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feat(isp_hist): Add ISP histogram support and add test for esp32p4(part 2)

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This commit is contained in:
gaoxu
2024-08-05 09:15:34 +08:00
parent 97acf99867
commit fb5df708a1
14 changed files with 366 additions and 279 deletions
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components/esp_driver_isp/src/isp_hist.c
+65 -72
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@@ -6,6 +6,7 @@
#include <esp_types.h>
#include <sys/lock.h>
#include <stdatomic.h>
#include "freertos/FreeRTOS.h"
#include "sdkconfig.h"
#include "esp_log.h"
@@ -15,10 +16,9 @@
#include "esp_private/isp_private.h"
typedef struct isp_hist_controller_t {
isp_fsm_t fsm;
_Atomic isp_fsm_t fsm;
portMUX_TYPE spinlock;
intr_handle_t intr_handle;
int intr_priority;
isp_proc_handle_t isp_proc;
QueueHandle_t evt_que;
esp_isp_hist_cbs_t cbs;
@@ -27,8 +27,6 @@ typedef struct isp_hist_controller_t {
static const char *TAG = "ISP_hist";
static void s_isp_hist_default_isr(void *arg);
/*---------------------------------------------
hist
----------------------------------------------*/
@@ -66,7 +64,7 @@ static void s_isp_hist_free_controller(isp_hist_ctlr_t hist_ctlr)
esp_intr_free(hist_ctlr->intr_handle);
}
if (hist_ctlr->evt_que) {
vQueueDelete(hist_ctlr->evt_que);
vQueueDeleteWithCaps(hist_ctlr->evt_que);
}
free(hist_ctlr);
}
@@ -81,27 +79,43 @@ esp_err_t esp_isp_new_hist_controller(isp_proc_handle_t isp_proc, const esp_isp_
ESP_RETURN_ON_FALSE(hist_ctlr, ESP_ERR_NO_MEM, TAG, "no mem for hist controller");
hist_ctlr->evt_que = xQueueCreateWithCaps(1, sizeof(isp_hist_result_t), ISP_MEM_ALLOC_CAPS);
ESP_GOTO_ON_FALSE(hist_ctlr->evt_que, ESP_ERR_NO_MEM, err1, TAG, "no mem for hist event queue");
atomic_init(&hist_ctlr->fsm, ISP_FSM_INIT);
hist_ctlr->fsm = ISP_FSM_INIT;
hist_ctlr->spinlock = (portMUX_TYPE)portMUX_INITIALIZER_UNLOCKED;
hist_ctlr->isp_proc = isp_proc;
for (int i = 0; i < SOC_ISP_HIST_INTERVAL_NUMS; i++) {
ESP_GOTO_ON_FALSE((hist_cfg->segment_threshold[i] > 0 && hist_cfg->segment_threshold[i] < 256), ESP_ERR_INVALID_ARG, err1, TAG, "invalid segment threshold");
}
int weight_sum = 0;
for (int i = 0; i < SOC_ISP_HIST_BLOCK_X_NUMS; i++) {
for (int j = 0; j < SOC_ISP_HIST_BLOCK_Y_NUMS; j++) {
weight_sum = weight_sum + hist_cfg->windows_weight[i][j];
}
}
ESP_GOTO_ON_FALSE(weight_sum == 100, ESP_ERR_INVALID_ARG, err1, TAG, "The sum of all subwindow's weight is not 100");
if (hist_cfg->hist_mode == ISP_HIST_SAMPLING_RGB) {
int rgb_coefficient_sum = hist_cfg->rgb_coefficient.coeff_r + hist_cfg->rgb_coefficient.coeff_g + hist_cfg->rgb_coefficient.coeff_b;
ESP_GOTO_ON_FALSE(rgb_coefficient_sum == 100, ESP_ERR_INVALID_ARG, err1, TAG, "The sum of rgb_coefficient is not 100");
}
// Claim an hist controller
ESP_GOTO_ON_ERROR(s_isp_claim_hist_controller(isp_proc, hist_ctlr), err1, TAG, "no available controller");
// Register the hist ISR
uint32_t intr_st_reg_addr = isp_ll_get_intr_status_reg_addr(isp_proc->hal.hw);
int intr_priority = hist_cfg->intr_priority > 0 && hist_cfg->intr_priority <= 7 ? BIT(hist_cfg->intr_priority) : ESP_INTR_FLAG_LOWMED;
ESP_GOTO_ON_ERROR(esp_intr_alloc_intrstatus(isp_hw_info.instances[isp_proc->proc_id].irq, ISP_INTR_ALLOC_FLAGS | intr_priority, intr_st_reg_addr, ISP_LL_EVENT_HIST_MASK,
