKwLw8SD5q79ym8SkqKN3UPwONhXwZ7O/g\n\tEx0sW9P6tvdV87EL7FgOqxNHfoOJ/7Ut7lfgk7CuAUkw2W3T4MrH90F74OmpekKX8J2kiJaxao5\n\tdUodwRtAl6Yoe6c22/ncaxOa1uTBNYNYVAFjbJURE95v5/UxlW107yVfEZ3dcvXwRs2JmW6/Pp9\n\t1bFDjg+PZzbuQcNPVcDMfAOEmoElIGskaYcvPV/mCZV6rI8JEMg80pTNrP6xN2vJYnfuRmNBSKP\n\taEeJ+qo61aFnC5ImhI84dHgwORrtkJevXrYXUB/VNTML9tN7YW8oEylDQ+p0VrvD7IA1Bcnr0MW\n\tBVzogerugSA4JDw==","X-Developer-Key":"i=jacopo.mondi@ideasonboard.com; a=openpgp;\n\tfpr=72392EDC88144A65C701EA9BA5826A2587AD026B","X-BeenThere":"libcamera-devel@lists.libcamera.org","X-Mailman-Version":"2.1.29","Precedence":"list","List-Id":"","List-Unsubscribe":",\n\t","List-Archive":"","List-Post":"","List-Help":"","List-Subscribe":",\n\t","Errors-To":"libcamera-devel-bounces@lists.libcamera.org","Sender":"\"libcamera-devel\" "},"content":"From: Daniel Scally \n\nAdd support to Mali C55 pipeline handler for memory-to-memory camera\nmode.\n\nThe Mali-C55, as integrated in the Renesas RZ/V2H(P) SoC, is fed with\nimages saved to memory by the CRU unit and read on behalf of the ISP\nby the IVC.\n\nUpdate the pipeline handler's match() function to search for the CRU\nmedia entity necessary to register a memory input camera. Create and\ninitialize a CameraData instance for the memory camera use case if a\nvalid CRU is found and initialize the IVC components used to feed the\nISP with images read from memory.\n\nSigned-off-by: Daniel Scally \nSigned-off-by: Jacopo Mondi \n---\n src/libcamera/pipeline/mali-c55/mali-c55.cpp | 145 +++++++++++++++++++++++----\n 1 file changed, 128 insertions(+), 17 deletions(-)","diff":"diff --git a/src/libcamera/pipeline/mali-c55/mali-c55.cpp b/src/libcamera/pipeline/mali-c55/mali-c55.cpp\nindex 6581d13bbc52..3c8848d28707 100644\n--- a/src/libcamera/pipeline/mali-c55/mali-c55.cpp\n+++ b/src/libcamera/pipeline/mali-c55/mali-c55.cpp\n@@ -44,6 +44,8 @@\n #include \"libcamera/internal/v4l2_subdevice.h\"\n #include \"libcamera/internal/v4l2_videodevice.h\"\n \n+#include \"rzg2l-cru.h\"\n+\n namespace {\n \n bool isFormatRaw(const libcamera::PixelFormat &pixFmt)\n@@ -105,7 +107,12 @@ public:\n \t\tstd::unique_ptr csi2_;\n \t\tstd::unique_ptr sensor_;\n \t};\n-\tusing CameraType = std::variant;\n+\n+\tstruct Memory {\n+\t\tstd::unique_ptr cru_;\n+\t};\n+\n+\tusing CameraType = std::variant;\n \n \tMaliC55CameraData(PipelineHandler *pipe)\n \t\t: Camera::Private(pipe)\n@@ -116,6 +123,7 @@ public:\n \n \tint initTpg(MediaEntity *entity);\n \tint initInline(MediaEntity *entity);\n+\tint initMemory(MediaDevice *cruMedia);\n \n \tstd::vector sizes(unsigned int mbusCode) const\n \t{\n@@ -125,6 +133,9 @@ public:\n \t\t\t\t},\n \t\t\t\t[&](const Inline &in) -> std::vector {\n \t\t\t\t\treturn in.sensor_->sizes(mbusCode);\n+\t\t\t\t},\n+\t\t\t\t[&](const Memory &mem) -> std::vector {\n+\t\t\t\t\treturn mem.cru_->sizes();\n \t\t\t\t} },\n \t\t\t\tinput_);\n \t}\n@@ -137,6 +148,9 @@ public:\n \t\t\t\t},\n \t\t\t\t[&](const Inline &in) -> V4L2Subdevice * {\n \t\t\t\t\treturn in.sensor_->device();\n+\t\t\t\t},\n+\t\t\t\t[&](const Memory &mem) -> V4L2Subdevice * {\n+\t\t\t\t\treturn mem.cru_->sensor()->device();\n \t\t\t\t} },\n \t\t\t\tinput_);\n \t}\n@@ -150,6 +164,9 @@ public:\n \t\t\t\t},\n \t\t\t\t[&](const Inline &in) -> CameraSensor * {\n \t\t\t\t\treturn in.sensor_.get();\n+\t\t\t\t},\n+\t\t\t\t[&](const