diff --git a/components/esp_driver_isp/CMakeLists.txt b/components/esp_driver_isp/CMakeLists.txt index de3a6990493..1953755a817 100644 --- a/components/esp_driver_isp/CMakeLists.txt +++ b/components/esp_driver_isp/CMakeLists.txt @@ -9,11 +9,12 @@ set(priv_requires "esp_driver_gpio") if(${target} STREQUAL "linux") set(requires "") else() - set(requires "esp_hal_cam" "esp_mm") + set(requires "esp_hal_cam" "esp_mm" "esp_driver_dma") endif() if(CONFIG_SOC_ISP_SUPPORTED) list(APPEND srcs "src/isp_core.c" + "src/isp_dma.c" "src/isp_af.c" "src/isp_ccm.c" "src/isp_awb.c" diff --git a/components/esp_driver_isp/include/driver/isp_core.h b/components/esp_driver_isp/include/driver/isp_core.h index bcc2c4de5cd..6869fac72cb 100644 --- a/components/esp_driver_isp/include/driver/isp_core.h +++ b/components/esp_driver_isp/include/driver/isp_core.h @@ -32,6 +32,7 @@ typedef struct { uint32_t h_res; ///< Input horizontal resolution, i.e. the number of pixels in a line uint32_t v_res; ///< Input vertical resolution, i.e. the number of lines in a frame color_raw_element_order_t bayer_order; ///< Bayer order + uint32_t dma_burst_size; ///< DMA output burst length in units of 64-bit beats. Set to 0 to use default value 16 int intr_priority; ///< The interrupt priority, range 0~3, if set to 0, the driver will try to allocate an interrupt with a relative low priority (1,2,3) struct { uint32_t bypass_isp : 1; ///< Bypass ISP pipelines diff --git a/components/esp_driver_isp/include/driver/isp_dma.h b/components/esp_driver_isp/include/driver/isp_dma.h new file mode 100644 index 00000000000..7bb2cc8585d --- /dev/null +++ b/components/esp_driver_isp/include/driver/isp_dma.h @@ -0,0 +1,39 @@ +/* + * SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD + * + * SPDX-License-Identifier: Apache-2.0 + */ + +#pragma once + +#include +#include "esp_err.h" +#include "driver/isp_types.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * @brief Process one ISP DMA frame: feed the input buffer through the ISP and wait for completion + * + * @note Input buffer content should be ready before calling this function. If the buffers are in + * cacheable memory, the caller should synchronize them around DMA access. Buffer sizes are + * derived from the ISP processor resolution and pixel formats. Both buffers must be 8-byte + * aligned. This function blocks until both input and output DMA channels finish. + * + * @param[in] proc Processor handle + * @param[in] output_buffer Destination buffer for ISP output (8-byte aligned) + * @param[in] input_buffer Source input buffer for RAW frame data (8-byte aligned) + * @param[in] timeout_ms Timeout in milliseconds for waiting transfer completion + * + * @return + * - ESP_OK On success + * - ESP_ERR_INVALID_ARG Invalid argument + * - ESP_ERR_TIMEOUT Wait timeout + */ +esp_err_t esp_isp_dma_process_frame(isp_proc_handle_t proc, void *output_buffer, const void *input_buffer, uint32_t timeout_ms); + +#ifdef __cplusplus +} +#endif diff --git a/components/esp_driver_isp/include/esp_private/isp_private.h b/components/esp_driver_isp/include/esp_private/isp_private.h index 076ef6ab894..140f9b9f261 100644 --- a/components/esp_driver_isp/include/esp_private/isp_private.h +++ b/components/esp_driver_isp/include/esp_private/isp_private.h @@ -1,5 +1,5 @@ /* - * SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD + * SPDX-FileCopyrightText: 2024-2026 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 */ @@ -58,6 +58,8 @@ typedef enum { /*--------------------------------------------------------------- Driver Context ---------------------------------------------------------------*/ +typedef struct esp_isp_dma_frame_ctx_t esp_isp_dma_frame_ctx_t; + typedef struct isp_processor_t { int proc_id; isp_clk_src_t clk_src; @@ -70,10 +72,14 @@ typedef struct isp_processor_t { DECLARE_CRIT_SECTION_LOCK_IN_STRUCT(spinlock); isp_color_t in_color_format; isp_color_t out_color_format; + isp_input_data_source_t input_data_source; uint32_t h_res; uint32_t v_res; color_raw_element_order_t bayer_order; bool bypass_isp; + uint32_t dma_in_burst_len; // ISP DMA input burst length (64-bit beats), kept in sync with the input GDMA dst MSIZE + uint32_t dma_out_burst_len; // ISP DMA output burst length (64-bit beats) + esp_isp_dma_frame_ctx_t *dma_frame_ctx; /* sub module contexts */ isp_af_ctlr_t af_ctlr[ISP_LL_AF_CTLR_NUMS]; isp_awb_ctlr_t awb_ctlr; @@ -131,6 +137,45 @@ bool esp_isp_awb_isr(isp_proc_handle_t proc, uint32_t awb_events); bool esp_isp_sharpen_isr(isp_proc_handle_t proc, uint32_t sharp_events); bool esp_isp_hist_isr(isp_proc_handle_t proc, uint32_t hist_events); +/*--------------------------------------------------------------- + DMA INPUT +---------------------------------------------------------------*/ +/** + * @brief Configure the ISP DMA input path (frame size, burst length, data type) + * + * @note Internal helper invoked while creating a processor whose input source is DWGDMA. + * + * @param[in] proc Processor handle + * + * @return + * - ESP_OK On success + * - ESP_ERR_INVALID_ARG Invalid input color format or frame size + */ +esp_err_t isp_dma_configure_input(isp_proc_handle_t proc); + +/** + * @brief Create the ISP DMA frame context + * + * @note Internal helper invoked while creating a processor whose input source is DWGDMA. + * + * @param[in] proc Processor handle + * + * @return + * - ESP_OK On success + * - ESP_ERR_INVALID_ARG Invalid processor, burst length, or frame size + * - ESP_ERR_INVALID_STATE Processor input source is not DWGDMA or