From 9616d079de703e1839fdfd4f7013b03ee457b5b4 Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 07:28:18 +0200 Subject: [PATCH 01/45] feat(cv610): sensor.mode selects, the way it does on SigmaStar MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit sensor.index and sensor.mode parsed on CV610 but were read by nothing and advertised by nothing, so a write was rejected. video0.fps was the selector instead, through an exact-match cv610_mode_for_fps() — a request for 45 fps was a hard config error where SigmaStar substitutes a mode and says so. cv610_mode_select() gives the two knobs the semantics sensor_select() gives them: a forced index wins over the requested rate and must exist, otherwise the rate is a target. One case diverges deliberately. SigmaStar's sensor_mode_cost() tie-break scores fps_excess at 0 for every mode BELOW the target, so a target above them all falls back to table order — the slowest mode. That rarely fires there because its modes carry min-max fps ranges; on this point-fps table it would fire constantly, so a target above every mode clamps to the fastest instead. Two things follow from a rate that can now differ from video0.fps: - the GOP limit is checked against the SELECTED mode's rate. The encoder has always derived its GOP from pipeline.fps (cv610_runtime.c), and that is no longer video0.fps once a mode can be forced or a target substituted. - /api/v1/modes reports what bring-up actually selected, published through the same venc_api_set_sensor_info() star6e_pipeline.c uses, instead of recomputing the configured answer per request. It could previously report a mode that was not running. -1 now means bring-up has not completed, which is reachable only on failure: backend_execute() runs prepare before init, and init is what starts the HTTP server. Two tests asserted the old exact-match intent (fps 120 and fps 45 rejected). They are replaced by the substitution they became, not deleted, and fps 0 keeps a rejection case so the check itself is still proven live. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- include/cv610_modes.h | 23 +++++++ src/cv610_modes.c | 57 ++++++++++++++++ src/cv610_runtime.c | 14 +++- src/cv610_validation.c | 37 +++++++---- src/venc_api.c | 23 +++---- tests/test_cv610_validation.c | 119 ++++++++++++++++++++++++++++++++-- 6 files changed, 243 insertions(+), 30 deletions(-) diff --git a/include/cv610_modes.h b/include/cv610_modes.h index d1c3acd6..e05f6ffe 100644 --- a/include/cv610_modes.h +++ b/include/cv610_modes.h @@ -33,6 +33,29 @@ const Cv610SensorMode *cv610_mode_table(size_t *count); * different capture. */ const Cv610SensorMode *cv610_mode_for_fps(uint32_t fps); +/* Resolve sensor.mode + video0.fps to one mode, the way SigmaStar's + * sensor_select() resolves sensor.mode + video0.fps against MI_SNR_GetRes(): + * an explicit index wins and must exist, otherwise the frame rate is a TARGET + * rather than a command and the closest usable mode is chosen. + * + * forced_mode >= 0 that index, or NULL when the table has no such index + * forced_mode < 0 exact rate if the table has it; else the slowest mode + * still faster than the target; else the fastest mode + * target_fps == 0 NULL — nothing to select against + * + * The last auto case is a deliberate divergence. SigmaStar's tie-break + * (sensor_select.c sensor_mode_cost) scores fps_excess at 0 for every mode + * BELOW the target, so a target above them all falls back to table order — + * the slowest mode. That rarely fires there because its modes carry min-max + * fps ranges; on this point-fps table it would fire constantly, and answering + * "100" to a request for "120" is what the operator meant. + * + * *out_index (optional) receives the table index, or -1 when NULL is returned. + * A caller that acts on the result must report a substituted rate: the sensor + * runs at the MODE's rate, not the requested one. */ +const Cv610SensorMode *cv610_mode_select(int forced_mode, uint32_t target_fps, + int *out_index); + /* Whether an encoded geometry can be produced from this mode. Returns NULL * when it can, or a static reason string. A zero width AND height mean * "the mode's own size" and always pass. */ diff --git a/src/cv610_modes.c b/src/cv610_modes.c index 308ad303..358a14b7 100644 --- a/src/cv610_modes.c +++ b/src/cv610_modes.c @@ -43,6 +43,63 @@ const Cv610SensorMode *cv610_mode_for_fps(uint32_t fps) return NULL; } +const Cv610SensorMode *cv610_mode_select(int forced_mode, uint32_t target_fps, + int *out_index) +{ + const Cv610SensorMode *pick; + size_t pick_i = 0; + size_t i; + + if (out_index) + *out_index = -1; + + /* A forced index is the whole answer: it exists or the config is wrong. + * Parity with find_best_mode(), which fails bring-up rather than + * quietly running a mode the operator did not ask for. */ + if (forced_mode >= 0) { + if ((size_t)forced_mode >= CV610_MODE_COUNT) + return NULL; + if (out_index) + *out_index = forced_mode; + return &g_cv610_modes[forced_mode]; + } + /* Nothing to select against. Rejecting keeps the behaviour this + * function replaced — a bare cv610_mode_for_fps(0) returned NULL too — + * rather than inventing a rate for a config that names none. */ + if (target_fps == 0) + return NULL; + + pick = cv610_mode_for_fps(target_fps); + if (pick != NULL) { + if (out_index) + *out_index = (int)(pick - g_cv610_modes); + return pick; + } + + /* Slowest mode still faster than the target: never deliver fewer frames + * than asked for while a mode that can keep up exists. */ + for (i = 0; i < CV610_MODE_COUNT; ++i) { + const Cv610SensorMode *m = &g_cv610_modes[i]; + + if (m->fps > target_fps && (pick == NULL || m->fps < pick->fps)) { + pick = m; + pick_i = i; + } + } + /* Target above every mode: clamp to the fastest. */ + if (pick == NULL) { + for (i = 0; i < CV610_MODE_COUNT; ++i) { + if (pick == NULL || g_cv610_modes[i].fps > pick->fps) { + pick = &g_cv610_modes[i]; + pick_i = i; + } + } + } + if (out_index) + *out_index = (int)pick_i; + return pick; +} + const char *cv610_mode_check_output(const Cv610SensorMode *mode, uint32_t width, uint32_t height) { diff --git a/src/cv610_runtime.c b/src/cv610_runtime.c index 3ed38870..ef869268 100644 --- a/src/cv610_runtime.c +++ b/src/cv610_runtime.c @@ -517,18 +517,30 @@ static int cv610_prepare(void *opaque) Cv610RunnerContext *ctx = opaque; VencConfig *cfg = &ctx->config; const Cv610SensorMode *mode; + int mode_index = -1; setvbuf(stdout, NULL, _IONBF, 0); /* Config loading and every staged HTTP mutation run the same lookup * through cv610_validate_config(), so reaching this is a config file * edited behind the daemon's back. */ - mode = cv610_mode_for_fps(cfg->video0.fps); + mode = cv610_mode_select(cfg->sensor.mode, cfg->video0.fps, &mode_index); if (mode == NULL || cv610_mode_check_output(mode, cfg->video0.width, cfg->video0.height) != NULL) { fprintf(stderr, "ERROR: CV610 cannot encode %ux%u @ %u fps\n", cfg->video0.width, cfg->video0.height, cfg->video0.fps); return 1; } + /* The sensor runs at the MODE's rate. Say so when that is not what was + * asked for — a forced sensor.mode and a substituted target both land + * here, and silence would leave every status endpoint reporting a rate + * the operator never chose. */ + if (mode->fps != cfg->video0.fps) + printf("> Requested %u fps, using %u fps (sensor mode %d: %s)\n", + cfg->video0.fps, mode->fps, mode_index, mode->desc); + /* Publish what was actually selected, so /api/v1/modes reports the + * achieved mode rather than recomputing the configured one — the same + * contract star6e_pipeline.c fulfils after sensor_select(). */ + venc_api_set_sensor_info(0, mode_index, cfg->sensor.index); ctx->pipeline.width = mode->width; ctx->pipeline.height = mode->height; cv610_mode_resolve_output(mode, cfg->video0.width, cfg->video0.height, diff --git a/src/cv610_validation.c b/src/cv610_validation.c index 5888bbfb..9b184ebf 100644 --- a/src/cv610_validation.c +++ b/src/cv610_validation.c @@ -8,30 +8,39 @@ * loading and staged HTTP mutations. */ const char *cv610_validate_config(const VencConfig *cfg) { + const Cv610SensorMode *mode; VencOutputUri uri; + size_t mode_count = 0; + const char *err; if (!cfg) return "missing config"; - /* video0.fps selects the sensor mode; video0.size is the encoded size - * VPSS scales that capture down to. /api/v1/modes lists the modes. */ - { - const Cv610SensorMode *mode = cv610_mode_for_fps(cfg->video0.fps); - const char *err; - - if (mode == NULL) - return "CV610 video0.fps must name a mode listed by /api/v1/modes"; - err = cv610_mode_check_output(mode, cfg->video0.width, - cfg->video0.height); - if (err) - return err; - } + /* sensor.mode and video0.fps select the sensor mode together, the way + * they do on SigmaStar: an explicit sensor.mode wins, otherwise the rate + * is a target. video0.size is the encoded size VPSS scales that capture + * down to. /api/v1/modes lists the modes. */ + cv610_mode_table(&mode_count); + if (cfg->sensor.index > 0) + return "CV610 has a single sensor pad: sensor.index must be -1 or 0"; + if (cfg->sensor.mode >= 0 && (size_t)cfg->sensor.mode >= mode_count) + return "CV610 sensor.mode is not an index listed by /api/v1/modes"; + mode = cv610_mode_select(cfg->sensor.mode, cfg->video0.fps, NULL); + if (mode == NULL) + return "CV610 video0.fps must name a mode listed by /api/v1/modes"; + err = cv610_mode_check_output(mode, cfg->video0.width, + cfg->video0.height); + if (err) + return err; if (cfg->video0.bitrate < VENC_BITRATE_MIN_KBPS || cfg->video0.bitrate > VENC_BITRATE_MAX_KBPS) return "video0.bitrate is outside the supported range"; if (cfg->video0.qp_delta < -10 || cfg->video0.qp_delta > 30) return "CV610 video0.qp_delta must be between -10 and 30"; + /* Against the SELECTED mode's rate, which is what cv610_runtime.c turns + * into a GOP length. Once sensor.mode can force a mode, or a target + * rate can be substituted, that is no longer video0.fps. */ if (!isfinite(cfg->video0.gop_size) || cfg->video0.gop_size < 0.0 || - cfg->video0.gop_size * cfg->video0.fps > 65536.0) + cfg->video0.gop_size * mode->fps > 65536.0) return "CV610 video0.gop_size exceeds the encoder's 65536-frame limit"; if (strcmp(cfg->video0.rc_mode, "cbr") != 0) return "CV610 phase one supports video0.rc_mode=cbr only"; diff --git a/src/venc_api.c b/src/venc_api.c index f1bd0172..06d06fb6 100644 --- a/src/venc_api.c +++ b/src/venc_api.c @@ -869,6 +869,7 @@ int venc_api_field_supported_for_backend(const char *backend_name, if (backend_name && strcmp(backend_name, "cv610") == 0) { static const char *const supported[] = { "system.web_port", "system.verbose", + "sensor.index", "sensor.mode", "video0.fps", "video0.size", "video0.bitrate", "video0.gop_size", "video0.qp_delta", "outgoing.enabled", "outgoing.server", @@ -3988,28 +3989,28 @@ static int handle_modes(int fd, const HttpRequest *req, void *ctx) size_t count = 0; size_t i; const Cv610SensorMode *modes = cv610_mode_table(&count); - const Cv610SensorMode *selected; - uint32_t fps = 0; + int selected, selected_pad; cJSON *root, *data, *pads, *pad, *arr; char *str; int rc; + /* What the backend actually brought up, published by cv610_prepare() + * through the same venc_api_set_sensor_info() star6e_pipeline.c uses. + * Recomputing it from video0.fps here would report the CONFIGURED mode + * even when a forced sensor.mode, a substituted rate, or a failed + * bring-up means something else is running. -1 until bring-up runs. */ pthread_mutex_lock(&g_cfg_mutex); - if (g_cfg) - fps = g_cfg->video0.fps; + selected = g_sensor_mode; + selected_pad = g_sensor_pad; pthread_mutex_unlock(&g_cfg_mutex); - /* The listed geometry is what the sensor captures. video0.size is the - * encoded size VPSS scales that to, so the frame rate alone selects. */ - selected = cv610_mode_for_fps(fps); root = cJSON_CreateObject(); if (!root) return httpd_send_error(fd, 500, "internal_error", "out of memory"); cJSON_AddBoolToObject(root, "ok", 1); data = cJSON_AddObjectToObject(root, "data"); - cJSON_AddNumberToObject(data, "selected_pad", 0); - cJSON_AddNumberToObject(data, "selected_mode", - selected ? (double)(selected - modes) : -1); + cJSON_AddNumberToObject(data, "selected_pad", selected_pad); + cJSON_AddNumberToObject(data, "selected_mode", selected); pads = cJSON_AddArrayToObject(data, "pads"); pad = cJSON_CreateObject(); cJSON_AddItemToArray(pads, pad); @@ -4025,7 +4026,7 @@ static int handle_modes(int fd, const HttpRequest *req, void *ctx) cJSON_AddNumberToObject(m, "min_fps", modes[i].fps); cJSON_AddNumberToObject(m, "max_fps", modes[i].fps); cJSON_AddStringToObject(m, "desc", modes[i].desc); - cJSON_AddBoolToObject(m, "selected", &modes[i] == selected); + cJSON_AddBoolToObject(m, "selected", (int)i == selected); } str = cJSON_PrintUnformatted(root); cJSON_Delete(root); diff --git a/tests/test_cv610_validation.c b/tests/test_cv610_validation.c index 839888c2..0d616433 100644 --- a/tests/test_cv610_validation.c +++ b/tests/test_cv610_validation.c @@ -97,12 +97,93 @@ static int test_mode_table(void) return failures; } +/* Every row asserts the index contract too: out_index must address the very + * entry that was returned, because /api/v1/modes publishes that index and the + * ground's mode catalog addresses modes by it. */ +static int select_ok(const char *name, int forced, uint32_t fps, + uint32_t want_fps) +{ + const Cv610SensorMode *table = cv610_mode_table(NULL); + int idx = 999; + const Cv610SensorMode *m = cv610_mode_select(forced, fps, &idx); + + return expect(name, m != NULL && m->fps == want_fps && + idx >= 0 && m == &table[idx]); +} + +/* Derived rather than hardcoded so the tests below keep meaning what they say + * if the table is ever reordered or extended. */ +static int fastest_mode_index(void) +{ + const Cv610SensorMode *table = cv610_mode_table(NULL); + size_t count = 0; + size_t i; + int best = 0; + + cv610_mode_table(&count); + for (i = 1; i < count; i++) + if (table[i].fps > table[best].fps) + best = (int)i; + return best; +} + +static int select_rejects(const char *name, int forced, uint32_t fps) +{ + int idx = 999; + const Cv610SensorMode *m = cv610_mode_select(forced, fps, &idx); + + return expect(name, m == NULL && idx == -1); +} + +/* sensor.mode and video0.fps resolve to one mode the way SigmaStar's + * sensor_select() resolves them: a forced index wins and must exist, else the + * rate is a target rather than a command. One row diverges deliberately — + * see cv610_mode_select(). */ +static int test_mode_select(void) +{ + const Cv610SensorMode *table = cv610_mode_table(NULL); + size_t count = 0; + int failures = 0; + + cv610_mode_table(&count); + + /* A forced index beats the requested rate outright. */ + failures += select_ok("select_forced_beats_fps", 1, 100, table[1].fps); + failures += select_ok("select_forced_last", (int)count - 1, 30, + table[count - 1].fps); + /* Past the table it is an error, not a fallback to something plausible. */ + failures += select_rejects("select_forced_out_of_range", (int)count, 100); + + /* Any negative index means auto, as forced_pad/forced_mode do on + * SigmaStar — only >= 0 is a command. */ + failures += select_ok("select_negative_is_auto", -5, 60, 60); + + failures += select_ok("select_auto_exact", -1, 90, 90); + /* Between modes rounds UP: never deliver fewer frames than asked while a + * mode that can keep up exists. */ + failures += select_ok("select_auto_rounds_up", -1, 45, 60); + failures += select_ok("select_auto_just_below_top", -1, 99, 100); + failures += select_ok("select_auto_below_all", -1, 1, 30); + /* Above every mode clamps to the FASTEST. A literal port of SigmaStar's + * sensor_mode_cost tie-break would answer 30 here, which is the wart this + * table exists to pin down. */ + failures += select_ok("select_auto_clamps_to_fastest", -1, 120, 100); + failures += select_ok("select_auto_clamps_far_above", -1, 100000, 100); + /* No target at all: reject rather than invent a rate. */ + failures += select_rejects("select_auto_zero_fps", -1, 0); + + return failures; +} + int main(void) { VencConfig cfg; + size_t mode_count = 0; int failures = 0; failures += test_mode_table(); + failures += test_mode_select(); + cv610_mode_table(&mode_count); venc_config_defaults(&cfg); failures += expect_valid("cv610_defaults", &cfg, 1); @@ -122,8 +203,14 @@ int main(void) * generic range checks. */ failures += expect("cv610_default_names_a_mode", cv610_mode_for_fps(cfg.video0.fps) != NULL); + /* A rate above every mode is no longer a config error — it selects the + * fastest mode. (This asserted rejection until the selector landed; the + * substitution is what replaced it, not the removal of a check.) */ cfg.video0.fps = 120; - failures += expect_valid("cv610_reject_fps", &cfg, 0); + failures += expect_valid("cv610_accept_fps_above_table", &cfg, 1); + /* But a config that names no rate at all still is. */ + cfg.video0.fps = 0; + failures += expect_valid("cv610_reject_fps_zero", &cfg, 0); cfg.video0.fps = 60; cfg.video0.width = 1280; cfg.video0.height = 720; @@ -131,13 +218,37 @@ int main(void) cfg.video0.width = 1936; cfg.video0.height = 1080; failures += expect_valid("cv610_reject_upscale", &cfg, 0); - /* A size the sensor can produce, at a rate it cannot. */ + /* A size the sensor can produce, at a rate between two modes: accepted + * now, and the 60 fps mode is what runs. Geometry is then checked + * against THAT mode, not against the requested rate. */ cfg.video0.width = 1920; cfg.video0.height = 1080; cfg.video0.fps = 45; - failures += expect_valid("cv610_reject_size_ok_fps_bad", &cfg, 0); - /* Half-set geometry must not widen into the default mode. */ + failures += expect_valid("cv610_accept_size_ok_fps_between", &cfg, 1); + /* sensor.index: one pad, so 0 and auto are the only answers. */ cfg.video0.fps = 60; + cfg.sensor.index = 0; + failures += expect_valid("cv610_accept_sensor_pad_zero", &cfg, 1); + cfg.sensor.index = 1; + failures += expect_valid("cv610_reject_sensor_pad", &cfg, 0); + cfg.sensor.index = -1; + /* sensor.mode: an index into the advertised table, or auto. */ + cfg.sensor.mode = 0; + failures += expect_valid("cv610_accept_sensor_mode", &cfg, 1); + cfg.sensor.mode = (int)mode_count; + failures += expect_valid("cv610_reject_sensor_mode_past_end", &cfg, 0); + /* A forced mode drives the GOP limit, because it drives the encoder's + * frame rate. gop_size 700 s passes at 60 fps (42000 frames) and fails + * at the forced 100 fps mode (70000) — video0.fps alone cannot tell + * these apart, which is the bug this check exists to catch. */ + cfg.sensor.mode = -1; + cfg.video0.gop_size = 700.0; + failures += expect_valid("cv610_gop_ok_at_requested_rate", &cfg, 1); + cfg.sensor.mode = fastest_mode_index(); + failures += expect_valid("cv610_gop_uses_forced_mode_rate", &cfg, 0); + cfg.sensor.mode = -1; + cfg.video0.gop_size = 3.0; + /* Half-set geometry must not widen into the default mode. */ cfg.video0.height = 0; failures += expect_valid("cv610_reject_half_set_size", &cfg, 0); /* Control: video0.size=auto is still accepted. */ From 275bbdad051b7810cef33e865b7f4e49609e7cd4 Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 07:43:55 +0200 Subject: [PATCH 02/45] docs: contract 0.18.3, VERSION 0.65.3 for the CV610 selector MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Three HTTP behaviours changed and the contract has to say so: sensor.index and sensor.mode become supported on CV610 (restart_required, matching the shared table), video0.fps becomes a target rather than a command, and /api/v1/modes reports the achieved selection rather than recomputing the configured one per request. The gopSize check moving to the selected mode's rate is a fourth, reachable as a 409 on a config that used to be accepted. The 0.18.2 change-log entry says "video0.fps alone selects the sensor mode". That was true when it shipped and stays as written — it is a dated record, not a live statement. The /api/v1/modes section above it now carries the current rule. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- HISTORY.md | 38 +++++++++++++++++++++ VERSION | 2 +- documentation/HTTP_API_CONTRACT.md | 55 ++++++++++++++++++++++++++---- src/venc_api.c | 2 +- 4 files changed, 89 insertions(+), 8 deletions(-) diff --git a/HISTORY.md b/HISTORY.md index 86f9ad9d..ce844d92 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -1,5 +1,43 @@ # History +## [0.65.3] - 2026-08-16 + +CV610 sensor-mode selection reaches parity with SigmaStar, so one client can +render one set of sensor controls against all three backends. Contract +`0.18.2` → `0.18.3`. + +- **`sensor.index` and `sensor.mode` select on CV610 now.** Both parsed and + both sat in the config file, but the backend read neither and the capability + set advertised neither, so `/api/v1/set` answered `409` for a field the + daemon carried. `video0.fps` was the selector instead, through an + exact-match lookup — a request for 45 fps was a hard config error where + SigmaStar substitutes a mode and says so. The two knobs now mean what + `sensor_select()` makes them mean: a forced `sensor.mode` wins over the + requested rate and must exist, otherwise the rate is a target. +- **One case diverges from SigmaStar deliberately.** Its `sensor_mode_cost()` + tie-break scores fps-excess at zero for every mode *below* the target, so a + target above them all falls back to table order — the slowest mode. That + rarely fires there because its modes carry min–max fps ranges; on CV610's + four point-rate modes it would fire constantly, so a target above every mode + clamps to the fastest instead. Verified on the bench: `video0.fps=120` + selects 1080p100, and `45` selects 1080p60. +- **`/api/v1/modes` reports what is running, not what is configured.** + `selected_pad` / `selected_mode` were recomputed from `video0.fps` on every + request, so they described the configured mode even when bring-up had chosen + another or failed outright. They are now published by the backend once the + pipeline resolves, through the same `venc_api_set_sensor_info()` Star6E uses. +- **`video0.gopSize` is checked against the selected mode's rate.** The + encoder has always derived its GOP length from that rate rather than from + `video0.fps`; the two were identical only while selection was exact-match. + A forced mode or a substituted target separates them, and the old check + would have passed a `gopSize` that then exceeded the encoder's 65536-frame + limit. +- A substituted rate is announced (`Requested 45 fps, using 60 fps (sensor + mode 1: 1080p60 RAW12)`) and shows up over HTTP as `/api/v1/fps/live` + disagreeing with `/api/v1/fps/config`. Neither measures anything — the + sensor clock follows the mode automatically, but a client that needs the + delivered rate must still measure it downstream. + ## [0.65.2] - 2026-08-15 CV610 gets a scaler, one mode table instead of five copies of it, and a diff --git a/VERSION b/VERSION index 8fbb20c5..0b986c16 100644 --- a/VERSION +++ b/VERSION @@ -1 +1 @@ -0.65.2 +0.65.3 diff --git a/documentation/HTTP_API_CONTRACT.md b/documentation/HTTP_API_CONTRACT.md index e3d5a5a7..47923010 100644 --- a/documentation/HTTP_API_CONTRACT.md +++ b/documentation/HTTP_API_CONTRACT.md @@ -18,7 +18,7 @@ - `read_only` — cannot be changed via API. ## Contract Version -- `contract_version`: `0.18.2` +- `contract_version`: `0.18.3` - `status`: `active` ## Governance Rules @@ -1496,13 +1496,34 @@ Every other mode then runs at the wrong rate, scaled by the clock ratio CV610 preserves the same envelope and `selected_pad` / `selected_mode` / `pads[].modes[]` shape. Its initial IMX662 backend reports one synthetic pad containing the four supported fixed-rate modes (1080p30/60 RAW12 and -1080p90/100 RAW10); each entry has equal `min_fps` and `max_fps`, and the entry -matching `video0.fps` is marked selected. +1080p90/100 RAW10); each entry has equal `min_fps` and `max_fps`. + +`selected_pad` / `selected_mode` are what bring-up **actually selected**, not +what the config asks for — the backend publishes them once the pipeline is +resolved, so a forced `sensor.mode`, a substituted rate and a failed bring-up +are all reported honestly. Both read `-1` until bring-up completes, which in a +healthy daemon is never observable: the HTTP server starts after the backend +prepares. The `width` / `height` of a CV610 entry is what the **sensor captures**, not -what is encoded. `video0.fps` alone selects the mode — every entry captures -1920x1080 — and `video0.size` is the encoded geometry VPSS scales that capture -down to. A client must not read a mode's `width` / `height` as the stream +what is encoded. Every entry captures 1920x1080, and `video0.size` is the +encoded geometry VPSS scales that capture down to. + +**Selecting a CV610 mode uses the same two knobs as SigmaStar.** An explicit +`sensor.mode` is an index into this list and wins outright; the mode's rate +becomes the pipeline rate and `video0.fps` is left as written. With +`sensor.mode` at `-1` (or any negative value, meaning auto) `video0.fps` is a +**target** rather than a command: an exact match is used, otherwise the +slowest mode still faster than the target, and a target above every mode +clamps to the fastest. `sensor.index` accepts only `-1` or `0` — one synthetic +pad — and anything else is `409`, as is a `sensor.mode` past the end of the +list. + +A substituted rate is announced on the daemon's log +(`Requested 45 fps, using 60 fps (sensor mode 1: 1080p60 RAW12)`) and is +visible over HTTP as `/api/v1/fps/live` disagreeing with +`/api/v1/fps/config`. Neither endpoint measures anything, so that pair states +the *intended* rate, not the delivered one. A client must not read a mode's `width` / `height` as the stream resolution — `video0.size` in `/api/v1/config` is the encoded size, and `auto` there means the mode's capture geometry. @@ -1697,6 +1718,28 @@ divergence is listed. As of `contract_version: 0.12.1`: | `isp.aeEngine` ("sdk" only) | applied | applied | Unified AE selector landed in 0.10.13. `custom` (userspace AE governor) is RETIRED — Maruko in 0.22.0, Star6E in 0.47.0 — and the value was **removed** in 0.47.0. `sdk` is the only accepted value; any other (e.g. a stale `custom`) warns and falls back to `sdk`. Both backends run the SDK firmware/bin AE for convergence plus a supervisory thread that enforces the `isp.gain*`/`isp.shutter*` limits. | ## Change Log (Contract) +- `0.18.3` (additive — CV610 sensor-mode selection reaches SigmaStar parity): + - **`sensor.index` and `sensor.mode` are now supported on CV610**, both + `restart_required`, the same `mutability` the shared table gives them on + Star6E and Maruko. They parsed before but were read by nothing, so + `/api/v1/set` answered `409` for a field the config file carried. A + client that renders sensor controls from `/api/v1/capabilities` now gets + the same surface on all three backends. + - **`video0.fps` is a target on CV610, not a command.** With `sensor.mode` + auto, an exact match is used, otherwise the slowest mode still faster + than the target, and a target above every mode clamps to the fastest. + Rates that are not in the table were `409` before and are now honoured + with a substitution — see `/api/v1/modes`. `video0.fps=0` remains `409`. + - **`/api/v1/modes` reports the achieved selection.** `selected_pad` / + `selected_mode` were recomputed from `video0.fps` per request, so they + described the configured mode even when another one was running. They are + now published by the backend at bring-up, and read `-1` before it + completes. Shape unchanged. + - `video0.gopSize` is validated against the **selected** mode's rate. The + encoder has always derived its GOP length from that rate; the check used + `video0.fps`, which the two knobs above can now separate from it. A + `gopSize` that was accepted and then exceeded the encoder's 65536-frame + limit is now rejected at `409`. - `0.18.2` (additive — CV610 `video0.size` becomes a real control): - **`video0.size` on CV610 now accepts any geometry the mode can be scaled down to**, not just the capture size. VI has no scaler, so the backend diff --git a/src/venc_api.c b/src/venc_api.c index 06d06fb6..c9495ca3 100644 --- a/src/venc_api.c +++ b/src/venc_api.c @@ -2879,7 +2879,7 @@ static int handle_version(int fd, const HttpRequest *req, void *ctx) snprintf(buf, sizeof(buf), "{\"ok\":true,\"data\":{" "\"app_version\":\"%s\"," - "\"contract_version\":\"0.18.2\"," + "\"contract_version\":\"0.18.3\"," "\"config_schema_version\":\"1.0.0\"," "\"backend\":\"%s\"" "}}", VENC_VERSION, g_backend); From 02c70238a155f7b1b57b87f02ddd86f0cd47b4b3 Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 07:57:21 +0200 Subject: [PATCH 03/45] fix(cv610): crop to the encoded aspect instead of squashing it MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit isp.keepAspect sat in the CV610 config defaulting true, but the backend advertised no isp.* field and read none — a knob that did nothing, which is worse than one that is absent. video0.size=1440x1080 validated (multiple of 8, under the capture size) and then VPSS stretched the whole 1920x1080 capture into it, so 4:3 out of a 16:9 sensor came out squashed while Star6E and Maruko framed it correctly. vpss_setup() now sets a VPSS group crop from pipeline_common_compute_precrop() — the same shared function star6e_pipeline.c and maruko_pipeline.c call, so the rule cannot drift between three backends and tests/test_pipeline_common.c already covers it (it asserts this exact 1920x1080 -> 1440x1080 case). A matching aspect leaves the crop disabled rather than setting a no-op rect. Cropping cannot introduce an upscale: the crop matches the request's aspect exactly, and cv610_mode_check_output() already bounds the request by the capture, so the cropped rect is >= the request in both dimensions. Also: the Opus banner claimed "10.0 ms frames" for a release after CV610_AUDIO_POINT_NUM went 480 -> 960 (#227). The encoder was right at 20 ms — 50 packets/s on the wire — but the single line a reader could check that against was wrong. Derived from the constants now, alongside the bitrate, which is the same literal that went stale. Bench: aspect crop 1440x1080+240+0 of 1920x1080 -> 1440x1080 with keepAspect true, no crop line with it false, none at 1280x720 either way. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- HISTORY.md | 13 ++++++++++++ documentation/HTTP_API_CONTRACT.md | 16 ++++++++++++++ include/cv610_pipeline.h | 4 ++++ src/cv610_audio.c | 8 ++++++- src/cv610_pipeline.c | 34 ++++++++++++++++++++++++++++++ src/cv610_runtime.c | 1 + src/venc_api.c | 1 + 7 files changed, 76 insertions(+), 1 deletion(-) diff --git a/HISTORY.md b/HISTORY.md index ce844d92..9576e8e9 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -37,6 +37,19 @@ render one set of sensor controls against all three backends. Contract disagreeing with `/api/v1/fps/config`. Neither measures anything — the sensor clock follows the mode automatically, but a client that needs the delivered rate must still measure it downstream. +- **`isp.keepAspect` works on CV610 now; a 4:3 `video0.size` was silently + squashed.** The field sat in the config defaulting `true`, but CV610 + advertised no `isp.*` field and read none — a knob that did nothing, which + is worse than one that is absent. `1440x1080` validated, then VPSS stretched + the whole 1920x1080 capture into it. The backend now takes a centred crop + first, through the same `pipeline_common_compute_precrop()` Star6E and + Maruko call, so the rule cannot drift between the three: `1440x1080` uses a + 1440x1080 window at x=240 and scales 1:1. `isp.keepAspect=false` restores + stretch-to-fit. Verified both directions on the bench. +- The CV610 Opus banner said `10.0 ms frames` for a whole release after + `CV610_AUDIO_POINT_NUM` went 480 → 960. Behaviour was right at 20 ms; only + the one line a reader could check the packet rate against was wrong. It is + now derived from the constants rather than spelled out. ## [0.65.2] - 2026-08-15 diff --git a/documentation/HTTP_API_CONTRACT.md b/documentation/HTTP_API_CONTRACT.md index 47923010..0f218212 100644 --- a/documentation/HTTP_API_CONTRACT.md +++ b/documentation/HTTP_API_CONTRACT.md @@ -1509,6 +1509,14 @@ The `width` / `height` of a CV610 entry is what the **sensor captures**, not what is encoded. Every entry captures 1920x1080, and `video0.size` is the encoded geometry VPSS scales that capture down to. +**Aspect ratio is preserved by cropping, gated on `isp.keepAspect`** (default +`true`), the same rule and the same shared code Star6E and Maruko use. A +`video0.size` whose aspect differs from the capture takes a centred crop of +the capture first, then scales: `1440x1080` out of `1920x1080` uses a +1440x1080 window at x=240 and scales 1:1, so 4:3 is framed rather than +squashed. A matching aspect crops nothing. Setting `isp.keepAspect=false` +restores the plain stretch-to-fit. + **Selecting a CV610 mode uses the same two knobs as SigmaStar.** An explicit `sensor.mode` is an index into this list and wins outright; the mode's rate becomes the pipeline rate and `video0.fps` is left as written. With @@ -1735,6 +1743,14 @@ divergence is listed. As of `contract_version: 0.12.1`: described the configured mode even when another one was running. They are now published by the backend at bring-up, and read `-1` before it completes. Shape unchanged. + - **`isp.keepAspect` is now supported on CV610** (`restart_required`), and + a non-native `video0.size` is centre-cropped before scaling instead of + stretched. The field was in the config file and defaulted `true`, but + CV610 advertised no `isp.*` field and read none, so it was a knob that + did nothing — `1440x1080` validated and then squashed 16:9 into 4:3. + CV610 now calls the same `pipeline_common_compute_precrop()` Star6E and + Maruko use. No shape changed and no request that used to succeed now + fails; the pixels are different. - `video0.gopSize` is validated against the **selected** mode's rate. The encoder has always derived its GOP length from that rate; the check used `video0.fps`, which the two knobs above can now separate from it. A diff --git a/include/cv610_pipeline.h b/include/cv610_pipeline.h index 11edd333..bdbe143b 100644 --- a/include/cv610_pipeline.h +++ b/include/cv610_pipeline.h @@ -11,6 +11,10 @@ typedef struct { * the capture size unless video0.size asks for something smaller. */ uint32_t out_width; uint32_t out_height; + /* isp.keepAspect: centre-crop the capture to the encoded aspect ratio + * before scaling, so a 4:3 video0.size out of a 16:9 sensor is framed + * rather than squashed. Same rule Star6E and Maruko apply. */ + int keep_aspect; uint32_t fps; int lanes; int data_rate_x2; diff --git a/src/cv610_audio.c b/src/cv610_audio.c index b7fb8470..2616c9c5 100644 --- a/src/cv610_audio.c +++ b/src/cv610_audio.c @@ -208,7 +208,13 @@ static int cv610_aenc_start(Cv610AudioState *state) destination.chn_id = CV610_AENC_CHN; AUDIO_CHECK(ss_mpi_sys_bind(&source, &destination)); state->bound = 1; - printf("> CV610 AENC Opus 32000 bit/s restricted-low-delay, 10.0 ms frames\n"); + /* Derived, not spelled out: this line claimed "10.0 ms" for a release + * after CV610_AUDIO_POINT_NUM went 480 -> 960, so the only banner a + * reader could check the packet rate against was wrong. */ + printf("> CV610 AENC Opus %u bit/s restricted-low-delay, %.1f ms frames\n", + CV610_AUDIO_BITRATE, + (double)CV610_AUDIO_POINT_NUM * 1000.0 / + (double)CV610_AUDIO_SAMPLE_RATE); return 0; } diff --git a/src/cv610_pipeline.c b/src/cv610_pipeline.c index 56bcd70a..edf17e6c 100644 --- a/src/cv610_pipeline.c +++ b/src/cv610_pipeline.c @@ -4,6 +4,8 @@ * the public lifecycle is the small cv610_pipeline_* interface below. */ #include "cv610_pipeline.h" + +#include "pipeline_common.h" /* Minimal Hi3516CV610 + IMX662 MIPI/VI/ISP graph. The target's MPP module * loader and sensor-clock prerequisites are documented in * docs/CV610_BACKEND.md. VENC and output ownership stay in cv610_runtime.c. */ @@ -89,6 +91,7 @@ typedef struct { uint32_t sensor_clock_hz; /* MCLK this mode's line timing assumes */ unsigned int out_width; /* VPSS output = encoded size */ unsigned int out_height; + int keep_aspect; /* isp.keepAspect: crop before scaling */ int vi_online; /* VI -> ISP online/realtime mode */ } Cv610PipelineRuntimeConfig; @@ -528,6 +531,36 @@ static int vpss_setup(const Cv610PipelineRuntimeConfig *c) grp_attr.frame_rate.dst_frame_rate = -1; CV610_CHECK(ss_mpi_vpss_create_grp(VPSS_GRP, &grp_attr)); + /* Aspect: the channel below scales whatever the group hands it, so + * without this a 4:3 video0.size out of a 16:9 capture is squashed + * rather than framed. Crop the group's input to the encoded aspect + * first — the same centre-crop rule Star6E and Maruko apply through + * pipeline_common_compute_precrop(), from the same shared function so + * the three backends cannot drift. A matching aspect (or + * keepAspect=false) yields the full frame, and the crop is then left + * disabled rather than set to a no-op rectangle. */ + { + PipelinePrecropRect precrop = pipeline_common_compute_precrop( + c->width, c->height, c->out_width, c->out_height, + c->keep_aspect ? true : false); + ot_vpss_crop_info crop; + + if (precrop.w != c->width || precrop.h != c->height) { + memset(&crop, 0, sizeof(crop)); + crop.enable = TD_TRUE; + crop.crop_mode = OT_COORD_ABS; + crop.crop_rect.x = precrop.x; + crop.crop_rect.y = precrop.y; + crop.crop_rect.width = precrop.w; + crop.crop_rect.height = precrop.h; + CV610_CHECK(ss_mpi_vpss_set_grp_crop(VPSS_GRP, &crop)); + printf(" ok aspect crop %ux%u+%u+%u of %ux%u -> %ux%u\n", + (unsigned)precrop.w, (unsigned)precrop.h, + (unsigned)precrop.x, (unsigned)precrop.y, + c->width, c->height, c->out_width, c->out_height); + } + } + memset(&chn_attr, 0, sizeof(chn_attr)); chn_attr.width = c->out_width; chn_attr.height = c->out_height; @@ -637,6 +670,7 @@ int cv610_pipeline_start(const Cv610PipelineConfig *config) c.sensor_clock_hz = config->sensor_clock_hz; c.out_width = config->out_width; c.out_height = config->out_height; + c.keep_aspect = config->keep_aspect; c.vi_online = config->vi_online; g_stop = 0; diff --git a/src/cv610_runtime.c b/src/cv610_runtime.c index ef869268..9fc4bbe8 100644 --- a/src/cv610_runtime.c +++ b/src/cv610_runtime.c @@ -545,6 +545,7 @@ static int cv610_prepare(void *opaque) ctx->pipeline.height = mode->height; cv610_mode_resolve_output(mode, cfg->video0.width, cfg->video0.height, &ctx->pipeline.out_width, &ctx->pipeline.out_height); + ctx->pipeline.keep_aspect = cfg->isp.keep_aspect ? 1 : 0; ctx->pipeline.fps = mode->fps; ctx->pipeline.lanes = 4; ctx->pipeline.data_rate_x2 = 0; diff --git a/src/venc_api.c b/src/venc_api.c index c9495ca3..1b7af723 100644 --- a/src/venc_api.c +++ b/src/venc_api.c @@ -870,6 +870,7 @@ int venc_api_field_supported_for_backend(const char *backend_name, static const char *const supported[] = { "system.web_port", "system.verbose", "sensor.index", "sensor.mode", + "isp.keep_aspect", "video0.fps", "video0.size", "video0.bitrate", "video0.gop_size", "video0.qp_delta", "outgoing.enabled", "outgoing.server", From 9108d7bfff1e335eb246c16d368472b5083bffc0 Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 08:09:19 +0200 Subject: [PATCH 04/45] fix(cv610): run the shared config validation, and write the crop unconditionally MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Adversarial review of this branch, two findings. 1. CV610 never ran the shared validate_field_cfg() sweep at config load. venc_api_validate_loaded_config() dispatched to cv610_validate_config() INSTEAD of the shared key sweep, so sixteen shared rules did not apply on that backend — and CV610 re-implemented two of them (video0.size's >=128 and multiple-of-8 gates) inside cv610_mode_check_output(), which is what made the gap visible: two copies of one HEVC constraint that can drift. The asymmetry was internal too. /api/v1/set has always run validate_field_cfg() before validate_backend_config() (venc_api.c:2311), so the same value was accepted from /etc/waybeam.json at boot and rejected with 409 over HTTP. The sweep now runs first, backend rules after, so all three backends share one rule set and one set of error strings. CV610 keeps its own size gates as a pipeline-boundary guard, because cv610_prepare() calls cv610_mode_check_output() directly against a config edited behind the daemon's back. Device-proven on .181: isp.awbMode="bogus" now refuses to start with "awb_mode must be 'auto' or 'ct_manual'" — it loaded before. Note most of the numeric shared rules are unreachable at load because the parser normalises first (sceneHoldoff has a floor of 1, zoom clamps to [0,1]), so a numeric field proves nothing here; a string enum is what discriminates. 2. The VPSS group crop is now written unconditionally, disable included. Skipping the call when no crop is needed would inherit the previous run's rectangle if the group ever outlived a teardown, and MPP objects are kernel state on this SoC. vpss_teardown() destroys the group precisely so that cannot happen today (af53ef6) — this stops depending on it. Not a proven live bug; the cost is one MPI call. Also confirmed and left alone: every encoder/VUI/GOP consumer already reads pipeline.fps rather than the requested video0.fps, and query_live_fps returns it, so /api/v1/fps/live reports the achieved rate; g_cfg_mutex is statically initialised, so publishing sensor info from prepare() before venc_api_register() is safe; and the aspect crop cannot introduce an upscale, because the crop matches the request's aspect, cv610_mode_check_output() bounds the request by the capture, and compute_precrop's & ~1u cannot round below an even request — which makes CV610's multiple-of-8 gate load-bearing for the crop, not pedantry. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- HISTORY.md | 9 +++++++++ documentation/HTTP_API_CONTRACT.md | 9 +++++++++ src/cv610_pipeline.c | 31 +++++++++++++++++------------- src/venc_api.c | 17 +++++++++++++--- 4 files changed, 50 insertions(+), 16 deletions(-) diff --git a/HISTORY.md b/HISTORY.md index 9576e8e9..4204b8d8 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -46,6 +46,15 @@ render one set of sensor controls against all three backends. Contract Maruko call, so the rule cannot drift between the three: `1440x1080` uses a 1440x1080 window at x=240 and scales 1:1. `isp.keepAspect=false` restores stretch-to-fit. Verified both directions on the bench. +- **CV610 was skipping the shared config validation entirely.** + `venc_api_validate_loaded_config()` dispatched to the CV610 backend + validator *instead of* the shared `validate_field_cfg()` sweep, so sixteen + shared rules never ran there — and CV610 re-implemented two of them + (`video0.size`'s >=128 and multiple-of-8 gates) inside + `cv610_mode_check_output()`, which is the drift risk that made the gap + visible. The `/api/v1/set` path always ran the shared rules, so the same + value was accepted from the config file at boot and rejected with `409` + over HTTP. The sweep now runs first and the backend rules after. - The CV610 Opus banner said `10.0 ms frames` for a whole release after `CV610_AUDIO_POINT_NUM` went 480 → 960. Behaviour was right at 20 ms; only the one line a reader could check the packet rate against was wrong. It is diff --git a/documentation/HTTP_API_CONTRACT.md b/documentation/HTTP_API_CONTRACT.md index 0f218212..91c90eef 100644 --- a/documentation/HTTP_API_CONTRACT.md +++ b/documentation/HTTP_API_CONTRACT.md @@ -1751,6 +1751,15 @@ divergence is listed. As of `contract_version: 0.12.1`: CV610 now calls the same `pipeline_common_compute_precrop()` Star6E and Maruko use. No shape changed and no request that used to succeed now fails; the pixels are different. + - **CV610 now runs the shared field validation at config load**, which it + had been skipping entirely: `venc_api_validate_loaded_config()` dispatched + to the CV610 backend validator *instead of* the shared + `validate_field_cfg()` sweep, so sixteen shared rules never ran on that + backend. The HTTP `/api/v1/set` path always applied them, so the same + value was accepted from `/etc/waybeam.json` at boot and rejected with + `409` over HTTP. A CV610 config carrying e.g. `isp.awbMode:"bogus"` used + to load and now fails with the same message Star6E gives. Configs that + were valid on Star6E are unaffected. - `video0.gopSize` is validated against the **selected** mode's rate. The encoder has always derived its GOP length from that rate; the check used `video0.fps`, which the two knobs above can now separate from it. A diff --git a/src/cv610_pipeline.c b/src/cv610_pipeline.c index edf17e6c..2538021e 100644 --- a/src/cv610_pipeline.c +++ b/src/cv610_pipeline.c @@ -536,29 +536,34 @@ static int vpss_setup(const Cv610PipelineRuntimeConfig *c) * rather than framed. Crop the group's input to the encoded aspect * first — the same centre-crop rule Star6E and Maruko apply through * pipeline_common_compute_precrop(), from the same shared function so - * the three backends cannot drift. A matching aspect (or - * keepAspect=false) yields the full frame, and the crop is then left - * disabled rather than set to a no-op rectangle. */ + * the three backends cannot drift. + * + * Written UNCONDITIONALLY, including the disable. MPP objects are + * kernel state on this SoC and a group that outlives a teardown keeps + * whatever crop it was last given, so "skip the call when no crop is + * needed" would inherit a stale rectangle from the previous run's + * geometry. vpss_teardown() destroys the group precisely so that + * cannot happen today — this keeps it true without depending on it. */ { PipelinePrecropRect precrop = pipeline_common_compute_precrop( c->width, c->height, c->out_width, c->out_height, c->keep_aspect ? true : false); + int cropping = (precrop.w != c->width || precrop.h != c->height); ot_vpss_crop_info crop; - if (precrop.w != c->width || precrop.h != c->height) { - memset(&crop, 0, sizeof(crop)); - crop.enable = TD_TRUE; - crop.crop_mode = OT_COORD_ABS; - crop.crop_rect.x = precrop.x; - crop.crop_rect.y = precrop.y; - crop.crop_rect.width = precrop.w; - crop.crop_rect.height = precrop.h; - CV610_CHECK(ss_mpi_vpss_set_grp_crop(VPSS_GRP, &crop)); + memset(&crop, 0, sizeof(crop)); + crop.enable = cropping ? TD_TRUE : TD_FALSE; + crop.crop_mode = OT_COORD_ABS; + crop.crop_rect.x = precrop.x; + crop.crop_rect.y = precrop.y; + crop.crop_rect.width = precrop.w; + crop.crop_rect.height = precrop.h; + CV610_CHECK(ss_mpi_vpss_set_grp_crop(VPSS_GRP, &crop)); + if (cropping) printf(" ok aspect crop %ux%u+%u+%u of %ux%u -> %ux%u\n", (unsigned)precrop.w, (unsigned)precrop.h, (unsigned)precrop.x, (unsigned)precrop.y, c->width, c->height, c->out_width, c->out_height); - } } memset(&chn_attr, 0, sizeof(chn_attr)); diff --git a/src/venc_api.c b/src/venc_api.c index 1b7af723..ae55dee3 100644 --- a/src/venc_api.c +++ b/src/venc_api.c @@ -1300,9 +1300,6 @@ static const char *validate_field_cfg(const VencConfig *cfg, const char *key) const char *venc_api_validate_loaded_config(const VencConfig *cfg) { -#if HAVE_BACKEND_CV610 - return cv610_validate_config(cfg); -#else /* Keys with rules in validate_field_cfg(). Backend-coupled checks * (validate_backend_config) intentionally excluded — g_backend is * registered after config load, so they cannot run here. */ @@ -1334,6 +1331,20 @@ const char *venc_api_validate_loaded_config(const VencConfig *cfg) if (err) return err; } +#if HAVE_BACKEND_CV610 + /* CV610's rules run AFTER the shared sweep, not instead of it. This + * branch used to return cv610_validate_config() directly, so CV610 was + * the one backend that never ran validate_field_cfg() at all — it + * re-implemented video0.size's >=128 and multiple-of-8 gates inside + * cv610_mode_check_output() and silently skipped every other shared + * rule. Two copies of one HEVC constraint is a drift risk; missing the + * rest is a parity hole, and it also meant the same bad value produced + * different error text on CV610 than on Star6E. CV610 keeps its own + * copy of the size gates as a pipeline-boundary guard, because + * cv610_prepare() calls cv610_mode_check_output() directly against a + * config file edited behind the daemon's back. */ + return cv610_validate_config(cfg); +#else return NULL; #endif } From c12a5b171794126172c6c9fdf81f6ab37e0cfcec Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 08:10:21 +0200 Subject: [PATCH 05/45] config(cv610): default bitrate 8000 -> 2600, a seed that survives MCS0 MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit waybeam-link is the single rate controller and actuates within seconds of the link coming up, so video0.bitrate in the shipped config is a BOOT SEED, not an operating point. What a seed has to survive is the worst rung rather than the expected one: landing at the §9.8 MCS0 no-feedback floor while offering 8 Mbps floods the air, and on this fleet an over-offered craft has already been measured demoting a SECOND craft's link on the same channel within a minute. Pinning it low costs nothing once the controller takes over. The test asserted 8000; it now asserts 2600 and carries the reason, so the next person to "fix" it low has to argue with the rung rather than the number. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- HISTORY.md | 8 ++++++++ config/waybeam.default.cv610.json | 2 +- tests/test_cv610_validation.c | 10 +++++++++- 3 files changed, 18 insertions(+), 2 deletions(-) diff --git a/HISTORY.md b/HISTORY.md index 4204b8d8..ce12781b 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -46,6 +46,14 @@ render one set of sensor controls against all three backends. Contract Maruko call, so the rule cannot drift between the three: `1440x1080` uses a 1440x1080 window at x=240 and scales 1:1. `isp.keepAspect=false` restores stretch-to-fit. Verified both directions on the bench. +- **The CV610 default bitrate drops 8000 → 2600 kbps.** waybeam-link is the + single rate controller and actuates within seconds, so the config value is + a **boot seed**, not an operating point — and what a seed has to survive is + the worst rung, not the expected one. Landing at the §9.8 MCS0 no-feedback + floor while offering 8 Mbps floods the air, and on this fleet an + over-offered craft has already been measured demoting a *second* craft's + link on the same channel within a minute. Pinning the seed low costs + nothing once the controller takes over. - **CV610 was skipping the shared config validation entirely.** `venc_api_validate_loaded_config()` dispatched to the CV610 backend validator *instead of* the shared `validate_field_cfg()` sweep, so sixteen diff --git a/config/waybeam.default.cv610.json b/config/waybeam.default.cv610.json index 6ecefe96..be94fbe9 100644 --- a/config/waybeam.default.cv610.json +++ b/config/waybeam.default.cv610.json @@ -7,7 +7,7 @@ "rcMode": "cbr", "fps": 100, "size": "1280x720", - "bitrate": 8000, + "bitrate": 2600, "gopSize": 1.0, "qpDelta": -4, "resilience": "off", diff --git a/tests/test_cv610_validation.c b/tests/test_cv610_validation.c index 0d616433..4e2e9f01 100644 --- a/tests/test_cv610_validation.c +++ b/tests/test_cv610_validation.c @@ -198,7 +198,15 @@ int main(void) failures += expect("cv610_default_is_1280x720", cfg.video0.width == 1280 && cfg.video0.height == 720); failures += expect("cv610_default_is_100fps", cfg.video0.fps == 100); - failures += expect("cv610_default_is_8000kbps", cfg.video0.bitrate == 8000); + /* The shipped bitrate is a BOOT SEED, not an operating point: waybeam-link + * is the single rate controller and actuates within seconds of the link + * coming up. What the seed has to survive is the worst rung — landing at + * the MCS0 no-feedback floor while offering 8 Mbps floods the air, and on + * this fleet an over-offered craft has already been measured demoting a + * SECOND craft's link on the same channel. So this pins low on purpose; + * it asserted 8000 until that was understood. */ + failures += expect("cv610_default_bitrate_survives_mcs0", + cfg.video0.bitrate == 2600); /* And that it names a real sensor mode rather than only passing the * generic range checks. */ failures += expect("cv610_default_names_a_mode", From edcf9953ea3ad6287bf40cd1d253f1205e6ee571 Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 18:59:56 +0200 Subject: [PATCH 06/45] feat(cv610): write the IMX662 power-on register sequence The plugin wrote 26 registers and left a TODO naming the range it was missing (0x301C..0x4549). Sony's sequence for that range is 131 entries, so the sensor ran on power-on defaults for the reserved analog/ADC trim, the MIPI TX timing, and the HDR context that linear mode needs parked. imx662_cfg.h carries the sequence, transcribed from imx662_global_settings[] in pauliustumas/imx662 -- the source the TODO pointed at. Two entries are dropped: the master-start write, because imx662_default_reg_init() releases STANDBY and XMSTA itself once the mode registers are in, and the HMAX pair, which is commented out upstream and is per-mode state this driver owns. The table runs first, in standby, so the per-mode writes that follow win where the two overlap. That ordering is load-bearing for 0x3A50/51/52: the table holds the 12-bit AD timing and the RAW10 modes overwrite it. Measured on the 192.168.2.181 bench with the new tools/cv610_i2c_dump.c, which does the 16-bit-address read the sensor needs from a second process while the pipeline runs (imx662_read_register() is a stub -- the ISP only ever writes, so nothing could confirm an init landed): - 94 of the entries differ from this module's power-on state. - The readout-window group (0x303C-0x303F, 0x3044-0x3047) already matched bit for bit, so writing it is a confirmed no-op here. - A RAW10-vs-RAW12 dump of the whole range differs in only 8 registers, all of them mode or bit-depth state the driver already owns. None of the reserved blocks are bit-depth dependent. Cold-boot verified on all four modes, each with a 1222-register readback at zero I2C errors, every reference entry matching silicon except the excluded HMAX pair, and the AD-timing triplet correct for the mode's bit depth: 1080p30 RAW12 30.03 fps 1080p60 RAW12 60.03 fps 1080p90 RAW10 90.03 fps 1080p100 RAW10 100.06 fps (pre-change baseline: 100.06) Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- sensors/cv610/imx662/imx662_cfg.h | 177 +++++++++++++++++++++++ sensors/cv610/imx662/imx662_sensor_ctl.c | 26 +++- tools/cv610_i2c_dump.c | 150 +++++++++++++++++++ 3 files changed, 347 insertions(+), 6 deletions(-) create mode 100644 sensors/cv610/imx662/imx662_cfg.h create mode 100644 tools/cv610_i2c_dump.c diff --git a/sensors/cv610/imx662/imx662_cfg.h b/sensors/cv610/imx662/imx662_cfg.h new file mode 100644 index 00000000..43efbcaf --- /dev/null +++ b/sensors/cv610/imx662/imx662_cfg.h @@ -0,0 +1,177 @@ +/* + * imx662_cfg.h — IMX662 power-on register sequence. + * + * Sony's one-shot init block: the reserved analog/ADC trim, the MIPI TX + * timing, the readout window and the HDR-context registers that must be + * parked for linear mode. The ISP never writes these; the plugin does, + * once, while the sensor is in standby. + * + * Transcribed from imx662_global_settings[] in pauliustumas/imx662 + * (driver/imx662.c), which is the same 0x301C..0x4549 sequence this + * driver's scaffold TODO named. Values are held verbatim, comments + * included, so a future diff against that source stays mechanical. + * + * Two deliberate departures from the source list: + * + * - {0x3002, 0x00} (master mode operation start) is dropped. This + * table runs inside standby; imx662_default_reg_init() releases + * STANDBY and XMSTA itself once the mode registers are in. + * - The HMAX pair is absent — it is commented out upstream, and HMAX + * is per-mode state that imx662_linear_1080p_init() owns. + * + * The 0x3A50/51/52 AD-timing triplet below carries the 12-bit values. + * The RAW10 modes overwrite it after this table runs; that ordering is + * load-bearing (see imx662_sensor_ctl.c). + * + * Measured against silicon on the 192.168.2.181 bench, 2026-08-16: + * 94 of these entries differ from the sensor's power-on state, and the + * readout-window group (0x303C-0x303F, 0x3044-0x3047) already matches + * bit for bit, so writing it is a confirmed no-op on this module. A + * RAW10-vs-RAW12 dump of the whole range showed the reserved blocks are + * identical in both, i.e. none of this is bit-depth dependent. + */ + +#ifndef IMX662_CFG_H +#define IMX662_CFG_H + +#include "ot_type.h" + +typedef struct { + td_u16 addr; + td_u8 data; +} imx662_reg_cfg; + +static const imx662_reg_cfg g_imx662_init_seq[] = { + { 0x301A, 0x00 }, /* HDR mode select (Normal) */ + { 0x301B, 0x00 }, /* Normal/binning */ + { 0x301C, 0x00 }, /* XVS sub sample */ + { 0x301E, 0x01 }, /* virtual channel */ + { 0x303C, 0x00 }, /* PIX HSTART */ + { 0x303D, 0x00 }, /* PIX HSTART */ + { 0x303E, 0x90 }, /* H WIDTH */ + { 0x303F, 0x07 }, /* H WIDTH */ + { 0x3044, 0x00 }, /* PIX VSTART */ + { 0x3045, 0x00 }, /* PIX VSTART */ + { 0x3046, 0x4C }, /* V WIDTH */ + { 0x3047, 0x04 }, /* V WIDTH */ + { 0x3060, 0x16 }, /* DOL output timing */ + { 0x3061, 0x01 }, /* DOL output timing */ + { 0x3062, 0x00 }, /* DOL output timing */ + { 0x3064, 0xC4 }, /* DOL output timing */ + { 0x3065, 0x0C }, /* DOL output timing */ + { 0x3066, 0x00 }, /* DOL output timing */ + { 0x3069, 0x00 }, /* Direct Gain Enable */ + { 0x3072, 0x00 }, /* GAIN SEF1 */ + { 0x3073, 0x00 }, /* GAIN SEF1 */ + { 0x3074, 0x00 }, /* GAIN SEF2 */ + { 0x3075, 0x00 }, /* GAIN SEF2 */ + { 0x3081, 0x00 }, /* EXP_GAIN */ + { 0x308C, 0x00 }, /* Clear HDR DGAIN */ + { 0x308D, 0x01 }, /* Clear HDR DGAIN */ + { 0x3094, 0x00 }, /* CHDR AGAIN LG */ + { 0x3095, 0x00 }, /* CHDR AGAIN LG */ + { 0x3096, 0x00 }, /* CHDR AGAIN1 */ + { 0x3097, 0x00 }, /* CHDR AGAIN1 */ + { 0x309C, 0x00 }, /* CHDR AGAIN HG */ + { 0x309D, 0x00 }, /* CHDR AGAIN HG */ + { 0x30A4, 0xAA }, /* XVS/XHS OUT */ + { 0x30A6, 0x0F }, /* XVS/XHS DRIVE HiZ */ + { 0x30CC, 0x00 }, /* XVS width */ + { 0x30CD, 0x00 }, /* XHS width */ + { 0x3400, 0x01 }, /* GAIN Adjust */ + { 0x3444, 0xAC }, /* RESERVED */ + { 0x3460, 0x21 }, /* Normal Mode 22H=C HDR mode */ + { 0x3492, 0x08 }, /* RESERVED */ + { 0x3A50, 0xFF }, /* Normal 12bit */ + { 0x3A51, 0x03 }, /* Normal 12bit */ + { 0x3A52, 0x00 }, /* AD 12bit */ + { 0x3B00, 0x39 }, /* RESERVED */ + { 0x3B23, 0x2D }, /* RESERVED */ + { 0x3B45, 0x04 }, /* RESERVED */ + { 0x3C0A, 0x1F }, /* RESERVED */ + { 0x3C0B, 0x1E }, /* RESERVED */ + { 0x3C38, 0x21 }, /* RESERVED */ + { 0x3C40, 0x06 }, /* Normal mode. CHDR=05h */ + { 0x3C44, 0x00 }, /* RESERVED */ + { 0x3CB6, 0xD8 }, /* RESERVED */ + { 0x3CC4, 0xDA }, /* RESERVED */ + { 0x3E24, 0x79 }, /* RESERVED */ + { 0x3E2C, 0x15 }, /* RESERVED */ + { 0x3EDC, 0x2D }, /* RESERVED */ + { 0x4498, 0x05 }, /* RESERVED */ + { 0x449C, 0x19 }, /* RESERVED */ + { 0x449D, 0x00 }, /* RESERVED */ + { 0x449E, 0x32 }, /* RESERVED */ + { 0x449F, 0x01 }, /* RESERVED */ + { 0x44A0, 0x92 }, /* RESERVED */ + { 0x44A2, 0x91 }, /* RESERVED */ + { 0x44A4, 0x8C }, /* RESERVED */ + { 0x44A6, 0x87 }, /* RESERVED */ + { 0x44A8, 0x82 }, /* RESERVED */ + { 0x44AA, 0x78 }, /* RESERVED */ + { 0x44AC, 0x6E }, /* RESERVED */ + { 0x44AE, 0x69 }, /* RESERVED */ + { 0x44B0, 0x92 }, /* RESERVED */ + { 0x44B2, 0x91 }, /* RESERVED */ + { 0x44B4, 0x8C }, /* RESERVED */ + { 0x44B6, 0x87 }, /* RESERVED */ + { 0x44B8, 0x82 }, /* RESERVED */ + { 0x44BA, 0x78 }, /* RESERVED */ + { 0x44BC, 0x6E }, /* RESERVED */ + { 0x44BE, 0x69 }, /* RESERVED */ + { 0x44C1, 0x01 }, /* RESERVED */ + { 0x44C2, 0x7F }, /* RESERVED */ + { 0x44C3, 0x01 }, /* RESERVED */ + { 0x44C4, 0x7A }, /* RESERVED */ + { 0x44C5, 0x01 }, /* RESERVED */ + { 0x44C6, 0x7A }, /* RESERVED */ + { 0x44C7, 0x01 }, /* RESERVED */ + { 0x44C8, 0x70 }, /* RESERVED */ + { 0x44C9, 0x01 }, /* RESERVED */ + { 0x44CA, 0x6B }, /* RESERVED */ + { 0x44CB, 0x01 }, /* RESERVED */ + { 0x44CC, 0x6B }, /* RESERVED */ + { 0x44CD, 0x01 }, /* RESERVED */ + { 0x44CE, 0x5C }, /* RESERVED */ + { 0x44CF, 0x01 }, /* RESERVED */ + { 0x44D0, 0x7F }, /* RESERVED */ + { 0x44D1, 0x01 }, /* RESERVED */ + { 0x44D2, 0x7F }, /* RESERVED */ + { 0x44D3, 0x01 }, /* RESERVED */ + { 0x44D4, 0x7A }, /* RESERVED */ + { 0x44D5, 0x01 }, /* RESERVED */ + { 0x44D6, 0x7A }, /* RESERVED */ + { 0x44D7, 0x01 }, /* RESERVED */ + { 0x44D8, 0x70 }, /* RESERVED */ + { 0x44D9, 0x01 }, /* RESERVED */ + { 0x44DA, 0x6B }, /* RESERVED */ + { 0x44DB, 0x01 }, /* RESERVED */ + { 0x44DC, 0x6B }, /* RESERVED */ + { 0x44DD, 0x01 }, /* RESERVED */ + { 0x44DE, 0x5C }, /* RESERVED */ + { 0x44DF, 0x01 }, /* RESERVED */ + { 0x4534, 0x1C }, /* RESERVED */ + { 0x4535, 0x03 }, /* RESERVED */ + { 0x4538, 0x1C }, /* RESERVED */ + { 0x4539, 0x1C }, /* RESERVED */ + { 0x453A, 0x1C }, /* RESERVED */ + { 0x453B, 0x1C }, /* RESERVED */ + { 0x453C, 0x1C }, /* RESERVED */ + { 0x453D, 0x1C }, /* RESERVED */ + { 0x453E, 0x1C }, /* RESERVED */ + { 0x453F, 0x1C }, /* RESERVED */ + { 0x4540, 0x1C }, /* RESERVED */ + { 0x4541, 0x03 }, /* RESERVED */ + { 0x4542, 0x03 }, /* RESERVED */ + { 0x4543, 0x03 }, /* RESERVED */ + { 0x4544, 0x03 }, /* RESERVED */ + { 0x4545, 0x03 }, /* RESERVED */ + { 0x4546, 0x03 }, /* RESERVED */ + { 0x4547, 0x03 }, /* RESERVED */ + { 0x4548, 0x03 }, /* RESERVED */ + { 0x4549, 0x03 }, /* RESERVED */ +}; + +#define IMX662_INIT_SEQ_LEN (sizeof(g_imx662_init_seq) / sizeof(g_imx662_init_seq[0])) + +#endif /* IMX662_CFG_H */ diff --git a/sensors/cv610/imx662/imx662_sensor_ctl.c b/sensors/cv610/imx662/imx662_sensor_ctl.c index 3d18ee88..726d293e 100644 --- a/sensors/cv610/imx662/imx662_sensor_ctl.c +++ b/sensors/cv610/imx662/imx662_sensor_ctl.c @@ -22,6 +22,7 @@ #include "securec.h" #include "imx662_cmos.h" +#include "imx662_cfg.h" #define I2C_DEV_FILE_NUM 16 #define I2C_BUF_NUM 8 @@ -169,11 +170,24 @@ td_void imx662_blc_clamp(ot_vi_pipe vi_pipe, ot_isp_sns_blc_clamp blc_clamp) } /* ---- power-on register block --------------------------------------------- - * TODO(integration): transcribe the full IMX662 power-on / reserved-register - * sequence (~89 writes, addresses 0x301C..0x4549) from the datasheet or the - * RPi driver's imx662_common_regs[]. The few below are the mode-defining - * writes only; the reserved block is required for a correct image. + * The Sony power-on sequence (reserved analog/ADC trim, MIPI TX timing, + * readout window, HDR context parked for linear) lives in imx662_cfg.h and + * runs first, in standby. Everything below it is per-mode state that + * overrides the table where the two overlap -- notably the 0x3A50/51/52 + * AD-timing triplet, which the table carries in its 12-bit form. */ +static td_s32 imx662_write_init_seq(ot_vi_pipe vi_pipe) +{ + td_s32 ret = 0; + td_u32 i; + + for (i = 0; i < IMX662_INIT_SEQ_LEN; i++) { + ret += imx662_write_register(vi_pipe, g_imx662_init_seq[i].addr, + g_imx662_init_seq[i].data); + } + return ret; +} + static td_s32 imx662_linear_1080p_init(ot_vi_pipe vi_pipe, td_u32 hmax, td_bool raw_10bit, td_bool overclock_100fps) { @@ -182,6 +196,8 @@ static td_s32 imx662_linear_1080p_init(ot_vi_pipe vi_pipe, td_u32 hmax, ret += imx662_write_register(vi_pipe, IMX662_REG_STANDBY, 0x01); /* stop for cfg */ delay_ms(1); + ret += imx662_write_init_seq(vi_pipe); + /* --- clock / interface (VERIFY against board wiring) --- */ /* 100 fps follows the public IMX662 mode: feed 27 MHz externally while * selecting the 24 MHz profile (0x04), which raises its 1440 Mbps timing @@ -215,8 +231,6 @@ static td_s32 imx662_linear_1080p_init(ot_vi_pipe vi_pipe, td_u32 hmax, ret += imx662_write_register(vi_pipe, IMX662_REG_BLKLEVEL_L, 0x32); /* 50 */ ret += imx662_write_register(vi_pipe, IMX662_REG_BLKLEVEL_H, 0x00); - /* TODO: reserved-register block goes here (see note above). */ - return ret; } diff --git a/tools/cv610_i2c_dump.c b/tools/cv610_i2c_dump.c new file mode 100644 index 00000000..76ee4a8a --- /dev/null +++ b/tools/cv610_i2c_dump.c @@ -0,0 +1,150 @@ +/* + * cv610_i2c_dump — read IMX662 registers over /dev/i2c on the CV610 bench. + * + * The sensor plugin's imx662_read_register() is a stub (the ISP only ever + * writes), so there is no way to confirm from the daemon that an init + * sequence actually landed. This does the 16-bit-address read the sensor + * needs, from a second process, while the pipeline is running. + * + * Derived from the i2c_dump.c bench tool in diegok3/firmware + * (feat/imx662-driver, utils/i2c_dump.c). + * + * DEV-ONLY. Not installed into any image; push it to /tmp and delete it. + * + * Build: + * toolchain/toolchain.hisilicon-hi3516cv6xx/bin/arm-openipc-linux-musleabi-gcc \ + * -O2 -s -Wall -Wextra -std=c99 -o out/cv610_i2c_dump tools/cv610_i2c_dump.c + * + * Run: + * scp -O out/cv610_i2c_dump root@192.168.2.181:/tmp/ + * ssh root@192.168.2.181 /tmp/cv610_i2c_dump # the default range set + * ssh root@192.168.2.181 /tmp/cv610_i2c_dump 0x3014 0x3015 0x302c:0x302d + * + * Output is one register per line, "0xADDR 0xVV" or "0xADDR ERR", so a diff + * of two dumps is the whole comparison. + */ + +#include +#include +#include +#include +#include +#include +#include + +/* Linux I2C_SLAVE_FORCE; the sensor plugin binds the same address, so the + * non-FORCE ioctl would be refused as busy. */ +#define I2C_SLAVE_FORCE 0x0706 + +#define DEFAULT_DEV "/dev/i2c-0" +#define DEFAULT_ADDR 0x1a /* IMX662_I2C_ADDR 0x34 >> 1 */ + +/* The ranges that matter for the power-on init block: mode/timing page, + * gain + reserved page, AD timing, and the reserved tail that Sony's + * sequence ends at (0x4549). */ +static const unsigned short g_default_ranges[][2] = { + { 0x3000, 0x30ff }, + { 0x3400, 0x34ff }, + { 0x3a50, 0x3a52 }, + { 0x3b00, 0x3c50 }, + { 0x3e00, 0x3eff }, + { 0x4490, 0x44e0 }, + { 0x4530, 0x4550 }, +}; + +static int g_fd = -1; + +static int reg_read(unsigned short reg, unsigned char *val) +{ + unsigned char buf[2] = { (unsigned char)(reg >> 8), (unsigned char)(reg & 0xff) }; + + if (write(g_fd, buf, sizeof(buf)) != (ssize_t)sizeof(buf)) + return -1; + if (read(g_fd, val, 1) != 1) + return -1; + return 0; +} + +static void dump_range(unsigned short start, unsigned short end) +{ + unsigned int reg; /* wider than u16 so end == 0xffff terminates */ + + for (reg = start; reg <= end; reg++) { + unsigned char val; + + if (reg_read((unsigned short)reg, &val) == 0) + printf("0x%04X 0x%02X\n", reg, val); + else + printf("0x%04X ERR\n", reg); + } +} + +/* "0x3014" or "0x3000:0x30ff" */ +static int parse_range(const char *arg, unsigned short *start, unsigned short *end) +{ + char *sep; + long a, b; + + a = strtol(arg, &sep, 0); + if (sep == arg || a < 0 || a > 0xffff) + return -1; + + if (*sep == '\0') { + b = a; + } else if (*sep == ':') { + const char *tail = sep + 1; + b = strtol(tail, &sep, 0); + if (sep == tail || *sep != '\0' || b < a || b > 0xffff) + return -1; + } else { + return -1; + } + + *start = (unsigned short)a; + *end = (unsigned short)b; + return 0; +} + +int main(int argc, char *argv[]) +{ + const char *dev = getenv("I2C_DEV"); + const char *addr_env = getenv("I2C_ADDR"); + long addr = DEFAULT_ADDR; + int i; + + if (dev == NULL) + dev = DEFAULT_DEV; + if (addr_env != NULL) + addr = strtol(addr_env, NULL, 0); + + g_fd = open(dev, O_RDWR); + if (g_fd < 0) { + fprintf(stderr, "open %s: %s\n", dev, strerror(errno)); + return 1; + } + if (ioctl(g_fd, I2C_SLAVE_FORCE, addr) < 0) { + fprintf(stderr, "I2C_SLAVE_FORCE 0x%02lx: %s\n", addr, strerror(errno)); + close(g_fd); + return 1; + } + + if (argc > 1) { + for (i = 1; i < argc; i++) { + unsigned short start, end; + + if (parse_range(argv[i], &start, &end) != 0) { + fprintf(stderr, "bad range '%s' (want 0xNNNN or 0xNNNN:0xNNNN)\n", + argv[i]); + close(g_fd); + return 2; + } + dump_range(start, end); + } + } else { + for (i = 0; i < (int)(sizeof(g_default_ranges) / sizeof(g_default_ranges[0])); i++) + dump_range(g_default_ranges[i][0], g_default_ranges[i][1]); + } + + close(g_fd); + return 0; +} From 3177e900c39587a04b44c500f28af9eee5d886e4 Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 19:09:59 +0200 Subject: [PATCH 07/45] feat(cv610): enable the IMX662 ISP algorithm blocks cmos_get_isp_default() handed the ISP a zeroed ot_isp_cmos_default. Every algorithm key defaults to 0, so demosaic, gamma, CLUT, LDCI, CAC, anti-false-colour, dehaze and CA were all switched off and the pipeline ran with no tone curve at all. That is what the flat, hazy, low-contrast image was -- not a sensor problem. The tables come from the in-tree Hi3516CV610 driver smart_sc450ai, which targets this same ISP silicon, ported verbatim into imx662_cmos_param.h. This group describes how the ISP behaves rather than how the sensor behaves, which is why it transfers: gamma is a tone curve, CLUT a colour lookup, demosaic/CAC/anti-false-colour are interpolation artefact controls. The blocks that are fitted to sensor noise -- bayer_nr, sharpen and the noise_calibration polynomial -- are deliberately left off; sc450ai is 4 MP and IMX662 is a 2 MP STARVIS, so those need their own measurement. Measured on the 192.168.2.181 bench, three cold-boot arms at identical pipeline config (1080p100, 6000 kbps, hub stopped so nothing could rewrite venc's config between arms), 30 frames each, only the plugin differing: arm sharpness stdY meanY flatNoise kB original 207 39.6 97.0 1.13 616 + register sequence 185 38.4 95.7 1.14 618 + register sequence + ISP 497 42.4 79.2 1.39 771 Sharpness up 169% with sharpen still disabled, so that is detail recovered by demosaic and CAC rather than edge enhancement; contrast up, haze gone, and larger frames at the same CBR because there is more real detail to code. Operator confirmed the result on the live stream. Two honest costs: flat-field noise rises 1.14 -> 1.39, which is what bayer_nr exists to absorb, and the pre-existing blue cast is amplified. The AWB statics are left alone -- the operator has already judged AWB auto the most balanced on this bench, and frame-mean RGB is not a white reference. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- sensors/cv610/imx662/imx662_cmos.c | 39 +- sensors/cv610/imx662/imx662_cmos_param.h | 576 +++++++++++++++++++++++ 2 files changed, 606 insertions(+), 9 deletions(-) diff --git a/sensors/cv610/imx662/imx662_cmos.c b/sensors/cv610/imx662/imx662_cmos.c index 329c9f97..6cc71121 100644 --- a/sensors/cv610/imx662/imx662_cmos.c +++ b/sensors/cv610/imx662/imx662_cmos.c @@ -342,16 +342,37 @@ static td_s32 cmos_get_isp_default(ot_vi_pipe vi_pipe, ot_isp_cmos_default *isp_ sns_check_pointer_return(sns_state); (td_void)memset_s(isp_def, sizeof(ot_isp_cmos_default), 0, sizeof(ot_isp_cmos_default)); - /* TODO(tuning): assign noise / demosaic / sharpen / gamma / - * drc / dpc / shading blocks. These get you from "flat" to "good". */ /* ot_isp_cmos_alg_key holds its bitfields directly, not under a .bits - * member. All keys default to 0 from the memset above, which disables every - * ISP block and yields a flat image -- the in-tree cv6xx drivers enable - * demosaic / sharpen / drc / bayer_nr / anti_false_color / cac / ldci here - * (cf. sc450ai_cmos.c:911-923). Left off until first light, so the raw path - * can be judged without the ISP in the way. */ - isp_def->key.bit1_ca = 0; - isp_def->key.bit1_dpc = 0; + * member. Everything is 0 from the memset above, so a block is off unless + * it is turned on here -- and each key needs its parameter table, or the + * ISP reads a null pointer. + * + * Linear mode only; cmos_set_wdr_mode() rejects every other WDR mode. + * + * Enabled below is the ISP-behaviour set (see imx662_cmos_param.h for why + * these transfer from sc450ai and the noise-fitted ones do not). + * Still off, each for its own reason: bayer_nr / sharpen / + * noise_calibration / drc await an IMX662 measurement rather than a + * borrowed 4 MP noise model; lsc needs a per-module shading capture; + * dpc is enabled in sc450ai's common path and is a candidate here, but + * has not been measured on this sensor yet. */ + isp_def->key.bit1_demosaic = 1; + isp_def->demosaic = &g_cmos_demosaic; + isp_def->key.bit1_gamma = 1; + isp_def->gamma = &g_cmos_gamma; + isp_def->key.bit1_clut = 1; + isp_def->clut = &g_cmos_clut; + isp_def->key.bit1_anti_false_color = 1; + isp_def->anti_false_color = &g_cmos_anti_false_color; + isp_def->key.bit1_cac = 1; + isp_def->cac = &g_cmos_cac; + isp_def->key.bit1_ldci = 1; + isp_def->ldci = &g_cmos_ldci; + isp_def->key.bit1_dehaze = 1; + isp_def->dehaze = &g_cmos_dehaze; + isp_def->key.bit1_ca = 1; + isp_def->ca = &g_cmos_ca; + isp_def->sns_mode.sns_id = 0; return TD_SUCCESS; } diff --git a/sensors/cv610/imx662/imx662_cmos_param.h b/sensors/cv610/imx662/imx662_cmos_param.h index 835400af..fe0c5ce5 100644 --- a/sensors/cv610/imx662/imx662_cmos_param.h +++ b/sensors/cv610/imx662/imx662_cmos_param.h @@ -100,4 +100,580 @@ * - Final CCM after verifying HiSilicon's sign/format + saturation. */ + +/* ========================================================================== + * ISP algorithm defaults + * + * cmos_get_isp_default() used to hand the ISP a zeroed ot_isp_cmos_default, + * which leaves every algorithm key at 0 and therefore runs the pipeline with + * demosaic, gamma, CLUT, LDCI, CAC, anti-false-colour, dehaze and CA all + * switched off. That is what "flat" looked like. + * + * The tables below are the linear-mode set from the in-tree Hi3516CV610 + * driver smart_sc450ai (sc450ai_cmos_param.h), which targets this exact ISP + * silicon. They are ported verbatim. + * + * PROVENANCE MATTERS HERE. These describe how the ISP behaves, not how the + * IMX662 behaves, which is why this group transfers: gamma is a tone curve, + * CLUT a colour lookup, CAC/anti-false-colour/demosaic are interpolation + * artefact controls. Nothing in this group is fitted to sc450ai's noise. + * The blocks that ARE fitted to sensor noise -- bayer_nr, sharpen and the + * noise_calibration polynomial -- are deliberately NOT here; sc450ai is a + * 4 MP sensor and IMX662 a 2 MP STARVIS with different pixel noise, so + * those need their own calibration rather than a copy. + * + * Verified on the 192.168.2.181 bench, 2026-08-16. + * ========================================================================== */ + +static const ot_isp_demosaic_attr g_cmos_demosaic = { + 1, /* en */ + OT_OP_MODE_AUTO, /* op_type */ + 128, /* aidm_blend_ratio */ + { + 48, /* nddm_strength */ + 64, /* nddm_mf_detail_strength */ + { 0 }, /* hf_detail_strength */ + 2, /* detail_smooth_range */ + 0, /* color_noise_f_threshold */ + 8, /* color_noise_f_strength */ + 1, /* color_noise_y_threshold */ + 10, /* color_noise_y_strength */ + }, + { + /* nddm_strength */ + { 48, 48, 48, 54, 54, 54, 48, 40, 40, 48, 48, 48, 48, 48, 48, 48 }, + /* nddm_mf_detail_strength */ + { 82, 74, 68, 60, 54, 50, 44, 40, 40, 40, 40, 32, 16, 16, 16, 16 }, + /* hf_detail_strength */ + { + { 0, 0, 1, 2, 4, 6, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8 }, + }, + /* detail_smooth_range */ + { 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 5, 7, 7, 7, 7 }, + /* color_noise_f_threshold */ + { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }, + /* color_noise_f_strength */ + { 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8 }, + /* color_noise_y_threshold */ + { 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 }, + /* color_noise_y_strength */ + { 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10 }, + } +}; + +static const ot_isp_anti_false_color_attr g_cmos_anti_false_color = { + 1, /* en */ + OT_OP_MODE_AUTO, /* op_type */ + { 8, 8 }, /* manual_attr */ + { + { 20, 10, 8, 8, 7, 7, 7, 6, 6, 6, 5, 4, 3, 2, 1, 0 }, /* anti_false_color_threshold */ + { 24, 12, 8, 8, 7, 7, 7, 6, 6, 6, 5, 4, 3, 2, 1, 0 }, /* anti_false_color_strength */ + } +}; + +static const ot_isp_cac_attr g_cmos_cac = { + 1, /* en */ + OT_OP_MODE_AUTO, /* op_type */ + 1, /* detect_mode */ + 35, /* purple_upper_limit */ + (-15), /* purple_lower_limit */ + /* acac_cfg */ + { + { + {10, 300}, /* edge_threshold */ + 16, /* edge_gain */ + 3, /* cac_rb_strength */ + 63, /* purple_alpha */ + 63, /* edge_alpha */ + 25, /* satu_low_threshold */ + 16383, /* satu_high_threshold */ + }, + { + /* edge_threshold */ + { + {100, 100, 100, 150, 150, 150, 150, 150, 150, 150, 150, 150, 150, 150, 150, 150}, + {500, 500, 500, 600, 600, 600, 600, 600, 600, 600, 600, 600, 600, 600, 600, 600} + }, + /* edge_gain */ + { 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16 }, + /* cac_rb_strength */ + { 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3 }, + /* purple_alpha */ + { 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63 }, + /* edge_alpha */ + { 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63 }, + /* satu_low_threshold */ + { 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25 }, + /* satu_high_threshold */ + { 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, + 16383, 16383 }, + } + }, + /* lcac_cfg */ + { + 60, /* purple_detect_range */ + 200, /* var_threshold */ + { 1500, 1500, 0 }, /* r_detect_threshold */ + { 1500, 1500, 0 }, /* g_detect_threshold */ + { 4095, 1500, 0 }, /* b_detect_threshold */ + { + 0, /* de_purple_cr_strength */ + 3, /* de_purple_cb_strength */ + }, + { + /* de_purple_cr_strength */ + { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }, + /* de_purple_cb_strength */ + { 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3 }, + } + } +}; + +static const ot_isp_ldci_attr g_cmos_ldci = { + /* enable */ + 1, + /* gauss_lpf_sigma */ + 36, + /* ot_op_mode */ + 0, + + /* ot_isp_ldci_manual_attr */ + { + /* ot_isp_ldci_he_wgt_attr */ + { + /* he_pos_wgt */ + { + 50, 80, 32 + }, + /* he_neg_wgt */ + { + 60, 80, 128 + } + }, + + /* blc_ctrl */ + 20 + }, + + /* ot_isp_ldci_auto_attr */ + { + /* he_wgt[OT_ISP_AUTO_ISO_NUM] */ + { + {{48, 80, 32}, {60, 80, 128}}, + {{45, 80, 16}, {45, 80, 128}}, + {{42, 70, 0}, {45, 80, 128}}, + {{40, 70, 0}, {45, 80, 0}}, + {{35, 70, 0}, {45, 80, 0}}, + {{32, 64, 0}, {24, 72, 0}}, + {{12, 24, 0}, {12, 64, 0}}, + {{8, 20, 0}, {8, 54, 0}}, + {{6, 12, 0}, {6, 36, 0}}, + {{0, 8, 0}, {0, 8, 0}}, + {{0, 6, 0}, {0, 6, 0}}, + {{0, 2, 0}, {0, 2, 0}}, + {{0, 1, 0}, {0, 1, 0}}, + {{0, 1, 0}, {0, 1, 0}}, + {{0, 1, 0}, {0, 1, 0}}, + {{0, 1, 0}, {0, 1, 0}} + }, + + /* blc_ctrl */ + { 20, 20, 20, 20, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30 } + }, + + /* tpr_incr_coef */ + 8, + /* tpr_decr_coef */ + 8 +}; + +static const ot_isp_gamma_attr g_cmos_gamma = { + 1, + { + 0, 13, 27, 40, 54, 68, 81, 95, 108, 121, 135, 150, 166, 180, 195, 210, 226, 242, + 259, 269, 281, 292, 303, 315, 327, 339, 352, 364, 376, 389, 402, 415, 425, 435, 446, 456, + 467, 477, 488, 499, 510, 521, 532, 543, 555, 566, 578, 591, 602, 613, 625, 636, 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3483, 3486, 3488, 3490, 3492, 3494, 3496, 3498, 3500, 3502, 3504, + 3506, 3508, 3510, 3512, 3514, 3517, 3519, 3521, 3523, 3525, 3527, 3529, 3531, 3533, 3536, 3538, 3540, 3542, + 3544, 3546, 3548, 3550, 3553, 3555, 3557, 3559, 3561, 3563, 3565, 3568, 3570, 3572, 3574, 3576, 3578, 3580, + 3582, 3585, 3587, 3589, 3591, 3593, 3595, 3597, 3599, 3601, 3603, 3605, 3608, 3610, 3612, 3614, 3616, 3618, + 3620, 3622, 3624, 3626, 3628, 3630, 3632, 3634, 3636, 3638, 3640, 3642, 3645, 3647, 3649, 3651, 3653, 3655, + 3657, 3659, 3661, 3663, 3665, 3667, 3669, 3671, 3673, 3675, 3677, 3679, 3681, 3683, 3685, 3687, 3689, 3691, + 3693, 3695, 3697, 3699, 3701, 3704, 3706, 3708, 3710, 3712, 3714, 3716, 3718, 3720, 3722, 3724, 3726, 3728, + 3730, 3732, 3734, 3736, 3738, 3740, 3742, 3744, 3746, 3748, 3750, 3752, 3754, 3756, 3758, 3760, 3762, 3764, + 3766, 3767, 3769, 3771, 3773, 3775, 3777, 3779, 3781, 3783, 3785, 3787, 3789, 3791, 3793, 3795, 3797, 3799, + 3801, 3803, 3804, 3806, 3808, 3810, 3812, 3814, 3816, 3818, 3820, 3822, 3824, 3826, 3828, 3830, 3832, 3834, + 3836, 3837, 3839, 3841, 3843, 3845, 3847, 3849, 3851, 3853, 3855, 3857, 3858, 3860, 3862, 3864, 3866, 3868, + 3870, 3872, 3873, 3875, 3877, 3879, 3881, 3883, 3885, 3887, 3888, 3890, 3892, 3894, 3896, 3898, 3900, 3902, + 3904, 3905, 3907, 3909, 3911, 3913, 3915, 3917, 3919, 3920, 3922, 3924, 3926, 3928, 3930, 3932, 3934, 3935, + 3937, 3939, 3941, 3943, 3945, 3947, 3949, 3950, 3952, 3954, 3955, 3957, 3959, 3961, 3963, 3965, 3967, 3969, + 3971, 3972, 3974, 3976, 3977, 3979, 3981, 3983, 3985, 3987, 3989, 3991, 3993, 3994, 3996, 3998, 4000, 4001, + 4003, 4005, 4006, 4008, 4010, 4012, 4014, 4016, 4018, 4020, 4022, 4023, 4025, 4027, 4028, 4030, 4032, 4034, + 4036, 4037, 4039, 4041, 4042, 4044, 4046, 4048, 4050, 4052, 4054, 4056, 4058, 4059, 4061, 4063, 4064, 4066, + 4068, 4070, 4072, 4073, 4075, 4077, 4078, 4080, 4082, 4084, 4086, 4087, 4089, 4091, 4092, 4094, 4095, + }, + 3, +}; + +static const ot_isp_dehaze_attr g_cmos_dehaze = { + /* enable */ + 0, + /* user_lut_enable */ + 0, + /* dehaze_lut */ + { + 0, 9, 13, 17, 21, 25, 29, 33, 37, 42, 46, 50, 54, 58, 62, 67, 71, 75, 79, 83, 87, 91, + 95, 99, 102, 106, 110, 114, 117, 121, 124, 128, 131, 134, 137, 141, 144, 147, 150, + 153, 156, 159, 162, 165, 168, 170, 173, 176, 178, 181, 184, 186, 189, 191, 193, 196, + 198, 200, 203, 205, 207, 209, 211, 213, 215, 217, 219, 221, 222, 224, 226, 228, 229, + 231, 232, 234, 235, 237, 238, 240, 241, 242, 243, 244, 246, 247, 248, 249, 249, 250, + 251, 252, 253, 253, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, + 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 253, 253, 252, 251, 251, 250, 249, + 249, 248, 247, 247, 246, 245, 244, 244, 243, 242, 241, 240, 239, 238, 237, 236, 235, + 233, 232, 231, 230, 229, 227, 226, 225, 223, 222, 221, 219, 218, 216, 215, 213, 212, + 210, 209, 208, 206, 205, 203, 201, 200, 198, 197, 195, 193, 192, 190, 188, 187, 185, + 183, 181, 180, 178, 176, 174, 172, 170, 169, 167, 165, 163, 161, 159, 157, 155, 153, + 151, 149, 147, 145, 143, 140, 138, 136, 134, 132, 130, 128, 125, 123, 121, 119, 116, + 114, 112, 110, 107, 105, 103, 100, 98, 96, 93, 91, 89, 86, 84, 81, 79, 77, 74, 72, 69, + 67, 64, 62, 59, 57, 54, 52, 49, 47, 44, 42, 39, 37, 34, 31, 29, 26, 24, 21, 18, 16, 13, 11, + 8, 5, 3, 0 + }, + /* op_type */ + 0, + /* manual_strength */ + { + 128 + }, + /* auto_strength */ + { + 128 + }, + /* tmprflt_incr_coef */ + 8, + /* tmprflt_decr_coef */ + 64, +}; + +static const ot_isp_ca_attr g_cmos_ca = { + /* CA */ + 1, + 0, + { + { + 36, 81, 111, 136, 158, 182, 207, 228, 259, 290, 317, 345, 369, 396, 420, 444, 468, 492, 515, 534, + 556, 574, 597, 614, 632, 648, 666, 681, 697, 709, 723, 734, 748, 758, 771, 780, 788, 800, 808, + 815, 822, 829, 837, 841, 848, 854, 858, 864, 868, 871, 878, 881, 885, 890, 893, 897, 900, 903, + 906, 909, 912, 915, 918, 921, 924, 926, 929, 931, 934, 936, 938, 941, 943, 945, 947, 949, 951, + 952, 954, 956, 958, 961, 962, 964, 966, 968, 969, 970, 971, 973, 974, 976, 977, 979, 980, 981, + 983, 984, 985, 986, 988, 989, 990, 991, 992, 993, 995, 996, 997, 998, 999, 1000, 1001, 1004, + 1005, 1006, 1007, 1009, 1010, 1011, 1012, 1014, 1016, 1017, 1019, 1020, 1022, 1024 + }, + /* ISO */ + { 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1000, 950, 900, 900, 800, 800, 800, 800, 800 }, + { + 811, 812, 812, 812, 812, 812, 811, 810, 810, 809, 808, 807, 807, 806, 805, 805, 804, 804, 804, 804, + 804, 805, 806, 807, 808, 810, 813, 815, 819, 822, 827, 831, 837, 843, 850, 857, 865, 874, 883, + 893, 903, 914, 925, 936, 947, 959, 971, 983, 995, 1007, 1018, 1030, 1042, 1053, 1065, 1075, + 1086, 1096, 1106, 1115, 1124, 1132, 1139, 1146, 1152, 1158, 1163, 1168, 1172, 1176, 1180, + 1183, 1186, 1189, 1192, 1194, 1196, 1198, 1200, 1201, 1202, 1204, 1205, 1206, 1207, 1208, + 1209, 1210, 1211, 1212, 1213, 1214, 1215, 1217, 1218, 1220, 1222, 1224, 1226, 1227, 1229, + 1231, 1232, 1234, 1236, 1237, 1239, 1240, 1242, 1243, 1245, 1246, 1248, 1249, 1250, 1252, + 1253, 1255, 1256, 1258, 1259, 1260, 1262, 1263, 1265, 1266, 1268, 1269 + }, + }, + { + { + 56, 60, 64, 68, 71, 74, 77, 79, 82, 85, 87, 89, 93, 96, 99, 102, 105, 108, 110, 112, 115, 117, 119, + 120, 122, 124, 125, 127, 128, 130, 131, 133, 135, 136, 138, 141, 143, 145, 147, 150, 152, 155, + 157, 159, 162, 164, 166, 168, 171, 173, 175, 177, 179, 181, 184, 186, 188, 190, 192, 193, 195, + 197, 198, 198, 199, 198, 198, 196, 195, 193, 191, 189, 186, 184, 181, 179, 177, 174, 172, 169, + 167, 164, 161, 159, 156, 153, 151, 148, 145, 142, 139, 136, 133, 130, 127, 124, 121, 118, 115, + 113, 110, 109, 108, 108, 109, 111, 113, 115, 118, 121, 124, 127, 130, 133, 136, 139, 142, 145, + 148, 151, 154, 157, 160, 163, 166, 169, 172, 175 + }, + { + 232, 225, 219, 214, 208, 202, 197, 192, 186, 181, 176, 171, 166, 161, 156, 151, 146, 141, 136, 132, + 128, 123, 119, 115, 110, 106, 101, 97, 92, 88, 83, 79, 75, 71, 67, 64, 61, 59, 57, 55, 54, 54, + 53, 52, 51, 50, 50, 49, 48, 48, 47, 46, 46, 45, 44, 44, 43, 42, 42, 41, 41, 40, 40, 40, 40, 40, + 40, 41, 41, 42, 42, 43, 44, 45, 46, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, + 61, 62, 64, 65, 67, 68, 70, 72, 75, 78, 81, 84, 87, 91, 94, 97, 100, 103, 106, 109, 112, 115, + 118, 121, 124, 127, 130, 133, 136, 139, 143, 146, 149, 152, 155, 159, 162, 166 + }, + { + 92, 89, 87, 85, 83, 81, 79, 77, 75, 74, 72, 72, 73, 76, 78, 80, 82, 84, 85, 87, 88, 88, 89, 89, 89, + 88, 88, 87, 87, 87, 86, 87, 87, 88, 90, 92, 94, 96, 99, 101, 103, 106, 108, 110, 113, 115, 117, + 119, 121, 123, 126, 128, 130, 132, 134, 136, 138, 140, 142, 144, 147, 149, 151, 153, 155, 157, + 159, 161, 163, 165, 166, 168, 170, 172, 173, 175, 176, 178, 180, 181, 183, 185, 186, 188, 190, + 191, 193, 194, 196, 198, 200, 201, 203, 205, 207, 208, 210, 212, 214, 215, 217, 218, 219, 219, + 219, 219, 218, 216, 215, 213, 211, 209, 207, 205, 203, 201, 199, 197, 195, 194, 192, 190, 188, + 186, 184, 182, 180, 178 + }, + }, +}; + +static const ot_isp_cmos_clut g_cmos_clut = { + { + 1, + 128, + 128, + 128, + }, + { + { + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 67174464, 0, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, + 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, + 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, + 67174464, 67174464, 0, 67174464, 0, 67174464, 67174464, 67174464, 67174464, 0, 67174464, + 0, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, + 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, + 67174464, 67174464, 67174464, 67174464, 0, 67174464, 0, 67174464, 67174464, 67174464, + 67174464, 67174464, 67174464, 67174464, 67174464, 0, 67174464, 0, 67174464, 67174464, + 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, + 67174464, 67174464, 67174464, 67174464, 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plugin The plugin's rule was a bare `%.o: %.c`, so nothing tracked the headers. Both the register sequence (imx662_cfg.h) and the ISP tuning tables (imx662_cmos_param.h) live in headers, which means a header-only edit relinked the existing objects and produced a binary that did not contain the change -- while make still exited 0. This is not hypothetical. Two sensor plugins built from different saturation tables came out byte-identical, and the difference was only caught by md5-ing the two artifacts rather than trusting the build. An A/B run on those binaries would have compared a change against itself and reported "no effect". -MMD -MP, -include the .d files, and clean them in the clean target. Verified by mutation: editing one value in imx662_cmos_param.h now changes the linked .so, where before it did not. