1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
1300
|
/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
* Copyright (C) 2019, Google Inc.
*
* ipu3.cpp - Pipeline handler for Intel IPU3
*/
#include <algorithm>
#include <iomanip>
#include <memory>
#include <queue>
#include <vector>
#include <libcamera/camera.h>
#include <libcamera/control_ids.h>
#include <libcamera/formats.h>
#include <libcamera/ipa/ipu3_ipa_interface.h>
#include <libcamera/ipa/ipu3_ipa_proxy.h>
#include <libcamera/property_ids.h>
#include <libcamera/request.h>
#include <libcamera/stream.h>
#include "libcamera/internal/camera_sensor.h"
#include "libcamera/internal/delayed_controls.h"
#include "libcamera/internal/device_enumerator.h"
#include "libcamera/internal/ipa_manager.h"
#include "libcamera/internal/log.h"
#include "libcamera/internal/media_device.h"
#include "libcamera/internal/pipeline_handler.h"
#include "libcamera/internal/utils.h"
#include "libcamera/internal/v4l2_controls.h"
#include "cio2.h"
#include "frames.h"
#include "imgu.h"
namespace libcamera {
LOG_DEFINE_CATEGORY(IPU3)
static constexpr unsigned int IPU3_BUFFER_COUNT = 4;
static constexpr unsigned int IPU3_MAX_STREAMS = 3;
static const Size IMGU_OUTPUT_MIN_SIZE = { 2, 2 };
static const Size IMGU_OUTPUT_MAX_SIZE = { 4480, 34004 };
static constexpr unsigned int IMGU_OUTPUT_WIDTH_ALIGN = 64;
static constexpr unsigned int IMGU_OUTPUT_HEIGHT_ALIGN = 4;
static constexpr unsigned int IMGU_OUTPUT_WIDTH_MARGIN = 64;
static constexpr unsigned int IMGU_OUTPUT_HEIGHT_MARGIN = 32;
static constexpr Size IPU3ViewfinderSize(1280, 720);
static const ControlInfoMap::Map IPU3Controls = {
{ &controls::draft::PipelineDepth, ControlInfo(2, 3) },
};
class IPU3CameraData : public CameraData
{
public:
IPU3CameraData(PipelineHandler *pipe)
: CameraData(pipe), exposureTime_(0), supportsFlips_(false)
{
}
int loadIPA();
void imguOutputBufferReady(FrameBuffer *buffer);
void cio2BufferReady(FrameBuffer *buffer);
void paramBufferReady(FrameBuffer *buffer);
void statBufferReady(FrameBuffer *buffer);
CIO2Device cio2_;
ImgUDevice *imgu_;
Stream outStream_;
Stream vfStream_;
Stream rawStream_;
uint32_t exposureTime_;
Rectangle cropRegion_;
bool supportsFlips_;
Transform rotationTransform_;
std::unique_ptr<DelayedControls> delayedCtrls_;
IPU3Frames frameInfos_;
std::unique_ptr<ipa::ipu3::IPAProxyIPU3> ipa_;
private:
void queueFrameAction(unsigned int id,
const ipa::ipu3::IPU3Action &action);
};
class IPU3CameraConfiguration : public CameraConfiguration
{
public:
IPU3CameraConfiguration(IPU3CameraData *data);
Status validate() override;
const StreamConfiguration &cio2Format() const { return cio2Configuration_; }
const ImgUDevice::PipeConfig imguConfig() const { return pipeConfig_; }
/* Cache the combinedTransform_ that will be applied to the sensor */
Transform combinedTransform_;
private:
/*
* The IPU3CameraData instance is guaranteed to be valid as long as the
* corresponding Camera instance is valid. In order to borrow a
* reference to the camera data, store a new reference to the camera.
