| .. SPDX-License-Identifier: GPL-2.0 |
| |
| .. include:: <isonum.txt> |
| |
| =============================================================== |
| Intel Image Processing Unit 3 (IPU3) Imaging Unit (ImgU) driver |
| =============================================================== |
| |
| Copyright |copy| 2018 Intel Corporation |
| |
| Introduction |
| ============ |
| |
| This file documents the Intel IPU3 (3rd generation Image Processing Unit) |
| Imaging Unit drivers located under drivers/media/pci/intel/ipu3 (CIO2) as well |
| as under drivers/staging/media/ipu3 (ImgU). |
| |
| The Intel IPU3 found in certain Kaby Lake (as well as certain Sky Lake) |
| platforms (U/Y processor lines) is made up of two parts namely the Imaging Unit |
| (ImgU) and the CIO2 device (MIPI CSI2 receiver). |
| |
| The CIO2 device receives the raw Bayer data from the sensors and outputs the |
| frames in a format that is specific to the IPU3 (for consumption by the IPU3 |
| ImgU). The CIO2 driver is available as drivers/media/pci/intel/ipu3/ipu3-cio2* |
| and is enabled through the CONFIG_VIDEO_IPU3_CIO2 config option. |
| |
| The Imaging Unit (ImgU) is responsible for processing images captured |
| by the IPU3 CIO2 device. The ImgU driver sources can be found under |
| drivers/staging/media/ipu3 directory. The driver is enabled through the |
| CONFIG_VIDEO_IPU3_IMGU config option. |
| |
| The two driver modules are named ipu3_csi2 and ipu3_imgu, respectively. |
| |
| The drivers has been tested on Kaby Lake platforms (U/Y processor lines). |
| |
| Both of the drivers implement V4L2, Media Controller and V4L2 sub-device |
| interfaces. The IPU3 CIO2 driver supports camera sensors connected to the CIO2 |
| MIPI CSI-2 interfaces through V4L2 sub-device sensor drivers. |
| |
| CIO2 |
| ==== |
| |
| The CIO2 is represented as a single V4L2 subdev, which provides a V4L2 subdev |
| interface to the user space. There is a video node for each CSI-2 receiver, |
| with a single media controller interface for the entire device. |
| |
| The CIO2 contains four independent capture channel, each with its own MIPI CSI-2 |
| receiver and DMA engine. Each channel is modelled as a V4L2 sub-device exposed |
| to userspace as a V4L2 sub-device node and has two pads: |
| |
| .. tabularcolumns:: |p{0.8cm}|p{4.0cm}|p{4.0cm}| |
| |
| .. flat-table:: |
| |
| * - pad |
| - direction |
| - purpose |
| |
| * - 0 |
| - sink |
| - MIPI CSI-2 input, connected to the sensor subdev |
| |
| * - 1 |
| - source |
| - Raw video capture, connected to the V4L2 video interface |
| |
| The V4L2 video interfaces model the DMA engines. They are exposed to userspace |
| as V4L2 video device nodes. |
| |
| Capturing frames in raw Bayer format |
| ------------------------------------ |
| |
| CIO2 MIPI CSI2 receiver is used to capture frames (in packed raw Bayer format) |
| from the raw sensors connected to the CSI2 ports. The captured frames are used |
| as input to the ImgU driver. |
| |
| Image processing using IPU3 ImgU requires tools such as raw2pnm [#f1]_, and |
| yavta [#f2]_ due to the following unique requirements and / or features specific |
| to IPU3. |
| |
| -- The IPU3 CSI2 receiver outputs the captured frames from the sensor in packed |
| raw Bayer format that is specific to IPU3. |
| |
| -- Multiple video nodes have to be operated simultaneously. |
| |
| Let us take the example of ov5670 sensor connected to CSI2 port 0, for a |
| 2592x1944 image capture. |
| |
| Using the media contorller APIs, the ov5670 sensor is configured to send |
| frames in packed raw Bayer format to IPU3 CSI2 receiver. |
| |
| # This example assumes /dev/media0 as the CIO2 media device |
