diff options
Diffstat (limited to 'src/ipa/raspberrypi/raspberrypi.cpp')
| -rw-r--r-- | src/ipa/raspberrypi/raspberrypi.cpp | 986 |
1 files changed, 601 insertions, 385 deletions
diff --git a/src/ipa/raspberrypi/raspberrypi.cpp b/src/ipa/raspberrypi/raspberrypi.cpp index b0c7d1c1..5cd33304 100644 --- a/src/ipa/raspberrypi/raspberrypi.cpp +++ b/src/ipa/raspberrypi/raspberrypi.cpp @@ -1,34 +1,34 @@ /* SPDX-License-Identifier: BSD-2-Clause */ /* - * Copyright (C) 2019-2020, Raspberry Pi (Trading) Ltd. + * Copyright (C) 2019-2021, Raspberry Pi (Trading) Ltd. * * rpi.cpp - Raspberry Pi Image Processing Algorithms */ #include <algorithm> +#include <array> #include <fcntl.h> #include <math.h> #include <stdint.h> #include <string.h> #include <sys/mman.h> -#include <libcamera/buffer.h> +#include <linux/bcm2835-isp.h> + +#include <libcamera/base/log.h> +#include <libcamera/base/span.h> + #include <libcamera/control_ids.h> #include <libcamera/controls.h> #include <libcamera/file_descriptor.h> +#include <libcamera/framebuffer.h> #include <libcamera/ipa/ipa_interface.h> #include <libcamera/ipa/ipa_module_info.h> #include <libcamera/ipa/raspberrypi.h> +#include <libcamera/ipa/raspberrypi_ipa_interface.h> #include <libcamera/request.h> -#include <libcamera/span.h> -#include <libipa/ipa_interface_wrapper.h> - -#include "libcamera/internal/camera_sensor.h" -#include "libcamera/internal/log.h" -#include "libcamera/internal/utils.h" - -#include <linux/bcm2835-isp.h> +#include "libcamera/internal/framebuffer.h" #include "agc_algorithm.hpp" #include "agc_status.h" @@ -42,61 +42,79 @@ #include "contrast_algorithm.hpp" #include "contrast_status.h" #include "controller.hpp" +#include "denoise_algorithm.hpp" +#include "denoise_status.h" #include "dpc_status.h" #include "focus_status.h" #include "geq_status.h" #include "lux_status.h" #include "metadata.hpp" #include "noise_status.h" -#include "sdn_status.h" #include "sharpen_algorithm.hpp" #include "sharpen_status.h" namespace libcamera { +using namespace std::literals::chrono_literals; +using utils::Duration; + /* Configure the sensor with these values initially. */ -constexpr double DefaultAnalogueGain = 1.0; -constexpr unsigned int DefaultExposureTime = 20000; +constexpr double defaultAnalogueGain = 1.0; +constexpr Duration defaultExposureTime = 20.0ms; +constexpr Duration defaultMinFrameDuration = 1.0s / 30.0; +constexpr Duration defaultMaxFrameDuration = 250.0s; + +/* + * Determine the minimum allowable inter-frame duration to run the controller + * algorithms. If the pipeline handler provider frames at a rate higher than this, + * we rate-limit the controller Prepare() and Process() calls to lower than or + * equal to this rate. + */ +constexpr Duration controllerMinFrameDuration = 1.0s / 60.0; LOG_DEFINE_CATEGORY(IPARPI) -class IPARPi : public IPAInterface +class IPARPi : public ipa::RPi::IPARPiInterface { public: IPARPi() - : lastMode_({}), controller_(), controllerInit_(false), - frameCount_(0), checkCount_(0), mistrustCount_(0), - lsTable_(nullptr) + : controller_(), frameCount_(0), checkCount_(0), mistrustCount_(0), + lastRunTimestamp_(0), lsTable_(nullptr), firstStart_(true) { } ~IPARPi() { if (lsTable_) - munmap(lsTable_, RPi::MaxLsGridSize); + munmap(lsTable_, ipa::RPi::MaxLsGridSize); } - int init(const IPASettings &settings) override; - int start() override { return 0; } + int init(const IPASettings &settings, ipa::RPi::SensorConfig *sensorConfig) override; + void start(const ControlList &controls, ipa::RPi::StartConfig *startConfig) override; void stop() override {} - void configure(const CameraSensorInfo &sensorInfo, - const std::map<unsigned int, IPAStream> &streamConfig, - const std::map<unsigned int, const ControlInfoMap &> &entityControls, - const IPAOperationData &data, - IPAOperationData *response) override; + int configure(const IPACameraSensorInfo &sensorInfo, + const std::map<unsigned int, IPAStream> &streamConfig, + const std::map<unsigned int, ControlInfoMap> &entityControls, + const ipa::RPi::IPAConfig &data, + ControlList *controls) override; void mapBuffers(const std::vector<IPABuffer> &buffers) override; void unmapBuffers(const std::vector<unsigned int> &ids) override; - void processEvent(const IPAOperationData &event) override; + void signalStatReady(const uint32_t bufferId) override; + void signalQueueRequest(const ControlList &controls) override; + void signalIspPrepare(const ipa::RPi::ISPConfig &data) override; private: - void setMode(const CameraSensorInfo &sensorInfo); + void setMode(const IPACameraSensorInfo &sensorInfo); + bool validateSensorControls(); + bool validateIspControls(); void queueRequest(const ControlList &controls); void returnEmbeddedBuffer(unsigned int bufferId); - void prepareISP(unsigned int bufferId); + void prepareISP(const ipa::RPi::ISPConfig &data); void reportMetadata(); - bool parseEmbeddedData(unsigned int bufferId, struct DeviceStatus &deviceStatus); + void fillDeviceStatus(const ControlList &sensorControls); void processStats(unsigned int bufferId); + void applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration); void applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls); void applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls); void applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls); @@ -104,30 +122,24 @@ private: 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 SdnStatus *denoiseStatus, 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 resampleTable(uint16_t dest[], double const src[12][16], int destW, int destH); - std::map<unsigned int, FrameBuffer> buffers_; - std::map<unsigned int, void *> buffersMemory_; + std::map<unsigned int, MappedFrameBuffer> buffers_; - ControlInfoMap unicamCtrls_; + ControlInfoMap sensorCtrls_; ControlInfoMap ispCtrls_; ControlList libcameraMetadata_; - /* IPA configuration. */ - std::string