From 0fbc801a1d186a6f2d11fcbe5854711497746a7f Mon Sep 17 00:00:00 2001 From: Jacopo Mondi Date: Thu, 14 Sep 2023 10:25:36 +0100 Subject: 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 Signed-off-by: Daniel Scally Signed-off-by: Jacopo Mondi Acked-by: Nayden Kanchev Reviewed-by: Kieran Bingham --- src/libcamera/pipeline/mali-c55/mali-c55.cpp | 1066 ++++++++++++++++++++++++++ src/libcamera/pipeline/mali-c55/meson.build | 5 + 2 files changed, 1071 insertions(+) create mode 100644 src/libcamera/pipeline/mali-c55/mali-c55.cpp create mode 100644 src/libcamera/pipeline/mali-c55/meson.build (limited to 'src') 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 +#include +#include +#include +#include +#include + +#include +#include + +#include + +#include +#include +#include +#include + +#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 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 mbusCodes() const; + const std::vector 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 sensor_; + + MediaEntity *entity_; + std::unique_ptr csi_; + std::unique_ptr sd_; + Stream frStream_; + Stream dsStream_; + +private: + void initTPGData(); + + std::string id_; + std::vector tpgCodes_; + std::vector tpgSizes_; + Size tpgResolution_; +}; + +int MaliC55CameraData::init() +{ + int ret; + + sd_ = std::make_unique(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(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(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 &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 MaliC55CameraData::mbusCodes() const +{ + if (sensor_) + return sensor_->mbusCodes(); + + return tpgCodes_; +} + +const std::vector MaliC55CameraData::sizes(unsigned int mbusCode) const +{ + if (sensor_) + return sensor_->sizes(mbusCode); + + V4L2Subdevice::Formats formats = sd_->formats(0); + if (formats.empty()) + return {}; + + std::vector sizes; + const auto &format = formats.find(mbusCode); + if (format == formats.end()) + return {}; + + const std::vector &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::max(); + Size bestSize; + for (const Size &size : rawSizes) { + uint16_t dist = std::abs(static_cast(rawSize.width) - + static_cast(size.width)) + + std::abs(static_cast(rawSize.height) - + static_cast(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(&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(&data_->frStream_)); + frPipeAvailable = false; + } else { + config.setStream(const_cast(&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::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(maxYuvSize.width) - + static_cast(size.width)) + + std::abs(static_cast(maxYuvSize.height) - + static_cast(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 generateConfiguration(Camera *camera, + Span roles) override; + int configure(Camera *camera, CameraConfiguration *config) override; + + int exportFrameBuffers(Camera *camera, Stream *stream, + std::vector> *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 resizer; + std::unique_ptr cap; + Stream *stream; + }; + + enum { + MaliC55FR, + MaliC55DS, + MaliC55NumPipes, + }; + + MaliC55CameraData *cameraData(Camera *camera) + { + return static_cast(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)); + } + + 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 data, + const std::string &name); + bool registerTPGCamera(MediaLink *link); + bool registerSensorCamera(MediaLink *link); + + MediaDevice *media_; + std::unique_ptr isp_; + + std::array pipes_; + + bool dsFitted_; +}; + +PipelineHandlerMaliC55::PipelineHandlerMaliC55(CameraManager *manager) + : PipelineHandler(manager), dsFitted_(true) +{ +} + +std::unique_ptr +PipelineHandlerMaliC55::generateConfiguration(Camera *camera, + Span roles) +{ + MaliC55CameraData *data = cameraData(camera); + std::unique_ptr config = + std::make_unique(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> 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 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(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> *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 data, + const std::string &name) +{ + std::set streams{ &data->frStream_ }; + if (dsFitted_) + streams.insert(&data->dsStream_); + + std::shared_ptr 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 data = + std::make_unique(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 data = + std::make_unique(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' +]) -- cgit v1.2.1