[RFC,06/19] pipeline: rkisp2: Implement pipeline handler for rkisp2

27165 diff mbox series

diff --git a/Documentation/runtime_configuration.rst b/Documentation/runtime_configuration.rst
index 2cdffb335a66..15dc118bff7b 100644
--- a/Documentation/runtime_configuration.rst
+++ b/Documentation/runtime_configuration.rst
@@ -81,6 +81,8 @@  Configuration file example
          supported_devices:
            - driver: mxc-isi
              software_isp: true
+       rkisp2:
+         isp_enable: true
      software_isp:
        copy_input_buffer: false
        measure:
@@ -157,6 +159,13 @@  pipelines.simple.supported_devices.driver, pipelines.simple.supported_devices.so
 
    Example `software_isp` value: ``true``
 
+pipelines.rkisp2.isp_enable
+   Configure whether or not to use the ISP. Default (when unconfigured) is
+   true. When set to false the ISP will not be used, so only the VICAP will be
+   used for capture.
+
+   Example value: ``false``
+
 software_isp.copy_input_buffer
    Define whether input buffers should be copied into standard (cached)
    memory in software ISP. This is done by default to prevent very slow
diff --git a/meson.build b/meson.build
index 3b8d54a654a3..a86ab176b9ae 100644
--- a/meson.build
+++ b/meson.build
@@ -219,6 +219,7 @@  pipelines_support = {
     'ipu3':         arch_x86,
     'mali-c55':     arch_arm,
     'rkisp1':       arch_arm,
+    'rkisp2':       arch_arm,
     'rpi/pisp':     arch_arm,
     'rpi/vc4':      arch_arm,
     'simple':       ['any'],
diff --git a/meson_options.txt b/meson_options.txt
index 2638c77cb8b0..5443e3698432 100644
--- a/meson_options.txt
+++ b/meson_options.txt
@@ -82,6 +82,7 @@  option('pipelines',
             'ipu3',
             'mali-c55',
             'rkisp1',
+            'rkisp2',
             'rpi/pisp',
             'rpi/vc4',
             'simple',
diff --git a/src/libcamera/pipeline/rkisp2/meson.build b/src/libcamera/pipeline/rkisp2/meson.build
new file mode 100644
index 000000000000..86f43fb7fcc9
--- /dev/null
+++ b/src/libcamera/pipeline/rkisp2/meson.build
@@ -0,0 +1,5 @@ 
+# SPDX-License-Identifier: CC0-1.0
+
+libcamera_internal_sources += files([
+    'rkisp2.cpp',
+])
diff --git a/src/libcamera/pipeline/rkisp2/rkisp2.cpp b/src/libcamera/pipeline/rkisp2/rkisp2.cpp
new file mode 100644
index 000000000000..0d335a980e32
--- /dev/null
+++ b/src/libcamera/pipeline/rkisp2/rkisp2.cpp
@@ -0,0 +1,1305 @@ 
+/* SPDX-License-Identifier: LGPL-2.1-or-later */
+/*
+ * Copyright (C) 2026, Ideas on Board Oy.
+ *
+ * Pipeline handler for Rockchip ISP2
+ */
+
+#include <algorithm>
+#include <deque>
+#include <memory>
+#include <set>
+#include <vector>
+
+#include <libcamera/base/log.h>
+#include <libcamera/base/utils.h>
+
+#include <libcamera/camera.h>
+#include <libcamera/control_ids.h>
+#include <libcamera/controls.h>
+#include <libcamera/formats.h>
+#include <libcamera/geometry.h>
+
+#include <libcamera/ipa/core_ipa_interface.h>
+#include <libcamera/ipa/rkisp2_ipa_interface.h>
+#include <libcamera/ipa/rkisp2_ipa_proxy.h>
+
+#include "libcamera/internal/buffer_queue.h"
+#include "libcamera/internal/camera.h"
+#include "libcamera/internal/camera_manager.h"
+#include "libcamera/internal/camera_sensor.h"
+#include "libcamera/internal/delayed_controls.h"
+#include "libcamera/internal/device_enumerator.h"
+#include "libcamera/internal/formats.h"
+#include "libcamera/internal/framebuffer.h"
+#include "libcamera/internal/global_configuration.h"
+#include "libcamera/internal/ipa_manager.h"
+#include "libcamera/internal/media_device.h"
+#include "libcamera/internal/pipeline_handler.h"
+#include "libcamera/internal/request.h"
+#include "libcamera/internal/sequence_sync_helper.h"
+#include "libcamera/internal/v4l2_subdevice.h"
+#include "libcamera/internal/v4l2_videodevice.h"
+
+namespace libcamera {
+
+static const Size ispMaxSize = Size(4416, 3312);
+static const Size vicapMaxSize = Size(8192, 8192);
+
+/* \todo Re-add NV21 and YUV422 and YVU422 after it's fixed in the driver */
+const std::map<PixelFormat, uint32_t> formatToMediaBus = {
+	{ formats::UYVY, MEDIA_BUS_FMT_YUYV8_2X8 },
+	{ formats::NV12, MEDIA_BUS_FMT_YUYV8_2X8 },
+	{ formats::NV16, MEDIA_BUS_FMT_YUYV8_2X8 },
+	{ formats::NV61, MEDIA_BUS_FMT_YUYV8_2X8 },
+	{ formats::YUV420, MEDIA_BUS_FMT_YUYV8_1_5X8 },
+	{ formats::YVU420, MEDIA_BUS_FMT_YUYV8_1_5X8 },
+	{ formats::R8, MEDIA_BUS_FMT_YUYV8_2X8 },
+};
+
+/* \todo Deduplicate this (we have the same thing in rkisp1) */
+const std::map<PixelFormat, uint32_t> rawFormats = {
