libcamera: pipeline: Add Mali-C55 ISP pipeline

Add a pipeline handler for the Mali-C55 ISP.

The pipeline doesn't currently support an IPA and does not run
any 3a algorithm but only handles the media graph topology and
formats/sizes configuration

Co-developed-by: Daniel Scally <dan.scally@ideasonboard.com>
Signed-off-by: Daniel Scally <dan.scally@ideasonboard.com>
Signed-off-by: Jacopo Mondi <jacopo.mondi@ideasonboard.com>
Acked-by: Nayden Kanchev <nayden.kanchev@arm.com>
Reviewed-by: Kieran Bingham <kieran.bingham@ideasonboard.com>

4 files changed, 1073 insertions, 0 deletions

diff --git a/meson.build b/meson.build
index cb6b666a..740ead1b 100644
--- a/meson.build
+++ b/meson.build
@@ -198,6 +198,7 @@ arch_x86 = ['x86', 'x86_64']
 pipelines_support = {
     'imx8-isi':     arch_arm,
     'ipu3':         arch_x86,
+    'mali-c55':     arch_arm,
     'rkisp1':       arch_arm,
     'rpi/vc4':      arch_arm,
     'simple':       arch_arm,
diff --git a/meson_options.txt b/meson_options.txt
index 99dab96d..7c4f6d3a 100644
--- a/meson_options.txt
+++ b/meson_options.txt
@@ -43,6 +43,7 @@ option('pipelines',
             'auto',
             'imx8-isi',
             'ipu3',
+            'mali-c55',
             'rkisp1',
             'rpi/vc4',
             'simple',
diff --git a/src/libcamera/pipeline/mali-c55/mali-c55.cpp b/src/libcamera/pipeline/mali-c55/mali-c55.cpp
new file mode 100644
index 00000000..78343553
--- /dev/null
+++ b/src/libcamera/pipeline/mali-c55/mali-c55.cpp
@@ -0,0 +1,1066 @@
+/* SPDX-License-Identifier: LGPL-2.1-or-later */
+/*
+ * Copyright (C) 2024, Ideas on Board Oy
+ *
+ * mali-c55.cpp - Pipeline Handler for ARM's Mali-C55 ISP
+ */
+
+#include <algorithm>
+#include <array>
+#include <map>
+#include <memory>
+#include <set>
+#include <string>
+
+#include <linux/media-bus-format.h>
+#include <linux/media.h>
+
+#include <libcamera/base/log.h>
+
+#include <libcamera/camera.h>
+#include <libcamera/formats.h>
+#include <libcamera/geometry.h>
+#include <libcamera/stream.h>
+
+#include "libcamera/internal/bayer_format.h"
+#include "libcamera/internal/camera.h"
+#include "libcamera/internal/camera_sensor.h"
+#include "libcamera/internal/device_enumerator.h"
+#include "libcamera/internal/media_device.h"
+#include "libcamera/internal/pipeline_handler.h"
+#include "libcamera/internal/v4l2_subdevice.h"
+#include "libcamera/internal/v4l2_videodevice.h"
+
+namespace {
+
+bool isFormatRaw(const libcamera::PixelFormat &pixFmt)
+{
+	return libcamera::PixelFormatInfo::info(pixFmt).colourEncoding ==
+	       libcamera::PixelFormatInfo::ColourEncodingRAW;
+}
+
+} /* namespace */
+
+namespace libcamera {
+
+LOG_DEFINE_CATEGORY(MaliC55)
+
+const std::map<libcamera::PixelFormat, unsigned int> maliC55FmtToCode = {
+	/* \todo Support all formats supported by the driver in libcamera. */
+
+	{ formats::RGB565, MEDIA_BUS_FMT_RGB121212_1X36 },
+	{ formats::RGB888, MEDIA_BUS_FMT_RGB121212_1X36 },
+	{ formats::YUYV, MEDIA_BUS_FMT_YUV10_1X30 },
+	{ formats::UYVY, MEDIA_BUS_FMT_YUV10_1X30 },
+	{ formats::R8, MEDIA_BUS_FMT_YUV10_1X30 },
+	{ formats::NV12, MEDIA_BUS_FMT_YUV10_1X30 },
+	{ formats::NV21, MEDIA_BUS_FMT_YUV10_1X30 },
+
+	/* RAW formats, FR pipe only. */
+	{ formats::SGBRG8, MEDIA_BUS_FMT_SGBRG8_1X8 },
+	{ formats::SRGGB8, MEDIA_BUS_FMT_SRGGB8_1X8 },
+	{ formats::SBGGR8, MEDIA_BUS_FMT_SBGGR8_1X8 },
+	{ formats::SGRBG8, MEDIA_BUS_FMT_SGRBG8_1X8 },
+	{ formats::SGBRG10, MEDIA_BUS_FMT_SGBRG10_1X10 },
+	{ formats::SRGGB10, MEDIA_BUS_FMT_SRGGB10_1X10 },
+	{ formats::SBGGR10, MEDIA_BUS_FMT_SBGGR10_1X10 },
+	{ formats::SGRBG10, MEDIA_BUS_FMT_SGRBG10_1X10 },
+	{ formats::SGBRG12, MEDIA_BUS_FMT_SGBRG12_1X12 },
+	{ formats::SRGGB12, MEDIA_BUS_FMT_SRGGB12_1X12 },
+	{ formats::SBGGR12, MEDIA_BUS_FMT_SBGGR12_1X12 },
+	{ formats::SGRBG12, MEDIA_BUS_FMT_SGRBG12_1X12 },
+	{ formats::SGBRG14, MEDIA_BUS_FMT_SGBRG14_1X14 },
+	{ formats::SRGGB14, MEDIA_BUS_FMT_SRGGB14_1X14 },
+	{ formats::SBGGR14, MEDIA_BUS_FMT_SBGGR14_1X14 },
