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-rw-r--r--src/ipa/rpi/cam_helper/cam_helper.cpp265
-rw-r--r--src/ipa/rpi/cam_helper/cam_helper.h132
-rw-r--r--src/ipa/rpi/cam_helper/cam_helper_imx219.cpp115
-rw-r--r--src/ipa/rpi/cam_helper/cam_helper_imx290.cpp68
-rw-r--r--src/ipa/rpi/cam_helper/cam_helper_imx296.cpp83
-rw-r--r--src/ipa/rpi/cam_helper/cam_helper_imx477.cpp197
-rw-r--r--src/ipa/rpi/cam_helper/cam_helper_imx519.cpp196
-rw-r--r--src/ipa/rpi/cam_helper/cam_helper_imx708.cpp359
-rw-r--r--src/ipa/rpi/cam_helper/cam_helper_ov5647.cpp109
-rw-r--r--src/ipa/rpi/cam_helper/cam_helper_ov9281.cpp66
-rw-r--r--src/ipa/rpi/cam_helper/md_parser.h155
-rw-r--r--src/ipa/rpi/cam_helper/md_parser_smia.cpp149
-rw-r--r--src/ipa/rpi/cam_helper/meson.build26
13 files changed, 1920 insertions, 0 deletions
diff --git a/src/ipa/rpi/cam_helper/cam_helper.cpp b/src/ipa/rpi/cam_helper/cam_helper.cpp
new file mode 100644
index 00000000..ddd5e9a4
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/cam_helper.cpp
@@ -0,0 +1,265 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * cam_helper.cpp - helper information for different sensors
+ */
+
+#include <linux/videodev2.h>
+
+#include <limits>
+#include <map>
+#include <string.h>
+
+#include "libcamera/internal/v4l2_videodevice.h"
+
+#include "cam_helper.h"
+#include "md_parser.h"
+
+using namespace RPiController;
+using namespace libcamera;
+using libcamera::utils::Duration;
+using namespace std::literals::chrono_literals;
+
+namespace libcamera {
+LOG_DECLARE_CATEGORY(IPARPI)
+}
+
+namespace {
+
+std::map<std::string, CamHelperCreateFunc> &camHelpers()
+{
+ static std::map<std::string, CamHelperCreateFunc> helpers;
+ return helpers;
+}
+
+} /* namespace */
+
+CamHelper *CamHelper::create(std::string const &camName)
+{
+ /*
+ * CamHelpers get registered by static RegisterCamHelper
+ * initialisers.
+ */
+ for (auto &p : camHelpers()) {
+ if (camName.find(p.first) != std::string::npos)
+ return p.second();
+ }
+
+ return nullptr;
+}
+
+CamHelper::CamHelper(std::unique_ptr<MdParser> parser, unsigned int frameIntegrationDiff)
+ : parser_(std::move(parser)), frameIntegrationDiff_(frameIntegrationDiff)
+{
+}
+
+CamHelper::~CamHelper()
+{
+}
+
+void CamHelper::prepare(Span<const uint8_t> buffer,
+ Metadata &metadata)
+{
+ parseEmbeddedData(buffer, metadata);
+}
+
+void CamHelper::process([[maybe_unused]] StatisticsPtr &stats,
+ [[maybe_unused]] Metadata &metadata)
+{
+}
+
+uint32_t CamHelper::exposureLines(const Duration exposure, const Duration lineLength) const
+{
+ return exposure / lineLength;
+}
+
+Duration CamHelper::exposure(uint32_t exposureLines, const Duration lineLength) const
+{
+ return exposureLines * lineLength;
+}
+
+std::pair<uint32_t, uint32_t> CamHelper::getBlanking(Duration &exposure,
+ Duration minFrameDuration,
+ Duration maxFrameDuration) const
+{
+ uint32_t frameLengthMin, frameLengthMax, vblank, hblank;
+ Duration lineLength = mode_.minLineLength;
+
+ /*
+ * minFrameDuration and maxFrameDuration are clamped by the caller
+ * based on the limits for the active sensor mode.
+ *
+ * frameLengthMax gets calculated on the smallest line length as we do
+ * not want to extend that unless absolutely necessary.
+ */
+ frameLengthMin = minFrameDuration / mode_.minLineLength;
+ frameLengthMax = maxFrameDuration / mode_.minLineLength;
+
+ /*
+ * Watch out for (exposureLines + frameIntegrationDiff_) overflowing a
+ * uint32_t in the std::clamp() below when the exposure time is
+ * extremely (extremely!) long - as happens when the IPA calculates the
+ * maximum possible exposure time.
+ */
+ uint32_t exposureLines = std::min(CamHelper::exposureLines(exposure, lineLength),
+ std::numeric_limits<uint32_t>::max() - frameIntegrationDiff_);
+ uint32_t frameLengthLines = std::clamp(exposureLines + frameIntegrationDiff_,
+ frameLengthMin, frameLengthMax);
+
+ /*
+ * If our frame length lines is above the maximum allowed, see if we can
+ * extend the line length to accommodate the requested frame length.
+ */
+ if (frameLengthLines > mode_.maxFrameLength) {
+ Duration lineLengthAdjusted = lineLength * frameLengthLines / mode_.maxFrameLength;
+ lineLength = std::min(mode_.maxLineLength, lineLengthAdjusted);
+ frameLengthLines = mode_.maxFrameLength;
+ }
+
+ hblank = lineLengthToHblank(lineLength);
+ vblank = frameLengthLines - mode_.height;
+
+ /*
+ * Limit the exposure to the maximum frame duration requested, and
+ * re-calculate if it has been clipped.
+ */
+ exposureLines = std::min(frameLengthLines - frameIntegrationDiff_,
+ CamHelper::exposureLines(exposure, lineLength));
+ exposure = CamHelper::exposure(exposureLines, lineLength);
+
+ return { vblank, hblank };
+}
+
+Duration CamHelper::hblankToLineLength(uint32_t hblank) const
+{
+ return (mode_.width + hblank) * (1.0s / mode_.pixelRate);
+}
+
+uint32_t CamHelper::lineLengthToHblank(const Duration &lineLength) const
+{
+ return (lineLength * mode_.pixelRate / 1.0s) - mode_.width;
+}
+
+Duration CamHelper::lineLengthPckToDuration(uint32_t lineLengthPck) const
+{
+ return lineLengthPck * (1.0s / mode_.pixelRate);
+}
+
+void CamHelper::setCameraMode(const CameraMode &mode)
+{
+ mode_ = mode;
+ if (parser_) {
+ parser_->reset();
+ parser_->setBitsPerPixel(mode.bitdepth);
+ parser_->setLineLengthBytes(0); /* We use SetBufferSize. */
+ }
+}
+
+void CamHelper::getDelays(int &exposureDelay, int &gainDelay,
+ int &vblankDelay, int &hblankDelay) const
+{
+ /*
+ * These values are correct for many sensors. Other sensors will
+ * need to over-ride this function.
+ */
+ exposureDelay = 2;
+ gainDelay = 1;
+ vblankDelay = 2;
+ hblankDelay = 2;
+}
+
+bool CamHelper::sensorEmbeddedDataPresent() const
+{
+ return false;
+}
+
+double CamHelper::getModeSensitivity([[maybe_unused]] const CameraMode &mode) const
+{
+ /*
+ * Most sensors have the same sensitivity in every mode, but this
+ * function can be overridden for those that do not. Note that it is
+ * called before mode_ is set, so it must return the sensitivity
+ * of the mode that is passed in.
+ */
+ return 1.0;
+}
+
+unsigned int CamHelper::hideFramesStartup() const
+{
+ /*
+ * The number of frames when a camera first starts that shouldn't be
+ * displayed as they are invalid in some way.
+ */
+ return 0;
+}
+
+unsigned int CamHelper::hideFramesModeSwitch() const
+{
+ /* After a mode switch, many sensors return valid frames immediately. */
+ return 0;
+}
+
+unsigned int CamHelper::mistrustFramesStartup() const
+{
+ /* Many sensors return a single bad frame on start-up. */
+ return 1;
+}
+
+unsigned int CamHelper::mistrustFramesModeSwitch() const
+{
+ /* Many sensors return valid metadata immediately. */
+ return 0;
+}
+
+void CamHelper::parseEmbeddedData(Span<const uint8_t> buffer,
+ Metadata &metadata)
+{
+ MdParser::RegisterMap registers;
+ Metadata parsedMetadata;
+
+ if (buffer.empty())
+ return;
+
+ if (parser_->parse(buffer, registers) != MdParser::Status::OK) {
+ LOG(IPARPI, Error) << "Embedded data buffer parsing failed";
+ return;
+ }
+
+ populateMetadata(registers, parsedMetadata);
+ metadata.merge(parsedMetadata);
+
+ /*
+ * Overwrite the exposure/gain, line/frame length and sensor temperature values
+ * in the existing DeviceStatus with values from the parsed embedded buffer.