+	{ formats::SBGGR8, MEDIA_BUS_FMT_SBGGR8_1X8 },
+	{ formats::SGBRG8, MEDIA_BUS_FMT_SGBRG8_1X8 },
+	{ formats::SGRBG8, MEDIA_BUS_FMT_SGRBG8_1X8 },
+	{ formats::SRGGB8, MEDIA_BUS_FMT_SRGGB8_1X8 },
+	{ formats::SBGGR10, MEDIA_BUS_FMT_SBGGR10_1X10 },
+	{ formats::SGBRG10, MEDIA_BUS_FMT_SGBRG10_1X10 },
+	{ formats::SGRBG10, MEDIA_BUS_FMT_SGRBG10_1X10 },
+	{ formats::SRGGB10, MEDIA_BUS_FMT_SRGGB10_1X10 },
+	{ formats::SBGGR12, MEDIA_BUS_FMT_SBGGR12_1X12 },
+	{ formats::SGBRG12, MEDIA_BUS_FMT_SGBRG12_1X12 },
+	{ formats::SGRBG12, MEDIA_BUS_FMT_SGRBG12_1X12 },
+	{ formats::SRGGB12, MEDIA_BUS_FMT_SRGGB12_1X12 },
+};
+
+LOG_DEFINE_CATEGORY(RkISP2)
+
+class PipelineHandlerRkISP2;
+
+struct RkISP2FrameInfo {
+	RkISP2FrameInfo(Request *_request,
+			FrameBuffer *_buffer,
+			const ControlList &_metadata = ControlList(controls::controls),
+			bool _metadataProcessed = false)
+		: request(_request), mainPathBuffer(_buffer), metadataProcessed(_metadataProcessed)
+	{
+		metadata.merge(_metadata);
+	}
+
+	Request *request = nullptr;
+	FrameBuffer *mainPathBuffer = nullptr;
+	ControlList metadata = ControlList(controls::controls);
+	bool metadataProcessed = false;
+};
+
+struct RkISP2RequestInfo {
+	Request *request = nullptr;
+	size_t sequence = 0;
+	bool sequenceValid = false;
+};
+
+class RkISP2CameraData : public Camera::Private
+{
+public:
+	RkISP2CameraData(PipelineHandler *pipe, MediaDevice *media)
+		: Camera::Private(pipe), media_(media), frame_(0)
+	{
+	}
+
+	~RkISP2CameraData()
+	{
+	}
+
+	int init(bool usingIsp, CameraSensor *sensor, V4L2VideoDevice *video,
+		 V4L2VideoDevice *rawrd, V4L2Subdevice *isp,
+		 V4L2VideoDevice *mainPath, V4L2VideoDevice *param,
+		 V4L2VideoDevice *stat);
+	PixelFormat getSensorFormat(unsigned int mbusCode, const Size &size,
+				    const Size &maxSize);
+
+	PipelineHandlerRkISP2 *pipe();
+	const PipelineHandlerRkISP2 *pipe() const;
+	int loadIPA();
+
+	void computeParamBuffers(unsigned int frame);
+
+	void tryCompleteRequest(Request *request, FrameBuffer *buffer);
+	void tryCompleteRequest(const ControlList &metadata);
+
+	void vicapBufferReady(FrameBuffer *buffer);
+	void rawrdBufferReady(FrameBuffer *buffer);
+	void ispBufferReady(FrameBuffer *buffer);
+	void statBufferReady(FrameBuffer *buffer);
+
+	void paramsComputed(unsigned int frame, unsigned int bufferId, unsigned int bytesused);
+	void setSensorControls(unsigned int frame, const ControlList &sensorControls);
+	void metadataReady(const ControlList &metadata);
+
+	/* These are the buffers that go between the vicap and the isp */
+	std::vector<std::unique_ptr<FrameBuffer>> internalBuffers_;
+
+	std::vector<std::unique_ptr<FrameBuffer>> statBuffers_;
+	std::unique_ptr<BufferQueue> paramQueue_;
+
+	std::unique_ptr<DelayedControls> delayedCtrls_;
+
+	/*
+	 * These are the buffers that are half-complete, as in either metadata
+	 * is ready or the frame has been completed from the ISP. Both
+	 * ready-handlers populate and complete from the front of the queue.
+	 *
+	 * The stat-ready handler flushes the queue however, because in general
+	 * more images complete than stats do, so this prevents the queue from
+	 * perpetually growing and making the metadata out of date.
+	 */
+	std::deque<RkISP2FrameInfo> pendingCompleteBuffers_;
+
+	/*
+	 * This is for tracking sequence numbers of requests for synchronizing
+	 * between stats and params and images for any dropped frames
+	 */
+	std::deque<RkISP2RequestInfo> pendingCompleteRequests_;
+
+	std::vector<IPABuffer> ipaBuffers_;
+
+	bool usingIsp_;
+	bool isRaw_;
+
+	MediaDevice *media_;
+	CameraSensor *sensor_;
+	V4L2VideoDevice *video_;
+	V4L2VideoDevice *rawrd_;
+	V4L2Subdevice *isp_;
+	V4L2VideoDevice *mainPath_;
+	V4L2VideoDevice *param_;
+	V4L2VideoDevice *stat_;
+	Stream stream_;
+
+	std::unique_ptr<ipa::rkisp2::IPAProxyRkISP2> ipa_;
+	ControlInfoMap ipaControls_;
+
+	/*
+	 * The sensor frame sequence of the last request queued to the pipeline
+	 * handler
+	 */
+	unsigned int frame_;
+	SequenceSyncHelper syncHelper_;
+};
+
+class RkISP2CameraConfiguration : public CameraConfiguration
+{
+public:
+	RkISP2CameraConfiguration(const RkISP2CameraData *data);
+
+	Status validate() override;
+
+	const V4L2SubdeviceFormat &sensorFormat() { return sensorFormat_; }
+
+private:
+	const RkISP2CameraData *data_;
+
+	V4L2SubdeviceFormat sensorFormat_;
+};
+
+namespace {
+
+/*
+ * This many internal buffers (or rather parameter and statistics buffer
+ * pairs) ensures that the pipeline runs smoothly, without frame drops.
