diff options
| -rw-r--r-- | src/ipa/rpi/common/ipa_base.cpp (renamed from src/ipa/rpi/vc4/raspberrypi.cpp) | 1263 | ||||
| -rw-r--r-- | src/ipa/rpi/common/ipa_base.h | 122 | ||||
| -rw-r--r-- | src/ipa/rpi/common/meson.build | 17 | ||||
| -rw-r--r-- | src/ipa/rpi/meson.build | 1 | ||||
| -rw-r--r-- | src/ipa/rpi/vc4/meson.build | 3 | ||||
| -rw-r--r-- | src/ipa/rpi/vc4/vc4.cpp | 540 |
6 files changed, 1035 insertions, 911 deletions
diff --git a/src/ipa/rpi/vc4/raspberrypi.cpp b/src/ipa/rpi/common/ipa_base.cpp index 17ea5c04..db7a0eb3 100644 --- a/src/ipa/rpi/vc4/raspberrypi.cpp +++ b/src/ipa/rpi/common/ipa_base.cpp @@ -1,60 +1,30 @@ /* SPDX-License-Identifier: BSD-2-Clause */ /* - * Copyright (C) 2019-2021, Raspberry Pi Ltd + * Copyright (C) 2019-2023, Raspberry Pi Ltd * - * rpi.cpp - Raspberry Pi Image Processing Algorithms + * ipa_base.cpp - Raspberry Pi IPA base class */ -#include <algorithm> -#include <array> -#include <cstring> -#include <deque> -#include <fcntl.h> -#include <math.h> -#include <stdint.h> -#include <string.h> -#include <sys/mman.h> -#include <vector> +#include "ipa_base.h" -#include <linux/bcm2835-isp.h> +#include <cmath> #include <libcamera/base/log.h> -#include <libcamera/base/shared_fd.h> #include <libcamera/base/span.h> - #include <libcamera/control_ids.h> -#include <libcamera/controls.h> -#include <libcamera/framebuffer.h> -#include <libcamera/request.h> - -#include <libcamera/ipa/ipa_interface.h> -#include <libcamera/ipa/ipa_module_info.h> -#include <libcamera/ipa/raspberrypi_ipa_interface.h> - -#include "libcamera/internal/mapped_framebuffer.h" -#include "cam_helper/cam_helper.h" #include "controller/af_algorithm.h" #include "controller/af_status.h" #include "controller/agc_algorithm.h" -#include "controller/agc_status.h" -#include "controller/alsc_status.h" #include "controller/awb_algorithm.h" #include "controller/awb_status.h" #include "controller/black_level_status.h" #include "controller/ccm_algorithm.h" #include "controller/ccm_status.h" #include "controller/contrast_algorithm.h" -#include "controller/contrast_status.h" -#include "controller/controller.h" #include "controller/denoise_algorithm.h" -#include "controller/denoise_status.h" -#include "controller/dpc_status.h" -#include "controller/geq_status.h" #include "controller/lux_status.h" -#include "controller/metadata.h" #include "controller/sharpen_algorithm.h" -#include "controller/sharpen_status.h" #include "controller/statistics.h" namespace libcamera { @@ -62,8 +32,7 @@ namespace libcamera { using namespace std::literals::chrono_literals; using utils::Duration; -/* Number of metadata objects available in the context list. */ -constexpr unsigned int numMetadataContexts = 16; +namespace { /* Number of frame length times to hold in the queue. */ constexpr unsigned int FrameLengthsQueueSize = 10; @@ -83,7 +52,7 @@ constexpr Duration defaultMaxFrameDuration = 250.0s; constexpr Duration controllerMinFrameDuration = 1.0s / 30.0; /* List of controls handled by the Raspberry Pi IPA */ -static const ControlInfoMap::Map ipaControls{ +const ControlInfoMap::Map ipaControls{ { &controls::AeEnable, ControlInfo(false, true) }, { &controls::ExposureTime, ControlInfo(0, 66666) }, { &controls::AnalogueGain, ControlInfo(1.0f, 16.0f) }, @@ -105,7 +74,7 @@ static const ControlInfoMap::Map ipaControls{ }; /* IPA controls handled conditionally, if the lens has a focus control */ -static const ControlInfoMap::Map ipaAfControls{ +const ControlInfoMap::Map ipaAfControls{ { &controls::AfMode, ControlInfo(controls::AfModeValues) }, { &controls::AfRange, ControlInfo(controls::AfRangeValues) }, { &controls::AfSpeed, ControlInfo(controls::AfSpeedValues) }, @@ -116,118 +85,23 @@ static const ControlInfoMap::Map ipaAfControls{ { &controls::LensPosition, ControlInfo(0.0f, 32.0f, 1.0f) } }; +} /* namespace */ + LOG_DEFINE_CATEGORY(IPARPI) namespace ipa::RPi { -class IPARPi : public IPARPiInterface +IpaBase::IpaBase() + : controller_(), frameCount_(0), mistrustCount_(0), lastRunTimestamp_(0), + firstStart_(true) { -public: - IPARPi() - : controller_(), frameCount_(0), checkCount_(0), mistrustCount_(0), - lastRunTimestamp_(0), lsTable_(nullptr), firstStart_(true), - lastTimeout_(0s) - { - } - - ~IPARPi() - { - if (lsTable_) - munmap(lsTable_, MaxLsGridSize); - } - - int init(const IPASettings &settings, const InitParams ¶ms, InitResult *result) override; - void start(const ControlList &controls, StartResult *result) override; - void stop() override {} - - int configure(const IPACameraSensorInfo &sensorInfo, const ConfigParams ¶ms, - ConfigResult *result) override; - void mapBuffers(const std::vector<IPABuffer> &buffers) override; - void unmapBuffers(const std::vector<unsigned int> &ids) override; - void prepareIsp(const PrepareParams ¶ms) override; - void processStats(const ProcessParams ¶ms) override; - -private: - void setMode(const IPACameraSensorInfo &sensorInfo); - bool validateSensorControls(); - bool validateIspControls(); - bool validateLensControls(); - void applyControls(const ControlList &controls); - void prepare(const PrepareParams ¶ms); - void reportMetadata(unsigned int ipaContext); - void fillDeviceStatus(const ControlList &sensorControls, unsigned int ipaContext); - RPiController::StatisticsPtr fillStatistics(bcm2835_isp_stats *stats) const; - void process(unsigned int bufferId, unsigned int ipaContext); - void setCameraTimeoutValue(); - 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); - void applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls); - void applyBlackLevel(const struct BlackLevelStatus *blackLevelStatus, ControlList &ctrls); - void applyGamma(const struct ContrastStatus *contrastStatus, ControlList &ctrls); - void applyGEQ(const struct GeqStatus *geqStatus, ControlList &ctrls); - void applyDenoise(const struct DenoiseStatus *denoiseStatus, ControlList &ctrls); - void applySharpen(const struct SharpenStatus *sharpenStatus, ControlList &ctrls); - void applyDPC(const struct DpcStatus *dpcStatus, ControlList &ctrls); - void applyLS(const struct AlscStatus *lsStatus, ControlList &ctrls); - void applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls); - void resampleTable(uint16_t dest[], const std::vector<double> &src, int destW, int destH); - - std::map<unsigned int, MappedFrameBuffer> buffers_; - - ControlInfoMap sensorCtrls_; - ControlInfoMap ispCtrls_; - ControlInfoMap lensCtrls_; - bool lensPresent_; - ControlList libcameraMetadata_; - - /* Camera sensor params. */ - CameraMode mode_; - - /* Raspberry Pi controller specific defines. */ - std::unique_ptr<RPiController::CamHelper> helper_; - RPiController::Controller controller_; - std::array<RPiController::Metadata, numMetadataContexts> rpiMetadata_; - - /* - * We count frames to decide if the frame must be hidden (e.g. from - * display) or mistrusted (i.e. not given to the control algos). - */ - uint64_t frameCount_; - - /* For checking the sequencing of Prepare/Process calls. */ - uint64_t checkCount_; - - /* 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. */ - SharedFD lsTableHandle_; - void *lsTable_; - - /* Distinguish the first camera start from others. */ - bool firstStart_; - - /* Frame duration (1/fps) limits. */ - Duration minFrameDuration_; - Duration maxFrameDuration_; +} - /* Track the frame length times over FrameLengthsQueueSize frames. */ - std::deque<Duration> frameLengths_; - Duration lastTimeout_; -}; +IpaBase::~IpaBase() +{ +} -int IPARPi::init(const IPASettings &settings, const InitParams ¶ms, InitResult *result) +int32_t IpaBase::init(const IPASettings &settings, const InitParams ¶ms, InitResult *result) { /* * Load the "helper" for this sensor. This tells us all the device specific stuff @@ -264,14 +138,6 @@ int IPARPi::init(const IPASettings &settings, const InitParams ¶ms, InitResu return ret; } - const std::string &target = controller_.getTarget(); - if (target != "bcm2835") { - LOG(IPARPI, Error) - << "Tuning data file target returned \"" << target << "\"" - << ", expected \"bcm2835\""; - return -EINVAL; - } - lensPresent_ = params.lensPresent; controller_.initialise(); @@ -282,10 +148,88 @@ int IPARPi::init(const IPASettings &settings, const InitParams ¶ms, InitResu ctrlMap.merge(ControlInfoMap::Map(ipaAfControls)); result->controlInfo = ControlInfoMap(std::move(ctrlMap), controls::controls); - return 0; + return platformInit(params, result); +} + +int32_t IpaBase::configure(const IPACameraSensorInfo &sensorInfo, const ConfigParams ¶ms, + ConfigResult *result) +{ + sensorCtrls_ = params.sensorControls; + + if (!validateSensorControls()) { + LOG(IPARPI, Error) << "Sensor control validation failed."; + return -1; + } + + if (lensPresent_) { + lensCtrls_ = params.lensControls; + if (!validateLensControls()) { + LOG(IPARPI, Warning) << "Lens validation failed, " + << "no lens control will be available."; + lensPresent_ = false; + } + } + + /* Setup a metadata ControlList to output metadata. */ + libcameraMetadata_ = ControlList(controls::controls); + + /* Re-assemble camera mode using the sensor info. */ + setMode(sensorInfo); + + mode_.transform = static_cast<libcamera::Transform>(params.transform); + + /* Pass the camera mode to the CamHelper to setup algorithms. */ + helper_->setCameraMode(mode_); + + /* + * Initialise this ControlList correctly, even if empty, in case the IPA is + * running is isolation mode (passing the ControlList through the IPC layer). + */ + ControlList ctrls(sensorCtrls_); + + /* The pipeline handler passes out the mode's sensitivity. */ + result->modeSensitivity = mode_.sensitivity; + + if (firstStart_) { + /* Supply initial values for frame durations. */ + applyFrameDurations(defaultMinFrameDuration, defaultMaxFrameDuration); + + /* Supply initial values for gain and exposure. */ + AgcStatus agcStatus; + agcStatus.shutterTime = defaultExposureTime; + agcStatus.analogueGain = defaultAnalogueGain; + applyAGC(&agcStatus, ctrls); + } + + result->controls = std::move(ctrls); + + /* + * Apply the correct limits to the exposure, gain and frame duration controls + * based on the current sensor mode. + */ + ControlInfoMap::Map ctrlMap = ipaControls; + ctrlMap[&controls::FrameDurationLimits] = + ControlInfo(static_cast<int64_t>(mode_.minFrameDuration.get<std::micro>()), + static_cast<int64_t>(mode_.maxFrameDuration.get<std::micro>())); + + ctrlMap[&controls::AnalogueGain] = + ControlInfo(static_cast<float>(mode_.minAnalogueGain), + static_cast<float>(mode_.maxAnalogueGain)); + + ctrlMap[&controls::ExposureTime] = + ControlInfo(static_cast<int32_t>(mode_.minShutter.get<std::micro>()), + static_cast<int32_t>(mode_.maxShutter.get<std::micro>())); + + /* Declare Autofocus controls, only if we have a controllable lens */ + if (lensPresent_) + ctrlMap.merge(ControlInfoMap::Map(ipaAfControls)); + + result->controlInfo = ControlInfoMap(std::move(ctrlMap), controls::controls); + + return platformConfigure(params, result); } -void IPARPi::start(const ControlList &controls, StartResult *result) +void IpaBase::start(const ControlList &controls, StartResult *result) { RPiController::Metadata metadata; @@ -320,7 +264,6 @@ void IPARPi::start(const ControlList &controls, StartResult *result) * or merely a mode switch in a running system. */ frameCount_ = 0; - checkCount_ = 0; if (firstStart_) { dropFrameCount_ = helper_->hideFramesStartup(); mistrustCount_ = helper_->mistrustFramesStartup(); @@ -363,7 +306,142 @@ void IPARPi::start(const ControlList &controls, StartResult *result) lastRunTimestamp_ = 0; } -void IPARPi::setMode(const IPACameraSensorInfo &sensorInfo) +void IpaBase::mapBuffers(const std::vector<IPABuffer> &buffers) +{ + for (const IPABuffer &buffer : buffers) { + const FrameBuffer fb(buffer.planes); + buffers_.emplace(buffer.id, + MappedFrameBuffer(&fb, MappedFrameBuffer::MapFlag::ReadWrite)); + } +} + +void IpaBase::unmapBuffers(const std::vector<unsigned int> &ids) +{ + for (unsigned int id : ids) { + auto it = buffers_.find(id); + if (it == buffers_.end()) + continue; + + buffers_.erase(id); + } +} + +void IpaBase::prepareIsp(const PrepareParams ¶ms) +{ + applyControls(params.requestControls); + + /* + * 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". + */ + int64_t frameTimestamp = params.sensorControls.get(controls::SensorTimestamp).value_or(0); + unsigned int ipaContext = params.ipaContext % rpiMetadata_.size(); + RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext]; + Span<uint8_t> embeddedBuffer; + + rpiMetadata.clear(); + fillDeviceStatus(params.sensorControls, ipaContext); + + if (params.buffers.embedded) { + /* + * Pipeline handler has supplied us with an embedded data buffer, + * we must pass it to the CamHelper for parsing. + */ + auto it = buffers_.find(params.buffers.embedded); + ASSERT(it != buffers_.end()); + embeddedBuffer = it->second.planes()[0]; + } + + /* + * AGC wants to know the algorithm status from the time it actioned the + * sensor exposure/gain changes. So fetch it from the metadata list + * indexed by the IPA cookie returned, and put it in the current frame + * metadata. + */ + AgcStatus agcStatus; + RPiController::Metadata &delayedMetadata = rpiMetadata_[params.delayContext]; + if (!delayedMetadata.get<AgcStatus>("agc.status", agcStatus)) + rpiMetadata.set("agc.delayed_status", agcStatus); + + /* + * This may overwrite the DeviceStatus using values from the sensor + * metadata, and may also do additional custom processing. + */ + helper_->prepare(embeddedBuffer, rpiMetadata); + + /* 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(). + */ + RPiController::Metadata &lastMetadata = + rpiMetadata_[(ipaContext ? ipaContext : rpiMetadata_.size()) - 1]; + rpiMetadata.mergeCopy(lastMetadata); + processPending_ = false; + } else { + processPending_ = true; + lastRunTimestamp_ = frameTimestamp; + } + + /* + * If a statistics buffer has been passed in, call processStats + * directly now before prepare() since the statistics are available in-line + * with the Bayer frame. + */ + if (params.buffers.stats) + processStats({ params.buffers, params.ipaContext }); + + /* Do we need/want to call prepare? */ + if (processPending_) { + controller_.prepare(&rpiMetadata); + /* Actually prepare the ISP parameters for the frame. */ + platformPrepareIsp(params, rpiMetadata); + } + + frameCount_++; + + /* Ready to push the input buffer into the ISP. */ + prepareIspComplete.emit(params.buffers); +} + +void IpaBase::processStats(const ProcessParams ¶ms) +{ + unsigned int ipaContext = params.ipaContext % rpiMetadata_.size(); + + if (processPending_ && frameCount_ > mistrustCount_) { + RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext]; + + auto it = buffers_.find(params.buffers.stats); + if (it == buffers_.end()) { + LOG(IPARPI, Error) << "Could not find stats buffer!"; + return; + } + + RPiController::StatisticsPtr statistics = platformProcessStats(it->second.planes()[0]); + + helper_->process(statistics, rpiMetadata); + controller_.process(statistics, &rpiMetadata); + + struct AgcStatus agcStatus; + if (rpiMetadata.get("agc.status", agcStatus) == 0) { + ControlList ctrls(sensorCtrls_); + applyAGC(&agcStatus, ctrls); + setDelayedControls.emit(ctrls, ipaContext); + setCameraTimeoutValue(); + } + } + + reportMetadata(ipaContext); + processStatsComplete.emit(params.buffers); +} + +void IpaBase::setMode(const IPACameraSensorInfo &sensorInfo) { mode_.bitdepth = sensorInfo.bitsPerPixel; mode_.width = sensorInfo.outputSize.width; @@ -393,7 +471,7 @@ void IPARPi::setMode(const IPACameraSensorInfo &sensorInfo) mode_.binY = std::min(2, static_cast<int>(mode_.scaleY)); /* The noise factor is the square root of the total binning factor. */ - mode_.noiseFactor = sqrt(mode_.binX * mode_.binY); + mode_.noiseFactor = std::sqrt(mode_.binX * mode_.binY); /* * Calculate the line length as the ratio between the line length in @@ -432,275 +510,22 @@ void IPARPi::setMode(const IPACameraSensorInfo &sensorInfo) mode_.minFrameDuration, mode_.maxFrameDuration); } -int IPARPi::configure(const IPACameraSensorInfo &sensorInfo, const ConfigParams ¶ms, - ConfigResult *result) +void IpaBase::setCameraTimeoutValue() { - sensorCtrls_ = params.sensorControls; - ispCtrls_ = params.ispControls; - - if (!validateSensorControls()) { - LOG(IPARPI, Error) << "Sensor control validation failed."; - return -1; - } - - if (!validateIspControls()) { - LOG(IPARPI, Error) << "ISP control validation failed."; - return -1; - } - - if (lensPresent_) { - lensCtrls_ = params.lensControls; - if (!validateLensControls()) { - LOG(IPARPI, Warning) << "Lens validation failed, " - << "no lens control will be available."; - lensPresent_ = false; - } - } - - /* Setup a metadata ControlList to output metadata. */ - libcameraMetadata_ = ControlList(controls::controls); - - /* Re-assemble camera mode using the sensor info. */ - setMode(sensorInfo); - - mode_.transform = static_cast<libcamera::Transform>(params.transform); - - /* Store the lens shading table pointer and handle if available. */ - if (params.lsTableHandle.isValid()) { - /* Remove any previous table, if there was one. */ - if (lsTable_) { - munmap(lsTable_, MaxLsGridSize); - lsTable_ = nullptr; - } - - /* Map the LS table buffer into user space. */ - lsTableHandle_ = std::move(params.lsTableHandle); - if (lsTableHandle_.isValid()) { - lsTable_ = mmap(nullptr, MaxLsGridSize, PROT_READ | PROT_WRITE, - MAP_SHARED, lsTableHandle_.get(), 0); - - if (lsTable_ == MAP_FAILED) { - LOG(IPARPI, Error) << "dmaHeap mmap failure for LS table."; - lsTable_ = nullptr; - } - } - } - - /* Pass the camera mode to the CamHelper to setup algorithms. */ - helper_->setCameraMode(mode_); - /* - * Initialise this ControlList correctly, even if empty, in case the IPA is - * running is isolation mode (passing the ControlList through the IPC layer). - */ - ControlList ctrls(sensorCtrls_); - - /* The pipeline handler passes out the mode's sensitivity. */ - result->modeSensitivity = mode_.sensitivity; - - if (firstStart_) { - /* Supply initial values for frame durations. */ - applyFrameDurations(defaultMinFrameDuration, defaultMaxFrameDuration); - - /* Supply initial values for gain and exposure. */ - AgcStatus agcStatus; - agcStatus.shutterTime = defaultExposureTime; - agcStatus.analogueGain = defaultAnalogueGain; - applyAGC(&agcStatus, ctrls); - } - - result->controls = std::move(ctrls); - - /* - * Apply the correct limits to the exposure, gain and frame duration controls - * based on the current sensor mode. - */ - ControlInfoMap::Map ctrlMap = ipaControls; - ctrlMap[&controls::FrameDurationLimits] = - ControlInfo(static_cast<int64_t>(mode_.minFrameDuration.get<std::micro>()), - static_cast<int64_t>(mode_.maxFrameDuration.get<std::micro>())); - - ctrlMap[&controls::AnalogueGain] = - ControlInfo(static_cast<float>(mode_.minAnalogueGain), - static_cast<float>(mode_.maxAnalogueGain)); - - ctrlMap[&controls::ExposureTime] = - ControlInfo(static_cast<int32_t>(mode_.minShutter.get<std::micro>()), - static_cast<int32_t>(mode_.maxShutter.get<std::micro>())); - - /* Declare Autofocus controls, only if we have a controllable lens */ - if (lensPresent_) - ctrlMap.merge(ControlInfoMap::Map(ipaAfControls)); - - result->controlInfo = ControlInfoMap(std::move(ctrlMap), controls::controls); - return 0; -} - -void IPARPi::mapBuffers(const std::vector<IPABuffer> &buffers) -{ - for (const IPABuffer &buffer : buffers) { - const FrameBuffer fb(buffer.planes); - buffers_.emplace(buffer.id, - MappedFrameBuffer(&fb, MappedFrameBuffer::MapFlag::ReadWrite)); - } -} - -void IPARPi::unmapBuffers(const std::vector<unsigned int> &ids) -{ - for (unsigned int id : ids) { - auto it = buffers_.find(id); - if (it == buffers_.end()) - continue; - - buffers_.erase(id); - } -} - -void IPARPi::processStats(const ProcessParams ¶ms) -{ - unsigned int context = params.ipaContext % rpiMetadata_.size(); - - if (++checkCount_ != frameCount_) /* assert here? */ - LOG(IPARPI, Error) << "WARNING: Prepare/Process mismatch!!!"; - if (processPending_ && frameCount_ > mistrustCount_) - process(params.buffers.stats, context); - - reportMetadata(context); - processStatsComplete.emit(params.buffers); -} - - -void IPARPi::prepareIsp(const PrepareParams ¶ms) -{ - applyControls(params.requestControls); - - /* - * 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". - */ - prepare(params); - frameCount_++; - - /* Ready to push the input buffer into the ISP. */ - prepareIspComplete.emit(params.buffers); -} - -void IPARPi::reportMetadata(unsigned int ipaContext) -{ - RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext]; - std::unique_lock<RPiController::Metadata> lock(rpiMetadata); - - /* - * Certain information about the current frame and how it will be - * processed can be extracted and placed into the libcamera metadata - * buffer, where an application could query it. + * Take the maximum value of the exposure queue as the camera timeout + * value to pass back to the pipeline handler. Only signal if it has changed + * from the last set value. */ - DeviceStatus *deviceStatus = rpiMetadata.getLocked<DeviceStatus>("device.status"); - if (deviceStatus) { - libcameraMetadata_.set(controls::ExposureTime, - deviceStatus->shutterSpeed.get<std::micro>()); - libcameraMetadata_.set(controls::AnalogueGain, deviceStatus->analogueGain); - libcameraMetadata_.set(controls::FrameDuration, - helper_->exposure(deviceStatus->frameLength, deviceStatus->lineLength).get<std::micro>()); - if (deviceStatus->sensorTemperature) - libcameraMetadata_.set(controls::SensorTemperature, *deviceStatus->sensorTemperature); - if (deviceStatus->lensPosition) - libcameraMetadata_.set(controls::LensPosition, *deviceStatus->lensPosition); - } - - AgcStatus *agcStatus = rpiMetadata.getLocked<AgcStatus>("agc.status"); - if (agcStatus) { - libcameraMetadata_.set(controls::AeLocked, agcStatus->locked); - libcameraMetadata_.set(controls::DigitalGain, agcStatus->digitalGain); - } - - LuxStatus *luxStatus = rpiMetadata.getLocked<LuxStatus>("lux.status"); - if (luxStatus) - libcameraMetadata_.set(controls::Lux, luxStatus->lux); - - AwbStatus *awbStatus = rpiMetadata.getLocked<AwbStatus>("awb.status"); - if (awbStatus) { - libcameraMetadata_.set(controls::ColourGains, { static_cast<float>(awbStatus->gainR), - static_cast<float>(awbStatus->gainB) }); - libcameraMetadata_.set(controls::ColourTemperature, awbStatus->temperatureK); - } - - BlackLevelStatus *blackLevelStatus = rpiMetadata.getLocked<BlackLevelStatus>("black_level.status"); - if (blackLevelStatus) - libcameraMetadata_.set(controls::SensorBlackLevels, - { static_cast<int32_t>(blackLevelStatus->blackLevelR), - static_cast<int32_t>(blackLevelStatus->blackLevelG), - static_cast<int32_t>(blackLevelStatus->blackLevelG), - static_cast<int32_t>(blackLevelStatus->blackLevelB) }); - - RPiController::FocusRegions *focusStatus = - rpiMetadata.getLocked<RPiController::FocusRegions>("focus.status"); - if (focusStatus) { - /* - * Calculate the average FoM over the central (symmetric) positions - * to give an overall scene FoM. This can change later if it is - * not deemed suitable. - */ - libcamera::Size size = focusStatus->size(); - unsigned rows = size.height; - unsigned cols = size.width; - - uint64_t sum = 0; - unsigned int numRegions = 0; - for (unsigned r = rows / 3; r < rows - rows / 3; ++r) { - for (unsigned c = cols / 4; c < cols - cols / 4; ++c) { - sum += focusStatus->get({ (int)c, (int)r }).val; - numRegions++; - } - } - - uint32_t focusFoM = (sum / numRegions) >> 16; - libcameraMetadata_.set(controls::FocusFoM, focusFoM); - } - - CcmStatus *ccmStatus = rpiMetadata.getLocked<CcmStatus>("ccm.status"); - if (ccmStatus) { - float m[9]; - for (unsigned int i = 0; i < 9; i++) - m[i] = ccmStatus->matrix[i]; - libcameraMetadata_.set(controls::ColourCorrectionMatrix, m); - } + auto max = std::max_element(frameLengths_.begin(), frameLengths_.end()); - const AfStatus *afStatus = rpiMetadata.getLocked<AfStatus>("af.status"); - if (afStatus) { - int32_t s, p; - switch (afStatus->state) { - case AfState::Scanning: - s = controls::AfStateScanning; - break; - case AfState::Focused: - s = controls::AfStateFocused; - break; - case AfState::Failed: - s = controls::AfStateFailed; - break; - default: - s = controls::AfStateIdle; - } - switch (afStatus->pauseState) { - case AfPauseState::Pausing: - p = controls::AfPauseStatePausing; - break; - case AfPauseState::Paused: - p = controls::AfPauseStatePaused; - break; - default: - p = controls::AfPauseStateRunning; - } - libcameraMetadata_.set(controls::AfState, s); - libcameraMetadata_.set(controls::AfPauseState, p); + if (*max != lastTimeout_) { + setCameraTimeout.emit(max->get<std::milli>()); + lastTimeout_ = *max; } - - metadataReady.emit(libcameraMetadata_); } -bool IPARPi::validateSensorControls() +bool IpaBase::validateSensorControls() { static const uint32_t ctrls[] = { V4L2_CID_ANALOGUE_GAIN, @@ -720,35 +545,7 @@ bool IPARPi::validateSensorControls() 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; -} - -bool IPARPi::validateLensControls() +bool IpaBase::validateLensControls() { if (lensCtrls_.find(V4L2_CID_FOCUS_ABSOLUTE) == lensCtrls_.end()) { LOG(IPARPI, Error) << "Unable to find Lens control V4L2_CID_FOCUS_ABSOLUTE"; @@ -821,7 +618,7 @@ static const std::map<int32_t, RPiController::AfAlgorithm::AfPause> AfPauseTable { controls::AfPauseResume, RPiController::AfAlgorithm::AfPauseResume }, }; -void IPARPi::applyControls(const ControlList &controls) +void IpaBase::applyControls(const ControlList &controls) { using RPiController::AfAlgorithm; @@ -841,7 +638,7 @@ void IPARPi::applyControls(const ControlList &controls) if (mode == AfModeTable.end()) { LOG(IPARPI, Error) << "AF mode " << idx << " not recognised"; - } else + } else if (af) af->setMode(mode->second); } @@ -1113,6 +910,10 @@ void IPARPi::applyControls(const ControlList &controls) case controls::NOISE_REDUCTION_MODE: { RPiController::DenoiseAlgorithm *sdn = dynamic_cast<RPiController::DenoiseAlgorithm *>( controller_.getAlgorithm("SDN")); + /* Some platforms may have a combined "denoise" algorithm instead. */ + if (!sdn) + sdn = dynamic_cast<RPiController::DenoiseAlgorithm *>( + controller_.getAlgorithm("denoise")); if (!sdn) { LOG(IPARPI, Warning) << "Could not set NOISE_REDUCTION_MODE - no SDN algorithm"; @@ -1249,125 +1050,12 @@ void IPARPi::applyControls(const ControlList &controls) break; } } -} - -void IPARPi::prepare(const PrepareParams ¶ms) -{ - int64_t frameTimestamp = params.sensorControls.get(controls::SensorTimestamp).value_or(0); - unsigned int ipaContext = params.ipaContext % rpiMetadata_.size(); - RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext]; - Span<uint8_t> embeddedBuffer; - - rpiMetadata.clear(); - fillDeviceStatus(params.sensorControls, ipaContext); - - if (params.buffers.embedded) { - /* - * Pipeline handler has supplied us with an embedded data buffer, - * we must pass it to the CamHelper for parsing. - */ - auto it = buffers_.find(params.buffers.embedded); - ASSERT(it != buffers_.end()); - embeddedBuffer = it->second.planes()[0]; - } - - /* - * AGC wants to know the algorithm status from the time it actioned the - * sensor exposure/gain changes. So fetch it from the metadata list - * indexed by the IPA cookie returned, and put it in the current frame - * metadata. - */ - AgcStatus agcStatus; - RPiController::Metadata &delayedMetadata = rpiMetadata_[params.delayContext]; - if (!delayedMetadata.get<AgcStatus>("agc.status", agcStatus)) - rpiMetadata.set("agc.delayed_status", agcStatus); - /* - * This may overwrite the DeviceStatus using values from the sensor - * metadata, and may also do additional custom processing. - */ - helper_->prepare(embeddedBuffer, rpiMetadata); - - /* 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(). - */ - RPiController::Metadata &lastMetadata = - rpiMetadata_[(ipaContext ? ipaContext : rpiMetadata_.size()) - 1]; - rpiMetadata.mergeCopy(lastMetadata); - processPending_ = false; - return; - } - - lastRunTimestamp_ = frameTimestamp; - processPending_ = true; - - ControlList ctrls(ispCtrls_); - - controller_.prepare(&rpiMetadata); - - /* Lock the metadata buffer to avoid constant locks/unlocks. */ - std::unique_lock<RPiController::Metadata> lock(rpiMetadata); - - AwbStatus *awbStatus = rpiMetadata.getLocked<AwbStatus>("awb.status"); - if (awbStatus) - applyAWB(awbStatus, ctrls); - - CcmStatus *ccmStatus = rpiMetadata.getLocked<CcmStatus>("ccm.status"); - if (ccmStatus) - applyCCM(ccmStatus, ctrls); - - AgcStatus *dgStatus = rpiMetadata.getLocked<AgcStatus>("agc.status"); - if (dgStatus) - applyDG(dgStatus, ctrls); - - AlscStatus *lsStatus = rpiMetadata.getLocked<AlscStatus>("alsc.status"); - if (lsStatus) - applyLS(lsStatus, ctrls); - - ContrastStatus *contrastStatus = rpiMetadata.getLocked<ContrastStatus>("contrast.status"); - if (contrastStatus) - applyGamma(contrastStatus, ctrls); - - BlackLevelStatus *blackLevelStatus = rpiMetadata.getLocked<BlackLevelStatus>("black_level.status"); - if (blackLevelStatus) - applyBlackLevel(blackLevelStatus, ctrls); - - GeqStatus *geqStatus = rpiMetadata.getLocked<GeqStatus>("geq.status"); - if (geqStatus) - applyGEQ(geqStatus, ctrls); - - DenoiseStatus *denoiseStatus = rpiMetadata.getLocked<DenoiseStatus>("denoise.status"); - if (denoiseStatus) - applyDenoise(denoiseStatus, ctrls); - - SharpenStatus *sharpenStatus = rpiMetadata.getLocked<SharpenStatus>("sharpen.status"); - if (sharpenStatus) - applySharpen(sharpenStatus, ctrls); - - DpcStatus *dpcStatus = rpiMetadata.getLocked<DpcStatus>("dpc.status"); - if (dpcStatus) - applyDPC(dpcStatus, ctrls); - - const AfStatus *afStatus = rpiMetadata.getLocked<AfStatus>("af.status"); - if (afStatus) { - ControlList lensctrls(lensCtrls_); - applyAF(afStatus, lensctrls); - if (!lensctrls.empty()) - setLensControls.emit(lensctrls); - } - - if (!ctrls.empty()) - setIspControls.emit(ctrls); + /* Give derived classes a chance to examine the new controls. */ + handleControls(controls); } -void IPARPi::fillDeviceStatus(const ControlList &sensorControls, unsigned int ipaContext) +void IpaBase::fillDeviceStatus(const ControlList &sensorControls, unsigned int ipaContext) { DeviceStatus deviceStatus = {}; @@ -1391,103 +1079,121 @@ void IPARPi::fillDeviceStatus(const ControlList &sensorControls, unsigned int ip rpiMetadata_[ipaContext].set("device.status", deviceStatus); } -RPiController::StatisticsPtr IPARPi::fillStatistics(bcm2835_isp_stats *stats) const -{ - using namespace RPiController; - - const Controller::HardwareConfig &hw = controller_.getHardwareConfig(); - unsigned int i; - StatisticsPtr statistics = - std::make_unique<Statistics>(Statistics::AgcStatsPos::PreWb, Statistics::ColourStatsPos::PostLsc); - - /* RGB histograms are not used, so do not populate them. */ - statistics->yHist = RPiController::Histogram(stats->hist[0].g_hist, - hw.numHistogramBins); - - /* All region sums are based on a 16-bit normalised pipeline bit-depth. */ - unsigned int scale = Statistics::NormalisationFactorPow2 - hw.pipelineWidth; - - statistics->awbRegions.init(hw.awbRegions); - for (i = 0; i < statistics->awbRegions.numRegions(); i++) - statistics->awbRegions.set(i, { { stats->awb_stats[i].r_sum << scale, - stats->awb_stats[i].g_sum << scale, - stats->awb_stats[i].b_sum << scale }, - stats->awb_stats[i].counted, - stats->awb_stats[i].notcounted }); - - statistics->agcRegions.init(hw.agcRegions); - for (i = 0; i < statistics->agcRegions.numRegions(); i++) - statistics->agcRegions.set(i, { { stats->agc_stats[i].r_sum << scale, - stats->agc_stats[i].g_sum << scale, - stats->agc_stats[i].b_sum << scale }, - stats->agc_stats[i].counted, - stats->awb_stats[i].notcounted }); - - statistics->focusRegions.init(hw.focusRegions); - for (i = 0; i < statistics->focusRegions.numRegions(); i++) - statistics->focusRegions.set(i, { stats->focus_stats[i].contrast_val[1][1] / 1000, - stats->focus_stats[i].contrast_val_num[1][1], - stats->focus_stats[i].contrast_val_num[1][0] }); - return statistics; -} - -void IPARPi::process(unsigned int bufferId, unsigned int ipaContext) +void IpaBase::reportMetadata(unsigned int ipaContext) { RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext]; + std::unique_lock<RPiController::Metadata> lock(rpiMetadata); - auto it = buffers_.find(bufferId); - if (it == buffers_.end()) { - LOG(IPARPI, Error) << "Could not find stats buffer!"; - return; + /* + * Certain information about the current frame and how it will be + * processed can be extracted and placed into the libcamera metadata + * buffer, where an application could query it. + */ + DeviceStatus *deviceStatus = rpiMetadata.getLocked<DeviceStatus>("device.status"); + if (deviceStatus) { + libcameraMetadata_.set(controls::ExposureTime, + deviceStatus->shutterSpeed.get<std::micro>()); + libcameraMetadata_.set(controls::AnalogueGain, deviceStatus->analogueGain); + libcameraMetadata_.set(controls::FrameDuration, + helper_->exposure(deviceStatus->frameLength, deviceStatus->lineLength).get<std::micro>()); + if (deviceStatus->sensorTemperature) + libcameraMetadata_.set(controls::SensorTemperature, *deviceStatus->sensorTemperature); + if (deviceStatus->lensPosition) + libcameraMetadata_.set(controls::LensPosition, *deviceStatus->lensPosition); } - Span<uint8_t> mem = it->second.planes()[0]; - bcm2835_isp_stats *stats = reinterpret_cast<bcm2835_isp_stats *>(mem.data()); - RPiController::StatisticsPtr statistics = fillStatistics(stats); + AgcStatus *agcStatus = rpiMetadata.getLocked<AgcStatus>("agc.status"); + if (agcStatus) { + libcameraMetadata_.set(controls::AeLocked, agcStatus->locked); + libcameraMetadata_.set(controls::DigitalGain, agcStatus->digitalGain); + } - /* Save the focus stats in the metadata structure to report out later. */ - rpiMetadata_[ipaContext].set("focus.status", statistics->focusRegions); + LuxStatus *luxStatus = rpiMetadata.getLocked<LuxStatus>("lux.status"); + if (luxStatus) + libcameraMetadata_.set(controls::Lux, luxStatus->lux); - helper_->process(statistics, rpiMetadata); - controller_.process(statistics, &rpiMetadata); + AwbStatus *awbStatus = rpiMetadata.getLocked<AwbStatus>("awb.status"); + if (awbStatus) { + libcameraMetadata_.set(controls::ColourGains, { static_cast<float>(awbStatus->gainR), + static_cast<float>(awbStatus->gainB) }); + libcameraMetadata_.set(controls::ColourTemperature, awbStatus->temperatureK); + } - struct AgcStatus agcStatus; - if (rpiMetadata.get("agc.status", agcStatus) == 0) { - ControlList ctrls(sensorCtrls_); - applyAGC(&agcStatus, ctrls); + BlackLevelStatus *blackLevelStatus = rpiMetadata.getLocked<BlackLevelStatus>("black_level.status"); + if (blackLevelStatus) + libcameraMetadata_.set(controls::SensorBlackLevels, + { static_cast<int32_t>(blackLevelStatus->blackLevelR), + static_cast<int32_t>(blackLevelStatus->blackLevelG), + static_cast<int32_t>(blackLevelStatus->blackLevelG), + static_cast<int32_t>(blackLevelStatus->blackLevelB) }); - setDelayedControls.emit(ctrls, ipaContext); - setCameraTimeoutValue(); - } -} + RPiController::FocusRegions *focusStatus = + rpiMetadata.getLocked<RPiController::FocusRegions>("focus.status"); + if (focusStatus) { + /* + * Calculate the average FoM over the central (symmetric) positions + * to give an overall scene FoM. This can change later if it is + * not deemed suitable. + */ + libcamera::Size size = focusStatus->size(); + unsigned rows = size.height; + unsigned cols = size.width; -void IPARPi::setCameraTimeoutValue() -{ - /* - * Take the maximum value of the exposure queue as the camera timeout - * value to pass back to the pipeline handler. Only signal if it has changed - * from the last set value. - */ - auto max = std::max_element(frameLengths_.begin(), frameLengths_.end()); + uint64_t sum = 0; + unsigned int numRegions = 0; + for (unsigned r = rows / 3; r < rows - rows / 3; ++r) { + for (unsigned c = cols / 4; c < cols - cols / 4; ++c) { + sum += focusStatus->get({ (int)c, (int)r }).val; + numRegions++; + } + } - if (*max != lastTimeout_) { - setCameraTimeout.emit(max->get<std::milli>()); - lastTimeout_ = *max; + uint32_t focusFoM = (sum / numRegions) >> 16; + libcameraMetadata_.set(controls::FocusFoM, focusFoM); } -} -void IPARPi::applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls) -{ - LOG(IPARPI, Debug) << "Applying WB R: " << awbStatus->gainR << " B: " - << awbStatus->gainB; + CcmStatus *ccmStatus = rpiMetadata.getLocked<CcmStatus>("ccm.status"); + if (ccmStatus) { + float m[9]; + for (unsigned int i = 0; i < 9; i++) + m[i] = ccmStatus->matrix[i]; + libcameraMetadata_.set(controls::ColourCorrectionMatrix, m); + } - ctrls.set(V4L2_CID_RED_BALANCE, - static_cast<int32_t>(awbStatus->gainR * 1000)); - ctrls.set(V4L2_CID_BLUE_BALANCE, - static_cast<int32_t>(awbStatus->gainB * 1000)); + const AfStatus *afStatus = rpiMetadata.getLocked<AfStatus>("af.status"); + if (afStatus) { + int32_t s, p; + switch (afStatus->state) { + case AfState::Scanning: + s = controls::AfStateScanning; + break; + case AfState::Focused: + s = controls::AfStateFocused; + break; + case AfState::Failed: + s = controls::AfStateFailed; + break; + default: + s = controls::AfStateIdle; + } + switch (afStatus->pauseState) { + case AfPauseState::Pausing: + p = controls::AfPauseStatePausing; + break; + case AfPauseState::Paused: + p = controls::AfPauseStatePaused; + break; + default: + p = controls::AfPauseStateRunning; + } + libcameraMetadata_.set(controls::AfState, s); + libcameraMetadata_.set(controls::AfPauseState, p); + } + + metadataReady.emit(libcameraMetadata_); } -void IPARPi::applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration) +void IpaBase::applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration) { /* * This will only be applied once AGC recalculations occur. @@ -1519,7 +1225,7 @@ void IPARPi::applyFrameDurations(Duration minFrameDuration, Duration maxFrameDur agc->setMaxShutter(maxShutter); } -void IPARPi::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls) +void IpaBase::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls) { const int32_t minGainCode = helper_->gainCode(mode_.minAnalogueGain); const int32_t maxGainCode = helper_->gainCode(mode_.maxAnalogueGain); @@ -1571,269 +1277,6 @@ void IPARPi::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls) helper_->hblankToLineLength(hblank))); } -void IPARPi::applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls) -{ - ctrls.set(V4L2_CID_DIGITAL_GAIN, - static_cast<int32_t>(dgStatus->digitalGain * 1000)); -} - -void IPARPi::applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls) -{ - bcm2835_isp_custom_ccm ccm; - - for (int i = 0; i < 9; i++) { - ccm.ccm.ccm[i / 3][i % 3].den = 1000; - ccm.ccm.ccm[i / 3][i % 3].num = 1000 * ccmStatus->matrix[i]; - } - - ccm.enabled = 1; - ccm.ccm.offsets[0] = ccm.ccm.offsets[1] = ccm.ccm.offsets[2] = 0; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&ccm), - sizeof(ccm) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_CC_MATRIX, c); -} - -void IPARPi::applyGamma(const struct ContrastStatus *contrastStatus, ControlList &ctrls) -{ - const unsigned int numGammaPoints = controller_.getHardwareConfig().numGammaPoints; - struct bcm2835_isp_gamma gamma; - - for (unsigned int i = 0; i < numGammaPoints - 1; i++) { - int x = i < 16 ? i * 1024 - : (i < 24 ? (i - 16) * 2048 + 16384 - : (i - 24) * 4096 + 32768); - gamma.x[i] = x; - gamma.y[i] = std::min<uint16_t>(65535, contrastStatus->gammaCurve.eval(x)); - } - - gamma.x[numGammaPoints - 1] = 65535; - gamma.y[numGammaPoints - 1] = 65535; - gamma.enabled = 1; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&gamma), - sizeof(gamma) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_GAMMA, c); -} - -void IPARPi::applyBlackLevel(const struct BlackLevelStatus *blackLevelStatus, ControlList &ctrls) -{ - bcm2835_isp_black_level blackLevel; - - blackLevel.enabled = 1; - blackLevel.black_level_r = blackLevelStatus->blackLevelR; - blackLevel.black_level_g = blackLevelStatus->blackLevelG; - blackLevel.black_level_b = blackLevelStatus->blackLevelB; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&blackLevel), - sizeof(blackLevel) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_BLACK_LEVEL, c); -} - -void IPARPi::applyGEQ(const struct GeqStatus *geqStatus, ControlList &ctrls) -{ - bcm2835_isp_geq geq; - - geq.enabled = 1; - geq.offset = geqStatus->offset; - geq.slope.den = 1000; - geq.slope.num = 1000 * geqStatus->slope; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&geq), - sizeof(geq) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_GEQ, c); -} - -void IPARPi::applyDenoise(const struct DenoiseStatus *denoiseStatus, ControlList &ctrls) -{ - using RPiController::DenoiseMode; - - bcm2835_isp_denoise denoise; - DenoiseMode mode = static_cast<DenoiseMode>(denoiseStatus->mode); - - denoise.enabled = mode != DenoiseMode::Off; - denoise.constant = denoiseStatus->noiseConstant; - denoise.slope.num = 1000 * denoiseStatus->noiseSlope; - denoise.slope.den = 1000; - denoise.strength.num = 1000 * denoiseStatus->strength; - denoise.strength.den = 1000; - - /* Set the CDN mode to match the SDN operating mode. */ - bcm2835_isp_cdn cdn; - switch (mode) { - case DenoiseMode::ColourFast: - cdn.enabled = 1; - cdn.mode = CDN_MODE_FAST; - break; - case DenoiseMode::ColourHighQuality: - cdn.enabled = 1; - cdn.mode = CDN_MODE_HIGH_QUALITY; - break; - default: - cdn.enabled = 0; - } - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&denoise), - sizeof(denoise) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_DENOISE, c); - - c = ControlValue(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&cdn), - sizeof(cdn) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_CDN, c); -} - -void IPARPi::applySharpen(const struct SharpenStatus *sharpenStatus, ControlList &ctrls) -{ - bcm2835_isp_sharpen sharpen; - - sharpen.enabled = 1; - sharpen.threshold.num = 1000 * sharpenStatus->threshold; - sharpen.threshold.den = 1000; - sharpen.strength.num = 1000 * sharpenStatus->strength; - sharpen.strength.den = 1000; - sharpen.limit.num = 1000 * sharpenStatus->limit; - sharpen.limit.den = 1000; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&sharpen), - sizeof(sharpen) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_SHARPEN, c); -} - -void