599 lines
22 KiB
ReStructuredText
599 lines
22 KiB
ReStructuredText
.. SPDX-License-Identifier: GPL-2.0
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.. include:: <isonum.txt>
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===============================================================
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Intel Image Processing Unit 3 (IPU3) Imaging Unit (ImgU) driver
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===============================================================
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Copyright |copy| 2018 Intel Corporation
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Introduction
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============
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This file documents the Intel IPU3 (3rd generation Image Processing Unit)
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Imaging Unit drivers located under drivers/media/pci/intel/ipu3 (CIO2) as well
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as under drivers/staging/media/ipu3 (ImgU).
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The Intel IPU3 found in certain Kaby Lake (as well as certain Sky Lake)
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platforms (U/Y processor lines) is made up of two parts namely the Imaging Unit
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(ImgU) and the CIO2 device (MIPI CSI2 receiver).
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The CIO2 device receives the raw Bayer data from the sensors and outputs the
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frames in a format that is specific to the IPU3 (for consumption by the IPU3
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ImgU). The CIO2 driver is available as drivers/media/pci/intel/ipu3/ipu3-cio2*
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and is enabled through the CONFIG_VIDEO_IPU3_CIO2 config option.
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The Imaging Unit (ImgU) is responsible for processing images captured
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by the IPU3 CIO2 device. The ImgU driver sources can be found under
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drivers/staging/media/ipu3 directory. The driver is enabled through the
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CONFIG_VIDEO_IPU3_IMGU config option.
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The two driver modules are named ipu3_csi2 and ipu3_imgu, respectively.
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The drivers has been tested on Kaby Lake platforms (U/Y processor lines).
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Both of the drivers implement V4L2, Media Controller and V4L2 sub-device
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interfaces. The IPU3 CIO2 driver supports camera sensors connected to the CIO2
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MIPI CSI-2 interfaces through V4L2 sub-device sensor drivers.
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CIO2
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====
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The CIO2 is represented as a single V4L2 subdev, which provides a V4L2 subdev
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interface to the user space. There is a video node for each CSI-2 receiver,
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with a single media controller interface for the entire device.
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The CIO2 contains four independent capture channel, each with its own MIPI CSI-2
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receiver and DMA engine. Each channel is modelled as a V4L2 sub-device exposed
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to userspace as a V4L2 sub-device node and has two pads:
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.. tabularcolumns:: |p{0.8cm}|p{4.0cm}|p{4.0cm}|
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.. flat-table::
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* - pad
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- direction
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- purpose
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* - 0
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- sink
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- MIPI CSI-2 input, connected to the sensor subdev
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* - 1
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- source
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- Raw video capture, connected to the V4L2 video interface
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The V4L2 video interfaces model the DMA engines. They are exposed to userspace
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as V4L2 video device nodes.
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Capturing frames in raw Bayer format
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------------------------------------
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CIO2 MIPI CSI2 receiver is used to capture frames (in packed raw Bayer format)
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from the raw sensors connected to the CSI2 ports. The captured frames are used
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as input to the ImgU driver.
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Image processing using IPU3 ImgU requires tools such as raw2pnm [#f1]_, and
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yavta [#f2]_ due to the following unique requirements and / or features specific
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to IPU3.
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-- The IPU3 CSI2 receiver outputs the captured frames from the sensor in packed
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raw Bayer format that is specific to IPU3.
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-- Multiple video nodes have to be operated simultaneously.
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Let us take the example of ov5670 sensor connected to CSI2 port 0, for a
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2592x1944 image capture.
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Using the media controller APIs, the ov5670 sensor is configured to send
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frames in packed raw Bayer format to IPU3 CSI2 receiver.
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.. code-block:: none
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# This example assumes /dev/media0 as the CIO2 media device
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export MDEV=/dev/media0
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# and that ov5670 sensor is connected to i2c bus 10 with address 0x36
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export SDEV=$(media-ctl -d $MDEV -e "ov5670 10-0036")
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# Establish the link for the media devices using media-ctl [#f3]_
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media-ctl -d $MDEV -l "ov5670:0 -> ipu3-csi2 0:0[1]"
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# Set the format for the media devices
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media-ctl -d $MDEV -V "ov5670:0 [fmt:SGRBG10/2592x1944]"
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media-ctl -d $MDEV -V "ipu3-csi2 0:0 [fmt:SGRBG10/2592x1944]"
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media-ctl -d $MDEV -V "ipu3-csi2 0:1 [fmt:SGRBG10/2592x1944]"
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Once the media pipeline is configured, desired sensor specific settings
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(such as exposure and gain settings) can be set, using the yavta tool.