+ */
+static constexpr unsigned int kRkISP2MinBufferCount = 4;
+
+} /* namespace */
+
+class PipelineHandlerRkISP2 : public PipelineHandler
+{
+public:
+	PipelineHandlerRkISP2(CameraManager *manager);
+
+	std::unique_ptr<CameraConfiguration>
+	generateConfiguration(Camera *camera,
+			      Span<const StreamRole> roles) override;
+
+	int configure(Camera *camera, CameraConfiguration *config) override;
+
+	int exportFrameBuffers(Camera *camera, Stream *stream,
+			       std::vector<std::unique_ptr<FrameBuffer>> *buffers) override;
+
+	int start(Camera *camera, const ControlList *controls) override;
+	void stopDevice(Camera *camera) override;
+
+	int queueRequestDevice(Camera *camera, Request *request) override;
+
+	bool match(DeviceEnumerator *enumerator) override;
+
+private:
+	RkISP2CameraData *cameraData(Camera *camera)
+	{
+		return static_cast<RkISP2CameraData *>(camera->_d());
+	}
+
+	int updateControls(RkISP2CameraData *data);
+	bool createCamera(bool usingIsp);
+	int processControls(RkISP2CameraData *data, const ControlList &ctrls);
+
+	int allocateBuffers(Camera *camera);
+	int freeBuffers(Camera *camera);
+
+	Size clampSensorSize(RkISP2CameraData *data, unsigned int mbus,
+			     const Size &maxSize);
+
+	std::shared_ptr<MediaDevice> media_;
+	std::unique_ptr<CameraSensor> sensor_;
+	std::unique_ptr<V4L2Subdevice> csi_;
+	std::unique_ptr<V4L2Subdevice> cif_;
+	std::unique_ptr<V4L2VideoDevice> video_;
+
+	std::shared_ptr<MediaDevice> ispMedia_;
+	std::unique_ptr<V4L2VideoDevice> rawrd_;
+	std::unique_ptr<V4L2Subdevice> isp_;
+	std::unique_ptr<V4L2VideoDevice> mainPath_;
+	std::unique_ptr<V4L2VideoDevice> param_;
+	std::unique_ptr<V4L2VideoDevice> stat_;
+};
+
+int RkISP2CameraData::init(bool usingIsp, CameraSensor *sensor,
+			   V4L2VideoDevice *video, V4L2VideoDevice *rawrd,
+			   V4L2Subdevice *isp,
+			   V4L2VideoDevice *mainPath, V4L2VideoDevice *param,
+			   V4L2VideoDevice *stat)
+{
+	usingIsp_ = usingIsp;
+	sensor_ = sensor;
+	video_ = video;
+	rawrd_ = rawrd;
+	isp_ = isp;
+	mainPath_ = mainPath;
+	param_ = param;
+	stat_ = stat;
+
+	ControlInfoMap::Map ctrls;
+
+	auto &testPatterns = sensor_->testPatternModes();
+	if (testPatterns.size()) {
+		ctrls.emplace(&controls::draft::TestPatternMode,
+			      ControlInfo(testPatterns.front(), testPatterns.back(),
+					  testPatterns.front()));
+	} else
+		LOG(RkISP2, Warning) << "Sensor doesn't support any test pattern modes";
+
+	controlInfo_ = ControlInfoMap(std::move(ctrls), controls::controls);
+
+	video_->bufferReady.connect(this, &RkISP2CameraData::vicapBufferReady);
+	if (mainPath_) {
+		rawrd_->bufferReady.connect(this, &RkISP2CameraData::rawrdBufferReady);
+		mainPath_->bufferReady.connect(this, &RkISP2CameraData::ispBufferReady);
+		stat_->bufferReady.connect(this, &RkISP2CameraData::statBufferReady);
+	}
+
+	return 0;
+}
+
+PixelFormat RkISP2CameraData::getSensorFormat(unsigned int mbusCode,
+					      const Size &size,
+					      const Size &maxSize)
+{
+	std::vector<unsigned int> mbusCodes = { mbusCode };
+	V4L2SubdeviceFormat format = sensor_->getFormat(mbusCodes, size, maxSize);
+	const auto &ret = std::find_if(rawFormats.begin(), rawFormats.end(),
+				       [format](const auto &value) { return value.second == format.code; });
+	if (ret != rawFormats.end())
+		return (*ret).first;
+
+	LOG(RkISP2, Error) << "No raw format supported by sensor";
+	return formats::SRGGB10;
+}
+
+PipelineHandlerRkISP2 *RkISP2CameraData::pipe()
+{
+	return static_cast<PipelineHandlerRkISP2 *>(Camera::Private::pipe());
+}
+
+const PipelineHandlerRkISP2 *RkISP2CameraData::pipe() const
+{
+	return static_cast<const PipelineHandlerRkISP2 *>(Camera::Private::pipe());
+}
+
+int RkISP2CameraData::loadIPA()
+{
+	ipa_ = pipe()->createIPA<ipa::rkisp2::IPAProxyRkISP2>(1, 1);
+	if (!ipa_)
+		return -ENOENT;
+
+	ipa_->paramsComputed.connect(this, &RkISP2CameraData::paramsComputed);
+	ipa_->setSensorControls.connect(this, &RkISP2CameraData::setSensorControls);
+	ipa_->metadataReady.connect(this, &RkISP2CameraData::metadataReady);
+
+	/* The IPA tuning file is made from the sensor name. */
+	std::string ipaTuningFile =
+		ipa_->configurationFile(sensor_->model() + ".yaml", "uncalibrated.yaml");
+
+	IPACameraSensorInfo sensorInfo{};
+	int ret = sensor_->sensorInfo(&sensorInfo);
+	if (ret) {
+		LOG(RkISP2, Error) << "Camera sensor information not available";
+		return ret;
+	}
+
+	ret = ipa_->init({ ipaTuningFile, sensor_->model() },
+			 sensorInfo, sensor_->controls(),
+			 &ipaControls_);
+	if (ret < 0) {
+		LOG(RkISP2, Error) << "IPA initialization failure";
+		return ret;
+	}
+
+	return 0;
+}
+
+void RkISP2CameraData::computeParamBuffers(unsigned int frame)
+{
+	while (paramQueue_->nextSequence() <= frame) {
+		if (paramQueue_->empty(BufferQueue::Idle)) {
+			LOG(RkISP2, Warning) << "Out of param buffers";
+			return;
+		}
+
+		uint32_t paramsSequence;
+		FrameBuffer *paramBuffer = paramQueue_->front(BufferQueue::Idle);
+		paramQueue_->prepareBuffer(&paramsSequence);
+		ipa_->computeParams(paramsSequence, paramBuffer->cookie());
+	}
+}
+
+void RkISP2CameraData::vicapBufferReady(FrameBuffer *buffer)
+{
+	Request *request = buffer->request();
+
+	if (!mainPath_ || isRaw_) {
+		pipe()->completeBuffer(request, buffer);