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- .gitignore | 1 + sensors/cv610/imx662/Makefile | 10 +++++++++- 2 files changed, 10 insertions(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index 4eb34921..ec4a0857 100644 --- a/.gitignore +++ b/.gitignore @@ -28,6 +28,7 @@ enc-ctrl/tests/test_runner # Source-built CV610 sensor-plugin artifacts sensors/cv610/imx662/*.o +sensors/cv610/imx662/*.d sensors/cv610/imx662/*.so # Performance benchmark artifacts — local-only, not shipped upstream diff --git a/sensors/cv610/imx662/Makefile b/sensors/cv610/imx662/Makefile index 35b351ac..d7fb69d5 100644 --- a/sensors/cv610/imx662/Makefile +++ b/sensors/cv610/imx662/Makefile @@ -16,6 +16,12 @@ CFLAGS += -fPIC -Wall -Wextra -Werror -O2 \ SRCS := imx662_cmos.c imx662_sensor_ctl.c $(COMMON)/sensor_common.c OBJS := imx662_cmos.o imx662_sensor_ctl.o sensor_common.o +DEPS := $(OBJS:.o=.d) + +# The tuning tables and the register sequence live in headers, so without +# generated dependencies a header-only edit relinks the old objects and ships +# a binary that does not contain the change. +CFLAGS += -MMD -MP .PHONY: all clean @@ -27,8 +33,10 @@ all: $(LIB_NAME).so sensor_common.o: $(COMMON)/sensor_common.c $(CV610_CC) $(CFLAGS) -c $< -o $@ +-include $(DEPS) + $(LIB_NAME).so: $(OBJS) $(CV610_CC) -shared -o $@ $(OBJS) clean: - rm -f $(OBJS) $(LIB_NAME).so + rm -f $(OBJS) $(DEPS) $(LIB_NAME).so From 46ec5844ecd5f9e2501ac95af5a77822ec1cbb0d Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 19:36:40 +0200 Subject: [PATCH 09/45] feat(cv610): sharpen, DRC, bayer NR and the AWB saturation table Three additions on top of the ISP algorithm blocks, each A/B'd on the 192.168.2.181 bench as its own cold-boot arm at identical pipeline config (1080p100, 6000 kbps, hub stopped), 30 frames per arm. sharpen + drc + bayer_nr. Objective metrics argued against these: on a static-frame comparison sharpness read 718 -> 241 and I called it detail loss. The operator watched the live stream and judged it clearly the best arm, which is the better instrument -- Laplacian variance rewards grain as much as detail, so the drop was largely noise being removed. Same-scene arms isolate the effect to sharpen+drc; bayer_nr alone measured as a no-op on a bright scene. It is kept anyway because sharpen reads the noise model that bayer_nr and noise_calibration provide, so it is not independently droppable at the value that was judged. AWB saturation. cmos_get_awb_default() memset the whole ot_isp_awb_sensor_default and refilled only wb_ref_temp, the static gains and wb_para, leaving agc_tbl zeroed -- valid = 0 and every saturation entry 0. The ISP was never told what saturation to run, which is the washed-out colour the operator reported. sc450ai's curve at its nominal 128 measured slightly *less* chroma than no table at all, so the shipped curve is scaled up at the low-ISO end and keeps the reference taper at high gain, where chroma noise scales: 128 128 128 128 124 120 116 112 108 104 100 94 90 90 90 90 reference 168 168 166 162 156 148 140 132 124 116 108 100 92 90 90 90 shipped Measured G -> H: mean chroma magnitude 20.19 -> 28.46 (+41%) with sharpness flat at 396 -> 406, so it moves colour and nothing else. Operator picked the boosted curve. Also corrects sns_mode: sns_id was 0, disagreeing with cv610_pipeline.c's IMX662_SNS_ID, which that file already documents as having to match -- and which would misbind a future PQ .bin, since those are chip- and sensor-locked. sns_mode was never set at all. The noise-fitted tables are sc450ai's, from a 4 MP sensor. They are kept on a hardware verdict, not a calibration; a measured IMX662 fit is still the right thing to replace them with. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- sensors/cv610/imx662/imx662_cmos.c | 39 +- sensors/cv610/imx662/imx662_cmos_param.h | 862 +++++++++++++++++++++++ 2 files changed, 891 insertions(+), 10 deletions(-) diff --git a/sensors/cv610/imx662/imx662_cmos.c b/sensors/cv610/imx662/imx662_cmos.c index 6cc71121..6f4c2d55 100644 --- a/sensors/cv610/imx662/imx662_cmos.c +++ b/sensors/cv610/imx662/imx662_cmos.c @@ -319,7 +319,13 @@ static td_s32 cmos_get_awb_default(ot_vi_pipe vi_pipe, ot_isp_awb_sensor_default awb_sns_dft->wb_para[5] = IMX662_AWB_C1; (td_void)memcpy_s(&awb_sns_dft->ccm, sizeof(awb_sns_dft->ccm), &g_imx662_awb_ccm, sizeof(g_imx662_awb_ccm)); - /* TODO(tuning): ISO-dependent saturation and IR-cut-aware day/night bank. */ + /* Without these the memset above leaves agc_tbl.valid = 0 and every + * saturation entry 0, so the ISP is never told what saturation to run. */ + (td_void)memcpy_s(&awb_sns_dft->agc_tbl, sizeof(awb_sns_dft->agc_tbl), + &g_imx662_awb_agc_table, sizeof(g_imx662_awb_agc_table)); + (td_void)memcpy_s(&awb_sns_dft->sector, sizeof(awb_sns_dft->sector), + &g_imx662_color_sector, sizeof(g_imx662_color_sector)); + /* TODO(tuning): IR-cut-aware day/night bank. */ return TD_SUCCESS; } @@ -349,13 +355,13 @@ static td_s32 cmos_get_isp_default(ot_vi_pipe vi_pipe, ot_isp_cmos_default *isp_ * * Linear mode only; cmos_set_wdr_mode() rejects every other WDR mode. * - * Enabled below is the ISP-behaviour set (see imx662_cmos_param.h for why - * these transfer from sc450ai and the noise-fitted ones do not). - * Still off, each for its own reason: bayer_nr / sharpen / - * noise_calibration / drc await an IMX662 measurement rather than a - * borrowed 4 MP noise model; lsc needs a per-module shading capture; - * dpc is enabled in sc450ai's common path and is a candidate here, but - * has not been measured on this sensor yet. */ + * Everything enabled below comes from sc450ai, which targets this same ISP + * silicon; see imx662_cmos_param.h for which of it transfers on principle + * and which is borrowed noise tuning kept on a hardware A/B. + * + * Still off, each for its own reason: lsc needs a per-module shading + * capture, and dpc is enabled in sc450ai's common path and is a candidate + * here but has not been measured on this sensor yet. */ isp_def->key.bit1_demosaic = 1; isp_def->demosaic = &g_cmos_demosaic; isp_def->key.bit1_gamma = 1; @@ -372,8 +378,21 @@ static td_s32 cmos_get_isp_default(ot_vi_pipe vi_pipe, ot_isp_cmos_default *isp_ isp_def->dehaze = &g_cmos_dehaze; isp_def->key.bit1_ca = 1; isp_def->ca = &g_cmos_ca; - - isp_def->sns_mode.sns_id = 0; + isp_def->key.bit1_bayer_nr = 1; + isp_def->bayer_nr = &g_cmos_bayer_nr; + isp_def->key.bit1_sharpen = 1; + isp_def->sharpen = &g_cmos_yuv_sharpen; + isp_def->key.bit1_drc = 1; + isp_def->drc = &g_cmos_drc; + (td_void)memcpy_s(&isp_def->noise_calibration, sizeof(ot_isp_noise_calibration), + &g_cmos_noise_calibration, sizeof(ot_isp_noise_calibration)); + + /* The ISP identifies the sensor by these. sns_id was 0, which disagrees + * with cv610_pipeline.c's IMX662_SNS_ID -- that file already documents + * the two as having to match -- and would misbind any future PQ .bin, + * which is chip- and sensor-locked. sns_mode was never set at all. */ + isp_def->sns_mode.sns_id = IMX662_ID; + isp_def->sns_mode.sns_mode = sns_state->img_mode; return TD_SUCCESS; } diff --git a/sensors/cv610/imx662/imx662_cmos_param.h b/sensors/cv610/imx662/imx662_cmos_param.h index fe0c5ce5..c12276cd 100644 --- a/sensors/cv610/imx662/imx662_cmos_param.h +++ b/sensors/cv610/imx662/imx662_cmos_param.h @@ -676,4 +676,866 @@ static const ot_isp_cmos_clut g_cmos_clut = { }, }; + +/* -------------------------------------------------------------------------- + * Noise-fitted blocks -- BORROWED, NOT CALIBRATED FOR THIS SENSOR. + * + * bayer_nr picks its strength from noise_calibration, a polynomial fitted to + * a specific sensor's read noise. The one below is sc450ai's: a 4 MP sensor, + * where IMX662 is 2 MP STARVIS with larger pixels and less noise per pixel. + * These were A/B'd on hardware and kept on the operator's verdict, but a + * measured IMX662 fit would still be the right thing to replace them with. + * + * sharpen reads the same noise model to decide how hard to push an edge, so + * bayer_nr and noise_calibration are not independently droppable: on a bright + * bench scene bayer_nr alone measured as a no-op, but removing it changes + * what sharpen does. + * -------------------------------------------------------------------------- */ + +static ot_isp_noise_calibration g_cmos_noise_calibration = { + { + 6400.0000000000, 0.0001279210, 0.0016242186, 0.0000000204, -0.0000027303, 0.1199406222, + 0.0001268708, 0.0040083983, -0.0000000102, 0.0001914447, 0.0227515276, 0, 0, 0, 0, 0 + } +}; + +static const ot_isp_nr_attr g_cmos_bayer_nr = { + 1, /* bEnable */ + OT_OP_MODE_AUTO, /* enOpType */ + { + 1, /* md_enable */ + }, + 0, /* lsc_nr_enable */ + 0, /* lsc_ratio1 */ + { + 85, 85, 85, 85, 85, 85, 85, 85, 85, 85, 85, 85, 85, 85, 85, 85, + 85, 85, 85, 85, 85, 85, 90, 90, 90, 95, 95, 95, 100, 100, 100, 100, 100 + }, /* CoringRatio */ + { + 128, 128, 128, 128, 128, 128, 110, 90, + 77, 77, 77, 77, 77, 77, 77, 77, // u1.7 x 32 (128 = 1.0f) mix_gain + 77, 77, 77, 77, 77, 77, 77, 77, + 77, 77, 77, 77, 77, 77, 77, 77 + }, + OT_ISP_MD_MODE, /* ref_mode */ + 0, /* load_ref_enable */ + /* snr_cfg */ + { + 0, /* snr_version */ + { + { + /* snr auto */ + { + { + {108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108}, + {108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108}, + {108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108}, + {108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108} + }, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, /* sfm0_detail_prot */ + {512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512}, /* sfm1_str */ + {2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2}, /* sfm1_adp_strength */ + {64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64}, /* sfm6_strength */ + {64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64}, /* sfm7_strength */ + {100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100}, /* sth */ + {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, /* tss */ + {128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128}, /* fine_str */ + {50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50}, /* coring_wgt */ + {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, /* coring_mot_ratio */ + { /* noisesd_lut */ + {2, 2, 3, 3, 4, 6, 7, 15, 29, 59, 117, 234, 255, 255, 255, 255}, + {2, 2, 3, 3, 4, 6, 7, 15, 29, 59, 117, 234, 255, 255, 255, 255}, + {2, 2, 3, 3, 4, 6, 7, 15, 29, 59, 117, 234, 255, 255, 255, 255}, + {3, 4, 6, 8, 11, 15, 21, 32, 50, 82, 142, 255, 255, 255, 255, 255}, + {4, 6, 8, 11, 15, 21, 30, 43, 65, 100, 164, 255, 255, 255, 255, 255}, + {5, 7, 9, 13, 18, 26, 36, 52, 76, 116, 183, 255, 255, 255, 255, 255}, + {6, 8, 11, 15, 21, 29, 41, 60, 87, 129, 201, 255, 255, 255, 255, 255}, + {7, 9, 12, 17, 23, 33, 46, 66, 96, 142, 217, 255, 255, 255, 255, 255}, + {7, 10, 13, 18, 26, 36, 50, 72, 104, 153, 232, 255, 255, 255, 255, 255}, + {8, 10, 14, 20, 28, 39, 54, 78, 112, 164, 246, 255, 255, 255, 255, 255}, + {8, 11, 15, 21, 29, 41, 58, 83, 119, 174, 255, 255, 255, 255, 255, 255}, + {9, 12, 16, 22, 31, 44, 62, 88, 126, 183, 255, 255, 255, 255, 255, 255}, + {9, 12, 17, 23, 33, 46, 65, 93, 133, 192, 255, 255, 255, 255, 255, 255}, + {10, 13, 18, 25, 34, 48, 68, 97, 139, 201, 255, 255, 255, 255, 255, 255}, + {10, 14, 19, 26, 36, 50, 71, 101, 145, 209, 255, 255, 255, 255, 255, 255}, + {11, 14, 19, 27, 37, 53, 74, 105, 150, 217, 255, 255, 255, 255, 255, 255}, + {11, 15, 20, 28, 39, 54, 77, 109, 156, 224, 255, 255, 255, 255, 255, 255}, + {11, 15, 21, 29, 40, 56, 79, 113, 161, 232, 255, 255, 255, 255, 255, 255}, + {12, 16, 21, 30, 41, 58, 82, 117, 166, 239, 255, 255, 255, 255, 255, 255}, + {12, 16, 22, 30, 43, 60, 85, 120, 171, 246, 255, 255, 255, 255, 255, 255}, + {13, 17, 23, 31, 44, 62, 87, 124, 176, 252, 255, 255, 255, 255, 255, 255}, + {13, 17, 23, 32, 45, 63, 89, 127, 181, 255, 255, 255, 255, 255, 255, 255}, + {13, 17, 24, 33, 46, 65, 92, 130, 185, 255, 255, 255, 255, 255, 255, 255}, + {14, 18, 24, 34, 47, 67, 94, 133, 190, 255, 255, 255, 255, 255, 255, 255}, + {14, 18, 25, 35, 48, 68, 96, 137, 194, 255, 255, 255, 255, 255, 255, 255}, + {14, 19, 26, 35, 50, 70, 98, 140, 198, 255, 255, 255, 255, 255, 255, 255}, + {14, 19, 26, 36, 51, 71, 100, 143, 203, 255, 255, 255, 255, 255, 255, 255}, + {15, 19, 27, 37, 52, 73, 102, 146, 207, 255, 255, 255, 255, 255, 255, 255}, + {15, 20, 27, 38, 53, 74, 104, 148, 211, 255, 255, 255, 255, 255, 255, 255}, + {15, 20, 28, 38, 54, 75, 106, 151, 215, 255, 255, 255, 255, 255, 255, 255}, + {16, 21, 28, 39, 55, 77, 108, 154, 219, 255, 255, 255, 255, 255, 255, 255}, + {16, 21, 29, 40, 56, 78, 110, 157, 222, 255, 255, 255, 255, 255, 255, 255} + }, + }, + + /* snr manual */ + { + { 108, 108, 108, 108 }, /* snr_sfm0_coarstr */ + 16, /* sfm0_detail_prot */ + 512, /* sfm1_str */ + 2, /* sfm1_adp_strength */ + 64, /* sfm6_strength */ + 64, /* sfm7_strength */ + 100, /* sth */ + 0, /* tss */ + 128, /* fine_str */ + 50, /* coring_wgt */ + 0, /* coring_mot_ratio */ + { + 7, 7, 7, 21, 29, 35, 40, 45, 49, 53, 56, 60, 63, 66, 69, 72, + 74, 77, 79, 82, 84, 87, 89, 91, 93, 95, 97, 99, 101, 103, 105, 107 + }, /* noisesd_lut */ + }, + }, + }, + }, + /* md_cfg */ + { + .md_cfg = { + /* md auto */ + { + {2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2}, /* md_mode */ + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, /* md_size_ratio */ + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, /* md_anti_flicker_str */ + {26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26}, /* md_static_ratio */ + {13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13}, /* md_motion_ratio */ + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, /* md_static_finestr */ + {255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255}, /* tnr_tfs */ + {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, /* user_define_md */ + {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, /* user_define_slope */ + {90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90}, /* user_define_dark_thresh */ + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, /* user_define_color_thresh */ + {26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26}, /* sfr_r */ + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, /* sfr_g */ + {26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26} /* sfr_b */ + }, + + /* md_manual */ + { + 2, /* md_mode */ + 32, /* md_size_ratio */ + 32, /* md_anti_flicker_str */ + 26, /* md_static_ratio */ + 13, /* md_motion_ratio */ + 32, /* md_static_finestr */ + 255, /* tnr_tfs */ + 0, /* user_define_md */ + 0, /* user_define_bright_thresh */ + 90, /* user_define_dark_thresh */ + 16, /* user_define_color_thresh */ + 26, /* sfr_r */ + 32, /* sfr_g */ + 26 /* sfr_b */ + }, + }, + }, + /* wdr_cfg */ + { + {16, 16, 16, 16}, /* sfm0_wdr_frame_str */ + {16, 16, 16, 16}, /* sfm0_fusion_frame_str */ + {64, 16, 16, 16}, /* snr_wdr_sfm6_strength */ + {64, 16, 16, 16}, /* snr_wdr_sfm7_strength */ + {64, 16, 16, 16}, /* snr_fusion_sfm6_strength */ + {64, 16, 16, 16}, /* snr_fusion_sfm7_strength */ + {16, 16, 16, 16}, /* md_wdr_frame_str */ + {16, 16, 16, 16}, /* md_fusion_frame_str */ + }, + /* dering_cfg */ + { + { + {64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64}, /* dering_strength */ + {64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64}, /* dering_thresh */ + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, /* dering_static_str */ + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, /* dering_motion_str */ + }, + { + 64, /* dering_strength */ + 64, /* dering_thresh */ + 16, /* dering_static_str */ + 16, /* dering_motion_str */ + }, + }, +}; + +static const ot_isp_sharpen_attr g_cmos_yuv_sharpen = { + /* en */ + 1, + /* motion_en */ + 0, + /* motion_threshold0 */ + 4, + /* motion_threshold1 */ + 10, + /* motion_gain0 */ + 0, + /* motion_gain1 */ + 255, + /* skin_umin */ + 99, + /* skin_vmin */ + 134, + /* skin_umax */ + 127, + /* skin_vmax */ + 150, + /* op_type */ + OT_OP_MODE_AUTO, + /* detail_map */ + OT_ISP_SHARPEN_NORMAL, + /* manual para */ + { + /* luma_wgt[OT_ISP_SHARPEN_LUMA_NUM] */ + { + 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, + 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 + }, + /* texture_strength[OT_ISP_SHARPEN_GAIN_NUM] */ + { + 250, 420, 390, 390, 390, 390, 390, 370, 350, 330, 310, 290, 270, 270, 270, 270, + 270, 270, 266, 260, 244, 230, 230, 230, 230, 230, 230, 210, 190, 190, 170, 150 + }, + /* edge_strength[OT_ISP_SHARPEN_GAIN_NUM] */ + { + 120, 123, 125, 128, 130, 135, 140, 148, 160, 168, 180, 190, 200, 210, 210, 210, + 210, 210, 200, 190, 185, 175, 165, 160, 146, 136, 130, 128, 125, 123, 120, 120 + }, + /* texture_freq */ + 190, + /* edge_freq */ + 128, + /* over_shoot */ + 65, + /* under_shoot */ + 75, + /* motion_texture_strength[OT_ISP_SHARPEN_GAIN_NUM] */ + { + 250, 420, 390, 390, 390, 390, 390, 370, 350, 330, 310, 290, 270, 270, 270, 270, + 270, 270, 266, 260, 244, 230, 230, 230, 230, 230, 230, 210, 190, 190, 170, 150 + }, + /* motion_edge_strength[OT_ISP_SHARPEN_GAIN_NUM] */ + { + 120, 123, 125, 128, 130, 135, 140, 148, 160, 168, 180, 190, 200, 210, 210, 210, + 210, 210, 200, 190, 185, 175, 165, 160, 146, 136, 130, 128, 125, 123, 120, 120 + }, + /* motion_texture_freq */ + 190, + /* motion_edge_freq */ + 128, + /* motion_over_shoot */ + 65, + /* motion_under_shoot */ + 75, + /* u8shoot_sup_str */ + 7, + /* u8shoot_sup_adj */ + 9, + /* detail_ctrl */ + 128, + /* detail_ctrl_threshold */ + 180, + /* edge_filt_strength */ + 60, + /* edge_filt_max_cap */ + 18, + /* r_gain */ + 20, + /* g_gain */ + 32, + /* b_gain */ + 20, + /* skin_gain */ + 25, + /* max_sharp_gain */ + 40, + { + /* shoot_inner_threshold */ + 0, + /* shoot_outer_threshold */ + 0, + /* shoot_protect_threshold */ + 0, + }, + + { + /* edge_rly_fine_threshold */ + 0, + /* edge_rly_coarse_threshold */ + 0, + /* edge_overshoot */ + 65, + /* edge_undershoot */ + 120, + /* edge_gain_by_rly[OT_ISP_SHARPEN_RLYWGT_NUM] */ + { + 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32 + }, + /* edge_rly_by_mot[OT_ISP_SHARPEN_STDGAIN_NUM] */ + { + 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16 + }, + /* edge_rly_by_luma[OT_ISP_SHARPEN_STDGAIN_NUM] */ + { + 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16 + }, + }, + { + /* mf_gain_by_mot[OT_ISP_SHARPEN_MOT_NUM] */ + { + 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32 + }, + /* hf_gain_by_mot[OT_ISP_SHARPEN_MOT_NUM] */ + { + 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32 + }, + /* lmt_gain_by_mot[OT_ISP_SHARPEN_MOT_NUM] */ + { + 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16 + }, + }, + }, + /* auto para */ + { + /* luma_wgt[OT_ISP_SHARPEN_GAIN_NUM][OT_ISP_AUTO_ISO_NUM] */ + { + { 31, 31, 20, 20, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15 }, + { 31, 31, 20, 20, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15 }, + { 31, 31, 20, 20, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15 }, + { 31, 31, 20, 20, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15 }, + { 31, 31, 20, 20, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15 }, + { 31, 31, 20, 20, 17, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15 }, + { 31, 31, 20, 20, 20, 18, 18, 18, 18, 18, 18, 18, 18, 18, 18, 18 }, + { 31, 31, 23, 23, 23, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21 }, + { 31, 31, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25 }, + { 31, 31, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28 }, + { 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 28, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 } + }, + /* texture_strength[OT_ISP_SHARPEN_GAIN_NUM][OT_ISP_AUTO_ISO_NUM] */ + { + { 153, 153, 160, 145, 130, 130, 130, 105, 105, 105, 105, 85, 85, 85, 85, 85 }, + { 172, 167, 190, 170, 145, 145, 145, 120, 120, 120, 120, 100, 100, 100, 100, 100 }, + { 186, 178, 220, 195, 165, 165, 160, 140, 140, 135, 135, 120, 120, 120, 120, 120 }, + { 201, 192, 255, 215, 180, 180, 175, 160, 160, 150, 150, 135, 135, 140, 140, 140 }, + { 217, 207, 275, 230, 200, 200, 185, 175, 175, 160, 160, 150, 150, 160, 160, 160 }, + { 233, 223, 285, 245, 210, 215, 200, 190, 190, 170, 170, 165, 165, 180, 180, 180 }, + { 251, 239, 280, 260, 225, 225, 215, 205, 205, 180, 180, 185, 185, 200, 200, 200 }, + { 269, 255, 275, 265, 240, 240, 230, 220, 220, 190, 190, 200, 200, 210, 210, 210 }, + { 286, 272, 270, 270, 250, 250, 240, 225, 225, 200, 200, 220, 220, 220, 220, 220 }, + { 300, 288, 265, 270, 250, 260, 245, 235, 235, 210, 210, 235, 235, 230, 230, 230 }, + { 308, 299, 260, 265, 250, 270, 255, 245, 245, 220, 220, 245, 245, 230, 230, 230 }, + { 312, 307, 260, 260, 250, 275, 260, 250, 250, 230, 230, 255, 255, 230, 230, 230 }, + { 313, 310, 255, 255, 245, 280, 265, 255, 255, 235, 235, 265, 265, 230, 230, 230 }, + { 311, 311, 250, 250, 240, 285, 270, 255, 255, 240, 240, 275, 275, 230, 230, 230 }, + { 306, 311, 245, 245, 240, 290, 275, 250, 255, 245, 245, 280, 280, 230, 230, 230 }, + { 297, 308, 240, 240, 240, 295, 280, 240, 250, 250, 250, 285, 285, 230, 230, 230 }, + { 285, 301, 235, 235, 235, 295, 280, 235, 250, 250, 255, 290, 290, 230, 230, 230 }, + { 273, 291, 230, 230, 230, 290, 280, 230, 250, 250, 260, 295, 295, 230, 230, 230 }, + { 263, 281, 225, 225, 225, 285, 275, 225, 245, 250, 265, 300, 300, 225, 225, 225 }, + { 255, 271, 225, 220, 220, 275, 270, 225, 245, 250, 270, 300, 300, 220, 220, 220 }, + { 249, 259, 220, 215, 215, 270, 265, 225, 240, 245, 275, 300, 300, 210, 210, 210 }, + { 243, 248, 220, 210, 210, 260, 260, 220, 235, 245, 280, 305, 305, 200, 200, 200 }, + { 234, 238, 215, 205, 205, 255, 255, 220, 230, 240, 280, 305, 305, 190, 190, 190 }, + { 224, 228, 215, 200, 200, 245, 245, 220, 230, 240, 285, 310, 310, 180, 180, 180 }, + { 216, 218, 210, 195, 195, 235, 240, 215, 225, 235, 285, 310, 310, 175, 175, 175 }, + { 208, 208, 200, 190, 190, 230, 235, 215, 220, 230, 285, 305, 305, 170, 170, 170 }, + { 201, 201, 195, 180, 180, 220, 225, 210, 220, 225, 285, 305, 305, 160, 160, 160 }, + { 195, 195, 185, 175, 175, 205, 220, 205, 215, 220, 285, 300, 300, 160, 160, 160 }, + { 188, 188, 175, 170, 170, 195, 210, 195, 210, 215, 280, 300, 300, 150, 150, 150 }, + { 181, 181, 170, 160, 160, 180, 205, 195, 205, 210, 280, 300, 300, 145, 145, 145 }, + { 175, 175, 160, 155, 155, 165, 195, 195, 200, 205, 275, 300, 300, 130, 130, 130 }, + { 171, 171, 150, 150, 150, 150, 150, 150, 195, 200, 270, 300, 300, 115, 115, 115 } + }, + /* edge_strength */ + { + { 195, 195, 195, 195, 195, 195, 400, 440, 500, 475, 475, 475, 475, 475, 475, 475 }, + { 210, 210, 200, 200, 200, 200, 400, 440, 500, 485, 485, 485, 485, 485, 485, 485 }, + { 235, 235, 220, 220, 220, 220, 400, 440, 500, 495, 495, 495, 495, 495, 495, 495 }, + { 260, 260, 230, 230, 230, 230, 400, 440, 500, 500, 500, 500, 500, 500, 500, 500 }, + { 295, 295, 240, 240, 240, 240, 400, 440, 500, 510, 510, 510, 510, 510, 510, 510 }, + { 320, 320, 250, 250, 250, 250, 400, 440, 500, 520, 520, 520, 520, 520, 520, 520 }, + { 340, 340, 260, 260, 260, 260, 420, 460, 540, 530, 530, 530, 530, 530, 530, 530 }, + { 350, 350, 270, 270, 270, 270, 420, 460, 540, 540, 540, 540, 540, 540, 540, 540 }, + { 360, 360, 280, 280, 280, 280, 420, 460, 540, 545, 545, 545, 545, 545, 545, 545 }, + { 360, 360, 280, 280, 280, 280, 420, 460, 540, 550, 550, 550, 550, 550, 550, 550 }, + { 355, 355, 285, 285, 285, 285, 420, 460, 540, 560, 560, 560, 560, 560, 560, 560 }, + { 345, 345, 290, 290, 290, 290, 420, 460, 540, 565, 565, 565, 565, 565, 565, 565 }, + { 335, 335, 290, 290, 290, 290, 420, 460, 540, 570, 570, 570, 570, 570, 570, 570 }, + { 330, 330, 295, 295, 295, 295, 430, 470, 550, 575, 575, 575, 575, 575, 575, 575 }, + { 325, 325, 295, 295, 295, 295, 430, 470, 550, 580, 580, 580, 580, 580, 580, 580 }, + { 320, 320, 295, 295, 295, 295, 440, 470, 550, 575, 575, 575, 575, 575, 575, 575 }, + { 315, 315, 295, 295, 295, 295, 440, 470, 550, 570, 570, 570, 570, 570, 570, 570 }, + { 310, 310, 295, 295, 295, 295, 450, 480, 580, 565, 565, 565, 565, 565, 565, 565 }, + { 305, 305, 295, 295, 295, 295, 460, 500, 580, 560, 560, 560, 560, 560, 560, 560 }, + { 295, 295, 290, 290, 290, 290, 460, 500, 580, 555, 555, 555, 555, 555, 555, 555 }, + { 285, 285, 285, 285, 285, 285, 460, 500, 580, 550, 550, 550, 550, 550, 550, 550 }, + { 280, 280, 280, 280, 280, 280, 460, 500, 580, 540, 540, 540, 540, 540, 540, 540 }, + { 275, 275, 275, 275, 275, 275, 460, 500, 580, 535, 535, 535, 535, 535, 535, 535 }, + { 265, 265, 265, 265, 265, 265, 460, 500, 580, 530, 530, 530, 530, 530, 530, 530 }, + { 250, 250, 250, 250, 250, 250, 460, 500, 580, 520, 520, 520, 520, 520, 520, 520 }, + { 240, 240, 240, 240, 240, 240, 470, 500, 580, 515, 515, 515, 515, 515, 515, 515 }, + { 220, 220, 220, 220, 220, 220, 470, 500, 580, 510, 510, 510, 510, 510, 510, 510 }, + { 200, 200, 200, 200, 200, 200, 470, 500, 580, 500, 500, 500, 500, 500, 500, 500 }, + { 180, 180, 180, 180, 180, 180, 480, 500, 580, 495, 495, 495, 495, 495, 495, 495 }, + { 160, 160, 160, 160, 160, 160, 480, 500, 580, 485, 485, 485, 485, 485, 485, 485 }, + { 140, 140, 140, 140, 140, 140, 480, 500, 580, 480, 480, 480, 480, 480, 480, 480 }, + { 125, 125, 125, 125, 125, 125, 480, 500, 580, 470, 470, 470, 470, 470, 470, 470 } + }, + /* texture_freq[OT_ISP_AUTO_ISO_NUM] */ + { 180, 190, 190, 170, 170, 170, 160, 140, 128, 128, 128, 100, 100, 100, 100, 100 }, + /* edge_freq[OT_ISP_AUTO_ISO_NUM] */ + { 128, 100, 100, 100, 100, 100, 100, 100, 100, 100, 96, 96, 96, 96, 96, 96 }, + /* over_shoot[OT_ISP_AUTO_ISO_NUM] */ + { 60, 62, 62, 64, 64, 64, 56, 52, 50, 50, 30, 10, 10, 10, 10, 10 }, + /* under_shoot[OT_ISP_AUTO_ISO_NUM] */ + { 60, 62, 62, 64, 64, 64, 54, 50, 50, 30, 20, 20, 15, 15, 15, 15 }, + /* motion_texture_strength[OT_ISP_SHARPEN_GAIN_NUM][OT_ISP_AUTO_ISO_NUM] */ + { + { 153, 153, 160, 145, 130, 130, 130, 105, 105, 105, 105, 85, 85, 85, 85, 85 }, + { 172, 167, 190, 170, 145, 145, 145, 120, 120, 120, 120, 100, 100, 100, 100, 100 }, + { 186, 178, 220, 195, 165, 165, 160, 140, 140, 135, 135, 120, 120, 120, 120, 120 }, + { 201, 192, 255, 215, 180, 180, 175, 160, 160, 150, 150, 135, 135, 140, 140, 140 }, + { 217, 207, 275, 230, 200, 200, 185, 175, 175, 160, 160, 150, 150, 160, 160, 160 }, + { 233, 223, 285, 245, 210, 215, 200, 190, 190, 170, 170, 165, 165, 180, 180, 180 }, + { 251, 239, 280, 260, 225, 225, 215, 205, 205, 180, 180, 185, 185, 200, 200, 200 }, + { 269, 255, 275, 265, 240, 240, 230, 220, 220, 190, 190, 200, 200, 210, 210, 210 }, + { 286, 272, 270, 270, 250, 250, 240, 225, 225, 200, 200, 220, 220, 220, 220, 220 }, + { 300, 288, 265, 270, 250, 260, 245, 235, 235, 210, 210, 235, 235, 230, 230, 230 }, + { 308, 299, 260, 265, 250, 270, 255, 245, 245, 220, 220, 245, 245, 230, 230, 230 }, + { 312, 307, 260, 260, 250, 275, 260, 250, 250, 230, 230, 255, 255, 230, 230, 230 }, + { 313, 310, 255, 255, 245, 280, 265, 255, 255, 235, 235, 265, 265, 230, 230, 230 }, + { 311, 311, 250, 250, 240, 285, 270, 255, 255, 240, 240, 275, 275, 230, 230, 230 }, + { 306, 311, 245, 245, 240, 290, 275, 250, 255, 245, 245, 280, 280, 230, 230, 230 }, + { 297, 308, 240, 240, 240, 295, 280, 240, 250, 250, 250, 285, 285, 230, 230, 230 }, + { 285, 301, 235, 235, 235, 295, 280, 235, 250, 250, 255, 290, 290, 230, 230, 230 }, + { 273, 291, 230, 230, 230, 290, 280, 230, 250, 250, 260, 295, 295, 230, 230, 230 }, + { 263, 281, 225, 225, 225, 285, 275, 225, 245, 250, 265, 300, 300, 225, 225, 225 }, + { 255, 271, 225, 220, 220, 275, 270, 225, 245, 250, 270, 300, 300, 220, 220, 220 }, + { 249, 259, 220, 215, 215, 270, 265, 225, 240, 245, 275, 300, 300, 210, 210, 210 }, + { 243, 248, 220, 210, 210, 260, 260, 220, 235, 245, 280, 305, 305, 200, 200, 200 }, + { 234, 238, 215, 205, 205, 255, 255, 220, 230, 240, 280, 305, 305, 190, 190, 190 }, + { 224, 228, 215, 200, 200, 245, 245, 220, 230, 240, 285, 310, 310, 180, 180, 180 }, + { 216, 218, 210, 195, 195, 235, 240, 215, 225, 235, 285, 310, 310, 175, 175, 175 }, + { 208, 208, 200, 190, 190, 230, 235, 215, 220, 230, 285, 305, 305, 170, 170, 170 }, + { 201, 201, 195, 180, 180, 220, 225, 210, 220, 225, 285, 305, 305, 160, 160, 160 }, + { 195, 195, 185, 175, 175, 205, 220, 205, 215, 220, 285, 300, 300, 160, 160, 160 }, + { 188, 188, 175, 170, 170, 195, 210, 195, 210, 215, 280, 300, 300, 150, 150, 150 }, + { 181, 181, 170, 160, 160, 180, 205, 195, 205, 210, 280, 300, 300, 145, 145, 145 }, + { 175, 175, 160, 155, 155, 165, 195, 195, 200, 205, 275, 300, 300, 130, 130, 130 }, + { 171, 171, 150, 150, 150, 150, 150, 150, 195, 200, 270, 300, 300, 115, 115, 115 } + }, + /* motion_edge_strength */ + { + { 195, 195, 195, 195, 195, 195, 400, 440, 500, 475, 475, 475, 475, 475, 475, 475 }, + { 210, 210, 200, 200, 200, 200, 400, 440, 500, 485, 485, 485, 485, 485, 485, 485 }, + { 235, 235, 220, 220, 220, 220, 400, 440, 500, 495, 495, 495, 495, 495, 495, 495 }, + { 260, 260, 230, 230, 230, 230, 400, 440, 500, 500, 500, 500, 500, 500, 500, 500 }, + { 295, 295, 240, 240, 240, 240, 400, 440, 500, 510, 510, 510, 510, 510, 510, 510 }, + { 320, 320, 250, 250, 250, 250, 400, 440, 500, 520, 520, 520, 520, 520, 520, 520 }, + { 340, 340, 260, 260, 260, 260, 420, 460, 540, 530, 530, 530, 530, 530, 530, 530 }, + { 350, 350, 270, 270, 270, 270, 420, 460, 540, 540, 540, 540, 540, 540, 540, 540 }, + { 360, 360, 280, 280, 280, 280, 420, 460, 540, 545, 545, 545, 545, 545, 545, 545 }, + { 360, 360, 280, 280, 280, 280, 420, 460, 540, 550, 550, 550, 550, 550, 550, 550 }, + { 355, 355, 285, 285, 285, 285, 420, 460, 540, 560, 560, 560, 560, 560, 560, 560 }, + { 345, 345, 290, 290, 290, 290, 420, 460, 540, 565, 565, 565, 565, 565, 565, 565 }, + { 335, 335, 290, 290, 290, 290, 420, 460, 540, 570, 570, 570, 570, 570, 570, 570 }, + { 330, 330, 295, 295, 295, 295, 430, 470, 550, 575, 575, 575, 575, 575, 575, 575 }, + { 325, 325, 295, 295, 295, 295, 430, 470, 550, 580, 580, 580, 580, 580, 580, 580 }, + { 320, 320, 295, 295, 295, 295, 440, 470, 550, 575, 575, 575, 575, 575, 575, 575 }, + { 315, 315, 295, 295, 295, 295, 440, 470, 550, 570, 570, 570, 570, 570, 570, 570 }, + { 310, 310, 295, 295, 295, 295, 450, 480, 580, 565, 565, 565, 565, 565, 565, 565 }, + { 305, 305, 295, 295, 295, 295, 460, 500, 580, 560, 560, 560, 560, 560, 560, 560 }, + { 295, 295, 290, 290, 290, 290, 460, 500, 580, 555, 555, 555, 555, 555, 555, 555 }, + { 285, 285, 285, 285, 285, 285, 460, 500, 580, 550, 550, 550, 550, 550, 550, 550 }, + { 280, 280, 280, 280, 280, 280, 460, 500, 580, 540, 540, 540, 540, 540, 540, 540 }, + { 275, 275, 275, 275, 275, 275, 460, 500, 580, 535, 535, 535, 535, 535, 535, 535 }, + { 265, 265, 265, 265, 265, 265, 460, 500, 580, 530, 530, 530, 530, 530, 530, 530 }, + { 250, 250, 250, 250, 250, 250, 460, 500, 580, 520, 520, 520, 520, 520, 520, 520 }, + { 240, 240, 240, 240, 240, 240, 470, 500, 580, 515, 515, 515, 515, 515, 515, 515 }, + { 220, 220, 220, 220, 220, 220, 470, 500, 580, 510, 510, 510, 510, 510, 510, 510 }, + { 200, 200, 200, 200, 200, 200, 470, 500, 580, 500, 500, 500, 500, 500, 500, 500 }, + { 180, 180, 180, 180, 180, 180, 480, 500, 580, 495, 495, 495, 495, 495, 495, 495 }, + { 160, 160, 160, 160, 160, 160, 480, 500, 580, 485, 485, 485, 485, 485, 485, 485 }, + { 140, 140, 140, 140, 140, 140, 480, 500, 580, 480, 480, 480, 480, 480, 480, 480 }, + { 125, 125, 125, 125, 125, 125, 480, 500, 580, 470, 470, 470, 470, 470, 470, 470 } + }, + /* motion_texture_freq[OT_ISP_AUTO_ISO_NUM] */ + { 180, 190, 190, 170, 170, 170, 160, 140, 128, 128, 128, 100, 100, 100, 100, 100 }, + /* motion_edge_freq[OT_ISP_AUTO_ISO_NUM] */ + { 128, 100, 100, 100, 100, 100, 100, 100, 100, 100, 96, 96, 96, 96, 96, 96 }, + /* motion_over_shoot[OT_ISP_AUTO_ISO_NUM] */ + { 60, 62, 62, 64, 64, 64, 56, 52, 50, 50, 30, 10, 10, 10, 10, 10 }, + /* motion_under_shoot[OT_ISP_AUTO_ISO_NUM] */ + { 60, 62, 62, 64, 64, 64, 54, 50, 50, 30, 20, 20, 15, 15, 15, 15 }, + /* shoot_sup_strength[OT_ISP_AUTO_ISO_NUM] */ + { 8, 8, 7, 7, 7, 6, 5, 5, 0, 0, 0, 0, 0, 0, 0, 0 }, + /* shoot_sup_adj[OT_ISP_AUTO_ISO_NUM] */ + { 9, 9, 8, 8, 7, 7, 7, 6, 0, 0, 0, 0, 0, 0, 0, 0 }, + /* detail_ctrl[OT_ISP_AUTO_ISO_NUM] */ + { 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 120, 120, 120, 120, 120, 120 }, + /* detail_ctrl_threshold[OT_ISP_AUTO_ISO_NUM] */ + { 180, 160, 160, 160, 160, 160, 160, 160, 160, 160, 160, 160, 160, 160, 160, 160 }, + /* edge_filt_strength[OT_ISP_AUTO_ISO_NUM] */ + { 60, 58, 60, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62 }, + /* edge_filt_max_cap */ + { 18, 18, 18, 18, 18, 18, 18, 18, 18, 18, 18, 18, 18, 18, 18, 18 }, + /* r_gain[OT_ISP_AUTO_ISO_NUM] */ + { 12, 16, 20, 24, 24, 24, 26, 28, 31, 31, 31, 31, 31, 31, 31, 31 }, + /* g_gain[OT_ISP_AUTO_ISO_NUM] */ + { 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32 }, + /* b_gain[OT_ISP_AUTO_ISO_NUM] */ + { 18, 20, 24, 24, 24, 22, 22, 22, 22, 22, 22, 22, 22, 22, 22, 22 }, + /* skin_gain[OT_ISP_AUTO_ISO_NUM] */ + { 30, 30, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }, + /* max_sharp_gain[OT_ISP_AUTO_ISO_NUM] */ + { 30, 30, 30, 30, 30, 26, 20, 20, 18, 18, 18, 18, 18, 18, 18, 18 }, + { + /* shoot_inner_threshold[OT_ISP_AUTO_ISO_NUM] */ + {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, + /* shoot_outer_threshold[OT_ISP_AUTO_ISO_NUM] */ + {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, + /* shoot_protect_threshold[OT_ISP_AUTO_ISO_NUM] */ + {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, + }, + { + /* edge_rly_fine_threshold[OT_ISP_AUTO_ISO_NUM] */ + {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, + /* edge_rly_coarse_threshold[OT_ISP_AUTO_ISO_NUM] */ + {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, + /* edge_overshoot[OT_ISP_AUTO_ISO_NUM] */ + {20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20}, + /* edge_undershoot[OT_ISP_AUTO_ISO_NUM] */ + {120, 120, 120, 120, 120, 120, 120, 120, 120, 120, 120, 120, 120, 120, 120, 120}, + /* edge_gain_by_rly[OT_ISP_SHARPEN_RLYWGT_NUM][OT_ISP_AUTO_ISO_NUM] */ + { + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32} + }, + /* edge_rly_by_mot[OT_ISP_SHARPEN_STDGAIN_NUM][OT_ISP_AUTO_ISO_NUM] */ + { + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16} + }, + /* edge_rly_by_luma[OT_ISP_SHARPEN_STDGAIN_NUM][OT_ISP_AUTO_ISO_NUM] */ + { + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16} + }, + }, + { + /* mf_gain_by_mot[OT_ISP_SHARPEN_MOT_NUM][OT_ISP_AUTO_ISO_NUM] */ + { + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32} + }, + /* hf_gain_by_mot[OT_ISP_SHARPEN_MOT_NUM][OT_ISP_AUTO_ISO_NUM] */ + { + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, + {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32} + }, + /* lmf_gain_by_mot[OT_ISP_SHARPEN_MOT_NUM][OT_ISP_AUTO_ISO_NUM] */ + { + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, + {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16} + }, + } + }, +}; + +static const ot_isp_drc_attr g_cmos_drc = { + /* enable */ + 0, + /* curve_select */ + OT_ISP_DRC_CURVE_ASYMMETRY, + /* purple_reduction_strength */ + 35, + /* bright_gain_limit */ + 10, + /* bright_gain_limit_step */ + 8, + /* dark_gain_limit_luma */ + 0, + /* dark_gain_limit_chroma */ + 0, + /* contrast_ctrl */ + 8, + /* rim_reduction_strength */ + 32, + /* rim_reduction_threshold */ + 30, + /* color_correction_lut[OT_ISP_DRC_CC_NODE_NUM] */ + { + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024 + }, + /* tone_mapping_value[OT_ISP_DRC_TM_NODE_NUM] */ + { + 8, 8, 16, 24, 31, 39, 48, 56, 65, 75, 85, 95, 106, 118, 130, 143, + 156, 170, 185, 201, 218, 235, 254, 274, 294, 316, 339, 364, 390, 417, 446, 477, + 509, 543, 579, 617, 658, 701, 746, 794, 844, 898, 955, 1015, 1078, 1145, 1216, 1291, + 1370, 1454, 1543, 1637, 1736, 1841, 1952, 2069, 2194, 2325, 2465, 2612, 2767, 2932, 3106, 3290, + 3485, 3691, 3909, 4140, 4384, 4641, 4914, 5202, 5507, 5830, 6171, 6531, 6913, 7316, 7742, 8193, + 8669, 9173, 9705, 10268, 10863, 11492, 12145, 12808, 13483, 14171, 14872, 15587, 16319, 17069, 17840, 18635, + 19458, 19881, 20313, 20754, 21204, 21661, 22122, 22586, 23053, 23525, 24000, 24480, 24965, 25455, 25950, 26451, + 26959, 27473, 27995, 28524, 29062, 29609, 30165, 30732, 31309, 31899, 32501, 33116, 33746, 34391, 35043, 35706, + 36381, 37066, 37763, 38472, 39192, 39925, 40671, 41429, 42201, 42591, 42986, 43383, 43784, 44189, 44597, 45008, + 45424, 45842, 46265, 46691, 47121, 47555, 47993, 48434, 48880, 49329, 49783, 50241, 50703, 51169, 51639, 52113, + 52592, 53075, 53564, 54056, 54552, 55054, 55560, 56071, 56586, 56846, 57107, 57369, 57632, 57896, 58162, 58429, + 58697, 58967, 59238, 59510, 59783, 60057, 60333, 60611, 60889, 61169, 61451, 61733, 62017, 62303, 62589, 62877, + 63167, 63458, 63750, 64044, 64340, 64636, 64934, 65234 + }, + /* spatial_filter_coef */ + 1, + /* range_filter_coef */ + 2, + /* detail_adjust_coef */ + 8, + { + { + /* local_mixing_bright_max */ + 96, + /* local_mixing_bright_min */ + 48, + /* local_mixing_bright_threshold */ + 100, + /* local_mixing_bright_slope */ + -3, + }, + }, + { + { + /* local_mixing_dark_max */ + 96, + /* local_mixing_dark_min */ + 48, + /* local_mixing_dark_threshold */ + 100, + /* local_mixing_dark_slope */ + -3, + }, + }, + /* high_saturation_color_ctrl */ + 15, + /* global_color_ctrl */ + 0, + /* shoot_reduction_en */ + 1, + /* op_type */ + OT_OP_MODE_MANUAL, + /* manual_attr */ + { + /* manual_strength */ + 256, + }, + /* auto_attr */ + { + /* auto_strength */ + 512, + /* auto_strength_max */ + 1023, + /* auto_strength_min */ + 512, + }, + /* asymmetry_curve */ + { + /* asymmetry */ + 6, + /* second_pole */ + 200, + /* stretch */ + 40, + /* compress */ + 170 + }, + /* auto_curve */ + { + /* brightness */ + 8, + /* contrast */ + 8, + /* tolerance */ + 6, + }, + /* bcnr_attr */ + { + /* bcnr_en */ + 0, + /* bcnr_detail_restore */ + {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, + /* bcnr_strength */ + 3, + } +}; + + +/* -------------------------------------------------------------------------- + * AWB saturation and colour sectors. + * + * cmos_get_awb_default() memset the whole ot_isp_awb_sensor_default and then + * filled in only the reference temperature, the static WB gains and wb_para. + * That left agc_tbl zeroed -- valid = 0 and every saturation entry 0 -- so + * the ISP was never told what saturation to run, which is the washed-out + * colour. saturation[] is indexed by AGC bucket, 128 == nominal, and tapers + * at high gain because chroma noise scales with gain. + * + * From sc450ai, same ISP silicon. The taper shape is an ISP behaviour rather + * than a sensor measurement, so it transfers. + * -------------------------------------------------------------------------- */ + +static ot_isp_color_sector g_imx662_color_sector = { + 0, + { + { + { 20, 20, 20, 20, 20, 20 }, + { 20, 20, 20, 20, 20, 20 }, + }, + { + { 20, 20, 20, 20, 20, 20 }, + { 20, 20, 20, 20, 20, 20 }, + }, + { + { 20, 20, 20, 20, 20, 20 }, + { 20, 20, 20, 20, 20, 20 }, + }, + { + { 20, 20, 20, 20, 20, 20 }, + { 20, 20, 20, 20, 20, 20 }, + }, + { + { 20, 20, 20, 20, 20, 20 }, + { 20, 20, 20, 20, 20, 20 }, + }, + { + { 20, 20, 20, 20, 20, 20 }, + { 20, 20, 20, 20, 20, 20 }, + }, + { + { 20, 20, 20, 20, 20, 20 }, + { 20, 20, 20, 20, 20, 20 }, + }, + }, +}; + +static ot_isp_awb_agc_table g_imx662_awb_agc_table = { + /* bvalid */ + 1, + + /* 1, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048, 4096, 8192, 16384, 32768 */ + /* saturation */ + { 168, 168, 166, 162, 156, 148, 140, 132, 124, 116, 108,100, 92, 90, 90, 90 } +}; + #endif /* IMX662_CMOS_PARAM_H */ From 32f4f28f5f88b2e196b729c6e9e6f32e238f962e Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 19:44:28 +0200 Subject: [PATCH 10/45] docs(cv610): describe what the IMX662 plugin actually programs The README still said HDR and broad ISP tuning were deferred, which was true of the scaffold and is no longer true of the plugin. Records the init ordering that 0x3A50/51/52 depends on, which of the sc450ai-derived tables transfer on principle and which are borrowed noise tuning, and that these are compile-time seeds because CV610 has no apply_iq_param and therefore no runtime IQ layer. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- sensors/cv610/imx662/README.md | 30 ++++++++++++++++++++++++++++-- 1 file changed, 28 insertions(+), 2 deletions(-) diff --git a/sensors/cv610/imx662/README.md b/sensors/cv610/imx662/README.md index 4e7d2dd3..b489f6a0 100644 --- a/sensors/cv610/imx662/README.md +++ b/sensors/cv610/imx662/README.md @@ -21,5 +21,31 @@ Install the result as `/usr/lib/sensors/libsns_imx662.so`. No proprietary SDK source or binary is stored here; the build consumes the public sensor interface and `sensor_common.c` from the external OpenHisilicon checkout. -The initial backend supports linear mode only. HDR and broad ISP tuning are -deliberately deferred by issue #220. +Linear mode only — `cmos_set_wdr_mode()` rejects every other WDR mode, and HDR +stays deferred by issue #220. + +## What the plugin programs + +`imx662_cfg.h` holds Sony's power-on sequence — the reserved analog/ADC trim, +the MIPI TX timing, the readout window and the HDR context that linear mode +needs parked. It runs once, in standby, before the per-mode writes, and the +per-mode writes win where the two overlap. That ordering matters for +`0x3A50/51/52`, which keys off ADBIT rather than output depth: the table holds +the 12-bit form and the RAW10 modes overwrite it. + +`cmos_get_isp_default()` and `cmos_get_awb_default()` seed the ISP once at init. +The algorithm tables in `imx662_cmos_param.h` are ported from the in-tree +`smart_sc450ai` driver, which targets this same ISP silicon. The blocks that +describe ISP behaviour (gamma, CLUT, demosaic, CAC, anti-false-colour, LDCI, +dehaze, CA) transfer on principle; the noise-fitted ones (bayer_nr, sharpen, +noise_calibration, DRC) are borrowed from a 4 MP sensor and are kept on a +hardware A/B rather than a calibration — a measured IMX662 fit should replace +them. The AWB saturation curve is scaled up from sc450ai's at the low-ISO end. + +These are compile-time seeds, not live controls. CV610 has no runtime IQ layer +yet: `/api/v1/iq/get` and `/api/v1/iq/set` return `not_implemented` because the +backend provides no `apply_iq_param`. Adding one (mirroring `src/star6e_iq.c`) +would turn these defaults into an editable starting point. + +Reference material for further tuning lives outside this repo, in +`hisilicon/vendor/imx662-docs/`. From 0d7dd8a418e26b8625f561a0d333d10e7f838ad7 Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 19:51:44 +0200 Subject: [PATCH 11/45] =?UTF-8?q?chore:=20v0.65.4=20=E2=80=94=20CV610=20IM?= =?UTF-8?q?X662=20sensor=20init=20sequence=20and=20ISP=20tuning?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- HISTORY.md | 50 ++++++++++++++++++++++++++++++++++++++++++++++++++ VERSION | 2 +- 2 files changed, 51 insertions(+), 1 deletion(-) diff --git a/HISTORY.md b/HISTORY.md index ce12781b..ae195609 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -1,5 +1,55 @@ # History +## [0.65.4] - 2026-08-16 + +The CV610 IMX662 plugin was a scaffold in two places its comments admitted to, +and both were costing image quality. It wrote 26 of the sensor's 131 power-on +registers, and it handed the ISP a zeroed `ot_isp_cmos_default`, which switches +every algorithm block off. No HTTP behaviour changes; contract stays `0.18.3`. + +- **The power-on register sequence is written.** `imx662_sensor_ctl.c` carried a + TODO naming the range it was missing, `0x301C..0x4549`. Sony's sequence for + that range is 131 entries — the reserved analog/ADC trim, the MIPI TX timing, + the readout window and the HDR context linear mode needs parked — and it now + lives in `imx662_cfg.h`. The table runs first, in standby, so the per-mode + writes that follow win where the two overlap; that ordering is load-bearing + for `0x3A50/51/52`, which keys off ADBIT rather than output depth, so the + table holds the 12-bit form and the RAW10 modes overwrite it. Measured on + hardware: 94 entries differ from the module's power-on state, the + readout-window group already matched bit for bit, and a RAW10-vs-RAW12 dump + of the whole range differs in only 8 registers — none of them in the reserved + blocks, which is what made writing the table wholesale safe. +- **The ISP algorithm blocks are enabled.** `cmos_get_isp_default()` memset the + struct and returned, leaving demosaic, gamma, CLUT, LDCI, CAC, + anti-false-colour, dehaze, CA, sharpen, DRC and bayer NR all off. That, not + the sensor, was the flat and hazy image. Tables are ported from the in-tree + `smart_sc450ai` driver, which targets this same ISP silicon. The blocks that + describe ISP behaviour transfer on principle; the noise-fitted ones are + borrowed from a 4 MP sensor and are kept on a hardware A/B rather than a + calibration. +- **Saturation is configured at all.** `cmos_get_awb_default()` left + `agc_tbl.valid` at 0 with every `saturation[]` entry 0, so the ISP was never + told what saturation to run — the washed-out colour. The shipped curve is + scaled up at the low-ISO end from sc450ai's and keeps its taper at high gain, + where chroma noise scales. Measured +41% mean chroma with sharpness flat. +- **`sns_mode` is populated.** `sns_id` was 0, disagreeing with + `cv610_pipeline.c`'s `IMX662_SNS_ID` — which that file already documents as + having to match, and which would misbind a future PQ `.bin`, since those are + chip- and sensor-locked. `sns_mode` was never set. +- **The sensor plugin Makefile generates header dependencies.** A bare + `%.o: %.c` rule meant a header-only edit relinked stale objects and shipped a + binary without the change, while `make` exited 0. Both the register sequence + and every tuning table live in headers. Found when two plugins built from + different saturation tables came out byte-identical. +- **`tools/cv610_i2c_dump.c`** reads sensor registers over `/dev/i2c` from a + second process while the pipeline runs. `imx662_read_register()` is a stub — + the ISP only ever writes — so nothing could previously confirm an init landed. + +Verified on the Hi3516CV610 bench at 192.168.2.181, cold boot per arm: +1080p30 30.03 fps, 1080p60 60.03, 1080p90 90.03, 1080p100 100.06 — all nominal +and matching the pre-change baseline — with a 1222-register readback at zero +I2C errors and every reference entry matching silicon. + ## [0.65.3] - 2026-08-16 CV610 sensor-mode selection reaches parity with SigmaStar, so one client can diff --git a/VERSION b/VERSION index 0b986c16..1b1191fe 100644 --- a/VERSION +++ b/VERSION @@ -1 +1 @@ -0.65.3 +0.65.4 From c02c9fe549c6616fc0efad9142b259e5b0d53eb2 Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 19:55:07 +0200 Subject: [PATCH 12/45] docs(cv610): spec the runtime IQ control surface as follow-up work PR #229 landed the ISP seeds as compile-time constants, which is the right place for defaults but leaves no way to tune. /api/v1/iq/{get,set} return not_implemented on CV610 because g_cv610_apply_callbacks supplies neither query_iq_info nor apply_iq_param. Records the callback contract, the registration site, the reference implementation already on disk (cv610_streamer/isp_control.c, proven against this silicon via the cv610_isp_ctl CLI on .181), a verification plan whose central check is that a set actually moves mean chroma rather than merely returning ok, and the bench traps this session paid for -- above all that stop/start hard-hangs the SoC and the daemon must be cycled by reboot. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- .../requirements.md | 159 ++++++++++++++++++ 1 file changed, 159 insertions(+) create mode 100644 specs/2026-08-16-cv610-runtime-iq/requirements.md diff --git a/specs/2026-08-16-cv610-runtime-iq/requirements.md b/specs/2026-08-16-cv610-runtime-iq/requirements.md new file mode 100644 index 00000000..1a09ee0a --- /dev/null +++ b/specs/2026-08-16-cv610-runtime-iq/requirements.md @@ -0,0 +1,159 @@ +# CV610 runtime IQ control surface + +Status: **SPEC — not started.** Date: 2026-08-16. +Device: `root@192.168.2.181` (Hi3516CV610 DEMO Board, IMX662). +Follows PR #229, which landed the compile-time ISP seeds this would make editable. + +## Why + +PR #229 fixed the CV610 image by seeding the ISP properly at init: Sony's 131-entry +power-on register sequence, the ISP algorithm blocks (which were *all* disabled), +and the AWB saturation table (which was zeroed). The result is a large, verified +improvement — but every value is a **compile-time constant in the sensor plugin**. + +Two consequences make that unsatisfactory: + +1. **The operator cannot tune.** SigmaStar has an Image Quality tab driven by + `/api/v1/iq/*`; CV610 has nothing. Changing saturation today means editing + `imx662_cmos_param.h`, cross-compiling, deploying an `.so`, and **rebooting the + board** — the plugin is read once at pipe start, so there is no live path at all. +2. **The tables are borrowed, not calibrated.** bayer_nr, sharpen, + noise_calibration and DRC come from `smart_sc450ai`, a 4 MP sensor, where IMX662 + is 2 MP STARVIS. They were kept on an operator A/B, not a measurement. Runtime + knobs are what turns "borrowed defaults" into "a starting point you can correct". + +## Current state (measured, 2026-08-16) + +``` +GET /api/v1/iq/get → {"ok":false,"error":{"code":"not_implemented","message":"IQ query not available"}} +GET /api/v1/iq/set → {"ok":false,"error":{"code":"not_implemented","message":"IQ set not available"}} +``` + +The endpoints are generic and already routed (`src/venc_api.c:4114`). They dispatch +on backend callbacks and 501 when those are NULL: + +- `src/venc_api.c:3131` → `g_cb->query_iq_info` +- `src/venc_api.c:3148,3169` → `g_cb->apply_iq_param` + +Declared in `include/venc_api.h:43-45`: + +```c +char *(*query_iq_info)(void); /* malloc'd JSON, caller frees */ +int (*apply_iq_param)(const char *param, const char *value); /* 0 ok, -1 error */ +``` + +Both are wired on the other two backends and NULL on CV610: + +| backend | registration site | implementation | +|---|---|---| +| Star6E | `src/star6e_controls.c:1772-1773` | `src/star6e_iq.c` (~66 ISP setter calls, dlopens `libmi_isp.so`) | +| Maruko | `src/maruko_controls.c:1496-1497` | `src/maruko_iq.c` | +| **CV610** | `src/cv610_runtime.c:242` (`g_cv610_apply_callbacks`) | **absent** | + +The WebUI hides the tab explicitly — `web/dashboard.html:1787-1788`: +```js +const iqTab = document.getElementById('tab-btn-iq'); +if(iqTab) iqTab.hidden = true; // /api/v1/iq|ae|awb are 501 here +``` + +## Reference implementation already on disk + +`/home/snokvist/dev/hisilicon/venc/src/app/cv610_streamer/isp_control.c` — 30 KB, +covering the knob set with getters and setters: + +- **setters**: `ss_mpi_isp_set_{ccm,color_tone,csc,nr,saturation,sharpen,wb}_attr` +- **getters**: `ss_mpi_isp_get_{ca,ccm,color_tone,csc,dehaze,drc,gamma,ldci,module_ctrl,nr,saturation,sharpen,wb}_attr` + +A `cv610_isp_ctl` CLI built from it is already deployed on `.181`, so the calls are +proven against this silicon. This is a port with a working reference, not research. + +**Simpler than Star6E.** `star6e_iq.c` has to `dlopen("libmi_isp.so")` and resolve +`MI_ISP_IQ_*` symbols at runtime. CV610 links `ss_mpi` directly (`cv610_pipeline.c` +already calls `ss_mpi_isp_set_ccm_attr`), so `cv610_iq.c` calls the MPI directly — +no dlopen, no symbol table, no init failure path. + +## Scope + +### Must + +- `src/cv610_iq.c` + `include/cv610_iq.h` exposing `cv610_iq_query()` and + `cv610_iq_set(param, value)`, matching the `star6e_iq.h` contract (dot-notation + for sub-fields, comma-separated values for arrays). +- Wire `.query_iq_info` / `.apply_iq_param` into `g_cv610_apply_callbacks` + (`src/cv610_runtime.c:242`). +- Cover, at minimum, the knobs that PR #229 seeded and the operator will want to + correct: **saturation** (the one that fixed washed-out colour), **sharpen**, + **nr**, **ccm**, **wb**, **color_tone**, **csc**. +- Un-hide the WebUI tab on CV610 by **capability**, not by backend name — the + current `hidden = true` is hardcoded. Drive it off whether `/api/v1/iq/get` + answers, so the same code stays correct if a backend gains or loses the surface. + +### Should + +- Read-back verification in `cv610_iq_query()` — return what the ISP reports, not + what was last written, so a rejected set is visible. +- Reject unknown parameter names with `-1` so `/api/v1/iq/set` 400s rather than + silently accepting. + +### Out of scope + +- **Persistence.** These are live-only knobs. Whether tuned values survive a reboot + is a separate decision (config fields vs a profile file vs the PQ `.bin` route) + and should not be bundled. +- **AE / AWB endpoints.** `/api/v1/ae` and `/api/v1/awb` are also 501 on CV610. + Related, but a different callback set; do not widen this. +- **PQ `.bin` import.** `libbin.so` / `OT_PQ_BIN_ImportBinData()` is vendored and + verified loadable on `.181`, but a `.bin` is chip- *and* sensor-locked and must be + produced with PQTools against the IMX662. Separate workstream. +- **Re-tuning the sc450ai-derived tables.** This spec builds the instrument; using + it to replace borrowed tuning with measured tuning is the follow-on. + +## Verification plan + +Per-step checks, each independently confirmable: + +1. **Build gate.** `make build SOC_BUILD=cv610 CV610_SDK_INC=/home/snokvist/dev/hisilicon/oh CV610_SDK_LIB=/home/snokvist/dev/hisilicon/firmware/output-waybeam/target/usr/lib`, then `make verify` for Star6E/Maruko regression. The sensor plugin builds `-Wall -Wextra -Werror`. +2. **Endpoint liveness.** `/api/v1/iq/get` returns JSON instead of 501; `/api/v1/iq/set?saturation=` returns ok. +3. **The knob actually moves the image.** Set saturation low and high, capture over + RTP, and compare **mean chroma magnitude** — the metric that showed +41% for the + compile-time change (20.19 → 28.46). A set that returns ok but does not move the + image is the failure mode to look for. +4. **Read-back agrees.** `iq/get` after `iq/set` reports the value the ISP holds. +5. **No regression.** Four-mode cold-boot sweep still nominal: 30.03 / 60.03 / + 90.03 / 100.06 fps, drops frozen. +6. **Control.** A knob left untouched must read unchanged across the session — a + table where everything moved cannot distinguish a working setter from a reinit. + +## Bench traps that will bite (learned the hard way in the PR #229 session) + +- **Never `S95waybeam stop` + `start` on CV610.** Two quick cycles hard-hung the + SoC — no ARP, needed a power/watchdog reboot. `$LOADER stop` unloads the MPP `.ko` + set and had not finished after 3 s. **Reboot to cycle the daemon.** ~15 reboots in + that session were all clean. +- **`/api/v1/set?outgoing.server=…` triggers a reinit that stalls the HTTP server + for seconds.** Rebooting within ~3 s loses the config write. Other fields persist + to `/etc/waybeam.json` immediately. GET-verify before rebooting. +- **`sensor.mode` pins the mode** and overrides fps-derived selection; setting + `video0.fps` alone does nothing while it is pinned. +- **`/tmp` on `.181` is tmpfs.** Bench tools vanish on reboot — re-scp + `tools/cv610_i2c_dump.c`'s binary or a dump silently returns "not found", and an + empty comparison reads as a pass. +- **The co-resident `waybeam_hub` rewrites venc's config.** Disable + `/etc/init.d/S97waybeam-hub` for any A/B, or arms will not share settings. +- **Scene motion invalidates image A/B.** Two arms minutes apart showed a "noise + fix" and a "blue cast fix" that were entirely the camera being repointed. Re-run + adjacent arms on the same scene before concluding anything. +- **md5 the artifact, not the exit code.** Fixed in PR #229 for the sensor plugin + (`-MMD -MP`), but the habit matters: two builds from different tuning tables came + out byte-identical because the Makefile tracked no headers. +- **Objective sharpness metrics mislead on denoising changes.** Variance-of-Laplacian + counts grain as detail. The operator's verdict on the live stream is the gate for + image quality; metrics rank candidates and catch pipeline regressions. + +## Open questions for the operator + +1. Which knobs matter most day to day — is saturation/sharpen enough to start, or is + CCM/WB needed in the first cut? +2. Should tuned values persist across reboot, and if so via config fields or a + profile file? (Deliberately out of scope above; needs a decision before anyone + asks why their tuning vanished.) From 08b6fb57868e3253cef82e9497ff231034187c47 Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 20:26:38 +0200 Subject: [PATCH 13/45] feat(cv610): expose the ISP as a runtime IQ control surface MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 0.65.4 seeded this ISP through the IMX662 plugin's cmos_get_isp_default(), which the ISP reads once at pipe start. Correcting any of those values meant a cross-compile, a plugin deploy and a reboot. This makes them live. /api/v1/iq and /api/v1/iq/set are existing generic routes; they answered 501 on cv610 only because g_cv610_apply_callbacks supplied neither callback. 11 groups, 59 fields: saturation, color_tone, csc, ccm, wb, sharpen, nr, drc, ldci, dehaze, ca, plus a read-only decode of ss_mpi_isp_get_module_ctrl() so a seeded-but-bypassed block is distinguishable from one that was never seeded. Deliberately unlike star6e_iq.c, which dlopens libmi_isp.so and addresses opaque structs by hand-computed byte offsets. This backend links ss_mpi directly, so every field is an offsetof() into the SDK's own type and every range is the header's documented one — a mistyped member is a compile error rather than a silent write into the neighbouring field. Two behaviours worth stating because neither is guessable: - Writing a manual.* field also forces that group's op_type to manual. A manual value is inert while the block runs its auto curve, which from the outside is indistinguishable from a broken setter. The emitted schema marks which fields do this. - query() reads back from the ISP rather than returning a cache, so a clamped or rejected set is visible instead of assumed. cv610_pipeline_isp_ready() gates both entry points: firing MPI ioctls at an ISP that was never inited is not a thing to discover in the field. --- Makefile | 1 + include/cv610_iq.h | 37 +++ include/cv610_pipeline.h | 5 + src/cv610_iq.c | 647 +++++++++++++++++++++++++++++++++++++++ src/cv610_pipeline.c | 5 + src/cv610_runtime.c | 3 + 6 files changed, 698 insertions(+) create mode 100644 include/cv610_iq.h create mode 100644 src/cv610_iq.c diff --git a/Makefile b/Makefile index 2b5f56c8..7d7ce6ca 100644 --- a/Makefile +++ b/Makefile @@ -59,6 +59,7 @@ MARUKO_ONLY_SRC := src/maruko_mi.c src/maruko_config.c src/maruko_video.c src/ma STAR6E_ONLY_SRC := src/star6e_output.c src/star6e_audio.c src/star6e_hevc_rtp.c src/star6e_video.c src/star6e_pipeline.c src/star6e_controls.c src/star6e_runtime.c src/star6e_cus3a.c src/star6e_iq.c src/star6e_jpeg.c src/star6e_ipu.c src/star6e_ipu_yolo.c src/star6e_vpe_ports.c src/star6e_luma_tap.c src/star6e_awb.c CV610_SRC := src/main.c src/backend_cv610.c src/cv610_runtime.c \ src/cv610_audio.c \ + src/cv610_iq.c \ src/cv610_modes.c \ src/cv610_pipeline.c src/cv610_validation.c src/backend.c \ src/venc_config.c src/venc_httpd.c src/venc_api.c src/venc_webui.c \ diff --git a/include/cv610_iq.h b/include/cv610_iq.h new file mode 100644 index 00000000..4923ba38 --- /dev/null +++ b/include/cv610_iq.h @@ -0,0 +1,37 @@ +#ifndef CV610_IQ_H +#define CV610_IQ_H + +/* Runtime IQ control for the Hi3516CV610 ISP. + * + * PR #229 seeded this ISP through the IMX662 sensor plugin's + * cmos_get_isp_default(), which the ISP reads once at pipe start. This + * module exposes the same blocks as live knobs, so a value can be corrected + * without a cross-compile and a reboot. + * + * Unlike star6e_iq.c there is no dlopen: the CV610 backend links ss_mpi + * directly, so the attribute structs are the SDK's own types and the field + * table is built from offsetof() rather than hand-computed offsets. */ + +#ifdef __cplusplus +extern "C" { +#endif + +/** Query every exposed IQ group. + * Returns malloc'd JSON, caller frees. NULL when the ISP is not running. + * Values are read back from the ISP, not cached, so a rejected set shows. */ +char *cv610_iq_query(void); + +/** Set one IQ field. + * `param` is "." using the names cv610_iq_query() emits; + * `value` is a decimal integer, or a comma-separated list for arrays. + * Writing a field under manual_attr also forces that group's op_type to + * manual — otherwise the ISP keeps running its auto curve and the set has + * no visible effect. + * Returns 0 on success, -1 on unknown name, bad value, or an MPI error. */ +int cv610_iq_set(const char *param, const char *value); + +#ifdef __cplusplus +} +#endif + +#endif /* CV610_IQ_H */ diff --git a/include/cv610_pipeline.h b/include/cv610_pipeline.h index bdbe143b..67b20805 100644 --- a/include/cv610_pipeline.h +++ b/include/cv610_pipeline.h @@ -37,4 +37,9 @@ void cv610_pipeline_stop(void); void cv610_pipeline_request_stop(void); int cv610_pipeline_stop_requested(void); +/* Nonzero once ss_mpi_isp_run() is up, so callers outside this file know the + * ISP will answer an ss_mpi_isp_* attribute call. Used by cv610_iq.c to + * refuse rather than fire MPI ioctls at an ISP that was never inited. */ +int cv610_pipeline_isp_ready(void); + #endif /* CV610_PIPELINE_H */ diff --git a/src/cv610_iq.c b/src/cv610_iq.c new file mode 100644 index 00000000..f2cecd73 --- /dev/null +++ b/src/cv610_iq.c @@ -0,0 +1,647 @@ +/* + * cv610_iq.c — runtime IQ control for the Hi3516CV610 ISP. + * + * The IMX662 sensor plugin seeds this ISP once, at pipe start, through + * cmos_get_isp_default() (PR #229). This module exposes the same blocks as + * live knobs so a value can be corrected without a cross-compile, a plugin + * deploy and a reboot. + * + * Two things differ from star6e_iq.c and make this the simpler backend: + * + * - No dlopen. The CV610 backend links ss_mpi directly, so the attribute + * structs are the SDK's own types. Every field offset comes from + * offsetof(), not from a hand-computed constant that can drift when the + * SDK header changes. + * - The table is self-describing. query() emits a "_schema" block so the + * WebUI renders the knob list this file declares, rather than carrying a + * second copy of it. + * + * Ranges in the field table are the "Range:" comments from the SDK's + * ot_common_isp.h. Values are clamped to them before the write. + */ + +#include "cv610_iq.h" +#include "cv610_pipeline.h" + +#include +#include +#include +#include +#include +#include + +#include "ot_type.h" +#include "ot_common.h" +#include "ot_common_video.h" +#include "ot_common_isp.h" +#include "ss_mpi_isp.h" +#include "ss_mpi_awb.h" + +/* The backend runs a single VI pipe; cv610_pipeline.c calls it VI_PIPE 0. */ +#define CV610_IQ_PIPE 0 + +/* td_bool and ot_op_mode are enums, so both are int-sized. The field table + * encodes them as FT_S32; assert that rather than trusting it. */ +typedef char cv610_iq_bool_is_int[(sizeof(td_bool) == 4) ? 1 : -1]; +typedef char cv610_iq_mode_is_int[(sizeof(ot_op_mode) == 4) ? 1 : -1]; + +typedef enum { + FT_U8, + FT_S8, + FT_U16, + FT_S16, + FT_S32, /* also carries td_bool and ot_op_mode */ +} Cv610IqType; + +typedef struct { + const char *name; + Cv610IqType type; + uint16_t offset; /* offsetof() into the group's attr struct */ + uint16_t count; /* 1 = scalar, N = array */ + int32_t min; + int32_t max; + /* Writing a manual_attr field while the block runs its auto curve has + * no visible effect, which reads exactly like a broken setter. Fields + * marked here force the group's op_type to manual on write. */ + uint8_t forces_manual; +} Cv610IqField; + +typedef struct { + const char *name; + int (*get)(void *attr); + int (*set)(const void *attr); + size_t size; + int32_t op_type_offset; /* -1 when the group has no op_type */ + const Cv610IqField *fields; + uint16_t field_count; +} Cv610IqGroup; + +#define F_RO 0 +#define F_MAN 1 + +/* ── MPI wrappers ─────────────────────────────────────────────────────── + * Typed one-liners rather than casting function pointers: converting a + * function pointer to a different signature and calling through it is + * undefined behaviour, and void * -> struct * is a plain implicit + * conversion. */ + +#define IQ_ACCESSORS(group, type, getter, setter) \ + static int iq_get_##group(void *a) { return getter(CV610_IQ_PIPE, a); } \ + static int iq_set_##group(const void *a) { return setter(CV610_IQ_PIPE, a); } + +IQ_ACCESSORS(saturation, ot_isp_saturation_attr, + ss_mpi_isp_get_saturation_attr, ss_mpi_isp_set_saturation_attr) +IQ_ACCESSORS(color_tone, ot_isp_color_tone_attr, + ss_mpi_isp_get_color_tone_attr, ss_mpi_isp_set_color_tone_attr) +IQ_ACCESSORS(csc, ot_isp_csc_attr, + ss_mpi_isp_get_csc_attr, ss_mpi_isp_set_csc_attr) +IQ_ACCESSORS(ccm, ot_isp_color_matrix_attr, + ss_mpi_isp_get_ccm_attr, ss_mpi_isp_set_ccm_attr) +IQ_ACCESSORS(wb, ot_isp_wb_attr, + ss_mpi_isp_get_wb_attr, ss_mpi_isp_set_wb_attr) +IQ_ACCESSORS(sharpen, ot_isp_sharpen_attr, + ss_mpi_isp_get_sharpen_attr, ss_mpi_isp_set_sharpen_attr) +IQ_ACCESSORS(nr, ot_isp_nr_attr, + ss_mpi_isp_get_nr_attr, ss_mpi_isp_set_nr_attr) +IQ_ACCESSORS(drc, ot_isp_drc_attr, + ss_mpi_isp_get_drc_attr, ss_mpi_isp_set_drc_attr) +IQ_ACCESSORS(ldci, ot_isp_ldci_attr, + ss_mpi_isp_get_ldci_attr, ss_mpi_isp_set_ldci_attr) +IQ_ACCESSORS(dehaze, ot_isp_dehaze_attr, + ss_mpi_isp_get_dehaze_attr, ss_mpi_isp_set_dehaze_attr) +IQ_ACCESSORS(ca, ot_isp_ca_attr, + ss_mpi_isp_get_ca_attr, ss_mpi_isp_set_ca_attr) + +#undef IQ_ACCESSORS + +/* ── Field tables ─────────────────────────────────────────────────────── + * Ranges are the SDK header's documented limits. Fields the CV610 does not + * support (motion sharpen, tnr, dering, cp LUT, radial crop) are omitted + * rather than exposed as knobs that do nothing. */ + +#define OFS(t, m) ((uint16_t)offsetof(t, m)) + +static const Cv610IqField f_saturation[] = { + { "op_type", FT_S32, OFS(ot_isp_saturation_attr, op_type), + 1, 0, 1, F_RO }, + { "manual.saturation", FT_U8, OFS(ot_isp_saturation_attr, manual_attr.saturation), + 1, 0, 255, F_MAN }, + /* Indexed by AGC bucket; 128 == nominal. This is the curve the sensor + * plugin's g_imx662_awb_agc_table seeds. */ + { "auto.sat", FT_U8, OFS(ot_isp_saturation_attr, auto_attr.sat), + OT_ISP_AUTO_ISO_NUM, 0, 255, F_RO }, +}; + +static const Cv610IqField f_color_tone[] = { + { "red_cast_gain", FT_U16, OFS(ot_isp_color_tone_attr, red_cast_gain), + 1, 256, 384, F_RO }, + { "green_cast_gain", FT_U16, OFS(ot_isp_color_tone_attr, green_cast_gain), + 1, 256, 384, F_RO }, + { "blue_cast_gain", FT_U16, OFS(ot_isp_color_tone_attr, blue_cast_gain), + 1, 256, 384, F_RO }, +}; + +static const Cv610IqField f_csc[] = { + { "enable", FT_S32, OFS(ot_isp_csc_attr, enable), 1, 0, 1, F_RO }, + { "hue", FT_U8, OFS(ot_isp_csc_attr, hue), 1, 0, 100, F_RO }, + { "luma", FT_U8, OFS(ot_isp_csc_attr, luma), 1, 0, 100, F_RO }, + { "contr", FT_U8, OFS(ot_isp_csc_attr, contr), 1, 0, 100, F_RO }, + { "satu", FT_U8, OFS(ot_isp_csc_attr, satu), 1, 0, 100, F_RO }, + { "limited_range_en", FT_S32, OFS(ot_isp_csc_attr, limited_range_en), + 1, 0, 1, F_RO }, +}; + +static const Cv610IqField f_ccm[] = { + { "op_type", FT_S32, OFS(ot_isp_color_matrix_attr, op_type), + 1, 0, 1, F_RO }, + { "manual.sat_en", FT_S32, OFS(ot_isp_color_matrix_attr, manual_attr.sat_en), + 1, 0, 1, F_MAN }, + { "manual.ccm", FT_U16, OFS(ot_isp_color_matrix_attr, manual_attr.ccm), + OT_ISP_CCM_MATRIX_SIZE, 0, 65535, F_MAN }, + /* cv610_pipeline.c's enable_sensor_ccm() clears both of these so the + * auto CCM never bypasses; they are surfaced to make that visible. */ + { "auto.iso_act_en", FT_S32, OFS(ot_isp_color_matrix_attr, auto_attr.iso_act_en), + 1, 0, 1, F_RO }, + { "auto.temp_act_en", FT_S32, OFS(ot_isp_color_matrix_attr, auto_attr.temp_act_en), + 1, 0, 1, F_RO }, +}; + +static const Cv610IqField f_wb[] = { + { "bypass", FT_S32, OFS(ot_isp_wb_attr, bypass), 1, 0, 1, F_RO }, + { "op_type", FT_S32, OFS(ot_isp_wb_attr, op_type), 1, 0, 1, F_RO }, + { "manual.r_gain", FT_U16, OFS(ot_isp_wb_attr, manual_attr.r_gain), + 1, 0, 4095, F_MAN }, + { "manual.gr_gain", FT_U16, OFS(ot_isp_wb_attr, manual_attr.gr_gain), + 1, 0, 4095, F_MAN }, + { "manual.gb_gain", FT_U16, OFS(ot_isp_wb_attr, manual_attr.gb_gain), + 1, 0, 4095, F_MAN }, + { "manual.b_gain", FT_U16, OFS(ot_isp_wb_attr, manual_attr.b_gain), + 1, 0, 4095, F_MAN }, +}; + +static const Cv610IqField f_sharpen[] = { + { "enable", FT_S32, OFS(ot_isp_sharpen_attr, enable), + 1, 0, 1, F_RO }, + { "op_type", FT_S32, OFS(ot_isp_sharpen_attr, op_type), + 1, 0, 1, F_RO }, + { "manual.texture_strength", FT_U16, OFS(ot_isp_sharpen_attr, manual_attr.texture_strength), + OT_ISP_SHARPEN_GAIN_NUM, 0, 4095, F_MAN }, + { "manual.edge_strength", FT_U16, OFS(ot_isp_sharpen_attr, manual_attr.edge_strength), + OT_ISP_SHARPEN_GAIN_NUM, 0, 4095, F_MAN }, + { "manual.texture_freq", FT_U16, OFS(ot_isp_sharpen_attr, manual_attr.texture_freq), + 1, 0, 4095, F_MAN }, + { "manual.edge_freq", FT_U16, OFS(ot_isp_sharpen_attr, manual_attr.edge_freq), + 1, 0, 4095, F_MAN }, + { "manual.over_shoot", FT_U8, OFS(ot_isp_sharpen_attr, manual_attr.over_shoot), + 1, 0, 127, F_MAN }, + { "manual.under_shoot", FT_U8, OFS(ot_isp_sharpen_attr, manual_attr.under_shoot), + 1, 0, 127, F_MAN }, + { "manual.shoot_sup_strength", FT_U8, OFS(ot_isp_sharpen_attr, manual_attr.shoot_sup_strength), + 1, 0, 255, F_MAN }, + { "manual.detail_ctrl", FT_U8, OFS(ot_isp_sharpen_attr, manual_attr.detail_ctrl), + 1, 0, 255, F_MAN }, + { "manual.edge_filt_strength", FT_U8, OFS(ot_isp_sharpen_attr, manual_attr.edge_filt_strength), + 1, 0, 63, F_MAN }, + { "manual.max_sharp_gain", FT_U16, OFS(ot_isp_sharpen_attr, manual_attr.max_sharp_gain), + 1, 0, 2047, F_MAN }, + { "manual.luma_wgt", FT_U8, OFS(ot_isp_sharpen_attr, manual_attr.luma_wgt), + OT_ISP_SHARPEN_LUMA_NUM, 0, 31, F_MAN }, +}; + +/* Bayer NR. Only the switches are exposed: the strength LUTs are the + * sc450ai-derived tables PR #229 borrowed, and re-tuning those is a + * calibration exercise, not a slider. */ +static const Cv610IqField f_nr[] = { + { "enable", FT_S32, OFS(ot_isp_nr_attr, enable), 1, 0, 1, F_RO }, + { "op_type", FT_S32, OFS(ot_isp_nr_attr, op_type), 1, 0, 1, F_RO }, +}; + +static const Cv610IqField f_drc[] = { + { "enable", FT_S32, OFS(ot_isp_drc_attr, enable), 1, 0, 1, F_RO }, + { "op_type", FT_S32, OFS(ot_isp_drc_attr, op_type), 1, 0, 1, F_RO }, + { "manual.strength", FT_U16, OFS(ot_isp_drc_attr, manual_attr.strength), + 1, 0, 1023, F_MAN }, + { "auto.strength", FT_U16, OFS(ot_isp_drc_attr, auto_attr.strength), + 1, 0, 1023, F_RO }, + { "auto.strength_max", FT_U16, OFS(ot_isp_drc_attr, auto_attr.strength_max), + 1, 0, 1023, F_RO }, + { "auto.strength_min", FT_U16, OFS(ot_isp_drc_attr, auto_attr.strength_min), + 1, 0, 1023, F_RO }, + { "contrast_ctrl", FT_U8, OFS(ot_isp_drc_attr, contrast_ctrl), + 1, 0, 15, F_RO }, + { "detail_adjust_coef", FT_U8, OFS(ot_isp_drc_attr, detail_adjust_coef), + 1, 0, 15, F_RO }, + { "bright_gain_limit", FT_U8, OFS(ot_isp_drc_attr, bright_gain_limit), + 1, 0, 15, F_RO }, + { "dark_gain_limit_luma", FT_U8, OFS(ot_isp_drc_attr, dark_gain_limit_luma), + 1, 0, 133, F_RO }, +}; + +static const Cv610IqField f_ldci[] = { + { "enable", FT_S32, OFS(ot_isp_ldci_attr, enable), 1, 0, 1, F_RO }, + { "op_type", FT_S32, OFS(ot_isp_ldci_attr, op_type), 1, 0, 1, F_RO }, + { "gauss_lpf_sigma", FT_U8, OFS(ot_isp_ldci_attr, gauss_lpf_sigma), + 1, 1, 255, F_RO }, + { "manual.blc_ctrl", FT_U16, OFS(ot_isp_ldci_attr, manual_attr.blc_ctrl), + 1, 0, 511, F_MAN }, + { "tpr_incr_coef", FT_U16, OFS(ot_isp_ldci_attr, tpr_incr_coef), + 1, 0, 256, F_RO }, + { "tpr_decr_coef", FT_U16, OFS(ot_isp_ldci_attr, tpr_decr_coef), + 1, 0, 256, F_RO }, +}; + +static const Cv610IqField f_dehaze[] = { + { "enable", FT_S32, OFS(ot_isp_dehaze_attr, enable), 1, 0, 1, F_RO }, + { "op_type", FT_S32, OFS(ot_isp_dehaze_attr, op_type), 1, 0, 1, F_RO }, + { "manual.strength", FT_U8, OFS(ot_isp_dehaze_attr, manual_attr.strength), + 1, 0, 255, F_MAN }, + { "auto.strength", FT_U8, OFS(ot_isp_dehaze_attr, auto_attr.strength), + 1, 0, 255, F_RO }, +}; + +static const Cv610IqField f_ca[] = { + { "enable", FT_S32, OFS(ot_isp_ca_attr, enable), 1, 0, 1, F_RO }, +}; + +#undef OFS + +#define GROUP(n, t, ops) \ + { #n, iq_get_##n, iq_set_##n, sizeof(t), ops, f_##n, \ + (uint16_t)(sizeof(f_##n) / sizeof(f_##n[0])) } + +static const Cv610IqGroup g_groups[] = { + GROUP(saturation, ot_isp_saturation_attr, + (int32_t)offsetof(ot_isp_saturation_attr, op_type)), + GROUP(color_tone, ot_isp_color_tone_attr, -1), + GROUP(csc, ot_isp_csc_attr, -1), + GROUP(ccm, ot_isp_color_matrix_attr, + (int32_t)offsetof(ot_isp_color_matrix_attr, op_type)), + GROUP(wb, ot_isp_wb_attr, + (int32_t)offsetof(ot_isp_wb_attr, op_type)), + GROUP(sharpen, ot_isp_sharpen_attr, + (int32_t)offsetof(ot_isp_sharpen_attr, op_type)), + GROUP(nr, ot_isp_nr_attr, + (int32_t)offsetof(ot_isp_nr_attr, op_type)), + GROUP(drc, ot_isp_drc_attr, + (int32_t)offsetof(ot_isp_drc_attr, op_type)), + GROUP(ldci, ot_isp_ldci_attr, + (int32_t)offsetof(ot_isp_ldci_attr, op_type)), + GROUP(dehaze, ot_isp_dehaze_attr, + (int32_t)offsetof(ot_isp_dehaze_attr, op_type)), + GROUP(ca, ot_isp_ca_attr, -1), +}; + +#undef GROUP + +#define NUM_GROUPS (sizeof(g_groups) / sizeof(g_groups[0])) + +/* Largest attribute struct, with the right alignment for every member. */ +typedef union { + ot_isp_saturation_attr saturation; + ot_isp_color_tone_attr color_tone; + ot_isp_csc_attr csc; + ot_isp_color_matrix_attr ccm; + ot_isp_wb_attr wb; + ot_isp_sharpen_attr sharpen; + ot_isp_nr_attr nr; + ot_isp_drc_attr drc; + ot_isp_ldci_attr ldci; + ot_isp_dehaze_attr dehaze; + ot_isp_ca_attr ca; +} Cv610IqAttr; + +/* The scratch attribute is shared by query and set; both run on the httpd + * thread today, but the ISP thread is a second writer of the same MPI. */ +static pthread_mutex_t g_iq_mutex = PTHREAD_MUTEX_INITIALIZER; +static Cv610IqAttr g_attr; + +/* ── Field access ───────────────────────────────────────────────────────── */ + +static size_t field_elem_size(Cv610IqType t) +{ + switch (t) { + case FT_U8: + case FT_S8: return 1; + case FT_U16: + case FT_S16: return 2; + case FT_S32: return 4; + } + return 4; +} + +static int32_t field_read(const void *attr, const Cv610IqField *f, uint16_t idx) +{ + const uint8_t *p = (const uint8_t *)attr + f->offset + + idx * field_elem_size(f->type); + + switch (f->type) { + case FT_U8: return (int32_t)*p; + case FT_S8: return (int32_t)*(const int8_t *)p; + case FT_U16: { uint16_t v; memcpy(&v, p, sizeof(v)); return (int32_t)v; } + case FT_S16: { int16_t v; memcpy(&v, p, sizeof(v)); return (int32_t)v; } + case FT_S32: { int32_t v; memcpy(&v, p, sizeof(v)); return v; } + } + return 0; +} + +static void field_write(void *attr, const Cv610IqField *f, uint16_t idx, int32_t val) +{ + uint8_t *p = (uint8_t *)attr + f->offset + idx * field_elem_size(f->type); + + if (val < f->min) + val = f->min; + if (val > f->max) + val = f->max; + + switch (f->type) { + case FT_U8: *p = (uint8_t)val; return; + case FT_S8: *(int8_t *)p = (int8_t)val; return; + case FT_U16: { uint16_t v = (uint16_t)val; memcpy(p, &v, sizeof(v)); return; } + case FT_S16: { int16_t v = (int16_t)val; memcpy(p, &v, sizeof(v)); return; } + case FT_S32: { int32_t v = val; memcpy(p, &v, sizeof(v)); return; } + } +} + +/* ── JSON emission ──────────────────────────────────────────────────────── */ + +#define JSON_CLAMP(p, sz) do { \ + if ((p) >= (int)(sz)) (p) = (int)(sz) - 1; } while (0) + +#define JSON_PUT(buf, pos, sz, ...) do { \ + (pos) += snprintf((buf) + (pos), (sz) - (size_t)(pos), __VA_ARGS__); \ + JSON_CLAMP(pos, sz); } while (0) + +static int emit_group_values(char *buf, size_t sz, int pos, + const Cv610IqGroup *g, const void *attr) +{ + for (uint16_t i = 0; i < g->field_count; i++) { + const Cv610IqField *f = &g->fields[i]; + + JSON_PUT(buf, pos, sz, "%s\"%s\":", i ? "," : "", f->name); + if (f->count == 1) { + JSON_PUT(buf, pos, sz, "%d", field_read(attr, f, 0)); + continue; + } + JSON_PUT(buf, pos, sz, "["); + for (uint16_t e = 0; e < f->count; e++) + JSON_PUT(buf, pos, sz, "%s%d", + e ? "," : "", field_read(attr, f, e)); + JSON_PUT(buf, pos, sz, "]"); + } + return pos; +} + +/* The WebUI builds its knob list from this, so the table here stays the only + * copy of the field set. */ +static int emit_schema(char *buf, size_t sz, int pos) +{ + JSON_PUT(buf, pos, sz, "\"_schema\":["); + for (size_t i = 0; i < NUM_GROUPS; i++) { + const Cv610IqGroup *g = &g_groups[i]; + + JSON_PUT(buf, pos, sz, "%s{\"name\":\"%s\",\"fields\":[", + i ? "," : "", g->name); + for (uint16_t f = 0; f < g->field_count; f++) { + const Cv610IqField *fd = &g->fields[f]; + JSON_PUT(buf, pos, sz, + "%s{\"name\":\"%s\",\"count\":%u," + "\"min\":%d,\"max\":%d,\"forces_manual\":%s}", + f ? "," : "", fd->name, + (unsigned)fd->count, fd->min, fd->max, + fd->forces_manual ? "true" : "false"); + } + JSON_PUT(buf, pos, sz, "]}"); + } + JSON_PUT(buf, pos, sz, "]"); + return pos; +} + +/* Read-only: which ISP blocks the hardware is bypassing right now. This is + * the control for "did enabling that block actually reach silicon" — a + * seeded-but-bypassed block looks identical to one that was never seeded. */ +static int emit_module_ctrl(char *buf, size_t sz, int pos) +{ + ot_isp_module_ctrl mod; + int ret; + + memset(&mod, 0, sizeof(mod)); + ret = ss_mpi_isp_get_module_ctrl(CV610_IQ_PIPE, &mod); + JSON_PUT(buf, pos, sz, "\"module_ctrl\":{\"ret\":%d", ret); + if (ret == 0) { + JSON_PUT(buf, pos, sz, + ",\"bypass\":{\"anti_false_color\":%u,\"crosstalk\":%u," + "\"dpc\":%u,\"nr\":%u,\"dehaze\":%u,\"wb_gain\":%u," + "\"mesh_shading\":%u,\"drc\":%u,\"demosaic\":%u," + "\"color_matrix\":%u,\"gamma\":%u,\"ca\":%u,\"csc\":%u," + "\"sharpen\":%u,\"cac\":%u,\"ldci\":%u}", + (unsigned)mod.bit_bypass_anti_false_color, + (unsigned)mod.bit_bypass_crosstalk_removal, + (unsigned)mod.bit_bypass_dpc, + (unsigned)mod.bit_bypass_nr, + (unsigned)mod.bit_bypass_dehaze, + (unsigned)mod.bit_bypass_wb_gain, + (unsigned)mod.bit_bypass_mesh_shading, + (unsigned)mod.bit_bypass_drc, + (unsigned)mod.bit_bypass_demosaic, + (unsigned)mod.bit_bypass_color_matrix, + (unsigned)mod.bit_bypass_gamma, + (unsigned)mod.bit_bypass_ca, + (unsigned)mod.bit_bypass_csc, + (unsigned)mod.bit_bypass_sharpen, + (unsigned)mod.bit_bypass_cac, + (unsigned)mod.bit_bypass_ldci); + } + JSON_PUT(buf, pos, sz, "}"); + return pos; +} + +char *cv610_iq_query(void) +{ + static char buf[24576]; + int pos = 0; + char *result; + + if (!cv610_pipeline_isp_ready()) + return NULL; + + pthread_mutex_lock(&g_iq_mutex); + + JSON_PUT(buf, pos, sizeof(buf), "{\"ok\":true,\"data\":{"); + pos = emit_schema(buf, sizeof(buf), pos); + + for (size_t i = 0; i < NUM_GROUPS; i++) { + const Cv610IqGroup *g = &g_groups[i]; + int ret; + + memset(&g_attr, 0, sizeof(g_attr)); + ret = g->get(&g_attr); + + JSON_PUT(buf, pos, sizeof(buf), ",\"%s\":{\"ret\":%d", + g->name, ret); + if (ret == 0) { + JSON_PUT(buf, pos, sizeof(buf), ",\"fields\":{"); + pos = emit_group_values(buf, sizeof(buf), pos, g, &g_attr); + JSON_PUT(buf, pos, sizeof(buf), "}"); + } + JSON_PUT(buf, pos, sizeof(buf), "}"); + } + + JSON_PUT(buf, pos, sizeof(buf), ","); + pos = emit_module_ctrl(buf, sizeof(buf), pos); + JSON_PUT(buf, pos, sizeof(buf), "}}"); + + result = strdup(buf); + pthread_mutex_unlock(&g_iq_mutex); + return result; +} + +/* ── Set ────────────────────────────────────────────────────────────────── */ + +/* strtol with the whole-token check the caller needs: "12abc" and "" are + * rejected rather than silently read as 12 and 0. */ +static int parse_i32(const char *s, const char **end, int32_t *out) +{ + char *stop = NULL; + long v; + + while (*s == ' ') + s++; + if (*s == '\0') + return -1; + v = strtol(s, &stop, 10); + if (stop == s) + return -1; + if (v < INT32_MIN || v > INT32_MAX) + return -1; + while (*stop == ' ') + stop++; + if (*stop != '\0' && *stop != ',') + return -1; + *out = (int32_t)v; + *end = stop; + return 0; +} + +int cv610_iq_set(const char *param, const char *value) +{ + const Cv610IqGroup *group = NULL; + const Cv610IqField *field = NULL; + char group_name[32]; + const char *field_name; + const char *dot; + size_t glen; + int ret; + int rc = -1; + + if (!param || !value) + return -1; + if (!cv610_pipeline_isp_ready()) { + fprintf(stderr, "[cv610-iq] ISP is not running\n"); + return -1; + } + + /* Group and field split on the FIRST dot: field names carry their own + * dot ("manual.saturation"), which is what makes the auto/manual half + * of the struct visible in the name. */ + dot = strchr(param, '.'); + if (!dot) { + fprintf(stderr, "[cv610-iq] %s: expected .\n", param); + return -1; + } + glen = (size_t)(dot - param); + if (glen == 0 || glen >= sizeof(group_name)) { + fprintf(stderr, "[cv610-iq] %s: bad group name\n", param); + return -1; + } + memcpy(group_name, param, glen); + group_name[glen] = '\0'; + field_name = dot + 1; + + for (size_t i = 0; i < NUM_GROUPS; i++) { + if (strcmp(g_groups[i].name, group_name) == 0) { + group = &g_groups[i]; + break; + } + } + if (!group) { + fprintf(stderr, "[cv610-iq] unknown group: %s\n", group_name); + return -1; + } + for (uint16_t i = 0; i < group->field_count; i++) { + if (strcmp(group->fields[i].name, field_name) == 0) { + field = &group->fields[i]; + break; + } + } + if (!field) { + fprintf(stderr, "[cv610-iq] %s: unknown field: %s\n", + group_name, field_name); + return -1; + } + + pthread_mutex_lock(&g_iq_mutex); + + /* Read-modify-write: the attribute structs carry far more state than + * this table describes, and a zeroed struct would wipe the sensor + * plugin's seeds. */ + memset(&g_attr, 0, sizeof(g_attr)); + ret = group->get(&g_attr); + if (ret != 0) { + fprintf(stderr, "[cv610-iq] %s: get failed: 0x%x\n", + group_name, (unsigned)ret); + goto out; + } + + if (field->count == 1) { + int32_t v; + const char *end; + if (parse_i32(value, &end, &v) != 0 || *end == ',') { + fprintf(stderr, "[cv610-iq] %s: expected one integer\n", + param); + goto out; + } + field_write(&g_attr, field, 0, v); + } else { + const char *p = value; + uint16_t n = 0; + while (n < field->count) { + int32_t v; + const char *end; + if (parse_i32(p, &end, &v) != 0) + break; + field_write(&g_attr, field, n, v); + n++; + if (*end != ',') + break; + p = end + 1; + } + /* A short list would leave the tail at whatever the ISP held, + * which reads as a partly-applied curve. Require all of it. */ + if (n != field->count) { + fprintf(stderr, "[cv610-iq] %s: expected %u values, got %u\n", + param, (unsigned)field->count, (unsigned)n); + goto out; + } + } + + /* Manual fields are inert while the block runs its auto curve. */ + if (field->forces_manual && group->op_type_offset >= 0) { + int32_t manual = OT_OP_MODE_MANUAL; + memcpy((uint8_t *)&g_attr + group->op_type_offset, + &manual, sizeof(manual)); + } + + ret = group->set(&g_attr); + if (ret != 0) { + fprintf(stderr, "[cv610-iq] %s: set failed: 0x%x\n", + param, (unsigned)ret); + goto out; + } + + printf("[cv610-iq] %s = %s\n", param, value); + rc = 0; + +out: + pthread_mutex_unlock(&g_iq_mutex); + return rc; +} diff --git a/src/cv610_pipeline.c b/src/cv610_pipeline.c index 2538021e..65ba90a2 100644 --- a/src/cv610_pipeline.c +++ b/src/cv610_pipeline.c @@ -711,6 +711,11 @@ int cv610_pipeline_start(const Cv610PipelineConfig *config) return 0; } +int cv610_pipeline_isp_ready(void) +{ + return g_isp_thread_ok; +} + void cv610_pipeline_stop(void) { g_stop = 1; diff --git a/src/cv610_runtime.c b/src/cv610_runtime.c index 9fc4bbe8..7f393f3f 100644 --- a/src/cv610_runtime.c +++ b/src/cv610_runtime.c @@ -1,6 +1,7 @@ #include "cv610_runtime.h" #include "cv610_audio.h" +#include "cv610_iq.h" #include "cv610_modes.h" #include "cv610_pipeline.h" #include "debug_osd.h" @@ -249,6 +250,8 @@ static const VencApplyCallbacks g_cv610_apply_callbacks = { .apply_max_payload_size = cv610_apply_max_payload_size, .query_transport_status = cv610_query_transport_status, .query_audio_status = cv610_query_audio_status, + .query_iq_info = cv610_iq_query, + .apply_iq_param = cv610_iq_set, }; static void cv610_signal_handler(int signo) From 990c855c96727107fb7df33f93f41867030a893f Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 20:26:46 +0200 Subject: [PATCH 14/45] feat(webui): drive the IQ tab from backend capability, not backend name MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The tab was hidden by a hardcoded `backendName === 'cv610'` test. It now probes /api/v1/iq once at load and hides the tab only when that route does not answer, so a backend gaining or losing the surface needs no edit here. Un-hiding it alone would have been wrong: IQ_CATEGORIES and IQ_FIELDS are the SigmaStar parameter set, so a cv610 would have rendered a list of knobs it does not have. Backends that describe themselves now drive the list from the `_schema` block in the response, keeping the field table in exactly one place — the C table that also enforces the ranges. Copying it into the page is the same trap as the modes store's third copy of the mode list. Backends with no schema keep the existing hardcoded categories unchanged. Also: a chip prefills the value the ISP currently holds instead of an empty box, and a successful set re-queries and reports what the ISP kept. Those differ whenever a value is clamped, and the response echo of the request is not evidence of what was applied. The intro text claimed the IQ system was SigmaStar-specific and dlopen-based, which was never true of every backend and is not true of this one. --- src/venc_webui.c | 2889 ++++++++++++++++++++++---------------------- web/dashboard.html | 100 +- 2 files changed, 1564 insertions(+), 1425 deletions(-) diff --git a/src/venc_webui.c b/src/venc_webui.c index 97678f2e..3903ff95 100644 --- a/src/venc_webui.c +++ b/src/venc_webui.c @@ -6,1422 +6,1479 @@ #include static const unsigned char dashboard_gz[] = { - 0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0xed, 0xbd, 0xdb, 0x76, 0xe3, 0x46, - 0x96, 0x28, 0xf8, 0xae, 0xaf, 0x08, 0xd3, 0x55, 0x05, 0xb2, 0x04, 0x82, 0xa4, 0x6e, 0x99, 0x49, - 0x26, 0x95, 0x9d, 0x17, 0xd9, 0x56, 0x77, 0xde, 0x2c, 0x29, 0x5d, 0xd5, 0x2b, 0x9d, 0x4b, 0x06, - 0x09, 0x50, 0x84, 0x05, 0x02, 0x30, 0x00, 0xea, 0x62, 0x59, 0x67, 0xf5, 0xd3, 0x7c, 0xc0, 0xac, - 0xb3, 0x66, 0xfe, 0x60, 0x9e, 0xcf, 0xcb, 0x79, 0x3b, 0x4f, 0x3d, 0x7f, 0xd2, 0x5f, 0x32, 0xfb, - 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the built-in dashboard at runtime, so the diff --git a/web/dashboard.html b/web/dashboard.html index 5bc18583..304b71ff 100644 --- a/web/dashboard.html +++ b/web/dashboard.html @@ -489,9 +489,9 @@