+	{ formats::SGRBG14, MEDIA_BUS_FMT_SGRBG14_1X14 },
+	{ formats::SGBRG16, MEDIA_BUS_FMT_SGBRG16_1X16 },
+	{ formats::SRGGB16, MEDIA_BUS_FMT_SRGGB16_1X16 },
+	{ formats::SBGGR16, MEDIA_BUS_FMT_SBGGR16_1X16 },
+	{ formats::SGRBG16, MEDIA_BUS_FMT_SGRBG16_1X16 },
+};
+
+constexpr Size kMaliC55MinSize = { 128, 128 };
+constexpr Size kMaliC55MaxSize = { 8192, 8192 };
+constexpr unsigned int kMaliC55ISPInternalFormat = MEDIA_BUS_FMT_RGB121212_1X36;
+
+class MaliC55CameraData : public Camera::Private
+{
+public:
+	MaliC55CameraData(PipelineHandler *pipe, MediaEntity *entity)
+		: Camera::Private(pipe), entity_(entity)
+	{
+	}
+
+	int init();
+
+	/* Deflect these functionalities to either TPG or CameraSensor. */
+	const std::vector<unsigned int> mbusCodes() const;
+	const std::vector<Size> sizes(unsigned int mbusCode) const;
+	const Size resolution() const;
+
+	PixelFormat bestRawFormat() const;
+
+	PixelFormat adjustRawFormat(const PixelFormat &pixFmt) const;
+	Size adjustRawSizes(const PixelFormat &pixFmt, const Size &rawSize) const;
+
+	std::unique_ptr<CameraSensor> sensor_;
+
+	MediaEntity *entity_;
+	std::unique_ptr<V4L2Subdevice> csi_;
+	std::unique_ptr<V4L2Subdevice> sd_;
+	Stream frStream_;
+	Stream dsStream_;
+
+private:
+	void initTPGData();
+
+	std::string id_;
+	std::vector<unsigned int> tpgCodes_;
+	std::vector<Size> tpgSizes_;
+	Size tpgResolution_;
+};
+
+int MaliC55CameraData::init()
+{
+	int ret;
+
+	sd_ = std::make_unique<V4L2Subdevice>(entity_);
+	ret = sd_->open();
+	if (ret) {
+		LOG(MaliC55, Error) << "Failed to open sensor subdevice";
+		return ret;
+	}
+
+	/* If this camera is created from TPG, we return here. */
+	if (entity_->name() == "mali-c55 tpg") {
+		initTPGData();
+		return 0;
+	}
+
+	/*
+	 * Register a CameraSensor if we connect to a sensor and create
+	 * an entity for the connected CSI-2 receiver.
+	 */
+	sensor_ = std::make_unique<CameraSensor>(entity_);
+	ret = sensor_->init();
+	if (ret)
+		return ret;
+
+	const MediaPad *sourcePad = entity_->getPadByIndex(0);
+	MediaEntity *csiEntity = sourcePad->links()[0]->sink()->entity();
+
+	csi_ = std::make_unique<V4L2Subdevice>(csiEntity);
+	if (csi_->open()) {
+		LOG(MaliC55, Error) << "Failed to open CSI-2 subdevice";
+		return false;
+	}
+
+	return 0;
+}
+
+void MaliC55CameraData::initTPGData()
+{
+	/* Replicate the CameraSensor implementation for TPG. */
+	V4L2Subdevice::Formats formats = sd_->formats(0);
+	if (formats.empty())
+		return;
+
+	tpgCodes_ = utils::map_keys(formats);
+	std::sort(tpgCodes_.begin(), tpgCodes_.end());
+
+	for (const auto &format : formats) {
+		const std::vector<SizeRange> &ranges = format.second;
+		std::transform(ranges.begin(), ranges.end(), std::back_inserter(tpgSizes_),
+			       [](const SizeRange &range) { return range.max; });
+	}
+
+	tpgResolution_ = tpgSizes_.back();
+}
+
+const std::vector<unsigned int> MaliC55CameraData::mbusCodes() const
+{
+	if (sensor_)
+		return sensor_->mbusCodes();
+
+	return tpgCodes_;
+}
+
+const std::vector<Size> MaliC55CameraData::sizes(unsigned int mbusCode) const
+{
+	if (sensor_)
+		return sensor_->sizes(mbusCode);
+
+	V4L2Subdevice::Formats formats = sd_->formats(0);
+	if (formats.empty())
+		return {};
+
+	std::vector<Size> sizes;
+	const auto &format = formats.find(mbusCode);
+	if (format == formats.end())
+		return {};
+
+	const std::vector<SizeRange> &ranges = format->second;
+	std::transform(ranges.begin(), ranges.end(), std::back_inserter(sizes),
+		       [](const SizeRange &range) { return range.max; });
+
+	std::sort(sizes.begin(), sizes.end());
+
+	return sizes;
+}
+
+const Size MaliC55CameraData::resolution() const
+{
+	if (sensor_)
+		return sensor_->resolution();
+
+	return tpgResolution_;
+}
+
+PixelFormat MaliC55CameraData::bestRawFormat() const
+{
+	unsigned int bitDepth = 0;
+	PixelFormat rawFormat;
+
+	/*
+	 * Iterate over all the supported PixelFormat and find the one
+	 * supported by the camera with the largest bitdepth.
