plant_car/drivers/source/camera/csi-baremetal/csi_drv/csi_drv.c

/*
 * csi_drv.c
 *
 * Copyright (c) 2021 Semidrive Semiconductor.
 * All rights reserved.
 *
 * Description: csi controller driver (system adaptive)
 *
 * Revision History:
 * -----------------
 */
#include "camera/sdrv-cam-baremetal-def.h"
#include "camera/vdev_defs.h"
#include "csi_drv.h"
#include "csi_hw.h"

#define MAX_CSI_INST CONFIG_CSI_NUM
#define MAX_CSI_CHANNEL CONFIG_CSI_CH_NUM
#define MAX_BUF_CNT 16
#define MAX_QLEN 1
#define SKIP_FRAME_NUM (1 << 0)

enum channel_status {
    STOPPED,
    RUNNING,
    IDLE,
};

#define CHECK_CSI_ID_CH(id, ch)                                                \
    do {                                                                       \
        if ((id >= MAX_CSI_INST) || (ch >= MAX_CSI_CHANNEL)) {                 \
            cam_err("%s: error id %d\n", __func__, id);                        \
            return -1;                                                         \
        }                                                                      \
    } while (0)

struct camera_device;

struct camera_buffer {
    struct list_node list;
    uint32_t buffer_idx;
    uint32_t frm_cnt;
    uint32_t timestamp;
    dma_addr_t paddr[3];
};

struct cam_queue {
    int qlen;
    struct list_node qhead;
};
static struct camera_buffer s_buffers[MAX_CSI_INST][MAX_CSI_CHANNEL]
                                     [MAX_BUF_CNT];

struct camera_channel {
    struct camera_device *host;
    uint32_t ch_id;
    uint32_t enable;
    uint32_t status;
    uint32_t frm_cnt;
    uint32_t update_cnt;

    struct camera_buffer *bufs;
    struct list_node empty;

    struct list_node in_bufq;
    struct list_node out_bufq;
    struct cam_queue active_q;
    struct camera_buffer *next_buf;
    completion_t completion;
    spinlock_t bufq_lock;

    struct mem_range cam_mem[3];

    struct csi_ch_params cfg;
};

struct camera_device {
    uint32_t host_id; /* host ip id */
    struct csi_device ex_dev;

    struct csi_hw_dev *csi_hw;
    uint32_t csi_irq;
    reg_addr_t csi_base;
    uint32_t bt; /* bus type */
    uint32_t sync;
    struct camera_channel cam_ch[MAX_CSI_CHANNEL];
};

struct csi_channel_ops ch_ops;
static struct camera_device s_cam_devices[MAX_CSI_INST];

#ifdef _CONFIG_OS_SAFETY_
static enum handler_return camera_int_handler(void *data)
{
    enum handler_return ret = INT_NO_RESCHEDULE;
    struct camera_device *cam_dev = (struct camera_device *)data;

    cam_dev->csi_hw->ops.csi_irq_handle(cam_dev->csi_hw);
    return ret;
}

static uint32_t get_irq(uint32_t id)
{
    if (id == CSI_HOST_0)
        return CSI1_INTERRUPT_NUM;
    else if (id == CSI_HOST_1)
        return CSI2_INTERRUPT_NUM;
    else
        return CSI3_INTERRUPT_NUM;
}

static reg_addr_t get_reg_base(uint32_t id)
{
    uint32_t res;
    int32_t ret, res_index = 0;
    addr_t phy_addr = 0;

    if (id == CSI_HOST_0)
        res = RES_CSI_CSI1;
    else if (id == CSI_HOST_1)
        res = RES_CSI_CSI2;
    else
        res = RES_CSI_CSI3;

    ret = res_get_info_by_id(res, &phy_addr, &res_index);
    if (ret < 0) {
        cam_err("%s: get resource 0x%x fail, csi_id=%d, ret=%d\n", __func__,
                res, id, ret);
        return NULL;
    }

    cam_info("%s: csi%d, base 0x%lx\n", __func__, id, (unsigned long)phy_addr);
    return (reg_addr_t)phy_addr;
}