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e.g
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.. code-block:: none
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yavta -w 0x009e0903 444 $SDEV
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yavta -w 0x009e0913 1024 $SDEV
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yavta -w 0x009e0911 2046 $SDEV
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Once the desired sensor settings are set, frame captures can be done as below.
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e.g
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.. code-block:: none
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yavta --data-prefix -u -c10 -n5 -I -s2592x1944 --file=/tmp/frame-#.bin \
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-f IPU3_SGRBG10 $(media-ctl -d $MDEV -e "ipu3-cio2 0")
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With the above command, 10 frames are captured at 2592x1944 resolution, with
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sGRBG10 format and output as IPU3_SGRBG10 format.
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The captured frames are available as /tmp/frame-#.bin files.
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ImgU
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====
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The ImgU is represented as two V4L2 subdevs, each of which provides a V4L2
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subdev interface to the user space.
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Each V4L2 subdev represents a pipe, which can support a maximum of 2 streams.
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This helps to support advanced camera features like Continuous View Finder (CVF)
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and Snapshot During Video(SDV).
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The ImgU contains two independent pipes, each modelled as a V4L2 sub-device
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exposed to userspace as a V4L2 sub-device node.
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Each pipe has two sink pads and three source pads for the following purpose:
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.. tabularcolumns:: |p{0.8cm}|p{4.0cm}|p{4.0cm}|
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.. flat-table::
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* - pad
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- direction
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- purpose
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* - 0
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- sink
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- Input raw video stream
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* - 1
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- sink
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- Processing parameters
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* - 2
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- source
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- Output processed video stream
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* - 3
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- source
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- Output viewfinder video stream
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* - 4
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- source
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- 3A statistics
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Each pad is connected to a corresponding V4L2 video interface, exposed to
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userspace as a V4L2 video device node.
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Device operation
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----------------
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With ImgU, once the input video node ("ipu3-imgu 0/1":0, in
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<entity>:<pad-number> format) is queued with buffer (in packed raw Bayer
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format), ImgU starts processing the buffer and produces the video output in YUV
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format and statistics output on respective output nodes. The driver is expected
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to have buffers ready for all of parameter, output and statistics nodes, when
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input video node is queued with buffer.
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At a minimum, all of input, main output, 3A statistics and viewfinder
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video nodes should be enabled for IPU3 to start image processing.
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Each ImgU V4L2 subdev has the following set of video nodes.
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input, output and viewfinder video nodes
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----------------------------------------
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The frames (in packed raw Bayer format specific to the IPU3) received by the
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input video node is processed by the IPU3 Imaging Unit and are output to 2 video
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nodes, with each targeting a different purpose (main output and viewfinder
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output).
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Details onand the Bayer format specific to the IPU3 can be found in
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:ref:`v4l2-pix-fmt-ipu3-sbggr10`.
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The driver supports V4L2 Video Capture Interface as defined at :ref:`devices`.
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Only the multi-planar API is supported. More details can be found at
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:ref:`planar-apis`.
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Parameters video node
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---------------------
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The parameters video node receives the ImgU algorithm parameters that are used
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to configure how the ImgU algorithms process the image.
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Details on processing parameters specific to the IPU3 can be found in
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:ref:`v4l2-meta-fmt-params`.
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3A statistics video node
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------------------------
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3A statistics video node is used by the ImgU driver to output the 3A (auto
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focus, auto exposure and auto white balance) statistics for the frames that are
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being processed by the ImgU to user space applications. User space applications
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can use this statistics data to compute the desired algorithm parameters for
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the ImgU.
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Configuring the Intel IPU3
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==========================
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The IPU3 ImgU pipelines can be configured using the Media Controller, defined at
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:ref:`media_controller`.