+		pipe()->completeRequest(request);
+		return;
+	}
+
+	if (buffer->metadata().status == FrameMetadata::FrameCancelled)
+		return;
+
+	rawrd_->queueBuffer(buffer);
+}
+
+void RkISP2CameraData::rawrdBufferReady(FrameBuffer *buffer)
+{
+	if (buffer->metadata().status == FrameMetadata::FrameCancelled)
+		return;
+
+	video_->queueBuffer(buffer);
+}
+
+void RkISP2CameraData::ispBufferReady(FrameBuffer *buffer)
+{
+	Request *request = buffer->request();
+
+	if (buffer->metadata().status == FrameMetadata::FrameCancelled) {
+		syncHelper_.cancelFrame();
+		pipe()->completeBuffer(request, buffer);
+		pipe()->completeRequest(request);
+		return;
+	}
+
+	RkISP2RequestInfo info = pendingCompleteRequests_.front();
+	pendingCompleteRequests_.pop_front();
+	ASSERT(info.request == buffer->request());
+
+	int droppedFrames = syncHelper_.gotFrame(info.sequence, buffer->metadata().sequence);
+	if (droppedFrames > 0) {
+		LOG(RkISP2, Debug)
+			<< "Dropped frames " << droppedFrames << " expected "
+			<< info.sequence << " got " << buffer->metadata().sequence;
+	}
+
+	pipe()->completeBuffer(request, buffer);
+	tryCompleteRequest(request, buffer);
+}
+
+void RkISP2CameraData::statBufferReady(FrameBuffer *buffer)
+{
+	size_t sequence = buffer->metadata().sequence;
+
+	if (buffer->metadata().status == FrameMetadata::FrameCancelled)
+		return;
+
+	ipa_->processStats(sequence, buffer->cookie(),
+			   delayedCtrls_->get(sequence));
+
+	stat_->queueBuffer(buffer);
+}
+
+void RkISP2CameraData::paramsComputed(unsigned int frame,
+				      unsigned int bufferId,
+				      unsigned int bytesused)
+{
+	FrameBuffer *buffer = paramQueue_->front(BufferQueue::Preparing);
+
+	ASSERT(buffer->cookie() == bufferId);
+
+	buffer->_d()->metadata().planes()[0].bytesused = bytesused;
+
+	int ret = paramQueue_->preparedBuffer();
+	if (ret < 0) {
+		LOG(RkISP2, Error)
+			<< "Failed to queue parameter buffer for frame "
+			<< frame << ": " << strerror(-ret);
+	}
+}
+
+void RkISP2CameraData::setSensorControls([[maybe_unused]] unsigned int frame,
+					 const ControlList &sensorControls)
+{
+	delayedCtrls_->push(sensorControls);
+}
+
+void RkISP2CameraData::metadataReady(const ControlList &metadata)
+{
+	tryCompleteRequest(metadata);
+}
+
+void RkISP2CameraData::tryCompleteRequest(Request *request, FrameBuffer *buffer)
+{
+	if (pendingCompleteBuffers_.empty()) {
+		pendingCompleteBuffers_.emplace_back(request, buffer);
+		return;
+	}
+
+	RkISP2FrameInfo &info = pendingCompleteBuffers_.front();
+	if (info.request != nullptr || info.mainPathBuffer != nullptr || !info.metadataProcessed) {
+		pendingCompleteBuffers_.emplace_back(request, buffer);
+		return;
+	}
+
+	info = pendingCompleteBuffers_.front();
+	request->_d()->metadata().merge(info.metadata);
+	pendingCompleteBuffers_.pop_front();
+
+	pipe()->completeRequest(request);
+}
+
+void RkISP2CameraData::tryCompleteRequest(const ControlList &metadata)
+{
+	if (pendingCompleteBuffers_.empty()) {
+		pendingCompleteBuffers_.emplace_back(nullptr, nullptr, metadata, true);
+		return;
+	}
+
+	RkISP2FrameInfo &info = pendingCompleteBuffers_.front();
+	if (!info.metadata.empty() || info.metadataProcessed) {
+		/*
+		 * Generally more metadata complete than images, so flush the
+		 * queue when adding new metadata to to the queue to prevent
+		 * metadata in the queue from becoming too old
+		 */
+		pendingCompleteBuffers_.clear();
+		pendingCompleteBuffers_.emplace_back(nullptr, nullptr, metadata, true);
+		return;
+	}
+
+	Request *request = info.request;
+	request->_d()->metadata().merge(metadata);
+	pendingCompleteBuffers_.pop_front();
+
+	pipe()->completeRequest(request);
+}
+
+RkISP2CameraConfiguration::RkISP2CameraConfiguration(const RkISP2CameraData *data)
+	: CameraConfiguration(), data_(data)
+{
+}
+
+CameraConfiguration::Status RkISP2CameraConfiguration::validate()
+{
+	const CameraSensor *sensor = data_->sensor_;
+	std::vector<unsigned int> mbusCodes;
+	Status status = Valid;
+
+	if (config_.empty())
+		return Invalid;
+
+	/*
+	 * Make sure that if a sensor configuration has been requested it
+	 * is valid.
+	 */
+	if (sensorConfig) {
+		if (!sensorConfig->isValid()) {
+			LOG(RkISP2, Error)
+				<< "Invalid sensor configuration request";
+
+			return Invalid;
+		}
+
+		unsigned int bitDepth = sensorConfig->bitDepth;
+		if (bitDepth != 8 && bitDepth != 10 && bitDepth != 12) {
+			LOG(RkISP2, Error)
+				<< "Invalid sensor configuration bit depth";
+
+			return Invalid;
+		}
+	}
+
+	/* \todo Support self path */
+	if (config_.size() != 1) {
+		config_.resize(1);
+		status = Adjusted;
+	}
+
+	StreamConfiguration &cfg = config_[0];
+
+	/* \todo Support YUV sensors */
+	const PixelFormatInfo &info = PixelFormatInfo::info(cfg.pixelFormat);
+	bool usingIsp = data_->usingIsp_;
+	if (usingIsp && info.colourEncoding == PixelFormatInfo::ColourEncodingRAW)
+		usingIsp = false;
+
+	const Size &maxSize = usingIsp ? ispMaxSize : vicapMaxSize;
+
+	if (!usingIsp) {
+		if (!rawFormats.count(cfg.pixelFormat)) {
+			cfg.pixelFormat = formats::SRGGB10;
+			status = Adjusted;
+		}
+
+		unsigned int mbusCode = rawFormats.at(cfg.pixelFormat);
+		auto sizes = sensor->sizes(mbusCode);
+
+		Size bestSize;
+		for (const Size &s : sizes) {