#else /* _CONFIG_OS_SSDK_ */

#define get_irq(id) CSI_INTR_NUM
#define get_reg_base(id) APB_CSI_BASE

static int camera_int_handler(uint32_t irq, void *data)
{
    struct camera_device *cam_dev = (struct camera_device *)data;
    cam_debug("camera_int_handler:  enter irq: %d\n", irq);
    cam_dev->csi_hw->ops.csi_irq_handle(cam_dev->csi_hw);
    return 0;
}

static void register_int_handler(uint32_t irq, irq_handler handler, void *data)
{
    irq_attach(irq, handler, data);
    irq_enable(irq);
}
#endif

static uint32_t to_vdev_pixfmt(uint32_t csi_pix_fmt)
{
    switch (csi_pix_fmt) {
    case CSI_FMT_YUYV:
        return VDEV_PIX_FMT_YUYV;

    case CSI_FMT_UYVY:
        return VDEV_PIX_FMT_UYVY;

    case CSI_FMT_NV16:
        return VDEV_PIX_FMT_NV16;

    case CSI_FMT_NV61:
        return VDEV_PIX_FMT_NV61;

    case CSI_FMT_YUV422P:
        return VDEV_PIX_FMT_YUV422P;

    case CSI_FMT_RGB24:
        return VDEV_PIX_FMT_RGB24;

    case CSI_FMT_BGR24:
        return VDEV_PIX_FMT_BGR24;

    case CSI_FMT_RGB16:
        return VDEV_PIX_FMT_RGB16;

    default:
        ; // return VDEV_PIX_FMT_UYVY;
    }

    return VDEV_PIX_FMT_UYVY;
}

static uint32_t to_csi_pixfmt(uint32_t vdev_pix_fmt)
{
    switch (vdev_pix_fmt) {
    case VDEV_PIX_FMT_YUYV:
        return CSI_FMT_YUYV;

    case VDEV_PIX_FMT_UYVY:
        return CSI_FMT_UYVY;

    case VDEV_PIX_FMT_NV16:
        return CSI_FMT_NV16;

    case VDEV_PIX_FMT_NV61:
        return CSI_FMT_NV61;

    case VDEV_PIX_FMT_YUV422P:
        return CSI_FMT_YUV422P;

    case VDEV_PIX_FMT_RGB24:
        return CSI_FMT_RGB24;

    case VDEV_PIX_FMT_BGR24:
        return CSI_FMT_BGR24;

    case VDEV_PIX_FMT_RGB16:
        return CSI_FMT_RGB16;

    default:
        ; // return CSI_FMT_UYVY;
    }

    return CSI_FMT_UYVY;
}

static int camera_frame_done(void *caller, uint32_t ch)
{
    struct camera_channel *pch = (struct camera_channel *)caller;
    struct camera_device *cam_dev = pch->host;
    struct list_node *node;
    struct camera_buffer *pbuf;
    unsigned long flags = 0;

#ifdef TEST_CAM_FPS
    static uint64_t time_last, time_cur;
    time_cur = current_time_hires();
    if (pch->frm_cnt == 0)
        time_last = time_cur;
    if ((pch->frm_cnt & 0x1f) == 0x1f) {
        uint64_t fps_1_us = 32000000000000ul / (time_cur - time_last);
        cam_info("frm_cnt %d, cam_fps: %llu.%06llu\n", pch->frm_cnt,
                 fps_1_us / 1000000, fps_1_us % 1000000);
        time_last = time_cur;
    }
#endif

    if (pch->status == STOPPED) {
        pch->frm_cnt++;
        return 0;
    }

    if (pch->active_q.qlen == 0) {
        if (pch->status == RUNNING)
            cam_err("csi%d img%d, active_q empty\n", cam_dev->host_id, ch);
        pch->frm_cnt++;
        return 0;
    }

    if (pch->active_q.qlen > MAX_QLEN)
        cam_err("csi%d img%d, active_q full\n", cam_dev->host_id, ch);