Dual-Stream

-
+
- The IQ system provides direct access to SigmaStar ISP image processing parameters via runtime dlopen of libmi_isp.so. Parameters are organized by category and can be queried and modified live without restarting the pipeline. Changes take effect on the next frame. + Direct access to the ISP's image-processing parameters. Values are read back from the ISP rather than cached, and changes take effect on the next frame without restarting the pipeline.
@@ -1470,6 +1470,8 @@

${sec.title}

\u25BC
${sec.title}\u25BC
${sec.title}\u25BC
{ + const param = g.name+'.'+f.name; + const range = f.count > 1 ? (f.count+' values, '+f.min+'–'+f.max) + : (f.min+'–'+f.max); + /* Writing these switches the block out of its auto curve; without the + hint a set that "does nothing" looks like a broken knob. */ + const hint = f.forces_manual ? ' — also sets op_type to manual' : ''; + return ''+ + f.name+(f.forces_manual ? '*' : '')+' '; + }).join(''); + sec.innerHTML = '
'+ + '

'+g.name+'

'+g.fields.length+' fields'+ + '▼
'+ + '
'+chips+'
'; + container.appendChild(sec); + } +} + +async function renderIQCategories(){ const container = document.getElementById('iq-categories'); + const iqTab = document.getElementById('tab-btn-iq'); container.innerHTML = ''; + + /* Capability probe. Every IQ route shares one backend callback, so a 501 + here means the whole tab would load into a permanent error. */ + let data = null; + try{ + const r = await api('/api/v1/iq'); + if(r && r.ok && r.data) data = r.data; + }catch(e){ /* unreachable or non-JSON: treat as unavailable */ } + if(iqTab) iqTab.hidden = !data; + if(!data) return; + + IQ_LAST = data; + if(Array.isArray(data._schema)){ + renderIQSchema(container, data._schema); + return; + } + for(const cat of IQ_CATEGORIES){ const sec = document.createElement('div'); sec.className = 'iq-cat-section collapsed'; @@ -1691,7 +1754,25 @@

${sec.title}

\u25BC
${sec.title}\u25BC
Date: Sun, 16 Aug 2026 20:26:55 +0200 Subject: [PATCH 15/45] docs(cv610): record that DRC and dehaze ship bypassed, and close the IQ spec MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Measured through the new IQ surface on .181: drc.enable and dehaze.enable both read 0, and ss_mpi_isp_get_module_ctrl() reports the hardware bypassing both. Toggling drc.enable clears and restores that bypass bit, so the two readouts agree and the mechanism is not in doubt. The cause is in the ported tables themselves — g_cmos_drc and g_cmos_dehaze carry enable = 0, inherited faithfully from sc450ai's linear-mode defaults. So this is not a porting error, but it does mean DRC has never contributed to a CV610 image and has never been evaluated on this sensor. Worth knowing before anyone tunes against it. The spec is marked implemented, with what changed from the plan and why, and the one question it deliberately left open: nothing persists across a reboot. --- sensors/cv610/imx662/README.md | 14 ++++-- .../requirements.md | 50 ++++++++++++++++++- 2 files changed, 58 insertions(+), 6 deletions(-) diff --git a/sensors/cv610/imx662/README.md b/sensors/cv610/imx662/README.md index b489f6a0..4c1c439e 100644 --- a/sensors/cv610/imx662/README.md +++ b/sensors/cv610/imx662/README.md @@ -42,10 +42,16 @@ noise_calibration, DRC) are borrowed from a 4 MP sensor and are kept on a hardware A/B rather than a calibration — a measured IMX662 fit should replace them. The AWB saturation curve is scaled up from sc450ai's at the low-ISO end. -These are compile-time seeds, not live controls. CV610 has no runtime IQ layer -yet: `/api/v1/iq/get` and `/api/v1/iq/set` return `not_implemented` because the -backend provides no `apply_iq_param`. Adding one (mirroring `src/star6e_iq.c`) -would turn these defaults into an editable starting point. +These are compile-time seeds, read once at pipe start. `src/cv610_iq.c` exposes +the same blocks as live knobs over `/api/v1/iq` and `/api/v1/iq/set`, so a value +here is a starting point that can be corrected without a rebuild — but only the +seed survives a reboot, so a value worth keeping belongs back in this file. + +Two blocks are seeded but not switched on: `g_cmos_drc` and `g_cmos_dehaze` +carry `enable = 0`, inherited from sc450ai's linear-mode defaults, and the ISP +bypasses both at runtime (confirmed by `ss_mpi_isp_get_module_ctrl()`). Setting +`drc.enable=1` over the IQ API is the cheap way to evaluate DRC on this sensor +before deciding whether the seed should change. Reference material for further tuning lives outside this repo, in `hisilicon/vendor/imx662-docs/`. diff --git a/specs/2026-08-16-cv610-runtime-iq/requirements.md b/specs/2026-08-16-cv610-runtime-iq/requirements.md index 1a09ee0a..af3a462c 100644 --- a/specs/2026-08-16-cv610-runtime-iq/requirements.md +++ b/specs/2026-08-16-cv610-runtime-iq/requirements.md @@ -1,8 +1,10 @@ # CV610 runtime IQ control surface -Status: **SPEC — not started.** Date: 2026-08-16. +Status: **IMPLEMENTED** in v0.65.5 — see the closing note at the end of this +file for what shipped, what changed from this plan, and what is still open. +Date: 2026-08-16. Device: `root@192.168.2.181` (Hi3516CV610 DEMO Board, IMX662). -Follows PR #229, which landed the compile-time ISP seeds this would make editable. +Follows PR #229, which landed the compile-time ISP seeds this made editable. ## Why @@ -154,6 +156,50 @@ Per-step checks, each independently confirmable: 1. Which knobs matter most day to day — is saturation/sharpen enough to start, or is CCM/WB needed in the first cut? + → Answered by building all of them: the field table costs one line per knob, + so picking a subset would have saved nothing. 11 groups, 59 fields. 2. Should tuned values persist across reboot, and if so via config fields or a profile file? (Deliberately out of scope above; needs a decision before anyone asks why their tuning vanished.) + → **Still open.** Values are live-only; a reboot returns to the plugin's + seeds. Nothing in v0.65.5 changes that. + +--- + +## Closing note (v0.65.5) + +**Shipped as planned**: `src/cv610_iq.c` + `include/cv610_iq.h`, wired into +`g_cv610_apply_callbacks`; all seven "must" knobs plus drc, ldci, dehaze and +ca; read-back from the ISP rather than a cache; unknown names rejected; the +WebUI tab driven by a capability probe rather than a backend-name test. + +**Changed from the plan**, and why: + +- *No byte offsets.* The plan said "matching the `star6e_iq.h` contract". The + wire contract matches, but the implementation does not copy Star6E's + hand-computed offsets — CV610 links `ss_mpi` directly, so every field is an + `offsetof()` into the SDK's own struct. A mistyped member is then a compile + error rather than a write into a neighbouring field. +- *The schema is emitted, not duplicated.* The plan only said "un-hide the tab + by capability". Un-hiding it alone would have shown the SigmaStar knob list + on a CV610, so `query()` emits a `_schema` block and the page renders from + it. This is the same trap as the modes store's third copy of the mode list. +- *`cv610_pipeline_isp_ready()` was added.* Firing MPI ioctls at an ISP that + was never inited is not something to find out about in the field. +- *`forces_manual` is exposed.* Not in the plan; the mutation sweep made the + side-effect visible and it was cheap to surface rather than document only. + +**Found while verifying, not predicted**: DRC and dehaze are registered with +the ISP but ship `enable = 0` and are bypassed in hardware. See HISTORY 0.65.5; +0.65.4's wording is corrected. DRC has never contributed to a CV610 image. + +**Still open**: + +- Persistence (question 2 above). +- `/api/v1/ae` and `/api/v1/awb` remain 501 — deliberately out of scope. +- The `!cv610_pipeline_isp_ready()` path returns cleanly by inspection but was + not exercised: reaching it means stopping the pipeline, and stop/start is the + one thing that hard-hangs this SoC. +- Re-tuning the sc450ai-derived tables. The instrument now exists; using it is + the follow-on, and DRC is the obvious first candidate since it has never been + switched on. From 9c856126d70df61e426c7c7701288e73ebf44181 Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 20:26:55 +0200 Subject: [PATCH 16/45] =?UTF-8?q?chore:=20v0.65.5=20=E2=80=94=20CV610=20ru?= =?UTF-8?q?ntime=20IQ=20control=20surface?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Also corrects the 0.65.4 entry. It said the ISP algorithm blocks were "enabled", which over-states it for DRC and dehaze: those two are registered with the ISP but ship enable = 0 and are bypassed in hardware. The claim was only checkable once this release built the instrument that checks it. --- HISTORY.md | 47 ++++++++++++++++++++++++++++++++++++++++++++++- VERSION | 2 +- 2 files changed, 47 insertions(+), 2 deletions(-) diff --git a/HISTORY.md b/HISTORY.md index ae195609..824e03b0 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -1,5 +1,47 @@ # History +## [0.65.5] - 2026-08-16 + +0.65.4 seeded the CV610 ISP well but froze every value into the sensor plugin, +which the ISP reads once at pipe start — correcting one meant a cross-compile, +a plugin deploy and a reboot. This makes those blocks live knobs. No contract +change; `/api/v1/iq` and `/api/v1/iq/set` are existing routes that answered +`501` on this backend only because it supplied no callbacks. + +- **`cv610_iq.c` exposes 11 ISP groups, 59 fields.** saturation, color_tone, + csc, ccm, wb, sharpen, nr, drc, ldci, dehaze and ca, wired into + `g_cv610_apply_callbacks`. Unlike `star6e_iq.c` there is no `dlopen` and no + hand-computed struct offsets: the backend links `ss_mpi` directly, so every + field is an `offsetof()` into the SDK's own type and every range is the + header's documented one. Values are read back from the ISP rather than + cached, so a rejected or clamped set is visible instead of silently assumed. +- **Writing a `manual.*` field forces that group's `op_type` to manual.** + A manual value is inert while the block runs its auto curve, which is + indistinguishable from a broken setter. The schema marks which fields do + this and the WebUI shows it on the chip. +- **DRC and dehaze are registered but bypassed**, measured through the new + surface: `drc.enable` and `dehaze.enable` both read 0, and + `ss_mpi_isp_get_module_ctrl()` confirms the hardware bypasses both. Toggling + `drc.enable` clears and restores that bypass bit, so the two agree. 0.65.4's + note that the algorithm blocks were "enabled" over-stated it for these two; + that entry is corrected. Their sc450ai-derived tables ship `enable = 0`, so + DRC has never contributed to a CV610 image and remains unevaluated. +- **The WebUI IQ tab is capability-driven.** It was hidden by a hardcoded + `backendName === 'cv610'` test; it now probes `/api/v1/iq` and renders its + knob list from the `_schema` the backend describes itself with, so the field + table stays in one place instead of being copied into the page. Backends + with no schema keep the existing hardcoded list. A set re-queries and reports + the value the ISP kept, which differs from the request when clamped. + +Verified on the `.181` bench, cold-booted onto the shipped build +(`md5 96eecf68…`, `/proc/PID/exe` confirmed not `(deleted)`): all 11 groups +return `ret=0`; a mutation sweep wrote and read back one field per group with +11/11 agreeing and the device diffing clean against its boot state afterwards; +saturation 60 → 220 → 60 moved mean chroma 4.84 → 22.95 → 4.81, the repeat of +the first arm landing within 0.6% so the change is the knob and not the scene; +short arrays and unknown names are rejected; encoder rate stayed nominal at +100.13 fps with `pressureDrops` frozen at 0. + ## [0.65.4] - 2026-08-16 The CV610 IMX662 plugin was a scaffold in two places its comments admitted to, @@ -26,7 +68,10 @@ every algorithm block off. No HTTP behaviour changes; contract stays `0.18.3`. `smart_sc450ai` driver, which targets this same ISP silicon. The blocks that describe ISP behaviour transfer on principle; the noise-fitted ones are borrowed from a 4 MP sensor and are kept on a hardware A/B rather than a - calibration. + calibration. Two of them are registered but not switched on: `g_cmos_drc` + and `g_cmos_dehaze` carry `enable = 0`, inherited from sc450ai's linear-mode + defaults, so the ISP bypasses both at runtime. See 0.65.5, which measured + that on hardware. - **Saturation is configured at all.** `cmos_get_awb_default()` left `agc_tbl.valid` at 0 with every `saturation[]` entry 0, so the ISP was never told what saturation to run — the washed-out colour. The shipped curve is diff --git a/VERSION b/VERSION index 1b1191fe..3ebbed33 100644 --- a/VERSION +++ b/VERSION @@ -1 +1 @@ -0.65.4 +0.65.5 From d0a71f236116d4410af965a86eeb50ec5bbab6c7 Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 21:02:40 +0200 Subject: [PATCH 17/45] fix(cv610-iq): reject over-long arrays, and stop offering an import that 501s MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Self-review of #230 found three things worth fixing and three worth deleting. Bug: an array set accepted MORE values than the field holds. The parse loop exited on `n < count` without checking for a trailing comma, so `saturation.auto.sat=<16 values>,999` wrote the 16 and dropped the 999 — while /api/v1/iq/set echoed all 17 back as applied. Silent truncation plus a response that agrees with the request is invisible from the outside. Both directions are now rejected: exactly `count` values or nothing is written. Short lists were already rejected; that path is unchanged and still tested. Bug: the IQ tab now shows on cv610, and it carries an "Import JSON" button. handle_iq_import() is compiled behind `#if HAVE_BACKEND_STAR6E || HAVE_BACKEND_MARUKO`, so on cv610 that button always 501s. The query response now carries `_caps.import`, and the page hides the control when a backend says it has no importer — the same reasoning that already disables the recording actuators here, so the buttons cannot lie. Hardening: JSON_PUT clamps at the buffer end, so an overflow would have served syntactically broken JSON and the page would have failed to parse it with no clue why. query() now fails the request instead (500). Current response is 6.7 KB of a 24 KB buffer, so this is a guard, not a fix. The tab was also un-hidden in markup and hidden by the probe, which flashed a tab that then vanished on backends without the surface. Hidden by default, revealed when the probe answers. Deleted, all of it unused: Cv610IqGroup.size was written by the GROUP macro and never read; IQ_ACCESSORS took a struct-type argument its body ignored; and FT_S8/FT_S16 had no field of either type. No exposed field is signed. Note `make build` does not pass -Werror — only `make lint` does, and `verify` does not run it. `make lint` is clean for all three backends. --- src/cv610_iq.c | 214 ++-- src/venc_webui.c | 2958 ++++++++++++++++++++++---------------------- web/dashboard.html | 11 +- 3 files changed, 1605 insertions(+), 1578 deletions(-) diff --git a/src/cv610_iq.c b/src/cv610_iq.c index f2cecd73..47e18ccb 100644 --- a/src/cv610_iq.c +++ b/src/cv610_iq.c @@ -47,9 +47,7 @@ typedef char cv610_iq_mode_is_int[(sizeof(ot_op_mode) == 4) ? 1 : -1]; typedef enum { FT_U8, - FT_S8, FT_U16, - FT_S16, FT_S32, /* also carries td_bool and ot_op_mode */ } Cv610IqType; @@ -70,14 +68,15 @@ typedef struct { const char *name; int (*get)(void *attr); int (*set)(const void *attr); - size_t size; int32_t op_type_offset; /* -1 when the group has no op_type */ const Cv610IqField *fields; uint16_t field_count; } Cv610IqGroup; -#define F_RO 0 -#define F_MAN 1 +/* forces_manual values. Every field here is writable; these say only whether + * the write also has to switch the block out of its auto curve. */ +#define F_DIRECT 0 +#define F_MANUAL 1 /* ── MPI wrappers ─────────────────────────────────────────────────────── * Typed one-liners rather than casting function pointers: converting a @@ -85,31 +84,31 @@ typedef struct { * undefined behaviour, and void * -> struct * is a plain implicit * conversion. */ -#define IQ_ACCESSORS(group, type, getter, setter) \ +#define IQ_ACCESSORS(group, getter, setter) \ static int iq_get_##group(void *a) { return getter(CV610_IQ_PIPE, a); } \ static int iq_set_##group(const void *a) { return setter(CV610_IQ_PIPE, a); } -IQ_ACCESSORS(saturation, ot_isp_saturation_attr, +IQ_ACCESSORS(saturation, ss_mpi_isp_get_saturation_attr, ss_mpi_isp_set_saturation_attr) -IQ_ACCESSORS(color_tone, ot_isp_color_tone_attr, +IQ_ACCESSORS(color_tone, ss_mpi_isp_get_color_tone_attr, ss_mpi_isp_set_color_tone_attr) -IQ_ACCESSORS(csc, ot_isp_csc_attr, +IQ_ACCESSORS(csc, ss_mpi_isp_get_csc_attr, ss_mpi_isp_set_csc_attr) -IQ_ACCESSORS(ccm, ot_isp_color_matrix_attr, +IQ_ACCESSORS(ccm, ss_mpi_isp_get_ccm_attr, ss_mpi_isp_set_ccm_attr) -IQ_ACCESSORS(wb, ot_isp_wb_attr, +IQ_ACCESSORS(wb, ss_mpi_isp_get_wb_attr, ss_mpi_isp_set_wb_attr) -IQ_ACCESSORS(sharpen, ot_isp_sharpen_attr, +IQ_ACCESSORS(sharpen, ss_mpi_isp_get_sharpen_attr, ss_mpi_isp_set_sharpen_attr) -IQ_ACCESSORS(nr, ot_isp_nr_attr, +IQ_ACCESSORS(nr, ss_mpi_isp_get_nr_attr, ss_mpi_isp_set_nr_attr) -IQ_ACCESSORS(drc, ot_isp_drc_attr, +IQ_ACCESSORS(drc, ss_mpi_isp_get_drc_attr, ss_mpi_isp_set_drc_attr) -IQ_ACCESSORS(ldci, ot_isp_ldci_attr, +IQ_ACCESSORS(ldci, ss_mpi_isp_get_ldci_attr, ss_mpi_isp_set_ldci_attr) -IQ_ACCESSORS(dehaze, ot_isp_dehaze_attr, +IQ_ACCESSORS(dehaze, ss_mpi_isp_get_dehaze_attr, ss_mpi_isp_set_dehaze_attr) -IQ_ACCESSORS(ca, ot_isp_ca_attr, +IQ_ACCESSORS(ca, ss_mpi_isp_get_ca_attr, ss_mpi_isp_set_ca_attr) #undef IQ_ACCESSORS @@ -123,172 +122,172 @@ IQ_ACCESSORS(ca, ot_isp_ca_attr, static const Cv610IqField f_saturation[] = { { "op_type", FT_S32, OFS(ot_isp_saturation_attr, op_type), - 1, 0, 1, F_RO }, + 1, 0, 1, F_DIRECT }, { "manual.saturation", FT_U8, OFS(ot_isp_saturation_attr, manual_attr.saturation), - 1, 0, 255, F_MAN }, + 1, 0, 255, F_MANUAL }, /* Indexed by AGC bucket; 128 == nominal. This is the curve the sensor * plugin's g_imx662_awb_agc_table seeds. */ { "auto.sat", FT_U8, OFS(ot_isp_saturation_attr, auto_attr.sat), - OT_ISP_AUTO_ISO_NUM, 0, 255, F_RO }, + OT_ISP_AUTO_ISO_NUM, 0, 255, F_DIRECT }, }; static const Cv610IqField f_color_tone[] = { { "red_cast_gain", FT_U16, OFS(ot_isp_color_tone_attr, red_cast_gain), - 1, 256, 384, F_RO }, + 1, 256, 384, F_DIRECT }, { "green_cast_gain", FT_U16, OFS(ot_isp_color_tone_attr, green_cast_gain), - 1, 256, 384, F_RO }, + 1, 256, 384, F_DIRECT }, { "blue_cast_gain", FT_U16, OFS(ot_isp_color_tone_attr, blue_cast_gain), - 1, 256, 384, F_RO }, + 1, 256, 384, F_DIRECT }, }; static const Cv610IqField f_csc[] = { - { "enable", FT_S32, OFS(ot_isp_csc_attr, enable), 1, 0, 1, F_RO }, - { "hue", FT_U8, OFS(ot_isp_csc_attr, hue), 1, 0, 100, F_RO }, - { "luma", FT_U8, OFS(ot_isp_csc_attr, luma), 1, 0, 100, F_RO }, - { "contr", FT_U8, OFS(ot_isp_csc_attr, contr), 1, 0, 100, F_RO }, - { "satu", FT_U8, OFS(ot_isp_csc_attr, satu), 1, 0, 100, F_RO }, + { "enable", FT_S32, OFS(ot_isp_csc_attr, enable), 1, 0, 1, F_DIRECT }, + { "hue", FT_U8, OFS(ot_isp_csc_attr, hue), 1, 0, 100, F_DIRECT }, + { "luma", FT_U8, OFS(ot_isp_csc_attr, luma), 1, 0, 100, F_DIRECT }, + { "contr", FT_U8, OFS(ot_isp_csc_attr, contr), 1, 0, 100, F_DIRECT }, + { "satu", FT_U8, OFS(ot_isp_csc_attr, satu), 1, 0, 100, F_DIRECT }, { "limited_range_en", FT_S32, OFS(ot_isp_csc_attr, limited_range_en), - 1, 0, 1, F_RO }, + 1, 0, 1, F_DIRECT }, }; static const Cv610IqField f_ccm[] = { { "op_type", FT_S32, OFS(ot_isp_color_matrix_attr, op_type), - 1, 0, 1, F_RO }, + 1, 0, 1, F_DIRECT }, { "manual.sat_en", FT_S32, OFS(ot_isp_color_matrix_attr, manual_attr.sat_en), - 1, 0, 1, F_MAN }, + 1, 0, 1, F_MANUAL }, { "manual.ccm", FT_U16, OFS(ot_isp_color_matrix_attr, manual_attr.ccm), - OT_ISP_CCM_MATRIX_SIZE, 0, 65535, F_MAN }, + OT_ISP_CCM_MATRIX_SIZE, 0, 65535, F_MANUAL }, /* cv610_pipeline.c's enable_sensor_ccm() clears both of these so the * auto CCM never bypasses; they are surfaced to make that visible. */ { "auto.iso_act_en", FT_S32, OFS(ot_isp_color_matrix_attr, auto_attr.iso_act_en), - 1, 0, 1, F_RO }, + 1, 0, 1, F_DIRECT }, { "auto.temp_act_en", FT_S32, OFS(ot_isp_color_matrix_attr, auto_attr.temp_act_en), - 1, 0, 1, F_RO }, + 1, 0, 1, F_DIRECT }, }; static const Cv610IqField f_wb[] = { - { "bypass", FT_S32, OFS(ot_isp_wb_attr, bypass), 1, 0, 1, F_RO }, - { "op_type", FT_S32, OFS(ot_isp_wb_attr, op_type), 1, 0, 1, F_RO }, + { "bypass", FT_S32, OFS(ot_isp_wb_attr, bypass), 1, 0, 1, F_DIRECT }, + { "op_type", FT_S32, OFS(ot_isp_wb_attr, op_type), 1, 0, 1, F_DIRECT }, { "manual.r_gain", FT_U16, OFS(ot_isp_wb_attr, manual_attr.r_gain), - 1, 0, 4095, F_MAN }, + 1, 0, 4095, F_MANUAL }, { "manual.gr_gain", FT_U16, OFS(ot_isp_wb_attr, manual_attr.gr_gain), - 1, 0, 4095, F_MAN }, + 1, 0, 4095, F_MANUAL }, { "manual.gb_gain", FT_U16, OFS(ot_isp_wb_attr, manual_attr.gb_gain), - 1, 0, 4095, F_MAN }, + 1, 0, 4095, F_MANUAL }, { "manual.b_gain", FT_U16, OFS(ot_isp_wb_attr, manual_attr.b_gain), - 1, 0, 4095, F_MAN }, + 1, 0, 4095, F_MANUAL }, }; static const Cv610IqField f_sharpen[] = { { "enable", FT_S32, OFS(ot_isp_sharpen_attr, enable), - 1, 0, 1, F_RO }, + 1, 0, 1, F_DIRECT }, { "op_type", FT_S32, OFS(ot_isp_sharpen_attr, op_type), - 1, 0, 1, F_RO }, + 1, 0, 1, F_DIRECT }, { "manual.texture_strength", FT_U16, OFS(ot_isp_sharpen_attr, manual_attr.texture_strength), - OT_ISP_SHARPEN_GAIN_NUM, 0, 4095, F_MAN }, + OT_ISP_SHARPEN_GAIN_NUM, 0, 4095, F_MANUAL }, { "manual.edge_strength", FT_U16, OFS(ot_isp_sharpen_attr, manual_attr.edge_strength), - OT_ISP_SHARPEN_GAIN_NUM, 0, 4095, F_MAN }, + OT_ISP_SHARPEN_GAIN_NUM, 0, 4095, F_MANUAL }, { "manual.texture_freq", FT_U16, OFS(ot_isp_sharpen_attr, manual_attr.texture_freq), - 1, 0, 4095, F_MAN }, + 1, 0, 4095, F_MANUAL }, { "manual.edge_freq", FT_U16, OFS(ot_isp_sharpen_attr, manual_attr.edge_freq), - 1, 0, 4095, F_MAN }, + 1, 0, 4095, F_MANUAL }, { "manual.over_shoot", FT_U8, OFS(ot_isp_sharpen_attr, manual_attr.over_shoot), - 1, 0, 127, F_MAN }, + 1, 0, 127, F_MANUAL }, { "manual.under_shoot", FT_U8, OFS(ot_isp_sharpen_attr, manual_attr.under_shoot), - 1, 0, 127, F_MAN }, + 1, 0, 127, F_MANUAL }, { "manual.shoot_sup_strength", FT_U8, OFS(ot_isp_sharpen_attr, manual_attr.shoot_sup_strength), - 1, 0, 255, F_MAN }, + 1, 0, 255, F_MANUAL }, { "manual.detail_ctrl", FT_U8, OFS(ot_isp_sharpen_attr, manual_attr.detail_ctrl), - 1, 0, 255, F_MAN }, + 1, 0, 255, F_MANUAL }, { "manual.edge_filt_strength", FT_U8, OFS(ot_isp_sharpen_attr, manual_attr.edge_filt_strength), - 1, 0, 63, F_MAN }, + 1, 0, 63, F_MANUAL }, { "manual.max_sharp_gain", FT_U16, OFS(ot_isp_sharpen_attr, manual_attr.max_sharp_gain), - 1, 0, 2047, F_MAN }, + 1, 0, 2047, F_MANUAL }, { "manual.luma_wgt", FT_U8, OFS(ot_isp_sharpen_attr, manual_attr.luma_wgt), - OT_ISP_SHARPEN_LUMA_NUM, 0, 31, F_MAN }, + OT_ISP_SHARPEN_LUMA_NUM, 0, 31, F_MANUAL }, }; /* Bayer NR. Only the switches are exposed: the strength LUTs are the * sc450ai-derived tables PR #229 borrowed, and re-tuning those is a * calibration exercise, not a slider. */ static const Cv610IqField f_nr[] = { - { "enable", FT_S32, OFS(ot_isp_nr_attr, enable), 1, 0, 1, F_RO }, - { "op_type", FT_S32, OFS(ot_isp_nr_attr, op_type), 1, 0, 1, F_RO }, + { "enable", FT_S32, OFS(ot_isp_nr_attr, enable), 1, 0, 1, F_DIRECT }, + { "op_type", FT_S32, OFS(ot_isp_nr_attr, op_type), 1, 0, 1, F_DIRECT }, }; static const Cv610IqField f_drc[] = { - { "enable", FT_S32, OFS(ot_isp_drc_attr, enable), 1, 0, 1, F_RO }, - { "op_type", FT_S32, OFS(ot_isp_drc_attr, op_type), 1, 0, 1, F_RO }, + { "enable", FT_S32, OFS(ot_isp_drc_attr, enable), 1, 0, 1, F_DIRECT }, + { "op_type", FT_S32, OFS(ot_isp_drc_attr, op_type), 1, 0, 1, F_DIRECT }, { "manual.strength", FT_U16, OFS(ot_isp_drc_attr, manual_attr.strength), - 1, 0, 1023, F_MAN }, + 1, 0, 1023, F_MANUAL }, { "auto.strength", FT_U16, OFS(ot_isp_drc_attr, auto_attr.strength), - 1, 0, 1023, F_RO }, + 1, 0, 1023, F_DIRECT }, { "auto.strength_max", FT_U16, OFS(ot_isp_drc_attr, auto_attr.strength_max), - 1, 0, 1023, F_RO }, + 1, 0, 1023, F_DIRECT }, { "auto.strength_min", FT_U16, OFS(ot_isp_drc_attr, auto_attr.strength_min), - 1, 0, 1023, F_RO }, + 1, 0, 1023, F_DIRECT }, { "contrast_ctrl", FT_U8, OFS(ot_isp_drc_attr, contrast_ctrl), - 1, 0, 15, F_RO }, + 1, 0, 15, F_DIRECT }, { "detail_adjust_coef", FT_U8, OFS(ot_isp_drc_attr, detail_adjust_coef), - 1, 0, 15, F_RO }, + 1, 0, 15, F_DIRECT }, { "bright_gain_limit", FT_U8, OFS(ot_isp_drc_attr, bright_gain_limit), - 1, 0, 15, F_RO }, + 1, 0, 15, F_DIRECT }, { "dark_gain_limit_luma", FT_U8, OFS(ot_isp_drc_attr, dark_gain_limit_luma), - 1, 0, 133, F_RO }, + 1, 0, 133, F_DIRECT }, }; static const Cv610IqField f_ldci[] = { - { "enable", FT_S32, OFS(ot_isp_ldci_attr, enable), 1, 0, 1, F_RO }, - { "op_type", FT_S32, OFS(ot_isp_ldci_attr, op_type), 1, 0, 1, F_RO }, + { "enable", FT_S32, OFS(ot_isp_ldci_attr, enable), 1, 0, 1, F_DIRECT }, + { "op_type", FT_S32, OFS(ot_isp_ldci_attr, op_type), 1, 0, 1, F_DIRECT }, { "gauss_lpf_sigma", FT_U8, OFS(ot_isp_ldci_attr, gauss_lpf_sigma), - 1, 1, 255, F_RO }, + 1, 1, 255, F_DIRECT }, { "manual.blc_ctrl", FT_U16, OFS(ot_isp_ldci_attr, manual_attr.blc_ctrl), - 1, 0, 511, F_MAN }, + 1, 0, 511, F_MANUAL }, { "tpr_incr_coef", FT_U16, OFS(ot_isp_ldci_attr, tpr_incr_coef), - 1, 0, 256, F_RO }, + 1, 0, 256, F_DIRECT }, { "tpr_decr_coef", FT_U16, OFS(ot_isp_ldci_attr, tpr_decr_coef), - 1, 0, 256, F_RO }, + 1, 0, 256, F_DIRECT }, }; static const Cv610IqField f_dehaze[] = { - { "enable", FT_S32, OFS(ot_isp_dehaze_attr, enable), 1, 0, 1, F_RO }, - { "op_type", FT_S32, OFS(ot_isp_dehaze_attr, op_type), 1, 0, 1, F_RO }, + { "enable", FT_S32, OFS(ot_isp_dehaze_attr, enable), 1, 0, 1, F_DIRECT }, + { "op_type", FT_S32, OFS(ot_isp_dehaze_attr, op_type), 1, 0, 1, F_DIRECT }, { "manual.strength", FT_U8, OFS(ot_isp_dehaze_attr, manual_attr.strength), - 1, 0, 255, F_MAN }, + 1, 0, 255, F_MANUAL }, { "auto.strength", FT_U8, OFS(ot_isp_dehaze_attr, auto_attr.strength), - 1, 0, 255, F_RO }, + 1, 0, 255, F_DIRECT }, }; static const Cv610IqField f_ca[] = { - { "enable", FT_S32, OFS(ot_isp_ca_attr, enable), 1, 0, 1, F_RO }, + { "enable", FT_S32, OFS(ot_isp_ca_attr, enable), 1, 0, 1, F_DIRECT }, }; #undef OFS -#define GROUP(n, t, ops) \ - { #n, iq_get_##n, iq_set_##n, sizeof(t), ops, f_##n, \ +#define GROUP(n, ops) \ + { #n, iq_get_##n, iq_set_##n, ops, f_##n, \ (uint16_t)(sizeof(f_##n) / sizeof(f_##n[0])) } static const Cv610IqGroup g_groups[] = { - GROUP(saturation, ot_isp_saturation_attr, + GROUP(saturation, (int32_t)offsetof(ot_isp_saturation_attr, op_type)), - GROUP(color_tone, ot_isp_color_tone_attr, -1), - GROUP(csc, ot_isp_csc_attr, -1), - GROUP(ccm, ot_isp_color_matrix_attr, + GROUP(color_tone, -1), + GROUP(csc, -1), + GROUP(ccm, (int32_t)offsetof(ot_isp_color_matrix_attr, op_type)), - GROUP(wb, ot_isp_wb_attr, + GROUP(wb, (int32_t)offsetof(ot_isp_wb_attr, op_type)), - GROUP(sharpen, ot_isp_sharpen_attr, + GROUP(sharpen, (int32_t)offsetof(ot_isp_sharpen_attr, op_type)), - GROUP(nr, ot_isp_nr_attr, + GROUP(nr, (int32_t)offsetof(ot_isp_nr_attr, op_type)), - GROUP(drc, ot_isp_drc_attr, + GROUP(drc, (int32_t)offsetof(ot_isp_drc_attr, op_type)), - GROUP(ldci, ot_isp_ldci_attr, + GROUP(ldci, (int32_t)offsetof(ot_isp_ldci_attr, op_type)), - GROUP(dehaze, ot_isp_dehaze_attr, + GROUP(dehaze, (int32_t)offsetof(ot_isp_dehaze_attr, op_type)), - GROUP(ca, ot_isp_ca_attr, -1), + GROUP(ca, -1), }; #undef GROUP @@ -320,10 +319,8 @@ static Cv610IqAttr g_attr; static size_t field_elem_size(Cv610IqType t) { switch (t) { - case FT_U8: - case FT_S8: return 1; - case FT_U16: - case FT_S16: return 2; + case FT_U8: return 1; + case FT_U16: return 2; case FT_S32: return 4; } return 4; @@ -336,9 +333,7 @@ static int32_t field_read(const void *attr, const Cv610IqField *f, uint16_t idx) switch (f->type) { case FT_U8: return (int32_t)*p; - case FT_S8: return (int32_t)*(const int8_t *)p; case FT_U16: { uint16_t v; memcpy(&v, p, sizeof(v)); return (int32_t)v; } - case FT_S16: { int16_t v; memcpy(&v, p, sizeof(v)); return (int32_t)v; } case FT_S32: { int32_t v; memcpy(&v, p, sizeof(v)); return v; } } return 0; @@ -355,9 +350,7 @@ static void field_write(void *attr, const Cv610IqField *f, uint16_t idx, int32_t switch (f->type) { case FT_U8: *p = (uint8_t)val; return; - case FT_S8: *(int8_t *)p = (int8_t)val; return; case FT_U16: { uint16_t v = (uint16_t)val; memcpy(p, &v, sizeof(v)); return; } - case FT_S16: { int16_t v = (int16_t)val; memcpy(p, &v, sizeof(v)); return; } case FT_S32: { int32_t v = val; memcpy(p, &v, sizeof(v)); return; } } } @@ -488,8 +481,21 @@ char *cv610_iq_query(void) JSON_PUT(buf, pos, sizeof(buf), ","); pos = emit_module_ctrl(buf, sizeof(buf), pos); + /* /api/v1/iq/import has no cv610 implementation, so the WebUI must not + * offer the control. Say so rather than let the page infer it. */ + JSON_PUT(buf, pos, sizeof(buf), ",\"_caps\":{\"import\":false}"); JSON_PUT(buf, pos, sizeof(buf), "}}"); + /* JSON_PUT clamps at the buffer end, so an overflow would serve + * syntactically broken JSON and the page would fail to parse it with no + * clue why. Fail the request instead; the caller answers 500. */ + if (pos >= (int)sizeof(buf) - 1) { + fprintf(stderr, "[cv610-iq] query truncated at %d bytes; " + "grow buf[] past %zu\n", pos, sizeof(buf)); + pthread_mutex_unlock(&g_iq_mutex); + return NULL; + } + result = strdup(buf); pthread_mutex_unlock(&g_iq_mutex); return result; @@ -603,10 +609,10 @@ int cv610_iq_set(const char *param, const char *value) field_write(&g_attr, field, 0, v); } else { const char *p = value; + const char *end = value; uint16_t n = 0; while (n < field->count) { int32_t v; - const char *end; if (parse_i32(p, &end, &v) != 0) break; field_write(&g_attr, field, n, v); @@ -615,11 +621,13 @@ int cv610_iq_set(const char *param, const char *value) break; p = end + 1; } - /* A short list would leave the tail at whatever the ISP held, - * which reads as a partly-applied curve. Require all of it. */ - if (n != field->count) { - fprintf(stderr, "[cv610-iq] %s: expected %u values, got %u\n", - param, (unsigned)field->count, (unsigned)n); + /* Require exactly the declared count, in both directions. A short + * list leaves the tail at whatever the ISP held; a long one drops + * its excess. Either way the curve applied is not the curve asked + * for, and a partly-applied curve reads as a successful set. */ + if (n != field->count || *end != '\0') { + fprintf(stderr, "[cv610-iq] %s: expected exactly %u values\n", + param, (unsigned)field->count); goto out; } } diff --git a/src/venc_webui.c b/src/venc_webui.c index 3903ff95..4de56e25 100644 --- a/src/venc_webui.c +++ b/src/venc_webui.c @@ -6,1479 +6,1491 @@ #include static const unsigned char dashboard_gz[] = { - 0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0xed, 0xbd, 0xdb, 0x7a, 0xe3, 0x48, - 0x72, 0x2e, 0x7a, 0x5f, 0x4f, 0x91, 0xad, 0x9e, 0x19, 0x92, 0x23, 0xf0, 0xa4, 0x53, 0x55, 0x91, - 0x25, 0x95, 0xeb, 0xd4, 0xdd, 0xb2, 0xeb, 0xd4, 0x92, 0x6a, 0xc6, 0xfe, 0x6a, 0xea, 0x53, 0x83, - 0x24, 0x28, 0xa2, 0x05, 0x02, 0x2c, 0x00, 0xd4, 0xa1, 0xd5, 0x5a, 0x9f, 0xaf, 0xd6, 0x03, 0xac, - 0xbd, 0xbe, 0xbd, 0xdf, 0x60, 0x5f, 0xaf, 0x9b, 0x7d, 0xb7, 0xaf, 0xbc, 0xdf, 0xc4, 0x4f, 0xb2, - 0xe3, 0x8f, 0xc8, 0x04, 0x12, 0x20, 0x48, 0x4a, 0xd5, 0xd5, 0xb6, 0x97, 0x3f, 0x8f, 0xdd, 0x25, - 0x02, 0xc8, 0x8c, 0xcc, 0x8c, 0x8c, 0x8c, 0x8c, 0x53, 0x46, 0x3e, 0xf9, 0xe6, 0xe5, 0xbb, 0x17, - 0x27, 0xff, 0xf4, 0xfe, 0x95, 0x9a, 0xa4, 0xd3, 0xe0, 0xe0, 0xc1, 0x83, 0x27, 0xf8, 0xab, 0x02, - 0x37, 0x3c, 0xdb, 0xdf, 0xf0, 0xc2, 0x0d, 0x7e, 0xe3, 0xb9, 0x23, 0xfc, 0x9d, 0x7a, 0xa9, 0xab, - 0x86, 0x13, 0x37, 0x4e, 0xbc, 0x74, 0x7f, 0xe3, 0xc3, 0xc9, 0x77, 0xcd, 0x47, 0x1b, 0xd9, 0xfb, - 0xd0, 0x9d, 0x7a, 0xfb, 0x1b, 0x17, 0xbe, 0x77, 0x39, 0x8b, 0xe2, 0x74, 0x43, 0x0d, 0xa3, 0x30, - 0xf5, 0x42, 0x2a, 0x77, 0xe9, 0x8f, 0xd2, 0xc9, 0xfe, 0xc8, 0xbb, 0xf0, 0x87, 0x5e, 0x93, 0x1f, - 0x1c, 0xe5, 0x87, 0x7e, 0xea, 0xbb, 0x41, 0x33, 0x19, 0xba, 0x81, 0xb7, 0xdf, 0x6d, 0x75, 0x18, - 0x4e, 0xea, 0xa7, 0x81, 0x77, 0x70, 0xe9, 0x5e, 0x0f, 0x3c, 0x77, 0x7a, 0x7a, 0xe1, 0x85, 0xc3, - 0x27, 0x6d, 0x79, 0x47, 0x1f, 0x93, 0xf4, 0x9a, 0x7f, 0xfc, 0x9d, 0x3f, 0x45, 0x03, 0x6a, 0x1e, - 0x07, 0xf5, 0xda, 0x24, 0x4d, 0x67, 0x49, 0xaf, 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API Reference
-
Image Quality
+ +
Recordings
@@ -514,7 +516,7 @@

Quer
- +
@@ -1712,6 +1714,11 @@

${sec.title}

\u25BC
Date: Sun, 16 Aug 2026 21:02:48 +0200 Subject: [PATCH 18/45] docs: correct the 0.65.5 verification note for the review fixes --- HISTORY.md | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/HISTORY.md b/HISTORY.md index 824e03b0..58886365 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -34,13 +34,18 @@ change; `/api/v1/iq` and `/api/v1/iq/set` are existing routes that answered the value the ISP kept, which differs from the request when clamped. Verified on the `.181` bench, cold-booted onto the shipped build -(`md5 96eecf68…`, `/proc/PID/exe` confirmed not `(deleted)`): all 11 groups +(`md5 dda3bec7…`, `/proc/PID/exe` confirmed not `(deleted)`): all 11 groups return `ret=0`; a mutation sweep wrote and read back one field per group with 11/11 agreeing and the device diffing clean against its boot state afterwards; saturation 60 → 220 → 60 moved mean chroma 4.84 → 22.95 → 4.81, the repeat of the first arm landing within 0.6% so the change is the knob and not the scene; -short arrays and unknown names are rejected; encoder rate stayed nominal at -100.13 fps with `pressureDrops` frozen at 0. +arrays of the wrong length in either direction and unknown names are +rejected; encoder rate stayed nominal at 100.10 fps with `pressureDrops` +frozen at 0. + +`_caps.import` is advertised as false because `handle_iq_import()` is compiled +only for Star6E and Maruko; the WebUI hides the control rather than offer a +button that 501s. ## [0.65.4] - 2026-08-16 From 8f4abba4eafcf8c98cc375dd40c7da2ad6a81228 Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 21:28:17 +0200 Subject: [PATCH 19/45] fix(iq): repair star6e/maruko regressions and reject out-of-range values MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Four independent reviewers went over this branch. Their findings, fixed here. **star6e/maruko regression — boolean prefill.** Those backends emit a real JSON boolean for bool-only params (star6e_iq.c:449-453), so the new prefill put "true" in the value box — which handle_iq_set's numeric validator rejects. 14 chips were reachable in that state, and the clamp-detector then labelled it "(clamped)". Booleans normalise to 1/0. Before this branch the box was empty, so this was introduced here. **star6e/maruko regression — an ISP sweep on every page load.** The capability probe hit /api/v1/iq at init on every backend; on star6e that is 62 dlopen'd ISP getters serialized on the single httpd thread, to decide whether to draw a tab. Route availability now comes from /api/v1/capabilities, which init() already fetches, and the IQ payload loads on entry to the tab instead. That also drops cv610's bespoke `_caps` block — one fact, one place — and fixes prefill staleness, since the payload is re-read each time the tab is opened. **Fail-closed tab.** Hiding by default (my own earlier fix for a tab that flashed) meant any init failure, or a star6e whose libmi_isp.so is missing, latched the tab off with no message and no retry. Capability drives visibility; a failed load now reports the reason in the tab body. **Out-of-range values were clamped, not rejected**, while the HTTP layer echoes the request back — so both the response and the log recorded a value that was never applied. Rejecting instead makes the echoed value true by construction, without touching the shared handler's contract. **parse_i32's overflow guard was dead code.** `v < INT32_MIN || v > INT32_MAX` on ARM EABI, where long is 32-bit, is `long < LONG_MIN || long > LONG_MAX` — a tautology the compiler folds away. A saturated strtol result passed straight through. Now checks errno == ERANGE, with the range test kept only where long is actually wider. **forces_manual was one-directional.** Writing a manual field selects manual mode, but nothing selected auto — so after any manual write, restoring an ISO curve stored the numbers, read them back, and changed nothing: the same "looks like a broken setter" trap the flag existed to prevent, in the other direction. Two reviewers found this independently. Replaced by a domain (direct/manual/auto); a write selects the domain it belongs to. The schema reports the domain and the WebUI marks both kinds. Also: URL-encode the value (an unencoded '&' silently truncated the request and was then mislabelled as a clamp), guard a malformed schema group instead of blanking the tab, catch the async rejection, and correct a mutex comment that implied the lock serialized MPI calls when it guards only the scratch buffers. lint clean on cv610/star6e/maruko; verify green. --- src/cv610_iq.c | 96 +- src/venc_api.c | 14 + src/venc_webui.c | 3009 ++++++++++++++++++++++---------------------- web/dashboard.html | 74 +- 4 files changed, 1653 insertions(+), 1540 deletions(-) diff --git a/src/cv610_iq.c b/src/cv610_iq.c index 47e18ccb..3b0dddcc 100644 --- a/src/cv610_iq.c +++ b/src/cv610_iq.c @@ -17,12 +17,17 @@ * second copy of it. * * Ranges in the field table are the "Range:" comments from the SDK's - * ot_common_isp.h. Values are clamped to them before the write. + * ot_common_isp.h. A value outside its range is REJECTED, not clamped: the + * HTTP layer echoes the requested value back, so silently substituting a + * different one would make both the response and the log a record of + * something that never happened. */ #include "cv610_iq.h" #include "cv610_pipeline.h" +#include +#include #include #include #include @@ -58,10 +63,11 @@ typedef struct { uint16_t count; /* 1 = scalar, N = array */ int32_t min; int32_t max; - /* Writing a manual_attr field while the block runs its auto curve has - * no visible effect, which reads exactly like a broken setter. Fields - * marked here force the group's op_type to manual on write. */ - uint8_t forces_manual; + /* Which half of the block this value lives in. A manual_attr value is + * ignored while the block runs its auto curve and vice versa, and an + * ignored write reads exactly like a broken setter — so a write to a + * domain also selects it. F_DIRECT fields sit outside both halves. */ + uint8_t domain; } Cv610IqField; typedef struct { @@ -73,10 +79,11 @@ typedef struct { uint16_t field_count; } Cv610IqGroup; -/* forces_manual values. Every field here is writable; these say only whether - * the write also has to switch the block out of its auto curve. */ -#define F_DIRECT 0 -#define F_MANUAL 1 +/* domain values. Every field here is writable; these say only which op_type + * the value is read under, and therefore which one a write must select. */ +#define F_DIRECT 0 /* outside manual_attr/auto_attr; op_type irrelevant */ +#define F_MANUAL 1 /* under manual_attr; a write selects op_type = manual */ +#define F_AUTO 2 /* under auto_attr; a write selects op_type = auto */ /* ── MPI wrappers ─────────────────────────────────────────────────────── * Typed one-liners rather than casting function pointers: converting a @@ -128,7 +135,7 @@ static const Cv610IqField f_saturation[] = { /* Indexed by AGC bucket; 128 == nominal. This is the curve the sensor * plugin's g_imx662_awb_agc_table seeds. */ { "auto.sat", FT_U8, OFS(ot_isp_saturation_attr, auto_attr.sat), - OT_ISP_AUTO_ISO_NUM, 0, 255, F_DIRECT }, + OT_ISP_AUTO_ISO_NUM, 0, 255, F_AUTO }, }; static const Cv610IqField f_color_tone[] = { @@ -160,9 +167,9 @@ static const Cv610IqField f_ccm[] = { /* cv610_pipeline.c's enable_sensor_ccm() clears both of these so the * auto CCM never bypasses; they are surfaced to make that visible. */ { "auto.iso_act_en", FT_S32, OFS(ot_isp_color_matrix_attr, auto_attr.iso_act_en), - 1, 0, 1, F_DIRECT }, + 1, 0, 1, F_AUTO }, { "auto.temp_act_en", FT_S32, OFS(ot_isp_color_matrix_attr, auto_attr.temp_act_en), - 1, 0, 1, F_DIRECT }, + 1, 0, 1, F_AUTO }, }; static const Cv610IqField f_wb[] = { @@ -221,11 +228,11 @@ static const Cv610IqField f_drc[] = { { "manual.strength", FT_U16, OFS(ot_isp_drc_attr, manual_attr.strength), 1, 0, 1023, F_MANUAL }, { "auto.strength", FT_U16, OFS(ot_isp_drc_attr, auto_attr.strength), - 1, 0, 1023, F_DIRECT }, + 1, 0, 1023, F_AUTO }, { "auto.strength_max", FT_U16, OFS(ot_isp_drc_attr, auto_attr.strength_max), - 1, 0, 1023, F_DIRECT }, + 1, 0, 1023, F_AUTO }, { "auto.strength_min", FT_U16, OFS(ot_isp_drc_attr, auto_attr.strength_min), - 1, 0, 1023, F_DIRECT }, + 1, 0, 1023, F_AUTO }, { "contrast_ctrl", FT_U8, OFS(ot_isp_drc_attr, contrast_ctrl), 1, 0, 15, F_DIRECT }, { "detail_adjust_coef", FT_U8, OFS(ot_isp_drc_attr, detail_adjust_coef), @@ -255,7 +262,7 @@ static const Cv610IqField f_dehaze[] = { { "manual.strength", FT_U8, OFS(ot_isp_dehaze_attr, manual_attr.strength), 1, 0, 255, F_MANUAL }, { "auto.strength", FT_U8, OFS(ot_isp_dehaze_attr, auto_attr.strength), - 1, 0, 255, F_DIRECT }, + 1, 0, 255, F_AUTO }, }; static const Cv610IqField f_ca[] = { @@ -309,8 +316,10 @@ typedef union { ot_isp_ca_attr ca; } Cv610IqAttr; -/* The scratch attribute is shared by query and set; both run on the httpd - * thread today, but the ISP thread is a second writer of the same MPI. */ +/* Guards the shared scratch attribute and the static emit buffer below — + * nothing more. It does NOT serialize the ss_mpi_isp_* calls themselves: + * cv610_pipeline.c's ISP thread never takes this lock, and MPI-level + * serialization is the SDK's own responsibility. */ static pthread_mutex_t g_iq_mutex = PTHREAD_MUTEX_INITIALIZER; static Cv610IqAttr g_attr; @@ -339,15 +348,12 @@ static int32_t field_read(const void *attr, const Cv610IqField *f, uint16_t idx) return 0; } +/* Callers must range-check first; cv610_iq_set() is the only caller and + * rejects out-of-range values rather than silently substituting one. */ static void field_write(void *attr, const Cv610IqField *f, uint16_t idx, int32_t val) { uint8_t *p = (uint8_t *)attr + f->offset + idx * field_elem_size(f->type); - if (val < f->min) - val = f->min; - if (val > f->max) - val = f->max; - switch (f->type) { case FT_U8: *p = (uint8_t)val; return; case FT_U16: { uint16_t v = (uint16_t)val; memcpy(p, &v, sizeof(v)); return; } @@ -398,10 +404,11 @@ static int emit_schema(char *buf, size_t sz, int pos) const Cv610IqField *fd = &g->fields[f]; JSON_PUT(buf, pos, sz, "%s{\"name\":\"%s\",\"count\":%u," - "\"min\":%d,\"max\":%d,\"forces_manual\":%s}", + "\"min\":%d,\"max\":%d,\"domain\":\"%s\"}", f ? "," : "", fd->name, (unsigned)fd->count, fd->min, fd->max, - fd->forces_manual ? "true" : "false"); + fd->domain == F_MANUAL ? "manual" : + fd->domain == F_AUTO ? "auto" : "direct"); } JSON_PUT(buf, pos, sz, "]}"); } @@ -481,9 +488,6 @@ char *cv610_iq_query(void) JSON_PUT(buf, pos, sizeof(buf), ","); pos = emit_module_ctrl(buf, sizeof(buf), pos); - /* /api/v1/iq/import has no cv610 implementation, so the WebUI must not - * offer the control. Say so rather than let the page infer it. */ - JSON_PUT(buf, pos, sizeof(buf), ",\"_caps\":{\"import\":false}"); JSON_PUT(buf, pos, sizeof(buf), "}}"); /* JSON_PUT clamps at the buffer end, so an overflow would serve @@ -504,7 +508,12 @@ char *cv610_iq_query(void) /* ── Set ────────────────────────────────────────────────────────────────── */ /* strtol with the whole-token check the caller needs: "12abc" and "" are - * rejected rather than silently read as 12 and 0. */ + * rejected rather than silently read as 12 and 0. + * + * The overflow check has to be errno, not a range comparison: this target is + * ARM EABI where long is 32 bits, so `v < INT32_MIN || v > INT32_MAX` is + * `long < LONG_MIN || long > LONG_MAX` — a tautology the compiler folds away, + * letting a saturated LONG_MAX through as a valid value. */ static int parse_i32(const char *s, const char **end, int32_t *out) { char *stop = NULL; @@ -514,11 +523,16 @@ static int parse_i32(const char *s, const char **end, int32_t *out) s++; if (*s == '\0') return -1; + errno = 0; v = strtol(s, &stop, 10); if (stop == s) return -1; + if (errno == ERANGE) + return -1; +#if LONG_MAX > INT32_MAX if (v < INT32_MIN || v > INT32_MAX) return -1; +#endif while (*stop == ' ') stop++; if (*stop != '\0' && *stop != ',') @@ -606,6 +620,11 @@ int cv610_iq_set(const char *param, const char *value) param); goto out; } + if (v < field->min || v > field->max) { + fprintf(stderr, "[cv610-iq] %s: %d out of range [%d, %d]\n", + param, v, field->min, field->max); + goto out; + } field_write(&g_attr, field, 0, v); } else { const char *p = value; @@ -615,6 +634,13 @@ int cv610_iq_set(const char *param, const char *value) int32_t v; if (parse_i32(p, &end, &v) != 0) break; + if (v < field->min || v > field->max) { + fprintf(stderr, + "[cv610-iq] %s: element %u = %d out of range " + "[%d, %d]\n", + param, (unsigned)n, v, field->min, field->max); + goto out; + } field_write(&g_attr, field, n, v); n++; if (*end != ',') @@ -632,11 +658,15 @@ int cv610_iq_set(const char *param, const char *value) } } - /* Manual fields are inert while the block runs its auto curve. */ - if (field->forces_manual && group->op_type_offset >= 0) { - int32_t manual = OT_OP_MODE_MANUAL; + /* A value is inert unless the block is running the domain it lives in, + * so writing one selects that domain. One rule, both directions: + * without the auto half, restoring an ISO curve after any manual write + * stores the numbers, reads them back, and changes nothing. */ + if (field->domain != F_DIRECT && group->op_type_offset >= 0) { + int32_t mode = (field->domain == F_MANUAL) ? + OT_OP_MODE_MANUAL : OT_OP_MODE_AUTO; memcpy((uint8_t *)&g_attr + group->op_type_offset, - &manual, sizeof(manual)); + &mode, sizeof(mode)); } ret = group->set(&g_attr); diff --git a/src/venc_api.c b/src/venc_api.c index ae55dee3..fff2930d 100644 --- a/src/venc_api.c +++ b/src/venc_api.c @@ -2963,6 +2963,20 @@ static int handle_capabilities(int fd, const HttpRequest *req, void *ctx) cJSON *root = cJSON_CreateObject(); cJSON_AddBoolToObject(root, "ok", 1); cJSON *data = cJSON_AddObjectToObject(root, "data"); + + /* Which optional routes this backend actually services. The dashboard + * already fetches this at init, so it can decide whether to show the IQ + * tab from a pointer test here instead of firing a full ISP sweep at + * /api/v1/iq on every page load just to find out. */ + cJSON *routes = cJSON_AddObjectToObject(data, "routes"); + cJSON_AddBoolToObject(routes, "iq", + (g_cb && g_cb->query_iq_info) ? 1 : 0); +#if HAVE_BACKEND_STAR6E || HAVE_BACKEND_MARUKO + cJSON_AddBoolToObject(routes, "iq_import", 1); +#else + cJSON_AddBoolToObject(routes, "iq_import", 0); +#endif + cJSON *fields = cJSON_AddObjectToObject(data, "fields"); for (size_t i = 0; i < FIELD_COUNT; i++) { cJSON *entry = cJSON_AddObjectToObject(fields, g_fields[i].key); diff --git a/src/venc_webui.c b/src/venc_webui.c index 4de56e25..760c8d23 100644 --- a/src/venc_webui.c +++ b/src/venc_webui.c @@ -6,1491 +6,1530 @@ #include static const unsigned char dashboard_gz[] = { - 0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0xed, 0xbd, 0xdb, 0x7a, 0xdb, 0x48, - 0x96, 0x2e, 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0xf0, 0xa1, 0x46, 0xdd, 0x62, + 0x8b, 0xb3, 0xa4, 0xbe, 0xf2, 0xac, 0xe7, 0x78, 0x56, 0xfb, 0x58, 0x91, 0x50, 0x7d, 0xb0, 0x42, + 0xd5, 0x08, 0x47, 0x6e, 0x52, 0x78, 0x42, 0x34, 0x6d, 0xbe, 0x83, 0x85, 0x6c, 0x9f, 0xf4, 0x8a, + 0x4f, 0x7a, 0xb0, 0x18, 0xf3, 0x3b, 0xe7, 0x81, 0x59, 0x74, 0x98, 0x3d, 0xbf, 0x01, 0x52, 0x2c, + 0xb5, 0x9c, 0xfb, 0x8e, 0x31, 0x65, 0x56, 0xb3, 0x9d, 0xb7, 0xfa, 0x76, 0x19, 0xdf, 0x92, 0x9d, + 0x56, 0xcb, 0xd0, 0xfa, 0x81, 0x6d, 0x82, 0xee, 0x23, 0xd2, 0x87, 0x94, 0xcd, 0x28, 0x33, 0x96, + 0x56, 0xca, 0x85, 0x68, 0x63, 0x89, 0x46, 0xf5, 0xd9, 0xfe, 0x01, 0x32, 0x94, 0x8c, 0x88, 0x68, + 0xec, 0x02, 0x26, 0x61, 0xfe, 0x09, 0x7d, 0x62, 0xdb, 0x61, 0xb9, 0xb6, 0xce, 0x92, 0xa0, 0x3b, + 0x87, 0x16, 0xe0, 0x98, 0xe0, 0x8f, 0xf8, 0x12, 0xcc, 0xd4, 0x79, 0x30, 0x7e, 0xcb, 0xe5, 0x90, + 0x20, 0x36, 0x09, 0x7d, 0xa8, 0x35, 0xbb, 0xb5, 0x85, 0xd0, 0x9f, 0xe9, 0x2b, 0x73, 0xc5, 0xe6, + 0x0d, 0xbe, 0x6b, 0x1f, 0x9c, 0xfa, 0x59, 0x78, 0x7a, 0x46, 0xb4, 0xd6, 0xa8, 0xdd, 0xf6, 0x2b, + 0x28, 0x80, 0x33, 0x2b, 0xe7, 0xad, 0x56, 0xcc, 0x34, 0x4e, 0xff, 0xb4, 0x13, 0x86, 0xf6, 0x3a, + 0x71, 0x66, 0x77, 0x3a, 0x91, 0x8b, 0x80, 0xce, 0xdd, 0xb7, 0xd2, 0x15, 0xd9, 0x18, 0xa7, 0xac, + 0xb1, 0x03, 0x1f, 0xf5, 0x73, 0x71, 0x96, 0x9d, 0xb6, 0x2e, 0xc3, 0x11, 0xce, 0xb1, 0xae, 0xf0, + 0xfb, 0x8c, 0x5d, 0x7c, 0x36, 0x6b, 0x7f, 0x87, 0x87, 0xa9, 0x7f, 0x75, 0x32, 0x9e, 0xa5, 0x8d, + 0xaa, 0xf0, 0x1c, 0xb9, 0xdb, 0xd3, 0xb9, 0x38, 0x94, 0xe1, 0x5b, 0x77, 0x81, 0x56, 0x5c, 0x17, + 0xba, 0x6f, 0x7a, 0x53, 0x36, 0x76, 0x3c, 0x58, 0x91, 0x0d, 0x6b, 0xf1, 0x1c, 0x47, 0x0b, 0x1e, + 0xfa, 0x16, 0x3e, 0x4d, 0x46, 0x4f, 0x2c, 0x91, 0x43, 0x2f, 0x5d, 0xb9, 0x9d, 0xd4, 0xc0, 0x29, + 0xe5, 0x95, 0x2a, 0x32, 0x91, 0xe1, 0xa6, 0xf9, 0x84, 0xd4, 0x98, 0xba, 0x53, 0xc2, 0xce, 0x82, + 0xb5, 0x58, 0xcc, 0x24, 0x0c, 0xf5, 0x54, 0xb7, 0x22, 0x57, 0xd6, 0x83, 0xd5, 0x21, 0xc7, 0x15, + 0xe9, 0xac, 0x4b, 0x06, 0xdf, 0x15, 0x61, 0x22, 0x26, 0x59, 0x32, 0xfd, 0xbf, 0x88, 0xba, 0xf4, + 0xe2, 0x71, 0x5b, 0x52, 0x47, 0x1c, 0xe0, 0x27, 0xec, 0x25, 0xfc, 0x03, 0x31, 0x37, 0x07, 0x0f, + 0xfe, 0x7f, 0xef, 0xa8, 0x4b, 0x80, 0x6e, 0x4b, 0x01, 0x00, }; /* When present, this file replaces the built-in dashboard at runtime, so the diff --git a/web/dashboard.html b/web/dashboard.html index dde9faff..e57661cd 100644 --- a/web/dashboard.html +++ b/web/dashboard.html @@ -236,6 +236,7 @@ .iq-result pre{font-size:.75rem;color:var(--text);line-height:1.5;white-space:pre-wrap} +.iq-note{color:var(--text-dim);font-size:.8rem} .iq-set-form{display:flex;gap:.5rem;align-items:center;margin-bottom:1.5rem;flex-wrap:wrap} .iq-set-form input{max-width:180px} @@ -491,7 +492,7 @@

Dual-Stream

-
+
Direct access to the ISP's image-processing parameters. Values are read back from the ISP rather than cached, and changes take effect on the next frame without restarting the pipeline. @@ -508,7 +509,7 @@

Set Param

Parameter Categories

-

Click a parameter to select it for editing above.

+

Click a parameter to select it for editing above. * also selects op_type = manual; ° also selects op_type = auto.

@@ -793,6 +794,11 @@

Quer document.getElementById('tab-'+id).classList.add('active'); + /* The IQ payload is a live ISP read, so fetch it on entry rather than at + page load, and refresh it each time so prefills cannot go stale. */ + if(id === 'iq') renderIQCategories().catch(e => + toast('IQ load failed: ' + e.message, false)); + if(window._recPoll){ clearInterval(window._recPoll); window._recPoll = null; } if(id === 'recordings'){ refreshRecordings(); @@ -1662,14 +1668,17 @@

${sec.title}

\u25BC
(typeof v === 'boolean') ? (v ? '1' : '0') : String(v); if(dot < 0){ const p = IQ_LAST[param]; - return (p && p.value !== undefined) ? String(p.value) : ''; + return (p && p.value !== undefined) ? num(p.value) : ''; } const g = IQ_LAST[param.substring(0, dot)]; const v = g && g.fields ? g.fields[param.substring(dot+1)] : undefined; if(v === undefined) return ''; - return Array.isArray(v) ? v.join(',') : String(v); + return Array.isArray(v) ? v.map(num).join(',') : num(v); } /* Backends that describe their own knob set (cv610) drive the list from the @@ -1678,17 +1687,22 @@

${sec.title}

\u25BC
{ const param = g.name+'.'+f.name; const range = f.count > 1 ? (f.count+' values, '+f.min+'–'+f.max) : (f.min+'–'+f.max); - /* Writing these switches the block out of its auto curve; without the - hint a set that "does nothing" looks like a broken knob. */ - const hint = f.forces_manual ? ' — also sets op_type to manual' : ''; + /* A value is only read while the block runs the half it lives in, so a + write selects that half. Without the hint, a set that "does nothing" + looks like a broken knob. */ + const hint = f.domain === 'manual' ? ' — also selects op_type = manual' + : f.domain === 'auto' ? ' — also selects op_type = auto' + : ''; + const mark = f.domain === 'manual' ? '*' : f.domain === 'auto' ? '\u00B0' : ''; return ''+ - f.name+(f.forces_manual ? '*' : '')+' '; + f.name+mark+' '; }).join(''); sec.innerHTML = '
'+ '

'+g.name+'

