[libcamera-devel] [PATCH v2 2/6] pipeline: raspberrypi: Convert the pipeline handler to use media controller
Naushir Patuck
naush at raspberrypi.com
Fri Oct 22 16:39:03 CEST 2021
Switch the pipeline handler to use the new Unicam media controller based driver.
With this change, we directly talk to the sensor device driver to set controls
and set/get formats in the pipeline handler.
This change requires the accompanying Raspberry Pi linux kernel change at
https://github.com/raspberrypi/linux/pull/4645. If this kernel change is not
present, the pipeline handler will fail to run with an error message informing
the user to update the kernel build.
Signed-off-by: Naushir Patuck <naush at raspberrypi.com>
---
.../pipeline/raspberrypi/raspberrypi.cpp | 146 +++++++++++-------
1 file changed, 90 insertions(+), 56 deletions(-)
diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp
index 1634ca98f481..a31b0f81eba7 100644
--- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp
+++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp
@@ -48,6 +48,29 @@ LOG_DEFINE_CATEGORY(RPI)
namespace {
+/* Map of mbus codes to supported sizes reported by the sensor. */
+using SensorFormats = std::map<unsigned int, std::vector<Size>>;
+
+SensorFormats populateSensorFormats(std::unique_ptr<CameraSensor> &sensor)
+{
+ SensorFormats formats;
+
+ for (auto const mbusCode : sensor->mbusCodes())
+ formats.emplace(mbusCode, sensor->sizes(mbusCode));
+
+ return formats;
+}
+
+inline V4L2DeviceFormat toV4L2DeviceFormat(V4L2SubdeviceFormat &mode)
+{
+ V4L2DeviceFormat deviceFormat;
+ BayerFormat bayer = BayerFormat::fromMbusCode(mode.mbus_code);
+
+ deviceFormat.fourcc = bayer.toV4L2PixelFormat();
+ deviceFormat.size = mode.size;
+ return deviceFormat;
+}
+
bool isRaw(PixelFormat &pixFmt)
{
/*
@@ -74,11 +97,10 @@ double scoreFormat(double desired, double actual)
return score;
}
-V4L2DeviceFormat findBestMode(V4L2VideoDevice::Formats &formatsMap,
- const Size &req)
+V4L2SubdeviceFormat findBestMode(const SensorFormats &formatsMap, const Size &req)
{
double bestScore = std::numeric_limits<double>::max(), score;
- V4L2DeviceFormat bestMode;
+ V4L2SubdeviceFormat bestMode;
#define PENALTY_AR 1500.0
#define PENALTY_8BIT 2000.0
@@ -88,18 +110,17 @@ V4L2DeviceFormat findBestMode(V4L2VideoDevice::Formats &formatsMap,
/* Calculate the closest/best mode from the user requested size. */
for (const auto &iter : formatsMap) {
- V4L2PixelFormat v4l2Format = iter.first;
- const PixelFormatInfo &info = PixelFormatInfo::info(v4l2Format);
+ const unsigned int mbus_code = iter.first;
+ const PixelFormat format = BayerFormat::fromMbusCode(mbus_code).toPixelFormat();
+ const PixelFormatInfo &info = PixelFormatInfo::info(format);
- for (const SizeRange &sz : iter.second) {
- double modeWidth = sz.contains(req) ? req.width : sz.max.width;
- double modeHeight = sz.contains(req) ? req.height : sz.max.height;
+ for (const Size &sz : iter.second) {
double reqAr = static_cast<double>(req.width) / req.height;
- double modeAr = modeWidth / modeHeight;
+ double modeAr = sz.width / sz.height;
/* Score the dimensions for closeness. */
- score = scoreFormat(req.width, modeWidth);
- score += scoreFormat(req.height, modeHeight);
+ score = scoreFormat(req.width, sz.width);
+ score += scoreFormat(req.height, sz.height);
score += PENALTY_AR * scoreFormat(reqAr, modeAr);
/* Add any penalties... this is not an exact science! */
@@ -115,12 +136,12 @@ V4L2DeviceFormat findBestMode(V4L2VideoDevice::Formats &formatsMap,
if (score <= bestScore) {
bestScore = score;
- bestMode.fourcc = v4l2Format;
- bestMode.size = Size(modeWidth, modeHeight);
+ bestMode.mbus_code = mbus_code;
+ bestMode.size = sz;
}
- LOG(RPI, Info) << "Mode: " << modeWidth << "x" << modeHeight
- << " fmt " << v4l2Format.toString()
+ LOG(RPI, Info) << "Mode: " << sz.width << "x" << sz.height
+ << " fmt " << format.toString()
<< " Score: " << score
<< " (best " << bestScore << ")";
}
@@ -170,6 +191,7 @@ public:
std::unique_ptr<ipa::RPi::IPAProxyRPi> ipa_;
std::unique_ptr<CameraSensor> sensor_;
+ SensorFormats sensorFormats_;
/* Array of Unicam and ISP device streams and associated buffers/streams. */
RPi::Device<Unicam, 2> unicam_;
RPi::Device<Isp, 4> isp_;
@@ -352,9 +374,9 @@ CameraConfiguration::Status RPiCameraConfiguration::validate()
* Calculate the best sensor mode we can use based on
* the user request.