    spin_lock_irqsave(&pch->bufq_lock, flags);

    node = list_peek_head(&pch->active_q.qhead);
    list_delete(node);
    pch->active_q.qlen--;

    if (pch->frm_cnt < SKIP_FRAME_NUM) {
        list_add_tail(&pch->in_bufq, node);
        spin_unlock_irqrestore(&pch->bufq_lock, flags);
        pch->frm_cnt++;
        return 0;
    }

    pbuf = containerof(node, struct camera_buffer, list);
    pbuf->timestamp = pch->frm_cnt * 10; /* TODO: get_systime(); */
    pbuf->frm_cnt = pch->frm_cnt;
    list_add_tail(&pch->out_bufq, &pbuf->list);
    spin_unlock_irqrestore(&pch->bufq_lock, flags);

    completion_done(&pch->completion);

    cam_debug("%s, csi%d img%d, frm_cnt %d, buf_idx %d\n", __func__,
              cam_dev->host_id, ch, pch->frm_cnt, pbuf->buffer_idx);

    pch->frm_cnt++;
    return 0;
}

static int camera_update_buf(void *caller, uint32_t ch)
{
    struct camera_channel *pch = (struct camera_channel *)caller;
    struct camera_device *cam_dev = pch->host;
    struct list_node *node;
    struct camera_buffer *pbuf;
    struct csi_img_buf buf;
    unsigned long flags = 0;

    pch->update_cnt++;
    if (pch->status == STOPPED)
        return 0;

    spin_lock_irqsave(&pch->bufq_lock, flags);
    node = list_peek_head(&pch->in_bufq);
    if (node == NULL) {
        spin_unlock_irqrestore(&pch->bufq_lock, flags);
        if (pch->status == RUNNING) {
            pch->status = IDLE;
            cam_debug("ch %d vbuf_list is empty\n", ch);
        }
        return 0;
    }
    pch->status = RUNNING;

    if (pch->active_q.qlen >= MAX_QLEN) {
        spin_unlock_irqrestore(&pch->bufq_lock, flags);
        cam_err("csi%d img%d, active_q overflow\n", cam_dev->host_id, ch);
        return 0;
    }

    if (pch->next_buf) {
        pbuf = pch->next_buf;
        list_add_tail(&pch->active_q.qhead, &pbuf->list);
        pch->active_q.qlen++;
        pch->next_buf = NULL;
    }

    list_delete(node);
    pbuf = containerof(node, struct camera_buffer, list);
    pch->next_buf = pbuf;
    spin_unlock_irqrestore(&pch->bufq_lock, flags);

    buf.paddr[0] = pbuf->paddr[0];
    buf.paddr[1] = pbuf->paddr[1];
    buf.paddr[2] = pbuf->paddr[2];
    cam_dev->csi_hw->ops.csi_cfg_img_buf(cam_dev->csi_hw, ch, &buf);

    cam_debug("%s, csi%d img%d, done\n", __func__, cam_dev->host_id, ch);
    return 0;
}

static int camera_error_handle(void *caller, uint32_t ch)
{
    struct camera_channel *pch = (struct camera_channel *)caller;
    struct camera_device *cam_dev = pch->host;

    cam_err("%s, csi%d img%d, error\n", __func__, cam_dev->host_id, ch);
    return 0;
}

struct csi_device *camera_dev_init(uint32_t id)
{
    int i;
    struct camera_device *cam_dev;

    if (id >= MAX_CSI_INST) {
        cam_err("%s: error id %d\n", __func__, id);
        return NULL;
    }
    cam_dev = &s_cam_devices[id];
    cam_dev->host_id = id;
    cam_dev->csi_irq = get_irq(id);
    cam_dev->csi_base = (reg_addr_t)get_reg_base(id);
    cam_dev->bt = 1;
    cam_dev->sync = 0;
    cam_err("csi%d init: irq %d,  reg_base 0x%08x\n", id, cam_dev->csi_irq,
            (uint32_t)cam_dev->csi_base);