+	 */
+	for (const auto &maliFormat : maliC55FmtToCode) {
+		PixelFormat pixFmt = maliFormat.first;
+		if (!isFormatRaw(pixFmt))
+			continue;
+
+		unsigned int rawCode = maliFormat.second;
+		const auto rawSizes = sizes(rawCode);
+		if (rawSizes.empty())
+			continue;
+
+		BayerFormat bayer = BayerFormat::fromMbusCode(rawCode);
+		if (bayer.bitDepth > bitDepth) {
+			bitDepth = bayer.bitDepth;
+			rawFormat = pixFmt;
+		}
+	}
+
+	return rawFormat;
+}
+
+/*
+ * Make sure the provided raw pixel format is supported and adjust it to
+ * one of the supported ones if it's not.
+ */
+PixelFormat MaliC55CameraData::adjustRawFormat(const PixelFormat &rawFmt) const
+{
+	/* Make sure the provided raw format is supported by the pipeline. */
+	auto it = maliC55FmtToCode.find(rawFmt);
+	if (it == maliC55FmtToCode.end())
+		return bestRawFormat();
+
+	/* Now make sure the RAW mbus code is supported by the image source. */
+	unsigned int rawCode = it->second;
+	const auto rawSizes = sizes(rawCode);
+	if (rawSizes.empty())
+		return bestRawFormat();
+
+	return rawFmt;
+}
+
+Size MaliC55CameraData::adjustRawSizes(const PixelFormat &rawFmt, const Size &rawSize) const
+{
+	/* Just make sure the format is supported. */
+	auto it = maliC55FmtToCode.find(rawFmt);
+	if (it == maliC55FmtToCode.end())
+		return {};
+
+	/* Check if the size is natively supported. */
+	unsigned int rawCode = it->second;
+	const auto rawSizes = sizes(rawCode);
+	auto sizeIt = std::find(rawSizes.begin(), rawSizes.end(), rawSize);
+	if (sizeIt != rawSizes.end())
+		return rawSize;
+
+	/* Or adjust it to the closest supported size. */
+	uint16_t distance = std::numeric_limits<uint16_t>::max();
+	Size bestSize;
+	for (const Size &size : rawSizes) {
+		uint16_t dist = std::abs(static_cast<int>(rawSize.width) -
+					 static_cast<int>(size.width)) +
+				std::abs(static_cast<int>(rawSize.height) -
+					 static_cast<int>(size.height));
+		if (dist < distance) {
+			dist = distance;
+			bestSize = size;
+		}
+	}
+
+	return bestSize;
+}
+
+class MaliC55CameraConfiguration : public CameraConfiguration
+{
+public:
+	MaliC55CameraConfiguration(MaliC55CameraData *data)
+		: CameraConfiguration(), data_(data)
+	{
+	}
+
+	Status validate() override;
+
+	V4L2SubdeviceFormat sensorFormat_;
+
+private:
+	static constexpr unsigned int kMaxStreams = 2;
+
+	const MaliC55CameraData *data_;
+};
+
+CameraConfiguration::Status MaliC55CameraConfiguration::validate()
+{
+	Status status = Valid;
+
+	if (config_.empty())
+		return Invalid;
+
+	/* Only 2 streams available. */
+	if (config_.size() > kMaxStreams) {
+		config_.resize(kMaxStreams);
+		status = Adjusted;
+	}
+
+	bool frPipeAvailable = true;
+	StreamConfiguration *rawConfig = nullptr;
+	for (StreamConfiguration &config : config_) {
+		if (!isFormatRaw(config.pixelFormat))
+			continue;
+
+		if (rawConfig) {
+			LOG(MaliC55, Error)
+				<< "Only a single RAW stream is supported";
+			return Invalid;
+		}
+
+		rawConfig = &config;
+	}
+
+	Size maxSize = kMaliC55MaxSize;
+	if (rawConfig) {
+		/*
+		 * \todo Take into account the Bayer components ordering once
+		 * we support rotations.