the context already exists + * - ESP_ERR_NO_MEM Failed to allocate the context or synchronization objects + * - Other errors returned by the underlying DMA driver + */ +esp_err_t isp_dma_new_frame_ctx(isp_proc_handle_t proc); + +/** + * @brief Delete the ISP DMA frame context + * + * @param[in] proc Processor handle + */ +void isp_dma_del_frame_ctx(isp_proc_handle_t proc); + #ifdef __cplusplus } #endif diff --git a/components/esp_driver_isp/src/isp_core.c b/components/esp_driver_isp/src/isp_core.c index c97423cc29c..13d0ee28cdf 100644 --- a/components/esp_driver_isp/src/isp_core.c +++ b/components/esp_driver_isp/src/isp_core.c @@ -18,6 +18,7 @@ #include "esp_private/mipi_csi_share_hw_ctrl.h" #include "hal/hal_utils.h" #include "hal/color_hal.h" +#include "hal/mipi_csi_brg_ll.h" #include "soc/mipi_csi_bridge_struct.h" #include "hal/isp_periph.h" #include "soc/soc_caps.h" @@ -79,7 +80,17 @@ esp_err_t esp_isp_new_processor(const esp_isp_processor_cfg_t *proc_config, isp_ esp_err_t ret = ESP_FAIL; ESP_RETURN_ON_FALSE(proc_config && ret_proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer"); ESP_RETURN_ON_FALSE(proc_config->h_res <= ISP_LL_HSIZE_MAX, ESP_ERR_INVALID_ARG, TAG, "invalid h_res"); - ESP_RETURN_ON_FALSE(proc_config->input_data_source != ISP_INPUT_DATA_SOURCE_DWGDMA, ESP_ERR_NOT_SUPPORTED, TAG, "input source not supported yet"); + if (proc_config->input_data_source == ISP_INPUT_DATA_SOURCE_DWGDMA) { + ESP_RETURN_ON_FALSE((proc_config->input_data_color_type == ISP_COLOR_RAW8) || + (proc_config->input_data_color_type == ISP_COLOR_RAW10) || + (proc_config->input_data_color_type == ISP_COLOR_RAW12), + ESP_ERR_INVALID_ARG, TAG, "dma input only supports RAW8/RAW10/RAW12"); + uint32_t in_bits_per_pixel = color_hal_pixel_format_fourcc_get_bit_depth(proc_config->input_data_color_type); + uint64_t frame_bits = (uint64_t)proc_config->h_res * proc_config->v_res * in_bits_per_pixel; + ESP_RETURN_ON_FALSE((frame_bits % 64) == 0, ESP_ERR_INVALID_ARG, TAG, "frame bits should be 64-bit aligned"); + ESP_RETURN_ON_FALSE((frame_bits / 64) <= ((1UL << 22) - 1), ESP_ERR_INVALID_ARG, TAG, "frame size exceeds hardware limit"); + ESP_RETURN_ON_FALSE(proc_config->dma_burst_size <= 16, ESP_ERR_INVALID_ARG, TAG, "dma burst size out of range"); + } if (proc_config->flags.bypass_isp) { ESP_RETURN_ON_FALSE(proc_config->input_data_color_type == proc_config->output_data_color_type, ESP_ERR_INVALID_ARG, TAG, "isp is bypassed, input and output data color type should be same"); } @@ -173,7 +184,9 @@ esp_err_t esp_isp_new_processor(const esp_isp_processor_cfg_t *proc_config, isp_ isp_ll_yuv_set_range(proc->hal.hw, proc_config->yuv_range); } - if ((out_color_format == ISP_COLOR_RGB888 || out_color_format == ISP_COLOR_RGB565) && proc_config->input_data_source == ISP_INPUT_DATA_SOURCE_DVP) { + if ((out_color_format == ISP_COLOR_RGB888 || out_color_format == ISP_COLOR_RGB565) && + (proc_config->input_data_source == ISP_INPUT_DATA_SOURCE_DVP || + proc_config->input_data_source == ISP_INPUT_DATA_SOURCE_DWGDMA)) { isp_ll_color_enable(proc->hal.hw, true); // workaround for DIG-474 } if (proc_config->flags.byte_swap_en) { @@ -184,16 +197,23 @@ esp_err_t esp_isp_new_processor(const esp_isp_processor_cfg_t *proc_config, isp_ proc->in_color_format = in_color_format; proc->out_color_format = out_color_format; + proc->input_data_source = proc_config->input_data_source; proc->h_res = proc_config->h_res; proc->v_res = proc_config->v_res; proc->bayer_order = proc_config->bayer_order; proc->bypass_isp = proc_config->flags.bypass_isp; + proc->dma_out_burst_len = proc_config->dma_burst_size; + if (proc->input_data_source == ISP_INPUT_DATA_SOURCE_DWGDMA) { + ESP_GOTO_ON_ERROR(isp_dma_configure_input(proc), err, TAG, "configure dma input failed"); + ESP_GOTO_ON_ERROR(isp_dma_new_frame_ctx(proc), err, TAG, "create dma frame context failed"); + } *ret_proc = proc; return ESP_OK; err: + isp_dma_del_frame_ctx(proc); if (proc->intr_hdl) { esp_isp_deregister_isr(proc, ISP_SUBMODULE_GENERAL); } @@ -207,6 +227,8 @@ esp_err_t esp_isp_del_processor(isp_proc_handle_t proc) ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer"); ESP_RETURN_ON_FALSE(atomic_load(&proc->isp_fsm) == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "processor isn't in init state"); + isp_dma_del_frame_ctx(proc); + //declaim first, then do free ESP_RETURN_ON_ERROR(s_isp_declaim_processor(proc), TAG, "declaim processor fail"); #if SOC_ISP_SHARE_CSI_BRG @@ -338,20 +360,26 @@ static void IRAM_ATTR s_isp_isr_dispatcher(void *arg) do_dispatch = false; } - if ((error_events & ISP_LL_EVENT_DATA_TYPE_ERR) || (error_events & ISP_LL_EVENT_DATA_TYPE_SETTING_ERR)) { - ESP_EARLY_LOGE(TAG, "data type error"); - } - if ((error_events & ISP_LL_EVENT_ASYNC_FIFO_OVF) || (error_events & ISP_LL_EVENT_BUF_FULL)) { - ESP_EARLY_LOGE(TAG, "fifo overflow"); - } - if ((error_events & ISP_LL_EVENT_HVNUM_SETTING_ERR) || (error_events & ISP_LL_EVENT_MIPI_HNUM_UNMATCH)) { - ESP_EARLY_LOGE(TAG, "hnum / vnum setting error"); - } - if (error_events & ISP_LL_EVENT_GAMMA_XCOORD_ERR) { - ESP_EARLY_LOGE(TAG, "gamma xcoord error"); - } - if (error_events & ISP_LL_EVENT_CROP_ERR) { - ESP_EARLY_LOGE(TAG, "crop error"); + if (error_events) { + if ((error_events & ISP_LL_EVENT_DATA_TYPE_ERR) || (error_events & ISP_LL_EVENT_DATA_TYPE_SETTING_ERR)) { + ESP_EARLY_LOGE(TAG, "data type error"); + } + if ((error_events & ISP_LL_EVENT_ASYNC_FIFO_OVF)) { + ESP_EARLY_LOGE(TAG, "fifo overflow"); + } + if ((error_events & ISP_LL_EVENT_BUF_FULL)) { + //This