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https://github.com/espressif/esp-idf.git
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feat(isp_ae): support isp auto exposure
This commit is contained in:
gaoxu
350
components/esp_driver_isp/src/isp_ae.c
Normal file
350
components/esp_driver_isp/src/isp_ae.c
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@@ -0,0 +1,350 @@
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/*
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* SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <esp_types.h>
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#include <sys/lock.h>
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#include "sdkconfig.h"
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#include "esp_log.h"
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#include "esp_check.h"
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#include "esp_heap_caps.h"
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#include "freertos/FreeRTOS.h"
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#include "driver/isp_ae.h"
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#include "esp_private/isp_private.h"
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static const char *TAG = "ISP_AE";
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typedef struct isp_ae_controller_t {
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int id;
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isp_fsm_t fsm;
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portMUX_TYPE spinlock;
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intr_handle_t intr_handle;
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int intr_priority;
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isp_proc_handle_t isp_proc;
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QueueHandle_t evt_que;
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SemaphoreHandle_t stat_lock;
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int low_thresh;
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int high_thresh;
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esp_isp_ae_env_detector_evt_cbs_t cbs;
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void *user_data;
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} isp_ae_controller_t;
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extern portMUX_TYPE fsm_spinlock;
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static void s_isp_ae_default_isr(void *arg);
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/*---------------------------------------------
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AE
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----------------------------------------------*/
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static esp_err_t s_isp_claim_ae_controller(isp_proc_handle_t isp_proc, isp_ae_ctlr_t ae_ctlr)
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{
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assert(isp_proc && ae_ctlr);
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esp_err_t ret = ESP_ERR_NOT_FOUND;
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portENTER_CRITICAL(&isp_proc->spinlock);
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if (!isp_proc->ae_ctlr) {
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isp_proc->ae_ctlr = ae_ctlr;
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ret = ESP_OK;
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}
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portEXIT_CRITICAL(&isp_proc->spinlock);
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return ret;
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}
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static void s_isp_declaim_ae_controller(isp_ae_ctlr_t ae_ctlr)
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{
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if (ae_ctlr && ae_ctlr->isp_proc) {
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portENTER_CRITICAL(&ae_ctlr->isp_proc->spinlock);
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ae_ctlr->isp_proc->ae_ctlr = NULL;
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portEXIT_CRITICAL(&ae_ctlr->isp_proc->spinlock);
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}
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}
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static void s_isp_ae_free_controller(isp_ae_ctlr_t ae_ctlr)
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{
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if (ae_ctlr) {
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if (ae_ctlr->intr_handle) {
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esp_intr_free(ae_ctlr->intr_handle);
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}
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if (ae_ctlr->evt_que) {
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vQueueDelete(ae_ctlr->evt_que);
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}
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if (ae_ctlr->stat_lock) {
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vSemaphoreDelete(ae_ctlr->stat_lock);
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}
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free(ae_ctlr);
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}
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}
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esp_err_t esp_isp_new_ae_controller(isp_proc_handle_t isp_proc, const esp_isp_ae_config_t *ae_config, isp_ae_ctlr_t *ret_hdl)
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{
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esp_err_t ret = ESP_FAIL;
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ESP_RETURN_ON_FALSE(isp_proc && ae_config && ret_hdl, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
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ESP_RETURN_ON_FALSE(((ae_config->window.top_left.x < ISP_LL_AE_WINDOW_MAX_RANGE) &&
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(ae_config->window.btm_right.x >= ae_config->window.top_left.x) &&
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(ae_config->window.btm_right.x < ISP_LL_AE_WINDOW_MAX_RANGE) &&
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(ae_config->window.top_left.y < ISP_LL_AE_WINDOW_MAX_RANGE) &&
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(ae_config->window.btm_right.y >= ae_config->window.top_left.y) &&
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(ae_config->window.btm_right.y < ISP_LL_AE_WINDOW_MAX_RANGE)), ESP_ERR_INVALID_ARG, TAG, "invalid window");
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isp_ae_ctlr_t ae_ctlr = heap_caps_calloc(1, sizeof(isp_ae_controller_t), ISP_MEM_ALLOC_CAPS);
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ESP_RETURN_ON_FALSE(ae_ctlr, ESP_ERR_NO_MEM, TAG, "no mem");
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ae_ctlr->evt_que = xQueueCreateWithCaps(1, sizeof(isp_ae_result_t), ISP_MEM_ALLOC_CAPS);
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ESP_GOTO_ON_FALSE(ae_ctlr->evt_que, ESP_ERR_NO_MEM, err1, TAG, "no mem for ae event queue");