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Running mode and firmware binary selection
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------------------------------------------
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ImgU works based on firmware, currently the ImgU firmware support run 2 pipes
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in time-sharing with single input frame data. Each pipe can run at certain mode
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- "VIDEO" or "STILL", "VIDEO" mode is commonly used for video frames capture,
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and "STILL" is used for still frame capture. However, you can also select
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"VIDEO" to capture still frames if you want to capture images with less system
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load and power. For "STILL" mode, ImgU will try to use smaller BDS factor and
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output larger bayer frame for further YUV processing than "VIDEO" mode to get
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high quality images. Besides, "STILL" mode need XNR3 to do noise reduction,
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hence "STILL" mode will need more power and memory bandwidth than "VIDEO" mode.
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TNR will be enabled in "VIDEO" mode and bypassed by "STILL" mode. ImgU is
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running at "VIDEO" mode by default, the user can use v4l2 control
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V4L2_CID_INTEL_IPU3_MODE (currently defined in
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drivers/staging/media/ipu3/include/uapi/intel-ipu3.h) to query and set the
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running mode. For user, there is no difference for buffer queueing between the
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"VIDEO" and "STILL" mode, mandatory input and main output node should be
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enabled and buffers need be queued, the statistics and the view-finder queues
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are optional.
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The firmware binary will be selected according to current running mode, such log
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"using binary if_to_osys_striped " or "using binary if_to_osys_primary_striped"
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could be observed if you enable the ImgU dynamic debug, the binary
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if_to_osys_striped is selected for "VIDEO" and the binary
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"if_to_osys_primary_striped" is selected for "STILL".
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Processing the image in raw Bayer format
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----------------------------------------
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Configuring ImgU V4L2 subdev for image processing
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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The ImgU V4L2 subdevs have to be configured with media controller APIs to have
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all the video nodes setup correctly.
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Let us take "ipu3-imgu 0" subdev as an example.
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.. code-block:: none
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media-ctl -d $MDEV -r
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media-ctl -d $MDEV -l "ipu3-imgu 0 input":0 -> "ipu3-imgu 0":0[1]
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media-ctl -d $MDEV -l "ipu3-imgu 0":2 -> "ipu3-imgu 0 output":0[1]
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media-ctl -d $MDEV -l "ipu3-imgu 0":3 -> "ipu3-imgu 0 viewfinder":0[1]
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media-ctl -d $MDEV -l "ipu3-imgu 0":4 -> "ipu3-imgu 0 3a stat":0[1]
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Also the pipe mode of the corresponding V4L2 subdev should be set as desired
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(e.g 0 for video mode or 1 for still mode) through the control id 0x009819a1 as
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below.
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.. code-block:: none
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yavta -w "0x009819A1 1" /dev/v4l-subdev7
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Certain hardware blocks in ImgU pipeline can change the frame resolution by
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cropping or scaling, these hardware blocks include Input Feeder(IF), Bayer Down
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Scaler (BDS) and Geometric Distortion Correction (GDC).
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There is also a block which can change the frame resolution - YUV Scaler, it is
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only applicable to the secondary output.
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RAW Bayer frames go through these ImgU pipeline hardware blocks and the final
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processed image output to the DDR memory.
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.. kernel-figure:: ipu3_rcb.svg
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:alt: ipu3 resolution blocks image
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IPU3 resolution change hardware blocks
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**Input Feeder**
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Input Feeder gets the Bayer frame data from the sensor, it can enable cropping
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of lines and columns from the frame and then store pixels into device's internal
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pixel buffer which are ready to readout by following blocks.
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**Bayer Down Scaler**
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Bayer Down Scaler is capable of performing image scaling in Bayer domain, the
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downscale factor can be configured from 1X to 1/4X in each axis with
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configuration steps of 0.03125 (1/32).
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**Geometric Distortion Correction**
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Geometric Distortion Correction is used to perform correction of distortions
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and image filtering. It needs some extra filter and envelope padding pixels to
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work, so the input resolution of GDC should be larger than the output
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resolution.
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**YUV Scaler**
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YUV Scaler which similar with BDS, but it is mainly do image down scaling in
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YUV domain, it can support up to 1/12X down scaling, but it can not be applied
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to the main output.