error does not affect the operation of the ISP + ESP_EARLY_LOGD(TAG, "buffer full"); + } + if ((error_events & ISP_LL_EVENT_HVNUM_SETTING_ERR) || (error_events & ISP_LL_EVENT_MIPI_HNUM_UNMATCH)) { + ESP_EARLY_LOGE(TAG, "hnum / vnum setting error"); + } + if (error_events & ISP_LL_EVENT_GAMMA_XCOORD_ERR) { + ESP_EARLY_LOGE(TAG, "gamma xcoord error"); + } + if (error_events & ISP_LL_EVENT_CROP_ERR) { + ESP_EARLY_LOGE(TAG, "crop error"); + } } if (need_yield) { diff --git a/components/esp_driver_isp/src/isp_dma.c b/components/esp_driver_isp/src/isp_dma.c new file mode 100644 index 00000000000..a22bed0863a --- /dev/null +++ b/components/esp_driver_isp/src/isp_dma.c @@ -0,0 +1,265 @@ +/* + * SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD + * + * SPDX-License-Identifier: Apache-2.0 + */ + +#include +#include +#include "sdkconfig.h" +#include "esp_log.h" +#include "esp_check.h" +#include "esp_heap_caps.h" +#include "freertos/FreeRTOS.h" +#include "freertos/semphr.h" +#include "driver/isp_dma.h" +#include "esp_private/dw_gdma.h" +#include "esp_private/isp_private.h" +#include "hal/color_hal.h" +#include "hal/isp_ll.h" +#include "hal/mipi_csi_brg_ll.h" + +#define ISP_DMA_IN_BURST_LEN_DFT 8 +#define ISP_DMA_OUT_BURST_LEN_DFT 16 + +struct esp_isp_dma_frame_ctx_t { + isp_proc_handle_t proc; + csi_brg_dev_t *csi_brg_hw; + dw_gdma_channel_handle_t dma_in_chan; + dw_gdma_channel_handle_t dma_out_chan; + SemaphoreHandle_t in_done_sem; + SemaphoreHandle_t out_done_sem; + dw_gdma_block_transfer_config_t dma_out_trans; + dw_gdma_block_transfer_config_t dma_in_trans; + uint32_t input_frame_size_64bit; + uint32_t output_frame_size_64bit; +}; + +static const char *TAG = "ISP_DMA"; + +static bool IRAM_ATTR s_isp_dma_done_cb(dw_gdma_channel_handle_t chan, const dw_gdma_trans_done_event_data_t *event_data, void *user_data) +{ + (void)chan; + (void)event_data; + BaseType_t high_task_woken = pdFALSE; + xSemaphoreGiveFromISR(*(SemaphoreHandle_t *)user_data, &high_task_woken); + return high_task_woken == pdTRUE; +} + +static dw_gdma_burst_items_t s_isp_dma_burst_len_to_items(uint32_t burst_len) +{ + switch (burst_len) { + case 1: return DW_GDMA_BURST_ITEMS_1; + case 4: return DW_GDMA_BURST_ITEMS_4; + case 8: return DW_GDMA_BURST_ITEMS_8; + default: return DW_GDMA_BURST_ITEMS_8; + } +} + +static void s_isp_dma_frame_ctx_destroy(struct esp_isp_dma_frame_ctx_t *ctx) +{ + if (!ctx) { + return; + } + if (ctx->csi_brg_hw) { + mipi_csi_brg_ll_enable(ctx->csi_brg_hw, false); + } + if (ctx->dma_in_chan) { + dw_gdma_channel_enable_ctrl(ctx->dma_in_chan, false); + dw_gdma_del_channel(ctx->dma_in_chan); + } + if (ctx->dma_out_chan) { + dw_gdma_channel_enable_ctrl(ctx->dma_out_chan, false); + dw_gdma_del_channel(ctx->dma_out_chan); + } + if (ctx->in_done_sem) { + vSemaphoreDelete(ctx->in_done_sem); + } + if (ctx->out_done_sem) { + vSemaphoreDelete(ctx->out_done_sem); + } + free(ctx); +} + +esp_err_t isp_dma_configure_input(isp_proc_handle_t proc) +{ + ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument"); + ESP_RETURN_ON_FALSE(proc->input_data_source == ISP_INPUT_DATA_SOURCE_DWGDMA, ESP_ERR_INVALID_ARG, TAG, "processor input source is not dwgdma"); + + bool valid_format = isp_ll_dma_set_data_type(proc->hal.hw, proc->in_color_format); + ESP_RETURN_ON_FALSE(valid_format, ESP_ERR_INVALID_ARG, TAG, "dma input only supports RAW8/RAW10/RAW12"); + + uint32_t in_bits_per_pixel = color_hal_pixel_format_fourcc_get_bit_depth(proc->in_color_format); + uint64_t frame_bits = (uint64_t)proc->h_res * proc->v_res * in_bits_per_pixel; + ESP_RETURN_ON_FALSE((frame_bits % 64) == 0, ESP_ERR_INVALID_ARG, TAG, "frame bits should be 64-bit aligned"); + + uint64_t frame_size_in_64bit = frame_bits / 64; + ESP_RETURN_ON_FALSE(frame_size_in_64bit <= ((1UL << 22) - 1), ESP_ERR_INVALID_ARG, TAG, "frame size exceeds hardware limit"); + + /* + * The input burst length is fixed at ISP_DMA_IN_BURST_LEN_DFT: it must be representable as a + * DW-GDMA MSIZE (1/4/8) and not exceed the ISP input async FIFO capacity (8 x 64-bit). It also + * has to equal the input GDMA dst MSIZE (derived from proc->dma_in_burst_len in + * isp_dma_new_frame_ctx), otherwise the async FIFO overflows. + */ + isp_ll_dma_set_frame_size(proc->hal.hw, (uint32_t)frame_size_in_64bit); + isp_ll_dma_set_burst_len(proc->hal.hw, ISP_DMA_IN_BURST_LEN_DFT); + isp_ll_dma_apply_config(proc->hal.hw); + proc->dma_in_burst_len = ISP_DMA_IN_BURST_LEN_DFT; + + return ESP_OK; +} + +esp_err_t isp_dma_new_frame_ctx(isp_proc_handle_t proc) +{ + esp_err_t ret = ESP_FAIL; + ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument"); + ESP_RETURN_ON_FALSE(proc->input_data_source == ISP_INPUT_DATA_SOURCE_DWGDMA, ESP_ERR_INVALID_STATE, TAG, "processor input source is not dwgdma"); + ESP_RETURN_ON_FALSE(!proc->dma_frame_ctx, ESP_ERR_INVALID_STATE, TAG, "dma frame context already exists"); + + uint32_t output_burst_len = proc->dma_out_burst_len ? proc->dma_out_burst_len : ISP_DMA_OUT_BURST_LEN_DFT; + ESP_RETURN_ON_FALSE(output_burst_len > 0 && output_burst_len <= 16, ESP_ERR_INVALID_ARG, TAG, "output burst len out of range"); + + uint32_t in_bits_per_pixel = color_hal_pixel_format_fourcc_get_bit_depth(proc->in_color_format); + uint32_t out_bits_per_pixel = color_hal_pixel_format_fourcc_get_bit_depth(proc->out_color_format); + uint64_t input_frame_bits = (uint64_t)proc->h_res * proc->v_res * in_bits_per_pixel; + uint64_t output_frame_bits = (uint64_t)proc->h_res * proc->v_res * out_bits_per_pixel; + ESP_RETURN_ON_FALSE((input_frame_bits % 64) == 