+			/* Ignore smaller sizes. */
+			if (s.width < cfg.size.width ||
+			    s.height < cfg.size.height)
+				continue;
+
+			/* Make sure the width stays in the limits. */
+			if (s.width > maxSize.width)
+				continue;
+
+			bestSize = s;
+			break;
+		}
+
+		if (bestSize.isNull()) {
+			LOG(RkISP2, Error) << "Unable to find a suitable sensor format";
+			return Invalid;
+		}
+
+		if (bestSize != cfg.size)
+			status = Adjusted;
+		cfg.size = bestSize;
+
+		mbusCodes = { mbusCode };
+		sensorFormat_ = sensor->getFormat(mbusCodes, cfg.size, maxSize);
+
+		ASSERT(sensorFormat_.code == mbusCode);
+		ASSERT(sensorFormat_.size == cfg.size);
+
+		return status;
+	}
+
+	if (!formatToMediaBus.count(cfg.pixelFormat)) {
+		cfg.pixelFormat = formats::UYVY;
+		status = Adjusted;
+	}
+
+	/* \todo Adjust sizes a bit better */
+	if (cfg.size > ispMaxSize) {
+		cfg.size = ispMaxSize;
+		status = Adjusted;
+	}
+	V4L2DeviceFormat format;
+	format.fourcc = data_->video_->toV4L2PixelFormat(cfg.pixelFormat);
+	format.size = cfg.size;
+
+	int ret = data_->mainPath_->tryFormat(&format);
+	if (ret)
+		return Invalid;
+
+	cfg.bufferCount = 4;
+
+	std::transform(rawFormats.begin(), rawFormats.end(),
+		       std::back_inserter(mbusCodes),
+		       [](const auto &value) { return value.second; });
+	sensorFormat_ = sensor->getFormat(mbusCodes, cfg.size, maxSize);
+	if (sensorFormat_.size.isNull())
+		status = Invalid;
+
+	return status;
+}
+
+PipelineHandlerRkISP2::PipelineHandlerRkISP2(CameraManager *manager)
+	: PipelineHandler(manager)
+{
+}
+
+Size PipelineHandlerRkISP2::clampSensorSize(RkISP2CameraData *data, unsigned int mbus,
+					    const Size &maxSize)
+{
+	const std::vector<Size> &sizes = data->sensor_->sizes(mbus);
+
+	for (auto it = sizes.rbegin(); it != sizes.rend(); ++it) {
+		if (it->width <= maxSize.width &&
+		    it->height <= maxSize.height)
+			return *it;
+	}
+
+	return *sizes.begin();
+}
+
+std::unique_ptr<CameraConfiguration>
+PipelineHandlerRkISP2::generateConfiguration(Camera *camera,
+					     Span<const StreamRole> roles)
+{
+	RkISP2CameraData *data = cameraData(camera);
+	auto config = std::make_unique<RkISP2CameraConfiguration>(data);
+	if (roles.empty())
+		return config;
+
+	if (roles.size() > 1) {
+		LOG(RkISP2, Error) << "Too many roles requested";
+		return config;
+	}
+
+	const StreamRole &role = roles[0];
+
+	bool isRaw = !data->usingIsp_ || role == StreamRole::Raw;
+	Size maxSize = isRaw ? vicapMaxSize : ispMaxSize;
+
+	Size defaultSize = { 1920, 1080 };
+	unsigned int defaultMbusCode = MEDIA_BUS_FMT_SRGGB10_1X10;
+	PixelFormat rawFormat = data->getSensorFormat(defaultMbusCode,
+						      defaultSize, maxSize);
+
+	/* Enumerate formats */
+	std::vector<SizeRange> sizes = { { Size(32, 32), maxSize } };
+	auto makeStream = [sizes](auto const &pair) {
+		return std::make_pair(pair.first, sizes);
+	};
+	std::map<PixelFormat, std::vector<SizeRange>> streamFormats;
+	std::transform(formatToMediaBus.begin(), formatToMediaBus.end(),
+		       std::inserter(streamFormats, streamFormats.end()),
+		       makeStream);
+	std::transform(rawFormats.begin(), rawFormats.end(),
+		       std::inserter(streamFormats, streamFormats.end()),
+		       makeStream);
+
+	StreamFormats formats(streamFormats);
+	StreamConfiguration cfg(formats);
+	/* UYVY is always supported by this ISP */
+	cfg.pixelFormat = isRaw ? rawFormat : formats::UYVY;
+	cfg.size = clampSensorSize(data, defaultMbusCode, maxSize);
+	cfg.colorSpace = isRaw ? ColorSpace::Raw : ColorSpace::Sycc;
+	cfg.bufferCount = 4;
+
+	config->addConfiguration(cfg);
+
+	config->validate();
+
+	return config;
+}
+
+int PipelineHandlerRkISP2::configure(Camera *camera,
+				     CameraConfiguration *c)
+{
+	RkISP2CameraData *data = cameraData(camera);
+	RkISP2CameraConfiguration *config =
+		static_cast<RkISP2CameraConfiguration *>(c);
+	/* \todo Support multiple streams */
+	StreamConfiguration &cfg = config->at(0);
+	int ret;
+
+	const PixelFormatInfo &info = PixelFormatInfo::info(cfg.pixelFormat);
+	data->isRaw_ = info.colourEncoding == PixelFormatInfo::ColourEncodingRAW;
+
+	V4L2SubdeviceFormat format = config->sensorFormat();
+	LOG(RkISP2, Debug) << "Configuring sensor with " << format;
+
+	if (config->sensorConfig)
+		ret = sensor_->applyConfiguration(*config->sensorConfig,
+						  Transform::Identity, &format);
+	else
+		ret = sensor_->setFormat(&format);
+	if (ret < 0)
+		return ret;
+
+	LOG(RkISP2, Debug) << "Sensor configured with " << format;
+
+	LOG(RkISP2, Debug) << "Configuring CSI with : " << format;
+	ret = csi_->setFormat(0, &format);
+	if (ret)
+		return ret;
+
+	LOG(RkISP2, Debug) << "Configuring VICAP with : " << format;
+	ret = cif_->setFormat(0, &format);
+	if (ret)
+		return ret;
+
+	ret = cif_->setFormat(1, &format);
+	if (ret)
+		return ret;
+
+	Size maxSize = data->isRaw_ ? vicapMaxSize : ispMaxSize;
+	PixelFormat vicapPixelFormat =
+		data->getSensorFormat(format.code, format.size, maxSize);
+
+	V4L2DeviceFormat vicapOutputFormat;
+	vicapOutputFormat.fourcc = video_->toV4L2PixelFormat(vicapPixelFormat);
+	vicapOutputFormat.size = format.size;
+
+	LOG(RkISP2, Debug) << "Configuring VICAP capture node with : " << vicapOutputFormat;
+	ret = data->video_->setFormat(&vicapOutputFormat);