tuningFile_; - /* Camera sensor params. */ CameraMode mode_; - CameraMode lastMode_; /* Raspberry Pi controller specific defines. */ std::unique_ptr<RPiController::CamHelper> helper_; RPiController::Controller controller_; - bool controllerInit_; RPiController::Metadata rpiMetadata_; /* @@ -142,18 +154,135 @@ private: /* How many frames we should avoid running control algos on. */ unsigned int mistrustCount_; + /* Number of frames that need to be dropped on startup. */ + unsigned int dropFrameCount_; + + /* Frame timestamp for the last run of the controller. */ + uint64_t lastRunTimestamp_; + + /* Do we run a Controller::process() for this frame? */ + bool processPending_; + /* LS table allocation passed in from the pipeline handler. */ FileDescriptor lsTableHandle_; void *lsTable_; + + /* Distinguish the first camera start from others. */ + bool firstStart_; + + /* Frame duration (1/fps) limits. */ + Duration minFrameDuration_; + Duration maxFrameDuration_; }; -int IPARPi::init(const IPASettings &settings) +int IPARPi::init(const IPASettings &settings, ipa::RPi::SensorConfig *sensorConfig) { - tuningFile_ = settings.configurationFile; + /* + * Load the "helper" for this sensor. This tells us all the device specific stuff + * that the kernel driver doesn't. We only do this the first time; we don't need + * to re-parse the metadata after a simple mode-switch for no reason. + */ + helper_ = std::unique_ptr<RPiController::CamHelper>(RPiController::CamHelper::Create(settings.sensorModel)); + if (!helper_) { + LOG(IPARPI, Error) << "Could not create camera helper for " + << settings.sensorModel; + return -EINVAL; + } + + /* + * Pass out the sensor config to the pipeline handler in order + * to setup the staggered writer class. + */ + int gainDelay, exposureDelay, vblankDelay, sensorMetadata; + helper_->GetDelays(exposureDelay, gainDelay, vblankDelay); + sensorMetadata = helper_->SensorEmbeddedDataPresent(); + + sensorConfig->gainDelay = gainDelay; + sensorConfig->exposureDelay = exposureDelay; + sensorConfig->vblankDelay = vblankDelay; + sensorConfig->sensorMetadata = sensorMetadata; + + /* Load the tuning file for this sensor. */ + controller_.Read(settings.configurationFile.c_str()); + controller_.Initialise(); + return 0; } -void IPARPi::setMode(const CameraSensorInfo &sensorInfo) +void IPARPi::start(const ControlList &controls, ipa::RPi::StartConfig *startConfig) +{ + RPiController::Metadata metadata; + + ASSERT(startConfig); + if (!controls.empty()) { + /* We have been given some controls to action before start. */ + queueRequest(controls); + } + + controller_.SwitchMode(mode_, &metadata); + + /* SwitchMode may supply updated exposure/gain values to use. */ + AgcStatus agcStatus; + agcStatus.shutter_time = 0.0s; + agcStatus.analogue_gain = 0.0; + + metadata.Get("agc.status", agcStatus); + if (agcStatus.shutter_time && agcStatus.analogue_gain) { + ControlList ctrls(sensorCtrls_); + applyAGC(&agcStatus, ctrls); + startConfig->controls = std::move(ctrls); + } + + /* + * Initialise frame counts, and decide how many frames must be hidden or + * "mistrusted", which depends on whether this is a startup from cold, + * or merely a mode switch in a running system. + */ + frameCount_ = 0; + checkCount_ = 0; + if (firstStart_) { + dropFrameCount_ = helper_->HideFramesStartup(); + mistrustCount_ = helper_->MistrustFramesStartup(); + + /* + * Query the AGC/AWB for how many frames they may take to + * converge sufficiently. Where these numbers are non-zero + * we must allow for the frames with bad statistics + * (mistrustCount_) that they won't see. But if zero (i.e. + * no convergence necessary), no frames need to be dropped. + */ + unsigned int agcConvergenceFrames = 0; + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.GetAlgorithm("agc")); + if (agc) { + agcConvergenceFrames = agc->GetConvergenceFrames(); + if (agcConvergenceFrames) + agcConvergenceFrames += mistrustCount_; + } + + unsigned int awbConvergenceFrames = 0; + RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( + controller_.GetAlgorithm("awb")); + if (awb) { + awbConvergenceFrames = awb->GetConvergenceFrames(); + if (awbConvergenceFrames) + awbConvergenceFrames += mistrustCount_; + } + + dropFrameCount_ = std::max({ dropFrameCount_, agcConvergenceFrames, awbConvergenceFrames }); + LOG(IPARPI, Debug) << "Drop " << dropFrameCount_ << " frames on startup"; + } else { + dropFrameCount_ = helper_->HideFramesModeSwitch(); + mistrustCount_ = helper_->MistrustFramesModeSwitch(); + } + + startConfig->dropFrameCount = dropFrameCount_; + + firstStart_ = false; + lastRunTimestamp_ = 0; +} + +void IPARPi::setMode(const IPACameraSensorInfo &sensorInfo) { mode_.bitdepth = sensorInfo.bitsPerPixel; mode_.width = sensorInfo.outputSize.width; @@ -178,81 +307,70 @@ void IPARPi::setMode(const CameraSensorInfo &sensorInfo) * * \todo Get the pipeline handle to provide the full data */ - mode_.bin_y = std::min(2, static_cast<int>(mode_.scale_x)); + mode_.bin_x = std::min(2, static_cast<int>(mode_.scale_x)); mode_.bin_y = std::min(2, static_cast<int>(mode_.scale_y)); /* The noise factor is the square root of the total binning factor. */ mode_.noise_factor = sqrt(mode_.bin_x * mode_.bin_y); /* - * Calculate the line length in nanoseconds as the ratio between - * the line length in pixels and the pixel rate. + * Calculate the line length as the ratio between the line length in + * pixels and the pixel rate. + */ + mode_.line_length = sensorInfo.lineLength * (1.0s / sensorInfo.pixelRate); + + /* + * Set the frame length limits for the mode to ensure exposure and + * framerate calculations are clipped appropriately. */ - mode_.line_length = 1e9 * sensorInfo.lineLength / sensorInfo.pixelRate; + mode_.min_frame_length = sensorInfo.minFrameLength; + mode_.max_frame_length = sensorInfo.maxFrameLength; } -void IPARPi::configure(const