*/
const IPU3CameraData *data_;
StreamConfiguration cio2Configuration_;
ImgUDevice::PipeConfig pipeConfig_;
};
class PipelineHandlerIPU3 : public PipelineHandler
{
public:
static constexpr unsigned int V4L2_CID_IPU3_PIPE_MODE = 0x009819c1;
enum IPU3PipeModes {
IPU3PipeModeVideo = 0,
IPU3PipeModeStillCapture = 1,
};
PipelineHandlerIPU3(CameraManager *manager);
CameraConfiguration *generateConfiguration(Camera *camera,
const StreamRoles &roles) override;
int configure(Camera *camera, CameraConfiguration *config) override;
int exportFrameBuffers(Camera *camera, Stream *stream,
std::vector<std::unique_ptr<FrameBuffer>> *buffers) override;
int start(Camera *camera, const ControlList *controls) override;
void stop(Camera *camera) override;
int queueRequestDevice(Camera *camera, Request *request) override;
bool match(DeviceEnumerator *enumerator) override;
private:
IPU3CameraData *cameraData(const Camera *camera)
{
return static_cast<IPU3CameraData *>(
PipelineHandler::cameraData(camera));
}
int initControls(IPU3CameraData *data);
int registerCameras();
int allocateBuffers(Camera *camera);
int freeBuffers(Camera *camera);
ImgUDevice imgu0_;
ImgUDevice imgu1_;
MediaDevice *cio2MediaDev_;
MediaDevice *imguMediaDev_;
std::vector<IPABuffer> ipaBuffers_;
};
IPU3CameraConfiguration::IPU3CameraConfiguration(IPU3CameraData *data)
: CameraConfiguration()
{
data_ = data;
}
CameraConfiguration::Status IPU3CameraConfiguration::validate()
{
Status status = Valid;
if (config_.empty())
return Invalid;
Transform combined = transform * data_->rotationTransform_;
/*
* We combine the platform and user transform, but must "adjust away"
* any combined result that includes a transposition, as we can't do
* those. In this case, flipping only the transpose bit is helpful to
* applications - they either get the transform they requested, or have
* to do a simple transpose themselves (they don't have to worry about
* the other possible cases).
*/
if (!!(combined & Transform::Transpose)) {
/*
* Flipping the transpose bit in "transform" flips it in the
* combined result too (as it's the last thing that happens),
* which is of course clearing it.
*/
transform ^= Transform::Transpose;
combined &= ~Transform::Transpose;
status = Adjusted;
}
/*
* We also check if the sensor doesn't do h/vflips at all, in which
* case we clear them, and the application will have to do everything.
*/
if (!data_->supportsFlips_ && !!combined) {
/*
* If the sensor can do no transforms, then combined must be
* changed to the identity. The only user transform that gives
* rise to this is the inverse of the rotation. (Recall that
* combined = transform * rotationTransform.)
*/
transform = -data_->rotationTransform_;
combined = Transform::Identity;
status = Adjusted;
}
/*
* Store the final combined transform that configure() will need to
* apply to the sensor to save us working it out again.
*/
combinedTransform_ = combined;
/* Cap the number of entries to the available streams. */
if (config_.size() > IPU3_MAX_STREAMS) {
config_.resize(IPU3_MAX_STREAMS);
status = Adjusted;
}
/* Validate the requested stream configuration */
unsigned int rawCount = 0;
unsigned int yuvCount = 0;
Size maxYuvSize;
Size rawSize;
for (const StreamConfiguration &cfg : config_) {
const PixelFormatInfo &info = PixelFormatInfo::info(cfg.pixelFormat);
if (info.colourEncoding == PixelFormatInfo::ColourEncodingRAW) {
rawCount++;
rawSize = cfg.size;
} else {
yuvCount++;
maxYuvSize.expandTo(cfg.size);
}
}
if (rawCount > 1 || yuvCount > 2) {
LOG(IPU3, Debug) << "Camera configuration not supported";
return Invalid;
}
/*
* Generate raw configuration from CIO2.
*
* \todo The image sensor frame size should be selected to optimize
* operations based on the sizes of the requested streams. However such
* a selection makes the pipeline configuration procedure fail for small
* resolutions (for example: 640x480 with OV5670) and causes the capture
* operations to stall for some stream size combinations (see the
* commit message of the patch that introduced this comment for more
* failure examples).
