diff options
| -rw-r--r-- | src/libcamera/pipeline/meson.build | 1 | ||||
| -rw-r--r-- | src/libcamera/pipeline/rkisp1/meson.build | 3 | ||||
| -rw-r--r-- | src/libcamera/pipeline/rkisp1/rkisp1.cpp | 450 |
3 files changed, 454 insertions, 0 deletions
diff --git a/src/libcamera/pipeline/meson.build b/src/libcamera/pipeline/meson.build index 40bb2640..0d466225 100644 --- a/src/libcamera/pipeline/meson.build +++ b/src/libcamera/pipeline/meson.build @@ -4,3 +4,4 @@ libcamera_sources += files([ ]) subdir('ipu3') +subdir('rkisp1') diff --git a/src/libcamera/pipeline/rkisp1/meson.build b/src/libcamera/pipeline/rkisp1/meson.build new file mode 100644 index 00000000..f1cc4046 --- /dev/null +++ b/src/libcamera/pipeline/rkisp1/meson.build @@ -0,0 +1,3 @@ +libcamera_sources += files([ + 'rkisp1.cpp', +]) diff --git a/src/libcamera/pipeline/rkisp1/rkisp1.cpp b/src/libcamera/pipeline/rkisp1/rkisp1.cpp new file mode 100644 index 00000000..8ed0ba84 --- /dev/null +++ b/src/libcamera/pipeline/rkisp1/rkisp1.cpp @@ -0,0 +1,450 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2019, Google Inc. + * + * rkisp1.cpp - Pipeline handler for Rockchip ISP1 + */ + +#include <iomanip> +#include <memory> +#include <vector> + +#include <linux/media-bus-format.h> + +#include <libcamera/camera.h> +#include <libcamera/request.h> +#include <libcamera/stream.h> + +#include "camera_sensor.h" +#include "device_enumerator.h" +#include "log.h" +#include "media_device.h" +#include "pipeline_handler.h" +#include "utils.h" +#include "v4l2_device.h" +#include "v4l2_subdevice.h" + +namespace libcamera { + +LOG_DEFINE_CATEGORY(RkISP1) + +class PipelineHandlerRkISP1 : public PipelineHandler +{ +public: + PipelineHandlerRkISP1(CameraManager *manager); + ~PipelineHandlerRkISP1(); + + CameraConfiguration streamConfiguration(Camera *camera, + const std::vector<StreamUsage> &usages) override; + int configureStreams(Camera *camera, + const CameraConfiguration &config) override; + + int allocateBuffers(Camera *camera, + const std::set<Stream *> &streams) override; + int freeBuffers(Camera *camera, + const std::set<Stream *> &streams) override; + + int start(Camera *camera) override; + void stop(Camera *camera) override; + + int queueRequest(Camera *camera, Request *request) override; + + bool match(DeviceEnumerator *enumerator) override; + +private: + class RkISP1CameraData : public CameraData + { + public: + RkISP1CameraData(PipelineHandler *pipe) + : CameraData(pipe), sensor_(nullptr) + { + } + + ~RkISP1CameraData() + { + delete sensor_; + } + + Stream stream_; + CameraSensor *sensor_; + }; + + static constexpr unsigned int RKISP1_BUFFER_COUNT = 4; + + RkISP1CameraData *cameraData(const Camera *camera) + { + return static_cast<RkISP1CameraData *>( + PipelineHandler::cameraData(camera)); + } + + int initLinks(); + int createCamera(MediaEntity *sensor); + void bufferReady(Buffer *buffer); + + std::shared_ptr<MediaDevice> media_; + V4L2Subdevice *dphy_; + V4L2Subdevice *isp_; + V4L2Device *video_; + + Camera *activeCamera_; +}; + +PipelineHandlerRkISP1::PipelineHandlerRkISP1(CameraManager *manager) + : PipelineHandler(manager), dphy_(nullptr), isp_(nullptr), + video_(nullptr) +{ +} + +PipelineHandlerRkISP1::~PipelineHandlerRkISP1() +{ + delete video_; + delete isp_; + delete dphy_; + + if (media_) + media_->release(); +} + +/* ----------------------------------------------------------------------------- + * Pipeline Operations + */ + +CameraConfiguration PipelineHandlerRkISP1::streamConfiguration(Camera *camera, + const std::vector<StreamUsage> &usages) +{ + RkISP1CameraData *data = cameraData(camera); + CameraConfiguration configs; + StreamConfiguration config{}; + + const Size &resolution = data->sensor_->resolution(); + config.width = resolution.width; + config.height = resolution.height; + config.pixelFormat = V4L2_PIX_FMT_NV12; + config.bufferCount = RKISP1_BUFFER_COUNT; + + configs[&data->stream_] = config; + + LOG(RkISP1, Debug) + << "Stream format set to " << config.width << "x" + << config.height << "-0x" << std::hex << std::setfill('0') + << std::setw(8) << config.pixelFormat; + + return configs; +} + +int PipelineHandlerRkISP1::configureStreams(Camera *camera, + const CameraConfiguration &config) +{ + RkISP1CameraData *data = cameraData(camera); + const StreamConfiguration &cfg = config[&data->stream_]; + CameraSensor *sensor = data->sensor_; + int ret; + + /* Verify the configuration. */ + const Size &resolution = sensor->resolution(); + if (cfg.width > resolution.width || + cfg.height > resolution.height) { + LOG(RkISP1, Error) + << "Invalid stream size: larger than sensor resolution"; + return -EINVAL; + } + + /* + * Configure the sensor links: enable the link corresponding to this + * camera and disable all the other sensor links. + */ + const MediaPad *pad = dphy_->entity()->getPadByIndex(0); + + ret = media_->open(); + if (ret < 0) + return ret; + + for (MediaLink *link : pad->links()) { + bool enable = link->source()->entity() == sensor->entity(); + + if (!!(link->flags() & MEDIA_LNK_FL_ENABLED) == enable) + continue; + + LOG(RkISP1, Debug) + << (enable ? "Enabling" : "Disabling") + << " link from sensor '" + << link->source()->entity()->name() + << "' to CSI-2 receiver"; + + ret = link->setEnabled(enable); + if (ret < 0) + break; + } + + media_->close(); + + if (ret < 0) + return ret; + + /* + * Configure the format on the sensor output and propagate it through + * the pipeline. + */ + V4L2SubdeviceFormat format; + format = sensor->getFormat({ MEDIA_BUS_FMT_SBGGR12_1X12, + MEDIA_BUS_FMT_SGBRG12_1X12, + MEDIA_BUS_FMT_SGRBG12_1X12, + MEDIA_BUS_FMT_SRGGB12_1X12, + MEDIA_BUS_FMT_SBGGR10_1X10, + MEDIA_BUS_FMT_SGBRG10_1X10, + MEDIA_BUS_FMT_SGRBG10_1X10, + MEDIA_BUS_FMT_SRGGB10_1X10, + MEDIA_BUS_FMT_SBGGR8_1X8, + MEDIA_BUS_FMT_SGBRG8_1X8, + MEDIA_BUS_FMT_SGRBG8_1X8, + MEDIA_BUS_FMT_SRGGB8_1X8 }, + Size(cfg.width, cfg.height)); + + LOG(RkISP1, Debug) << "Configuring sensor with " << format.toString(); + + ret = sensor->setFormat(&format); + if (ret < 0) + return ret; + + LOG(RkISP1, Debug) << "Sensor configured with " << format.toString(); + + ret = dphy_->setFormat(0, &format); + if (ret < 0) + return ret; + + ret = dphy_->getFormat(1, &format); + if (ret < 0) + return ret; + + ret = isp_->setFormat(0, &format); + if (ret < 0) + return ret; + + V4L2DeviceFormat outputFormat = {}; + outputFormat.width = cfg.width; + outputFormat.height = cfg.height; + outputFormat.fourcc = V4L2_PIX_FMT_NV12; + outputFormat.planesCount = 2; + + ret = video_->setFormat(&outputFormat); + if (ret) + return ret; + + if (outputFormat.width != cfg.width || + outputFormat.height != cfg.height || + outputFormat.fourcc != V4L2_PIX_FMT_NV12) { + LOG(RkISP1, Error) + << "Unable to configure capture in " << cfg.width + << "x" << cfg.height << "-0x" + << std::hex << std::setfill('0') << std::setw(8) + << V4L2_PIX_FMT_NV12; + return -EINVAL; + } + + return 0; +} + +int PipelineHandlerRkISP1::allocateBuffers(Camera *camera, + const std::set<Stream *> &streams) +{ + Stream *stream = *streams.begin(); + return video_->exportBuffers(&stream->bufferPool()); +} + +int PipelineHandlerRkISP1::freeBuffers(Camera *camera, + const std::set<Stream *> &streams) +{ + if (video_->releaseBuffers()) + LOG(RkISP1, Error) << "Failed to release buffers"; + + return 0; +} + +int PipelineHandlerRkISP1::start(Camera *camera) +{ + int ret; + + ret = video_->streamOn(); + if (ret) + LOG(RkISP1, Error) + << "Failed to start camera " << camera->name(); + + activeCamera_ = camera; + + return ret; +} + +void