From patchwork Wed Oct 27 09:27:59 2021 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Naushir Patuck X-Patchwork-Id: 14359 Return-Path: X-Original-To: parsemail@patchwork.libcamera.org Delivered-To: parsemail@patchwork.libcamera.org Received: from lancelot.ideasonboard.com (lancelot.ideasonboard.com [92.243.16.209]) by patchwork.libcamera.org (Postfix) with ESMTPS id BFC91BDB1C for ; Wed, 27 Oct 2021 09:28:17 +0000 (UTC) Received: from lancelot.ideasonboard.com (localhost [IPv6:::1]) by lancelot.ideasonboard.com (Postfix) with ESMTP id 4B60364893; Wed, 27 Oct 2021 11:28:17 +0200 (CEST) Authentication-Results: lancelot.ideasonboard.com; dkim=fail reason="signature verification failed" (2048-bit key; unprotected) header.d=raspberrypi.com header.i=@raspberrypi.com header.b="VA9RWh+M"; dkim-atps=neutral Received: from mail-wm1-x334.google.com (mail-wm1-x334.google.com [IPv6:2a00:1450:4864:20::334]) by lancelot.ideasonboard.com (Postfix) with ESMTPS id A94F664889 for ; Wed, 27 Oct 2021 11:28:11 +0200 (CEST) Received: by mail-wm1-x334.google.com with SMTP id o4-20020a1c7504000000b0032cab7473caso2541199wmc.1 for ; Wed, 27 Oct 2021 02:28:11 -0700 (PDT) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=raspberrypi.com; s=google; h=from:to:cc:subject:date:message-id:in-reply-to:references :mime-version:content-transfer-encoding; bh=OCYzorYT+INRNlFq8S/Bq/qNDj5LEcDEMz5THw7OaoE=; b=VA9RWh+Mp8bL743YOO+nwgYnVzEsjVCKXuiwPDs7207RcglbkToeLOZtbdNbyxKnEz Xgvu81TzEHweLtZrGLO31TEWQ86njAex/EqKb8alxsue+fSgVLhMIFaXPq02ZI2uEnJS 38XpwJ9+LwDeV0IUtKl/36GIpM5oBPR/cpUzkHmmXN06LyLkPup/AvZZHYn5eP/z5gAl A2gnf4qZmX0G3udNaAvd6Xyplc5+vKbTe5XbDPcO6hgRifY6305OwqjWpEuGoJ57+W1r on4Wi6dLg6IyQWQRmynZ6vL2mhBT99dcHm1RtI6byGpKjo0fbxlWIw3RDBOaC0Wo/7xx ENXA== X-Google-DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=1e100.net; s=20210112; h=x-gm-message-state:from:to:cc:subject:date:message-id:in-reply-to :references:mime-version:content-transfer-encoding; bh=OCYzorYT+INRNlFq8S/Bq/qNDj5LEcDEMz5THw7OaoE=; b=brq7klI/LqWei1smU1rQ90oVYnGj6GTkoHEQG1oeClmVCsIs+mRF6iKtRwPcmEGpg4 9CO2D9shnEpYRAkT0qGcd5B6z/VLvJScK9n8zrLW4nZfC9uFM/tJcRGsq9Qxean1PvUH 2C58cQ57hMSe1fSrJT0d6JahFipxOp3kS75OPXCwFTEbu9hFFdwsIP8AvqV2hta60qbL jc2TCt/UakTE7uxdYKZ+0y+zkqI995ZbOdJsnB/L/6VUs3YaVG2S7eIm1y//j2J+DvkY M/z7g1mcVLy3nj3gRFN247WU3SbxuGSuKk06Uej3cbFg1lpBXQ5t0ympskf24NZBUcNa 3xnw== X-Gm-Message-State: AOAM533+lmL6xgQp96EeSAWhUXJ8Wxz/ZZOjK58DRvVicCgsyJidiOdW niXhm21qXzxOh/NsgK1PfXmOD8LzuZK4xCga X-Google-Smtp-Source: ABdhPJyKD9qZZ54YtnRw3DovLUXVMk70+xA42y63egne0UH3UdfWKEjd+Z+jnYZuipZlJ12Vn+5AHg== X-Received: by 2002:a1c:9d56:: with SMTP id g83mr379737wme.58.1635326890761; Wed, 27 Oct 2021 02:28:10 -0700 (PDT) Received: from naush-laptop.pitowers.org ([2a00:1098:3142:14:6561:eb24:3f00:ce98]) by smtp.gmail.com with ESMTPSA id x2sm2861360wmj.3.2021.10.27.02.28.10 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Wed, 27 Oct 2021 02:28:10 -0700 (PDT) From: Naushir Patuck To: libcamera-devel@lists.libcamera.org Date: Wed, 27 Oct 2021 10:27:59 +0100 Message-Id: <20211027092803.3671096-6-naush@raspberrypi.com> X-Mailer: git-send-email 2.25.1 In-Reply-To: <20211027092803.3671096-1-naush@raspberrypi.com> References: <20211027092803.3671096-1-naush@raspberrypi.com> MIME-Version: 1.0 Subject: [libcamera-devel] [PATCH v3 5/9] pipeline: raspberrypi: Convert the pipeline handler to use media controller X-BeenThere: libcamera-devel@lists.libcamera.org X-Mailman-Version: 2.1.29 Precedence: list List-Id: List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , Errors-To: libcamera-devel-bounces@lists.libcamera.org Sender: "libcamera-devel" Switch the pipeline handler to use the new Unicam media controller based driver. With this change, we directly talk to the sensor device driver to set controls and set/get formats in the pipeline handler. This change requires the accompanying Raspberry Pi linux kernel change at https://github.com/raspberrypi/linux/pull/4645. If this kernel change is not present, the pipeline handler will fail to run with an error message informing the user to update the kernel build. Signed-off-by: Naushir Patuck Reviewed-by: David Plowman Reviewed-by: Kieran Bingham --- .../pipeline/raspberrypi/raspberrypi.cpp | 185 ++++++++++++------ 1 file changed, 127 insertions(+), 58 deletions(-) diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp index 1634ca98f481..48f561d31a31 100644 --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp @@ -26,6 +26,7 @@ #include #include +#include #include #include "libcamera/internal/bayer_format.h" @@ -48,6 +49,66 @@ LOG_DEFINE_CATEGORY(RPI) namespace { +/* Map of mbus codes to supported sizes reported by the sensor. */ +using SensorFormats = std::map>; + +SensorFormats populateSensorFormats(std::unique_ptr &sensor) +{ + SensorFormats formats; + + for (auto const mbusCode : sensor->mbusCodes()) + formats.emplace(mbusCode, sensor->sizes(mbusCode)); + + return formats; +} + +BayerFormat mbusCodeToBayerFormat(unsigned int mbusCode) +{ + static const std::unordered_map mbusCodeToBayer { + { MEDIA_BUS_FMT_SBGGR8_1X8, { BayerFormat::BGGR, 8, BayerFormat::None } }, + { MEDIA_BUS_FMT_SGBRG8_1X8, { BayerFormat::GBRG, 8, BayerFormat::None } }, + { MEDIA_BUS_FMT_SGRBG8_1X8, { BayerFormat::GRBG, 8, BayerFormat::None } }, + { MEDIA_BUS_FMT_SRGGB8_1X8, { BayerFormat::RGGB, 8, BayerFormat::None } }, + { MEDIA_BUS_FMT_SBGGR10_1X10, { BayerFormat::BGGR, 10, BayerFormat::None } }, + { MEDIA_BUS_FMT_SGBRG10_1X10, { BayerFormat::GBRG, 10, BayerFormat::None } }, + { MEDIA_BUS_FMT_SGRBG10_1X10, { BayerFormat::GRBG, 10, BayerFormat::None } }, + { MEDIA_BUS_FMT_SRGGB10_1X10, { BayerFormat::RGGB, 10, BayerFormat::None } }, + { MEDIA_BUS_FMT_SBGGR12_1X12, { BayerFormat::BGGR, 12, BayerFormat::None } }, + { MEDIA_BUS_FMT_SGBRG12_1X12, { BayerFormat::GBRG, 12, BayerFormat::None } }, + { MEDIA_BUS_FMT_SGRBG12_1X12, { BayerFormat::GRBG, 12, BayerFormat::None } }, + { MEDIA_BUS_FMT_SRGGB12_1X12, { BayerFormat::RGGB, 12, BayerFormat::None } }, + { MEDIA_BUS_FMT_SBGGR14_1X14, { BayerFormat::BGGR, 14, BayerFormat::None } }, + { MEDIA_BUS_FMT_SGBRG14_1X14, { BayerFormat::GBRG, 14, BayerFormat::None } }, + { MEDIA_BUS_FMT_SGRBG14_1X14, { BayerFormat::GRBG, 14, BayerFormat::None } }, + { MEDIA_BUS_FMT_SRGGB14_1X14, { BayerFormat::RGGB, 14, BayerFormat::None } }, + { MEDIA_BUS_FMT_SBGGR16_1X16, { BayerFormat::BGGR, 16, BayerFormat::None } }, + { MEDIA_BUS_FMT_SGBRG16_1X16, { BayerFormat::GBRG, 16, BayerFormat::None } }, + { MEDIA_BUS_FMT_SGRBG16_1X16, { BayerFormat::GRBG, 16, BayerFormat::None } }, + { MEDIA_BUS_FMT_SRGGB16_1X16, { BayerFormat::RGGB, 16, BayerFormat::None } }, + { MEDIA_BUS_FMT_Y8_1X8, { BayerFormat::MONO, 8, BayerFormat::None } }, + { MEDIA_BUS_FMT_Y10_1X10, { BayerFormat::MONO, 10, BayerFormat::None } }, + }; + + const auto it = mbusCodeToBayer.find(mbusCode); + if (it != mbusCodeToBayer.end()) + return it->second; + + return BayerFormat{}; +} + +V4L2DeviceFormat toV4L2DeviceFormat(V4L2SubdeviceFormat &format) +{ + V4L2DeviceFormat deviceFormat; + BayerFormat bayer = mbusCodeToBayerFormat(format.mbus_code); + + ASSERT(bayer.isValid()); + + bayer.packing = BayerFormat::Packing::CSI2Packed; + deviceFormat.fourcc = bayer.toV4L2PixelFormat(); + deviceFormat.size = format.size; + return deviceFormat; +} + bool isRaw(PixelFormat &pixFmt) { /* @@ -74,11 +135,10 @@ double scoreFormat(double desired, double actual) return score; } -V4L2DeviceFormat findBestMode(V4L2VideoDevice::Formats &formatsMap, - const Size &req) +V4L2SubdeviceFormat findBestFormat(const SensorFormats &formatsMap, const Size &req) { double bestScore = std::numeric_limits::max(), score; - V4L2DeviceFormat bestMode; + V4L2SubdeviceFormat bestFormat; #define PENALTY_AR 1500.0 #define PENALTY_8BIT 2000.0 @@ -88,19 +148,18 @@ V4L2DeviceFormat findBestMode(V4L2VideoDevice::Formats &formatsMap, /* Calculate the closest/best mode from the user requested size. */ for (const auto &iter : formatsMap) { - V4L2PixelFormat v4l2Format = iter.first; - const PixelFormatInfo &info = PixelFormatInfo::info(v4l2Format); + const unsigned int mbusCode = iter.first; + const PixelFormat format = mbusCodeToBayerFormat(mbusCode).toPixelFormat(); + const PixelFormatInfo &info = PixelFormatInfo::info(format); - for (const SizeRange &sz : iter.second) { - double modeWidth = sz.contains(req) ? req.width : sz.max.width; - double modeHeight = sz.contains(req) ? req.height : sz.max.height; + for (const Size &size : iter.second) { double reqAr = static_cast(req.width) / req.height; - double modeAr = modeWidth / modeHeight; + double fmtAr = size.width / size.height; /* Score the dimensions for closeness. */ - score = scoreFormat(req.width, modeWidth); - score += scoreFormat(req.height, modeHeight); - score += PENALTY_AR * scoreFormat(reqAr, modeAr); + score = scoreFormat(req.width, size.width); + score += scoreFormat(req.height, size.height); + score += PENALTY_AR * scoreFormat(reqAr, fmtAr); /* Add any penalties... this is not an exact science! */ if (!info.packed) @@ -115,18 +174,18 @@ V4L2DeviceFormat findBestMode(V4L2VideoDevice::Formats &formatsMap, if (score <= bestScore) { bestScore = score; - bestMode.fourcc = v4l2Format; - bestMode.size = Size(modeWidth, modeHeight); + bestFormat.mbus_code = mbusCode; + bestFormat.size = size; } - LOG(RPI, Info) << "Mode: " << modeWidth << "x" << modeHeight - << " fmt " << v4l2Format.toString() + LOG(RPI, Info) << "Format: " << size.toString() + << " fmt " << format.toString() << " Score: " << score << " (best " << bestScore << ")"; } } - return bestMode; + return bestFormat; } enum class Unicam : unsigned int { Image, Embedded }; @@ -170,6 +229,7 @@ public: std::unique_ptr ipa_; std::unique_ptr sensor_; + SensorFormats sensorFormats_; /* Array of Unicam and ISP device streams and associated buffers/streams. */ RPi::Device unicam_; RPi::Device isp_; @@ -352,9 +412,9 @@ CameraConfiguration::Status RPiCameraConfiguration::validate() * Calculate the best sensor mode we can use based on * the user request. */ - V4L2VideoDevice::Formats fmts = data_->unicam_[Unicam::Image].dev()->formats(); - V4L2DeviceFormat sensorFormat = findBestMode(fmts, cfg.size); - int ret = data_->unicam_[Unicam::Image].dev()->tryFormat(&sensorFormat); + V4L2SubdeviceFormat sensorFormat = findBestFormat(data_->sensorFormats_, cfg.size); + V4L2DeviceFormat unicamFormat = toV4L2DeviceFormat(sensorFormat); + int ret = data_->unicam_[Unicam::Image].dev()->tryFormat(&unicamFormat); if (ret) return Invalid; @@ -366,7 +426,7 @@ CameraConfiguration::Status RPiCameraConfiguration::validate() * fetch the "native" (i.e. untransformed) Bayer order, * because the sensor may currently be flipped! */ - V4L2PixelFormat fourcc = sensorFormat.fourcc; + V4L2PixelFormat fourcc = unicamFormat.fourcc; if (data_->flipsAlterBayerOrder_) { BayerFormat bayer = BayerFormat::fromV4L2PixelFormat(fourcc); bayer.order = data_->nativeBayerOrder_; @@ -375,15 +435,15 @@ CameraConfiguration::Status RPiCameraConfiguration::validate() } PixelFormat sensorPixFormat = fourcc.toPixelFormat(); - if (cfg.size != sensorFormat.size || + if (cfg.size != unicamFormat.size || cfg.pixelFormat != sensorPixFormat) { - cfg.size = sensorFormat.size; + cfg.size = unicamFormat.size; cfg.pixelFormat = sensorPixFormat; status = Adjusted; } - cfg.stride = sensorFormat.planes[0].bpl; - cfg.frameSize = sensorFormat.planes[0].size; + cfg.stride = unicamFormat.planes[0].bpl; + cfg.frameSize = unicamFormat.planes[0].size; rawCount++; } else { @@ -472,7 +532,7 @@ CameraConfiguration *PipelineHandlerRPi::generateConfiguration(Camera *camera, { RPiCameraData *data = cameraData(camera); CameraConfiguration *config = new RPiCameraConfiguration(data); - V4L2DeviceFormat sensorFormat; + V4L2SubdeviceFormat sensorFormat; unsigned int bufferCount; PixelFormat pixelFormat; V4L2VideoDevice::Formats fmts; @@ -487,9 +547,8 @@ CameraConfiguration *PipelineHandlerRPi::generateConfiguration(Camera *camera, switch (role) { case StreamRole::Raw: size = data->sensor_->resolution(); - fmts = data->unicam_[Unicam::Image].dev()->formats(); - sensorFormat = findBestMode(fmts, size); - pixelFormat = sensorFormat.fourcc.toPixelFormat(); + sensorFormat = findBestFormat(data->sensorFormats_, size); + pixelFormat = mbusCodeToBayerFormat(sensorFormat.mbus_code).toPixelFormat(); ASSERT(pixelFormat.isValid()); bufferCount = 2; rawCount++; @@ -599,32 +658,29 @@ int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config) } /* First calculate the best sensor mode we can use based on the user request. */ - V4L2VideoDevice::Formats fmts = data->unicam_[Unicam::Image].dev()->formats(); - V4L2DeviceFormat