+ * Fetch it first in case any other fields were set meaningfully.
+ */
+ DeviceStatus deviceStatus, parsedDeviceStatus;
+ if (metadata.get("device.status", deviceStatus) ||
+ parsedMetadata.get("device.status", parsedDeviceStatus)) {
+ LOG(IPARPI, Error) << "DeviceStatus not found";
+ return;
+ }
+
+ deviceStatus.shutterSpeed = parsedDeviceStatus.shutterSpeed;
+ deviceStatus.analogueGain = parsedDeviceStatus.analogueGain;
+ deviceStatus.frameLength = parsedDeviceStatus.frameLength;
+ deviceStatus.lineLength = parsedDeviceStatus.lineLength;
+ if (parsedDeviceStatus.sensorTemperature)
+ deviceStatus.sensorTemperature = parsedDeviceStatus.sensorTemperature;
+
+ LOG(IPARPI, Debug) << "Metadata updated - " << deviceStatus;
+
+ metadata.set("device.status", deviceStatus);
+}
+
+void CamHelper::populateMetadata([[maybe_unused]] const MdParser::RegisterMap &registers,
+ [[maybe_unused]] Metadata &metadata) const
+{
+}
+
+RegisterCamHelper::RegisterCamHelper(char const *camName,
+ CamHelperCreateFunc createFunc)
+{
+ camHelpers()[std::string(camName)] = createFunc;
+}
diff --git a/src/ipa/rpi/cam_helper/cam_helper.h b/src/ipa/rpi/cam_helper/cam_helper.h
new file mode 100644
index 00000000..58a4b202
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/cam_helper.h
@@ -0,0 +1,132 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * cam_helper.h - helper class providing camera information
+ */
+#pragma once
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include <libcamera/base/span.h>
+#include <libcamera/base/utils.h>
+
+#include "controller/camera_mode.h"
+#include "controller/controller.h"
+#include "controller/metadata.h"
+#include "md_parser.h"
+
+#include "libcamera/internal/v4l2_videodevice.h"
+
+namespace RPiController {
+
+/*
+ * The CamHelper class provides a number of facilities that anyone trying
+ * to drive a camera will need to know, but which are not provided by the
+ * standard driver framework. Specifically, it provides:
+ *
+ * A "CameraMode" structure to describe extra information about the chosen
+ * mode of the driver. For example, how it is cropped from the full sensor
+ * area, how it is scaled, whether pixels are averaged compared to the full
+ * resolution.
+ *
+ * The ability to convert between number of lines of exposure and actual
+ * exposure time, and to convert between the sensor's gain codes and actual
+ * gains.
+ *
+ * A function to return the number of frames of delay between updating exposure,
+ * analogue gain and vblanking, and for the changes to take effect. For many
+ * sensors these take the values 2, 1 and 2 respectively, but sensors that are
+ * different will need to over-ride the default function provided.
+ *
+ * A function to query if the sensor outputs embedded data that can be parsed.
+ *
+ * A function to return the sensitivity of a given camera mode.
+ *
+ * A parser to parse the embedded data buffers provided by some sensors (for
+ * example, the imx219 does; the ov5647 doesn't). This allows us to know for
+ * sure the exposure and gain of the frame we're looking at. CamHelper
+ * provides functions for converting analogue gains to and from the sensor's
+ * native gain codes.
+ *
+ * Finally, a set of functions that determine how to handle the vagaries of
+ * different camera modules on start-up or when switching modes. Some
+ * modules may produce one or more frames that are not yet correctly exposed,
+ * or where the metadata may be suspect. We have the following functions:
+ * HideFramesStartup(): Tell the pipeline handler not to return this many
+ * frames at start-up. This can also be used to hide initial frames
+ * while the AGC and other algorithms are sorting themselves out.
+ * HideFramesModeSwitch(): Tell the pipeline handler not to return this
+ * many frames after a mode switch (other than start-up). Some sensors
+ * may produce innvalid frames after a mode switch; others may not.
+ * MistrustFramesStartup(): At start-up a sensor may return frames for
+ * which we should not run any control algorithms (for example, metadata
+ * may be invalid).
+ * MistrustFramesModeSwitch(): The number of frames, after a mode switch
+ * (other than start-up), for which control algorithms should not run
+ * (for example, metadata may be unreliable).
+ */
+
+class CamHelper
+{
+public:
+ static CamHelper *create(std::string const &camName);
+ CamHelper(std::unique_ptr<MdParser> parser, unsigned int frameIntegrationDiff);
+ virtual ~CamHelper();
+ void setCameraMode(const CameraMode &mode);
+ virtual void prepare(libcamera::Span<const uint8_t> buffer,
+ Metadata &metadata);
+ virtual void process(StatisticsPtr &stats, Metadata &metadata);
+ virtual uint32_t exposureLines(const libcamera::utils::Duration exposure,
+ const libcamera::utils::Duration lineLength) const;
+ virtual libcamera::utils::Duration exposure(uint32_t exposureLines,
+ const libcamera::utils::Duration lineLength) const;
+ virtual std::pair<uint32_t, uint32_t> getBlanking(libcamera::utils::Duration &exposure,
+ libcamera::utils::Duration minFrameDuration,
+ libcamera::utils::Duration maxFrameDuration) const;
+ libcamera::utils::Duration hblankToLineLength(uint32_t hblank) const;
+ uint32_t lineLengthToHblank(const libcamera::utils::Duration &duration) const;
+ libcamera::utils::Duration lineLengthPckToDuration(uint32_t lineLengthPck) const;
+ virtual uint32_t gainCode(double gain) const = 0;
+ virtual double gain(uint32_t gainCode) const = 0;
+ virtual void getDelays(int &exposureDelay, int &gainDelay,
+ int &vblankDelay, int &hblankDelay) const;
+ virtual bool sensorEmbeddedDataPresent() const;
+ virtual double getModeSensitivity(const CameraMode &mode) const;
+ virtual unsigned int hideFramesStartup() const;
+ virtual unsigned int hideFramesModeSwitch() const;
+ virtual unsigned int mistrustFramesStartup() const;
+ virtual unsigned int mistrustFramesModeSwitch() const;
+
+protected:
+ void parseEmbeddedData(libcamera::Span<const uint8_t> buffer,
+ Metadata &metadata);
+ virtual void populateMetadata(const MdParser::RegisterMap &registers,
+ Metadata &metadata) const;
+
+ std::unique_ptr<MdParser> parser_;
+ CameraMode mode_;
+
+private:
+ /*
+ * Smallest difference between the frame length and integration time,
+ * in units of lines.
+ */
+ unsigned int frameIntegrationDiff_;
+};
+
+/*
+ * This is for registering camera helpers with the system, so that the
+ * CamHelper::Create function picks them up automatically.
+ */
+
+typedef CamHelper *(*CamHelperCreateFunc)();
+struct RegisterCamHelper
+{
+ RegisterCamHelper(char const *camName,
+ CamHelperCreateFunc createFunc);
+};
+
+} /* namespace RPi */
diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx219.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx219.cpp
new file mode 100644
index 00000000..c3337ed0
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/cam_helper_imx219.cpp
@@ -0,0 +1,115 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * cam_helper_imx219.cpp - camera helper for imx219 sensor
+ */
+
+#include <assert.h>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+/*
+ * We have observed that the imx219 embedded data stream randomly returns junk
+ * register values. Do not rely on embedded data until this has been resolved.
+ */
+#define ENABLE_EMBEDDED_DATA 0
+
+#include "cam_helper.h"
+#if ENABLE_EMBEDDED_DATA
+#include "md_parser.h"
+#endif
+
+using namespace RPiController;
+
+/*
+ * We care about one gain register and a pair of exposure registers. Their I2C
+ * addresses from the Sony IMX219 datasheet:
+ */
+constexpr uint32_t gainReg = 0x157;
+constexpr uint32_t expHiReg = 0x15a;
+constexpr uint32_t expLoReg = 0x15b;
+constexpr uint32_t frameLengthHiReg = 0x160;
+constexpr uint32_t frameLengthLoReg = 0x161;
+constexpr uint32_t lineLengthHiReg = 0x162;
+constexpr uint32_t lineLengthLoReg = 0x163;
+constexpr std::initializer_list<uint32_t> registerList [[maybe_unused]]
+ = { expHiReg, expLoReg, gainReg, frameLengthHiReg, frameLengthLoReg,
+ lineLengthHiReg, lineLengthLoReg };
+
+class CamHelperImx219 : public CamHelper
+{
+public:
+ CamHelperImx219();
+ uint32_t gainCode(double gain) const override;
+ double gain(uint32_t gainCode) const override;
+ unsigned int mistrustFramesModeSwitch() const override;
+ bool sensorEmbeddedDataPresent() const override;
+
+private:
+ /*
+ * Smallest difference between the frame length and integration time,
+ * in units of lines.