| |
| export MDEV=/dev/media0 |
| |
| # and that ov5670 sensor is connected to i2c bus 10 with address 0x36 |
| |
| export SDEV=$(media-ctl -d $MDEV -e "ov5670 10-0036") |
| |
| # Establish the link for the media devices using media-ctl [#f3]_ |
| media-ctl -d $MDEV -l "ov5670:0 -> ipu3-csi2 0:0[1]" |
| |
| # Set the format for the media devices |
| media-ctl -d $MDEV -V "ov5670:0 [fmt:SGRBG10/2592x1944]" |
| |
| media-ctl -d $MDEV -V "ipu3-csi2 0:0 [fmt:SGRBG10/2592x1944]" |
| |
| media-ctl -d $MDEV -V "ipu3-csi2 0:1 [fmt:SGRBG10/2592x1944]" |
| |
| Once the media pipeline is configured, desired sensor specific settings |
| (such as exposure and gain settings) can be set, using the yavta tool. |
| |
| e.g |
| |
| yavta -w 0x009e0903 444 $SDEV |
| |
| yavta -w 0x009e0913 1024 $SDEV |
| |
| yavta -w 0x009e0911 2046 $SDEV |
| |
| Once the desired sensor settings are set, frame captures can be done as below. |
| |
| e.g |
| |
| yavta --data-prefix -u -c10 -n5 -I -s2592x1944 --file=/tmp/frame-#.bin \ |
| -f IPU3_SGRBG10 $(media-ctl -d $MDEV -e "ipu3-cio2 0") |
| |
| With the above command, 10 frames are captured at 2592x1944 resolution, with |
| sGRBG10 format and output as IPU3_SGRBG10 format. |
| |
| The captured frames are available as /tmp/frame-#.bin files. |
| |
| ImgU |
| ==== |
| |
| The ImgU is represented as two V4L2 subdevs, each of which provides a V4L2 |
| subdev interface to the user space. |
| |
| Each V4L2 subdev represents a pipe, which can support a maximum of 2 streams. |
| This helps to support advanced camera features like Continuous View Finder (CVF) |
| and Snapshot During Video(SDV). |
| |
| The ImgU contains two independent pipes, each modelled as a V4L2 sub-device |
| exposed to userspace as a V4L2 sub-device node. |
| |
| Each pipe has two sink pads and three source pads for the following purpose: |
| |
| .. tabularcolumns:: |p{0.8cm}|p{4.0cm}|p{4.0cm}| |
| |
| .. flat-table:: |
| |
| * - pad |
| - direction |
| - purpose |
| |
| * - 0 |
| - sink |
| - Input raw video stream |
| |
| * - 1 |
| - sink |
| - Processing parameters |
| |
| * - 2 |
| - source |
| - Output processed video stream |
| |
| * - 3 |
| - source |
| - Output viewfinder video stream |
| |
| * - 4 |
| - source |
| - 3A statistics |
| |
| Each pad is connected to a corresponding V4L2 video interface, exposed to |
| userspace as a V4L2 video device node. |
| |
| Device operation |
| ---------------- |
| |
| With ImgU, once the input video node ("ipu3-imgu 0/1":0, in |
| <entity>:<pad-number> format) is queued with buffer (in packed raw Bayer |
| format), ImgU starts processing the buffer and produces the video output in YUV |
| format and statistics output on respective output nodes. The driver is expected |
| to have buffers ready for all of parameter, output and statistics nodes, when |
| input video node is queued with buffer. |
| |
| At a minimum, all of input, main output, 3A statistics and viewfinder |
| video nodes should be enabled for IPU3 to start image processing. |
| |
| Each ImgU V4L2 subdev has the following set of video nodes. |
| |
| input, output and viewfinder video nodes |
| ---------------------------------------- |
| |
| The frames (in packed raw Bayer format specific to the IPU3) received by the |
| input video node is processed by the IPU3 Imaging Unit and are output to 2 video |
| nodes, with each targeting a different purpose (main output and viewfinder |
| output). |
| |
| Details onand the Bayer format specific to the IPU3 can be found in |
| :ref:`v4l2-pix-fmt-ipu3-sbggr10`. |
| |
| The driver supports V4L2 Video Capture Interface as defined at :ref:`devices`. |