*
* Until the sensor frame size calculation criteria are clarified, when
* capturing from ImgU always use the largest possible size which
* guarantees better results at the expense of the frame rate and CSI-2
* bus bandwidth. When only a raw stream is requested use the requested
* size instead, as the ImgU is not involved.
*/
if (!yuvCount)
cio2Configuration_ = data_->cio2_.generateConfiguration(rawSize);
else
cio2Configuration_ = data_->cio2_.generateConfiguration({});
if (!cio2Configuration_.pixelFormat.isValid())
return Invalid;
LOG(IPU3, Debug) << "CIO2 configuration: " << cio2Configuration_.toString();
ImgUDevice::Pipe pipe{};
pipe.input = cio2Configuration_.size;
/*
* Adjust the configurations if needed and assign streams while
* iterating them.
*/
bool mainOutputAvailable = true;
for (unsigned int i = 0; i < config_.size(); ++i) {
const PixelFormatInfo &info = PixelFormatInfo::info(config_[i].pixelFormat);
const StreamConfiguration originalCfg = config_[i];
StreamConfiguration *cfg = &config_[i];
LOG(IPU3, Debug) << "Validating stream: " << config_[i].toString();
if (info.colourEncoding == PixelFormatInfo::ColourEncodingRAW) {
/* Initialize the RAW stream with the CIO2 configuration. */
cfg->size = cio2Configuration_.size;
cfg->pixelFormat = cio2Configuration_.pixelFormat;
cfg->bufferCount = cio2Configuration_.bufferCount;
cfg->stride = info.stride(cfg->size.width, 0, 64);
cfg->frameSize = info.frameSize(cfg->size, 64);
cfg->setStream(const_cast<Stream *>(&data_->rawStream_));
LOG(IPU3, Debug) << "Assigned " << cfg->toString()
<< " to the raw stream";
} else {
/* Assign and configure the main and viewfinder outputs. */
/*
* Clamp the size to match the ImgU size limits and the
* margins from the CIO2 output frame size.
*
* The ImgU outputs needs to be strictly smaller than
* the CIO2 output frame and rounded down to 64 pixels
* in width and 32 pixels in height. This assumption
* comes from inspecting the pipe configuration script
* results and the available suggested configurations in
* the ChromeOS BSP .xml camera tuning files and shall
* be validated.
*
* \todo Clarify what are the hardware constraints
* that require this alignements, if any. It might
* depend on the BDS scaling factor of 1/32, as the main
* output has no YUV scaler as the viewfinder output has.
*/
unsigned int limit;
limit = utils::alignDown(cio2Configuration_.size.width - 1,
IMGU_OUTPUT_WIDTH_MARGIN);
cfg->size.width = std::clamp(cfg->size.width,
IMGU_OUTPUT_MIN_SIZE.width,
limit);
limit = utils::alignDown(cio2Configuration_.size.height - 1,
IMGU_OUTPUT_HEIGHT_MARGIN);
cfg->size.height = std::clamp(cfg->size.height,
IMGU_OUTPUT_MIN_SIZE.height,
limit);
cfg->size.alignDownTo(IMGU_OUTPUT_WIDTH_ALIGN,
IMGU_OUTPUT_HEIGHT_ALIGN);
cfg->pixelFormat = formats::NV12;
cfg->bufferCount = IPU3_BUFFER_COUNT;
cfg->stride = info.stride(cfg->size.width, 0, 1);
cfg->frameSize = info.frameSize(cfg->size, 1);
/*
* Use the main output stream in case only one stream is
* requested or if the current configuration is the one
* with the maximum YUV output size.