+ */
+ static constexpr int frameIntegrationDiff = 4;
+
+ void populateMetadata(const MdParser::RegisterMap &registers,
+ Metadata &metadata) const override;
+};
+
+CamHelperImx219::CamHelperImx219()
+#if ENABLE_EMBEDDED_DATA
+ : CamHelper(std::make_unique<MdParserSmia>(registerList), frameIntegrationDiff)
+#else
+ : CamHelper({}, frameIntegrationDiff)
+#endif
+{
+}
+
+uint32_t CamHelperImx219::gainCode(double gain) const
+{
+ return (uint32_t)(256 - 256 / gain);
+}
+
+double CamHelperImx219::gain(uint32_t gainCode) const
+{
+ return 256.0 / (256 - gainCode);
+}
+
+unsigned int CamHelperImx219::mistrustFramesModeSwitch() const
+{
+ /*
+ * For reasons unknown, we do occasionally get a bogus metadata frame
+ * at a mode switch (though not at start-up). Possibly warrants some
+ * investigation, though not a big deal.
+ */
+ return 1;
+}
+
+bool CamHelperImx219::sensorEmbeddedDataPresent() const
+{
+ return ENABLE_EMBEDDED_DATA;
+}
+
+void CamHelperImx219::populateMetadata(const MdParser::RegisterMap &registers,
+ Metadata &metadata) const
+{
+ DeviceStatus deviceStatus;
+
+ deviceStatus.lineLength = lineLengthPckToDuration(registers.at(lineLengthHiReg) * 256 +
+ registers.at(lineLengthLoReg));
+ deviceStatus.shutterSpeed = exposure(registers.at(expHiReg) * 256 + registers.at(expLoReg),
+ deviceStatus.lineLength);
+ deviceStatus.analogueGain = gain(registers.at(gainReg));
+ deviceStatus.frameLength = registers.at(frameLengthHiReg) * 256 + registers.at(frameLengthLoReg);
+
+ metadata.set("device.status", deviceStatus);
+}
+
+static CamHelper *create()
+{
+ return new CamHelperImx219();
+}
+
+static RegisterCamHelper reg("imx219", &create);
diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx290.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx290.cpp
new file mode 100644
index 00000000..7d6f5b54
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/cam_helper_imx290.cpp
@@ -0,0 +1,68 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2021, Raspberry Pi Ltd
+ *
+ * cam_helper_imx290.cpp - camera helper for imx290 sensor
+ */
+
+#include <math.h>
+
+#include "cam_helper.h"
+
+using namespace RPiController;
+
+class CamHelperImx290 : public CamHelper
+{
+public:
+ CamHelperImx290();
+ uint32_t gainCode(double gain) const override;
+ double gain(uint32_t gainCode) const override;
+ void getDelays(int &exposureDelay, int &gainDelay,
+ int &vblankDelay, int &hblankDelay) const override;
+ unsigned int hideFramesModeSwitch() const override;
+
+private:
+ /*
+ * Smallest difference between the frame length and integration time,
+ * in units of lines.
+ */
+ static constexpr int frameIntegrationDiff = 2;
+};
+
+CamHelperImx290::CamHelperImx290()
+ : CamHelper({}, frameIntegrationDiff)
+{
+}
+
+uint32_t CamHelperImx290::gainCode(double gain) const
+{
+ int code = 66.6667 * log10(gain);
+ return std::max(0, std::min(code, 0xf0));
+}
+
+double CamHelperImx290::gain(uint32_t gainCode) const
+{
+ return pow(10, 0.015 * gainCode);
+}
+
+void CamHelperImx290::getDelays(int &exposureDelay, int &gainDelay,
+ int &vblankDelay, int &hblankDelay) const
+{
+ exposureDelay = 2;
+ gainDelay = 2;
+ vblankDelay = 2;
+ hblankDelay = 2;
+}
+
+unsigned int CamHelperImx290::hideFramesModeSwitch() const
+{
+ /* After a mode switch, we seem to get 1 bad frame. */
+ return 1;
+}
+
+static CamHelper *create()
+{
+ return new CamHelperImx290();
+}
+
+static RegisterCamHelper reg("imx290", &create);
diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx296.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx296.cpp
new file mode 100644
index 00000000..ecb845e7
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/cam_helper_imx296.cpp
@@ -0,0 +1,83 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2020, Raspberry Pi Ltd
+ *
+ * cam_helper_imx296.cpp - Camera helper for IMX296 sensor
+ */
+
+#include <algorithm>
+#include <cmath>
+#include <stddef.h>
+
+#include "cam_helper.h"
+
+using namespace RPiController;
+using libcamera::utils::Duration;
+using namespace std::literals::chrono_literals;
+
+class CamHelperImx296 : public CamHelper
+{
+public:
+ CamHelperImx296();
+ uint32_t gainCode(double gain) const override;
+ double gain(uint32_t gainCode) const override;
+ uint32_t exposureLines(const Duration exposure, const Duration lineLength) const override;
+ Duration exposure(uint32_t exposureLines, const Duration lineLength) const override;
+ void getDelays(int &exposureDelay, int &gainDelay,
+ int &vblankDelay, int &hblankDelay) const override;
+
+private:
+ static constexpr uint32_t minExposureLines = 1;
+ static constexpr uint32_t maxGainCode = 239;
+ static constexpr Duration timePerLine = 550.0 / 37.125e6 * 1.0s;
+
+ /*
+ * Smallest difference between the frame length and integration time,
+ * in units of lines.
+ */
+ static constexpr int frameIntegrationDiff = 4;
+};
+
+CamHelperImx296::CamHelperImx296()
+ : CamHelper(nullptr, frameIntegrationDiff)
+{
+}
+
+uint32_t CamHelperImx296::gainCode(double gain) const
+{
+ uint32_t code = 20 * std::log10(gain) * 10;
+ return std::min(code, maxGainCode);
+}
+
+double CamHelperImx296::gain(uint32_t gainCode) const
+{
+ return std::pow(10.0, gainCode / 200.0);
+}
+
+uint32_t CamHelperImx296::exposureLines(const Duration exposure,
+ [[maybe_unused]] const Duration lineLength) const
+{
+ return std::max<uint32_t>(minExposureLines, (exposure - 14.26us) / timePerLine);
+}
+
+Duration CamHelperImx296::exposure(uint32_t exposureLines,
+ [[maybe_unused]] const Duration lineLength) const
+{
+ return std::max<uint32_t>(minExposureLines, exposureLines) * timePerLine + 14.26us;
+}
+
+void CamHelperImx296::getDelays(int &exposureDelay, int &gainDelay,
+ int &vblankDelay, int &hblankDelay) const
+{
+ exposureDelay = 2;
+ gainDelay = 2;
+ vblankDelay = 2;
+ hblankDelay = 2;
+}
+
+static CamHelper *create()
+{
+ return new CamHelperImx296();
+}
+
+static RegisterCamHelper reg("imx296", &create);
diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx477.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx477.cpp
new file mode 100644
index 00000000..bc769ca7
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/cam_helper_imx477.cpp
@@ -0,0 +1,197 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2020, Raspberry Pi Ltd
+ *
+ * cam_helper_imx477.cpp - camera helper for imx477 sensor
+ */
+
+#include <algorithm>
+#include <assert.h>
+#include <cmath>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include <libcamera/base/log.h>
+
+#include "cam_helper.h"
+#include "md_parser.h"
+
+using namespace RPiController;
+using namespace libcamera;
+using libcamera::utils::Duration;
+
+namespace libcamera {
+LOG_DECLARE_CATEGORY(IPARPI)
+}
+
+/*
+ * We care about two gain registers and a pair of exposure registers. Their
+ * I2C addresses from the Sony IMX477 datasheet:
+ */
+constexpr uint32_t expHiReg = 0x0202;
+constexpr uint32_t expLoReg = 0x0203;
+constexpr uint32_t gainHiReg = 0x0204;
+constexpr uint32_t gainLoReg = 0x0205;
+constexpr uint32_t frameLengthHiReg = 0x0340;
+constexpr uint32_t frameLengthLoReg = 0x0341;
+constexpr uint32_t lineLengthHiReg = 0x0342;
+constexpr uint32_t lineLengthLoReg = 0x0343;
+constexpr uint32_t temperatureReg = 0x013a;
+constexpr std::initializer_list<uint32_t> registerList =
+ { expHiReg, expLoReg, gainHiReg, gainLoReg, frameLengthHiReg, frameLengthLoReg,
+ lineLengthHiReg, lineLengthLoReg, temperatureReg };
+
+class CamHelperImx477 : public CamHelper
+{
+public:
+ CamHelperImx477();
+ uint32_t gainCode(double gain) const override;
+ double gain(uint32_t gainCode) const override;
+ void prepare(libcamera::Span<const uint8_t> buffer, Metadata &metadata) override;
+ std::pair<uint32_t, uint32_t> getBlanking(Duration &exposure, Duration minFrameDuration,
+ Duration maxFrameDuration) const override;
+ void getDelays(int &exposureDelay, int &gainDelay,
+ int &vblankDelay, int &hblankDelay) const override;
+ bool sensorEmbeddedDataPresent() const override;
+
+private:
+ /*
+ * Smallest difference between the frame length and integration time,
+ * in units of lines.
