From patchwork Wed Mar 25 14:44:11 2026 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Jacopo Mondi X-Patchwork-Id: 26338 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 7FECDC32F6 for ; Wed, 25 Mar 2026 14:44:28 +0000 (UTC) Received: from lancelot.ideasonboard.com (localhost [IPv6:::1]) by lancelot.ideasonboard.com (Postfix) with ESMTP id 2732C627D7; Wed, 25 Mar 2026 15:44:25 +0100 (CET) Authentication-Results: lancelot.ideasonboard.com; dkim=pass (1024-bit key; unprotected) header.d=ideasonboard.com header.i=@ideasonboard.com header.b="aMq3hSwF"; dkim-atps=neutral Received: from perceval.ideasonboard.com (perceval.ideasonboard.com [213.167.242.64]) by lancelot.ideasonboard.com (Postfix) with ESMTPS id 1046B627A8 for ; Wed, 25 Mar 2026 15:44:20 +0100 (CET) Received: from [192.168.1.104] (net-93-65-100-155.cust.vodafonedsl.it [93.65.100.155]) by perceval.ideasonboard.com (Postfix) with ESMTPSA id 16737121A; Wed, 25 Mar 2026 15:43:02 +0100 (CET) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/simple; d=ideasonboard.com; s=mail; t=1774449782; bh=Ojnmz9x+DXQFBfVhMAnLOJ9jhNzcj66e63HUZdvKwDE=; h=From:Date:Subject:References:In-Reply-To:To:Cc:From; b=aMq3hSwF67pR9nUtnBIuUz9AG0kYjfLVP3jL2wYX1B4Z6+Bj+tN1/twThILMGKslp eF4yZELIG3a6Cd33reVLAjFauvi22NzFBn1mYI98qVXsaSiWWKDRWheCKsQIYrywtO bo2fau20dwVwdAL+0/Bh3pEmdWJxfB73ZeYPpnHE= From: Jacopo Mondi Date: Wed, 25 Mar 2026 15:44:11 +0100 Subject: [PATCH v6 4/7] libcamera: mali-c55: Register memory input camera MIME-Version: 1.0 Message-Id: <20260325-mali-cru-v6-4-b16b0c49819a@ideasonboard.com> References: <20260325-mali-cru-v6-0-b16b0c49819a@ideasonboard.com> In-Reply-To: <20260325-mali-cru-v6-0-b16b0c49819a@ideasonboard.com> To: Daniel Scally , libcamera-devel@lists.libcamera.org Cc: =?utf-8?q?Barnab=C3=A1s_P=C5=91cze?= , Jacopo Mondi X-Mailer: b4 0.14.3 X-Developer-Signature: v=1; a=openpgp-sha256; l=9308; i=jacopo.mondi@ideasonboard.com; h=from:subject:message-id; bh=Ojnmz9x+DXQFBfVhMAnLOJ9jhNzcj66e63HUZdvKwDE=; b=owEBbQKS/ZANAwAKAXI0Bo8WoVY8AcsmYgBpw/TB7WTWMWTC/9Y4tc/+gf+xzA6XEuWdyMERD Bk+cLYd6WOJAjMEAAEKAB0WIQS1xD1IgJogio9YOMByNAaPFqFWPAUCacP0wQAKCRByNAaPFqFW PFASD/4qi6WEF6a4y9mkSoJssTRGtxsifPPwTXr/CYIVcRD4f4CXZNDgqbx0IPy6I4pU1P2lvj7 VF0C3CpvR/qCi2Pj6dyL3/Q61PIMWfO9OUGBVfelcPX4EnfBa97nhyy2Qu9KN2QiYcxquD1cKGA XSgWTgdfQd94BhBSmW9hiFG5eQF/gHveAjMSNFICblUToD7nr3Mf6GPjE3xrXGQO29qxkHK7jq1 3jfgDxpb/Dud0tzpqH1FWsQw6dkq6LtcxoZmMHAyIW1Nx5+KRZO667h/EtrcBR5NgYDr+0kMPX8 KHiYtKpmkp+zAaOb/ulv5x53O2qY6PmpyvgYkiHaK8Y4gISj9tMB2LDjzZTa1n65K7UkqRJt8H4 gGYkimduLihhp3uZMOX5TpzLeee6z97If8tjInDpLCjFffwz1j5xqk6XfJ61RUijCHV2W1EuM1a oqvpaOu1K4YpVWNNKRvytQ8cHaeS8DFl4fCRe3bY2dk6feIWel41nYJL9hbI5xxwh5s5DvIy1/Z LqkLgHO5eB44CS/IIhZ3Na3wAtOVe66bUjmNvxEJrN9zxLLxWhFfWDYHHzdwhiBScO+X9K8SyU1 UJbIQIasFATz6gyzuxNival98NWvMnFPxfWZhIKEJFClUtmCJkI7b4zOqqywp2nTNv297taL5aJ 9gNwjJPxKF8fRnQ== 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" Add support to Mali C55 pipeline handler for memory-to-memory camera mode. The Mali-C55, as integrated in the Renesas RZ/V2H(P) SoC, is fed with images saved to memory by the CRU unit and read on behalf of the ISP by the IVC. Update the pipeline handler's match() function to search for the CRU media entity necessary to register a memory input camera. Create and initialize a CameraData instance for the memory camera use case if a valid CRU is found and initialize the IVC components used to feed the ISP with images read from memory. Do not implement camera configuration for the time being to reuce the patch size. It will be provided in the following patches. Signed-off-by: Daniel Scally Signed-off-by: Jacopo Mondi --- src/libcamera/pipeline/mali-c55/mali-c55.cpp | 135 +++++++++++++++++++++++---- 