1 /*
2 * Copyright (c) 2019, Linaro Limited
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 #define DT_DRV_COMPAT nxp_imx_csi
8
9 #include <zephyr/kernel.h>
10
11 #include <fsl_csi.h>
12
13 #ifdef CONFIG_HAS_MCUX_CACHE
14 #include <fsl_cache.h>
15 #endif
16
17 #include <zephyr/drivers/video.h>
18 #include <zephyr/drivers/pinctrl.h>
19 #include <zephyr/irq.h>
20
21 struct video_mcux_csi_config {
22 CSI_Type *base;
23 const struct device *source_dev;
24 const struct pinctrl_dev_config *pincfg;
25 };
26
27 struct video_mcux_csi_data {
28 const struct device *dev;
29 csi_config_t csi_config;
30 csi_handle_t csi_handle;
31 struct k_fifo fifo_in;
32 struct k_fifo fifo_out;
33 struct k_poll_signal *signal;
34 };
35
video_pix_fmt_bpp(uint32_t pixelformat)36 static inline unsigned int video_pix_fmt_bpp(uint32_t pixelformat)
37 {
38 switch (pixelformat) {
39 case VIDEO_PIX_FMT_BGGR8:
40 case VIDEO_PIX_FMT_GBRG8:
41 case VIDEO_PIX_FMT_GRBG8:
42 case VIDEO_PIX_FMT_RGGB8:
43 return 1;
44 case VIDEO_PIX_FMT_RGB565:
45 case VIDEO_PIX_FMT_YUYV:
46 return 2;
47 case VIDEO_PIX_FMT_XRGB32:
48 case VIDEO_PIX_FMT_XYUV32:
49 return 4;
50 default:
51 return 0;
52 }
53 }
54
__frame_done_cb(CSI_Type * base,csi_handle_t * handle,status_t status,void * user_data)55 static void __frame_done_cb(CSI_Type *base, csi_handle_t *handle, status_t status, void *user_data)
56 {
57 struct video_mcux_csi_data *data = user_data;
58 const struct device *dev = data->dev;
59 const struct video_mcux_csi_config *config = dev->config;
60 enum video_signal_result result = VIDEO_BUF_DONE;
61 struct video_buffer *vbuf, *vbuf_first = NULL;
62 uint32_t buffer_addr;
63
64 /* IRQ context */
65
66 if (status != kStatus_CSI_FrameDone) {
67 return;
68 }
69
70 status = CSI_TransferGetFullBuffer(config->base, &(data->csi_handle), &buffer_addr);
71 if (status != kStatus_Success) {
72 result = VIDEO_BUF_ERROR;
73 goto done;
74 }
75
76 /* Get matching vbuf by addr */
77 while ((vbuf = k_fifo_get(&data->fifo_in, K_NO_WAIT))) {
78 if ((uint32_t)vbuf->buffer == buffer_addr) {
79 break;
80 }
81
82 /* should never happen on ordered stream, except on capture
83 * start/restart, requeue the frame and continue looking for
84 * the right buffer.
85 */
86 k_fifo_put(&data->fifo_in, vbuf);
87
88 /* prevent infinite loop */
89 if (vbuf_first == NULL) {
90 vbuf_first = vbuf;
91 } else if (vbuf_first == vbuf) {
92 vbuf = NULL;
93 break;
94 }
95 }
96
97 if (vbuf == NULL) {
98 result = VIDEO_BUF_ERROR;
99 goto done;
100 }
101
102 vbuf->timestamp = k_uptime_get_32();
103
104 #ifdef CONFIG_HAS_MCUX_CACHE
105 DCACHE_InvalidateByRange(buffer_addr, vbuf->bytesused);
106 #endif
107
108 k_fifo_put(&data->fifo_out, vbuf);
109
110 done:
111 /* Trigger Event */
112 if (IS_ENABLED(CONFIG_POLL) && data->signal) {
113 k_poll_signal_raise(data->signal, result);
114 }
115
116 return;
117 }
118
119 #if defined(CONFIG_VIDEO_MCUX_MIPI_CSI2RX)
120 K_HEAP_DEFINE(csi_heap, 1000);
121 static struct video_format_cap *fmts;
122 /*
123 * On i.MX RT11xx SoCs which have MIPI CSI-2 Rx, image data from the camera sensor after passing
124 * through the pipeline (MIPI CSI-2 Rx --> Video Mux --> CSI) will be implicitly converted to a
125 * 32-bits pixel format. For example, an input in RGB565 or YUYV (2-bytes format) will become a
126 * XRGB32 or XYUV32 (4-bytes format) respectively, at the output of the CSI.