+ */
+ static constexpr int frameIntegrationDiff = 22;
+ /* Maximum frame length allowable for long exposure calculations. */
+ static constexpr int frameLengthMax = 0xffdc;
+ /* Largest long exposure scale factor given as a left shift on the frame length. */
+ static constexpr int longExposureShiftMax = 7;
+
+ void populateMetadata(const MdParser::RegisterMap &registers,
+ Metadata &metadata) const override;
+};
+
+CamHelperImx477::CamHelperImx477()
+ : CamHelper(std::make_unique<MdParserSmia>(registerList), frameIntegrationDiff)
+{
+}
+
+uint32_t CamHelperImx477::gainCode(double gain) const
+{
+ return static_cast<uint32_t>(1024 - 1024 / gain);
+}
+
+double CamHelperImx477::gain(uint32_t gainCode) const
+{
+ return 1024.0 / (1024 - gainCode);
+}
+
+void CamHelperImx477::prepare(libcamera::Span<const uint8_t> buffer, Metadata &metadata)
+{
+ MdParser::RegisterMap registers;
+ DeviceStatus deviceStatus;
+
+ if (metadata.get("device.status", deviceStatus)) {
+ LOG(IPARPI, Error) << "DeviceStatus not found from DelayedControls";
+ return;
+ }
+
+ parseEmbeddedData(buffer, metadata);
+
+ /*
+ * The DeviceStatus struct is first populated with values obtained from
+ * DelayedControls. If this reports frame length is > frameLengthMax,
+ * it means we are using a long exposure mode. Since the long exposure
+ * scale factor is not returned back through embedded data, we must rely
+ * on the existing exposure lines and frame length values returned by
+ * DelayedControls.
+ *
+ * Otherwise, all values are updated with what is reported in the
+ * embedded data.
+ */
+ if (deviceStatus.frameLength > frameLengthMax) {
+ DeviceStatus parsedDeviceStatus;
+
+ metadata.get("device.status", parsedDeviceStatus);
+ parsedDeviceStatus.shutterSpeed = deviceStatus.shutterSpeed;
+ parsedDeviceStatus.frameLength = deviceStatus.frameLength;
+ metadata.set("device.status", parsedDeviceStatus);
+
+ LOG(IPARPI, Debug) << "Metadata updated for long exposure: "
+ << parsedDeviceStatus;
+ }
+}
+
+std::pair<uint32_t, uint32_t> CamHelperImx477::getBlanking(Duration &exposure,
+ Duration minFrameDuration,
+ Duration maxFrameDuration) const
+{
+ uint32_t frameLength, exposureLines;
+ unsigned int shift = 0;
+
+ auto [vblank, hblank] = CamHelper::getBlanking(exposure, minFrameDuration,
+ maxFrameDuration);
+
+ frameLength = mode_.height + vblank;
+ Duration lineLength = hblankToLineLength(hblank);
+
+ /*
+ * Check if the frame length calculated needs to be setup for long
+ * exposure mode. This will require us to use a long exposure scale
+ * factor provided by a shift operation in the sensor.
+ */
+ while (frameLength > frameLengthMax) {
+ if (++shift > longExposureShiftMax) {
+ shift = longExposureShiftMax;
+ frameLength = frameLengthMax;
+ break;
+ }
+ frameLength >>= 1;
+ }
+
+ if (shift) {
+ /* Account for any rounding in the scaled frame length value. */
+ frameLength <<= shift;
+ exposureLines = CamHelperImx477::exposureLines(exposure, lineLength);
+ exposureLines = std::min(exposureLines, frameLength - frameIntegrationDiff);
+ exposure = CamHelperImx477::exposure(exposureLines, lineLength);
+ }
+
+ return { frameLength - mode_.height, hblank };
+}
+
+void CamHelperImx477::getDelays(int &exposureDelay, int &gainDelay,
+ int &vblankDelay, int &hblankDelay) const
+{
+ exposureDelay = 2;
+ gainDelay = 2;
+ vblankDelay = 3;
+ hblankDelay = 3;
+}
+
+bool CamHelperImx477::sensorEmbeddedDataPresent() const
+{
+ return true;
+}
+
+void CamHelperImx477::populateMetadata(const MdParser::RegisterMap &registers,
+ Metadata &metadata) const
+{
+ DeviceStatus deviceStatus;
+
+ deviceStatus.lineLength = lineLengthPckToDuration(registers.at(lineLengthHiReg) * 256 +
+ registers.at(lineLengthLoReg));
+ deviceStatus.shutterSpeed = exposure(registers.at(expHiReg) * 256 + registers.at(expLoReg),
+ deviceStatus.lineLength);
+ deviceStatus.analogueGain = gain(registers.at(gainHiReg) * 256 + registers.at(gainLoReg));
+ deviceStatus.frameLength = registers.at(frameLengthHiReg) * 256 + registers.at(frameLengthLoReg);
+ deviceStatus.sensorTemperature = std::clamp<int8_t>(registers.at(temperatureReg), -20, 80);
+
+ metadata.set("device.status", deviceStatus);
+}
+
+static CamHelper *create()
+{
+ return new CamHelperImx477();
+}
+
+static RegisterCamHelper reg("imx477", &create);
diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx519.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx519.cpp
new file mode 100644
index 00000000..c7262aa0
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/cam_helper_imx519.cpp
@@ -0,0 +1,196 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Based on cam_helper_imx477.cpp
+ * Copyright (C) 2020, Raspberry Pi Ltd
+ *
+ * cam_helper_imx519.cpp - camera helper for imx519 sensor
+ * Copyright (C) 2021, Arducam Technology co., Ltd.
+ */
+
+#include <assert.h>
+#include <cmath>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include <libcamera/base/log.h>
+
+#include "cam_helper.h"
+#include "md_parser.h"
+
+using namespace RPiController;
+using namespace libcamera;
+using libcamera::utils::Duration;
+
+namespace libcamera {
+LOG_DECLARE_CATEGORY(IPARPI)
+}
+
+/*
+ * We care about two gain registers and a pair of exposure registers. Their
+ * I2C addresses from the Sony IMX519 datasheet:
+ */
+constexpr uint32_t expHiReg = 0x0202;
+constexpr uint32_t expLoReg = 0x0203;
+constexpr uint32_t gainHiReg = 0x0204;
+constexpr uint32_t gainLoReg = 0x0205;
+constexpr uint32_t frameLengthHiReg = 0x0340;
+constexpr uint32_t frameLengthLoReg = 0x0341;
+constexpr uint32_t lineLengthHiReg = 0x0342;
+constexpr uint32_t lineLengthLoReg = 0x0343;
+constexpr std::initializer_list<uint32_t> registerList =
+ { expHiReg, expLoReg, gainHiReg, gainLoReg, frameLengthHiReg, frameLengthLoReg,
+ lineLengthHiReg, lineLengthLoReg };
+
+class CamHelperImx519 : public CamHelper
+{
+public:
+ CamHelperImx519();
+ uint32_t gainCode(double gain) const override;
+ double gain(uint32_t gainCode) const override;
+ void prepare(libcamera::Span<const uint8_t> buffer, Metadata &metadata) override;
+ std::pair<uint32_t, uint32_t> getBlanking(Duration &exposure, Duration minFrameDuration,
+ Duration maxFrameDuration) const override;
+ void getDelays(int &exposureDelay, int &gainDelay,
+ int &vblankDelay, int &hblankDelay) const override;
+ bool sensorEmbeddedDataPresent() const override;
+
+private:
+ /*
+ * Smallest difference between the frame length and integration time,
+ * in units of lines.