CameraSensorInfo &sensorInfo, - [[maybe_unused]] const std::map<unsigned int, IPAStream> &streamConfig, - const std::map<unsigned int, const ControlInfoMap &> &entityControls, - const IPAOperationData &ipaConfig, - IPAOperationData *result) +int IPARPi::configure(const IPACameraSensorInfo &sensorInfo, + [[maybe_unused]] const std::map<unsigned int, IPAStream> &streamConfig, + const std::map<unsigned int, ControlInfoMap> &entityControls, + const ipa::RPi::IPAConfig &ipaConfig, + ControlList *controls) { - if (entityControls.empty()) - return; - - result->operation = 0; + if (entityControls.size() != 2) { + LOG(IPARPI, Error) << "No ISP or sensor controls found."; + return -1; + } - unicamCtrls_ = entityControls.at(0); + sensorCtrls_ = entityControls.at(0); ispCtrls_ = entityControls.at(1); - /* Setup a metadata ControlList to output metadata. */ - libcameraMetadata_ = ControlList(controls::controls); - - /* - * Load the "helper" for this sensor. This tells us all the device specific stuff - * that the kernel driver doesn't. We only do this the first time; we don't need - * to re-parse the metadata after a simple mode-switch for no reason. - */ - std::string cameraName(sensorInfo.model); - if (!helper_) { - helper_ = std::unique_ptr<RPiController::CamHelper>(RPiController::CamHelper::Create(cameraName)); - - /* - * Pass out the sensor config to the pipeline handler in order - * to setup the staggered writer class. - */ - int gainDelay, exposureDelay, sensorMetadata; - helper_->GetDelays(exposureDelay, gainDelay); - sensorMetadata = helper_->SensorEmbeddedDataPresent(); - - result->data.push_back(gainDelay); - result->data.push_back(exposureDelay); - result->data.push_back(sensorMetadata); + if (!validateSensorControls()) { + LOG(IPARPI, Error) << "Sensor control validation failed."; + return -1; + } - result->operation |= RPi::IPA_CONFIG_STAGGERED_WRITE; + if (!validateIspControls()) { + LOG(IPARPI, Error) << "ISP control validation failed."; + return -1; } + /* Setup a metadata ControlList to output metadata. */ + libcameraMetadata_ = ControlList(controls::controls); + /* Re-assemble camera mode using the sensor info. */ setMode(sensorInfo); - /* - * The ipaConfig.data always gives us the user transform first. Note that - * this will always make the LS table pointer (if present) element 1. - */ - mode_.transform = static_cast<libcamera::Transform>(ipaConfig.data[0]); + mode_.transform = static_cast<libcamera::Transform>(ipaConfig.transform); /* Store the lens shading table pointer and handle if available. */ - if (ipaConfig.operation & RPi::IPA_CONFIG_LS_TABLE) { + if (ipaConfig.lsTableHandle.isValid()) { /* Remove any previous table, if there was one. */ if (lsTable_) { - munmap(lsTable_, RPi::MaxLsGridSize); + munmap(lsTable_, ipa::RPi::MaxLsGridSize); lsTable_ = nullptr; } - /* Map the LS table buffer into user space (now element 1). */ - lsTableHandle_ = FileDescriptor(ipaConfig.data[1]); + /* Map the LS table buffer into user space. */ + lsTableHandle_ = std::move(ipaConfig.lsTableHandle); if (lsTableHandle_.isValid()) { - lsTable_ = mmap(nullptr, RPi::MaxLsGridSize, PROT_READ | PROT_WRITE, + lsTable_ = mmap(nullptr, ipa::RPi::MaxLsGridSize, PROT_READ | PROT_WRITE, MAP_SHARED, lsTableHandle_.fd(), 0); if (lsTable_ == MAP_FAILED) { @@ -265,139 +383,72 @@ void IPARPi::configure(const CameraSensorInfo &sensorInfo, /* Pass the camera mode to the CamHelper to setup algorithms. */ helper_->SetCameraMode(mode_); - /* - * Initialise frame counts, and decide how many frames must be hidden or - *"mistrusted", which depends on whether this is a startup from cold, - * or merely a mode switch in a running system. - */ - frameCount_ = 0; - checkCount_ = 0; - unsigned int dropFrame = 0; - if (controllerInit_) { - dropFrame = helper_->HideFramesModeSwitch(); - mistrustCount_ = helper_->MistrustFramesModeSwitch(); - } else { - dropFrame = helper_->HideFramesStartup(); - mistrustCount_ = helper_->MistrustFramesStartup(); - } - - result->data.push_back(dropFrame); - result->operation |= RPi::IPA_CONFIG_DROP_FRAMES; - - /* These zero values mean not program anything (unless overwritten). */ - struct AgcStatus agcStatus; - agcStatus.shutter_time = 0.0; - agcStatus.analogue_gain = 0.0; - - if (!controllerInit_) { - /* Load the tuning file for this sensor. */ - controller_.Read(tuningFile_.c_str()); - controller_.Initialise(); - controllerInit_ = true; + if (firstStart_) { + /* Supply initial values for frame durations. */ + applyFrameDurations(defaultMinFrameDuration, defaultMaxFrameDuration); /* Supply initial values for gain and exposure. */ - agcStatus.shutter_time = DefaultExposureTime; - agcStatus.analogue_gain = DefaultAnalogueGain; - } - - RPiController::Metadata metadata; - controller_.SwitchMode(mode_, &metadata); - - /* SwitchMode may supply updated exposure/gain values to use. */ - metadata.Get("agc.status", agcStatus); - if (agcStatus.shutter_time != 0.0 && agcStatus.analogue_gain != 0.0) { - ControlList ctrls(unicamCtrls_); + ControlList ctrls(sensorCtrls_); + AgcStatus agcStatus; + agcStatus.shutter_time = defaultExposureTime; + agcStatus.analogue_gain = defaultAnalogueGain; applyAGC(&agcStatus, ctrls); - result->controls.push_back(ctrls); - result->operation |= RPi::IPA_CONFIG_SENSOR; + ASSERT(controls); + *controls = std::move(ctrls); } - lastMode_ = mode_; + return 0; } void IPARPi::mapBuffers(const std::vector<IPABuffer> &buffers) { for (const IPABuffer &buffer : buffers) { - auto elem = buffers_.emplace(std::piecewise_construct, - std::forward_as_tuple(buffer.id), - std::forward_as_tuple(buffer.planes)); - const FrameBuffer &fb = elem.first->second; - - buffersMemory_[buffer.id] = mmap(nullptr, fb.planes()[0].length, - PROT_READ | PROT_WRITE, MAP_SHARED, - fb.planes()[0].fd.fd(), 0); - - if (buffersMemory_[buffer.id] == MAP_FAILED) { - int ret = -errno; - LOG(IPARPI, Fatal) << "Failed to mmap buffer: " << strerror(-ret); - } + const FrameBuffer fb(buffer.planes); + buffers_.emplace(buffer.id, MappedFrameBuffer(&fb, PROT_READ | PROT_WRITE)); } } void IPARPi::unmapBuffers(const std::vector<unsigned int> &ids) { for (unsigned int id : ids) { - const auto fb = buffers_.find(id); - if (fb == buffers_.end()) + auto it = buffers_.find(id); + if (it == buffers_.end()) continue; - munmap(buffersMemory_[id], fb->second.planes()[0].length); - buffersMemory_.erase(id); buffers_.erase(id); } } -void IPARPi::processEvent(const IPAOperationData &event) +void IPARPi::signalStatReady(uint32_t bufferId) { - switch (event.operation) { - case RPi::IPA_EVENT_SIGNAL_STAT_READY: { - unsigned int bufferId = event.data[0]; - - if (++checkCount_ != frameCount_) /* assert here? */ - LOG(IPARPI, Error) << "WARNING: Prepare/Process mismatch!!!"; - if (frameCount_ > mistrustCount_) - processStats(bufferId); - - reportMetadata(); - - IPAOperationData op; - op.operation = RPi::IPA_ACTION_STATS_METADATA_COMPLETE; - op.data = { bufferId & RPi::BufferMask::ID }; - op.controls = { libcameraMetadata_ }; - queueFrameAction.emit(0, op); - break; - } + if (++checkCount_ != frameCount_) /* assert here? */ + LOG(IPARPI, Error) << "WARNING: Prepare/Process mismatch!!!"; + if (processPending_ && frameCount_ > mistrustCount_) + processStats(bufferId); - case RPi::IPA_EVENT_SIGNAL_ISP_PREPARE: { - unsigned int embeddedbufferId = event.data[0]; - unsigned int bayerbufferId = event.data[1]; + reportMetadata(); - /* - * At start-up, or after a mode-switch, we may want to - * avoid running the control algos for a few frames in case - * they are "unreliable". - */ - prepareISP(embeddedbufferId); - frameCount_++; - - /* Ready to push the input buffer into the ISP. */ - IPAOperationData op; - op.operation = RPi::IPA_ACTION_RUN_ISP; - op.data = { bayerbufferId & RPi::BufferMask::ID }; - queueFrameAction.emit(0, op); - break; - } + statsMetadataComplete.emit(bufferId & ipa::RPi::MaskID, libcameraMetadata_); +} - case RPi::IPA_EVENT_QUEUE_REQUEST: { - queueRequest(event.controls[0]); - break; - } +void IPARPi::signalQueueRequest(const ControlList &controls) +{ + queueRequest(controls); +} - default: - LOG(IPARPI, Error) << "Unknown event " << event.operation; - break; - } +void IPARPi::signalIspPrepare(const ipa::RPi::ISPConfig &data) +{ + /* + * At start-up, or after a mode-switch, we may want to + * avoid running the control algos for a few frames in case + * they are "unreliable". + */ + prepareISP(data); + frameCount_++; + + /* Ready to push the input buffer into the ISP. */ + runIsp.emit(data.bayerBufferId & ipa::RPi::MaskID); } void IPARPi::reportMetadata() @@ -411,13 +462,16 @@ void IPARPi::reportMetadata() */ DeviceStatus *deviceStatus = rpiMetadata_.GetLocked<DeviceStatus>("device.status"); if (deviceStatus) { - libcameraMetadata_.set(controls::ExposureTime, deviceStatus->shutter_speed); + libcameraMetadata_.set(controls::ExposureTime, + deviceStatus->shutter_speed.get<std::micro>()); libcameraMetadata_.set(controls::AnalogueGain, deviceStatus->analogue_gain); } AgcStatus *agcStatus = rpiMetadata_.GetLocked<AgcStatus>("agc.status"); - if (agcStatus) + if (agcStatus) { libcameraMetadata_.set(controls::AeLocked, agcStatus->locked); + libcameraMetadata_.set(controls::DigitalGain, agcStatus->digital_gain); + } LuxStatus *luxStatus = rpiMetadata_.GetLocked<LuxStatus>("lux.status"); if (luxStatus) @@ -458,6 +512,53 @@ void IPARPi::reportMetadata() } } +bool IPARPi::validateSensorControls() +{ + static const uint32_t ctrls[] = { + V4L2_CID_ANALOGUE_GAIN, + V4L2_CID_EXPOSURE, + V4L2_CID_VBLANK, + }; + + for (auto c : ctrls) { + if (sensorCtrls_.find(c) == sensorCtrls_.end()) { + LOG(IPARPI, Error) << "Unable to find sensor control " + << utils::hex(c); + return false; + } + } + + return true; +} + +bool IPARPi::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; +} + /* * Converting between enums (used in the libcamera API) and the names that * we use to identify different modes. Unfortunately, the conversion tables @@ -490,9 +591,18 @@ static const std::map<int32_t, std::string> AwbModeTable = { { controls::AwbFluorescent, "fluorescent" }, { controls::AwbIndoor, "indoor" }, { controls::AwbDaylight, "daylight" }, + { controls::AwbCloudy, "cloudy" }, { controls::AwbCustom, "custom" }, }; +static const std::map<int32_t, RPiController::DenoiseMode> DenoiseModeTable = { + { controls::draft::NoiseReductionModeOff, RPiController::DenoiseMode::Off }, + { controls::draft::NoiseReductionModeFast, RPiController::DenoiseMode::ColourFast }, + { controls::draft::NoiseReductionModeHighQuality, RPiController::DenoiseMode::ColourHighQuality }, + { controls::draft::NoiseReductionModeMinimal, RPiController::DenoiseMode::ColourOff }, + { controls::draft::NoiseReductionModeZSL, RPiController::DenoiseMode::ColourHighQuality }, +}; + void IPARPi::queueRequest(const ControlList &controls) { /* Clear the return metadata buffer. */ @@ -506,7 +616,12 @@ void IPARPi::queueRequest(const ControlList &controls) switch (ctrl.first) { case controls::AE_ENABLE: { RPiController::Algorithm *agc = controller_.GetAlgorithm("agc"); - ASSERT(agc); + if (!agc) { + LOG(IPARPI, Warning) + << "Could not set AE_ENABLE - no AGC algorithm"; + break; + } + if (ctrl.second.get<bool>() == false) agc->Pause(); else @@ -519,14 +634,14 @@ void IPARPi::queueRequest(const ControlList &controls) case controls::EXPOSURE_TIME: { RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( controller_.GetAlgorithm("agc")); - ASSERT(agc); - - /* This expects units of micro-seconds. */ - agc->SetFixedShutter(ctrl.second.get<int32_t>()); + if (!agc) { + LOG(IPARPI, Warning) + << "Could not set EXPOSURE_TIME - no AGC algorithm"; + break; + } - /* For the manual values to take effect, AGC must be unpaused. */ - if (agc->IsPaused()) - agc->Resume(); + /* The control provides units of microseconds. */ + agc->SetFixedShutter(ctrl.second.get<int32_t>() * 1.0us); libcameraMetadata_.set(controls::ExposureTime, ctrl.second.get<int32_t>()); break; @@ -535,12 +650,13 @@ void IPARPi::queueRequest(const ControlList &controls) case controls::ANALOGUE_GAIN: { RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( controller_.GetAlgorithm("agc")); - ASSERT(agc); - agc->SetFixedAnalogueGain(ctrl.second.get<float>()); + if (!agc) { + LOG(IPARPI, Warning) + << "Could not set ANALOGUE_GAIN - no AGC algorithm"; + break; + } - /* For the manual values to take effect, AGC must be unpaused. */ - if (agc->IsPaused()) - agc->Resume(); + agc->SetFixedAnalogueGain(ctrl.second.get<float>()); libcameraMetadata_.set(controls::AnalogueGain, ctrl.second.get<float>()); @@ -550,7 +666,11 @@ void IPARPi::queueRequest(const ControlList &controls) case controls::AE_METERING_MODE: { RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( controller_.GetAlgorithm("agc")); - ASSERT(agc); + if (!agc) { + LOG(IPARPI, Warning) + << "Could not set AE_METERING_MODE - no AGC algorithm"; + break; + } int32_t idx = ctrl.second.get<int32_t>(); if (MeteringModeTable.count(idx)) { @@ -566,7 +686,11 @@ void IPARPi::queueRequest(const ControlList &controls) case controls::AE_CONSTRAINT_MODE: { RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( controller_.GetAlgorithm("agc")); - ASSERT(agc); + if (!agc) { + LOG(IPARPI, Warning) + << "Could not set AE_CONSTRAINT_MODE - no AGC algorithm"; + break; + } int32_t idx = ctrl.second.get<int32_t>(); if (ConstraintModeTable.count(idx)) { @@ -582,7 +706,11 @@ void IPARPi::queueRequest(const ControlList &controls) case controls::AE_EXPOSURE_MODE: { RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( controller_.GetAlgorithm("agc")); - ASSERT(agc); + if (!agc) { + LOG(IPARPI, Warning) + << "Could not set AE_EXPOSURE_MODE - no AGC algorithm"; + break; + } int32_t idx = ctrl.second.get<int32_t>(); if (ExposureModeTable.count(idx)) { @@ -598,7 +726,11 @@ void IPARPi::queueRequest(const ControlList &controls) case controls::EXPOSURE_VALUE: { RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( controller_.GetAlgorithm("agc")); - ASSERT(agc); + if (!agc) { + LOG(IPARPI, Warning) + << "Could not set EXPOSURE_VALUE - no AGC algorithm"; + break; + } /* * The SetEv() method takes in a direct exposure multiplier. @@ -613,7 +745,11 @@ void IPARPi::queueRequest(const ControlList &controls) case controls::AWB_ENABLE: { RPiController::Algorithm *awb = controller_.GetAlgorithm("awb"); - ASSERT(awb); + if (!awb) { + LOG(IPARPI, Warning) + << "Could not set AWB_ENABLE - no AWB algorithm"; + break; + } if (ctrl.second.get<bool>() == false) awb->Pause(); @@ -628,7 +764,11 @@ void IPARPi::queueRequest(const ControlList &controls) case controls::AWB_MODE: { RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( controller_.GetAlgorithm("awb")); - ASSERT(awb); + if (!awb) { + LOG(IPARPI, Warning) + << "Could not set AWB_MODE - no AWB algorithm"; + break; + } int32_t idx = ctrl.second.get<int32_t>(); if (AwbModeTable.count(idx)) { @@ -645,7 +785,11 @@ void IPARPi::queueRequest(const ControlList &controls) auto gains = ctrl.second.get<Span<const float>>(); RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( controller_.GetAlgorithm("awb")); - ASSERT(awb); + if (!awb) { + LOG(IPARPI, Warning) + << "Could not set COLOUR_GAINS - no AWB algorithm"; + break; + } awb->SetManualGains(gains[0], gains[1]); if (gains[0] != 0.0f && gains[1] != 0.0f) @@ -658,7 +802,11 @@ void IPARPi::queueRequest(const ControlList &controls) case controls::BRIGHTNESS: { RPiController::ContrastAlgorithm *contrast = dynamic_cast<RPiController::ContrastAlgorithm *>( controller_.GetAlgorithm("contrast")); - ASSERT(contrast); + if (!contrast) { + LOG(IPARPI, Warning) + << "Could not set BRIGHTNESS - no contrast algorithm"; + break; + } contrast->SetBrightness(ctrl.second.get<float>() * 65536); libcameraMetadata_.set(controls::Brightness, @@ -669,7 +817,11 @@ void IPARPi::queueRequest(const ControlList &controls) case controls::CONTRAST: { RPiController::ContrastAlgorithm *contrast = dynamic_cast<RPiController::ContrastAlgorithm *>( controller_.GetAlgorithm("contrast")); - ASSERT(contrast); + if (!contrast) { + LOG(IPARPI, Warning) + << "Could not set CONTRAST - no contrast algorithm"; + break; + } contrast->SetContrast(ctrl.second.get<float>()); libcameraMetadata_.set(controls::Contrast, @@ -680,7 +832,11 @@ void IPARPi::queueRequest(const ControlList &controls) case controls::SATURATION: { RPiController::CcmAlgorithm *ccm = dynamic_cast<RPiController::CcmAlgorithm *>( controller_.GetAlgorithm("ccm")); - ASSERT(ccm); + if (!ccm) { + LOG(IPARPI, Warning) + << "Could not set SATURATION - no ccm algorithm"; + break; + } ccm->SetSaturation(ctrl.second.get<float>()); libcameraMetadata_.set(controls::Saturation, @@ -691,7 +847,11 @@ void IPARPi::queueRequest(const ControlList &controls) case controls::SHARPNESS: { RPiController::SharpenAlgorithm *sharpen = dynamic_cast<RPiController::SharpenAlgorithm *>( controller_.GetAlgorithm("sharpen")); - ASSERT(sharpen); + if (!sharpen) { + LOG(IPARPI, Warning) + << "Could not set SHARPNESS - no sharpen algorithm"; + break; + } sharpen->SetStrength(ctrl.second.get<float>()); libcameraMetadata_.set(controls::Sharpness, @@ -699,6 +859,44 @@ void IPARPi::queueRequest(const ControlList &controls) break; } + case controls::SCALER_CROP: { + /* We do nothing with this, but should avoid the warning below. */ + break; + } + + case controls::FRAME_DURATION_LIMITS: { + auto frameDurations = ctrl.second.get<Span<const int64_t>>(); + applyFrameDurations(frameDurations[0] * 1.0us, frameDurations[1] * 1.0us); + break; + } + + case controls::NOISE_REDUCTION_MODE: { + RPiController::DenoiseAlgorithm *sdn = dynamic_cast<RPiController::DenoiseAlgorithm *>( + controller_.GetAlgorithm("SDN")); + if (!sdn) { + LOG(IPARPI, Warning) + << "Could not set NOISE_REDUCTION_MODE - no SDN algorithm"; + break; + } + + int32_t idx = ctrl.second.get<int32_t>(); + auto mode = DenoiseModeTable.find(idx); + if (mode != DenoiseModeTable.end()) { + sdn->SetMode(mode->second); + + /* + * \todo If the colour denoise is not going to run due to an + * analysis image resolution or format mismatch, we should + * report the status correctly in the metadata. + */ + libcameraMetadata_.set(controls::draft::NoiseReductionMode, idx); + } else { + LOG(IPARPI, Error) << "Noise reduction mode " << idx + << " not recognised"; + } + break; + } + default: LOG(IPARPI, Warning) << "Ctrl " << controls::controls.at(ctrl.first)->name() @@ -710,152 +908,149 @@ void IPARPi::queueRequest(const ControlList &controls) void IPARPi::returnEmbeddedBuffer(unsigned int bufferId) { - IPAOperationData op; - op.operation = RPi::IPA_ACTION_EMBEDDED_COMPLETE; - op.data = { bufferId & RPi::BufferMask::ID }; - queueFrameAction.emit(0, op); + embeddedComplete.emit(bufferId & ipa::RPi::MaskID); } -void IPARPi::prepareISP(unsigned int bufferId) +void IPARPi::prepareISP(const ipa::RPi::ISPConfig &data) { - struct DeviceStatus deviceStatus = {}; - bool success = parseEmbeddedData(bufferId, deviceStatus); + int64_t frameTimestamp = data.controls.get(controls::SensorTimestamp); + RPiController::Metadata lastMetadata; + Span<uint8_t> embeddedBuffer; + + lastMetadata = std::move(rpiMetadata_); + fillDeviceStatus(data.controls); + + if (data.embeddedBufferPresent) { + /* + * Pipeline handler has supplied us with an embedded data buffer, + * we must pass it to the CamHelper for parsing. + */ + auto it = buffers_.find(data.embeddedBufferId); + ASSERT(it != buffers_.end()); + embeddedBuffer = it->second.maps()[0]; + } + + /* + * This may overwrite the DeviceStatus using values from the sensor + * metadata, and may also do additional custom processing. + */ + helper_->Prepare(embeddedBuffer, rpiMetadata_); /* Done with embedded data now, return to pipeline handler asap. */ - returnEmbeddedBuffer(bufferId); + if (data.embeddedBufferPresent) + returnEmbeddedBuffer(data.embeddedBufferId); - if (success) { - ControlList ctrls(ispCtrls_); + /* Allow a 10% margin on the comparison below. */ + Duration delta = (frameTimestamp - lastRunTimestamp_) * 1.0ns; + if (lastRunTimestamp_ && frameCount_ > dropFrameCount_ && + delta < controllerMinFrameDuration * 0.9) { + /* + * Ensure we merge the previous frame's metadata with the current + * frame. This will not overwrite exposure/gain values for the + * current frame, or any other bits of metadata that were added + * in helper_->Prepare(). + */ + rpiMetadata_.Merge(lastMetadata); + processPending_ = false; + return; + } - rpiMetadata_.Clear(); - rpiMetadata_.Set("device.status", deviceStatus); - controller_.Prepare(&rpiMetadata_); + lastRunTimestamp_ = frameTimestamp; + processPending_ = true; - /* Lock the metadata buffer to avoid constant locks/unlocks. */ - std::unique_lock<RPiController::Metadata> lock(rpiMetadata_); + ControlList ctrls(ispCtrls_); - AwbStatus *awbStatus = rpiMetadata_.GetLocked<AwbStatus>("awb.status"); - if (awbStatus) - applyAWB(awbStatus, ctrls); + controller_.Prepare(&rpiMetadata_); - CcmStatus *ccmStatus = rpiMetadata_.GetLocked<CcmStatus>("ccm.status"); - if (ccmStatus) - applyCCM(ccmStatus, ctrls); + /* Lock the metadata buffer to avoid constant locks/unlocks. */ + std::unique_lock<RPiController::Metadata> lock(rpiMetadata_); - AgcStatus *dgStatus = rpiMetadata_.GetLocked<AgcStatus>("agc.status"); - if (dgStatus) - applyDG(dgStatus, ctrls); + AwbStatus *awbStatus = rpiMetadata_.GetLocked<AwbStatus>("awb.status"); + if (awbStatus) + applyAWB(awbStatus, ctrls); - AlscStatus *lsStatus = rpiMetadata_.GetLocked<AlscStatus>("alsc.status"); - if (lsStatus) - applyLS(lsStatus, ctrls); + CcmStatus *ccmStatus = rpiMetadata_.GetLocked<CcmStatus>("ccm.status"); + if (ccmStatus) + applyCCM(ccmStatus, ctrls); - ContrastStatus *contrastStatus = rpiMetadata_.GetLocked<ContrastStatus>("contrast.status"); - if (contrastStatus) - applyGamma(contrastStatus, ctrls); + AgcStatus *dgStatus = rpiMetadata_.GetLocked<AgcStatus>("agc.status"); + if (dgStatus) + applyDG(dgStatus, ctrls); - BlackLevelStatus *blackLevelStatus = rpiMetadata_.GetLocked<BlackLevelStatus>("black_level.status"); - if (blackLevelStatus) - applyBlackLevel(blackLevelStatus, ctrls); + AlscStatus *lsStatus = rpiMetadata_.GetLocked<AlscStatus>("alsc.status"); + if (lsStatus) + applyLS(lsStatus, ctrls); - GeqStatus *geqStatus = rpiMetadata_.GetLocked<GeqStatus>("geq.status"); - if (geqStatus) - applyGEQ(geqStatus, ctrls); + ContrastStatus *contrastStatus = rpiMetadata_.GetLocked<ContrastStatus>("contrast.status"); + if (contrastStatus) + applyGamma(contrastStatus, ctrls); - SdnStatus *denoiseStatus = rpiMetadata_.GetLocked<SdnStatus>("sdn.status"); - if (denoiseStatus) - applyDenoise(denoiseStatus, ctrls); + BlackLevelStatus *blackLevelStatus = rpiMetadata_.GetLocked<BlackLevelStatus>("black_level.status"); + if (blackLevelStatus) + applyBlackLevel(blackLevelStatus, ctrls); - SharpenStatus *sharpenStatus = rpiMetadata_.GetLocked<SharpenStatus>("sharpen.status"); - if (sharpenStatus) - applySharpen(sharpenStatus, ctrls); + GeqStatus *geqStatus = rpiMetadata_.GetLocked<GeqStatus>("geq.status"); + if (geqStatus) + applyGEQ(geqStatus, ctrls); - DpcStatus *dpcStatus = rpiMetadata_.GetLocked<DpcStatus>("dpc.status"); - if (dpcStatus) - applyDPC(dpcStatus, ctrls); + DenoiseStatus *denoiseStatus = rpiMetadata_.GetLocked<DenoiseStatus>("denoise.status"); + if (denoiseStatus) + applyDenoise(denoiseStatus, ctrls); - if (!ctrls.empty()) { - IPAOperationData op; - op.operation = RPi::IPA_ACTION_V4L2_SET_ISP; - op.controls.push_back(ctrls); - queueFrameAction.emit(0, op); - } - } + SharpenStatus *sharpenStatus = rpiMetadata_.GetLocked<SharpenStatus>("sharpen.status"); + if (sharpenStatus) + applySharpen(sharpenStatus, ctrls); + + DpcStatus *dpcStatus = rpiMetadata_.GetLocked<DpcStatus>("dpc.status"); + if (dpcStatus) + applyDPC(dpcStatus, ctrls); + + if (!ctrls.empty()) + setIspControls.emit(ctrls); } -bool IPARPi::parseEmbeddedData(unsigned int bufferId, struct DeviceStatus &deviceStatus) +void IPARPi::fillDeviceStatus(const ControlList &sensorControls) { - auto it = buffersMemory_.find(bufferId); - if (it == buffersMemory_.end()) { - LOG(IPARPI, Error) << "Could not find embedded buffer!"; - return false; - } + DeviceStatus deviceStatus = {}; - int size = buffers_.find(bufferId)->second.planes()[0].length; - helper_->Parser().SetBufferSize(size); - RPiController::MdParser::Status status = helper_->Parser().Parse(it->second); - if (status != RPiController::MdParser::Status::OK) { - LOG(IPARPI, Error) << "Embedded Buffer parsing failed, error " << status; - } else { - uint32_t exposureLines, gainCode; - if (helper_->Parser().GetExposureLines(exposureLines) != RPiController::MdParser::Status::OK) { - LOG(IPARPI, Error) << "Exposure time failed"; - return false; - } + int32_t exposureLines = sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>(); + int32_t gainCode = sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>(); + int32_t vblank = sensorControls.get(V4L2_CID_VBLANK).get<int32_t>(); - deviceStatus.shutter_speed = helper_->Exposure(exposureLines); - if (helper_->Parser().GetGainCode(gainCode) != RPiController::MdParser::Status::OK) { - LOG(IPARPI, Error) << "Gain failed"; - return false; - } + deviceStatus.shutter_speed = helper_->Exposure(exposureLines); + deviceStatus.analogue_gain = helper_->Gain(gainCode); + deviceStatus.frame_length = mode_.height + vblank; - deviceStatus.analogue_gain = helper_->Gain(gainCode); - LOG(IPARPI, Debug) << "Metadata - Exposure : " - << deviceStatus.shutter_speed << " Gain : " - << deviceStatus.analogue_gain; - } + LOG(IPARPI, Debug) << "Metadata - " << deviceStatus; - return true; + rpiMetadata_.Set("device.status", deviceStatus); } void IPARPi::processStats(unsigned int bufferId) { - auto it = buffersMemory_.find(bufferId); - if (it == buffersMemory_.end()) { + auto it = buffers_.find(bufferId); + if (it == buffers_.end()) { LOG(IPARPI, Error) << "Could not find stats buffer!"; return; } - bcm2835_isp_stats *stats = static_cast<bcm2835_isp_stats *>(it->second); + Span<uint8_t> mem = it->second.maps()[0]; + bcm2835_isp_stats *stats = reinterpret_cast<bcm2835_isp_stats *>(mem.data()); RPiController::StatisticsPtr statistics = std::make_shared<bcm2835_isp_stats>(*stats); + helper_->Process(statistics, rpiMetadata_); controller_.Process(statistics, &rpiMetadata_); struct AgcStatus agcStatus; if (rpiMetadata_.Get("agc.status", agcStatus) == 0) { - ControlList ctrls(unicamCtrls_); + ControlList ctrls(sensorCtrls_); applyAGC(&agcStatus, ctrls); - IPAOperationData op; - op.operation = RPi::IPA_ACTION_V4L2_SET_STAGGERED; - op.controls.push_back(ctrls); - queueFrameAction.emit(0, op); + setDelayedControls.emit(ctrls); } } void IPARPi::applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls) { - const auto gainR = ispCtrls_.find(V4L2_CID_RED_BALANCE); - if (gainR == ispCtrls_.end()) { - LOG(IPARPI, Error) << "Can't find red gain control"; - return; - } - - const auto gainB = ispCtrls_.find(V4L2_CID_BLUE_BALANCE); - if (gainB == ispCtrls_.end()) { - LOG(IPARPI, Error) << "Can't find blue gain control"; - return; - } - LOG(IPARPI, Debug) << "Applying WB R: " << awbStatus->gain_r << " B: " << awbStatus->gain_b; @@ -865,49 +1060,76 @@ void IPARPi::applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls) static_cast<int32_t>(awbStatus->gain_b * 1000)); } +void IPARPi::applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration) +{ + const Duration minSensorFrameDuration = mode_.min_frame_length * mode_.line_length; + const Duration maxSensorFrameDuration = mode_.max_frame_length * mode_.line_length; + + /* + * This will only be applied once AGC recalculations occur. + * The values may be clamped based on the sensor mode capabilities as well. + */ + minFrameDuration_ = minFrameDuration ? minFrameDuration : defaultMaxFrameDuration; + maxFrameDuration_ = maxFrameDuration ? maxFrameDuration : defaultMinFrameDuration; + minFrameDuration_ = std::clamp(minFrameDuration_, + minSensorFrameDuration, maxSensorFrameDuration); + maxFrameDuration_ = std::clamp(maxFrameDuration_, + minSensorFrameDuration, maxSensorFrameDuration); + maxFrameDuration_ = std::max(maxFrameDuration_, minFrameDuration_); + + /* Return the validated limits via metadata. */ + libcameraMetadata_.set(controls::FrameDurationLimits, + { static_cast<int64_t>(minFrameDuration_.get<std::micro>()), + static_cast<int64_t>(maxFrameDuration_.get<std::micro>()) }); + + /* + * Calculate the maximum exposure time possible for the AGC to use. + * GetVBlanking() will update maxShutter with the largest exposure + * value possible. + */ + Duration maxShutter = Duration::max(); + helper_->GetVBlanking(maxShutter, minFrameDuration_, maxFrameDuration_); + + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.GetAlgorithm("agc")); + agc->SetMaxShutter(maxShutter); +} + void IPARPi::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls) { int32_t gainCode = helper_->GainCode(agcStatus->analogue_gain); - int32_t exposureLines = helper_->ExposureLines(agcStatus->shutter_time); - if (unicamCtrls_.find(V4L2_CID_ANALOGUE_GAIN) == unicamCtrls_.end()) { - LOG(IPARPI, Error) << "Can't find analogue gain control"; - return; - } - - if (unicamCtrls_.find(V4L2_CID_EXPOSURE) == unicamCtrls_.end()) { - LOG(IPARPI, Error) << "Can't find exposure control"; - return; - } + /* GetVBlanking might clip exposure time to the fps limits. */ + Duration