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-rw-r--r--src/ipa/rpi/vc4/vc4.cpp540
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diff --git a/src/ipa/rpi/vc4/vc4.cpp b/src/ipa/rpi/vc4/vc4.cpp
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+++ b/src/ipa/rpi/vc4/vc4.cpp
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+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019-2021, Raspberry Pi Ltd
+ *
+ * rpi.cpp - Raspberry Pi VC4/BCM2835 ISP IPA.
+ */
+
+#include <string.h>
+#include <sys/mman.h>
+
+#include <linux/bcm2835-isp.h>
+
+#include <libcamera/base/log.h>
+#include <libcamera/ipa/ipa_module_info.h>
+
+#include "common/ipa_base.h"
+#include "controller/af_status.h"
+#include "controller/agc_algorithm.h"
+#include "controller/alsc_status.h"
+#include "controller/awb_status.h"
+#include "controller/black_level_status.h"
+#include "controller/ccm_status.h"
+#include "controller/contrast_status.h"
+#include "controller/denoise_algorithm.h"
+#include "controller/denoise_status.h"
+#include "controller/dpc_status.h"
+#include "controller/geq_status.h"
+#include "controller/lux_status.h"
+#include "controller/noise_status.h"
+#include "controller/sharpen_status.h"
+
+namespace libcamera {
+
+LOG_DECLARE_CATEGORY(IPARPI)
+
+namespace ipa::RPi {
+
+class IpaVc4 final : public IpaBase
+{
+public:
+ IpaVc4()
+ : IpaBase(), lsTable_(nullptr)
+ {
+ }
+
+ ~IpaVc4()
+ {
+ if (lsTable_)
+ munmap(lsTable_, MaxLsGridSize);
+ }
+
+private:
+ int32_t platformInit(const InitParams &params, InitResult *result) override;
+ int32_t platformConfigure(const ConfigParams &params, ConfigResult *result) override;
+
+ void platformPrepareIsp(const PrepareParams &params, RPiController::Metadata &rpiMetadata) override;
+ RPiController::StatisticsPtr platformProcessStats(Span<uint8_t> mem) override;
+
+ void handleControls(const ControlList &controls) override;
+ bool validateIspControls();
+
+ void applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls);
+ void applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls);
+ void applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls);
+ void applyBlackLevel(const struct BlackLevelStatus *blackLevelStatus, ControlList &ctrls);
+ void applyGamma(const struct ContrastStatus *contrastStatus, ControlList &ctrls);
+ void applyGEQ(const struct GeqStatus *geqStatus, ControlList &ctrls);
+ void applyDenoise(const struct DenoiseStatus *denoiseStatus, ControlList &ctrls);
+ void applySharpen(const struct SharpenStatus *sharpenStatus, ControlList &ctrls);
+ void applyDPC(const struct DpcStatus *dpcStatus, ControlList &ctrls);
+ void applyLS(const struct AlscStatus *lsStatus, ControlList &ctrls);
+ void applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls);
+ void resampleTable(uint16_t dest[], const std::vector<double> &src, int destW, int destH);
+
+ /* VC4 ISP controls. */
+ ControlInfoMap ispCtrls_;
+
+ /* LS table allocation passed in from the pipeline handler. */
+ SharedFD lsTableHandle_;
+ void *lsTable_;
+};
+
+int32_t IpaVc4::platformInit([[maybe_unused]] const InitParams &params, [[maybe_unused]] InitResult *result)
+{
+ const std::string &target = controller_.getTarget();
+
+ if (target != "bcm2835") {
+ LOG(IPARPI, Error)
+ << "Tuning data file target returned \"" << target << "\""
+ << ", expected \"bcm2835\"";
+ return -EINVAL;
+ }
+
+ return 0;