IPARPi::applyDPC(const struct DpcStatus *dpcStatus, ControlList &ctrls) -{ - bcm2835_isp_dpc dpc; - - dpc.enabled = 1; - dpc.strength = dpcStatus->strength; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&dpc), - sizeof(dpc) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_DPC, c); -} - -void IPARPi::applyLS(const struct AlscStatus *lsStatus, ControlList &ctrls) -{ - /* - * Program lens shading tables into pipeline. - * Choose smallest cell size that won't exceed 63x48 cells. - */ - const int cellSizes[] = { 16, 32, 64, 128, 256 }; - unsigned int numCells = std::size(cellSizes); - unsigned int i, w, h, cellSize; - for (i = 0; i < numCells; i++) { - cellSize = cellSizes[i]; - w = (mode_.width + cellSize - 1) / cellSize; - h = (mode_.height + cellSize - 1) / cellSize; - if (w < 64 && h <= 48) - break; - } - - if (i == numCells) { - LOG(IPARPI, Error) << "Cannot find cell size"; - return; - } - - /* We're going to supply corner sampled tables, 16 bit samples. */ - w++, h++; - bcm2835_isp_lens_shading ls = { - .enabled = 1, - .grid_cell_size = cellSize, - .grid_width = w, - .grid_stride = w, - .grid_height = h, - /* .dmabuf will be filled in by pipeline handler. */ - .dmabuf = 0, - .ref_transform = 0, - .corner_sampled = 1, - .gain_format = GAIN_FORMAT_U4P10 - }; - - if (!lsTable_ || w * h * 4 * sizeof(uint16_t) > MaxLsGridSize) { - LOG(IPARPI, Error) << "Do not have a correctly allocate lens shading table!"; - return; - } - - if (lsStatus) { - /* Format will be u4.10 */ - uint16_t *grid = static_cast<uint16_t *>(lsTable_); - - resampleTable(grid, lsStatus->r, w, h); - resampleTable(grid + w * h, lsStatus->g, w, h); - std::memcpy(grid + 2 * w * h, grid + w * h, w * h * sizeof(uint16_t)); - resampleTable(grid + 3 * w * h, lsStatus->b, w, h); - } - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&ls), - sizeof(ls) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING, c); -} - -void IPARPi::applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls) -{ - if (afStatus->lensSetting) { - ControlValue v(afStatus->lensSetting.value()); - lensCtrls.set(V4L2_CID_FOCUS_ABSOLUTE, v); - } -} - -/* - * Resamples a 16x12 table with central sampling to destW x destH with corner - * sampling. - */ -void IPARPi::resampleTable(uint16_t dest[], const std::vector<double> &src, - int destW, int destH) -{ - /* - * Precalculate and cache the x sampling locations and phases to - * save recomputing them on every row. - */ - assert(destW > 1 && destH > 1 && destW <= 64); - int xLo[64], xHi[64]; - double xf[64]; - double x = -0.5, xInc = 16.0 / (destW - 1); - for (int i = 0; i < destW; i++, x += xInc) { - xLo[i] = floor(x); - xf[i] = x - xLo[i]; - xHi[i] = xLo[i] < 15 ? xLo[i] + 1 : 15; - xLo[i] = xLo[i] > 0 ? xLo[i] : 0; - } - - /* Now march over the output table generating the new values. */ - double y = -0.5, yInc = 12.0 / (destH - 1); - for (int j = 0; j < destH; j++, y += yInc) { - int yLo = floor(y); - double yf = y - yLo; - int yHi = yLo < 11 ? yLo + 1 : 11; - yLo = yLo > 0 ? yLo : 0; - double const *rowAbove = src.data() + yLo * 16; - double const *rowBelow = src.data() + yHi * 16; - for (int i = 0; i < destW; i++) { - double above = rowAbove[xLo[i]] * (1 - xf[i]) + rowAbove[xHi[i]] * xf[i]; - double below = rowBelow[xLo[i]] * (1 - xf[i]) + rowBelow[xHi[i]] * xf[i]; - int result = floor(1024 * (above * (1 - yf) + below * yf) + .5); - *(dest++) = result > 16383 ? 16383 : result; /* want u4.10 */ - } - } -} - } /* namespace ipa::RPi */ -/* - * External IPA module interface - */ -extern "C" { -const struct IPAModuleInfo ipaModuleInfo = { - IPA_MODULE_API_VERSION, - 1, - "PipelineHandlerRPi", - "rpi/vc4", -}; - -IPAInterface *ipaCreate() -{ - return new ipa::RPi::IPARPi(); -} - -} /* extern "C" */ - } /* namespace libcamera */ diff --git a/src/ipa/rpi/common/ipa_base.h b/src/ipa/rpi/common/ipa_base.h new file mode 100644 index 00000000..6f9c46bb --- /dev/null +++ b/src/ipa/rpi/common/ipa_base.h @@ -0,0 +1,122 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * ipa_base.h - Raspberry Pi IPA base class + */ +#pragma once + +#include <array> +#include <deque> +#include <map> +#include <stdint.h> + +#include <libcamera/base/utils.h> +#include <libcamera/controls.h> + +#include <libcamera/ipa/raspberrypi_ipa_interface.h> + +#include "libcamera/internal/mapped_framebuffer.h" + +#include "cam_helper/cam_helper.h" +#include "controller/agc_status.h" +#include "controller/camera_mode.h" +#include "controller/controller.h" +#include "controller/metadata.h" + +namespace libcamera { + +namespace ipa::RPi { + +class IpaBase : public IPARPiInterface +{ +public: + IpaBase(); + ~IpaBase(); + + int32_t init(const IPASettings &settings, const InitParams ¶ms, InitResult *result) override; + int32_t configure(const IPACameraSensorInfo &sensorInfo, const ConfigParams ¶ms, + ConfigResult *result) override; + + void start(const ControlList &controls, StartResult *result) override; + void stop() override {} + + void mapBuffers(const std::vector<IPABuffer> &buffers) override; + void unmapBuffers(const std::vector<unsigned int> &ids) override; + + void prepareIsp(const PrepareParams ¶ms) override; + void processStats(const ProcessParams ¶ms) override; + +protected: + /* Raspberry Pi controller specific defines. */ + std::unique_ptr<RPiController::CamHelper> helper_; + RPiController::Controller controller_; + + ControlInfoMap sensorCtrls_; + ControlInfoMap lensCtrls_; + + /* Camera sensor params. */ + CameraMode mode_; + + /* Track the frame length times over FrameLengthsQueueSize frames. */ + std::deque<utils::Duration> frameLengths_; + utils::Duration lastTimeout_; + +private: + /* Number of metadata objects available in the context list. */ + static constexpr unsigned int numMetadataContexts = 16; + + virtual int32_t platformInit(const InitParams ¶ms, InitResult *result) = 0; + virtual int32_t platformConfigure(const ConfigParams ¶ms, ConfigResult *result) = 0; + + virtual void platformPrepareIsp(const PrepareParams ¶ms, + RPiController::Metadata &rpiMetadata) = 0; + virtual RPiController::StatisticsPtr platformProcessStats(Span<uint8_t> mem) = 0; + + void setMode(const IPACameraSensorInfo &sensorInfo); + void setCameraTimeoutValue(); + bool validateSensorControls(); + bool validateLensControls(); + void applyControls(const ControlList &controls); + virtual void handleControls(const ControlList &controls) = 0; + void fillDeviceStatus(const ControlList &sensorControls, unsigned int ipaContext); + void reportMetadata(unsigned int ipaContext); + void applyFrameDurations(utils::Duration minFrameDuration, utils::Duration maxFrameDuration); + void applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls); + + std::map<unsigned int, MappedFrameBuffer> buffers_; + + bool lensPresent_; + ControlList libcameraMetadata_; + + std::array<RPiController::Metadata, numMetadataContexts> rpiMetadata_; + + /* + * We count frames to decide if the frame must be hidden (e.g. from + * display) or mistrusted (i.e. not given to the control algos). + */ + uint64_t frameCount_; + + /* 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_; + + /* Distinguish the first camera start from others. */ + bool firstStart_; + + /* Frame duration (1/fps) limits. */ + utils::Duration minFrameDuration_; + utils::Duration maxFrameDuration_; +}; + +} /* namespace ipa::RPi */ + +} /* namespace libcamera */ diff --git a/src/ipa/rpi/common/meson.build b/src/ipa/rpi/common/meson.build new file mode 100644 index 00000000..73d2ee73 --- /dev/null +++ b/src/ipa/rpi/common/meson.build @@ -0,0 +1,17 @@ +# SPDX-License-Identifier: CC0-1.0 + +rpi_ipa_common_sources = files([ + 'ipa_base.cpp', +]) + +rpi_ipa_common_includes = [ + include_directories('..'), +] + +rpi_ipa_common_deps = [ + libcamera_private, +] + +rpi_ipa_common_lib = static_library('rpi_ipa_common', rpi_ipa_common_sources, + include_directories : rpi_ipa_common_includes, + dependencies : rpi_ipa_common_deps) diff --git a/src/ipa/rpi/meson.build b/src/ipa/rpi/meson.build index 7d7a61f7..4811c76f 100644 --- a/src/ipa/rpi/meson.build +++ b/src/ipa/rpi/meson.build @@ -1,6 +1,7 @@ # SPDX-License-Identifier: CC0-1.0 subdir('cam_helper') +subdir('common') subdir('controller') foreach pipeline : pipelines diff --git a/src/ipa/rpi/vc4/meson.build b/src/ipa/rpi/vc4/meson.build index df01c150..590e9197 100644 --- a/src/ipa/rpi/vc4/meson.build +++ b/src/ipa/rpi/vc4/meson.build @@ -9,6 +9,7 @@ vc4_ipa_deps = [ vc4_ipa_libs = [ rpi_ipa_cam_helper_lib, + rpi_ipa_common_lib, rpi_ipa_controller_lib ] @@ -18,7 +19,7 @@ vc4_ipa_includes = [ ] vc4_ipa_sources = files([ - 'raspberrypi.cpp', + 'vc4.cpp', ]) vc4_ipa_includes += include_directories('..') diff --git a/src/ipa/rpi/vc4/vc4.cpp b/src/ipa/rpi/vc4/vc4.cpp new file mode 100644 index 00000000..a32db9bc --- /dev/null +++ b/src/ipa/rpi/vc4/vc4.cpp @@ -0,0 +1,540 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019-2021, Raspberry Pi Ltd + * + * rpi.cpp - Raspberry Pi VC4/BCM2835 ISP IPA. + */ + +#include <string.h> +#include <sys/mman.h> + +#include <linux/bcm2835-isp.h> + +#include <libcamera/base/log.h> +#include <libcamera/ipa/ipa_module_info.h> + +#include "common/ipa_base.h" +#include "controller/af_status.h" +#include "controller/agc_algorithm.h" +#include "controller/alsc_status.h" +#include "controller/awb_status.h" +#include "controller/black_level_status.h" +#include "controller/ccm_status.h" +#include "controller/contrast_status.h" +#include "controller/denoise_algorithm.h" +#include "controller/denoise_status.h" +#include "controller/dpc_status.h" +#include "controller/geq_status.h" +#include "controller/lux_status.h" +#include "controller/noise_status.h" +#include "controller/sharpen_status.h" + +namespace libcamera { + +LOG_DECLARE_CATEGORY(IPARPI) + +namespace ipa::RPi { + +class IpaVc4 final : public IpaBase +{ +public: + IpaVc4() + : IpaBase(), lsTable_(nullptr) + { + } + + ~IpaVc4() + { + if (lsTable_) + munmap(lsTable_, MaxLsGridSize); + } + +private: + int32_t platformInit(const InitParams ¶ms, InitResult *result) override; + int32_t platformConfigure(const ConfigParams ¶ms, ConfigResult *result) override; + + void platformPrepareIsp(const PrepareParams ¶ms, RPiController::Metadata &rpiMetadata) override; + RPiController::StatisticsPtr platformProcessStats(Span<uint8_t> mem) override; + + void handleControls(const ControlList &controls) override; + bool validateIspControls(); + + void applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls); + void applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls); + void applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls); + void applyBlackLevel(const struct BlackLevelStatus *blackLevelStatus, ControlList &ctrls); + void applyGamma(const struct ContrastStatus *contrastStatus, ControlList &ctrls); + void applyGEQ(const struct GeqStatus *geqStatus, ControlList &ctrls); + void applyDenoise(const struct DenoiseStatus *denoiseStatus, ControlList &ctrls); + void applySharpen(const struct SharpenStatus *sharpenStatus, ControlList &ctrls); + void applyDPC(const struct DpcStatus *dpcStatus, ControlList &ctrls); + void applyLS(const struct AlscStatus *lsStatus, ControlList &ctrls); + void applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls); + void resampleTable(uint16_t dest[], const std::vector<double> &src, int destW, int destH); + + /* VC4 ISP controls. */ + ControlInfoMap ispCtrls_; + + /* LS table allocation passed in from the pipeline handler. */ + SharedFD lsTableHandle_; + void *lsTable_; +}; + +int32_t IpaVc4::platformInit([[maybe_unused]] const InitParams ¶ms, [[maybe_unused]] InitResult *result) +{ + const std::string &target = controller_.getTarget(); + + if (target != "bcm2835") { + LOG(IPARPI, Error) + << "Tuning data file target returned \"" << target << "\"" + << ", expected \"bcm2835\""; + return -EINVAL; + } + + return 0; +} + +int32_t IpaVc4::platformConfigure(const ConfigParams ¶ms, [[maybe_unused]] ConfigResult *result) +{ + ispCtrls_ = params.ispControls; + if (!validateIspControls()) { + LOG(IPARPI, Error) << "ISP control validation failed."; + return -1; + } + + /* Store the lens shading table pointer and handle if available. */ + if (params.lsTableHandle.isValid()) { + /* Remove any previous table, if there was one. */ + if (lsTable_) { + munmap(lsTable_, MaxLsGridSize); + lsTable_ = nullptr; + } + + /* Map the LS table buffer into user space. */ + lsTableHandle_ = std::move(params.lsTableHandle); + if (lsTableHandle_.isValid()) { + lsTable_ = mmap(nullptr, MaxLsGridSize, PROT_READ | PROT_WRITE, + MAP_SHARED, lsTableHandle_.get(), 0); + + if (lsTable_ == MAP_FAILED) { + LOG(IPARPI, Error) << "dmaHeap mmap failure for LS table."; + lsTable_ = nullptr; + } + } + } + + return 0; +} + +void IpaVc4::platformPrepareIsp([[maybe_unused]] const PrepareParams ¶ms, + RPiController::Metadata &rpiMetadata) +{ + ControlList ctrls(ispCtrls_); + + /* Lock the metadata buffer to avoid constant locks/unlocks. */ + std::unique_lock<RPiController::Metadata> lock(rpiMetadata); + + AwbStatus *awbStatus = rpiMetadata.getLocked<AwbStatus>("awb.status"); + if (awbStatus) + applyAWB(awbStatus, ctrls); + + CcmStatus *ccmStatus = rpiMetadata.getLocked<CcmStatus>("ccm.status"); + if (ccmStatus) + applyCCM(ccmStatus, ctrls); + + AgcStatus *dgStatus = rpiMetadata.getLocked<AgcStatus>("agc.status"); + if (dgStatus) + applyDG(dgStatus, ctrls); + + AlscStatus *lsStatus = rpiMetadata.getLocked<AlscStatus>("alsc.status"); + if (lsStatus) + applyLS(lsStatus, ctrls); + + ContrastStatus *contrastStatus = rpiMetadata.getLocked<ContrastStatus>("contrast.status"); + if (contrastStatus) + applyGamma(contrastStatus, ctrls); + + BlackLevelStatus *blackLevelStatus = rpiMetadata.getLocked<BlackLevelStatus>("black_level.status"); + if (blackLevelStatus) + applyBlackLevel(blackLevelStatus, ctrls); + + GeqStatus *geqStatus = rpiMetadata.getLocked<GeqStatus>("geq.status"); + if (geqStatus) + applyGEQ(geqStatus, ctrls); + + DenoiseStatus *denoiseStatus = rpiMetadata.getLocked<DenoiseStatus>("denoise.status"); + if (denoiseStatus) + applyDenoise(denoiseStatus, ctrls); + + SharpenStatus *sharpenStatus = rpiMetadata.getLocked<SharpenStatus>("sharpen.status"); + if (sharpenStatus) + applySharpen(sharpenStatus, ctrls); + + DpcStatus *dpcStatus = rpiMetadata.getLocked<DpcStatus>("dpc.status"); + if (dpcStatus) + applyDPC(dpcStatus, ctrls); + + const AfStatus *afStatus = rpiMetadata.getLocked<AfStatus>("af.status"); + if (afStatus) { + ControlList lensctrls(lensCtrls_); + applyAF(afStatus, lensctrls); + if (!lensctrls.empty()) + setLensControls.emit(lensctrls); + } + + if (!ctrls.empty()) + setIspControls.emit(ctrls); +} + +RPiController::StatisticsPtr IpaVc4::platformProcessStats(Span<uint8_t> mem) +{ + using namespace RPiController; + + const bcm2835_isp_stats *stats = reinterpret_cast<bcm2835_isp_stats *>(mem.data()); + StatisticsPtr statistics = std::make_unique<Statistics>(Statistics::AgcStatsPos::PreWb, + Statistics::ColourStatsPos::PostLsc); + const Controller::HardwareConfig &hw = controller_.getHardwareConfig(); + unsigned int i; + + /* RGB histograms are not used, so do not populate them. */ + statistics->yHist = RPiController::Histogram(stats->hist[0].g_hist, + hw.numHistogramBins); + + /* All region sums are based on a 16-bit normalised pipeline bit-depth. */ + unsigned int scale = Statistics::NormalisationFactorPow2 - hw.pipelineWidth; + + statistics->awbRegions.init(hw.awbRegions); + for (i = 0; i < statistics->awbRegions.numRegions(); i++) + statistics->awbRegions.set(i, { { stats->awb_stats[i].r_sum << scale, + stats->awb_stats[i].g_sum << scale, + stats->awb_stats[i].b_sum << scale }, + stats->awb_stats[i].counted, + stats->awb_stats[i].notcounted }); + + statistics->agcRegions.init(hw.agcRegions); + for (i = 0; i < statistics->agcRegions.numRegions(); i++) + statistics->agcRegions.set(i, { { stats->agc_stats[i].r_sum << scale, + stats->agc_stats[i].g_sum << scale, + stats->agc_stats[i].b_sum << scale }, + stats->agc_stats[i].counted, + stats->awb_stats[i].notcounted }); + + statistics->focusRegions.init(hw.focusRegions); + for (i = 0; i < statistics->focusRegions.numRegions(); i++) + statistics->focusRegions.set(i, { stats->focus_stats[i].contrast_val[1][1] / 1000, + stats->focus_stats[i].contrast_val_num[1][1], + stats->focus_stats[i].contrast_val_num[1][0] }); + + return statistics; +} + +void IpaVc4::handleControls([[maybe_unused]] const ControlList &controls) +{ + /* No controls require any special updates to the hardware configuration. */ +} + +bool IpaVc4::validateIspControls() +{ + static const uint32_t ctrls[] = { + V4L2_CID_RED_BALANCE, + V4L2_CID_BLUE_BALANCE, + V4L2_CID_DIGITAL_GAIN, + V4L2_CID_USER_BCM2835_ISP_CC_MATRIX, + V4L2_CID_USER_BCM2835_ISP_GAMMA, + V4L2_CID_USER_BCM2835_ISP_BLACK_LEVEL, + V4L2_CID_USER_BCM2835_ISP_GEQ, + V4L2_CID_USER_BCM2835_ISP_DENOISE, + V4L2_CID_USER_BCM2835_ISP_SHARPEN, + V4L2_CID_USER_BCM2835_ISP_DPC, + V4L2_CID_USER_BCM2835_ISP_LENS_SHADING, + V4L2_CID_USER_BCM2835_ISP_CDN, + }; + + for (auto c : ctrls) { + if (ispCtrls_.find(c) == ispCtrls_.end()) { + LOG(IPARPI, Error) << "Unable to find ISP control " + << utils::hex(c); + return false; + } + } + + return true; +} + +void IpaVc4::applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls) +{ + LOG(IPARPI, Debug) << "Applying WB R: " << awbStatus->gainR << " B: " + << awbStatus->gainB; + + ctrls.set(V4L2_CID_RED_BALANCE, + static_cast<int32_t>(awbStatus->gainR * 1000)); + ctrls.set(V4L2_CID_BLUE_BALANCE, + static_cast<int32_t>(awbStatus->gainB * 1000)); +} + +void IpaVc4::applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls) +{ + ctrls.set(V4L2_CID_DIGITAL_GAIN, + static_cast<int32_t>(dgStatus->digitalGain * 1000)); +} + +void IpaVc4::applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls) +{ + bcm2835_isp_custom_ccm ccm; + + for (int i = 0; i < 9; i++) { + ccm.ccm.ccm[i / 3][i % 3].den = 1000; + ccm.ccm.ccm[i / 3][i % 3].num = 1000 * ccmStatus->matrix[i]; + } + + ccm.enabled = 1; + ccm.ccm.offsets[0] = ccm.ccm.offsets[1] = ccm.ccm.offsets[2] = 0; + + ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&ccm), + sizeof(ccm) }); + ctrls.set(V4L2_CID_USER_BCM2835_ISP_CC_MATRIX, c); +} + +void IpaVc4::applyBlackLevel(const struct BlackLevelStatus *blackLevelStatus, ControlList &ctrls) +{ + bcm2835_isp_black_level blackLevel; + + blackLevel.enabled = 1; + blackLevel.black_level_r = blackLevelStatus->blackLevelR; + blackLevel.black_level_g = blackLevelStatus->blackLevelG; + blackLevel.black_level_b = blackLevelStatus->blackLevelB; + + ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&blackLevel), + sizeof(blackLevel) }); + ctrls.set(V4L2_CID_USER_BCM2835_ISP_BLACK_LEVEL, c); +} + +void IpaVc4::applyGamma(const struct ContrastStatus *contrastStatus, ControlList &ctrls) +{ + const unsigned int numGammaPoints = controller_.getHardwareConfig().numGammaPoints; + struct bcm2835_isp_gamma gamma; + + for (unsigned int i = 0; i < numGammaPoints - 1; i++) { + int x = i < 16 ? i * 1024 + : (i < 24 ? (i - 16) * 2048 + 16384 + : (i - 24) * 4096 + 32768); + gamma.x[i] = x; + gamma.y[i] = std::min<uint16_t>(65535, contrastStatus->gammaCurve.eval(x)); + } + + gamma.x[numGammaPoints - 1] = 65535; + gamma.y[numGammaPoints - 1] = 65535; + gamma.enabled = 1; + + ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&gamma), + sizeof(gamma) }); + ctrls.set(V4L2_CID_USER_BCM2835_ISP_GAMMA, c); +} + +void IpaVc4::applyGEQ(const struct GeqStatus *geqStatus, ControlList &ctrls) +{ + bcm2835_isp_geq geq; + + geq.enabled = 1; + geq.offset = geqStatus->offset; + geq.slope.den = 1000; + geq.slope.num = 1000 * geqStatus->slope; + + ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&geq), + sizeof(geq) }); + ctrls.set(V4L2_CID_USER_BCM2835_ISP_GEQ, c); +} + +void IpaVc4::applyDenoise(const struct DenoiseStatus *denoiseStatus, ControlList &ctrls) +{ + using RPiController::DenoiseMode; + + bcm2835_isp_denoise denoise; + DenoiseMode mode = static_cast<DenoiseMode>(denoiseStatus->mode); + + denoise.enabled = mode != DenoiseMode::Off; + denoise.constant = denoiseStatus->noiseConstant; + denoise.slope.num = 1000 * denoiseStatus->noiseSlope; + denoise.slope.den = 1000; + denoise.strength.num = 1000 * denoiseStatus->strength; + denoise.strength.den = 1000; + + /* Set the CDN mode to match the SDN operating mode. */ + bcm2835_isp_cdn cdn; + switch (mode) { + case DenoiseMode::ColourFast: + cdn.enabled = 1; + cdn.mode = CDN_MODE_FAST; + break; + case DenoiseMode::ColourHighQuality: + cdn.enabled = 1; + cdn.mode = CDN_MODE_HIGH_QUALITY; + break; + default: + cdn.enabled = 0; + } + + ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&denoise), + sizeof(denoise) }); + ctrls.set(V4L2_CID_USER_BCM2835_ISP_DENOISE, c); + + c = ControlValue(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&cdn), + sizeof(cdn) }); + ctrls.set(V4L2_CID_USER_BCM2835_ISP_CDN, c); +} + +void IpaVc4::applySharpen(const struct SharpenStatus *sharpenStatus, ControlList &ctrls) +{ + bcm2835_isp_sharpen sharpen; + + sharpen.enabled = 1; + sharpen.threshold.num = 1000 * sharpenStatus->threshold; + sharpen.threshold.den = 1000; + sharpen.strength.num = 1000 * sharpenStatus->strength; + sharpen.strength.den = 1000; + sharpen.limit.num = 1000 * sharpenStatus->limit; + sharpen.limit.den = 1000; + + ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&sharpen), + sizeof(sharpen) }); + ctrls.set(V4L2_CID_USER_BCM2835_ISP_SHARPEN, c); +} + +void IpaVc4::applyDPC(const struct DpcStatus *dpcStatus, ControlList &ctrls) +{ + bcm2835_isp_dpc dpc; + + dpc.enabled = 1; + dpc.strength = dpcStatus->strength; + + ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&dpc), + sizeof(dpc) }); + ctrls.set(V4L2_CID_USER_BCM2835_ISP_DPC, c); +} + +void IpaVc4::applyLS(const struct AlscStatus *lsStatus, ControlList &ctrls) +{ + /* + * Program lens shading tables into pipeline. + * Choose smallest cell size that won't exceed 63x48 cells. + */ + const int cellSizes[] = { 16, 32, 64, 128, 256 }; + unsigned int numCells = std::size(cellSizes); + unsigned int i, w, h, cellSize; + for (i = 0; i < numCells; i++) { + cellSize = cellSizes[i]; + w = (mode_.width + cellSize - 1) / cellSize; + h = (mode_.height + cellSize - 1) / cellSize; + if (w < 64 && h <= 48) + break; + } + + if (i == numCells) { + LOG(IPARPI, Error) << "Cannot find cell size"; + return; + } + + /* We're going to supply corner sampled tables, 16 bit samples. */ + w++, h++; + bcm2835_isp_lens_shading ls = { + .enabled = 1, + .grid_cell_size = cellSize, + .grid_width = w, + .grid_stride = w, + .grid_height = h, + /* .dmabuf will be filled in by pipeline handler. */ + .dmabuf = 0, + .ref_transform = 0, + .corner_sampled = 1, + .gain_format = GAIN_FORMAT_U4P10 + }; + + if (!lsTable_ || w * h * 4 * sizeof(uint16_t) > MaxLsGridSize) { + LOG(IPARPI, Error) << "Do not have a correctly allocate lens shading table!"; + return; + } + + if (lsStatus) { + /* Format will be u4.10 */ + uint16_t *grid = static_cast<uint16_t *>(lsTable_); + + resampleTable(grid, lsStatus->r, w, h); + resampleTable(grid + w * h, lsStatus->g, w, h); + memcpy(grid + 2 * w * h, grid + w * h, w * h * sizeof(uint16_t)); + resampleTable(grid + 3 * w * h, lsStatus->b, w, h); + } + + ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&ls), + sizeof(ls) }); + ctrls.set(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING, c); +} + +void IpaVc4::applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls) +{ + if (afStatus->lensSetting) { + ControlValue v(afStatus->lensSetting.value()); + lensCtrls.set(V4L2_CID_FOCUS_ABSOLUTE, v); + } +} + +/* + * Resamples a 16x12 table with central sampling to destW x destH with corner + * sampling. + */ +void IpaVc4::resampleTable(uint16_t dest[], const std::vector<double> &src, + int destW, int destH) +{ + /* + * Precalculate and cache the x sampling locations and phases to + * save recomputing them on every row. + */ + assert(destW > 1 && destH > 1 && destW <= 64); + int xLo[64], xHi[64]; + double xf[64]; + double x = -0.5, xInc = 16.0 / (destW - 1); + for (int i = 0; i < destW; i++, x += xInc) { + xLo[i] = floor(x); + xf[i] = x - xLo[i]; + xHi[i] = xLo[i] < 15 ? xLo[i] + 1 : 15; + xLo[i] = xLo[i] > 0 ? xLo[i] : 0; + } + + /* Now march over the output table generating the new values. */ + double y = -0.5, yInc = 12.0 / (destH - 1); + for (int j = 0; j < destH; j++, y += yInc) { + int yLo = floor(y); + double yf = y - yLo; + int yHi = yLo < 11 ? yLo + 1 : 11; + yLo = yLo > 0 ? yLo : 0; + double const *rowAbove = src.data() + yLo * 16; + double const *rowBelow = src.data() + yHi * 16; + for (int i = 0; i < destW; i++) { + double above = rowAbove[xLo[i]] * (1 - xf[i]) + rowAbove[xHi[i]] * xf[i]; + double below = rowBelow[xLo[i]] * (1 - xf[i]) + rowBelow[xHi[i]] * xf[i]; + int result = floor(1024 * (above * (1 - yf) + below * yf) + .5); + *(dest++) = result > 16383 ? 16383 : result; /* want u4.10 */ + } + } +} + +} /* namespace ipa::RPi */ + +/* + * External IPA module interface + */ +extern "C" { +const struct IPAModuleInfo ipaModuleInfo = { + IPA_MODULE_API_VERSION, + 1, + "PipelineHandlerRPi", + "rpi/vc4", +}; + +IPAInterface *ipaCreate() +{ + return new ipa::RPi::IpaVc4(); +} + +} /* extern "C" */ + +} /* namespace libcamera */ |