video: stm32_dcmi: support for CROP/Snapshot

Added support to video_stm32_dcmi for the new
set and get selection.  These implementations simply
forward the message to the underlying camera object
if they support these messages.

Also added support for a snapshot mode instead of
always using continuous capture mode.  Tried
to make it semi-transparent when you desire it to be

The stm32_dcmi code now also allows you to work
with only one buffer.  This will force it into snapshot
mode.  likewise if you call the video_set_stream and
have not added any buffers yet, it will also set it
into this mode.

You can also specify to use snapshot mode, in the
device tree, like:
```
&dcmi {
	snapshot-mode;
};
```

This commit also has some recovery
from DMA errors in
snapshot mode, in addition it appears
to recover in many of the cases in
continuous mode as well.
At least it is a start to resolve some of the hangs.

Updated: video_stm32_dcmi_get_caps.

Signed-off-by: Kurt Eckhardt <[email protected]>

Author: KurtE

drivers/video/video_stm32_dcmi.c

@@ -24,8 +24,8 @@
 
 LOG_MODULE_REGISTER(video_stm32_dcmi, CONFIG_VIDEO_LOG_LEVEL);
 
-#if CONFIG_VIDEO_BUFFER_POOL_NUM_MAX < 2
-#error "The minimum required number of buffers for video_stm32 is 2"
+#if CONFIG_VIDEO_BUFFER_POOL_NUM_MAX < 1
+#error "The minimum required number of buffers for video_stm32 is 1"
 #endif
 
 typedef void (*irq_config_func_t)(const struct device *dev);
@@ -45,6 +45,8 @@ struct video_stm32_dcmi_data {
 	struct k_fifo fifo_in;
 	struct k_fifo fifo_out;
 	struct video_buffer *vbuf;
+	bool snapshot_mode : 1;
+	bool restart_dma : 1;
 };
 
 struct video_stm32_dcmi_config {
@@ -53,11 +55,22 @@ struct video_stm32_dcmi_config {
 	const struct pinctrl_dev_config *pctrl;
 	const struct device *sensor_dev;
 	const struct stream dma;
+	bool snapshot_mode;
 };
 
+static void stm32_dcmi_process_dma_error(DCMI_HandleTypeDef *hdcmi)
+{
+	struct video_stm32_dcmi_data *dev_data =
+		CONTAINER_OF(hdcmi, struct video_stm32_dcmi_data, hdcmi);
+
+	dev_data->restart_dma = true;
+	k_fifo_cancel_wait(&dev_data->fifo_out);
+}
+
 void HAL_DCMI_ErrorCallback(DCMI_HandleTypeDef *hdcmi)
 {
-	LOG_WRN("%s", __func__);
+	LOG_WRN("%s %p", __func__, hdcmi);
+	stm32_dcmi_process_dma_error(hdcmi);
 }
 
 void HAL_DCMI_FrameEventCallback(DCMI_HandleTypeDef *hdcmi)
@@ -66,8 +79,17 @@ void HAL_DCMI_FrameEventCallback(DCMI_HandleTypeDef *hdcmi)
 			CONTAINER_OF(hdcmi, struct video_stm32_dcmi_data, hdcmi);
 	struct video_buffer *vbuf;
 
-	HAL_DCMI_Suspend(hdcmi);
+	if (dev_data->snapshot_mode) {
+		/* we remove the buffer from the camera and add it to fifo_out */
+		vbuf = dev_data->vbuf;
+		dev_data->vbuf = NULL;
+		vbuf->timestamp = k_uptime_get_32();
+		k_fifo_put(&dev_data->fifo_out, vbuf);
+		return;
+	}
 
+	/* Not in snapshot_mode */
+	HAL_DCMI_Suspend(hdcmi);
 	vbuf = k_fifo_get(&dev_data->fifo_in, K_NO_WAIT);
 
 	if (vbuf == NULL) {
@@ -94,21 +116,18 @@ static void stm32_dcmi_isr(const struct device *dev)
 static void dcmi_dma_callback(const struct device *dev, void *arg, uint32_t channel, int status)
 {
 	DMA_HandleTypeDef *hdma = arg;
+	DCMI_HandleTypeDef *hdcmi = (DCMI_HandleTypeDef *)hdma->Parent;
 
 	ARG_UNUSED(dev);
 
 	if (status < 0) {
 		LOG_ERR("DMA callback error with channel %d.", channel);
+		stm32_dcmi_process_dma_error(hdcmi);
 	}
 
