From patchwork Fri Mar 13 11:33:44 2026 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Jacopo Mondi X-Patchwork-Id: 26286 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 396ABBE086 for ; Fri, 13 Mar 2026 11:34:28 +0000 (UTC) Received: from lancelot.ideasonboard.com (localhost [IPv6:::1]) by lancelot.ideasonboard.com (Postfix) with ESMTP id E3EEC626D0; Fri, 13 Mar 2026 12:34:27 +0100 (CET) Authentication-Results: lancelot.ideasonboard.com; dkim=pass (1024-bit key; unprotected) header.d=ideasonboard.com header.i=@ideasonboard.com header.b="kO4cnwWI"; dkim-atps=neutral Received: from perceval.ideasonboard.com (perceval.ideasonboard.com [213.167.242.64]) by lancelot.ideasonboard.com (Postfix) with ESMTPS id 3F9F56267D for ; Fri, 13 Mar 2026 12:34:26 +0100 (CET) Received: from [192.168.224.131] (unknown [37.159.92.229]) by perceval.ideasonboard.com (Postfix) with ESMTPSA id 96AF91356; Fri, 13 Mar 2026 12:33:14 +0100 (CET) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/simple; d=ideasonboard.com; s=mail; t=1773401597; bh=GwgINAI7Dhe7Z22i9TeaDxYUq0FMK+wvgqU0KEsWxAQ=; h=From:Date:Subject:References:In-Reply-To:To:Cc:From; b=kO4cnwWICs2zWNfsEn2FB83T1Juokfj1foLtMtBg/iyv2Flod5zE8v4Ug7rhPV6d4 YG6C3WTIbkw9tFfP/FBQ9aKSm3SbSJArjpyV6qocT6ZjADRITc0OOMU+mpRxc9ZLUg vPWkGK1UYrXahDLKfQfz7ysICeU5s1iFr3W1U/NQ= From: Jacopo Mondi Date: Fri, 13 Mar 2026 12:33:44 +0100 Subject: [PATCH v4 3/7] libcamera: mali-c55: Split TPG and Inline camera handling MIME-Version: 1.0 Message-Id: <20260313-mali-cru-v4-3-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 , libcamera-devel@lists.libcamera.org Cc: Jacopo Mondi X-Mailer: b4 0.14.3 X-Developer-Signature: v=1; a=openpgp-sha256; l=16323; i=jacopo.mondi@ideasonboard.com; h=from:subject:message-id; bh=GwgINAI7Dhe7Z22i9TeaDxYUq0FMK+wvgqU0KEsWxAQ=; b=owEBbQKS/ZANAwAKAXI0Bo8WoVY8AcsmYgBps/Y0iIVJrCVFp0YDPTtD7QEAhjrfnUa7m85sV yzHq1Ro0NuJAjMEAAEKAB0WIQS1xD1IgJogio9YOMByNAaPFqFWPAUCabP2NAAKCRByNAaPFqFW PDgqD/98ak76lb0E+GmC5+4cXMVGszWzRCk5AqqnjEO/BYhDfidfWLAV3kO/SHAD+DYpCzTe85L i/3TOxo7ntRAHi2Am61ILJiDoCCY70a10DxJdPF7I6oH5RA/g9skw3zT3r9rdO2zNA89jNJ1faf GpbeXxwJbIJ4JE3fzaHWkljqnJ+XS99pQEBXMzOcETFu4utQZc/lti/uWsWhicfXLMTWI8hD8By +2L7GiAB2G13xoInHl7z0bNH4l48ee0H3GzBQt0hK8Ub7LTFbbmu652UUyvSl0kUkh/gSsXlTtS cDjS6UuS1rdr/L4sKHE3/p01gR5FMVFSPX95kgEruF+PXIUHc5MpnVM3RHcTFsh+Lzs+vCirKdh 4taGcf66PAyRYcVOEM3mt6C6JlZD5HwuOwef8qepeYOZM3rQE6xux4bVUeSzCn2LBquLFU8Tiih R8+PBUjFYS+NvotT8Z+p5hU56igtUTeiVTUPbqsmT2Erj/bxsdcD4zfGk3a07eTOcw/yU4Qr5a4 hZxC49v8Lk5XVixt/Umm1o1m5MqId7mZ9Fvqqw6hcxwtaJuxtYugeHS8TzH36qsOaAB/vUJ8P3f lHgapjvHYoIXizVJRPAb/whcJDlwhxLuVTIhuHi/cQC8o7jS3YbXVWyTLtPNPRQdEZTBNeJ9vm4 psjVXVtVqj/x9Dg== X-Developer-Key: i=jacopo.mondi@ideasonboard.com; a=openpgp; fpr=72392EDC88144A65C701EA9BA5826A2587AD026B 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" In order to prepare to support memory input cameras, split the handling of the TPG and Inline camera cases. The Mali C55 pipeline handler uses the entity and subdevice stored in the CameraData to support both the handling of the TPG and of the Inline (CSI-2 + sensor) use cases. Adding support for memory cameras by using the CRU unit would add yet-another special case making the code harder to follow and more prone to errors. Split the handling of the TPG and Inline cameras by introducing an std::variant<> variable and to deflect the functions called on the camera data to the correct type