*/
- V4L2VideoDevice::Formats fmts = data_->unicam_[Unicam::Image].dev()->formats();
- V4L2DeviceFormat sensorFormat = findBestMode(fmts, cfg.size);
- int ret = data_->unicam_[Unicam::Image].dev()->tryFormat(&sensorFormat);
+ V4L2SubdeviceFormat sensorFormat = findBestMode(data_->sensorFormats_, cfg.size);
+ V4L2DeviceFormat unicamFormat = toV4L2DeviceFormat(sensorFormat);
+ int ret = data_->unicam_[Unicam::Image].dev()->tryFormat(&unicamFormat);
if (ret)
return Invalid;
@@ -366,7 +388,7 @@ CameraConfiguration::Status RPiCameraConfiguration::validate()
* fetch the "native" (i.e. untransformed) Bayer order,
* because the sensor may currently be flipped!
*/
- V4L2PixelFormat fourcc = sensorFormat.fourcc;
+ V4L2PixelFormat fourcc = unicamFormat.fourcc;
if (data_->flipsAlterBayerOrder_) {
BayerFormat bayer = BayerFormat::fromV4L2PixelFormat(fourcc);
bayer.order = data_->nativeBayerOrder_;
@@ -375,15 +397,15 @@ CameraConfiguration::Status RPiCameraConfiguration::validate()
}
PixelFormat sensorPixFormat = fourcc.toPixelFormat();
- if (cfg.size != sensorFormat.size ||
+ if (cfg.size != unicamFormat.size ||
cfg.pixelFormat != sensorPixFormat) {
- cfg.size = sensorFormat.size;
+ cfg.size = unicamFormat.size;
cfg.pixelFormat = sensorPixFormat;
status = Adjusted;
}
- cfg.stride = sensorFormat.planes[0].bpl;
- cfg.frameSize = sensorFormat.planes[0].size;
+ cfg.stride = unicamFormat.planes[0].bpl;
+ cfg.frameSize = unicamFormat.planes[0].size;
rawCount++;
} else {
@@ -472,7 +494,8 @@ CameraConfiguration *PipelineHandlerRPi::generateConfiguration(Camera *camera,
{
RPiCameraData *data = cameraData(camera);
CameraConfiguration *config = new RPiCameraConfiguration(data);
- V4L2DeviceFormat sensorFormat;
+ V4L2SubdeviceFormat sensorFormat;
+ V4L2DeviceFormat unicamFormat;
unsigned int bufferCount;
PixelFormat pixelFormat;
V4L2VideoDevice::Formats fmts;
@@ -487,9 +510,9 @@ CameraConfiguration *PipelineHandlerRPi::generateConfiguration(Camera *camera,
switch (role) {
case StreamRole::Raw:
size = data->sensor_->resolution();
- fmts = data->unicam_[Unicam::Image].dev()->formats();
- sensorFormat = findBestMode(fmts, size);
- pixelFormat = sensorFormat.fourcc.toPixelFormat();
+ sensorFormat = findBestMode(data->sensorFormats_, size);
+ unicamFormat = toV4L2DeviceFormat(sensorFormat);
+ pixelFormat = BayerFormat::fromMbusCode(sensorFormat.mbus_code).toPixelFormat();
ASSERT(pixelFormat.isValid());
bufferCount = 2;
rawCount++;
@@ -599,32 +622,30 @@ int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config)
}
/* First calculate the best sensor mode we can use based on the user request. */
- V4L2VideoDevice::Formats fmts = data->unicam_[Unicam::Image].dev()->formats();
- V4L2DeviceFormat sensorFormat = findBestMode(fmts, rawStream ? sensorSize : maxSize);
+ V4L2SubdeviceFormat sensorFormat = findBestMode(data->sensorFormats_, rawStream ? sensorSize : maxSize);
+ V4L2DeviceFormat unicamFormat = toV4L2DeviceFormat(sensorFormat);
+
+ ret = data->sensor_->setFormat(&sensorFormat);
+ if (ret)
+ return ret;
/*
* Unicam image output format. The ISP input format gets set at start,
* just in case we have swapped bayer orders due to flips.
