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feat(csi): add csi color format conversion

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This commit is contained in:
gaoxu
2026-01-26 11:37:09 +08:00
parent b53427075e
commit 493b67fdc7
4 changed files with 188 additions and 8 deletions
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components/esp_driver_cam/csi/src/esp_cam_ctlr_csi.c
+47 -3
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@@ -20,6 +20,8 @@
#include "esp_cam_ctlr_csi_internal.h"
#include "hal/mipi_csi_ll.h"
#include "hal/color_hal.h"
#include "hal/efuse_hal.h"
#include "soc/chip_revision.h"
#include "esp_private/periph_ctrl.h"
#include "esp_private/mipi_csi_share_hw_ctrl.h"
#include "esp_private/esp_cache_private.h"
@@ -53,6 +55,7 @@ static esp_err_t s_csi_ctlr_disable(esp_cam_ctlr_handle_t ctlr);
static esp_err_t s_ctlr_csi_receive(esp_cam_ctlr_handle_t handle, esp_cam_ctlr_trans_t *trans, uint32_t timeout_ms);
static void *s_csi_ctlr_alloc_buffer(esp_cam_ctlr_t *handle, size_t size, uint32_t buf_caps);
static esp_err_t s_csi_ctlr_format_conversion(esp_cam_ctlr_t *handle, const cam_ctlr_format_conv_config_t *config);
static bool s_is_color_format_conversion_supported(cam_ctlr_color_t color_format);
static esp_err_t s_csi_claim_controller(csi_controller_t *controller)
{
@@ -216,6 +219,12 @@ esp_err_t esp_cam_new_csi_ctlr(const esp_cam_ctlr_csi_config_t *config, esp_cam_
ESP_GOTO_ON_ERROR(esp_pm_lock_create(ESP_PM_APB_FREQ_MAX, 0, "cam_csi_ctlr", &ctlr->pm_lock), err, TAG, "failed to create pm lock");
#endif //CONFIG_PM_ENABLE
cam_ctlr_format_conv_config_t format_conv_config = {
.src_format = config->input_data_color_type,
.dst_format = config->output_data_color_type,
};
ESP_GOTO_ON_ERROR(s_csi_ctlr_format_conversion(&(ctlr->base), &format_conv_config), err, TAG, "failed to configure format conversion");
ctlr->spinlock = (portMUX_TYPE)portMUX_INITIALIZER_UNLOCKED;
ctlr->csi_fsm = CSI_FSM_INIT;
ctlr->base.del = s_ctlr_del;
@@ -571,9 +580,44 @@ static void *s_csi_ctlr_alloc_buffer(esp_cam_ctlr_t *handle, size_t size, uint32
return buffer;
}
static bool s_is_color_format_conversion_supported(cam_ctlr_color_t color_format)
{
return (color_format == CAM_CTLR_COLOR_RGB888 ||
color_format == CAM_CTLR_COLOR_RGB565 ||
color_format == CAM_CTLR_COLOR_YUV420 ||
color_format == CAM_CTLR_COLOR_YUV422_YVYU ||
color_format == CAM_CTLR_COLOR_YUV422_YUYV ||
color_format == CAM_CTLR_COLOR_YUV422_UYVY ||
color_format == CAM_CTLR_COLOR_YUV422_VYUY);
}
static esp_err_t s_csi_ctlr_format_conversion(esp_cam_ctlr_t *handle, const cam_ctlr_format_conv_config_t *config)
{
ESP_RETURN_ON_FALSE(handle, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
// CSI controller doesn't support format conversion yet
return ESP_ERR_NOT_SUPPORTED;
ESP_RETURN_ON_FALSE(handle && config, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
csi_controller_t *ctlr = __containerof(handle, csi_controller_t, base);
if (config->src_format == config->dst_format) {
mipi_csi_brg_ll_set_color_mode_bypass(ctlr->hal.bridge_dev, true);
return ESP_OK;
} else {
#if CONFIG_IDF_TARGET_ESP32P4
//If ESP32P4 chip version is less than v3.0, not support color format conversion
unsigned chip_version = efuse_hal_chip_revision();
if (!ESP_CHIP_REV_ABOVE(chip_version, 300)) {
return ESP_ERR_NOT_SUPPORTED;
}
#endif