+		 */
+		PixelFormat rawFormat =
+			data_->adjustRawFormat(rawConfig->pixelFormat);
+		if (rawFormat != rawConfig->pixelFormat) {
+			LOG(MaliC55, Debug)
+				<< "RAW format adjusted to " << rawFormat;
+			rawConfig->pixelFormat = rawFormat;
+			status = Adjusted;
+		}
+
+		Size rawSize =
+			data_->adjustRawSizes(rawFormat, rawConfig->size);
+		if (rawSize != rawConfig->size) {
+			LOG(MaliC55, Debug)
+				<< "RAW sizes adjusted to " << rawSize;
+			rawConfig->size = rawSize;
+			status = Adjusted;
+		}
+
+		maxSize = rawSize;
+
+		rawConfig->setStream(const_cast<Stream *>(&data_->frStream_));
+		frPipeAvailable = false;
+	}
+
+	/* Adjust processed streams. */
+	Size maxYuvSize;
+	for (StreamConfiguration &config : config_) {
+		if (isFormatRaw(config.pixelFormat))
+			continue;
+
+		/* Adjust format and size for processed streams. */
+		const auto it = maliC55FmtToCode.find(config.pixelFormat);
+		if (it == maliC55FmtToCode.end()) {
+			LOG(MaliC55, Debug)
+				<< "Format adjusted to " << formats::RGB565;
+			config.pixelFormat = formats::RGB565;
+			status = Adjusted;
+		}
+
+		Size size = std::clamp(config.size, kMaliC55MinSize, maxSize);
+		if (size != config.size) {
+			LOG(MaliC55, Debug)
+				<< "Size adjusted to " << size;
+			config.size = size;
+			status = Adjusted;
+		}
+
+		if (maxYuvSize < size)
+			maxYuvSize = size;
+
+		if (frPipeAvailable) {
+			config.setStream(const_cast<Stream *>(&data_->frStream_));
+			frPipeAvailable = false;
+		} else {
+			config.setStream(const_cast<Stream *>(&data_->dsStream_));
+		}
+	}
+
+	/* Compute the sensor format. */
+
+	/* If there's a RAW config, sensor configuration follows it. */
+	if (rawConfig) {
+		const auto it = maliC55FmtToCode.find(rawConfig->pixelFormat);
+		sensorFormat_.code = it->second;
+		sensorFormat_.size = rawConfig->size;
+
+		return status;
+	}
+
+	/* If there's no RAW config, compute the sensor configuration here. */
+	PixelFormat rawFormat = data_->bestRawFormat();
+	const auto it = maliC55FmtToCode.find(rawFormat);
+	sensorFormat_.code = it->second;
+
+	uint16_t distance = std::numeric_limits<uint16_t>::max();
+	const auto sizes = data_->sizes(it->second);
+	Size bestSize;
+	for (const auto &size : sizes) {
+		/* Skip sensor sizes that are smaller than the max YUV size. */
+		if (maxYuvSize.width > size.width ||
+		    maxYuvSize.height > size.height)
+			continue;
+
+		uint16_t dist = std::abs(static_cast<int>(maxYuvSize.width) -
+					 static_cast<int>(size.width)) +
+				std::abs(static_cast<int>(maxYuvSize.height) -
+					 static_cast<int>(size.height));
+		if (dist < distance) {
+			dist = distance;
+			bestSize = size;
+		}
+	}
+	sensorFormat_.size = bestSize;
+
+	LOG(MaliC55, Debug) << "Computed sensor configuration " << sensorFormat_;
+
+	return status;
+}
+
+class PipelineHandlerMaliC55 : public PipelineHandler
+{
+public:
+	PipelineHandlerMaliC55(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;
+
+	void bufferReady(FrameBuffer *buffer);
+
+	bool match(DeviceEnumerator *enumerator) override;
+
+private:
+	struct MaliC55Pipe {
+		std::unique_ptr<V4L2Subdevice> resizer;
+		std::unique_ptr<V4L2VideoDevice> cap;
+		Stream *stream;
+	};
+
+	enum {
+		MaliC55FR,
+		MaliC55DS,
+		MaliC55NumPipes,
+	};
+
+	MaliC55CameraData *cameraData(Camera *camera)
+	{
+		return static_cast<MaliC55CameraData *>(camera->_d());
+	}
+
+	MaliC55Pipe *pipeFromStream(MaliC55CameraData *data, Stream *stream)
+	{
+		if (stream == &data->frStream_)
+			return &pipes_[MaliC55FR];
+		else if (stream == &data->dsStream_)
+			return &pipes_[MaliC55DS];
+		else
+			LOG(MaliC55, Fatal) << "Stream " << stream << " not valid";
+		return nullptr;
+	}
+
+	MaliC55Pipe *pipeFromStream(MaliC55CameraData *data, const Stream *stream)
+	{
+		return pipeFromStream(data, const_cast<Stream *>(stream));
+	}
+
+	void resetPipes()
+	{
+		for (MaliC55Pipe &pipe : pipes_)
+			pipe.stream = nullptr;