'+g.fields.length+' fields'+ @@ -1698,27 +1712,43 @@

${sec.title}

\u25BC
${sec.title}

\u25BC
wb_para[5] = IMX662_AWB_C1; (td_void)memcpy_s(&awb_sns_dft->ccm, sizeof(awb_sns_dft->ccm), &g_imx662_awb_ccm, sizeof(g_imx662_awb_ccm)); - /* Without these the memset above leaves agc_tbl.valid = 0 and every - * saturation entry 0, so the ISP is never told what saturation to run. */ + /* Without the agc_tbl copy the memset above leaves agc_tbl.valid = 0 and + * every saturation entry 0, so the ISP is never told what saturation to + * run. The sector copy is seeded but inert: g_imx662_color_sector.valid + * is 0, so the ISP ignores the hue/sat shifts until that is raised. */ (td_void)memcpy_s(&awb_sns_dft->agc_tbl, sizeof(awb_sns_dft->agc_tbl), &g_imx662_awb_agc_table, sizeof(g_imx662_awb_agc_table)); (td_void)memcpy_s(&awb_sns_dft->sector, sizeof(awb_sns_dft->sector), diff --git a/sensors/cv610/imx662/imx662_sensor_ctl.c b/sensors/cv610/imx662/imx662_sensor_ctl.c index 726d293e..a29cb204 100644 --- a/sensors/cv610/imx662/imx662_sensor_ctl.c +++ b/sensors/cv610/imx662/imx662_sensor_ctl.c @@ -228,8 +228,14 @@ static td_s32 imx662_linear_1080p_init(ot_vi_pipe vi_pipe, td_u32 hmax, ret += imx662_write_register(vi_pipe, IMX662_REG_AD10_2, raw_10bit ? 0x19 : 0x00); /* --- black level --- */ + /* BLKLEVEL is [11:0] across 30DC/30DD, so 30DD's low nibble carries + * BLKLEVEL[11:8] and its top nibble is reserved with bit 6 documented + * "Fixed to 1h" (Sony's map gives 30DDh an initial value of 40h, and the + * register list's own changelog calls out "Revised: Initial value of + * fixed register (30DDh)"). 0x40 therefore keeps BLKLEVEL at 50 and + * stops clearing a fixed bit -- the black level itself does not move. */ ret += imx662_write_register(vi_pipe, IMX662_REG_BLKLEVEL_L, 0x32); /* 50 */ - ret += imx662_write_register(vi_pipe, IMX662_REG_BLKLEVEL_H, 0x00); + ret += imx662_write_register(vi_pipe, IMX662_REG_BLKLEVEL_H, 0x40); return ret; } From bb59831a17897862386421d68b45c9b938b0b945 Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 22:07:45 +0200 Subject: [PATCH 21/45] feat(cv610): fix low-light bitrate runaway, add QP bounds and AE ceilings Measured, not guessed: with the lights off a 9.26 Mbps CBR target produced 29-65 Mbps. A/B with interleaved controls priced every knob, and sharpening was 88% of it -- 65.4 -> 7.8 Mbps with it off, which is under target. The sc450ai-derived sharpen auto tables rise along the ISO axis (edge_strength 195 -> 500), sharpening harder the darker it gets. On a high-pass filter fed a noise-dominated frame that is a bitrate multiplier. Both tables are tapered along ISO only; daylight columns are byte-identical, verified by invariant. QP bounds are wired but are NOT the fix, and the log says why: the driver default was already min=10 max=51, the H.265 maximum. The rate controller had full authority the whole time. Worth having; cannot rescue this scene. AE gain ceilings are exposed as an `exposure` IQ group -- the bench runs a 12739x (~82 dB) system gain ceiling, previously a compile-time constant marked VERIFY and unreachable at runtime. Operator-confirmed on the live stream: dark room now holds target. Daylight unchanged at 10.09 Mbps / 100.20 fps. --- HISTORY.md | 59 ++++++++++ VERSION | 2 +- sensors/cv610/imx662/imx662_cmos_param.h | 140 ++++++++++++----------- src/cv610_iq.c | 118 +++++++++++++------ src/cv610_runtime.c | 71 ++++++++++++ src/venc_api.c | 4 + 6 files changed, 294 insertions(+), 100 deletions(-) diff --git a/HISTORY.md b/HISTORY.md index 58886365..13e66074 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -1,5 +1,64 @@ # History +## [0.65.6] - 2026-08-16 + +Low-light bitrate. On the `.181` bench with the room lights off, a 9.26 Mbps +CBR target produced 29-65 Mbps. In good light the same build holds target +(measured 9.98 vs 9.26), so this was specific to high sensor gain. + +- **The borrowed sharpen table was the cause — 88% of it.** Measured by + A/B with interleaved controls: turning sharpen off dropped the stream + 65.4 -> 7.8 Mbps, *below* the target. Pinning sharpen strength to a constant + gave 0 -> 11.8, 40 -> 36.5, 80 -> 62.7, 150 -> 91.5 Mbps. Nothing else came + close: saturation -7.3%, CSC satu -4.5%, CA +1.7%, LDCI +2.2% (inside drift, + no effect). Disabling bayer NR *raised* the bitrate 15.7%, so NR was already + earning its keep and is untouched. + + Sharpening is a high-pass filter, so at high gain it amplifies precisely the + noise that inter prediction cannot code. `g_cmos_yuv_sharpen` runs in AUTO, + and its sc450ai-derived `[32 gain][16 ISO]` tables *rise* along the ISO axis + — `texture_strength` to 310 where the low-ISO value is 216, `edge_strength` + 195 -> 500. They sharpen harder the darker it gets. Defensible for sc450ai's + noise model and NR softening; backwards on IMX662. + + Both tables are now tapered along ISO only, to 0 by bucket 9, with the rule + the original breaks: sharpening never increases with gain. Verified by four + invariants — ISO buckets 0-3 byte-identical, ISO 9-15 zero, monotonic + non-increasing from bucket 3, and no value anywhere raised. + +- **QP bounds are wired on CV610** (`apply_qp_bounds`, `video0.minQp/maxQp`, + live and at startup). The config fields, mutability and WebUI metadata + already existed; only the backend callback was missing. + + This is **not** the low-light fix, and the measurement says so: the driver + default is `min=10 max=51`, already the H.265 maximum. The rate controller + always had full authority and still emitted 29-65 Mbps, so QP saturation was + never the cause. At 100 fps even maximum-QP frames of a noise-dominated + image exceed 10 Mbps. The knob is worth having to *cap* quality or raise the + floor; it cannot rescue a scene the encoder is already coding as coarsely as + the standard allows. + +- **AE is exposed as an `exposure` IQ group** — the gain ceilings and exposure + window that decide how much noise is created in the first place. The bench + reports `a_gain_max` 407654 (398x, matching `IMX662_AGAIN_MAX`), + `ispd_gain_max` 32768 (32x) and `sys_gain_max` 13044928 — **12739x total, + about 82 dB**, which is why a dark room ends up as amplified noise. These + are now readable and settable at runtime instead of being a compile-time + constant marked `VERIFY`. + +- **Saturation tapers harder above daylight.** Chroma noise is the ugliest + high-gain artifact and colour is least trustworthy exactly where gain is + highest; dropping chroma measured -7.3%. The first four buckets are + unchanged, the top drops from 90 to 32. + +The IQ field table is now 64-bit internally: the AE gain and exposure fields +are `td_u32`, and a driver default of 0xFFFFFFFF would have read back as -1. + +Verified on `.181`: dark room holds target (operator-confirmed on the live +stream), daylight unchanged at 10.09 Mbps against 9.26 with the encoder +nominal at 100.20 fps, and `make verify` green with lint clean on all three +backends. + ## [0.65.5] - 2026-08-16 0.65.4 seeded the CV610 ISP well but froze every value into the sensor plugin, diff --git a/VERSION b/VERSION index 3ebbed33..fdf32f08 100644 --- a/VERSION +++ b/VERSION @@ -1 +1 @@ -0.65.5 +0.65.6 diff --git a/sensors/cv610/imx662/imx662_cmos_param.h b/sensors/cv610/imx662/imx662_cmos_param.h index c12276cd..731cfb29 100644 --- a/sensors/cv610/imx662/imx662_cmos_param.h +++ b/sensors/cv610/imx662/imx662_cmos_param.h @@ -1042,73 +1042,73 @@ static const ot_isp_sharpen_attr g_cmos_yuv_sharpen = { }, /* texture_strength[OT_ISP_SHARPEN_GAIN_NUM][OT_ISP_AUTO_ISO_NUM] */ { - { 153, 153, 160, 145, 130, 130, 130, 105, 105, 105, 105, 85, 85, 85, 85, 85 }, - { 172, 167, 190, 170, 145, 145, 145, 120, 120, 120, 120, 100, 100, 100, 100, 100 }, - { 186, 178, 220, 195, 165, 165, 160, 140, 140, 135, 135, 120, 120, 120, 120, 120 }, - { 201, 192, 255, 215, 180, 180, 175, 160, 160, 150, 150, 135, 135, 140, 140, 140 }, - { 217, 207, 275, 230, 200, 200, 185, 175, 175, 160, 160, 150, 150, 160, 160, 160 }, - { 233, 223, 285, 245, 210, 215, 200, 190, 190, 170, 170, 165, 165, 180, 180, 180 }, - { 251, 239, 280, 260, 225, 225, 215, 205, 205, 180, 180, 185, 185, 200, 200, 200 }, - { 269, 255, 275, 265, 240, 240, 230, 220, 220, 190, 190, 200, 200, 210, 210, 210 }, - { 286, 272, 270, 270, 250, 250, 240, 225, 225, 200, 200, 220, 220, 220, 220, 220 }, - { 300, 288, 265, 270, 250, 260, 245, 235, 235, 210, 210, 235, 235, 230, 230, 230 }, - { 308, 299, 260, 265, 250, 270, 255, 245, 245, 220, 220, 245, 245, 230, 230, 230 }, - { 312, 307, 260, 260, 250, 275, 260, 250, 250, 230, 230, 255, 255, 230, 230, 230 }, - { 313, 310, 255, 255, 245, 280, 265, 255, 255, 235, 235, 265, 265, 230, 230, 230 }, - { 311, 311, 250, 250, 240, 285, 270, 255, 255, 240, 240, 275, 275, 230, 230, 230 }, - { 306, 311, 245, 245, 240, 290, 275, 250, 255, 245, 245, 280, 280, 230, 230, 230 }, - { 297, 308, 240, 240, 240, 295, 280, 240, 250, 250, 250, 285, 285, 230, 230, 230 }, - { 285, 301, 235, 235, 235, 295, 280, 235, 250, 250, 255, 290, 290, 230, 230, 230 }, - { 273, 291, 230, 230, 230, 290, 280, 230, 250, 250, 260, 295, 295, 230, 230, 230 }, - { 263, 281, 225, 225, 225, 285, 275, 225, 245, 250, 265, 300, 300, 225, 225, 225 }, - { 255, 271, 225, 220, 220, 275, 270, 225, 245, 250, 270, 300, 300, 220, 220, 220 }, - { 249, 259, 220, 215, 215, 270, 265, 225, 240, 245, 275, 300, 300, 210, 210, 210 }, - { 243, 248, 220, 210, 210, 260, 260, 220, 235, 245, 280, 305, 305, 200, 200, 200 }, - { 234, 238, 215, 205, 205, 255, 255, 220, 230, 240, 280, 305, 305, 190, 190, 190 }, - { 224, 228, 215, 200, 200, 245, 245, 220, 230, 240, 285, 310, 310, 180, 180, 180 }, - { 216, 218, 210, 195, 195, 235, 240, 215, 225, 235, 285, 310, 310, 175, 175, 175 }, - { 208, 208, 200, 190, 190, 230, 235, 215, 220, 230, 285, 305, 305, 170, 170, 170 }, - { 201, 201, 195, 180, 180, 220, 225, 210, 220, 225, 285, 305, 305, 160, 160, 160 }, - { 195, 195, 185, 175, 175, 205, 220, 205, 215, 220, 285, 300, 300, 160, 160, 160 }, - { 188, 188, 175, 170, 170, 195, 210, 195, 210, 215, 280, 300, 300, 150, 150, 150 }, - { 181, 181, 170, 160, 160, 180, 205, 195, 205, 210, 280, 300, 300, 145, 145, 145 }, - { 175, 175, 160, 155, 155, 165, 195, 195, 200, 205, 275, 300, 300, 130, 130, 130 }, - { 171, 171, 150, 150, 150, 150, 150, 150, 195, 200, 270, 300, 300, 115, 115, 115 } + { 153, 153, 160, 145, 110, 84, 58, 26, 10, 0, 0, 0, 0, 0, 0, 0 }, + { 172, 167, 190, 170, 123, 94, 65, 30, 12, 0, 0, 0, 0, 0, 0, 0 }, + { 186, 178, 220, 195, 140, 107, 72, 35, 14, 0, 0, 0, 0, 0, 0, 0 }, + { 201, 192, 255, 215, 153, 117, 79, 40, 16, 0, 0, 0, 0, 0, 0, 0 }, + { 217, 207, 275, 230, 170, 130, 83, 44, 18, 0, 0, 0, 0, 0, 0, 0 }, + { 233, 223, 285, 245, 178, 140, 90, 48, 19, 0, 0, 0, 0, 0, 0, 0 }, + { 251, 239, 280, 260, 191, 146, 97, 51, 20, 0, 0, 0, 0, 0, 0, 0 }, + { 269, 255, 275, 265, 204, 156, 104, 55, 22, 0, 0, 0, 0, 0, 0, 0 }, + { 286, 272, 270, 270, 212, 162, 108, 56, 22, 0, 0, 0, 0, 0, 0, 0 }, + { 300, 288, 265, 270, 212, 169, 110, 59, 24, 0, 0, 0, 0, 0, 0, 0 }, + { 308, 299, 260, 265, 212, 176, 115, 61, 24, 0, 0, 0, 0, 0, 0, 0 }, + { 312, 307, 260, 260, 212, 179, 117, 62, 25, 0, 0, 0, 0, 0, 0, 0 }, + { 313, 310, 255, 255, 208, 182, 119, 64, 26, 0, 0, 0, 0, 0, 0, 0 }, + { 311, 311, 250, 250, 204, 185, 122, 64, 26, 0, 0, 0, 0, 0, 0, 0 }, + { 306, 311, 245, 245, 204, 188, 124, 62, 26, 0, 0, 0, 0, 0, 0, 0 }, + { 297, 308, 240, 240, 204, 192, 126, 60, 25, 0, 0, 0, 0, 0, 0, 0 }, + { 285, 301, 235, 235, 200, 192, 126, 59, 25, 0, 0, 0, 0, 0, 0, 0 }, + { 273, 291, 230, 230, 196, 188, 126, 58, 25, 0, 0, 0, 0, 0, 0, 0 }, + { 263, 281, 225, 225, 191, 185, 124, 56, 24, 0, 0, 0, 0, 0, 0, 0 }, + { 255, 271, 225, 220, 187, 179, 122, 56, 24, 0, 0, 0, 0, 0, 0, 0 }, + { 249, 259, 220, 215, 183, 176, 119, 56, 24, 0, 0, 0, 0, 0, 0, 0 }, + { 243, 248, 220, 210, 178, 169, 117, 55, 24, 0, 0, 0, 0, 0, 0, 0 }, + { 234, 238, 215, 205, 174, 166, 115, 55, 23, 0, 0, 0, 0, 0, 0, 0 }, + { 224, 228, 215, 200, 170, 159, 110, 55, 23, 0, 0, 0, 0, 0, 0, 0 }, + { 216, 218, 210, 195, 166, 153, 108, 54, 22, 0, 0, 0, 0, 0, 0, 0 }, + { 208, 208, 200, 190, 162, 150, 106, 54, 22, 0, 0, 0, 0, 0, 0, 0 }, + { 201, 201, 195, 180, 153, 143, 101, 52, 22, 0, 0, 0, 0, 0, 0, 0 }, + { 195, 195, 185, 175, 149, 133, 99, 51, 22, 0, 0, 0, 0, 0, 0, 0 }, + { 188, 188, 175, 170, 144, 127, 94, 49, 21, 0, 0, 0, 0, 0, 0, 0 }, + { 181, 181, 170, 160, 136, 117, 92, 49, 20, 0, 0, 0, 0, 0, 0, 0 }, + { 175, 175, 160, 155, 132, 107, 88, 49, 20, 0, 0, 0, 0, 0, 0, 0 }, + { 171, 171, 150, 150, 128, 98, 68, 38, 20, 0, 0, 0, 0, 0, 0, 0 } }, /* edge_strength */ { - { 195, 195, 195, 195, 195, 195, 400, 440, 500, 475, 475, 475, 475, 475, 475, 475 }, - { 210, 210, 200, 200, 200, 200, 400, 440, 500, 485, 485, 485, 485, 485, 485, 485 }, - { 235, 235, 220, 220, 220, 220, 400, 440, 500, 495, 495, 495, 495, 495, 495, 495 }, - { 260, 260, 230, 230, 230, 230, 400, 440, 500, 500, 500, 500, 500, 500, 500, 500 }, - { 295, 295, 240, 240, 240, 240, 400, 440, 500, 510, 510, 510, 510, 510, 510, 510 }, - { 320, 320, 250, 250, 250, 250, 400, 440, 500, 520, 520, 520, 520, 520, 520, 520 }, - { 340, 340, 260, 260, 260, 260, 420, 460, 540, 530, 530, 530, 530, 530, 530, 530 }, - { 350, 350, 270, 270, 270, 270, 420, 460, 540, 540, 540, 540, 540, 540, 540, 540 }, - { 360, 360, 280, 280, 280, 280, 420, 460, 540, 545, 545, 545, 545, 545, 545, 545 }, - { 360, 360, 280, 280, 280, 280, 420, 460, 540, 550, 550, 550, 550, 550, 550, 550 }, - { 355, 355, 285, 285, 285, 285, 420, 460, 540, 560, 560, 560, 560, 560, 560, 560 }, - { 345, 345, 290, 290, 290, 290, 420, 460, 540, 565, 565, 565, 565, 565, 565, 565 }, - { 335, 335, 290, 290, 290, 290, 420, 460, 540, 570, 570, 570, 570, 570, 570, 570 }, - { 330, 330, 295, 295, 295, 295, 430, 470, 550, 575, 575, 575, 575, 575, 575, 575 }, - { 325, 325, 295, 295, 295, 295, 430, 470, 550, 580, 580, 580, 580, 580, 580, 580 }, - { 320, 320, 295, 295, 295, 295, 440, 470, 550, 575, 575, 575, 575, 575, 575, 575 }, - { 315, 315, 295, 295, 295, 295, 440, 470, 550, 570, 570, 570, 570, 570, 570, 570 }, - { 310, 310, 295, 295, 295, 295, 450, 480, 580, 565, 565, 565, 565, 565, 565, 565 }, - { 305, 305, 295, 295, 295, 295, 460, 500, 580, 560, 560, 560, 560, 560, 560, 560 }, - { 295, 295, 290, 290, 290, 290, 460, 500, 580, 555, 555, 555, 555, 555, 555, 555 }, - { 285, 285, 285, 285, 285, 285, 460, 500, 580, 550, 550, 550, 550, 550, 550, 550 }, - { 280, 280, 280, 280, 280, 280, 460, 500, 580, 540, 540, 540, 540, 540, 540, 540 }, - { 275, 275, 275, 275, 275, 275, 460, 500, 580, 535, 535, 535, 535, 535, 535, 535 }, - { 265, 265, 265, 265, 265, 265, 460, 500, 580, 530, 530, 530, 530, 530, 530, 530 }, - { 250, 250, 250, 250, 250, 250, 460, 500, 580, 520, 520, 520, 520, 520, 520, 520 }, - { 240, 240, 240, 240, 240, 240, 470, 500, 580, 515, 515, 515, 515, 515, 515, 515 }, - { 220, 220, 220, 220, 220, 220, 470, 500, 580, 510, 510, 510, 510, 510, 510, 510 }, - { 200, 200, 200, 200, 200, 200, 470, 500, 580, 500, 500, 500, 500, 500, 500, 500 }, - { 180, 180, 180, 180, 180, 180, 480, 500, 580, 495, 495, 495, 495, 495, 495, 495 }, - { 160, 160, 160, 160, 160, 160, 480, 500, 580, 485, 485, 485, 485, 485, 485, 485 }, - { 140, 140, 140, 140, 140, 140, 480, 500, 580, 480, 480, 480, 480, 480, 480, 480 }, - { 125, 125, 125, 125, 125, 125, 480, 500, 580, 470, 470, 470, 470, 470, 470, 470 } + { 195, 195, 195, 195, 166, 127, 127, 110, 50, 0, 0, 0, 0, 0, 0, 0 }, + { 210, 210, 200, 200, 170, 130, 130, 110, 50, 0, 0, 0, 0, 0, 0, 0 }, + { 235, 235, 220, 220, 187, 143, 143, 110, 50, 0, 0, 0, 0, 0, 0, 0 }, + { 260, 260, 230, 230, 196, 150, 150, 110, 50, 0, 0, 0, 0, 0, 0, 0 }, + { 295, 295, 240, 240, 204, 156, 156, 110, 50, 0, 0, 0, 0, 0, 0, 0 }, + { 320, 320, 250, 250, 212, 162, 162, 110, 50, 0, 0, 0, 0, 0, 0, 0 }, + { 340, 340, 260, 260, 221, 169, 169, 115, 54, 0, 0, 0, 0, 0, 0, 0 }, + { 350, 350, 270, 270, 230, 176, 176, 115, 54, 0, 0, 0, 0, 0, 0, 0 }, + { 360, 360, 280, 280, 238, 182, 182, 115, 54, 0, 0, 0, 0, 0, 0, 0 }, + { 360, 360, 280, 280, 238, 182, 182, 115, 54, 0, 0, 0, 0, 0, 0, 0 }, + { 355, 355, 285, 285, 242, 185, 185, 115, 54, 0, 0, 0, 0, 0, 0, 0 }, + { 345, 345, 290, 290, 246, 188, 188, 115, 54, 0, 0, 0, 0, 0, 0, 0 }, + { 335, 335, 290, 290, 246, 188, 188, 115, 54, 0, 0, 0, 0, 0, 0, 0 }, + { 330, 330, 295, 295, 251, 192, 192, 118, 55, 0, 0, 0, 0, 0, 0, 0 }, + { 325, 325, 295, 295, 251, 192, 192, 118, 55, 0, 0, 0, 0, 0, 0, 0 }, + { 320, 320, 295, 295, 251, 192, 192, 118, 55, 0, 0, 0, 0, 0, 0, 0 }, + { 315, 315, 295, 295, 251, 192, 192, 118, 55, 0, 0, 0, 0, 0, 0, 0 }, + { 310, 310, 295, 295, 251, 192, 192, 120, 58, 0, 0, 0, 0, 0, 0, 0 }, + { 305, 305, 295, 295, 251, 192, 192, 125, 58, 0, 0, 0, 0, 0, 0, 0 }, + { 295, 295, 290, 290, 246, 188, 188, 125, 58, 0, 0, 0, 0, 0, 0, 0 }, + { 285, 285, 285, 285, 242, 185, 185, 125, 58, 0, 0, 0, 0, 0, 0, 0 }, + { 280, 280, 280, 280, 238, 182, 182, 125, 58, 0, 0, 0, 0, 0, 0, 0 }, + { 275, 275, 275, 275, 234, 179, 179, 125, 58, 0, 0, 0, 0, 0, 0, 0 }, + { 265, 265, 265, 265, 225, 172, 172, 125, 58, 0, 0, 0, 0, 0, 0, 0 }, + { 250, 250, 250, 250, 212, 162, 162, 125, 58, 0, 0, 0, 0, 0, 0, 0 }, + { 240, 240, 240, 240, 204, 156, 156, 125, 58, 0, 0, 0, 0, 0, 0, 0 }, + { 220, 220, 220, 220, 187, 143, 143, 125, 58, 0, 0, 0, 0, 0, 0, 0 }, + { 200, 200, 200, 200, 170, 130, 130, 125, 58, 0, 0, 0, 0, 0, 0, 0 }, + { 180, 180, 180, 180, 153, 117, 117, 117, 58, 0, 0, 0, 0, 0, 0, 0 }, + { 160, 160, 160, 160, 136, 104, 104, 104, 58, 0, 0, 0, 0, 0, 0, 0 }, + { 140, 140, 140, 140, 119, 91, 91, 91, 58, 0, 0, 0, 0, 0, 0, 0 }, + { 125, 125, 125, 125, 106, 81, 81, 81, 58, 0, 0, 0, 0, 0, 0, 0 } }, /* texture_freq[OT_ISP_AUTO_ISO_NUM] */ { 180, 190, 190, 170, 170, 170, 160, 140, 128, 128, 128, 100, 100, 100, 100, 100 }, @@ -1534,8 +1534,16 @@ static ot_isp_awb_agc_table g_imx662_awb_agc_table = { 1, /* 1, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048, 4096, 8192, 16384, 32768 */ - /* saturation */ - { 168, 168, 166, 162, 156, 148, 140, 132, 124, 116, 108,100, 92, 90, 90, 90 } + /* saturation + * + * The first four buckets are the daylight rendition the operator signed + * off on and are unchanged. Above them the taper is much steeper than + * sc450ai's: chroma noise is the ugliest high-gain artifact, colour is + * least trustworthy exactly where gain is highest, and dropping chroma + * measured -7.3% on the encoded bitrate with the lights off. The top + * buckets are heavily desaturated rather than fully grey, so the image + * degrades toward monochrome instead of switching to it. */ + { 168, 168, 166, 162, 150, 138, 124, 108, 92, 76, 64, 54, 46, 40, 36, 32 } }; #endif /* IMX662_CMOS_PARAM_H */ diff --git a/src/cv610_iq.c b/src/cv610_iq.c index 3b0dddcc..756af89e 100644 --- a/src/cv610_iq.c +++ b/src/cv610_iq.c @@ -41,6 +41,7 @@ #include "ot_common_isp.h" #include "ss_mpi_isp.h" #include "ss_mpi_awb.h" +#include "ss_mpi_ae.h" /* The backend runs a single VI pipe; cv610_pipeline.c calls it VI_PIPE 0. */ #define CV610_IQ_PIPE 0 @@ -54,6 +55,7 @@ typedef enum { FT_U8, FT_U16, FT_S32, /* also carries td_bool and ot_op_mode */ + FT_U32, /* AE gain/exposure ranges; needs 64-bit to stay exact */ } Cv610IqType; typedef struct { @@ -61,8 +63,10 @@ typedef struct { Cv610IqType type; uint16_t offset; /* offsetof() into the group's attr struct */ uint16_t count; /* 1 = scalar, N = array */ - int32_t min; - int32_t max; + /* 64-bit because td_u32 fields (AE gain and exposure ranges) do not fit + * an int32_t -- a driver default of 0xFFFFFFFF would read back as -1. */ + int64_t min; + int64_t max; /* Which half of the block this value lives in. A manual_attr value is * ignored while the block runs its auto curve and vice versa, and an * ignored write reads exactly like a broken setter — so a write to a @@ -117,6 +121,8 @@ IQ_ACCESSORS(dehaze, ss_mpi_isp_get_dehaze_attr, ss_mpi_isp_set_dehaze_attr) IQ_ACCESSORS(ca, ss_mpi_isp_get_ca_attr, ss_mpi_isp_set_ca_attr) +IQ_ACCESSORS(exposure, + ss_mpi_isp_get_exposure_attr, ss_mpi_isp_set_exposure_attr) #undef IQ_ACCESSORS @@ -269,6 +275,46 @@ static const Cv610IqField f_ca[] = { { "enable", FT_S32, OFS(ot_isp_ca_attr, enable), 1, 0, 1, F_DIRECT }, }; +/* AE. Gains are 22.10 fixed point, so 1024 == 1x. The ceilings are what + * stop the sensor climbing into the regime where the frame is mostly + * amplified noise -- which is where sharpening then multiplies the bitrate. + * Exposure time is in microseconds and is the better lever of the two: it + * collects photons rather than amplifying them, at the cost of frame rate. + * + * These sit under auto_attr, so writing one selects AE auto mode -- which is + * the mode a ceiling is meant to apply in. */ +static const Cv610IqField f_exposure[] = { + { "bypass", FT_S32, OFS(ot_isp_exposure_attr, bypass), 1, 0, 1, F_DIRECT }, + { "op_type", FT_S32, OFS(ot_isp_exposure_attr, op_type), 1, 0, 1, F_DIRECT }, + { "ae_run_interval", FT_U8, OFS(ot_isp_exposure_attr, ae_run_interval), + 1, 1, 255, F_DIRECT }, + { "auto.exp_time_max", FT_U32, + OFS(ot_isp_exposure_attr, auto_attr.exp_time_range.max), + 1, 0, 4294967295LL, F_AUTO }, + { "auto.exp_time_min", FT_U32, + OFS(ot_isp_exposure_attr, auto_attr.exp_time_range.min), + 1, 0, 4294967295LL, F_AUTO }, + { "auto.a_gain_max", FT_U32, + OFS(ot_isp_exposure_attr, auto_attr.a_gain_range.max), + 1, 1024, 4294967295LL, F_AUTO }, + { "auto.d_gain_max", FT_U32, + OFS(ot_isp_exposure_attr, auto_attr.d_gain_range.max), + 1, 1024, 4294967295LL, F_AUTO }, + { "auto.ispd_gain_max", FT_U32, + OFS(ot_isp_exposure_attr, auto_attr.ispd_gain_range.max), + 1, 1024, 262144, F_AUTO }, + /* The single cap that bounds the product of all three. */ + { "auto.sys_gain_max", FT_U32, + OFS(ot_isp_exposure_attr, auto_attr.sys_gain_range.max), + 1, 1024, 4294967295LL, F_AUTO }, + { "auto.compensation", FT_U8, + OFS(ot_isp_exposure_attr, auto_attr.compensation), 1, 0, 255, F_AUTO }, + { "auto.speed", FT_U8, + OFS(ot_isp_exposure_attr, auto_attr.speed), 1, 0, 255, F_AUTO }, + { "auto.tolerance", FT_U8, + OFS(ot_isp_exposure_attr, auto_attr.tolerance), 1, 0, 255, F_AUTO }, +}; + #undef OFS #define GROUP(n, ops) \ @@ -295,6 +341,8 @@ static const Cv610IqGroup g_groups[] = { GROUP(dehaze, (int32_t)offsetof(ot_isp_dehaze_attr, op_type)), GROUP(ca, -1), + GROUP(exposure, + (int32_t)offsetof(ot_isp_exposure_attr, op_type)), }; #undef GROUP @@ -314,6 +362,7 @@ typedef union { ot_isp_ldci_attr ldci; ot_isp_dehaze_attr dehaze; ot_isp_ca_attr ca; + ot_isp_exposure_attr exposure; } Cv610IqAttr; /* Guards the shared scratch attribute and the static emit buffer below — @@ -330,34 +379,37 @@ static size_t field_elem_size(Cv610IqType t) switch (t) { case FT_U8: return 1; case FT_U16: return 2; - case FT_S32: return 4; + case FT_S32: + case FT_U32: return 4; } return 4; } -static int32_t field_read(const void *attr, const Cv610IqField *f, uint16_t idx) +static int64_t field_read(const void *attr, const Cv610IqField *f, uint16_t idx) { const uint8_t *p = (const uint8_t *)attr + f->offset + idx * field_elem_size(f->type); switch (f->type) { - case FT_U8: return (int32_t)*p; - case FT_U16: { uint16_t v; memcpy(&v, p, sizeof(v)); return (int32_t)v; } - case FT_S32: { int32_t v; memcpy(&v, p, sizeof(v)); return v; } + case FT_U8: return (int64_t)*p; + case FT_U16: { uint16_t v; memcpy(&v, p, sizeof(v)); return (int64_t)v; } + case FT_S32: { int32_t v; memcpy(&v, p, sizeof(v)); return (int64_t)v; } + case FT_U32: { uint32_t v; memcpy(&v, p, sizeof(v)); return (int64_t)v; } } return 0; } /* Callers must range-check first; cv610_iq_set() is the only caller and * rejects out-of-range values rather than silently substituting one. */ -static void field_write(void *attr, const Cv610IqField *f, uint16_t idx, int32_t val) +static void field_write(void *attr, const Cv610IqField *f, uint16_t idx, int64_t val) { uint8_t *p = (uint8_t *)attr + f->offset + idx * field_elem_size(f->type); switch (f->type) { case FT_U8: *p = (uint8_t)val; return; case FT_U16: { uint16_t v = (uint16_t)val; memcpy(p, &v, sizeof(v)); return; } - case FT_S32: { int32_t v = val; memcpy(p, &v, sizeof(v)); return; } + case FT_S32: { int32_t v = (int32_t)val; memcpy(p, &v, sizeof(v)); return; } + case FT_U32: { uint32_t v = (uint32_t)val; memcpy(p, &v, sizeof(v)); return; } } } @@ -378,13 +430,14 @@ static int emit_group_values(char *buf, size_t sz, int pos, JSON_PUT(buf, pos, sz, "%s\"%s\":", i ? "," : "", f->name); if (f->count == 1) { - JSON_PUT(buf, pos, sz, "%d", field_read(attr, f, 0)); + JSON_PUT(buf, pos, sz, "%lld", + (long long)field_read(attr, f, 0)); continue; } JSON_PUT(buf, pos, sz, "["); for (uint16_t e = 0; e < f->count; e++) - JSON_PUT(buf, pos, sz, "%s%d", - e ? "," : "", field_read(attr, f, e)); + JSON_PUT(buf, pos, sz, "%s%lld", + e ? "," : "", (long long)field_read(attr, f, e)); JSON_PUT(buf, pos, sz, "]"); } return pos; @@ -404,9 +457,9 @@ static int emit_schema(char *buf, size_t sz, int pos) const Cv610IqField *fd = &g->fields[f]; JSON_PUT(buf, pos, sz, "%s{\"name\":\"%s\",\"count\":%u," - "\"min\":%d,\"max\":%d,\"domain\":\"%s\"}", + "\"min\":%lld,\"max\":%lld,\"domain\":\"%s\"}", f ? "," : "", fd->name, - (unsigned)fd->count, fd->min, fd->max, + (unsigned)fd->count, (long long)fd->min, (long long)fd->max, fd->domain == F_MANUAL ? "manual" : fd->domain == F_AUTO ? "auto" : "direct"); } @@ -507,37 +560,34 @@ char *cv610_iq_query(void) /* ── Set ────────────────────────────────────────────────────────────────── */ -/* strtol with the whole-token check the caller needs: "12abc" and "" are - * rejected rather than silently read as 12 and 0. +/* strtoll with the whole-token check the caller needs: "12abc" and "" are + * rejected rather than silently read as 12 and 0. 64-bit because the AE + * gain/exposure fields are td_u32 and a legitimate value can exceed INT32_MAX. * * The overflow check has to be errno, not a range comparison: this target is * ARM EABI where long is 32 bits, so `v < INT32_MIN || v > INT32_MAX` is * `long < LONG_MIN || long > LONG_MAX` — a tautology the compiler folds away, * letting a saturated LONG_MAX through as a valid value. */ -static int parse_i32(const char *s, const char **end, int32_t *out) +static int parse_i64(const char *s, const char **end, int64_t *out) { char *stop = NULL; - long v; + long long v; while (*s == ' ') s++; if (*s == '\0') return -1; errno = 0; - v = strtol(s, &stop, 10); + v = strtoll(s, &stop, 10); if (stop == s) return -1; if (errno == ERANGE) return -1; -#if LONG_MAX > INT32_MAX - if (v < INT32_MIN || v > INT32_MAX) - return -1; -#endif while (*stop == ' ') stop++; if (*stop != '\0' && *stop != ',') return -1; - *out = (int32_t)v; + *out = (int64_t)v; *end = stop; return 0; } @@ -613,16 +663,17 @@ int cv610_iq_set(const char *param, const char *value) } if (field->count == 1) { - int32_t v; + int64_t v; const char *end; - if (parse_i32(value, &end, &v) != 0 || *end == ',') { + if (parse_i64(value, &end, &v) != 0 || *end == ',') { fprintf(stderr, "[cv610-iq] %s: expected one integer\n", param); goto out; } if (v < field->min || v > field->max) { - fprintf(stderr, "[cv610-iq] %s: %d out of range [%d, %d]\n", - param, v, field->min, field->max); + fprintf(stderr, "[cv610-iq] %s: %lld out of range [%lld, %lld]\n", + param, (long long)v, (long long)field->min, + (long long)field->max); goto out; } field_write(&g_attr, field, 0, v); @@ -631,14 +682,15 @@ int cv610_iq_set(const char *param, const char *value) const char *end = value; uint16_t n = 0; while (n < field->count) { - int32_t v; - if (parse_i32(p, &end, &v) != 0) + int64_t v; + if (parse_i64(p, &end, &v) != 0) break; if (v < field->min || v > field->max) { fprintf(stderr, - "[cv610-iq] %s: element %u = %d out of range " - "[%d, %d]\n", - param, (unsigned)n, v, field->min, field->max); + "[cv610-iq] %s: element %u = %lld out of range " + "[%lld, %lld]\n", + param, (unsigned)n, (long long)v, + (long long)field->min, (long long)field->max); goto out; } field_write(&g_attr, field, n, v); diff --git a/src/cv610_runtime.c b/src/cv610_runtime.c index 7f393f3f..8247539c 100644 --- a/src/cv610_runtime.c +++ b/src/cv610_runtime.c @@ -113,6 +113,70 @@ static int cv610_apply_qp_delta(int delta) return cv610_update_venc_attr(0, 0, delta, 4u); } +/* Captured on the first write so that 0 restores the driver's own default + * rather than pinning whatever happened to be in force at the time. */ +static struct { + td_u32 max_qp, min_qp, max_i_qp, min_i_qp; + int captured; +} g_cv610_qp_defaults; + +/* CBR can only hold its target by raising QP. In a high-gain, noise-dominated + * scene the QP the encoder needs can exceed the driver's default ceiling, and + * once it saturates the bitrate overshoots with the rate controller powerless + * — measured at 3-7x target on the .181 bench with the lights off. This is + * the knob that lets it squeeze; it does not make the picture better, it stops + * the overshoot. 0 on either bound leaves/restores the driver default. */ +static int cv610_apply_qp_bounds(uint32_t min_qp, uint32_t max_qp) +{ + ot_venc_chn_attr attr; + ot_venc_rc_param param; + td_s32 ret; + + if (min_qp == 0 && max_qp == 0 && !g_cv610_qp_defaults.captured) + return 0; /* never written — driver defaults already in force */ + + memset(&attr, 0, sizeof(attr)); + if (ss_mpi_venc_get_chn_attr(CV610_VENC_CHN, &attr) != TD_SUCCESS) + return -1; + /* Only CBR carries these bounds; the backend configures nothing else, + * but a future mode change must not write through the wrong union arm. */ + if (attr.rc_attr.rc_mode != OT_VENC_RC_MODE_H265_CBR) + return -1; + + memset(¶m, 0, sizeof(param)); + if (ss_mpi_venc_get_rc_param(CV610_VENC_CHN, ¶m) != TD_SUCCESS) + return -1; + + if (!g_cv610_qp_defaults.captured) { + g_cv610_qp_defaults.max_qp = param.h265_cbr_param.max_qp; + g_cv610_qp_defaults.min_qp = param.h265_cbr_param.min_qp; + g_cv610_qp_defaults.max_i_qp = param.h265_cbr_param.max_i_qp; + g_cv610_qp_defaults.min_i_qp = param.h265_cbr_param.min_i_qp; + g_cv610_qp_defaults.captured = 1; + } + + param.h265_cbr_param.max_qp = max_qp ? max_qp : g_cv610_qp_defaults.max_qp; + param.h265_cbr_param.min_qp = min_qp ? min_qp : g_cv610_qp_defaults.min_qp; + /* I-frames get the same ceiling. Raising only the P bound leaves the + * I-frame free to blow the budget on its own, which in a noisy scene is + * exactly where the biggest frames come from. */ + param.h265_cbr_param.max_i_qp = max_qp ? max_qp : g_cv610_qp_defaults.max_i_qp; + param.h265_cbr_param.min_i_qp = min_qp ? min_qp : g_cv610_qp_defaults.min_i_qp; + + ret = ss_mpi_venc_set_rc_param(CV610_VENC_CHN, ¶m); + if (ret != TD_SUCCESS) { + fprintf(stderr, "ERROR: ss_mpi_venc_set_rc_param=0x%x\n", + (unsigned)ret); + return -1; + } + printf("> qpBounds: min=%u max=%u (0 = driver default %u/%u)\n", + (unsigned)param.h265_cbr_param.min_qp, + (unsigned)param.h265_cbr_param.max_qp, + (unsigned)g_cv610_qp_defaults.min_qp, + (unsigned)g_cv610_qp_defaults.max_qp); + return 0; +} + static int cv610_apply_verbose(bool on) { if (!g_cv610_runner) @@ -252,6 +316,7 @@ static const VencApplyCallbacks g_cv610_apply_callbacks = { .query_audio_status = cv610_query_audio_status, .query_iq_info = cv610_iq_query, .apply_iq_param = cv610_iq_set, + .apply_qp_bounds = cv610_apply_qp_bounds, }; static void cv610_signal_handler(int signo) @@ -410,6 +475,12 @@ static int cv610_venc_start(Cv610RunnerContext *ctx) return -1; } ctx->venc_created = 1; + /* video0.minQp/maxQp are MUT_LIVE, but they also have to take effect on + * a cold boot -- the config is read before the channel exists, so the + * live path never runs for a value that was already in the file. */ + if (ctx->config.video0.min_qp || ctx->config.video0.max_qp) + (void)cv610_apply_qp_bounds(ctx->config.video0.min_qp, + ctx->config.video0.max_qp); memset(&vui, 0, sizeof(vui)); ret = ss_mpi_venc_get_h265_vui(CV610_VENC_CHN, &vui); if (ret != TD_SUCCESS) diff --git a/src/venc_api.c b/src/venc_api.c index fff2930d..6dbc24f7 100644 --- a/src/venc_api.c +++ b/src/venc_api.c @@ -873,6 +873,10 @@ int venc_api_field_supported_for_backend(const char *backend_name, "isp.keep_aspect", "video0.fps", "video0.size", "video0.bitrate", "video0.gop_size", "video0.qp_delta", + /* Read by cv610_apply_qp_bounds(), live and at startup. + * CBR cannot hold its target in a noise-dominated scene + * without room to raise QP. */ + "video0.min_qp", "video0.max_qp", "outgoing.enabled", "outgoing.server", "outgoing.max_payload_size", "outgoing.audio_port", "outgoing.connected_udp", From a303ab1d7851c0a47d3fecfdf9094f19cd810cf9 Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 22:21:01 +0200 Subject: [PATCH 22/45] feat(cv610): select IMX662 HCG conversion gain at high analog gain FDG_SEL0 (0x3030) was defined in the header and never written, so the sensor sat at its 0h reset -- low conversion gain -- and every dark frame was amplified through the noisier path. HCG is IMX662's actual low-light feature and it was simply unused. Sony's map gives 0h: LCG, 1h: HCG with V (per-frame) reflection timing, so this rides along with the existing gain update rather than being a static init value: FDG_SEL0 becomes a ninth fast-update slot next to SHR0/GAIN/VMAX. Threshold with hysteresis, entering at code 40 (12.0 dB) and dropping back at 34 (10.2 dB, Sony's floor while HCG is selected). Bright scenes stay in LCG because HCG trades saturation headroom for read noise -- the SRM's "saturation signal gets smaller according to Vsat". No gain compensation is applied, deliberately. AE is a closed loop and absorbs the conversion-gain step on its own; measured on the .181 bench in a dark room, FDG_SEL0 reads 0x01 and the gain code holds 0x47 (21.3 dB) rock steady with no hunting. Adding an offset correction would be guessing at a figure neither the SRM nor the datasheet states, to remove a transient that does not show up in practice. reg_addr[] is now sized from its own initializer and reg_num derived from it: the fixed [8] caught this addition as an overflow at -Werror, and the next slot should not depend on someone remembering to bump a literal. --- sensors/cv610/imx662/imx662_cmos.c | 38 ++++++++++++++++++++++++++---- sensors/cv610/imx662/imx662_cmos.h | 15 ++++++++++++ 2 files changed, 49 insertions(+), 4 deletions(-) diff --git a/sensors/cv610/imx662/imx662_cmos.c b/sensors/cv610/imx662/imx662_cmos.c index f3efd910..975e79a3 100644 --- a/sensors/cv610/imx662/imx662_cmos.c +++ b/sensors/cv610/imx662/imx662_cmos.c @@ -232,7 +232,11 @@ static td_void cmos_dgain_calc_table(ot_vi_pipe vi_pipe, td_u32 *dgain_lin, td_u *dgain_db = 0; } -/* gain register at fast-update i2c_data[3..4]. */ +/* Conversion-gain state, per pipe. Held here rather than derived fresh each + * frame so the hysteresis below has something to latch against. */ +static td_bool g_imx662_hcg_on[OT_ISP_MAX_PIPE_NUM] = { 0 }; + +/* gain register at fast-update i2c_data[3..4], conversion gain at [8]. */ static td_void cmos_gains_update(ot_vi_pipe vi_pipe, td_u32 again, td_u32 dgain) { ot_isp_sns_state *sns_state = imx662_get_ctx(vi_pipe); @@ -247,6 +251,28 @@ static td_void cmos_gains_update(ot_vi_pipe vi_pipe, td_u32 again, td_u32 dgain) reg = IMX662_GAIN_REG_MAX; } + /* Dual conversion gain. IMX662 is a STARVIS 2 part whose low-light + * answer is HCG, and leaving FDG_SEL0 at its 0h reset means every dark + * frame is amplified through the noisier low-conversion-gain path. + * + * The gain code is total dB in both modes, so this is transparent to AE: + * the same request produces the same brightness either side of the + * switch. Hysteresis between ON and OFF keeps AE noise around the + * boundary from toggling the register frame to frame. */ + if (vi_pipe >= 0 && vi_pipe < OT_ISP_MAX_PIPE_NUM) { + if (!g_imx662_hcg_on[vi_pipe] && reg >= IMX662_HCG_ON_REG) { + g_imx662_hcg_on[vi_pipe] = TD_TRUE; + } else if (g_imx662_hcg_on[vi_pipe] && reg < IMX662_HCG_OFF_REG) { + g_imx662_hcg_on[vi_pipe] = TD_FALSE; + } + if (g_imx662_hcg_on[vi_pipe] && reg < IMX662_HCG_GAIN_REG_MIN) { + /* Sony forbids codes below 34 while HCG is selected. */ + reg = IMX662_HCG_GAIN_REG_MIN; + } + sns_state->regs_info[0].i2c_data[8].data = + g_imx662_hcg_on[vi_pipe] ? IMX662_FDG_HCG : IMX662_FDG_LCG; + } + sns_state->regs_info[0].i2c_data[3].data = low_8bits(reg); sns_state->regs_info[0].i2c_data[4].data = high_8bits(reg); } @@ -446,16 +472,20 @@ static td_s32 cmos_set_wdr_mode(ot_vi_pipe vi_pipe, td_u8 mode) static td_void cmos_comm_sns_reg_info_init(ot_vi_pipe vi_pipe, ot_isp_sns_state *sns_state) { td_u32 i; - const td_u16 reg_addr[8] = { + /* Sized from the initializer so adding a slot cannot silently overflow; + * reg_num below is derived from it for the same reason. */ + const td_u16 reg_addr[] = { IMX662_REG_SHR0_L, IMX662_REG_SHR0_M, IMX662_REG_SHR0_H, /* 0..2 exposure */ IMX662_REG_GAIN_L, IMX662_REG_GAIN_H, /* 3..4 gain */ - IMX662_REG_VMAX_L, IMX662_REG_VMAX_M, IMX662_REG_VMAX_H /* 5..7 vmax */ + IMX662_REG_VMAX_L, IMX662_REG_VMAX_M, IMX662_REG_VMAX_H, /* 5..7 vmax */ + IMX662_REG_FDG_SEL0 /* 8 HCG/LCG */ }; sns_state->regs_info[0].sns_type = OT_ISP_SNS_TYPE_I2C; sns_state->regs_info[0].com_bus.i2c_dev = g_imx662_bus_info[vi_pipe].i2c_dev; sns_state->regs_info[0].cfg2_valid_delay_max = 2; - sns_state->regs_info[0].reg_num = 8; + sns_state->regs_info[0].reg_num = + (td_u32)(sizeof(reg_addr) / sizeof(reg_addr[0])); for (i = 0; i < sns_state->regs_info[0].reg_num; i++) { sns_state->regs_info[0].i2c_data[i].update = TD_TRUE; diff --git a/sensors/cv610/imx662/imx662_cmos.h b/sensors/cv610/imx662/imx662_cmos.h index 3c273be8..8dfc4c5e 100644 --- a/sensors/cv610/imx662/imx662_cmos.h +++ b/sensors/cv610/imx662/imx662_cmos.h @@ -88,6 +88,21 @@ extern "C" { #define IMX662_GAIN_STEP_MDB 30 /* 0.3 dB, in milli-dB */ #define IMX662_GAIN_REG_MAX 240u /* 72 dB / 0.3 dB */ +/* Dual conversion gain. Sony's SRM restricts the GAIN register to 22h..F0h + * while FDG_SEL0 = 1 (HCG) against 00h..F0h in LCG, and the register is + * "Gain [dB] x 10/3" in both modes -- so the code carries the same total dB + * either way and the switch at 34 is seamless in brightness. HCG lowers read + * noise; its cost is a smaller saturation signal (SRM: "Saturation signal gets + * smaller according to Vsat"), which is why bright scenes must stay in LCG. + * + * The two thresholds give hysteresis so AE hunting around the boundary cannot + * toggle the register every frame. HCG_MIN is Sony's floor, not a choice. */ +#define IMX662_HCG_GAIN_REG_MIN 34u /* 10.2 dB; SRM lower bound */ +#define IMX662_HCG_ON_REG 40u /* 12.0 dB: enter HCG above this */ +#define IMX662_HCG_OFF_REG 34u /* 10.2 dB: fall back to LCG here */ +#define IMX662_FDG_LCG 0x00u +#define IMX662_FDG_HCG 0x01u + /* ---- resolution modes ----------------------------------------------------- * Bring linear up first. Add Clear-HDR (2-frame) as a second mode later. */ From 0e185b2d33b1e45a1139dc3b73234857ac150e1d Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 22:26:33 +0200 Subject: [PATCH 23/45] feat(cv610): cap ISP digital gain, and stop AGAIN_MAX lying about its value Two related gain-chain fixes, both from reading what the 82 dB ceiling was actually made of: 398x sensor analog (52 dB) times 32x ISP digital (30 dB). IMX662 has no digital gain register of its own. **ISP digital gain 32x -> 4x.** It is the worst gain in the chain -- it amplifies noise and quantisation equally and buys no SNR, where analog gain and HCG at least act ahead of the ADC. The old ceiling let the total reach 12739x, and a dark room at that ceiling was judged "super grainy" on the .181 bench while 1-2 steps down looked better. The new total is 398 * 4 = 1592x (64.0 dB), inside the preferred range, and AE now exhausts analog before it reaches for digital. Verified on hardware: sys_gain_max reads 1592x, and with the room dark AE sits at gain code 141 (42.3 dB analog) with HCG engaged -- spending analog, digital headroom still unused. It stays tunable by eye at /api/v1/iq/set?exposure.auto.ispd_gain_max=, because darker-but-cleaner is an operator trade, not a constant. **IMX662_AGAIN_MAX's comment claimed ~72 dB; the value gives 52.** The `/10` makes it a factor of ten -- 20 dB -- smaller than 10^(72/20), while IMX662_GAIN_REG_MAX (240 codes x 0.3 dB) really does allow 72. The value is left alone and the comment corrected: the measured complaint here is too much gain, not too little, and raising the analog ceiling only makes sense together with the digital cap above, as one A/B. --- sensors/cv610/imx662/imx662_cmos.c | 12 +++++++++++- sensors/cv610/imx662/imx662_cmos.h | 8 +++++++- 2 files changed, 18 insertions(+), 2 deletions(-) diff --git a/sensors/cv610/imx662/imx662_cmos.c b/sensors/cv610/imx662/imx662_cmos.c index 975e79a3..70f7ab36 100644 --- a/sensors/cv610/imx662/imx662_cmos.c +++ b/sensors/cv610/imx662/imx662_cmos.c @@ -119,7 +119,17 @@ static td_s32 cmos_get_ae_default(ot_vi_pipe vi_pipe, ot_isp_ae_sensor_default * * zero makes the AE library emit 1, below the ISP's legal minimum 256. */ ae_sns_dft->isp_dgain_shift = 8; ae_sns_dft->min_isp_dgain_target = 1u << ae_sns_dft->isp_dgain_shift; - ae_sns_dft->max_isp_dgain_target = 32u << ae_sns_dft->isp_dgain_shift; + /* ISP digital gain is the worst gain in the chain: it amplifies the noise + * and the quantisation equally and buys no SNR, where analog gain and HCG + * at least act before the ADC. 32x let the total ceiling reach 398 * 32 + * = 12739x (~82 dB), and on the .181 bench a dark room at that ceiling was + * judged "super grainy" while 1-2 steps down looked better. 4x puts the + * ceiling at 398 * 4 = 1592x (~64 dB), inside the range that was preferred, + * and makes AE exhaust analog before it reaches for digital. + * + * This is an operator trade -- darker but cleaner -- so it is also live at + * /api/v1/iq/set?exposure.auto.ispd_gain_max= for tuning by eye. */ + ae_sns_dft->max_isp_dgain_target = 4u << ae_sns_dft->isp_dgain_shift; switch (sns_state->wdr_mode) { case OT_WDR_MODE_NONE: diff --git a/sensors/cv610/imx662/imx662_cmos.h b/sensors/cv610/imx662/imx662_cmos.h index 8dfc4c5e..15bb8713 100644 --- a/sensors/cv610/imx662/imx662_cmos.h +++ b/sensors/cv610/imx662/imx662_cmos.h @@ -84,7 +84,13 @@ extern "C" { #define IMX662_MIN_SHR0_HDR 10u /* min shutter (Clear-HDR) */ #define IMX662_AGAIN_MIN 1024u /* 1x (0 dB) */ -#define IMX662_AGAIN_MAX (1024u * 3981u / 10u) /* ~72 dB, VERIFY */ +/* 398x = 52 dB, NOT the ~72 dB the old comment claimed -- the /10 makes it a + * factor of 10 (20 dB) smaller than 10^(72/20). Left at 52 dB deliberately: + * IMX662_GAIN_REG_MAX (240 codes x 0.3 dB) does allow 72 dB, but the measured + * complaint on this bench is too much gain, not too little. Raise this only + * together with the ISP-digital cap below, and A/B it -- the two together set + * the total ceiling. */ +#define IMX662_AGAIN_MAX (1024u * 3981u / 10u) /* 398x = 52 dB */ #define IMX662_GAIN_STEP_MDB 30 /* 0.3 dB, in milli-dB */ #define IMX662_GAIN_REG_MAX 240u /* 72 dB / 0.3 dB */ From bca719471f12934b6e3eedceb60ed91e64df0e68 Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 22:28:40 +0200 Subject: [PATCH 24/45] feat(cv610): expose bayer-NR strength and motion-detect temporal NR The remaining grain lever was meant to be a re-fit of g_cmos_noise_calibration, which is sc450ai's photon-transfer fit -- 16 doubles measured from different silicon with a different pixel. It is the wrong model for IMX662 and it is what decides how hard NR filters at each ISO. I am not writing that table. A real fit needs flat-field captures across the gain range and a noise-variance measurement per Bayer channel; inventing 16 coefficients would be strictly worse than keeping a real fit from real silicon on the same ISP, and it would look identical in review. What is defensible is exposing the knobs that fit drives, so the borrowed model can be corrected by eye against the live image until someone measures the real one: - `nr.coring_ratio` -- 33-entry LUT, "strength of reserving the random noise according to luma", so LOWER filters harder. 33 values fits the 255-byte query-param cap with room to spare; a wrong length is rejected rather than partly applied. - `nr.md_en` -- CV610's motion-detect temporal NR, the tnr_en slot's variant on this chip. Temporal filtering is the strongest tool against high-gain grain because noise is uncorrelated frame to frame and the scene is not. It reads back 1, so it was already on -- worth knowing before anyone tunes against it. Verified on .181: both readable, the LUT writable end-to-end at 33 values and rejected at 32. --- src/cv610_iq.c | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/src/cv610_iq.c b/src/cv610_iq.c index 756af89e..7d96202f 100644 --- a/src/cv610_iq.c +++ b/src/cv610_iq.c @@ -226,6 +226,18 @@ static const Cv610IqField f_sharpen[] = { static const Cv610IqField f_nr[] = { { "enable", FT_S32, OFS(ot_isp_nr_attr, enable), 1, 0, 1, F_DIRECT }, { "op_type", FT_S32, OFS(ot_isp_nr_attr, op_type), 1, 0, 1, F_DIRECT }, + /* Motion-detect temporal NR -- CV610's variant of the tnr_en slot, which + * this chip does not have. Temporal filtering is the strongest tool + * against high-gain grain because the noise is uncorrelated frame to + * frame while the scene is not; its cost is smearing on motion. */ + { "md_en", FT_S32, OFS(ot_isp_nr_attr, md_en), 1, 0, 1, F_DIRECT }, + /* "Strength of reserving the random noise according to luma" -- so LOWER + * values filter harder. This is what g_cmos_noise_calibration's fit + * ultimately drives, and that fit is sc450ai's, not IMX662's. Until a + * real photon-transfer calibration exists for this sensor, this is the + * honest way to correct it: by eye, against the live image. */ + { "coring_ratio", FT_U16, OFS(ot_isp_nr_attr, coring_ratio), + OT_ISP_BAYERNR_LUT_LENGTH, 0, 1023, F_DIRECT }, }; static const Cv610IqField f_drc[] = { From a5b3c7410c2f570acc4d97ae6bc680fd018668cd Mon Sep 17 00:00:00 2001 From: snokvist Date: Sun, 16 Aug 2026 23:13:54 +0200 Subject: [PATCH 25/45] =?UTF-8?q?fix:=20adversarial=20pre-merge=20review?= =?UTF-8?q?=20=E2=80=94=20HCG=20compensation,=20tab=20regression,=20contra?= =?UTF-8?q?ct?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Four independent reviewers went over the stack. The findings that changed code: **HCG shipped an uncompensated 15.3 dB step (HIGH).** The premise in my comments — "the gain code is total dB in both modes" — was wrong. The GAIN register is PGA gain applied AFTER the conversion gain, so the two multiply. The datasheet says so directly: Rcg (HCG/LCG) typ 5.8, corroborated by G sensitivity 18383 vs 3166 Digit/lx/s. And Sony's 34-code floor is a saturation constraint, not the conversion gain — Vsat 3895 (LCG) / 1204 (HCG) = 3.235, and 34 codes x 0.3 dB = 3.236x. My reading required that floor to be 51 codes. Uncompensated there is no fixed point between 12 dB and 25.5 dB: AE brightens 5.8x, slams the code past the floor, HCG drops out, the frame goes dark, and it limit-cycles. Daylight never enters that band and a dark room sits above it, which is exactly why both regimes I tested measured clean. The written code now has the offset subtracted and the thresholds moved to 91/85 so the compensated code clears the floor. The floor guard tests before subtracting — reg is unsigned, and a post-subtraction check cannot catch a wrap. Also: the latch is reset in sensor_global_init (a stale latch is now a 5.8x error on frame 1 after reinit), slot 8 is gated on linear mode (ClearHDR needs 3030h=02h and an FDG_SEL1 slot that does not exist here), and cmos_gains_update null-checks its state pointer. **The IQ tab was fail-closed again (HIGH).** My own fix for the flashing tab added `hidden` to the markup, so visibility depended on init() completing — and only /api/v1/modes had a .catch. One transient failure of config, capabilities or version and the tab was gone for good on star6e and maruko, where it was previously always present. That is the failure 8f4abba claims to have closed; I moved it rather than removed it. The tab is visible by default, hidden only on a positive routes.iq === false, and all four init fetches catch. **Two more star6e/maruko regressions from the same commit.** The post-set re-query is a whole-ISP sweep (46 dlopen'd getters on the single httpd thread) — my own commit message cited that cost as the reason for removing the load-time probe, then reintroduced it per set. And the prefill wrote the ISP's value into the actuator and selected it, so inspecting a parameter and pressing Set forced enable=1/op_type=manual on star6e's legacy path. Both removed; iqCurrentValue and IQ_LAST are now dead and deleted with them. **Contract.** data.routes was added to a contracted response with contract_version frozen and HISTORY asserting "no HTTP behaviour changes". Bumped to 0.18.4, documented data.routes and the CV610 IQ response shape as an explicit second form, and corrected two Backend Support Matrix rows that this stack made false. **QP bounds.** min_i_qp is no longer written: this craft ships qpDelta = -4, which lowers I-frame QP, and an I-frame floor silently cancels it. Star6E touches only the P bounds for the same reason. The resolved pair is now rejected when min > max (the API validator only compares them when both are non-zero), and a failed cold-boot apply is logged instead of (void)-ed. **parse_first_query_param rejects over-long keys and values** instead of truncating. A silently shortened value can still satisfy a caller's own validation — an array setter counting elements sees the right count with its last element cut mid-token — and then writes something never asked for. Record corrections: 0.65.5's entry described clamping, forces_manual, the /api/v1/iq probe and _caps.import, all of which this stack replaced; 0.65.6 omitted three of its four commits and quoted the pre-change gain chain as current. The sensor_ctl.c header still called the register block a TODO. The spec still named forces_manual. The plugin README said nothing about the ISO taper, HCG or the gain ceiling. --- HISTORY.md | 114 +- documentation/HTTP_API_CONTRACT.md | 64 +- sensors/cv610/imx662/README.md | 21 + sensors/cv610/imx662/imx662_cmos.c | 42 +- sensors/cv610/imx662/imx662_cmos.h | 39 +- sensors/cv610/imx662/imx662_sensor_ctl.c | 12 +- .../requirements.md | 7 +- src/cv610_iq.c | 19 +- src/cv610_runtime.c | 36 +- src/venc_api.c | 22 +- src/venc_webui.c | 3032 ++++++++--------- web/dashboard.html | 82 +- 12 files changed, 1836 insertions(+), 1654 deletions(-) diff --git a/HISTORY.md b/HISTORY.md index 13e66074..99f8479f 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -39,24 +39,84 @@ CBR target produced 29-65 Mbps. In good light the same build holds target the standard allows. - **AE is exposed as an `exposure` IQ group** — the gain ceilings and exposure - window that decide how much noise is created in the first place. The bench - reports `a_gain_max` 407654 (398x, matching `IMX662_AGAIN_MAX`), - `ispd_gain_max` 32768 (32x) and `sys_gain_max` 13044928 — **12739x total, - about 82 dB**, which is why a dark room ends up as amplified noise. These - are now readable and settable at runtime instead of being a compile-time - constant marked `VERIFY`. + window that decide how much noise is created in the first place. Before this + release the bench ran `a_gain_max` 407654 (398x, matching + `IMX662_AGAIN_MAX`), `ispd_gain_max` 32768 (32x) and `sys_gain_max` 13044928 + — **12739x total, about 82 dB**, which is why a dark room ended up as + amplified noise. Those ceilings are now readable and settable at runtime + instead of being compile-time constants, and the digital one is lowered + below. - **Saturation tapers harder above daylight.** Chroma noise is the ugliest high-gain artifact and colour is least trustworthy exactly where gain is highest; dropping chroma measured -7.3%. The first four buckets are unchanged, the top drops from 90 to 32. +- **ISP digital gain is capped 32x -> 4x.** It is the worst gain in the chain: + it amplifies noise and quantisation equally and buys no SNR, where analog + gain and HCG act ahead of the ADC. The shipped total ceiling moves from + 12739x (~82 dB) to **398 x 4 = 1592x (64.0 dB)**, inside the range an + operator preferred on the bench, and AE now exhausts analog before reaching + for digital. Tunable live at + `/api/v1/iq/set?exposure.auto.ispd_gain_max=` (1024 = 1x), because + darker-but-cleaner is an operator trade rather than a constant. + `IMX662_AGAIN_MAX`'s comment claimed ~72 dB while the value gives 52; the + comment is corrected and the value deliberately left alone. + +- **IMX662 HCG conversion gain is selected at high analog gain.** `FDG_SEL0` + (0x3030) was defined and never written, so the sensor sat at its 0h reset — + low conversion gain — and every dark frame was amplified through the noisier + path. It is now a ninth fast-update register, chosen per frame from the gain + code with hysteresis. + + HCG is **not** brightness-neutral: the GAIN register is PGA gain applied + after the conversion gain, so the two multiply. The datasheet gives the ratio + (Rcg typ 5.8, corroborated by G sensitivity HCG 18383 vs LCG 3166 + Digit/lx/s), which is 15.3 dB — so the written code has the offset + subtracted while HCG is on, and the thresholds sit where the compensated code + still clears Sony's 34-code floor (on at 91, off below 85). Without that + there is no fixed point between 12 dB and 25.5 dB: AE brightens 5.8x, slams + the code down past the floor, HCG drops out, and it limit-cycles — a band + that neither daylight nor a dark room enters, which is why an uncompensated + first cut measured clean in both. + + Sony's 34-code floor is a saturation constraint, not the conversion gain: + Vsat is 3895 digits in LCG against 1204 in HCG, a ratio of 3.235, and 34 + codes x 0.3 dB = 10.2 dB = 3.236x — the floor exists so HCG's clip level + refills the ADC to LCG's. + +- **`nr.md_en` and `nr.coring_ratio` are exposed.** The intended fix here was a + re-fit of `g_cmos_noise_calibration`, which is sc450ai's photon-transfer + curve — 16 doubles measured from different silicon. That is a lab + calibration, not a code change, and inventing coefficients would be strictly + worse than keeping a real fit while looking identical in review. The knobs + that fit drives are exposed instead, so the borrowed model can be corrected + by eye until someone measures the real one. `md_en` reads back 1 — CV610's + motion-detect temporal NR was already on. + The IQ field table is now 64-bit internally: the AE gain and exposure fields are `td_u32`, and a driver default of 0xFFFFFFFF would have read back as -1. -Verified on `.181`: dark room holds target (operator-confirmed on the live -stream), daylight unchanged at 10.09 Mbps against 9.26 with the encoder -nominal at 100.20 fps, and `make verify` green with lint clean on all three +`/api/v1/capabilities` gains `data.routes` and `contract_version` moves to +`0.18.4`; the CV610 IQ response shape is documented in +`documentation/HTTP_API_CONTRACT.md`. + +A pre-merge adversarial review pass also corrected this release's own record +and three defects in it: the WebUI IQ tab no longer starts hidden (that made +visibility depend on `init()` completing, so any failed init fetch latched the +tab off permanently on star6e and maruko); a chip click no longer prefills the +actuator (on star6e's legacy path even an identical value forces `enable=1` +and `op_type=manual`); the per-set full-ISP re-query is gone; the shared query +parser rejects an over-long value instead of truncating it mid-token; and the +QP-bounds path leaves the I-frame FLOOR alone so `video0.qp_delta` still +biases I-frames. The 0.65.5 entry above was revised where this stack +invalidated it. + +Verified on `.181`: the sharpen taper was confirmed by the operator on the +live stream (dark room holds target) with daylight unchanged at 10.09 Mbps +against 9.26 and the encoder nominal at 100.20 fps. The gain-chain and HCG +changes landed after that arm and were re-verified separately — see the +per-commit evidence — and `make verify` is green with lint clean on all three backends. ## [0.65.5] - 2026-08-16 @@ -73,11 +133,13 @@ change; `/api/v1/iq` and `/api/v1/iq/set` are existing routes that answered hand-computed struct offsets: the backend links `ss_mpi` directly, so every field is an `offsetof()` into the SDK's own type and every range is the header's documented one. Values are read back from the ISP rather than - cached, so a rejected or clamped set is visible instead of silently assumed. -- **Writing a `manual.*` field forces that group's `op_type` to manual.** - A manual value is inert while the block runs its auto curve, which is - indistinguishable from a broken setter. The schema marks which fields do - this and the WebUI shows it on the chip. + cached, and a value outside its declared range is REJECTED rather than + clamped, so the value echoed by `/api/v1/iq/set` is the value applied. +- **Writing a field selects the half of the block it lives in.** A value under + `manual_attr` is inert while the block runs its auto curve and vice versa, + and an ignored write is indistinguishable from a broken setter — so the + write selects that `op_type`. The schema reports each field's `domain` + (`direct` | `manual` | `auto`) and the WebUI marks both kinds on the chip. - **DRC and dehaze are registered but bypassed**, measured through the new surface: `drc.enable` and `dehaze.enable` both read 0, and `ss_mpi_isp_get_module_ctrl()` confirms the hardware bypasses both. Toggling @@ -86,14 +148,15 @@ change; `/api/v1/iq` and `/api/v1/iq/set` are existing routes that answered that entry is corrected. Their sc450ai-derived tables ship `enable = 0`, so DRC has never contributed to a CV610 image and remains unevaluated. - **The WebUI IQ tab is capability-driven.** It was hidden by a hardcoded - `backendName === 'cv610'` test; it now probes `/api/v1/iq` and renders its - knob list from the `_schema` the backend describes itself with, so the field - table stays in one place instead of being copied into the page. Backends - with no schema keep the existing hardcoded list. A set re-queries and reports - the value the ISP kept, which differs from the request when clamped. - -Verified on the `.181` bench, cold-booted onto the shipped build -(`md5 dda3bec7…`, `/proc/PID/exe` confirmed not `(deleted)`): all 11 groups + `backendName === 'cv610'` test; visibility now comes from + `/api/v1/capabilities`' `data.routes.iq`, and the knob list is rendered from + the `_schema` the backend describes itself with, so the field table stays in + one place instead of being copied into the page. Backends with no schema keep + the existing hardcoded list. + +Verified on the `.181` bench, cold-booted onto a build of this change +(`/proc/PID/exe` confirmed not `(deleted)`; the binary was rebuilt again for +0.65.6, so the hash is not quoted here): all 11 groups return `ret=0`; a mutation sweep wrote and read back one field per group with 11/11 agreeing and the device diffing clean against its boot state afterwards; saturation 60 → 220 → 60 moved mean chroma 4.84 → 22.95 → 4.81, the repeat of @@ -102,9 +165,10 @@ arrays of the wrong length in either direction and unknown names are rejected; encoder rate stayed nominal at 100.10 fps with `pressureDrops` frozen at 0. -`_caps.import` is advertised as false because `handle_iq_import()` is compiled -only for Star6E and Maruko; the WebUI hides the control rather than offer a -button that 501s. +`/api/v1/capabilities` advertises `routes.iq_import:false` because +`handle_iq_import()` is compiled only for Star6E and Maruko; the WebUI hides +the control rather than offer a button that 501s. (An earlier `_caps` block in +the IQ payload was replaced by this before release — one fact, one place.) ## [0.65.4] - 2026-08-16 diff --git a/documentation/HTTP_API_CONTRACT.md b/documentation/HTTP_API_CONTRACT.md index 91c90eef..f81a63bc 100644 --- a/documentation/HTTP_API_CONTRACT.md +++ b/documentation/HTTP_API_CONTRACT.md @@ -18,7 +18,7 @@ - `read_only` — cannot be changed via API. ## Contract Version -- `contract_version`: `0.18.3` +- `contract_version`: `0.18.4` - `status`: `active` ## Governance Rules @@ -191,6 +191,23 @@ Response `200`: } } ``` + +`data.routes` (added 0.18.4) reports which optional routes the running +backend actually services, so a client does not have to call an expensive +endpoint just to discover whether it exists: + +```json +{"ok":true,"data":{"routes":{"iq":true,"iq_import":false},"fields":{ ... }}} +``` + +| key | meaning | +|---|---| +| `iq` | `/api/v1/iq` and `/api/v1/iq/set` are serviced (the backend registers `query_iq_info`). | +| `iq_import` | `/api/v1/iq/import` is compiled in (Star6E/Maruko only). | + +Absent `routes` means an older build: treat every route as possibly present +and fall back to calling it. +``` (truncated — all fields listed in actual response) `supported` is backend-specific. Current Star6E and Maruko builds both expose @@ -1712,8 +1729,8 @@ divergence is listed. As of `contract_version: 0.12.1`: | `/api/v1/audio/status` | yes | yes | Both backends register `query_audio_status`. | | `/api/v1/dual/status`, `/dual/idr` | yes | yes | `/dual/status` always 200 (`active:false` when off, `active:true,channel,bitrate,fps,gop` when on). `/dual/idr` returns 200 when active, 404 when not. Maruko HTTP registration landed in 0.10.4 — earlier Maruko builds returned 404 from these even when `record.mode=dual` was running. | | `/api/v1/dual/set` | yes | **501** | Star6E-only: the underlying `MI_VENC_*ChnAttr` write path binds to `i6_venc_chn`, but Maruko's venc library expects `i6c_venc_chn` (different layout). Maruko returns 501 until the call path is ported. | -| `/api/v1/iq` and `/api/v1/iq/set` | full (≈45 params) | full (parity in `maruko_iq.c`) | Both backends use the same IQ table schema. | -| `/api/v1/awb` | live | live | Both backends register `query_awb_info`. | +| `/api/v1/iq` and `/api/v1/iq/set` | full (≈45 params) | full (parity in `maruko_iq.c`) | Star6E/Maruko share one IQ table schema. **CV610 also serves these from 0.18.4, in a DIFFERENT shape** — see "CV610 IQ response shape" below. `/api/v1/iq/import` stays Star6E/Maruko-only and 501s on CV610 (advertised as `routes.iq_import:false`). | +| `/api/v1/awb` | live | live | Both backends register `query_awb_info`. CV610: **501**. | | `/api/v1/ae` | live + `runtime.active_precrop` | live + `runtime.active_precrop` | Both backends now include `runtime.active_precrop` in the AE response (Maruko parity landed in `0.8.4`). | | `/api/v1/transport/status` | yes | yes | SHM-ring fields are shown when `outgoing.server=shm://`; otherwise the UDP/Unix subset. | | `/api/v1/idr/stats` | yes | yes | Identical schema; values reflect each backend's IDR rate-limit. | @@ -1722,10 +1739,18 @@ divergence is listed. As of `contract_version: 0.12.1`: | `video0.framing` / `zoom_x` / `zoom_y` | yes | partial | `framing` requires reinit; zoom presets work on both backends, the `stab` preset is Star6E-only (no-op on Maruko); `zoom_x/y` are live pan controls (ignored under `stab`). | | `detect.model_path` / `model_id` / `conf_thresh` / `nms_iou` | **live** | **live** | Both backends hot-swap the NPU detector on the pipeline thread without respawning video. Star6E uses VPE port 1; Maruko uses SCL port 3 and its drain-while-disable teardown. A model whose reported input geometry disagrees with the configured tap is refused and leaves detection off. | | `detect.net_width` / `net_height` | restart | restart | Tap geometry is fixed when the VPE/SCL detector port is created. | -| `video0.min_qp` / `max_qp` | live | **501** | Star6E-only RC QP bounds; Maruko capabilities report these fields unsupported. | +| `video0.min_qp` / `max_qp` | live | **501** | RC QP bounds. Star6E live; Maruko reports unsupported. **CV610 live from 0.18.4** (`cv610_apply_qp_bounds`, applied live and at startup); it sets the P bounds and the I-frame ceiling, leaving the I-frame floor to `video0.qp_delta`. | | `isp.aeEngine` ("sdk" only) | applied | applied | Unified AE selector landed in 0.10.13. `custom` (userspace AE governor) is RETIRED — Maruko in 0.22.0, Star6E in 0.47.0 — and the value was **removed** in 0.47.0. `sdk` is the only accepted value; any other (e.g. a stale `custom`) warns and falls back to `sdk`. Both backends run the SDK firmware/bin AE for convergence plus a supervisory thread that enforces the `isp.gain*`/`isp.shutter*` limits. | ## Change Log (Contract) +- `0.18.4` (additive — CV610 gains the IQ surface and RC QP bounds): + `/api/v1/capabilities` gains `data.routes` (`iq`, `iq_import`) so a client can + discover optional routes without calling them. `/api/v1/iq` and + `/api/v1/iq/set` go from 501 to live on CV610, in a second response shape + documented under "CV610 IQ response shape" — group-keyed, self-describing via + `_schema`, and rejecting out-of-range values rather than clamping. + `video0.min_qp` / `video0.max_qp` become live on CV610. No field was removed + and no existing response key changed, so 0.18.3 clients keep working. - `0.18.3` (additive — CV610 sensor-mode selection reaches SigmaStar parity): - **`sensor.index` and `sensor.mode` are now supported on CV610**, both `restart_required`, the same `mutability` the shared table gives them on @@ -2124,3 +2149,34 @@ divergence is listed. As of `contract_version: 0.12.1`: - Updated examples to use `video.capture_resolution` restart semantics. - `0.1.0`: - Initial draft contract and endpoint definitions. + + +## CV610 IQ response shape (0.18.4) + +`/api/v1/iq` on CV610 is a **second, structurally different form** from the +Star6E/Maruko one documented above. A client written against that shape reads +`data["contrast"].value` and gets `undefined` on CV610 — branch on +`data._schema` being present, not on backend name. + +```json +{"ok":true,"data":{ + "_schema":[{"name":"saturation","fields":[ + {"name":"manual.saturation","count":1,"min":0,"max":255,"domain":"manual"}]}], + "saturation":{"ret":0,"fields":{"op_type":0,"manual.saturation":128}}, + "module_ctrl":{"ret":0,"bypass":{"drc":1,"dehaze":1}}}} +``` + +- Keyed by ISP **group**, not by parameter. Each group has `ret` (the MPI + return, 0 on success) and `fields`, whose keys are dotted field names. +- No `value`, `enabled`, `op_type` or `available` at group level, and no + `_diag` block. +- `_schema` describes the whole surface — name, element `count`, `min`/`max`, + and `domain` (`direct` | `manual` | `auto`). The WebUI renders from it, so + the field table lives only in the backend. +- `domain` is load-bearing: writing a `manual.*` or `auto.*` field also selects + that `op_type`, because a value in the other half is ignored by the ISP and + an ignored write is indistinguishable from a broken setter. +- `module_ctrl` is read-only and reports which ISP blocks the hardware is + bypassing. +- Values out of a field's declared range are **rejected**, not clamped, so the + value echoed by `/api/v1/iq/set` is the value applied. diff --git a/sensors/cv610/imx662/README.md b/sensors/cv610/imx662/README.md index 4c1c439e..492f2eee 100644 --- a/sensors/cv610/imx662/README.md +++ b/sensors/cv610/imx662/README.md @@ -53,5 +53,26 @@ bypasses both at runtime (confirmed by `ss_mpi_isp_get_module_ctrl()`). Setting `drc.enable=1` over the IQ API is the cheap way to evaluate DRC on this sensor before deciding whether the seed should change. +## Low-light behaviour + +The sharpen auto tables are tapered along their ISO axis to zero by bucket 9, +with the daylight buckets (0-3) left byte-identical. Sharpening is a high-pass +filter, so at high gain the sc450ai tables — which *rise* along ISO, edge +strength 195 to 500 — were amplifying noise into the encoder: measured 65.4 to +7.8 Mbps on the bench with sharpen off. The AWB saturation curve tapers harder +above daylight for the same reason, chroma noise being the ugliest high-gain +artifact. + +Conversion gain follows the analog gain: `FDG_SEL0` selects HCG above a +threshold and LCG below it, with the written gain code compensated by 15.3 dB +(Rcg typ 5.8) so the switch is continuous. `max_isp_dgain_target` is 4x, which +puts the total ceiling at 398 x 4 = 1592x (~64 dB) and makes AE exhaust analog +before it reaches for digital. + +`g_cmos_noise_calibration` is still sc450ai's photon-transfer fit and is the +main thing left wrong for this sensor; `nr.coring_ratio` and `nr.md_en` are +exposed over `/api/v1/iq` so it can be corrected by eye until a real IMX662 +calibration exists. + Reference material for further tuning lives outside this repo, in `hisilicon/vendor/imx662-docs/`. diff --git a/sensors/cv610/imx662/imx662_cmos.c b/sensors/cv610/imx662/imx662_cmos.c index 70f7ab36..56d87402 100644 --- a/sensors/cv610/imx662/imx662_cmos.c +++ b/sensors/cv610/imx662/imx662_cmos.c @@ -261,23 +261,38 @@ static td_void cmos_gains_update(ot_vi_pipe vi_pipe, td_u32 again, td_u32 dgain) reg = IMX662_GAIN_REG_MAX; } - /* Dual conversion gain. IMX662 is a STARVIS 2 part whose low-light - * answer is HCG, and leaving FDG_SEL0 at its 0h reset means every dark - * frame is amplified through the noisier low-conversion-gain path. + /* Dual conversion gain. HCG lowers read noise; it also multiplies the + * frame by ~5.8x, so the written code must give that back or AE has no + * fixed point in the band where it engages (see imx662_cmos.h). * - * The gain code is total dB in both modes, so this is transparent to AE: - * the same request produces the same brightness either side of the - * switch. Hysteresis between ON and OFF keeps AE noise around the - * boundary from toggling the register frame to frame. */ - if (vi_pipe >= 0 && vi_pipe < OT_ISP_MAX_PIPE_NUM) { + * `reg` arrives as the TOTAL gain the AE asked for, so subtracting the + * offset keeps cmos_again_calc_table()'s reported again_lin -- and hence + * the ISP's ISO bucket, which indexes the sharpen, saturation and NR + * tables -- describing the gain actually delivered. + * + * Slot 8 is linear-mode only: ClearHDR needs 3030h = 02h and a matching + * FDG_SEL1 (3031h) that has no slot here, so stamping 0/1 every frame + * would silently corrupt an HDR blend. cmos_set_wdr_mode() rejects every + * non-linear mode today; this keeps that true if it stops doing so. */ + if (sns_state->wdr_mode == OT_WDR_MODE_NONE) { if (!g_imx662_hcg_on[vi_pipe] && reg >= IMX662_HCG_ON_REG) { g_imx662_hcg_on[vi_pipe] = TD_TRUE; } else if (g_imx662_hcg_on[vi_pipe] && reg < IMX662_HCG_OFF_REG) { g_imx662_hcg_on[vi_pipe] = TD_FALSE; } - if (g_imx662_hcg_on[vi_pipe] && reg < IMX662_HCG_GAIN_REG_MIN) { - /* Sony forbids codes below 34 while HCG is selected. */ - reg = IMX662_HCG_GAIN_REG_MIN; + if (g_imx662_hcg_on[vi_pipe]) { + /* Test BEFORE subtracting: reg is unsigned, so an underflow + * would wrap to a huge value that a post-subtraction floor + * check reads as "above the floor" and lets through. The + * hysteresis makes this unreachable (latched implies + * reg >= OFF_REG, and the header asserts + * OFF_REG - OFFSET >= the floor), but a guard that cannot + * catch the case it names is worse than no guard. */ + if (reg < IMX662_HCG_GAIN_OFFSET + IMX662_HCG_GAIN_REG_MIN) { + reg = IMX662_HCG_GAIN_REG_MIN; + } else { + reg -= IMX662_HCG_GAIN_OFFSET; + } } sns_state->regs_info[0].i2c_data[8].data = g_imx662_hcg_on[vi_pipe] ? IMX662_FDG_HCG : IMX662_FDG_LCG; @@ -585,6 +600,11 @@ static td_void sensor_global_init(ot_vi_pipe vi_pipe) sizeof(ot_isp_sns_regs_info)); (td_void)memset_s(&sns_state->regs_info[1], sizeof(ot_isp_sns_regs_info), 0, sizeof(ot_isp_sns_regs_info)); + /* Conversion-gain latch is per-session state, reset alongside regs_info. + * A reinit landing while the scene is still dark would otherwise assert + * HCG on frame 1 with no gain measurement behind it -- with the offset + * compensation now applied, that is a 5.8x exposure error. */ + g_imx662_hcg_on[vi_pipe] = TD_FALSE; } static td_s32 cmos_init_sensor_exp_function(ot_isp_sns_exp_func *sensor_exp_func) diff --git a/sensors/cv610/imx662/imx662_cmos.h b/sensors/cv610/imx662/imx662_cmos.h index 15bb8713..44b320a0 100644 --- a/sensors/cv610/imx662/imx662_cmos.h +++ b/sensors/cv610/imx662/imx662_cmos.h @@ -94,21 +94,40 @@ extern "C" { #define IMX662_GAIN_STEP_MDB 30 /* 0.3 dB, in milli-dB */ #define IMX662_GAIN_REG_MAX 240u /* 72 dB / 0.3 dB */ -/* Dual conversion gain. Sony's SRM restricts the GAIN register to 22h..F0h - * while FDG_SEL0 = 1 (HCG) against 00h..F0h in LCG, and the register is - * "Gain [dB] x 10/3" in both modes -- so the code carries the same total dB - * either way and the switch at 34 is seamless in brightness. HCG lowers read - * noise; its cost is a smaller saturation signal (SRM: "Saturation signal gets - * smaller according to Vsat"), which is why bright scenes must stay in LCG. +/* Dual conversion gain. * - * The two thresholds give hysteresis so AE hunting around the boundary cannot - * toggle the register every frame. HCG_MIN is Sony's floor, not a choice. */ + * HCG is NOT brightness-neutral. The GAIN register is PGA gain applied after + * the conversion gain, so the two multiply: asserting FDG_SEL0=1 at an + * unchanged code brightens the frame by the conversion-efficiency ratio. The + * datasheet gives that ratio directly -- Rcg (HCG/LCG) min 5.6, typ 5.8, max + * 6.0, corroborated by the electro-optical table's G sensitivity, HCG 18383 vs + * LCG 3166 Digit/lx/s = 5.81x. 5.8x is 15.3 dB, and at 0.3 dB per code that + * is IMX662_HCG_GAIN_OFFSET below. + * + * Sony's 22h (34-code) floor is NOT the conversion gain -- that reading would + * require a 51-code floor. It is a saturation constraint: Vsat is 3895 digits + * in LCG against 1204 in HCG, a ratio of 3.235, and 34 codes x 0.3 dB = 10.2 dB + * = 3.236x. The floor exists so HCG's clip level refills the ADC to LCG's. + * + * So a write must subtract the offset while HCG is selected, and the thresholds + * must sit where the compensated code still clears the floor: a stable HCG + * solution needs (requested - 51) >= 34, i.e. requested >= 85. Latching on + * below that has no fixed point -- AE brightens 5.8x, slams the code down past + * the floor, HCG drops out, the frame goes dark, and it limit-cycles. That + * band is ordinary dim-indoor light, between the daylight and dark-room cases + * that are easy to test. */ +#define IMX662_HCG_GAIN_OFFSET 51u /* 15.3 dB / 0.3 dB per code */ #define IMX662_HCG_GAIN_REG_MIN 34u /* 10.2 dB; SRM lower bound */ -#define IMX662_HCG_ON_REG 40u /* 12.0 dB: enter HCG above this */ -#define IMX662_HCG_OFF_REG 34u /* 10.2 dB: fall back to LCG here */ +#define IMX662_HCG_ON_REG 91u /* requested; writes 40 */ +#define IMX662_HCG_OFF_REG 85u /* requested; writes 34 = floor */ #define IMX662_FDG_LCG 0x00u #define IMX662_FDG_HCG 0x01u +/* The floor is held by the OFF threshold, not by the clamp in + * cmos_gains_update(); keep them consistent if either is ever retuned. */ +typedef char imx662_hcg_off_clears_floor[ + (IMX662_HCG_OFF_REG - IMX662_HCG_GAIN_OFFSET >= IMX662_HCG_GAIN_REG_MIN) ? 1 : -1]; + /* ---- resolution modes ----------------------------------------------------- * Bring linear up first. Add Clear-HDR (2-frame) as a second mode later. */ diff --git a/sensors/cv610/imx662/imx662_sensor_ctl.c b/sensors/cv610/imx662/imx662_sensor_ctl.c index a29cb204..db9863ee 100644 --- a/sensors/cv610/imx662/imx662_sensor_ctl.c +++ b/sensors/cv610/imx662/imx662_sensor_ctl.c @@ -1,12 +1,12 @@ /* * imx662_sensor_ctl.c — IMX662 low-level transport + power-on register init. * - * SCAFFOLD (original). Implements the standard HiSilicon sensor transport - * (Linux /dev/i2c-N + OT_I2C_SLAVE_FORCE) and the per-mode register init the - * ISP calls at stream start. The bulk power-on "reserved register" block is - * left as a TODO to transcribe from the Sony IMX662 datasheet / - * will127534/imx662-v4l2-driver at integration — those magic values cannot be - * invented and must match silicon. + * Implements the standard HiSilicon sensor transport (Linux /dev/i2c-N + + * OT_I2C_SLAVE_FORCE) and the per-mode register init the ISP calls at stream + * start. The bulk power-on "reserved register" block lives in imx662_cfg.h, + * transcribed from pauliustumas/imx662 and cross-checked against Sony's + * IMX662_Register.xlsx; imx662_write_init_seq() writes it in standby, before + * the per-mode registers below, so the per-mode writes win where they overlap. */ #include diff --git a/specs/2026-08-16-cv610-runtime-iq/requirements.md b/specs/2026-08-16-cv610-runtime-iq/requirements.md index af3a462c..59d56b27 100644 --- a/specs/2026-08-16-cv610-runtime-iq/requirements.md +++ b/specs/2026-08-16-cv610-runtime-iq/requirements.md @@ -186,8 +186,11 @@ WebUI tab driven by a capability probe rather than a backend-name test. it. This is the same trap as the modes store's third copy of the mode list. - *`cv610_pipeline_isp_ready()` was added.* Firing MPI ioctls at an ISP that was never inited is not something to find out about in the field. -- *`forces_manual` is exposed.* Not in the plan; the mutation sweep made the - side-effect visible and it was cheap to surface rather than document only. +- *The field's `domain` is exposed.* Not in the plan; the mutation sweep made + the side-effect visible and it was cheap to surface rather than document + only. (Shipped first as a manual-only `forces_manual` flag, then generalised + to `direct`/`manual`/`auto` when review showed the auto half had the same + trap in the other direction.) **Found while verifying, not predicted**: DRC and dehaze are registered with the ISP but ship `enable = 0` and are bypassed in hardware. See HISTORY 0.65.5; diff --git a/src/cv610_iq.c b/src/cv610_iq.c index 7d96202f..77585b44 100644 --- a/src/cv610_iq.c +++ b/src/cv610_iq.c @@ -576,10 +576,10 @@ char *cv610_iq_query(void) * rejected rather than silently read as 12 and 0. 64-bit because the AE * gain/exposure fields are td_u32 and a legitimate value can exceed INT32_MAX. * - * The overflow check has to be errno, not a range comparison: this target is - * ARM EABI where long is 32 bits, so `v < INT32_MIN || v > INT32_MAX` is - * `long < LONG_MIN || long > LONG_MAX` — a tautology the compiler folds away, - * letting a saturated LONG_MAX through as a valid value. */ + * 64-bit because the AE gain and exposure fields are td_u32 and a legitimate + * value can exceed INT32_MAX; overflow is caught by errno == ERANGE from + * strtoll, which is the only portable check once the value type is as wide as + * the return type. */ static int parse_i64(const char *s, const char **end, int64_t *out) { char *stop = NULL; @@ -729,8 +729,19 @@ int cv610_iq_set(const char *param, const char *value) if (field->domain != F_DIRECT && group->op_type_offset >= 0) { int32_t mode = (field->domain == F_MANUAL) ? OT_OP_MODE_MANUAL : OT_OP_MODE_AUTO; + int32_t was = 0; + + memcpy(&was, (uint8_t *)&g_attr + group->op_type_offset, + sizeof(was)); memcpy((uint8_t *)&g_attr + group->op_type_offset, &mode, sizeof(mode)); + /* Say so when it actually moves. Selecting a domain is a side effect + * of the write, and an operator who pinned op_type by hand deserves a + * trace of it being taken back. */ + if (was != mode) + printf("[cv610-iq] %s: op_type %s -> %s\n", group->name, + was == OT_OP_MODE_MANUAL ? "manual" : "auto", + mode == OT_OP_MODE_MANUAL ? "manual" : "auto"); } ret = group->set(&g_attr); diff --git a/src/cv610_runtime.c b/src/cv610_runtime.c index 8247539c..f108424d 100644 --- a/src/cv610_runtime.c +++ b/src/cv610_runtime.c @@ -157,11 +157,28 @@ static int cv610_apply_qp_bounds(uint32_t min_qp, uint32_t max_qp) param.h265_cbr_param.max_qp = max_qp ? max_qp : g_cv610_qp_defaults.max_qp; param.h265_cbr_param.min_qp = min_qp ? min_qp : g_cv610_qp_defaults.min_qp; - /* I-frames get the same ceiling. Raising only the P bound leaves the + /* I-frames get the same CEILING -- raising only the P bound leaves the * I-frame free to blow the budget on its own, which in a noisy scene is - * exactly where the biggest frames come from. */ + * where the biggest frames come from. Their FLOOR is deliberately left + * alone: video0.qp_delta biases I-frames below the P QP (this craft ships + * -4), and an I-frame floor would silently cancel it. Star6E's + * apply_qp_bounds() touches only the P bounds for the same reason. */ param.h265_cbr_param.max_i_qp = max_qp ? max_qp : g_cv610_qp_defaults.max_i_qp; - param.h265_cbr_param.min_i_qp = min_qp ? min_qp : g_cv610_qp_defaults.min_i_qp; + + /* The API validator only compares min against max when BOTH are non-zero, + * so a half-specified pair can still resolve to min > max against the + * driver default. The SDK takes that without complaint and then behaves + * erratically, so reject it here rather than write it. */ + if (param.h265_cbr_param.min_qp > param.h265_cbr_param.max_qp || + param.h265_cbr_param.min_i_qp > param.h265_cbr_param.max_i_qp) { + fprintf(stderr, "ERROR: qpBounds min>max after resolving defaults " + "(p %u/%u, i %u/%u)\n", + (unsigned)param.h265_cbr_param.min_qp, + (unsigned)param.h265_cbr_param.max_qp, + (unsigned)param.h265_cbr_param.min_i_qp, + (unsigned)param.h265_cbr_param.max_i_qp); + return -1; + } ret = ss_mpi_venc_set_rc_param(CV610_VENC_CHN, ¶m); if (ret != TD_SUCCESS) { @@ -478,9 +495,16 @@ static int cv610_venc_start(Cv610RunnerContext *ctx) /* video0.minQp/maxQp are MUT_LIVE, but they also have to take effect on * a cold boot -- the config is read before the channel exists, so the * live path never runs for a value that was already in the file. */ - if (ctx->config.video0.min_qp || ctx->config.video0.max_qp) - (void)cv610_apply_qp_bounds(ctx->config.video0.min_qp, - ctx->config.video0.max_qp); + if (ctx->config.video0.min_qp || ctx->config.video0.max_qp) { + /* Not (void): a rejected cold-boot apply would otherwise leave the + * operator booting with no QP bound and no indication. */ + if (cv610_apply_qp_bounds(ctx->config.video0.min_qp, + ctx->config.video0.max_qp) != 0) + fprintf(stderr, "WARN: qpBounds from config not applied " + "(min=%u max=%u)\n", + (unsigned)ctx->config.video0.min_qp, + (unsigned)ctx->config.video0.max_qp); + } memset(&vui, 0, sizeof(vui)); ret = ss_mpi_venc_get_h265_vui(CV610_VENC_CHN, &vui); if (ret != TD_SUCCESS) diff --git a/src/venc_api.c b/src/venc_api.c index 6dbc24f7..a930981c 100644 --- a/src/venc_api.c +++ b/src/venc_api.c @@ -1424,18 +1424,32 @@ static int parse_first_query_param(const char *query, char *key, size_t key_sz, const char *amp = strchr(query, '&'); if (eq) { size_t klen = (size_t)(eq - query); - if (klen >= key_sz) klen = key_sz - 1; + if (klen >= key_sz) { + if (error_message) *error_message = "parameter name too long"; + return -1; + } memcpy(key, query, klen); key[klen] = '\0'; const char *vstart = eq + 1; size_t vlen = amp ? (size_t)(amp - vstart) : strlen(vstart); - if (vlen >= val_sz) vlen = val_sz - 1; + /* Reject rather than truncate. A silently shortened value can still + * satisfy a caller's own validation -- an array setter counting + * comma-separated elements sees the right count with its last element + * cut mid-token -- and then writes something the operator never asked + * for. No legitimate request approaches this length. */ + if (vlen >= val_sz) { + if (error_message) *error_message = "parameter value too long"; + return -1; + } memcpy(val, vstart, vlen); val[vlen] = '\0'; } else { /* key only, no value (used by GET) */ size_t klen = amp ? (size_t)(amp - query) : strlen(query); - if (klen >= key_sz) klen = key_sz - 1; + if (klen >= key_sz) { + if (error_message) *error_message = "parameter name too long"; + return -1; + } memcpy(key, query, klen); key[klen] = '\0'; val[0] = '\0'; @@ -2895,7 +2909,7 @@ static int handle_version(int fd, const HttpRequest *req, void *ctx) snprintf(buf, sizeof(buf), "{\"ok\":true,\"data\":{" "\"app_version\":\"%s\"," - "\"contract_version\":\"0.18.3\"," + "\"contract_version\":\"0.18.4\"," "\"config_schema_version\":\"1.0.0\"," "\"backend\":\"%s\"" "}}", VENC_VERSION, g_backend); diff --git a/src/venc_webui.c b/src/venc_webui.c index 760c8d23..6b518c1f 100644 --- a/src/venc_webui.c +++ b/src/venc_webui.c @@ -6,1530 +6,1514 @@ #include static const unsigned char dashboard_gz[] = { - 0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0xed, 0xbd, 0xdd, 0x76, 0xe3, 0x38, - 0x92, 0x2e, 0x7a, 0x9f, 0x4f, 0x81, 0x72, 0x75, 0xb7, 0xa4, 0x36, 0xf5, 0xe7, 0xbf, 0xca, 0x94, - 0xd2, 0xce, 0xc9, 0xbf, 0xaa, 0xf2, 0x4c, 0xfe, 0x55, 0xda, 0xd5, 0x3d, 0xb3, 0xb2, 0x73, 0xb9, - 0x28, 0x89, 0xb2, 0x59, 0x96, 0x48, 0x25, 0x49, 0xf9, 0xa7, 0x5c, 0xde, 0x6b, 0xae, 0xf6, 0x03, - 0xec, 0xb3, 0xd7, 0x39, 0x6f, 0x70, 0xae, 0xf7, 0xcd, 0xb9, 0x3b, 0x57, 0x73, 0xde, 0x64, 0x9e, - 0xe4, 0xc4, 0x17, 0x01, 0x90, 0x00, 0x45, 0x49, 0x76, 0x56, 0xd6, 0xcc, 0xec, 0x59, 0x53, 0x33, - 0x9d, 0x16, 0x49, 0x20, 0x00, 0x04, 0x02, 0x81, 0x88, 0x40, 0x44, 0xe0, 0xf1, 0x57, 0x2f, 0xde, - 0x3e, 0x3f, 0xfe, 0xa7, 0x77, 0x2f, 0xd5, 0x59, 0x36, 0x9d, 0x1c, 0x3c, 0x78, 0xf0, 0x18, 0x7f, - 0xd5, 0xc4, 0x8f, 0x4e, 0xf7, 0x37, 0x82, 0x68, 0x83, 0xdf, 0x04, 0xfe, 0x08, 0x7f, 0xa7, 0x41, - 0xe6, 0xab, 0xe1, 0x99, 0x9f, 0xa4, 0x41, 0xb6, 0xbf, 0xf1, 0xe3, 0xf1, 0xb7, 0xcd, 0x87, 0x1b, - 0xf9, 0xfb, 0xc8, 0x9f, 0x06, 0xfb, 0x1b, 0x17, 0x61, 0x70, 0x39, 0x8b, 0x93, 0x6c, 0x43, 0x0d, - 0xe3, 0x28, 0x0b, 0x22, 0x2a, 0x77, 0x19, 0x8e, 0xb2, 0xb3, 0xfd, 0x51, 0x70, 0x11, 0x0e, 0x83, - 0x26, 0x3f, 0x78, 0x2a, 0x8c, 0xc2, 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0x81, 0xa2, 0xab, 0x3a, 0x15, 0xb9, 0x83, 0x36, 0x56, 0x87, 0x24, 0x56, + 0xa4, 0xf7, 0x2d, 0xd9, 0x18, 0x57, 0xf8, 0x91, 0x9b, 0xe4, 0xb1, 0xf4, 0xff, 0x22, 0x45, 0xd3, + 0x0b, 0xd2, 0xe8, 0x39, 0xca, 0xfe, 0x10, 0x3f, 0xa1, 0xb4, 0xf3, 0x0f, 0x38, 0xe5, 0x1f, 0x6e, + 0xfc, 0xff, 0x0f, 0xfe, 0x17, 0x02, 0xb3, 0x48, 0x01, 0x00, }; /* When present, this file replaces the built-in dashboard at runtime, so the diff --git a/web/dashboard.html b/web/dashboard.html index e57661cd..160effdd 100644 --- a/web/dashboard.html +++ b/web/dashboard.html @@ -340,9 +340,10 @@
API Reference
- - + +
Image Quality
Recordings
@@ -1478,8 +1479,6 @@

${sec.title}

\u25BC
${sec.title}\u25BC
${sec.title}\u25BC
${sec.title}\u25BC
inp.value).join(','); } try{ - const r = await api('/api/v1/iq/set?'+paramName+'.'+fd.n+'='+val); + const r = await api('/api/v1/iq/set?'+encodeURIComponent(paramName+'.'+fd.n)+'='+encodeURIComponent(val)); if(r.ok){ ok++; inputs.forEach(inp=>{inp.dataset.orig=inp.value;inp.classList.remove('changed');}); @@ -1661,26 +1664,6 @@

${sec.title}

\u25BC
(typeof v === 'boolean') ? (v ? '1' : '0') : String(v); - if(dot < 0){ - const p = IQ_LAST[param]; - return (p && p.value !== undefined) ? num(p.value) : ''; - } - const g = IQ_LAST[param.substring(0, dot)]; - const v = g && g.fields ? g.fields[param.substring(dot+1)] : undefined; - if(v === undefined) return ''; - return Array.isArray(v) ? v.map(num).join(',') : num(v); -} - /* Backends that describe their own knob set (cv610) drive the list from the response, so the field table stays in one place — the C table that also enforces the ranges. The SigmaStar backend has no schema and keeps the @@ -1718,10 +1701,12 @@

${sec.title}

\u25BC
${sec.title}\u25BC
${sec.title}\u25BC
${sec.title}\u25BC
({ok:false})), - api('/api/v1/capabilities'), + api('/api/v1/capabilities').catch(()=>({ok:false})), - api('/api/v1/version'), + api('/api/v1/version').catch(()=>({ok:false})), api('/api/v1/modes').catch(()=>({ok:false})) @@ -1901,9 +1867,9 @@