127 */
video_pix_fmt_convert(struct video_format * fmt,bool isGetFmt)128 static inline void video_pix_fmt_convert(struct video_format *fmt, bool isGetFmt)
129 {
130 switch (fmt->pixelformat) {
131 case VIDEO_PIX_FMT_XRGB32:
132 fmt->pixelformat = isGetFmt ? VIDEO_PIX_FMT_XRGB32 : VIDEO_PIX_FMT_RGB565;
133 break;
134 case VIDEO_PIX_FMT_XYUV32:
135 fmt->pixelformat = isGetFmt ? VIDEO_PIX_FMT_XYUV32 : VIDEO_PIX_FMT_YUYV;
136 break;
137 case VIDEO_PIX_FMT_RGB565:
138 fmt->pixelformat = isGetFmt ? VIDEO_PIX_FMT_XRGB32 : VIDEO_PIX_FMT_RGB565;
139 break;
140 case VIDEO_PIX_FMT_YUYV:
141 fmt->pixelformat = isGetFmt ? VIDEO_PIX_FMT_XYUV32 : VIDEO_PIX_FMT_YUYV;
142 break;
143 }
144
145 fmt->pitch = fmt->width * video_pix_fmt_bpp(fmt->pixelformat);
146 }
147 #endif
148
video_mcux_csi_set_fmt(const struct device * dev,enum video_endpoint_id ep,struct video_format * fmt)149 static int video_mcux_csi_set_fmt(const struct device *dev, enum video_endpoint_id ep,
150 struct video_format *fmt)
151 {
152 const struct video_mcux_csi_config *config = dev->config;
153 struct video_mcux_csi_data *data = dev->data;
154 unsigned int bpp = video_pix_fmt_bpp(fmt->pixelformat);
155 status_t ret;
156 struct video_format format = *fmt;
157
158 if (!bpp || ep != VIDEO_EP_OUT) {
159 return -EINVAL;
160 }
161
162 data->csi_config.bytesPerPixel = bpp;
163 data->csi_config.linePitch_Bytes = fmt->pitch;
164 #if defined(CONFIG_VIDEO_MCUX_MIPI_CSI2RX)
165 if (fmt->pixelformat != VIDEO_PIX_FMT_XRGB32 && fmt->pixelformat != VIDEO_PIX_FMT_XYUV32) {
166 return -ENOTSUP;
167 }
168 video_pix_fmt_convert(&format, false);
169 data->csi_config.dataBus = kCSI_DataBus24Bit;
170 #else
171 data->csi_config.dataBus = kCSI_DataBus8Bit;
172 #endif
173 data->csi_config.polarityFlags = kCSI_HsyncActiveHigh | kCSI_DataLatchOnRisingEdge;
174 data->csi_config.workMode = kCSI_GatedClockMode; /* use VSYNC, HSYNC, and PIXCLK */
175 data->csi_config.useExtVsync = true;
176 data->csi_config.height = fmt->height;
177 data->csi_config.width = fmt->width;
178
179 ret = CSI_Init(config->base, &data->csi_config);
180 if (ret != kStatus_Success) {
181 return -EIO;
182 }
183
184 ret = CSI_TransferCreateHandle(config->base, &data->csi_handle, __frame_done_cb, data);
185 if (ret != kStatus_Success) {
186 return -EIO;
187 }
188
189 if (config->source_dev && video_set_format(config->source_dev, ep, &format)) {
190 return -EIO;
191 }
192
193 return 0;
194 }
195
video_mcux_csi_get_fmt(const struct device * dev,enum video_endpoint_id ep,struct video_format * fmt)196 static int video_mcux_csi_get_fmt(const struct device *dev, enum video_endpoint_id ep,
197 struct video_format *fmt)
198 {
199 const struct video_mcux_csi_config *config = dev->config;
200
201 if (fmt == NULL || ep != VIDEO_EP_OUT) {
