From patchwork Thu Nov 10 19:14:33 2022 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Jacopo Mondi X-Patchwork-Id: 17785 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 AC032BD16B for ; Thu, 10 Nov 2022 19:14:48 +0000 (UTC) Received: from lancelot.ideasonboard.com (localhost [IPv6:::1]) by lancelot.ideasonboard.com (Postfix) with ESMTP id 7922C6307F; Thu, 10 Nov 2022 20:14:48 +0100 (CET) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/simple; d=libcamera.org; s=mail; t=1668107688; bh=K1JNKa1kIXYDB19ZEOmAg2ddKcYFY+Pc3hnJJ1cpcqY=; h=To:Date:In-Reply-To:References:Subject:List-Id:List-Unsubscribe: List-Archive:List-Post:List-Help:List-Subscribe:From:Reply-To: From; b=YKt9f+t2gBiJaJsQOpTBPgJSjvZxF1Qicsaz5cPqQ9pjt/8LyJwhZvp+oCbpyrB8g RplVrfPpY745XU6yJNWxl09ZcVlIs7feEzmCgBE/+lgi8m8lTFYz4zcpDIZlluTT9+ XOK/6xCPAN4eEq3ECRhO7xo1AC+WT/mZ0LHQjd4Va2TReJmeIeFZP+Tc4H7mxm8f7X yOnNuJwZ5/HW6gbQmdZSPNHTwUH4rto7POB7eKEKA5/ThjEB1lWKFxVzhEspTGl1od fZCAlzziT3SI2zNRIWvtZmmfyJioQVkFAyvbr0uiXzRodU0BJiyD38zZh2zAXtrF4v Si88C5SGOp3qw== Received: from relay6-d.mail.gandi.net (relay6-d.mail.gandi.net [IPv6:2001:4b98:dc4:8::226]) by lancelot.ideasonboard.com (Postfix) with ESMTPS id 0D34563075 for ; Thu, 10 Nov 2022 20:14:47 +0100 (CET) Received: (Authenticated sender: jacopo@jmondi.org) by mail.gandi.net (Postfix) with ESMTPSA id 03373C0002; Thu, 10 Nov 2022 19:14:44 +0000 (UTC) To: libcamera-devel@lists.libcamera.org Date: Thu, 10 Nov 2022 20:14:33 +0100 Message-Id: <20221110191433.5535-2-jacopo@jmondi.org> X-Mailer: git-send-email 2.38.1 In-Reply-To: <20221110191433.5535-1-jacopo@jmondi.org> References: <20221110191433.5535-1-jacopo@jmondi.org> MIME-Version: 1.0 Subject: [libcamera-devel] [PATCH v2] libcamera: pipeline: Add IMX8 ISI pipeline 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: , X-Patchwork-Original-From: Jacopo Mondi via libcamera-devel From: Jacopo Mondi Reply-To: Jacopo Mondi Errors-To: libcamera-devel-bounces@lists.libcamera.org Sender: "libcamera-devel" Add a pipeline handler for the ISI capture interface found on several versions of the i.MX8 SoC generation. The pipeline handler supports capturing multiple streams from the same camera in YUV, RGB or RAW formats. The number of streams is limited by the number of ISI pipelines, and is currently hardcoded to 2 as the code has been tested on the i.MX8MP only. Further development will make this dynamic to support other SoCs. Signed-off-by: Jacopo Mondi Reviewed-by: Kieran Bingham --- meson_options.txt | 2 +- src/libcamera/pipeline/imx8-isi/imx8-isi.cpp | 957 +++++++++++++++++++ src/libcamera/pipeline/imx8-isi/meson.build | 5 + 3 files changed, 963 insertions(+), 1 deletion(-) create mode 100644 src/libcamera/pipeline/imx8-isi/imx8-isi.cpp create mode 100644 src/libcamera/pipeline/imx8-isi/meson.build diff --git a/meson_options.txt b/meson_options.txt index f1d678089452..1ba6778ce257 100644 --- a/meson_options.txt +++ b/meson_options.txt @@ -37,7 +37,7 @@ option('lc-compliance', option('pipelines', type : 'array', - choices : ['ipu3', 'raspberrypi', 'rkisp1', 'simple', 'uvcvideo', 'vimc'], + choices : ['imx8-isi', 'ipu3', 'raspberrypi', 'rkisp1', 'simple', 'uvcvideo', 'vimc'], description : 'Select which pipeline handlers to include') option('qcam', diff --git a/src/libcamera/pipeline/imx8-isi/imx8-isi.cpp b/src/libcamera/pipeline/imx8-isi/imx8-isi.cpp new file mode 100644 index 000000000000..6e4b1ae290ef --- /dev/null +++ b/src/libcamera/pipeline/imx8-isi/imx8-isi.cpp @@ -0,0 +1,957 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022 - Jacopo Mondi + * + * imx8-isi.cpp - Pipeline handler for ISI interface found on NXP i.MX8 SoC + */ + +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include + +#include "libcamera/internal/bayer_format.h" +#include "libcamera/internal/camera.h" +#include "libcamera/internal/camera_sensor.h" +#include "libcamera/internal/device_enumerator.h" +#include "libcamera/internal/media_device.h" +#include "libcamera/internal/pipeline_handler.h" +#include "libcamera/internal/v4l2_subdevice.h" +#include "libcamera/internal/v4l2_videodevice.h" + +#include "linux/media-bus-format.h" + +namespace libcamera { + +LOG_DEFINE_CATEGORY(ISI) + +class PipelineHandlerISI; + +class ISICameraData : public Camera::Private +{ +public: + ISICameraData(PipelineHandler *ph) + : Camera::Private(ph) + { + /* + * \todo Assume 2 channels only for now, as that's the number of + * available channels on i.MX8MP. + */ + streams_.resize(2); + } + + PipelineHandlerISI *pipe(); + + int init(); + + unsigned int pipeIndex(const Stream *stream) + { + return stream - &*streams_.begin(); + } + + std::unique_ptr sensor_; + std::unique_ptr csis_; + + std::vector streams_; + + std::vector enabledStreams_; + + unsigned int xbarSink_; +}; + +class ISICameraConfiguration : public CameraConfiguration +{ +public: + /* + * formatsMap_ records the association between an output pixel format + * and the combination of V4L2 pixel format and media bus codes that have + * to be applied to the pipeline. + */ + struct PipeFormat { + unsigned int isiCode; + unsigned int sensorCode; + }; + + using FormatMap = std::map; + + ISICameraConfiguration(ISICameraData *data) + : data_(data) + { + } + + Status validate() override; + + static const FormatMap formatsMap_; + + V4L2SubdeviceFormat sensorFormat_; + +private: + const ISICameraData *data_; + + CameraConfiguration::Status validateRaw(std::set &availableStreams, + const Size &maxResolution); + CameraConfiguration::Status validateYuv(std::set &availableStreams, + const Size &maxResolution); +}; + +class PipelineHandlerISI : public PipelineHandler +{ +public: + PipelineHandlerISI(CameraManager *manager); + + bool match(DeviceEnumerator *enumerator) override; + + std::unique_ptr generateConfiguration(Camera *camera, + const StreamRoles &roles) override; + int configure(Camera *camera, CameraConfiguration *config) override; + + int exportFrameBuffers(Camera *camera, Stream *stream, + std::vector> *buffers) override; + + int start(Camera *camera, const ControlList *controls) override; + +protected: + void stopDevice(Camera *camera) override; + + int queueRequestDevice(Camera *camera, Request *request) override; + +private: + static constexpr Size kPreviewSize = { 1920, 1080 }; + static constexpr Size kMinISISize = { 1, 1 }; + + struct Pipe { + std::unique_ptr isi; + std::unique_ptr capture; + }; + + ISICameraData *cameraData(Camera *camera) + { + return static_cast(camera->_d()); + } + + Pipe *pipeFromStream(Camera *camera, const Stream *stream); + + void bufferReady(FrameBuffer *buffer); + + MediaDevice *isiDev_; + + std::unique_ptr crossbar_; + std::vector pipes_; +}; + +/* ----------------------------------------------------------------------------- + * Camera Data + */ + +PipelineHandlerISI *ISICameraData::pipe() +{ + return static_cast(Camera::Private::pipe()); +} + +/* Open and initialize pipe components. */ +int ISICameraData::init() +{ + int ret = sensor_->init(); + if (ret) + return ret; + + ret = csis_->open(); + if (ret) + return ret; + + properties_ = sensor_->properties(); + + return 0; +} + +/* ----------------------------------------------------------------------------- + * Camera Configuration + */ + +const ISICameraConfiguration::FormatMap ISICameraConfiguration::formatsMap_ = { + { + formats::YUV422, + { MEDIA_BUS_FMT_YUV8_1X24, + MEDIA_BUS_FMT_UYVY8_1X16 }, + }, + { + formats::YUYV, + { MEDIA_BUS_FMT_YUV8_1X24, + MEDIA_BUS_FMT_UYVY8_1X16 }, + }, + { + formats::RGB565, + { MEDIA_BUS_FMT_RGB888_1X24, + MEDIA_BUS_FMT_RGB565_1X16 }, + }, + { + formats::SBGGR8, + { MEDIA_BUS_FMT_SBGGR8_1X8, + MEDIA_BUS_FMT_SBGGR8_1X8 }, + }, + { + formats::SGBRG8, + { MEDIA_BUS_FMT_SGBRG8_1X8, + MEDIA_BUS_FMT_SGBRG8_1X8 }, + }, + { + formats::SGRBG8, + { MEDIA_BUS_FMT_SGRBG8_1X8, + MEDIA_BUS_FMT_SGRBG8_1X8 }, + }, + { + formats::SRGGB8, + { MEDIA_BUS_FMT_SRGGB8_1X8, + MEDIA_BUS_FMT_SRGGB8_1X8 }, + }, + { + formats::SBGGR10, + { MEDIA_BUS_FMT_SBGGR10_1X10, + MEDIA_BUS_FMT_SBGGR10_1X10 }, + }, + { + formats::SGBRG10, + { MEDIA_BUS_FMT_SGBRG10_1X10, + MEDIA_BUS_FMT_SGBRG10_1X10 }, + }, + { + formats::SGRBG10, + { MEDIA_BUS_FMT_SGRBG10_1X10, + MEDIA_BUS_FMT_SGRBG10_1X10 }, + }, + { + formats::SRGGB10, + { MEDIA_BUS_FMT_SRGGB10_1X10, + MEDIA_BUS_FMT_SRGGB10_1X10 }, + }, + { + formats::SBGGR12, + { MEDIA_BUS_FMT_SBGGR12_1X12, + MEDIA_BUS_FMT_SBGGR12_1X12 }, + }, + { + formats::SGBRG12, + { MEDIA_BUS_FMT_SGBRG12_1X12, + MEDIA_BUS_FMT_SGBRG12_1X12 }, + }, + { + formats::SGRBG12, + { MEDIA_BUS_FMT_SGRBG12_1X12, + MEDIA_BUS_FMT_SGRBG12_1X12 }, + }, + { + formats::SRGGB12, + { MEDIA_BUS_FMT_SRGGB12_1X12, + MEDIA_BUS_FMT_SRGGB12_1X12 }, + }, +}; + +/* + * Adjust stream configuration when the first requested stream is RAW: all the + * streams will have the same RAW pixelformat and size. + */ +CameraConfiguration::Status ISICameraConfiguration::validateRaw(std::set &availableStreams, + const Size &maxResolution) +{ + CameraConfiguration::Status status = Valid; + + /* + * Make sure the requested RAW format is supported by the + * pipeline, otherwise adjust it. + */ + std::vector mbusCodes = data_->sensor_->mbusCodes(); + StreamConfiguration &rawConfig = config_[0]; + + bool supported = false; + auto it = formatsMap_.find(rawConfig.pixelFormat); + if (it != formatsMap_.end()) { + unsigned int mbusCode = it->second.sensorCode; + + if (std::count(mbusCodes.begin(), mbusCodes.end(), mbusCode)) + supported = true; + } + + if (!supported) { + /* + * Adjust to the first mbus code supported by both the + * sensor and the pipeline. + */ + const FormatMap::value_type *pipeConfig = nullptr; + for (unsigned int code : data_->sensor_->mbusCodes()) { + const BayerFormat &bayerFormat = BayerFormat::fromMbusCode(code); + if (!bayerFormat.isValid()) + continue; + + auto fmt = std::find_if(ISICameraConfiguration::formatsMap_.begin(), + ISICameraConfiguration::formatsMap_.end(), + [code](auto &isiFormat) { + auto &pipe = isiFormat.second; + return pipe.sensorCode == code; + }); + + if (fmt == ISICameraConfiguration::formatsMap_.end()) + continue; + + pipeConfig = &(*fmt); + break; + } + + if (!pipeConfig) { + LOG(ISI, Error) << "Cannot adjust RAW format " + << rawConfig.pixelFormat; + return Invalid; + } + + rawConfig.pixelFormat = pipeConfig->first; + LOG(ISI, Debug) << "RAW pixelformat adjusted to " + << pipeConfig->first; + status = Adjusted; + } + + /* Cap the RAW stream size to the maximum resolution. */ + Size configSize = rawConfig.size; + rawConfig.size.boundTo(maxResolution); + if (rawConfig.size != configSize) { + LOG(ISI, Debug) << "RAW size adjusted to " + << rawConfig.size; + status = Adjusted; + } + + /* Adjust all other streams to RAW. */ + unsigned int i = 0; + for (StreamConfiguration &cfg : config_) { + + LOG(ISI, Debug) << "Stream " << i << ": " << cfg.toString(); + PixelFormat pixFmt = cfg.pixelFormat; + Size size = cfg.size; + + cfg.pixelFormat = rawConfig.pixelFormat; + cfg.size = rawConfig.size; + + if (cfg.pixelFormat != pixFmt || + cfg.size != size) { + LOG(ISI, Debug) << "Stream " << i << " adjusted to " + << cfg.toString(); + status = Adjusted; + } + + PixelFormatInfo info = PixelFormatInfo::info(cfg.pixelFormat); + cfg.stride = info.stride(cfg.size.width, 0); + cfg.frameSize = info.frameSize(cfg.size, info.bitsPerPixel); + + /* Assign streams in the order they are presented. */ + auto stream = availableStreams.extract(availableStreams.begin()); + cfg.setStream(stream.value()); + + i++; + } + + return status; +} + +/* + * Adjust stream configuration when the first requested stream is not RAW: all + * the streams will be either YUV or RGB processed formats. + */ +CameraConfiguration::Status ISICameraConfiguration::validateYuv(std::set &availableStreams, + const Size &maxResolution) +{ + CameraConfiguration::Status status = Valid; + + unsigned int i = 0; + for (StreamConfiguration &cfg : config_) { + + LOG(ISI, Debug) << "Stream " << i << ": " << cfg.toString(); + + /* If the stream is RAW or not supported default it to YUYV. */ + PixelFormatInfo info = PixelFormatInfo::info(cfg.pixelFormat); + if (info.colourEncoding == PixelFormatInfo::ColourEncodingRAW || + !formatsMap_.count(cfg.pixelFormat)) { + + LOG(ISI, Debug) << "Stream " << i << " format: " + << cfg.pixelFormat << " adjusted to YUYV"; + + cfg.pixelFormat = formats::YUYV; + status = Adjusted; + } + + /* Cap the streams size to the maximum accepted resolution. */ + Size configSize = cfg.size; + cfg.size.boundTo(maxResolution); + if (cfg.size != configSize) { + LOG(ISI, Debug) + << "Stream " << i << " adjusted to " << cfg.size; + status = Adjusted; + } + + /* Re-fetch the pixel format info in case it has been adjusted. */ + info = PixelFormatInfo::info(cfg.pixelFormat); + + /* \todo Multiplane ? */ + cfg.stride = info.stride(cfg.size.width, 0); + cfg.frameSize = info.frameSize(cfg.size, info.bitsPerPixel); + + /* Assign streams in the order they are presented. */ + auto stream = availableStreams.extract(availableStreams.begin()); + cfg.setStream(stream.value()); + + i++; + } + + return status; +} + +CameraConfiguration::Status ISICameraConfiguration::validate() +{ + Status status = Valid; + + std::set availableStreams; + std::transform(data_->streams_.begin(), data_->streams_.end(), + std::inserter(availableStreams, availableStreams.end()), + [](const Stream &s) { return const_cast(&s); }); + + if (config_.empty()) + return Invalid; + + /* Cap the number of streams to the number of available ISI pipes. */ + if (config_.size() > availableStreams.size()) { + config_.resize(availableStreams.size()); + status = Adjusted; + } + + /* + * If more than a single stream is requested, the maximum allowed input + * image width is 2048. Cap the maximum image size accordingly. + * + * \todo The (size > 1) check only applies to i.MX8MP which has 2 ISI + * channels. SoCs