+ */
+ static constexpr int frameIntegrationDiff = 32;
+ /* Maximum frame length allowable for long exposure calculations. */
+ static constexpr int frameLengthMax = 0xffdc;
+ /* Largest long exposure scale factor given as a left shift on the frame length. */
+ static constexpr int longExposureShiftMax = 7;
+
+ void populateMetadata(const MdParser::RegisterMap &registers,
+ Metadata &metadata) const override;
+};
+
+CamHelperImx519::CamHelperImx519()
+ : CamHelper(std::make_unique<MdParserSmia>(registerList), frameIntegrationDiff)
+{
+}
+
+uint32_t CamHelperImx519::gainCode(double gain) const
+{
+ return static_cast<uint32_t>(1024 - 1024 / gain);
+}
+
+double CamHelperImx519::gain(uint32_t gainCode) const
+{
+ return 1024.0 / (1024 - gainCode);
+}
+
+void CamHelperImx519::prepare(libcamera::Span<const uint8_t> buffer, Metadata &metadata)
+{
+ MdParser::RegisterMap registers;
+ DeviceStatus deviceStatus;
+
+ if (metadata.get("device.status", deviceStatus)) {
+ LOG(IPARPI, Error) << "DeviceStatus not found from DelayedControls";
+ return;
+ }
+
+ parseEmbeddedData(buffer, metadata);
+
+ /*
+ * The DeviceStatus struct is first populated with values obtained from
+ * DelayedControls. If this reports frame length is > frameLengthMax,
+ * it means we are using a long exposure mode. Since the long exposure
+ * scale factor is not returned back through embedded data, we must rely
+ * on the existing exposure lines and frame length values returned by
+ * DelayedControls.
+ *
+ * Otherwise, all values are updated with what is reported in the
+ * embedded data.
+ */
+ if (deviceStatus.frameLength > frameLengthMax) {
+ DeviceStatus parsedDeviceStatus;
+
+ metadata.get("device.status", parsedDeviceStatus);
+ parsedDeviceStatus.shutterSpeed = deviceStatus.shutterSpeed;
+ parsedDeviceStatus.frameLength = deviceStatus.frameLength;
+ metadata.set("device.status", parsedDeviceStatus);
+
+ LOG(IPARPI, Debug) << "Metadata updated for long exposure: "
+ << parsedDeviceStatus;
+ }
+}
+
+std::pair<uint32_t, uint32_t> CamHelperImx519::getBlanking(Duration &exposure,
+ Duration minFrameDuration,
+ Duration maxFrameDuration) const
+{
+ uint32_t frameLength, exposureLines;
+ unsigned int shift = 0;
+
+ auto [vblank, hblank] = CamHelper::getBlanking(exposure, minFrameDuration,
+ maxFrameDuration);
+
+ frameLength = mode_.height + vblank;
+ Duration lineLength = hblankToLineLength(hblank);
+
+ /*
+ * Check if the frame length calculated needs to be setup for long
+ * exposure mode. This will require us to use a long exposure scale
+ * factor provided by a shift operation in the sensor.
+ */
+ while (frameLength > frameLengthMax) {
+ if (++shift > longExposureShiftMax) {
+ shift = longExposureShiftMax;
+ frameLength = frameLengthMax;
+ break;
+ }
+ frameLength >>= 1;
+ }
+
+ if (shift) {
+ /* Account for any rounding in the scaled frame length value. */
+ frameLength <<= shift;
+ exposureLines = CamHelperImx519::exposureLines(exposure, lineLength);
+ exposureLines = std::min(exposureLines, frameLength - frameIntegrationDiff);
+ exposure = CamHelperImx519::exposure(exposureLines, lineLength);
+ }
+
+ return { frameLength - mode_.height, hblank };
+}
+
+void CamHelperImx519::getDelays(int &exposureDelay, int &gainDelay,
+ int &vblankDelay, int &hblankDelay) const
+{
+ exposureDelay = 2;
+ gainDelay = 2;
+ vblankDelay = 3;
+ hblankDelay = 3;
+}
+
+bool CamHelperImx519::sensorEmbeddedDataPresent() const
+{
+ return true;
+}
+
+void CamHelperImx519::populateMetadata(const MdParser::RegisterMap &registers,
+ Metadata &metadata) const
+{
+ DeviceStatus deviceStatus;
+
+ deviceStatus.lineLength = lineLengthPckToDuration(registers.at(lineLengthHiReg) * 256 +
+ registers.at(lineLengthLoReg));
+ deviceStatus.shutterSpeed = exposure(registers.at(expHiReg) * 256 + registers.at(expLoReg),
+ deviceStatus.lineLength);
+ deviceStatus.analogueGain = gain(registers.at(gainHiReg) * 256 + registers.at(gainLoReg));
+ deviceStatus.frameLength = registers.at(frameLengthHiReg) * 256 + registers.at(frameLengthLoReg);
+
+ metadata.set("device.status", deviceStatus);
+}
+
+static CamHelper *create()
+{
+ return new CamHelperImx519();
+}
+
+static RegisterCamHelper reg("imx519", &create);
diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx708.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx708.cpp
new file mode 100644
index 00000000..641ba18f
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/cam_helper_imx708.cpp
@@ -0,0 +1,359 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2022, Raspberry Pi Ltd
+ *
+ * cam_helper_imx708.cpp - camera helper for imx708 sensor
+ */
+
+#include <cmath>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include <libcamera/base/log.h>
+
+#include "controller/pdaf_data.h"
+
+#include "cam_helper.h"
+#include "md_parser.h"
+
+using namespace RPiController;
+using namespace libcamera;
+using libcamera::utils::Duration;
+
+namespace libcamera {
+LOG_DECLARE_CATEGORY(IPARPI)
+}
+
+/*
+ * We care about two gain registers and a pair of exposure registers. Their
+ * I2C addresses from the Sony imx708 datasheet:
+ */
+constexpr uint32_t expHiReg = 0x0202;
+constexpr uint32_t expLoReg = 0x0203;
+constexpr uint32_t gainHiReg = 0x0204;
+constexpr uint32_t gainLoReg = 0x0205;
+constexpr uint32_t frameLengthHiReg = 0x0340;
+constexpr uint32_t frameLengthLoReg = 0x0341;
+constexpr uint32_t lineLengthHiReg = 0x0342;
+constexpr uint32_t lineLengthLoReg = 0x0343;
+constexpr uint32_t temperatureReg = 0x013a;
+constexpr std::initializer_list<uint32_t> registerList =
+ { expHiReg, expLoReg, gainHiReg, gainLoReg, lineLengthHiReg,
+ lineLengthLoReg, frameLengthHiReg, frameLengthLoReg, temperatureReg };
+
+class CamHelperImx708 : public CamHelper
+{
+public:
+ CamHelperImx708();
+ uint32_t gainCode(double gain) const override;
+ double gain(uint32_t gain_code) const override;
+ void prepare(libcamera::Span<const uint8_t> buffer, Metadata &metadata) override;
+ void process(StatisticsPtr &stats, Metadata &metadata) override;
+ std::pair<uint32_t, uint32_t> getBlanking(Duration &exposure, Duration minFrameDuration,
+ Duration maxFrameDuration) const override;
+ void getDelays(int &exposureDelay, int &gainDelay,
+ int &vblankDelay, int &hblankDelay) const override;
+ bool sensorEmbeddedDataPresent() const override;
+ double getModeSensitivity(const CameraMode &mode) const override;
+ unsigned int hideFramesModeSwitch() const override { return 1; } // seems to be required for HDR
+
+private:
+ /*
+ * Smallest difference between the frame length and integration time,
+ * in units of lines.
+ */
+ static constexpr int frameIntegrationDiff = 22;
+ /* Maximum frame length allowable for long exposure calculations. */
+ static constexpr int frameLengthMax = 0xffdc;
+ /* Largest long exposure scale factor given as a left shift on the frame length. */
+ static constexpr int longExposureShiftMax = 7;
+
+ static constexpr int pdafStatsRows = 12;
+ static constexpr int pdafStatsCols = 16;
+
+ void populateMetadata(const MdParser::RegisterMap &registers,
+ Metadata &metadata) const override;
+
+ static bool parsePdafData(const uint8_t *ptr, size_t len, unsigned bpp,
+ PdafRegions &pdaf);
+
+ bool parseAEHist(const uint8_t *ptr, size_t len, unsigned bpp);
+ void putAGCStatistics(StatisticsPtr stats);
+
+ Histogram aeHistLinear_;
+ uint32_t aeHistAverage_;
+ bool aeHistValid_;
+};
+
+CamHelperImx708::CamHelperImx708()
+ : CamHelper(std::make_unique<MdParserSmia>(registerList), frameIntegrationDiff),
+ aeHistLinear_{}, aeHistAverage_(0), aeHistValid_(false)
+{
+}
+
+uint32_t CamHelperImx708::gainCode(double gain) const
+{
+ return static_cast<uint32_t>(1024 - 1024 / gain);
+}
+
+double CamHelperImx708::gain(uint32_t gain_code) const
+{
+ return 1024.0 / (1024 - gain_code);
+}
+
+void CamHelperImx708::prepare(libcamera::Span<const uint8_t> buffer, Metadata &metadata)
+{
+ MdParser::RegisterMap registers;
+ DeviceStatus deviceStatus;
+
+ LOG(IPARPI, Debug) << "Embedded buffer size: " << buffer.size();
+
+ if (metadata.get("device.status", deviceStatus)) {
+ LOG(IPARPI, Error) << "DeviceStatus not found from DelayedControls";
+ return;
+ }
+
+ parseEmbeddedData(buffer, metadata);
+
+ /*
+ * Parse PDAF data, which we expect to occupy the third scanline
+ * of embedded data. As PDAF is quite sensor-specific, it's parsed here.