+	if (ret)
+		return ret;
+
+	if (!data->usingIsp_ || data->isRaw_) {
+		cfg.setStream(&data->stream_);
+		cfg.stride = vicapOutputFormat.planes[0].bpl;
+		return 0;
+	}
+
+	/*
+	 * \todo Figure out if these should go in the pipeline handler
+	 * or camera data
+	 */
+	LOG(RkISP2, Debug) << "Configuring rawrd0 with: " << vicapOutputFormat;
+	ret = rawrd_->setFormat(&vicapOutputFormat);
+	if (ret)
+		return ret;
+
+	LOG(RkISP2, Debug) << "Configuring ISP input with: " << format;
+	ret = isp_->setFormat(0, &format);
+	if (ret)
+		return ret;
+
+	Rectangle ispInCrop(0, 0, format.size);
+	LOG(RkISP2, Debug) << "Configuring ISP sink crop with: " << ispInCrop;
+	ret = isp_->setSelection(0, V4L2_SEL_TGT_CROP, &ispInCrop);
+	if (ret)
+		return ret;
+
+	format.code = formatToMediaBus.at(cfg.pixelFormat);
+	format.size = cfg.size;
+	LOG(RkISP2, Debug) << "Configuring ISP output with: " << format;
+	ret = isp_->setFormat(1, &format);
+	if (ret)
+		return ret;
+
+	Rectangle ispOutCrop(0, 0, cfg.size);
+	LOG(RkISP2, Debug) << "Configuring ISP source crop with: " << ispOutCrop;
+	ret = isp_->setSelection(2, V4L2_SEL_TGT_CROP, &ispOutCrop);
+	if (ret)
+		return ret;
+
+	V4L2DeviceFormat outputFormat;
+	outputFormat.fourcc = mainPath_->toV4L2PixelFormat(cfg.pixelFormat);
+	outputFormat.size = cfg.size;
+
+	LOG(RkISP2, Debug) << "Configuring main path with: " << outputFormat;
+	ret = mainPath_->setFormat(&outputFormat);
+	if (ret)
+		return ret;
+
+	if (outputFormat.size != cfg.size ||
+	    outputFormat.fourcc != data->mainPath_->toV4L2PixelFormat(cfg.pixelFormat)) {
+		LOG(RkISP2, Error)
+			<< "Unable to configure capture in " << cfg.toString();
+		return -EINVAL;
+	}
+
+	cfg.setStream(&data->stream_);
+	cfg.stride = outputFormat.planes[0].bpl;
+
+	V4L2DeviceFormat paramFormat;
+	paramFormat.fourcc = V4L2PixelFormat(V4L2_META_FMT_RKISP2_PARAMS);
+	ret = param_->setFormat(&paramFormat);
+	if (ret)
+		return ret;
+
+	V4L2DeviceFormat statFormat;
+	statFormat.fourcc = V4L2PixelFormat(V4L2_META_FMT_RKISP2_STATS);
+	ret = stat_->setFormat(&statFormat);
+	if (ret)
+		return ret;
+
+	IPACameraSensorInfo sensorInfo;
+	ret = data->sensor_->sensorInfo(&sensorInfo);
+	if (ret)
+		return ret;
+
+	int colorSpaceEncoding = -1;
+	int colorSpaceRange = -1;
+	if (cfg.colorSpace) {
+		colorSpaceEncoding = static_cast<int>(cfg.colorSpace->ycbcrEncoding);
+		colorSpaceRange = static_cast<int>(cfg.colorSpace->range);
+	}
+
+	/* Inform IPA of stream configuration and sensor controls. */
+	ipa::rkisp2::IPAConfigInfo ipaConfig{ sensorInfo,
+					      data->sensor_->controls(),
+					      colorSpaceEncoding,
+					      colorSpaceRange };
+
+	ret = data->ipa_->configure(ipaConfig, &data->ipaControls_);
+	if (ret) {
+		LOG(RkISP2, Error) << "failed configuring IPA (" << ret << ")";
+		return ret;
+	}
+
+	return updateControls(data);
+}
+
+int PipelineHandlerRkISP2::exportFrameBuffers(Camera *camera, Stream *stream,
+					      std::vector<std::unique_ptr<FrameBuffer>> *buffers)
+{
+	unsigned int count = stream->configuration().bufferCount;
+	RkISP2CameraData *data = cameraData(camera);
+
+	if (!data->usingIsp_ || data->isRaw_)
+		return data->video_->exportBuffers(count, buffers);
+
+	return data->mainPath_->exportBuffers(count, buffers);
+}
+
+int PipelineHandlerRkISP2::start(Camera *camera,
+				 const ControlList *controls)
+{
+	RkISP2CameraData *data = cameraData(camera);
+	unsigned int count = data->stream_.configuration().bufferCount;
+	bool useMP = data->usingIsp_ && !data->isRaw_;
+	utils::ScopeExitActions actions;
+	int ret;
+
+	data->frame_ = 0;
+
+	LOG(RkISP2, Debug) << (useMP ? "Using" : "Not using") << " main path";
+
+	if (useMP) {
+		/* Allocate buffers for params and stats */
+		ret = allocateBuffers(camera);
+		if (ret) {
+			LOG(RkISP2, Error) << "Failed to allocate buffers";
+			return ret;
+		}
+		actions += [&]() { freeBuffers(camera); };
+
+		/* \todo Support start controls */
+		ret = data->ipa_->start();
+		if (ret) {
+			LOG(RkISP2, Error)
+				<< "Failed to start IPA " << camera->id();
+			return ret;
+		}
+		actions += [&]() { data->ipa_->stop(); };
+
+		ret = data->param_->streamOn();
+		if (ret) {
+			LOG(RkISP2, Error)
+				<< "Failed to start parameters " << camera->id();
+			return ret;
+		}
+		actions += [&]() { data->param_->streamOff(); };
+	}
+
+	ret = data->video_->importBuffers(kRkISP2MinBufferCount);
+	if (ret < 0) {
+		LOG(RkISP2, Error) << "Failed to import buffers to vicap";
+		return ret;
+	}
+
+	actions += [&]() { data->video_->releaseBuffers(); };
+
+	if (useMP) {
+		ret = data->rawrd_->importBuffers(count);
+		if (ret < 0) {
+			LOG(RkISP2, Error) << "Failed to import buffers to rawrd";
+			return ret;
+		}
+
+		actions += [&]() { data->rawrd_->releaseBuffers(); };
+
+		ret = data->mainPath_->importBuffers(count);
+		if (ret < 0) {
+			LOG(RkISP2, Error) << "Failed to import buffers to main path";
+			return ret;
+		}
+
+		actions += [&]() { data->mainPath_->releaseBuffers(); };
+
+		auto queueBuffers = [&](const std::vector<std::unique_ptr<FrameBuffer>> &buffers,
+					V4L2VideoDevice *device, std::string_view name) {
+			for (const std::unique_ptr<FrameBuffer> &buffer : buffers) {
+				ret = device->queueBuffer(buffer.get());