0, ESP_ERR_INVALID_ARG, TAG, "input frame bits should be 64-bit aligned"); + ESP_RETURN_ON_FALSE((output_frame_bits % 64) == 0, ESP_ERR_INVALID_ARG, TAG, "output frame bits should be 64-bit aligned"); + + struct esp_isp_dma_frame_ctx_t *ctx = heap_caps_calloc(1, sizeof(struct esp_isp_dma_frame_ctx_t), ISP_MEM_ALLOC_CAPS); + ESP_GOTO_ON_FALSE(ctx, ESP_ERR_NO_MEM, err, TAG, "no mem for dma frame context"); + + ctx->proc = proc; + ctx->input_frame_size_64bit = input_frame_bits / 64; + ctx->output_frame_size_64bit = output_frame_bits / 64; + + csi_brg_dev_t *csi_brg_hw = MIPI_CSI_BRG_LL_GET_HW(proc->csi_brg_id); + ctx->csi_brg_hw = csi_brg_hw; + mipi_csi_brg_ll_set_intput_data_h_pixel_num(csi_brg_hw, proc->h_res); + mipi_csi_brg_ll_set_intput_data_v_row_num(csi_brg_hw, proc->v_res); + mipi_csi_brg_ll_set_burst_len(csi_brg_hw, 512); + mipi_csi_brg_ll_enable(csi_brg_hw, true); + + ctx->out_done_sem = xSemaphoreCreateBinary(); + ESP_GOTO_ON_FALSE(ctx->out_done_sem, ESP_ERR_NO_MEM, err, TAG, "no mem for output semaphore"); + ctx->in_done_sem = xSemaphoreCreateBinary(); + ESP_GOTO_ON_FALSE(ctx->in_done_sem, ESP_ERR_NO_MEM, err, TAG, "no mem for input semaphore"); + + dw_gdma_channel_alloc_config_t dma_out_alloc = { + .src = { + .block_transfer_type = DW_GDMA_BLOCK_TRANSFER_CONTIGUOUS, + .role = DW_GDMA_ROLE_PERIPH_CSI, + .handshake_type = DW_GDMA_HANDSHAKE_HW, + .num_outstanding_requests = 5, + .status_fetch_addr = MIPI_CSI_BRG_MEM_BASE, + }, + .dst = { + .block_transfer_type = DW_GDMA_BLOCK_TRANSFER_CONTIGUOUS, + .role = DW_GDMA_ROLE_MEM, + .handshake_type = DW_GDMA_HANDSHAKE_HW, + .num_outstanding_requests = 5, + }, + .flow_controller = DW_GDMA_FLOW_CTRL_SRC, + .chan_priority = 1, + }; + ESP_GOTO_ON_ERROR(dw_gdma_new_channel(&dma_out_alloc, &ctx->dma_out_chan), err, TAG, "create output dma channel failed"); + + dw_gdma_channel_alloc_config_t dma_in_alloc = { + .src = { + .block_transfer_type = DW_GDMA_BLOCK_TRANSFER_CONTIGUOUS, + .role = DW_GDMA_ROLE_MEM, + .handshake_type = DW_GDMA_HANDSHAKE_SW, + .num_outstanding_requests = 2, + }, + .dst = { + .block_transfer_type = DW_GDMA_BLOCK_TRANSFER_CONTIGUOUS, + .role = DW_GDMA_ROLE_PERIPH_ISP, + .handshake_type = DW_GDMA_HANDSHAKE_HW, + .num_outstanding_requests = 1, + }, + .flow_controller = DW_GDMA_FLOW_CTRL_DST, + .chan_priority = 1, + }; + ESP_GOTO_ON_ERROR(dw_gdma_new_channel(&dma_in_alloc, &ctx->dma_in_chan), err, TAG, "create input dma channel failed"); + + ctx->dma_out_trans = (dw_gdma_block_transfer_config_t) { + .src = { + .addr = MIPI_CSI_BRG_MEM_BASE, + .width = DW_GDMA_TRANS_WIDTH_64, + .burst_mode = DW_GDMA_BURST_MODE_FIXED, + .burst_items = DW_GDMA_BURST_ITEMS_512, + .burst_len = output_burst_len, + }, + .dst = { + .width = DW_GDMA_TRANS_WIDTH_64, + .burst_mode = DW_GDMA_BURST_MODE_INCREMENT, + .burst_items = DW_GDMA_BURST_ITEMS_512, + .burst_len = output_burst_len, + }, + .size = ctx->output_frame_size_64bit, + }; + ctx->dma_in_trans = (dw_gdma_block_transfer_config_t) { + .src = { + .width = DW_GDMA_TRANS_WIDTH_64, + .burst_mode = DW_GDMA_BURST_MODE_INCREMENT, + .burst_items = DW_GDMA_BURST_ITEMS_32, + }, + .dst = { + .addr = MIPI_CSI_BRG_MEM_BASE, + .width = DW_GDMA_TRANS_WIDTH_64, + .burst_mode = DW_GDMA_BURST_MODE_FIXED, + .burst_items = s_isp_dma_burst_len_to_items(proc->dma_in_burst_len), + }, + .size = ctx->input_frame_size_64bit, + }; + + dw_gdma_event_callbacks_t dma_cbs = { + .on_full_trans_done = s_isp_dma_done_cb, + }; + ESP_GOTO_ON_ERROR(dw_gdma_channel_register_event_callbacks(ctx->dma_out_chan, &dma_cbs, &ctx->out_done_sem), err, TAG, "register output dma callback failed"); + ESP_GOTO_ON_ERROR(dw_gdma_channel_register_event_callbacks(ctx->dma_in_chan, &dma_cbs, &ctx->in_done_sem), err, TAG, "register input dma callback failed"); + + proc->dma_frame_ctx = ctx; + return ESP_OK; +err: + s_isp_dma_frame_ctx_destroy(ctx); + return ret; +} + +void isp_dma_del_frame_ctx(isp_proc_handle_t proc) +{ + if (!proc || !proc->dma_frame_ctx) { + return; + } + s_isp_dma_frame_ctx_destroy(proc->dma_frame_ctx); + proc->dma_frame_ctx = NULL; +} + +esp_err_t esp_isp_dma_process_frame(isp_proc_handle_t proc, void *output_buffer, const void *input_buffer, uint32_t timeout_ms) +{ + ESP_RETURN_ON_FALSE(proc && proc->dma_frame_ctx && output_buffer && input_buffer, ESP_ERR_INVALID_ARG, TAG, "invalid argument"); + ESP_RETURN_ON_FALSE((((uintptr_t)output_buffer) % 8) == 0, ESP_ERR_INVALID_ARG, TAG, "output buffer not 8-byte aligned"); + ESP_RETURN_ON_FALSE((((uintptr_t)input_buffer) % 8) == 0, ESP_ERR_INVALID_ARG, TAG, "input buffer not 8-byte aligned"); + + esp_isp_dma_frame_ctx_t *ctx = proc->dma_frame_ctx; + ctx->dma_out_trans.dst.addr = (uint32_t)output_buffer; + ctx->dma_in_trans.src.addr = (uint32_t)input_buffer; + + ESP_RETURN_ON_ERROR(dw_gdma_channel_config_transfer(ctx->dma_out_chan, &ctx->dma_out_trans), TAG, "configure output transfer failed"); + ESP_RETURN_ON_ERROR(dw_gdma_channel_config_transfer(ctx->dma_in_chan, &ctx->dma_in_trans), TAG, "configure input transfer failed"); + dw_gdma_channel_enable_ctrl(ctx->dma_out_chan, true); + dw_gdma_channel_enable_ctrl(ctx->dma_in_chan, true); + + isp_ll_dma_trigger_frame(ctx->proc->hal.hw); + + if (xSemaphoreTake(ctx->in_done_sem, pdMS_TO_TICKS(timeout_ms)) != pdTRUE) { + ESP_LOGE(TAG, "wait input done timeout"); + return ESP_ERR_TIMEOUT; + } + if (xSemaphoreTake(ctx->out_done_sem, pdMS_TO_TICKS(timeout_ms)) != pdTRUE) { + ESP_LOGE(TAG, "wait output done timeout"); + return ESP_ERR_TIMEOUT; + } + return ESP_OK; +} diff --git