202 return -EINVAL;
203 }
204
205 if (config->source_dev && !video_get_format(config->source_dev, ep, fmt)) {
206 #if defined(CONFIG_VIDEO_MCUX_MIPI_CSI2RX)
207 video_pix_fmt_convert(fmt, true);
208 #endif
209 /* align CSI with source fmt */
210 return video_mcux_csi_set_fmt(dev, ep, fmt);
211 }
212
213 return -EIO;
214 }
215
video_mcux_csi_stream_start(const struct device * dev)216 static int video_mcux_csi_stream_start(const struct device *dev)
217 {
218 const struct video_mcux_csi_config *config = dev->config;
219 struct video_mcux_csi_data *data = dev->data;
220 status_t ret;
221
222 ret = CSI_TransferStart(config->base, &data->csi_handle);
223 if (ret != kStatus_Success) {
224 return -EIO;
225 }
226
227 if (config->source_dev && video_stream_start(config->source_dev)) {
228 return -EIO;
229 }
230
231 return 0;
232 }
233
video_mcux_csi_stream_stop(const struct device * dev)234 static int video_mcux_csi_stream_stop(const struct device *dev)
235 {
236 const struct video_mcux_csi_config *config = dev->config;
237 struct video_mcux_csi_data *data = dev->data;
238 status_t ret;
239
240 if (config->source_dev && video_stream_stop(config->source_dev)) {
241 return -EIO;
242 }
243
244 ret = CSI_TransferStop(config->base, &data->csi_handle);
245 if (ret != kStatus_Success) {
246 return -EIO;
247 }
248
249 return 0;
250 }
251
video_mcux_csi_flush(const struct device * dev,enum video_endpoint_id ep,bool cancel)252 static int video_mcux_csi_flush(const struct device *dev, enum video_endpoint_id ep, bool cancel)
253 {
254 const struct video_mcux_csi_config *config = dev->config;
255 struct video_mcux_csi_data *data = dev->data;
256 struct video_buf *vbuf;
257 uint32_t buffer_addr;
258 status_t ret;
259
260 if (!cancel) {
261 /* wait for all buffer to be processed */
262 do {
263 k_sleep(K_MSEC(1));
264 } while (!k_fifo_is_empty(&data->fifo_in));
265 } else {
266 /* Flush driver output queue */
267 do {
268 ret = CSI_TransferGetFullBuffer(config->base, &(data->csi_handle),
269 &buffer_addr);
270 } while (ret == kStatus_Success);
271
272 while ((vbuf = k_fifo_get(&data->fifo_in, K_NO_WAIT))) {
273 k_fifo_put(&data->fifo_out, vbuf);
274 if (IS_ENABLED(CONFIG_POLL) && data->signal) {
275 k_poll_signal_raise(data->signal, VIDEO_BUF_ABORTED);
276 }
277 }
278 }
279
280 return 0;
281 }
282
video_mcux_csi_enqueue(const struct device * dev,enum video_endpoint_id ep,struct video_buffer * vbuf)283 static int video_mcux_csi_enqueue(const struct device *dev, enum video_endpoint_id ep,
284 struct video_buffer *vbuf)
285 {
286 const struct video_mcux_csi_config *config = dev->config;
287 struct video_mcux_csi_data *data = dev->data;
288 unsigned int to_read;
289 status_t ret;
290
291 if (ep != VIDEO_EP_OUT) {
292 return -EINVAL;
293 }
