440 lines
9.8 KiB
C
440 lines
9.8 KiB
C
/*
|
|
* Copyright (c) 2019, Linaro Limited
|
|
*
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*/
|
|
|
|
#define DT_DRV_COMPAT nxp_imx_csi
|
|
|
|
#include <zephyr.h>
|
|
|
|
#include <fsl_csi.h>
|
|
|
|
#ifdef CONFIG_HAS_MCUX_CACHE
|
|
#include <fsl_cache.h>
|
|
#endif
|
|
|
|
#include <drivers/video.h>
|
|
|
|
struct video_mcux_csi_config {
|
|
CSI_Type *base;
|
|
char *sensor_label;
|
|
};
|
|
|
|
struct video_mcux_csi_data {
|
|
const struct device *dev;
|
|
const struct device *sensor_dev;
|
|
csi_config_t csi_config;
|
|
csi_handle_t csi_handle;
|
|
struct k_fifo fifo_in;
|
|
struct k_fifo fifo_out;
|
|
uint32_t pixelformat;
|
|
struct k_poll_signal *signal;
|
|
};
|
|
|
|
static inline unsigned int video_pix_fmt_bpp(uint32_t pixelformat)
|
|
{
|
|
switch (pixelformat) {
|
|
case VIDEO_PIX_FMT_BGGR8:
|
|
case VIDEO_PIX_FMT_GBRG8:
|
|
case VIDEO_PIX_FMT_GRBG8:
|
|
case VIDEO_PIX_FMT_RGGB8:
|
|
return 1;
|
|
case VIDEO_PIX_FMT_RGB565:
|
|
return 2;
|
|
default:
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
static void __frame_done_cb(CSI_Type *base, csi_handle_t *handle,
|
|
status_t status, void *user_data)
|
|
{
|
|
struct video_mcux_csi_data *data = user_data;
|
|
const struct device *dev = data->dev;
|
|
const struct video_mcux_csi_config *config = dev->config;
|
|
enum video_signal_result result = VIDEO_BUF_DONE;
|
|
struct video_buffer *vbuf, *vbuf_first = NULL;
|
|
uint32_t buffer_addr;
|
|
|
|
/* IRQ context */
|
|
|
|
if (status != kStatus_CSI_FrameDone) {
|
|
return;
|
|
}
|
|
|
|
status = CSI_TransferGetFullBuffer(config->base, &(data->csi_handle),
|
|
&buffer_addr);
|
|
if (status != kStatus_Success) {
|
|
result = VIDEO_BUF_ERROR;
|
|
goto done;
|
|
}
|
|
|
|
/* Get matching vbuf by addr */
|
|
while ((vbuf = k_fifo_get(&data->fifo_in, K_NO_WAIT))) {
|
|
if ((uint32_t)vbuf->buffer == buffer_addr) {
|
|
break;
|
|
}
|
|
|
|
/* should never happen on ordered stream, except on capture
|
|
* start/restart, requeue the frame and continue looking for
|
|
* the right buffer.