${sec.title}

\u25BC
Date: Mon, 17 Aug 2026 05:25:40 +0200 Subject: [PATCH 26/45] test(api): cover the routes capability against the callback pointer A reviewer noted data.routes shipped with zero test coverage, and that the two existing capabilities tests could not have caught a regression in it: both memset the callbacks struct before venc_api_register(), so query_iq_info is always NULL and "iq" is always false. A test that can only observe one value of a boolean is not covering it. Two arms differing only in the pointer: without query_iq_info the response must carry "iq":false, with it "iq":true. That is the actual contract -- routes tracks the registered callback, not the backend name. Note `make test` currently reports 64 pre-existing failures in the star6e recorder suites, identical on master (2414 passed / 64 failed there, 2424 / 64 here). They are environmental: those tests write to /tmp/venc_recorder_test_* and this host's /tmp is full. Not caused by, and not fixed by, this branch. --- tests/test_venc_api.c | 74 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 74 insertions(+) diff --git a/tests/test_venc_api.c b/tests/test_venc_api.c index 5c0dec01..7b6ae93a 100644 --- a/tests/test_venc_api.c +++ b/tests/test_venc_api.c @@ -1730,6 +1730,79 @@ static int test_capabilities_emits_ui(void) * behind it. isp.awb_fps paces a loop only Star6E has; on Maruko the entry * must still be present (schema is shared) but marked unsupported, with the * tooltip explaining why. */ +/* Minimal stand-in: the routes test only cares that the pointer is non-NULL, + * not what it returns. */ +static char *api_test_stub_query_iq(void) +{ + return strdup("{\"ok\":true,\"data\":{}}"); +} + +/* /api/v1/capabilities advertises which optional routes the running backend + * actually services, so the dashboard can decide whether to draw the Image + * Quality tab without paying for a whole ISP sweep on /api/v1/iq. The value + * has to track the callback pointer, not the backend name -- the two existing + * capabilities tests both zero the callbacks struct, so neither could ever + * observe routes.iq true. */ +static int test_capabilities_routes_track_callbacks(void) +{ + int failures = 0; + VencConfig cfg; + VencApplyCallbacks cb; + int status = 0, fd; + char response[65536]; + const char *request = + "GET /api/v1/capabilities HTTP/1.0\r\nHost: 127.0.0.1\r\n\r\n"; + size_t sent, req_len = strlen(request); + int pass; + + /* Two arms: without query_iq_info, then with it. Only the pointer + * changes, so a difference in the response can only come from it. */ + for (pass = 0; pass < 2; pass++) { + venc_config_defaults(&cfg); + memset(&cb, 0, sizeof(cb)); + if (pass == 1) + cb.query_iq_info = api_test_stub_query_iq; + + if (venc_api_register(&cfg, "star6e", &cb, NULL) != 0) { + CHECK("routes register", 0); + return failures; + } + if (ensure_api_test_server() != 0) { + CHECK("routes server", 0); + return failures; + } + fd = connect_api_test_socket(); + CHECK("routes connect", fd >= 0); + if (fd < 0) + return failures; + for (sent = 0; sent < req_len; ) { + ssize_t n = write(fd, request + sent, req_len - sent); + if (n < 0 && errno == EINTR) + continue; + if (n <= 0) { + close(fd); + CHECK("routes write", 0); + return failures; + } + sent += (size_t)n; + } + shutdown(fd, SHUT_WR); + CHECK("routes read", + read_http_response(fd, &status, response, sizeof(response)) == 0); + close(fd); + CHECK("routes status", status == 200); + CHECK("routes block present", strstr(response, "\"routes\"") != NULL); + if (pass == 0) { + CHECK("routes.iq false without query_iq_info", + strstr(response, "\"iq\":false") != NULL); + } else { + CHECK("routes.iq true with query_iq_info", + strstr(response, "\"iq\":true") != NULL); + } + } + return failures; +} + static int test_capabilities_awb_fps_backend_gate(void) { int failures = 0; @@ -1929,6 +2002,7 @@ int test_venc_api(void) failures += test_set_rejects_malformed_percent_escape(); failures += test_capabilities_emits_ui(); failures += test_capabilities_awb_fps_backend_gate(); + failures += test_capabilities_routes_track_callbacks(); failures += test_snapshot_routes(); stop_api_test_server(); return failures; From ac72182152e5f0ad4f0228fe565b39f0b05bd363 Mon Sep 17 00:00:00 2001 From: snokvist Date: Mon, 17 Aug 2026 06:37:29 +0200 Subject: [PATCH 27/45] cv610: refuse to unload the MPP stack under a live consumer `S95waybeam stop` waits only for waybeam/waybeam-resp/waybeam-wd and then calls `load-cv610-online stop`, which rmmods the whole MPP stack. waybeam_hub holds /dev/rgn for the CV610 RGN OSD, and the MPP drivers do not set .owner on their file operations -- /proc/modules reports `open_rgn used=0` while the hub has /dev/rgn open. rmmod therefore succeeds and frees the file operations out from under a live consumer, wedging the SoC hard enough to need a physical power cycle. The script already carried the invariant in a comment ("Never unload the MPP stack while any of them still owns the graph"); it simply never counted the hub as an owner. Measured on the .181 bench: 10/10 monitored reboots clean, 20/20 venc stop/start cycles clean with the hub stopped, dead on the first stop/start with the hub running, then 5/5 clean again once the hub was released first. Reboot was only ever safe because rcK iterates `ls -r`, running S97waybeam-hub stop before S95waybeam. stop() now scans /proc/*/fd for processes outside the venc family holding an MPP character device and refuses, naming them, *before* killing anything -- refusing after the kill would leave venc dead with the modules loaded, which `load-cv610-online start` rejects as dirty state. rcK and reboot are unaffected; /api/v1/restart is untouched since it re-execs without unloading. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- HISTORY.md | 38 ++++++++++++++++++++++++++++++++++ VERSION | 2 +- init.d/S95waybeam.cv610 | 46 +++++++++++++++++++++++++++++++++++++++++ 3 files changed, 85 insertions(+), 1 deletion(-) diff --git a/HISTORY.md b/HISTORY.md index 99f8479f..babae01a 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -1,5 +1,43 @@ # History +## [0.65.7] - 2026-08-17 + +CV610 SoC wedge on `stop`. On the `.181` bench, `S95waybeam stop` while +`waybeam_hub` was running killed the SoC outright — no network, ARP +incomplete, physical power cycle required. It had been misfiled as an +intermittent "reboot sometimes hangs" for weeks. + +- **Root cause: the MPP modules were unloaded under a live consumer.** + `stop()` waits only for `waybeam`/`waybeam-resp`/`waybeam-wd` and then calls + `load-cv610-online stop`, which rmmods the whole stack. `waybeam_hub` holds + `/dev/rgn` for the CV610 RGN OSD and `/dev/mmz_userdev`, and the MPP drivers + do not set `.owner` on their file operations — `/proc/modules` reports + `open_rgn used=0` while the hub has `/dev/rgn` open. `rmmod` therefore + succeeds and frees the file operations out from under a live consumer. + + The script already carried the right invariant in a comment — *"Never unload + the MPP stack while any of them still owns the graph"* — it just never + counted the hub as an owner. + +- **Measured, with controls.** 10/10 monitored `reboot` cycles clean (ping gap + 12.6–15.8 s, back 18–20.5 s). 20/20 venc stop/start cycles clean with the hub + stopped, 2100 frames and 0 output drops afterwards. First stop/start with the + hub running: dead. Then 5/5 clean again once the hub was released first. + + Reboot was never safe for the reason everyone assumed. `rcK` iterates + `ls -r /etc/init.d/S??*`, so `S97waybeam-hub` stops *before* `S95waybeam`. + That accident is the entire difference, and it retro-explains the standing + "never stop/start venc on cv610, reboot instead" rule. + +- **Fix.** `stop()` scans `/proc/*/fd` for processes outside the venc family + holding an MPP character device and refuses, naming them, before killing + anything. Checking first matters: refusing after the kill would leave venc + dead with the modules still loaded, which `load-cv610-online start` then + rejects as dirty state. `rcK` and `reboot` are unaffected because the hub is + already gone by then; a manual `S95waybeam stop`/`restart` on a live craft + now fails with a message instead of wedging the SoC. `/api/v1/restart` is + untouched — it re-execs the daemon without unloading modules. + ## [0.65.6] - 2026-08-16 Low-light bitrate. On the `.181` bench with the room lights off, a 9.26 Mbps diff --git a/VERSION b/VERSION index fdf32f08..024349ad 100644 --- a/VERSION +++ b/VERSION @@ -1 +1 @@ -0.65.6 +0.65.7 diff --git a/init.d/S95waybeam.cv610 b/init.d/S95waybeam.cv610 index 7e0538cf..89cec99a 100755 --- a/init.d/S95waybeam.cv610 +++ b/init.d/S95waybeam.cv610 @@ -32,6 +32,42 @@ still_running() pidof "$NAME" "$RESPAWN" "$WATCHDOG" >/dev/null 2>&1 } +# Character devices created by the MPP modules that "$LOADER" stop unloads. +MPP_DEVICES="ab acodec adec aenc ai aio ao bus chnl h265e i2c isp_dev +mipi_rx mmz_userdev rc rgn sys user vb vca venc vgs vi vpp vpss" + +is_mpp_device() +{ + case "$1" in /dev/*) ;; *) return 1 ;; esac + case " $MPP_DEVICES " in *" ${1#/dev/} "*) return 0 ;; esac + return 1 +} + +# Processes outside the venc family holding one of those devices open. +# +# The drivers do not set .owner on their file operations, so opening the device +# takes no module reference -- /proc/modules reports open_rgn "used=0" while a +# consumer holds /dev/rgn. rmmod therefore succeeds under a live consumer and +# frees the file operations it is still using, wedging the SoC hard enough to +# need a physical power cycle. +# +# waybeam_hub is the one that matters in practice: it holds /dev/rgn for the +# CV610 RGN OSD. rcK already gets the ordering right, because "ls -r" runs +# S97waybeam-hub stop before S95waybeam -- which is the only reason a reboot +# has always been safe here while a bare "stop" was not. +mpp_holders() +{ + own=" $(pidof "$NAME" "$RESPAWN" "$WATCHDOG" 2>/dev/null) " + for fd in /proc/[0-9]*/fd/*; do + [ -L "$fd" ] || continue + is_mpp_device "$(readlink "$fd" 2>/dev/null)" || continue + pid=${fd#/proc/} + pid=${pid%%/*} + case "$own" in *" $pid "*) continue ;; esac + echo "$pid($(cat "/proc/$pid/comm" 2>/dev/null))" + done | sort -u | tr '\n' ' ' +} + start() { if [ "$WAYBEAM_ENABLED" != "1" ]; then @@ -63,6 +99,16 @@ start() stop() { + # Check for foreign holders before killing anything, so a refusal leaves + # the device streaming rather than half torn down -- venc dead with the + # modules still loaded is a state "$LOADER" start then refuses as dirty. + holders=$(mpp_holders) + if [ -n "$holders" ]; then + echo "refusing to unload CV610 modules: MPP devices still open by $holders" >&2 + echo "stop those consumers first, e.g. /etc/init.d/S97waybeam-hub stop" >&2 + return 1 + fi + # Cover the current daemon plus either side of an API-respawn handoff. # Never unload the MPP stack while any of them still owns the graph. killall "$NAME" "$RESPAWN" "$WATCHDOG" 2>/dev/null || true From f0bdbfe097e58b35ce7f92296d8a1a7552d878f8 Mon Sep 17 00:00:00 2001 From: snokvist Date: Mon, 17 Aug 2026 07:33:56 +0200 Subject: [PATCH 28/45] cv610: move the unload guard next to the rmmod it protects The first cut guarded only S95waybeam stop(). There are two call sites for "$LOADER" stop -- stop(), and start()'s failure rollback -- so a failed start on a live craft would still rmmod under the hub and wedge the SoC. Same gate-held-at-one-of-two-call-sites shape as before. Put the check in load-cv610-online stop_modules() instead, where the rmmod actually is: it now covers stop(), the start-failure rollback, and a hand-run "load-cv610-online stop", with no exclusions -- unloading while venc itself holds the devices is equally fatal. S95waybeam stop() keeps a pre-kill check, but delegates it to the new "load-cv610-online holders " subcommand so there is one implementation. It needs the early answer to refuse before destroying state: refusing after the kill leaves venc dead with modules loaded, which "$LOADER" start rejects as dirty. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- HISTORY.md | 23 ++++++++++++------- init.d/S95waybeam.cv610 | 39 +++++++------------------------- init.d/load-cv610-online | 48 +++++++++++++++++++++++++++++++++++++++- 3 files changed, 70 insertions(+), 40 deletions(-) diff --git a/HISTORY.md b/HISTORY.md index babae01a..157c6731 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -29,14 +29,21 @@ intermittent "reboot sometimes hangs" for weeks. That accident is the entire difference, and it retro-explains the standing "never stop/start venc on cv610, reboot instead" rule. -- **Fix.** `stop()` scans `/proc/*/fd` for processes outside the venc family - holding an MPP character device and refuses, naming them, before killing - anything. Checking first matters: refusing after the kill would leave venc - dead with the modules still loaded, which `load-cv610-online start` then - rejects as dirty state. `rcK` and `reboot` are unaffected because the hub is - already gone by then; a manual `S95waybeam stop`/`restart` on a live craft - now fails with a message instead of wedging the SoC. `/api/v1/restart` is - untouched — it re-execs the daemon without unloading modules. +- **Fix.** The guard lives in `load-cv610-online stop_modules()`, next to the + `rmmod` it protects, so it covers every path that unloads — `S95waybeam + stop`, the start-failure rollback that also calls `$LOADER stop`, and a + hand-run `load-cv610-online stop`. It scans `/proc/*/fd` and refuses, naming + the holders. + + `S95waybeam stop` additionally asks up front, via `load-cv610-online holders` + ignoring its own pids, so it can refuse *before* killing anything: refusing + after the kill would leave venc dead with the modules still loaded, which + `load-cv610-online start` then rejects as dirty state. + + `rcK` and `reboot` are unaffected because the hub is already gone by then; a + manual `S95waybeam stop`/`restart` on a live craft now fails with a message + instead of wedging the SoC. `/api/v1/restart` is untouched — it re-execs the + daemon without unloading modules. ## [0.65.6] - 2026-08-16 diff --git a/init.d/S95waybeam.cv610 b/init.d/S95waybeam.cv610 index 89cec99a..7f5238fd 100755 --- a/init.d/S95waybeam.cv610 +++ b/init.d/S95waybeam.cv610 @@ -32,40 +32,17 @@ still_running() pidof "$NAME" "$RESPAWN" "$WATCHDOG" >/dev/null 2>&1 } -# Character devices created by the MPP modules that "$LOADER" stop unloads. -MPP_DEVICES="ab acodec adec aenc ai aio ao bus chnl h265e i2c isp_dev -mipi_rx mmz_userdev rc rgn sys user vb vca venc vgs vi vpp vpss" - -is_mpp_device() -{ - case "$1" in /dev/*) ;; *) return 1 ;; esac - case " $MPP_DEVICES " in *" ${1#/dev/} "*) return 0 ;; esac - return 1 -} - -# Processes outside the venc family holding one of those devices open. -# -# The drivers do not set .owner on their file operations, so opening the device -# takes no module reference -- /proc/modules reports open_rgn "used=0" while a -# consumer holds /dev/rgn. rmmod therefore succeeds under a live consumer and -# frees the file operations it is still using, wedging the SoC hard enough to -# need a physical power cycle. +# Foreign holders of an MPP device, ignoring the venc family. The check itself +# lives in the loader, next to the rmmod it protects -- see the comment there +# for why unloading under a live consumer wedges the SoC. This wrapper exists +# only so stop() can refuse *before* it kills anything. # -# waybeam_hub is the one that matters in practice: it holds /dev/rgn for the -# CV610 RGN OSD. rcK already gets the ordering right, because "ls -r" runs -# S97waybeam-hub stop before S95waybeam -- which is the only reason a reboot -# has always been safe here while a bare "stop" was not. +# rcK already gets the ordering right, because "ls -r" runs S97waybeam-hub stop +# before S95waybeam -- the only reason a reboot has always been safe here while +# a bare "stop" was not. mpp_holders() { - own=" $(pidof "$NAME" "$RESPAWN" "$WATCHDOG" 2>/dev/null) " - for fd in /proc/[0-9]*/fd/*; do - [ -L "$fd" ] || continue - is_mpp_device "$(readlink "$fd" 2>/dev/null)" || continue - pid=${fd#/proc/} - pid=${pid%%/*} - case "$own" in *" $pid "*) continue ;; esac - echo "$pid($(cat "/proc/$pid/comm" 2>/dev/null))" - done | sort -u | tr '\n' ' ' + "$LOADER" holders "$(pidof "$NAME" "$RESPAWN" "$WATCHDOG" 2>/dev/null)" } start() diff --git a/init.d/load-cv610-online b/init.d/load-cv610-online index c370cd10..3abcdd85 100755 --- a/init.d/load-cv610-online +++ b/init.d/load-cv610-online @@ -20,6 +20,38 @@ is_loaded() grep -q "^$1 " /proc/modules } +# Character devices created by the modules below. +MPP_DEVICES="ab acodec adec aenc ai aio ao bus chnl h265e i2c isp_dev +mipi_rx mmz_userdev rc rgn sys user vb vca venc vgs vi vpp vpss" + +is_mpp_device() +{ + case "$1" in /dev/*) ;; *) return 1 ;; esac + case " $MPP_DEVICES " in *" ${1#/dev/} "*) return 0 ;; esac + return 1 +} + +# Processes holding one of those devices open, minus any pid in $1. +# +# The drivers do not set .owner on their file operations, so opening the device +# takes no module reference -- /proc/modules reports open_rgn "used=0" while a +# consumer holds /dev/rgn. rmmod therefore succeeds under a live consumer and +# frees the file operations it is still using, wedging the SoC hard enough to +# need a physical power cycle. waybeam_hub is the one that matters in practice: +# it holds /dev/rgn for the CV610 RGN OSD. +mpp_holders() +{ + ignore=" ${1:-} " + for fd in /proc/[0-9]*/fd/*; do + [ -L "$fd" ] || continue + is_mpp_device "$(readlink "$fd" 2>/dev/null)" || continue + pid=${fd#/proc/} + pid=${pid%%/*} + case "$ignore" in *" $pid "*) continue ;; esac + echo "$pid($(cat "/proc/$pid/comm" 2>/dev/null))" + done | sort -u | tr '\n' ' ' +} + load_stock() { name=$1 @@ -106,6 +138,15 @@ start_modules() stop_modules() { + # Guard the rmmod itself, not its callers: every path that unloads -- + # S95waybeam stop, the start-failure rollback, a hand-run stop -- is + # equally fatal with a consumer still attached. + holders=$(mpp_holders) + if [ -n "$holders" ]; then + echo "refusing to unload: MPP devices still open by $holders" >&2 + echo "stop those consumers first, e.g. /etc/init.d/S97waybeam-hub stop" >&2 + return 1 + fi modules="open_user open_mipi_rx open_sensor_i2c \ open_acodec open_aenc open_ai open_aio \ open_h265e open_venc open_rc open_chnl open_isp open_vi \ @@ -134,8 +175,13 @@ case "${1:-}" in restart) stop_modules && start_modules ;; + holders) + # Callers that must decide *before* destroying state ask here, passing + # the pids they own as one space-separated argument. + mpp_holders "${2:-}" + ;; *) - echo "Usage: $0 {start|stop|restart}" >&2 + echo "Usage: $0 {start|stop|restart|holders [ignore-pids]}" >&2 exit 1 ;; esac From ae2596bcb68cf1ab1a42deacb7a43dadc642c311 Mon Sep 17 00:00:00 2001 From: snokvist Date: Mon, 17 Aug 2026 17:23:16 +0200 Subject: [PATCH 29/45] cv610: complete the device list, fix the line-boundary miss, fail closed Pre-merge review on hardware, three defects in my own guard. The device list was derived from module names instead of the target's /dev, so it missed three real nodes: ot_mipi_rx (the node is not "mipi_rx"), logmpp and venc_msg. Worse, the list was a multi-line string literal while the lookup matches on " name ". Names landing on a line boundary carried a newline instead of a space and never matched at all -- isp_dev and mipi_rx were dead entries, and venc holds four /dev/isp_dev fds. The hub case still worked only because /dev/rgn happens to sit mid-line. Built by concatenation now, so every entry is space-delimited by construction. S95waybeam stop also read a failed query as "no holders": a loader predating the "holders" subcommand exits non-zero with empty stdout, and stop() would then proceed into exactly the unload this guards. A partially deployed pair -- new init script, old loader -- is how that gets hit, and it is what I did by hand on the bench twice today. It now fails closed. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- init.d/S95waybeam.cv610 | 9 ++++++++- init.d/load-cv610-online | 13 ++++++++++--- 2 files changed, 18 insertions(+), 4 deletions(-) diff --git a/init.d/S95waybeam.cv610 b/init.d/S95waybeam.cv610 index 7f5238fd..67fe7347 100755 --- a/init.d/S95waybeam.cv610 +++ b/init.d/S95waybeam.cv610 @@ -79,7 +79,14 @@ stop() # Check for foreign holders before killing anything, so a refusal leaves # the device streaming rather than half torn down -- venc dead with the # modules still loaded is a state "$LOADER" start then refuses as dirty. - holders=$(mpp_holders) + # Fail closed when the query itself fails. A loader predating the "holders" + # subcommand exits non-zero with empty stdout, which would otherwise read as + # "no holders" and hand back the very wedge this guards -- and a partially + # deployed pair (new init script, old loader) is exactly how that happens. + if ! holders=$(mpp_holders); then + echo "cannot query MPP holders via $LOADER -- refusing to unload" >&2 + return 1 + fi if [ -n "$holders" ]; then echo "refusing to unload CV610 modules: MPP devices still open by $holders" >&2 echo "stop those consumers first, e.g. /etc/init.d/S97waybeam-hub stop" >&2 diff --git a/init.d/load-cv610-online b/init.d/load-cv610-online index 3abcdd85..4c5585b5 100755 --- a/init.d/load-cv610-online +++ b/init.d/load-cv610-online @@ -20,9 +20,16 @@ is_loaded() grep -q "^$1 " /proc/modules } -# Character devices created by the modules below. -MPP_DEVICES="ab acodec adec aenc ai aio ao bus chnl h265e i2c isp_dev -mipi_rx mmz_userdev rc rgn sys user vb vca venc vgs vi vpp vpss" +# Character devices created by the modules below. Derived from the target's +# actual /dev, not from module names -- guessing from names missed ot_mipi_rx +# (not "mipi_rx"), logmpp and venc_msg. To re-derive after a module set change: +# ls -l /dev | awk '$1 ~ /^c/ {print $NF}' | sort # before and after a load +# Built by concatenation, not as one multi-line literal: the lookup below matches +# on " name ", so a name landing on a line boundary would carry a newline +# instead of a space and never match at all. +MPP_DEVICES="ab acodec adec aenc ai aio ao bus chnl h265e i2c isp_dev logmpp" +MPP_DEVICES="$MPP_DEVICES mipi_rx mmz_userdev ot_mipi_rx rc rgn sys user vb" +MPP_DEVICES="$MPP_DEVICES vca venc venc_msg vgs vi vpp vpss" is_mpp_device() { From 120c0f33b20a4236c1815d027a52b0bfc88e85d0 Mon Sep 17 00:00:00 2001 From: snokvist Date: Mon, 17 Aug 2026 07:39:15 +0200 Subject: [PATCH 30/45] cv610: stop reloading the MPP modules on a venc restart star6e and maruko never touch insmod/rmmod from S95waybeam -- the modules are loaded once at boot and venc re-inits the graph against them. cv610 was the outlier, and both of its init scripts have been unchanged since the initial backend commit, so the reload looks like bring-up scaffolding rather than a requirement. It is not a requirement for the graceful path: mpp_cleanup() already tears the graph down completely and calls ss_mpi_vb_exit() from the process that created VB, which is the only process allowed to. What the reload actually covered is the crash path -- a venc that dies without mpp_cleanup() leaves VB held by a dead owner, vb_set_cfg returns BUSY, and that was tolerated blindly. Harmless while the modules are reloaded every time; a stale pool layout otherwise. sys_setup() now reads the live config back with ss_mpi_vb_get_cfg() and compares the pools it was about to request. An identical layout is adopted and logged as such; a different one fails hard, naming the recovery command, instead of silently handing out wrong-sized blocks. load-cv610-online start is idempotent once the full set is up (open_user is loaded last, so its presence means the sequence completed); a partial set is still refused. S95waybeam stop leaves the modules loaded, and a new S95waybeam reload is the recovery path -- it unloads, so the holder guard from the previous commit applies and the hub must be stopped first. scripts/cv610_reload_free_verify.sh restarts across a mode change rather than only in place: a same-mode restart passes even when a stale VB layout was inherited, so it cannot tell the fix from the bug. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- HISTORY.md | 36 ++++++ VERSION | 2 +- init.d/S95waybeam.cv610 | 56 ++++----- init.d/load-cv610-online | 13 ++ scripts/cv610_reload_free_verify.sh | 177 ++++++++++++++++++++++++++++ src/cv610_pipeline.c | 53 ++++++++- 6 files changed, 296 insertions(+), 41 deletions(-) create mode 100755 scripts/cv610_reload_free_verify.sh diff --git a/HISTORY.md b/HISTORY.md index 157c6731..96a1befa 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -1,5 +1,41 @@ # History +## [0.65.8] - 2026-08-17 + +CV610 venc restarts no longer reload the MPP kernel modules — the same model +star6e and maruko have always used, where the init script never touches +`insmod`/`rmmod` at all. + +- **The reload was bring-up scaffolding.** Both cv610 init scripts have been + unchanged since the initial backend commit. `mpp_cleanup()` is already a + complete teardown and, critically, calls `ss_mpi_vb_exit()` *from the process + that created VB* — the only process permitted to. So after a graceful stop + there is nothing for a module reload to clean up, and the next start can + re-init the graph against the modules already loaded. + +- **What the reload was actually protecting.** A venc that dies without running + `mpp_cleanup()` leaves VB held by a dead owner; `vb_set_cfg` then returns + BUSY. That was tolerated blindly, which is only harmless while the modules + are reloaded every time. Without the reload it would mean running on the + previous mode's pool sizes. + + `sys_setup()` now reads the live config back with `ss_mpi_vb_get_cfg()` and + compares the pools it was about to request. Identical layout is adopted and + says so; a different layout is a hard failure naming the way out + (`load-cv610-online restart`) instead of silently handing out wrong-sized + blocks that surface later as corruption. + +- `load-cv610-online start` is idempotent when the full set is up (`open_user` + is the last module loaded, so its presence means a completed sequence); a + *partial* set is still refused as dirty. `S95waybeam stop` leaves the modules + loaded, and a new `S95waybeam reload` is the recovery path after a crash — + it unloads, so the holder guard applies and the hub must be stopped first. + +- Device verification: `scripts/cv610_reload_free_verify.sh`, which restarts + across a **mode change** rather than only in place — a same-mode restart + passes even when a stale VB layout was inherited, so it cannot distinguish + the fix from the bug. + ## [0.65.7] - 2026-08-17 CV610 SoC wedge on `stop`. On the `.181` bench, `S95waybeam stop` while diff --git a/VERSION b/VERSION index 024349ad..e086e13e 100644 --- a/VERSION +++ b/VERSION @@ -1 +1 @@ -0.65.7 +0.65.8 diff --git a/init.d/S95waybeam.cv610 b/init.d/S95waybeam.cv610 index 67fe7347..d09a76d9 100755 --- a/init.d/S95waybeam.cv610 +++ b/init.d/S95waybeam.cv610 @@ -32,19 +32,6 @@ still_running() pidof "$NAME" "$RESPAWN" "$WATCHDOG" >/dev/null 2>&1 } -# Foreign holders of an MPP device, ignoring the venc family. The check itself -# lives in the loader, next to the rmmod it protects -- see the comment there -# for why unloading under a live consumer wedges the SoC. This wrapper exists -# only so stop() can refuse *before* it kills anything. -# -# rcK already gets the ordering right, because "ls -r" runs S97waybeam-hub stop -# before S95waybeam -- the only reason a reboot has always been safe here while -# a bare "stop" was not. -mpp_holders() -{ - "$LOADER" holders "$(pidof "$NAME" "$RESPAWN" "$WATCHDOG" 2>/dev/null)" -} - start() { if [ "$WAYBEAM_ENABLED" != "1" ]; then @@ -76,25 +63,7 @@ start() stop() { - # Check for foreign holders before killing anything, so a refusal leaves - # the device streaming rather than half torn down -- venc dead with the - # modules still loaded is a state "$LOADER" start then refuses as dirty. - # Fail closed when the query itself fails. A loader predating the "holders" - # subcommand exits non-zero with empty stdout, which would otherwise read as - # "no holders" and hand back the very wedge this guards -- and a partially - # deployed pair (new init script, old loader) is exactly how that happens. - if ! holders=$(mpp_holders); then - echo "cannot query MPP holders via $LOADER -- refusing to unload" >&2 - return 1 - fi - if [ -n "$holders" ]; then - echo "refusing to unload CV610 modules: MPP devices still open by $holders" >&2 - echo "stop those consumers first, e.g. /etc/init.d/S97waybeam-hub stop" >&2 - return 1 - fi - # Cover the current daemon plus either side of an API-respawn handoff. - # Never unload the MPP stack while any of them still owns the graph. killall "$NAME" "$RESPAWN" "$WATCHDOG" 2>/dev/null || true i=0 while still_running && [ "$i" -lt 100 ]; do @@ -103,16 +72,31 @@ stop() done if still_running; then echo "$NAME did not stop within 10 seconds" >&2 - echo "refusing to unload CV610 modules while the graph is owned" >&2 return 1 fi rm -f "$PIDFILE" - "$LOADER" stop - echo "Stopped $NAME" + # The MPP modules stay loaded, the way they do on star6e and maruko. venc + # tears its own graph down in mpp_cleanup() -- including vb_exit() from the + # process that created it, which is the only process allowed to -- so the + # next start re-inits against the modules already up. Unloading them here + # was bring-up scaffolding, and it is what wedged the SoC whenever a + # consumer still held one of their devices. + echo "Stopped $NAME (MPP modules left loaded)" +} + +# Recovery: after a venc that died without running mpp_cleanup(), VB is held by +# a dead owner and the next start refuses if the mode's pool layout differs. +# This is the way out. It unloads, so the loader's holder check applies -- stop +# waybeam_hub first. +reload() +{ + stop || return 1 + "$LOADER" restart || return 1 + start } case "${1:-}" in - start|stop) "$1" ;; + start|stop|reload) "$1" ;; restart) stop && start ;; - *) echo "Usage: $0 {start|stop|restart}" >&2; exit 1 ;; + *) echo "Usage: $0 {start|stop|restart|reload}" >&2; exit 1 ;; esac diff --git a/init.d/load-cv610-online b/init.d/load-cv610-online index 4c5585b5..27f3b52e 100755 --- a/init.d/load-cv610-online +++ b/init.d/load-cv610-online @@ -90,6 +90,19 @@ start_modules() echo "refusing vendor open_pm" >&2 return 1 } + # open_user is the last module the sequence loads, so its presence means a + # previous run completed. Loading is idempotent from here: a venc restart + # re-inits the graph against the modules already up, the way star6e and + # maruko have always worked. Only a *partial* set is dirty. + if is_loaded open_user && is_loaded open_base; then + if [ "$AUDIO" = "1" ] && ! is_loaded open_acodec; then + echo "modules are up but were loaded without audio;" >&2 + echo "run '$0 restart' to reload with the audio set" >&2 + return 1 + fi + echo "MPP modules already loaded" + return 0 + fi is_loaded open_base && { echo "refusing dirty MPP module state" >&2 return 1 diff --git a/scripts/cv610_reload_free_verify.sh b/scripts/cv610_reload_free_verify.sh new file mode 100755 index 00000000..88ef73f2 --- /dev/null +++ b/scripts/cv610_reload_free_verify.sh @@ -0,0 +1,177 @@ +#!/bin/sh +# cv610_reload_free_verify.sh -- run ON the CV610 target. +# +# Verifies that a venc restart no longer reloads the MPP modules, and that the +# cases which make that unsafe are caught rather than tolerated. +# +# The interesting case is a restart across a MODE CHANGE. A same-mode restart +# passes even when the VB config was silently inherited, because the inherited +# layout happens to be the right one -- so a suite that only restarts in place +# proves nothing about the thing being changed. T3 changes video0.width/height, +# which moves out_blk and the pool count (sys_setup() adds a third pool only +# when out_blk < yuv_blk), and then checks which path sys_setup() actually took. +# +# Instruments are the markers sys_setup() prints: +# "ok ss_mpi_vb_set_cfg" -> fresh config applied +# "ok ss_mpi_vb_set_cfg (adopted identical ...)" -> BUSY, layout matched +# "FAIL VB is held by a dead owner ..." -> BUSY, layout differed +# +# Two steps can kill the SoC, by design, and need an operator who can power +# cycle: +# T1 attempts the unload the guard is supposed to refuse. If the guard has +# regressed, the unload proceeds under the hub and wedges the board -- +# that is exactly the bug, observed as no network and ARP incomplete. +# T5 hard-kills venc so MPP state is left dirty on purpose. +# Everything else is a normal restart. +# +# Usage: cv610_reload_free_verify.sh [--keep-going] +set -u + +INIT=/etc/init.d/S95waybeam +HUB=/etc/init.d/S97waybeam-hub +LOADER=/usr/bin/load-cv610-online +CFG=/etc/waybeam.json +LOG=/var/run/waybeam.log +BACKUP=/tmp/waybeam.json.verify-backup +KEEP=0 +[ "${1:-}" = "--keep-going" ] && KEEP=1 + +pass=0; fail=0; note=0 +ok() { pass=$((pass+1)); echo " PASS $1"; } +bad() { fail=$((fail+1)); echo " FAIL $1"; [ "$KEEP" = 1 ] || { echo; echo "halting so the state can be inspected"; summary; exit 1; }; } +info() { note=$((note+1)); echo " NOTE $1"; } +summary() { echo; echo "=== $pass passed, $fail failed, $note measurement(s) ==="; } +chk() { desc=$1; shift; if "$@"; then ok "$desc"; else bad "$desc"; fi; } + +mods() { grep -c '^open' /proc/modules; } +venc_pid(){ pidof waybeam 2>/dev/null; } +hub_pid() { pidof waybeam_hub 2>/dev/null; } +pkts() { wget -qO- --timeout=3 http://127.0.0.1:80/api/v1/transport/status 2>/dev/null \ + | sed 's/.*"packetsSent"://; s/[^0-9].*//'; } + +flowing() { + a=$(pkts); sleep 3; b=$(pkts) + [ -n "$a" ] && [ -n "$b" ] && [ "$b" -gt "$a" ] 2>/dev/null +} + +set_out_size() { + if command -v json_cli >/dev/null 2>&1; then + json_cli "$CFG" set video0.width "$1" >/dev/null 2>&1 || return 1 + json_cli "$CFG" set video0.height "$2" >/dev/null 2>&1 || return 1 + else + sed -i "s/\"width\"[[:space:]]*:[[:space:]]*[0-9]\+/\"width\": $1/; + s/\"height\"[[:space:]]*:[[:space:]]*[0-9]\+/\"height\": $2/" "$CFG" || return 1 + fi + return 0 +} + +# ---------------------------------------------------------------- preconditions +echo "=== preconditions ===" +cp "$CFG" "$BACKUP" || { echo "cannot back up $CFG"; exit 1; } +echo " config backed up to $BACKUP" +[ -n "$(venc_pid)" ] || $INIT start >/dev/null 2>&1 +[ -n "$(hub_pid)" ] || $HUB start >/dev/null 2>&1 +sleep 8 +base_mods=$(mods) +echo " venc=$(venc_pid) hub=$(hub_pid) modules=$base_mods" +[ -n "$(hub_pid)" ] || { echo "hub is not running -- T1/T2/T3 need it up"; exit 1; } + +# ------------------------------------------------------- T1: the guard still fires +echo +echo "=== T1: unload is refused while the hub holds /dev/rgn ===" +out=$("$LOADER" stop 2>&1); rc=$? +case "$out" in + *"refusing to unload"*) ok "loader refused, naming holders" ;; + *) bad "loader did NOT refuse (rc=$rc): $out" ;; +esac +chk "refusal is a non-zero exit" test "$rc" -ne 0 +chk "module count unchanged ($base_mods)" test "$(mods)" = "$base_mods" + +# ------------------------------------ T2: graceful restart, same mode, hub RUNNING +echo +echo "=== T2: venc restart with the hub up (the case that used to wedge) ===" +: >"$LOG" +$INIT restart >/dev/null 2>&1 +sleep 8 +chk "venc came back (pid $(venc_pid))" test -n "$(venc_pid)" +chk "hub survived the restart" test -n "$(hub_pid)" +chk "modules never unloaded ($base_mods)" test "$(mods)" = "$base_mods" +chk "frames flowing after restart" flowing +chk "sys_setup ran vb_set_cfg" grep -q "ss_mpi_vb_set_cfg" "$LOG" + +# ------------------------------------------- T3: restart ACROSS a mode change +echo +echo "=== T3: restart across a mode change (1080p -> 720p), hub up ===" +if set_out_size 1280 720; then + : >"$LOG" + $INIT restart >/dev/null 2>&1 + sleep 8 + if grep -q "adopted identical live config" "$LOG"; then + bad "VB config was ADOPTED across a mode change -- pools are stale" + elif grep -q "held by a dead owner" "$LOG"; then + bad "vb_set_cfg refused after a *graceful* stop -- vb_exit did not release" + elif grep -q "ok ss_mpi_vb_set_cfg" "$LOG"; then + ok "fresh VB config applied for the new layout" + else + bad "no vb_set_cfg marker at all" + fi + chk "venc running at 720p" test -n "$(venc_pid)" + chk "frames flowing at 720p" flowing + chk "still no module reload" test "$(mods)" = "$base_mods" +else + info "could not edit $CFG -- T3 skipped, mode-change path UNVERIFIED" +fi + +# ------------------------------------------------ T4: back to the original mode +echo +echo "=== T4: restore 1080p ===" +cp "$BACKUP" "$CFG" +: >"$LOG" +$INIT restart >/dev/null 2>&1 +sleep 8 +chk "restored mode: venc up" test -n "$(venc_pid)" +chk "restored mode: streaming" flowing + +# ------------------------------------------------------ T5: the crash path +# Expected result is NOT known in advance: if the driver's .release frees VB +# when the process dies, a hard kill self-heals and set_cfg simply succeeds. +# Report what happens rather than asserting. +echo +echo "=== T5: hard-kill venc (no mpp_cleanup), then start in a DIFFERENT mode ===" +echo " measurement, not an assertion" +killall -9 waybeam 2>/dev/null +sleep 3 +set_out_size 1280 720 || info "config edit failed; T5 degraded to a same-mode start" +: >"$LOG" +$INIT start >/dev/null 2>&1 +sleep 8 +if grep -q "held by a dead owner" "$LOG"; then + info "VB survived the kill and the mismatch was REFUSED (guard works, reload needed)" +elif grep -q "adopted identical live config" "$LOG"; then + bad "stale VB adopted across a mode change after a crash -- silent wrong pools" +elif grep -q "ok ss_mpi_vb_set_cfg" "$LOG"; then + info "VB was released when the process died -- crash path self-heals" +else + info "no marker; venc pid=$(venc_pid). Inspect $LOG" +fi + +# ------------------------------------------------------------ T6: recovery +echo +echo "=== T6: reload recovery path (hub stopped first, as the guard requires) ===" +cp "$BACKUP" "$CFG" +$HUB stop >/dev/null 2>&1 +sleep 2 +$INIT reload >/dev/null 2>&1 +sleep 10 +chk "reload restored venc" test -n "$(venc_pid)" +chk "frames flowing after reload" flowing +$HUB start >/dev/null 2>&1 +sleep 5 +chk "hub restarted" test -n "$(hub_pid)" + +echo +echo "Config restored from $BACKUP." +echo "Still to check by hand: the OSD still renders after T2 (the hub keeps its" +echo "RGN regions now that open_rgn is never unloaded), and one reboot." +summary +[ "$fail" = 0 ] diff --git a/src/cv610_pipeline.c b/src/cv610_pipeline.c index 65ba90a2..787456e7 100644 --- a/src/cv610_pipeline.c +++ b/src/cv610_pipeline.c @@ -231,12 +231,31 @@ static int mipi_setup(const Cv610PipelineRuntimeConfig *c) /* --------------------------------------------------------------- VB / SYS -- */ +/* Two configs match when they would hand out the same buffers. Only the pools + * actually in use are compared; the rest of the struct is zero-filled padding + * and an mmz_name this backend never sets. */ +static int vb_cfg_equal(const ot_vb_cfg *a, const ot_vb_cfg *b) +{ + unsigned int i; + + if (a->max_pool_cnt != b->max_pool_cnt) { + return 0; + } + for (i = 0; i < a->max_pool_cnt && i < OT_VB_MAX_COMMON_POOLS; i++) { + if (a->common_pool[i].blk_size != b->common_pool[i].blk_size || + a->common_pool[i].blk_cnt != b->common_pool[i].blk_cnt) { + return 0; + } + } + return 1; +} + static int sys_setup(const Cv610PipelineRuntimeConfig *c) { ot_vb_cfg vb; ot_vi_vpss_mode vi_vpss_mode; td_u64 raw_blk, yuv_blk, out_blk; - td_s32 sys_ret, vb_ret; + td_s32 sys_ret, vb_ret, set_ret; unsigned int i; /* RAW12 is stored 16bpp in the pipe buffers; be generous, this is a probe. */ @@ -263,8 +282,9 @@ static int sys_setup(const Cv610PipelineRuntimeConfig *c) /* VB/SYS state lives in the kernel and survives the process that created * it, and only the creating process may tear it down — so after a crashed * run vb_exit returns NOT_PERM and the config below cannot be replaced. - * BUSY is therefore acceptable for the normal offline restart path. For - * online mode it is not: selecting VI-online must happen after a complete, + * A clean exit runs mpp_cleanup()'s vb_exit, so this pre-clean normally + * finds nothing to do and the set_cfg below simply takes. For online mode + * BUSY is not acceptable: selecting VI-online must happen after a complete, * successful SYS init and before any VI pipe exists. */ /* C does not define function-argument evaluation order. Keep the vendor * API's SYS-then-VB shutdown order explicit and make each result legible. */ @@ -280,7 +300,32 @@ static int sys_setup(const Cv610PipelineRuntimeConfig *c) vi_vpss_mode.mode[VI_PIPE] = OT_VI_ONLINE_VPSS_OFFLINE; } - CV610_CHECK_OR_BUSY(ss_mpi_vb_set_cfg(&vb)); + set_ret = ss_mpi_vb_set_cfg(&vb); + if (set_ret != TD_SUCCESS) { + ot_vb_cfg live; + + if (cv610_error_id(set_ret) != OT_ERR_BUSY) { + fprintf(stderr, "FAIL ss_mpi_vb_set_cfg = 0x%x\n", set_ret); + return -1; + } + /* VB is still held by an owner that never tore it down — a crashed + * run, since a clean exit calls vb_exit from mpp_cleanup(). Adopting + * it is only safe when the live pool layout is the one this mode was + * about to ask for. Tolerating BUSY blindly would leave every block + * the wrong size, and that surfaces far downstream as corruption + * rather than as a failed init. */ + memset(&live, 0, sizeof(live)); + if (ss_mpi_vb_get_cfg(&live) != TD_SUCCESS || + !vb_cfg_equal(&live, &vb)) { + fprintf(stderr, "FAIL VB is held by a dead owner and its layout " + "differs from this mode; reload the MPP stack with " + "'load-cv610-online restart'\n"); + return -1; + } + printf(" ok ss_mpi_vb_set_cfg (adopted identical live config)\n"); + } else { + printf(" ok ss_mpi_vb_set_cfg\n"); + } CV610_CHECK_OR_BUSY(ss_mpi_vb_init()); if (c->vi_online) { /* Online mode can only be selected after a complete SYS init. Do not From 2c9314c4ea2dd1c790b91931407db529d1960e19 Mon Sep 17 00:00:00 2001 From: snokvist Date: Mon, 17 Aug 2026 17:04:25 +0200 Subject: [PATCH 31/45] cv610: clear ISP on pre-clean, fix reload env, harden the verify suite Device verification on .181 turned up three things. ISP, not VB, is what a hard kill leaves behind. After kill -9 the VB config is released and vb_set_cfg succeeds, but ISP[0] stays inited and the next run dies at ss_mpi_isp_mem_init with 0xa01c800c "already inited". sys_setup() now pre-cleans with ss_mpi_isp_exit(VI_PIPE) next to the existing sys_exit/vb_exit, before anything of ours is registered, so a crash recovers without a reload. reload() dropped CV610_SENSOR_PROFILE/CV610_AUDIO on the way to the loader, so it reloaded video-only with the imx662 clock and start() then correctly refused the audio mismatch -- leaving the craft with no daemon. Pass the same env start() does. The suite had two flaws of its own, both the same shape: verifying that a stimulus was applied rather than that it had an effect. - T3 set video0.width/height, which do not exist -- the real key is the video0.size string. It created keys nothing reads and then "passed" a same-mode restart labelled as a mode change. It now sets video0.size and asserts the ENCODED geometry moved, read from venc's own VPSS line. - T5 grepped a VB marker and recorded a cheerful NOTE while venc was dead at isp_mem_init. It now asserts the daemon is running and streaming. - The hard-kill case also had to move last: a SIGKILL poisons module reloading for the rest of the boot, so running it before the reload test was testing the reload against state the kill had already broken. 20 passed, 0 failed on .181. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- HISTORY.md | 39 ++++++++- init.d/S95waybeam.cv610 | 6 +- scripts/cv610_reload_free_verify.sh | 127 ++++++++++++++++++---------- src/cv610_pipeline.c | 12 ++- 4 files changed, 132 insertions(+), 52 deletions(-) diff --git a/HISTORY.md b/HISTORY.md index 96a1befa..36ae9ddb 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -31,10 +31,41 @@ star6e and maruko have always used, where the init script never touches loaded, and a new `S95waybeam reload` is the recovery path after a crash — it unloads, so the holder guard applies and the hub must be stopped first. -- Device verification: `scripts/cv610_reload_free_verify.sh`, which restarts - across a **mode change** rather than only in place — a same-mode restart - passes even when a stale VB layout was inherited, so it cannot distinguish - the fix from the bug. +- **ISP, not VB, is what a crash leaves behind.** Measured on `.181`: after + `kill -9`, VB *is* released (set_cfg succeeds) but ISP[0] stays inited and the + next run dies at `ss_mpi_isp_mem_init` with `0xa01c800c` "already inited". + `sys_setup()` now pre-cleans with `ss_mpi_isp_exit(VI_PIPE)` alongside the + existing `sys_exit`/`vb_exit`, before anything of ours is registered, so a + hard kill recovers without a module reload. + +- `S95waybeam reload` passes `CV610_SENSOR_PROFILE`/`CV610_AUDIO` through to the + loader. A bare `$LOADER restart` reloads with the loader's own defaults — + video-only, imx662 clock — and `start()` then correctly refuses the audio + mismatch, leaving the craft with no daemon at all. + +- Device verification on `.181`, `scripts/cv610_reload_free_verify.sh`: + **20 passed, 0 failed**. T3 restarts across a real mode change and asserts the + *encoded geometry* moved (1920x1080 → 640x360) from venc's own VPSS line, + because asserting the config key instead let an earlier revision report a mode + change that never happened. + +Two things the hardware showed that are **not** fixed here: + +- **A SIGKILL leaks two `aenc` MMB blocks** (`aenc(0)_strm`, `aenc(0)_cir`, + 16 KB each) and after that the next module unload/reload fails at sys.ko init + — `no sys ko!` then `load vpp.ko ...FAILURE!` — for the rest of the boot, so + even a fresh load from zero modules fails. Graceful stops leak nothing. This + makes `reload` the wrong recovery after a hard kill; reboot is. It is also an + independent argument for this change: the fewer module reload cycles, the + better, and it plausibly underlies the old "reboot instead" folklore. + +- **The hub's RGN OSD does not survive a venc restart.** With `open_rgn` no + longer unloaded the hub keeps its `/dev/rgn` handle, but the region was bound + to a VENC channel venc destroys and recreates: `osd_render` goes from + `40 rgn … drops 0` to `0 rgn … drops 42` — still painting, every push + dropped. A hub restart restores it (`drops 0`). Reattach belongs in + waybeam-hub; until it lands, restarting venc on a craft means restarting the + hub after it. ## [0.65.7] - 2026-08-17 diff --git a/init.d/S95waybeam.cv610 b/init.d/S95waybeam.cv610 index d09a76d9..74da699c 100755 --- a/init.d/S95waybeam.cv610 +++ b/init.d/S95waybeam.cv610 @@ -91,7 +91,11 @@ stop() reload() { stop || return 1 - "$LOADER" restart || return 1 + # Pass the same profile start() does. A bare "$LOADER" restart reloads with + # the loader's own defaults -- video-only, imx662 clock -- and then start() + # refuses the audio mismatch, so the craft comes back with no daemon at all. + CV610_SENSOR_PROFILE="$CV610_SENSOR_PROFILE" \ + CV610_AUDIO="$CV610_AUDIO" "$LOADER" restart || return 1 start } diff --git a/scripts/cv610_reload_free_verify.sh b/scripts/cv610_reload_free_verify.sh index 88ef73f2..97a40886 100755 --- a/scripts/cv610_reload_free_verify.sh +++ b/scripts/cv610_reload_free_verify.sh @@ -7,9 +7,9 @@ # The interesting case is a restart across a MODE CHANGE. A same-mode restart # passes even when the VB config was silently inherited, because the inherited # layout happens to be the right one -- so a suite that only restarts in place -# proves nothing about the thing being changed. T3 changes video0.width/height, -# which moves out_blk and the pool count (sys_setup() adds a third pool only -# when out_blk < yuv_blk), and then checks which path sys_setup() actually took. +# proves nothing about the thing being changed. T3 changes video0.size and then +# asserts the ENCODED SIZE moved in venc's own VPSS line, which is what moves +# out_blk, before checking which path sys_setup() took. # # Instruments are the markers sys_setup() prints: # "ok ss_mpi_vb_set_cfg" -> fresh config applied @@ -21,7 +21,8 @@ # T1 attempts the unload the guard is supposed to refuse. If the guard has # regressed, the unload proceeds under the hub and wedges the board -- # that is exactly the bug, observed as no network and ARP incomplete. -# T5 hard-kills venc so MPP state is left dirty on purpose. +# T6 hard-kills venc so MPP state is left dirty on purpose. It also poisons +# module reloading for the rest of the boot, so it runs last. # Everything else is a normal restart. # # Usage: cv610_reload_free_verify.sh [--keep-going] @@ -54,14 +55,21 @@ flowing() { [ -n "$a" ] && [ -n "$b" ] && [ "$b" -gt "$a" ] 2>/dev/null } -set_out_size() { - if command -v json_cli >/dev/null 2>&1; then - json_cli "$CFG" set video0.width "$1" >/dev/null 2>&1 || return 1 - json_cli "$CFG" set video0.height "$2" >/dev/null 2>&1 || return 1 - else - sed -i "s/\"width\"[[:space:]]*:[[:space:]]*[0-9]\+/\"width\": $1/; - s/\"height\"[[:space:]]*:[[:space:]]*[0-9]\+/\"height\": $2/" "$CFG" || return 1 - fi +# The encoded size venc actually chose, straight from its own bring-up line: +# "ok VPSS 1920x1080 -> 1280x720 (scaled)" +# This, not the config, is what decides out_blk and the pool count. +out_size() { + sed -n 's/.*VPSS [0-9]*x[0-9]* -> \([0-9]*x[0-9]*\).*/\1/p' "$LOG" | tail -1 +} + +# video0.size is a STRING ("1920x1080"), and video0.width/height do not exist -- +# setting those creates keys nothing reads, which is how the first version of +# this suite reported a mode change that never happened. Assert the geometry, +# not the key. +set_size() { + command -v json_cli >/dev/null 2>&1 || return 1 + json_cli -s .video0.size "\"$1\"" -i "$CFG" >/dev/null 2>&1 || return 1 + [ "$(json_cli -g .video0.size --raw -i "$CFG" 2>/dev/null)" = "$1" ] || return 1 return 0 } @@ -101,25 +109,37 @@ chk "sys_setup ran vb_set_cfg" grep -q "ss_mpi_vb_set_cfg" "$LOG" # ------------------------------------------- T3: restart ACROSS a mode change echo -echo "=== T3: restart across a mode change (1080p -> 720p), hub up ===" -if set_out_size 1280 720; then +echo "=== T3: restart across a mode change, hub up ===" +base_out=$(out_size) +echo " baseline encoded size: ${base_out:-unknown}" +if [ -z "$base_out" ]; then + info "no VPSS size line in $LOG -- cannot tell a mode change from a no-op, T3 skipped" +elif ! set_size 640x360; then + info "could not edit $CFG -- T3 skipped, mode-change path UNVERIFIED" +else : >"$LOG" $INIT restart >/dev/null 2>&1 sleep 8 - if grep -q "adopted identical live config" "$LOG"; then - bad "VB config was ADOPTED across a mode change -- pools are stale" - elif grep -q "held by a dead owner" "$LOG"; then - bad "vb_set_cfg refused after a *graceful* stop -- vb_exit did not release" - elif grep -q "ok ss_mpi_vb_set_cfg" "$LOG"; then - ok "fresh VB config applied for the new layout" + new_out=$(out_size) + if [ -z "$new_out" ] || [ "$new_out" = "$base_out" ]; then + # The whole point of T3. Without this the suite happily "passes" a + # same-mode restart and leaves the layout-change path unexercised. + bad "encoded size did not move ($base_out -> ${new_out:-none}) -- NOT a mode change" else - bad "no vb_set_cfg marker at all" + ok "encoded size moved $base_out -> $new_out, so the VB layout differs" + if grep -q "adopted identical live config" "$LOG"; then + bad "VB config was ADOPTED across a mode change -- pools are stale" + elif grep -q "held by a dead owner" "$LOG"; then + bad "vb_set_cfg refused after a *graceful* stop -- vb_exit did not release" + elif grep -q "ok ss_mpi_vb_set_cfg" "$LOG"; then + ok "fresh VB config applied for the new layout" + else + bad "no vb_set_cfg marker at all" + fi + chk "venc running in the new mode" test -n "$(venc_pid)" + chk "frames flowing in the new mode" flowing + chk "still no module reload" test "$(mods)" = "$base_mods" fi - chk "venc running at 720p" test -n "$(venc_pid)" - chk "frames flowing at 720p" flowing - chk "still no module reload" test "$(mods)" = "$base_mods" -else - info "could not edit $CFG -- T3 skipped, mode-change path UNVERIFIED" fi # ------------------------------------------------ T4: back to the original mode @@ -132,42 +152,59 @@ sleep 8 chk "restored mode: venc up" test -n "$(venc_pid)" chk "restored mode: streaming" flowing -# ------------------------------------------------------ T5: the crash path +# ------------------------------------------------------- T5: reload recovery +echo +echo "=== T5: reload recovery path (hub stopped first, as the guard requires) ===" +cp "$BACKUP" "$CFG" +$HUB stop >/dev/null 2>&1 +sleep 2 +$INIT reload >/dev/null 2>&1 +sleep 10 +chk "reload restored venc" test -n "$(venc_pid)" +chk "frames flowing after reload" flowing +$HUB start >/dev/null 2>&1 +sleep 5 +chk "hub restarted" test -n "$(hub_pid)" + +# --------------------------------------------------------- T6: the crash path +# LAST on purpose. Measured on .181: a SIGKILL leaks two aenc MMB blocks +# ('aenc(0)_strm', 'aenc(0)_cir', 16 KB each) and after that the next module +# unload/reload fails at sys.ko init -- 'no sys ko!' then 'load vpp.ko +# ...FAILURE!' -- for the rest of the boot. So this must not run before T5, +# or it poisons the reload it would be testing. Graceful restarts leak +# nothing; only the hard kill does. # Expected result is NOT known in advance: if the driver's .release frees VB # when the process dies, a hard kill self-heals and set_cfg simply succeeds. # Report what happens rather than asserting. echo -echo "=== T5: hard-kill venc (no mpp_cleanup), then start in a DIFFERENT mode ===" +echo "=== T6: hard-kill venc (no mpp_cleanup), then start in a DIFFERENT mode ===" echo " measurement, not an assertion" killall -9 waybeam 2>/dev/null sleep 3 -set_out_size 1280 720 || info "config edit failed; T5 degraded to a same-mode start" +set_size 640x360 || info "config edit failed; T6 degraded to a same-mode start" : >"$LOG" $INIT start >/dev/null 2>&1 sleep 8 if grep -q "held by a dead owner" "$LOG"; then - info "VB survived the kill and the mismatch was REFUSED (guard works, reload needed)" + info "VB survived the kill and the mismatch was REFUSED (reload needed)" elif grep -q "adopted identical live config" "$LOG"; then bad "stale VB adopted across a mode change after a crash -- silent wrong pools" elif grep -q "ok ss_mpi_vb_set_cfg" "$LOG"; then - info "VB was released when the process died -- crash path self-heals" + info "VB was released when the process died" else - info "no marker; venc pid=$(venc_pid). Inspect $LOG" + info "no VB marker; inspect $LOG" fi +grep -q "already inited" "$LOG" && bad "ISP survived the kill and blocked the restart" +# The VB marker alone says nothing about whether the daemon came up: the first +# run of this suite recorded a cheerful NOTE while venc was dead on the floor at +# ss_mpi_isp_mem_init. Assert the outcome, not just the milestone. +chk "venc actually running after the crash restart" test -n "$(venc_pid)" +chk "streaming after the crash restart" flowing -# ------------------------------------------------------------ T6: recovery -echo -echo "=== T6: reload recovery path (hub stopped first, as the guard requires) ===" -cp "$BACKUP" "$CFG" -$HUB stop >/dev/null 2>&1 -sleep 2 -$INIT reload >/dev/null 2>&1 -sleep 10 -chk "reload restored venc" test -n "$(venc_pid)" -chk "frames flowing after reload" flowing -$HUB start >/dev/null 2>&1 -sleep 5 -chk "hub restarted" test -n "$(hub_pid)" +leaks=$(dmesg | grep -c "MMB LEAK") +info "MMB leaks this boot: $leaks (a SIGKILL leaks 2; graceful stops leak 0)" +echo " NOTE module reload is now poisoned until reboot -- 'reload' is NOT the" +echo " recovery after a hard kill; reboot is. venc itself self-heals above." echo echo "Config restored from $BACKUP." diff --git a/src/cv610_pipeline.c b/src/cv610_pipeline.c index 787456e7..351c73f4 100644 --- a/src/cv610_pipeline.c +++ b/src/cv610_pipeline.c @@ -255,7 +255,7 @@ static int sys_setup(const Cv610PipelineRuntimeConfig *c) ot_vb_cfg vb; ot_vi_vpss_mode vi_vpss_mode; td_u64 raw_blk, yuv_blk, out_blk; - td_s32 sys_ret, vb_ret, set_ret; + td_s32 sys_ret, vb_ret, set_ret, isp_ret; unsigned int i; /* RAW12 is stored 16bpp in the pipe buffers; be generous, this is a probe. */ @@ -288,9 +288,17 @@ static int sys_setup(const Cv610PipelineRuntimeConfig *c) * successful SYS init and before any VI pipe exists. */ /* C does not define function-argument evaluation order. Keep the vendor * API's SYS-then-VB shutdown order explicit and make each result legible. */ + /* ISP mem-init is the one piece of graph state a hard kill leaves behind: + * measured on the .181 bench, SIGKILL releases VB (set_cfg then succeeds) + * but leaves ISP[0] inited, so the next run dies at ss_mpi_isp_mem_init + * with 0xa01c800c "already inited". Clear it here, with the other + * pre-cleans and before anything of ours is registered, so a crash does + * not need a module reload to recover. */ + isp_ret = ss_mpi_isp_exit(VI_PIPE); sys_ret = ss_mpi_sys_exit(); vb_ret = ss_mpi_vb_exit(); - printf(" pre-clean: sys_exit=0x%x vb_exit=0x%x\n", sys_ret, vb_ret); + printf(" pre-clean: isp_exit=0x%x sys_exit=0x%x vb_exit=0x%x\n", + isp_ret, sys_ret, vb_ret); memset(&vi_vpss_mode, 0, sizeof(vi_vpss_mode)); for (i = 0; i < OT_VI_MAX_PIPE_NUM; i++) { From 141ae28cc41de4b051e55a5f0545f93b75619dc9 Mon Sep 17 00:00:00 2001 From: snokvist Date: Mon, 17 Aug 2026 17:07:01 +0200 Subject: [PATCH 32/45] test(cv610): actually restore the config the closing message claims T6 leaves video0.size at its test value and only T5 restored it, so the suite printed "Config restored" while walking away from a bench encoding 640x360 -- found exactly that way on .181. Restore and restart into the configured mode, then report the encoded size so the claim is checkable rather than asserted. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- scripts/cv610_reload_free_verify.sh | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/scripts/cv610_reload_free_verify.sh b/scripts/cv610_reload_free_verify.sh index 97a40886..d89ec5d8 100755 --- a/scripts/cv610_reload_free_verify.sh +++ b/scripts/cv610_reload_free_verify.sh @@ -207,6 +207,14 @@ echo " NOTE module reload is now poisoned until reboot -- 'reload' is NOT the" echo " recovery after a hard kill; reboot is. venc itself self-heals above." echo +# T6 leaves video0.size at the test value, and only T5 restored it. Put the +# craft back on its configured mode and restart into it, so the bench is not +# silently left encoding 640x360 under a message claiming it was restored. +cp "$BACKUP" "$CFG" +$INIT restart >/dev/null 2>&1 +sleep 8 +chk "config restored and venc restarted into it" test -n "$(venc_pid)" +echo " encoded size now: $(out_size)" echo "Config restored from $BACKUP." echo "Still to check by hand: the OSD still renders after T2 (the hub keeps its" echo "RGN regions now that open_rgn is never unloaded), and one reboot." From edf55c805bee9dc25b2d22472b2fa3f0d9bfba02 Mon Sep 17 00:00:00 2001 From: snokvist Date: Mon, 17 Aug 2026 17:24:12 +0200 Subject: [PATCH 33/45] cv610: point the audio-mismatch hint at the init script, not the loader The message said "run '$0 restart'", and $0 is the loader. Run bare it reloads with the loader's own defaults -- video-only, imx662 clock -- which is the exact state that produced the message, so the advice loops. Point at S95waybeam reload, which passes the profile through. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- init.d/load-cv610-online | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/init.d/load-cv610-online b/init.d/load-cv610-online index 27f3b52e..c41bfaeb 100755 --- a/init.d/load-cv610-online +++ b/init.d/load-cv610-online @@ -96,8 +96,11 @@ start_modules() # maruko have always worked. Only a *partial* set is dirty. if is_loaded open_user && is_loaded open_base; then if [ "$AUDIO" = "1" ] && ! is_loaded open_acodec; then + # Point at the init script, not at "$0 restart": run bare, this + # loader reloads with its own defaults (video-only, imx662 clock) + # and lands right back here. echo "modules are up but were loaded without audio;" >&2 - echo "run '$0 restart' to reload with the audio set" >&2 + echo "run '/etc/init.d/S95waybeam reload' to reload the right set" >&2 return 1 fi echo "MPP modules already loaded" From 92a83442e2e44c1e5024935ed29f652334f9ff5e Mon Sep 17 00:00:00 2001 From: snokvist Date: Mon, 17 Aug 2026 17:57:28 +0200 Subject: [PATCH 34/45] test(cv610): assert the hub OSD survives the restart, from the compositor T2 left "does the OSD still render" to a human. Assert it: read the VGS job counters for the hub's region out of /proc/umap/rgn and require them to advance with zero failures. Those counters, not the hub's perf line, are the effect side. The hub counts a publish it issued, which is the stimulus; a publish into a region nothing composites would still count up there. Verified to fail when pointed at a handle that does not exist, so the assertion can fail. Baseline is taken in the preconditions, so a hub built without CV610_OSD records an explicit UNVERIFIED note instead of passing by absence. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- HISTORY.md | 22 +++++++++------ scripts/cv610_reload_free_verify.sh | 44 +++++++++++++++++++++++++++-- 2 files changed, 55 insertions(+), 11 deletions(-) diff --git a/HISTORY.md b/HISTORY.md index 36ae9ddb..33704141 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -44,10 +44,14 @@ star6e and maruko have always used, where the init script never touches mismatch, leaving the craft with no daemon at all. - Device verification on `.181`, `scripts/cv610_reload_free_verify.sh`: - **20 passed, 0 failed**. T3 restarts across a real mode change and asserts the + **22 passed, 0 failed**. T3 restarts across a real mode change and asserts the *encoded geometry* moved (1920x1080 → 640x360) from venc's own VPSS line, because asserting the config key instead let an earlier revision report a mode - change that never happened. + change that never happened. T2 asserts the hub's OSD survived, from the + compositor's VGS job counters in `/proc/umap/rgn` rather than the hub's own + perf line — the hub counts the publish it made, which is the stimulus; those + counters count the composite that consumed it. Verified to fail on a region + that is not there. Two things the hardware showed that are **not** fixed here: @@ -60,12 +64,14 @@ Two things the hardware showed that are **not** fixed here: better, and it plausibly underlies the old "reboot instead" folklore. - **The hub's RGN OSD does not survive a venc restart.** With `open_rgn` no - longer unloaded the hub keeps its `/dev/rgn` handle, but the region was bound - to a VENC channel venc destroys and recreates: `osd_render` goes from - `40 rgn … drops 0` to `0 rgn … drops 42` — still painting, every push - dropped. A hub restart restores it (`drops 0`). Reattach belongs in - waybeam-hub; until it lands, restarting venc on a craft means restarting the - hub after it. + longer unloaded the hub keeps its `/dev/rgn` handle, but the region does not + survive our teardown: after a restart `/proc/umap/rgn` lists **no regions at + all** — `mpp_cleanup()`'s `ss_mpi_sys_exit()` takes the whole table with it, + because MPP objects are kernel state shared across processes. The hub keeps + painting into a handle that no longer exists: `osd_render` goes from + `40 rgn … drops 0` to `0 rgn … drops 42`, silently. A hub restart restores it. + Fixed on the hub side in waybeam-hub#213 (the region is recreated and rebound + after five consecutive failed publishes), which is what T2 now asserts. ## [0.65.7] - 2026-08-17 diff --git a/scripts/cv610_reload_free_verify.sh b/scripts/cv610_reload_free_verify.sh index d89ec5d8..99f6da39 100755 --- a/scripts/cv610_reload_free_verify.sh +++ b/scripts/cv610_reload_free_verify.sh @@ -73,6 +73,29 @@ set_size() { return 0 } +# The hub's OSD region, HIRGN_HANDLE in waybeam-hub src/osd_backend_hirgn.c. +# Fixed there so it never collides with venc's own debug OSD on handle 0. +HUB_RGN_HANDLE=8 + +# The compositor's job counters for that region, from /proc/umap/rgn: +# hdl call_cnt job_suc job_fail task_suc task_fail end_suc end_fail +# Read these, not the hub's perf line: the hub counts a publish it made, which +# is the stimulus. These count the composite that consumed it. +rgn_field() { + awk -v hdl="$HUB_RGN_HANDLE" -v col="$1" ' + /region call vgs/ { in_tbl = 1; next } + in_tbl && $1 == hdl && NF >= 8 { print $col; exit } + ' /proc/umap/rgn 2>/dev/null +} +rgn_jobs() { rgn_field 2; } +rgn_fails() { rgn_field 4; } + +osd_compositing() { + a=$(rgn_jobs); sleep 3; b=$(rgn_jobs) + [ -n "$a" ] && [ -n "$b" ] && [ "$b" -gt "$a" ] 2>/dev/null && + [ "$(rgn_fails)" = 0 ] +} + # ---------------------------------------------------------------- preconditions echo "=== preconditions ===" cp "$CFG" "$BACKUP" || { echo "cannot back up $CFG"; exit 1; } @@ -81,7 +104,8 @@ echo " config backed up to $BACKUP" [ -n "$(hub_pid)" ] || $HUB start >/dev/null 2>&1 sleep 8 base_mods=$(mods) -echo " venc=$(venc_pid) hub=$(hub_pid) modules=$base_mods" +base_rgn=$(rgn_jobs) +echo " venc=$(venc_pid) hub=$(hub_pid) modules=$base_mods osd_jobs=${base_rgn:-none}" [ -n "$(hub_pid)" ] || { echo "hub is not running -- T1/T2/T3 need it up"; exit 1; } # ------------------------------------------------------- T1: the guard still fires @@ -107,6 +131,20 @@ chk "modules never unloaded ($base_mods)" test "$(mods)" = "$base_mods" chk "frames flowing after restart" flowing chk "sys_setup ran vb_set_cfg" grep -q "ss_mpi_vb_set_cfg" "$LOG" +# The check this suite used to hand to a human. venc's teardown takes the whole +# RGN table with it (mpp_cleanup -> ss_mpi_sys_exit, and MPP objects are kernel +# state shared across processes), so the hub's OSD region does not merely go +# stale -- it disappears, and before waybeam-hub#212 the hub kept painting into +# nothing without saying so. +now_rgn=$(rgn_jobs) +echo " OSD region $HUB_RGN_HANDLE: was $base_rgn, now ${now_rgn:-GONE}, fails=$(rgn_fails)" +if [ -z "$base_rgn" ]; then + info "hub had no OSD region before the restart (built without CV610_OSD?) -- OSD survival UNVERIFIED" +else + chk "hub OSD still compositing after the restart (waybeam-hub#212)" \ + osd_compositing +fi + # ------------------------------------------- T3: restart ACROSS a mode change echo echo "=== T3: restart across a mode change, hub up ===" @@ -216,7 +254,7 @@ sleep 8 chk "config restored and venc restarted into it" test -n "$(venc_pid)" echo " encoded size now: $(out_size)" echo "Config restored from $BACKUP." -echo "Still to check by hand: the OSD still renders after T2 (the hub keeps its" -echo "RGN regions now that open_rgn is never unloaded), and one reboot." +echo "Still to check by hand: one reboot. (The OSD is asserted in T2 now, via" +echo "the compositor's own job counters in /proc/umap/rgn.)" summary [ "$fail" = 0 ] From fcafaf47592b2ac51a800379216ccbe82be4dbb3 Mon Sep 17 00:00:00 2001 From: snokvist Date: Mon, 17 Aug 2026 18:14:37 +0200 Subject: [PATCH 35/45] test(cv610): fix two ways the new OSD assertion could lie Adversarial re-read of my own assertion found both. A counter RESET is not a stall. The VGS job counters belong to the region, so if the hub recreates it between the two samples the count starts from zero and b < a -- read as FAIL. That flakes exactly when the thing under test is working. Retry the sample pair instead of failing. The baseline was racy. The region is created a few seconds after the HUB's start, not ours, so a baseline sampled 8 s in can be empty on a craft where the suite started the hub -- which silently downgrades the T2 assertion to an UNVERIFIED note. Wait for the region when the hub is up. Also assert the OSD in T3, the harder case: the hub rebinds within ~1 s but at the old window size, so for a few seconds an oversized region is attached to the smaller channel. Measured benign on .181 -- 30 s with job_fail 0 and venc streaming -- but it is the arm that would catch it turning nasty. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- scripts/cv610_reload_free_verify.sh | 39 ++++++++++++++++++++++++++--- 1 file changed, 36 insertions(+), 3 deletions(-) diff --git a/scripts/cv610_reload_free_verify.sh b/scripts/cv610_reload_free_verify.sh index 99f6da39..c7328b91 100755 --- a/scripts/cv610_reload_free_verify.sh +++ b/scripts/cv610_reload_free_verify.sh @@ -91,9 +91,33 @@ rgn_jobs() { rgn_field 2; } rgn_fails() { rgn_field 4; } osd_compositing() { - a=$(rgn_jobs); sleep 3; b=$(rgn_jobs) - [ -n "$a" ] && [ -n "$b" ] && [ "$b" -gt "$a" ] 2>/dev/null && - [ "$(rgn_fails)" = 0 ] + # Two samples must advance, with no failed jobs. Retried once because the + # counters belong to the region, not to the hub: if the hub recreates the + # region between the samples the count RESTARTS, so b < a is a rebind in + # progress, not a stall. Without the retry this flakes exactly when the + # thing it is checking is working. + i=0 + while [ "$i" -lt 3 ]; do + i=$((i + 1)) + a=$(rgn_jobs); sleep 3; b=$(rgn_jobs) + [ -n "$a" ] && [ -n "$b" ] || return 1 + [ "$b" -lt "$a" ] 2>/dev/null && continue + [ "$b" -gt "$a" ] 2>/dev/null && [ "$(rgn_fails)" = 0 ] && return 0 + return 1 + done + return 1 +} + +# The region is created by the hub a few seconds after ITS start, not ours, so +# a baseline sampled too early reads as "this build has no OSD" and silently +# downgrades the T2 assertion to a note. Wait for it when the hub is up. +wait_for_rgn() { + i=0 + while [ "$i" -lt 12 ]; do + [ -n "$(rgn_jobs)" ] && return 0 + i=$((i + 1)); sleep 2 + done + return 1 } # ---------------------------------------------------------------- preconditions @@ -104,6 +128,7 @@ echo " config backed up to $BACKUP" [ -n "$(hub_pid)" ] || $HUB start >/dev/null 2>&1 sleep 8 base_mods=$(mods) +[ -n "$(hub_pid)" ] && wait_for_rgn base_rgn=$(rgn_jobs) echo " venc=$(venc_pid) hub=$(hub_pid) modules=$base_mods osd_jobs=${base_rgn:-none}" [ -n "$(hub_pid)" ] || { echo "hub is not running -- T1/T2/T3 need it up"; exit 1; } @@ -177,6 +202,14 @@ else chk "venc running in the new mode" test -n "$(venc_pid)" chk "frames flowing in the new mode" flowing chk "still no module reload" test "$(mods)" = "$base_mods" + # The nastier OSD case. The hub rebinds its region within ~1 s, but at + # the OLD window size, and only its own 5 s source poll re-anchors it + # to the smaller frame -- so for a few seconds an oversized region is + # attached to this channel. Assert both that venc survived it (above) + # and that the OSD ends up compositing anyway. + if [ -n "$base_rgn" ]; then + chk "hub OSD compositing after a mode-change restart" osd_compositing + fi fi fi From 48fc1f7f68e634df693de31bb3f35ea6d6bcb5e4 Mon Sep 17 00:00:00 2001 From: snokvist Date: Mon, 17 Aug 2026 18:15:01 +0200 Subject: [PATCH 36/45] docs(cv610): 23/23 on the suite, and the mode-change OSD window measurement Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- HISTORY.md | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/HISTORY.md b/HISTORY.md index 33704141..8e2a6aed 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -44,14 +44,17 @@ star6e and maruko have always used, where the init script never touches mismatch, leaving the craft with no daemon at all. - Device verification on `.181`, `scripts/cv610_reload_free_verify.sh`: - **22 passed, 0 failed**. T3 restarts across a real mode change and asserts the + **23 passed, 0 failed**. T3 restarts across a real mode change and asserts the *encoded geometry* moved (1920x1080 → 640x360) from venc's own VPSS line, because asserting the config key instead let an earlier revision report a mode change that never happened. T2 asserts the hub's OSD survived, from the compositor's VGS job counters in `/proc/umap/rgn` rather than the hub's own perf line — the hub counts the publish it made, which is the stimulus; those counters count the composite that consumed it. Verified to fail on a region - that is not there. + that is not there. T3 asserts it too, across the mode change, because the hub + rebinds at its old window size and only its own source poll re-anchors it: an + oversized region sits on the smaller channel for a few seconds. Measured + benign — 30 s at 640x360 with `job_fail` 0 and venc streaming. Two things the hardware showed that are **not** fixed here: From d292c7ddec02e92837921cf7253fc20429f7d574 Mon Sep 17 00:00:00 2001 From: snokvist Date: Mon, 17 Aug 2026 19:10:22 +0200 Subject: [PATCH 37/45] cv610: recover audio after an abnormal venc exit The "aenc MMB leak" from 0.65.8 is not a leak. The kernel reclaims both blocks -- measured, the pool returns to its exact baseline (34 blocks / 38332 KB) across five hard-kill cycles, and the blocks vanish from /proc/umap/media-mem immediately. Those MMB LEAK lines are the reclaim reporting itself. What they were masking is real: after a hard kill venc restarts SILENTLY WITHOUT AUDIO. MPP objects are kernel state, so the AI device stays claimed by the dead pid and every AI call from the successor is refused with OT_ERR_AI_NOT_PERM (0xa015800d) -- including ss_mpi_ai_disable(), so it cannot even clean up. ss_mpi_ai_set_pub_attr() then fails and venc blames "needs CV610_AUDIO=1 at module load", which is not what happened. Video streams normally, so nothing looks wrong. Deterministic, 2 of 2. Masked until 0.65.8, whose module reload also wiped the claim -- so this is that release's blind spot, and reload is no way out either: a hard kill poisons module reloading for the rest of the boot. Fix: cycle the audio module (ss_mpi_audio_exit + ss_mpi_audio_init) before bring-up, then release the stale AI/AENC objects. Releasing them alone is refused; the module cycle is what clears the claim, which is exactly why a SECOND graceful restart used to recover audio where the first did not. This folds that cycle into the first start. Same shape as sys_setup()'s isp_exit/sys_exit/vb_exit pre-clean. T6 asserted VIDEO streaming, which is why this went unseen -- it passed with audio dead. It now asserts the aenc block count and the absence of an audio-start failure, and skips explicitly on a video-only craft. T5 now refuses to run when a hard kill already happened this boot, instead of reporting a FAIL that points at the code rather than the contaminated boot. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- HISTORY.md | 42 ++++++++++++++++++ VERSION | 2 +- scripts/cv610_reload_free_verify.sh | 68 ++++++++++++++++++++++++----- src/cv610_audio.c | 45 +++++++++++++++++++ 4 files changed, 145 insertions(+), 12 deletions(-) diff --git a/HISTORY.md b/HISTORY.md index 8e2a6aed..e5e4962e 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -1,5 +1,47 @@ # History +## [0.65.9] - 2026-08-17 + +CV610 audio now survives an abnormal venc exit. Investigating the "aenc MMB +leak" reported in 0.65.8 showed it is **not a leak** — and that it was masking a +real regression. + +- **The MMB LEAK lines are the kernel reclaiming, not losing.** Measured on + `.181`: a hard kill prints `MMB LEAK(pid=N) 'aenc(0)_strm'`/`'aenc(0)_cir'`, + and the two blocks are gone from `/proc/umap/media-mem` immediately after. + Across **five** kill cycles the pool returned to its exact baseline — + `34 blocks / 38332 KB` before and after. Nothing accumulates. + +- **What actually broke: audio, silently.** MPP objects are kernel state, so a + killed venc leaves the AI device claimed by the dead pid. Every AI call from + the successor is then refused with `OT_ERR_AI_NOT_PERM` (`0xa015800d`) — + including `ss_mpi_ai_disable()`, so the successor could not even clean up. + `ss_mpi_ai_set_pub_attr()` failed, audio never started, and venc reported + *"needs CV610_AUDIO=1 at module load"* — which is not what happened. Video + streamed normally, so nothing looked wrong. Deterministic, 2 of 2. + + This was masked until 0.65.8: the module reload that release removed also + wiped the AI claim. So the hard-kill path regressed there, and `reload` is not + a way out — a hard kill also poisons module reloading for the rest of the boot. + +- **Fix: cycle the audio module before bring-up.** `cv610_audio_start()` now + calls `ss_mpi_audio_exit()` + `ss_mpi_audio_init()` and then releases the + stale AI/AENC objects, before configuring anything. Releasing the objects + alone is not enough — that is refused. The module cycle is what clears the + dead owner's claim, and it is precisely why a *second* graceful restart used + to recover audio where the first did not; this folds that cycle into the first + start. Same shape as `sys_setup()`'s `isp_exit`/`sys_exit`/`vb_exit` pre-clean. + + Verified on `.181`: kill a venc with healthy audio, start, audio back — **2 of + 2**, `aenc` blocks 0 → 2, `ai_disable` `0xa015800d` → `0x0`. It also recovered + a craft already stuck in the broken state with no reboot, and a graceful + restart is unchanged. + +- The verify suite's T6 asserted *video* streaming, which is why this went + unnoticed — it passed with audio dead. It now asserts the aenc block count and + the absence of an audio-start failure, and skips explicitly (not silently) on + a video-only craft. + ## [0.65.8] - 2026-08-17 CV610 venc restarts no longer reload the MPP kernel modules — the same model diff --git a/VERSION b/VERSION index e086e13e..e53ebd13 100644 --- a/VERSION +++ b/VERSION @@ -1 +1 @@ -0.65.8 +0.65.9 diff --git a/scripts/cv610_reload_free_verify.sh b/scripts/cv610_reload_free_verify.sh index c7328b91..094c6516 100755 --- a/scripts/cv610_reload_free_verify.sh +++ b/scripts/cv610_reload_free_verify.sh @@ -90,6 +90,20 @@ rgn_field() { rgn_jobs() { rgn_field 2; } rgn_fails() { rgn_field 4; } +# The audio encoder's two MMZ blocks: present exactly when AENC is up. Reading +# these rather than the log because the log's own message is misleading (it +# blames the module load for what is actually a dead predecessor's AI claim). +aenc_blocks() { grep -c 'aenc(0)' /proc/umap/media-mem 2>/dev/null || echo 0; } + +# Is audio even configured? Without this a video-only craft would "fail" the +# audio assertion for the correct reason of having no audio. +audio_enabled() { + command -v json_cli >/dev/null 2>&1 || return 1 + [ "$(json_cli -g .audio.enabled --raw -i "$CFG" 2>/dev/null)" = "true" ] +} + +not_grep() { ! grep -q "$1" "$2"; } + osd_compositing() { # Two samples must advance, with no failed jobs. Retried once because the # counters belong to the region, not to the hub: if the hub recreates the @@ -130,7 +144,15 @@ sleep 8 base_mods=$(mods) [ -n "$(hub_pid)" ] && wait_for_rgn base_rgn=$(rgn_jobs) -echo " venc=$(venc_pid) hub=$(hub_pid) modules=$base_mods osd_jobs=${base_rgn:-none}" +audio_cfg=0 +audio_enabled && audio_cfg=1 +# A hard kill anywhere earlier in this boot -- T6 of a previous run, or hand +# debugging -- poisons module reloading until reboot ("no sys ko!" then "load +# vpp.ko ...FAILURE!"). T5 unloads, so on such a boot it fails for a reason that +# has nothing to do with the code under test. Two MMB LEAK lines per hard kill is +# the marker; count them BEFORE this run adds its own in T6. +boot_kills=$(dmesg 2>/dev/null | grep -c "MMB LEAK") +echo " venc=$(venc_pid) hub=$(hub_pid) modules=$base_mods osd_jobs=${base_rgn:-none} audio=$audio_cfg" [ -n "$(hub_pid)" ] || { echo "hub is not running -- T1/T2/T3 need it up"; exit 1; } # ------------------------------------------------------- T1: the guard still fires @@ -227,15 +249,23 @@ chk "restored mode: streaming" flowing echo echo "=== T5: reload recovery path (hub stopped first, as the guard requires) ===" cp "$BACKUP" "$CFG" -$HUB stop >/dev/null 2>&1 -sleep 2 -$INIT reload >/dev/null 2>&1 -sleep 10 -chk "reload restored venc" test -n "$(venc_pid)" -chk "frames flowing after reload" flowing -$HUB start >/dev/null 2>&1 -sleep 5 -chk "hub restarted" test -n "$(hub_pid)" +if [ "$boot_kills" -gt 0 ]; then + # Refuse rather than fail: on this boot the reload cannot succeed for + # reasons predating the run, and reporting FAIL would point at the code. + info "a hard kill already happened this boot ($boot_kills MMB LEAK lines):" + info " module reloading is poisoned until reboot, so T5 is SKIPPED and the" + info " reload path is UNVERIFIED. Reboot and re-run to cover it." +else + $HUB stop >/dev/null 2>&1 + sleep 2 + $INIT reload >/dev/null 2>&1 + sleep 10 + chk "reload restored venc" test -n "$(venc_pid)" + chk "frames flowing after reload" flowing + $HUB start >/dev/null 2>&1 + sleep 5 + chk "hub restarted" test -n "$(hub_pid)" +fi # --------------------------------------------------------- T6: the crash path # LAST on purpose. Measured on .181: a SIGKILL leaks two aenc MMB blocks @@ -272,8 +302,24 @@ grep -q "already inited" "$LOG" && bad "ISP survived the kill and blocked the re chk "venc actually running after the crash restart" test -n "$(venc_pid)" chk "streaming after the crash restart" flowing +# "streaming" above is VIDEO. It passed for months while AUDIO was silently +# dead: a SIGKILL leaves the AI device claimed by the dead pid, every AI call +# from the successor is refused with OT_ERR_AI_NOT_PERM, and venc reports it as +# "needs CV610_AUDIO=1 at module load" -- so neither the log nor this suite said +# anything true. The aenc MMB blocks are the observable: the audio encoder has +# exactly two, and they are absent when audio failed to start. +if [ "$audio_cfg" = 1 ]; then + echo " aenc blocks: $(aenc_blocks) (2 = audio up, 0 = audio silently lost)" + chk "audio came back after the crash restart" test "$(aenc_blocks)" = 2 + chk "no audio-start failure logged" not_grep "audio did not start" "$LOG" +else + info "audio disabled in $CFG -- crash-restart audio recovery UNVERIFIED" +fi + leaks=$(dmesg | grep -c "MMB LEAK") -info "MMB leaks this boot: $leaks (a SIGKILL leaks 2; graceful stops leak 0)" +info "MMB LEAK lines this boot: $leaks (2 per hard kill; they are the kernel" +info " RECLAIMING those blocks, not losing them -- measured: the pool returns" +info " to its exact baseline across repeated kills)" echo " NOTE module reload is now poisoned until reboot -- 'reload' is NOT the" echo " recovery after a hard kill; reboot is. venc itself self-heals above." diff --git a/src/cv610_audio.c b/src/cv610_audio.c index 2616c9c5..4fa4b42e 100644 --- a/src/cv610_audio.c +++ b/src/cv610_audio.c @@ -365,6 +365,47 @@ int cv610_audio_is_running(Cv610AudioState *state) return state ? __atomic_load_n(&state->running, __ATOMIC_ACQUIRE) : 0; } +/* Release what a predecessor that died without cv610_audio_stop() left behind. + * + * MPP objects are kernel state, not process state, so a venc killed with + * SIGKILL leaves the AI device configured and enabled. Measured on the .181 + * bench: the next start is then refused at ss_mpi_ai_set_pub_attr with + * 0xa015800d and the craft comes back SILENTLY WITHOUT AUDIO -- 2 of 2 runs, + * while a graceful restart restores it every time. The kernel does reclaim the + * two aenc MMB blocks (those "MMB LEAK(pid=...)" lines are that reclaim + * reporting itself, not a leak), but it does not undo the device state. + * + * Same shape and the same reason as sys_setup()'s isp_exit/sys_exit/vb_exit + * pre-clean. The order is cv610_audio_stop()'s, and every call is best-effort: + * on a clean start there is simply nothing to undo. */ +static int cv610_audio_preclean(void) +{ + ot_mpp_chn source = { OT_ID_AI, CV610_AUDIO_DEV, CV610_AI_CHN }; + ot_mpp_chn destination = { OT_ID_AENC, 0, CV610_AENC_CHN }; + td_s32 exit_ret, init_ret, unbind, aenc, opus, ai_chn, ai; + + /* Cycle the audio module first. Releasing the objects one by one is not + * enough on its own: ss_mpi_ai_disable() from a pid that is not the dead + * owner is refused with OT_ERR_AI_NOT_PERM (0xa015800d), and so is the + * ss_mpi_ai_set_pub_attr() that follows. What clears it is a module-level + * exit/init pair from a process that has initialised -- measured, that is + * exactly why a SECOND graceful restart recovered audio where the first + * did not. Doing it here folds that second cycle into the first start. */ + exit_ret = ss_mpi_audio_exit(); + init_ret = ss_mpi_audio_init(); + + unbind = ss_mpi_sys_unbind(&source, &destination); + aenc = ss_mpi_aenc_destroy_chn(CV610_AENC_CHN); + opus = ss_mpi_aenc_opus_deinit(); + ai_chn = ss_mpi_ai_disable_chn(CV610_AUDIO_DEV, CV610_AI_CHN); + ai = ss_mpi_ai_disable(CV610_AUDIO_DEV); + printf(" audio pre-clean: exit=0x%x init=0x%x unbind=0x%x aenc=0x%x " + "opus=0x%x ai_chn=0x%x ai=0x%x\n", exit_ret, init_ret, unbind, + aenc, opus, ai_chn, ai); + /* Only the re-init is load-bearing: without it nothing below works. */ + return init_ret == TD_SUCCESS ? 0 : -1; +} + Cv610AudioState *cv610_audio_start(const VencConfig *config, const VencOutputUri *video_output) { @@ -386,6 +427,10 @@ Cv610AudioState *cv610_audio_start(const VencConfig *config, goto fail_mutex; } state->audio_initialized = 1; + if (cv610_audio_preclean() != 0) { + fprintf(stderr, "ERROR: audio module re-init failed after pre-clean\n"); + goto fail_started; + } /* Load-bearing order, established by the standalone hardware bring-up. */ if (cv610_acodec_reset(state) != 0 || cv610_ai_set_attr(state) != 0 || cv610_ai_enable(state) != 0 || From 566873eff563b9c74074c79edfc3e256cd5ab20e Mon Sep 17 00:00:00 2001 From: snokvist Date: Mon, 17 Aug 2026 19:22:53 +0200 Subject: [PATCH 38/45] cv610: keep audio_initialized honest across the module cycle Review of my own pre-clean. The caller sets state->audio_initialized before calling it, so if the cycle's exit succeeded and its init failed, the flag stayed set while the module was down -- and cv610_audio_stop() would then call ss_mpi_audio_exit() on a de-initialised module. An unbalanced exit is the same class of stale state this function exists to clear, which makes it the wrong bug to leave in it. The flag now follows what each call actually did, in both directions, so it means what it says at every point rather than being inferred from the happy path. Also corrected the function comment, which still described every call as best-effort after the module cycle became load-bearing, and now records that the cycle runs after the caller's own audio_init deliberately -- that is the ordering verified on hardware. Re-verified on .181: graceful control and kill-then-start both clean (aenc blocks 2, zero audio failures), suite 25 passed / 0 failed on a clean boot, and 22/0 with T5 correctly SKIPPED on a boot already contaminated by a hard kill -- which exercised that new precondition for real. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- src/cv610_audio.c | 49 ++++++++++++++++++++++++++++++----------------- 1 file changed, 31 insertions(+), 18 deletions(-) diff --git a/src/cv610_audio.c b/src/cv610_audio.c index 4fa4b42e..478403c6 100644 --- a/src/cv610_audio.c +++ b/src/cv610_audio.c @@ -368,31 +368,45 @@ int cv610_audio_is_running(Cv610AudioState *state) /* Release what a predecessor that died without cv610_audio_stop() left behind. * * MPP objects are kernel state, not process state, so a venc killed with - * SIGKILL leaves the AI device configured and enabled. Measured on the .181 + * SIGKILL leaves the AI device claimed by the dead pid. Measured on the .181 * bench: the next start is then refused at ss_mpi_ai_set_pub_attr with - * 0xa015800d and the craft comes back SILENTLY WITHOUT AUDIO -- 2 of 2 runs, - * while a graceful restart restores it every time. The kernel does reclaim the - * two aenc MMB blocks (those "MMB LEAK(pid=...)" lines are that reclaim - * reporting itself, not a leak), but it does not undo the device state. + * OT_ERR_AI_NOT_PERM (0xa015800d) and the craft comes back SILENTLY WITHOUT + * AUDIO -- 2 of 2 runs, while a graceful restart restores it every time. The + * kernel does reclaim the two aenc MMB blocks (those "MMB LEAK(pid=...)" lines + * are that reclaim reporting itself, not a leak); it does not undo the claim. * - * Same shape and the same reason as sys_setup()'s isp_exit/sys_exit/vb_exit - * pre-clean. The order is cv610_audio_stop()'s, and every call is best-effort: - * on a clean start there is simply nothing to undo. */ -static int cv610_audio_preclean(void) + * Two halves, and only the first is best-effort: + * + * - The module cycle is LOAD-BEARING. Releasing the objects one by one does + * not work, because ss_mpi_ai_disable() is refused with the same NOT_PERM + * as the set_pub_attr it was meant to unblock. A module-level exit/init + * pair from a process that has initialised is what clears the claim -- + * measured, and it is exactly why a SECOND graceful restart recovered audio + * where the first did not. This folds that cycle into the first start. + * The pair runs AFTER the caller's own ss_mpi_audio_init() on purpose: that + * is the ordering verified on hardware. + * + * - The object releases after it are best-effort: on a clean start there is + * nothing to undo. Order is cv610_audio_stop()'s, reversed bring-up. + * + * Same shape and the same reason as sys_setup()'s isp_exit/sys_exit/vb_exit. */ +static int cv610_audio_preclean(Cv610AudioState *state) { ot_mpp_chn source = { OT_ID_AI, CV610_AUDIO_DEV, CV610_AI_CHN }; ot_mpp_chn destination = { OT_ID_AENC, 0, CV610_AENC_CHN }; td_s32 exit_ret, init_ret, unbind, aenc, opus, ai_chn, ai; - /* Cycle the audio module first. Releasing the objects one by one is not - * enough on its own: ss_mpi_ai_disable() from a pid that is not the dead - * owner is refused with OT_ERR_AI_NOT_PERM (0xa015800d), and so is the - * ss_mpi_ai_set_pub_attr() that follows. What clears it is a module-level - * exit/init pair from a process that has initialised -- measured, that is - * exactly why a SECOND graceful restart recovered audio where the first - * did not. Doing it here folds that second cycle into the first start. */ + /* Track audio_initialized against what each call actually did, in both + * directions. Leaving it set through a failed re-init would make + * cv610_audio_stop() call ss_mpi_audio_exit() on a de-initialised module -- + * an unbalanced exit, which is the same class of stale state this function + * exists to clear. */ exit_ret = ss_mpi_audio_exit(); + if (exit_ret == TD_SUCCESS) + state->audio_initialized = 0; init_ret = ss_mpi_audio_init(); + if (init_ret == TD_SUCCESS) + state->audio_initialized = 1; unbind = ss_mpi_sys_unbind(&source, &destination); aenc = ss_mpi_aenc_destroy_chn(CV610_AENC_CHN); @@ -402,7 +416,6 @@ static int cv610_audio_preclean(void) printf(" audio pre-clean: exit=0x%x init=0x%x unbind=0x%x aenc=0x%x " "opus=0x%x ai_chn=0x%x ai=0x%x\n", exit_ret, init_ret, unbind, aenc, opus, ai_chn, ai); - /* Only the re-init is load-bearing: without it nothing below works. */ return init_ret == TD_SUCCESS ? 0 : -1; } @@ -427,7 +440,7 @@ Cv610AudioState *cv610_audio_start(const VencConfig *config, goto fail_mutex; } state->audio_initialized = 1; - if (cv610_audio_preclean() != 0) { + if (cv610_audio_preclean(state) != 0) { fprintf(stderr, "ERROR: audio module re-init failed after pre-clean\n"); goto fail_started; } From bdf2f0ff9c9cbb02df8e0df274331b5027e2543c Mon Sep 17 00:00:00 2001 From: snokvist Date: Mon, 17 Aug 2026 19:46:42 +0200 Subject: [PATCH 39/45] =?UTF-8?q?cv610:=20act=20on=20the=20review=20?= =?UTF-8?q?=E2=80=94=20fix=20the=20fatal=20predicate,=20drop=20the=20inert?= =?UTF-8?q?=20calls?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit An independent review disassembled the shipped vendor libraries instead of reading the headers, and found a regression I had introduced plus four calls that cannot do what their comment claimed. The fatal predicate was on the wrong call. ss_mpi_audio_exit() is not atomic: it tears down the userspace half unconditionally and only then issues the AUDIO_EXIT ioctl, so a non-zero return means "half exited". Returning -1 whenever the RE-INIT failed therefore turned a start that previously worked into a dead one whenever the EXIT failed -- on a call that was not on the start path before this branch, and that the hardware runs never exercised because they only ever saw exit=0x0. Fatal now only when the exit succeeded and the re-init did not, which is the single combination where this function took the module down and failed to bring it back. audio_initialized is no longer touched here. The two error directions are not symmetric: a second ss_mpi_audio_exit() is safe because the module's sub-exits are flag-guarded, while a SKIPPED exit leaks the kernel AUDIO_INIT claim and the /dev fd -- which is opened without O_CLOEXEC and survives the respawn execv. A partially-succeeded re-init leaves exactly that to clean up, so the flag must stay set. My previous commit had it backwards for that case. Four of the five object releases are gone. The SDK tracks those objects process-locally, so a successor cannot release a dead predecessor's copies: sys_unbind dispatches through a table audio_init had just memset, aenc_destroy_chn returns SUCCESS off a zero "created" flag (so its 0x0 in the log read as "released the predecessor's channel" when it had done nothing), ai_disable_chn gates the same way, and opus_deinit was worse than inert -- it printed "illegal handle(-1)!" to stderr on EVERY clean start, which the device log confirms and which is now gone. Only ai_disable reaches kernel state, and it is the only code that ever differed between the broken and healthy cases. Removal was re-verified on hardware rather than assumed. Also stopped the audio warning asserting one guessed cause. It claimed "needs CV610_AUDIO=1 at module load" for every failure -- the misreport this branch exists to fix -- and the new failure path would have routed through it too. It now points at the logged call and qualifies the module hint. And aenc_blocks() in the suite used "grep -c || echo 0", which prints 0 twice when there are no matches. Re-verified on .181: graceful control and kill-then-start both clean (aenc 2, zero audio failures, no vendor noise), suite 25 passed / 0 failed on a clean boot, make test 2489/0, -Werror lint clean. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- scripts/cv610_reload_free_verify.sh | 7 ++- src/cv610_audio.c | 76 +++++++++++++++-------------- src/cv610_runtime.c | 11 ++++- 3 files changed, 55 insertions(+), 39 deletions(-) diff --git a/scripts/cv610_reload_free_verify.sh b/scripts/cv610_reload_free_verify.sh index 094c6516..98270d1d 100755 --- a/scripts/cv610_reload_free_verify.sh +++ b/scripts/cv610_reload_free_verify.sh @@ -93,7 +93,12 @@ rgn_fails() { rgn_field 4; } # The audio encoder's two MMZ blocks: present exactly when AENC is up. Reading # these rather than the log because the log's own message is misleading (it # blames the module load for what is actually a dead predecessor's AI claim). -aenc_blocks() { grep -c 'aenc(0)' /proc/umap/media-mem 2>/dev/null || echo 0; } +# grep -c prints "0" AND exits 1 when it matches nothing, so "|| echo 0" would +# print 0 twice. Count with awk, which has one exit path and one line of output. +aenc_blocks() { + awk '/aenc\(0\)/ { n++ } END { print n + 0 }' /proc/umap/media-mem 2>/dev/null || + echo 0 +} # Is audio even configured? Without this a video-only craft would "fail" the # audio assertion for the correct reason of having no audio. diff --git a/src/cv610_audio.c b/src/cv610_audio.c index 478403c6..241d34a9 100644 --- a/src/cv610_audio.c +++ b/src/cv610_audio.c @@ -375,48 +375,52 @@ int cv610_audio_is_running(Cv610AudioState *state) * kernel does reclaim the two aenc MMB blocks (those "MMB LEAK(pid=...)" lines * are that reclaim reporting itself, not a leak); it does not undo the claim. * - * Two halves, and only the first is best-effort: + * The module cycle is what does the work. Releasing the objects one by one does + * not: ss_mpi_ai_disable() is refused with the same NOT_PERM as the + * set_pub_attr it was meant to unblock. A module-level exit/init pair from a + * process that has initialised is what clears the claim -- measured, and it is + * exactly why a SECOND graceful restart recovered audio where the first did + * not. This folds that cycle into the first start. The pair runs AFTER the + * caller's own ss_mpi_audio_init() on purpose: that is the ordering verified on + * hardware. * - * - The module cycle is LOAD-BEARING. Releasing the objects one by one does - * not work, because ss_mpi_ai_disable() is refused with the same NOT_PERM - * as the set_pub_attr it was meant to unblock. A module-level exit/init - * pair from a process that has initialised is what clears the claim -- - * measured, and it is exactly why a SECOND graceful restart recovered audio - * where the first did not. This folds that cycle into the first start. - * The pair runs AFTER the caller's own ss_mpi_audio_init() on purpose: that - * is the ordering verified on hardware. - * - * - The object releases after it are best-effort: on a clean start there is - * nothing to undo. Order is cv610_audio_stop()'s, reversed bring-up. + * An earlier revision also called sys_unbind/aenc_destroy_chn/opus_deinit/ + * ai_disable_chn here, mirroring cv610_audio_stop()'s teardown. They were + * removed: the SDK tracks those objects PROCESS-locally, so a successor cannot + * release a dead predecessor's copies, and all four returned the same code in + * the broken and healthy cases while only ai_disable's changed. opus_deinit was + * worse than inert -- it printed "illegal handle(-1)!" to stderr on every clean + * start, from a process-local static that is -1 in a fresh process. Removal was + * re-verified on hardware, not assumed. ai_disable is kept because it is the + * one call measured to reach kernel state. * * Same shape and the same reason as sys_setup()'s isp_exit/sys_exit/vb_exit. */ -static int cv610_audio_preclean(Cv610AudioState *state) +static int cv610_audio_preclean(void) { - ot_mpp_chn source = { OT_ID_AI, CV610_AUDIO_DEV, CV610_AI_CHN }; - ot_mpp_chn destination = { OT_ID_AENC, 0, CV610_AENC_CHN }; - td_s32 exit_ret, init_ret, unbind, aenc, opus, ai_chn, ai; - - /* Track audio_initialized against what each call actually did, in both - * directions. Leaving it set through a failed re-init would make - * cv610_audio_stop() call ss_mpi_audio_exit() on a de-initialised module -- - * an unbalanced exit, which is the same class of stale state this function - * exists to clear. */ + td_s32 exit_ret, init_ret, ai; + + /* audio_initialized is deliberately NOT touched across the cycle. It only + * decides whether cv610_audio_stop() calls ss_mpi_audio_exit(), and the two + * error directions are not symmetric: a second exit is safe (the module's + * sub-exits are flag-guarded, so it is not a double free), while a SKIPPED + * exit leaks the kernel AUDIO_INIT claim and the /dev fd -- which is opened + * without O_CLOEXEC and therefore survives venc_respawn_after_exit()'s + * execv. A partially-succeeded re-init leaves exactly that to clean up, so + * the flag must stay set. */ exit_ret = ss_mpi_audio_exit(); - if (exit_ret == TD_SUCCESS) - state->audio_initialized = 0; init_ret = ss_mpi_audio_init(); - if (init_ret == TD_SUCCESS) - state->audio_initialized = 1; - - unbind = ss_mpi_sys_unbind(&source, &destination); - aenc = ss_mpi_aenc_destroy_chn(CV610_AENC_CHN); - opus = ss_mpi_aenc_opus_deinit(); - ai_chn = ss_mpi_ai_disable_chn(CV610_AUDIO_DEV, CV610_AI_CHN); ai = ss_mpi_ai_disable(CV610_AUDIO_DEV); - printf(" audio pre-clean: exit=0x%x init=0x%x unbind=0x%x aenc=0x%x " - "opus=0x%x ai_chn=0x%x ai=0x%x\n", exit_ret, init_ret, unbind, - aenc, opus, ai_chn, ai); - return init_ret == TD_SUCCESS ? 0 : -1; + printf(" audio pre-clean: exit=0x%x init=0x%x ai=0x%x\n", + exit_ret, init_ret, ai); + + /* Fatal only when the exit actually happened and the re-init did not: that + * is the one combination where this function has taken the module down and + * failed to bring it back. If the EXIT failed, nothing was reclaimed and + * there is nothing to restore -- returning -1 there would turn a start that + * previously worked into a dead one, on a call that was not on the start + * path before this change. Let bring-up proceed and let the AUDIO_CHECKs + * below produce the real diagnosis. */ + return (exit_ret == TD_SUCCESS && init_ret != TD_SUCCESS) ? -1 : 0; } Cv610AudioState *cv610_audio_start(const VencConfig *config, @@ -440,7 +444,7 @@ Cv610AudioState *cv610_audio_start(const VencConfig *config, goto fail_mutex; } state->audio_initialized = 1; - if (cv610_audio_preclean(state) != 0) { + if (cv610_audio_preclean() != 0) { fprintf(stderr, "ERROR: audio module re-init failed after pre-clean\n"); goto fail_started; } diff --git a/src/cv610_runtime.c b/src/cv610_runtime.c index f108424d..aa26866e 100644 --- a/src/cv610_runtime.c +++ b/src/cv610_runtime.c @@ -699,9 +699,16 @@ static int cv610_init(void *opaque) * /api/v1/audio/status reports the running state, not the flag. */ ctx->audio = cv610_audio_start(&ctx->config, &ctx->output_uri); if (!ctx->audio) + /* Name the evidence, not one guessed cause. This line used to + * assert "needs CV610_AUDIO=1 at module load" for every failure, + * which sent the operator after the module set while the real + * cause was a predecessor's stale AI claim -- and every failure + * this function can report would have said the same thing. */ fprintf(stderr, - "WARNING: CV610 audio did not start; continuing without it " - "(needs CV610_AUDIO=1 at module load)\n"); + "WARNING: CV610 audio did not start; continuing without it. " + "The failing call is logged above; a /dev/acodec open error " + "means the audio modules are absent (CV610_AUDIO=1 at module " + "load), anything else does not.\n"); } g_cv610_runner = ctx; if (venc_api_register(&ctx->config, "cv610", From ea47830fb068135017ae2073ddba64dbd3720340 Mon Sep 17 00:00:00 2001 From: snokvist Date: Mon, 17 Aug 2026 20:01:08 +0200 Subject: [PATCH 40/45] cv610: put the module hint where the module-absent failure lands Second review pass. My replacement warning was wrong for the case it most needed to get right, and HISTORY still described the deleted calls. The module-absent case does NOT fail at the /dev/acodec open. ss_mpi_audio_init opens /dev/ab first, and open_aio -- the module that creates it -- is staged only under CV610_AUDIO=1 (load-cv610-online:147), a switch independent of audio.enabled in waybeam.json. So the message telling the operator that a /dev/acodec error means absent modules "and anything else does not" pointed away from the truth in exactly the configuration an operator can reach by enabling audio in the API without touching the platform conf. Measured on .181 with CV610_AUDIO=0 and audio.enabled=true: /dev/ab absent, the vendor lib prints "open err", and the failure lands on ss_mpi_audio_init. The hint now lives there and names both switches; the generic warning claims no cause at all and defers to what each failure point already prints. Video was unaffected throughout, which is the behaviour that comment block promises. Also logged the two failure exits that returned NULL silently (calloc, pthread_mutex_init) -- the warning says the cause is reported above, and those two made that untrue. HISTORY now describes what merges: ai_disable only, why the other four cannot work from a successor process, the opus_deinit stderr noise, and the warning change. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- HISTORY.md | 29 ++++++++++++++++++++++------- src/cv610_audio.c | 17 ++++++++++++++--- src/cv610_runtime.c | 16 +++++++--------- 3 files changed, 43 insertions(+), 19 deletions(-) diff --git a/HISTORY.md b/HISTORY.md index e5e4962e..1ac6f453 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -25,22 +25,37 @@ real regression. a way out — a hard kill also poisons module reloading for the rest of the boot. - **Fix: cycle the audio module before bring-up.** `cv610_audio_start()` now - calls `ss_mpi_audio_exit()` + `ss_mpi_audio_init()` and then releases the - stale AI/AENC objects, before configuring anything. Releasing the objects - alone is not enough — that is refused. The module cycle is what clears the - dead owner's claim, and it is precisely why a *second* graceful restart used - to recover audio where the first did not; this folds that cycle into the first - start. Same shape as `sys_setup()`'s `isp_exit`/`sys_exit`/`vb_exit` pre-clean. + calls `ss_mpi_audio_exit()` + `ss_mpi_audio_init()`, then `ss_mpi_ai_disable()`, + before configuring anything. The module cycle is what clears the dead owner's + claim — it is precisely why a *second* graceful restart used to recover audio + where the first did not, and this folds that cycle into the first start. Same + shape as `sys_setup()`'s `isp_exit`/`sys_exit`/`vb_exit` pre-clean. + + Releasing the objects one by one does **not** work and is not attempted: the + SDK tracks `sys_unbind`, `aenc_destroy_chn`, `opus_deinit` and + `ai_disable_chn` process-locally, so a successor cannot release a dead + predecessor's copies. Only `ss_mpi_ai_disable()` reaches kernel state, and it + is the only one whose return code ever differed between the broken and healthy + cases. `opus_deinit` was additionally printing `illegal handle(-1)!` to stderr + on every clean start. Verified on `.181`: kill a venc with healthy audio, start, audio back — **2 of 2**, `aenc` blocks 0 → 2, `ai_disable` `0xa015800d` → `0x0`. It also recovered a craft already stuck in the broken state with no reboot, and a graceful restart is unchanged. +- **The audio warning no longer guesses a cause.** It asserted *"needs + CV610_AUDIO=1 at module load"* for every failure — the misreport above. The + module hint moved to `ss_mpi_audio_init()`, which is where an absent module set + actually lands (it opens `/dev/ab`, created by `open_aio`, which the loader + stages only under `CV610_AUDIO=1` — a switch independent of `audio.enabled`). + The `/dev/acodec` open is *not* that path. + - The verify suite's T6 asserted *video* streaming, which is why this went unnoticed — it passed with audio dead. It now asserts the aenc block count and the absence of an audio-start failure, and skips explicitly (not silently) on - a video-only craft. + a video-only craft. T5 refuses to run on a boot where a hard kill already + happened, instead of failing for a reason that predates the run. ## [0.65.8] - 2026-08-17 diff --git a/src/cv610_audio.c b/src/cv610_audio.c index 241d34a9..cc686fb8 100644 --- a/src/cv610_audio.c +++ b/src/cv610_audio.c @@ -432,15 +432,26 @@ Cv610AudioState *cv610_audio_start(const VencConfig *config, if (!config || !config->audio.enabled) return NULL; state = calloc(1, sizeof(*state)); - if (!state) + if (!state) { + fprintf(stderr, "ERROR: audio state alloc failed\n"); return NULL; + } state->acodec_fd = -1; state->aenc_fd = -1; state->socket_handle = -1; - if (pthread_mutex_init(&state->stats_lock, NULL) != 0) + if (pthread_mutex_init(&state->stats_lock, NULL) != 0) { + fprintf(stderr, "ERROR: audio stats lock init failed\n"); goto fail; + } if (ss_mpi_audio_init() != TD_SUCCESS) { - fprintf(stderr, "ERROR: ss_mpi_audio_init failed\n"); + /* This is where an absent module set lands, not the /dev/acodec open + * below: audio_init opens /dev/ab first, and open_aio -- the module + * that creates it -- is staged only under CV610_AUDIO=1 + * (load-cv610-online). audio.enabled in the JSON is a separate switch, + * so the two diverging is a configuration the operator can reach. */ + fprintf(stderr, "ERROR: ss_mpi_audio_init failed " + "(are the audio modules loaded? they need CV610_AUDIO=1 at " + "module load, which is separate from audio.enabled)\n"); goto fail_mutex; } state->audio_initialized = 1; diff --git a/src/cv610_runtime.c b/src/cv610_runtime.c index aa26866e..8d2e10ce 100644 --- a/src/cv610_runtime.c +++ b/src/cv610_runtime.c @@ -698,17 +698,15 @@ static int cv610_init(void *opaque) * config toggle must not be able to take video down with it. * /api/v1/audio/status reports the running state, not the flag. */ ctx->audio = cv610_audio_start(&ctx->config, &ctx->output_uri); + /* No cause is guessed here. This line used to assert "needs + * CV610_AUDIO=1 at module load" for every failure, which sent the + * operator after the module set while the real cause was a + * predecessor's stale AI claim. Each failure point in + * cv610_audio_start() names itself, including the module-absent one. */ if (!ctx->audio) - /* Name the evidence, not one guessed cause. This line used to - * assert "needs CV610_AUDIO=1 at module load" for every failure, - * which sent the operator after the module set while the real - * cause was a predecessor's stale AI claim -- and every failure - * this function can report would have said the same thing. */ fprintf(stderr, - "WARNING: CV610 audio did not start; continuing without it. " - "The failing call is logged above; a /dev/acodec open error " - "means the audio modules are absent (CV610_AUDIO=1 at module " - "load), anything else does not.\n"); + "WARNING: CV610 audio did not start; continuing without it " + "(cause reported above)\n"); } g_cv610_runner = ctx; if (venc_api_register(&ctx->config, "cv610", From 7522b16bd3d7582da6a5c9e93d423f3f55c875e4 Mon Sep 17 00:00:00 2001 From: snokvist Date: Mon, 17 Aug 2026 20:41:39 +0200 Subject: [PATCH 41/45] cv610: delete the reload action instead of guarding it I was about to add a dirty-flag file that venc would write and the loader would read, so a reload could refuse on a boot where module reloading is poisoned. That was the wrong layer. Checking what reload is actually for answered it: nothing. It has no caller -- not the hub (mod_venc uses restart), not the verify suite's crash test, not venc. Its premise was falsified in the release that added it. The comment claims VB is left held by a dead owner after a crash and reload is "the way out"; 0.65.8's own notes record the opposite -- ISP, not VB, is what a crash leaves behind, VB is released -- and the suite prints "VB was released when the process died" every run. What a crash really leaves (ISP, and since 0.65.9 the AI claim) venc pre-cleans itself, so a hard-killed venc recovers from a plain start, video and audio both. And unloading is not free: a hard kill poisons module reloading for the rest of the boot, so a reload issued afterwards leaves the craft with no modules at all -- or, measured on a video-only craft, resets the SoC. Deleting the action removes the only shipped path that reaches that through normal operation. The vendor defect underneath is unchanged and still wants its own issue. Knock-ons: the loader's audio-mismatch hint pointed at "S95waybeam reload" and now says reboot, which is what actually applies a CV610_AUDIO or sensor-profile change. The suite loses T5 and, with it, the contaminated-boot precondition T5 needed -- nothing in the suite unloads now, so a hard kill cannot poison anything it does. Net -35 lines, no new file, no new venc responsibility, no venc<->script protocol. Device-verified on .181 (0.65.10 deployed, all four artifacts md5-matched): "S95waybeam reload" now prints usage and exits 1; a normal restart brings venc back with 25 modules and audio up. The full suite run is still outstanding -- the bench moved to other work before I could take it. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- HISTORY.md | 33 ++++++++++++++++++ VERSION | 2 +- init.d/S95waybeam.cv610 | 32 +++++++++--------- init.d/load-cv610-online | 9 ++--- scripts/cv610_reload_free_verify.sh | 52 +++++++++-------------------- 5 files changed, 70 insertions(+), 58 deletions(-) diff --git a/HISTORY.md b/HISTORY.md index 1ac6f453..a4f3c7fd 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -1,5 +1,38 @@ # History +## [0.65.10] - 2026-08-17 + +Removes the CV610 `S95waybeam reload` action. It was dead code built on a +premise the hardware disproved in the release that added it, and it was the only +shipped path that unloaded MPP modules on a running craft. + +- **Nothing called it** — not the hub (`mod_venc` uses `restart`), not the verify + suite's crash test, not venc. + +- **Its premise was already falsified.** Its comment claimed VB is left held by a + dead owner after a crash and reload is "the way out". 0.65.8's own notes say + the opposite — *"ISP, not VB, is what a crash leaves behind… VB is released"* — + and the suite prints `VB was released when the process died` on every run. What + a crash actually leaves (ISP, and since 0.65.9 the AI device claim) venc + pre-cleans itself, so a hard-killed venc recovers from a plain `start`, video + and audio both. + +- **Unloading is not free.** A hard kill poisons module reloading for the rest of + the boot (`no sys ko!` → `load vpp.ko ...FAILURE!`), so a reload issued + afterwards leaves the craft with no modules at all — and on a video-only craft + it resets the SoC outright (measured). Deleting the action removes the only way + to reach that through normal operation. The underlying defect is in the vendor + modules and is unchanged. + +- The loader's audio-mismatch hint pointed at `S95waybeam reload`; it now says + reboot, which is what actually applies a `CV610_AUDIO` or sensor-profile + change. `load-cv610-online restart` remains for the expert case, still guarded + by its holder check. + +- The suite loses T5 (it tested `reload`) and, with it, the contaminated-boot + precondition T5 needed: nothing in the suite unloads any more, so a hard kill + can no longer poison anything it does. + ## [0.65.9] - 2026-08-17 CV610 audio now survives an abnormal venc exit. Investigating the "aenc MMB diff --git a/VERSION b/VERSION index e53ebd13..9385546c 100644 --- a/VERSION +++ b/VERSION @@ -1 +1 @@ -0.65.9 +0.65.10 diff --git a/init.d/S95waybeam.cv610 b/init.d/S95waybeam.cv610 index 74da699c..8123f818 100755 --- a/init.d/S95waybeam.cv610 +++ b/init.d/S95waybeam.cv610 @@ -84,23 +84,21 @@ stop() echo "Stopped $NAME (MPP modules left loaded)" } -# Recovery: after a venc that died without running mpp_cleanup(), VB is held by -# a dead owner and the next start refuses if the mode's pool layout differs. -# This is the way out. It unloads, so the loader's holder check applies -- stop -# waybeam_hub first. -reload() -{ - stop || return 1 - # Pass the same profile start() does. A bare "$LOADER" restart reloads with - # the loader's own defaults -- video-only, imx662 clock -- and then start() - # refuses the audio mismatch, so the craft comes back with no daemon at all. - CV610_SENSOR_PROFILE="$CV610_SENSOR_PROFILE" \ - CV610_AUDIO="$CV610_AUDIO" "$LOADER" restart || return 1 - start -} - +# There is deliberately no "reload" action. It existed to unload and reload the +# MPP modules after a venc that died without mpp_cleanup(), on the premise that +# VB was left held by a dead owner -- a premise the hardware disproved in the +# same release that added it: VB *is* released when the process dies, and what a +# crash actually leaves behind (ISP, and the AI device claim) venc now pre-cleans +# itself. A hard-killed venc recovers from a plain start, video and audio both. +# +# Nothing called it, and unloading is not free: a hard kill poisons module +# reloading for the rest of the boot, so a reload issued afterwards leaves the +# craft with no modules at all -- or, measured on a video-only craft, resets the +# SoC. Recovery after a hard kill is a plain start; applying a module-parameter +# change (CV610_AUDIO, sensor profile) is a reboot. 'load-cv610-online restart' +# is still there for the expert case, guarded by its holder check. case "${1:-}" in - start|stop|reload) "$1" ;; + start|stop) "$1" ;; restart) stop && start ;; - *) echo "Usage: $0 {start|stop|restart|reload}" >&2; exit 1 ;; + *) echo "Usage: $0 {start|stop|restart}" >&2; exit 1 ;; esac diff --git a/init.d/load-cv610-online b/init.d/load-cv610-online index c41bfaeb..383ee3c0 100755 --- a/init.d/load-cv610-online +++ b/init.d/load-cv610-online @@ -96,11 +96,12 @@ start_modules() # maruko have always worked. Only a *partial* set is dirty. if is_loaded open_user && is_loaded open_base; then if [ "$AUDIO" = "1" ] && ! is_loaded open_acodec; then - # Point at the init script, not at "$0 restart": run bare, this - # loader reloads with its own defaults (video-only, imx662 clock) - # and lands right back here. + # Reboot, not a reload. Swapping the module set means unloading, + # and a boot that has already seen a hard kill cannot load them + # back -- the craft ends up with no modules at all. A reboot + # applies the profile the platform conf asks for, every time. echo "modules are up but were loaded without audio;" >&2 - echo "run '/etc/init.d/S95waybeam reload' to reload the right set" >&2 + echo "reboot to bring them up with the configured profile" >&2 return 1 fi echo "MPP modules already loaded" diff --git a/scripts/cv610_reload_free_verify.sh b/scripts/cv610_reload_free_verify.sh index 98270d1d..ba8bfe57 100755 --- a/scripts/cv610_reload_free_verify.sh +++ b/scripts/cv610_reload_free_verify.sh @@ -21,8 +21,9 @@ # T1 attempts the unload the guard is supposed to refuse. If the guard has # regressed, the unload proceeds under the hub and wedges the board -- # that is exactly the bug, observed as no network and ARP incomplete. -# T6 hard-kills venc so MPP state is left dirty on purpose. It also poisons -# module reloading for the rest of the boot, so it runs last. +# T6 hard-kills venc so MPP state is left dirty on purpose. It poisons +# module reloading for the rest of the boot (and resets a video-only SoC), +# so it runs last. # Everything else is a normal restart. # # Usage: cv610_reload_free_verify.sh [--keep-going] @@ -151,12 +152,6 @@ base_mods=$(mods) base_rgn=$(rgn_jobs) audio_cfg=0 audio_enabled && audio_cfg=1 -# A hard kill anywhere earlier in this boot -- T6 of a previous run, or hand -# debugging -- poisons module reloading until reboot ("no sys ko!" then "load -# vpp.ko ...FAILURE!"). T5 unloads, so on such a boot it fails for a reason that -# has nothing to do with the code under test. Two MMB LEAK lines per hard kill is -# the marker; count them BEFORE this run adds its own in T6. -boot_kills=$(dmesg 2>/dev/null | grep -c "MMB LEAK") echo " venc=$(venc_pid) hub=$(hub_pid) modules=$base_mods osd_jobs=${base_rgn:-none} audio=$audio_cfg" [ -n "$(hub_pid)" ] || { echo "hub is not running -- T1/T2/T3 need it up"; exit 1; } @@ -250,35 +245,20 @@ sleep 8 chk "restored mode: venc up" test -n "$(venc_pid)" chk "restored mode: streaming" flowing -# ------------------------------------------------------- T5: reload recovery -echo -echo "=== T5: reload recovery path (hub stopped first, as the guard requires) ===" +# T5 tested the init script's "reload" action, which no longer exists: it was +# built for a VB-held-by-a-dead-owner case the hardware disproved, nothing called +# it, and it was the only shipped path that unloaded modules on a running craft. +# With it gone, nothing in this suite unloads, so the contaminated-boot check it +# needed is gone too -- a hard kill can no longer poison anything this suite does. cp "$BACKUP" "$CFG" -if [ "$boot_kills" -gt 0 ]; then - # Refuse rather than fail: on this boot the reload cannot succeed for - # reasons predating the run, and reporting FAIL would point at the code. - info "a hard kill already happened this boot ($boot_kills MMB LEAK lines):" - info " module reloading is poisoned until reboot, so T5 is SKIPPED and the" - info " reload path is UNVERIFIED. Reboot and re-run to cover it." -else - $HUB stop >/dev/null 2>&1 - sleep 2 - $INIT reload >/dev/null 2>&1 - sleep 10 - chk "reload restored venc" test -n "$(venc_pid)" - chk "frames flowing after reload" flowing - $HUB start >/dev/null 2>&1 - sleep 5 - chk "hub restarted" test -n "$(hub_pid)" -fi # --------------------------------------------------------- T6: the crash path -# LAST on purpose. Measured on .181: a SIGKILL leaks two aenc MMB blocks -# ('aenc(0)_strm', 'aenc(0)_cir', 16 KB each) and after that the next module +# LAST on purpose. Measured on .181: after a SIGKILL the next module # unload/reload fails at sys.ko init -- 'no sys ko!' then 'load vpp.ko -# ...FAILURE!' -- for the rest of the boot. So this must not run before T5, -# or it poisons the reload it would be testing. Graceful restarts leak -# nothing; only the hard kill does. +# ...FAILURE!' -- for the rest of the boot, and on a video-only craft it resets +# the SoC outright. Nothing in this suite unloads any more, so that no longer +# breaks a later step; it still runs last so it cannot poison a hand-run +# 'load-cv610-online restart' someone does afterwards. # Expected result is NOT known in advance: if the driver's .release frees VB # when the process dies, a hard kill self-heals and set_cfg simply succeeds. # Report what happens rather than asserting. @@ -329,9 +309,9 @@ echo " NOTE module reload is now poisoned until reboot -- 'reload' is NOT the" echo " recovery after a hard kill; reboot is. venc itself self-heals above." echo -# T6 leaves video0.size at the test value, and only T5 restored it. Put the -# craft back on its configured mode and restart into it, so the bench is not -# silently left encoding 640x360 under a message claiming it was restored. +# T6 leaves video0.size at the test value. Put the craft back on its configured +# mode and restart into it, so the bench is not silently left encoding 640x360 +# under a message claiming it was restored. cp "$BACKUP" "$CFG" $INIT restart >/dev/null 2>&1 sleep 8 From 4f893f3a74d9f8f98a7b459d31ba6738ce9a1324 Mon Sep 17 00:00:00 2001 From: snokvist Date: Mon, 17 Aug 2026 20:52:57 +0200 Subject: [PATCH 42/45] cv610: remove the second unload path, the one review found My changelog claimed reload was the only shipped path that unloads modules on a running craft. It was not, and the counterexample sits on the recovery this release prescribes. start() rolled back with "$LOADER" stop when the daemon failed to come up within 2 s. Since 0.65.8 made the loader's start idempotent -- it returns success having done nothing when the set is already up -- that rollback tears down a set the invocation never created. The reachable case: a venc hard-killed earlier, operator runs a plain start per the new doctrine, bring-up dies on leftover state, rollback fires, and on a boot whose module reloading is already poisoned the modules do not come back. Zero modules, or an SoC reset on a video-only craft. The rollback is removed rather than made conditional. Leaving modules up after a failed start costs nothing -- the next start re-inits against them -- and a conditional would be one more thing to get wrong on the path that matters most. Same review pass, smaller things it caught: - The endorsed expert path 'load-cv610-online restart' was recommended bare, but bare it reloads with the loader's defaults (video-only, imx662) rather than the craft's profile. That caveat lived inside reload() and died with it; it is now stated where it survives, together with the safer 'load-cv610-online stop' + 'S95waybeam start' form. - cv610_pipeline.c told the operator to "reload the MPP stack with 'load-cv610-online restart'" -- bare, and only ever after a crash, which is precisely the boot where an unload cannot be undone. It now says reboot. The "held by a dead owner" substring the verify suite greps for is unchanged. - Suite: the T6 header blamed the kill for the SoC reset that an unload after the kill causes; two strings still named the deleted action; and the cp left where T5 was could never fire, since T4 restores and nothing between writes the config. - HISTORY contradicted itself ("nothing called it" vs "the suite loses T5") and claimed nothing in the suite unloads, when T1 attempts one deliberately to prove the loader refuses it. make test 2489/0, -Werror lint clean, shellcheck/dash/busybox clean. Device verification of the rollback removal is outstanding: the bench is in use for other work. Co-Authored-By: Claude Opus 5 (1M context) Claude-Session: https://claude.ai/code/session_01HqJeX8rr7TyxQ6Qu2LtmGV --- HISTORY.md | 38 ++++++++++++++++++++--------- init.d/S95waybeam.cv610 | 27 ++++++++++++++------ scripts/cv610_reload_free_verify.sh | 11 +++++---- src/cv610_pipeline.c | 7 ++++-- 4 files changed, 58 insertions(+), 25 deletions(-) diff --git a/HISTORY.md b/HISTORY.md index a4f3c7fd..dcba0e29 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -2,12 +2,15 @@ ## [0.65.10] - 2026-08-17 -Removes the CV610 `S95waybeam reload` action. It was dead code built on a -premise the hardware disproved in the release that added it, and it was the only -shipped path that unloaded MPP modules on a running craft. +Removes both CV610 paths that unloaded MPP modules on a running craft: the +`S95waybeam reload` action, and `start()`'s module rollback on a failed daemon +start. `reload` was dead code built on a premise the hardware disproved in the +release that added it; the rollback was reachable on the post-crash start this +release prescribes as the recovery. -- **Nothing called it** — not the hub (`mod_venc` uses `restart`), not the verify - suite's crash test, not venc. +- **Nothing in production called it** — the hub uses `restart` + (`mod_venc.c:687`), venc never did, and the crash test does not. Only the + suite's own T5 exercised it, to test the action itself. - **Its premise was already falsified.** Its comment claimed VB is left held by a dead owner after a crash and reload is "the way out". 0.65.8's own notes say @@ -20,18 +23,31 @@ shipped path that unloaded MPP modules on a running craft. - **Unloading is not free.** A hard kill poisons module reloading for the rest of the boot (`no sys ko!` → `load vpp.ko ...FAILURE!`), so a reload issued afterwards leaves the craft with no modules at all — and on a video-only craft - it resets the SoC outright (measured). Deleting the action removes the only way - to reach that through normal operation. The underlying defect is in the vendor + it resets the SoC outright (measured). The underlying defect is in the vendor modules and is unchanged. + `reload` was not the only unload on that path, which an adversarial review + caught before this merged: `start()` rolled back with `"$LOADER" stop` on a + failed daemon start, and since 0.65.8 made the loader's start idempotent + ("MPP modules already loaded" → success) that rollback tore down a set the + invocation had not created — on exactly the post-crash start this release + prescribes as the recovery. That rollback is removed too. Leaving the modules + up after a failed start costs nothing, because the next start re-inits against + them. + - The loader's audio-mismatch hint pointed at `S95waybeam reload`; it now says reboot, which is what actually applies a `CV610_AUDIO` or sensor-profile - change. `load-cv610-online restart` remains for the expert case, still guarded - by its holder check. + change. `load-cv610-online restart` remains for a dirty or partial module set, + but run **bare** it reloads with the loader's defaults (video-only, imx662 + clock) rather than the craft's profile — a caveat that used to live inside + `reload()` and is now recorded where it survives it. `load-cv610-online stop` + followed by `S95waybeam start` is the safer form; that passes the profile. - The suite loses T5 (it tested `reload`) and, with it, the contaminated-boot - precondition T5 needed: nothing in the suite unloads any more, so a hard kill - can no longer poison anything it does. + precondition T5 needed. The suite no longer *performs* an unload: T1 still + attempts one, but only to assert the loader refuses it while the hub holds + `/dev/rgn`. It also no longer stops the hub anywhere, so T6 now always runs + with a holder present. ## [0.65.9] - 2026-08-17 diff --git a/init.d/S95waybeam.cv610 b/init.d/S95waybeam.cv610 index 8123f818..079cc1a3 100755 --- a/init.d/S95waybeam.cv610 +++ b/init.d/S95waybeam.cv610 @@ -55,7 +55,14 @@ start() echo "$NAME failed to start" >&2 cat "$LOGFILE" >&2 rm -f "$PIDFILE" - "$LOADER" stop + # Deliberately no module rollback here. The loader's start is + # idempotent -- it returns success having done nothing when the set is + # already up -- so unloading on a failed daemon start tears down a set + # this invocation did not create. That is the same hazard as the + # deleted reload action, on the worse path: a venc that dies at + # bring-up is usually a venc that was hard-killed earlier, and on such + # a boot the modules cannot be loaded back. Leaving them up costs + # nothing; the next start re-inits against them. return 1 fi echo "Started $NAME (sensor profile $CV610_SENSOR_PROFILE, audio $CV610_AUDIO)" @@ -91,12 +98,18 @@ stop() # crash actually leaves behind (ISP, and the AI device claim) venc now pre-cleans # itself. A hard-killed venc recovers from a plain start, video and audio both. # -# Nothing called it, and unloading is not free: a hard kill poisons module -# reloading for the rest of the boot, so a reload issued afterwards leaves the -# craft with no modules at all -- or, measured on a video-only craft, resets the -# SoC. Recovery after a hard kill is a plain start; applying a module-parameter -# change (CV610_AUDIO, sensor profile) is a reboot. 'load-cv610-online restart' -# is still there for the expert case, guarded by its holder check. +# Nothing in production called it, and unloading is not free: a hard kill +# poisons module reloading for the rest of the boot, so a reload issued +# afterwards leaves the craft with no modules at all -- or, measured on a +# video-only craft, resets the SoC. Recovery after a hard kill is a plain start; +# applying a module-parameter change (CV610_AUDIO, sensor profile) is a reboot. +# +# 'load-cv610-online restart' still exists for a dirty/partial module set, but +# run it BARE and it reloads with the loader's own defaults -- video-only, +# imx662 clock -- not this craft's profile. That caveat used to live inside +# reload(); it is stated here because it outlived the function. Prefer +# 'load-cv610-online stop' followed by 'S95waybeam start', which passes +# CV610_SENSOR_PROFILE and CV610_AUDIO for you. case "${1:-}" in start|stop) "$1" ;; restart) stop && start ;; diff --git a/scripts/cv610_reload_free_verify.sh b/scripts/cv610_reload_free_verify.sh index ba8bfe57..30e6fd92 100755 --- a/scripts/cv610_reload_free_verify.sh +++ b/scripts/cv610_reload_free_verify.sh @@ -21,9 +21,10 @@ # T1 attempts the unload the guard is supposed to refuse. If the guard has # regressed, the unload proceeds under the hub and wedges the board -- # that is exactly the bug, observed as no network and ARP incomplete. -# T6 hard-kills venc so MPP state is left dirty on purpose. It poisons -# module reloading for the rest of the boot (and resets a video-only SoC), -# so it runs last. +# T6 hard-kills venc so MPP state is left dirty on purpose. The kill itself +# is survivable -- venc self-heals -- but it poisons module reloading for +# the rest of the boot, and an unload issued after this point leaves the +# craft with no modules (and resets a video-only SoC). So it runs last. # Everything else is a normal restart. # # Usage: cv610_reload_free_verify.sh [--keep-going] @@ -272,7 +273,7 @@ set_size 640x360 || info "config edit failed; T6 degraded to a same-mode start" $INIT start >/dev/null 2>&1 sleep 8 if grep -q "held by a dead owner" "$LOG"; then - info "VB survived the kill and the mismatch was REFUSED (reload needed)" + info "VB survived the kill and the mismatch was REFUSED (reboot needed)" elif grep -q "adopted identical live config" "$LOG"; then bad "stale VB adopted across a mode change after a crash -- silent wrong pools" elif grep -q "ok ss_mpi_vb_set_cfg" "$LOG"; then @@ -305,7 +306,7 @@ leaks=$(dmesg | grep -c "MMB LEAK") info "MMB LEAK lines this boot: $leaks (2 per hard kill; they are the kernel" info " RECLAIMING those blocks, not losing them -- measured: the pool returns" info " to its exact baseline across repeated kills)" -echo " NOTE module reload is now poisoned until reboot -- 'reload' is NOT the" +echo " NOTE module reloading is poisoned until reboot -- unloading is NOT the" echo " recovery after a hard kill; reboot is. venc itself self-heals above." echo diff --git a/src/cv610_pipeline.c b/src/cv610_pipeline.c index 351c73f4..669be227 100644 --- a/src/cv610_pipeline.c +++ b/src/cv610_pipeline.c @@ -325,9 +325,12 @@ static int sys_setup(const Cv610PipelineRuntimeConfig *c) memset(&live, 0, sizeof(live)); if (ss_mpi_vb_get_cfg(&live) != TD_SUCCESS || !vb_cfg_equal(&live, &vb)) { + /* Points at a reboot, not a module reload. This fires only after + * a predecessor died abnormally, which is exactly the boot state + * where an unload cannot be undone: the modules will not load + * back, and on a video-only craft the attempt resets the SoC. */ fprintf(stderr, "FAIL VB is held by a dead owner and its layout " - "differs from this mode; reload the MPP stack with " - "'load-cv610-online restart'\n"); + "differs from this mode; reboot to clear it\n"); return -1; } printf(" ok ss_mpi_vb_set_cfg (adopted identical live config)\n"); From 921b13190f1b5ffe900ef12511cf01bd447ee91d Mon Sep 17 00:00:00 2001 From: Joakim Date: Thu, 20 Aug 2026 22:28:52 +0200 Subject: [PATCH 43/45] =?UTF-8?q?star6e:=20H.265=20multi-slice=20output=20?= =?UTF-8?q?=E2=80=94=20video0.sliceCount=20binds=20MI=5FVENC=5FSetH265Slic?= =?UTF-8?q?eSplit=20(0.66.0)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit video0.sliceCount binds MI_VENC_SetH265SliceSplit so the encoder emits independent H.265 slices, which is what lets the waybeam-link receiver conceal RF loss spatially instead of dropping the whole frame. Default is unchanged: slice_count=1 (split off), and the split call is gated on >1, so a fresh device behaves exactly as before. Two ring-path changes are unconditional and intentional: the ring-full recovery IDR gets its own 1 s holdoff, honored-aware so a request swallowed by the shared 100 ms limiter rolls the anchor back (A/B'd on device, 53 -> 7 IDR AUs per 6 s); and a pack whose NAL count exceeds the SDK's 8-entry packetInfo table now aborts the frame instead of shipping it truncated, warning once per pipeline start. The sliceCount ceiling was raised from 8 to VENC_SLICE_COUNT_MAX (32), replacing three drifting literal 8s. The old cap rested on a misreading — packetInfo[8] bounds NALs per PACK and the output walker iterates packs — and it capped the fleet at 6 delivered slices since 7 and 8 both quantize to 6. The GDR refresh AU has always been a 17-slice picture through that same walker. Device-verified on .232: sliceCount 17 delivers 17 slices of 1 CTU-64 row, 247/249 recorded AUs at CTU addresses 0,30,...,480, fps and CBR held, zero truncation warnings at 60 frames/s. make verify green on both backends; 2539 host tests, 0 failed. --- HISTORY.md | 29 ++++++++ VERSION | 2 +- config/waybeam.default.json | 1 + include/maruko_output.h | 12 +++- include/star6e.h | 19 +++++ include/star6e_mi.h | 2 + include/star6e_output.h | 21 ++++-- include/venc_config.h | 19 +++++ include/venc_frame_ring.h | 22 ++++++ src/maruko_output.c | 6 ++ src/maruko_pipeline.c | 12 ++-- src/maruko_video.c | 35 +++++++-- src/star6e_mi.c | 4 ++ src/star6e_output.c | 40 +++++++++-- src/star6e_pipeline.c | 41 +++++++++++ src/star6e_runtime.c | 19 +++-- src/venc_api.c | 21 ++++++ src/venc_config.c | 13 ++++ tests/test_star6e_output.c | 134 +++++++++++++++++++++++++++++++++++ tests/test_venc_config.c | 55 ++++++++++++++ tests/test_venc_frame_ring.c | 30 ++++++++ 21 files changed, 512 insertions(+), 25 deletions(-) diff --git a/HISTORY.md b/HISTORY.md index dcba0e29..f010f2fc 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -1,5 +1,34 @@ # History +## [0.66.0] - 2026-08-19 + +Adds H.265 multi-slice output on Star6E: `video0.sliceCount` (1..8, default +1 = today's single-slice stream, restart-class) binds the vendor +`MI_VENC_SetH265SliceSplit` — exported by the shipped `libmi_venc.so` all +along, never wired — and asks for `ceil(rows/sliceCount)` CTU rows per slice +between CreateChn and StartRecvPic, the same SDK window as refPred. + +The consumer is waybeam-link's new §6.3b spatial concealment: with several +independent slices per picture, RF loss past the FEC budget costs a frozen +region instead of the whole frame. The knob defaults off so nothing changes +until a craft opts in. + +- Frame-SHM publication is untouched: still one access unit per slot, now + with N slice NALs inside it. RTP/recorder walkers already iterate + `packetInfo[]` and stay correct. + +- The 8-entry `packetInfo[]` clamp is the known ceiling — the field is + range-limited to 8, and the frame-ring walker now WARNs (once) if the SDK + ever reports more NALs in a pack than the table holds, instead of silently + shipping a truncated frame. Whether the SDK emits one pack per slice or + packs slices into one `packetInfo[]` still needs the on-device readout; + until then treat sliceCount 4 as the validated envelope (offline: 4-slice + 1080p streams repaired and decoded clean by ffmpeg/libde265/HM-18.0). + +- CV610: not exposed (allowlist unchanged); the SDK headers are external and + its slice-split contract is unverified. Maruko: `libmi_venc.so` exports the + symbol, but only the Star6E pipeline applies it for now. + ## [0.65.10] - 2026-08-17 Removes both CV610 paths that unloaded MPP modules on a running craft: the diff --git a/VERSION b/VERSION index 9385546c..e40e4fc3 100644 --- a/VERSION +++ b/VERSION @@ -1 +1 @@ -0.65.10 +0.66.0 diff --git a/config/waybeam.default.json b/config/waybeam.default.json index 7ecd310c..5b53a31d 100644 --- a/config/waybeam.default.json +++ b/config/waybeam.default.json @@ -40,6 +40,7 @@ "maxQp": 0, "sceneThreshold": 0, "sceneHoldoff": 2, + "sliceCount": 1, "resilience": "off", "zoomX": 0.5, "zoomY": 0.5, diff --git a/include/maruko_output.h b/include/maruko_output.h index 88b45e43..40ae4153 100644 --- a/include/maruko_output.h +++ b/include/maruko_output.h @@ -101,9 +101,17 @@ typedef struct { * there. A full ring discards an already-encoded frame, so the * reference chain breaks until the next IDR; the producer is the only * party that knows instantly, so it re-establishes locally rather than - * waiting for a ground RecoveryRequest over RF. */ - void (*request_idr)(void *ctx); + * waiting for a ground RecoveryRequest over RF. Paced by + * venc_frame_drop_idr_due() (1 s holdoff, state below) so a + * consumer-less ring does not become an IDR storm. Returns 1 when + * issued, 0 when the shared 100 ms limiter swallowed it — the caller + * rolls the holdoff back so the next drop retries. */ + int (*request_idr)(void *ctx); void *idr_ctx; + uint64_t drop_idr_last_us; + /* One WARN per init when a pack overflows packetInfo (frame aborted, + * never shipped truncated). */ + uint8_t trunc_warned; } MarukoOutput; /** Initialize UDP or Unix socket output from a parsed URI. */ diff --git a/include/star6e.h b/include/star6e.h index 85ab975e..9b558a9f 100644 --- a/include/star6e.h +++ b/include/star6e.h @@ -492,6 +492,19 @@ typedef struct { _Static_assert(sizeof(MI_VENC_ParamRef_t) == 12, "MI_VENC_ParamRef_t layout changed — verify SDK match"); +/* H.265 multi-slice split (mi_venc_datatype.h:558) — u32SliceRowCount is + * 32-px rows PER SLICE, not a slice count, and NOT CTU rows: the encoder's + * CTU is 64 (measured 2026-08-20, SPS 30x17 CTBs at 1080p) and the SDK + * rounds the request up to whole CTU-64 rows. Symbol is exported by both + * star6e and maruko libmi_venc.so; bound star6e-only for now (maruko adds + * VeDev, and its backend keeps its own loader). */ +typedef struct { + MI_BOOL bSplitEnable; + MI_U32 u32SliceRowCount; +} MI_VENC_ParamH265SliceSplit_t; +_Static_assert(sizeof(MI_VENC_ParamH265SliceSplit_t) == 8, + "MI_VENC_ParamH265SliceSplit_t layout changed — verify SDK match"); + /* MI_VENC ----------------------------------------------------------------- */ #if defined(PLATFORM_MARUKO) #define MI_VENC_CreateChn(chn, attr) g_mi_venc.fnCreateChn(0, (chn), (attr)) @@ -548,6 +561,12 @@ _Static_assert(sizeof(MI_VENC_ParamRef_t) == 12, #define MI_VENC_GetRefParam(chn, p) \ (g_mi_venc.fnGetRefParam ? \ g_mi_venc.fnGetRefParam((chn), (p)) : -1) +#define MI_VENC_SetH265SliceSplit(chn, p) \ + (g_mi_venc.fnSetH265SliceSplit ? \ + g_mi_venc.fnSetH265SliceSplit((chn), (p)) : -1) +#define MI_VENC_GetH265SliceSplit(chn, p) \ + (g_mi_venc.fnGetH265SliceSplit ? \ + g_mi_venc.fnGetH265SliceSplit((chn), (p)) : -1) #else MI_S32 MI_VENC_CreateChn(MI_VENC_CHN chn, MI_VENC_ChnAttr_t* attr); MI_S32 MI_VENC_DestroyChn(MI_VENC_CHN chn); diff --git a/include/star6e_mi.h b/include/star6e_mi.h index 35925973..928a290c 100644 --- a/include/star6e_mi.h +++ b/include/star6e_mi.h @@ -99,6 +99,8 @@ typedef struct { int (*fnGetIntraRefresh)(int chn, void *cfg); int (*fnSetRefParam)(int chn, void *p); int (*fnGetRefParam)(int chn, void *p); + int (*fnSetH265SliceSplit)(int chn, void *p); + int (*fnGetH265SliceSplit)(int chn, void *p); } star6e_venc_impl; /* Global instances — defined in star6e_mi.c. diff --git a/include/star6e_output.h b/include/star6e_output.h index 15eefb3b..753f1b03 100644 --- a/include/star6e_output.h +++ b/include/star6e_output.h @@ -155,12 +155,23 @@ typedef struct { * RecoveryRequest arriving over RF, which is a full round trip and is * off by default (venc.recovery_enabled). * - * Wired to star6e_scene_request_idr(), so it inherits the shared - * per-channel IDR rate limiter (100 ms) — a persistently full ring - * coalesces into at most ~10 IDRs/s instead of a keyframe storm into - * the very ring that is already congested. */ - void (*request_idr)(void *ctx); + * Wired to star6e_ring_request_idr(), so it inherits the shared + * per-channel IDR rate limiter (100 ms) — but 10 IDRs/s into an + * already-congested ring is still a storm (measured: a consumer-less + * ring degraded the stream to an IDR every ~7 frames with GDR + * suppressed), so this path adds its own holdoff on top: + * venc_frame_drop_idr_due(), one request per second, state in + * drop_idr_last_us. Returns 1 when the IDR was actually issued, 0 + * when the shared limiter swallowed it — the caller then rolls the + * holdoff anchor back so the next drop retries instead of leaving + * the chain unhealed for up to a second. */ + int (*request_idr)(void *ctx); void *idr_ctx; + uint64_t drop_idr_last_us; + /* One WARN per pipeline start (reset by star6e_output_reset's memset) + * when a pack reports more NALs than packetInfo holds — the frame is + * aborted, never shipped truncated. */ + uint8_t trunc_warned; /* Ring-full drops split by whether they actually broke the chain. * A non-referenced (SVC-T) frame is droppable by construction, so * those cost exactly one frame and must NOT trigger an IDR. */ diff --git a/include/venc_config.h b/include/venc_config.h index 773dd19b..5a72e98a 100644 --- a/include/venc_config.h +++ b/include/venc_config.h @@ -36,6 +36,20 @@ extern "C" { #define VENC_BITRATE_MIN_KBPS 1000 #define VENC_BITRATE_MAX_KBPS 200000 +/* Requested H.265 slices per picture. A sanity bound, NOT the delivered + * count: the SDK takes slice height in 32-px rows rounded up to whole CTU-64 + * rows, so a request saturates at the picture's CTU-row count (17 at 1080p, + * 12 at 720p) and only {1,2,3,4,5,6,9,17} are reachable at 1080p. + * + * This was 8, on the stated grounds that the SDK's packetInfo table holds 8 + * NALs. That table is per PACK and the output walker iterates packs + * (star6e_output.c), so it never bounded slices per access unit: the GDR + * refresh AU is a 17-slice picture and has always flowed through that walker + * (measured 2026-08-20 on .232 — ~10,800 of them in 6 h, zero truncation + * warnings). The old cap made 9 and 17 unreachable and capped the fleet at + * 6, since 7 and 8 both quantize down to 6. */ +#define VENC_SLICE_COUNT_MAX 32 + /* ── Sub-structs mirroring JSON sections ─────────────────────────────── */ typedef struct { @@ -115,6 +129,11 @@ typedef struct { uint32_t max_qp; /* RC QP ceiling; 0 = leave the driver default */ uint16_t scene_threshold; /* frame size spike ratio x100 for scene IDR (0=off, 150=1.5x) */ uint8_t scene_holdoff; /* consecutive frames above threshold to trigger */ + uint32_t slice_count; /* independent H.265 slices per picture, + * 1..VENC_SLICE_COUNT_MAX; 1 = split off. + * >1 enables spatial loss concealment on the + * link RX (waybeam-link PROTOCOL.md §6.3b). + * Star6E only. */ /* Derived from `resilience` preset only. Not part of the JSON * schema or HTTP API — written exclusively by * apply_resilience_preset() at load time. Do not parse from JSON, diff --git a/include/venc_frame_ring.h b/include/venc_frame_ring.h index 65d263b2..cd878c87 100644 --- a/include/venc_frame_ring.h +++ b/include/venc_frame_ring.h @@ -63,6 +63,28 @@ static inline int venc_frame_drop_breaks_chain(uint8_t flags) return (flags & VENC_FRAME_FLAG_ENHANCE) ? 0 : 1; } +/* Holdoff between ring-full recovery IDRs. The shared per-channel IDR + * limiter (100 ms) exists for scene changes, where speed matters; through + * it a ring with NO consumer draining it — every frame dropping — still + * degrades the stream into an IDR every ~7 frames with GDR suppressed + * (measured on star6e, 2026-08-20). A chain break only needs ONE IDR to + * heal, and a consumer-less ring needs none at all, so pace this path at + * one request per second: a live consumer that missed a frame resyncs + * exactly within 1 s (GDR already covers it approximately in one refresh + * cycle), and the worst case costs ~one extra I-frame per second. */ +#define VENC_FRAME_DROP_IDR_HOLDOFF_US (1000u * 1000u) + +/* Pure so tests can drive the clock: *last_us is caller-owned state (zero + * = never fired), now_us is CLOCK_MONOTONIC microseconds. */ +static inline int venc_frame_drop_idr_due(uint64_t *last_us, uint64_t now_us) +{ + if (*last_us != 0 && + now_us - *last_us < VENC_FRAME_DROP_IDR_HOLDOFF_US) + return 0; + *last_us = now_us; + return 1; +} + typedef struct { uint32_t pts; /* capture timestamp (µs, truncated to 32 bits) */ uint8_t codec; /* VENC_FRAME_CODEC_H265 */ diff --git a/src/maruko_output.c b/src/maruko_output.c index f15c04ff..717b9dc7 100644 --- a/src/maruko_output.c +++ b/src/maruko_output.c @@ -41,6 +41,8 @@ int maruko_output_init(MarukoOutput *output, const VencOutputUri *uri, output->connected_udp = 0; output->allow_unix_encoder_stall = allow_unix_encoder_stall ? 1 : 0; output->send_errors = 0; + output->drop_idr_last_us = 0; + output->trunc_warned = 0; memset(&output->send_queue, 0, sizeof(output->send_queue)); __atomic_store_n(&output->socket_drops, 0, __ATOMIC_RELAXED); __atomic_store_n(&output->socket_writes, 0, __ATOMIC_RELAXED); @@ -74,6 +76,8 @@ int maruko_output_init_shm(MarukoOutput *output, const char *shm_name) output->connected_udp = 0; output->allow_unix_encoder_stall = 0; output->send_errors = 0; + output->drop_idr_last_us = 0; + output->trunc_warned = 0; memset(&output->send_queue, 0, sizeof(output->send_queue)); __atomic_store_n(&output->socket_drops, 0, __ATOMIC_RELAXED); __atomic_store_n(&output->socket_writes, 0, __ATOMIC_RELAXED); @@ -112,6 +116,8 @@ int maruko_output_init_frame_shm(MarukoOutput *output, const char *shm_name) output->connected_udp = 0; output->allow_unix_encoder_stall = 0; output->send_errors = 0; + output->drop_idr_last_us = 0; + output->trunc_warned = 0; memset(&output->send_queue, 0, sizeof(output->send_queue)); __atomic_store_n(&output->socket_drops, 0, __ATOMIC_RELAXED); __atomic_store_n(&output->socket_writes, 0, __ATOMIC_RELAXED); diff --git a/src/maruko_pipeline.c b/src/maruko_pipeline.c index 073bcfe8..9addf160 100644 --- a/src/maruko_pipeline.c +++ b/src/maruko_pipeline.c @@ -1974,15 +1974,17 @@ void maruko_pipeline_ref_pred_status(MarukoRefPredStatus *out) * just broke. Gated by the shared per-channel IDR rate limiter so a * persistently full ring coalesces instead of firing keyframes into the ring * that is already congested. Mirrors star6e_scene_request_idr(). */ -static void maruko_ring_request_idr(void *vctx) +static int maruko_ring_request_idr(void *vctx) { MarukoBackendContext *ctx = (MarukoBackendContext *)vctx; if (!ctx) - return; - if (idr_rate_limit_allow(ctx->venc_channel)) - maruko_mi_venc_request_idr(ctx->venc_device, - ctx->venc_channel, 1); + return 0; + if (!idr_rate_limit_allow(ctx->venc_channel)) + return 0; + maruko_mi_venc_request_idr(ctx->venc_device, + ctx->venc_channel, 1); + return 1; } static int maruko_apply_ref_pred(MI_VENC_DEV dev, MI_VENC_CHN chn, diff --git a/src/maruko_video.c b/src/maruko_video.c index e695fe8e..09591b78 100644 --- a/src/maruko_video.c +++ b/src/maruko_video.c @@ -2,6 +2,7 @@ #include "h26x_util.h" #include "hevc_rtp.h" +#include "timing.h" #include "rtp_packetizer.h" #include "rtp_session.h" @@ -336,8 +337,14 @@ static size_t maruko_send_frame_ring(const i6c_venc_strm *stream, if (venc_frame_ring_begin_write(frame_ring, &meta) != 0) { if (venc_frame_drop_breaks_chain(meta.flags) && - output->request_idr) - output->request_idr(output->idr_ctx); + output->request_idr && + venc_frame_drop_idr_due(&output->drop_idr_last_us, + wb_monotonic_us()) && + output->request_idr(output->idr_ctx) == 0) { + /* Swallowed by the shared 100 ms limiter — roll the + * holdoff back so the next drop retries. */ + output->drop_idr_last_us = 0; + } return 0; } @@ -354,8 +361,28 @@ static size_t maruko_send_frame_ring(const i6c_venc_strm *stream, unsigned int nal_count = (unsigned int)pack->packNum; unsigned int k; - if (nal_count > info_cap) - nal_count = info_cap; + if (nal_count > info_cap) { + /* Never ship a frame missing NALs — abort + * and heal like a ring-full drop (mirrors + * the star6e walker). */ + if (!output->trunc_warned) { + output->trunc_warned = 1; + fprintf(stderr, + "WARN: pack has %u NALs, " + "packetInfo caps at %u — " + "frame dropped\n", + nal_count, info_cap); + } + venc_frame_ring_abort_write(frame_ring); + if (venc_frame_drop_breaks_chain(meta.flags) && + output->request_idr && + venc_frame_drop_idr_due( + &output->drop_idr_last_us, + wb_monotonic_us()) && + output->request_idr(output->idr_ctx) == 0) + output->drop_idr_last_us = 0; + return 0; + } for (k = 0; k < nal_count; ++k) { unsigned int length = pack->packetInfo[k].length; diff --git a/src/star6e_mi.c b/src/star6e_mi.c index a1d3b535..8c2e6231 100644 --- a/src/star6e_mi.c +++ b/src/star6e_mi.c @@ -302,6 +302,10 @@ static int i6e_venc_load(star6e_venc_impl *venc) int (*)(int, void *), "MI_VENC_SetRefParam"); LOAD_SYM(venc, "libmi_venc.so", fnGetRefParam, int (*)(int, void *), "MI_VENC_GetRefParam"); + LOAD_SYM(venc, "libmi_venc.so", fnSetH265SliceSplit, + int (*)(int, void *), "MI_VENC_SetH265SliceSplit"); + LOAD_SYM(venc, "libmi_venc.so", fnGetH265SliceSplit, + int (*)(int, void *), "MI_VENC_GetH265SliceSplit"); if (!venc->fnCreateChn || !venc->fnDestroyChn || !venc->fnStartRecvPic || !venc->fnStopRecvPic || diff --git a/src/star6e_output.c b/src/star6e_output.c index 6c33ec0f..b63c9151 100644 --- a/src/star6e_output.c +++ b/src/star6e_output.c @@ -903,8 +903,15 @@ static size_t star6e_output_send_frame_ring(Star6eOutput *output, if (venc_frame_ring_begin_write(output->frame_ring, &meta) != 0) { if (venc_frame_drop_breaks_chain(meta.flags) && - output->request_idr) - output->request_idr(output->idr_ctx); + output->request_idr && + venc_frame_drop_idr_due(&output->drop_idr_last_us, + wb_monotonic_us()) && + output->request_idr(output->idr_ctx) == 0) { + /* Swallowed by the shared 100 ms limiter — roll the + * holdoff back so the next drop retries, instead of + * pacing a request that never happened. */ + output->drop_idr_last_us = 0; + } return 0; } @@ -921,8 +928,33 @@ static size_t star6e_output_send_frame_ring(Star6eOutput *output, unsigned int nal_count = (unsigned int)pack->packNum; unsigned int k; - if (nal_count > info_cap) - nal_count = info_cap; + if (nal_count > info_cap) { + /* A frame missing NALs (slices, with + * video0.sliceCount high) must never ship — + * abort and heal like a ring-full drop. + * Measured 2026-08-20: no real config hits + * this (parameter sets ride their own pack), + * so this is the defensive path. */ + if (!output->trunc_warned) { + output->trunc_warned = 1; + fprintf(stderr, + "WARN: pack has %u NALs, " + "packetInfo caps at %u — " + "frame dropped (lower " + "video0.sliceCount)\n", + nal_count, info_cap); + } + venc_frame_ring_abort_write( + output->frame_ring); + if (venc_frame_drop_breaks_chain(meta.flags) && + output->request_idr && + venc_frame_drop_idr_due( + &output->drop_idr_last_us, + wb_monotonic_us()) && + output->request_idr(output->idr_ctx) == 0) + output->drop_idr_last_us = 0; + return 0; + } for (k = 0; k < nal_count; ++k) { MI_U32 length = pack->packetInfo[k].length; diff --git a/src/star6e_pipeline.c b/src/star6e_pipeline.c index 5f9d3bd4..073ca2b0 100644 --- a/src/star6e_pipeline.c +++ b/src/star6e_pipeline.c @@ -1448,6 +1448,47 @@ static int star6e_pipeline_start_venc(uint32_t width, uint32_t height, * StartRecvPic, producing a flat single-layer stream. */ (void)star6e_pipeline_pre_start_apply_ref_pred(*chn, vcfg); + /* H.265 multi-slice split (same pre-Start window as SetRefParam). + * sliceCount is what the operator asks for; the SDK field is 32-px + * rows per slice, but the encoder's CTU is 64 (measured 2026-08-20: + * SPS says 30x17 CTBs at 1080p), so the SDK rounds the request up to + * whole CTU-64 rows. Log the DELIVERED geometry, not the request — + * at 1080p sliceCount 8 quantizes to 6 slices of 3 CTU rows. */ + if (vcfg->video0.slice_count > 1) { + uint32_t rows = (height + 31) / 32; + uint32_t per = (rows + vcfg->video0.slice_count - 1) / vcfg->video0.slice_count; + uint32_t ctu_rows = (height + 63) / 64; + uint32_t ctu_per; + MI_VENC_ParamH265SliceSplit_t split; + MI_VENC_ParamH265SliceSplit_t rb; + + if (per < 1) + per = 1; /* unreachable via validated config */ + ctu_per = (per + 1) / 2; + split.bSplitEnable = 1; + split.u32SliceRowCount = per; + ret = MI_VENC_SetH265SliceSplit(*chn, &split); + if (ret != 0) { + fprintf(stderr, + "WARN: MI_VENC_SetH265SliceSplit(%u rows/slice) " + "failed %d — single-slice stream\n", + split.u32SliceRowCount, ret); + } else { + printf("VENC: H.265 slice split ON: sliceCount %u -> " + "%u slices of %u CTU-64 rows (SDK unit %u " + "32-px rows)\n", + vcfg->video0.slice_count, + (ctu_rows + ctu_per - 1) / ctu_per, + ctu_per, split.u32SliceRowCount); + memset(&rb, 0, sizeof(rb)); + if (MI_VENC_GetH265SliceSplit(*chn, &rb) == 0) + printf("VENC: slice split readback: enable=%u " + "rows=%u\n", + (unsigned)rb.bSplitEnable, + (unsigned)rb.u32SliceRowCount); + } + } + ret = MI_VENC_StartRecvPic(*chn); if (ret != 0) { fprintf(stderr, "ERROR: MI_VENC_StartRecvPic failed %d\n", ret); diff --git a/src/star6e_runtime.c b/src/star6e_runtime.c index d5244ebf..f7290c4f 100644 --- a/src/star6e_runtime.c +++ b/src/star6e_runtime.c @@ -391,11 +391,22 @@ static uint8_t star6e_scene_is_idr(const MI_VENC_Stream_t *s) return 0; } -static void star6e_scene_request_idr(void *ctx) +/* Ring-full recovery form: reports whether the shared 100 ms limiter let + * the IDR through, so the frame-ring holdoff can retry a swallowed request + * on the next drop instead of pacing a no-op (Star6eOutput.request_idr). */ +static int star6e_ring_request_idr(void *ctx) { int venc_chn = *(const int *)ctx; - if (idr_rate_limit_allow(venc_chn)) - MI_VENC_RequestIdr(venc_chn, 1); + if (!idr_rate_limit_allow(venc_chn)) + return 0; + MI_VENC_RequestIdr(venc_chn, 1); + return 1; +} + +/* Scene-detector form (SceneRequestIdrFn is void). */ +static void star6e_scene_request_idr(void *ctx) +{ + (void)star6e_ring_request_idr(ctx); } /* ── Runner context ────────────────────────────────────────────────────── */ @@ -866,7 +877,7 @@ static int star6e_runtime_apply_startup_controls(Star6eRunnerContext *ctx) * both producers of forced IDRs coalesce through one 100 ms window. * Set here rather than in the pipeline because the callback is * runtime-local; safe against pipeline restarts, which re-run this. */ - ps->output.request_idr = star6e_scene_request_idr; + ps->output.request_idr = star6e_ring_request_idr; ps->output.idr_ctx = &ps->venc_channel; star6e_recorder_init(&ps->recorder); diff --git a/src/venc_api.c b/src/venc_api.c index a930981c..b904d985 100644 --- a/src/venc_api.c +++ b/src/venc_api.c @@ -472,6 +472,15 @@ static const FieldUi ui_max_qp = { "Video", "Max QP", "number", 0, 51, 1, NULL, "RC QP ceiling. 0 = leave the SDK default. Raising the ceiling lets the encoder compress a scene change hard enough to stay inside the frame budget instead of emitting a burst frame. Applied live." }; +static const FieldUi ui_slice_count = { + "Video", "Slices per frame", "number", 1, VENC_SLICE_COUNT_MAX, 1, NULL, + "Independent H.265 slices per picture (Star6E). 1 = off. Multi-slice " + "output lets the waybeam-link receiver conceal RF loss spatially " + "instead of dropping the whole frame, and the concealed area shrinks " + "as 1/N. The request is quantized: the SDK rounds slice height up to " + "whole CTU-64 rows, so 1080p delivers only 1,2,3,4,5,6,9,17 and " + "saturates at 17 (720p at 12). Restart-only." +}; static const FieldUi ui_max_i_bytes = { "Video", "Max I-frame bytes", "number", 0, 2000000, 500, NULL, "Hard per-frame cap on the encoded I-frame size in bytes. 0 = unlimited. " @@ -630,6 +639,7 @@ static const FieldDesc g_fields[] = { FIELD_UI(snapshot, height, FT_UINT, MUT_RESTART, &ui_snapshot_height), FIELD(video0, scene_threshold, FT_UINT16, MUT_RESTART), FIELD(video0, scene_holdoff, FT_UINT8, MUT_RESTART), + FIELD_UI(video0, slice_count, FT_UINT, MUT_RESTART, &ui_slice_count), FIELD(video0, resilience, FT_STRING, MUT_RESTART), /* zoom_x/y stay live for smooth panning via MI_VPE_SetPortCrop; the zoom * magnitude is part of the framing preset (derived zoom_pct), not a @@ -758,6 +768,7 @@ static const FieldAlias g_field_aliases[] = { { "record.gopSize", "record.gop_size" }, { "video0.sceneThreshold", "video0.scene_threshold" }, { "video0.sceneHoldoff", "video0.scene_holdoff" }, + { "video0.sliceCount", "video0.slice_count" }, { "video0.zoomX", "video0.zoom_x" }, { "video0.zoomY", "video0.zoom_y" }, { "video0.stabCropPct", "video0.stab_crop_pct" }, @@ -1242,6 +1253,15 @@ static const char *validate_field_cfg(const VencConfig *cfg, const char *key) cfg->video0.scene_holdoff == 0 && cfg->video0.scene_threshold > 0) return "video0.scene_holdoff must be >= 1 when scene_threshold > 0"; + if (strcmp(key, "video0.slice_count") == 0) { + /* 1 = split off. The ceiling is a sanity bound, not the + * delivered count — the SDK saturates a request at the + * picture's CTU-64 row count. See VENC_SLICE_COUNT_MAX for + * why the old 8 was wrong. */ + if (cfg->video0.slice_count < 1 || + cfg->video0.slice_count > VENC_SLICE_COUNT_MAX) + return "video0.slice_count must be 1..32"; + } if (strcmp(key, "video0.min_qp") == 0 || strcmp(key, "video0.max_qp") == 0) { /* H.264/H.265 QP range; the SDK accepts min > max without * complaint and then behaves erratically (device-observed), @@ -1315,6 +1335,7 @@ const char *venc_api_validate_loaded_config(const VencConfig *cfg) "video0.max_qp", "video0.size", "video0.scene_holdoff", + "video0.slice_count", "video0.zoom_x", "video0.zoom_y", "video0.framing", diff --git a/src/venc_config.c b/src/venc_config.c index 9b9ce007..1fdbf6ea 100644 --- a/src/venc_config.c +++ b/src/venc_config.c @@ -165,6 +165,9 @@ void venc_config_defaults(VencConfig *cfg) cfg->video0.scene_threshold = 0; /* 0 = off */ cfg->video0.scene_holdoff = 2; + /* H.265 multi-slice split (video0, Star6E) — 1 = off */ + cfg->video0.slice_count = 1; + /* intra refresh (video0) — disabled by default; mode-driven */ safe_strcpy(cfg->video0.intra_refresh_mode, sizeof(cfg->video0.intra_refresh_mode), "off"); @@ -634,6 +637,14 @@ static void load_video0(const cJSON *root, VencConfigVideo *v) v->scene_holdoff = (uint8_t)json_get_int(obj, "sceneHoldoff", (int)v->scene_holdoff); if (v->scene_holdoff < 1 && v->scene_threshold > 0) v->scene_holdoff = 1; + { + /* Clamp in signed space: a negative value must floor to 1 + * (single slice), not wrap through uint32 to the maximum. */ + int sc = json_get_int(obj, "sliceCount", (int)v->slice_count); + if (sc < 1) sc = 1; + if (sc > VENC_SLICE_COUNT_MAX) sc = VENC_SLICE_COUNT_MAX; + v->slice_count = (uint32_t)sc; + } /* Resilience preset is the sole driver of intra-refresh + SVC-T * (refPred). For named presets it also overrides gop_size; only @@ -1379,6 +1390,7 @@ static void render_video0(PrettyBuf *p, const VencConfig *cfg, int is_last) pp_field_uint(p, 2, "maxQp", cfg->video0.max_qp, 0); pp_field_uint(p, 2, "sceneThreshold", cfg->video0.scene_threshold, 0); pp_field_uint(p, 2, "sceneHoldoff", cfg->video0.scene_holdoff, 0); + pp_field_uint(p, 2, "sliceCount", cfg->video0.slice_count, 0); pp_field_string(p, 2, "resilience", cfg->video0.resilience, 0); pp_field_double(p, 2, "zoomX", cfg->video0.zoom_x, 0); pp_field_double(p, 2, "zoomY", cfg->video0.zoom_y, 0); @@ -1636,6 +1648,7 @@ static cJSON *config_to_cjson(const VencConfig *cfg) cJSON_AddNumberToObject(vid, "maxQp", cfg->video0.max_qp); cJSON_AddNumberToObject(vid, "sceneThreshold", cfg->video0.scene_threshold); cJSON_AddNumberToObject(vid, "sceneHoldoff", cfg->video0.scene_holdoff); + cJSON_AddNumberToObject(vid, "sliceCount", cfg->video0.slice_count); cJSON_AddStringToObject(vid, "resilience", cfg->video0.resilience); cJSON_AddNumberToObject(vid, "zoomX", cfg->video0.zoom_x); cJSON_AddNumberToObject(vid, "zoomY", cfg->video0.zoom_y); diff --git a/tests/test_star6e_output.c b/tests/test_star6e_output.c index e81ffa89..3bde0d3d 100644 --- a/tests/test_star6e_output.c +++ b/tests/test_star6e_output.c @@ -1595,6 +1595,138 @@ static int test_star6e_output_always_sends_under_pressure(void) return failures; } +/* ── frame-ring recovery-IDR paths ─────────────────────────────────────── */ + +static int g_test_ring_idr_calls; +static int g_test_ring_idr_honored; + +static int test_ring_request_idr_stub(void *ctx) +{ + (void)ctx; + g_test_ring_idr_calls++; + return g_test_ring_idr_honored; +} + +static void test_ring_fill_p_frame(MI_VENC_Pack_t *pack, + MI_VENC_Stream_t *stream, uint8_t *data, size_t len) +{ + memset(pack, 0, sizeof(*pack)); + pack->data = data; + pack->length = (MI_U32)len; + pack->packNum = 1; + pack->packetInfo[0].offset = 0; + pack->packetInfo[0].length = (MI_U32)len; + pack->packetInfo[0].packType.h265Nalu = 1; /* TRAIL_R: breaks chain */ + memset(stream, 0, sizeof(*stream)); + stream->count = 1; + stream->packet = pack; +} + +/* Ring-full drop: the 1 s holdoff paces HONORED requests, and a request the + * shared 100 ms limiter swallowed rolls the anchor back so the next drop + * retries instead of leaving the chain unhealed. */ +static int test_star6e_output_frame_ring_idr_holdoff(void) +{ + Star6eOutputSetup setup; + Star6eOutput output; + MI_VENC_Pack_t pack; + MI_VENC_Stream_t stream; + uint8_t data[8] = { 0, 0, 0, 1, 0x02, 0x01, 0xAA, 0xBB }; + int failures = 0; + int i; + + CHECK("ring idr prepare", star6e_output_prepare(&setup, + "frame-shm://test_idr_holdoff", "compact", 0) == 0); + CHECK("ring idr init", star6e_output_init(&output, &setup) == 0); + output.request_idr = test_ring_request_idr_stub; + output.idr_ctx = NULL; + test_ring_fill_p_frame(&pack, &stream, data, sizeof(data)); + + for (i = 0; i < 8; ++i) { /* fill all 8 slots */ + CHECK("ring idr fill slot", + star6e_output_send_frame(&output, &stream, 0, + NULL, NULL) > 0); + } + g_test_ring_idr_calls = 0; + g_test_ring_idr_honored = 1; + CHECK("ring idr 9th drops", + star6e_output_send_frame(&output, &stream, 0, NULL, NULL) == 0); + CHECK("ring idr fired once", g_test_ring_idr_calls == 1); + CHECK("ring idr next drop paced", + star6e_output_send_frame(&output, &stream, 0, NULL, NULL) == 0); + CHECK("ring idr holdoff quiet", g_test_ring_idr_calls == 1); + + /* Swallowed request: anchor must roll back so the next drop retries. */ + output.drop_idr_last_us = 0; + g_test_ring_idr_honored = 0; + CHECK("ring idr swallowed drop", + star6e_output_send_frame(&output, &stream, 0, NULL, NULL) == 0); + CHECK("ring idr swallowed called", g_test_ring_idr_calls == 2); + CHECK("ring idr retry drop", + star6e_output_send_frame(&output, &stream, 0, NULL, NULL) == 0); + CHECK("ring idr retried immediately", g_test_ring_idr_calls == 3); + g_test_ring_idr_honored = 1; + CHECK("ring idr honored drop", + star6e_output_send_frame(&output, &stream, 0, NULL, NULL) == 0); + CHECK("ring idr honored called", g_test_ring_idr_calls == 4); + CHECK("ring idr paced again", + star6e_output_send_frame(&output, &stream, 0, NULL, NULL) == 0); + CHECK("ring idr paced count", g_test_ring_idr_calls == 4); + + star6e_output_teardown(&output); + return failures; +} + +/* A pack reporting more NALs than packetInfo holds must abort the frame — + * never ship it truncated — request recovery, and leave the ring usable. */ +static int test_star6e_output_frame_ring_truncation_abort(void) +{ + Star6eOutputSetup setup; + Star6eOutput output; + MI_VENC_Pack_t pack; + MI_VENC_Stream_t stream; + uint8_t data[64] = { 0 }; + size_t sent; + int failures = 0; + unsigned int k; + + CHECK("ring trunc prepare", star6e_output_prepare(&setup, + "frame-shm://test_trunc_abort", "compact", 0) == 0); + CHECK("ring trunc init", star6e_output_init(&output, &setup) == 0); + output.request_idr = test_ring_request_idr_stub; + output.idr_ctx = NULL; + g_test_ring_idr_calls = 0; + g_test_ring_idr_honored = 1; + + memset(&pack, 0, sizeof(pack)); + pack.data = data; + pack.length = sizeof(data); + pack.packNum = 9; /* one more than the 8-entry packetInfo table */ + for (k = 0; k < 8; ++k) { + pack.packetInfo[k].offset = k * 4; + pack.packetInfo[k].length = 4; + pack.packetInfo[k].packType.h265Nalu = 1; + } + memset(&stream, 0, sizeof(stream)); + stream.count = 1; + stream.packet = &pack; + + sent = star6e_output_send_frame(&output, &stream, 0, NULL, NULL); + CHECK("ring trunc aborted", sent == 0); + CHECK("ring trunc recovery requested", g_test_ring_idr_calls == 1); + CHECK("ring trunc warned once", output.trunc_warned == 1); + CHECK("ring trunc nothing committed", + output.frame_ring->stats.writes == 0); + + /* The abort must leave the ring writable. */ + test_ring_fill_p_frame(&pack, &stream, data, 8); + CHECK("ring trunc ring still usable", + star6e_output_send_frame(&output, &stream, 0, NULL, NULL) > 0); + + star6e_output_teardown(&output); + return failures; +} + int test_star6e_output(void) { int failures = 0; @@ -1631,5 +1763,7 @@ int test_star6e_output(void) failures += test_star6e_output_unix_flush_is_bounded(); failures += test_star6e_output_unix_stall_mode_resumes_without_drops(); failures += test_star6e_output_always_sends_under_pressure(); + failures += test_star6e_output_frame_ring_idr_holdoff(); + failures += test_star6e_output_frame_ring_truncation_abort(); return failures; } diff --git a/tests/test_venc_config.c b/tests/test_venc_config.c index 5fe9a802..49c5add2 100644 --- a/tests/test_venc_config.c +++ b/tests/test_venc_config.c @@ -81,6 +81,7 @@ static int test_defaults(void) CHECK("defaults_audio_port", cfg.outgoing.audio_port == 5601); CHECK("defaults_scene_threshold_off", cfg.video0.scene_threshold == 0); CHECK("defaults_scene_holdoff", cfg.video0.scene_holdoff == 2); + CHECK("defaults_slice_count_off", cfg.video0.slice_count == 1); CHECK("defaults_ref_base_off", cfg.video0.ref_base == 0); CHECK("defaults_ref_enhance", cfg.video0.ref_enhance == 0); @@ -349,6 +350,59 @@ static int test_load_full_json(void) return failures; } +static int test_slice_count(void) +{ + int failures = 0; + const char *json = + "{ \"video0\": { \"sliceCount\": 4 } }"; + char *path = write_temp_json(json); + VencConfig cfg; + + CHECK("slice_tmpfile", path != NULL); + if (!path) return failures; + venc_config_defaults(&cfg); + CHECK("slice_load", venc_config_load(path, &cfg) == 0); + CHECK("slice_count_4", cfg.video0.slice_count == 4); + unlink(path); free(path); + + /* out-of-range values clamp to VENC_SLICE_COUNT_MAX */ + path = write_temp_json("{ \"video0\": { \"sliceCount\": 99 } }"); + CHECK("slice_tmpfile2", path != NULL); + if (!path) return failures; + CHECK("slice_load2", venc_config_load(path, &cfg) == 0); + CHECK("slice_count_clamped", + cfg.video0.slice_count == VENC_SLICE_COUNT_MAX); + unlink(path); free(path); + + /* 17 must survive the clamp: it is one slice per CTU-64 row at 1080p, + * the finest the encoder can deliver, and the old ceiling of 8 made it + * — and 9 — unreachable, capping the fleet at 6 delivered slices. */ + path = write_temp_json("{ \"video0\": { \"sliceCount\": 17 } }"); + CHECK("slice_tmpfile5", path != NULL); + if (!path) return failures; + CHECK("slice_load5", venc_config_load(path, &cfg) == 0); + CHECK("slice_count_17_survives", cfg.video0.slice_count == 17); + unlink(path); free(path); + + path = write_temp_json("{ \"video0\": { \"sliceCount\": 0 } }"); + CHECK("slice_tmpfile3", path != NULL); + if (!path) return failures; + CHECK("slice_load3", venc_config_load(path, &cfg) == 0); + CHECK("slice_count_floor", cfg.video0.slice_count == 1); + unlink(path); free(path); + + /* A negative value must floor to 1, not wrap through the unsigned + * store to the 8-slice maximum. */ + path = write_temp_json("{ \"video0\": { \"sliceCount\": -1 } }"); + CHECK("slice_tmpfile4", path != NULL); + if (!path) return failures; + CHECK("slice_load4", venc_config_load(path, &cfg) == 0); + CHECK("slice_count_negative_floors", cfg.video0.slice_count == 1); + unlink(path); free(path); + + return failures; +} + static int test_load_partial_json(void) { int failures = 0; @@ -1271,6 +1325,7 @@ int test_venc_config(void) failures += test_defaults(); failures += test_load_full_json(); failures += test_load_partial_json(); + failures += test_slice_count(); failures += test_load_missing_file(); failures += test_load_bad_json(); failures += test_load_qp_bounds_validation(); diff --git a/tests/test_venc_frame_ring.c b/tests/test_venc_frame_ring.c index d0b63522..bf18b83b 100644 --- a/tests/test_venc_frame_ring.c +++ b/tests/test_venc_frame_ring.c @@ -978,6 +978,36 @@ static int test_fr_drop_breaks_chain(void) } } + /* The recovery-IDR holdoff: a consumer-less ring drops EVERY frame, + * and unpaced requests degraded the stream to an IDR every ~7 frames + * with GDR suppressed (measured on star6e, 2026-08-20). One request + * per second heals a live consumer's transient drop; a storm of + * drops within the window coalesces to that one. */ + { + uint64_t last = 0; + + CHECK("fr_idr_first_drop_fires", + venc_frame_drop_idr_due(&last, 5000000) == 1); + CHECK("fr_idr_within_holdoff_quiet", + venc_frame_drop_idr_due(&last, 5000001) == 0); + CHECK("fr_idr_just_under_holdoff_quiet", + venc_frame_drop_idr_due(&last, + 5000000 + VENC_FRAME_DROP_IDR_HOLDOFF_US - + 1) == 0); + CHECK("fr_idr_at_holdoff_fires", + venc_frame_drop_idr_due(&last, + 5000000 + VENC_FRAME_DROP_IDR_HOLDOFF_US) + == 1); + /* A quiet probe must not advance the window. */ + CHECK("fr_idr_quiet_probe_keeps_anchor", + venc_frame_drop_idr_due(&last, + 6000000 + VENC_FRAME_DROP_IDR_HOLDOFF_US - + 1) == 0 && + venc_frame_drop_idr_due(&last, + 6000000 + VENC_FRAME_DROP_IDR_HOLDOFF_US) + == 1); + } + return failures; } From 31987bc442f3be2ac2bf7ef5c49dbd7302bbc756 Mon Sep 17 00:00:00 2001 From: Joakim Date: Sat, 22 Aug 2026 13:57:36 +0200 Subject: [PATCH 44/45] feat(encoder): port resilience and slices to CV610 and Maruko (#237) --- HISTORY.md | 37 ++ Makefile | 9 +- README.md | 42 +- VERSION | 2 +- config/waybeam.default.cv610.json | 1 + config/waybeam.default.maruko.json | 1 + docs/CV610_BACKEND.md | 52 ++- documentation/CV610_RESILIENCE_SLICES_PLAN.md | 232 +++++++++++ documentation/HTTP_API_CONTRACT.md | 33 +- documentation/README.md | 6 + .../SSC338Q_CV610_ENCODER_CAPABILITIES.md | 117 ++++++ include/cv610_encoder_config.h | 50 +++ include/cv610_runtime.h | 30 ++ include/h26x_util.h | 7 + include/maruko_bindings.h | 4 + include/maruko_config.h | 2 + include/maruko_controls.h | 2 +- include/maruko_mi.h | 2 + include/maruko_output.h | 4 +- include/maruko_video.h | 11 + include/rtp_sidecar.h | 2 +- include/star6e.h | 4 +- include/star6e_controls.h | 2 +- include/star6e_output.h | 14 +- include/venc_config.h | 8 +- include/venc_frame_ring.h | 5 +- src/cv610_encoder_config.c | 53 +++ src/cv610_runtime.c | 373 +++++++++++++++++- src/cv610_validation.c | 2 - src/h26x_util.c | 21 + src/maruko_config.c | 2 + src/maruko_mi.c | 4 + src/maruko_pipeline.c | 181 ++++++++- src/maruko_recorder.c | 76 +++- src/maruko_ts_recorder.c | 24 +- src/maruko_video.c | 112 ++++-- src/star6e_hevc_rtp.c | 4 - src/star6e_output.c | 111 ++++-- src/star6e_pipeline.c | 66 ++-- src/star6e_recorder.c | 81 +++- src/star6e_runtime.c | 30 +- src/star6e_ts_recorder.c | 27 +- src/venc_api.c | 63 ++- src/venc_config.c | 2 +- tests/test_cv610_validation.c | 78 ++++ tests/test_h26x_util.c | 23 ++ tests/test_maruko_config.c | 3 + tests/test_maruko_video.c | 88 +++++ tests/test_runner.c | 4 + tests/test_star6e_output.c | 54 +++ tests/test_venc_api.c | 9 + tools/frame_shm_consumer_test.c | 80 +++- 52 files changed, 1976 insertions(+), 274 deletions(-) create mode 100644 documentation/CV610_RESILIENCE_SLICES_PLAN.md create mode 100644 documentation/SSC338Q_CV610_ENCODER_CAPABILITIES.md create mode 100644 include/cv610_encoder_config.h create mode 100644 src/cv610_encoder_config.c create mode 100644 tests/test_maruko_video.c diff --git a/HISTORY.md b/HISTORY.md index f010f2fc..a0fad433 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -1,5 +1,42 @@ # History +## [0.67.0] - 2026-08-22 + +Ports the shared resilience contract and whole-access-unit H.265 slicing to +CV610. All resilience presets now drive the HiSilicon row-intra-refresh and +base/enhance reference controls with strict setter/getter verification; +`video0.sliceCount` drives 32-pixel LCU-row splitting with early slice output +kept disabled. The existing config schema and frame-SHM v1 wire layout are +unchanged. + +- CV610 consumes per-frame vendor `ref_type`, marks non-reference enhancement + frames in frame-SHM, rewrites their copied TRAIL_R NAL headers to TRAIL_N, + publishes GDR cycle position/length, and rate-limits recovery IDRs when a + full output ring drops a reference-chain frame. +- `/api/v1/capabilities`, intra status, and resilience status now report the + implemented CV610 controls. Startup fails on an encoder readback mismatch + instead of silently claiming resilience or slice geometry. +- Confirmed on the IMX662 CV610 bench at 1080p30/60/100. Slice requests 1, 3, + 4, 6, 9, 12 and 17 delivered exact VCL-NAL counts; shared ref presets matched + vendor cadence; frame-SHM metadata/integrity passed; and an IDR-started + 380-frame 1080p60 stream decoded cleanly under FFmpeg `-xerror`. +- Maruko now binds the device-aware H.265 slice Set/Get ABI and applies it in + the required CreateChn-before-StartRecvPic window, including stab-fill. + Explicit multi-slice requests fail startup if the ABI cannot be applied or + read back; `sliceCount=1` remains compatible with older libraries. +- Confirmed on SSC378QE/Maruko at 1280x720@30 with `rally`: requests 1, 4 and + 12 delivered exactly, while 17 and 32 quantized to the picture maximum of + 12. All sampled access units retained their complete VCL census and a + cold-start 284-frame, 12-slice capture decoded cleanly with FFmpeg. +- Fixed a pre-existing Maruko frame-SHM startup guard that rejected a valid + frame ring because it checked only socket and packet-ring transports. +- The 0.66 eight-slice ceiling and CV610/Maruko deferrals are superseded: + `packetInfo[8]` is per pack, while every output path walks all packs in the + access unit. The shared request range is now 1..32 and device geometry sets + the delivered ceiling. +- The frame-SHM consumer test can optionally dump an IDR-started Annex-B stream + for offline decoder validation. + ## [0.66.0] - 2026-08-19 Adds H.265 multi-slice output on Star6E: `video0.sliceCount` (1..8, default diff --git a/Makefile b/Makefile index 7d7ce6ca..4918ed4e 100644 --- a/Makefile +++ b/Makefile @@ -59,6 +59,7 @@ MARUKO_ONLY_SRC := src/maruko_mi.c src/maruko_config.c src/maruko_video.c src/ma STAR6E_ONLY_SRC := src/star6e_output.c src/star6e_audio.c src/star6e_hevc_rtp.c src/star6e_video.c src/star6e_pipeline.c src/star6e_controls.c src/star6e_runtime.c src/star6e_cus3a.c src/star6e_iq.c src/star6e_jpeg.c src/star6e_ipu.c src/star6e_ipu_yolo.c src/star6e_vpe_ports.c src/star6e_luma_tap.c src/star6e_awb.c CV610_SRC := src/main.c src/backend_cv610.c src/cv610_runtime.c \ src/cv610_audio.c \ + src/cv610_encoder_config.c \ src/cv610_iq.c \ src/cv610_modes.c \ src/cv610_pipeline.c src/cv610_validation.c src/backend.c \ @@ -393,7 +394,7 @@ TEST_SRCS := tests/test_runner.c tests/test_venc_config.c \ tests/test_sensor_select.c tests/test_venc_ring.c \ tests/test_file_util.c tests/test_h26x_util.c \ tests/test_h26x_param_sets.c \ - tests/test_maruko_config.c \ + tests/test_maruko_config.c tests/test_maruko_video.c \ tests/test_pipeline_common.c \ tests/test_codec_config.c tests/test_sdk_quiet.c \ tests/test_rtp_packetizer.c \ @@ -426,13 +427,14 @@ TEST_SRCS := tests/test_runner.c tests/test_venc_config.c \ TEST_LIB_SRCS := src/qr_scan.c tools/qr/waybeam_qr_format.c \ tools/qr/quirc/quirc.c tools/qr/quirc/decode.c \ tools/qr/quirc/identify.c tools/qr/quirc/version_db.c \ - src/backend.c src/venc_config.c src/venc_api.c src/venc_httpd.c src/venc_webui.c src/venc_recordings.c src/sensor_select.c src/venc_ring.c src/venc_frame_ring.c src/file_util.c src/h26x_util.c src/h26x_param_sets.c src/intra_refresh.c src/isp_runtime.c src/maruko_config.c src/codec_config.c src/pipeline_common.c src/rtp_session.c src/sdk_quiet.c src/rtp_packetizer.c src/hevc_rtp.c src/star6e_hevc_rtp.c src/star6e_output.c src/star6e_audio.c src/audio_codec.c src/star6e_video.c src/star6e_recorder.c src/star6e_ts_recorder.c src/ts_mux.c src/rtp_sidecar.c src/stream_metrics.c src/output_socket.c src/timing.c src/idr_rate_limit.c src/venc_shm_throttle.c src/debug_osd_draw.c src/venc_jpeg.c src/mdns_wire.c src/mdns_beacon.c src/device_id.c src/framing_kalman.c src/attitude_est.c src/detect_dequant.c src/detect_wire.c src/star6e_vpe_ports.c src/maruko_scl_ports.c lib/cJSON.c + src/backend.c src/venc_config.c src/venc_api.c src/venc_httpd.c src/venc_webui.c src/venc_recordings.c src/sensor_select.c src/venc_ring.c src/venc_frame_ring.c src/file_util.c src/h26x_util.c src/h26x_param_sets.c src/intra_refresh.c src/isp_runtime.c src/maruko_config.c src/maruko_video.c src/maruko_output.c src/codec_config.c src/pipeline_common.c src/rtp_session.c src/sdk_quiet.c src/rtp_packetizer.c src/hevc_rtp.c src/star6e_hevc_rtp.c src/star6e_output.c src/star6e_audio.c src/audio_codec.c src/star6e_video.c src/star6e_recorder.c src/star6e_ts_recorder.c src/ts_mux.c src/rtp_sidecar.c src/stream_metrics.c src/output_socket.c src/timing.c src/idr_rate_limit.c src/venc_shm_throttle.c src/debug_osd_draw.c src/venc_jpeg.c src/mdns_wire.c src/mdns_beacon.c src/device_id.c src/framing_kalman.c src/attitude_est.c src/detect_dequant.c src/detect_wire.c src/star6e_vpe_ports.c src/maruko_scl_ports.c lib/cJSON.c $(TEST_RUNNER): $(TEST_SRCS) $(TEST_LIB_SRCS) tests/test_helpers.h include/backend.h include/h26x_param_sets.h include/hevc_rtp.h include/isp_runtime.h include/maruko_config.h include/pipeline_common.h include/rtp_packetizer.h include/rtp_session.h include/rtp_sidecar.h include/star6e_audio.h include/star6e_hevc_rtp.h include/star6e_output.h include/star6e_recorder.h include/star6e_ts_recorder.h include/ts_mux.h include/audio_ring.h include/star6e_video.h include/stream_metrics.h include/venc_frame_ring.h include/venc_shm_throttle.h $(HOST_CC) $(HOST_CFLAGS) $(TEST_SRCS) $(TEST_LIB_SRCS) -lpthread -ldl -lm -o $@ $(CV610_VALIDATION_TEST): tests/test_cv610_validation.c src/cv610_validation.c \ src/cv610_modes.c \ + src/cv610_encoder_config.c src/intra_refresh.c \ src/venc_config.c src/codec_config.c lib/cJSON.c $(HOST_CC) $(HOST_CFLAGS) -Werror $^ -lm -o $@ @@ -441,8 +443,9 @@ test: $(TEST_RUNNER) $(CV610_VALIDATION_TEST) ./$(CV610_VALIDATION_TEST) test-werror: HOST_CFLAGS += -Werror -test-werror: $(TEST_RUNNER) +test-werror: $(TEST_RUNNER) $(CV610_VALIDATION_TEST) ./$(TEST_RUNNER) + ./$(CV610_VALIDATION_TEST) test-asan: $(HOST_CC) $(HOST_CFLAGS) -Werror -fsanitize=address,undefined $(TEST_SRCS) $(TEST_LIB_SRCS) -lpthread -ldl -lm -o $(TEST_RUNNER) diff --git a/README.md b/README.md index 5dac1921..dc2e48c8 100644 --- a/README.md +++ b/README.md @@ -260,6 +260,7 @@ omitted fields keep their compiled-in defaults. "bitrate": 8192, "gopSize": 1.0, "qpDelta": -4, "sceneThreshold": 0, "sceneHoldoff": 2, + "sliceCount": 1, "resilience": "off", "framing": "off", "zoomX": 0.5, "zoomY": 0.5 }, @@ -309,7 +310,8 @@ omitted fields keep their compiled-in defaults. - **`video0`** — rate control, fps, resolution, bitrate, GOP, per-section QP delta. Video codec is hardcoded H.265 (HEVC). Scene-change-triggered IDR (`sceneThreshold`, - `sceneHoldoff`) is Star6E-only. Intra-refresh is on Star6E and Maruko. The + `sceneHoldoff`) is on Star6E and Maruko. Intra-refresh and whole-access-unit H.265 + slicing are on Star6E, Maruko and CV610. The `framing` knob expands to either digital zoom (Star6E and Maruko) or image stabilization (`stab` HW-crop / `stab-fill` floating-image, Star6E only; live `pauseStab`). @@ -383,7 +385,7 @@ curl http://:/api/v1/version ``` ```json -{"ok":true,"data":{"app_version":"...","backend":"star6e","contract_version":"0.2.0","config_schema_version":"0.2.0"}} +{"ok":true,"data":{"app_version":"0.67.0","backend":"star6e","contract_version":"0.18.5","config_schema_version":"1.0.0"}} ``` #### GET /api/v1/config @@ -852,10 +854,10 @@ behaviour. Requires root (silent fallback otherwise). A *separate* jitter source — a large I-frame whose serialization exceeds one frame interval on a constrained uplink (e.g. 50 Mbps on a 100 Mbps link) — is not a scheduling issue and is unaffected by this priority; mitigate it with a -[resilience preset](#resilience-preset-star6e--maruko) (intra-refresh) or a +[resilience preset](#resilience-preset-star6e--maruko--cv610) (intra-refresh) or a lower bitrate. -#### Resilience preset (Star6E + Maruko) +#### Resilience preset (Star6E + Maruko + CV610) A single field picks an error-resilience profile. Intra-refresh (rolling GDR stripe), the SVC-T reference pyramid (refPred), and the GOP @@ -941,32 +943,16 @@ prediction is from the previous frame either way. | Field | Type | Mutability | Description | |-------|------|------------|-------------| -| `video0.resilience` | string | **reboot** | `off` \| `rescue` \| `quality` \| `sprint` \| `racing` \| `endurance` \| `patrol` \| `rally` \| `range` \| `fpv` \| `ltr` \| `ltr:` (default `off`) | +| `video0.resilience` | string | restart | `off` \| `rescue` \| `quality` \| `sprint` \| `racing` \| `endurance` \| `patrol` \| `rally` \| `range` \| `fpv` \| `ltr` \| `ltr:` (default `off`) | | `video0.gopSize` | double | restart | Seconds between IDRs. Honoured **only** when `resilience` is `"off"` or an `ltr` form; the other named presets override it. Live-reinit applies (no reboot). | -> ⚠️ **Resilience changes require a reboot on both Star6E and Maruko.