+				if (ret < 0) {
+					LOG(RkISP2, Warning)
+						<< "Failed to queue buffer "
+						<< &buffer << " to " << name
+						<< ": " << ret;
+				}
+			}
+		};
+
+		queueBuffers(data->internalBuffers_, data->video_, "vicap");
+		queueBuffers(data->statBuffers_, data->stat_, "stat");
+	}
+
+	ret = data->video_->streamOn();
+	if (ret < 0)
+		return ret;
+
+	actions += [&]() { data->video_->streamOff(); };
+
+	if (useMP) {
+		ret = data->rawrd_->streamOn();
+		if (ret < 0)
+			return ret;
+
+		actions += [&]() { data->rawrd_->streamOff(); };
+
+		ret = data->stat_->streamOn();
+		if (ret) {
+			LOG(RkISP2, Error)
+				<< "Failed to start stats " << camera->id();
+			return ret;
+		}
+		actions += [&]() { data->stat_->streamOff(); };
+
+		ret = data->mainPath_->streamOn();
+		if (ret < 0)
+			return ret;
+
+		actions += [&]() { data->mainPath_->streamOff(); };
+	}
+
+	if (controls) {
+		ret = processControls(data, *controls);
+		if (ret < 0)
+			return ret;
+	}
+
+	if (useMP)
+		data->isp_->setFrameStartEnabled(true);
+
+	actions.release();
+	return 0;
+}
+
+void PipelineHandlerRkISP2::stopDevice(Camera *camera)
+{
+	RkISP2CameraData *data = cameraData(camera);
+	bool useMP = data->usingIsp_ && !data->isRaw_;
+
+	if (useMP)
+		data->isp_->setFrameStartEnabled(false);
+
+	data->video_->streamOff();
+	data->video_->releaseBuffers();
+
+	if (!useMP)
+		return;
+
+	data->ipa_->stop();
+
+	data->rawrd_->streamOff();
+	data->rawrd_->releaseBuffers();
+
+	data->mainPath_->streamOff();
+	data->mainPath_->releaseBuffers();
+
+	data->stat_->streamOff();
+	data->stat_->releaseBuffers();
+
+	data->param_->streamOff();
+
+	data->internalBuffers_.clear();
+	data->statBuffers_.clear();
+	freeBuffers(camera);
+}
+
+int PipelineHandlerRkISP2::queueRequestDevice(Camera *camera, Request *request)
+{
+	RkISP2CameraData *data = cameraData(camera);
+	FrameBuffer *buffer = request->findBuffer(&data->stream_);
+	if (!buffer) {
+		LOG(RkISP2, Error)
+			<< "Attempt to queue request with invalid stream";
+		return -ENOENT;
+	}
+
+	int ret = processControls(data, request->controls());
+	if (ret < 0)
+		return ret;
+
+	if (!data->usingIsp_ || data->isRaw_)
+		return data->video_->queueBuffer(buffer);
+
+	int correction = data->syncHelper_.correction();
+	data->frame_ += correction;
+	data->syncHelper_.pushCorrection(correction);
+
+	data->pendingCompleteRequests_.push_back({ request, data->frame_, true });
+
+	data->ipa_->queueRequest(data->frame_, request->controls());
+	data->computeParamBuffers(data->frame_);
+	data->frame_++;
+
+	return data->mainPath_->queueBuffer(buffer);
+}
+
+int PipelineHandlerRkISP2::updateControls(RkISP2CameraData *data)
+{
+	ControlInfoMap::Map controls;
+
+	/* Add the pipeline handler registered controls to list of camera controls. */
+	for (const auto &phControl : data->controlInfo_)
+		controls[phControl.first] = phControl.second;
+
+	/* Add the IPA registered controls to list of camera controls. */
+	for (const auto &ipaControl : data->ipaControls_)
+		controls[ipaControl.first] = ipaControl.second;
+
+	data->controlInfo_ = ControlInfoMap(std::move(controls),
+					    controls::controls);
+
+	return 0;
+}
+
+bool PipelineHandlerRkISP2::createCamera(bool usingIsp)
+{
+	std::unique_ptr<RkISP2CameraData> data =
+		std::make_unique<RkISP2CameraData>(this, media_.get());
+	if (data->init(usingIsp, sensor_.get(), video_.get(), rawrd_.get(),
+		       isp_.get(), mainPath_.get(), param_.get(), stat_.get())) {
+		LOG(RkISP2, Error) << "Failed to initialize data";
+		return false;
+	}
+
+	/* Initialize the camera properties. */
+	data->properties_ = data->sensor_->properties();
+
+	const CameraSensorProperties::SensorDelays &delays = data->sensor_->sensorDelays();
+	std::unordered_map<uint32_t, DelayedControls::ControlParams> params = {
+		{ V4L2_CID_ANALOGUE_GAIN, { delays.gainDelay, false } },
+		{ V4L2_CID_EXPOSURE, { delays.exposureDelay, false } },
+		{ V4L2_CID_VBLANK, { delays.vblankDelay, true } },
+	};
+
+	if (usingIsp) {
+		data->delayedCtrls_ =
+			std::make_unique<DelayedControls>(data->sensor_->device(),
+							  params);
+		isp_->frameStart.connect(data->delayedCtrls_.get(),
+					 &DelayedControls::applyControls);
+
+		int ret = data->loadIPA();
+		if (ret) {
+			LOG(RkISP2, Error) << "Failed to load IPA";
+			return false;
+		}
+
+		updateControls(data.get());
+
+		data->paramQueue_ =
+			std::make_unique<BufferQueue>(std::make_unique<BufferQueueDelegate<V4L2VideoDevice>>(param_.get()),
+						      BufferQueue::PrepareStage, "Params");
+	}
+
+	const std::string &id = data->sensor_->id();
+	std::set<Stream *> streams{ &data->stream_ };
+	std::shared_ptr<Camera> camera =
+		Camera::create(std::move(data), id, streams);
+	registerCamera(std::move(camera));
+
+	LOG(RkISP2, Debug)
+		<< "RkISP2 device registered "
+		<< (usingIsp ? "with" : "without") << " ISP";
+
+	return true;
+}
+
+bool PipelineHandlerRkISP2::match(DeviceEnumerator *enumerator)
+{
+	DeviceMatch dm("rockchip-cif");
+	/* \todo Generalize this for the other csi ports */
+	/*
+	 * I think we will have one camera per csi port, and then 4 streams
+	 * each that correspond to the 4 channels. Not sure how to handle
+	 * routing to the ISP though. For now we'll just assume one camera.