*/
if (mainOutputAvailable &&
(originalCfg.size == maxYuvSize || yuvCount == 1)) {
cfg->setStream(const_cast<Stream *>(&data_->outStream_));
mainOutputAvailable = false;
pipe.main = cfg->size;
if (yuvCount == 1)
pipe.viewfinder = pipe.main;
LOG(IPU3, Debug) << "Assigned " << cfg->toString()
<< " to the main output";
} else {
cfg->setStream(const_cast<Stream *>(&data_->vfStream_));
pipe.viewfinder = cfg->size;
LOG(IPU3, Debug) << "Assigned " << cfg->toString()
<< " to the viewfinder output";
}
}
if (cfg->pixelFormat != originalCfg.pixelFormat ||
cfg->size != originalCfg.size) {
LOG(IPU3, Debug)
<< "Stream " << i << " configuration adjusted to "
<< cfg->toString();
status = Adjusted;
}
}
/* Only compute the ImgU configuration if a YUV stream has been requested. */
if (yuvCount) {
pipeConfig_ = data_->imgu_->calculatePipeConfig(&pipe);
if (pipeConfig_.isNull()) {
LOG(IPU3, Error) << "Failed to calculate pipe configuration: "
<< "unsupported resolutions.";
return Invalid;
}
}
return status;
}
PipelineHandlerIPU3::PipelineHandlerIPU3(CameraManager *manager)
: PipelineHandler(manager), cio2MediaDev_(nullptr), imguMediaDev_(nullptr)
{
}
CameraConfiguration *PipelineHandlerIPU3::generateConfiguration(Camera *camera,
const StreamRoles &roles)
{
IPU3CameraData *data = cameraData(camera);
IPU3CameraConfiguration *config = new IPU3CameraConfiguration(data);
if (roles.empty())
return config;
Size sensorResolution = data->cio2_.sensor()->resolution();
for (const StreamRole role : roles) {
std::map<PixelFormat, std::vector<SizeRange>> streamFormats;
unsigned int bufferCount;
PixelFormat pixelFormat;
Size size;
switch (role) {
case StreamRole::StillCapture:
/*
* Use as default full-frame configuration a value
* strictly smaller than the sensor resolution (limited
* to the ImgU maximum output size) and aligned down to
* the required frame margin.
*
* \todo Clarify the alignment constraints as explained
* in validate()
*/
size = sensorResolution.boundedTo(IMGU_OUTPUT_MAX_SIZE);
size.width = utils::alignDown(size.width - 1,
IMGU_OUTPUT_WIDTH_MARGIN);
size.height = utils::alignDown(size.height - 1,
IMGU_OUTPUT_HEIGHT_MARGIN);
pixelFormat = formats::NV12;
bufferCount = IPU3_BUFFER_COUNT;
streamFormats[pixelFormat] = { { IMGU_OUTPUT_MIN_SIZE, size } };
break;
case StreamRole::Raw: {
StreamConfiguration cio2Config =
data->cio2_.generateConfiguration(sensorResolution);
pixelFormat = cio2Config.pixelFormat;
size = cio2Config.size;
bufferCount = cio2Config.bufferCount;
for (const PixelFormat &format : data->cio2_.formats())
streamFormats[format] = data->cio2_.sizes();
break;
}
case StreamRole::Viewfinder:
case StreamRole::VideoRecording: {
/*
* Default viewfinder and videorecording to 1280x720,
* capped to the maximum sensor resolution and aligned
* to the ImgU output constraints.
*/
size = sensorResolution.boundedTo(IPU3ViewfinderSize)
.alignedDownTo(IMGU_OUTPUT_WIDTH_ALIGN,
IMGU_OUTPUT_HEIGHT_ALIGN);
pixelFormat = formats::NV12;
bufferCount = IPU3_BUFFER_COUNT;
streamFormats[pixelFormat] = { { IMGU_OUTPUT_MIN_SIZE, size } };
break;
}
default:
LOG(IPU3, Error)
<< "Requested stream role not supported: " << role;
delete config;
return nullptr;
}
StreamFormats formats(streamFormats);
StreamConfiguration cfg(formats);
cfg.size = size;
cfg.pixelFormat = pixelFormat;
cfg.bufferCount = bufferCount;
config->addConfiguration(cfg);
}
if (config->validate() == CameraConfiguration::Invalid)
return {};
return config;
}
int PipelineHandlerIPU3::configure(Camera *camera, CameraConfiguration *c)
{
IPU3CameraConfiguration *config =
static_cast<IPU3CameraConfiguration *>(c);
IPU3CameraData *data = cameraData(camera);
Stream *outStream = &data->outStream_;
Stream *vfStream = &data->vfStream_;
CIO2Device *cio2 = &data->cio2_;
ImgUDevice *imgu = data->imgu_;
V4L2DeviceFormat outputFormat;
int ret;
/*
* FIXME: enabled links in one ImgU pipe interfere with capture
* operations on the other one. This can be easily triggered by
* capturing from one camera and then trying to capture from the other
* one right after, without disabling media links on the first used
* pipe.