294
295 to_read = data->csi_config.linePitch_Bytes * data->csi_config.height;
296 vbuf->bytesused = to_read;
297
298 ret = CSI_TransferSubmitEmptyBuffer(config->base, &data->csi_handle,
299 (uint32_t)vbuf->buffer);
300 if (ret != kStatus_Success) {
301 return -EIO;
302 }
303
304 k_fifo_put(&data->fifo_in, vbuf);
305
306 return 0;
307 }
308
video_mcux_csi_dequeue(const struct device * dev,enum video_endpoint_id ep,struct video_buffer ** vbuf,k_timeout_t timeout)309 static int video_mcux_csi_dequeue(const struct device *dev, enum video_endpoint_id ep,
310 struct video_buffer **vbuf, k_timeout_t timeout)
311 {
312 struct video_mcux_csi_data *data = dev->data;
313
314 if (ep != VIDEO_EP_OUT) {
315 return -EINVAL;
316 }
317
318 *vbuf = k_fifo_get(&data->fifo_out, timeout);
319 if (*vbuf == NULL) {
320 return -EAGAIN;
321 }
322
323 return 0;
324 }
325
video_mcux_csi_set_ctrl(const struct device * dev,unsigned int cid,void * value)326 static inline int video_mcux_csi_set_ctrl(const struct device *dev, unsigned int cid, void *value)
327 {
328 const struct video_mcux_csi_config *config = dev->config;
329 int ret = -ENOTSUP;
330
331 /* Forward to source dev if any */
332 if (config->source_dev) {
333 ret = video_set_ctrl(config->source_dev, cid, value);
334 }
335
336 return ret;
337 }
338
video_mcux_csi_get_ctrl(const struct device * dev,unsigned int cid,void * value)339 static inline int video_mcux_csi_get_ctrl(const struct device *dev, unsigned int cid, void *value)
340 {
341 const struct video_mcux_csi_config *config = dev->config;
342 int ret = -ENOTSUP;
343
344 /* Forward to source dev if any */
345 if (config->source_dev) {
346 ret = video_get_ctrl(config->source_dev, cid, value);
347 }
348
349 return ret;
350 }
351
video_mcux_csi_get_caps(const struct device * dev,enum video_endpoint_id ep,struct video_caps * caps)352 static int video_mcux_csi_get_caps(const struct device *dev, enum video_endpoint_id ep,
353 struct video_caps *caps)
354 {
355 const struct video_mcux_csi_config *config = dev->config;
356 int err = -ENODEV;
357
358 if (ep != VIDEO_EP_OUT) {
359 return -EINVAL;
360 }
361
362 /* Just forward to source dev for now */
363 if (config->source_dev) {
364 err = video_get_caps(config->source_dev, ep, caps);
365 #if defined(CONFIG_VIDEO_MCUX_MIPI_CSI2RX)
366 /*
367 * On i.MX RT11xx SoCs which have MIPI CSI-2 Rx, image data from the camera sensor
368 * after passing through the pipeline (MIPI CSI-2 Rx --> Video Mux --> CSI) will be
369 * implicitly converted to a 32-bits pixel format. For example, an input in RGB565
370 * or YUYV (2-bytes format) will become an XRGB32 or XYUV32 (4-bytes format)
371 * respectively, at the output of the CSI. So, we change the pixel formats of the
372 * source caps to reflect this.