with more channels than the i.MX8MP are capable of + * supporting more streams with input width > 2048 by chaining + * successive channels together. Define a policy for channels allocation + * to fully support other SoCs. + */ + CameraSensor *sensor = data_->sensor_.get(); + Size maxResolution = sensor->resolution(); + if (config_.size() > 1) + maxResolution.width = std::min(2048U, maxResolution.width); + + /* Validate streams according to the format of the first one. */ + const PixelFormatInfo info = PixelFormatInfo::info(config_[0].pixelFormat); + + if (info.colourEncoding == PixelFormatInfo::ColourEncodingRAW) + status = validateRaw(availableStreams, maxResolution); + else + status = validateYuv(availableStreams, maxResolution); + + if (status == Invalid) + return status; + + /* + * Sensor format selection policy: the first stream selects the media + * bus code to use, the largest stream selects the size. + * + * \todo The sensor format selection policy could be changed to + * prefer operating the sensor at full resolution to prioritize + * image quality and FOV in exchange of a usually slower frame rate. + * Usage of the STILL_CAPTURE role could be consider for this. + */ + const PipeFormat &pipeFmt = formatsMap_.at(config_[0].pixelFormat); + + Size maxSize; + for (const auto &cfg : config_) { + if (cfg.size > maxSize) + maxSize = cfg.size; + } + + V4L2SubdeviceFormat sensorFormat{}; + sensorFormat.mbus_code = pipeFmt.sensorCode; + sensorFormat.size = maxSize; + + LOG(ISI, Debug) << "Computed sensor configuration: " << sensorFormat; + + /* + * We can't use CameraSensor::getFormat() as it might return a + * format larger than our strict width limit, as that function + * prioritizes formats with the same FOV ratio over formats with less + * difference in size. + * + * Manually walk all the sensor supported sizes searching for + * the smallest larger format without considering the FOV ratio + * as the ISI can freely scale. + */ + auto sizes = sensor->sizes(sensorFormat.mbus_code); + Size bestSize; + + for (const Size &s : sizes) { + /* Ignore smaller sizes. */ + if (s.width < sensorFormat.size.width || + s.height < sensorFormat.size.height) + continue; + + /* Make sure the width stays in the limits. */ + if (s.width > maxResolution.width) + continue; + + bestSize = s; + break; + } + + /* + * This should happen only if the sensor can only produce formats that + * exceed the maximum allowed input width. + */ + if (bestSize.isNull()) { + LOG(ISI, Error) << "Unable to find a suitable sensor format"; + return Invalid; + } + + sensorFormat_.mbus_code = sensorFormat.mbus_code; + sensorFormat_.size = bestSize; + + LOG(ISI, Debug) << "Selected sensor format: " << sensorFormat_; + + return status; +} + +/* ----------------------------------------------------------------------------- + * Pipeline Handler + */ + +PipelineHandlerISI::PipelineHandlerISI(CameraManager *manager) + : PipelineHandler(manager) +{ +} + +std::unique_ptr +PipelineHandlerISI::generateConfiguration(Camera *camera, + const StreamRoles &roles) +{ + ISICameraData *data = cameraData(camera); + std::unique_ptr config = + std::make_unique(data); + + if (roles.empty()) + return config; + + if (roles.size() > data->streams_.size()) { + LOG(ISI, Error) << "Only up to " << data->streams_.size() + << " streams are supported"; + return nullptr; + } + + for (const auto &role : roles) { + /* + * Prefer the following formats + * - Still Capture: Full resolution YUV422 + * - Preview/VideoRecording: 1080p YUYV + * - RAW: sensor's native format and resolution + */ + std::map> streamFormats; + PixelFormat pixelFormat; + Size size; + + switch (role) { + case StillCapture: + /* + * \todo Make sure the sensor can produce non-RAW formats + * compatible with the pipeline supported ones. + */ + size = data->sensor_->resolution(); + pixelFormat = formats::YUV422; + break; + + case Viewfinder: + /* + * \todo Make sure the sensor can produce non-RAW formats + * compatible with the pipeline supported ones. + */ + size = PipelineHandlerISI::kPreviewSize; + pixelFormat = formats::YUYV; + break; + + case Raw: { + /* + * Make sure the sensor can generate a RAW format and + * prefer the ones with a larger bitdepth. + */ + const ISICameraConfiguration::FormatMap::value_type *rawPipeFormat = nullptr; + unsigned int maxDepth = 0; + + for (unsigned int code : data->sensor_->mbusCodes()) { + const BayerFormat &bayerFormat = BayerFormat::fromMbusCode(code); + if (!bayerFormat.isValid()) + continue; + + /* Make sure the format is supported by the pipeline handler. */ + auto it = std::find_if(ISICameraConfiguration::formatsMap_.begin(), + ISICameraConfiguration::formatsMap_.end(), + [code](auto &isiFormat) { + auto &pipe = isiFormat.second; + return pipe.sensorCode == code; + }); + if (it == ISICameraConfiguration::formatsMap_.end()) + continue; + + if (bayerFormat.bitDepth > maxDepth) { + maxDepth = bayerFormat.bitDepth; + rawPipeFormat = &(*it); + } + } + + if (!rawPipeFormat) { + LOG(ISI, Error) + << "Cannot generate a configuration for RAW stream"; + return nullptr; + } + + size = data->sensor_->resolution(); + pixelFormat = rawPipeFormat->first; + + break; + } + + default: + LOG(ISI, Error) << "Requested stream role not supported: " << role; + return nullptr; + } + + streamFormats[pixelFormat] = { { kMinISISize, size } }; + StreamFormats formats(streamFormats); + + StreamConfiguration cfg(formats); + cfg.pixelFormat = pixelFormat; + cfg.size = size; + cfg.bufferCount = 4; + config->addConfiguration(cfg); + } + + config->validate(); + + return config; +} + +int PipelineHandlerISI::configure(Camera *camera, CameraConfiguration *c) +{ + ISICameraConfiguration *camConfig = static_cast(c); + ISICameraData *data = cameraData(camera); + + /* All links are immutable except the sensor -> csis link. */ + const MediaPad *sensorSrc = data->sensor_->entity()->getPadByIndex(0); + sensorSrc->links()[0]->setEnabled(true); + + /* + * Reset the crossbar switch routing and enable one route for each + * requested stream configuration. + * + * \todo Handle concurrent usage of multiple cameras by adjusting the + * routing table instead of resetting it. + */ + V4L2Subdevice::Routing routing = {}; + + for (const auto &[idx, config] : utils::enumerate(*c)) { + struct v4l2_subdev_route route = { + .sink_pad = data->xbarSink_, + .sink_stream = 0, + /* + * \todo Verify that the number of crossbar inputs is + * equal to 3 in all other SoCs. + */ + .source_pad = static_cast(3 + idx), + .source_stream = 0, + .flags = V4L2_SUBDEV_ROUTE_FL_ACTIVE, + .reserved = {} + }; + + routing.push_back(route); + } + + int ret = crossbar_->setRouting(&routing, V4L2Subdevice::ActiveFormat); + if (ret) + return ret; + + /* Apply format to the sensor and CSIS receiver. */ + V4L2SubdeviceFormat format = camConfig->sensorFormat_; + ret = data->sensor_->setFormat(&format); + if (ret) + return ret; + + ret = data->csis_->setFormat(0, &format); + if (ret) + return ret; + + ret = crossbar_->setFormat(data->xbarSink_, &format); + if (ret) + return ret; + + /* Now configure the ISI and video node instances, one per stream. */ + data->enabledStreams_.clear(); + for (const auto &config : *c) { + Pipe *pipe = pipeFromStream(camera, config.stream()); + + /* + * Set the format on the ISI sink pad: it must match what is + * received by the CSIS. + */ + ret = pipe->isi->setFormat(0, &format); + if (ret) + return ret; + + /* + * Configure the ISI sink compose rectangle to downscale the + * image. + * + * \todo Additional cropping could be applied on the ISI source + * pad to further reduce the output image size. + */ + Rectangle isiScale = {}; + isiScale.x = 0; + isiScale.y = 0; + isiScale.width = config.size.width; + isiScale.height = config.size.height; + + ret = pipe->isi->setSelection(0, V4L2_SEL_TGT_COMPOSE, &isiScale); + if (ret) + return ret; + + /* + * Set the format on ISI source pad: only the media bus code + * is relevant as it configures format conversion, while the + * size is taken from the sink's COMPOSE (or source's CROP, + * if any) rectangles. + */ + const ISICameraConfiguration::PipeFormat &pipeFormat = + ISICameraConfiguration::formatsMap_.at(config.pixelFormat); + + V4L2SubdeviceFormat isiFormat{}; + isiFormat.mbus_code = pipeFormat.isiCode; + isiFormat.size = config.size; + + ret = pipe->isi->setFormat(1, &isiFormat); + if (ret) + return ret; + + V4L2DeviceFormat captureFmt{}; + captureFmt.fourcc = pipe->capture->toV4L2PixelFormat(config.pixelFormat); + captureFmt.size = config.size; + + /* \todo Set stride and format. */ + ret = pipe->capture->setFormat(&captureFmt); + if (ret) + return ret; + + /* Store the list of enabled streams for later use. */ + data->enabledStreams_.push_back(config.stream()); + } + + return 0; +} + +int PipelineHandlerISI::exportFrameBuffers(Camera *camera, Stream *stream, + std::vector> *buffers) +{ + unsigned int count = stream->configuration().bufferCount; + Pipe *pipe = pipeFromStream(camera, stream); + + return pipe->capture->exportBuffers(count, buffers); +} + +int PipelineHandlerISI::start(Camera *camera, + [[maybe_unused]] const ControlList *controls) +{ + ISICameraData *data = cameraData(camera); + + for (const auto &stream : data->enabledStreams_) { + Pipe *pipe = pipeFromStream(camera, stream); + const StreamConfiguration &config = stream->configuration(); + + int ret = pipe->capture->importBuffers(config.bufferCount); + if (ret) + return ret; + + ret = pipe->capture->streamOn(); + if (ret) + return ret; + } + + return 0; +} + +void PipelineHandlerISI::stopDevice(Camera *camera) +{ + ISICameraData *data = cameraData(camera); + + for (const auto &stream : data->enabledStreams_) { + Pipe *pipe = pipeFromStream(camera, stream); + + pipe->capture->streamOff(); + pipe->capture->releaseBuffers(); + } +} + +int PipelineHandlerISI::queueRequestDevice(Camera *camera, Request *request) +{ + for (auto &[stream, buffer] : request->buffers()) { + Pipe *pipe = pipeFromStream(camera, stream); + + int ret = pipe->capture->queueBuffer(buffer); + if (ret) + return ret; + } + + return 0; +} + +bool PipelineHandlerISI::match(DeviceEnumerator *enumerator) +{ + DeviceMatch dm("mxc-isi"); + dm.add("crossbar"); + dm.add("mxc_isi.0"); + dm.add("mxc_isi.0.capture"); + + isiDev_ = acquireMediaDevice(enumerator, dm); + if (!isiDev_) + return false; + + /* + * Acquire the subdevs and