|
|
*/
|
|
k_fifo_put(&data->fifo_in, vbuf);
|
|
|
|
/* prevent infinite loop */
|
|
if (vbuf_first == NULL) {
|
|
vbuf_first = vbuf;
|
|
} else if (vbuf_first == vbuf) {
|
|
vbuf = NULL;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (vbuf == NULL) {
|
|
result = VIDEO_BUF_ERROR;
|
|
goto done;
|
|
}
|
|
|
|
vbuf->timestamp = k_uptime_get_32();
|
|
|
|
#ifdef CONFIG_HAS_MCUX_CACHE
|
|
DCACHE_InvalidateByRange(buffer_addr, vbuf->bytesused);
|
|
#endif
|
|
|
|
k_fifo_put(&data->fifo_out, vbuf);
|
|
|
|
done:
|
|
/* Trigger Event */
|
|
if (IS_ENABLED(CONFIG_POLL) && data->signal) {
|
|
k_poll_signal_raise(data->signal, result);
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
static int video_mcux_csi_set_fmt(const struct device *dev,
|
|
enum video_endpoint_id ep,
|
|
struct video_format *fmt)
|
|
{
|
|
const struct video_mcux_csi_config *config = dev->config;
|
|
struct video_mcux_csi_data *data = dev->data;
|
|
unsigned int bpp = video_pix_fmt_bpp(fmt->pixelformat);
|
|
status_t ret;
|
|
|
|
if (!bpp || ep != VIDEO_EP_OUT) {
|
|
return -EINVAL;
|
|
}
|
|
|
|
data->pixelformat = fmt->pixelformat;
|
|
data->csi_config.bytesPerPixel = bpp;
|
|
data->csi_config.linePitch_Bytes = fmt->pitch;
|
|
data->csi_config.polarityFlags = kCSI_HsyncActiveHigh | kCSI_DataLatchOnRisingEdge;
|
|
data->csi_config.workMode = kCSI_GatedClockMode; /* use VSYNC, HSYNC, and PIXCLK */
|
|
data->csi_config.dataBus = kCSI_DataBus8Bit;
|
|
data->csi_config.useExtVsync = true;
|
|
data->csi_config.height = fmt->height;
|
|
data->csi_config.width = fmt->width;
|
|
|
|
ret = CSI_Init(config->base, &data->csi_config);
|
|
if (ret != kStatus_Success) {
|
|
return -EIO;
|
|
}
|
|
|
|
ret = CSI_TransferCreateHandle(config->base, &data->csi_handle,
|
|
__frame_done_cb, data);
|
|
if (ret != kStatus_Success) {
|
|
return -EIO;
|
|
}
|
|
|
|
if (data->sensor_dev && video_set_format(data->sensor_dev, ep, fmt)) {
|
|
return -EIO;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int video_mcux_csi_get_fmt(const struct device *dev,
|
|
enum video_endpoint_id ep,
|
|
struct video_format *fmt)
|
|
{
|
|
struct video_mcux_csi_data *data = dev->data;
|
|
|
|
if (fmt == NULL || ep != VIDEO_EP_OUT) {
|
|
return -EINVAL;
|
|
}
|
|
|
|
if (data->sensor_dev && !video_get_format(data->sensor_dev, ep, fmt)) {
|
|
/* align CSI with sensor fmt */
|
|
return video_mcux_csi_set_fmt(dev, ep, fmt);
|
|
}
|
|
|
|
fmt->pixelformat = data->pixelformat;
|
|
fmt->height = data->csi_config.height;
|
|
fmt->width = data->csi_config.width;
|
|
fmt->pitch = data->csi_config.linePitch_Bytes;
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int video_mcux_csi_stream_start(const struct device *dev)
|
|
{
|
|
const struct video_mcux_csi_config *config = dev->config;
|
|
struct video_mcux_csi_data *data = dev->data;
|
|
status_t ret;
|
|
|
|
ret = CSI_TransferStart(config->base, &data->csi_handle);
|
|
if (ret != kStatus_Success) {
|
|
return -EIO;
|
|
}
|
|
|
|
if (data->sensor_dev && video_stream_start(data->sensor_dev)) {
|
|
return -EIO;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int video_mcux_csi_stream_stop(const struct device *dev)
