@@ -25,6 +25,7 @@
#include "libcamera/internal/camera_sensor.h"
#include "libcamera/internal/device_enumerator.h"
#include "libcamera/internal/media_device.h"
+#include "libcamera/internal/media_pipeline.h"
#include "libcamera/internal/pipeline_handler.h"
#include "libcamera/internal/v4l2_subdevice.h"
#include "libcamera/internal/v4l2_videodevice.h"
@@ -62,14 +63,15 @@ public:
unsigned int getYuvMediaBusFormat(const PixelFormat &pixelFormat) const;
unsigned int getMediaBusFormat(PixelFormat *pixelFormat) const;
+ /* All entities, from the sensor to the ISI. */
+ MediaPipeline mediaPipeline_;
+
std::unique_ptr<CameraSensor> sensor_;
- std::unique_ptr<V4L2Subdevice> csis_;
std::vector<Stream> streams_;
std::vector<Stream *> enabledStreams_;
- unsigned int xbarSink_ = 0;
unsigned int xbarSourceOffset_ = 0;
};
@@ -141,6 +143,8 @@ private:
void bufferReady(FrameBuffer *buffer);
+ std::vector<MediaEntity *> locateSensors(MediaDevice *media);
+
MediaDevice *isiDev_;
std::unique_ptr<V4L2Subdevice> crossbar_;
@@ -164,10 +168,6 @@ int ISICameraData::init()
if (!sensor_)
return -ENODEV;
- int ret = csis_->open();
- if (ret)
- return ret;
-
properties_ = sensor_->properties();
return 0;
@@ -811,18 +811,29 @@ int PipelineHandlerISI::configure(Camera *camera, CameraConfiguration *c)
{
ISICameraConfiguration *camConfig = static_cast<ISICameraConfiguration *>(c);
ISICameraData *data = cameraData(camera);
+ CameraSensor *sensor = data->sensor_.get();
+ int ret;
- /* Apply format to the sensor, CSIS receiver and crossbar sink pad. */
- V4L2SubdeviceFormat format = camConfig->sensorFormat_;
- int ret = data->sensor_->setFormat(&format);
- if (ret)
+ /*
+ * Enable the links all the way up to the ISI, through any connected CSI
+ * receiver and optional formatter.
+ */
+ ret = data->mediaPipeline_.initLinks();
+ if (ret) {
+ LOG(ISI, Error) << "Failed to set up pipe links";
return ret;
+ }
- ret = data->csis_->setFormat(0, &format);
+ /*
+ * Configure the format on the sensor output and propagate it through
+ * the pipeline.
+ */
+ V4L2SubdeviceFormat format = camConfig->sensorFormat_;
+ ret = sensor->setFormat(&format);
if (ret)
return ret;
- ret = crossbar_->setFormat(data->xbarSink_, &format);
+ ret = data->mediaPipeline_.configure(sensor, &format);
if (ret)
return ret;
@@ -979,13 +990,8 @@ bool PipelineHandlerISI::match(DeviceEnumerator *enumerator)
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++;
- }
+ std::vector<MediaEntity *> sensorEntities = locateSensors(isiDev_);
+ unsigned cameraCount = sensorEntities.size();
if (!cameraCount) {
LOG(ISI, Error) << "No camera sensor found";
@@ -1048,60 +1054,28 @@ bool PipelineHandlerISI::match(DeviceEnumerator *enumerator)
* 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;
- for (MediaPad *pad : crossbar_->entity()->pads()) {
- unsigned int sink = numSinks;
-
- if (!(pad->flags() & MEDIA_PAD_FL_SINK))
- continue;
-
- /*
- * Count each crossbar sink pad to correctly configure
- * routing and format for this camera.
- */
- numSinks++;
-
- if (pad->links().empty())
- continue;
-
- 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;
- }
-
- /* All links are immutable except the sensor -> csis link. */
- const MediaPad *sensorSrc = sensor->getPadByIndex(0);
- sensorSrc->links()[0]->setEnabled(true);
-
+ for (MediaEntity *sensor : sensorEntities) {
/* Create the camera data. */
std::unique_ptr<ISICameraData> data =
std::make_unique<ISICameraData>(this, maxStreams);
+ ret = data->mediaPipeline_.init(sensor, "crossbar");
+ if (ret)
+ continue;
+
+ const MediaPipeline::Entity *xbarEntity = &data->mediaPipeline_.entities().back();
+ unsigned int xbarSinkIndex = xbarEntity->sink->index();
+
data->sensor_ = CameraSensorFactoryBase::create(sensor);
- data->csis_ = std::make_unique<V4L2Subdevice>(csi);
- data->xbarSink_ = sink;
data->xbarSourceOffset_ = numCameras * data->streams_.size();
LOG(ISI, Debug)
<< "cam" << numCameras
<< " streams " << data->streams_.size()
- << " sink " << data->xbarSink_
+ << " sink " << xbarSinkIndex
<< " offset " << data->xbarSourceOffset_;
ret = data->init();
@@ -1120,7 +1094,7 @@ bool PipelineHandlerISI::match(DeviceEnumerator *enumerator)
/* 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 },
+ routing_.emplace_back(V4L2Subdevice::Stream{ xbarSinkIndex, 0 },
V4L2Subdevice::Stream{ sourcePad, 0 },
V4L2_SUBDEV_ROUTE_FL_ACTIVE);
}
@@ -1163,6 +1137,69 @@ void PipelineHandlerISI::bufferReady(FrameBuffer *buffer)
completeRequest(request);
}
+/* Original function taken from simple.cpp */
+std::vector<MediaEntity *>
+PipelineHandlerISI::locateSensors(MediaDevice *media)
+{
+ std::vector<MediaEntity *> entities;
+
+ /*
+ * Gather all the camera sensor entities based on the function they
+ * expose.
+ */
+ for (MediaEntity *entity : media->entities()) {
+ if (entity->function() == MEDIA_ENT_F_CAM_SENSOR)
+ entities.push_back(entity);
+ }
+
+ if (entities.empty())
+ return {};
+
+ /*
+ * Sensors can be made of multiple entities. For instance, a raw sensor
+ * can be connected to an ISP, and the combination of both should be
+ * treated as one sensor. To support this, as a crude heuristic, check
+ * the downstream entity from the camera sensor, and if it is an ISP,
+ * use it instead of the sensor.
+ */
+ std::vector<MediaEntity *> sensors;
+
+ for (MediaEntity *entity : entities) {
+ /*
+ * Locate the downstream entity by following the first link
+ * from a source pad.
+ */
+ const MediaLink *link = nullptr;
+
+ for (const MediaPad *pad : entity->pads()) {
+ if ((pad->flags() & MEDIA_PAD_FL_SOURCE) &&
+ !pad->links().empty()) {
+ link = pad->links()[0];
+ break;
+ }
+ }
+
+ if (!link)
+ continue;
+
+ MediaEntity *remote = link->sink()->entity();
+ if (remote->function() == MEDIA_ENT_F_PROC_VIDEO_ISP)
+ sensors.push_back(remote);
+ else
+ sensors.push_back(entity);
+ }
+
+ /*
+ * Remove duplicates, in case multiple sensors are connected to the
+ * same ISP.
+ */
+ std::sort(sensors.begin(), sensors.end());
+ auto last = std::unique(sensors.begin(), sensors.end());
+ sensors.erase(last, sensors.end());
+
+ return sensors;
+}
+
REGISTER_PIPELINE_HANDLER(PipelineHandlerISI, "imx8-isi")
} /* namespace libcamera */