sensorFormat = findBestMode(fmts, rawStream ? sensorSize : maxSize); + V4L2SubdeviceFormat sensorFormat = findBestFormat(data->sensorFormats_, rawStream ? sensorSize : maxSize); + ret = data->sensor_->setFormat(&sensorFormat); + if (ret) + return ret; /* * Unicam image output format. The ISP input format gets set at start, * just in case we have swapped bayer orders due to flips. */ - ret = data->unicam_[Unicam::Image].dev()->setFormat(&sensorFormat); + V4L2DeviceFormat unicamFormat = toV4L2DeviceFormat(sensorFormat); + ret = data->unicam_[Unicam::Image].dev()->setFormat(&unicamFormat); if (ret) return ret; - /* - * The control ranges associated with the sensor may need updating - * after a format change. - * \todo Use the CameraSensor::setFormat API instead. - */ - data->sensor_->updateControlInfo(); - LOG(RPI, Info) << "Sensor: " << camera->id() - << " - Selected mode: " << sensorFormat.toString(); + << " - Selected sensor format: " << sensorFormat.toString() + << " - Selected unicam format: " << unicamFormat.toString(); /* * This format may be reset on start() if the bayer order has changed * because of flips in the sensor. */ - ret = data->isp_[Isp::Input].dev()->setFormat(&sensorFormat); + ret = data->isp_[Isp::Input].dev()->setFormat(&unicamFormat); if (ret) return ret; @@ -746,8 +802,8 @@ int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config) data->ispMinCropSize_ = testCrop.size(); /* Adjust aspect ratio by providing crops on the input image. */ - Size size = sensorFormat.size.boundedToAspectRatio(maxSize); - Rectangle crop = size.centeredTo(Rectangle(sensorFormat.size).center()); + Size size = unicamFormat.size.boundedToAspectRatio(maxSize); + Rectangle crop = size.centeredTo(Rectangle(unicamFormat.size).center()); data->ispCrop_ = crop; data->isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &crop); @@ -761,8 +817,11 @@ int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config) * supports it. */ if (data->sensorMetadata_) { - format = {}; + V4L2SubdeviceFormat embeddedFormat; + + data->sensor_->device()->getFormat(1, &embeddedFormat); format.fourcc = V4L2PixelFormat(V4L2_META_FMT_SENSOR_DATA); + format.planes[0].size = embeddedFormat.size.width * embeddedFormat.size.height; LOG(RPI, Debug) << "Setting embedded data format."; ret = data->unicam_[Unicam::Embedded].dev()->setFormat(&format); @@ -847,9 +906,14 @@ int PipelineHandlerRPi::start(Camera *camera, const ControlList *controls) * IPA configure may have changed the sensor flips - hence the bayer * order. Get the sensor format and set the ISP input now. */ - V4L2DeviceFormat sensorFormat; - data->unicam_[Unicam::Image].dev()->getFormat(&sensorFormat); - ret = data->isp_[Isp::Input].dev()->setFormat(&sensorFormat); + V4L2SubdeviceFormat sensorFormat; + data->sensor_->device()->getFormat(0, &sensorFormat); + + V4L2DeviceFormat ispFormat; + ispFormat.fourcc = mbusCodeToBayerFormat(sensorFormat.mbus_code).toV4L2PixelFormat(); + ispFormat.size = sensorFormat.size; + + ret = data->isp_[Isp::Input].dev()->setFormat(&ispFormat); if (ret) { stop(camera); return ret; @@ -1004,6 +1068,8 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator) if (data->sensor_->init()) return false; + data->sensorFormats_ = populateSensorFormats(data->sensor_); + ipa::RPi::SensorConfig sensorConfig; if (data->loadIPA(&sensorConfig)) { LOG(RPI, Error) << "Failed to load a suitable IPA library"; @@ -1030,6 +1096,11 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator) return false; } + if (!