[libcamera-devel] [PATCH v3 13/13] libcamera: pipeline: Add RKISP1 pipeline
Laurent Pinchart
laurent.pinchart at ideasonboard.com
Thu Apr 18 16:14:37 CEST 2019
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>
Reviewed-by: Niklas Söderlund <niklas.soderlund at ragnatech.se>
Tested-by: Niklas Söderlund <niklas.soderlund at ragnatech.se>
---
Changes since v2:
- Print the format configured at the sensor output
- Close the media device when match() fails
- Use V4L2Subdevice::fromEntityName() and V4L2Device::fromEntityName()
- Rebased on top of the multi-stream preparation commits
Changes since v1:
- Move sensor entity sanity checks to CameraSensor class
- Remove unneeded LOG() message
---
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..71faa880db49
--- /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,
+ const std::set<Stream *> &streams) override;
+ int freeBuffers(Camera *camera,
+ const std::set<Stream *> &streams) 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));
+
+ LOG(RkISP1, Debug) << "Configuring sensor with " << format.toString();
+
+ ret = sensor->setFormat(&format);
+ if (ret < 0)
+ return ret;
+
+ LOG(RkISP1, Debug) << "Sensor configured with " << format.toString();
+
+ 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;
+
+ if (outputFormat.width != cfg.width ||
+ outputFormat.height != cfg.height ||
+ outputFormat.fourcc != V4L2_PIX_FMT_NV12) {
+ LOG(RkISP1, Error)
+ << "Unable to configure capture in " << cfg.width
+ << "x" << cfg.height << "-NV12";
+ return -EINVAL;
+ }
+
+ return 0;
+}
+
+int PipelineHandlerRkISP1::allocateBuffers(Camera *camera,
+ const std::set<Stream *> &streams)
+{
+ Stream *stream = *streams.begin();
+ return video_->exportBuffers(&stream->bufferPool());
+}
+
+int PipelineHandlerRkISP1::freeBuffers(Camera *camera,
+ const std::set<Stream *> &streams)
+{
+ 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;
+ }
+
+ 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)
+{
+ const MediaPad *pad;
+ 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. */
+ dphy_ = V4L2Subdevice::fromEntityName(media_.get(),
+ "rockchip-sy-mipi-dphy");
+ ret = dphy_->open();
+ if (ret < 0)
+ goto done;
+
+ isp_ = V4L2Subdevice::fromEntityName(media_.get(), "rkisp1-isp-subdev");
+ ret = isp_->open();
+ if (ret < 0)
+ goto done;
+
+ /* Locate and open the capture video node. */
+ video_ = V4L2Device::fromEntityName(media_.get(), "rkisp1_mainpath");
+ ret = video_->open();
+ if (ret < 0)
+ goto done;
+
+ video_->bufferReady.connect(this, &PipelineHandlerRkISP1::bufferReady);
+
+ /* Configure default links. */
+ ret = initLinks();
+ if (ret < 0) {
+ LOG(RkISP1, Error) << "Failed to setup links";
+ goto done;
+ }
+
+ /*
+ * Enumerate all sensors connected to the CSI-2 receiver and create one
+ * camera instance for each of them.
+ */
+ pad = dphy_->entity()->getPadByIndex(0);
+ if (!pad) {
+ ret = -EINVAL;
+ goto done;
+ }
+
+ for (MediaLink *link : pad->links())
+ createCamera(link->source()->entity());
+
+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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