    cam_dev->csi_hw = (void *)csi_hw_init(cam_dev->csi_base, id);
    if (cam_dev->csi_hw == NULL) {
        cam_err("%s: faile to init csi_hw\n", __func__);
        return NULL;
    }

    cam_dev->csi_hw->ops.csi_cfg_sync(cam_dev->csi_hw, cam_dev->sync);

    cam_info("enalbe irq: %d\n", cam_dev->csi_irq);
    register_int_handler(cam_dev->csi_irq, camera_int_handler, cam_dev);

    for (i = 0; i < MAX_CSI_CHANNEL; i++) {
        cam_dev->cam_ch[i].ch_id = i;
        cam_dev->cam_ch[i].host = cam_dev;
        spin_lock_init(&cam_dev->cam_ch[i].bufq_lock);
    }

    cam_dev->ex_dev.ops = ch_ops;

    cam_info("%s: done\n", __func__);
    return &cam_dev->ex_dev;
}

static int channel_open(uint32_t id, uint32_t ch)
{
    int i;
    struct camera_device *cam_dev;
    struct camera_channel *pch;
    struct camera_buffer *pbuf;
    struct csi_callback_t cb;
    CHECK_CSI_ID_CH(id, ch);

    cam_dev = &s_cam_devices[id];
    pch = &cam_dev->cam_ch[ch];

    cam_dev->csi_hw->ops.csi_reset_img(cam_dev->csi_hw, ch,
                                       CSI_RESET_IMG_CTX | CSI_RESET_IMG_HW);

    list_initialize(&pch->empty);
    pch->bufs = &s_buffers[id][ch][0];
    memset(pch->bufs, 0, sizeof(struct camera_buffer) * MAX_BUF_CNT);
    for (i = 0, pbuf = pch->bufs; i < MAX_BUF_CNT; i++, pbuf++) {
        list_add_tail(&pch->empty, &pbuf->list);
    }

    list_initialize(&pch->out_bufq);
    list_initialize(&pch->in_bufq);
    list_initialize(&pch->active_q.qhead);
    pch->active_q.qlen = 0;
    pch->next_buf = NULL;
    completion_init(&pch->completion);

    pch->cfg.bus_type = CSI_BUS_PARALLEL2;
    pch->cfg.bus_fmt = CSI_MBUS_UYVY8_2X8;
    pch->cfg.width = 1920;
    pch->cfg.height = 1080;
    pch->cfg.crop_en = 0;
    pch->cfg.set_pix_fmt = CSI_FMT_UYVY;
    pch->cfg.pix_fmt_num = 1;
    pch->cfg.pix_fmt[0] = CSI_FMT_UYVY;

    memset(&cb, 0, sizeof(struct csi_callback_t));
    cb.caller = (void *)pch;
    cb.csi_frame_done = camera_frame_done;
    cb.csi_update_buf = camera_update_buf;
    cb.csi_error_handle = camera_error_handle;
    cam_info("csi_register_callback: caller %p, done %p\n", cb.caller,
             cb.csi_frame_done);

    cam_dev->csi_hw->ops.csi_register_callback(cam_dev->csi_hw, ch, &cb);

    pch->enable = 1;
    pch->status = STOPPED;
    cam_info("%s: ch %d done\n", __func__, ch);
    return 0;
}

static int channel_close(uint32_t id, uint32_t ch)
{
    struct camera_device *cam_dev;
    struct camera_channel *pch;
    CHECK_CSI_ID_CH(id, ch);

    cam_dev = &s_cam_devices[id];
    pch = &cam_dev->cam_ch[ch];
    pch->enable = 0;
    pch->status = STOPPED;
    completion_destroy(&pch->completion);

    cam_info("%s: ch %d done\n", __func__, ch);
    return 0;
}

static int channel_cfg_bus_type(uint32_t id, uint32_t ch,
                                struct csi_ch_params *param)
{
    struct camera_device *cam_dev;
    struct camera_channel *pch;
    CHECK_CSI_ID_CH(id, ch);

    cam_dev = &s_cam_devices[id];
    pch = &cam_dev->cam_ch[ch];

