[libcamera-devel] [PATCH 11/11] libcamera: pipeline: Add RKISP1 pipeline
Laurent Pinchart
laurent.pinchart at ideasonboard.com
Tue Apr 16 01:09:52 CEST 2019
Hi Niklas,
On Tue, Apr 16, 2019 at 12:08:11AM +0200, Niklas Söderlund wrote:
> On 2019-04-15 19:57:00 +0300, Laurent Pinchart wrote:
> > The pipeline handler for the Rockchip ISP creates one camera instance
> > per detected raw Bayer CSI-2 sensor. Parallel sensors and YUV sensors
> > are not supported yet.
> >
> > As the ISP has a single CSI-2 receiver, only one camera can be used at a
> > time. Mutual exclusion isn't implemented yet.
> >
> > Signed-off-by: Laurent Pinchart <laurent.pinchart at ideasonboard.com>
>
> I still want to test this before adding my tag so I need to setup my
> rkisp1 environment. Over all I think this looks good, I have some small
> comments bellow which you might to have a go at while I get my hardware
> in line.
>
> > ---
> > src/libcamera/pipeline/meson.build | 1 +
> > src/libcamera/pipeline/rkisp1/meson.build | 3 +
> > src/libcamera/pipeline/rkisp1/rkisp1.cpp | 448 ++++++++++++++++++++++
> > 3 files changed, 452 insertions(+)
> > create mode 100644 src/libcamera/pipeline/rkisp1/meson.build
> > create mode 100644 src/libcamera/pipeline/rkisp1/rkisp1.cpp
> >
> > diff --git a/src/libcamera/pipeline/meson.build b/src/libcamera/pipeline/meson.build
> > index 40bb26405b88..0d466225a72e 100644
> > --- a/src/libcamera/pipeline/meson.build
> > +++ b/src/libcamera/pipeline/meson.build
> > @@ -4,3 +4,4 @@ libcamera_sources += files([
> > ])
> >
> > subdir('ipu3')
> > +subdir('rkisp1')
> > diff --git a/src/libcamera/pipeline/rkisp1/meson.build b/src/libcamera/pipeline/rkisp1/meson.build
> > new file mode 100644
> > index 000000000000..f1cc4046b5d0
> > --- /dev/null
> > +++ b/src/libcamera/pipeline/rkisp1/meson.build
> > @@ -0,0 +1,3 @@
> > +libcamera_sources += files([
> > + 'rkisp1.cpp',
> > +])
> > diff --git a/src/libcamera/pipeline/rkisp1/rkisp1.cpp b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
> > new file mode 100644
> > index 000000000000..887c879d9024
> > --- /dev/null
> > +++ b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
> > @@ -0,0 +1,448 @@
> > +/* SPDX-License-Identifier: LGPL-2.1-or-later */
> > +/*
> > + * Copyright (C) 2019, Google Inc.
> > + *
> > + * rkisp1.cpp - Pipeline handler for Rockchip ISP1
> > + */
> > +
> > +#include <iomanip>
> > +#include <memory>
> > +#include <vector>
> > +
> > +#include <linux/media-bus-format.h>
> > +
> > +#include <libcamera/camera.h>
> > +#include <libcamera/request.h>
> > +#include <libcamera/stream.h>
> > +
> > +#include "camera_sensor.h"
> > +#include "device_enumerator.h"
> > +#include "log.h"
> > +#include "media_device.h"
> > +#include "pipeline_handler.h"
> > +#include "utils.h"
> > +#include "v4l2_device.h"
> > +#include "v4l2_subdevice.h"
> > +
> > +namespace libcamera {
> > +
> > +LOG_DEFINE_CATEGORY(RkISP1)
> > +
> > +class PipelineHandlerRkISP1 : public PipelineHandler
> > +{
> > +public:
> > + PipelineHandlerRkISP1(CameraManager *manager);
> > + ~PipelineHandlerRkISP1();
> > +
> > + CameraConfiguration streamConfiguration(Camera *camera,
> > + const std::vector<StreamUsage> &usages) override;
> > + int configureStreams(Camera *camera,
> > + const CameraConfiguration &config) override;
> > +
> > + int allocateBuffers(Camera *camera, Stream *stream) override;
> > + int freeBuffers(Camera *camera, Stream *stream) override;
> > +
> > + int start(Camera *camera) override;
> > + void stop(Camera *camera) override;
> > +
> > + int queueRequest(Camera *camera, Request *request) override;
> > +
> > + bool match(DeviceEnumerator *enumerator) override;