+	}
+
+	int configureRawStream(MaliC55CameraData *data,
+			       const StreamConfiguration &config,
+			       V4L2SubdeviceFormat &subdevFormat);
+	int configureProcessedStream(MaliC55CameraData *data,
+				     const StreamConfiguration &config,
+				     V4L2SubdeviceFormat &subdevFormat);
+
+	void registerMaliCamera(std::unique_ptr<MaliC55CameraData> data,
+				const std::string &name);
+	bool registerTPGCamera(MediaLink *link);
+	bool registerSensorCamera(MediaLink *link);
+
+	MediaDevice *media_;
+	std::unique_ptr<V4L2Subdevice> isp_;
+
+	std::array<MaliC55Pipe, MaliC55NumPipes> pipes_;
+
+	bool dsFitted_;
+};
+
+PipelineHandlerMaliC55::PipelineHandlerMaliC55(CameraManager *manager)
+	: PipelineHandler(manager), dsFitted_(true)
+{
+}
+
+std::unique_ptr<CameraConfiguration>
+PipelineHandlerMaliC55::generateConfiguration(Camera *camera,
+					      Span<const StreamRole> roles)
+{
+	MaliC55CameraData *data = cameraData(camera);
+	std::unique_ptr<CameraConfiguration> config =
+		std::make_unique<MaliC55CameraConfiguration>(data);
+	bool frPipeAvailable = true;
+
+	if (roles.empty())
+		return config;
+
+	/* Check if one stream is RAW to reserve the FR pipe for it. */
+	if (std::find(roles.begin(), roles.end(), StreamRole::Raw) != roles.end())
+		frPipeAvailable = false;
+
+	for (const StreamRole &role : roles) {
+		struct MaliC55Pipe *pipe;
+
+		/* Assign pipe for this role. */
+		if (role == StreamRole::Raw) {
+			pipe = &pipes_[MaliC55FR];
+		} else {
+			if (frPipeAvailable) {
+				pipe = &pipes_[MaliC55FR];
+				frPipeAvailable = false;
+			} else {
+				pipe = &pipes_[MaliC55DS];
+			}
+		}
+
+		Size size = std::min(Size{ 1920, 1080 }, data->resolution());
+		PixelFormat pixelFormat;
+
+		switch (role) {
+		case StreamRole::StillCapture:
+			size = data->resolution();
+			[[fallthrough]];
+		case StreamRole::VideoRecording:
+			pixelFormat = formats::NV12;
+			break;
+
+		case StreamRole::Viewfinder:
+			pixelFormat = formats::RGB565;
+			break;
+
+		case StreamRole::Raw:
+			pixelFormat = data->bestRawFormat();
+			if (!pixelFormat.isValid()) {
+				LOG(MaliC55, Error)
+					<< "Camera does not support RAW formats";
+				return nullptr;
+			}
+
+			size = data->resolution();
+			break;
+
+		default:
+			LOG(MaliC55, Error)
+				<< "Requested stream role not supported: " << role;
+			return nullptr;
+		}
+
+		std::map<PixelFormat, std::vector<SizeRange>> formats;
+		for (const auto &maliFormat : maliC55FmtToCode) {
+			PixelFormat pixFmt = maliFormat.first;
+			bool isRaw = isFormatRaw(pixFmt);
+
+			/* RAW formats are only supported on the FR pipe. */
+			if (pipe != &pipes_[MaliC55FR] && isRaw)
+				continue;
+
+			if (isRaw) {
+				/* Make sure the mbus code is supported. */
+				unsigned int rawCode = maliFormat.second;
+				const auto sizes = data->sizes(rawCode);
+				if (sizes.empty())
+					continue;
+
+				/* And list all sizes the sensor can produce. */
+				std::vector<SizeRange> sizeRanges;
+				std::transform(sizes.begin(), sizes.end(),
+					       std::back_inserter(sizeRanges),
+					       [](const Size &s) {
+						       return SizeRange(s);
+					       });
+
+				formats[pixFmt] = sizeRanges;
+			} else {
+				/* Processed formats are always available. */
+				Size maxSize = std::min(kMaliC55MaxSize,
+							data->resolution());
+				formats[pixFmt] = { kMaliC55MinSize, maxSize };
+			}
+		}
+
+		StreamFormats streamFormats(formats);
+		StreamConfiguration cfg(streamFormats);
+		cfg.pixelFormat = pixelFormat;
+		cfg.bufferCount = 4;
+		cfg.size = size;
+
+		config->addConfiguration(cfg);
+	}
+
+	if (config->validate() == CameraConfiguration::Invalid)
+		return nullptr;
+
+	return config;
+}
+
+int PipelineHandlerMaliC55::configureRawStream(MaliC55CameraData *data,
+					       const StreamConfiguration &config,
+					       V4L2SubdeviceFormat &subdevFormat)
+{
+	Stream *stream = config.stream();
