@@ -16,6 +16,7 @@
#include <libcamera/stream.h>
#include "device_enumerator.h"
+#include "geometry.h"
#include "log.h"
#include "media_device.h"
#include "pipeline_handler.h"
@@ -29,6 +30,11 @@ LOG_DEFINE_CATEGORY(IPU3)
class ImgUDevice {
public:
+ static constexpr unsigned int PAD_INPUT = 0;
+ static constexpr unsigned int PAD_OUTPUT = 2;
+ static constexpr unsigned int PAD_VF = 3;
+ static constexpr unsigned int PAD_STAT = 4;
+
ImgUDevice()
: imgu(nullptr), input(nullptr), output(nullptr),
viewfinder(nullptr), stat(nullptr)
@@ -134,6 +140,13 @@ private:
int initImgU(ImgUDevice *imgu);
+ int setImguFormat(ImgUDevice *imguDevice,
+ const StreamConfiguration &config,
+ Rectangle *rect);
+ int setCIO2Format(CIO2Device *cio2Device,
+ const StreamConfiguration &config,
+ V4L2SubdeviceFormat *format);
+
void registerCameras();
ImgUDevice imgus_[IPU3_IMGU_COUNT];
@@ -206,60 +219,86 @@ int PipelineHandlerIPU3::configureStreams(Camera *camera,
std::map<Stream *, StreamConfiguration> &config)
{
IPU3CameraData *data = cameraData(camera);
- StreamConfiguration *cfg = &config[&data->stream_];
- V4L2Subdevice *sensor = data->cio2.sensor;
- V4L2Subdevice *csi2 = data->cio2.csi2;
+ const StreamConfiguration &cfg = config[&data->stream_];
+ V4L2Device *viewfinder = data->imgu->viewfinder;
+ V4L2Device *output = data->imgu->output;
+ V4L2Device *input = data->imgu->input;
V4L2Device *cio2 = data->cio2.output;
- V4L2SubdeviceFormat subdevFormat = {};
- V4L2DeviceFormat devFormat = {};
int ret;
+ LOG(IPU3, Info)
+ << "Requested image format: " << cfg.width << "x"
+ << cfg.height << " - " << std::hex << std::setw(8)
+ << cfg.pixelFormat << " on camera:'" << camera->name() << "'";
+
/*
- * FIXME: as of now, the format gets applied to the sensor and is
- * propagated along the pipeline. It should instead be applied on the
- * capture device and the sensor format calculated accordingly.
+ * Verify that the requested size respects the IPU3 alignement
+ * requirements: the image width shall be a multiple of 8 pixels and
+ * its height a multiple of 4 pixels.
+ *
+ * \todo: consider the BDS scaling factor requirements:
+ * "the downscaling factor must be an integer value multiple of 1/32"
*/
+ if (cfg.width % 8 || cfg.height % 4) {
+ LOG(IPU3, Error) << "Stream format not support: bad alignement";
+ return -EINVAL;
+ }
- ret = sensor->getFormat(0, &subdevFormat);
+ /*
+ * Pass the requested output image size to the sensor and get back the
+ * adjusted one to be propagated to the CIO2 device and to the ImgU
+ * input.
+ */
+ V4L2SubdeviceFormat sensorFormat = {};
+ ret = setCIO2Format(&data->cio2, cfg, &sensorFormat);
if (ret)
return ret;
- subdevFormat.width = cfg->width;
- subdevFormat.height = cfg->height;
- ret = sensor->setFormat(0, &subdevFormat);
+ /* Apply the CIO2 image format to the CIO2 output and ImgU input. */
+ V4L2DeviceFormat cio2Format = {};
+ cio2Format.width = sensorFormat.width;
+ cio2Format.height = sensorFormat.height;
+ cio2Format.fourcc = mediaBusToCIO2Format(sensorFormat.mbus_code);
+ cio2Format.planesCount = 1;
+ ret = cio2->setFormat(&cio2Format);
if (ret)
return ret;
- /* Return error if the requested format cannot be applied to sensor. */
- if (subdevFormat.width != cfg->width ||
- subdevFormat.height != cfg->height) {
- LOG(IPU3, Error)
- << "Failed to apply image format "
- << subdevFormat.width << "x" << subdevFormat.height
- << " - got: " << cfg->width << "x" << cfg->height;
- return -EINVAL;
- }
+ LOG(IPU3, Debug)
+ << "CIO2 output format = " << cio2Format.toString();
- ret = csi2->setFormat(0, &subdevFormat);
+ ret = input->setFormat(&cio2Format);
if (ret)
return ret;
- ret = cio2->getFormat(&devFormat);
+ /* Apply pad formats and crop/compose rectangle to the ImgU. */
+ Rectangle rect = {
+ .x = 0,
+ .y = 0,
+ .w = cio2Format.width,
+ .h = cio2Format.height,
+ };
+ ret = setImguFormat(data->imgu, cfg, &rect);
if (ret)
return ret;
- devFormat.width = subdevFormat.width;
- devFormat.height = subdevFormat.height;
- devFormat.fourcc = cfg->pixelFormat;
+ /* Apply the format to the ImgU output and viewfinder devices. */
+ V4L2DeviceFormat outputFormat = {};
+ outputFormat.width = cfg.width;
+ outputFormat.height = cfg.height;
+ outputFormat.fourcc = V4L2_PIX_FMT_NV12;
+ outputFormat.planesCount = 2;
- ret = cio2->setFormat(&devFormat);
+ ret = output->setFormat(&outputFormat);
if (ret)
return ret;
- LOG(IPU3, Info) << cio2->driverName() << ": "
- << devFormat.width << "x" << devFormat.height
- << "- 0x" << std::hex << devFormat.fourcc << " planes: "
- << devFormat.planes;
+ LOG(IPU3, Debug)
+ << "ImgU output format = " << outputFormat.toString();
+
+ ret = viewfinder->setFormat(&outputFormat);
+ if (ret)
+ return ret;
return 0;
}
@@ -682,6 +721,125 @@ void PipelineHandlerIPU3::deleteCIO2(CIO2Device *cio2)
delete cio2->sensor;
}
+int PipelineHandlerIPU3::setImguFormat(ImgUDevice *imguDevice,
+ const StreamConfiguration &config,
+ Rectangle *rect)
+{
+ V4L2Subdevice *imgu = imguDevice->imgu;
+ int ret;
+
+ /*
+ * Configure the 'imgu' subdevice with the requested sizes.