> > +
> > +private:
> > + class RkISP1CameraData : public CameraData
> > + {
> > + public:
> > + RkISP1CameraData(PipelineHandler *pipe)
> > + : CameraData(pipe), sensor_(nullptr)
> > + {
> > + }
> > +
> > + ~RkISP1CameraData()
> > + {
> > + delete sensor_;
> > + }
> > +
> > + Stream stream_;
> > + CameraSensor *sensor_;
> > + };
> > +
> > + static constexpr unsigned int RKISP1_BUFFER_COUNT = 4;
> > +
> > + RkISP1CameraData *cameraData(const Camera *camera)
> > + {
> > + return static_cast<RkISP1CameraData *>(
> > + PipelineHandler::cameraData(camera));
> > + }
> > +
> > + int initLinks();
> > + int createCamera(MediaEntity *sensor);
> > + void bufferReady(Buffer *buffer);
> > +
> > + std::shared_ptr<MediaDevice> media_;
> > + V4L2Subdevice *dphy_;
> > + V4L2Subdevice *isp_;
> > + V4L2Device *video_;
> > +
> > + Camera *activeCamera_;
> > +};
> > +
> > +PipelineHandlerRkISP1::PipelineHandlerRkISP1(CameraManager *manager)
> > + : PipelineHandler(manager), dphy_(nullptr), isp_(nullptr),
> > + video_(nullptr)
> > +{
> > +}
> > +
> > +PipelineHandlerRkISP1::~PipelineHandlerRkISP1()
> > +{
> > + delete video_;
> > + delete isp_;
> > + delete dphy_;
> > +
> > + if (media_)
> > + media_->release();
> > +}
> > +
> > +/* -----------------------------------------------------------------------------
> > + * Pipeline Operations
> > + */
> > +
> > +CameraConfiguration PipelineHandlerRkISP1::streamConfiguration(Camera *camera,
> > + const std::vector<StreamUsage> &usages)
> > +{
> > + RkISP1CameraData *data = cameraData(camera);
> > + CameraConfiguration configs;
> > + StreamConfiguration config{};
> > +
> > + const Size &resolution = data->sensor_->resolution();
> > + config.width = resolution.width;
> > + config.height = resolution.height;
> > + config.pixelFormat = V4L2_PIX_FMT_NV12;
> > + config.bufferCount = RKISP1_BUFFER_COUNT;
> > +
> > + configs[&data->stream_] = config;
> > +
> > + LOG(RkISP1, Debug)
> > + << "Stream format set to " << config.width << "x"
> > + << config.height << "-0x" << std::hex << std::setfill('0')
> > + << std::setw(8) << config.pixelFormat;
> > +
> > + return configs;
> > +}
> > +
> > +int PipelineHandlerRkISP1::configureStreams(Camera *camera,
> > + const CameraConfiguration &config)
> > +{
> > + RkISP1CameraData *data = cameraData(camera);
> > + const StreamConfiguration &cfg = config[&data->stream_];
> > + CameraSensor *sensor = data->sensor_;
> > + int ret;
> > +
> > + /* Verify the configuration. */
> > + const Size &resolution = sensor->resolution();
> > + if (cfg.width > resolution.width ||
> > + cfg.height > resolution.height) {
> > + LOG(RkISP1, Error)
> > + << "Invalid stream size: larger than sensor resolution";
> > + return -EINVAL;
> > + }
> > +
> > + /*
> > + * Configure the sensor links: enable the link corresponding to this
> > + * camera and disable all the other sensor links.
> > + */
> > + const MediaPad *pad = dphy_->entity()->getPadByIndex(0);
> > +
> > + ret = media_->open();
> > + if (ret < 0)
> > + return ret;
> > +
> > + for (MediaLink *link : pad->links()) {
> > + bool enable = link->source()->entity() == sensor->entity();
> > +
> > + if (!!(link->flags() & MEDIA_LNK_FL_ENABLED) == enable)
> > + continue;
> > +
> > + LOG(RkISP1, Debug)
> > + << (enable ? "Enabling" : "Disabling")
> > + << " link from sensor '"
> > + << link->source()->entity()->name()
> > + << "' to CSI-2 receiver";
> > +
> > + ret = link->setEnabled(enable);
> > + if (ret < 0)
> > + break;
> > + }
> > +
> > + media_->close();
> > +
> > + if (ret < 0)
> > + return ret;
> > +
> > + /*
> > + * Configure the format on the sensor output and propagate it through
> > + * the pipeline.