a/components/esp_hal_cam/esp32p4/include/hal/isp_ll.h b/components/esp_hal_cam/esp32p4/include/hal/isp_ll.h index 5749c95d4b7..d6599b607b3 100644 --- a/components/esp_hal_cam/esp32p4/include/hal/isp_ll.h +++ b/components/esp_hal_cam/esp32p4/include/hal/isp_ll.h @@ -28,7 +28,7 @@ extern "C" { #define ISP_LL_PERIPH_NUMS 1U #define ISP_LL_HSIZE_MAX 1920 -#define ISP_LL_VSIZE_MAX 1080 +#define ISP_LL_VSIZE_MAX 1280 /*--------------------------------------------------------------- Clock @@ -535,6 +535,82 @@ static inline void isp_ll_enable_line_end_packet_exist(isp_dev_t *hw, bool en) hw->frame_cfg.hsync_end_exist = en; } +/** + * @brief Set DMA input data type + * + * @param[in] hw Hardware instance address + * @param[in] format color format, see `isp_color_t` + * + * @return true for valid format, false for invalid format + */ +static inline bool isp_ll_dma_set_data_type(isp_dev_t *hw, isp_color_t format) +{ + bool valid = false; + + switch (format) { + case ISP_COLOR_RAW8: + hw->dma_cntl.dma_data_type = 0x2A; + valid = true; + break; + case ISP_COLOR_RAW10: + hw->dma_cntl.dma_data_type = 0x2B; + valid = true; + break; + case ISP_COLOR_RAW12: + hw->dma_cntl.dma_data_type = 0x2C; + valid = true; + break; + default: + break; + } + + return valid; +} + +/** + * @brief Set DMA input burst length in units of 64-bit + * + * @param[in] hw Hardware instance address + * @param[in] burst_len Number of 64-bit beats in one DMA burst + */ +static inline void isp_ll_dma_set_burst_len(isp_dev_t *hw, uint32_t burst_len) +{ + hw->dma_cntl.dma_burst_len = burst_len; +} + +/** + * @brief Set DMA input total frame size in units of 64-bit + * + * @param[in] hw Hardware instance address + * @param[in] num64b Number of 64-bit words in one frame + */ +static inline void isp_ll_dma_set_frame_size(isp_dev_t *hw, uint32_t num64b) +{ + hw->dma_raw_data.dma_raw_num_total = num64b; + hw->dma_raw_data.dma_raw_num_total_set = 1; +} + +/** + * @brief Apply DMA input registers + * + * @param[in] hw Hardware instance address + */ +static inline void isp_ll_dma_apply_config(isp_dev_t *hw) +{ + hw->dma_cntl.dma_update_reg = 1; + while (hw->dma_cntl.dma_update_reg); +} + +/** + * @brief Trigger one DMA input frame transfer + * + * @param[in] hw Hardware instance address + */ +static inline void isp_ll_dma_trigger_frame(isp_dev_t *hw) +{ + hw->dma_cntl.dma_en = 1; +} + /** * @brief Get if demosaic is enabled * diff --git a/components/esp_hal_dma/esp32p4/include/hal/dw_gdma_ll.h b/components/esp_hal_dma/esp32p4/include/hal/dw_gdma_ll.h index 0295fee38cc..fe183849be0 100644 --- a/components/esp_hal_dma/esp32p4/include/hal/dw_gdma_ll.h +++ b/components/esp_hal_dma/esp32p4/include/hal/dw_gdma_ll.h @@ -415,6 +415,8 @@ static inline void dw_gdma_ll_channel_set_dst_master_port(dw_gdma_dev_t *dev, ui { if (mem_addr == MIPI_DSI_BRG_MEM_BASE) { dev->ch[channel].ctl0.dms = DW_GDMA_LL_MASTER_PORT_MIPI_DSI; + } else if (mem_addr == MIPI_CSI_BRG_MEM_BASE) { + dev->ch[channel].ctl0.dms = DW_GDMA_LL_MASTER_PORT_MIPI_CSI; } else { dev->ch[channel].ctl0.dms = DW_GDMA_LL_MASTER_PORT_MEMORY; } diff --git a/docs/doxygen/Doxyfile_esp32p4 b/docs/doxygen/Doxyfile_esp32p4 index 8ae3c77644e..f207c7181fa 100644 --- a/docs/doxygen/Doxyfile_esp32p4 +++ b/docs/doxygen/Doxyfile_esp32p4 @@ -16,6 +16,7 @@ INPUT += \ $(PROJECT_PATH)/components/esp_driver_isp/include/driver/isp_ccm.h \ $(PROJECT_PATH)/components/esp_driver_isp/include/driver/isp_color.h \ $(PROJECT_PATH)/components/esp_driver_isp/include/driver/isp_core.h \ + $(PROJECT_PATH)/components/esp_driver_isp/include/driver/isp_dma.h \ $(PROJECT_PATH)/components/esp_driver_isp/include/driver/isp_crop.h \ $(PROJECT_PATH)/components/esp_driver_isp/include/driver/isp_demosaic.h \ $(PROJECT_PATH)/components/esp_driver_isp/include/driver/isp_gamma.h \ diff --git a/docs/en/api-reference/peripherals/isp.rst b/docs/en/api-reference/peripherals/isp.rst index f53ce1d440d..da3478ff5b8 100644 --- a/docs/en/api-reference/peripherals/isp.rst +++ b/docs/en/api-reference/peripherals/isp.rst @@ -67,6 +67,7 @@ The ISP driver offers following services: - :ref:`isp-resource-allocation` - covers how to allocate ISP resources with properly set of configurations. It also covers how to recycle the resources when they finished working. - :ref:`isp-enable-disable` - covers how to enable and disable an ISP processor. +- :ref:`isp-dma-input` - covers how to feed image frames stored in memory into the ISP through DW-GDMA. - :ref:`isp-af-statistics` - covers how to get AF statistics one-shot or continuously. - :ref:`isp-awb-statistics` - covers how to get AWB white patches statistics one-shot or continuously. - :ref:`isp-ae-statistics` - covers how to get AE statistics one-shot or continuously. @@ -240,6 +241,15 @@ Before doing ISP pipeline, you need to enable the ISP processor first, by callin Calling :cpp:func:`esp_isp_disable` does the opposite, that is, put the driver back to the **init** state. +.. _isp-dma-input: + +ISP DMA Input +~~~~~~~~~~~~~ + +Besides image streams from camera controllers, the ISP can also read image frames from system memory through DW-GDMA. To use DMA input, set :cpp:member:`esp_isp_processor_cfg_t::input_data_source` in :cpp:type:`esp_isp_processor_cfg_t` to :cpp:enumerator:`ISP_INPUT_DATA_SOURCE_DWGDMA`, and configure the input format, output format, and resolution according to the image frame. + +DMA input is useful for feeding software-generated data, offline RAW images, or other test images in memory into the ISP. It can be used to validate an ISP pipeline