*
* The tricky part here is where to disable links on the ImgU instance
* which is currently not in use:
* 1) Link enable/disable cannot be done at start()/stop() time as video
* devices needs to be linked first before format can be configured on
* them.
* 2) As link enable has to be done at the least in configure(),
* before configuring formats, the only place where to disable links
* would be 'stop()', but the Camera class state machine allows
* start()<->stop() sequences without any configure() in between.
*
* As of now, disable all links in the ImgU media graph before
* configuring the device, to allow alternate the usage of the two
* ImgU pipes.
*
* As a consequence, a Camera using an ImgU shall be configured before
* any start()/stop() sequence. An application that wants to
* pre-configure all the camera and then start/stop them alternatively
* without going through any re-configuration (a sequence that is
* allowed by the Camera state machine) would now fail on the IPU3.
*/
ret = imguMediaDev_->disableLinks();
if (ret)
return ret;
/*
* \todo: Enable links selectively based on the requested streams.
* As of now, enable all links unconditionally.
* \todo Don't configure the ImgU at all if we only have a single
* stream which is for raw capture, in which case no buffers will
* ever be queued to the ImgU.
*/
ret = data->imgu_->enableLinks(true);
if (ret)
return ret;
/*
* Pass the requested stream size to the CIO2 unit and get back the
* adjusted format to be propagated to the ImgU output devices.
*/
const Size &sensorSize = config->cio2Format().size;
V4L2DeviceFormat cio2Format;
ret = cio2->configure(sensorSize, &cio2Format);
if (ret)
return ret;
CameraSensorInfo sensorInfo;
cio2->sensor()->sensorInfo(&sensorInfo);
data->cropRegion_ = sensorInfo.analogCrop;
/*
* Configure the H/V flip controls based on the combination of
* the sensor and user transform.
*/
if (data->supportsFlips_) {
ControlList sensorCtrls(cio2->sensor()->controls());
sensorCtrls.set(V4L2_CID_HFLIP,
static_cast<int32_t>(!!(config->combinedTransform_
& Transform::HFlip)));
sensorCtrls.set(V4L2_CID_VFLIP,
static_cast<int32_t>(!!(config->combinedTransform_
& Transform::VFlip)));
ret = cio2->sensor()->setControls(&sensorCtrls);
if (ret)
return ret;
}
/*
* If the ImgU gets configured, its driver seems to expect that
* buffers will be queued to its outputs, as otherwise the next
* capture session that uses the ImgU fails when queueing
* buffers to its input.
*
* If no ImgU configuration has been computed, it means only a RAW
* stream has been requested: return here to skip the ImgU configuration
* part.
*/
ImgUDevice::PipeConfig imguConfig = config->imguConfig();
if (imguConfig.isNull())
return 0;
ret = imgu->configure(imguConfig, &cio2Format);
if (ret)
return ret;
/* Apply the format to the configured streams output devices. */
StreamConfiguration *mainCfg = nullptr;
StreamConfiguration *vfCfg = nullptr;
for (unsigned int i = 0; i < config->size(); ++i) {
StreamConfiguration &cfg = (*config)[i];
Stream *stream = cfg.stream();
if (stream == outStream) {
mainCfg = &cfg;
ret = imgu->configureOutput(cfg, &outputFormat);
if (ret)
return ret;
} else if (stream == vfStream) {
vfCfg = &cfg;
ret = imgu->configureViewfinder(cfg, &outputFormat);
if (ret)
return ret;
}
}
/*
* As we need to set format also on the non-active streams, use
* the configuration of the active one for that purpose (there should
* be at least one active stream in the configuration request).