> > + */
> > + V4L2SubdeviceFormat format;
> > + format = sensor->getFormat({ MEDIA_BUS_FMT_SBGGR12_1X12,
> > + MEDIA_BUS_FMT_SGBRG12_1X12,
> > + MEDIA_BUS_FMT_SGRBG12_1X12,
> > + MEDIA_BUS_FMT_SRGGB12_1X12,
> > + MEDIA_BUS_FMT_SBGGR10_1X10,
> > + MEDIA_BUS_FMT_SGBRG10_1X10,
> > + MEDIA_BUS_FMT_SGRBG10_1X10,
> > + MEDIA_BUS_FMT_SRGGB10_1X10,
> > + MEDIA_BUS_FMT_SBGGR8_1X8,
> > + MEDIA_BUS_FMT_SGBRG8_1X8,
> > + MEDIA_BUS_FMT_SGRBG8_1X8,
> > + MEDIA_BUS_FMT_SRGGB8_1X8 },
> > + Size(cfg.width, cfg.height));
> > + ret = sensor->setFormat(&format);
> > + if (ret < 0)
> > + return ret;
> > +
> > + ret = dphy_->setFormat(0, &format);
> > + if (ret < 0)
> > + return ret;
> > +
> > + ret = dphy_->getFormat(1, &format);
> > + if (ret < 0)
> > + return ret;
> > +
> > + ret = isp_->setFormat(0, &format);
> > + if (ret < 0)
> > + return ret;
> > +
> > + V4L2DeviceFormat outputFormat = {};
> > + outputFormat.width = cfg.width;
> > + outputFormat.height = cfg.height;
> > + outputFormat.fourcc = V4L2_PIX_FMT_NV12;
> > + outputFormat.planesCount = 2;
> > +
> > + ret = video_->setFormat(&outputFormat);
> > + if (ret)
> > + return ret;
> > +
> > + LOG(RkISP1, Debug)
> > + << "Configured pipeline for " << format.toString() << " -> "
> > + << outputFormat.toString();
>
> Is this LOG needed as you in 3/11 print this in
> Camera::configureStreams() ?
The first part could be useful, as it tells which format was configured
on the sensor (before scaling) so I think it's worth keeping it. I will
remove the second part (outputFormat) and make it more explicit that the
printed format relates to the sensor.
> > +
> > + return 0;
> > +}
> > +
> > +int PipelineHandlerRkISP1::allocateBuffers(Camera *camera, Stream *stream)
> > +{
> > + return video_->exportBuffers(&stream->bufferPool());
> > +}
> > +
> > +int PipelineHandlerRkISP1::freeBuffers(Camera *camera, Stream *stream)
> > +{
> > + if (video_->releaseBuffers())
> > + LOG(RkISP1, Error) << "Failed to release buffers";
> > +
> > + return 0;
> > +}
> > +
> > +int PipelineHandlerRkISP1::start(Camera *camera)
> > +{
> > + int ret;
> > +
> > + ret = video_->streamOn();
> > + if (ret)
> > + LOG(RkISP1, Error)
> > + << "Failed to start camera " << camera->name();
> > +
> > + activeCamera_ = camera;
> > +
> > + return ret;
> > +}
> > +
> > +void PipelineHandlerRkISP1::stop(Camera *camera)
> > +{
> > + int ret;
> > +
> > + ret = video_->streamOff();
> > + if (ret)
> > + LOG(RkISP1, Warning)
> > + << "Failed to stop camera " << camera->name();
> > +
> > + PipelineHandler::stop(camera);
> > +
> > + activeCamera_ = nullptr;
> > +}
> > +
> > +int PipelineHandlerRkISP1::queueRequest(Camera *camera, Request *request)
> > +{
> > + RkISP1CameraData *data = cameraData(camera);
> > + Stream *stream = &data->stream_;
> > +
> > + Buffer *buffer = request->findBuffer(stream);
> > + if (!buffer) {
> > + LOG(RkISP1, Error)
> > + << "Attempt to queue request with invalid stream";
> > + return -ENOENT;
> > + }
>
> Should we move this check to Camera::queueRequest() ?
The Camera class doesn't have access to data->stream_. I expect this to
be reworked with multiple streams support anyway, so I'd keep it as-is
for now.