if (!s_is_color_format_conversion_supported(config->src_format) || !s_is_color_format_conversion_supported(config->dst_format)) {
return ESP_ERR_NOT_SUPPORTED;
} else {
mipi_csi_brg_ll_set_input_color_format(ctlr->hal.bridge_dev, config->src_format);
mipi_csi_brg_ll_set_output_color_format(ctlr->hal.bridge_dev, config->dst_format);
mipi_csi_brg_ll_set_color_mode_bypass(ctlr->hal.bridge_dev, false);
mipi_csi_brg_ll_enable_color_conversion(ctlr->hal.bridge_dev, true);
}
ctlr->in_color_format = config->src_format;
ctlr->out_color_format = config->dst_format;
return ESP_OK;
}
}
components/esp_driver_cam/test_apps/csi/main/test_csi_driver.c
+2 -2
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@@ -16,7 +16,7 @@ TEST_CASE("TEST CSI driver allocation", "[csi]")
.h_res = 800,
.v_res = 640,
.lane_bit_rate_mbps = 200,
.input_data_color_type = CAM_CTLR_COLOR_RAW8,
.input_data_color_type = CAM_CTLR_COLOR_RGB565,
.output_data_color_type = CAM_CTLR_COLOR_RGB565,
.data_lane_num = 2,
.byte_swap_en = false,
@@ -42,7 +42,7 @@ TEST_CASE("TEST CSI driver no backup buffer usage", "[csi]")
.h_res = 800,
.v_res = 640,
.lane_bit_rate_mbps = 200,
.input_data_color_type = CAM_CTLR_COLOR_RAW8,
.input_data_color_type = CAM_CTLR_COLOR_RGB565,
.output_data_color_type = CAM_CTLR_COLOR_RGB565,
.data_lane_num = 2,
.byte_swap_en = false,
components/esp_driver_cam/test_apps/csi/main/test_csi_ov5647.c
+2 -2
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@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2025-2026 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -97,7 +97,7 @@ TEST_CASE("TEST esp_cam on ov5647", "[csi][camera][ov5647]")
.v_res = TEST_MIPI_CSI_DISP_VRES,
.lane_bit_rate_mbps = TEST_MIPI_CSI_LANE_BITRATE_MBPS,
.input_data_color_type = CAM_CTLR_COLOR_RAW8,
.output_data_color_type = CAM_CTLR_COLOR_RGB565,
.output_data_color_type = CAM_CTLR_COLOR_RAW8,
.data_lane_num = 2,
.byte_swap_en = false,
.queue_items = 1,
components/esp_hal_cam/esp32p4/include/hal/mipi_csi_ll.h
+137 -1
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@@ -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
*/
@@ -14,6 +14,7 @@
#include "hal/mipi_csi_brg_ll.h"
#include "hal/mipi_csi_phy_ll.h"
#include "hal/mipi_csi_host_ll.h"
#include "hal/config.h"
#include "soc/hp_sys_clkrst_struct.h"
#ifdef __cplusplus
@@ -155,6 +156,141 @@ static inline void mipi_csi_ll_reset_host_clock(int group_id)
mipi_csi_ll_reset_host_clock(__VA_ARGS__); \
} while(0)
#if HAL_CONFIG(CHIP_SUPPORT_MIN_REV) >= 300
/**
* @brief Set RGB element order for input color data
*
* @param dev Pointer to the CSI bridge controller register base address
* @param rgb_format RGB element order: 0=RGB, 1=BGR, 2=RBG, 3=BRG, 4=GRB, 5=GBR
*
*/
static inline void mipi_csi_brg_ll_set_input_rgb_format(csi_brg_dev_t *dev, uint32_t rgb_format)
{
dev->host_cm_ctrl.csi_host_cm_rx_rgb_format = rgb_format;
}
/**
* @brief Set the color format for the input color data
*
* @param dev Pointer to the CSI bridge controller register base address
* @param color_format Camera controller color format
*/
static inline void mipi_csi_brg_ll_set_input_color_format(csi_brg_dev_t *dev, cam_ctlr_color_t color_format)
{
// Set format type
if (color_format == CAM_CTLR_COLOR_RGB888) {
dev->host_cm_ctrl.csi_host_cm_rx = 0;
mipi_csi_brg_ll_set_input_rgb_format(dev, 0); // Default: RGB order
} else if (color_format == CAM_CTLR_COLOR_RGB565) {