*/
if (!vfCfg) {
ret = imgu->configureViewfinder(*mainCfg, &outputFormat);
if (ret)
return ret;
}
/* Apply the "pipe_mode" control to the ImgU subdevice. */
ControlList ctrls(imgu->imgu_->controls());
/*
* Set the ImgU pipe mode to 'Video' unconditionally to have statistics
* generated.
*
* \todo Figure out what the 'Still Capture' mode is meant for, and use
* it accordingly.
*/
ctrls.set(V4L2_CID_IPU3_PIPE_MODE,
static_cast<int32_t>(IPU3PipeModeVideo));
ret = imgu->imgu_->setControls(&ctrls);
if (ret) {
LOG(IPU3, Error) << "Unable to set pipe_mode control";
return ret;
}
return 0;
}
int PipelineHandlerIPU3::exportFrameBuffers(Camera *camera, Stream *stream,
std::vector<std::unique_ptr<FrameBuffer>> *buffers)
{
IPU3CameraData *data = cameraData(camera);
unsigned int count = stream->configuration().bufferCount;
if (stream == &data->outStream_)
return data->imgu_->output_->exportBuffers(count, buffers);
else if (stream == &data->vfStream_)
return data->imgu_->viewfinder_->exportBuffers(count, buffers);
else if (stream == &data->rawStream_)
return data->cio2_.exportBuffers(count, buffers);
return -EINVAL;
}
/**
* \todo Clarify if 'viewfinder' and 'stat' nodes have to be set up and
* started even if not in use. As of now, if not properly configured and
* enabled, the ImgU processing pipeline stalls.
*
* In order to be able to start the 'viewfinder' and 'stat' nodes, we need
* memory to be reserved.
*/
int PipelineHandlerIPU3::allocateBuffers(Camera *camera)
{
IPU3CameraData *data = cameraData(camera);
ImgUDevice *imgu = data->imgu_;
unsigned int bufferCount;
int ret;
bufferCount = std::max({
data->outStream_.configuration().bufferCount,
data->vfStream_.configuration().bufferCount,
data->rawStream_.configuration().bufferCount,
});
ret = imgu->allocateBuffers(bufferCount);
if (ret < 0)
return ret;
/* Map buffers to the IPA. */
unsigned int ipaBufferId = 1;
for (const std::unique_ptr<FrameBuffer> &buffer : imgu->paramBuffers_) {
buffer->setCookie(ipaBufferId++);
ipaBuffers_.emplace_back(buffer->cookie(), buffer->planes());
}
for (const std::unique_ptr<FrameBuffer> &buffer : imgu->statBuffers_) {
buffer->setCookie(ipaBufferId++);
ipaBuffers_.emplace_back(buffer->cookie(), buffer->planes());
}
data->ipa_->mapBuffers(ipaBuffers_);
data->frameInfos_.init(imgu->paramBuffers_, imgu->statBuffers_);
return 0;
}
int PipelineHandlerIPU3::freeBuffers(Camera *camera)
{
IPU3CameraData *data = cameraData(camera);
data->frameInfos_.clear();
std::vector<unsigned int> ids;
for (IPABuffer &ipabuf : ipaBuffers_)
ids.push_back(ipabuf.id);
data->ipa_->unmapBuffers(ids);
ipaBuffers_.clear();
data->imgu_->freeBuffers();
return 0;
}
int PipelineHandlerIPU3::start(Camera *camera, [[maybe_unused]] const ControlList *controls)
{
std::map<uint32_t, ControlInfoMap> entityControls;
IPU3CameraData *data = cameraData(camera);
CIO2Device *cio2 = &data->cio2_;
ImgUDevice *imgu = data->imgu_;
int ret;
/* Allocate buffers for internal pipeline usage. */
ret = allocateBuffers(camera);
if (ret)
return ret;
ret = data->ipa_->start();
if (ret)
goto error;
/*
* Start the ImgU video devices, buffers will be queued to the
* ImgU output and viewfinder when requests will be queued.