+}
+
+int32_t IpaVc4::platformConfigure(const ConfigParams &params, [[maybe_unused]] ConfigResult *result)
+{
+ ispCtrls_ = params.ispControls;
+ if (!validateIspControls()) {
+ LOG(IPARPI, Error) << "ISP control validation failed.";
+ return -1;
+ }
+
+ /* Store the lens shading table pointer and handle if available. */
+ if (params.lsTableHandle.isValid()) {
+ /* Remove any previous table, if there was one. */
+ if (lsTable_) {
+ munmap(lsTable_, MaxLsGridSize);
+ lsTable_ = nullptr;
+ }
+
+ /* Map the LS table buffer into user space. */
+ lsTableHandle_ = std::move(params.lsTableHandle);
+ if (lsTableHandle_.isValid()) {
+ lsTable_ = mmap(nullptr, MaxLsGridSize, PROT_READ | PROT_WRITE,
+ MAP_SHARED, lsTableHandle_.get(), 0);
+
+ if (lsTable_ == MAP_FAILED) {
+ LOG(IPARPI, Error) << "dmaHeap mmap failure for LS table.";
+ lsTable_ = nullptr;
+ }
+ }
+ }
+
+ return 0;
+}
+
+void IpaVc4::platformPrepareIsp([[maybe_unused]] const PrepareParams &params,
+ RPiController::Metadata &rpiMetadata)
+{
+ ControlList ctrls(ispCtrls_);
+
+ /* Lock the metadata buffer to avoid constant locks/unlocks. */
+ std::unique_lock<RPiController::Metadata> lock(rpiMetadata);
+
+ AwbStatus *awbStatus = rpiMetadata.getLocked<AwbStatus>("awb.status");
+ if (awbStatus)
+ applyAWB(awbStatus, ctrls);
+
+ CcmStatus *ccmStatus = rpiMetadata.getLocked<CcmStatus>("ccm.status");
+ if (ccmStatus)
+ applyCCM(ccmStatus, ctrls);
+
+ AgcStatus *dgStatus = rpiMetadata.getLocked<AgcStatus>("agc.status");
+ if (dgStatus)
+ applyDG(dgStatus, ctrls);
+
+ AlscStatus *lsStatus = rpiMetadata.getLocked<AlscStatus>("alsc.status");
+ if (lsStatus)
+ applyLS(lsStatus, ctrls);
+
+ ContrastStatus *contrastStatus = rpiMetadata.getLocked<ContrastStatus>("contrast.status");
+ if (contrastStatus)
+ applyGamma(contrastStatus, ctrls);
+
+ BlackLevelStatus *blackLevelStatus = rpiMetadata.getLocked<BlackLevelStatus>("black_level.status");
+ if (blackLevelStatus)
+ applyBlackLevel(blackLevelStatus, ctrls);
+
+ GeqStatus *geqStatus = rpiMetadata.getLocked<GeqStatus>("geq.status");
+ if (geqStatus)
+ applyGEQ(geqStatus, ctrls);
+
+ DenoiseStatus *denoiseStatus = rpiMetadata.getLocked<DenoiseStatus>("denoise.status");
+ if (denoiseStatus)
+ applyDenoise(denoiseStatus, ctrls);
+
+ SharpenStatus *sharpenStatus = rpiMetadata.getLocked<SharpenStatus>("sharpen.status");
+ if (sharpenStatus)
+ applySharpen(sharpenStatus, ctrls);
+
+ DpcStatus *dpcStatus = rpiMetadata.getLocked<DpcStatus>("dpc.status");
+ if (dpcStatus)
+ applyDPC(dpcStatus, ctrls);
+
+ const AfStatus *afStatus = rpiMetadata.getLocked<AfStatus>("af.status");
+ if (afStatus) {
+ ControlList lensctrls(lensCtrls_);
+ applyAF(afStatus, lensctrls);
+ if (!lensctrls.empty())
+ setLensControls.emit(lensctrls);
+ }
+
+ if (!ctrls.empty())
+ setIspControls.emit(ctrls);
+}
+
+RPiController::StatisticsPtr IpaVc4::platformProcessStats(Span<uint8_t> mem)
+{
+ using namespace RPiController;
+
+ const bcm2835_isp_stats *stats = reinterpret_cast<bcm2835_isp_stats *>(mem.data());
+ StatisticsPtr statistics = std::make_unique<Statistics>(Statistics::AgcStatsPos::PreWb,
+ Statistics::ColourStatsPos::PostLsc);
+ const Controller::HardwareConfig &hw = controller_.getHardwareConfig();
+ unsigned int i;
+
+ /* RGB histograms are not used, so do not populate them. */
+ statistics->yHist = RPiController::Histogram(stats->hist[0].g_hist,