dev->host_cm_ctrl.csi_host_cm_rx = 1;
mipi_csi_brg_ll_set_input_rgb_format(dev, 0); // Default: RGB order
} else if (color_format == CAM_CTLR_COLOR_YUV420) {
dev->host_cm_ctrl.csi_host_cm_rx = 3;
} else if (color_format == CAM_CTLR_COLOR_YUV422_YVYU ||
color_format == CAM_CTLR_COLOR_YUV422_YUYV ||
color_format == CAM_CTLR_COLOR_YUV422_UYVY ||
color_format == CAM_CTLR_COLOR_YUV422_VYUY) {
dev->host_cm_ctrl.csi_host_cm_rx = 2;
// Set YUV422 packing order: YVYU=0, YUYV=1, VYUY=2, UYVY=3
if (color_format == CAM_CTLR_COLOR_YUV422_YVYU) {
dev->host_cm_ctrl.csi_host_cm_rx_yuv422_format = 0;
} else if (color_format == CAM_CTLR_COLOR_YUV422_YUYV) {
dev->host_cm_ctrl.csi_host_cm_rx_yuv422_format = 1;
} else if (color_format == CAM_CTLR_COLOR_YUV422_VYUY) {
dev->host_cm_ctrl.csi_host_cm_rx_yuv422_format = 2;
} else if (color_format == CAM_CTLR_COLOR_YUV422_UYVY) {
dev->host_cm_ctrl.csi_host_cm_rx_yuv422_format = 3;
}
} else {
HAL_ASSERT(false && "Unsupported input color format");
}
}
/**
* @brief Enable or disable color mode conversion output
*
* @param dev Pointer to the CSI bridge controller register base address
* @param en true to enable, false to disable
*
*/
static inline void mipi_csi_brg_ll_enable_color_conversion(csi_brg_dev_t *dev, bool en)
{
dev->host_cm_ctrl.csi_host_cm_en = en;
}
/**
* @brief Enable or disable color mode conversion bypass
*
* @param dev Pointer to the CSI bridge controller regihost_cm_ctrlster base address
* @param bypass true to bypass (input directly to output), false to enable conversion
*
*/
static inline void mipi_csi_brg_ll_set_color_mode_bypass(csi_brg_dev_t *dev, bool bypass)
{
dev->host_cm_ctrl.csi_host_cm_bypass = bypass;
}
/**
* @brief Set the color format for the output color data
*
* @param dev Pointer to the CSI bridge controller register base address
* @param color_format Camera controller color format
*/
static inline void mipi_csi_brg_ll_set_output_color_format(csi_brg_dev_t *dev, cam_ctlr_color_t color_format)
{
if (color_format == CAM_CTLR_COLOR_RGB888) {
dev->host_cm_ctrl.csi_host_cm_tx = 0;
} else if (color_format == CAM_CTLR_COLOR_RGB565) {
dev->host_cm_ctrl.csi_host_cm_tx = 1;
} else if (color_format == CAM_CTLR_COLOR_YUV420) {
dev->host_cm_ctrl.csi_host_cm_tx = 3;
} else if (color_format == CAM_CTLR_COLOR_YUV422_YVYU ||
color_format == CAM_CTLR_COLOR_YUV422_YUYV ||
color_format == CAM_CTLR_COLOR_YUV422_UYVY ||
color_format == CAM_CTLR_COLOR_YUV422_VYUY) {
dev->host_cm_ctrl.csi_host_cm_tx = 2;
} else {
HAL_ASSERT(false && "Unsupported output color format");
}
}
#else
static inline void mipi_csi_brg_ll_set_input_rgb_format(csi_brg_dev_t *dev, uint32_t rgb_format)
{
//for compatibility
(void)dev;
(void)rgb_format;
}
static inline void mipi_csi_brg_ll_set_input_color_format(csi_brg_dev_t *dev, cam_ctlr_color_t color_format)
{
//for compatibility
(void)dev;
(void)color_format;
}
static inline void mipi_csi_brg_ll_enable_color_conversion(csi_brg_dev_t *dev, bool en)
{
//for compatibility
(void)dev;
(void)en;
}
static inline void mipi_csi_brg_ll_set_color_mode_bypass(csi_brg_dev_t *dev, bool bypass)
{
//for compatibility
(void)dev;
(void)bypass;
}
static inline void mipi_csi_brg_ll_set_output_color_format(csi_brg_dev_t *dev, cam_ctlr_color_t color_format)
{
//for compatibility
(void)dev;
(void)color_format;
}
#endif // HAL_CONFIG(CHIP_SUPPORT_MIN_REV) >= 300
#ifdef __cplusplus
}
#endif