(data->unicam_[Unicam::Image].dev()->caps().device_caps() & V4L2_CAP_IO_MC)) { + LOG(RPI, Error) << "Unicam driver did not advertise V4L2_CAP_IO_MC, please update your kernel!"; + return false; + } + /* * Setup our delayed control writer with the sensor default * gain and exposure delays. Mark VBLANK for priority write. @@ -1039,7 +1110,7 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator) { V4L2_CID_EXPOSURE, { sensorConfig.exposureDelay, false } }, { V4L2_CID_VBLANK, { sensorConfig.vblankDelay, true } } }; - data->delayedCtrls_ = std::make_unique(data->unicam_[Unicam::Image].dev(), params); + data->delayedCtrls_ = std::make_unique(data->sensor_->device(), params); data->sensorMetadata_ = sensorConfig.sensorMetadata; /* Register the controls that the Raspberry Pi IPA can handle. */ @@ -1066,15 +1137,14 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator) * As part of answering the final question, we reset the camera to * no transform at all. */ - - V4L2VideoDevice *dev = data->unicam_[Unicam::Image].dev(); - const struct v4l2_query_ext_ctrl *hflipCtrl = dev->controlInfo(V4L2_CID_HFLIP); + const V4L2Subdevice *sensor = data->sensor_->device(); + const struct v4l2_query_ext_ctrl *hflipCtrl = sensor->controlInfo(V4L2_CID_HFLIP); if (hflipCtrl) { /* We assume it will support vflips too... */ data->supportsFlips_ = true; data->flipsAlterBayerOrder_ = hflipCtrl->flags & V4L2_CTRL_FLAG_MODIFY_LAYOUT; - ControlList ctrls(dev->controls()); + ControlList ctrls(data->sensor_->controls()); ctrls.set(V4L2_CID_HFLIP, 0); ctrls.set(V4L2_CID_VFLIP, 0); data->setSensorControls(ctrls); @@ -1082,9 +1152,8 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator) /* Look for a valid Bayer format. */ BayerFormat bayerFormat; - for (const auto &iter : dev->formats()) { - V4L2PixelFormat v4l2Format = iter.first; - bayerFormat = BayerFormat::fromV4L2PixelFormat(v4l2Format); + for (const auto &iter : data->sensorFormats_) { + bayerFormat = mbusCodeToBayerFormat(iter.first); if (bayerFormat.isValid()) break; } @@ -1271,7 +1340,7 @@ int RPiCameraData::configureIPA(const CameraConfiguration *config) } } - entityControls.emplace(0, unicam_[Unicam::Image].dev()->controls()); + entityControls.emplace(0, sensor_->controls()); entityControls.emplace(1, isp_[Isp::Input].dev()->controls()); /* Always send the user transform to the IPA. */ @@ -1406,10 +1475,10 @@ void RPiCameraData::setSensorControls(ControlList &controls) ControlList vblank_ctrl; vblank_ctrl.set(V4L2_CID_VBLANK, controls.get(V4L2_CID_VBLANK)); - unicam_[Unicam::Image].dev()->setControls(&vblank_ctrl); + sensor_->setControls(&vblank_ctrl); } - unicam_[Unicam::Image].dev()->setControls(&controls); + sensor_->setControls(&controls); } void RPiCameraData::unicamBufferDequeue(FrameBuffer *buffer)