s_isp_hist_default_isr, hist_ctlr, &hist_ctlr->intr_handle), err2, TAG, "allocate interrupt failed");
// Register the HIGT ISR
ESP_GOTO_ON_ERROR(esp_isp_register_isr(hist_ctlr->isp_proc, ISP_SUBMODULE_HIST), err2, TAG, "fail to register ISR");
// Configure the hardware
isp_ll_hist_set_mode(isp_proc->hal.hw, hist_cfg->hist_mode);
isp_ll_hist_set_x_offset(isp_proc->hal.hw, hist_cfg->first_window_x_offs);
isp_ll_hist_set_y_offset(isp_proc->hal.hw, hist_cfg->first_window_y_offs);
isp_ll_hist_set_window_x_size(isp_proc->hal.hw, hist_cfg->window_x_size);
isp_ll_hist_set_window_y_size(isp_proc->hal.hw, hist_cfg->window_y_size);
isp_ll_hist_set_subwindow_weight(isp_proc->hal.hw, hist_cfg->hist_windows_weight);
isp_ll_hist_set_segment_threshold(isp_proc->hal.hw, hist_cfg->hist_segment_threshold);
if (hist_cfg->hist_mode == ISP_HIST_RGB) {
isp_hal_hist_window_config(&isp_proc->hal, &hist_cfg->window);
isp_ll_hist_set_subwindow_weight(isp_proc->hal.hw, hist_cfg->windows_weight);
isp_ll_hist_set_segment_threshold(isp_proc->hal.hw, hist_cfg->segment_threshold);
if (hist_cfg->hist_mode == ISP_HIST_SAMPLING_RGB) {
isp_ll_hist_set_rgb_coefficient(isp_proc->hal.hw, &hist_cfg->rgb_coefficient);
}
@@ -121,9 +135,13 @@ esp_err_t esp_isp_del_hist_controller(isp_hist_ctlr_t hist_ctlr)
{
ESP_RETURN_ON_FALSE(hist_ctlr && hist_ctlr->isp_proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
ESP_RETURN_ON_FALSE(hist_ctlr->isp_proc->hist_ctlr == hist_ctlr, ESP_ERR_INVALID_ARG, TAG, "controller isn't in use");
ESP_RETURN_ON_FALSE(hist_ctlr->fsm == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "controller isn't in init state");
s_isp_declaim_hist_controller(hist_ctlr);
ESP_RETURN_ON_FALSE(atomic_load(&hist_ctlr->fsm) == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "controller not in init state");
// Deregister the HIST ISR
ESP_RETURN_ON_FALSE(esp_isp_deregister_isr(hist_ctlr->isp_proc, ISP_SUBMODULE_HIST) == ESP_OK, ESP_FAIL, TAG, "fail to deregister ISR");
s_isp_declaim_hist_controller(hist_ctlr);
s_isp_hist_free_controller(hist_ctlr);
return ESP_OK;
@@ -132,49 +150,28 @@ esp_err_t esp_isp_del_hist_controller(isp_hist_ctlr_t hist_ctlr)
esp_err_t esp_isp_hist_controller_enable(isp_hist_ctlr_t hist_ctlr)
{
ESP_RETURN_ON_FALSE(hist_ctlr && hist_ctlr->isp_proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
ESP_RETURN_ON_FALSE(hist_ctlr->fsm == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "controller isn't in init state");
esp_err_t ret = ESP_OK;
ESP_GOTO_ON_ERROR(esp_intr_enable(hist_ctlr->intr_handle), err, TAG, "failed to enable the HIST interrupt");
isp_fsm_t expected_fsm = ISP_FSM_INIT;
ESP_RETURN_ON_FALSE(atomic_compare_exchange_strong(&hist_ctlr->fsm, &expected_fsm, ISP_FSM_ENABLE),
ESP_ERR_INVALID_STATE, TAG, "controller not in init state");
isp_ll_hist_clk_enable(hist_ctlr->isp_proc->hal.hw, true);
isp_ll_enable_intr(hist_ctlr->isp_proc->hal.hw, ISP_LL_EVENT_HIST_MASK, true);
hist_ctlr->fsm = ISP_FSM_ENABLE;
err:
hist_ctlr->fsm = ISP_FSM_INIT;
return ret;
return ESP_OK;
}
esp_err_t esp_isp_hist_controller_disable(isp_hist_ctlr_t hist_ctlr)
{
ESP_RETURN_ON_FALSE(hist_ctlr && hist_ctlr->isp_proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
ESP_RETURN_ON_FALSE(hist_ctlr->fsm == ISP_FSM_ENABLE, ESP_ERR_INVALID_STATE, TAG, "controller isn't in enable state");