+	 */
+	dm.add("rkcif-mipi2");
+	/* \todo Generalize this for the other channels */
+	dm.add("rkcif-mipi2-id0");
+	dm.add("dw-mipi-csi2rx fdd30000.csi");
+
+	media_ = acquireMediaDevice(enumerator, dm);
+	if (!media_)
+		return false;
+
+	csi_ = V4L2Subdevice::fromEntityName(media_.get(), "dw-mipi-csi2rx fdd30000.csi");
+	if (!csi_ || csi_->open() < 0) {
+		LOG(RkISP2, Error) << "Failed to open csi";
+		return false;
+	}
+
+	cif_ = V4L2Subdevice::fromEntityName(media_.get(), "rkcif-mipi2");
+	if (!cif_ || cif_->open() < 0) {
+		LOG(RkISP2, Error) << "Failed to open cif";
+		return false;
+	}
+
+	/* \todo Support multiple streams */
+	video_ = V4L2VideoDevice::fromEntityName(media_.get(), "rkcif-mipi2-id0");
+	if (!video_ || video_->open() < 0) {
+		LOG(RkISP2, Error) << "Failed to open capture device";
+		return false;
+	}
+
+	for (MediaEntity *entity : media_->locateEntities(MEDIA_ENT_F_CAM_SENSOR)) {
+		LOG(RkISP2, Debug) << "Identified " << entity->name();
+		sensor_ = CameraSensorFactoryBase::create(entity);
+		/* Just get the first sensor for now */
+		if (sensor_)
+			break;
+	}
+
+	if (!sensor_) {
+		LOG(RkISP2, Error) << "Failed to find sensor";
+		return false;
+	}
+
+	const GlobalConfiguration &configuration = cameraManager()->_d()->configuration();
+	bool usingIsp = configuration.configuration()["pipelines"]["rkisp2"]["isp_enable"].get<bool>(true);
+	if (!usingIsp) {
+		LOG(RkISP2, Info) << "ISP disabled in configuration file";
+		return createCamera(usingIsp);
+	}
+
+	/* Match ISP */
+
+	DeviceMatch dmIsp("rkisp2");
+	dmIsp.add("rkisp2_isp");
+	/* \todo Generalize this for the other channels */
+	dmIsp.add("rkisp2_rawrd0");
+	/* \todo Support self path */
+	dmIsp.add("rkisp2_mainpath");
+
+	ispMedia_ = acquireMediaDevice(enumerator, dmIsp);
+	if (!ispMedia_) {
+		usingIsp = false;
+		LOG(RkISP2, Debug) << "ISP not found";
+		return createCamera(usingIsp);
+	}
+
+	/* \todo Support the other rawrd nodes */
+	rawrd_ = V4L2VideoDevice::fromEntityName(ispMedia_.get(), "rkisp2_rawrd0");
+	if (!rawrd_ || rawrd_->open() < 0) {
+		LOG(RkISP2, Error) << "Failed to open rkisp2 rawrd device";
+		return false;
+	}
+
+	isp_ = V4L2Subdevice::fromEntityName(ispMedia_.get(), "rkisp2_isp");
+	if (!isp_ || isp_->open() < 0) {
+		LOG(RkISP2, Error) << "Failed to open rkisp2 isp";
+		return false;
+	}
+
+	/* \todo Support self path */
+	mainPath_ = V4L2VideoDevice::fromEntityName(ispMedia_.get(), "rkisp2_mainpath");
+	if (!mainPath_ || mainPath_->open() < 0) {
+		LOG(RkISP2, Error) << "Failed to open rkisp2 main path";
+		return false;
+	}
+
+	param_ = V4L2VideoDevice::fromEntityName(ispMedia_.get(), "rkisp2_params");
+	if (!param_ || param_->open() < 0) {
+		LOG(RkISP2, Error) << "Failed to open rkisp2 params";
+		return false;
+	}
+
+	stat_ = V4L2VideoDevice::fromEntityName(ispMedia_.get(), "rkisp2_stats");
+	if (!stat_ || stat_->open() < 0) {
+		LOG(RkISP2, Error) << "Failed to open rkisp2 stats";
+		return false;
+	}
+
+	return createCamera(true);
+}
+
+int PipelineHandlerRkISP2::processControls(RkISP2CameraData *data, const ControlList &ctrls)
+{
+	const auto &testPattern = ctrls.get(controls::draft::TestPatternMode);
+	if (testPattern)
+		data->sensor_->setTestPatternMode(static_cast<controls::draft::TestPatternModeEnum>(*testPattern));
+
+	return 0;
+}
+
+/* This is only called when using the ISP */
+int PipelineHandlerRkISP2::allocateBuffers(Camera *camera)
+{
+	RkISP2CameraData *data = cameraData(camera);
+	unsigned int ipaBufferId = 1;
+	utils::ScopeExitActions actions;
+
+	int ret = data->video_->exportBuffers(kRkISP2MinBufferCount, &data->internalBuffers_);
+	if (ret < 0)
+		return ret;
+
+	actions += [&]() { data->video_->releaseBuffers(); };
+
+	ret = data->stat_->allocateBuffers(kRkISP2MinBufferCount, &data->statBuffers_);
+	if (ret < 0)
+		return ret;
+
+	actions += [&]() { data->stat_->releaseBuffers(); };
+
+	ret = data->paramQueue_->allocateBuffers(kRkISP2MinBufferCount);
+	if (ret < 0)
+		return ret;
+
+	actions += [&]() { data->paramQueue_->releaseBuffers(); };
+
+	auto pushBuffers = [&](const std::vector<std::unique_ptr<FrameBuffer>> &buffers) {
+		for (const std::unique_ptr<FrameBuffer> &buffer : buffers) {
+			Span<const FrameBuffer::Plane> planes = buffer->planes();
+
+			buffer->setCookie(ipaBufferId++);
+			data->ipaBuffers_.emplace_back(buffer->cookie(),
+						       std::vector<FrameBuffer::Plane>{ planes.begin(),
+											planes.end() });
+		}
+	};
+
+	pushBuffers(data->paramQueue_->buffers());
+	pushBuffers(data->statBuffers_);
+
+	data->ipa_->mapBuffers(data->ipaBuffers_);
+
+	actions.release();
+	return 0;
+}
+
+int PipelineHandlerRkISP2::freeBuffers(Camera *camera)
+{
+	RkISP2CameraData *data = cameraData(camera);
+
+	std::vector<unsigned int> ids;
+	for (IPABuffer &ipabuf : data->ipaBuffers_)
+		ids.push_back(ipabuf.id);
+
+	data->ipa_->unmapBuffers(ids);
+	data->ipaBuffers_.clear();
+
+	data->paramQueue_->releaseBuffers();
+
+	return 0;
+}
+
+REGISTER_PIPELINE_HANDLER(PipelineHandlerRkISP2, "rkisp2")
+
+} /* namespace libcamera */