diff --git a/src/libcamera/pipeline/imx8-isi/imx8-isi.cpp b/src/libcamera/pipeline/imx8-isi/imx8-isi.cpp index 4e632e852ebf..72e055e400c6 100644 --- a/src/libcamera/pipeline/imx8-isi/imx8-isi.cpp +++ b/src/libcamera/pipeline/imx8-isi/imx8-isi.cpp @@ -55,7 +55,7 @@ public: unsigned int pipeIndex(const Stream *stream) { - return stream - &*streams_.begin(); + return stream - &*streams_.begin() + xbarSourceOffset_; } unsigned int getRawMediaBusFormat(PixelFormat *pixelFormat) const; @@ -69,7 +69,8 @@ public: std::vector enabledStreams_; - unsigned int xbarSink_; + unsigned int xbarSink_ = 0; + unsigned int xbarSourceOffset_ = 0; }; class ISICameraConfiguration : public CameraConfiguration @@ -807,34 +808,9 @@ 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 = {}; - unsigned int xbarFirstSource = crossbar_->entity()->pads().size() - pipes_.size(); - - for (const auto &[idx, config] : utils::enumerate(*c)) { - uint32_t sourcePad = xbarFirstSource + idx; - routing.emplace_back(V4L2Subdevice::Stream{ data->xbarSink_, 0 }, - V4L2Subdevice::Stream{ sourcePad, 0 }, - V4L2_SUBDEV_ROUTE_FL_ACTIVE); - } - - int ret = crossbar_->setRouting(&routing, V4L2Subdevice::ActiveFormat); - if (ret) - return ret; - - /* Apply format to the sensor and CSIS receiver. */ + /* Apply format to the sensor, CSIS receiver and crossbar sink pad. */ V4L2SubdeviceFormat format = camConfig->sensorFormat_; - ret = data->sensor_->setFormat(&format); + int ret = data->sensor_->setFormat(&format); if (ret) return ret; @@ -846,10 +822,17 @@ int PipelineHandlerISI::configure(Camera *camera, CameraConfiguration *c) 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()); + /* + * As links on the output of the crossbar switch are immutable, the + * routing table configured at match() time creates a media pipeline + * that includes all the ISI pipelines corresponding to streams of this + * camera, regardless of whether or not the streams are used in the + * camera configuration. Set the format on the sink pad of all + * corresponding ISI pipelines to avoid link validation failures when + * starting streaming on the media pipeline. + */ + for (unsigned i = 0; i < data->streams_.size(); i++) { + Pipe *pipe = &pipes_.at(data->xbarSourceOffset_ + i); /* * Set the format on the ISI sink pad: it must match what is @@ -858,6 +841,15 @@ int PipelineHandlerISI::configure(Camera *camera, CameraConfiguration *c) ret = pipe->isi->setFormat(0, &format); if (ret) return ret; + } + + /* + * Now configure the ISI pipeline source pad and video node instances, + * one per enabled stream. + */ + data->enabledStreams_.clear(); + for (const auto &config : *c) { + Pipe *pipe = pipeFromStream(camera, config.stream()); /* * Configure the ISI sink compose rectangle to downscale the @@ -969,6 +961,20 @@ bool PipelineHandlerISI::match(DeviceEnumerator *enumerator) if (!isiDev_) return false; + /* Count the number of sensors, to create one camera per sensor. */ + unsigned cameraCount = 0; + for (MediaEntity *entity : isiDev_->entities()) { + if (entity->function() != MEDIA_ENT_F_CAM_SENSOR) + continue; + + cameraCount++; + } + + if (!cameraCount) { + LOG(ISI, Error) << "No camera sensor found"; + return false; + } + /* * Acquire the subdevs and video nodes for the crossbar switch and the * processing pipelines. @@ -1012,12 +1018,24 @@ bool PipelineHandlerISI::match(DeviceEnumerator *enumerator) return false; } + if (cameraCount > pipes_.size()) { + LOG(ISI, Error) << "Too many cameras"; + return false; + } + /* * Loop over all the crossbar switch sink pads to find connected CSI-2 * receivers and camera sensors. + * + * In multicamera case, limit maximum amount of streams to allow all + * sensors to get at least one dedicated pipe. */ unsigned int numCameras = 0; unsigned int numSinks = 0; + const unsigned int xbarFirstSource = crossbar_->entity()->pads().size() - pipes_.size(); + const unsigned int maxStreams = pipes_.size() / cameraCount; + V4L2Subdevice::Routing routing = {}; + for (MediaPad *pad : crossbar_->entity()->pads()) { unsigned int sink = numSinks; @@ -1048,17 +1066,23 @@ bool PipelineHandlerISI::match(DeviceEnumerator *enumerator) continue; } + /* All links are immutable except the sensor -> csis link. */ + const MediaPad *sensorSrc = sensor->getPadByIndex(0); + sensorSrc->links()[0]->setEnabled(true); + /* Create the camera data. */ - /* - * \todo compute available pipes per camera instead of using - * pipes_.size() for multi cameras case. - */ std::unique_ptr data = - std::make_unique(this, pipes_.size()); + std::make_unique(this, maxStreams); data->sensor_ = CameraSensorFactoryBase::create(sensor); data->csis_ = std::make_unique(csi); data->xbarSink_ = sink; + data->xbarSourceOffset_ = numCameras * data->streams_.size(); + + LOG(ISI, Debug) + << "cam" << numCameras + << " streams " << data->streams_.size() + << " offset " << data->xbarSourceOffset_; ret = data->init(); if (ret) { @@ -1073,6 +1097,14 @@ bool PipelineHandlerISI::match(DeviceEnumerator *enumerator) std::inserter(streams, streams.end()), [](Stream &s) { return &s; }); + /* Add routes to the crossbar switch routing table. */ + for (unsigned i = 0; i < data->streams_.size(); i++) { + unsigned int sourcePad = xbarFirstSource + data->xbarSourceOffset_ + i; + routing.emplace_back(V4L2Subdevice::Stream{ data->xbarSink_, 0 }, + V4L2Subdevice::Stream{ sourcePad, 0 }, + V4L2_SUBDEV_ROUTE_FL_ACTIVE); + } + std::shared_ptr camera = Camera::create(std::move(data), id, streams); @@ -1080,6 +1112,10 @@ bool PipelineHandlerISI::match(DeviceEnumerator *enumerator) numCameras++; } + ret = crossbar_->setRouting(&routing, V4L2Subdevice::ActiveFormat); + if (ret) + return false; + return numCameras > 0; }