+	MaliC55Pipe *pipe = pipeFromStream(data, stream);
+
+	if (pipe != &pipes_[MaliC55FR]) {
+		LOG(MaliC55, Fatal) << "Only the FR pipe supports RAW capture.";
+		return -EINVAL;
+	}
+
+	/* Enable the debayer route to set fixed internal format on pad #0. */
+	V4L2Subdevice::Routing routing = {};
+	routing.emplace_back(V4L2Subdevice::Stream{ 0, 0 },
+			     V4L2Subdevice::Stream{ 1, 0 },
+			     V4L2_SUBDEV_ROUTE_FL_ACTIVE);
+
+	int ret = pipe->resizer->setRouting(&routing, V4L2Subdevice::ActiveFormat);
+	if (ret)
+		return ret;
+
+	unsigned int rawCode = subdevFormat.code;
+	subdevFormat.code = kMaliC55ISPInternalFormat;
+	ret = pipe->resizer->setFormat(0, &subdevFormat);
+	if (ret)
+		return ret;
+
+	/* Enable the bypass route and apply RAW formats there. */
+	routing.clear();
+	routing.emplace_back(V4L2Subdevice::Stream{ 2, 0 },
+			     V4L2Subdevice::Stream{ 1, 0 },
+			     V4L2_SUBDEV_ROUTE_FL_ACTIVE);
+	ret = pipe->resizer->setRouting(&routing, V4L2Subdevice::ActiveFormat);
+	if (ret)
+		return ret;
+
+	subdevFormat.code = rawCode;
+	ret = pipe->resizer->setFormat(2, &subdevFormat);
+	if (ret)
+		return ret;
+
+	ret = pipe->resizer->setFormat(1, &subdevFormat);
+	if (ret)
+		return ret;
+
+	return 0;
+}
+
+int PipelineHandlerMaliC55::configureProcessedStream(MaliC55CameraData *data,
+						     const StreamConfiguration &config,
+						     V4L2SubdeviceFormat &subdevFormat)
+{
+	Stream *stream = config.stream();
+	MaliC55Pipe *pipe = pipeFromStream(data, stream);
+
+	/* Enable the debayer route on the resizer pipe. */
+	V4L2Subdevice::Routing routing = {};
+	routing.emplace_back(V4L2Subdevice::Stream{ 0, 0 },
+			     V4L2Subdevice::Stream{ 1, 0 },
+			     V4L2_SUBDEV_ROUTE_FL_ACTIVE);
+
+	int ret = pipe->resizer->setRouting(&routing, V4L2Subdevice::ActiveFormat);
+	if (ret)
+		return ret;
+
+	subdevFormat.code = kMaliC55ISPInternalFormat;
+	ret = pipe->resizer->setFormat(0, &subdevFormat);
+	if (ret)
+		return ret;
+
+	/* \todo Configure the resizer crop/compose rectangles. */
+	Rectangle ispCrop = { 0, 0, config.size };
+	ret = pipe->resizer->setSelection(0, V4L2_SEL_TGT_CROP, &ispCrop);
+	if (ret)
+		return ret;
+
+	ret = pipe->resizer->setSelection(0, V4L2_SEL_TGT_COMPOSE, &ispCrop);
+	if (ret)
+		return ret;
+
+	subdevFormat.code = maliC55FmtToCode.find(config.pixelFormat)->second;
+	return pipe->resizer->setFormat(1, &subdevFormat);
+}
+
+int PipelineHandlerMaliC55::configure(Camera *camera,
+				      CameraConfiguration *config)
+{
+	resetPipes();
+
+	int ret = media_->disableLinks();
+	if (ret)
+		return ret;
+
+	/* Link the graph depending if we are operating the TPG or a sensor. */
+	MaliC55CameraData *data = cameraData(camera);
+	if (data->csi_) {
+		const MediaEntity *csiEntity = data->csi_->entity();
+		ret = csiEntity->getPadByIndex(1)->links()[0]->setEnabled(true);
+	} else {
+		ret = data->entity_->getPadByIndex(0)->links()[0]->setEnabled(true);
+	}
+	if (ret)
+		return ret;
+
+	MaliC55CameraConfiguration *maliConfig =
+		static_cast<MaliC55CameraConfiguration *>(config);
+	V4L2SubdeviceFormat subdevFormat = maliConfig->sensorFormat_;
+	ret = data->sd_->getFormat(0, &subdevFormat);
+	if (ret)
+		return ret;
+
+	if (data->csi_) {
+		ret = data->csi_->setFormat(0, &subdevFormat);
+		if (ret)
+			return ret;
+
+		ret = data->csi_->setFormat(1, &subdevFormat);
+		if (ret)
+			return ret;
+	}
+
+	/*
+	 * Propagate the format to the ISP sink pad and configure the input
+	 * crop rectangle (no crop at the moment).
+	 *
+	 * \todo Configure the CSI-2 receiver.
+	 */
+	ret = isp_->setFormat(0, &subdevFormat);
+	if (ret)
+		return ret;
+
+	Rectangle ispCrop(0, 0, subdevFormat.size);
+	ret = isp_->setSelection(0, V4L2_SEL_TGT_CROP, &ispCrop);
+	if (ret)
+		return ret;
+
+	/*
+	 * Configure the resizer: fixed format the sink pad; use the media
+	 * bus code associated with the desired capture format on the source
+	 * pad.