 	HAL_DMA_IRQHandler(hdma);
 }
 
-void HAL_DMA_ErrorCallback(DMA_HandleTypeDef *hdma)
-{
-	LOG_WRN("%s", __func__);
-}
-
 static int stm32_dma_init(const struct device *dev)
 {
 	struct video_stm32_dcmi_data *data = dev->data;
@@ -259,22 +278,29 @@ static int video_stm32_dcmi_set_stream(const struct device *dev, bool enable,
 		return 0;
 	}
 
-	data->vbuf = k_fifo_get(&data->fifo_in, K_NO_WAIT);
+	if (!config->snapshot_mode && (CONFIG_VIDEO_BUFFER_POOL_NUM_MAX != 1)) {
+		data->vbuf = k_fifo_get(&data->fifo_in, K_NO_WAIT);
 
-	if (data->vbuf == NULL) {
-		LOG_ERR("Failed to dequeue a DCMI buffer.");
-		return -ENOMEM;
+		if (data->vbuf == NULL) {
+			data->snapshot_mode = true;
+			LOG_WRN("No buffers, assume snapshot mode.");
+		}
 	}
 
 	/* Set the frame control */
 	data->hdcmi.Instance->CR &= ~(DCMI_CR_FCRC_0 | DCMI_CR_FCRC_1);
 	data->hdcmi.Instance->CR |= STM32_DCMI_GET_CAPTURE_RATE(data->capture_rate);
 
-	err = HAL_DCMI_Start_DMA(&data->hdcmi, DCMI_MODE_CONTINUOUS,
-			(uint32_t)data->vbuf->buffer, data->vbuf->bytesused / 4);
-	if (err != HAL_OK) {
-		LOG_ERR("Failed to start DCMI DMA");
-		return -EIO;
+	/* don't start the DCMI DMA if we are in Snapshot mode */
+	if (!data->snapshot_mode) {
+		err = HAL_DCMI_Start_DMA(&data->hdcmi, DCMI_MODE_CONTINUOUS,
+					 (uint32_t)data->vbuf->buffer, data->vbuf->bytesused / 4);
+		if (err != HAL_OK) {
+			LOG_ERR("Failed to start DCMI DMA");
+			return -EIO;
+		}
+	} else {
+		LOG_DBG("Snapshot mode active");
 	}
 
 	return video_stream_start(config->sensor_dev, type);
@@ -297,28 +323,96 @@ static int video_stm32_dcmi_enqueue(const struct device *dev, struct video_buffe
 	return 0;
 }
 
+static int video_stm32_restart_dma_after_error(struct video_stm32_dcmi_data *data) {
+	LOG_DBG("Restart DMA after Error!");
+	/* Lets try to recover by stopping and maybe restart */
+	if (HAL_DCMI_Stop(&data->hdcmi) != HAL_OK) {
+		LOG_WRN("HAL_DCMI_Stop FAILED!");
+	}
+
+	if (data->snapshot_mode) {
+		if (data->vbuf != NULL) {
+			k_fifo_put(&data->fifo_in, data->vbuf);
+			data->vbuf = NULL;
+		}
+	} else {
+		/* error on last transfer try to restart it */
+		if (HAL_DCMI_Start_DMA(&data->hdcmi, DCMI_MODE_CONTINUOUS,
+				       (uint32_t)data->vbuf->buffer,
+				       data->vbuf->size / 4) != HAL_OK) {
+			LOG_WRN("Snapshot: HAL_DCMI_Start_DMA FAILED!");
+			return -EIO;
+		}
+	}
+	data->restart_dma = false;
+	return 0;
+}
+
 static int video_stm32_dcmi_dequeue(const struct device *dev, struct video_buffer **vbuf,
 				    k_timeout_t timeout)
 {
 	struct video_stm32_dcmi_data *data = dev->data;
+	int err;
+
+	if (data->snapshot_mode) {
+		/* See if we were already called and have an active buffer */
+		if (data->vbuf == NULL) {
+			data->vbuf = k_fifo_get(&data->fifo_in, K_NO_WAIT);
+			if (data->vbuf == NULL) {
+				LOG_WRN("Snapshot: No Buffers available!");
+				return -ENOMEM;
+			}
+
+			if (HAL_DCMI_Start_DMA(&data->hdcmi, DCMI_MODE_SNAPSHOT,
+					       (uint32_t)data->vbuf->buffer,
+					       data->vbuf->size / 4) != HAL_OK) {
+				LOG_WRN("Snapshot: HAL_DCMI_Start_DMA FAILED!");
+				return -EIO;
+			}
+		} else {
+			LOG_DBG("Snapshot: restart after timeout");
+		}
+	} else {
+		err = video_stm32_restart_dma_after_error(data);
+		if (err < 0) {
+			return err;
+		}
+	}
 