Memory &mem) -> CameraSensor * {\n+\t\t\t\t\treturn mem.cru_->sensor();\n \t\t\t\t} },\n \t\t\t\tinput_);\n \t}\n@@ -163,6 +180,9 @@ public:\n \t\t\t\t},\n \t\t\t\t[&](const Inline &in) -> V4L2Subdevice * {\n \t\t\t\t\treturn in.csi2_.get();\n+\t\t\t\t},\n+\t\t\t\t[&](const Memory &mem) -> V4L2Subdevice * {\n+\t\t\t\t\treturn mem.cru_->csi2();\n \t\t\t\t} },\n \t\t\t\tinput_);\n \t}\n@@ -175,6 +195,22 @@ public:\n \t\t\t\t},\n \t\t\t\t[&](const Inline &in) -> Size {\n \t\t\t\t\treturn in.sensor_->resolution();\n+\t\t\t\t},\n+\t\t\t\t[&](const Memory &mem) -> Size {\n+\t\t\t\t\treturn mem.cru_->resolution();\n+\t\t\t\t} },\n+\t\t\t\tinput_);\n+\t}\n+\n+\tRZG2LCRU *cru() const\n+\t{\n+\t\treturn std::visit(utils::overloaded{\n+\t\t\t\t[&](auto &) -> RZG2LCRU * {\n+\t\t\t\t\tASSERT(false);\n+\t\t\t\t\treturn nullptr;\n+\t\t\t\t},\n+\t\t\t\t[&](const Memory &mem) -> RZG2LCRU * {\n+\t\t\t\t\treturn mem.cru_.get();\n \t\t\t\t} },\n \t\t\t\tinput_);\n \t}\n@@ -258,6 +294,21 @@ int MaliC55CameraData::initInline(MediaEntity *sensor)\n \treturn 0;\n }\n \n+int MaliC55CameraData::initMemory(MediaDevice *cruMedia)\n+{\n+\tMemory mem;\n+\n+\tmem.cru_ = std::make_unique();\n+\n+\tint ret = mem.cru_->init(cruMedia);\n+\tif (ret)\n+\t\treturn ret;\n+\n+\tinput_.emplace(std::move(mem));\n+\n+\treturn 0;\n+}\n+\n std::vector MaliC55CameraData::Tpg::sizes(unsigned int mbusCode) const\n {\n \tV4L2Subdevice::Formats formats = sd_->formats(0);\n@@ -738,11 +789,15 @@ private:\n \t\t\t\tconst std::string &name);\n \tbool registerTPGCamera(MediaLink *link);\n \tbool registerSensorCamera(MediaLink *link);\n+\tbool registerMemoryInputCamera();\n \n \tstd::shared_ptr media_;\n+\tstd::shared_ptr cruMedia_;\n \tstd::unique_ptr isp_;\n \tstd::unique_ptr stats_;\n \tstd::unique_ptr params_;\n+\tstd::unique_ptr ivcSd_;\n+\tstd::unique_ptr ivc_;\n \n \tstd::vector> statsBuffers_;\n \tstd::queue availableStatsBuffers_;\n@@ -1685,6 +1740,34 @@ bool PipelineHandlerMaliC55::registerSensorCamera(MediaLink *ispLink)\n \treturn true;\n }\n \n+bool PipelineHandlerMaliC55::registerMemoryInputCamera()\n+{\n+\tstd::unique_ptr data =\n+\t\tstd::make_unique(this);\n+\n+\tint ret = data->initMemory(cruMedia_.get());\n+\tif (ret)\n+\t\treturn false;\n+\n+\tCameraSensor *sensor = data->sensor();\n+\tdata->properties_ = sensor->properties();\n+\n+\tconst CameraSensorProperties::SensorDelays &delays = sensor->sensorDelays();\n+\tstd::unordered_map params = {\n+\t\t{ V4L2_CID_ANALOGUE_GAIN, { delays.gainDelay, false } },\n+\t\t{ V4L2_CID_EXPOSURE, { delays.exposureDelay, false } },\n+\t};\n+\n+\tdata->delayedCtrls_ =\n+\t\tstd::make_unique(sensor->device(), params);\n+\tisp_->frameStart.connect(data->delayedCtrls_.get(),\n+\t\t\t\t &DelayedControls::applyControls);\n+\n+\tivc_->bufferReady.connect(data->cru(), &RZG2LCRU::cruReturnBuffer);\n+\n+\treturn registerMaliCamera(std::move(data), sensor->device()->entity()->name());\n+}\n+\n bool PipelineHandlerMaliC55::match(DeviceEnumerator *enumerator)\n {\n \tconst MediaPad *ispSink;\n@@ -1694,14 +1777,14 @@ bool PipelineHandlerMaliC55::match(DeviceEnumerator *enumerator)\n \t * The TPG and the downscale pipe are both optional blocks and may not\n \t * be fitted.