+ hw.numHistogramBins);
+
+ /* All region sums are based on a 16-bit normalised pipeline bit-depth. */
+ unsigned int scale = Statistics::NormalisationFactorPow2 - hw.pipelineWidth;
+
+ statistics->awbRegions.init(hw.awbRegions);
+ for (i = 0; i < statistics->awbRegions.numRegions(); i++)
+ statistics->awbRegions.set(i, { { stats->awb_stats[i].r_sum << scale,
+ stats->awb_stats[i].g_sum << scale,
+ stats->awb_stats[i].b_sum << scale },
+ stats->awb_stats[i].counted,
+ stats->awb_stats[i].notcounted });
+
+ statistics->agcRegions.init(hw.agcRegions);
+ for (i = 0; i < statistics->agcRegions.numRegions(); i++)
+ statistics->agcRegions.set(i, { { stats->agc_stats[i].r_sum << scale,
+ stats->agc_stats[i].g_sum << scale,
+ stats->agc_stats[i].b_sum << scale },
+ stats->agc_stats[i].counted,
+ stats->awb_stats[i].notcounted });
+
+ statistics->focusRegions.init(hw.focusRegions);
+ for (i = 0; i < statistics->focusRegions.numRegions(); i++)
+ statistics->focusRegions.set(i, { stats->focus_stats[i].contrast_val[1][1] / 1000,
+ stats->focus_stats[i].contrast_val_num[1][1],
+ stats->focus_stats[i].contrast_val_num[1][0] });
+
+ return statistics;
+}
+
+void IpaVc4::handleControls([[maybe_unused]] const ControlList &controls)
+{
+ /* No controls require any special updates to the hardware configuration. */
+}
+
+bool IpaVc4::validateIspControls()
+{
+ static const uint32_t ctrls[] = {
+ V4L2_CID_RED_BALANCE,
+ V4L2_CID_BLUE_BALANCE,
+ V4L2_CID_DIGITAL_GAIN,
+ V4L2_CID_USER_BCM2835_ISP_CC_MATRIX,
+ V4L2_CID_USER_BCM2835_ISP_GAMMA,
+ V4L2_CID_USER_BCM2835_ISP_BLACK_LEVEL,
+ V4L2_CID_USER_BCM2835_ISP_GEQ,
+ V4L2_CID_USER_BCM2835_ISP_DENOISE,
+ V4L2_CID_USER_BCM2835_ISP_SHARPEN,
+ V4L2_CID_USER_BCM2835_ISP_DPC,
+ V4L2_CID_USER_BCM2835_ISP_LENS_SHADING,
+ V4L2_CID_USER_BCM2835_ISP_CDN,
+ };
+
+ for (auto c : ctrls) {
+ if (ispCtrls_.find(c) == ispCtrls_.end()) {
+ LOG(IPARPI, Error) << "Unable to find ISP control "
+ << utils::hex(c);
+ return false;
+ }
+ }
+
+ return true;
+}
+
+void IpaVc4::applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls)
+{
+ LOG(IPARPI, Debug) << "Applying WB R: " << awbStatus->gainR << " B: "
+ << awbStatus->gainB;
+
+ ctrls.set(V4L2_CID_RED_BALANCE,
+ static_cast<int32_t>(awbStatus->gainR * 1000));
+ ctrls.set(V4L2_CID_BLUE_BALANCE,
+ static_cast<int32_t>(awbStatus->gainB * 1000));
+}
+
+void IpaVc4::applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls)
+{
+ ctrls.set(V4L2_CID_DIGITAL_GAIN,
+ static_cast<int32_t>(dgStatus->digitalGain * 1000));
+}
+
+void IpaVc4::applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls)
+{
+ bcm2835_isp_custom_ccm ccm;
+
+ for (int i = 0; i < 9; i++) {
+ ccm.ccm.ccm[i / 3][i % 3].den = 1000;
+ ccm.ccm.ccm[i / 3][i % 3].num = 1000 * ccmStatus->matrix[i];
+ }
+
+ ccm.enabled = 1;
+ ccm.ccm.offsets[0] = ccm.ccm.offsets[1] = ccm.ccm.offsets[2] = 0;
+
+ ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&ccm),
+ sizeof(ccm) });
+ ctrls.set(V4L2_CID_USER_BCM2835_ISP_CC_MATRIX, c);
+}
+
+void IpaVc4::applyBlackLevel(const struct BlackLevelStatus *blackLevelStatus, ControlList &ctrls)
+{
+ bcm2835_isp_black_level blackLevel;
+
+ blackLevel.enabled = 1;
+ blackLevel.black_level_r = blackLevelStatus->blackLevelR;
+ blackLevel.black_level_g = blackLevelStatus->blackLevelG;
+ blackLevel.black_level_b = blackLevelStatus->blackLevelB;
+
+ ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&blackLevel),
+ sizeof(blackLevel) });
+ ctrls.set(V4L2_CID_USER_BCM2835_ISP_BLACK_LEVEL, c);
+}
+
+void IpaVc4::applyGamma(const struct ContrastStatus *contrastStatus, ControlList &ctrls)
+{
+ const unsigned int numGammaPoints = controller_.getHardwareConfig().numGammaPoints;
+ struct bcm2835_isp_gamma gamma;
+
+ for (unsigned int i = 0; i < numGammaPoints - 1; i++) {
+ int x = i < 16 ? i * 1024
+ : (i < 24 ? (i - 16) * 2048 + 16384
+ : (i - 24) * 4096 + 32768);
+ gamma.x[i] = x;
+ gamma.y[i] = std::min<uint16_t>(65535, contrastStatus->gammaCurve.eval(x));
+ }
+
+ gamma.x[numGammaPoints - 1] = 65535;
+ gamma.y[numGammaPoints - 1] = 65535;
+ gamma.enabled = 1;
+
+ ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&gamma),
+ sizeof(gamma) });
+ ctrls.set(V4L2_CID_USER_BCM2835_ISP_GAMMA, c);
+}
+
+void IpaVc4::applyGEQ(const struct GeqStatus *geqStatus, ControlList &ctrls)
+{
+ bcm2835_isp_geq geq;
+
+ geq.enabled = 1;
+ geq.offset = geqStatus->offset;
+ geq.slope.den = 1000;
+ geq.slope.num = 1000 * geqStatus->slope;
+
+ ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&geq),
+ sizeof(geq) });
+ ctrls.set(V4L2_CID_USER_BCM2835_ISP_GEQ, c);
+}
+
+void IpaVc4::applyDenoise(const struct DenoiseStatus *denoiseStatus, ControlList &ctrls)
+{
+ using RPiController::DenoiseMode;
+
+ bcm2835_isp_denoise denoise;
+ DenoiseMode mode = static_cast<DenoiseMode>(denoiseStatus->mode);
+
+ denoise.enabled = mode != DenoiseMode::Off;
+ denoise.constant = denoiseStatus->noiseConstant;
+ denoise.slope.num = 1000 * denoiseStatus->noiseSlope;
+ denoise.slope.den = 1000;
+ denoise.strength.num = 1000 * denoiseStatus->strength;
+ denoise.strength.den = 1000;
+
+ /* Set the CDN mode to match the SDN operating mode. */
+ bcm2835_isp_cdn cdn;
+ switch (mode) {
+ case DenoiseMode::ColourFast:
+ cdn.enabled = 1;
+ cdn.mode = CDN_MODE_FAST;
+ break;
+ case DenoiseMode::ColourHighQuality:
+ cdn.enabled = 1;
+ cdn.mode = CDN_MODE_HIGH_QUALITY;
+ break;
+ default:
+ cdn.enabled = 0;
+ }
+
+ ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&denoise),
+ sizeof(denoise) });
+ ctrls.set(V4L2_CID_USER_BCM2835_ISP_DENOISE, c);
+
+ c = ControlValue(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&cdn),
+ sizeof(cdn) });
+ ctrls.set(V4L2_CID_USER_BCM2835_ISP_CDN, c);
+}
+
+void IpaVc4::applySharpen(const struct SharpenStatus *sharpenStatus, ControlList &ctrls)
+{
+ bcm2835_isp_sharpen sharpen;
+
+ sharpen.enabled = 1;
+ sharpen.threshold.num = 1000 * sharpenStatus->threshold;
+ sharpen.threshold.den = 1000;
+ sharpen.strength.num = 1000 * sharpenStatus->strength;
+ sharpen.strength.den = 1000;
+ sharpen.limit.num = 1000 * sharpenStatus->limit;
+ sharpen.limit.den = 1000;
+
+ ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&sharpen),
+ sizeof(sharpen) });
+ ctrls.set(V4L2_CID_USER_BCM2835_ISP_SHARPEN, c);
+}
+
+void IpaVc4::applyDPC(const struct DpcStatus *dpcStatus, ControlList &ctrls)
+{
+ bcm2835_isp_dpc dpc;
+
+ dpc.enabled = 1;
+ dpc.strength = dpcStatus->strength;
+
+ ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&dpc),
+ sizeof(dpc) });
+ ctrls.set(V4L2_CID_USER_BCM2835_ISP_DPC, c);
+}
+
+void IpaVc4::applyLS(const struct AlscStatus *lsStatus, ControlList &ctrls)
+{
+ /*
+ * Program lens shading tables into pipeline.
+ * Choose smallest cell size that won't exceed 63x48 cells.