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ae_ctlr->stat_lock = xSemaphoreCreateBinaryWithCaps(ISP_MEM_ALLOC_CAPS);
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ESP_GOTO_ON_FALSE(ae_ctlr->stat_lock, ESP_ERR_NO_MEM, err1, TAG, "no mem for ae semaphore");
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ae_ctlr->fsm = ISP_FSM_INIT;
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ae_ctlr->spinlock = (portMUX_TYPE)portMUX_INITIALIZER_UNLOCKED;
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ae_ctlr->isp_proc = isp_proc;
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//claim an AE controller
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ESP_GOTO_ON_ERROR(s_isp_claim_ae_controller(isp_proc, ae_ctlr), err1, TAG, "no available controller");
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// Register the AE ISR
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uint32_t intr_st_reg_addr = isp_ll_get_intr_status_reg_addr(isp_proc->hal.hw);
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int intr_priority = ae_config->intr_priority > 0 && ae_config->intr_priority <= 7 ? BIT(ae_config->intr_priority) : ESP_INTR_FLAG_LOWMED;
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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_AE_MASK,
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s_isp_ae_default_isr, ae_ctlr, &ae_ctlr->intr_handle), err2, TAG, "allocate interrupt failed");
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isp_ll_ae_set_sample_point(isp_proc->hal.hw, ae_config->sample_point);
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isp_ll_ae_enable(isp_proc->hal.hw, false);
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isp_hal_ae_window_config(&isp_proc->hal, &ae_config->window);
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isp_ll_clear_intr(isp_proc->hal.hw, ISP_LL_EVENT_AE_MASK);
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*ret_hdl = ae_ctlr;
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return ESP_OK;
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err2:
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s_isp_declaim_ae_controller(ae_ctlr);
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err1:
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s_isp_ae_free_controller(ae_ctlr);
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return ret;
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}
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esp_err_t esp_isp_del_ae_controller(isp_ae_ctlr_t ae_ctlr)
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{
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ESP_RETURN_ON_FALSE(ae_ctlr && ae_ctlr->isp_proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
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ESP_RETURN_ON_FALSE(ae_ctlr->isp_proc->ae_ctlr == ae_ctlr, ESP_ERR_INVALID_ARG, TAG, "controller isn't in use");
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ESP_RETURN_ON_FALSE(ae_ctlr->fsm == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "controller isn't in init state");
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s_isp_declaim_ae_controller(ae_ctlr);
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s_isp_ae_free_controller(ae_ctlr);
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return ESP_OK;
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}
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esp_err_t esp_isp_ae_controller_enable(isp_ae_ctlr_t ae_ctlr)
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{
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ESP_RETURN_ON_FALSE(ae_ctlr && ae_ctlr->isp_proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
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ESP_RETURN_ON_FALSE(ae_ctlr->fsm == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "controller isn't in init state");
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esp_err_t ret = ESP_OK;
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ESP_GOTO_ON_ERROR(esp_intr_enable(ae_ctlr->intr_handle), err, TAG, "failed to enable the AE interrupt");
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isp_ll_ae_clk_enable(ae_ctlr->isp_proc->hal.hw, true);
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isp_ll_enable_intr(ae_ctlr->isp_proc->hal.hw, ISP_LL_EVENT_AE_MASK, true);
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isp_ll_ae_enable(ae_ctlr->isp_proc->hal.hw, true);
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xSemaphoreGive(ae_ctlr->stat_lock);
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return ret;
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err:
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ae_ctlr->fsm = ISP_FSM_INIT;
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return ret;
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}
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esp_err_t esp_isp_ae_controller_disable(isp_ae_ctlr_t ae_ctlr)
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{
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ESP_RETURN_ON_FALSE(ae_ctlr && ae_ctlr->isp_proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
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ESP_RETURN_ON_FALSE(ae_ctlr->fsm == ISP_FSM_ENABLE, ESP_ERR_INVALID_STATE, TAG, "controller isn't in enable state");
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xSemaphoreTake(ae_ctlr->stat_lock, 0);
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ae_ctlr->fsm = ISP_FSM_INIT;
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isp_ll_ae_clk_enable(ae_ctlr->isp_proc->hal.hw, false);
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isp_ll_enable_intr(ae_ctlr->isp_proc->hal.hw, ISP_LL_EVENT_AE_MASK, false);
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isp_ll_ae_enable(ae_ctlr->isp_proc->hal.hw, false);
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esp_intr_disable(ae_ctlr->intr_handle);
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return ESP_OK;
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}
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esp_err_t esp_isp_ae_controller_get_oneshot_statistics(isp_ae_ctlr_t ae_ctlr, int timeout_ms, isp_ae_result_t *out_res)
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{
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ESP_RETURN_ON_FALSE_ISR(ae_ctlr && (out_res || timeout_ms == 0), ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
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esp_err_t ret = ESP_OK;
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TickType_t ticks = timeout_ms < 0 ? portMAX_DELAY : pdMS_TO_TICKS(timeout_ms);
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xSemaphoreTake(ae_ctlr->stat_lock, ticks);
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ESP_GOTO_ON_FALSE(ae_ctlr->fsm == ISP_FSM_ENABLE, ESP_ERR_INVALID_STATE, err, TAG, "controller isn't in enable state");
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// Reset the queue in case receiving the legacy data in the queue
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xQueueReset(ae_ctlr->evt_que);
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// Disable the env detector when manual statistics.