| |
| Only the multi-planar API is supported. More details can be found at |
| :ref:`planar-apis`. |
| |
| Parameters video node |
| --------------------- |
| |
| The parameters video node receives the ImgU algorithm parameters that are used |
| to configure how the ImgU algorithms process the image. |
| |
| Details on processing parameters specific to the IPU3 can be found in |
| :ref:`v4l2-meta-fmt-params`. |
| |
| 3A statistics video node |
| ------------------------ |
| |
| 3A statistics video node is used by the ImgU driver to output the 3A (auto |
| focus, auto exposure and auto white balance) statistics for the frames that are |
| being processed by the ImgU to user space applications. User space applications |
| can use this statistics data to compute the desired algorithm parameters for |
| the ImgU. |
| |
| Configuring the Intel IPU3 |
| ========================== |
| |
| The IPU3 ImgU pipelines can be configured using the Media Controller, defined at |
| :ref:`media_controller`. |
| |
| Firmware binary selection |
| ------------------------- |
| |
| The firmware binary is selected using the V4L2_CID_INTEL_IPU3_MODE, currently |
| defined in drivers/staging/media/ipu3/include/intel-ipu3.h . "VIDEO" and "STILL" |
| modes are available. |
| |
| Processing the image in raw Bayer format |
| ---------------------------------------- |
| |
| Configuring ImgU V4L2 subdev for image processing |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
| |
| The ImgU V4L2 subdevs have to be configured with media controller APIs to have |
| all the video nodes setup correctly. |
| |
| Let us take "ipu3-imgu 0" subdev as an example. |
| |
| media-ctl -d $MDEV -r |
| |
| media-ctl -d $MDEV -l "ipu3-imgu 0 input":0 -> "ipu3-imgu 0":0[1] |
| |
| media-ctl -d $MDEV -l "ipu3-imgu 0":2 -> "ipu3-imgu 0 output":0[1] |
| |
| media-ctl -d $MDEV -l "ipu3-imgu 0":3 -> "ipu3-imgu 0 viewfinder":0[1] |
| |
| media-ctl -d $MDEV -l "ipu3-imgu 0":4 -> "ipu3-imgu 0 3a stat":0[1] |
| |
| Also the pipe mode of the corresponding V4L2 subdev should be set as desired |
| (e.g 0 for video mode or 1 for still mode) through the control id 0x009819a1 as |
| below. |
| |
| yavta -w "0x009819A1 1" /dev/v4l-subdev7 |
| |
| Certain hardware blocks in ImgU pipeline can change the frame resolution by |
| cropping or scaling, these hardware blocks include Input Feeder(IF), Bayer Down |
| Scaler (BDS) and Geometric Distortion Correction (GDC). |
| There is also a block which can change the frame resolution - YUV Scaler, it is |
| only applicable to the secondary output. |
| |
| RAW Bayer frames go through these ImgU pipeline hardware blocks and the final |
| processed image output to the DDR memory. |
| |
| .. kernel-figure:: ipu3_rcb.svg |
| :alt: ipu3 resolution blocks image |
| |
| IPU3 resolution change hardware blocks |
| |
| **Input Feeder** |
| |
| Input Feeder gets the Bayer frame data from the sensor, it can enable cropping |
| of lines and columns from the frame and then store pixels into device's internal |
| pixel buffer which are ready to readout by following blocks. |
| |
| **Bayer Down Scaler** |
| |
| Bayer Down Scaler is capable of performing image scaling in Bayer domain, the |
| downscale factor can be configured from 1X to 1/4X in each axis with |
| configuration steps of 0.03125 (1/32). |
| |
| **Geometric Distortion Correction** |
| |
| Geometric Distortion Correction is used to performe correction of distortions |
| and image filtering. It needs some extra filter and envelop padding pixels to |
| work, so the input resolution of GDC should be larger than the output |
| resolution. |
| |
| **YUV Scaler** |