+ */
+ const int cellSizes[] = { 16, 32, 64, 128, 256 };
+ unsigned int numCells = std::size(cellSizes);
+ unsigned int i, w, h, cellSize;
+ for (i = 0; i < numCells; i++) {
+ cellSize = cellSizes[i];
+ w = (mode_.width + cellSize - 1) / cellSize;
+ h = (mode_.height + cellSize - 1) / cellSize;
+ if (w < 64 && h <= 48)
+ break;
+ }
+
+ if (i == numCells) {
+ LOG(IPARPI, Error) << "Cannot find cell size";
+ return;
+ }
+
+ /* We're going to supply corner sampled tables, 16 bit samples. */
+ w++, h++;
+ bcm2835_isp_lens_shading ls = {
+ .enabled = 1,
+ .grid_cell_size = cellSize,
+ .grid_width = w,
+ .grid_stride = w,
+ .grid_height = h,
+ /* .dmabuf will be filled in by pipeline handler. */
+ .dmabuf = 0,
+ .ref_transform = 0,
+ .corner_sampled = 1,
+ .gain_format = GAIN_FORMAT_U4P10
+ };
+
+ if (!lsTable_ || w * h * 4 * sizeof(uint16_t) > MaxLsGridSize) {
+ LOG(IPARPI, Error) << "Do not have a correctly allocate lens shading table!";
+ return;
+ }
+
+ if (lsStatus) {
+ /* Format will be u4.10 */
+ uint16_t *grid = static_cast<uint16_t *>(lsTable_);
+
+ resampleTable(grid, lsStatus->r, w, h);
+ resampleTable(grid + w * h, lsStatus->g, w, h);
+ memcpy(grid + 2 * w * h, grid + w * h, w * h * sizeof(uint16_t));
+ resampleTable(grid + 3 * w * h, lsStatus->b, w, h);
+ }
+
+ ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&ls),
+ sizeof(ls) });
+ ctrls.set(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING, c);
+}
+
+void IpaVc4::applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls)
+{
+ if (afStatus->lensSetting) {
+ ControlValue v(afStatus->lensSetting.value());
+ lensCtrls.set(V4L2_CID_FOCUS_ABSOLUTE, v);
+ }
+}
+
+/*
+ * Resamples a 16x12 table with central sampling to destW x destH with corner
+ * sampling.
+ */
+void IpaVc4::resampleTable(uint16_t dest[], const std::vector<double> &src,
+ int destW, int destH)
+{
+ /*
+ * Precalculate and cache the x sampling locations and phases to
+ * save recomputing them on every row.
+ */
+ assert(destW > 1 && destH > 1 && destW <= 64);
+ int xLo[64], xHi[64];
+ double xf[64];
+ double x = -0.5, xInc = 16.0 / (destW - 1);
+ for (int i = 0; i < destW; i++, x += xInc) {
+ xLo[i] = floor(x);
+ xf[i] = x - xLo[i];
+ xHi[i] = xLo[i] < 15 ? xLo[i] + 1 : 15;
+ xLo[i] = xLo[i] > 0 ? xLo[i] : 0;
+ }
+
+ /* Now march over the output table generating the new values. */
+ double y = -0.5, yInc = 12.0 / (destH - 1);
+ for (int j = 0; j < destH; j++, y += yInc) {
+ int yLo = floor(y);
+ double yf = y - yLo;
+ int yHi = yLo < 11 ? yLo + 1 : 11;
+ yLo = yLo > 0 ? yLo : 0;
+ double const *rowAbove = src.data() + yLo * 16;
+ double const *rowBelow = src.data() + yHi * 16;
+ for (int i = 0; i < destW; i++) {
+ double above = rowAbove[xLo[i]] * (1 - xf[i]) + rowAbove[xHi[i]] * xf[i];
+ double below = rowBelow[xLo[i]] * (1 - xf[i]) + rowBelow[xHi[i]] * xf[i];
+ int result = floor(1024 * (above * (1 - yf) + below * yf) + .5);
+ *(dest++) = result > 16383 ? 16383 : result; /* want u4.10 */
+ }
+ }
+}
+
+} /* namespace ipa::RPi */
+
+/*
+ * External IPA module interface
+ */
+extern "C" {
+const struct IPAModuleInfo ipaModuleInfo = {
+ IPA_MODULE_API_VERSION,
+ 1,
+ "PipelineHandlerRPi",
+ "rpi/vc4",
+};
+
+IPAInterface *ipaCreate()
+{
+ return new ipa::RPi::IpaVc4();
+}
+
+} /* extern "C" */
+
+} /* namespace libcamera */
generated by cgit v1.2.1 (git 2.18.0) at 2024-11-07 17:51:54 +0000