isp_fsm_t expected_fsm = ISP_FSM_ENABLE;
ESP_RETURN_ON_FALSE(atomic_compare_exchange_strong(&hist_ctlr->fsm, &expected_fsm, ISP_FSM_INIT),
ESP_ERR_INVALID_STATE, TAG, "controller not in enable state");
isp_ll_enable_intr(hist_ctlr->isp_proc->hal.hw, ISP_LL_EVENT_HIST_MASK, false);
isp_ll_hist_clk_enable(hist_ctlr->isp_proc->hal.hw, false);
esp_intr_disable(hist_ctlr->intr_handle);
hist_ctlr->fsm = ISP_FSM_INIT;
return ESP_OK;
}
esp_err_t esp_isp_hist_controller_reconfig(isp_hist_ctlr_t hist_ctlr, const esp_isp_hist_config_t *hist_cfg)
{
ESP_RETURN_ON_FALSE(hist_ctlr && hist_cfg, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
int intr_priority = hist_cfg->intr_priority > 0 && hist_cfg->intr_priority <= 3 ? BIT(hist_cfg->intr_priority) : ESP_INTR_FLAG_LOWMED;
ESP_RETURN_ON_FALSE(intr_priority == hist_ctlr->intr_priority, ESP_ERR_INVALID_ARG, TAG, "can't change interrupt priority after initialized");
// Configure the hardware
isp_ll_hist_set_mode(hist_ctlr->isp_proc->hal.hw, hist_cfg->hist_mode);
isp_ll_hist_set_x_offset(hist_ctlr->isp_proc->hal.hw, hist_cfg->first_window_x_offs);
isp_ll_hist_set_y_offset(hist_ctlr->isp_proc->hal.hw, hist_cfg->first_window_y_offs);
isp_ll_hist_set_window_x_size(hist_ctlr->isp_proc->hal.hw, hist_cfg->window_x_size);
isp_ll_hist_set_window_y_size(hist_ctlr->isp_proc->hal.hw, hist_cfg->window_y_size);
isp_ll_hist_set_subwindow_weight(hist_ctlr->isp_proc->hal.hw, hist_cfg->hist_windows_weight);
isp_ll_hist_set_segment_threshold(hist_ctlr->isp_proc->hal.hw, hist_cfg->hist_segment_threshold);
if (hist_cfg->hist_mode == ISP_HIST_RGB) {
isp_ll_hist_set_rgb_coefficient(hist_ctlr->isp_proc->hal.hw, &hist_cfg->rgb_coefficient);
}
return ESP_OK;
}
@@ -182,10 +179,13 @@ esp_err_t esp_isp_hist_controller_reconfig(isp_hist_ctlr_t hist_ctlr, const esp_
esp_err_t esp_isp_hist_controller_get_oneshot_statistics(isp_hist_ctlr_t hist_ctlr, int timeout_ms, isp_hist_result_t *out_res)
{
ESP_RETURN_ON_FALSE_ISR(hist_ctlr && (out_res || timeout_ms == 0), ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
ESP_RETURN_ON_FALSE_ISR(hist_ctlr->fsm == ISP_FSM_ENABLE, ESP_ERR_INVALID_STATE, TAG, "controller isn't in enable state");
esp_err_t ret = ESP_OK;
TickType_t ticks = timeout_ms < 0 ? portMAX_DELAY : pdMS_TO_TICKS(timeout_ms);
isp_fsm_t expected_fsm = ISP_FSM_ENABLE;
ESP_RETURN_ON_FALSE_ISR(atomic_compare_exchange_strong(&hist_ctlr->fsm, &expected_fsm, ISP_FSM_ONESHOT), ESP_ERR_INVALID_STATE, TAG, "controller is not enabled yet");
// Reset the queue in case receiving the legacy data in the queue
xQueueReset(hist_ctlr->evt_que);
// Start the histogram reference statistics and waiting it done
@@ -197,15 +197,16 @@ esp_err_t esp_isp_hist_controller_get_oneshot_statistics(isp_hist_ctlr_t hist_ct
// Stop the histogram reference statistics
isp_ll_hist_enable(hist_ctlr->isp_proc->hal.hw, false);
atomic_store(&hist_ctlr->fsm, ISP_FSM_ENABLE);
return ret;
}
esp_err_t esp_isp_hist_controller_start_continuous_statistics(isp_hist_ctlr_t hist_ctlr)
{
ESP_RETURN_ON_FALSE_ISR(hist_ctlr, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
ESP_RETURN_ON_FALSE_ISR(hist_ctlr->fsm == ISP_FSM_ENABLE, ESP_ERR_INVALID_STATE, TAG, "controller isn't in enable state");
hist_ctlr->fsm = ISP_FSM_START;
isp_fsm_t expected_fsm = ISP_FSM_ENABLE;