without a camera sensor, reproduce issues with a specific input image. Call :cpp:func:`esp_isp_dma_process_frame` to send one input buffer to the ISP and write the processed image into an output buffer. The input and output buffers must be accessible by DMA; if cacheable memory is used, perform the required cache synchronization before and after the DMA transfer. + ISP AF Controller ~~~~~~~~~~~~~~~~~ @@ -958,6 +968,7 @@ Application Examples -------------------- * :example:`peripherals/isp/multi_pipelines` demonstrates how to use the ISP pipelines to process the image signals from camera sensors and display the video on LCD screen via DSI peripheral. +* :example:`peripherals/isp/dma_input` demonstrates how to feed a RAW8 BGGR image in memory into the ISP through DW-GDMA. ``pytest_isp_dma_input.py`` saves the processed RGB888 frames as PPM images and compares them pixel by pixel with the checked-in golden image. * `esp_video/examples `_ provides some examples of enabling ISP control algorithms. API Reference @@ -978,5 +989,6 @@ API Reference .. include-build-file:: inc/isp_color.inc .. include-build-file:: inc/isp_crop.inc .. include-build-file:: inc/isp_core.inc +.. include-build-file:: inc/isp_dma.inc .. include-build-file:: inc/components/esp_driver_isp/include/driver/isp_types.inc .. include-build-file:: inc/components/esp_hal_cam/include/hal/isp_types.inc diff --git a/docs/zh_CN/api-reference/peripherals/isp.rst b/docs/zh_CN/api-reference/peripherals/isp.rst index 25edb05f509..e42060cf39e 100644 --- a/docs/zh_CN/api-reference/peripherals/isp.rst +++ b/docs/zh_CN/api-reference/peripherals/isp.rst @@ -67,6 +67,7 @@ ISP 驱动程序提供以下服务： - :ref:`isp-resource-allocation` - 涵盖如何通过正确的配置来分配 ISP 资源，以及完成工作后如何回收资源。 - :ref:`isp-enable-disable` - 涵盖如何启用和禁用 ISP 处理器。 +- :ref:`isp-dma-input` - 涵盖如何通过 DW-GDMA 将存储在内存中的图像帧送入 ISP。 - :ref:`isp-af-statistics` - 涵盖如何单次或连续获取 AF 统计信息。 - :ref:`isp-awb-statistics` - 涵盖如何单次或连续获取 AWB 白块统计信息。 - :ref:`isp-ae-statistics` - 涵盖如何单次或连续获取 AE 统计信息。 @@ -240,6 +241,15 @@ ISP 调用 :cpp:func:`esp_isp_disable` 函数会执行相反的操作，即将驱动程序恢复到 **init** 状态。 +.. _isp-dma-input: + +ISP DMA 输入 +~~~~~~~~~~~~ + +除来自摄像头控制器的数据流外，ISP 还可以通过 DW-GDMA 从系统存储中读取图像帧作为输入。使用 DMA 输入时，应在 :cpp:type:`esp_isp_processor_cfg_t` 中将 :cpp:member:`esp_isp_processor_cfg_t::input_data_source` 配置为 :cpp:enumerator:`ISP_INPUT_DATA_SOURCE_DWGDMA`，并根据输入图像格式设置输入、输出格式及分辨率。 + +DMA 输入适用于将软件生成的数据、离线保存的 RAW 图像或其他内存中的测试图像送入 ISP 进行处理。它可用于无摄像头传感器参与时验证 ISP 流水线、复现特定输入图像的问题。调用 :cpp:func:`esp_isp_dma_process_frame` 可以将一帧输入缓冲区送入 ISP，并将处理后的图像写入输出缓冲区。输入和输出缓冲区需要满足 DMA 访问要求；若使用带 cache 的内存，请在 DMA 传输前后执行必要的 cache 同步。 + ISP AF 控制器 ~~~~~~~~~~~~~ @@ -958,6 +968,7 @@ Kconfig 选项 :ref:`CONFIG_ISP_CTRL_FUNC_IN_IRAM` 支持： -------- * :example:`peripherals/isp/multi_pipelines` 演示了如何使用 ISP 流水线处理来自摄像头传感器的图像信号，并通过 DSI 外设在 LCD 屏幕上显示视频。 +* :example:`peripherals/isp/dma_input` 演示了如何通过 DW-GDMA 将内存中的 RAW8 BGGR 图像送入 ISP。``pytest_isp_dma_input.py`` 会将处理后的 RGB888 帧保存为 PPM 图片，并与示例中提交的 golden 图片进行逐像素比较。 * `esp_video/examples `_ 中包含自动启用 ISP 控制算法的一些示例。 API 参考 @@ -978,5 +989,6 @@ API 参考 .. include-build-file:: inc/isp_color.inc .. include-build-file:: inc/isp_crop.inc .. include-build-file:: inc/isp_core.inc +.. include-build-file:: inc/isp_dma.inc .. include-build-file:: inc/components/esp_driver_isp/include/driver/isp_types.inc .. include-build-file:: inc/components/esp_hal_cam/include/hal/isp_types.inc diff --git a/examples/peripherals/.build-test-rules.yml b/examples/peripherals/.build-test-rules.yml index 10e1829a3b8..3c7d010ef71 100644 --- a/examples/peripherals/.build-test-rules.yml +++ b/examples/peripherals/.build-test-rules.yml @@ -283,6 +283,14 @@ examples/peripherals/i3c/i3c_lsm6dscx: - esp_hal_i3c - soc +examples/peripherals/isp/dma_input: + disable: + - if: SOC_ISP_SUPPORTED != 1 + depends_components: + - esp_driver_dma + - esp_driver_isp + - soc + examples/peripherals/isp/multi_pipelines: disable: - if: SOC_MIPI_CSI_SUPPORTED != 1 diff --git a/examples/peripherals/isp/dma_input/CMakeLists.txt b/examples/peripherals/isp/dma_input/CMakeLists.txt new file mode 100644 index 00000000000..813a03e8521 --- /dev/null +++ b/examples/peripherals/isp/dma_input/CMakeLists.txt @@ -0,0 +1,8 @@ +# The following lines of boilerplate have to be in your project's CMakeLists +# in this exact order for cmake to work correctly +cmake_minimum_required(VERSION 3.22) + +include($ENV{IDF_PATH}/tools/cmake/project.cmake) +# "Trim" the build. Include the minimal set of components, main, and anything it depends on. +idf_build_set_property(MINIMAL_BUILD ON) +project(isp_dma_input) diff --git a/examples/peripherals/isp/dma_input/README.md b/examples/peripherals/isp/dma_input/README.md new file mode 100644 index 00000000000..b554725300c --- /dev/null +++ b/examples/peripherals/isp/dma_input/README.md @@ -0,0 +1,49 @@ +| Supported Targets | ESP32-P4 | +| ----------------- | -------- | + +# ISP DMA Input Visual Test Example + +## Overview + +This example embeds a 240 x 280 RAW8 Bayer image of a real scene in flash, copies it into a DMA-capable PSRAM input buffer, feeds it into the ISP through DW-GDMA, and prints the RGB888 output as base64. The pytest script decodes the output into a PPM image and compares it with the checked-in golden image. + +The data flow is: + +1. The embedded BGGR RAW8 image is copied from flash into the ISP DMA input buffer. +2. The image is transferred into the ISP via `DW-GDMA → ISP DMA input`. +3. The ISP processes the data (demosaic, color adjustment) and outputs RGB888 (BGR24 byte layout). +4. The RGB888 frame