 	*vbuf = k_fifo_get(&data->fifo_out, timeout);
+
+	if (data->restart_dma) {
+		err = video_stm32_restart_dma_after_error(data);
+		if (err < 0) {
+			return err;
+		}
+	}
+
 	if (*vbuf == NULL) {
 		return -EAGAIN;
 	}
 
+	if (data->snapshot_mode) {
+		if (HAL_DCMI_Stop(&data->hdcmi) != HAL_OK) {
+			LOG_WRN("Snapshot: HAL_DCMI_Stop FAILED!");
+		}
+	}
 	return 0;
 }
 
 static int video_stm32_dcmi_get_caps(const struct device *dev, struct video_caps *caps)
 {
 	const struct video_stm32_dcmi_config *config = dev->config;
+	int ret;
+
+	ret = video_get_caps(config->sensor_dev, caps);
 
 	/* DCMI produces full frames */
-	caps->min_line_count = caps->max_line_count = LINE_COUNT_HEIGHT;
+	caps->min_vbuf_count = config->snapshot_mode ? 1 : 2;
+	caps->min_line_count = LINE_COUNT_HEIGHT;
+	caps->max_line_count = LINE_COUNT_HEIGHT;
 
-	/* Forward the message to the sensor device */
-	return video_get_caps(config->sensor_dev, caps);
+	return ret;
 }
 
 static int video_stm32_dcmi_enum_frmival(const struct device *dev, struct video_frmival_enum *fie)
@@ -417,6 +511,20 @@ static int video_stm32_dcmi_get_frmival(const struct device *dev, struct video_f
 	return 0;
 }
 
+static int video_stm32_dcmi_set_selection(const struct device *dev, struct video_selection *sel)
+{
+	const struct video_stm32_dcmi_config *config = dev->config;
+
+	return video_set_selection(config->sensor_dev, sel);
+}
+
+static int video_stm32_dcmi_get_selection(const struct device *dev, struct video_selection *sel)
+{
+	const struct video_stm32_dcmi_config *config = dev->config;
+
+	return video_get_selection(config->sensor_dev, sel);
+}
+
 static DEVICE_API(video, video_stm32_dcmi_driver_api) = {
 	.set_format = video_stm32_dcmi_set_fmt,
 	.get_format = video_stm32_dcmi_get_fmt,
@@ -427,6 +535,8 @@ static DEVICE_API(video, video_stm32_dcmi_driver_api) = {
 	.enum_frmival = video_stm32_dcmi_enum_frmival,
 	.set_frmival = video_stm32_dcmi_set_frmival,
 	.get_frmival = video_stm32_dcmi_get_frmival,
+	.set_selection = video_stm32_dcmi_set_selection,
+	.get_selection = video_stm32_dcmi_get_selection,
 };
 
 static void video_stm32_dcmi_irq_config_func(const struct device *dev)
@@ -509,6 +619,7 @@ static const struct video_stm32_dcmi_config video_stm32_dcmi_config_0 = {
 	.irq_config = video_stm32_dcmi_irq_config_func,
 	.pctrl = PINCTRL_DT_INST_DEV_CONFIG_GET(0),
 	.sensor_dev = SOURCE_DEV(0),
+	.snapshot_mode = DT_INST_PROP(0, snapshot_mode),
 	DCMI_DMA_CHANNEL(0, PERIPHERAL, MEMORY)
 };
 
@@ -539,6 +650,13 @@ static int video_stm32_dcmi_init(const struct device *dev)
 		return err;
 	}
 
+	/* See if we should initialize to only support snapshot mode or not */
+	data->restart_dma = false;
+	data->snapshot_mode = config->snapshot_mode;
+	if (CONFIG_VIDEO_BUFFER_POOL_NUM_MAX == 1) {
+		LOG_DBG("Only one buffer so snapshot mode only");
+		data->snapshot_mode = true;
+	}
 	data->dev = dev;
 	k_fifo_init(&data->fifo_in);
 	k_fifo_init(&data->fifo_out);

dts/bindings/video/st,stm32-dcmi.yaml

@@ -46,6 +46,10 @@ properties:
               STM32_DMA_MEM_INC | STM32_DMA_PERIPH_8BITS | STM32_DMA_MEM_32BITS |
               STM32_DMA_PRIORITY_HIGH) STM32_DMA_FIFO_1_4>;
 
+  snapshot-mode:
+    type: boolean
+    description: set the driver into snapshot mode, default is off.
+
 child-binding:
   child-binding:
     include: video-interfaces.yaml