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The ImgU V4L2 subdev has to be configured with the supported resolutions in all
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the above hardware blocks, for a given input resolution.
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For a given supported resolution for an input frame, the Input Feeder, Bayer
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Down Scaler and GDC blocks should be configured with the supported resolutions
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as each hardware block has its own alignment requirement.
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You must configure the output resolution of the hardware blocks smartly to meet
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the hardware requirement along with keeping the maximum field of view. The
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intermediate resolutions can be generated by specific tool -
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https://github.com/intel/intel-ipu3-pipecfg
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This tool can be used to generate intermediate resolutions. More information can
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be obtained by looking at the following IPU3 ImgU configuration table.
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https://chromium.googlesource.com/chromiumos/overlays/board-overlays/+/master
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Under baseboard-poppy/media-libs/cros-camera-hal-configs-poppy/files/gcss
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directory, graph_settings_ov5670.xml can be used as an example.
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The following steps prepare the ImgU pipeline for the image processing.
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1. The ImgU V4L2 subdev data format should be set by using the
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VIDIOC_SUBDEV_S_FMT on pad 0, using the GDC width and height obtained above.
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2. The ImgU V4L2 subdev cropping should be set by using the
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VIDIOC_SUBDEV_S_SELECTION on pad 0, with V4L2_SEL_TGT_CROP as the target,
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using the input feeder height and width.
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3. The ImgU V4L2 subdev composing should be set by using the
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VIDIOC_SUBDEV_S_SELECTION on pad 0, with V4L2_SEL_TGT_COMPOSE as the target,
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using the BDS height and width.
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For the ov5670 example, for an input frame with a resolution of 2592x1944
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(which is input to the ImgU subdev pad 0), the corresponding resolutions
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for input feeder, BDS and GDC are 2592x1944, 2592x1944 and 2560x1920
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respectively.
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Once this is done, the received raw Bayer frames can be input to the ImgU
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V4L2 subdev as below, using the open source application v4l2n [#f1]_.
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For an image captured with 2592x1944 [#f4]_ resolution, with desired output
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resolution as 2560x1920 and viewfinder resolution as 2560x1920, the following
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v4l2n command can be used. This helps process the raw Bayer frames and produces
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the desired results for the main output image and the viewfinder output, in NV12
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format.
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.. code-block:: none
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v4l2n --pipe=4 --load=/tmp/frame-#.bin --open=/dev/video4
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--fmt=type:VIDEO_OUTPUT_MPLANE,width=2592,height=1944,pixelformat=0X47337069 \
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--reqbufs=type:VIDEO_OUTPUT_MPLANE,count:1 --pipe=1 \
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--output=/tmp/frames.out --open=/dev/video5 \
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--fmt=type:VIDEO_CAPTURE_MPLANE,width=2560,height=1920,pixelformat=NV12 \
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--reqbufs=type:VIDEO_CAPTURE_MPLANE,count:1 --pipe=2 \
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--output=/tmp/frames.vf --open=/dev/video6 \
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--fmt=type:VIDEO_CAPTURE_MPLANE,width=2560,height=1920,pixelformat=NV12 \
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--reqbufs=type:VIDEO_CAPTURE_MPLANE,count:1 --pipe=3 --open=/dev/video7 \
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--output=/tmp/frames.3A --fmt=type:META_CAPTURE,? \
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--reqbufs=count:1,type:META_CAPTURE --pipe=1,2,3,4 --stream=5
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You can also use yavta [#f2]_ command to do same thing as above:
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.. code-block:: none
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yavta --data-prefix -Bcapture-mplane -c10 -n5 -I -s2592x1944 \
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--file=frame-#.out-f NV12 /dev/video5 & \
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yavta --data-prefix -Bcapture-mplane -c10 -n5 -I -s2592x1944 \
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--file=frame-#.vf -f NV12 /dev/video6 & \
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yavta --data-prefix -Bmeta-capture -c10 -n5 -I \
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--file=frame-#.3a /dev/video7 & \
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yavta --data-prefix -Boutput-mplane -c10 -n5 -I -s2592x1944 \
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--file=/tmp/frame-in.cio2 -f IPU3_SGRBG10 /dev/video4
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where /dev/video4, /dev/video5, /dev/video6 and /dev/video7 devices point to
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input, output, viewfinder and 3A statistics video nodes respectively.