is base64-encoded and printed with machine-parseable markers. +5. pytest decodes the payload, swaps BGR→RGB, saves one PPM file per frame, and compares it with the golden image. + +## Hardware Required + +- An ESP32-P4 devkit with PSRAM (this example allocates the ISP DMA input/output buffers from PSRAM). + +## How to Use + +Run the test locally. It builds and flashes the example, captures the serial output, and saves one PPM artifact per frame: + +``` +cd examples/peripherals/isp/dma_input +pytest pytest_isp_dma_input.py --target esp32p4 --port PORT +``` + +The pytest log directory (`dut.logdir`) contains `isp_dma_input_frame00.ppm`, the decoded RGB888 ISP output from the current hardware run. The repository includes [golden/golden.ppm](golden/golden.ppm), the checked-in reference image. The test compares the decoded RGB888 pixels with this reference image, making image-quality regressions visible in review and detectable in CI. + +## Example Output + +The example processes one embedded 240 x 280 BGGR RAW8 frame. + +```text +Feeding 1 frames through ISP DMA input... +IMAGE_META frame=0 width=240 height=280 format=BGR24 encoding=base64 +IMAGE_BASE64_BEGIN +IMAGE_BASE64 ... +IMAGE_BASE64_END +Frame 0 done +ISP DMA visual demo done. +``` + +## Reference + +- [ESP-IDF: Image Signal Processor](https://docs.espressif.com/projects/esp-idf/en/latest/esp32p4/api-reference/peripherals/isp.html) diff --git a/examples/peripherals/isp/dma_input/golden/golden.ppm b/examples/peripherals/isp/dma_input/golden/golden.ppm new file mode 100644 index 00000000000..ba31afa2173 Binary files /dev/null and b/examples/peripherals/isp/dma_input/golden/golden.ppm differ diff --git a/examples/peripherals/isp/dma_input/main/CMakeLists.txt b/examples/peripherals/isp/dma_input/main/CMakeLists.txt new file mode 100644 index 00000000000..8d7c2262783 --- /dev/null +++ b/examples/peripherals/isp/dma_input/main/CMakeLists.txt @@ -0,0 +1,7 @@ +idf_component_register(SRCS "isp_dma_main.c" + PRIV_REQUIRES esp_driver_isp esp_mm esp_psram mbedtls + INCLUDE_DIRS ".") + +target_add_binary_data(${COMPONENT_LIB} + "${CMAKE_CURRENT_LIST_DIR}/assets/sensor_240x280_bggr.raw" + BINARY RENAME_TO "sensor_raw") diff --git a/examples/peripherals/isp/dma_input/main/assets/sensor_240x280_bggr.raw b/examples/peripherals/isp/dma_input/main/assets/sensor_240x280_bggr.raw new file mode 100644 index 00000000000..d6415e3b273 --- /dev/null +++ b/examples/peripherals/isp/dma_input/main/assets/sensor_240x280_bggr.raw @@ -0,0 +1,470 @@ +0/>LyȾĹ̿Ͻ̾ȿͽ»n]=>'&98=;;9774944;:77965635<8467;<59<;97=697=>/;@9=8687;866966<869814873485154<997;78:.0.U +,  @#j= * +,'oþȿĿȼǽŽ˾ɿопӽ˿ʹźſĹr\;3"9xIE41-+&&! 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ESP_OK : ESP_FAIL); + unsigned char *encoded = calloc(encoded_len + 1, 1); + assert(encoded); + + printf("Feeding %d frames through ISP DMA input...\n", EXAMPLE_FRAME_COUNT); + for (int frame = 0; frame < EXAMPLE_FRAME_COUNT; frame++) { + ESP_ERROR_CHECK(esp_cache_msync(isp_in_buf, in_size, ESP_CACHE_MSYNC_FLAG_DIR_C2M)); + ESP_ERROR_CHECK(esp_isp_dma_process_frame(isp_proc, isp_out_buf, isp_in_buf, 1000)); + ESP_ERROR_CHECK(esp_cache_msync(isp_out_buf, out_size, ESP_CACHE_MSYNC_FLAG_DIR_M2C)); + + size_t out_len = 0; + ESP_ERROR_CHECK(mbedtls_base64_encode(encoded, encoded_len + 1, &out_len, isp_out_buf, out_size) == 0 ? ESP_OK : ESP_FAIL); + + printf("IMAGE_META frame=%d width=%u height=%u format=BGR24 encoding=base64\n", + frame, (unsigned)h_res, (unsigned)v_res); + s_print_base64_payload(encoded, out_len); + printf("Frame %d done\n", frame); + } + printf("ISP DMA visual demo done.\n"); + + free(encoded); + ESP_ERROR_CHECK(esp_isp_color_disable(isp_proc)); + ESP_ERROR_CHECK(esp_isp_disable(isp_proc)); + ESP_ERROR_CHECK(esp_isp_del_processor(isp_proc)); + heap_caps_free(isp_in_buf); + heap_caps_free(isp_out_buf); +} diff --git a/examples/peripherals/isp/dma_input/pytest_isp_dma_input.py b/examples/peripherals/isp/dma_input/pytest_isp_dma_input.py new file mode 100644 index 00000000000..e5603445560 --- /dev/null +++ b/examples/peripherals/isp/dma_input/pytest_isp_dma_input.py @@ -0,0 +1,181 @@ +# SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD +# SPDX-License-Identifier: CC0-1.0 + +import base64 +import logging +import re +from dataclasses import dataclass +from pathlib import Path + +import pytest +from pytest_embedded import Dut +from pytest_embedded_idf.utils import idf_parametrize +from pytest_embedded_idf.utils import soc_filtered_targets + +IMAGE_META_PATTERN = ( + r'IMAGE_META frame=(?P\d+) width=(?P\d+) height=(?P\d+) ' + r'format=(?P\w+) encoding=(?P\w+)' +) +IMAGE_META_RE = re.compile(IMAGE_META_PATTERN) +IMAGE_CHUNK_PATTERN = ( + r'IMAGE_BASE64 (?P[A-Za-z0-9+/=]+?)' + r'(?=\r?