> > +
> > + int ret = video_->queueBuffer(buffer);
> > + if (ret < 0)
> > + return ret;
> > +
> > + PipelineHandler::queueRequest(camera, request);
> > +
> > + return 0;
> > +}
> > +
> > +/* -----------------------------------------------------------------------------
> > + * Match and Setup
> > + */
> > +
> > +int PipelineHandlerRkISP1::initLinks()
> > +{
> > + MediaLink *link;
> > + int ret;
> > +
> > + ret = media_->disableLinks();
> > + if (ret < 0)
> > + return ret;
> > +
> > + link = media_->link("rockchip-sy-mipi-dphy", 1, "rkisp1-isp-subdev", 0);
> > + if (!link)
> > + return -ENODEV;
> > +
> > + ret = link->setEnabled(true);
> > + if (ret < 0)
> > + return ret;
> > +
> > + link = media_->link("rkisp1-isp-subdev", 2, "rkisp1_mainpath", 0);
> > + if (!link)
> > + return -ENODEV;
> > +
> > + ret = link->setEnabled(true);
> > + if (ret < 0)
> > + return ret;
> > +
> > + return 0;
> > +}
> > +
> > +int PipelineHandlerRkISP1::createCamera(MediaEntity *sensor)
> > +{
> > + int ret;
> > +
> > + std::unique_ptr<RkISP1CameraData> data =
> > + utils::make_unique<RkISP1CameraData>(this);
> > +
> > + data->sensor_ = new CameraSensor(sensor);
> > + ret = data->sensor_->init();
> > + if (ret)
> > + return ret;
> > +
> > + std::set<Stream *> streams{ &data->stream_ };
> > + std::shared_ptr<Camera> camera =
> > + Camera::create(this, sensor->name(), streams);
> > + registerCamera(std::move(camera), std::move(data));
> > +
> > + return 0;
> > +}
> > +
> > +bool PipelineHandlerRkISP1::match(DeviceEnumerator *enumerator)
> > +{
> > + int ret;
> > +
> > + DeviceMatch dm("rkisp1");
> > + dm.add("rkisp1-isp-subdev");
> > + dm.add("rkisp1_selfpath");
> > + dm.add("rkisp1_mainpath");
> > + dm.add("rkisp1-statistics");
> > + dm.add("rkisp1-input-params");
> > + dm.add("rockchip-sy-mipi-dphy");
> > +
> > + media_ = enumerator->search(dm);
> > + if (!media_)
> > + return false;
> > +
> > + media_->acquire();
> > +
> > + ret = media_->open();
> > + if (ret < 0)
> > + return ret;
> > +
> > + /* Create the V4L2 subdevices we will need. */
> > + MediaEntity *dphy = media_->getEntityByName("rockchip-sy-mipi-dphy");
> > + dphy_ = new V4L2Subdevice(dphy);
> > + ret = dphy_->open();
> > + if (ret < 0)
> > + return ret;
> > +
> > + MediaEntity *isp = media_->getEntityByName("rkisp1-isp-subdev");
> > + isp_ = new V4L2Subdevice(isp);
> > + ret = isp_->open();
> > + if (ret < 0)
> > + return ret;
> > +
> > + /* Locate and open the capture video node. */
> > + video_ = new V4L2Device(media_->getEntityByName("rkisp1_mainpath"));
> > + if (video_->open())
> > + return false;
> > +
> > + video_->bufferReady.connect(this, &PipelineHandlerRkISP1::bufferReady);
> > +
> > + /* Configure default links. */
> > + ret = initLinks();
> > + if (ret < 0) {
> > + LOG(RkISP1, Error) << "Failed to setup links";
> > + return false;
> > + }
> > +
> > + /*
> > + * Enumerate all sensors connected to the CSI-2 receiver and create one
> > + * camera instance for each of them.
> > + */
> > + const MediaPad *pad = dphy->getPadByIndex(0);
> > + if (!pad) {
> > + ret = -EINVAL;
> > + goto done;
> > + }
> > +
> > + for (MediaLink *link : pad->links()) {
> > + /*
> > + * A sensor is expected to have a single pad and expose the
> > + * SENSOR function. This is overly restrictive, a better logic
> > + * is needed to support sensor that expose multiple subdevs.
> > + *
> > + * \todo Create a helper to identify sensors
> > + */
> > + MediaEntity *sensor = link->source()->entity();
> > + if (!sensor)
> > + continue;
> > + if (sensor->pads().size() != 1)
> > + continue;
> > + if (sensor->function() != MEDIA_ENT_F_CAM_SENSOR)
> > + continue;
>
> Some of these checks overlap with CameraSensor::init(). Should all of
> them be moved there? createCamera() will fail if CameraSensor::init()
> fails anyhow.
Good point, I'll fix this. I will also remove the comment, as the
limitation will then be in the CameraSensor class, not here.
> > +
> > + createCamera(sensor);
> > + }
> > +
> > +done:
> > + media_->close();
> > +
> > + return ret == 0;
> > +}
> > +
> > +/* -----------------------------------------------------------------------------
> > + * Buffer Handling
> > + */
> > +
> > +void PipelineHandlerRkISP1::bufferReady(Buffer *buffer)
> > +{
> > + ASSERT(activeCamera_);
> > +
> > + RkISP1CameraData *data = cameraData(activeCamera_);
> > + Request *request = data->queuedRequests_.front();
> > +
> > + completeBuffer(activeCamera_, request, buffer);
> > + completeRequest(activeCamera_, request);
> > +}
> > +
> > +REGISTER_PIPELINE_HANDLER(PipelineHandlerRkISP1);
> > +
> > +} /* namespace libcamera */
--
Regards,
Laurent Pinchart
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