+ */
+ size_t bytesPerLine = (mode_.width * mode_.bitdepth) >> 3;
+
+ if (buffer.size() > 2 * bytesPerLine) {
+ PdafRegions pdaf;
+ if (parsePdafData(&buffer[2 * bytesPerLine],
+ buffer.size() - 2 * bytesPerLine,
+ mode_.bitdepth, pdaf))
+ metadata.set("pdaf.regions", pdaf);
+ }
+
+ /* Parse AE-HIST data where present */
+ if (buffer.size() > 3 * bytesPerLine) {
+ aeHistValid_ = parseAEHist(&buffer[3 * bytesPerLine],
+ buffer.size() - 3 * bytesPerLine,
+ mode_.bitdepth);
+ }
+
+ /*
+ * The DeviceStatus struct is first populated with values obtained from
+ * DelayedControls. If this reports frame length is > frameLengthMax,
+ * it means we are using a long exposure mode. Since the long exposure
+ * scale factor is not returned back through embedded data, we must rely
+ * on the existing exposure lines and frame length values returned by
+ * DelayedControls.
+ *
+ * Otherwise, all values are updated with what is reported in the
+ * embedded data.
+ */
+ if (deviceStatus.frameLength > frameLengthMax) {
+ DeviceStatus parsedDeviceStatus;
+
+ metadata.get("device.status", parsedDeviceStatus);
+ parsedDeviceStatus.shutterSpeed = deviceStatus.shutterSpeed;
+ parsedDeviceStatus.frameLength = deviceStatus.frameLength;
+ metadata.set("device.status", parsedDeviceStatus);
+
+ LOG(IPARPI, Debug) << "Metadata updated for long exposure: "
+ << parsedDeviceStatus;
+ }
+}
+
+void CamHelperImx708::process(StatisticsPtr &stats, [[maybe_unused]] Metadata &metadata)
+{
+ if (aeHistValid_)
+ putAGCStatistics(stats);
+}
+
+std::pair<uint32_t, uint32_t> CamHelperImx708::getBlanking(Duration &exposure,
+ Duration minFrameDuration,
+ Duration maxFrameDuration) const
+{
+ uint32_t frameLength, exposureLines;
+ unsigned int shift = 0;
+
+ auto [vblank, hblank] = CamHelper::getBlanking(exposure, minFrameDuration,
+ maxFrameDuration);
+
+ frameLength = mode_.height + vblank;
+ Duration lineLength = hblankToLineLength(hblank);
+
+ /*
+ * Check if the frame length calculated needs to be setup for long
+ * exposure mode. This will require us to use a long exposure scale
+ * factor provided by a shift operation in the sensor.
+ */
+ while (frameLength > frameLengthMax) {
+ if (++shift > longExposureShiftMax) {
+ shift = longExposureShiftMax;
+ frameLength = frameLengthMax;
+ break;
+ }
+ frameLength >>= 1;
+ }
+
+ if (shift) {
+ /* Account for any rounding in the scaled frame length value. */
+ frameLength <<= shift;
+ exposureLines = CamHelper::exposureLines(exposure, lineLength);
+ exposureLines = std::min(exposureLines, frameLength - frameIntegrationDiff);
+ exposure = CamHelper::exposure(exposureLines, lineLength);
+ }
+
+ return { frameLength - mode_.height, hblank };
+}
+
+void CamHelperImx708::getDelays(int &exposureDelay, int &gainDelay,
+ int &vblankDelay, int &hblankDelay) const
+{
+ exposureDelay = 2;
+ gainDelay = 2;
+ vblankDelay = 3;
+ hblankDelay = 3;
+}
+
+bool CamHelperImx708::sensorEmbeddedDataPresent() const
+{
+ return true;
+}
+
+double CamHelperImx708::getModeSensitivity(const CameraMode &mode) const
+{
+ /* In binned modes, sensitivity increases by a factor of 2 */
+ return (mode.width > 2304) ? 1.0 : 2.0;
+}
+
+void CamHelperImx708::populateMetadata(const MdParser::RegisterMap &registers,
+ Metadata &metadata) const
+{
+ DeviceStatus deviceStatus;
+
+ deviceStatus.lineLength = lineLengthPckToDuration(registers.at(lineLengthHiReg) * 256 +
+ registers.at(lineLengthLoReg));
+ deviceStatus.shutterSpeed = exposure(registers.at(expHiReg) * 256 + registers.at(expLoReg),
+ deviceStatus.lineLength);
+ deviceStatus.analogueGain = gain(registers.at(gainHiReg) * 256 + registers.at(gainLoReg));
+ deviceStatus.frameLength = registers.at(frameLengthHiReg) * 256 + registers.at(frameLengthLoReg);
+ deviceStatus.sensorTemperature = std::clamp<int8_t>(registers.at(temperatureReg), -20, 80);
+
+ metadata.set("device.status", deviceStatus);
+}
+
+bool CamHelperImx708::parsePdafData(const uint8_t *ptr, size_t len,
+ unsigned bpp, PdafRegions &pdaf)
+{
+ size_t step = bpp >> 1; /* bytes per PDAF grid entry */
+
+ if (bpp < 10 || bpp > 12 || len < 194 * step || ptr[0] != 0 || ptr[1] >= 0x40) {
+ LOG(IPARPI, Error) << "PDAF data in unsupported format";
+ return false;
+ }
+
+ pdaf.init({ pdafStatsCols, pdafStatsRows });
+
+ ptr += 2 * step;
+ for (unsigned i = 0; i < pdafStatsRows; ++i) {
+ for (unsigned j = 0; j < pdafStatsCols; ++j) {
+ unsigned c = (ptr[0] << 3) | (ptr[1] >> 5);
+ int p = (((ptr[1] & 0x0F) - (ptr[1] & 0x10)) << 6) | (ptr[2] >> 2);
+ PdafData pdafData;
+ pdafData.conf = c;
+ pdafData.phase = c ? p : 0;
+ pdaf.set(libcamera::Point(j, i), { pdafData, 1, 0 });
+ ptr += step;
+ }
+ }
+
+ return true;
+}
+
+bool CamHelperImx708::parseAEHist(const uint8_t *ptr, size_t len, unsigned bpp)
+{
+ static constexpr unsigned int PipelineBits = Statistics::NormalisationFactorPow2;
+
+ uint64_t count = 0, sum = 0;
+ size_t step = bpp >> 1; /* bytes per histogram bin */
+ uint32_t hist[128];
+
+ if (len < 144 * step)
+ return false;
+
+ /*
+ * Read the 128 bin linear histogram, which by default covers
+ * the full range of the HDR shortest exposure (small values are
+ * expected to dominate, so pixel-value resolution will be poor).
+ */
+ for (unsigned i = 0; i < 128; ++i) {
+ if (ptr[3] != 0x55)
+ return false;
+ uint32_t c = (ptr[0] << 14) + (ptr[1] << 6) + (ptr[2] >> 2);
+ hist[i] = c >> 2; /* pixels to quads */
+ if (i != 0) {
+ count += c;
+ sum += c *
+ (i * (1u << (PipelineBits - 7)) +
+ (1u << (PipelineBits - 8)));
+ }
+ ptr += step;
+ }
+
+ /*
+ * Now use the first 9 bins of the log histogram (these should be
+ * subdivisions of the smallest linear bin), to get a more accurate
+ * average value. Don't assume that AEHIST1_AVERAGE is present.
+ */
+ for (unsigned i = 0; i < 9; ++i) {
+ if (ptr[3] != 0x55)
+ return false;
+ uint32_t c = (ptr[0] << 14) + (ptr[1] << 6) + (ptr[2] >> 2);
+ count += c;
+ sum += c *
+ ((3u << PipelineBits) >> (17 - i));
+ ptr += step;
+ }
+ if ((unsigned)((ptr[0] << 12) + (ptr[1] << 4) + (ptr[2] >> 4)) !=
+ hist[1]) {
+ LOG(IPARPI, Error) << "Lin/Log histogram mismatch";
+ return false;
+ }
+
+ aeHistLinear_ = Histogram(hist, 128);
+ aeHistAverage_ = count ? (sum / count) : 0;
+
+ return count != 0;
+}
+
+void CamHelperImx708::putAGCStatistics(StatisticsPtr stats)
+{
+ /*
+ * For HDR mode, copy sensor's AE/AGC statistics over ISP's, so the
+ * AGC algorithm sees a linear response to exposure and gain changes.
