[libcamera-devel] [PATCH v3 13/13] libcamera: pipeline: Add RKISP1 pipeline
Jacopo Mondi
jacopo at jmondi.org
Thu Apr 18 16:55:41 CEST 2019
Hi Laurent,
On Thu, Apr 18, 2019 at 05:14:37PM +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>
> 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";
nit: We have so far printed the numeric code for the pixel formats.
That's basically the only comment I have on this version, so please
add my:
Reviewed-by: Jacopo Mondi <jacopo at jmondi.org>
Thanks
j
> + 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
>
> _______________________________________________
> libcamera-devel mailing list
> libcamera-devel at lists.libcamera.org
> https://lists.libcamera.org/listinfo/libcamera-devel
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