+	 *
+	 * Configure the crop and compose rectangles to match the desired
+	 * stream output size
+	 *
+	 * \todo Make the crop/scaler configurable
+	 */
+	for (const StreamConfiguration &streamConfig : *config) {
+		Stream *stream = streamConfig.stream();
+		MaliC55Pipe *pipe = pipeFromStream(data, stream);
+
+		if (isFormatRaw(streamConfig.pixelFormat))
+			ret = configureRawStream(data, streamConfig, subdevFormat);
+		else
+			ret = configureProcessedStream(data, streamConfig, subdevFormat);
+		if (ret) {
+			LOG(MaliC55, Error) << "Failed to configure pipeline";
+			return ret;
+		}
+
+		/* Now apply the pixel format and size to the capture device. */
+		V4L2DeviceFormat captureFormat;
+		captureFormat.fourcc = pipe->cap->toV4L2PixelFormat(streamConfig.pixelFormat);
+		captureFormat.size = streamConfig.size;
+
+		ret = pipe->cap->setFormat(&captureFormat);
+		if (ret)
+			return ret;
+
+		pipe->stream = stream;
+	}
+
+	return 0;
+}
+
+int PipelineHandlerMaliC55::exportFrameBuffers(Camera *camera, Stream *stream,
+					       std::vector<std::unique_ptr<FrameBuffer>> *buffers)
+{
+	MaliC55Pipe *pipe = pipeFromStream(cameraData(camera), stream);
+	unsigned int count = stream->configuration().bufferCount;
+
+	return pipe->cap->exportBuffers(count, buffers);
+}
+
+int PipelineHandlerMaliC55::start([[maybe_unused]] Camera *camera, [[maybe_unused]] const ControlList *controls)
+{
+	for (MaliC55Pipe &pipe : pipes_) {
+		if (!pipe.stream)
+			continue;
+
+		Stream *stream = pipe.stream;
+
+		int ret = pipe.cap->importBuffers(stream->configuration().bufferCount);
+		if (ret) {
+			LOG(MaliC55, Error) << "Failed to import buffers";
+			return ret;
+		}
+
+		ret = pipe.cap->streamOn();
+		if (ret) {
+			LOG(MaliC55, Error) << "Failed to start stream";
+			return ret;
+		}
+	}
+
+	return 0;
+}
+
+void PipelineHandlerMaliC55::stopDevice([[maybe_unused]] Camera *camera)
+{
+	for (MaliC55Pipe &pipe : pipes_) {
+		if (!pipe.stream)
+			continue;
+
+		pipe.cap->streamOff();
+		pipe.cap->releaseBuffers();
+	}
+}
+
+int PipelineHandlerMaliC55::queueRequestDevice(Camera *camera, Request *request)
+{
+	int ret;
+
+	for (auto &[stream, buffer] : request->buffers()) {
+		MaliC55Pipe *pipe = pipeFromStream(cameraData(camera), stream);
+
+		ret = pipe->cap->queueBuffer(buffer);
+		if (ret)
+			return ret;
+	}
+
+	return 0;
+}
+
+void PipelineHandlerMaliC55::bufferReady(FrameBuffer *buffer)
+{
+	Request *request = buffer->request();
+
+	completeBuffer(request, buffer);
+
+	if (request->hasPendingBuffers())
+		return;
+
+	completeRequest(request);
+}
+
+void PipelineHandlerMaliC55::registerMaliCamera(std::unique_ptr<MaliC55CameraData> data,
+						const std::string &name)
+{
+	std::set<Stream *> streams{ &data->frStream_ };
+	if (dsFitted_)
+		streams.insert(&data->dsStream_);
+
+	std::shared_ptr<Camera> camera = Camera::create(std::move(data),
+							name, streams);
+	registerCamera(std::move(camera));
+}
+
+/*
+ * The only camera we support through direct connection to the ISP is the
+ * Mali-C55 TPG. Check we have that and warn if not.
+ */
+bool PipelineHandlerMaliC55::registerTPGCamera(MediaLink *link)
+{
+	const std::string &name = link->source()->entity()->name();
+	if (name != "mali-c55 tpg") {
+		LOG(MaliC55, Warning) << "Unsupported direct connection to "
+				      << link->source()->entity()->name();
+		/*
+		 * Return true and just skip registering a camera for this
+		 * entity.
+		 */
+		return true;
+	}
+
+	std::unique_ptr<MaliC55CameraData> data =
+		std::make_unique<MaliC55CameraData>(this, link->source()->entity());
+
+	if (data->init())
+		return false;
+
+	registerMaliCamera(std::move(data), name);
+
+	return true;
+}
+
+/*
+ * Register a Camera for each sensor connected to the ISP through a CSI-2
+ * receiver.
+ *
+ * \todo Support more complex topologies, such as video muxes.