| |
| YUV Scaler which similar with BDS, but it is mainly do image down scaling in |
| YUV domain, it can support up to 1/12X down scaling, but it can not be applied |
| to the main output. |
| |
| The ImgU V4L2 subdev has to be configured with the supported resolutions in all |
| the above hardware blocks, for a given input resolution. |
| For a given supported resolution for an input frame, the Input Feeder, Bayer |
| Down Scaler and GDC blocks should be configured with the supported resolutions |
| as each hardware block has its own alignment requirement. |
| |
| You must configure the output resolution of the hardware blocks smartly to meet |
| the hardware requirement along with keeping the maximum field of view. The |
| intermediate resolutions can be generated by specific tool - |
| |
| https://github.com/intel/intel-ipu3-pipecfg |
| |
| This tool can be used to generate intermediate resolutions. More information can |
| be obtained by looking at the following IPU3 ImgU configuration table. |
| |
| https://chromium.googlesource.com/chromiumos/overlays/board-overlays/+/master |
| |
| Under baseboard-poppy/media-libs/cros-camera-hal-configs-poppy/files/gcss |
| directory, graph_settings_ov5670.xml can be used as an example. |
| |
| The following steps prepare the ImgU pipeline for the image processing. |
| |
| 1. The ImgU V4L2 subdev data format should be set by using the |
| VIDIOC_SUBDEV_S_FMT on pad 0, using the GDC width and height obtained above. |
| |
| 2. The ImgU V4L2 subdev cropping should be set by using the |
| VIDIOC_SUBDEV_S_SELECTION on pad 0, with V4L2_SEL_TGT_CROP as the target, |
| using the input feeder height and width. |
| |
| 3. The ImgU V4L2 subdev composing should be set by using the |
| VIDIOC_SUBDEV_S_SELECTION on pad 0, with V4L2_SEL_TGT_COMPOSE as the target, |
| using the BDS height and width. |
| |
| For the ov5670 example, for an input frame with a resolution of 2592x1944 |
| (which is input to the ImgU subdev pad 0), the corresponding resolutions |
| for input feeder, BDS and GDC are 2592x1944, 2592x1944 and 2560x1920 |
| respectively. |
| |
| Once this is done, the received raw Bayer frames can be input to the ImgU |
| V4L2 subdev as below, using the open source application v4l2n [#f1]_. |
| |
| For an image captured with 2592x1944 [#f4]_ resolution, with desired output |
| resolution as 2560x1920 and viewfinder resolution as 2560x1920, the following |
| v4l2n command can be used. This helps process the raw Bayer frames and produces |
| the desired results for the main output image and the viewfinder output, in NV12 |
| format. |
| |
| v4l2n --pipe=4 --load=/tmp/frame-#.bin --open=/dev/video4 |
| --fmt=type:VIDEO_OUTPUT_MPLANE,width=2592,height=1944,pixelformat=0X47337069 |
| --reqbufs=type:VIDEO_OUTPUT_MPLANE,count:1 --pipe=1 --output=/tmp/frames.out |
| --open=/dev/video5 |
| --fmt=type:VIDEO_CAPTURE_MPLANE,width=2560,height=1920,pixelformat=NV12 |
| --reqbufs=type:VIDEO_CAPTURE_MPLANE,count:1 --pipe=2 --output=/tmp/frames.vf |
| --open=/dev/video6 |
| --fmt=type:VIDEO_CAPTURE_MPLANE,width=2560,height=1920,pixelformat=NV12 |
| --reqbufs=type:VIDEO_CAPTURE_MPLANE,count:1 --pipe=3 --open=/dev/video7 |
| --output=/tmp/frames.3A --fmt=type:META_CAPTURE,? |
| --reqbufs=count:1,type:META_CAPTURE --pipe=1,2,3,4 --stream=5 |
| |
| where /dev/video4, /dev/video5, /dev/video6 and /dev/video7 devices point to |
| input, output, viewfinder and 3A statistics video nodes respectively. |
| |
| Converting the raw Bayer image into YUV domain |
| ---------------------------------------------- |
| |
| The processed images after the above step, can be converted to YUV domain |