ESP_RETURN_ON_FALSE_ISR(atomic_compare_exchange_strong(&hist_ctlr->fsm, &expected_fsm, ISP_FSM_CONTINUOUS), ESP_ERR_INVALID_STATE, TAG, "controller is not enabled yet");
isp_ll_hist_enable(hist_ctlr->isp_proc->hal.hw, true);
return ESP_OK;
@@ -214,10 +215,11 @@ esp_err_t esp_isp_hist_controller_start_continuous_statistics(isp_hist_ctlr_t hi
esp_err_t esp_isp_hist_controller_stop_continuous_statistics(isp_hist_ctlr_t hist_ctlr)
{
ESP_RETURN_ON_FALSE_ISR(hist_ctlr, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
ESP_RETURN_ON_FALSE_ISR(hist_ctlr->fsm == ISP_FSM_START, ESP_ERR_INVALID_STATE, TAG, "controller isn't in continuous state");
isp_fsm_t expected_fsm = ISP_FSM_CONTINUOUS;
ESP_RETURN_ON_FALSE_ISR(atomic_compare_exchange_strong(&hist_ctlr->fsm, &expected_fsm, ISP_FSM_ENABLE),
ESP_ERR_INVALID_STATE, TAG, "controller is not running");
isp_ll_hist_enable(hist_ctlr->isp_proc->hal.hw, false);
hist_ctlr->fsm = ISP_FSM_ENABLE;
return ESP_OK;
}
@@ -225,18 +227,14 @@ esp_err_t esp_isp_hist_controller_stop_continuous_statistics(isp_hist_ctlr_t his
/*---------------------------------------------------------------
INTR
---------------------------------------------------------------*/
static void IRAM_ATTR s_isp_hist_default_isr(void *arg)
bool IRAM_ATTR esp_isp_hist_isr(isp_proc_handle_t proc, uint32_t hist_events)
{
isp_hist_ctlr_t hist_ctlr = (isp_hist_ctlr_t)arg;
isp_proc_handle_t proc = hist_ctlr->isp_proc;
uint32_t hist_events = isp_hal_check_clear_intr_event(&proc->hal, ISP_LL_EVENT_HIST_MASK);
bool need_yield = false;
if (hist_events & ISP_LL_EVENT_HIST_MASK) {
if (hist_events & ISP_LL_EVENT_HIST_FDONE) {
isp_hist_ctlr_t hist_ctlr = proc->hist_ctlr;
uint32_t hist_value[ISP_HIST_SEGMENT_NUMS];
uint32_t hist_value[ISP_HIST_SEGMENT_NUMS] = {};
isp_ll_hist_get_histogram_value(proc->hal.hw, hist_value);
// Get the statistics result
esp_isp_hist_evt_data_t edata = {};
@@ -251,25 +249,20 @@ static void IRAM_ATTR s_isp_hist_default_isr(void *arg)
// Send the event data to the queue, overwrite the legacy one if exist
xQueueOverwriteFromISR(hist_ctlr->evt_que, &edata.hist_result, &high_task_awake);
need_yield |= high_task_awake == pdTRUE;
/* If started continuous sampling, then trigger the next hist sample */
if (hist_ctlr->fsm == ISP_FSM_START) {
isp_ll_hist_enable(hist_ctlr->isp_proc->hal.hw, false);
isp_ll_hist_enable(hist_ctlr->isp_proc->hal.hw, true);
}
}
if (need_yield) {
portYIELD_FROM_ISR();
}
return need_yield;
}
esp_err_t esp_isp_hist_register_event_callbacks(isp_hist_ctlr_t hist_ctlr, const esp_isp_hist_cbs_t *cbs, void *user_data)
{
ESP_RETURN_ON_FALSE(hist_ctlr && cbs, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
ESP_RETURN_ON_FALSE(hist_ctlr->fsm == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "detector isn't in the init state");
ESP_RETURN_ON_FALSE(atomic_load(&hist_ctlr->fsm) == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "controller not in init state");
#if CONFIG_ISP_ISR_IRAM_SAFE
if (cbs->on_statistics_done) {
ESP_RETURN_ON_FALSE(esp_ptr_in_iram(cbs->on_env_change), ESP_ERR_INVALID_ARG, TAG, "on_env_change callback not in IRAM");
ESP_RETURN_ON_FALSE(esp_ptr_in_iram(cbs->on_env_change), ESP_ERR_INVALID_ARG, TAG, "on_statistics_done callback not in IRAM");
}
if (user_data) {
ESP_RETURN_ON_FALSE(esp_ptr_internal(user_data), ESP_ERR_INVALID_ARG, TAG, "user context not in internal RAM");