+ */
+bool PipelineHandlerMaliC55::registerSensorCamera(MediaLink *ispLink)
+{
+	MediaEntity *csi2 = ispLink->source()->entity();
+	const MediaPad *csi2Sink = csi2->getPadByIndex(0);
+
+	for (MediaLink *link : csi2Sink->links()) {
+		MediaEntity *sensor = link->source()->entity();
+		unsigned int function = sensor->function();
+
+		if (function != MEDIA_ENT_F_CAM_SENSOR)
+			continue;
+
+		std::unique_ptr<MaliC55CameraData> data =
+			std::make_unique<MaliC55CameraData>(this, sensor);
+		if (data->init())
+			return false;
+
+		/* \todo: Init properties and controls. */
+
+		registerMaliCamera(std::move(data), sensor->name());
+	}
+
+	return true;
+}
+
+bool PipelineHandlerMaliC55::match(DeviceEnumerator *enumerator)
+{
+	const MediaPad *ispSink;
+
+	/*
+	 * We search for just the ISP subdevice and the full resolution pipe.
+	 * The TPG and the downscale pipe are both optional blocks and may not
+	 * be fitted.
+	 */
+	DeviceMatch dm("mali-c55");
+	dm.add("mali-c55 isp");
+	dm.add("mali-c55 resizer fr");
+	dm.add("mali-c55 fr");
+
+	media_ = acquireMediaDevice(enumerator, dm);
+	if (!media_)
+		return false;
+
+	isp_ = V4L2Subdevice::fromEntityName(media_, "mali-c55 isp");
+	if (isp_->open() < 0)
+		return false;
+
+	MaliC55Pipe *frPipe = &pipes_[MaliC55FR];
+	frPipe->resizer = V4L2Subdevice::fromEntityName(media_, "mali-c55 resizer fr");
+	if (frPipe->resizer->open() < 0)
+		return false;
+
+	frPipe->cap = V4L2VideoDevice::fromEntityName(media_, "mali-c55 fr");
+	if (frPipe->cap->open() < 0)
+		return false;
+
+	frPipe->cap->bufferReady.connect(this, &PipelineHandlerMaliC55::bufferReady);
+
+	dsFitted_ = !!media_->getEntityByName("mali-c55 ds");
+	if (dsFitted_) {
+		LOG(MaliC55, Debug) << "Downscaler pipe is fitted";
+
+		MaliC55Pipe *dsPipe = &pipes_[MaliC55DS];
+
+		dsPipe->resizer = V4L2Subdevice::fromEntityName(media_, "mali-c55 resizer ds");
+		if (dsPipe->resizer->open() < 0)
+			return false;
+
+		dsPipe->cap = V4L2VideoDevice::fromEntityName(media_, "mali-c55 ds");
+		if (dsPipe->cap->open() < 0)
+			return false;
+
+		dsPipe->cap->bufferReady.connect(this, &PipelineHandlerMaliC55::bufferReady);
+	}
+
+	ispSink = isp_->entity()->getPadByIndex(0);
+	if (!ispSink || ispSink->links().empty()) {
+		LOG(MaliC55, Error) << "ISP sink pad error";
+		return false;
+	}
+
+	/*
+	 * We could have several links pointing to the ISP's sink pad, which
+	 * will be from entities with one of the following functions:
+	 *
+	 * MEDIA_ENT_F_CAM_SENSOR - The test pattern generator
+	 * MEDIA_ENT_F_VID_IF_BRIDGE - A CSI-2 receiver
+	 * MEDIA_ENT_F_IO_V4L - An input device
+	 *
+	 * The last one will be unsupported for now. The TPG is relatively easy,
+	 * we just register a Camera for it. If we have a CSI-2 receiver we need
+	 * to check its sink pad and register Cameras for anything connected to
+	 * it (probably...there are some complex situations in which that might
+	 * not be true but let's pretend they don't exist until we come across
+	 * them)
+	 */
+	bool registered;
+	for (MediaLink *link : ispSink->links()) {
+		unsigned int function = link->source()->entity()->function();
+
+		switch (function) {
+		case MEDIA_ENT_F_CAM_SENSOR:
+			registered = registerTPGCamera(link);
+			if (!registered)
+				return registered;
+
+			break;
+		case MEDIA_ENT_F_VID_IF_BRIDGE:
+			registered = registerSensorCamera(link);
+			if (!registered)
+				return registered;
+
+			break;
+		case MEDIA_ENT_F_IO_V4L:
+			LOG(MaliC55, Warning) << "Memory input not yet supported";
+			break;
+		default:
+			LOG(MaliC55, Error) << "Unsupported entity function";
+			return false;
+		}
+	}
+
+	return true;
+}
+
+REGISTER_PIPELINE_HANDLER(PipelineHandlerMaliC55)
+
+} /* namespace libcamera */
diff --git a/src/libcamera/pipeline/mali-c55/meson.build b/src/libcamera/pipeline/mali-c55/meson.build
new file mode 100644
index 00000000..30fd29b9
--- /dev/null
+++ b/src/libcamera/pipeline/mali-c55/meson.build
@@ -0,0 +1,5 @@
+# SPDX-License-Identifier: CC0-1.0
+
+libcamera_sources += files([
+    'mali-c55.cpp'
+])