|
|
{
|
|
const struct video_mcux_csi_config *config = dev->config;
|
|
struct video_mcux_csi_data *data = dev->data;
|
|
status_t ret;
|
|
|
|
if (data->sensor_dev && video_stream_stop(data->sensor_dev)) {
|
|
return -EIO;
|
|
}
|
|
|
|
ret = CSI_TransferStop(config->base, &data->csi_handle);
|
|
if (ret != kStatus_Success) {
|
|
return -EIO;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
|
|
static int video_mcux_csi_flush(const struct device *dev,
|
|
enum video_endpoint_id ep,
|
|
bool cancel)
|
|
{
|
|
const struct video_mcux_csi_config *config = dev->config;
|
|
struct video_mcux_csi_data *data = dev->data;
|
|
struct video_buf *vbuf;
|
|
uint32_t buffer_addr;
|
|
status_t ret;
|
|
|
|
if (!cancel) {
|
|
/* wait for all buffer to be processed */
|
|
do {
|
|
k_sleep(K_MSEC(1));
|
|
} while (!k_fifo_is_empty(&data->fifo_in));
|
|
} else {
|
|
/* Flush driver ouput queue */
|
|
do {
|
|
ret = CSI_TransferGetFullBuffer(config->base,
|
|
&(data->csi_handle),
|
|
&buffer_addr);
|
|
} while (ret == kStatus_Success);
|
|
|
|
while ((vbuf = k_fifo_get(&data->fifo_in, K_NO_WAIT))) {
|
|
k_fifo_put(&data->fifo_out, vbuf);
|
|
if (IS_ENABLED(CONFIG_POLL) && data->signal) {
|
|
k_poll_signal_raise(data->signal,
|
|
VIDEO_BUF_ABORTED);
|
|
}
|
|
}
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int video_mcux_csi_enqueue(const struct device *dev,
|
|
enum video_endpoint_id ep,
|
|
struct video_buffer *vbuf)
|
|
{
|
|
const struct video_mcux_csi_config *config = dev->config;
|
|
struct video_mcux_csi_data *data = dev->data;
|
|
unsigned int to_read;
|
|
status_t ret;
|
|
|
|
if (ep != VIDEO_EP_OUT) {
|
|
return -EINVAL;
|
|
}
|
|
|
|
to_read = data->csi_config.linePitch_Bytes * data->csi_config.height;
|
|
vbuf->bytesused = to_read;
|
|
|
|
ret = CSI_TransferSubmitEmptyBuffer(config->base, &data->csi_handle,
|
|
(uint32_t)vbuf->buffer);
|
|
if (ret != kStatus_Success) {
|
|
return -EIO;
|
|
}
|
|
|
|
k_fifo_put(&data->fifo_in, vbuf);
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int video_mcux_csi_dequeue(const struct device *dev,
|
|
enum video_endpoint_id ep,
|
|
struct video_buffer **vbuf,
|
|
k_timeout_t timeout)
|
|
{
|
|
struct video_mcux_csi_data *data = dev->data;
|
|
|
|
if (ep != VIDEO_EP_OUT) {
|
|
return -EINVAL;
|
|
}
|
|
|
|
*vbuf = k_fifo_get(&data->fifo_out, timeout);
|
|
if (*vbuf == NULL) {
|
|
return -EAGAIN;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static inline int video_mcux_csi_set_ctrl(const struct device *dev,
|
|
unsigned int cid,
|
|
void *value)
|
|
{
|
|
struct video_mcux_csi_data *data = dev->data;
|
|
int ret = -ENOTSUP;
|
|
|
|
/* Forward to sensor dev if any */
|
|
if (data->sensor_dev) {
|
|
ret = video_set_ctrl(data->sensor_dev, cid, value);
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
static inline int video_mcux_csi_get_ctrl(const struct device *dev,
|
|
unsigned int cid,
|
|
void *value)
|
|
{
|
|
struct video_mcux_csi_data *data = dev->data;
|
|
int ret = -ENOTSUP;
|
|
|
|
/* Forward to sensor dev if any */
|
|
if (data->sensor_dev) {
|
|
ret = video_get_ctrl(data->sensor_dev, cid, value);