** -> Setting `video0.resilience` (or any of the derived fields -> `intra_refresh_*` or `ref_*`) persists the new value to -> `/etc/waybeam.json` and returns `{"reboot_required": true}`. The -> live encoder pipeline keeps running the previous preset until the -> next daemon start. -> -> The SigmaStar MI SDK kernel module does not survive a live -> re-configure of these fields. Empirically confirmed on both -> backends (2026-05-15 bench testing): -> -> - **Star6E (Infinity6E)** — fork+exec respawn for the new config -> triggers an SoC kernel panic within 1–2 transitions; ICMP dies, -> requires a power-cycle. -> - **Maruko (Infinity6C)** — in-process pipeline reinit completes -> cleanly for most transitions, but one in a sweep of 7 zombied -> the daemon via a page fault in `MI_SYS_IMPL_FlushInputPortTasks` -> inside the `mi` kernel module. System stays up but waybeam dies -> and does not respawn — reboot is required to restart it. -> -> Different failure modes, same root cause. Cold-boot into any -> preset is 100 % reliable on both SigmaStar backends, so the reboot model is -> what we ship. +Resilience and slice-count changes are restart-required on all three encoder +backends. The API persists the value and uses the backend's process-respawn +handoff to build a fresh encoder graph; a hardware reboot is not part of the +normal apply contract. SigmaStar deliberately avoids in-process MI teardown +and reinitialization because vendor-kernel teardown has proven unsafe. Verify +the running result through `/api/v1/resilience/status` and startup slice +readback logs. Expansion table: diff --git a/VERSION b/VERSION index e40e4fc3..328185ca 100644 --- a/VERSION +++ b/VERSION @@ -1 +1 @@ -0.66.0 +0.67.0 diff --git a/config/waybeam.default.cv610.json b/config/waybeam.default.cv610.json index be94fbe9..f77c1cdc 100644 --- a/config/waybeam.default.cv610.json +++ b/config/waybeam.default.cv610.json @@ -10,6 +10,7 @@ "bitrate": 2600, "gopSize": 1.0, "qpDelta": -4, + "sliceCount": 1, "resilience": "off", "framing": "off" }, diff --git a/config/waybeam.default.maruko.json b/config/waybeam.default.maruko.json index 5268b609..b1344ec9 100644 --- a/config/waybeam.default.maruko.json +++ b/config/waybeam.default.maruko.json @@ -33,6 +33,7 @@ "qpDelta": -4, "sceneThreshold": 0, "sceneHoldoff": 2, + "sliceCount": 1, "resilience": "off", "zoomX": 0.5, "zoomY": 0.5, diff --git a/docs/CV610_BACKEND.md b/docs/CV610_BACKEND.md index febd3784..4764296c 100644 --- a/docs/CV610_BACKEND.md +++ b/docs/CV610_BACKEND.md @@ -16,6 +16,11 @@ large control surface. (see "Sensor modes" below — the table in `src/cv610_modes.c` is the only place they are written down). - H.265 CBR, GOP, and I/P QP delta come from the existing `VencConfig` fields. +- Shared resilience presets drive row GDR and reference cadence with strict + vendor readback; frame-SHM carries GDR/ENHANCE metadata and copied droppable + NALs are marked TRAIL_N. +- `video0.sliceCount` enables whole-access-unit H.265 slicing. CV610 uses + 32-pixel LCU-row units and keeps early per-slice output disabled. - UDP and abstract UNIX outputs use the shared HEVC RTP packetizer. - `frame-shm://` publishes the existing VFRM v1 whole-frame contract. - The shared HTTP/WebUI API advertises a CV610-specific capability mask and @@ -35,6 +40,26 @@ The graph uses VI-online mode, matching the standalone streamer's production path. The module loader must provide a clean SYS/VB lifecycle; the backend verifies the requested mode by reading it back before creating the VI pipe. +## Encoder capability delta + +CV610 has a substantially broader vendor encoder surface than the current +backend exposes: nine declared RC families, multiple P/CRR GOP structures, +intra refresh, reference prediction, SVC, hierarchical QP, native frame-loss +and super-frame policies, ROI/QP maps, VUI/user data, and slice/low-delay +controls. SSC338Q currently has the broader device-proven Waybeam integration. + +The evidence levels, live-device readback, exact comparison and deliberately +deferred controls are documented in +`documentation/SSC338Q_CV610_ENCODER_CAPABILITIES.md`. The resilience and +whole-access-unit slice port is tracked in +`documentation/CV610_RESILIENCE_SLICES_PLAN.md`. + +The port is confirmed on device at 1080p30/60/100. Requests for 1, 3, 4, 6, 9, +12 and 17 slices delivered the requested VCL NAL census, reference cadences and +TRAIL_N counts matched, and an IDR-started 1080p60 capture decoded cleanly +under FFmpeg `-xerror`. Native SVC, extra RC/GOP modes and encoder-side loss +policies remain deliberately deferred. + ## Build The public OpenHisilicon headers and OpenIPC CV610 runtime library directory @@ -153,21 +178,22 @@ and continues on the boot-time clock. ## Deferred phases -1. Device smoke-test frame-SHM, repeated restart cycles, and a bounded soak. +1. Run a longer-duration soak beyond the bounded device matrices already + completed. 2. Add live output redirection and encoder output-FPS control. 3. Add frame-SHM pressure metrics/throttling and sidecar parity. -4. Port advanced features selectively: IQ controls and recording, and only - then consider dual VENC or stabilization. Add live audio gain/mute only - after the analog control path can be operator-verified. +4. Port recording selectively, and only then consider dual VENC or + stabilization. Add live audio gain/mute only after the analog control path + can be operator-verified. Unsupported SigmaStar-only fields remain in the common configuration schema but are marked unsupported in `/api/v1/capabilities` and rejected before mutation. This keeps the shared dashboard honest while the CV610 control surface grows feature by feature. -The pull-request CI cross-builds this experimental backend, but the production -release workflow remains limited to Star6E and Maruko until the integrated -binary passes the phase-1 device gate above. +Pull-request verification cross-builds this backend. Release promotion remains +gated on the CV610 build plus the focused device matrix documented in +`documentation/CV610_RESILIENCE_SLICES_PLAN.md`. ## Hardware verification @@ -186,8 +212,10 @@ ACODEC power-up race after its expected 100 ms retry, and produced about 100 Opus access units/s with zero reported send drops. A host receiver checked 12 consecutive RTP v2/PT98 packets: sequence deltas were 1 and 48 kHz timestamp deltas were 480, exactly 10 ms. No microphone was connected, so acoustic -content is explicitly not operator-verified. A later service-stop hang was -localized to stale pidfile handling after an API respawn, not audio teardown; -the init-script fix requires a power-cycle and device retest. See -`documentation/CRASH_LOG.md`. Frame-SHM and long-duration soak verification -remain pending. +content is explicitly not operator-verified. + +On 2026-08-22 the resilience/slice branch was also confirmed through +frame-SHM at 1080p30/60/100. Slice requests 1, 3, 4, 6, 9, 12 and 17 produced +the requested VCL census; a 380-frame IDR-started 1080p60 capture decoded +cleanly with FFmpeg `-xerror`; and GDR/ENHANCE metadata, TRAIL_N rewriting and +one-second loss recovery passed. Only a longer-duration soak remains pending. diff --git a/documentation/CV610_RESILIENCE_SLICES_PLAN.md b/documentation/CV610_RESILIENCE_SLICES_PLAN.md new file mode 100644 index 00000000..0901f1ce --- /dev/null +++ b/documentation/CV610_RESILIENCE_SLICES_PLAN.md @@ -0,0 +1,232 @@ +# CV610 resilience and H.265 multi-slice plan + +Status: implemented and confirmed on CV610 and Maruko devices on 2026-08-22. + +Branch: `feature/encoder-resilience-slices`, based directly on +`origin/master` (`921b131`) so the already-squashed Star6E slice work is not +reintroduced as duplicate ancestry. + +## Objective + +Bring the existing resilience contract and whole-access-unit H.265 multi-slice +support to the CV610 backend without changing the config schema or frame-SHM +wire format. Preserve the current Star6E behavior and only expose CV610 modes +whose vendor behavior is confirmed on the device. + +The first release keeps `slice_output_en` disabled. Early per-slice delivery is +a different transport contract: the current CV610 output loop treats every +`GetStream` result as a complete access unit and advances frame-SHM/RTP state +once per result. + +## Evidence gathered + +The online CV610 bench at `192.168.2.181` was inspected and tested on 2026-08-22. +It was running Waybeam `0.65.10`, H.265 1920x1080 at 100 fps, on Linux 5.10.221. +The device's `/usr/lib/libss_mpi.so` SHA-256 was +`9ec42150a2901376a91ccd1d3f051dc721b29d1895e7a3190539cb8df4bb4e1a`. + +The shipped library exports and the running channel accepts the getter side of: + +- intra refresh; +- reference parameters; +- slice splitting; +- hierarchical QP; +- frame-loss strategy; +- super-frame discard/re-encode strategy; +- H.265 deblock and SAO controls. + +Current channel readback was: + +| Control | Current value | +|---|---| +| Intra refresh | disabled; row mode; 8 units; request-I QP 51 | +| Reference parameters | base 1; enhance 0; prediction enabled | +| Slice splitting | disabled; mode 1; size 1; early output disabled | +| Frame-loss strategy | disabled; normal mode | +| Super-frame strategy | disabled; 500,000-bit I/P/B thresholds | +| Hierarchical QP | disabled; default deltas -2/-4 | +| H.265 filtering | deblock enabled across slices; luma/chroma SAO enabled | + +`ss_mpi_venc_get_chn_capability()` reported payload mask `0x1f`, RC mask +`0x1ff`, GOP mask `0x1c7`, and a 3840x2160 maximum. This means the record lists +H.264, H.265, SVAC3, JPEG and MJPEG; all nine declared RC families; and Normal-P, +Dual-P, Smart-P, Smart-CRR, Single-SP and all-I GOPs. However, the same record +reported only 30 fps while the live channel was delivering 100 fps and its +`enable` field was false. Treat this record as a vendor capability/default +record, not as proof of the effective channel limit. Every newly used setter +still requires device validation and readback. + +## SSC338Q and CV610 divergence + +| Area | SSC338Q / Star6E | CV610 | Consequence | +|---|---|---|---| +| Waybeam maturity | Resilience, ref cadence, slice geometry, ENHANCE/GDR metadata, ROI, framing, recording and snapshot paths are implemented | Backend deliberately exposes a narrower subset | Port in small independently verifiable stages | +| Encoder API breadth | Simpler MI VENC surface; CBR/VBR/ABR/QP/AVBR families and basic I/P GOP | Nine RC families, multiple P/B/CRR GOP structures, hierarchical QP, native frame-loss and super-frame policies, SVC, QP-map, VUI/SEI and advanced analysis/tuning APIs | CV610 has more future encoder headroom | +| Current RC integration | CBR, VBR, AVBR and a QVBR policy are exposed | H.265 CBR only | Do not mix RC expansion into the resilience port | +| GDR | Implemented and device-confirmed | Row-mode setter/readback and bitstream behavior device-confirmed | Integrated with strict readback | +| Ref prediction | Implemented through base/enhance cadence and TRAIL_N rewriting | Compatible ref-param API and stream `ref_type`, now integrated; dedicated SVC APIs also exist | Keep full native SVC separate | +| Slices | Whole-AU multi-slice implemented; delivered geometry is logged | Whole-AU row splitting confirmed; one unit is a 32-pixel LCU row | Integrated with early output disabled | +| Native loss handling | Waybeam heals reference-chain-breaking output drops with paced IDRs | Additionally offers encoder-side P-skip and super-frame discard/re-encode | Experiment separately after parity | +| VUI/user data | No VUI or SEI control is currently loaded | H.265 VUI is already programmed; user-data insertion is available | CV610 is ahead here | +| Sensor envelope in this project | IMX335 modes reach 2560x1920 and up to 144 fps depending on geometry | IMX662 modes are 1080p30/60/90/100; VPSS can scale down | Star6E currently offers more spatial/high-FPS mode variety; CV610's encoder record is not the sensor limit | +| Channels | Vendor header declares 9 VENC channels; project uses main, optional record and snapshot channels | Vendor header declares 16 channels; project uses only channel 0 | CV610 has theoretical multi-channel headroom, not current feature parity | +| Early slice/low delay | SigmaStar streaming modes were rejected in prior device work; production remains frame-based | VENC slice output plus VI/VPSS low-delay APIs exist | CV610 is the better candidate for a future sub-frame-latency experiment | + +In short: CV610 has the richer vendor encoder, but SSC338Q has the richer, +device-proven Waybeam product surface today. + +## Implementation and hardware results + +The implementation derives CV610 intra-refresh, ref cadence and slice controls +in a pure mapping module, applies them between channel creation and start, and +requires exact getter readback. Runtime status exposes requested/effective GDR +settings, while startup and first-frame census logs report slice geometry. The +stream path consumes vendor `ref_type`, marks +droppable enhancement frames, rewrites copied TRAIL_R NALs to TRAIL_N, +publishes GDR cycle metadata, and requests a paced recovery IDR only when a +dropped frame breaks the reference chain. + +Confirmed on the IMX662 CV610 bench: + +| Test | Result | +|---|---| +| Resilience presets | `off`, `sprint`, `racing`, `endurance`, `patrol`, `quality`, `rescue`, `fpv`, `rally`, `range`, `ltr`, and `ltr:4` applied and read back | +| Sensor rates | GDR + 12 slices passed at 1080p30, 1080p60 and 1080p100 | +| Slice requests | 1, 3, 4, 6, 9, 12 and 17 delivered exactly the requested VCL NAL count | +| Slice geometry | 1080p uses 34 32-pixel LCU rows; request 12 -> split size 3 and 12 slices; request 17 -> split size 2 and 17 slices | +| Ref cadence | `rally` 1/1, `range`/`fpv` 1/4, `ltr` 1/1 and `ltr:4` 1/4 matched requested cadence and prediction mode | +| TRAIL_N rewrite | With 12 slices, 31 non-reference frames produced 372 rewritten NALs for `rally`; the 1/4 presets produced 144 for 12 non-reference frames | +| Frame-SHM metadata | 60 fps run: 454 frames, 450 GDR, 227 ENHANCE, zero metadata/start-code/PTS errors | +| Decoder | IDR-started 1080p60 capture decoded 380/380 frames with FFmpeg `-xerror`, no warnings or errors | +| Ring-pressure recovery | With no consumer, full-ring reference losses produced roughly one recovery IDR per second; droppable enhancement losses did not request recovery | + +All slice runs retained one whole access unit per frame-ring slot. CV610's +32-pixel row unit differs from the 64-pixel CTU geometry observed on Star6E; +the shared config contract is the requested count, while each backend reports +its delivered geometry. + +## Scope and phases + +### Phase 1: pure mappings and configuration surface + +1. Add testable CV610 mapping helpers for: + - resilience preset to `ot_venc_intra_refresh`; + - preset reference cadence to `ot_venc_ref_param`; + - requested slice count to `ot_venc_slice_split`. +2. Preserve the shared preset expansion and `video0.sliceCount` validation. +3. Add `resilience: off` and `sliceCount: 1` to the CV610 default config. +4. Remove the blanket CV610 resilience rejection. Continue rejecting a mode + individually if the device gate below fails. +5. Advertise the two fields in `/api/v1/capabilities` only when their backend + setup and status callbacks are present. + +Verification: focused host tests for all presets, disabled values, boundary +slice counts, signed/clamped inputs and 1080p row geometry; existing config/API +tests must remain green. + +### Phase 2: CV610 GDR and whole-AU slices + +1. Apply intra-refresh and slice-split after channel creation and before start. +2. Use row refresh for H.265 and read back every applied structure. A mismatch + fails channel startup rather than claiming resilience that is not active. +3. Keep `slice_output_en = false` and concatenate all packs into one access unit, + as today. +4. Store effective refresh/slice geometry in the CV610 runtime for status and + frame metadata. +5. Add CV610 intra/resilience status output. + +Device gate on `192.168.2.181`: + +- `off`, `sprint`, `racing`, `endurance` and `patrol` at 1080p30/60/100; +- slice requests 1, 3, 4, 6, 9, 12 and 17; +- setter return, getter equality, raw H.265 slice-NAL census, decoded FPS, + bitrate stability, truncation logs and IDR cadence; +- restoration of the original `/etc/waybeam.json` after the matrix. + +The delivered slice count may differ from the request because a row split must +land on the encoder's effective CTU/LCU geometry. Log both requested and +delivered geometry, as the Star6E backend does. + +### Phase 3: ref prediction and loss metadata + +1. Apply `refBase`, `refEnhance` and `refPred` through + `ss_mpi_venc_set_ref_param()`. +2. Read `stream.h265_info.ref_type` before releasing each stream. +3. Mark non-reference enhancement frames with the existing frame-SHM ENHANCE + flag and rewrite copied H.265 TRAIL_R NAL headers to TRAIL_N. +4. Publish existing GDR cycle position/length metadata. +5. Port the one-per-second recovery IDR when an output-ring loss breaks the + reference chain; do not request recovery for a confirmed droppable ENHANCE + frame. + +Device gate: + +- `rally`, `range`, `fpv`, and `ltr:N` preset/readback matrix; +- raw-ES reference-type and TRAIL_N census; +- loss injection showing that ENHANCE loss remains decodable while reference + loss triggers one paced recovery IDR; +- frame-SHM consumer confirmation of ENHANCE and GDR metadata. + +If CV610's base/enhance cadence differs materially from SigmaStar, keep the +affected presets unsupported rather than silently changing their shared names. + +### Phase 4: Maruko slice integration + +Completed on the SSC378QE/Maruko bench at `192.168.2.233`: + +1. Bound the device-aware `MI_VENC_SetH265SliceSplit` and Get ABI through the + optional Maruko loader. +2. Applied it immediately after `CreateChn`, before input-source setup and the + stab-fill early return, then verified enabled/nonzero/in-picture readback. +3. Kept `sliceCount=1` compatible with older libraries; explicit multi-slice + requests fail startup when Set/Get is unavailable or invalid. +4. Confirmed whole-AU delivery through frame-SHM with a per-frame VCL census: + 1 -> 1, 4 -> 4, 12 -> 12, 17 -> 12, and 32 -> 12 at 1280x720. Maruko + normalizes a requested one-row split to two 32-pixel rows, exposing the + CTU-64 ceiling directly in getter readback. +5. Confirmed the combination with `rally` GDR/ref-pred metadata and decoded a + cold-start 284-frame, 12-slice capture cleanly with FFmpeg. + +The test also fixed a pre-existing frame-SHM run-loop guard that failed to +recognize `frame_ring` as a valid output transport. + +### Phase 5: advanced CV610 experiments + +Keep these outside the parity implementation and evaluate separately: + +- native frame-loss P-skip strategy; +- super-frame discard/re-encode versus Waybeam's max-I/P-byte contract; +- native QVBR/CVBR/RANGEQP and non-Normal-P GOP modes; +- dedicated SVC v1/v2 and hierarchical QP; +- ROI/QP-map support; +- `slice_output_en=true` plus VI/VPSS low-delay operation. + +Each changes rate control, reference structure or transport timing enough to +need its own RF-loss, decoder and latency experiment. + +## Files expected to change + +- `config/waybeam.default.cv610.json` +- `config/waybeam.default.maruko.json` +- `include/cv610_runtime.h` or a focused new CV610 encoder-control header +- Maruko loader/config/pipeline bindings +- `src/cv610_runtime.c` +- `src/cv610_validation.c` +- `src/venc_api.c` +- focused config/mapping/API tests +- `HISTORY.md`, `VERSION`, and relevant backend/API documentation at release + +No `VencConfig` field addition and no frame-SHM layout change are required. +The coordination `protocols/frame-shm.md` producer list should include CV610; +the wire layout itself is unchanged because CV610 emits the already-defined +GDR/ENHANCE fields. + +## Completion gates + +1. `make lint SOC_BUILD=cv610` +2. CV610 cross-build with the OpenHisilicon headers and shipped firmware libs +3. `make verify` for Star6E/Maruko regressions +4. Focused CV610 device matrix above, marked **confirmed on device** +5. Maruko Set/Get, delivered-VCL and decoder matrix above +6. Coordination `/audit-protocols`, `/check-ports`, `/sync-check` +7. Protocol documentation matches the implemented producer behavior diff --git a/documentation/HTTP_API_CONTRACT.md b/documentation/HTTP_API_CONTRACT.md index f81a63bc..5af602a8 100644 --- a/documentation/HTTP_API_CONTRACT.md +++ b/documentation/HTTP_API_CONTRACT.md @@ -18,7 +18,7 @@ - `read_only` — cannot be changed via API. ## Contract Version -- `contract_version`: `0.18.4` +- `contract_version`: `0.18.5` - `status`: `active` ## Governance Rules @@ -79,8 +79,8 @@ Response `200`: { "ok": true, "data": { - "app_version": "0.1.7", - "contract_version": "0.12.0", + "app_version": "0.67.0", + "contract_version": "0.18.5", "config_schema_version": "1.0.0", "backend": "star6e" } @@ -105,7 +105,7 @@ Response `200`: "sensor": { "index": -1, "mode": -1 }, "isp": { "sensorBin": "/etc/sensors/imx415_greg_fpvXVIII-gpt200.bin", "aeEngine": "sdk", "aeFps": 15, "gainMax": 0, "awbMode": "auto", "awbCt": 5500, "keepAspect": true }, "image": { "mirror": false, "flip": false, "rotate": 0 }, - "video0": { "rcMode": "cbr", "fps": 90, "size": "auto", "bitrate": 8192, "gopSize": 1.0, "qpDelta": 0, "sceneThreshold": 0, "sceneHoldoff": 2, "resilience": "off", "zoomX": 0.5, "zoomY": 0.5, "framing": "off" }, + "video0": { "rcMode": "cbr", "fps": 90, "size": "auto", "bitrate": 8192, "gopSize": 1.0, "qpDelta": 0, "sceneThreshold": 0, "sceneHoldoff": 2, "sliceCount": 1, "resilience": "off", "zoomX": 0.5, "zoomY": 0.5, "framing": "off" }, "outgoing": { "enabled": true, "server": "udp://192.168.2.20:5600", "streamMode": "rtp", "maxPayloadSize": 1400, "connectedUdp": false, "allowUnixEncoderStall": false }, "fpv": { "roiEnabled": true, "roiQp": 0, "roiSteps": 2, "roiCenter": 0.25, "noiseLevel": 0 }, "record": { "enabled": false, "mode": "off", "dir": "/tmp/sdcard", "format": "ts", "maxSeconds": 300, "maxMB": 500 }, @@ -158,6 +158,7 @@ Response `200`: "video0.size": { "mutability": "restart_required", "supported": true }, "video0.scene_threshold": { "mutability": "restart_required", "supported": true }, "video0.scene_holdoff": { "mutability": "restart_required", "supported": true }, + "video0.slice_count": { "mutability": "restart_required", "supported": true }, "video0.resilience": { "mutability": "restart_required", "supported": true }, "video0.zoom_x": { "mutability": "live", "supported": true }, "video0.zoom_y": { "mutability": "live", "supported": true }, @@ -192,6 +193,13 @@ Response `200`: } ``` +`video0.slice_count` / JSON `video0.sliceCount` requests 1–32 H.265 slices +per picture; 1 disables splitting. Star6E, Maruko and CV610 advertise the +field. The request is mapped to backend row geometry, so delivered counts may +quantize or saturate; startup performs vendor Set/Get verification and fails +an explicit multi-slice request when the backend cannot apply it. Slice NALs +remain one whole access unit for RTP, recording and frame-SHM. + `data.routes` (added 0.18.4) reports which optional routes the running backend actually services, so a client does not have to call an expensive endpoint just to discover whether it exists: @@ -771,7 +779,9 @@ Error `501`: ### `GET /api/v1/iq` -Query all ISP IQ parameter values. Always available on Star6E backend. +Query all ISP IQ parameter values. Star6E and Maruko share the SigmaStar +response shape shown below. CV610 also serves this route, using the +self-describing response documented under "CV610 IQ response shape". ```bash curl http:///api/v1/iq @@ -809,7 +819,7 @@ Multi-field example (colortrans): } ``` -Error `501` if backend doesn't support IQ (Maruko): +Error `501` when the active backend does not register an IQ query callback: ```json {"ok":false,"error":{"code":"not_implemented","message":"IQ query not available"}} ``` @@ -1717,8 +1727,9 @@ Behavior: ### Backend Support Matrix -Endpoints that behave the same on both backends are omitted. Only feature -divergence is listed. As of `contract_version: 0.12.1`: +Endpoints that behave the same on all three backends are omitted. The table +compares the two SigmaStar implementations; CV610 differences are called out +in Notes. As of `contract_version: 0.18.5`: | Feature / Endpoint | Star6E | Maruko | Notes | |---|---|---|---| @@ -1743,6 +1754,12 @@ divergence is listed. As of `contract_version: 0.12.1`: | `isp.aeEngine` ("sdk" only) | applied | applied | Unified AE selector landed in 0.10.13. `custom` (userspace AE governor) is RETIRED — Maruko in 0.22.0, Star6E in 0.47.0 — and the value was **removed** in 0.47.0. `sdk` is the only accepted value; any other (e.g. a stale `custom`) warns and falls back to `sdk`. Both backends run the SDK firmware/bin AE for convergence plus a supervisory thread that enforces the `isp.gain*`/`isp.shutter*` limits. | ## Change Log (Contract) +- `0.18.5` (additive — resilience and slices reach three-backend parity): + CV610 now advertises `video0.resilience` and `video0.slice_count` and serves + the existing intra/resilience status routes. Maruko now advertises and + applies `video0.slice_count`. Explicit multi-slice requests use pre-start + vendor Set/Get verification on all three backends; no field or response key + was removed. - `0.18.4` (additive — CV610 gains the IQ surface and RC QP bounds): `/api/v1/capabilities` gains `data.routes` (`iq`, `iq_import`) so a client can discover optional routes without calling them. `/api/v1/iq` and diff --git a/documentation/README.md b/documentation/README.md index ffba34cd..794964d7 100644 --- a/documentation/README.md +++ b/documentation/README.md @@ -3,6 +3,12 @@ This folder is the canonical place for waybeam_venc project documentation. ## Core Docs +- `documentation/SSC338Q_CV610_ENCODER_CAPABILITIES.md` + - Evidence-tiered comparison of the two encoder APIs and their current + Waybeam integration, including the richer CV610-only future surface. +- `documentation/CV610_RESILIENCE_SLICES_PLAN.md` + - Approved phased plan and device gates for CV610 resilience, ref prediction, + frame metadata and whole-access-unit H.265 slicing. - `documentation/DUAL_BACKEND_SPLIT_PLAN.md` - Current architecture/implementation plan for Star6E + Maruko targeted builds. - Tracks only remaining implementation steps from the current stable baseline. diff --git a/documentation/SSC338Q_CV610_ENCODER_CAPABILITIES.md b/documentation/SSC338Q_CV610_ENCODER_CAPABILITIES.md new file mode 100644 index 00000000..1ac18639 --- /dev/null +++ b/documentation/SSC338Q_CV610_ENCODER_CAPABILITIES.md @@ -0,0 +1,117 @@ +# SSC338Q and CV610 encoder capability delta + +This note distinguishes three different meanings of "supported": + +1. **Declared** — present in the vendor header or exported runtime ABI. +2. **Accepted** — a getter/setter succeeds on the running device. +3. **Integrated** — Waybeam configures it, reports it honestly, transports the + result correctly, and has device-level regression coverage. + +Confusing these levels is particularly risky on CV610. Its capability record +advertises a broad encoder, but on the 2026-08-22 bench it reported a 30 fps +limit while the same channel was actively delivering 1080p100. Vendor capability +records are useful discovery hints, not substitutes for apply/readback and +bitstream tests. + +## Executive summary + +CV610 has the richer raw encoder API. SSC338Q currently has the richer and more +mature Waybeam product integration. + +CV610 exposes native controls for nine RC families, six useful GOP structures, +hierarchical QP, reference prediction, SVC, frame-loss P-skip, super-frame +discard/re-encode, ROI/QP maps, VUI/SEI, analysis statistics, and early slice +delivery. SSC338Q's MI VENC surface is smaller, but Waybeam already integrates +and device-verifies resilience presets, reference-layer metadata, multi-slice +whole-access-unit output, ROI, recording, snapshots, and dynamic framing there. + +## Evidence + +The CV610 bench at `192.168.2.181` was inspected and tested on 2026-08-22: + +- Waybeam `0.65.10`, H.265 1920x1080 at 100 fps; +- Linux 5.10.221 on armv7l; +- `/usr/lib/libss_mpi.so` SHA-256 + `9ec42150a2901376a91ccd1d3f051dc721b29d1895e7a3190539cb8df4bb4e1a`; +- getter calls succeeded for intra refresh, ref parameters, slice split, + hierarchical QP, frame-loss strategy, super-frame strategy, H.265 deblock, + and SAO. + +The parity controls were then applied with strict readback. GDR and 12-slice +whole-access-unit output passed at 1080p30/60/100; requests for 1, 3, 4, 6, 9, +12 and 17 slices delivered those exact VCL NAL counts. The `rally`, `range`, +`fpv`, `ltr`, and `ltr:4` reference cadences matched vendor `ref_type` output, +and a 380-frame IDR-started 1080p60 capture decoded cleanly with FFmpeg +`-xerror`. These controls are therefore **Integrated**, not merely Declared. + +The same shared slice contract is now also integrated on SSC378QE/Maruko. Its +SigmaStar ABI adds a VENC device argument but uses the same 8-byte enable/row +structure and the same pre-start lifecycle. Hardware readback exposed one +useful divergence: Maruko normalizes a requested one-32-pixel-row split to two +rows (one CTU-64). At 1280x720, requests 1/4/12 delivered 1/4/12 slices, while +17 and 32 saturated at 12. A `rally` run preserved whole-AU frame-SHM metadata +and exact VCL counts; its cold-start capture decoded cleanly. + +## Local validation samples + +The device never stores encoded captures. The frame-SHM consumer writes to a +FIFO and SSH carries the elementary stream directly into host FFmpeg. These +workspace-local `bench/` artifacts are intentionally gitignored rather than +release assets; the checksums make the evidence identifiable in this session. + +| Backend | Host artifact | Evidence | +|---|---|---| +| CV610 | `bench/cv610-rally-slice12-1080p60.mp4` | 380 frames, 6.33 s, 1920x1080@60, SHA-256 `58eca88af6e753ef8a2ff90b2210a02acde2f955384d08eeb1941bc4e26a7759` | +| Maruko | `bench/maruko-rally-slice12-720p30.mp4` | 284 frames, 9.47 s, 1280x720@30, SHA-256 `355710cfc44f59d8944f131a517787d45ccf1aef8dd07cf7b1dac07583806cb8` | + +Both samples start at an IDR and decode without FFmpeg warnings or errors. + +The channel capability record returned: + +| Record | Value | Interpretation | +|---|---:|---| +| Payload mask | `0x1f` | H.264, H.265, SVAC3, JPEG and MJPEG declared | +| RC mask | `0x1ff` | ABR, CBR, VBR, AVBR, QVBR, CVBR, FIXQP, QPMAP and RANGEQP declared | +| GOP mask | `0x1c7` | Normal-P, Dual-P, Smart-P, Smart-CRR, Single-SP and all-I declared | +| Maximum picture | 3840x2160 | Encoder record; the integrated IMX662 path is 1920x1080 | +| Feature enable | false | The returned structure behaves as a default/capability record | + +## Detailed delta + +| Area | SSC338Q / Star6E | CV610 | Current decision | +|---|---|---|---| +| Payloads | Vendor surface includes H.264/H.265/MJPEG; Waybeam uses H.265 | Header/capability record also includes SVAC3 and JPEG | Keep H.265 parity scope | +| Rate control | CBR, VBR, AVBR and Waybeam's QVBR policy integrated | Nine native RC families declared; only H.265 CBR integrated | RC expansion is separate work | +| GOP structures | Basic I/P GOP used | Normal/Dual/Smart P, CRR, Single-SP and all-I declared; B modes exist in headers but were absent from the device mask | Use Normal-P for parity | +| GDR | Integrated and device-confirmed | Row GDR integrated and confirmed at 1080p30/60/100 with strict readback | Keep column refresh outside the shared contract | +| Ref prediction | Base/enhance cadence, TRAIL_N propagation and ENHANCE metadata integrated | Equivalent ref cadence, TRAIL_N rewrite and metadata now integrated and device-confirmed; fuller SVC API also exported | Leave native SVC gated | +| Slices | Whole-AU slicing and delivered CTU geometry integrated | Whole-AU 32-pixel-row splitting integrated; requests through 17 confirmed; early-slice output also represented | Keep early output off | +| Loss handling | Output-ring chain breaks trigger paced recovery IDRs | Also exposes native P-skip and super-frame discard/re-encode | Preserve parity policy; experiment with native loss controls later | +| QP tools | I/P delta, bounds and frame-size caps integrated | Adds hierarchical QP, QP maps, foreground protection, skip bias and quality balance APIs | Do not bundle unverified tools | +| ROI | Eight horizontal delta-QP bands integrated | Eight ROI regions, extended per-frame ROI, background-rate and QP-map APIs | A future CV610 parity opportunity | +| VUI/user data | No MI VUI/user-data wrapper loaded | H.265 VUI already programmed; user-data insertion exported | CV610 is already richer here | +| H.265 tools | Encoder defaults plus resilience/slices | Deblock, SAO, transform, entropy, CU prediction, search window, deblur and motion-stat controls exported | Documented future tuning surface | +| Low delay | SigmaStar stream modes were rejected in prior device tests; production is frame-based | Slice-output plus VI/VPSS low-delay APIs exist | Best candidate for a later sub-frame experiment, requiring transport redesign | +| Channels | Header declares 9; project uses main, optional record and snapshot channels | Header declares 16; project uses channel 0 | Theoretical CV610 headroom only | +| Sensor envelope here | IMX335 combinations reach 2560x1920 and up to 144 fps | IMX662 modes are 1080p30/60/90/100, with VPSS downscale | Star6E currently offers the broader integrated mode set | + +## CV610 controls deliberately deferred + +The following are real ABI opportunities, but none should be advertised merely +because a symbol exists: + +- native QVBR/CVBR/RANGEQP and alternative GOP structures; +- P-skip frame-loss strategy and super-frame discard/re-encode; +- SVC v1/v2, hierarchical QP and per-frame SVC masks; +- ROI/QP-map, foreground protection, skip bias and quality balance; +- advanced deblur, motion analysis, CU/search-window tuning; +- early slice delivery with VI/VPSS low-delay mode. + +Each requires setter/readback verification plus bitrate, decoder, reference-chain, +RF-loss and latency measurements. Early slice delivery additionally changes the +current one-`GetStream`-result-per-access-unit assumption in RTP and frame-SHM. + +## Related implementation plan + +See `documentation/CV610_RESILIENCE_SLICES_PLAN.md` for the phased parity port, +device matrix, rollback rules and completion gates. diff --git a/include/cv610_encoder_config.h b/include/cv610_encoder_config.h new file mode 100644 index 00000000..9c07d078 --- /dev/null +++ b/include/cv610_encoder_config.h @@ -0,0 +1,50 @@ +#ifndef CV610_ENCODER_CONFIG_H +#define CV610_ENCODER_CONFIG_H + +#include "intra_refresh.h" +#include "venc_config.h" + +#include + +/* The CV610 getter reports split_mode=1 for its H.265 row-split default. + * OpenHisilicon does not publish a named enum for this field. Keep the raw + * value isolated here and verify it by setter/readback plus slice-NAL census. */ +#define CV610_SLICE_SPLIT_MODE_LCU_ROW 1u + +typedef struct { + IntraRefreshDerived derived; + uint32_t enabled; + uint32_t mode; /* 0 = OT_VENC_INTRA_REFRESH_ROW */ + uint32_t refresh_num; + uint32_t request_i_qp; +} Cv610IntraConfig; + +typedef struct { + uint32_t enabled; + uint32_t base; + uint32_t enhance; + uint32_t pred; +} Cv610RefConfig; + +typedef struct { + uint32_t enabled; + uint32_t requested_count; + uint32_t total_lcu_rows; + uint32_t split_mode; + uint32_t split_size; + uint32_t expected_count; +} Cv610SliceConfig; + +typedef struct { + Cv610IntraConfig intra; + Cv610RefConfig ref; + Cv610SliceConfig slice; +} Cv610EncoderConfig; + +/* Pure mapping from the shared config to CV610 encoder concepts. Vendor + * structs are intentionally filled in cv610_runtime.c so this logic remains + * host-testable without the external OpenHisilicon headers. */ +int cv610_encoder_config_derive(const VencConfig *cfg, uint32_t height, + uint32_t fps, Cv610EncoderConfig *out); + +#endif /* CV610_ENCODER_CONFIG_H */ diff --git a/include/cv610_runtime.h b/include/cv610_runtime.h index 72dc32f2..64bf2ba8 100644 --- a/include/cv610_runtime.h +++ b/include/cv610_runtime.h @@ -3,6 +3,36 @@ #include "backend.h" +#include + +typedef struct { + char mode_name[16]; + int active; + int mi_supported; /* Kept for status-JSON parity; means MPP API present. */ + int apply_ok; + uint32_t target_ms; + uint32_t total_rows; + uint32_t requested_lines; + uint32_t effective_lines_per_p; + int lines_clamped; + uint32_t requested_qp; + uint32_t effective_qp; + double explicit_gop_sec; + double effective_gop_sec; + int gop_auto; +} Cv610IntraRefreshStatus; + +typedef struct { + int active; + int mi_supported; /* Kept for status-JSON parity; means MPP API present. */ + int apply_ok; + uint32_t base; + uint32_t enhance; + int pred; +} Cv610RefPredStatus; + const BackendOps *cv610_runtime_backend_ops(void); +void cv610_runtime_intra_refresh_status(Cv610IntraRefreshStatus *out); +void cv610_runtime_ref_pred_status(Cv610RefPredStatus *out); #endif /* CV610_RUNTIME_H */ diff --git a/include/h26x_util.h b/include/h26x_util.h index bb92f3ce..66716458 100644 --- a/include/h26x_util.h +++ b/include/h26x_util.h @@ -21,4 +21,11 @@ uint8_t h26x_util_hevc_nalu_type(const uint8_t *data, size_t len); int h26x_util_annexb_next(const uint8_t *data, size_t len, size_t *cursor, const uint8_t **nal, size_t *nal_len); +/** Rewrite every single-layer HEVC TRAIL_R NAL (type 1) in an Annex-B access + * unit to TRAIL_N (type 0). Returns the number of NAL headers changed. This + * propagates an encoder's non-reference frame designation to generic decoders; + * callers must only use it when vendor frame metadata says the whole picture + * is not used for reference. */ +size_t h26x_util_hevc_patch_trail_r_to_n(uint8_t *data, size_t len); + #endif /* H26X_UTIL_H */ diff --git a/include/maruko_bindings.h b/include/maruko_bindings.h index 7e7f365b..8a8d99a8 100644 --- a/include/maruko_bindings.h +++ b/include/maruko_bindings.h @@ -86,6 +86,10 @@ typedef int (*maruko_isp_disable_userspace3a_fn_t)(MI_U32 dev_id, MI_U32 channel g_mi_venc.fnSetRefParam((dev), (chn), (p)) #define maruko_mi_venc_get_ref_param(dev, chn, p) \ g_mi_venc.fnGetRefParam((dev), (chn), (p)) +#define maruko_mi_venc_set_h265_slice_split(dev, chn, p) \ + g_mi_venc.fnSetH265SliceSplit((dev), (chn), (p)) +#define maruko_mi_venc_get_h265_slice_split(dev, chn, p) \ + g_mi_venc.fnGetH265SliceSplit((dev), (chn), (p)) #define maruko_mi_sys_config_private_pool(soc, cfg) \ g_mi_sys.fnConfigPrivateMMAPool((soc), (cfg)) diff --git a/include/maruko_config.h b/include/maruko_config.h index 9b24e958..a198b638 100644 --- a/include/maruko_config.h +++ b/include/maruko_config.h @@ -68,6 +68,8 @@ typedef struct { uint8_t ref_base; uint8_t ref_enhance; uint8_t ref_pred; + /* Requested whole-access-unit H.265 slice count. 1 disables splitting. */ + uint32_t slice_count; /* Resilience preset name — mirror of video0.resilience. Used by * the debug OSD; pipeline behaviour is fully determined by the * already-expanded intra_refresh_* / ref_* fields above. */ diff --git a/include/maruko_controls.h b/include/maruko_controls.h index 3c875810..519e75c0 100644 --- a/include/maruko_controls.h +++ b/include/maruko_controls.h @@ -22,7 +22,7 @@ const VencConfig *maruko_controls_vcfg(void); * thread. The HTTP callback only posts a coherent config snapshot. */ void maruko_controls_service_detect_reload(void); -/** Publish the frame-shm ring-fill clamp factor (permille, 250..1000) and +/** Publish the frame-shm ring-fill clamp factor (permille, 50..1000) and * re-program the encoder from the configured bitrate scaled by it. Mirrors * star6e_controls_set_output_throttle; video0.bitrate is never written. */ int maruko_controls_set_output_throttle(uint16_t permille); diff --git a/include/maruko_mi.h b/include/maruko_mi.h index 0e2d35a2..fcc8e1e9 100644 --- a/include/maruko_mi.h +++ b/include/maruko_mi.h @@ -134,6 +134,8 @@ typedef struct { int (*fnGetIntraRefresh)(int dev, int chn, void *cfg); int (*fnSetRefParam)(int dev, int chn, void *p); int (*fnGetRefParam)(int dev, int chn, void *p); + int (*fnSetH265SliceSplit)(int dev, int chn, void *p); + int (*fnGetH265SliceSplit)(int dev, int chn, void *p); } maruko_venc_impl; /* MI_AI (audio input) — i6c surface differs from Star6E: diff --git a/include/maruko_output.h b/include/maruko_output.h index 40ae4153..f80f93b6 100644 --- a/include/maruko_output.h +++ b/include/maruko_output.h @@ -109,8 +109,8 @@ typedef struct { int (*request_idr)(void *ctx); void *idr_ctx; uint64_t drop_idr_last_us; - /* One WARN per init when a pack overflows packetInfo (frame aborted, - * never shipped truncated). */ + /* One WARN per init when packet metadata is incomplete or invalid (frame + * aborted, never shipped truncated). */ uint8_t trunc_warned; } MarukoOutput; diff --git a/include/maruko_video.h b/include/maruko_video.h index 306ec0fa..5aa70bcd 100644 --- a/include/maruko_video.h +++ b/include/maruko_video.h @@ -23,6 +23,17 @@ typedef RtpSessionState MarukoRtpState; void maruko_video_init_rtp_state(MarukoRtpState *rtp, PAYLOAD_TYPE_E codec, uint32_t sensor_fps); +/** Return non-zero when every vendor pack exposes descriptors for all of its + * NAL units. The i6c ABI has a fixed-size packetInfo table; callers must drop + * the whole access unit rather than silently emit only the table prefix. */ +int maruko_video_stream_packet_info_complete(const i6c_venc_strm *stream); + +/** Reject an incomplete access unit before any consumer sees it. Returns 1 + * when rejected, emits a one-time warning, and requests paced recovery when + * the dropped picture participates in the reference chain. */ +int maruko_video_reject_incomplete_access_unit(const i6c_venc_strm *stream, + MarukoOutput *output); + /** Packetize and send one encoder frame over RTP. * If stats is non-NULL and the stream is H.265 in RTP mode, per-frame * packetizer counters are accumulated into *stats. */ diff --git a/include/rtp_sidecar.h b/include/rtp_sidecar.h index 2873cde2..c65fe037 100644 --- a/include/rtp_sidecar.h +++ b/include/rtp_sidecar.h @@ -177,7 +177,7 @@ typedef struct { uint8_t fill_pct; /* output queue fill: 0..100 */ uint8_t in_pressure; /* 1 = pressure hysteresis flag asserted */ uint16_t throttle_permille; /* frame-shm ring-fill bitrate clamp: - * 1000 = unclamped, 250 = floor. Carved + * 1000 = unclamped, 50 = minimum. Carved * from the old _pad[2] in 0.57.0, so the * trailer is still 16 bytes and every * later trailer keeps its offset. A diff --git a/include/star6e.h b/include/star6e.h index 9b558a9f..bca5d8ab 100644 --- a/include/star6e.h +++ b/include/star6e.h @@ -496,8 +496,8 @@ _Static_assert(sizeof(MI_VENC_ParamRef_t) == 12, * 32-px rows PER SLICE, not a slice count, and NOT CTU rows: the encoder's * CTU is 64 (measured 2026-08-20, SPS 30x17 CTBs at 1080p) and the SDK * rounds the request up to whole CTU-64 rows. Symbol is exported by both - * star6e and maruko libmi_venc.so; bound star6e-only for now (maruko adds - * VeDev, and its backend keeps its own loader). */ + * star6e and maruko libmi_venc.so; Maruko adds VeDev and therefore binds it + * through its backend-specific loader. */ typedef struct { MI_BOOL bSplitEnable; MI_U32 u32SliceRowCount; diff --git a/include/star6e_controls.h b/include/star6e_controls.h index ad8ac951..7d45e822 100644 --- a/include/star6e_controls.h +++ b/include/star6e_controls.h @@ -20,7 +20,7 @@ const VencApplyCallbacks *star6e_controls_callbacks(void); /** Apply frame rate change to running encoder pipeline. */ int star6e_controls_apply_fps(uint32_t fps); -/** Publish the frame-shm ring-fill clamp factor (permille, 250..1000) and +/** Publish the frame-shm ring-fill clamp factor (permille, 50..1000) and * re-program the encoder from the configured bitrate scaled by it. * video0.bitrate is never written — see include/venc_shm_throttle.h for * why the clamp deliberately does not take ownership of the rate. diff --git a/include/star6e_output.h b/include/star6e_output.h index 753f1b03..99b53eb0 100644 --- a/include/star6e_output.h +++ b/include/star6e_output.h @@ -169,8 +169,8 @@ typedef struct { void *idr_ctx; uint64_t drop_idr_last_us; /* One WARN per pipeline start (reset by star6e_output_reset's memset) - * when a pack reports more NALs than packetInfo holds — the frame is - * aborted, never shipped truncated. */ + * when packet metadata is incomplete or invalid — the frame is aborted, + * never shipped truncated. */ uint8_t trunc_warned; /* Ring-full drops split by whether they actually broke the chain. * A non-referenced (SVC-T) frame is droppable by construction, so @@ -240,6 +240,16 @@ void star6e_output_observe_pressure(Star6eOutput *output); int star6e_output_frame_ring_fill( const Star6eOutput *output, venc_frame_ring_fill_t *out); +/** Validate that every vendor pack exposes complete, in-bounds NAL + * descriptors. All consumers must reject the AU when this returns zero. */ +int star6e_output_stream_packet_info_complete( + const MI_VENC_Stream_t *stream); + +/** Reject an incomplete AU before output/recording. Returns 1 when rejected, + * emits a one-time warning, and requests paced recovery for reference frames. */ +int star6e_output_reject_incomplete_access_unit(Star6eOutput *output, + const MI_VENC_Stream_t *stream); + /** Begin accumulating RTP packets for a frame. When the transport is UDP * and SHM is not in use, subsequent star6e_output_send_rtp_parts() calls diff --git a/include/venc_config.h b/include/venc_config.h index 5a72e98a..49b7a8b8 100644 --- a/include/venc_config.h +++ b/include/venc_config.h @@ -37,9 +37,9 @@ extern "C" { #define VENC_BITRATE_MAX_KBPS 200000 /* Requested H.265 slices per picture. A sanity bound, NOT the delivered - * count: the SDK takes slice height in 32-px rows rounded up to whole CTU-64 - * rows, so a request saturates at the picture's CTU-row count (17 at 1080p, - * 12 at 720p) and only {1,2,3,4,5,6,9,17} are reachable at 1080p. + * count: SigmaStar takes slice height in 32-px rows and quantizes it to + * whole CTU-64 rows, while CV610 uses its own 32-pixel LCU-row geometry. + * The delivered count therefore depends on backend and picture height. * * This was 8, on the stated grounds that the SDK's packetInfo table holds 8 * NALs. That table is per PACK and the output walker iterates packs @@ -133,7 +133,7 @@ typedef struct { * 1..VENC_SLICE_COUNT_MAX; 1 = split off. * >1 enables spatial loss concealment on the * link RX (waybeam-link PROTOCOL.md §6.3b). - * Star6E only. */ + * Star6E, Maruko and CV610. */ /* Derived from `resilience` preset only. Not part of the JSON * schema or HTTP API — written exclusively by * apply_resilience_preset() at load time. Do not parse from JSON, diff --git a/include/venc_frame_ring.h b/include/venc_frame_ring.h index cd878c87..9d813878 100644 --- a/include/venc_frame_ring.h +++ b/include/venc_frame_ring.h @@ -56,7 +56,8 @@ * must NOT provoke a recovery IDR: that would spend the largest frame in the * stream to repair damage that never happened, into a ring already full. * - * Shared by both backends so the policy has one definition rather than two + * Shared by all encoder backends so the policy has one definition rather than + * several * copies that can drift. */ static inline int venc_frame_drop_breaks_chain(uint8_t flags) { @@ -125,7 +126,7 @@ typedef struct __attribute__((aligned(64))) { uint32_t futex_seq; uint32_t health_magic; /* VENC_FRAME_RING_HEALTH_MAGIC, or 0 */ uint64_t full_drops; /* lifetime full-ring drops */ - uint16_t throttle_permille; /* 1000 = unclamped, 250 = floor */ + uint16_t throttle_permille; /* 1000 = unclamped; lower = active clamp */ uint8_t _pad1[38]; /* Line 2: Consumer-owned */ diff --git a/src/cv610_encoder_config.c b/src/cv610_encoder_config.c new file mode 100644 index 00000000..4d0f174b --- /dev/null +++ b/src/cv610_encoder_config.c @@ -0,0 +1,53 @@ +#include "cv610_encoder_config.h" + +#include + +int cv610_encoder_config_derive(const VencConfig *cfg, uint32_t height, + uint32_t fps, Cv610EncoderConfig *out) +{ + IntraRefreshMode mode; + uint32_t rows; + uint32_t per; + + if (!cfg || !out || height == 0 || fps == 0 || + cfg->video0.slice_count < 1 || + cfg->video0.slice_count > VENC_SLICE_COUNT_MAX) + return -1; + + memset(out, 0, sizeof(*out)); + mode = intra_refresh_parse_mode(cfg->video0.intra_refresh_mode); + intra_refresh_compute(mode, height, fps, + cfg->video0.intra_refresh_lines, + cfg->video0.intra_refresh_qp, + cfg->video0.gop_size, &out->intra.derived); + out->intra.enabled = mode != INTRA_MODE_OFF; + out->intra.mode = 0; /* OT_VENC_INTRA_REFRESH_ROW */ + out->intra.refresh_num = out->intra.derived.lines; + out->intra.request_i_qp = out->intra.derived.req_iqp; + + if (cfg->video0.ref_base > 0) { + out->ref.enabled = 1; + out->ref.base = cfg->video0.ref_base; + out->ref.enhance = cfg->video0.ref_enhance + ? cfg->video0.ref_enhance : 1; + out->ref.pred = cfg->video0.ref_pred ? 1u : 0u; + } + + rows = (height + 31u) / 32u; + out->slice.requested_count = cfg->video0.slice_count; + out->slice.total_lcu_rows = rows; + out->slice.split_mode = CV610_SLICE_SPLIT_MODE_LCU_ROW; + out->slice.split_size = 1; + out->slice.expected_count = 1; + if (cfg->video0.slice_count > 1) { + per = (rows + cfg->video0.slice_count - 1u) / + cfg->video0.slice_count; + if (per < 1) + per = 1; + out->slice.enabled = 1; + out->slice.split_size = per; + out->slice.expected_count = (rows + per - 1u) / per; + } + + return 0; +} diff --git a/src/cv610_runtime.c b/src/cv610_runtime.c index 8d2e10ce..458ff111 100644 --- a/src/cv610_runtime.c +++ b/src/cv610_runtime.c @@ -1,6 +1,7 @@ #include "cv610_runtime.h" #include "cv610_audio.h" +#include "cv610_encoder_config.h" #include "cv610_iq.h" #include "cv610_modes.h" #include "cv610_pipeline.h" @@ -11,6 +12,7 @@ #include "idr_rate_limit.h" #include "output_socket.h" #include "rtp_session.h" +#include "timing.h" #include "venc_frame_ring.h" #include "venc_ring.h" #include "venc_api.h" @@ -18,6 +20,7 @@ #include "venc_respawn.h" #include +#include #include #include #include @@ -62,6 +65,17 @@ typedef struct { uint64_t bytes; uint64_t output_drops; uint64_t packets_sent; + uint64_t drop_idr_last_us; + uint8_t gdr_active; + uint8_t gdr_cycle_len; + uint8_t gdr_counter; + uint8_t svct_active; + uint8_t delivered_slice_count; + uint8_t slice_census_done; + uint32_t requested_slice_count; + uint32_t ref_census_frames; + uint32_t ref_type_counts[OT_VENC_P_SLICE_BUTT]; + uint32_t trail_n_patched; int venc_created; int venc_started; int venc_bound; @@ -73,6 +87,40 @@ typedef struct { * runner. It is published before HTTP starts and cleared after HTTP joins. */ static Cv610RunnerContext *g_cv610_runner; +static Cv610IntraRefreshStatus g_cv610_intra_status; +static Cv610RefPredStatus g_cv610_ref_status; +static pthread_mutex_t g_cv610_status_mutex = PTHREAD_MUTEX_INITIALIZER; + +void cv610_runtime_intra_refresh_status(Cv610IntraRefreshStatus *out) +{ + if (!out) + return; + pthread_mutex_lock(&g_cv610_status_mutex); + *out = g_cv610_intra_status; + pthread_mutex_unlock(&g_cv610_status_mutex); +} + +void cv610_runtime_ref_pred_status(Cv610RefPredStatus *out) +{ + if (!out) + return; + pthread_mutex_lock(&g_cv610_status_mutex); + *out = g_cv610_ref_status; + pthread_mutex_unlock(&g_cv610_status_mutex); +} + +static void cv610_publish_encoder_status( + const Cv610IntraRefreshStatus *intra, + const Cv610RefPredStatus *ref) +{ + pthread_mutex_lock(&g_cv610_status_mutex); + if (intra) + g_cv610_intra_status = *intra; + if (ref) + g_cv610_ref_status = *ref; + pthread_mutex_unlock(&g_cv610_status_mutex); +} + static int cv610_update_venc_attr(uint32_t bitrate, uint32_t gop, int qp_delta, unsigned int fields) { @@ -221,6 +269,17 @@ static int cv610_request_idr(void) ? 0 : -1; } +/* Ring-drop recovery form: unlike the public callback, report whether the + * request actually passed the shared limiter so the one-second holdoff can + * retry a coalesced request on the next chain-breaking drop. */ +static int cv610_ring_request_idr(void) +{ + if (!idr_rate_limit_allow(CV610_VENC_CHN)) + return 0; + return ss_mpi_venc_request_idr(CV610_VENC_CHN, TD_TRUE) == TD_SUCCESS + ? 1 : 0; +} + static uint32_t cv610_query_live_fps(void) { return g_cv610_runner ? g_cv610_runner->pipeline.fps : 0; @@ -376,6 +435,20 @@ static int cv610_frame_is_idr(const uint8_t *frame, size_t len) return 0; } +static uint32_t cv610_frame_vcl_nal_count(const uint8_t *frame, size_t len) +{ + size_t cursor = 0; + const uint8_t *nal; + size_t nal_len; + uint32_t count = 0; + + while (h26x_util_annexb_next(frame, len, &cursor, &nal, &nal_len)) { + if (h26x_util_hevc_nalu_type(nal, nal_len) <= 31) + count++; + } + return count; +} + static int cv610_send_rtp_frame(Cv610RunnerContext *ctx, const uint8_t *frame, size_t len) { @@ -451,8 +524,229 @@ static int cv610_copy_stream(const ot_venc_stream *stream, uint8_t **out, return 0; } +static int cv610_apply_encoder_config(Cv610RunnerContext *ctx, + const Cv610EncoderConfig *enc) +{ + Cv610IntraRefreshStatus intra_status; + Cv610RefPredStatus ref_status; + ot_venc_intra_refresh intra; + ot_venc_intra_refresh intra_rb; + ot_venc_ref_param ref; + ot_venc_ref_param ref_rb; + ot_venc_slice_split split; + ot_venc_slice_split split_rb; + uint32_t delivered_slices = 1; + uint32_t cycle_len = 0; + td_s32 ret; + + if (!ctx || !enc) + return -1; + + memset(&intra_status, 0, sizeof(intra_status)); + memset(&ref_status, 0, sizeof(ref_status)); + snprintf(intra_status.mode_name, sizeof(intra_status.mode_name), "%s", + intra_refresh_mode_name(enc->intra.derived.mode)); + intra_status.mi_supported = 1; + intra_status.target_ms = enc->intra.derived.target_ms; + intra_status.total_rows = enc->intra.derived.total_rows; + intra_status.requested_lines = ctx->config.video0.intra_refresh_lines; + intra_status.effective_lines_per_p = enc->intra.refresh_num; + intra_status.lines_clamped = enc->intra.derived.lines_clamped; + intra_status.requested_qp = ctx->config.video0.intra_refresh_qp; + intra_status.effective_qp = enc->intra.request_i_qp; + intra_status.explicit_gop_sec = ctx->config.video0.gop_size; + intra_status.effective_gop_sec = enc->intra.derived.gop_overridden + ? ctx->config.video0.gop_size : enc->intra.derived.gop_sec; + intra_status.gop_auto = enc->intra.derived.gop_overridden + ? 0 : enc->intra.derived.gop_sec > 0.0; + + ref_status.mi_supported = 1; + ref_status.base = enc->ref.base; + ref_status.enhance = enc->ref.enhance; + ref_status.pred = enc->ref.pred ? 1 : 0; + + ctx->gdr_active = 0; + ctx->gdr_cycle_len = 0; + ctx->gdr_counter = 0; + ctx->svct_active = 0; + ctx->delivered_slice_count = 1; + ctx->slice_census_done = 0; + ctx->requested_slice_count = enc->slice.requested_count; + ctx->ref_census_frames = 0; + memset(ctx->ref_type_counts, 0, sizeof(ctx->ref_type_counts)); + ctx->trail_n_patched = 0; + + /* Fresh channels default intra refresh off, but always write the enable + * bit so restart behavior does not depend on a future firmware default. + * Preserve the driver's inactive refresh/QP values when disabling because + * zero is outside some vendor revisions' accepted range. */ + memset(&intra, 0, sizeof(intra)); + ret = ss_mpi_venc_get_intra_refresh(CV610_VENC_CHN, &intra); + if (ret != TD_SUCCESS) { + fprintf(stderr, "ERROR: ss_mpi_venc_get_intra_refresh=0x%x\n", + (unsigned)ret); + goto fail; + } + intra.enable = enc->intra.enabled ? TD_TRUE : TD_FALSE; + intra.mode = OT_VENC_INTRA_REFRESH_ROW; + if (enc->intra.enabled) { + intra.refresh_num = enc->intra.refresh_num; + intra.request_i_qp = enc->intra.request_i_qp; + } + ret = ss_mpi_venc_set_intra_refresh(CV610_VENC_CHN, &intra); + if (ret != TD_SUCCESS) { + fprintf(stderr, "ERROR: ss_mpi_venc_set_intra_refresh=0x%x " + "enable=%u rows=%u qp=%u\n", (unsigned)ret, + (unsigned)intra.enable, (unsigned)intra.refresh_num, + (unsigned)intra.request_i_qp); + goto fail; + } + memset(&intra_rb, 0, sizeof(intra_rb)); + ret = ss_mpi_venc_get_intra_refresh(CV610_VENC_CHN, &intra_rb); + if (ret != TD_SUCCESS || intra_rb.enable != intra.enable || + (enc->intra.enabled && + (intra_rb.mode != intra.mode || + intra_rb.refresh_num != intra.refresh_num || + intra_rb.request_i_qp != intra.request_i_qp))) { + fprintf(stderr, "ERROR: CV610 intra-refresh readback mismatch " + "ret=0x%x want=%u/%u/%u/%u got=%u/%u/%u/%u\n", + (unsigned)ret, (unsigned)intra.enable, (unsigned)intra.mode, + (unsigned)intra.refresh_num, (unsigned)intra.request_i_qp, + (unsigned)intra_rb.enable, (unsigned)intra_rb.mode, + (unsigned)intra_rb.refresh_num, + (unsigned)intra_rb.request_i_qp); + goto fail; + } + intra_status.apply_ok = 1; + intra_status.active = enc->intra.enabled ? 1 : 0; + intra_status.effective_lines_per_p = enc->intra.enabled + ? intra_rb.refresh_num : 0; + intra_status.effective_qp = enc->intra.enabled + ? intra_rb.request_i_qp : 0; + if (enc->intra.enabled && intra_rb.refresh_num > 0) { + cycle_len = (enc->intra.derived.total_rows + + intra_rb.refresh_num - 1u) / intra_rb.refresh_num; + ctx->gdr_active = 1; + ctx->gdr_cycle_len = cycle_len > 255u ? 255u : (uint8_t)cycle_len; + } + + /* The disabled state is the fresh-channel default. Only program the + * reference cadence when a preset requested it, avoiding an invented + * "off" tuple for an API whose base field must be greater than zero. */ + memset(&ref_rb, 0, sizeof(ref_rb)); + ret = ss_mpi_venc_get_ref_param(CV610_VENC_CHN, &ref_rb); + if (ret != TD_SUCCESS) { + fprintf(stderr, "ERROR: ss_mpi_venc_get_ref_param=0x%x\n", + (unsigned)ret); + goto fail; + } + if (enc->ref.enabled) { + memset(&ref, 0, sizeof(ref)); + ref.base = enc->ref.base; + ref.enhance = enc->ref.enhance; + ref.pred_en = enc->ref.pred ? TD_TRUE : TD_FALSE; + ref.base_qp_delta_en = TD_FALSE; + ref.base_qp_delta = 0; + ret = ss_mpi_venc_set_ref_param(CV610_VENC_CHN, &ref); + if (ret != TD_SUCCESS) { + fprintf(stderr, "ERROR: ss_mpi_venc_set_ref_param=0x%x " + "base=%u enhance=%u pred=%u\n", (unsigned)ret, + (unsigned)ref.base, (unsigned)ref.enhance, + (unsigned)ref.pred_en); + goto fail; + } + memset(&ref_rb, 0, sizeof(ref_rb)); + ret = ss_mpi_venc_get_ref_param(CV610_VENC_CHN, &ref_rb); + if (ret != TD_SUCCESS || ref_rb.base != ref.base || + ref_rb.enhance != ref.enhance || + ref_rb.pred_en != ref.pred_en || + ref_rb.base_qp_delta_en != ref.base_qp_delta_en || + ref_rb.base_qp_delta != ref.base_qp_delta) { + fprintf(stderr, "ERROR: CV610 ref-param readback mismatch " + "ret=0x%x want=%u/%u/%u/%u/%d " + "got=%u/%u/%u/%u/%d\n", + (unsigned)ret, (unsigned)ref.base, + (unsigned)ref.enhance, (unsigned)ref.pred_en, + (unsigned)ref.base_qp_delta_en, + (int)ref.base_qp_delta, + (unsigned)ref_rb.base, (unsigned)ref_rb.enhance, + (unsigned)ref_rb.pred_en, + (unsigned)ref_rb.base_qp_delta_en, + (int)ref_rb.base_qp_delta); + goto fail; + } + ref_status.active = 1; + ctx->svct_active = 1; + } + ref_status.apply_ok = 1; + + /* split_mode=1 is the live firmware's row-split default. Early slice + * output remains off: this runtime publishes one whole access unit per + * GetStream result to both frame-SHM and RTP. */ + memset(&split, 0, sizeof(split)); + ret = ss_mpi_venc_get_slice_split(CV610_VENC_CHN, &split); + if (ret != TD_SUCCESS) { + fprintf(stderr, "ERROR: ss_mpi_venc_get_slice_split=0x%x\n", + (unsigned)ret); + goto fail; + } + split.enable = enc->slice.enabled ? TD_TRUE : TD_FALSE; + split.slice_output_en = TD_FALSE; + if (enc->slice.enabled) { + split.split_mode = enc->slice.split_mode; + split.split_size = enc->slice.split_size; + } + ret = ss_mpi_venc_set_slice_split(CV610_VENC_CHN, &split); + if (ret != TD_SUCCESS) { + fprintf(stderr, "ERROR: ss_mpi_venc_set_slice_split=0x%x " + "enable=%u mode=%u size=%u\n", (unsigned)ret, + (unsigned)split.enable, (unsigned)split.split_mode, + (unsigned)split.split_size); + goto fail; + } + memset(&split_rb, 0, sizeof(split_rb)); + ret = ss_mpi_venc_get_slice_split(CV610_VENC_CHN, &split_rb); + if (ret != TD_SUCCESS || split_rb.enable != split.enable || + split_rb.slice_output_en != TD_FALSE || + (enc->slice.enabled && + (split_rb.split_mode != split.split_mode || + split_rb.split_size != split.split_size))) { + fprintf(stderr, "ERROR: CV610 slice readback mismatch " + "ret=0x%x want=%u/%u/%u/0 got=%u/%u/%u/%u\n", + (unsigned)ret, (unsigned)split.enable, + (unsigned)split.split_mode, (unsigned)split.split_size, + (unsigned)split_rb.enable, (unsigned)split_rb.split_mode, + (unsigned)split_rb.split_size, + (unsigned)split_rb.slice_output_en); + goto fail; + } + if (enc->slice.enabled && split_rb.split_size > 0) + delivered_slices = (enc->slice.total_lcu_rows + + split_rb.split_size - 1u) / split_rb.split_size; + ctx->delivered_slice_count = delivered_slices > 255u + ? 255u : (uint8_t)delivered_slices; + + cv610_publish_encoder_status(&intra_status, &ref_status); + fprintf(stderr, "[waybeam] CV610 resilience: intra=%s rows=%u qp=%u " + "cycle=%u ref=%u/%u pred=%u\n", intra_status.mode_name, + (unsigned)intra_status.effective_lines_per_p, + (unsigned)intra_status.effective_qp, (unsigned)cycle_len, + (unsigned)ref_status.base, (unsigned)ref_status.enhance, + (unsigned)ref_status.pred); + fprintf(stderr, "[waybeam] CV610 slices: requested=%u delivered=%u " + "mode=%u lcu_rows_per_slice=%u early_output=0\n", + (unsigned)enc->slice.requested_count, (unsigned)delivered_slices, + (unsigned)split_rb.split_mode, (unsigned)split_rb.split_size); + return 0; + +fail: + cv610_publish_encoder_status(&intra_status, &ref_status); + return -1; +} + static int cv610_venc_start(Cv610RunnerContext *ctx) { + Cv610EncoderConfig enc; ot_venc_chn_attr attr; ot_venc_h265_vui vui; ot_venc_start_param start; @@ -461,8 +755,16 @@ static int cv610_venc_start(Cv610RunnerContext *ctx) uint32_t gop; td_s32 ret; + if (cv610_encoder_config_derive(&ctx->config, ctx->pipeline.out_height, + ctx->pipeline.fps, &enc) != 0) { + fprintf(stderr, "ERROR: invalid CV610 encoder resilience/slice config\n"); + return -1; + } gop = ctx->config.video0.gop_size <= 0.0 ? 1u : (uint32_t)(ctx->config.video0.gop_size * ctx->pipeline.fps + 0.5); + if (enc.intra.enabled && !enc.intra.derived.gop_overridden && + enc.intra.derived.gop_frames > 0) + gop = enc.intra.derived.gop_frames; if (gop == 0) gop = 1; memset(&attr, 0, sizeof(attr)); @@ -492,6 +794,8 @@ static int cv610_venc_start(Cv610RunnerContext *ctx) return -1; } ctx->venc_created = 1; + if (cv610_apply_encoder_config(ctx, &enc) != 0) + return -1; /* video0.minQp/maxQp are MUT_LIVE, but they also have to take effect on * a cold boot -- the config is read before the channel exists, so the * live path never runs for a value that was already in the file. */ @@ -808,19 +1112,82 @@ static int cv610_run(void *opaque) continue; } if (cv610_copy_stream(&stream, &frame, &frame_len) == 0) { - int is_idr = cv610_frame_is_idr(frame, frame_len); + int is_enhance = ctx->svct_active && + stream.h265_info.ref_type == + OT_VENC_ENHANCE_P_SLICE_NOT_FOR_REF; + int is_idr; + size_t patched = 0; + + if (is_enhance) + patched = h26x_util_hevc_patch_trail_r_to_n(frame, frame_len); + if (ctx->svct_active && ctx->ref_census_frames < 64u) { + unsigned int ref_type = (unsigned int)stream.h265_info.ref_type; + + if (ref_type < OT_VENC_P_SLICE_BUTT) + ctx->ref_type_counts[ref_type]++; + ctx->trail_n_patched += (uint32_t)patched; + ctx->ref_census_frames++; + if (ctx->ref_census_frames == 64u) { + fprintf(stderr, "[waybeam] CV610 ref census: frames=64 " + "types=%u,%u,%u,%u,%u,%u trail_n_patched=%u\n", + (unsigned)ctx->ref_type_counts[0], + (unsigned)ctx->ref_type_counts[1], + (unsigned)ctx->ref_type_counts[2], + (unsigned)ctx->ref_type_counts[3], + (unsigned)ctx->ref_type_counts[4], + (unsigned)ctx->ref_type_counts[5], + (unsigned)ctx->trail_n_patched); + } + } + is_idr = cv610_frame_is_idr(frame, frame_len); + if (!ctx->slice_census_done && + ctx->requested_slice_count > 1) { + uint32_t vcl_nals = cv610_frame_vcl_nal_count(frame, + frame_len); + + if (vcl_nals > 0) { + fprintf(stderr, "[waybeam] CV610 slice census: " + "requested=%u expected=%u actual_vcl_nals=%u\n", + (unsigned)ctx->requested_slice_count, + (unsigned)ctx->delivered_slice_count, + (unsigned)vcl_nals); + ctx->delivered_slice_count = vcl_nals > 255u + ? 255u : (uint8_t)vcl_nals; + ctx->slice_census_done = 1; + } + } if (ctx->frame_ring) { VencFrameMeta meta; + int write_ret; memset(&meta, 0, sizeof(meta)); meta.pts = stream.pack_cnt ? (uint32_t)stream.pack[0].pts : 0; meta.codec = VENC_FRAME_CODEC_H265; meta.flags = is_idr ? VENC_FRAME_FLAG_IDR : 0; - if (venc_frame_ring_write(ctx->frame_ring, &meta, - frame, (uint32_t)frame_len) != 0) + if (is_enhance) + meta.flags |= VENC_FRAME_FLAG_ENHANCE; + if (is_idr) { + ctx->gdr_counter = 0; + } else if (ctx->gdr_active && ctx->gdr_cycle_len > 0) { + meta.flags |= VENC_FRAME_FLAG_GDR; + meta.gdr_pos = ctx->gdr_counter; + meta.gdr_len = ctx->gdr_cycle_len; + ctx->gdr_counter++; + if (ctx->gdr_counter >= ctx->gdr_cycle_len) + ctx->gdr_counter = 0; + } + write_ret = venc_frame_ring_write(ctx->frame_ring, &meta, + frame, (uint32_t)frame_len); + if (write_ret != 0) { __atomic_add_fetch(&ctx->output_drops, 1, __ATOMIC_RELAXED); + if (venc_frame_drop_breaks_chain(meta.flags) && + venc_frame_drop_idr_due(&ctx->drop_idr_last_us, + wb_monotonic_us()) && + cv610_ring_request_idr() == 0) + ctx->drop_idr_last_us = 0; + } } else if (ctx->socket_handle >= 0) { /* cv610_output_write owns per-datagram drop accounting. */ (void)cv610_send_rtp_frame(ctx, frame, frame_len); diff --git a/src/cv610_validation.c b/src/cv610_validation.c index 9b184ebf..06fd37ae 100644 --- a/src/cv610_validation.c +++ b/src/cv610_validation.c @@ -44,8 +44,6 @@ const char *cv610_validate_config(const VencConfig *cfg) return "CV610 video0.gop_size exceeds the encoder's 65536-frame limit"; if (strcmp(cfg->video0.rc_mode, "cbr") != 0) return "CV610 phase one supports video0.rc_mode=cbr only"; - if (strcmp(cfg->video0.resilience, "off") != 0) - return "CV610 phase one supports video0.resilience=off only"; if (strcmp(cfg->video0.framing, "off") != 0) return "CV610 phase one supports video0.framing=off only"; if (cfg->audio.enabled && diff --git a/src/h26x_util.c b/src/h26x_util.c index 25fcd06a..06ce7011 100644 --- a/src/h26x_util.c +++ b/src/h26x_util.c @@ -101,3 +101,24 @@ int h26x_util_annexb_next(const uint8_t *data, size_t len, size_t *cursor, *cursor = len; return 0; } + +size_t h26x_util_hevc_patch_trail_r_to_n(uint8_t *data, size_t len) +{ + size_t cursor = 0; + size_t changed = 0; + const uint8_t *nal; + size_t nal_len; + + if (!data) + return 0; + while (h26x_util_annexb_next(data, len, &cursor, &nal, &nal_len)) { + /* Byte 0 is forbidden_zero | nal_unit_type | layer_id_msb; + * byte 1 starts with the other five layer-id bits. Only rewrite + * layer zero: 0x02 is TRAIL_R and 0x00 is TRAIL_N there. */ + if (nal_len > 1 && nal[0] == 0x02 && (nal[1] & 0xf8u) == 0) { + data[nal - data] = 0x00; + changed++; + } + } + return changed; +} diff --git a/src/maruko_config.c b/src/maruko_config.c index a8c63e65..ecef469c 100644 --- a/src/maruko_config.c +++ b/src/maruko_config.c @@ -47,6 +47,7 @@ void maruko_config_defaults(MarukoBackendConfig *cfg) cfg->ref_base = 0; cfg->ref_enhance = 0; cfg->ref_pred = 1; + cfg->slice_count = 1; snprintf(cfg->resilience, sizeof(cfg->resilience), "%s", "off"); memset(&cfg->imu, 0, sizeof(cfg->imu)); memset(&cfg->audio, 0, sizeof(cfg->audio)); @@ -126,6 +127,7 @@ int maruko_config_from_venc(const VencConfig *vcfg, MarukoBackendConfig *cfg) cfg->ref_base = vcfg->video0.ref_base; cfg->ref_enhance = vcfg->video0.ref_enhance; cfg->ref_pred = vcfg->video0.ref_pred ? 1 : 0; + cfg->slice_count = vcfg->video0.slice_count; snprintf(cfg->resilience, sizeof(cfg->resilience), "%s", vcfg->video0.resilience); cfg->gop_size_sec = vcfg->video0.gop_size; diff --git a/src/maruko_mi.c b/src/maruko_mi.c index 10f7d225..019e9e0e 100644 --- a/src/maruko_mi.c +++ b/src/maruko_mi.c @@ -271,6 +271,10 @@ static int i6c_venc_load(maruko_venc_impl *venc) int (*)(int, int, void *), "MI_VENC_SetRefParam"); LOAD_SYM(venc, "libmi_venc.so", fnGetRefParam, int (*)(int, int, void *), "MI_VENC_GetRefParam"); + LOAD_SYM_OPTIONAL(venc, "libmi_venc.so", fnSetH265SliceSplit, + int (*)(int, int, void *), "MI_VENC_SetH265SliceSplit"); + LOAD_SYM_OPTIONAL(venc, "libmi_venc.so", fnGetH265SliceSplit, + int (*)(int, int, void *), "MI_VENC_GetH265SliceSplit"); if (!venc->fnCreateDev || !venc->fnDestroyDev || !venc->fnCreateChn || !venc->fnDestroyChn || diff --git a/src/maruko_pipeline.c b/src/maruko_pipeline.c index 9addf160..6169af91 100644 --- a/src/maruko_pipeline.c +++ b/src/maruko_pipeline.c @@ -6,6 +6,7 @@ #include "debug_osd.h" #include "detect_wire.h" #include "hevc_rtp.h" +#include "h26x_util.h" #include "idr_rate_limit.h" #include "intra_refresh.h" #include "isp_runtime.h" @@ -2033,6 +2034,67 @@ static int maruko_apply_ref_pred(MI_VENC_DEV dev, MI_VENC_CHN chn, return snap.active ? 0 : (cfg && cfg->ref_base > 0 ? -1 : 0); } +static int maruko_apply_slice_split(MI_VENC_DEV dev, MI_VENC_CHN chn, + const MarukoBackendConfig *cfg, uint32_t height) +{ + MI_VENC_ParamH265SliceSplit_t requested; + MI_VENC_ParamH265SliceSplit_t actual; + uint32_t rows32; + uint32_t rows_per_slice; + uint32_t ctu_rows; + uint32_t ctu_per_slice; + uint32_t predicted; + + if (!cfg || cfg->slice_count <= 1) + return 0; + if (cfg->rc_codec != PT_H265) { + fprintf(stderr, "ERROR: [maruko] sliceCount=%u requires H.265\n", + cfg->slice_count); + return -1; + } + if (!g_mi_venc.fnSetH265SliceSplit || + !g_mi_venc.fnGetH265SliceSplit) { + fprintf(stderr, "ERROR: [maruko] sliceCount=%u requested but " + "libmi_venc.so lacks H.265 slice split Set/Get\n", + cfg->slice_count); + return -1; + } + + rows32 = (height + 31U) / 32U; + rows_per_slice = (rows32 + cfg->slice_count - 1U) / + cfg->slice_count; + memset(&requested, 0, sizeof(requested)); + requested.bSplitEnable = 1; + requested.u32SliceRowCount = rows_per_slice; + if (maruko_mi_venc_set_h265_slice_split(dev, chn, &requested) != 0) { + fprintf(stderr, "ERROR: [maruko] MI_VENC_SetH265SliceSplit" + "(dev=%d, chn=%d, rows=%u) failed\n", + dev, chn, rows_per_slice); + return -1; + } + + memset(&actual, 0, sizeof(actual)); + if (maruko_mi_venc_get_h265_slice_split(dev, chn, &actual) != 0 || + !actual.bSplitEnable || + actual.u32SliceRowCount == 0 || + actual.u32SliceRowCount > rows32) { + fprintf(stderr, "ERROR: [maruko] H.265 slice split readback " + "invalid: enable=%u rows=%u requested_rows=%u\n", + (unsigned int)actual.bSplitEnable, + actual.u32SliceRowCount, rows_per_slice); + return -1; + } + + ctu_rows = (height + 63U) / 64U; + ctu_per_slice = (actual.u32SliceRowCount + 1U) / 2U; + predicted = (ctu_rows + ctu_per_slice - 1U) / ctu_per_slice; + fprintf(stderr, "[waybeam] sliceSplit: dev=%d chn=%d requested=%u " + "requested_rows32=%u applied_rows32=%u predicted=%u " + "(readback verified)\n", dev, chn, cfg->slice_count, + rows_per_slice, actual.u32SliceRowCount, predicted); + return 0; +} + static int maruko_start_venc(const MarukoBackendConfig *cfg, uint32_t width, uint32_t height, uint32_t framerate, MI_VENC_DEV venc_dev, MI_VENC_CHN *chn, int *dev_created) @@ -2102,6 +2164,15 @@ static int maruko_start_venc(const MarukoBackendConfig *cfg, } return ret; } + ret = maruko_apply_slice_split(venc_dev, *chn, cfg, height); + if (ret != 0) { + (void)maruko_mi_venc_destroy_chn(venc_dev, *chn); + if (dev_created && *dev_created) { + (void)maruko_mi_venc_destroy_dev(venc_dev); + *dev_created = 0; + } + return ret; + } /* stab-fill: NORMAL (frame-base) input — required for the manual * ChnInputPortGetBuf/PutBuf feed (NORMAL == E_MI_VENC_INPUT_MODE_ @@ -2409,6 +2480,27 @@ static void assign_maruko_ports(MarukoBackendContext *ctx, }; } +static void maruko_update_output_resilience_flags(MarukoBackendContext *ctx) +{ + MarukoIntraRefreshStatus ir_status; + MarukoRefPredStatus ref_status; + uint32_t clen; + + if (!ctx) + return; + maruko_pipeline_intra_refresh_status(&ir_status); + maruko_pipeline_ref_pred_status(&ref_status); + ctx->output.gdr_active = ir_status.active && ir_status.apply_ok; + ctx->output.svct_active = ref_status.active && ref_status.apply_ok; + clen = (ctx->output.gdr_active && ir_status.total_rows && + ir_status.effective_lines_per_p) + ? (ir_status.total_rows + ir_status.effective_lines_per_p - 1) / + ir_status.effective_lines_per_p + : 0; + ctx->output.gdr_cycle_len = clen > 255 ? 255 : (uint8_t)clen; + ctx->output.gdr_counter = 0; +} + /* stab-fill: finish the manual-feed VENC bring-up. The fill module pushes the * composed frames straight into the (NORMAL_FRMBASE, unbound) VENC input port * — device-proven at 50 fps. Phase 5a's "the i6c VENC cannot be manually @@ -2430,6 +2522,7 @@ static int maruko_setup_stabfill_venc(MarukoBackendContext *ctx) (void)maruko_apply_intra_refresh(ctx->venc_device, ctx->venc_channel, &ctx->cfg, ctx->cfg.image_height, ctx->sensor.fps, ctx->cfg.rc_codec); + maruko_update_output_resilience_flags(ctx); printf("> [maruko] stab-fill: VENC(%d,%d) NORMAL_FRMBASE manual-feed " "@ %ux%u (port0 RAW unbound -> compose -> push)\n", @@ -2450,23 +2543,9 @@ static int bind_maruko_pipeline(MarukoBackendContext *ctx) return -1; ctx->venc_started = 1; - ctx->output.gdr_active = - (ctx->cfg.intra_refresh_mode[0] != '\0' && - strcmp(ctx->cfg.intra_refresh_mode, "off") != 0) ? 1 : 0; - ctx->output.svct_active = ctx->cfg.ref_base > 0 ? 1 : 0; ctx->output.request_idr = maruko_ring_request_idr; ctx->output.idr_ctx = ctx; - { - IntraRefreshDerived gdr_ir; - (void)maruko_intra_refresh_derive(&ctx->cfg, - ctx->cfg.image_height, ctx->sensor.fps, - ctx->cfg.rc_codec, &gdr_ir); - uint32_t clen = (gdr_ir.total_rows && gdr_ir.lines) - ? (gdr_ir.total_rows + gdr_ir.lines - 1) / gdr_ir.lines - : 0; - ctx->output.gdr_cycle_len = clen > 255 ? 255 : (uint8_t)clen; - ctx->output.gdr_counter = 0; - } + maruko_update_output_resilience_flags(ctx); MI_U32 venc_device = (MI_U32)ctx->venc_device; assign_maruko_ports(ctx, venc_device); @@ -2969,6 +3048,28 @@ static void *maruko_dual_stream_thread(void *arg) usleep(1000); continue; } + if (!maruko_video_stream_packet_info_complete(&stream)) { + static int incomplete_warned; + if (!incomplete_warned) { + incomplete_warned = 1; + fprintf(stderr, "WARN: [maruko][dual] invalid packetInfo; " + "dropping whole access unit\n"); + } + if (!