+ *
+ * FIXME: the IPU3 driver implementation shall be changed to use the
+ * actual input sizes as 'imgu input' subdevice sizes, and use the
+ * desired output sizes to configure the crop/compose rectangles. The
+ * current implementation uses output sizes as 'imgu input' sizes, and
+ * uses the input dimension to configure the crop/compose rectangles,
+ * which contradicts the V4L2 specifications.
+ */
+ ret = imgu->setCrop(ImgUDevice::PAD_INPUT, rect);
+ if (ret)
+ return ret;
+
+ ret = imgu->setCompose(ImgUDevice::PAD_INPUT, rect);
+ if (ret)
+ return ret;
+
+ LOG(IPU3, Debug)
+ << "ImgU input feeder and BDS rectangle = (0,0)/"
+ << rect->w << "x" << rect->h;
+
+ V4L2SubdeviceFormat imguFormat = {};
+ imguFormat.width = config.width;
+ imguFormat.height = config.height;
+ imguFormat.mbus_code = MEDIA_BUS_FMT_FIXED;
+
+ ret = imgu->setFormat(ImgUDevice::PAD_INPUT, &imguFormat);
+ if (ret)
+ return ret;
+
+ ret = imgu->setFormat(ImgUDevice::PAD_OUTPUT, &imguFormat);
+ if (ret)
+ return ret;
+
+ LOG(IPU3, Debug)
+ << "ImgU GDC format = " << imguFormat.toString();
+
+ ret = imgu->setFormat(ImgUDevice::PAD_VF, &imguFormat);
+ if (ret)
+ return ret;
+
+ ret = imgu->setFormat(ImgUDevice::PAD_STAT, &imguFormat);
+ if (ret)
+ return ret;
+
+ return 0;
+}
+
+int PipelineHandlerIPU3::setCIO2Format(CIO2Device *cio2Device,
+ const StreamConfiguration &config,
+ V4L2SubdeviceFormat *format)
+{
+ unsigned int imageSize = config.width * config.height;
+ V4L2Subdevice *sensor = cio2Device->sensor;
+ V4L2Subdevice *csi2 = cio2Device->csi2;
+ unsigned int best = ~0;
+ bool found = false;
+ int ret;
+
+ const SubdevFormatEnum formats = sensor->formats(0);
+ for (auto it = formats.begin(); it != formats.end(); ++it) {
+ /* Only consider formats consumable by the CIO2 unit. */
+ int cio2Code = mediaBusToCIO2Format(it->first);
+ if (cio2Code == -EINVAL)
+ continue;
+
+ for (const SizeRange &size : it->second) {
+ /*
+ * Only select formats bigger than the requested sizes
+ * as the IPU3 cannot up-scale.
+ */
+ if (size.maxWidth < config.width ||
+ size.maxHeight < config.height)
+ continue;
+
+ unsigned int diff = size.maxWidth * size.maxHeight
+ - imageSize;
+ if (diff >= best)
+ continue;
+
+ best = diff;
+ found = true;
+
+ format->width = size.maxWidth;
+ format->height = size.maxHeight;
+ format->mbus_code = it->first;
+ }
+ }
+ if (!found) {
+ LOG(IPU3, Error)
+ << "Unable to find image format suitable to produce: "
+ << config.width << "x" << config.height
+ << "- 0x" << std::hex << std::setfill('0')
+ << std::setw(8) << config.pixelFormat;
+ return -EINVAL;
+ }
+
+ /* Apply the selected format to the sensor and the CSI-2 receiver. */
+ ret = sensor->setFormat(0, format);
+ if (ret)
+ return ret;
+
+ ret = csi2->setFormat(0, format);
+ if (ret)
+ return ret;
+
+ LOG(IPU3, Debug) << "CIO2 Image format: " << format->toString();
+
+ return 0;
+}
+
/*
* Cameras are created associating an image sensor (represented by a
* media entity with function MEDIA_ENT_F_CAM_SENSOR) to one of the four
Apply the requested image format to the sensor device, and apply the adjusted one to the CIO2 device, the ImgU subdevice and its input and output video devices. Signed-off-by: Jacopo Mondi <jacopo@jmondi.org> --- src/libcamera/pipeline/ipu3/ipu3.cpp | 220 +++++++++++++++++++++++---- 1 file changed, 189 insertions(+), 31 deletions(-)