| as below. |
| |
| Main output frames |
| ~~~~~~~~~~~~~~~~~~ |
| |
| raw2pnm -x2560 -y1920 -fNV12 /tmp/frames.out /tmp/frames.out.ppm |
| |
| where 2560x1920 is output resolution, NV12 is the video format, followed |
| by input frame and output PNM file. |
| |
| Viewfinder output frames |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
| |
| raw2pnm -x2560 -y1920 -fNV12 /tmp/frames.vf /tmp/frames.vf.ppm |
| |
| where 2560x1920 is output resolution, NV12 is the video format, followed |
| by input frame and output PNM file. |
| |
| Example user space code for IPU3 |
| ================================ |
| |
| User space code that configures and uses IPU3 is available here. |
| |
| https://chromium.googlesource.com/chromiumos/platform/arc-camera/+/master/ |
| |
| The source can be located under hal/intel directory. |
| |
| Overview of IPU3 pipeline |
| ========================= |
| |
| IPU3 pipeline has a number of image processing stages, each of which takes a |
| set of parameters as input. The major stages of pipelines are shown here: |
| |
| .. kernel-render:: DOT |
| :alt: IPU3 ImgU Pipeline |
| :caption: IPU3 ImgU Pipeline Diagram |
| |
| digraph "IPU3 ImgU" { |
| node [shape=box] |
| splines="ortho" |
| rankdir="LR" |
| |
| a [label="Raw pixels"] |
| b [label="Bayer Downscaling"] |
| c [label="Optical Black Correction"] |
| d [label="Linearization"] |
| e [label="Lens Shading Correction"] |
| f [label="White Balance / Exposure / Focus Apply"] |
| g [label="Bayer Noise Reduction"] |
| h [label="ANR"] |
| i [label="Demosaicing"] |
| j [label="Color Correction Matrix"] |
| k [label="Gamma correction"] |
| l [label="Color Space Conversion"] |
| m [label="Chroma Down Scaling"] |
| n [label="Chromatic Noise Reduction"] |
| o [label="Total Color Correction"] |
| p [label="XNR3"] |
| q [label="TNR"] |
| r [label="DDR"] |
| |
| { rank=same; a -> b -> c -> d -> e -> f } |
| { rank=same; g -> h -> i -> j -> k -> l } |
| { rank=same; m -> n -> o -> p -> q -> r } |
| |
| a -> g -> m [style=invis, weight=10] |
| |
| f -> g |
| l -> m |
| } |
| |
| 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 :c:type:`ipu3_uapi_obgrid_param`. |
| Linearization This algo block uses linearization parameters to |
| address non-linearity sensor effects. The Lookup table |
| table is defined in |
| :c:type:`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 :c:type:`ipu3_uapi_shd_config_static`. |
| BNR Bayer noise reduction block removes image noise by |
| applying a bilateral filter. |
| See :c:type:`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 |
| :c:type:`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 |
| :c:type:`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 |
| :c:type:`ipu3_uapi_ccm_mat_config`. |
| Gamma correction Gamma correction :c:type:`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 |
| :c:type:`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 :c:type:`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 :c:type:`ipu3_uapi_yuvp1_chnr_config`. |
| TCC Total color correction as defined in struct |
| :c:type:`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, |
| :c:type:`ipu3_uapi_isp_xnr3_params` for ISP data memory |
| and :c:type:`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. :c:type:`ipu3_uapi_isp_tnr3_vmem_params` and |
| :c:type:`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 |
| :c:type:`ipu3_uapi_acc_param`, can be chosen to be applied by the user |
| space through struct :c:type:`ipu3_uapi_flags` embedded in |
| :c:type:`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/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 |