    switch (param->bus_type) {
    case VDEV_MBUS_PARALLEL:
    case VDEV_MBUS_CSI1:
        pch->cfg.bus_type = CSI_BUS_PARALLEL4;
        break;
    case VDEV_MBUS_PARALLEL2:
        pch->cfg.bus_type = CSI_BUS_PARALLEL2;
        break;
    case VDEV_MBUS_BT656:
        pch->cfg.bus_type = CSI_BUS_BT656;
        break;
    case VDEV_MBUS_BT1120SDR:
        pch->cfg.bus_type = CSI_BUS_BT1120_SDR;
        break;
    default:
        cam_err("%s: error vdev bus type %d\n", __func__, param->bus_type);
        break;
    }

    cam_info("%s: ch %d ,bus %d ,done\n", __func__, ch, pch->cfg.bus_type);
    return 0;
}

static int channel_cfg_bus_fmt(uint32_t id, uint32_t ch,
                               struct csi_ch_params *param)
{
    struct camera_device *cam_dev;
    struct camera_channel *pch;
    CHECK_CSI_ID_CH(id, ch);

    cam_dev = &s_cam_devices[id];
    pch = &cam_dev->cam_ch[ch];

    switch (param->bus_fmt) {
    case VDEV_MBUS_FMT_UYVY:
        pch->cfg.bus_fmt = CSI_MBUS_UYVY8_2X8;
        break;

    case VDEV_MBUS_FMT_YUYV:
        pch->cfg.bus_fmt = CSI_MBUS_YUYV8_2X8;
        break;

    case VDEV_MBUS_FMT_UYVY16:
        pch->cfg.bus_fmt = CSI_MBUS_UYVY8_1X16;
        break;

    case VDEV_MBUS_FMT_YUYV16:
        pch->cfg.bus_fmt = CSI_MBUS_YUYV8_1X16;
        break;

    case VDEV_MBUS_FMT_RGB888:
        pch->cfg.bus_fmt = CSI_MBUS_RGB888_1X24;
        break;

    case VDEV_MBUS_FMT_RGB24:
        pch->cfg.bus_fmt = CSI_MBUS_RGB24_1X24;
        break;

    case VDEV_MBUS_FMT_BGR24:
        pch->cfg.bus_fmt = CSI_MBUS_BGR24_1X24;
        break;

    case VDEV_MBUS_FMT_RGB565:
        pch->cfg.bus_fmt = CSI_MBUS_RGB565_1X16;
        break;

    default:
        cam_err("%s: error vdev bus fmt %d\n", __func__, param->bus_fmt);
        break;
    }

    cam_info("%s: ch %d %d done\n", __func__, ch, pch->cfg.bus_fmt);
    return 0;
}

static int channel_enum_pixfmt(uint32_t id, uint32_t ch,
                               struct csi_ch_params *param)
{
    int ret;
    uint32_t i;
    struct camera_device *cam_dev;
    struct camera_channel *pch;
    struct csi_bus_info bus_info;
    struct csi_outfmt_info res;

    CHECK_CSI_ID_CH(id, ch);

    cam_dev = &s_cam_devices[id];
    pch = &cam_dev->cam_ch[ch];

    bus_info.bus_type = pch->cfg.bus_type;
    bus_info.mbus_fmt = pch->cfg.bus_fmt;
    bus_info.bus_flag = 0;

    ret = cam_dev->csi_hw->ops.csi_cfg_bus(cam_dev->csi_hw, ch, &bus_info);
    ret |= cam_dev->csi_hw->ops.csi_query_outfmts(cam_dev->csi_hw, ch, &res);

    if (ret == 0 && res.count > 0) {
        param->pix_fmt_num = res.count;
        for (i = 0; i < res.count; i++) {
            param->pix_fmt[i] = to_vdev_pixfmt(res.fmts[i]);
            if (i == 0)
                pch->cfg.set_pix_fmt = res.fmts[i];
        }
    } else {
        param->pix_fmt_num = 1;
        param->pix_fmt[0] = VDEV_PIX_FMT_UYVY;
    }