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// Otherwise, the env detector results may overwrite the manual statistics results when the statistics results are not read out in time
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isp_ll_ae_env_detector_set_thresh(ae_ctlr->isp_proc->hal.hw, 0, 0);
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// Trigger the AE statistics manually
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isp_ll_ae_manual_update(ae_ctlr->isp_proc->hal.hw);
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// Wait the statistics to finish and receive the result from the queue
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if ((ticks > 0) && xQueueReceive(ae_ctlr->evt_que, out_res, ticks) != pdTRUE) {
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ret = ESP_ERR_TIMEOUT;
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}
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// Re-enable the env detector after manual statistics.
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isp_ll_ae_env_detector_set_thresh(ae_ctlr->isp_proc->hal.hw, ae_ctlr->low_thresh, ae_ctlr->high_thresh);
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portENTER_CRITICAL(&fsm_spinlock);
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ae_ctlr->fsm = ISP_FSM_ENABLE;
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portEXIT_CRITICAL(&fsm_spinlock);
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err:
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xSemaphoreGive(ae_ctlr->stat_lock);
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return ret;
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}
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esp_err_t esp_isp_ae_controller_start_continuous_statistics(isp_ae_ctlr_t ae_ctlr)
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{
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ESP_RETURN_ON_FALSE_ISR(ae_ctlr, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
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ESP_RETURN_ON_FALSE_ISR(ae_ctlr->fsm == ISP_FSM_ENABLE, ESP_ERR_INVALID_STATE, TAG, "controller isn't in enable state");
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esp_err_t ret = ESP_OK;
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if (xSemaphoreTake(ae_ctlr->stat_lock, 0) == pdFALSE) {
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ESP_LOGW(TAG, "statistics lock is not acquired, controller is busy");
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return ESP_ERR_INVALID_STATE;
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}
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ESP_GOTO_ON_FALSE(ae_ctlr->fsm == ISP_FSM_ENABLE, ESP_ERR_INVALID_STATE, err, TAG, "controller isn't in enable state");
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portENTER_CRITICAL(&fsm_spinlock);
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ae_ctlr->fsm = ISP_FSM_START;
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portEXIT_CRITICAL(&fsm_spinlock);
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isp_ll_ae_manual_update(ae_ctlr->isp_proc->hal.hw);
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err:
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xSemaphoreGive(ae_ctlr->stat_lock);
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return ret;
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}
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esp_err_t esp_isp_ae_controller_stop_continuous_statistics(isp_ae_ctlr_t ae_ctlr)
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{
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ESP_RETURN_ON_FALSE_ISR(ae_ctlr, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
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ESP_RETURN_ON_FALSE_ISR(ae_ctlr->fsm == ISP_FSM_START, ESP_ERR_INVALID_STATE, TAG, "controller isn't in continuous state");
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isp_ll_ae_env_detector_set_thresh(ae_ctlr->isp_proc->hal.hw, ae_ctlr->low_thresh, ae_ctlr->high_thresh);
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portENTER_CRITICAL(&fsm_spinlock);
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ae_ctlr->fsm = ISP_FSM_ENABLE;
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portEXIT_CRITICAL(&fsm_spinlock);
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xSemaphoreGive(ae_ctlr->stat_lock);
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return ESP_OK;
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}
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/*---------------------------------------------
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AE Env Detector
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----------------------------------------------*/
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esp_err_t esp_isp_ae_controller_set_env_detector(isp_ae_ctlr_t ae_ctlr, const esp_isp_ae_env_config_t *env_config)
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{
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ESP_RETURN_ON_FALSE(ae_ctlr && env_config, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
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ESP_RETURN_ON_FALSE(ae_ctlr->fsm == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "invalid fsm, should be called when in init state");
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ESP_RETURN_ON_FALSE(env_config->interval > 0, ESP_ERR_INVALID_STATE, TAG, "invalid interval, should be greater than 0");
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isp_ll_clear_intr(ae_ctlr->isp_proc->hal.hw, ISP_LL_EVENT_AE_ENV);
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isp_ll_ae_env_detector_set_period(ae_ctlr->isp_proc->hal.hw, env_config->interval);
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isp_ll_enable_intr(ae_ctlr->isp_proc->hal.hw, ISP_LL_EVENT_AE_ENV, true);
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return ESP_OK;
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}
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esp_err_t esp_isp_ae_env_detector_register_event_callbacks(isp_ae_ctlr_t ae_ctlr, const esp_isp_ae_env_detector_evt_cbs_t *cbs, void *user_data)
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{
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ESP_RETURN_ON_FALSE(ae_ctlr && cbs, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
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ESP_RETURN_ON_FALSE(ae_ctlr->fsm == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "detector isn't in the init state");
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#if CONFIG_ISP_ISR_IRAM_SAEE
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if (cbs->on_env_statistics_done) {