*/
ret = cio2->start();
if (ret)
goto error;
ret = imgu->start();
if (ret)
goto error;
entityControls.emplace(0, data->cio2_.sensor()->controls());
data->ipa_->configure(entityControls);
return 0;
error:
imgu->stop();
cio2->stop();
data->ipa_->stop();
freeBuffers(camera);
LOG(IPU3, Error) << "Failed to start camera " << camera->id();
return ret;
}
void PipelineHandlerIPU3::stop(Camera *camera)
{
IPU3CameraData *data = cameraData(camera);
int ret = 0;
ret |= data->imgu_->stop();
ret |= data->cio2_.stop();
if (ret)
LOG(IPU3, Warning) << "Failed to stop camera " << camera->id();
data->ipa_->stop();
freeBuffers(camera);
}
int PipelineHandlerIPU3::queueRequestDevice(Camera *camera, Request *request)
{
IPU3CameraData *data = cameraData(camera);
IPU3Frames::Info *info = data->frameInfos_.create(request);
if (!info)
return -ENOBUFS;
/*
* Queue a buffer on the CIO2, using the raw stream buffer provided in
* the request, if any, or a CIO2 internal buffer otherwise.
*/
FrameBuffer *reqRawBuffer = request->findBuffer(&data->rawStream_);
FrameBuffer *rawBuffer = data->cio2_.queueBuffer(request, reqRawBuffer);
if (!rawBuffer) {
data->frameInfos_.remove(info);
return -ENOMEM;
}
info->rawBuffer = rawBuffer;
ipa::ipu3::IPU3Event ev;
ev.op = ipa::ipu3::EventProcessControls;
ev.frame = info->id;
ev.controls = request->controls();
data->ipa_->processEvent(ev);
return 0;
}
bool PipelineHandlerIPU3::match(DeviceEnumerator *enumerator)
{
int ret;
DeviceMatch cio2_dm("ipu3-cio2");
cio2_dm.add("ipu3-csi2 0");
cio2_dm.add("ipu3-cio2 0");
cio2_dm.add("ipu3-csi2 1");
cio2_dm.add("ipu3-cio2 1");
cio2_dm.add("ipu3-csi2 2");
cio2_dm.add("ipu3-cio2 2");
cio2_dm.add("ipu3-csi2 3");
cio2_dm.add("ipu3-cio2 3");
DeviceMatch imgu_dm("ipu3-imgu");
imgu_dm.add("ipu3-imgu 0");
imgu_dm.add("ipu3-imgu 0 input");
imgu_dm.add("ipu3-imgu 0 parameters");
imgu_dm.add("ipu3-imgu 0 output");
imgu_dm.add("ipu3-imgu 0 viewfinder");
imgu_dm.add("ipu3-imgu 0 3a stat");
imgu_dm.add("ipu3-imgu 1");
imgu_dm.add("ipu3-imgu 1 input");
imgu_dm.add("ipu3-imgu 1 parameters");
imgu_dm.add("ipu3-imgu 1 output");
imgu_dm.add("ipu3-imgu 1 viewfinder");
imgu_dm.add("ipu3-imgu 1 3a stat");
cio2MediaDev_ = acquireMediaDevice(enumerator, cio2_dm);
if (!cio2MediaDev_)
return false;
imguMediaDev_ = acquireMediaDevice(enumerator, imgu_dm);
if (!imguMediaDev_)
return false;
/*
* Disable all links that are enabled by default on CIO2, as camera
* creation enables all valid links it finds.
*/
if (cio2MediaDev_->disableLinks())
return false;
ret = imguMediaDev_->disableLinks();
if (ret)
return ret;
ret = registerCameras();
return ret == 0;
}
/**
* \brief Initialize the camera controls
* \param[in] data The camera data
*
* Initialize the camera controls as the union of the static pipeline handler
* controls (IPU3Controls) and controls created dynamically from the sensor
* capabilities.