    cam_info("%s: ch %d done\n", __func__, ch);
    return 0;
}

static int channel_cfg_pixfmt(uint32_t id, uint32_t ch,
                              struct csi_ch_params *param)
{
    struct camera_device *cam_dev;
    struct camera_channel *pch;
    CHECK_CSI_ID_CH(id, ch);

    cam_dev = &s_cam_devices[id];
    pch = &cam_dev->cam_ch[ch];
    pch->cfg.set_pix_fmt = to_csi_pixfmt(param->set_pix_fmt);

    cam_info("%s: ch %d done,\n", __func__, ch);
    return 0;
}

static int channel_cfg_size(uint32_t id, uint32_t ch,
                            struct csi_ch_params *param)
{
    struct camera_device *cam_dev;
    struct camera_channel *pch;
    CHECK_CSI_ID_CH(id, ch);

    cam_dev = &s_cam_devices[id];
    pch = &cam_dev->cam_ch[ch];
    if (param->field_type == VDEV_FIELD_INTERLACED) {
        pch->cfg.field_type = CSI_FIELD_INTERLACED;
        pch->cfg.width_even = param->width_even;
        pch->cfg.height_even = param->height_even;
    } else {
        pch->cfg.field_type = CSI_FIELD_NONE;
    }
    pch->cfg.width = param->width;
    pch->cfg.height = param->height;

    cam_info("%s: ch %d done\n", __func__, ch);
    return 0;
}

static int channel_cfg_crop(uint32_t id, uint32_t ch,
                            struct csi_ch_params *param)
{
    struct camera_device *cam_dev;
    struct camera_channel *pch;
    struct csi_img_crop crop[2];
    CHECK_CSI_ID_CH(id, ch);

    cam_dev = &s_cam_devices[id];
    pch = &cam_dev->cam_ch[ch];

    pch->cfg.crop_en = 1;
    pch->cfg.crop_x = param->crop_x;
    pch->cfg.crop_y = param->crop_y;
    pch->cfg.crop_w = param->crop_w;
    pch->cfg.crop_h = param->crop_h;

    if (pch->status != STOPPED) {
        memset(&crop[0], 0, sizeof(crop));
        crop[0].x = pch->cfg.crop_x;
        crop[0].y = pch->cfg.crop_y;
        crop[0].w = pch->cfg.crop_w;
        crop[0].h = pch->cfg.crop_h;
        cam_dev->csi_hw->ops.csi_cfg_crop(cam_dev->csi_hw, ch, &crop[0]);
    }
    cam_info("%s: ch %d done\n", __func__, ch);
    return 0;
}

static int channel_stream(uint32_t id, uint32_t ch, int on)
{
    int ret = 0;
    uint32_t outfmt = CSI_FMT_YUYV;
    struct csi_bus_info bus_info;
    struct csi_field_info field;
    struct csi_img_size size[2];
    struct csi_img_crop crop[2];
    struct camera_device *cam_dev;
    struct camera_channel *pch;
    struct list_node *node;
    unsigned long flags = 0;
    CHECK_CSI_ID_CH(id, ch);

    cam_dev = &s_cam_devices[id];
    pch = &cam_dev->cam_ch[ch];

    if ((on && (pch->status != STOPPED)) || (!on && (pch->status == STOPPED))) {
        cam_err("%s: csi %d img %d already stream %s\n", __func__, id, ch,
                (on ? "on" : "off"));
        return 0;
    }

    if (on == 0) {
        goto stream_off;
    }

    pch->status = IDLE;

    bus_info.bus_type = pch->cfg.bus_type;
    bus_info.mbus_fmt = pch->cfg.bus_fmt;
    bus_info.bus_flag = 0;
    ret = cam_dev->csi_hw->ops.csi_cfg_bus(cam_dev->csi_hw, ch, &bus_info);

    outfmt = pch->cfg.set_pix_fmt;
    ret |= cam_dev->csi_hw->ops.csi_cfg_outfmt(cam_dev->csi_hw, ch, outfmt);