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Converting the raw Bayer image into YUV domain
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----------------------------------------------
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The processed images after the above step, can be converted to YUV domain
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as below.
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Main output frames
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~~~~~~~~~~~~~~~~~~
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.. code-block:: none
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raw2pnm -x2560 -y1920 -fNV12 /tmp/frames.out /tmp/frames.out.ppm
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where 2560x1920 is output resolution, NV12 is the video format, followed
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by input frame and output PNM file.
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Viewfinder output frames
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~~~~~~~~~~~~~~~~~~~~~~~~
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.. code-block:: none
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raw2pnm -x2560 -y1920 -fNV12 /tmp/frames.vf /tmp/frames.vf.ppm
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where 2560x1920 is output resolution, NV12 is the video format, followed
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by input frame and output PNM file.
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Example user space code for IPU3
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================================
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User space code that configures and uses IPU3 is available here.
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https://chromium.googlesource.com/chromiumos/platform/arc-camera/+/master/
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The source can be located under hal/intel directory.
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Overview of IPU3 pipeline
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=========================
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IPU3 pipeline has a number of image processing stages, each of which takes a
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set of parameters as input. The major stages of pipelines are shown here:
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.. kernel-render:: DOT
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:alt: IPU3 ImgU Pipeline
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:caption: IPU3 ImgU Pipeline Diagram
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digraph "IPU3 ImgU" {
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node [shape=box]
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splines="ortho"
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rankdir="LR"
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a [label="Raw pixels"]
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b [label="Bayer Downscaling"]
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c [label="Optical Black Correction"]
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d [label="Linearization"]
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e [label="Lens Shading Correction"]
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f [label="White Balance / Exposure / Focus Apply"]
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g [label="Bayer Noise Reduction"]
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h [label="ANR"]
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i [label="Demosaicing"]
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j [label="Color Correction Matrix"]
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k [label="Gamma correction"]
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l [label="Color Space Conversion"]
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m [label="Chroma Down Scaling"]
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n [label="Chromatic Noise Reduction"]
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o [label="Total Color Correction"]
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p [label="XNR3"]
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q [label="TNR"]
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|
r [label="DDR", style=filled, fillcolor=yellow, shape=cylinder]
|
|
s [label="YUV Downscaling"]
|
|
t [label="DDR", style=filled, fillcolor=yellow, shape=cylinder]
|
|
|
|
{ rank=same; a -> b -> c -> d -> e -> f -> g -> h -> i }
|
|
{ rank=same; j -> k -> l -> m -> n -> o -> p -> q -> s -> t}
|
|
|
|
a -> j [style=invis, weight=10]
|
|
i -> j
|
|
q -> r
|
|
}
|
|
|
|
The table below presents a description of the above algorithms.
|
|
|
|
======================== =======================================================
|
|
Name Description
|
|
======================== =======================================================
|
|
Optical Black Correction Optical Black Correction block subtracts a pre-defined
|
|
value from the respective pixel values to obtain better
|
|
image quality.
|
|
Defined in struct ipu3_uapi_obgrid_param.
|
|
Linearization This algo block uses linearization parameters to
|
|
address non-linearity sensor effects. The Lookup table
|
|
table is defined in
|
|
struct ipu3_uapi_isp_lin_vmem_params.
|
|
SHD Lens shading correction is used to correct spatial
|
|
non-uniformity of the pixel response due to optical
|
|
lens shading. This is done by applying a different gain
|
|
for each pixel. The gain, black level etc are
|
|
configured in struct ipu3_uapi_shd_config_static.
|
|
BNR Bayer noise reduction block removes image noise by
|
|
applying a bilateral filter.
|
|
See struct ipu3_uapi_bnr_static_config for details.
|
|
ANR Advanced Noise Reduction is a block based algorithm
|
|
that performs noise reduction in the Bayer domain. The
|
|
convolution matrix etc can be found in
|
|
struct ipu3_uapi_anr_config.