373 */
374 int ind = 0;
375
376 while (caps->format_caps[ind].pixelformat) {
377 ind++;
378 }
379 k_heap_free(&csi_heap, fmts);
380 fmts = k_heap_alloc(&csi_heap, (ind + 1) * sizeof(struct video_format_cap),
381 K_FOREVER);
382
383 for (int i = 0; i <= ind; i++) {
384 memcpy(&fmts[i], &caps->format_caps[i], sizeof(fmts[i]));
385 if (fmts[i].pixelformat == VIDEO_PIX_FMT_RGB565) {
386 fmts[i].pixelformat = VIDEO_PIX_FMT_XRGB32;
387 } else if (fmts[i].pixelformat == VIDEO_PIX_FMT_YUYV) {
388 fmts[i].pixelformat = VIDEO_PIX_FMT_XYUV32;
389 }
390 }
391 caps->format_caps = fmts;
392 #endif
393 }
394
395 /* NXP MCUX CSI request at least 2 buffer before starting */
396 caps->min_vbuf_count = 2;
397
398 /* no source dev */
399 return err;
400 }
401
402 extern void CSI_DriverIRQHandler(void);
video_mcux_csi_isr(const void * p)403 static void video_mcux_csi_isr(const void *p)
404 {
405 ARG_UNUSED(p);
406 CSI_DriverIRQHandler();
407 }
408
video_mcux_csi_init(const struct device * dev)409 static int video_mcux_csi_init(const struct device *dev)
410 {
411 const struct video_mcux_csi_config *config = dev->config;
412 struct video_mcux_csi_data *data = dev->data;
413 int err;
414
415 k_fifo_init(&data->fifo_in);
416 k_fifo_init(&data->fifo_out);
417
418 CSI_GetDefaultConfig(&data->csi_config);
419
420 /* check if there is any source device (video ctrl device)
421 * the device is not yet initialized so we only check if it exists
422 */
423 if (config->source_dev == NULL) {
424 return -ENODEV;
425 }
426
427 err = pinctrl_apply_state(config->pincfg, PINCTRL_STATE_DEFAULT);
428 if (err) {
429 return err;
430 }
431
432 return 0;
433 }
434
435 #ifdef CONFIG_POLL
video_mcux_csi_set_signal(const struct device * dev,enum video_endpoint_id ep,struct k_poll_signal * signal)436 static int video_mcux_csi_set_signal(const struct device *dev, enum video_endpoint_id ep,
437 struct k_poll_signal *signal)
438 {
439 struct video_mcux_csi_data *data = dev->data;
440
441 if (data->signal && signal != NULL) {
442 return -EALREADY;
443 }
444
445 data->signal = signal;
446
447 return 0;
448 }
449 #endif
450
451 static const struct video_driver_api video_mcux_csi_driver_api = {
452 .set_format = video_mcux_csi_set_fmt,
453 .get_format = video_mcux_csi_get_fmt,
454 .stream_start = video_mcux_csi_stream_start,
455 .stream_stop = video_mcux_csi_stream_stop,
456 .flush = video_mcux_csi_flush,
457 .enqueue = video_mcux_csi_enqueue,
458 .dequeue = video_mcux_csi_dequeue,
459 .set_ctrl = video_mcux_csi_set_ctrl,
460 .get_ctrl = video_mcux_csi_get_ctrl,
461 .get_caps = video_mcux_csi_get_caps,
462 #ifdef CONFIG_POLL
463 .set_signal = video_mcux_csi_set_signal,
464 #endif
465 };
466
467 #if 1 /* Unique Instance */
468 PINCTRL_DT_INST_DEFINE(0);
469
470 static const struct video_mcux_csi_config video_mcux_csi_config_0 = {
471 .base = (CSI_Type *)DT_INST_REG_ADDR(0),
472 .source_dev = DEVICE_DT_GET(DT_INST_PHANDLE(0, source)),
473 .pincfg = PINCTRL_DT_INST_DEV_CONFIG_GET(0),
474 };
475
476 static struct video_mcux_csi_data video_mcux_csi_data_0;
477
video_mcux_csi_init_0(const struct device * dev)478 static int video_mcux_csi_init_0(const struct device *dev)
479 {
480 struct video_mcux_csi_data *data = dev->data;
481
482 IRQ_CONNECT(DT_INST_IRQN(0), DT_INST_IRQ(0, priority), video_mcux_csi_isr, NULL, 0);
483
484 irq_enable(DT_INST_IRQN(0));
485
486 data->dev = dev;
487
488 return video_mcux_csi_init(dev);
489 }
490
491 /* CONFIG_KERNEL_INIT_PRIORITY_DEVICE is used to make sure the
492 * CSI peripheral is initialized before the camera, which is
493 * necessary since the clock to the camera is provided by the
494 * CSI peripheral.
495 */
496 DEVICE_DT_INST_DEFINE(0, &video_mcux_csi_init_0, NULL, &video_mcux_csi_data_0,
497 &video_mcux_csi_config_0, POST_KERNEL, CONFIG_VIDEO_MCUX_CSI_INIT_PRIORITY,
498 &video_mcux_csi_driver_api);
499 #endif
500