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ESP_RETURN_ON_FALSE(esp_ptr_in_iram(cbs->on_env_statistics_done), ESP_ERR_INVALID_ARG, TAG, "on_env_statistics_done callback not in IRAM");
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}
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if (cbs->on_env_change) {
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ESP_RETURN_ON_FALSE(esp_ptr_in_iram(cbs->on_env_change), ESP_ERR_INVALID_ARG, TAG, "on_env_change callback not in IRAM");
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}
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if (user_data) {
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ESP_RETURN_ON_FALSE(esp_ptr_internal(user_data), ESP_ERR_INVALID_ARG, TAG, "user context not in internal RAM");
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}
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#endif
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ae_ctlr->cbs.on_env_statistics_done = cbs->on_env_statistics_done;
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ae_ctlr->cbs.on_env_change = cbs->on_env_change;
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ae_ctlr->user_data = user_data;
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return ESP_OK;
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}
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esp_err_t esp_isp_ae_controller_set_env_detector_threshold(isp_ae_ctlr_t ae_ctlr, const esp_isp_ae_env_thresh_t *env_thresh)
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{
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ESP_RETURN_ON_FALSE_ISR(ae_ctlr, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
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ESP_RETURN_ON_FALSE_ISR(ae_ctlr->fsm == ISP_FSM_ENABLE, ESP_ERR_INVALID_STATE, TAG, "AE env detector isn't in enable state");
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ESP_RETURN_ON_FALSE_ISR((env_thresh->low_thresh != 0 && env_thresh->high_thresh != 0) && (env_thresh->low_thresh <= env_thresh->high_thresh), ESP_ERR_INVALID_STATE, TAG, "invalid AE env detector thresh");
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ae_ctlr->low_thresh = env_thresh->low_thresh;
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ae_ctlr->high_thresh = env_thresh->high_thresh;
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isp_ll_ae_env_detector_set_thresh(ae_ctlr->isp_proc->hal.hw, ae_ctlr->low_thresh, ae_ctlr->high_thresh);
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return ESP_OK;
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}
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/*---------------------------------------------------------------
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INTR
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---------------------------------------------------------------*/
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static void IRAM_ATTR s_isp_ae_default_isr(void *arg)
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{
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isp_ae_ctlr_t ae_ctlr = (isp_ae_ctlr_t)arg;
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isp_proc_handle_t proc = ae_ctlr->isp_proc;
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uint32_t ae_events = isp_hal_check_clear_intr_event(&proc->hal, ISP_LL_EVENT_AE_MASK);
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bool need_yield = false;
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esp_isp_ae_env_detector_evt_data_t edata = {};
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if (ae_events) {
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// Get the statistics result
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int block_id = 0;
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for (int i = 0; i < SOC_ISP_AE_BLOCK_X_NUMS; i++) {
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for (int j = 0; j < SOC_ISP_AE_BLOCK_Y_NUMS; j++) {
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edata.ae_result.luminance[i][j] = isp_ll_ae_get_block_mean_lum(proc->hal.hw, block_id);
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block_id++;
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}
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}
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BaseType_t high_task_awake = false;
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// Send the event data to the queue, overwrite the legacy one if exist
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xQueueOverwriteFromISR(ae_ctlr->evt_que, &edata.ae_result, &high_task_awake);
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// Invoke the callback if the callback is registered
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need_yield |= high_task_awake == pdTRUE;
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/* If started continuous sampling, then trigger the next AE sample */
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if (ae_ctlr->fsm == ISP_FSM_START) {
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isp_ll_ae_manual_update(ae_ctlr->isp_proc->hal.hw);
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}
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}
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/**
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* Deal with the interrupts.
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* Now only one detector.
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* Should decide a detector instance according to the hw event.
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*/
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if (ae_events & ISP_LL_EVENT_AE_FDONE) {
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if (ae_ctlr->cbs.on_env_statistics_done) {
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need_yield |= ae_ctlr->cbs.on_env_statistics_done(ae_ctlr, &edata, ae_ctlr->user_data);
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}
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}
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if (ae_events & ISP_LL_EVENT_AE_ENV) {
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if (ae_ctlr->cbs.on_env_change) {
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need_yield |= ae_ctlr->cbs.on_env_change(ae_ctlr, &edata, ae_ctlr->user_data);
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}
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}
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if (need_yield) {
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portYIELD_FROM_ISR();
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}
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}
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