1 file changed, 117 insertions(+), 18 deletions(-) diff --git a/src/libcamera/pipeline/mali-c55/mali-c55.cpp b/src/libcamera/pipeline/mali-c55/mali-c55.cpp index dca82564e2eb..26d368bb9132 100644 --- a/src/libcamera/pipeline/mali-c55/mali-c55.cpp +++ b/src/libcamera/pipeline/mali-c55/mali-c55.cpp @@ -44,6 +44,8 @@ #include "libcamera/internal/v4l2_subdevice.h" #include "libcamera/internal/v4l2_videodevice.h" +#include "rzg2l-cru.h" + namespace { bool isFormatRaw(const libcamera::PixelFormat &pixFmt) @@ -105,7 +107,12 @@ public: std::unique_ptr csi2_; std::unique_ptr sensor_; }; - using CameraType = std::variant; + + struct Memory { + std::unique_ptr cru_; + }; + + using CameraType = std::variant; MaliC55CameraData(PipelineHandler *pipe) : Camera::Private(pipe) @@ -116,6 +123,7 @@ public: Tpg *initTpg(MediaEntity *entity); Inline *initInline(MediaEntity *entity); + Memory *initMemory(MediaDevice *cruMedia); std::vector sizes(unsigned int mbusCode) const { @@ -125,7 +133,10 @@ public: }, [&](const Inline &in) -> std::vector { return in.sensor_->sizes(mbusCode); - } + }, + [&](const Memory &mem) -> std::vector { + return mem.cru_->sizes(); + }, }, input_); } @@ -138,6 +149,9 @@ public: [&](const Inline &in) -> V4L2Subdevice * { return in.sensor_->device(); }, + [&](const Memory &mem) -> V4L2Subdevice * { + return mem.cru_->sensor()->device(); + }, }, input_); } @@ -151,6 +165,9 @@ public: [&](const Inline &in) -> CameraSensor * { return in.sensor_.get(); }, + [&](const Memory &mem) -> CameraSensor * { + return mem.cru_->sensor(); + }, }, input_); } @@ -163,6 +180,9 @@ public: [&](const Inline &in) -> Size { return in.sensor_->resolution(); }, + [&](const Memory &mem) -> Size { + return mem.cru_->resolution(); + }, }, input_); } @@ -241,6 +261,19 @@ MaliC55CameraData::Inline *MaliC55CameraData::initInline(MediaEntity *sensor) return &input_.emplace(std::move(in)); } +MaliC55CameraData::Memory *MaliC55CameraData::initMemory(MediaDevice *cruMedia) +{ + Memory mem; + + mem.cru_ = std::make_unique(); + + int ret = mem.cru_->init(cruMedia); + if (ret) + return nullptr; + + return &input_.emplace(std::move(mem)); +} + std::vector MaliC55CameraData::Tpg::sizes(unsigned int mbusCode) const { V4L2Subdevice::Formats formats = sd_->formats(0); @@ -721,11 +754,15 @@ private: const std::string &name); bool registerTPGCamera(MediaLink *link); bool registerSensorCamera(MediaLink *link); + bool registerMemoryInputCamera(); std::shared_ptr media_; + std::shared_ptr cruMedia_; std::unique_ptr isp_; std::unique_ptr stats_; std::unique_ptr params_; + std::unique_ptr ivcSd_; + std::unique_ptr ivc_; std::vector> statsBuffers_; std::queue availableStatsBuffers_; @@ -976,6 +1013,9 @@ int PipelineHandlerMaliC55::configure(Camera *camera, const MediaEntity *csi2Entity = in.csi2_->entity(); return csi2Entity->getPadByIndex(1)->links()[0]->setEnabled(true); }, + [](MaliC55CameraData::Memory &) { + return 0; + }, }, data->input_); if (ret) return ret; @@ -1001,6 +1041,9 @@ int PipelineHandlerMaliC55::configure(Camera *camera, return in.csi2_->getFormat(1, &subdevFormat); }, + [](MaliC55CameraData::Memory &) { + return 0; + }, }, data->input_); if (ret) return ret; @@ -1673,6 +1716,34 @@ bool PipelineHandlerMaliC55::registerSensorCamera(MediaLink *ispLink) return true; } +bool PipelineHandlerMaliC55::registerMemoryInputCamera() +{ + std::unique_ptr data = + std::make_unique(this); + + auto *mem = data->initMemory(cruMedia_.get()); + if (!mem) + return false; + + CameraSensor *sensor = data->sensor(); + data->properties_ = sensor->properties(); + + const CameraSensorProperties::SensorDelays &delays = sensor->sensorDelays(); + std::unordered_map params = { + { V4L2_CID_ANALOGUE_GAIN, { delays.gainDelay, false } }, + { V4L2_CID_EXPOSURE, { delays.exposureDelay, false } }, + }; + + data->delayedCtrls_ = + std::make_unique(sensor->device(), params); + isp_->frameStart.connect(data->delayedCtrls_.get(), + &DelayedControls::applyControls); + + ivc_->bufferReady.connect(mem->cru_.get(), &RZG2LCRU::returnBuffer); + + return registerMaliCamera(std::move(data), sensor->device()->entity()->name()); +} + bool PipelineHandlerMaliC55::match(DeviceEnumerator *enumerator) { const MediaPad *ispSink; @@ -1682,14 +1753,14 @@ bool PipelineHandlerMaliC55::match(DeviceEnumerator *enumerator) * The TPG and the downscale pipe are both optional blocks and may not * be fitted. */ - DeviceMatch dm("mali-c55"); - dm.add("mali-c55 isp"); - dm.add("mali-c55 resizer fr"); - dm.add("mali-c55 fr"); - dm.add("mali-c55 3a stats"); - dm.add("mali-c55 3a params"); - - media_ = acquireMediaDevice(enumerator, dm); + DeviceMatch c55_dm("mali-c55"); + c55_dm.add("mali-c55 isp"); + c55_dm.add("mali-c55 resizer fr"); + c55_dm.add("mali-c55 fr"); + c55_dm.add("mali-c55 3a stats"); + c55_dm.add("mali-c55 3a params"); + + media_ = acquireMediaDevice(enumerator, c55_dm); if (!media_) return false; @@ -1749,6 +1820,25 @@ bool PipelineHandlerMaliC55::match(DeviceEnumerator *enumerator) stats_->bufferReady.connect(this, &PipelineHandlerMaliC55::statsBufferReady); params_->bufferReady.connect(this, &PipelineHandlerMaliC55::paramsBufferReady); + /* + * We also need to search for the rzg2l-cru CSI-2 receiver. If we find + * that then we need to work in memory input mode instead of the inline + * mode. The absence of this match is not necessarily a failure at this + * point...it depends on the media links that we investigate momentarily. + * + * This is a bit hacky, because there could be multiple of these media + * devices and we're just taking the first. We need modular pipelines to + * properly solve the issue. + */ + static const std::regex cruCsi2Regex("csi-[0-9a-f]{8}.csi2"); + static const std::regex cruIpRegex("cru-ip-[0-9a-f]{8}.cru[0-9]"); + + DeviceMatch cruDm("rzg2l_cru"); + cruDm.add(cruCsi2Regex); + cruDm.add(cruIpRegex); + cruDm.add("CRU output"); + cruMedia_ = acquireMediaDevice(enumerator, cruDm); + ispSink = isp_->entity()->getPadByIndex(0); if (!ispSink || ispSink->links().empty()) { LOG(MaliC55, Error) << "ISP sink pad error"; @@ -1762,13 +1852,6 @@ bool PipelineHandlerMaliC55::match(DeviceEnumerator *enumerator) * MEDIA_ENT_F_CAM_SENSOR - The test pattern generator * MEDIA_ENT_F_VID_IF_BRIDGE - A CSI-2 receiver * MEDIA_ENT_F_PROC_VIDEO_PIXEL_FORMATTER - An input device - * - * The last one will be unsupported for now. The TPG is relatively easy, - * we just register a Camera for it. If we have a CSI-2 receiver we need - * to check its sink pad and register Cameras for anything connected to - * it (probably...there are some complex situations in which that might - * not be true but let's pretend they don't exist until we come across - * them) */ bool registered; for (MediaLink *link : ispSink->links()) { @@ -1788,7 +1871,23 @@ bool PipelineHandlerMaliC55::match(DeviceEnumerator *enumerator) break; case MEDIA_ENT_F_PROC_VIDEO_PIXEL_FORMATTER: - LOG(MaliC55, Warning) << "Memory input not yet supported"; + if (!cruMedia_) + return false; + + ivcSd_ = V4L2Subdevice::fromEntityName(media_.get(), + "rzv2h ivc block"); + if (ivcSd_->open() < 0) + return false; + + ivc_ = V4L2VideoDevice::fromEntityName(media_.get(), + "rzv2h-ivc"); + if (ivc_->open() < 0) + return false; + + registered = registerMemoryInputCamera(); + if (!registered) + return registered; + break; default: LOG(MaliC55, Error) << "Unsupported entity function";