*/
- ret = data->unicam_[Unicam::Image].dev()->setFormat(&sensorFormat);
+ ret = data->unicam_[Unicam::Image].dev()->setFormat(&unicamFormat);
if (ret)
return ret;
- /*
- * The control ranges associated with the sensor may need updating
- * after a format change.
- * \todo Use the CameraSensor::setFormat API instead.
- */
- data->sensor_->updateControlInfo();
-
LOG(RPI, Info) << "Sensor: " << camera->id()
- << " - Selected mode: " << sensorFormat.toString();
+ << " - Selected sensor mode: " << sensorFormat.toString()
+ << " - Selected unicam mode: " << unicamFormat.toString();
/*
* This format may be reset on start() if the bayer order has changed
* because of flips in the sensor.
*/
- ret = data->isp_[Isp::Input].dev()->setFormat(&sensorFormat);
+ ret = data->isp_[Isp::Input].dev()->setFormat(&unicamFormat);
if (ret)
return ret;
@@ -746,8 +767,8 @@ int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config)
data->ispMinCropSize_ = testCrop.size();
/* Adjust aspect ratio by providing crops on the input image. */
- Size size = sensorFormat.size.boundedToAspectRatio(maxSize);
- Rectangle crop = size.centeredTo(Rectangle(sensorFormat.size).center());
+ Size size = unicamFormat.size.boundedToAspectRatio(maxSize);
+ Rectangle crop = size.centeredTo(Rectangle(unicamFormat.size).center());
data->ispCrop_ = crop;
data->isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &crop);
@@ -761,8 +782,11 @@ int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config)
* supports it.
*/
if (data->sensorMetadata_) {
- format = {};
+ V4L2SubdeviceFormat embeddedFormat;
+
+ data->sensor_->device()->getFormat(1, &embeddedFormat);
format.fourcc = V4L2PixelFormat(V4L2_META_FMT_SENSOR_DATA);
+ format.planes[0].size = embeddedFormat.size.width * embeddedFormat.size.height;
LOG(RPI, Debug) << "Setting embedded data format.";
ret = data->unicam_[Unicam::Embedded].dev()->setFormat(&format);
@@ -847,9 +871,14 @@ int PipelineHandlerRPi::start(Camera *camera, const ControlList *controls)
* IPA configure may have changed the sensor flips - hence the bayer
* order. Get the sensor format and set the ISP input now.