by using overloaded std::visit<>(). Signed-off-by: Jacopo Mondi --- src/libcamera/pipeline/mali-c55/mali-c55.cpp | 276 ++++++++++++++++----------- 1 file changed, 167 insertions(+), 109 deletions(-) diff --git a/src/libcamera/pipeline/mali-c55/mali-c55.cpp b/src/libcamera/pipeline/mali-c55/mali-c55.cpp index c209b0b070b1..6581d13bbc52 100644 --- a/src/libcamera/pipeline/mali-c55/mali-c55.cpp +++ b/src/libcamera/pipeline/mali-c55/mali-c55.cpp @@ -11,12 +11,14 @@ #include #include #include +#include #include #include #include #include +#include #include #include @@ -92,17 +94,90 @@ struct MaliC55FrameInfo { class MaliC55CameraData : public Camera::Private { public: - MaliC55CameraData(PipelineHandler *pipe, MediaEntity *entity) - : Camera::Private(pipe), entity_(entity) + struct Tpg { + std::vector sizes(unsigned int mbusCode) const; + + Size resolution_; + std::unique_ptr sd_; + }; + + struct Inline { + std::unique_ptr csi2_; + std::unique_ptr sensor_; + }; + using CameraType = std::variant; + + MaliC55CameraData(PipelineHandler *pipe) + : Camera::Private(pipe) { } - int init(); int loadIPA(); - /* Deflect these functionalities to either TPG or CameraSensor. */ - std::vector sizes(unsigned int mbusCode) const; - Size resolution() const; + int initTpg(MediaEntity *entity); + int initInline(MediaEntity *entity); + + std::vector sizes(unsigned int mbusCode) const + { + return std::visit(utils::overloaded{ + [&](const Tpg &tpg) -> std::vector { + return tpg.sizes(mbusCode); + }, + [&](const Inline &in) -> std::vector { + return in.sensor_->sizes(mbusCode); + } }, + input_); + } + + V4L2Subdevice *subdev() const + { + return std::visit(utils::overloaded{ + [&](const Tpg &tpg) -> V4L2Subdevice * { + return tpg.sd_.get(); + }, + [&](const Inline &in) -> V4L2Subdevice * { + return in.sensor_->device(); + } }, + input_); + } + + CameraSensor *sensor() const + { + return std::visit(utils::overloaded{ + [&](auto &) -> CameraSensor * { + ASSERT(false); + return nullptr; + }, + [&](const Inline &in) -> CameraSensor * { + return in.sensor_.get(); + } }, + input_); + } + + V4L2Subdevice *csi2() const + { + return std::visit(utils::overloaded{ + [&](auto &) -> V4L2Subdevice * { + ASSERT(false); + return nullptr; + }, + [&](const Inline &in) -> V4L2Subdevice * { + return in.csi2_.get(); + } }, + input_); + } + + Size resolution() const + { + return std::visit(utils::overloaded{ + [&](const Tpg &tpg) -> Size { + return tpg.resolution_; + }, + [&](const Inline &in) -> Size { + return in.sensor_->resolution(); + } }, + input_); + } int pixfmtToMbusCode(const PixelFormat &pixFmt) const; const PixelFormat &bestRawFormat() const; @@ -112,11 +187,6 @@ public: PixelFormat adjustRawFormat(const PixelFormat &pixFmt) const; Size adjustRawSizes(const PixelFormat &pixFmt, const Size &rawSize) const; - std::unique_ptr sensor_; - - MediaEntity *entity_; - std::unique_ptr csi_; - std::unique_ptr sd_; Stream frStream_; Stream dsStream_; @@ -126,58 +196,28 @@ public: std::unique_ptr delayedCtrls_; + CameraType input_; + private: - void initTPGData(); void setSensorControls(const ControlList &sensorControls); - std::string id_; - Size tpgResolution_; }; -int MaliC55CameraData::init() +int MaliC55CameraData::initTpg(MediaEntity *entity) { - int ret; + Tpg tpg; - sd_ = std::make_unique(entity_); - ret = sd_->open(); + tpg.sd_ = std::make_unique(entity); + int ret = tpg.sd_->open(); if (ret) { - LOG(MaliC55, Error) << "Failed to open sensor subdevice"; + LOG(MaliC55, Error) << "Failed to open TPG subdevice"; return ret; } - /* If this camera is created from TPG, we return here. */ - if (entity_->name() == "mali-c55 tpg") { - initTPGData(); - return 0; - } - - /* - * Register a CameraSensor if we connect to a sensor and create - * an entity for the connected CSI-2 receiver. - */ - sensor_ = CameraSensorFactoryBase::create(entity_); - if (!sensor_) - return -ENODEV; - - const MediaPad *sourcePad = entity_->getPadByIndex(0); - MediaEntity *csiEntity = sourcePad->links()[0]->sink()->entity(); - - csi_ = std::make_unique(csiEntity); - ret = csi_->open(); - if (ret) { - LOG(MaliC55, Error) << "Failed to open CSI-2 subdevice"; - return ret; - } - - return 0; -} - -void MaliC55CameraData::initTPGData() -{ /* Replicate the CameraSensor implementation for TPG. */ - V4L2Subdevice::Formats formats = sd_->formats(0); + V4L2Subdevice::Formats formats = tpg.sd_->formats(0); if (formats.empty()) - return; + return -EINVAL; std::vector tpgSizes; @@ -187,19 +227,39 @@ void MaliC55CameraData::initTPGData() [](const SizeRange &range) { return range.max; }); } - tpgResolution_ = tpgSizes.back(); + tpg.resolution_ = tpgSizes.back(); + + input_.emplace(std::move(tpg)); + + return 0; } -void MaliC55CameraData::setSensorControls(const ControlList &sensorControls) +int MaliC55CameraData::initInline(MediaEntity *sensor) { - delayedCtrls_->push(sensorControls); + Inline in; + + /* Register a CameraSensor and create an entity for the CSI-2 receiver. */ + in.sensor_ = CameraSensorFactoryBase::create(sensor); + if (!in.sensor_) + return -EINVAL; + + const MediaPad *sourcePad = sensor->getPadByIndex(0); + MediaEntity *csiEntity = sourcePad->links()[0]->sink()->entity(); + + in.csi2_ = std::make_unique(csiEntity); + int ret = in.csi2_->open(); + if (ret) { + LOG(MaliC55, Error) << "Failed to open CSI-2 subdevice"; + return ret; + } + + input_.emplace(std::move(in)); + + return 0; } -std::vector MaliC55CameraData::sizes(unsigned int mbusCode) const +std::vector MaliC55CameraData::Tpg::sizes(unsigned int mbusCode) const { - if (sensor_) - return sensor_->sizes(mbusCode); - V4L2Subdevice::Formats formats = sd_->formats(0); if (formats.empty()) return {}; @@ -218,12 +278,9 @@ std::vector MaliC55CameraData::sizes(unsigned int mbusCode) const return sizes; } -Size MaliC55CameraData::resolution() const +void MaliC55CameraData::setSensorControls(const ControlList &sensorControls) { - if (sensor_) - return sensor_->resolution(); - - return tpgResolution_; + delayedCtrls_->push(sensorControls); } /* @@ -242,7 +299,7 @@ int MaliC55CameraData::pixfmtToMbusCode(const PixelFormat &pixFmt) const if (!bayerFormat.isValid()) return -EINVAL; - V4L2Subdevice::Formats formats = sd_->formats(0); + V4L2Subdevice::Formats formats = subdev()->formats(0); unsigned int sensorMbusCode = 0; unsigned int bitDepth = 0; @@ -280,7 +337,7 @@ const PixelFormat &MaliC55CameraData::bestRawFormat() const { static const PixelFormat invalidPixFmt = {}; - for (const auto &fmt : sd_->formats(0)) { + for (const auto &fmt : subdev()->formats(0)) { BayerFormat sensorBayer = BayerFormat::fromMbusCode(fmt.first); if (!sensorBayer.isValid()) @@ -302,11 +359,11 @@ const PixelFormat &MaliC55CameraData::bestRawFormat() const void MaliC55CameraData::updateControls(const ControlInfoMap &ipaControls) { - if (!sensor_) + if (std::holds_alternative(input_)) return; IPACameraSensorInfo sensorInfo; - int ret = sensor_->sensorInfo(&sensorInfo); + int ret = sensor()->sensorInfo(&sensorInfo); if (ret) { LOG(MaliC55, Error) << "Failed to retrieve sensor info"; return; @@ -379,7 +436,7 @@ int MaliC55CameraData::loadIPA() int ret; /* Do not initialize IPA for TPG. */ - if (!sensor_) + if (std::holds_alternative(input_)) return 0; ipa_ = IPAManager::createIPA(pipe(), 1, 1); @@ -388,20 +445,20 @@ int MaliC55CameraData::loadIPA() ipa_->setSensorControls.connect(this, &MaliC55CameraData::setSensorControls); - std::string ipaTuningFile = ipa_->configurationFile(sensor_->model() + ".yaml", + std::string ipaTuningFile = ipa_->configurationFile(sensor()->model() + ".yaml", "uncalibrated.yaml"); /* We need to inform the IPA of the sensor configuration */ ipa::mali_c55::IPAConfigInfo ipaConfig{}; - ret = sensor_->sensorInfo(&ipaConfig.sensorInfo); + ret = sensor()->sensorInfo(&ipaConfig.sensorInfo); if (ret) return ret; - ipaConfig.sensorControls = sensor_->controls(); + ipaConfig.sensorControls = sensor()->controls(); ControlInfoMap ipaControls; - ret = ipa_->init({ ipaTuningFile, sensor_->model() }, ipaConfig, + ret = ipa_->init({ ipaTuningFile, sensor()->model() }, ipaConfig, &ipaControls); if (ret) { LOG(MaliC55, Error) << "Failed to initialise the Mali-C55 IPA"; @@ -444,13 +501,13 @@ CameraConfiguration::Status MaliC55CameraConfiguration::validate() * The TPG doesn't support flips, so we only need to calculate a * transform if we have a sensor. */ - if (data_->sensor_) { + if (std::holds_alternative(data_->input_)) { + combinedTransform_ = Transform::Rot0; + } else { Orientation requestedOrientation = orientation; - combinedTransform_ = data_->sensor_->computeTransform(&orientation); + combinedTransform_ = data_->sensor()->computeTransform(&orientation); if (orientation != requestedOrientation) status = Adjusted; - } else { - combinedTransform_ = Transform::Rot0; } /* Only 2 streams available. */ @@ -927,11 +984,12 @@ int PipelineHandlerMaliC55::configure(Camera *camera, /* Link the graph depending if we are operating the TPG or a sensor. */ MaliC55CameraData *data = cameraData(camera); - if (data->csi_) { - const MediaEntity *csiEntity = data->csi_->entity(); - ret = csiEntity->getPadByIndex(1)->links()[0]->setEnabled(true); + if (std::holds_alternative(data->input_)) { + const MediaEntity *tpgEntity = data->subdev()->entity(); + ret = tpgEntity->getPadByIndex(0)->links()[0]->setEnabled(true); } else { - ret = data->entity_->getPadByIndex(0)->links()[0]->setEnabled(true); + const MediaEntity *csi2Entity = data->csi2()->entity(); + ret = csi2Entity->getPadByIndex(1)->links()[0]->setEnabled(true); } if (ret) return ret; @@ -939,26 +997,24 @@ int PipelineHandlerMaliC55::configure(Camera *camera, MaliC55CameraConfiguration *maliConfig = static_cast(config); V4L2SubdeviceFormat subdevFormat = maliConfig->sensorFormat_; - ret = data->sd_->getFormat(0, &subdevFormat); - if (ret) - return ret; - if (data->sensor_) { - ret = data->sensor_->setFormat(&subdevFormat, - maliConfig->combinedTransform()); + /* Apply format to the origin of the pipeline and propagate it. */ + if (std::holds_alternative(data->input_)) { + ret = data->subdev()->setFormat(0, &subdevFormat); + } else { + ret = data->sensor()->setFormat(&subdevFormat, + maliConfig->combinedTransform()); if (ret) return ret; - } - if (data->csi_) { - ret = data->csi_->setFormat(0, &subdevFormat); + ret = data->csi2()->setFormat(0, &subdevFormat); if (ret) return ret; - ret = data->csi_->getFormat(1, &subdevFormat); - if (ret) - return ret; + ret = data->csi2()->getFormat(1, &subdevFormat); } + if (ret) + return ret; V4L2DeviceFormat statsFormat; ret = stats_->getFormat(&statsFormat); @@ -973,8 +1029,6 @@ int PipelineHandlerMaliC55::configure(Camera *camera, /* * Propagate the format to the ISP sink pad and configure the input * crop rectangle (no crop at the moment). - * - * \todo Configure the CSI-2 receiver. */ ret = isp_->setFormat(0, &subdevFormat); if (ret) @@ -1058,18 +1112,18 @@ int PipelineHandlerMaliC55::configure(Camera *camera, /* We need to inform the IPA of the sensor configuration */ ipa::mali_c55::IPAConfigInfo ipaConfig{}; - ret = data->sensor_->sensorInfo(&ipaConfig.sensorInfo); + ret = data->sensor()->sensorInfo(&ipaConfig.sensorInfo); if (ret) return ret; - ipaConfig.sensorControls = data->sensor_->controls(); + ipaConfig.sensorControls = data->sensor()->controls(); /* * And we also need to tell the IPA the bayerOrder of the data (as * affected by any flips that we've configured) */ const Transform &combinedTransform = maliConfig->combinedTransform(); - BayerFormat::Order bayerOrder = data->sensor_->bayerOrder(combinedTransform); + BayerFormat::Order bayerOrder = data->sensor()->bayerOrder(combinedTransform); ControlInfoMap ipaControls; ret = data->ipa_->configure(ipaConfig, utils::to_underlying(bayerOrder), @@ -1283,7 +1337,7 @@ void PipelineHandlerMaliC55::applyScalerCrop(Camera *camera, if (!scalerCrop) return; - if (!data->sensor_) { + if (std::holds_alternative(data->input_)) { LOG(MaliC55, Error) << "ScalerCrop not supported for TPG"; return; } @@ -1291,7 +1345,7 @@ void PipelineHandlerMaliC55::applyScalerCrop(Camera *camera, Rectangle nativeCrop = *scalerCrop; IPACameraSensorInfo sensorInfo; - int ret = data->sensor_->sensorInfo(&sensorInfo); + int ret = data->sensor()->sensorInfo(&sensorInfo); if (ret) { LOG(MaliC55, Error) << "Failed to retrieve sensor info"; return; @@ -1573,10 +1627,11 @@ bool PipelineHandlerMaliC55::registerTPGCamera(MediaLink *link) } std::unique_ptr data = - std::make_unique(this, link->source()->entity()); + std::make_unique(this); - if (data->init()) - return false; + int ret = data->initTpg(link->source()->entity()); + if (ret) + return ret; return registerMaliCamera(std::move(data), name); } @@ -1600,21 +1655,24 @@ bool PipelineHandlerMaliC55::registerSensorCamera(MediaLink *ispLink) continue; std::unique_ptr data = - std::make_unique(this, sensor); - if (data->init()) - return false; + std::make_unique(this); + + int ret = data->initInline(sensor); + if (ret) + return ret; - data->properties_ = data->sensor_->properties(); + data->properties_ = data->sensor()->properties(); - const CameraSensorProperties::SensorDelays &delays = data->sensor_->sensorDelays(); + const CameraSensorProperties::SensorDelays &delays = + data->sensor()->sensorDelays(); std::unordered_map params = { { V4L2_CID_ANALOGUE_GAIN, { delays.gainDelay, false } }, { V4L2_CID_EXPOSURE, { delays.exposureDelay, false } }, }; - data->delayedCtrls_ = - std::make_unique(data->sensor_->device(), - params); + V4L2Subdevice *sensorSubdev = data->sensor()->device(); + data->delayedCtrls_ = std::make_unique(sensorSubdev, + params); isp_->frameStart.connect(data->delayedCtrls_.get(), &DelayedControls::applyControls);