|
|
DM Demosaicing converts raw sensor data in Bayer format
|
|
into RGB (Red, Green, Blue) presentation. Then add
|
|
outputs of estimation of Y channel for following stream
|
|
processing by Firmware. The struct is defined as
|
|
struct ipu3_uapi_dm_config.
|
|
Color Correction Color Correction algo transforms sensor specific color
|
|
space to the standard "sRGB" color space. This is done
|
|
by applying 3x3 matrix defined in
|
|
struct ipu3_uapi_ccm_mat_config.
|
|
Gamma correction Gamma correction struct ipu3_uapi_gamma_config is a
|
|
basic non-linear tone mapping correction that is
|
|
applied per pixel for each pixel component.
|
|
CSC Color space conversion transforms each pixel from the
|
|
RGB primary presentation to YUV (Y: brightness,
|
|
UV: Luminance) presentation. This is done by applying
|
|
a 3x3 matrix defined in
|
|
struct ipu3_uapi_csc_mat_config
|
|
CDS Chroma down sampling
|
|
After the CSC is performed, the Chroma Down Sampling
|
|
is applied for a UV plane down sampling by a factor
|
|
of 2 in each direction for YUV 4:2:0 using a 4x2
|
|
configurable filter struct ipu3_uapi_cds_params.
|
|
CHNR Chroma noise reduction
|
|
This block processes only the chrominance pixels and
|
|
performs noise reduction by cleaning the high
|
|
frequency noise.
|
|
See struct struct ipu3_uapi_yuvp1_chnr_config.
|
|
TCC Total color correction as defined in struct
|
|
struct ipu3_uapi_yuvp2_tcc_static_config.
|
|
XNR3 eXtreme Noise Reduction V3 is the third revision of
|
|
noise reduction algorithm used to improve image
|
|
quality. This removes the low frequency noise in the
|
|
captured image. Two related structs are being defined,
|
|
struct ipu3_uapi_isp_xnr3_params for ISP data memory
|
|
and struct ipu3_uapi_isp_xnr3_vmem_params for vector
|
|
memory.
|
|
TNR Temporal Noise Reduction block compares successive
|
|
frames in time to remove anomalies / noise in pixel
|
|
values. struct ipu3_uapi_isp_tnr3_vmem_params and
|
|
struct ipu3_uapi_isp_tnr3_params are defined for ISP
|
|
vector and data memory respectively.
|
|
======================== =======================================================
|
|
|
|
Other often encountered acronyms not listed in above table:
|
|
|
|
ACC
|
|
Accelerator cluster
|
|
AWB_FR
|
|
Auto white balance filter response statistics
|
|
BDS
|
|
Bayer downscaler parameters
|
|
CCM
|
|
Color correction matrix coefficients
|
|
IEFd
|
|
Image enhancement filter directed
|
|
Obgrid
|
|
Optical black level compensation
|
|
OSYS
|
|
Output system configuration
|
|
ROI
|
|
Region of interest
|
|
YDS
|
|
Y down sampling
|
|
YTM
|
|
Y-tone mapping
|
|
|
|
A few stages of the pipeline will be executed by firmware running on the ISP
|
|
processor, while many others will use a set of fixed hardware blocks also
|
|
called accelerator cluster (ACC) to crunch pixel data and produce statistics.
|
|
|
|
ACC parameters of individual algorithms, as defined by
|
|
struct ipu3_uapi_acc_param, can be chosen to be applied by the user
|
|
space through struct struct ipu3_uapi_flags embedded in
|
|
struct ipu3_uapi_params structure. For parameters that are configured as
|
|
not enabled by the user space, the corresponding structs are ignored by the
|
|
driver, in which case the existing configuration of the algorithm will be
|
|
preserved.
|
|
|
|
References
|
|
==========
|
|
|
|
.. [#f5] drivers/staging/media/ipu3/include/uapi/intel-ipu3.h
|
|
|
|
.. [#f1] https://github.com/intel/nvt
|
|
|
|
.. [#f2] http://git.ideasonboard.org/yavta.git
|
|
|
|
.. [#f3] http://git.ideasonboard.org/?p=media-ctl.git;a=summary
|
|
|
|
.. [#f4] ImgU limitation requires an additional 16x16 for all input resolutions
|