    field.field_type = pch->cfg.field_type;
    ret |= cam_dev->csi_hw->ops.csi_cfg_field(cam_dev->csi_hw, ch, &field);

    memset(&size[0], 0, sizeof(size));
    size[0].w = pch->cfg.width;
    size[0].h = pch->cfg.height;
    size[1].w = pch->cfg.width_even;
    size[1].h = pch->cfg.height_even;
    ret |= cam_dev->csi_hw->ops.csi_cfg_size(cam_dev->csi_hw, ch, &size[0]);

    if (pch->cfg.crop_en == 1) {
        memset(&crop[0], 0, sizeof(crop));
        crop[0].x = pch->cfg.crop_x;
        crop[0].y = pch->cfg.crop_y;
        crop[0].w = pch->cfg.crop_w;
        crop[0].h = pch->cfg.crop_h;
        ret |= cam_dev->csi_hw->ops.csi_cfg_crop(cam_dev->csi_hw, ch, &crop[0]);
    }

    ret |= camera_update_buf(pch, ch);

    ret |= cam_dev->csi_hw->ops.csi_stream_on(cam_dev->csi_hw, ch);
    if (ret) {
        cam_info("%s: ch %d error\n", __func__, ch);
        return -1;
    }

    pch->frm_cnt = 0;
    pch->update_cnt = 0;
    pch->status = RUNNING;

    cam_info("%s: ch %d stream on done\n", __func__, ch);
    return 0;

stream_off:
    pch->status = STOPPED;

    cam_dev->csi_hw->ops.csi_stream_off(cam_dev->csi_hw, ch);

    /* clear all buffer queue here */
    spin_lock_irqsave(&pch->bufq_lock, flags);
    do {
        node = list_peek_head(&pch->out_bufq);
        if (node == NULL)
            break;
        list_delete(node);
        list_add_tail(&pch->empty, node);
    } while (1);

    do {
        node = list_peek_head(&pch->in_bufq);
        if (node == NULL)
            break;
        list_delete(node);
        list_add_tail(&pch->empty, node);
    } while (1);

    do {
        node = list_peek_head(&pch->active_q.qhead);
        if (node == NULL)
            break;
        list_delete(node);
        list_add_tail(&pch->empty, node);
    } while (1);

    if (pch->next_buf) {
        list_add_tail(&pch->empty, &pch->next_buf->list);
        pch->next_buf = NULL;
    }
    spin_unlock_irqrestore(&pch->bufq_lock, flags);

    cam_info("%s: ch %d stream off done\n", __func__, ch);
    return 0;
}

static int channel_cfg_memrange(uint32_t id, uint32_t ch, uint32_t low[3],
                                uint32_t up[3])
{
    struct camera_device *cam_dev;
    struct camera_channel *pch;
    CHECK_CSI_ID_CH(id, ch);

    cam_dev = &s_cam_devices[id];
    pch = &cam_dev->cam_ch[ch];

    pch->cam_mem[0].low = low[0];
    pch->cam_mem[0].up = up[0];
    pch->cam_mem[1].low = low[1];
    pch->cam_mem[1].up = up[1];
    pch->cam_mem[2].low = low[2];
    pch->cam_mem[2].up = up[2];
    cam_dev->csi_hw->ops.csi_cfg_mem_range(cam_dev->csi_hw, ch,
                                           &pch->cam_mem[0]);

    cam_info("%s: ch %d done\n", __func__, ch);
    return 0;
}

static int channel_qbuf(uint32_t id, uint32_t ch, void *buf)
{
    struct camera_device *cam_dev;
    struct camera_channel *pch;
    struct camera_buffer *pbuf;
    struct list_node *node;
    struct vdev_buffer *in_buf = (struct vdev_buffer *)buf;
    unsigned long flags = 0;
    CHECK_CSI_ID_CH(id, ch);

    cam_dev = &s_cam_devices[id];
    pch = &cam_dev->cam_ch[ch];