PipelineHandlerRkISP1::stop(Camera *camera) +{ + int ret; + + ret = video_->streamOff(); + if (ret) + LOG(RkISP1, Warning) + << "Failed to stop camera " << camera->name(); + + PipelineHandler::stop(camera); + + activeCamera_ = nullptr; +} + +int PipelineHandlerRkISP1::queueRequest(Camera *camera, Request *request) +{ + RkISP1CameraData *data = cameraData(camera); + Stream *stream = &data->stream_; + + Buffer *buffer = request->findBuffer(stream); + if (!buffer) { + LOG(RkISP1, Error) + << "Attempt to queue request with invalid stream"; + return -ENOENT; + } + + int ret = video_->queueBuffer(buffer); + if (ret < 0) + return ret; + + PipelineHandler::queueRequest(camera, request); + + return 0; +} + +/* ----------------------------------------------------------------------------- + * Match and Setup + */ + +int PipelineHandlerRkISP1::initLinks() +{ + MediaLink *link; + int ret; + + ret = media_->disableLinks(); + if (ret < 0) + return ret; + + link = media_->link("rockchip-sy-mipi-dphy", 1, "rkisp1-isp-subdev", 0); + if (!link) + return -ENODEV; + + ret = link->setEnabled(true); + if (ret < 0) + return ret; + + link = media_->link("rkisp1-isp-subdev", 2, "rkisp1_mainpath", 0); + if (!link) + return -ENODEV; + + ret = link->setEnabled(true); + if (ret < 0) + return ret; + + return 0; +} + +int PipelineHandlerRkISP1::createCamera(MediaEntity *sensor) +{ + int ret; + + std::unique_ptr<RkISP1CameraData> data = + utils::make_unique<RkISP1CameraData>(this); + + data->sensor_ = new CameraSensor(sensor); + ret = data->sensor_->init(); + if (ret) + return ret; + + std::set<Stream *> streams{ &data->stream_ }; + std::shared_ptr<Camera> camera = + Camera::create(this, sensor->name(), streams); + registerCamera(std::move(camera), std::move(data)); + + return 0; +} + +bool PipelineHandlerRkISP1::match(DeviceEnumerator *enumerator) +{ + const MediaPad *pad; + int ret; + + DeviceMatch dm("rkisp1"); + dm.add("rkisp1-isp-subdev"); + dm.add("rkisp1_selfpath"); + dm.add("rkisp1_mainpath"); + dm.add("rkisp1-statistics"); + dm.add("rkisp1-input-params"); + dm.add("rockchip-sy-mipi-dphy"); + + media_ = enumerator->search(dm); + if (!media_) + return false; + + media_->acquire(); + + ret = media_->open(); + if (ret < 0) + return ret; + + /* Create the V4L2 subdevices we will need. */ + dphy_ = V4L2Subdevice::fromEntityName(media_.get(), + "rockchip-sy-mipi-dphy"); + ret = dphy_->open(); + if (ret < 0) + goto done; + + isp_ = V4L2Subdevice::fromEntityName(media_.get(), "rkisp1-isp-subdev"); + ret = isp_->open(); + if (ret < 0) + goto done; + + /* Locate and open the capture video node. */ + video_ = V4L2Device::fromEntityName(media_.get(), "rkisp1_mainpath"); + ret = video_->open(); + if (ret < 0) + goto done; + + video_->bufferReady.connect(this, &PipelineHandlerRkISP1::bufferReady); + + /* Configure default links. */ + ret = initLinks(); + if (ret < 0) { + LOG(RkISP1, Error) << "Failed to setup links"; + goto done; + } + + /* + * Enumerate all sensors connected to the CSI-2 receiver and create one + * camera instance for each of them. + */ + pad = dphy_->entity()->getPadByIndex(0); + if (!pad) { + ret = -EINVAL; + goto done; + } + + for (MediaLink *link : pad->links()) + createCamera(link->source()->entity()); + +done: + media_->close(); + + return ret == 0; +} + +/* ----------------------------------------------------------------------------- + * Buffer Handling + */ + +void PipelineHandlerRkISP1::bufferReady(Buffer *buffer) +{ + ASSERT(activeCamera_); + + RkISP1CameraData *data = cameraData(activeCamera_); + Request *request = data->queuedRequests_.front(); + + completeBuffer(activeCamera_, request, buffer); + completeRequest(activeCamera_, request); +} + +REGISTER_PIPELINE_HANDLER(PipelineHandlerRkISP1); + +} /* namespace libcamera */ |