exposure = agcStatus->shutter_time; + int32_t vblanking = helper_->GetVBlanking(exposure, minFrameDuration_, maxFrameDuration_); + int32_t exposureLines = helper_->ExposureLines(exposure); - LOG(IPARPI, Debug) << "Applying AGC Exposure: " << agcStatus->shutter_time - << " (Shutter lines: " << exposureLines << ") Gain: " + LOG(IPARPI, Debug) << "Applying AGC Exposure: " << exposure + << " (Shutter lines: " << exposureLines << ", AGC requested " + << agcStatus->shutter_time << ") Gain: " << agcStatus->analogue_gain << " (Gain Code: " << gainCode << ")"; - ctrls.set(V4L2_CID_ANALOGUE_GAIN, gainCode); + /* + * Due to the behavior of V4L2, the current value of VBLANK could clip the + * exposure time without us knowing. The next time though this function should + * clip exposure correctly. + */ + ctrls.set(V4L2_CID_VBLANK, vblanking); ctrls.set(V4L2_CID_EXPOSURE, exposureLines); + ctrls.set(V4L2_CID_ANALOGUE_GAIN, gainCode); } void IPARPi::applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls) { - if (ispCtrls_.find(V4L2_CID_DIGITAL_GAIN) == ispCtrls_.end()) { - LOG(IPARPI, Error) << "Can't find digital gain control"; - return; - } - ctrls.set(V4L2_CID_DIGITAL_GAIN, static_cast<int32_t>(dgStatus->digital_gain * 1000)); } void IPARPi::applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls) { - if (ispCtrls_.find(V4L2_CID_USER_BCM2835_ISP_CC_MATRIX) == ispCtrls_.end()) { - LOG(IPARPI, Error) << "Can't find CCM control"; - return; - } - 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]; @@ -923,12 +1145,8 @@ void IPARPi::applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls) void IPARPi::applyGamma(const struct ContrastStatus *contrastStatus, ControlList &ctrls) { - if (ispCtrls_.find(V4L2_CID_USER_BCM2835_ISP_GAMMA) == ispCtrls_.end()) { - LOG(IPARPI, Error) << "Can't find Gamma control"; - return; - } - struct bcm2835_isp_gamma gamma; + gamma.enabled = 1; for (int i = 0; i < CONTRAST_NUM_POINTS; i++) { gamma.x[i] = contrastStatus->points[i].x; @@ -942,12 +1160,8 @@ void IPARPi::applyGamma(const struct ContrastStatus *contrastStatus, ControlList void IPARPi::applyBlackLevel(const struct BlackLevelStatus *blackLevelStatus, ControlList &ctrls) { - if (ispCtrls_.find(V4L2_CID_USER_BCM2835_ISP_BLACK_LEVEL) == ispCtrls_.end()) { - LOG(IPARPI, Error) << "Can't find black level control"; - return; - } - bcm2835_isp_black_level blackLevel; + blackLevel.enabled = 1; blackLevel.black_level_r = blackLevelStatus->black_level_r; blackLevel.black_level_g = blackLevelStatus->black_level_g; @@ -960,12 +1174,8 @@ void IPARPi::applyBlackLevel(const struct BlackLevelStatus *blackLevelStatus, Co void IPARPi::applyGEQ(const struct GeqStatus *geqStatus, ControlList &ctrls) { - if (ispCtrls_.find(V4L2_CID_USER_BCM2835_ISP_GEQ) == ispCtrls_.end()) { - LOG(IPARPI, Error) << "Can't find geq control"; - return; - } - bcm2835_isp_geq geq; + geq.enabled = 1; geq.offset = geqStatus->offset; geq.slope.den = 1000; @@ -976,34 +1186,48 @@ void IPARPi::applyGEQ(const struct GeqStatus *geqStatus, ControlList &ctrls) ctrls.set(V4L2_CID_USER_BCM2835_ISP_GEQ, c); } -void IPARPi::applyDenoise(const struct SdnStatus *denoiseStatus, ControlList &ctrls) +void IPARPi::applyDenoise(const struct DenoiseStatus *denoiseStatus, ControlList &ctrls) { - if (ispCtrls_.find(V4L2_CID_USER_BCM2835_ISP_DENOISE) == ispCtrls_.end()) { - LOG(IPARPI, Error) << "Can't find denoise control"; - return; - } + using RPiController::DenoiseMode; bcm2835_isp_denoise denoise; - denoise.enabled = 1; + DenoiseMode mode = static_cast<DenoiseMode>(denoiseStatus->mode); + + denoise.enabled = mode != DenoiseMode::Off; denoise.constant = denoiseStatus->noise_constant; denoise.slope.num = 1000 * denoiseStatus->noise_slope; 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 IPARPi::applySharpen(const struct SharpenStatus *sharpenStatus, ControlList &ctrls) { - if (ispCtrls_.find(V4L2_CID_USER_BCM2835_ISP_SHARPEN) == ispCtrls_.end()) { - LOG(IPARPI, Error) << "Can't find sharpen control"; - return; - } - bcm2835_isp_sharpen sharpen; + sharpen.enabled = 1; sharpen.threshold.num = 1000 * sharpenStatus->threshold; sharpen.threshold.den = 1000; @@ -1019,12 +1243,8 @@ void IPARPi::applySharpen(const struct SharpenStatus *sharpenStatus, ControlList void IPARPi::applyDPC(const struct DpcStatus *dpcStatus, ControlList &ctrls) { - if (ispCtrls_.find(V4L2_CID_USER_BCM2835_ISP_DPC) == ispCtrls_.end()) { - LOG(IPARPI, Error) << "Can't find DPC control"; - return; - } - bcm2835_isp_dpc dpc; + dpc.enabled = 1; dpc.strength = dpcStatus->strength; @@ -1035,17 +1255,12 @@ void IPARPi::applyDPC(const struct DpcStatus *dpcStatus, ControlList &ctrls) void IPARPi::applyLS(const struct AlscStatus *lsStatus, ControlList &ctrls) { - if (ispCtrls_.find(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING) == ispCtrls_.end()) { - LOG(IPARPI, Error) << "Can't find LS control"; - return; - } - /* * 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 = ARRAY_SIZE(cellSizes); + unsigned int numCells = std::size(cellSizes); unsigned int i, w, h, cellSize; for (i = 0; i < numCells; i++) { cellSize = cellSizes[i]; @@ -1068,13 +1283,14 @@ void IPARPi::applyLS(const struct AlscStatus *lsStatus, ControlList &ctrls) .grid_width = w, .grid_stride = w, .grid_height = h, - .dmabuf = lsTableHandle_.fd(), + /* .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) > RPi::MaxLsGridSize) { + if (!lsTable_ || w * h * 4 * sizeof(uint16_t) > ipa::RPi::MaxLsGridSize) { LOG(IPARPI, Error) << "Do not have a correctly allocate lens shading table!"; return; } @@ -1145,11 +1361,11 @@ const struct IPAModuleInfo ipaModuleInfo = { "raspberrypi", }; -struct ipa_context *ipaCreate() +IPAInterface *ipaCreate() { - return new IPAInterfaceWrapper(std::make_unique<IPARPi>()); + return new IPARPi(); } -}; /* extern "C" */ +} /* extern "C" */ } /* namespace libcamera */ |