video nodes for the crossbar switch and the + * processing pipelines. + */ + crossbar_ = V4L2Subdevice::fromEntityName(isiDev_, "crossbar"); + if (!crossbar_) + return false; + + int ret = crossbar_->open(); + if (ret) + return false; + + for (unsigned int i = 0; ; ++i) { + std::string entityName = "mxc_isi." + std::to_string(i); + std::unique_ptr isi = + V4L2Subdevice::fromEntityName(isiDev_, entityName); + if (!isi) + break; + + ret = isi->open(); + if (ret) + return false; + + entityName += ".capture"; + std::unique_ptr capture = + V4L2VideoDevice::fromEntityName(isiDev_, entityName); + ASSERT(capture); + + capture->bufferReady.connect(this, &PipelineHandlerISI::bufferReady); + + ret = capture->open(); + if (ret) + return ret; + + pipes_.push_back({ std::move(isi), std::move(capture) }); + } + + if (pipes_.empty()) { + LOG(ISI, Error) << "Unable to enumerate pipes"; + return false; + } + + /* + * Loop over all the crossbar switch sink pads to find connected CSI-2 + * receivers and camera sensors. + */ + unsigned int numCameras = 0; + unsigned int numSinks = 0; + for (MediaPad *pad : crossbar_->entity()->pads()) { + unsigned int sink = numSinks; + + if (!(pad->flags() & MEDIA_PAD_FL_SINK) || pad->links().empty()) + continue; + + /* + * Count each crossbar sink pad to correctly configure + * routing and format for this camera. + */ + numSinks++; + + MediaEntity *csi = pad->links()[0]->source()->entity(); + if (csi->pads().size() != 2) { + LOG(ISI, Debug) << "Skip unsupported CSI-2 receiver " + << csi->name(); + continue; + } + + pad = csi->pads()[0]; + if (!(pad->flags() & MEDIA_PAD_FL_SINK) || pad->links().empty()) + continue; + + MediaEntity *sensor = pad->links()[0]->source()->entity(); + if (sensor->function() != MEDIA_ENT_F_CAM_SENSOR) { + LOG(ISI, Debug) << "Skip unsupported subdevice " + << sensor->name(); + continue; + } + + /* Create the camera data. */ + std::unique_ptr data = + std::make_unique(this); + + data->sensor_ = std::make_unique(sensor); + data->csis_ = std::make_unique(csi); + data->xbarSink_ = sink; + + ret = data->init(); + if (ret) { + LOG(ISI, Error) << "Failed to initialize camera data"; + return false; + } + + /* Register the camera. */ + const std::string &id = data->sensor_->id(); + std::set streams; + std::transform(data->streams_.begin(), data->streams_.end(), + std::inserter(streams, streams.end()), + [](Stream &s) { return &s; }); + + std::shared_ptr camera = + Camera::create(std::move(data), id, streams); + + registerCamera(std::move(camera)); + numCameras++; + } + + return numCameras > 0; +} + +PipelineHandlerISI::Pipe *PipelineHandlerISI::pipeFromStream(Camera *camera, + const Stream *stream) +{ + ISICameraData *data = cameraData(camera); + unsigned int pipeIndex = data->pipeIndex(stream); + + ASSERT(pipeIndex < pipes_.size()); + + return &pipes_[pipeIndex]; +} + +void PipelineHandlerISI::bufferReady(FrameBuffer *buffer) +{ + Request *request = buffer->request(); + + completeBuffer(request, buffer); + if (request->hasPendingBuffers()) + return; + + completeRequest(request); +} + +REGISTER_PIPELINE_HANDLER(PipelineHandlerISI) + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/imx8-isi/meson.build b/src/libcamera/pipeline/imx8-isi/meson.build new file mode 100644 index 000000000000..ffd0ce54ce92 --- /dev/null +++ b/src/libcamera/pipeline/imx8-isi/meson.build @@ -0,0 +1,5 @@ +# SPDX-License-Identifier: CC0-1.0 + +libcamera_sources += files([ + 'imx8-isi.cpp' +])