    spin_lock_irqsave(&pch->bufq_lock, flags);
    node = list_peek_head(&pch->empty);
    if (node == NULL) {
        spin_unlock_irqrestore(&pch->bufq_lock, flags);
        cam_err("%s: ch %d failed\n", __func__, ch);
        return -1;
    }
    list_delete(node);
    pbuf = containerof(node, struct camera_buffer, list);
    pbuf->buffer_idx = in_buf->buffer_idx;
    pbuf->paddr[0] = (dma_addr_t)in_buf->paddr[0];
    pbuf->paddr[1] = (dma_addr_t)in_buf->paddr[1];
    pbuf->paddr[2] = (dma_addr_t)in_buf->paddr[2];
    list_add_tail(&pch->in_bufq, &pbuf->list);
    spin_unlock_irqrestore(&pch->bufq_lock, flags);

    // cam_info("%s: ch %d done, buf idx %d\n", __func__, ch,
    // in_buf->buffer_idx);
    return 0;
}

static int channel_dqbuf(uint32_t id, uint32_t ch, void *buf)
{
    struct camera_device *cam_dev;
    struct camera_channel *pch;
    struct camera_buffer *pbuf;
    struct list_node *node;
    struct vdev_buffer *out_buf = (struct vdev_buffer *)buf;
    uint32_t timeout_ms;
    unsigned long flags = 0;
    CHECK_CSI_ID_CH(id, ch);

    cam_dev = &s_cam_devices[id];
    pch = &cam_dev->cam_ch[ch];

    spin_lock_irqsave(&pch->bufq_lock, flags);
    node = list_peek_head(&pch->out_bufq);
    if (node != NULL) {
        cam_debug("%s: ch %d get node\n", __func__, ch);
        goto get_node;
    }
    spin_unlock_irqrestore(&pch->bufq_lock, flags);

    timeout_ms = (out_buf->timeout_ms > 0) ? out_buf->timeout_ms : (10 * 1000);
    cam_debug("%s: ch %d wait timeout %d ms\n", __func__, ch, timeout_ms);
    if (wait_completion_timeout(&pch->completion, timeout_ms) < 0) {
        cam_err("%s: ch %d failed for timeout %d ms\n", __func__, ch,
                timeout_ms);
        return -1;
    }

    spin_lock_irqsave(&pch->bufq_lock, flags);
    node = list_peek_head(&pch->out_bufq);
    if (node == NULL) {
        spin_unlock_irqrestore(&pch->bufq_lock, flags);
        cam_debug("%s: ch %d node null\n", __func__, ch);
        return -1;
    }

get_node:
    list_delete(node);
    pbuf = containerof(node, struct camera_buffer, list);
    out_buf->buffer_idx = pbuf->buffer_idx;
    out_buf->frm_cnt = pbuf->frm_cnt;
    out_buf->timestamp = pbuf->timestamp;
    out_buf->paddr[0] = (void *)pbuf->paddr[0];
    out_buf->paddr[1] = (void *)pbuf->paddr[1];
    out_buf->paddr[2] = (void *)pbuf->paddr[2];

    memset(pbuf, 0, sizeof(struct camera_buffer));
    list_add_tail(&pch->empty, &pbuf->list);
    spin_unlock_irqrestore(&pch->bufq_lock, flags);

    cam_debug("%s: ch %d done\n", __func__, ch);
    return 0;
}

struct csi_channel_ops ch_ops = {
    .channel_open = channel_open,
    .channel_close = channel_close,
    .channel_stream = channel_stream,
    .channel_cfg_bus_type = channel_cfg_bus_type,
    .channel_cfg_bus_fmt = channel_cfg_bus_fmt,
    .channel_cfg_size = channel_cfg_size,
    .channel_cfg_crop = channel_cfg_crop,
    .channel_enum_pixfmt = channel_enum_pixfmt,
    .channel_cfg_pixfmt = channel_cfg_pixfmt,

    .channel_cfg_memrange = channel_cfg_memrange,
    .channel_qbuf = channel_qbuf,
    .channel_dqbuf = channel_dqbuf,
};