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
static int video_mcux_csi_get_caps(const struct device *dev,
|
|
enum video_endpoint_id ep,
|
|
struct video_caps *caps)
|
|
{
|
|
struct video_mcux_csi_data *data = dev->data;
|
|
int err = -ENODEV;
|
|
|
|
if (ep != VIDEO_EP_OUT) {
|
|
return -EINVAL;
|
|
}
|
|
|
|
/* Just forward to sensor dev for now */
|
|
if (data->sensor_dev) {
|
|
err = video_get_caps(data->sensor_dev, ep, caps);
|
|
}
|
|
|
|
/* NXP MCUX CSI request at least 2 buffer before starting */
|
|
caps->min_vbuf_count = 2;
|
|
|
|
/* no sensor dev */
|
|
return err;
|
|
}
|
|
|
|
extern void CSI_DriverIRQHandler(void);
|
|
static void video_mcux_csi_isr(const void *p)
|
|
{
|
|
ARG_UNUSED(p);
|
|
CSI_DriverIRQHandler();
|
|
}
|
|
|
|
static int video_mcux_csi_init(const struct device *dev)
|
|
{
|
|
const struct video_mcux_csi_config *config = dev->config;
|
|
struct video_mcux_csi_data *data = dev->data;
|
|
|
|
k_fifo_init(&data->fifo_in);
|
|
k_fifo_init(&data->fifo_out);
|
|
|
|
CSI_GetDefaultConfig(&data->csi_config);
|
|
|
|
/* check if there is any sensor device (video ctrl device) */
|
|
if (config->sensor_label) {
|
|
data->sensor_dev = device_get_binding(config->sensor_label);
|
|
if (data->sensor_dev == NULL) {
|
|
return -ENODEV;
|
|
}
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
#ifdef CONFIG_POLL
|
|
static int video_mcux_csi_set_signal(const struct device *dev,
|
|
enum video_endpoint_id ep,
|
|
struct k_poll_signal *signal)
|
|
{
|
|
struct video_mcux_csi_data *data = dev->data;
|
|
|
|
if (data->signal && signal != NULL) {
|
|
return -EALREADY;
|
|
}
|
|
|
|
data->signal = signal;
|
|
|
|
return 0;
|
|
}
|
|
#endif
|
|
|
|
static const struct video_driver_api video_mcux_csi_driver_api = {
|
|
.set_format = video_mcux_csi_set_fmt,
|
|
.get_format = video_mcux_csi_get_fmt,
|
|
.stream_start = video_mcux_csi_stream_start,
|
|
.stream_stop = video_mcux_csi_stream_stop,
|
|
.flush = video_mcux_csi_flush,
|
|
.enqueue = video_mcux_csi_enqueue,
|
|
.dequeue = video_mcux_csi_dequeue,
|
|
.set_ctrl = video_mcux_csi_set_ctrl,
|
|
.get_ctrl = video_mcux_csi_get_ctrl,
|
|
.get_caps = video_mcux_csi_get_caps,
|
|
#ifdef CONFIG_POLL
|
|
.set_signal = video_mcux_csi_set_signal,
|
|
#endif
|
|
};
|
|
|
|
#if 1 /* Unique Instance */
|
|
static const struct video_mcux_csi_config video_mcux_csi_config_0 = {
|
|
.base = (CSI_Type *)DT_INST_REG_ADDR(0),
|
|
.sensor_label = DT_INST_PROP(0, sensor_label),
|
|
};
|
|
|
|
static struct video_mcux_csi_data video_mcux_csi_data_0;
|
|
|
|
static int video_mcux_csi_init_0(const struct device *dev)
|
|
{
|
|
struct video_mcux_csi_data *data = dev->data;
|
|
|
|
IRQ_CONNECT(DT_INST_IRQN(0), DT_INST_IRQ(0, priority),
|
|
video_mcux_csi_isr, NULL, 0);
|
|
|
|
irq_enable(DT_INST_IRQN(0));
|
|
|
|
data->dev = dev;
|
|
|
|
return video_mcux_csi_init(dev);
|
|
}
|
|
|
|
DEVICE_DT_INST_DEFINE(0, &video_mcux_csi_init_0,
|
|
device_pm_control_nop, &video_mcux_csi_data_0,
|
|
&video_mcux_csi_config_0,
|
|
POST_KERNEL, CONFIG_VIDEO_INIT_PRIORITY,
|
|
&video_mcux_csi_driver_api);
|
|
#endif
|