+ *
+ * Histogram: Just copy the "raw" histogram over the tone-mapped one,
+ * although they have different distributions (raw values are lower).
+ * Tuning should either ignore it, or constrain for highlights only.
+ *
+ * Average: Overwrite all regional averages with a global raw average,
+ * scaled by a fiddle-factor so that a conventional (non-HDR) y_target
+ * of e.g. 0.17 will map to a suitable level for HDR.
+ */
+ stats->yHist = aeHistLinear_;
+
+ constexpr unsigned int HdrHeadroomFactor = 4;
+ uint64_t v = HdrHeadroomFactor * aeHistAverage_;
+ for (auto &region : stats->agcRegions) {
+ region.val.rSum = region.val.gSum = region.val.bSum = region.counted * v;
+ }
+}
+
+static CamHelper *create()
+{
+ return new CamHelperImx708();
+}
+
+static RegisterCamHelper reg("imx708", &create);
+static RegisterCamHelper regWide("imx708_wide", &create);
+static RegisterCamHelper regNoIr("imx708_noir", &create);
+static RegisterCamHelper regWideNoIr("imx708_wide_noir", &create);
diff --git a/src/ipa/rpi/cam_helper/cam_helper_ov5647.cpp b/src/ipa/rpi/cam_helper/cam_helper_ov5647.cpp
new file mode 100644
index 00000000..5a99083d
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/cam_helper_ov5647.cpp
@@ -0,0 +1,109 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * cam_helper_ov5647.cpp - camera information for ov5647 sensor
+ */
+
+#include <assert.h>
+
+#include "cam_helper.h"
+
+using namespace RPiController;
+
+class CamHelperOv5647 : public CamHelper
+{
+public:
+ CamHelperOv5647();
+ uint32_t gainCode(double gain) const override;
+ double gain(uint32_t gainCode) const override;
+ void getDelays(int &exposureDelay, int &gainDelay,
+ int &vblankDelay, int &hblankDelay) const override;
+ unsigned int hideFramesStartup() const override;
+ unsigned int hideFramesModeSwitch() const override;
+ unsigned int mistrustFramesStartup() const override;
+ unsigned int mistrustFramesModeSwitch() const override;
+
+private:
+ /*
+ * Smallest difference between the frame length and integration time,
+ * in units of lines.
+ */
+ static constexpr int frameIntegrationDiff = 4;
+};
+
+/*
+ * OV5647 doesn't output metadata, so we have to use the "unicam parser" which
+ * works by counting frames.
+ */
+
+CamHelperOv5647::CamHelperOv5647()
+ : CamHelper({}, frameIntegrationDiff)
+{
+}
+
+uint32_t CamHelperOv5647::gainCode(double gain) const
+{
+ return static_cast<uint32_t>(gain * 16.0);
+}
+
+double CamHelperOv5647::gain(uint32_t gainCode) const
+{
+ return static_cast<double>(gainCode) / 16.0;
+}
+
+void CamHelperOv5647::getDelays(int &exposureDelay, int &gainDelay,
+ int &vblankDelay, int &hblankDelay) const
+{
+ /*
+ * We run this sensor in a mode where the gain delay is bumped up to
+ * 2. It seems to be the only way to make the delays "predictable".
+ */
+ exposureDelay = 2;
+ gainDelay = 2;
+ vblankDelay = 2;
+ hblankDelay = 2;
+}
+
+unsigned int CamHelperOv5647::hideFramesStartup() const
+{
+ /*
+ * On startup, we get a couple of under-exposed frames which
+ * we don't want shown.
+ */
+ return 2;
+}
+
+unsigned int CamHelperOv5647::hideFramesModeSwitch() const
+{
+ /*
+ * After a mode switch, we get a couple of under-exposed frames which
+ * we don't want shown.
+ */
+ return 2;
+}
+
+unsigned int CamHelperOv5647::mistrustFramesStartup() const
+{
+ /*
+ * First couple of frames are under-exposed and are no good for control
+ * algos.
+ */
+ return 2;
+}
+
+unsigned int CamHelperOv5647::mistrustFramesModeSwitch() const
+{
+ /*
+ * First couple of frames are under-exposed even after a simple
+ * mode switch, and are no good for control algos.
+ */
+ return 2;
+}
+
+static CamHelper *create()
+{
+ return new CamHelperOv5647();
+}
+
+static RegisterCamHelper reg("ov5647", &create);
diff --git a/src/ipa/rpi/cam_helper/cam_helper_ov9281.cpp b/src/ipa/rpi/cam_helper/cam_helper_ov9281.cpp
new file mode 100644
index 00000000..86c5bc4c
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/cam_helper_ov9281.cpp
@@ -0,0 +1,66 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2021, Raspberry Pi Ltd
+ *
+ * cam_helper_ov9281.cpp - camera information for ov9281 sensor
+ */
+
+#include <assert.h>
+
+#include "cam_helper.h"
+
+using namespace RPiController;
+
+class CamHelperOv9281 : public CamHelper
+{
+public:
+ CamHelperOv9281();
+ uint32_t gainCode(double gain) const override;
+ double gain(uint32_t gainCode) const override;
+ void getDelays(int &exposureDelay, int &gainDelay,
+ int &vblankDelay, int &hblankDelay) const override;
+
+private:
+ /*
+ * Smallest difference between the frame length and integration time,
+ * in units of lines.
+ */
+ static constexpr int frameIntegrationDiff = 4;
+};
+
+/*
+ * OV9281 doesn't output metadata, so we have to use the "unicam parser" which
+ * works by counting frames.
+ */
+
+CamHelperOv9281::CamHelperOv9281()
+ : CamHelper({}, frameIntegrationDiff)
+{
+}
+
+uint32_t CamHelperOv9281::gainCode(double gain) const
+{
+ return static_cast<uint32_t>(gain * 16.0);
+}
+
+double CamHelperOv9281::gain(uint32_t gainCode) const
+{
+ return static_cast<double>(gainCode) / 16.0;
+}
+
+void CamHelperOv9281::getDelays(int &exposureDelay, int &gainDelay,
+ int &vblankDelay, int &hblankDelay) const
+{
+ /* The driver appears to behave as follows: */
+ exposureDelay = 2;
+ gainDelay = 2;
+ vblankDelay = 2;
+ hblankDelay = 2;
+}
+
+static CamHelper *create()
+{
+ return new CamHelperOv9281();
+}
+
+static RegisterCamHelper reg("ov9281", &create);
diff --git a/src/ipa/rpi/cam_helper/md_parser.h b/src/ipa/rpi/cam_helper/md_parser.h
new file mode 100644
index 00000000..77d557aa
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/md_parser.h
@@ -0,0 +1,155 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * md_parser.h - image sensor metadata parser interface
+ */
+#pragma once
+
+#include <initializer_list>
+#include <map>
+#include <optional>
+#include <stdint.h>
+
+#include <libcamera/base/span.h>
+
+/*
+ * Camera metadata parser class. Usage as shown below.
+ *
+ * Setup:
+ *
+ * Usually the metadata parser will be made as part of the CamHelper class so
+ * application code doesn't have to worry which kind to instantiate. But for
+ * the sake of example let's suppose we're parsing imx219 metadata.
+ *
+ * MdParser *parser = new MdParserSmia({ expHiReg, expLoReg, gainReg });
+ * parser->SetBitsPerPixel(bpp);
+ * parser->SetLineLengthBytes(pitch);
+ * parser->SetNumLines(2);
+ *
+ * Note 1: if you don't know how many lines there are, the size of the input
+ * buffer is used as a limit instead.
+ *
+ * Note 2: if you don't know the line length, you can leave the line length unset
+ * (or set to zero) and the parser will hunt for the line start instead.
+ *
+ * Then on every frame:
+ *
+ * RegisterMap registers;
+ * if (parser->Parse(buffer, registers) != MdParser::OK)
+ * much badness;
+ * Metadata metadata;
+ * CamHelper::PopulateMetadata(registers, metadata);
+ *
+ * (Note that the CamHelper class converts to/from exposure lines and time,
+ * and gain_code / actual gain.)
+ *
+ * If you suspect your embedded data may have changed its layout, change any line
+ * lengths, number of lines, bits per pixel etc. that are different, and
+ * then:
+ *
+ * parser->Reset();
+ *
+ * before calling Parse again.