\n|IMAGE_BASE64|IMAGE_BASE64_END|Frame )' +) +IMAGE_OUTPUT_TEMPLATE = 'isp_dma_input_frame{frame:02d}.ppm' +REFERENCE_IMAGE_PATH = Path(__file__).parent / 'golden' / 'golden.ppm' +EXPECTED_PIXEL_FORMAT = 'BGR24' +EXPECTED_ENCODING = 'base64' +RGB888_BYTES_PER_PIXEL = 3 +PPM_MAGIC = b'P6' +PPM_MAX_VALUE = b'255' + + +@dataclass(frozen=True) +class ImageMetadata: + frame: int + width: int + height: int + pixel_format: str + encoding: str + + +@dataclass(frozen=True) +class RgbImage: + width: int + height: int + pixels_rgb888: bytes + + def __post_init__(self) -> None: + expected_size = self.width * self.height * RGB888_BYTES_PER_PIXEL + if len(self.pixels_rgb888) != expected_size: + raise ValueError(f'Expected {expected_size} RGB bytes, got {len(self.pixels_rgb888)}') + + +def parse_image_metadata(meta_line: str) -> ImageMetadata: + match = IMAGE_META_RE.fullmatch(meta_line) + if not match: + raise ValueError(f'Invalid image metadata line: {meta_line}') + + return ImageMetadata( + frame=int(match.group('frame')), + width=int(match.group('width')), + height=int(match.group('height')), + pixel_format=match.group('format'), + encoding=match.group('encoding'), + ) + + +def collect_base64_payload(dut: Dut) -> list[str]: + payload_lines: list[str] = [] + while True: + match = dut.expect(rf'IMAGE_BASE64_END|{IMAGE_CHUNK_PATTERN}', timeout=60) + if match.group(0).decode('utf-8') == 'IMAGE_BASE64_END': + return payload_lines + + payload_lines.append(match.group('payload').decode('utf-8')) + + +def _bgr24_to_rgb888(raw_bytes: bytes) -> bytes: + rgb_bytes = bytearray(len(raw_bytes)) + for offset in range(0, len(raw_bytes), 3): + blue, green, red = raw_bytes[offset : offset + 3] + rgb_bytes[offset : offset + 3] = (red, green, blue) + return bytes(rgb_bytes) + + +def _encode_ppm(image: RgbImage) -> bytes: + header = b'%s\n%d %d\n%s\n' % (PPM_MAGIC, image.width, image.height, PPM_MAX_VALUE) + return header + image.pixels_rgb888 + + +def decode_bgr24_base64_image(metadata: ImageMetadata, payload_lines: list[str]) -> RgbImage: + if metadata.pixel_format != EXPECTED_PIXEL_FORMAT: + raise ValueError(f'Unsupported pixel format: {metadata.pixel_format}') + if metadata.encoding != EXPECTED_ENCODING: + raise ValueError(f'Unsupported payload encoding: {metadata.encoding}') + + raw_bytes = base64.b64decode(''.join(payload_lines), validate=True) + expected_size = metadata.width * metadata.height * RGB888_BYTES_PER_PIXEL + if len(raw_bytes) != expected_size: + raise ValueError(f'Expected {expected_size} decoded bytes, got {len(raw_bytes)}') + + return RgbImage(width=metadata.width, height=metadata.height, pixels_rgb888=_bgr24_to_rgb888(raw_bytes)) + + +def save_ppm_artifact(image: RgbImage, output_path: Path) -> None: + output_path.parent.mkdir(parents=True, exist_ok=True) + try: + output_path.write_bytes(_encode_ppm(image)) + except OSError: + logging.exception('Failed to save ISP DMA artifact to %s', output_path) + return + + logging.info('Saved ISP DMA artifact to %s', output_path) + + +def load_ppm_image(image_path: Path) -> RgbImage: + ppm_data = image_path.read_bytes() + try: + magic, dimensions, max_value, pixels_rgb888 = ppm_data.split(b'\n', 3) + width, height = (int(value) for value in dimensions.split()) + except ValueError as error: + raise ValueError(f'Invalid PPM image: {image_path}') from error + + if magic != PPM_MAGIC or max_value != PPM_MAX_VALUE: + raise ValueError(f'Unsupported PPM image: {image_path}') + + return RgbImage(width=width, height=height, pixels_rgb888=pixels_rgb888) + + +def assert_image_matches_reference(result_image: RgbImage, reference_image: RgbImage) -> None: + assert (result_image.width, result_image.height) == (reference_image.width, reference_image.height), ( + f'ISP output dimensions do not match reference image: ' + f'{result_image.width}x{result_image.height} != {reference_image.width}x{reference_image.height}' + ) + + if result_image.pixels_rgb888 == reference_image.pixels_rgb888: + return + + mismatch_offset = next( + offset + for offset, (actual, expected) in enumerate(zip(result_image.pixels_rgb888, reference_image.pixels_rgb888)) + if actual != expected + ) + pixel_index, channel = divmod(mismatch_offset, RGB888_BYTES_PER_PIXEL) + raise AssertionError( + f'ISP output does not match reference image at pixel {pixel_index}, channel {channel}: ' + f'{result_image.pixels_rgb888[mismatch_offset]} != {reference_image.pixels_rgb888[mismatch_offset]}' + ) + + +@pytest.mark.generic +@idf_parametrize('target', soc_filtered_targets('SOC_ISP_SUPPORTED == 1'), indirect=['target']) +def test_isp_dma_input_example(dut: Dut) -> None: + reference_image = load_ppm_image(REFERENCE_IMAGE_PATH) + frame_count_match = dut.expect(r'Feeding (?P\d+) frames through ISP DMA input...') + expected_frame_count = int(frame_count_match.group('frame_count').decode('utf-8')) + logging.info('Expecting %d ISP DMA frame(s)', expected_frame_count) + + for expected_frame in range(expected_frame_count): + metadata = parse_image_metadata(dut.expect(IMAGE_META_PATTERN).group(0).decode('utf-8')) + assert metadata.frame == expected_frame, f'Out-of-order frame: expected {expected_frame}, got {metadata.frame}' + logging.info( + 'Received frame metadata: frame=%d size=%dx%d format=%s', + metadata.frame, + metadata.width, + metadata.height, + metadata.pixel_format, + ) + dut.expect_exact('IMAGE_BASE64_BEGIN') + logging.info('Receiving base64 image payload for frame %d', metadata.frame) + payload_lines = collect_base64_payload(dut) + logging.info('Received %d base64 chunk(s) for frame %d', len(payload_lines), metadata.frame) + + result_image = decode_bgr24_base64_image(metadata, payload_lines) + logging.info('Decoded frame %d to RGB888 image', metadata.frame) + output_path = Path(dut.logdir) / IMAGE_OUTPUT_TEMPLATE.format(frame=metadata.frame) + save_ppm_artifact(result_image, output_path) + assert_image_matches_reference(result_image, reference_image) + dut.expect_exact(f'Frame {expected_frame} done') + + dut.expect_exact('ISP DMA visual demo done.') diff --git a/examples/peripherals/isp/dma_input/sdkconfig.defaults b/examples/peripherals/isp/dma_input/sdkconfig.defaults new file mode 100644 index 00000000000..cc641ea6033 --- /dev/null +++ b/examples/peripherals/isp/dma_input/sdkconfig.defaults @@ -0,0 +1 @@ +CONFIG_SPIRAM=y