*
* \return 0 on success or a negative error code otherwise
*/
int PipelineHandlerIPU3::initControls(IPU3CameraData *data)
{
CameraSensor *sensor = data->cio2_.sensor();
CameraSensorInfo sensorInfo{};
int ret = sensor->sensorInfo(&sensorInfo);
if (ret)
return ret;
ControlInfoMap::Map controls = IPU3Controls;
/*
* Compute exposure time limits.
*
* \todo The exposure limits depend on the sensor configuration.
* Initialize the control using the line length and pixel rate of the
* current configuration converted to microseconds. Use the
* V4L2_CID_EXPOSURE control to get exposure min, max and default and
* convert it from lines to microseconds.
*/
double lineDuration = sensorInfo.lineLength
/ (sensorInfo.pixelRate / 1e6);
const ControlInfoMap &sensorControls = sensor->controls();
const ControlInfo &v4l2Exposure = sensorControls.find(V4L2_CID_EXPOSURE)->second;
int32_t minExposure = v4l2Exposure.min().get<int32_t>() * lineDuration;
int32_t maxExposure = v4l2Exposure.max().get<int32_t>() * lineDuration;
int32_t defExposure = v4l2Exposure.def().get<int32_t>() * lineDuration;
/*
* \todo Report the actual exposure time, use the default for the
* moment.
*/
data->exposureTime_ = defExposure;
controls[&controls::ExposureTime] = ControlInfo(minExposure, maxExposure,
defExposure);
/*
* Compute the scaler crop limits.
*
* \todo The scaler crop limits depend on the sensor configuration. It
* should be updated when a new configuration is applied. To initialize
* the control use the 'Viewfinder' configuration (1280x720) as the
* pipeline output resolution and the full sensor size as input frame
* (see the todo note in the validate() function about the usage of the
* sensor's full frame as ImgU input).
*/
/* Re-fetch the sensor info updated to use the largest resolution. */
V4L2SubdeviceFormat sensorFormat = {};
sensorFormat.size = sensor->resolution();
ret = sensor->setFormat(&sensorFormat);
if (ret)
return ret;
ret = sensor->sensorInfo(&sensorInfo);
if (ret)
return ret;
/*
* The maximum scaler crop rectangle is the analogue crop used to
* produce the maximum frame size.
*/
const Rectangle &analogueCrop = sensorInfo.analogCrop;
Rectangle maxCrop = analogueCrop;
/*
* As the ImgU cannot up-scale, the minimum selection rectangle has to
* be as large as the pipeline output size. Use the default viewfinder
* configuration as the desired output size and calculate the minimum
* rectangle required to satisfy the ImgU processing margins, unless the
* sensor resolution is smaller.
*
* \todo This implementation is based on the same assumptions about the
* ImgU pipeline configuration described in then viewfinder and main
* output sizes calculation in the validate() function.
*/
/* The strictly smaller size than the sensor resolution, aligned to margins. */
Size minSize = Size(sensor->resolution().width - 1,
sensor->resolution().height - 1)
.alignedDownTo(IMGU_OUTPUT_WIDTH_MARGIN,
IMGU_OUTPUT_HEIGHT_MARGIN);
/*
* Either the smallest margin-aligned size larger than the viewfinder
* size or the adjusted sensor resolution.
*/
minSize = Size(IPU3ViewfinderSize.width + 1,
IPU3ViewfinderSize.height + 1)
.alignedUpTo(IMGU_OUTPUT_WIDTH_MARGIN,
IMGU_OUTPUT_HEIGHT_MARGIN)
.boundedTo(minSize);
/*
* Re-scale in the sensor's native coordinates. Report (0,0) as
* top-left corner as we allow application to freely pan the crop area.
*/
Rectangle minCrop = Rectangle(minSize).scaledBy(analogueCrop.size(),
sensorInfo.outputSize);
controls[&controls::ScalerCrop] = ControlInfo(minCrop, maxCrop, maxCrop);
data->controlInfo_ = std::move(controls);
return 0;
}
|