+ */
+
+namespace RPiController {
+
+/* Abstract base class from which other metadata parsers are derived. */
+
+class MdParser
+{
+public:
+ using RegisterMap = std::map<uint32_t, uint32_t>;
+
+ /*
+ * Parser status codes:
+ * OK - success
+ * NOTFOUND - value such as exposure or gain was not found
+ * ERROR - all other errors
+ */
+ enum Status {
+ OK = 0,
+ NOTFOUND = 1,
+ ERROR = 2
+ };
+
+ MdParser()
+ : reset_(true), bitsPerPixel_(0), numLines_(0), lineLengthBytes_(0)
+ {
+ }
+
+ virtual ~MdParser() = default;
+
+ void reset()
+ {
+ reset_ = true;
+ }
+
+ void setBitsPerPixel(int bpp)
+ {
+ bitsPerPixel_ = bpp;
+ }
+
+ void setNumLines(unsigned int numLines)
+ {
+ numLines_ = numLines;
+ }
+
+ void setLineLengthBytes(unsigned int numBytes)
+ {
+ lineLengthBytes_ = numBytes;
+ }
+
+ virtual Status parse(libcamera::Span<const uint8_t> buffer,
+ RegisterMap &registers) = 0;
+
+protected:
+ bool reset_;
+ int bitsPerPixel_;
+ unsigned int numLines_;
+ unsigned int lineLengthBytes_;
+};
+
+/*
+ * This isn't a full implementation of a metadata parser for SMIA sensors,
+ * however, it does provide the findRegs function which will prove useful and
+ * make it easier to implement parsers for other SMIA-like sensors (see
+ * md_parser_imx219.cpp for an example).
+ */
+
+class MdParserSmia final : public MdParser
+{
+public:
+ MdParserSmia(std::initializer_list<uint32_t> registerList);
+
+ MdParser::Status parse(libcamera::Span<const uint8_t> buffer,
+ RegisterMap &registers) override;
+
+private:
+ /* Maps register address to offset in the buffer. */
+ using OffsetMap = std::map<uint32_t, std::optional<uint32_t>>;
+
+ /*
+ * Note that error codes > 0 are regarded as non-fatal; codes < 0
+ * indicate a bad data buffer. Status codes are:
+ * ParseOk - found all registers, much happiness
+ * MissingRegs - some registers found; should this be a hard error?
+ * The remaining codes are all hard errors.
+ */
+ enum ParseStatus {
+ ParseOk = 0,
+ MissingRegs = 1,
+ NoLineStart = -1,
+ IllegalTag = -2,
+ BadDummy = -3,
+ BadLineEnd = -4,
+ BadPadding = -5
+ };
+
+ ParseStatus findRegs(libcamera::Span<const uint8_t> buffer);
+
+ OffsetMap offsets_;
+};
+
+} /* namespace RPi */
diff --git a/src/ipa/rpi/cam_helper/md_parser_smia.cpp b/src/ipa/rpi/cam_helper/md_parser_smia.cpp
new file mode 100644
index 00000000..210787ed
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/md_parser_smia.cpp
@@ -0,0 +1,149 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019-2021, Raspberry Pi Ltd
+ *
+ * md_parser_smia.cpp - SMIA specification based embedded data parser
+ */
+
+#include <libcamera/base/log.h>
+#include "md_parser.h"
+
+using namespace RPiController;
+using namespace libcamera;
+
+/*
+ * This function goes through the embedded data to find the offsets (not
+ * values!), in the data block, where the values of the given registers can
+ * subsequently be found.
+ *
+ * Embedded data tag bytes, from Sony IMX219 datasheet but general to all SMIA
+ * sensors, I think.
+ */
+
+constexpr unsigned int LineStart = 0x0a;
+constexpr unsigned int LineEndTag = 0x07;
+constexpr unsigned int RegHiBits = 0xaa;
+constexpr unsigned int RegLowBits = 0xa5;
+constexpr unsigned int RegValue = 0x5a;
+constexpr unsigned int RegSkip = 0x55;
+
+MdParserSmia::MdParserSmia(std::initializer_list<uint32_t> registerList)
+{
+ for (auto r : registerList)
+ offsets_[r] = {};
+}
+
+MdParser::Status MdParserSmia::parse(libcamera::Span<const uint8_t> buffer,
+ RegisterMap &registers)
+{
+ if (reset_) {
+ /*
+ * Search again through the metadata for all the registers
+ * requested.
+ */
+ ASSERT(bitsPerPixel_);
+
+ for (const auto &kv : offsets_)
+ offsets_[kv.first] = {};
+
+ ParseStatus ret = findRegs(buffer);
+ /*
+ * > 0 means "worked partially but parse again next time",
+ * < 0 means "hard error".
+ *
+ * In either case, we retry parsing on the next frame.
+ */
+ if (ret != ParseOk)
+ return ERROR;
+
+ reset_ = false;
+ }
+
+ /* Populate the register values requested. */
+ registers.clear();
+ for (const auto &[reg, offset] : offsets_) {
+ if (!offset) {
+ reset_ = true;
+ return NOTFOUND;
+ }
+ registers[reg] = buffer[offset.value()];
+ }
+
+ return OK;
+}
+
+MdParserSmia::ParseStatus MdParserSmia::findRegs(libcamera::Span<const uint8_t> buffer)
+{
+ ASSERT(offsets_.size());
+
+ if (buffer[0] != LineStart)
+ return NoLineStart;
+
+ unsigned int currentOffset = 1; /* after the LineStart */
+ unsigned int currentLineStart = 0, currentLine = 0;
+ unsigned int regNum = 0, regsDone = 0;
+
+ while (1) {
+ int tag = buffer[currentOffset++];
+
+ if ((bitsPerPixel_ == 10 &&
+ (currentOffset + 1 - currentLineStart) % 5 == 0) ||
+ (bitsPerPixel_ == 12 &&
+ (currentOffset + 1 - currentLineStart) % 3 == 0)) {
+ if (buffer[currentOffset++] != RegSkip)
+ return BadDummy;
+ }
+
+ int dataByte = buffer[currentOffset++];
+
+ if (tag == LineEndTag) {
+ if (dataByte != LineEndTag)
+ return BadLineEnd;
+
+ if (numLines_ && ++currentLine == numLines_)
+ return MissingRegs;
+
+ if (lineLengthBytes_) {
+ currentOffset = currentLineStart + lineLengthBytes_;
+
+ /* Require whole line to be in the buffer (if buffer size set). */
+ if (buffer.size() &&
+ currentOffset + lineLengthBytes_ > buffer.size())
+ return MissingRegs;
+
+ if (buffer[currentOffset] != LineStart)
+ return NoLineStart;
+ } else {
+ /* allow a zero line length to mean "hunt for the next line" */
+ while (currentOffset < buffer.size() &&
+ buffer[currentOffset] != LineStart)
+ currentOffset++;
+
+ if (currentOffset == buffer.size())
+ return NoLineStart;
+ }
+
+ /* inc currentOffset to after LineStart */
+ currentLineStart = currentOffset++;
+ } else {
+ if (tag == RegHiBits)
+ regNum = (regNum & 0xff) | (dataByte << 8);
+ else if (tag == RegLowBits)
+ regNum = (regNum & 0xff00) | dataByte;
+ else if (tag == RegSkip)
+ regNum++;
+ else if (tag == RegValue) {
+ auto reg = offsets_.find(regNum);
+
+ if (reg != offsets_.end()) {
+ offsets_[regNum] = currentOffset - 1;
+
+ if (++regsDone == offsets_.size())
+ return ParseOk;
+ }
+ regNum++;
+ } else
+ return IllegalTag;
+ }
+ }
+}
diff --git a/src/ipa/rpi/cam_helper/meson.build b/src/ipa/rpi/cam_helper/meson.build
new file mode 100644
index 00000000..bdf2db8e
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/meson.build
@@ -0,0 +1,26 @@
+# SPDX-License-Identifier: CC0-1.0
+
+rpi_ipa_cam_helper_sources = files([
+ 'cam_helper.cpp',
+ 'cam_helper_ov5647.cpp',
+ 'cam_helper_imx219.cpp',
+ 'cam_helper_imx290.cpp',
+ 'cam_helper_imx296.cpp',
+ 'cam_helper_imx477.cpp',
+ 'cam_helper_imx519.cpp',
+ 'cam_helper_imx708.cpp',
+ 'cam_helper_ov9281.cpp',
+ 'md_parser_smia.cpp',
+])
+
+rpi_ipa_cam_helper_includes = [
+ include_directories('..'),
+]
+
+rpi_ipa_cam_helper_deps = [
+ libcamera_private,
+]
+
+rpi_ipa_cam_helper_lib = static_library('rpi_ipa_cam_helper', rpi_ipa_cam_helper_sources,
+ include_directories : rpi_ipa_cam_helper_includes,
+ dependencies : rpi_ipa_cam_helper_deps)
generated by cgit v1.2.1 (git 2.18.0) at 2024-12-15 09:08:00 +0000