*/
- V4L2DeviceFormat sensorFormat;
- data->unicam_[Unicam::Image].dev()->getFormat(&sensorFormat);
- ret = data->isp_[Isp::Input].dev()->setFormat(&sensorFormat);
+ V4L2SubdeviceFormat sensorFormat;
+ data->sensor_->device()->getFormat(0, &sensorFormat);
+
+ V4L2DeviceFormat ispFormat;
+ ispFormat.fourcc = BayerFormat::fromMbusCode(sensorFormat.mbus_code).toV4L2PixelFormat();
+ ispFormat.size = sensorFormat.size;
+
+ ret = data->isp_[Isp::Input].dev()->setFormat(&ispFormat);
if (ret) {
stop(camera);
return ret;
@@ -1004,6 +1033,8 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator)
if (data->sensor_->init())
return false;
+ data->sensorFormats_ = populateSensorFormats(data->sensor_);
+
ipa::RPi::SensorConfig sensorConfig;
if (data->loadIPA(&sensorConfig)) {
LOG(RPI, Error) << "Failed to load a suitable IPA library";
@@ -1030,6 +1061,11 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator)
return false;
}
+ if (!(data->unicam_[Unicam::Image].dev()->caps().device_caps() & V4L2_CAP_IO_MC)) {
+ LOG(RPI, Error) << "Unicam driver did not advertise V4L2_CAP_IO_MC, please update your kernel!";
+ return false;
+ }
+
/*
* Setup our delayed control writer with the sensor default
* gain and exposure delays. Mark VBLANK for priority write.
@@ -1039,7 +1075,7 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator)
{ V4L2_CID_EXPOSURE, { sensorConfig.exposureDelay, false } },
{ V4L2_CID_VBLANK, { sensorConfig.vblankDelay, true } }
};
- data->delayedCtrls_ = std::make_unique<DelayedControls>(data->unicam_[Unicam::Image].dev(), params);
+ data->delayedCtrls_ = std::make_unique<DelayedControls>(data->sensor_->device(), params);
data->sensorMetadata_ = sensorConfig.sensorMetadata;
/* Register the controls that the Raspberry Pi IPA can handle. */
@@ -1066,15 +1102,14 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator)
* As part of answering the final question, we reset the camera to
* no transform at all.
*/
-
- V4L2VideoDevice *dev = data->unicam_[Unicam::Image].dev();
- const struct v4l2_query_ext_ctrl *hflipCtrl = dev->controlInfo(V4L2_CID_HFLIP);
+ const V4L2Subdevice *sensor = data->sensor_->device();
+ const struct v4l2_query_ext_ctrl *hflipCtrl = sensor->controlInfo(V4L2_CID_HFLIP);
if (hflipCtrl) {
/* We assume it will support vflips too... */
data->supportsFlips_ = true;
data->flipsAlterBayerOrder_ = hflipCtrl->flags & V4L2_CTRL_FLAG_MODIFY_LAYOUT;
- ControlList ctrls(dev->controls());
+ ControlList ctrls(data->sensor_->controls());
ctrls.set(V4L2_CID_HFLIP, 0);
ctrls.set(V4L2_CID_VFLIP, 0);
data->setSensorControls(ctrls);
@@ -1082,9 +1117,8 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator)
/* Look for a valid Bayer format. */
BayerFormat bayerFormat;
- for (const auto &iter : dev->formats()) {
- V4L2PixelFormat v4l2Format = iter.first;
- bayerFormat = BayerFormat::fromV4L2PixelFormat(v4l2Format);
+ for (const auto &iter : data->sensorFormats_) {
+ bayerFormat = BayerFormat::fromMbusCode(iter.first);
if (bayerFormat.isValid())
break;
}
@@ -1271,7 +1305,7 @@ int RPiCameraData::configureIPA(const CameraConfiguration *config)
}
}
- entityControls.emplace(0, unicam_[Unicam::Image].dev()->controls());
+ entityControls.emplace(0, sensor_->controls());
entityControls.emplace(1, isp_[Isp::Input].dev()->controls());
/* Always send the user transform to the IPA. */
@@ -1406,10 +1440,10 @@ void RPiCameraData::setSensorControls(ControlList &controls)
ControlList vblank_ctrl;
vblank_ctrl.set(V4L2_CID_VBLANK, controls.get(V4L2_CID_VBLANK));
- unicam_[Unicam::Image].dev()->setControls(&vblank_ctrl);
+ sensor_->setControls(&vblank_ctrl);
}
- unicam_[Unicam::Image].dev()->setControls(&controls);
+ sensor_->setControls(&controls);
}
void RPiCameraData::unicamBufferDequeue(FrameBuffer *buffer)
--
2.25.1
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