\n \t */\n-\tDeviceMatch dm(\"mali-c55\");\n-\tdm.add(\"mali-c55 isp\");\n-\tdm.add(\"mali-c55 resizer fr\");\n-\tdm.add(\"mali-c55 fr\");\n-\tdm.add(\"mali-c55 3a stats\");\n-\tdm.add(\"mali-c55 3a params\");\n-\n-\tmedia_ = acquireMediaDevice(enumerator, dm);\n+\tDeviceMatch c55_dm(\"mali-c55\");\n+\tc55_dm.add(\"mali-c55 isp\");\n+\tc55_dm.add(\"mali-c55 resizer fr\");\n+\tc55_dm.add(\"mali-c55 fr\");\n+\tc55_dm.add(\"mali-c55 3a stats\");\n+\tc55_dm.add(\"mali-c55 3a params\");\n+\n+\tmedia_ = acquireMediaDevice(enumerator, c55_dm);\n \tif (!media_)\n \t\treturn false;\n \n@@ -1761,6 +1844,25 @@ bool PipelineHandlerMaliC55::match(DeviceEnumerator *enumerator)\n \tstats_->bufferReady.connect(this, &PipelineHandlerMaliC55::statsBufferReady);\n \tparams_->bufferReady.connect(this, &PipelineHandlerMaliC55::paramsBufferReady);\n \n+\t/*\n+\t * We also need to search for the rzg2l-cru CSI-2 receiver. If we find\n+\t * that then we need to work in memory input mode instead of the inline\n+\t * mode. The absence of this match is not necessarily a failure at this\n+\t * point...it depends on the media links that we investigate momentarily.\n+\t *\n+\t * This is a bit hacky, because there could be multiple of these media\n+\t * devices and we're just taking the first. We need modular pipelines to\n+\t * properly solve the issue.\n+\t */\n+\tstatic const std::regex cruCsi2Regex(\"csi-[0-9a-f]{8}.csi2\");\n+\tstatic const std::regex cruIpRegex(\"cru-ip-[0-9a-f]{8}.cru[0-9]\");\n+\n+\tDeviceMatch cruDm(\"rzg2l_cru\");\n+\tcruDm.add(cruCsi2Regex);\n+\tcruDm.add(cruIpRegex);\n+\tcruDm.add(\"CRU output\");\n+\tcruMedia_ = acquireMediaDevice(enumerator, cruDm);\n+\n \tispSink = isp_->entity()->getPadByIndex(0);\n \tif (!ispSink || ispSink->links().empty()) {\n \t\tLOG(MaliC55, Error) << \"ISP sink pad error\";\n@@ -1774,13 +1876,6 @@ bool PipelineHandlerMaliC55::match(DeviceEnumerator *enumerator)\n \t * MEDIA_ENT_F_CAM_SENSOR - The test pattern generator\n \t * MEDIA_ENT_F_VID_IF_BRIDGE - A CSI-2 receiver\n \t * MEDIA_ENT_F_PROC_VIDEO_PIXEL_FORMATTER - An input device\n-\t *\n-\t * The last one will be unsupported for now. The TPG is relatively easy,\n-\t * we just register a Camera for it. If we have a CSI-2 receiver we need\n-\t * to check its sink pad and register Cameras for anything connected to\n-\t * it (probably...there are some complex situations in which that might\n-\t * not be true but let's pretend they don't exist until we come across\n-\t * them)\n \t */\n \tbool registered;\n \tfor (MediaLink *link : ispSink->links()) {\n@@ -1800,7 +1895,23 @@ bool PipelineHandlerMaliC55::match(DeviceEnumerator *enumerator)\n \n \t\t\tbreak;\n \t\tcase MEDIA_ENT_F_PROC_VIDEO_PIXEL_FORMATTER:\n-\t\t\tLOG(MaliC55, Warning) << \"Memory input not yet supported\";\n+\t\t\tif (!cruMedia_)\n+\t\t\t\treturn false;\n+\n+\t\t\tivcSd_ = V4L2Subdevice::fromEntityName(media_.get(),\n+\t\t\t\t\t\t\t \"rzv2h ivc block\");\n+\t\t\tif (ivcSd_->open() < 0)\n+\t\t\t\treturn false;\n+\n+\t\t\tivc_ = V4L2VideoDevice::fromEntityName(media_.get(),\n+\t\t\t\t\t\t\t \"rzv2h-ivc\");\n+\t\t\tif (ivc_->open() < 0)\n+\t\t\t\treturn false;\n+\n+\t\t\tregistered = registerMemoryInputCamera();\n+\t\t\tif (!registered)\n+\t\t\t\treturn registered;\n+\n \t\t\tbreak;\n \t\tdefault:\n \t\t\tLOG(MaliC55, Error) << \"Unsupported entity function\";\n","prefixes":["v4","4/7"]}