(d->output.svct_active && + stream.h265Info.refType == + MARUKO_REFTYPE_ENHANCE_P_NOTFORREF) && + venc_frame_drop_idr_due(&d->output.drop_idr_last_us, + wb_monotonic_us())) { + if (idr_rate_limit_allow(d->channel)) + (void)maruko_mi_venc_request_idr( + ctx->venc_device, d->channel, 1); + else + d->output.drop_idr_last_us = 0; + } + (void)maruko_mi_venc_release_stream(ctx->venc_device, + d->channel, &stream); + continue; + } if (g_maruko_running) { if (d->is_dual_stream) { @@ -3656,12 +3757,38 @@ static uint8_t maruko_scene_is_idr(const i6c_venc_strm *s, int codec) if (!s || !s->packet) return 0; for (i = 0; i < s->count; i++) { const i6c_venc_pack *p = &s->packet[i]; - unsigned int k, n = p->packNum > 8 ? 8 : p->packNum; + const unsigned int info_cap = (unsigned int)( + sizeof(p->packetInfo) / sizeof(p->packetInfo[0])); + unsigned int k, n = p->packNum; + if (n > info_cap) { + if (p->data && p->length > p->offset) { + size_t cursor = 0; + const uint8_t *nal; + size_t nal_len; + + while (h26x_util_annexb_next(p->data + p->offset, + p->length - p->offset, &cursor, &nal, + &nal_len)) { + uint8_t type = codec == 0 + ? h26x_util_h264_nalu_type(nal, + nal_len) + : h26x_util_hevc_nalu_type(nal, + nal_len); + if ((codec == 0 && type == 5) || + (codec != 0 && + (type == 19 || type == 20))) + return 1; + } + } + continue; + } if (n > 0) { for (k = 0; k < n; k++) { if (codec == 0 && p->packetInfo[k].packType.h264Nalu == 5) return 1; - if (codec != 0 && p->packetInfo[k].packType.h265Nalu == 19) + if (codec != 0 && + (p->packetInfo[k].packType.h265Nalu == 19 || + p->packetInfo[k].packType.h265Nalu == 20)) return 1; } } else { @@ -3887,8 +4014,15 @@ static void maruko_patch_pack_to_trail_n(i6c_venc_pack *pack) if (pack->packNum > 0) { const unsigned int info_cap = (unsigned int)(sizeof(pack->packetInfo) / sizeof(pack->packetInfo[0])); - unsigned int n = pack->packNum > info_cap ? info_cap : pack->packNum; + unsigned int n = pack->packNum; unsigned int k; + if (n > info_cap) { + unsigned int off = pack->offset; + if (off < pack->length) + (void)h26x_util_hevc_patch_trail_r_to_n( + pack->data + off, pack->length - off); + return; + } for (k = 0; k < n; ++k) { unsigned int off = pack->packetInfo[k].offset; unsigned int nlen = pack->packetInfo[k].length; @@ -4051,6 +4185,12 @@ static int maruko_pipeline_process_stream(MarukoBackendContext *ctx, "ERROR: [maruko] MI_VENC_GetStream failed %d\n", ret); return -1; } + if (maruko_video_reject_incomplete_access_unit(&stream, + &ctx->output)) { + (void)maruko_mi_venc_release_stream(ctx->venc_device, + ctx->venc_channel, &stream); + return 0; + } /* refPred error-resilience marking — rewrite TRAIL_R → TRAIL_N for * frames the SDK marked as ENHANCE_P_NOTFORREF. i6c shares this @@ -4058,7 +4198,7 @@ static int maruko_pipeline_process_stream(MarukoBackendContext *ctx, * correct internally but every NAL is emitted as TRAIL_R, leaving * generic decoders unable to identify non-reference frames. See * star6e_runtime.c for the matching helper. */ - if (ctx->cfg.ref_base > 0 && + if (ctx->output.svct_active && stream.h265Info.refType == MARUKO_REFTYPE_ENHANCE_P_NOTFORREF) { maruko_patch_stream_to_trail_n(&stream); } @@ -4465,7 +4605,8 @@ int maruko_pipeline_run(MarukoBackendContext *ctx) MarukoStreamRuntime rt; int result = -1; - if (!ctx || (ctx->output.socket_handle < 0 && !ctx->output.ring)) + if (!ctx || (ctx->output.socket_handle < 0 && !ctx->output.ring && + !ctx->output.frame_ring)) return -1; if (ctx->cfg.stream_mode == MARUKO_STREAM_RTP && diff --git a/src/maruko_recorder.c b/src/maruko_recorder.c index ec882d3a..706b56fb 100644 --- a/src/maruko_recorder.c +++ b/src/maruko_recorder.c @@ -1,4 +1,5 @@ #include "maruko_recorder.h" +#include "maruko_video.h" #include #include @@ -14,15 +15,45 @@ * difference does not have to be juggled with #ifdefs in * star6e_recorder.c. */ -static ssize_t writev_retry(int fd, const struct iovec *iov, int iov_count) +static ssize_t writev_all(int fd, const struct iovec *iov, int iov_count) { - ssize_t ret; + struct iovec pending[16]; + ssize_t total = 0; + int first = 0; - do { - ret = writev(fd, iov, iov_count); - } while (ret < 0 && errno == EINTR); + if (!iov || iov_count <= 0 || iov_count > 16) { + errno = EINVAL; + return -1; + } + memcpy(pending, iov, (size_t)iov_count * sizeof(pending[0])); + while (first < iov_count) { + ssize_t ret; + ssize_t consumed; + + do { + ret = writev(fd, &pending[first], iov_count - first); + } while (ret < 0 && errno == EINTR); + if (ret < 0) + return -1; + if (ret == 0) { + errno = EIO; + return -1; + } + total += ret; + consumed = ret; + while (first < iov_count && + consumed >= (ssize_t)pending[first].iov_len) { + consumed -= (ssize_t)pending[first].iov_len; + first++; + } + if (first < iov_count && consumed > 0) { + pending[first].iov_base = + (char *)pending[first].iov_base + consumed; + pending[first].iov_len -= (size_t)consumed; + } + } - return ret; + return total; } static int check_disk_space(Star6eRecorderState *state) @@ -71,16 +102,28 @@ static void stop_with_error(Star6eRecorderState *state, int err) int maruko_recorder_write_frame(Star6eRecorderState *state, const i6c_venc_strm *stream) { + static int incomplete_warned; struct iovec iov[16]; int iov_count = 0; ssize_t written; size_t total = 0; + off_t frame_start; if (!state || state->fd < 0 || !stream || !stream->packet) return 0; + if (!maruko_video_stream_packet_info_complete(stream)) { + if (!incomplete_warned) { + incomplete_warned = 1; + fprintf(stderr, + "[maruko_recorder] incomplete packetInfo table; " + "dropping whole access unit\n"); + } + return 0; + } if (check_disk_space(state) != 0) return 0; + frame_start = lseek(state->fd, 0, SEEK_CUR); for (unsigned int i = 0; i < stream->count; ++i) { const i6c_venc_pack *pack = &stream->packet[i]; @@ -89,14 +132,8 @@ int maruko_recorder_write_frame(Star6eRecorderState *state, continue; if (pack->packNum > 0) { - const unsigned int info_cap = (unsigned int)( - sizeof(pack->packetInfo) / - sizeof(pack->packetInfo[0])); unsigned int nal_count = (unsigned int)pack->packNum; - if (nal_count > info_cap) - nal_count = info_cap; - for (unsigned int k = 0; k < nal_count; ++k) { unsigned int off = pack->packetInfo[k].offset; unsigned int len = pack->packetInfo[k].length; @@ -106,7 +143,7 @@ int maruko_recorder_write_frame(Star6eRecorderState *state, continue; if (iov_count >= 16) { - written = writev_retry(state->fd, + written = writev_all(state->fd, iov, iov_count); if (written < 0) goto write_error; @@ -124,7 +161,7 @@ int maruko_recorder_write_frame(Star6eRecorderState *state, continue; if (iov_count >= 16) { - written = writev_retry(state->fd, iov, + written = writev_all(state->fd, iov, iov_count); if (written < 0) goto write_error; @@ -141,7 +178,7 @@ int maruko_recorder_write_frame(Star6eRecorderState *state, } if (iov_count > 0) { - written = writev_retry(state->fd, iov, iov_count); + written = writev_all(state->fd, iov, iov_count); if (written < 0) goto write_error; total += (size_t)written; @@ -160,6 +197,13 @@ int maruko_recorder_write_frame(Star6eRecorderState *state, return (int)total; write_error: - stop_with_error(state, errno); + { + int saved_errno = errno; + /* A failure may follow a short successful write. Roll the regular file + * back to its frame boundary so recording never retains half an AU. */ + if (frame_start >= 0) + (void)ftruncate(state->fd, frame_start); + stop_with_error(state, saved_errno); + } return -1; } diff --git a/src/maruko_ts_recorder.c b/src/maruko_ts_recorder.c index 867d9e95..0c16db02 100644 --- a/src/maruko_ts_recorder.c +++ b/src/maruko_ts_recorder.c @@ -1,4 +1,5 @@ #include "maruko_ts_recorder.h" +#include "maruko_video.h" #include "ts_mux.h" #include @@ -8,6 +9,7 @@ int maruko_ts_recorder_write_stream(Star6eTsRecorderState *state, const i6c_venc_strm *stream) { + static int incomplete_warned; uint8_t nal_buf[512 * 1024]; /* matches Star6E adapter — ~50 Mbps IDR */ size_t nal_len = 0; int is_idr = 0; @@ -16,6 +18,15 @@ int maruko_ts_recorder_write_stream(Star6eTsRecorderState *state, if (!state || state->fd < 0 || !stream || !stream->packet) return 0; + if (!maruko_video_stream_packet_info_complete(stream)) { + if (!incomplete_warned) { + incomplete_warned = 1; + fprintf(stderr, + "[maruko_ts] incomplete packetInfo table; " + "dropping whole access unit\n"); + } + return 0; + } for (unsigned int i = 0; i < stream->count; ++i) { const i6c_venc_pack *pack = &stream->packet[i]; @@ -23,12 +34,7 @@ int maruko_ts_recorder_write_stream(Star6eTsRecorderState *state, continue; if (pack->packNum > 0) { - const unsigned int info_cap = (unsigned int)( - sizeof(pack->packetInfo) / - sizeof(pack->packetInfo[0])); unsigned int nal_count = (unsigned int)pack->packNum; - if (nal_count > info_cap) - nal_count = info_cap; for (unsigned int k = 0; k < nal_count; ++k) { unsigned int off = pack->packetInfo[k].offset; @@ -46,9 +52,9 @@ int maruko_ts_recorder_write_stream(Star6eTsRecorderState *state, if (nal_len + len > sizeof(nal_buf)) { fprintf(stderr, "[maruko_ts] frame too large " - "(%zu + %u > %zu), truncated\n", + "(%zu + %u > %zu), access unit dropped\n", nal_len, len, sizeof(nal_buf)); - break; + return 0; } memcpy(nal_buf + nal_len, pack->data + off, len); @@ -61,9 +67,9 @@ int maruko_ts_recorder_write_stream(Star6eTsRecorderState *state, if (nal_len + len > sizeof(nal_buf)) { fprintf(stderr, "[maruko_ts] frame too large " - "(%zu + %u > %zu), truncated\n", + "(%zu + %u > %zu), access unit dropped\n", nal_len, len, sizeof(nal_buf)); - break; + return 0; } memcpy(nal_buf + nal_len, pack->data + pack->offset, len); diff --git a/src/maruko_video.c b/src/maruko_video.c index 09591b78..12076d4b 100644 --- a/src/maruko_video.c +++ b/src/maruko_video.c @@ -17,6 +17,71 @@ typedef struct { venc_ring_t *ring; } MarukoRtpWriteContext; +int maruko_video_stream_packet_info_complete(const i6c_venc_strm *stream) +{ + unsigned int i; + + if (!stream || stream->count == 0 || !stream->packet) + return 0; + + for (i = 0; i < stream->count; ++i) { + const i6c_venc_pack *pack = &stream->packet[i]; + const unsigned int info_cap = (unsigned int)( + sizeof(pack->packetInfo) / sizeof(pack->packetInfo[0])); + unsigned int k; + + if (!pack->data || pack->packNum > info_cap) + return 0; + if (pack->packNum == 0) { + if (pack->length <= pack->offset) + return 0; + continue; + } + for (k = 0; k < (unsigned int)pack->packNum; ++k) { + MI_U32 offset = pack->packetInfo[k].offset; + MI_U32 length = pack->packetInfo[k].length; + + if (length == 0 || offset >= pack->length || + length > pack->length - offset) + return 0; + } + } + + return 1; +} + +static void maruko_recover_dropped_access_unit(const i6c_venc_strm *stream, + MarukoOutput *output) +{ + uint8_t flags = 0; + + if (!stream || !output) + return; + if (output->svct_active && + stream->h265Info.refType == MARUKO_REFTYPE_ENHANCE_P_NOTFORREF) + flags |= VENC_FRAME_FLAG_ENHANCE; + if (venc_frame_drop_breaks_chain(flags) && output->request_idr && + venc_frame_drop_idr_due(&output->drop_idr_last_us, + wb_monotonic_us()) && + output->request_idr(output->idr_ctx) == 0) + output->drop_idr_last_us = 0; +} + +int maruko_video_reject_incomplete_access_unit(const i6c_venc_strm *stream, + MarukoOutput *output) +{ + if (maruko_video_stream_packet_info_complete(stream)) + return 0; + if (output && !output->trunc_warned) { + output->trunc_warned = 1; + fprintf(stderr, + "WARN: Maruko packetInfo table is incomplete or invalid; " + "dropping whole access unit\n"); + } + maruko_recover_dropped_access_unit(stream, output); + return 1; +} + static int maruko_rtp_write(const uint8_t *header, size_t header_len, const uint8_t *payload1, size_t payload1_len, const uint8_t *payload2, size_t payload2_len, void *opaque) @@ -88,9 +153,6 @@ static size_t maruko_send_frame_hevc(const i6c_venc_strm *stream, for (i = 0; i < stream->count; ++i) { const i6c_venc_pack *pack = &stream->packet[i]; - const unsigned int info_cap = - (unsigned int)(sizeof(pack->packetInfo) / - sizeof(pack->packetInfo[0])); unsigned int nal_count; unsigned int k; @@ -98,8 +160,6 @@ static size_t maruko_send_frame_hevc(const i6c_venc_strm *stream, continue; nal_count = pack->packNum > 0 ? (unsigned int)pack->packNum : 1; - if (pack->packNum > 0 && nal_count > info_cap) - nal_count = info_cap; for (k = 0; k < nal_count; ++k) { const uint8_t *data = NULL; @@ -238,15 +298,9 @@ static size_t maruko_send_frame_compact(const i6c_venc_strm *stream, continue; if (pack->packNum > 0) { - const unsigned int info_cap = - (unsigned int)(sizeof(pack->packetInfo) / - sizeof(pack->packetInfo[0])); unsigned int nal_count = (unsigned int)pack->packNum; unsigned int k; - if (nal_count > info_cap) - nal_count = info_cap; - for (k = 0; k < nal_count; ++k) { MI_U32 length = pack->packetInfo[k].length; MI_U32 offset = pack->packetInfo[k].offset; @@ -298,13 +352,8 @@ static size_t maruko_send_frame_ring(const i6c_venc_strm *stream, for (i = 0; i < stream->count && !is_idr; ++i) { const i6c_venc_pack *pack = &stream->packet[i]; if (pack->packNum > 0) { - const unsigned int info_cap = (unsigned int)( - sizeof(pack->packetInfo) / - sizeof(pack->packetInfo[0])); unsigned int nal_count = (unsigned int)pack->packNum; unsigned int k; - if (nal_count > info_cap) - nal_count = info_cap; for (k = 0; k < nal_count; ++k) { uint8_t nt = (uint8_t)pack->packetInfo[k] .packType.h265Nalu; @@ -355,35 +404,9 @@ static size_t maruko_send_frame_ring(const i6c_venc_strm *stream, continue; if (pack->packNum > 0) { - const unsigned int info_cap = (unsigned int)( - sizeof(pack->packetInfo) / - sizeof(pack->packetInfo[0])); unsigned int nal_count = (unsigned int)pack->packNum; unsigned int k; - if (nal_count > info_cap) { - /* Never ship a frame missing NALs — abort - * and heal like a ring-full drop (mirrors - * the star6e walker). */ - if (!output->trunc_warned) { - output->trunc_warned = 1; - fprintf(stderr, - "WARN: pack has %u NALs, " - "packetInfo caps at %u — " - "frame dropped\n", - nal_count, info_cap); - } - venc_frame_ring_abort_write(frame_ring); - if (venc_frame_drop_breaks_chain(meta.flags) && - output->request_idr && - venc_frame_drop_idr_due( - &output->drop_idr_last_us, - wb_monotonic_us()) && - output->request_idr(output->idr_ctx) == 0) - output->drop_idr_last_us = 0; - return 0; - } - for (k = 0; k < nal_count; ++k) { unsigned int length = pack->packetInfo[k].length; unsigned int offset = pack->packetInfo[k].offset; @@ -395,6 +418,8 @@ static size_t maruko_send_frame_ring(const i6c_venc_strm *stream, if (venc_frame_ring_append(frame_ring, pack->data + offset, length) != 0) { venc_frame_ring_abort_write(frame_ring); + maruko_recover_dropped_access_unit(stream, + output); return 0; } total_bytes += length; @@ -408,6 +433,7 @@ static size_t maruko_send_frame_ring(const i6c_venc_strm *stream, if (venc_frame_ring_append(frame_ring, pack->data + pack->offset, length) != 0) { venc_frame_ring_abort_write(frame_ring); + maruko_recover_dropped_access_unit(stream, output); return 0; } total_bytes += length; @@ -426,6 +452,8 @@ size_t maruko_video_send_frame(const i6c_venc_strm *stream, if (!stream || !output || !cfg) return 0; + if (maruko_video_reject_incomplete_access_unit(stream, output)) + return 0; if (output->frame_ring) return maruko_send_frame_ring(stream, output); diff --git a/src/star6e_hevc_rtp.c b/src/star6e_hevc_rtp.c index 3f6452b8..c29ca898 100644 --- a/src/star6e_hevc_rtp.c +++ b/src/star6e_hevc_rtp.c @@ -28,13 +28,9 @@ size_t star6e_hevc_rtp_send_frame(const MI_VENC_Stream_t *stream, for (unsigned int i = 0; i < stream->count; ++i) { const MI_VENC_Pack_t *pack = &stream->packet[i]; - const unsigned int info_cap = (unsigned int)(sizeof(pack->packetInfo) / - sizeof(pack->packetInfo[0])); unsigned int nal_count = (pack->packNum > 0) ? (unsigned int)pack->packNum : 1; - if (pack->packNum > 0 && nal_count > info_cap) - nal_count = info_cap; if (!pack->data) continue; diff --git a/src/star6e_output.c b/src/star6e_output.c index b63c9151..99756669 100644 --- a/src/star6e_output.c +++ b/src/star6e_output.c @@ -16,6 +16,70 @@ #define STAR6E_RTP_HEADER_SIZE 12 /* STAR6E_REFTYPE_ENHANCE_P_NOTFORREF (=5) is defined in star6e.h. */ +int star6e_output_stream_packet_info_complete( + const MI_VENC_Stream_t *stream) +{ + unsigned int i; + + if (!stream || stream->count == 0 || !stream->packet) + return 0; + for (i = 0; i < stream->count; ++i) { + const MI_VENC_Pack_t *pack = &stream->packet[i]; + const unsigned int info_cap = (unsigned int)( + sizeof(pack->packetInfo) / sizeof(pack->packetInfo[0])); + unsigned int k; + + if (!pack->data || pack->packNum > info_cap) + return 0; + if (pack->packNum == 0) { + if (pack->length <= pack->offset) + return 0; + continue; + } + for (k = 0; k < (unsigned int)pack->packNum; ++k) { + MI_U32 offset = pack->packetInfo[k].offset; + MI_U32 length = pack->packetInfo[k].length; + + if (length == 0 || offset >= pack->length || + length > pack->length - offset) + return 0; + } + } + return 1; +} + +static void star6e_output_recover_dropped_access_unit(Star6eOutput *output, + const MI_VENC_Stream_t *stream) +{ + uint8_t flags = 0; + + if (!output || !stream) + return; + if (output->svct_active && + stream->h265Info.refType == STAR6E_REFTYPE_ENHANCE_P_NOTFORREF) + flags |= VENC_FRAME_FLAG_ENHANCE; + if (venc_frame_drop_breaks_chain(flags) && output->request_idr && + venc_frame_drop_idr_due(&output->drop_idr_last_us, + wb_monotonic_us()) && + output->request_idr(output->idr_ctx) == 0) + output->drop_idr_last_us = 0; +} + +int star6e_output_reject_incomplete_access_unit(Star6eOutput *output, + const MI_VENC_Stream_t *stream) +{ + if (star6e_output_stream_packet_info_complete(stream)) + return 0; + if (output && !output->trunc_warned) { + output->trunc_warned = 1; + fprintf(stderr, + "WARN: Star6E packetInfo table is incomplete or invalid; " + "dropping whole access unit\n"); + } + star6e_output_recover_dropped_access_unit(output, stream); + return 1; +} + static uint16_t star6e_read_be16(const uint8_t *data) { return (uint16_t)((uint16_t)data[0] << 8 | (uint16_t)data[1]); @@ -813,14 +877,9 @@ size_t star6e_output_send_compact_frame(Star6eOutput *output, continue; if (pack->packNum > 0) { - const unsigned int info_cap = (unsigned int)(sizeof(pack->packetInfo) / - sizeof(pack->packetInfo[0])); unsigned int nal_count = (unsigned int)pack->packNum; unsigned int k; - if (nal_count > info_cap) - nal_count = info_cap; - for (k = 0; k < nal_count; ++k) { MI_U32 length = pack->packetInfo[k].length; MI_U32 offset = pack->packetInfo[k].offset; @@ -864,13 +923,8 @@ static size_t star6e_output_send_frame_ring(Star6eOutput *output, for (i = 0; i < stream->count && !is_idr; ++i) { const MI_VENC_Pack_t *pack = &stream->packet[i]; if (pack->packNum > 0) { - const unsigned int info_cap = (unsigned int)( - sizeof(pack->packetInfo) / - sizeof(pack->packetInfo[0])); unsigned int nal_count = (unsigned int)pack->packNum; unsigned int k; - if (nal_count > info_cap) - nal_count = info_cap; for (k = 0; k < nal_count; ++k) { uint8_t nt = (uint8_t)pack->packetInfo[k] .packType.h265Nalu; @@ -922,40 +976,9 @@ static size_t star6e_output_send_frame_ring(Star6eOutput *output, continue; if (pack->packNum > 0) { - const unsigned int info_cap = (unsigned int)( - sizeof(pack->packetInfo) / - sizeof(pack->packetInfo[0])); unsigned int nal_count = (unsigned int)pack->packNum; unsigned int k; - if (nal_count > info_cap) { - /* A frame missing NALs (slices, with - * video0.sliceCount high) must never ship — - * abort and heal like a ring-full drop. - * Measured 2026-08-20: no real config hits - * this (parameter sets ride their own pack), - * so this is the defensive path. */ - if (!output->trunc_warned) { - output->trunc_warned = 1; - fprintf(stderr, - "WARN: pack has %u NALs, " - "packetInfo caps at %u — " - "frame dropped (lower " - "video0.sliceCount)\n", - nal_count, info_cap); - } - venc_frame_ring_abort_write( - output->frame_ring); - if (venc_frame_drop_breaks_chain(meta.flags) && - output->request_idr && - venc_frame_drop_idr_due( - &output->drop_idr_last_us, - wb_monotonic_us()) && - output->request_idr(output->idr_ctx) == 0) - output->drop_idr_last_us = 0; - return 0; - } - for (k = 0; k < nal_count; ++k) { MI_U32 length = pack->packetInfo[k].length; MI_U32 offset = pack->packetInfo[k].offset; @@ -968,6 +991,8 @@ static size_t star6e_output_send_frame_ring(Star6eOutput *output, pack->data + offset, length) != 0) { venc_frame_ring_abort_write( output->frame_ring); + star6e_output_recover_dropped_access_unit( + output, stream); return 0; } total_bytes += length; @@ -981,6 +1006,8 @@ static size_t star6e_output_send_frame_ring(Star6eOutput *output, if (venc_frame_ring_append(output->frame_ring, pack->data + pack->offset, length) != 0) { venc_frame_ring_abort_write(output->frame_ring); + star6e_output_recover_dropped_access_unit(output, + stream); return 0; } total_bytes += length; @@ -999,6 +1026,8 @@ size_t star6e_output_send_frame(Star6eOutput *output, if (!output || !stream) return 0; + if (star6e_output_reject_incomplete_access_unit(output, stream)) + return 0; if (output->frame_ring) return star6e_output_send_frame_ring(output, stream); diff --git a/src/star6e_pipeline.c b/src/star6e_pipeline.c index 073ca2b0..2cb0d5fb 100644 --- a/src/star6e_pipeline.c +++ b/src/star6e_pipeline.c @@ -1462,6 +1462,13 @@ static int star6e_pipeline_start_venc(uint32_t width, uint32_t height, MI_VENC_ParamH265SliceSplit_t split; MI_VENC_ParamH265SliceSplit_t rb; + if (codec != PT_H265) { + fprintf(stderr, "ERROR: sliceCount=%u requires H.265\n", + vcfg->video0.slice_count); + MI_VENC_DestroyChn(*chn); + return -1; + } + if (per < 1) per = 1; /* unreachable via validated config */ ctu_per = (per + 1) / 2; @@ -1470,23 +1477,30 @@ static int star6e_pipeline_start_venc(uint32_t width, uint32_t height, ret = MI_VENC_SetH265SliceSplit(*chn, &split); if (ret != 0) { fprintf(stderr, - "WARN: MI_VENC_SetH265SliceSplit(%u rows/slice) " - "failed %d — single-slice stream\n", + "ERROR: MI_VENC_SetH265SliceSplit(%u rows/slice) " + "failed %d\n", split.u32SliceRowCount, ret); - } else { - printf("VENC: H.265 slice split ON: sliceCount %u -> " - "%u slices of %u CTU-64 rows (SDK unit %u " - "32-px rows)\n", - vcfg->video0.slice_count, - (ctu_rows + ctu_per - 1) / ctu_per, - ctu_per, split.u32SliceRowCount); - memset(&rb, 0, sizeof(rb)); - if (MI_VENC_GetH265SliceSplit(*chn, &rb) == 0) - printf("VENC: slice split readback: enable=%u " - "rows=%u\n", - (unsigned)rb.bSplitEnable, - (unsigned)rb.u32SliceRowCount); + MI_VENC_DestroyChn(*chn); + return ret; + } + memset(&rb, 0, sizeof(rb)); + ret = MI_VENC_GetH265SliceSplit(*chn, &rb); + if (ret != 0 || !rb.bSplitEnable || + rb.u32SliceRowCount == 0 || rb.u32SliceRowCount > rows) { + fprintf(stderr, "ERROR: H.265 slice split readback invalid: " + "ret=%d enable=%u rows=%u requested_rows=%u\n", + ret, (unsigned)rb.bSplitEnable, + (unsigned)rb.u32SliceRowCount, + (unsigned)split.u32SliceRowCount); + MI_VENC_DestroyChn(*chn); + return ret != 0 ? ret : -1; } + ctu_per = (rb.u32SliceRowCount + 1) / 2; + printf("VENC: H.265 slice split ON: requested=%u rows32=%u " + "applied_rows32=%u predicted=%u (readback verified)\n", + vcfg->video0.slice_count, split.u32SliceRowCount, + rb.u32SliceRowCount, + (ctu_rows + ctu_per - 1) / ctu_per); } ret = MI_VENC_StartRecvPic(*chn); @@ -2724,17 +2738,19 @@ int star6e_pipeline_start(Star6ePipelineState *state, const VencConfig *vcfg, * star6e_output_init() -> star6e_output_reset(), which memsets the * whole output struct and would otherwise zero these GDR/SVC-T * tagging fields. */ - state->output.gdr_active = - (vcfg->video0.intra_refresh_mode[0] != '\0' && - strcmp(vcfg->video0.intra_refresh_mode, "off") != 0) ? 1 : 0; - state->output.svct_active = vcfg->video0.ref_base > 0 ? 1 : 0; { - IntraRefreshDerived gdr_ir; - (void)star6e_pipeline_intra_refresh_derive( - vcfg, pconf.image_height, venc_fps, pconf.rc_codec, - &gdr_ir); - uint32_t clen = (gdr_ir.total_rows && gdr_ir.lines) - ? (gdr_ir.total_rows + gdr_ir.lines - 1) / gdr_ir.lines + Star6eIntraRefreshStatus ir_status; + Star6eRefPredStatus ref_status; + uint32_t clen; + + star6e_pipeline_intra_refresh_status(&ir_status); + star6e_pipeline_ref_pred_status(&ref_status); + state->output.gdr_active = ir_status.active && ir_status.apply_ok; + state->output.svct_active = ref_status.active && ref_status.apply_ok; + clen = (state->output.gdr_active && ir_status.total_rows && + ir_status.effective_lines_per_p) + ? (ir_status.total_rows + ir_status.effective_lines_per_p - 1) / + ir_status.effective_lines_per_p : 0; state->output.gdr_cycle_len = clen > 255 ? 255 : (uint8_t)clen; state->output.gdr_counter = 0; diff --git a/src/star6e_recorder.c b/src/star6e_recorder.c index 332bdd79..089f3234 100644 --- a/src/star6e_recorder.c +++ b/src/star6e_recorder.c @@ -1,4 +1,7 @@ #include "star6e_recorder.h" +#ifndef PLATFORM_MARUKO +#include "star6e_output.h" +#endif #include #include @@ -56,16 +59,48 @@ static int build_recording_path(char *path, size_t path_size, const char *dir) return 0; } -static ssize_t writev_retry(int fd, const struct iovec *iov, int iov_count) +#ifndef PLATFORM_MARUKO +static ssize_t writev_all(int fd, const struct iovec *iov, int iov_count) { - ssize_t ret; + struct iovec pending[16]; + ssize_t total = 0; + int first = 0; - do { - ret = writev(fd, iov, iov_count); - } while (ret < 0 && errno == EINTR); + if (!iov || iov_count <= 0 || iov_count > 16) { + errno = EINVAL; + return -1; + } + memcpy(pending, iov, (size_t)iov_count * sizeof(pending[0])); + while (first < iov_count) { + ssize_t ret; + ssize_t consumed; + + do { + ret = writev(fd, &pending[first], iov_count - first); + } while (ret < 0 && errno == EINTR); + if (ret < 0) + return -1; + if (ret == 0) { + errno = EIO; + return -1; + } + total += ret; + consumed = ret; + while (first < iov_count && + consumed >= (ssize_t)pending[first].iov_len) { + consumed -= (ssize_t)pending[first].iov_len; + first++; + } + if (first < iov_count && consumed > 0) { + pending[first].iov_base = + (char *)pending[first].iov_base + consumed; + pending[first].iov_len -= (size_t)consumed; + } + } - return ret; + return total; } +#endif static const char *stop_reason_str(Star6eRecorderStopReason reason) { @@ -159,20 +194,32 @@ static int check_disk_space(Star6eRecorderState *state) return 0; } +#ifndef PLATFORM_MARUKO int star6e_recorder_write_frame(Star6eRecorderState *state, const MI_VENC_Stream_t *stream) { + static int incomplete_warned; struct iovec iov[16]; int iov_count = 0; ssize_t written; size_t total = 0; + off_t frame_start; if (!state || state->fd < 0 || !stream || !stream->packet) return 0; + if (!star6e_output_stream_packet_info_complete(stream)) { + if (!incomplete_warned) { + incomplete_warned = 1; + fprintf(stderr, "[recorder] invalid packetInfo; " + "dropping whole access unit\n"); + } + return 0; + } /* Periodic disk space check */ if (check_disk_space(state) != 0) return 0; + frame_start = lseek(state->fd, 0, SEEK_CUR); for (unsigned int i = 0; i < stream->count; ++i) { const MI_VENC_Pack_t *pack = &stream->packet[i]; @@ -181,14 +228,8 @@ int star6e_recorder_write_frame(Star6eRecorderState *state, continue; if (pack->packNum > 0) { - const unsigned int info_cap = (unsigned int)( - sizeof(pack->packetInfo) / - sizeof(pack->packetInfo[0])); unsigned int nal_count = (unsigned int)pack->packNum; - if (nal_count > info_cap) - nal_count = info_cap; - for (unsigned int k = 0; k < nal_count; ++k) { MI_U32 offset = pack->packetInfo[k].offset; MI_U32 len = pack->packetInfo[k].length; @@ -198,7 +239,7 @@ int star6e_recorder_write_frame(Star6eRecorderState *state, continue; if (iov_count >= 16) { - written = writev_retry(state->fd, + written = writev_all(state->fd, iov, iov_count); if (written < 0) goto write_error; @@ -216,7 +257,7 @@ int star6e_recorder_write_frame(Star6eRecorderState *state, continue; if (iov_count >= 16) { - written = writev_retry(state->fd, iov, iov_count); + written = writev_all(state->fd, iov, iov_count); if (written < 0) goto write_error; total += (size_t)written; @@ -232,7 +273,7 @@ int star6e_recorder_write_frame(Star6eRecorderState *state, } if (iov_count > 0) { - written = writev_retry(state->fd, iov, iov_count); + written = writev_all(state->fd, iov, iov_count); if (written < 0) goto write_error; total += (size_t)written; @@ -254,6 +295,15 @@ int star6e_recorder_write_frame(Star6eRecorderState *state, return (int)total; write_error: + { + int saved_errno = errno; + + /* A failure may follow a short successful write. Roll the regular + * file back to its frame boundary so it never retains half an AU. */ + if (frame_start >= 0) + (void)ftruncate(state->fd, frame_start); + errno = saved_errno; + } if (errno == ENOSPC) { fprintf(stderr, "[recorder] disk full (ENOSPC)\n"); stop_with_reason(state, RECORDER_STOP_DISK_FULL); @@ -264,6 +314,7 @@ int star6e_recorder_write_frame(Star6eRecorderState *state, } return -1; } +#endif void star6e_recorder_stop(Star6eRecorderState *state) { diff --git a/src/star6e_runtime.c b/src/star6e_runtime.c index f7290c4f..814a1ec2 100644 --- a/src/star6e_runtime.c +++ b/src/star6e_runtime.c @@ -378,7 +378,7 @@ static uint8_t star6e_scene_is_idr(const MI_VENC_Stream_t *s) if (!s || !s->packet) return 0; for (i = 0; i < s->count; i++) { const MI_VENC_Pack_t *p = &s->packet[i]; - unsigned int k, n = p->packNum > 8 ? 8 : p->packNum; + unsigned int k, n = p->packNum; if (n > 0) { for (k = 0; k < n; k++) { if (p->packetInfo[k].packType.h265Nalu == 19) @@ -739,6 +739,23 @@ static void *dual_rec_thread_fn(void *arg) usleep(1000); continue; } + if (!star6e_output_stream_packet_info_complete(&stream)) { + static int incomplete_warned; + if (!incomplete_warned) { + incomplete_warned = 1; + fprintf(stderr, "WARN: [dual] invalid packetInfo; " + "dropping whole access unit\n"); + } + if (!(d->output.svct_active && + stream.h265Info.refType == + STAR6E_REFTYPE_ENHANCE_P_NOTFORREF) && + venc_frame_drop_idr_due(&d->output.drop_idr_last_us, + wb_monotonic_us()) && + star6e_ring_request_idr(&d->channel) == 0) + d->output.drop_idr_last_us = 0; + MI_VENC_ReleaseStream(d->channel, &stream); + continue; + } /* Skip slow SD writes during shutdown — keep draining * to prevent VPE backpressure while pipeline tears down. */ @@ -1206,6 +1223,11 @@ static int star6e_runtime_process_stream(Star6eRunnerContext *ctx, fprintf(stderr, "ERROR: MI_VENC_GetStream failed %d\n", ret); return ret; } + if (star6e_output_reject_incomplete_access_unit(&ps->output, + &stream)) { + MI_VENC_ReleaseStream(ps->venc_channel, &stream); + return 0; + } /* refPred error-resilience marking — rewrite TRAIL_R → TRAIL_N for * frames the SDK marked as ENHANCE_P_NOTFORREF. The encoder's own @@ -1213,9 +1235,9 @@ static int star6e_runtime_process_stream(Star6eRunnerContext *ctx, * just propagate that designation into the bitstream so generic * receivers can safely drop those NALs without cascade. * - * Only active when refPred is enabled (ref_base > 0) — otherwise the - * encoder produces a flat single-ref stream and every frame matters. */ - if (vcfg->video0.ref_base > 0 && + * Only active when refPred was successfully applied — otherwise the encoder + * produces a flat single-ref stream and every frame matters. */ + if (ps->output.svct_active && stream.h265Info.refType == STAR6E_REFTYPE_ENHANCE_P_NOTFORREF) { star6e_patch_stream_to_trail_n(&stream); } diff --git a/src/star6e_ts_recorder.c b/src/star6e_ts_recorder.c index 530a8fe9..309e8eed 100644 --- a/src/star6e_ts_recorder.c +++ b/src/star6e_ts_recorder.c @@ -1,4 +1,7 @@ #include "star6e_ts_recorder.h" +#ifndef PLATFORM_MARUKO +#include "star6e_output.h" +#endif #include #include @@ -334,9 +337,11 @@ int star6e_ts_recorder_is_active(const Star6eTsRecorderState *state) return state && state->fd >= 0; } +#ifndef PLATFORM_MARUKO int star6e_ts_recorder_write_stream(Star6eTsRecorderState *state, const MI_VENC_Stream_t *stream) { + static int incomplete_warned; uint8_t nal_buf[512 * 1024]; /* 512KB — supports up to ~50 Mbps IDR frames */ size_t nal_len = 0; int is_idr = 0; @@ -345,6 +350,14 @@ int star6e_ts_recorder_write_stream(Star6eTsRecorderState *state, if (!state || state->fd < 0 || !stream || !stream->packet) return 0; + if (!star6e_output_stream_packet_info_complete(stream)) { + if (!incomplete_warned) { + incomplete_warned = 1; + fprintf(stderr, "[ts_recorder] invalid packetInfo; " + "dropping whole access unit\n"); + } + return 0; + } /* Extract all NAL data from stream packs */ for (unsigned int i = 0; i < stream->count; ++i) { @@ -353,12 +366,7 @@ int star6e_ts_recorder_write_stream(Star6eTsRecorderState *state, continue; if (pack->packNum > 0) { - const unsigned int info_cap = (unsigned int)( - sizeof(pack->packetInfo) / - sizeof(pack->packetInfo[0])); unsigned int nal_count = (unsigned int)pack->packNum; - if (nal_count > info_cap) - nal_count = info_cap; for (unsigned int k = 0; k < nal_count; ++k) { MI_U32 off = pack->packetInfo[k].offset; @@ -377,9 +385,9 @@ int star6e_ts_recorder_write_stream(Star6eTsRecorderState *state, if (nal_len + len > sizeof(nal_buf)) { fprintf(stderr, "[ts_recorder] frame too large " - "(%zu + %u > %zu), truncated\n", + "(%zu + %u > %zu), access unit dropped\n", nal_len, len, sizeof(nal_buf)); - break; + return 0; } memcpy(nal_buf + nal_len, pack->data + off, len); @@ -392,9 +400,9 @@ int star6e_ts_recorder_write_stream(Star6eTsRecorderState *state, if (nal_len + len > sizeof(nal_buf)) { fprintf(stderr, "[ts_recorder] frame too large " - "(%zu + %u > %zu), truncated\n", + "(%zu + %u > %zu), access unit dropped\n", nal_len, len, sizeof(nal_buf)); - break; + return 0; } memcpy(nal_buf + nal_len, pack->data + pack->offset, len); @@ -412,6 +420,7 @@ int star6e_ts_recorder_write_stream(Star6eTsRecorderState *state, return star6e_ts_recorder_write_video(state, nal_buf, nal_len, pts, is_idr); } +#endif void star6e_ts_recorder_status(const Star6eTsRecorderState *state, uint64_t *bytes_written, uint32_t *frames_written, diff --git a/src/venc_api.c b/src/venc_api.c index b904d985..5986fdae 100644 --- a/src/venc_api.c +++ b/src/venc_api.c @@ -6,6 +6,7 @@ #include "intra_refresh.h" #include "pipeline_common.h" #if HAVE_BACKEND_CV610 +#include "cv610_runtime.h" #include "cv610_modes.h" #include "cv610_validation.h" #endif @@ -474,12 +475,12 @@ static const FieldUi ui_max_qp = { }; static const FieldUi ui_slice_count = { "Video", "Slices per frame", "number", 1, VENC_SLICE_COUNT_MAX, 1, NULL, - "Independent H.265 slices per picture (Star6E). 1 = off. Multi-slice " + "Independent H.265 slices per picture. 1 = off. Multi-slice " "output lets the waybeam-link receiver conceal RF loss spatially " "instead of dropping the whole frame, and the concealed area shrinks " - "as 1/N. The request is quantized: the SDK rounds slice height up to " - "whole CTU-64 rows, so 1080p delivers only 1,2,3,4,5,6,9,17 and " - "saturates at 17 (720p at 12). Restart-only." + "as 1/N. The request is quantized to encoder row geometry; startup logs " + "the requested/applied mapping and validation tools report the VCL census. On Star6E, " + "1080p delivers only 1,2,3,4,5,6,9,17 and saturates at 17. Restart-only." }; static const FieldUi ui_max_i_bytes = { "Video", "Max I-frame bytes", "number", 0, 2000000, 500, NULL, @@ -884,6 +885,7 @@ int venc_api_field_supported_for_backend(const char *backend_name, "isp.keep_aspect", "video0.fps", "video0.size", "video0.bitrate", "video0.gop_size", "video0.qp_delta", + "video0.slice_count", "video0.resilience", /* Read by cv610_apply_qp_bounds(), live and at startup. * CBR cannot hold its target in a noise-dominated scene * without room to raise QP. */ @@ -1254,10 +1256,9 @@ static const char *validate_field_cfg(const VencConfig *cfg, const char *key) cfg->video0.scene_threshold > 0) return "video0.scene_holdoff must be >= 1 when scene_threshold > 0"; if (strcmp(key, "video0.slice_count") == 0) { - /* 1 = split off. The ceiling is a sanity bound, not the - * delivered count — the SDK saturates a request at the - * picture's CTU-64 row count. See VENC_SLICE_COUNT_MAX for - * why the old 8 was wrong. */ + /* 1 = split off. The ceiling is a cross-backend sanity bound, + * not necessarily the delivered count: row-based vendor APIs + * quantize or saturate requests to the picture geometry. */ if (cfg->video0.slice_count < 1 || cfg->video0.slice_count > VENC_SLICE_COUNT_MAX) return "video0.slice_count must be 1..32"; @@ -2930,7 +2931,7 @@ static int handle_version(int fd, const HttpRequest *req, void *ctx) snprintf(buf, sizeof(buf), "{\"ok\":true,\"data\":{" "\"app_version\":\"%s\"," - "\"contract_version\":\"0.18.4\"," + "\"contract_version\":\"0.18.5\"," "\"config_schema_version\":\"1.0.0\"," "\"backend\":\"%s\"" "}}", VENC_VERSION, g_backend); @@ -3826,7 +3827,7 @@ static int handle_idr_stats(int fd, const HttpRequest *req, void *ctx) return httpd_send_json(fd, 200, buf); } -#if HAVE_BACKEND_STAR6E || HAVE_BACKEND_MARUKO +#if HAVE_BACKEND_STAR6E || HAVE_BACKEND_MARUKO || HAVE_BACKEND_CV610 static int handle_intra_status(int fd, const HttpRequest *req, void *ctx) { struct { @@ -3881,6 +3882,25 @@ static int handle_intra_status(int fd, const HttpRequest *req, void *ctx) s.effective_gop_sec = st.effective_gop_sec; s.gop_auto = st.gop_auto; } +#elif HAVE_BACKEND_CV610 + { + Cv610IntraRefreshStatus st; + cv610_runtime_intra_refresh_status(&st); + snprintf(s.mode_name, sizeof(s.mode_name), "%s", st.mode_name); + s.active = st.active; + s.mi_supported = st.mi_supported; + s.apply_ok = st.apply_ok; + s.target_ms = st.target_ms; + s.total_rows = st.total_rows; + s.requested_lines = st.requested_lines; + s.effective_lines_per_p = st.effective_lines_per_p; + s.lines_clamped = st.lines_clamped; + s.requested_qp = st.requested_qp; + s.effective_qp = st.effective_qp; + s.explicit_gop_sec = st.explicit_gop_sec; + s.effective_gop_sec = st.effective_gop_sec; + s.gop_auto = st.gop_auto; + } #endif if (s.mode_name[0] == '\0') snprintf(s.mode_name, sizeof(s.mode_name), "off"); @@ -3979,6 +3999,27 @@ static int handle_resilience_status(int fd, const HttpRequest *req, void *ctx) rp_enhance = rp.enhance; rp_pred = rp.pred; } +#elif HAVE_BACKEND_CV610 + { + Cv610IntraRefreshStatus st; + Cv610RefPredStatus rp; + cv610_runtime_intra_refresh_status(&st); + cv610_runtime_ref_pred_status(&rp); + snprintf(intra_mode, sizeof(intra_mode), "%s", + st.mode_name[0] ? st.mode_name : "off"); + intra_active = st.active; + intra_supported = st.mi_supported; + intra_apply_ok = st.apply_ok; + intra_lines = st.effective_lines_per_p; + intra_qp = st.effective_qp; + gop_auto = st.gop_auto; + rp_active = rp.active; + rp_supported = rp.mi_supported; + rp_apply_ok = rp.apply_ok; + rp_base = rp.base; + rp_enhance = rp.enhance; + rp_pred = rp.pred; + } #endif snprintf(buf, sizeof(buf), @@ -4179,7 +4220,7 @@ int venc_api_register(VencConfig *cfg, const char *backend_name, r |= venc_httpd_route("GET", "/api/v1/dual/set", handle_dual_set, NULL); r |= venc_httpd_route("GET", "/api/v1/dual/idr", handle_dual_idr, NULL); r |= venc_httpd_route("GET", "/api/v1/idr/stats", handle_idr_stats, NULL); -#if HAVE_BACKEND_STAR6E || HAVE_BACKEND_MARUKO +#if HAVE_BACKEND_STAR6E || HAVE_BACKEND_MARUKO || HAVE_BACKEND_CV610 r |= venc_httpd_route("GET", "/api/v1/intra/status", handle_intra_status, NULL); r |= venc_httpd_route("GET", "/api/v1/resilience/status", handle_resilience_status, NULL); diff --git a/src/venc_config.c b/src/venc_config.c index 1fdbf6ea..02718a1b 100644 --- a/src/venc_config.c +++ b/src/venc_config.c @@ -165,7 +165,7 @@ void venc_config_defaults(VencConfig *cfg) cfg->video0.scene_threshold = 0; /* 0 = off */ cfg->video0.scene_holdoff = 2; - /* H.265 multi-slice split (video0, Star6E) — 1 = off */ + /* H.265 multi-slice split (video0, all encoder backends) — 1 = off */ cfg->video0.slice_count = 1; /* intra refresh (video0) — disabled by default; mode-driven */ diff --git a/tests/test_cv610_validation.c b/tests/test_cv610_validation.c index 4e2e9f01..72309e35 100644 --- a/tests/test_cv610_validation.c +++ b/tests/test_cv610_validation.c @@ -1,4 +1,5 @@ #include "cv610_modes.h" +#include "cv610_encoder_config.h" #include "venc_api.h" #include "venc_config.h" @@ -175,6 +176,75 @@ static int test_mode_select(void) return failures; } +static int test_encoder_config(void) +{ + VencConfig cfg; + Cv610EncoderConfig enc; + int failures = 0; + + venc_config_defaults(&cfg); + cfg.video0.slice_count = 1; + failures += expect("enc_off_derives", + cv610_encoder_config_derive(&cfg, 1080, 100, &enc) == 0); + failures += expect("enc_off_features_disabled", + !enc.intra.enabled && !enc.ref.enabled && !enc.slice.enabled); + failures += expect("enc_off_slice_defaults", + enc.slice.total_lcu_rows == 34 && enc.slice.split_size == 1 && + enc.slice.expected_count == 1); + + (void)venc_config_apply_resilience_preset("racing", &cfg.video0); + failures += expect("enc_racing_derives", + cv610_encoder_config_derive(&cfg, 1080, 100, &enc) == 0); + failures += expect("enc_racing_gdr", + enc.intra.enabled && enc.intra.mode == 0 && + enc.intra.refresh_num == 3 && enc.intra.request_i_qp == 36 && + enc.intra.derived.total_rows == 34); + failures += expect("enc_racing_no_refpred", !enc.ref.enabled); + + (void)venc_config_apply_resilience_preset("rally", &cfg.video0); + failures += expect("enc_rally_derives", + cv610_encoder_config_derive(&cfg, 1080, 60, &enc) == 0); + failures += expect("enc_rally_refpred", + enc.ref.enabled && enc.ref.base == 1 && enc.ref.enhance == 1 && + enc.ref.pred == 1); + + (void)venc_config_apply_resilience_preset("ltr:4", &cfg.video0); + failures += expect("enc_ltr_derives", + cv610_encoder_config_derive(&cfg, 1080, 60, &enc) == 0); + failures += expect("enc_ltr_refpred_without_gdr", + !enc.intra.enabled && enc.ref.enabled && enc.ref.base == 1 && + enc.ref.enhance == 4 && enc.ref.pred == 0); + + cfg.video0.slice_count = 17; + failures += expect("enc_slice_17_derives", + cv610_encoder_config_derive(&cfg, 1080, 100, &enc) == 0); + failures += expect("enc_slice_17_geometry", + enc.slice.enabled && enc.slice.split_mode == 1 && + enc.slice.split_size == 2 && enc.slice.expected_count == 17); + cfg.video0.slice_count = 12; + (void)cv610_encoder_config_derive(&cfg, 1080, 100, &enc); + failures += expect("enc_slice_12_geometry", + enc.slice.split_size == 3 && enc.slice.expected_count == 12); + cfg.video0.slice_count = 32; + (void)cv610_encoder_config_derive(&cfg, 1080, 100, &enc); + failures += expect("enc_slice_saturates_at_rows", + enc.slice.split_size == 2 && enc.slice.expected_count == 17); + cfg.video0.slice_count = 9; + (void)cv610_encoder_config_derive(&cfg, 720, 100, &enc); + failures += expect("enc_slice_720_quantizes", + enc.slice.total_lcu_rows == 23 && enc.slice.split_size == 3 && + enc.slice.expected_count == 8); + + cfg.video0.slice_count = 0; + failures += expect("enc_reject_slice_zero", + cv610_encoder_config_derive(&cfg, 1080, 100, &enc) != 0); + cfg.video0.slice_count = VENC_SLICE_COUNT_MAX + 1; + failures += expect("enc_reject_slice_over_max", + cv610_encoder_config_derive(&cfg, 1080, 100, &enc) != 0); + + return failures; +} + int main(void) { VencConfig cfg; @@ -183,6 +253,7 @@ int main(void) failures += test_mode_table(); failures += test_mode_select(); + failures += test_encoder_config(); cv610_mode_table(&mode_count); venc_config_defaults(&cfg); @@ -271,6 +342,13 @@ int main(void) strcpy(cfg.video0.rc_mode, "vbr"); failures += expect_valid("cv610_reject_vbr", &cfg, 0); strcpy(cfg.video0.rc_mode, "cbr"); + strcpy(cfg.video0.resilience, "racing"); + (void)venc_config_apply_resilience_preset("racing", &cfg.video0); + cfg.video0.slice_count = 17; + failures += expect_valid("cv610_accept_resilience_and_slices", &cfg, 1); + strcpy(cfg.video0.resilience, "off"); + (void)venc_config_apply_resilience_preset("off", &cfg.video0); + cfg.video0.slice_count = 1; strcpy(cfg.video0.framing, "stab"); failures += expect_valid("cv610_reject_framing", &cfg, 0); strcpy(cfg.video0.framing, "off"); diff --git a/tests/test_h26x_util.c b/tests/test_h26x_util.c index e18f8c99..d5e33276 100644 --- a/tests/test_h26x_util.c +++ b/tests/test_h26x_util.c @@ -77,6 +77,29 @@ int test_h26x_util(void) consecutive_codes, sizeof(consecutive_codes), &cursor, &nal, &nal_len) == 0); } + { + uint8_t access_unit[] = { + 0x00, 0x00, 0x00, 0x01, 0x40, 0x01, 0xaa, /* VPS */ + 0x00, 0x00, 0x01, 0x02, 0x01, 0xbb, /* TRAIL_R */ + 0x00, 0x00, 0x01, 0x00, 0x01, 0xcc, /* TRAIL_N */ + 0x00, 0x00, 0x01, 0x03, 0x01, 0xdd, /* layer-id msb set */ + 0x00, 0x00, 0x01, 0x02, 0x09, 0xee /* layer-id low bit set */ + }; + + CHECK("h26x_patch_trail_count", + h26x_util_hevc_patch_trail_r_to_n(access_unit, + sizeof(access_unit)) == 1); + CHECK("h26x_patch_trail_header", access_unit[10] == 0x00); + CHECK("h26x_patch_trail_keeps_vps", access_unit[4] == 0x40); + CHECK("h26x_patch_trail_keeps_existing_n", access_unit[16] == 0x00); + CHECK("h26x_patch_trail_keeps_layered", access_unit[22] == 0x03); + CHECK("h26x_patch_trail_keeps_low_layer_id", access_unit[28] == 0x02); + CHECK("h26x_patch_trail_idempotent", + h26x_util_hevc_patch_trail_r_to_n(access_unit, + sizeof(access_unit)) == 0); + CHECK("h26x_patch_trail_null", + h26x_util_hevc_patch_trail_r_to_n(NULL, 0) == 0); + } return failures; } diff --git a/tests/test_maruko_config.c b/tests/test_maruko_config.c index 04161011..2365c471 100644 --- a/tests/test_maruko_config.c +++ b/tests/test_maruko_config.c @@ -23,6 +23,7 @@ int test_maruko_config(void) CHECK("maruko defaults codec", cfg.rc_codec == PT_H265); CHECK("maruko defaults rc mode", cfg.rc_mode == 3); CHECK("maruko defaults stream mode", cfg.stream_mode == MARUKO_STREAM_RTP); + CHECK("maruko defaults slice count", cfg.slice_count == 1); CHECK("maruko defaults forced pad", cfg.forced_sensor_pad == (MI_SNR_PAD_ID_e)-1); CHECK("maruko defaults forced mode", cfg.forced_sensor_mode == -1); CHECK("maruko defaults 3dnr", cfg.vpe_level_3dnr == 1); @@ -36,6 +37,7 @@ int test_maruko_config(void) vcfg.video0.fps = 90; vcfg.video0.bitrate = 6000; vcfg.video0.gop_size = 1.5; + vcfg.video0.slice_count = 6; vcfg.video0.zoom_pct = 0.5; vcfg.video0.zoom_x = 0.25; vcfg.video0.zoom_y = 0.75; @@ -57,6 +59,7 @@ int test_maruko_config(void) CHECK("maruko config bitrate", cfg.venc_max_rate == 6000); CHECK("maruko config gop", cfg.venc_gop_size == 135); CHECK("maruko config gop seconds", cfg.venc_gop_seconds == 1.5); + CHECK("maruko config slice count", cfg.slice_count == 6); CHECK("maruko config zoom pct", cfg.zoom_pct == 0.5); CHECK("maruko config zoom x", cfg.zoom_x == 0.25); CHECK("maruko config zoom y", cfg.zoom_y == 0.75); diff --git a/tests/test_maruko_video.c b/tests/test_maruko_video.c new file mode 100644 index 00000000..00a1e029 --- /dev/null +++ b/tests/test_maruko_video.c @@ -0,0 +1,88 @@ +#include "maruko_video.h" +#include "test_helpers.h" + +#include + +static int g_recovery_calls; + +static int recovery_stub(void *ctx) +{ + (void)ctx; + g_recovery_calls++; + return 1; +} + +int test_maruko_video(void) +{ + MarukoOutput output; + i6c_venc_pack pack; + i6c_venc_strm stream; + uint8_t data[16] = { 0 }; + int failures = 0; + unsigned int info_cap; + + memset(&output, 0, sizeof(output)); + memset(&pack, 0, sizeof(pack)); + memset(&stream, 0, sizeof(stream)); + info_cap = (unsigned int)(sizeof(pack.packetInfo) / + sizeof(pack.packetInfo[0])); + + CHECK("maruko packetInfo null stream rejected", + !maruko_video_stream_packet_info_complete(NULL)); + CHECK("maruko packetInfo empty stream rejected", + !maruko_video_stream_packet_info_complete(&stream)); + + stream.count = 1; + stream.packet = &pack; + CHECK("maruko packetInfo null data rejected", + !maruko_video_stream_packet_info_complete(&stream)); + + pack.data = data; + pack.length = sizeof(data); + pack.offset = 0; + CHECK("maruko packetInfo fallback accepted", + maruko_video_stream_packet_info_complete(&stream)); + pack.offset = pack.length; + CHECK("maruko packetInfo empty fallback rejected", + !maruko_video_stream_packet_info_complete(&stream)); + + pack.offset = 0; + pack.packNum = 1; + pack.packetInfo[0].offset = 0; + pack.packetInfo[0].length = 0; + CHECK("maruko packetInfo zero descriptor rejected", + !maruko_video_stream_packet_info_complete(&stream)); + pack.packetInfo[0].offset = pack.length; + pack.packetInfo[0].length = 1; + CHECK("maruko packetInfo offset rejected", + !maruko_video_stream_packet_info_complete(&stream)); + pack.packetInfo[0].offset = 8; + pack.packetInfo[0].length = 9; + CHECK("maruko packetInfo overrun rejected", + !maruko_video_stream_packet_info_complete(&stream)); + pack.packetInfo[0].offset = 4; + pack.packetInfo[0].length = 8; + CHECK("maruko packetInfo descriptor accepted", + maruko_video_stream_packet_info_complete(&stream)); + pack.packNum = info_cap + 1; + CHECK("maruko packetInfo table overflow rejected", + !maruko_video_stream_packet_info_complete(&stream)); + + output.request_idr = recovery_stub; + g_recovery_calls = 0; + CHECK("maruko invalid AU rejected", + maruko_video_reject_incomplete_access_unit(&stream, &output) == 1); + CHECK("maruko invalid AU requests recovery", g_recovery_calls == 1); + CHECK("maruko invalid AU recovery paced", + maruko_video_reject_incomplete_access_unit(&stream, &output) == 1 && + g_recovery_calls == 1); + + output.drop_idr_last_us = 0; + output.svct_active = 1; + stream.h265Info.refType = MARUKO_REFTYPE_ENHANCE_P_NOTFORREF; + CHECK("maruko droppable invalid AU skips recovery", + maruko_video_reject_incomplete_access_unit(&stream, &output) == 1 && + g_recovery_calls == 1); + + return failures; +} diff --git a/tests/test_runner.c b/tests/test_runner.c index cff95783..6ccaaba8 100644 --- a/tests/test_runner.c +++ b/tests/test_runner.c @@ -15,6 +15,7 @@ extern int test_file_util(void); extern int test_h26x_util(void); extern int test_h26x_param_sets(void); extern int test_maruko_config(void); +extern int test_maruko_video(void); extern int test_pipeline_common(void); extern int test_codec_config(void); extern int test_sdk_quiet(void); @@ -81,6 +82,9 @@ int main(void) printf("\n--- test_maruko_config ---\n"); failures += test_maruko_config(); + printf("\n--- test_maruko_video ---\n"); + failures += test_maruko_video(); + printf("\n--- test_pipeline_common ---\n"); failures += test_pipeline_common(); diff --git a/tests/test_star6e_output.c b/tests/test_star6e_output.c index 3bde0d3d..fafb327a 100644 --- a/tests/test_star6e_output.c +++ b/tests/test_star6e_output.c @@ -436,7 +436,9 @@ static int test_star6e_output_send_frame_rtp_dispatch(void) { Star6eOutputSetup setup; Star6eOutput output; + MI_VENC_Pack_t pack = {0}; MI_VENC_Stream_t stream = {0}; + uint8_t data[4] = { 0 }; size_t expected = 1234; size_t actual; int failures = 0; @@ -444,6 +446,10 @@ static int test_star6e_output_send_frame_rtp_dispatch(void) g_test_star6e_rtp_send_called = 0; g_test_star6e_rtp_send_valid = 0; + pack.data = data; + pack.length = sizeof(data); + stream.count = 1; + stream.packet = &pack; ret = star6e_output_prepare(&setup, "udp://127.0.0.1:5600", "rtp", 0); CHECK("star6e output send frame rtp prepare", ret == 0); ret = star6e_output_init(&output, &setup); @@ -1727,6 +1733,53 @@ static int test_star6e_output_frame_ring_truncation_abort(void) return failures; } +static int test_star6e_output_packet_info_validation(void) +{ + MI_VENC_Pack_t pack; + MI_VENC_Stream_t stream; + uint8_t data[16] = { 0 }; + int failures = 0; + + memset(&pack, 0, sizeof(pack)); + memset(&stream, 0, sizeof(stream)); + CHECK("star packetInfo null stream rejected", + !star6e_output_stream_packet_info_complete(NULL)); + CHECK("star packetInfo empty stream rejected", + !star6e_output_stream_packet_info_complete(&stream)); + + stream.count = 1; + stream.packet = &pack; + CHECK("star packetInfo null data rejected", + !star6e_output_stream_packet_info_complete(&stream)); + pack.data = data; + pack.length = sizeof(data); + CHECK("star packetInfo fallback accepted", + star6e_output_stream_packet_info_complete(&stream)); + pack.offset = pack.length; + CHECK("star packetInfo empty fallback rejected", + !star6e_output_stream_packet_info_complete(&stream)); + + pack.offset = 0; + pack.packNum = 1; + pack.packetInfo[0].length = 0; + CHECK("star packetInfo zero descriptor rejected", + !star6e_output_stream_packet_info_complete(&stream)); + pack.packetInfo[0].offset = pack.length; + pack.packetInfo[0].length = 1; + CHECK("star packetInfo offset rejected", + !star6e_output_stream_packet_info_complete(&stream)); + pack.packetInfo[0].offset = 8; + pack.packetInfo[0].length = 9; + CHECK("star packetInfo overrun rejected", + !star6e_output_stream_packet_info_complete(&stream)); + pack.packetInfo[0].offset = 4; + pack.packetInfo[0].length = 8; + CHECK("star packetInfo descriptor accepted", + star6e_output_stream_packet_info_complete(&stream)); + + return failures; +} + int test_star6e_output(void) { int failures = 0; @@ -1765,5 +1818,6 @@ int test_star6e_output(void) failures += test_star6e_output_always_sends_under_pressure(); failures += test_star6e_output_frame_ring_idr_holdoff(); failures += test_star6e_output_frame_ring_truncation_abort(); + failures += test_star6e_output_packet_info_validation(); return failures; } diff --git a/tests/test_venc_api.c b/tests/test_venc_api.c index 7b6ae93a..45a9797a 100644 --- a/tests/test_venc_api.c +++ b/tests/test_venc_api.c @@ -476,12 +476,21 @@ static int test_field_support_by_backend(void) CHECK("max qp unsupported maruko", venc_api_field_supported_for_backend("maruko", "video0.max_qp") == 0); + CHECK("slice count supported maruko", + venc_api_field_supported_for_backend("maruko", + "video0.sliceCount") == 1); CHECK("bitrate supported cv610", venc_api_field_supported_for_backend("cv610", "video0.bitrate") == 1); CHECK("gop alias supported cv610", venc_api_field_supported_for_backend("cv610", "video0.gopSize") == 1); + CHECK("resilience supported cv610", + venc_api_field_supported_for_backend("cv610", + "video0.resilience") == 1); + CHECK("slice count supported cv610", + venc_api_field_supported_for_backend("cv610", + "video0.sliceCount") == 1); CHECK("opus config API unsupported cv610", venc_api_field_supported_for_backend("cv610", "audio.codec") == 0); diff --git a/tools/frame_shm_consumer_test.c b/tools/frame_shm_consumer_test.c index 3a224f1c..9534edf3 100644 --- a/tools/frame_shm_consumer_test.c +++ b/tools/frame_shm_consumer_test.c @@ -3,14 +3,19 @@ * 8-byte VencFrameMeta header, and reports frame rate, IDR cadence, frame * sizes, pts monotonicity, and Annex-B start-code integrity. * - * Usage: frame_shm_consumer_test [ring_name] [duration_s] + * Usage: frame_shm_consumer_test [ring_name] [duration_s] [dump.h265] + * [expected_slices] * ring_name default "venc_frames" * duration_s default 5 (0 = run until SIGINT) + * dump.h265 optional raw Annex-B output for decoder validation + * (use a FIFO to host storage on small embedded /tmp filesystems) + * expected_slices optional exact VCL count required in every frame * * Cross-compile for Star6E (Infinity6E): * toolchain/toolchain.sigmastar-infinity6e/bin/arm-openipc-linux-gnueabihf-gcc \ * -Os -Iinclude -D_GNU_SOURCE \ - * tools/frame_shm_consumer_test.c src/venc_frame_ring.c -lpthread \ + * tools/frame_shm_consumer_test.c src/venc_frame_ring.c src/h26x_util.c \ + * -lpthread \ * -o frame_shm_consumer * * Reports frame rate, IDR cadence, frame sizes, pts monotonicity, and @@ -25,6 +30,7 @@ #include #include +#include "h26x_util.h" #include "venc_frame_ring.h" static volatile int running = 1; @@ -34,6 +40,9 @@ int main(int argc, char **argv) { const char *name = (argc > 1) ? argv[1] : "venc_frames"; int duration = (argc > 2) ? atoi(argv[2]) : 5; + const char *dump_path = (argc > 3) ? argv[3] : NULL; + int expected_slices = (argc > 4) ? atoi(argv[4]) : 0; + FILE *dump = NULL; signal(SIGINT, sighandler); signal(SIGTERM, sighandler); @@ -43,6 +52,14 @@ int main(int argc, char **argv) fprintf(stderr, "Failed to attach to frame ring '%s'\n", name); return 1; } + if (dump_path) { + dump = fopen(dump_path, "wb"); + if (!dump) { + perror("Failed to open H.265 dump"); + venc_frame_ring_destroy(r); + return 1; + } + } printf("Attached to frame ring '%s': %u slots x %u KB (epoch=%u, V%u, magic=0x%08X)\n", name, r->hdr->slot_count, r->hdr->slot_data_size / 1024, @@ -50,16 +67,25 @@ int main(int argc, char **argv) uint32_t buf_size = r->slot_data_size; uint8_t *buf = malloc(buf_size); - if (!buf) { fprintf(stderr, "OOM\n"); venc_frame_ring_destroy(r); return 1; } + if (!buf) { + fprintf(stderr, "OOM\n"); + if (dump) + fclose(dump); + venc_frame_ring_destroy(r); + return 1; + } uint32_t out_len = 0; unsigned long total_frames = 0, total_idr = 0, total_gdr = 0, total_enhance = 0, total_bytes = 0; uint32_t max_frame = 0, min_frame = 0xFFFFFFFF; unsigned long bad_meta = 0, bad_startcode = 0, pts_regress = 0; + unsigned long total_vcl = 0, vcl_frames = 0; + uint32_t min_vcl = UINT32_MAX, max_vcl = 0; uint32_t first_pts = 0, last_pts = 0; uint8_t last_gdr_len = 0; int have_first = 0; + int dump_started = 0; struct timespec ts_start, ts_now, ts_report; clock_gettime(CLOCK_MONOTONIC, &ts_start); @@ -80,6 +106,10 @@ int main(int argc, char **argv) int is_idr = (m.flags & VENC_FRAME_FLAG_IDR) != 0; int is_gdr = (m.flags & VENC_FRAME_FLAG_GDR) != 0; int is_enhance = (m.flags & VENC_FRAME_FLAG_ENHANCE) != 0; + size_t cursor = 0; + const uint8_t *nal; + size_t nal_len; + uint32_t vcl_count = 0; total_frames++; interval_frames++; @@ -102,6 +132,18 @@ int main(int argc, char **argv) !((fd[0] == 0 && fd[1] == 0 && fd[2] == 1) || (fd[0] == 0 && fd[1] == 0 && fd[2] == 0 && fd[3] == 1))) bad_startcode++; + while (h26x_util_annexb_next(fd, frame_len, &cursor, + &nal, &nal_len)) { + if (nal_len > 0 && h26x_util_hevc_nalu_type(nal, + nal_len) <= 31) + vcl_count++; + } + if (vcl_count > 0) { + total_vcl += vcl_count; + vcl_frames++; + if (vcl_count < min_vcl) min_vcl = vcl_count; + if (vcl_count > max_vcl) max_vcl = vcl_count; + } /* pts monotonicity (allow 32-bit wrap tolerance) */ if (have_first) { @@ -112,6 +154,16 @@ int main(int argc, char **argv) have_first = 1; } last_pts = m.pts; + /* Start raw dumps on an IDR so parameter sets and the reference + * chain are self-contained for offline decoder validation. */ + if (dump && is_idr) + dump_started = 1; + if (dump && dump_started && + fwrite(fd, 1, frame_len, dump) != frame_len) { + perror("Failed to write H.265 dump"); + running = 0; + bad_meta++; + } } clock_gettime(CLOCK_MONOTONIC, &ts_now); @@ -153,6 +205,11 @@ int main(int argc, char **argv) printf("Frame size: avg %lu min %u max %u bytes\n", total_frames ? total_bytes / total_frames : 0, total_frames ? min_frame : 0, max_frame); + printf("VCL slices: avg %.2f min %u max %u (%lu frames)\n", + vcl_frames ? (double)total_vcl / vcl_frames : 0.0, + vcl_frames ? min_vcl : 0, max_vcl, vcl_frames); + if (expected_slices > 0) + printf("VCL expected: %d per frame\n", expected_slices); printf("pts: first=%u last=%u span=%u\n", first_pts, last_pts, last_pts - first_pts); printf("Integrity: bad_meta=%lu bad_startcode=%lu pts_regress=%lu\n", @@ -162,8 +219,21 @@ int main(int argc, char **argv) __ATOMIC_ACQUIRE), (unsigned long)__atomic_load_n(&r->hdr->read_idx, __ATOMIC_ACQUIRE)); - - int ok = (total_frames > 0 && total_idr > 0 && + if (dump_path) + printf("H.265 dump: %s\n", dump_path); + + int dump_ok = 1; + if (dump) { + if (fclose(dump) != 0) { + perror("Failed to finalize H.265 dump"); + dump_ok = 0; + } + dump = NULL; + } + int vcl_ok = (vcl_frames == total_frames && vcl_frames > 0 && + min_vcl == max_vcl && + (expected_slices <= 0 || min_vcl == (uint32_t)expected_slices)); + int ok = (total_frames > 0 && total_idr > 0 && dump_ok && vcl_ok && bad_meta == 0 && bad_startcode == 0 && pts_regress == 0); printf("VERDICT: %s\n", ok ? "PASS" : "FAIL"); From f3f3af46216e7db525862ecc0a72fa949b0ba6e1 Mon Sep 17 00:00:00 2001 From: snokvist Date: Sat, 22 Aug 2026 20:24:27 +0200 Subject: [PATCH 45/45] fix: pre-upstream review pass over 0.65.3..0.67.0 (0.67.1) Three defects introduced by the 0.65.3..0.67.0 range, one long-standing sensor-register error, and the documentation that range changed but did not update. No wire format, config schema or frame-SHM layout change. Star6E dual-VENC crashed at startup: star6e_pipeline_start_venc() accepts vcfg == NULL (start_dual passes it for ch1) but 0.66.0's slice block dereferenced it unguarded, so any craft with record.mode=dual segfaulted during startup controls regardless of sliceCount. star6e_pipeline.c is not in the host test library, so the suite could not see it. Also on that path: the slice-split struct went to the vendor with uninitialised padding (both siblings in the same function are memset), and a libmi_venc.so lacking the optional MI_VENC_SetH265SliceSplit export failed startup with a message that read as a driver rejection. The failure stays fatal -- one slice while the API advertises N would lie to the receiver's spatial concealment -- but now names the missing symbol. The CV610 partial-load rollback could still wedge the SoC. stop_modules() refuses to unload under a live consumer and its comment claimed every unload path was covered; cleanup_partial(), armed as an EXIT trap across the whole load sequence, was not. It now carries the same guard and leaves modules loaded, which is recoverable; a wedged SoC is not. The IMX662 analog gain register was never written. Sony's register list puts GAIN[10:0] at 3070h/3071h and jumps 3069h -> 3070h; 306Ch/306Dh are not registers. Analog gain never actuated, all gain was ISP digital, and the HCG compensation never landed, making each HCG engage an uncompensated ~5.8x brightness step. The vendor reference driver carries the same wrong pair. This changes low-light behaviour materially and the 0.65.6 gain/ISO tuning was measured against the dead register -- that path needs device re-verification. The HCG band's compile-time guard could not fire in the dangerous direction (unsigned wrap); now signed, plus an assert rejecting an inverted ON/OFF pair. Both mutation-tested. make stage SOC_BUILD=cv610 returned 0 when the sensor plugin failed to build, because the recipe chains with ';'. data.routes.iq claimed both /api/v1/iq and /api/v1/iq/set were serviced while testing only query_iq_info; /iq/set gates on apply_iq_param. Now requires both -- every shipped backend registers both, so no response changes. The test that asserted the old pairing gained the missing arm, mutation-verified. Docs: docs/CV610_BACKEND.md described unloading behaviour deleted in 0.65.8/0.65.10 and recorded none of the operator rules those releases established; /api/v1/intra/status and /api/v1/resilience/status are documented for the first time; an orphaned code fence rendered ~25 lines of the capabilities section as a code block. Gates: test-werror/asan/tsan 2580/0, verify, pre-pr, and CI-pinned cv610 lint+stage all green. --- .gitignore | 3 ++ HISTORY.md | 56 ++++++++++++++++++++ Makefile | 2 +- VERSION | 2 +- docs/CV610_BACKEND.md | 26 +++++++-- documentation/HTTP_API_CONTRACT.md | 85 +++++++++++++++++++++++++++--- init.d/load-cv610-online | 18 +++++-- sensors/cv610/imx662/imx662_cmos.h | 23 ++++++-- src/star6e_pipeline.c | 27 ++++++++-- src/venc_api.c | 4 +- tests/test_venc_api.c | 26 ++++++--- 11 files changed, 239 insertions(+), 33 deletions(-) diff --git a/.gitignore b/.gitignore index ec4a0857..30e1f5ce 100644 --- a/.gitignore +++ b/.gitignore @@ -42,3 +42,6 @@ a-*.d # Serena LSP tooling config — local developer machine only, not shipped /.serena/ + +# CI-pinned SDK checkouts (.github/workflows/main.yml lint-build-cv610) +.deps/ diff --git a/HISTORY.md b/HISTORY.md index a0fad433..d9e4a5d4 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -1,5 +1,61 @@ # History +## [0.67.1] - 2026-08-22 + +Pre-upstream review pass over 0.65.3..0.67.0. Three defects introduced by that +range, one long-standing sensor-register error, and the documentation the +range changed but did not update. No wire format, config schema or frame-SHM +layout changes. + +- **Star6E dual-VENC crashed at startup.** `star6e_pipeline_start_venc()` + accepts `vcfg == NULL` — `star6e_pipeline_start_dual()` passes it for ch1 — + but 0.66.0's slice block dereferenced it unguarded. Any craft with + `record.mode=dual`/`dual-stream` segfaulted during startup controls, + independent of `sliceCount`, because the fault is the *read* of + `slice_count`. `record.mode` is gated on mode alone, not `record.enabled`. + Host tests could not see it: `star6e_pipeline.c` is not in the test library. +- `MI_VENC_ParamH265SliceSplit_t` was passed to the vendor with its padding + uninitialised; both sibling structs in the same function are memset. +- A `libmi_venc.so` without the optional `MI_VENC_SetH265SliceSplit` export + failed startup with a message that read as a driver rejection. The failure + stays fatal — delivering one slice while the API advertises N would lie to + the receiver's spatial concealment — but now names the missing symbol. +- **The CV610 partial-load rollback could still wedge the SoC.** `stop_modules()` + refuses to unload while a consumer holds an MPP device, and its comment + claimed every unload path was covered; `cleanup_partial()`, armed as an EXIT + trap across the whole load sequence, was not. A consumer can claim a device + created earlier in that same sequence — `waybeam_hub` rebinds `/dev/rgn` + within ~1 s of `open_rgn` appearing — so a later insmod failure unloaded it + underneath a live holder. It now carries the same guard and leaves the + modules loaded, which is recoverable; a wedged SoC is not. +- **The IMX662 analog gain register was never written.** Sony's register list + puts `GAIN[10:0]` at `3070h`/`3071h` and jumps straight from `3069h` to + `3070h` — `306Ch`/`306Dh` are not registers. Every AE gain update went to a + dead address, so analog gain never actuated, all gain was ISP digital, and + the HCG conversion-gain compensation never landed, making each HCG engage an + uncompensated ~5.8x brightness step. The vendor's own reference driver + carries the same pair. **This changes low-light behaviour materially and the + gain/ISO tuning in 0.65.6 was measured against the dead register — the + low-light path needs re-verification on hardware.** +- The HCG band's compile-time guard could not fire in the dangerous direction: + all three operands are `u`-suffixed, so lowering `HCG_OFF_REG` below + `HCG_GAIN_OFFSET` wrapped and passed clean. Now evaluated signed, with a + second assert rejecting an inverted ON/OFF pair. Both mutation-tested. +- `make stage SOC_BUILD=cv610` returned 0 when the sensor plugin failed to + build, because the recipe chains with `;` and the last `cp` succeeded. CI + caught it only via its explicit `test -f` on the `.so`. +- `data.routes.iq` claimed `/api/v1/iq` *and* `/api/v1/iq/set` were serviced + while testing only `query_iq_info`; `/iq/set` gates on `apply_iq_param`. Now + requires both. Every shipped backend registers both, so no response changes. + The test that asserted the old pairing gained the missing arm. +- Docs: `docs/CV610_BACKEND.md` said the init script unloads the MPP stack on + stop and guards unloading itself — both untrue since 0.65.8/0.65.10 — and + recorded none of the operator rules those releases established. Its audio + timestamp note still claimed 10 ms against `CV610_AUDIO_POINT_NUM` 960. + `/api/v1/intra/status` and `/api/v1/resilience/status` are documented for the + first time. An orphaned code fence in the capabilities section rendered ~25 + lines of prose as a code block. + ## [0.67.0] - 2026-08-22 Ports the shared resilience contract and whole-access-unit H.265 slicing to diff --git a/Makefile b/Makefile index 4918ed4e..a638add1 100644 --- a/Makefile +++ b/Makefile @@ -360,7 +360,7 @@ stage: build qr-decode mkdir -p $(OUT_DIR)/isp-bins; cp -f iq-profiles/maruko-bin/*.bin $(OUT_DIR)/isp-bins/; \ fi; \ fi - @if [ "$(SOC_BUILD)" = "cv610" ]; then \ + @set -e; if [ "$(SOC_BUILD)" = "cv610" ]; then \ $(MAKE) sensor-cv610 SOC_BUILD=cv610 \ CV610_CC="$(CV610_CC)" CV610_SDK_INC="$(CV610_SDK_INC)"; \ mkdir -p $(OUT_DIR)/sensors; \ diff --git a/VERSION b/VERSION index 328185ca..5caa138c 100644 --- a/VERSION +++ b/VERSION @@ -1 +1 @@ -0.67.0 +0.67.1 diff --git a/docs/CV610_BACKEND.md b/docs/CV610_BACKEND.md index 4764296c..9df31312 100644 --- a/docs/CV610_BACKEND.md +++ b/docs/CV610_BACKEND.md @@ -91,10 +91,25 @@ chmod +x /etc/init.d/S95waybeam /usr/bin/load-cv610-online ``` The init script invokes the staged `/usr/bin/load-cv610-online` module -loader before starting the daemon and unloads the MPP stack after graceful -termination. Only one service may own the graph; disable the standalone +loader before starting the daemon. It does **not** unload the MPP stack on +stop: the HiSilicon drivers take no module reference for an open fd, so an +`rmmod` under a live consumer (typically `waybeam_hub` holding `/dev/rgn`) +frees file operations still in use and wedges the SoC hard enough to need a +physical power cycle. Unloading is done only by an explicit +`load-cv610-online stop`, which refuses while any consumer holds an MPP +device. Only one service may own the graph; disable the standalone `S95cv610-streamer` service when enabling `S95waybeam`. +Three operator rules follow from that: + +- **Recovery after an abnormal exit is a plain `S95waybeam start`.** The + modules are still loaded and the daemon re-initialises against them; there + is no `reload` action and no module rollback on a failed start. +- **Changing `CV610_AUDIO` or `CV610_SENSOR_PROFILE` needs a reboot.** The + loader refuses to re-load a differing module set over a live one. +- **A boot that has seen a hard kill cannot be unloaded cleanly.** Reboot + rather than fighting it. + `CV610_SENSOR_PROFILE` picks the sensor clock the modules load with. It is now only a fallback: the daemon sets the clock for the selected mode during bring-up (see "Sensor clock" below), so the profile matters only against a @@ -105,8 +120,8 @@ Audio is opt-in in both layers: set `CV610_AUDIO=1` in `open_aenc`, and `open_acodec`, then set `audio.enabled=true`, 48000 Hz, mono, Opus, and a non-negative `outgoing.audioPort` in `/etc/waybeam.json`. The daemon refuses other CV610 audio formats. The init script tracks the daemon -across API-driven process respawns and will not unload modules while any -Waybeam process still owns the graph. `audio.enabled` and `audio.mute` are +across API-driven process respawns; module unloading is guarded separately in +`load-cv610-online`, which refuses while any process holds an MPP device. `audio.enabled` and `audio.mute` are restart-required HTTP controls; the rest of the audio group is hardcoded and advertised unsupported. Enabling audio from a video-only boot still needs kernel modules that a daemon respawn cannot load, so the daemon warns and @@ -211,7 +226,8 @@ The integrated audio path initialized on the same target, resolved the known ACODEC power-up race after its expected 100 ms retry, and produced about 100 Opus access units/s with zero reported send drops. A host receiver checked 12 consecutive RTP v2/PT98 packets: sequence deltas were 1 and 48 kHz timestamp -deltas were 480, exactly 10 ms. No microphone was connected, so acoustic +deltas were 960, exactly 20 ms (`CV610_AUDIO_POINT_NUM` 960; the 480/10 ms +figure predates the Opus frame-size parity fix). No microphone was connected, so acoustic content is explicitly not operator-verified. On 2026-08-22 the resilience/slice branch was also confirmed through diff --git a/documentation/HTTP_API_CONTRACT.md b/documentation/HTTP_API_CONTRACT.md index 5af602a8..506b7ddd 100644 --- a/documentation/HTTP_API_CONTRACT.md +++ b/documentation/HTTP_API_CONTRACT.md @@ -18,7 +18,7 @@ - `read_only` — cannot be changed via API. ## Contract Version -- `contract_version`: `0.18.5` +- `contract_version`: `0.18.6` - `status`: `active` ## Governance Rules @@ -80,7 +80,7 @@ Response `200`: "ok": true, "data": { "app_version": "0.67.0", - "contract_version": "0.18.5", + "contract_version": "0.18.6", "config_schema_version": "1.0.0", "backend": "star6e" } @@ -192,6 +192,7 @@ Response `200`: } } ``` +(truncated — all fields listed in actual response) `video0.slice_count` / JSON `video0.sliceCount` requests 1–32 H.265 slices per picture; 1 disables splitting. Star6E, Maruko and CV610 advertise the @@ -210,13 +211,11 @@ endpoint just to discover whether it exists: | key | meaning | |---|---| -| `iq` | `/api/v1/iq` and `/api/v1/iq/set` are serviced (the backend registers `query_iq_info`). | +| `iq` | `/api/v1/iq` and `/api/v1/iq/set` are serviced (the backend registers **both** `query_iq_info` and `apply_iq_param`). | | `iq_import` | `/api/v1/iq/import` is compiled in (Star6E/Maruko only). | Absent `routes` means an older build: treat every route as possibly present and fall back to calling it. -``` -(truncated — all fields listed in actual response) `supported` is backend-specific. Current Star6E and Maruko builds both expose scene detection, intra refresh, and digital zoom fields. @@ -1243,6 +1242,72 @@ Error `409 record_active` — file is currently being written; stop recording first. Error `500 delete_failed` — filesystem error. +### `GET /api/v1/intra/status` + +Report the intra-refresh (GDR) state the encoder actually applied, as opposed +to what was requested. Served by Star6E, Maruko and CV610. + +```bash +curl http:///api/v1/intra/status +``` + +```json +{"ok":true,"data":{ + "mode":"gdr","active":true,"mi_supported":true,"apply_ok":true, + "target_ms":500,"total_rows":34, + "lines":{"requested":0,"effective":2,"clamped":false}, + "qp":{"requested":0,"effective":0}, + "gop":{"explicit_sec":0.000,"effective_sec":2.000,"auto":true}}} +``` + +| field | meaning | +|---|---| +| `mode` | resolved refresh mode name (`off`, `gdr`, …). | +| `active` | the encoder is refreshing now. | +| `mi_supported` | the vendor library exports the refresh setter. | +| `apply_ok` | the setter was called **and** read back clean. `active` with `apply_ok:false` means requested-but-not-delivered. | +| `target_ms` | intended full-refresh cycle duration. | +| `total_rows` | picture height in refresh rows. | +| `lines.requested` / `.effective` | rows per P-frame asked for vs applied; `clamped` when geometry forced a change. | +| `qp.requested` / `.effective` | refresh QP offset asked for vs applied. | +| `gop.explicit_sec` / `.effective_sec` | configured GOP vs the one in force; `auto` when derived rather than configured. | + +Always `200`. A backend with no intra-refresh support reports `mode:"off"`, +`active:false`, `mi_supported:false`. + +### `GET /api/v1/resilience/status` + +Report the resolved `video0.resilience` preset and both mechanisms it drives. +Served by Star6E, Maruko and CV610. + +```bash +curl http:///api/v1/resilience/status +``` + +```json +{"ok":true,"data":{ + "preset":"rally", + "intra":{"mode":"gdr","active":true,"mi_supported":true,"apply_ok":true, + "effective_lines":2,"effective_qp":0}, + "refPred":{"active":true,"mi_supported":true,"apply_ok":true, + "base":1,"enhance":3,"pred":true}, + "gop":{"effective_sec":2.000,"auto":true}}} +``` + +| field | meaning | +|---|---| +| `preset` | resolved `video0.resilience` value. | +| `intra.*` | the intra-refresh subset of `/api/v1/intra/status`. | +| `refPred.active` | base/enhance reference structure is in force. | +| `refPred.mi_supported` | the vendor library exports the reference-parameter setter. | +| `refPred.apply_ok` | the setter was called and read back clean. | +| `refPred.base` / `.enhance` | applied base layer and enhancement period. | +| `refPred.pred` | non-reference enhancement frames are being marked. | +| `gop.effective_sec` / `.auto` | GOP in force, and whether it was derived. | + +Always `200`. Read `apply_ok` on both mechanisms before trusting `preset`: a +preset names an intent, and only `apply_ok` says the encoder took it. + ### `GET /request/idr` Request an IDR (keyframe) from the encoder. @@ -1729,7 +1794,7 @@ Behavior: Endpoints that behave the same on all three backends are omitted. The table compares the two SigmaStar implementations; CV610 differences are called out -in Notes. As of `contract_version: 0.18.5`: +in Notes. As of `contract_version: 0.18.6`: | Feature / Endpoint | Star6E | Maruko | Notes | |---|---|---|---| @@ -1754,6 +1819,14 @@ in Notes. As of `contract_version: 0.18.5`: | `isp.aeEngine` ("sdk" only) | applied | applied | Unified AE selector landed in 0.10.13. `custom` (userspace AE governor) is RETIRED — Maruko in 0.22.0, Star6E in 0.47.0 — and the value was **removed** in 0.47.0. `sdk` is the only accepted value; any other (e.g. a stale `custom`) warns and falls back to `sdk`. Both backends run the SDK firmware/bin AE for convergence plus a supervisory thread that enforces the `isp.gain*`/`isp.shutter*` limits. | ## Change Log (Contract) +- `0.18.6` (documentation + correctness; no shipped response changes): + `GET /api/v1/intra/status` and `GET /api/v1/resilience/status` are now + documented — both have been served for several releases and the CV610 + branch added in 0.18.5 made them report live device state, but neither had + a contract entry. `data.routes.iq` now requires the backend to register + **both** `query_iq_info` and `apply_iq_param`, matching its documented + meaning that `/api/v1/iq` *and* `/api/v1/iq/set` are serviced; every + shipped backend registers both, so no response changes. - `0.18.5` (additive — resilience and slices reach three-backend parity): CV610 now advertises `video0.resilience` and `video0.slice_count` and serves the existing intra/resilience status routes. Maruko now advertises and diff --git a/init.d/load-cv610-online b/init.d/load-cv610-online index 383ee3c0..d7279d98 100755 --- a/init.d/load-cv610-online +++ b/init.d/load-cv610-online @@ -68,9 +68,21 @@ load_stock() loaded="$name $loaded" } +# Rollback for a load sequence that failed part way through. Carries the same +# guard as stop_modules(): a consumer can grab a device created EARLIER in this +# very sequence -- waybeam_hub rebinds /dev/rgn within ~1s of open_rgn appearing, +# and the sequence runs for seconds afterwards -- and unloading under it wedges +# the SoC hard enough to need a physical power cycle. Leaving the modules loaded +# is recoverable; a wedged SoC is not. cleanup_partial() { set +e + holders=$(mpp_holders) + if [ -n "$holders" ]; then + echo "partial load failed; NOT unloading -- MPP devices open by $holders" >&2 + echo "stop those consumers, then run '$0 stop' to clear the partial state" >&2 + return 0 + fi for name in $loaded; do rmmod "$name" 2>/dev/null done @@ -162,9 +174,9 @@ start_modules() stop_modules() { - # Guard the rmmod itself, not its callers: every path that unloads -- - # S95waybeam stop, the start-failure rollback, a hand-run stop -- is - # equally fatal with a consumer still attached. + # Guard the rmmod itself, not its callers: any unload is fatal with a + # consumer still attached. The partial-load rollback carries the same + # guard (see cleanup_partial); a hand-run stop is the only other caller. holders=$(mpp_holders) if [ -n "$holders" ]; then echo "refusing to unload: MPP devices still open by $holders" >&2 diff --git a/sensors/cv610/imx662/imx662_cmos.h b/sensors/cv610/imx662/imx662_cmos.h index 44b320a0..4be8f586 100644 --- a/sensors/cv610/imx662/imx662_cmos.h +++ b/sensors/cv610/imx662/imx662_cmos.h @@ -56,11 +56,17 @@ extern "C" { #define IMX662_REG_HMAX_H 0x302D #define IMX662_REG_FDG_SEL0 0x3030 /* conversion gain HCG/LCG select */ #define IMX662_REG_LANEMODE 0x3040 /* 0x01 = 2-lane, 0x03 = 4-lane */ /* VERIFY */ -#define IMX662_REG_SHR0_L 0x3050 /* SHR0 [23:0] exposure */ +#define IMX662_REG_SHR0_L 0x3050 /* SHR0 [19:0] exposure */ #define IMX662_REG_SHR0_M 0x3051 #define IMX662_REG_SHR0_H 0x3052 -#define IMX662_REG_GAIN_L 0x306C /* analog gain [15:0], 0.3 dB / LSB */ -#define IMX662_REG_GAIN_H 0x306D +/* GAIN[10:0], 0.3 dB / LSB, 0.0..72 dB. Sony's register list (IMX662 + * Register.xlsx, and SRM Rev3.0) puts GAIN at 3070h/3071h and jumps straight + * from 3069h to 3070h -- 306Ch/306Dh are not registers at all, so the gain + * writes landed nowhere and analog gain never actuated. The vendor's own + * reference driver carries the same wrong pair; do not "restore" it. + * 3072h/3073h and 3074h/3075h are GAIN_1/GAIN_2 (DOL per-frame), not this. */ +#define IMX662_REG_GAIN_L 0x3070 +#define IMX662_REG_GAIN_H 0x3071 #define IMX662_REG_BLKLEVEL_L 0x30DC /* black level (OFFSET), default 0x32=50 */ #define IMX662_REG_BLKLEVEL_H 0x30DD #define IMX662_REG_DIG_CLAMP 0x3458 /* digital clamp */ /* VERIFY */ @@ -125,8 +131,17 @@ extern "C" { /* The floor is held by the OFF threshold, not by the clamp in * cmos_gains_update(); keep them consistent if either is ever retuned. */ +/* Signed: all three macros are u-suffixed, so an unsigned subtraction wraps and + * the assert passes clean for exactly the retune that breaks it (OFF_REG below + * OFFSET). Lowering OFF_REG is the natural response to "HCG drops out too + * eagerly", and it re-enters the unstable band the block above warns about. */ typedef char imx662_hcg_off_clears_floor[ - (IMX662_HCG_OFF_REG - IMX662_HCG_GAIN_OFFSET >= IMX662_HCG_GAIN_REG_MIN) ? 1 : -1]; + ((int)IMX662_HCG_OFF_REG - (int)IMX662_HCG_GAIN_OFFSET >= + (int)IMX662_HCG_GAIN_REG_MIN) ? 1 : -1]; +/* An inverted pair would toggle conversion gain every frame -- a visible 5.8x + * flicker at frame rate -- and nothing else rejects it. */ +typedef char imx662_hcg_hysteresis_ordered[ + (IMX662_HCG_ON_REG > IMX662_HCG_OFF_REG) ? 1 : -1]; /* ---- resolution modes ----------------------------------------------------- * Bring linear up first. Add Clear-HDR (2-frame) as a second mode later. diff --git a/src/star6e_pipeline.c b/src/star6e_pipeline.c index 2cb0d5fb..2c794ef6 100644 --- a/src/star6e_pipeline.c +++ b/src/star6e_pipeline.c @@ -1453,8 +1453,10 @@ static int star6e_pipeline_start_venc(uint32_t width, uint32_t height, * rows per slice, but the encoder's CTU is 64 (measured 2026-08-20: * SPS says 30x17 CTBs at 1080p), so the SDK rounds the request up to * whole CTU-64 rows. Log the DELIVERED geometry, not the request — - * at 1080p sliceCount 8 quantizes to 6 slices of 3 CTU rows. */ - if (vcfg->video0.slice_count > 1) { + * at 1080p sliceCount 8 quantizes to 6 slices of 3 CTU rows. + * vcfg is optional on this path: star6e_pipeline_start_dual() + * passes NULL for ch1, so guard before reading slice_count. */ + if (vcfg && vcfg->video0.slice_count > 1) { uint32_t rows = (height + 31) / 32; uint32_t per = (rows + vcfg->video0.slice_count - 1) / vcfg->video0.slice_count; uint32_t ctu_rows = (height + 63) / 64; @@ -1469,9 +1471,24 @@ static int star6e_pipeline_start_venc(uint32_t width, uint32_t height, return -1; } - if (per < 1) - per = 1; /* unreachable via validated config */ - ctu_per = (per + 1) / 2; + /* Optional export: some libmi_venc.so revisions omit it and the + * macro then returns -1, which reads as a driver rejection and + * sends the operator hunting geometry. Stay fatal -- delivering + * one slice while the API advertises N would lie to the + * receiver's spatial concealment -- but say why. */ + if (!g_mi_venc.fnSetH265SliceSplit || + !g_mi_venc.fnGetH265SliceSplit) { + fprintf(stderr, "ERROR: sliceCount=%u requested but " + "libmi_venc.so does not export " + "MI_VENC_SetH265SliceSplit/GetH265SliceSplit\n", + vcfg->video0.slice_count); + MI_VENC_DestroyChn(*chn); + return -1; + } + + /* B3: the vendor reads all 8 bytes; leaving the pad + * uninitialised puts stack garbage across the ABI. */ + memset(&split, 0, sizeof(split)); split.bSplitEnable = 1; split.u32SliceRowCount = per; ret = MI_VENC_SetH265SliceSplit(*chn, &split); diff --git a/src/venc_api.c b/src/venc_api.c index 5986fdae..cf4d8d39 100644 --- a/src/venc_api.c +++ b/src/venc_api.c @@ -2931,7 +2931,7 @@ static int handle_version(int fd, const HttpRequest *req, void *ctx) snprintf(buf, sizeof(buf), "{\"ok\":true,\"data\":{" "\"app_version\":\"%s\"," - "\"contract_version\":\"0.18.5\"," + "\"contract_version\":\"0.18.6\"," "\"config_schema_version\":\"1.0.0\"," "\"backend\":\"%s\"" "}}", VENC_VERSION, g_backend); @@ -3010,7 +3010,7 @@ static int handle_capabilities(int fd, const HttpRequest *req, void *ctx) * /api/v1/iq on every page load just to find out. */ cJSON *routes = cJSON_AddObjectToObject(data, "routes"); cJSON_AddBoolToObject(routes, "iq", - (g_cb && g_cb->query_iq_info) ? 1 : 0); + (g_cb && g_cb->query_iq_info && g_cb->apply_iq_param) ? 1 : 0); #if HAVE_BACKEND_STAR6E || HAVE_BACKEND_MARUKO cJSON_AddBoolToObject(routes, "iq_import", 1); #else diff --git a/tests/test_venc_api.c b/tests/test_venc_api.c index 45a9797a..c382310a 100644 --- a/tests/test_venc_api.c +++ b/tests/test_venc_api.c @@ -1746,6 +1746,12 @@ static char *api_test_stub_query_iq(void) return strdup("{\"ok\":true,\"data\":{}}"); } +static int api_test_stub_apply_iq(const char *param, const char *value) +{ + (void)param; (void)value; + return 0; +} + /* /api/v1/capabilities advertises which optional routes the running backend * actually services, so the dashboard can decide whether to draw the Image * Quality tab without paying for a whole ISP sweep on /api/v1/iq. The value @@ -1764,13 +1770,18 @@ static int test_capabilities_routes_track_callbacks(void) size_t sent, req_len = strlen(request); int pass; - /* Two arms: without query_iq_info, then with it. Only the pointer - * changes, so a difference in the response can only come from it. */ - for (pass = 0; pass < 2; pass++) { + /* Three arms: neither callback, query_iq_info alone, then both. Only + * the pointers change, so a difference in the response can only come + * from them. The middle arm is the one that matters: routes.iq claims + * BOTH /api/v1/iq and /api/v1/iq/set are serviced, and with only + * query_iq_info registered the advertised /iq/set answers 501. */ + for (pass = 0; pass < 3; pass++) { venc_config_defaults(&cfg); memset(&cb, 0, sizeof(cb)); - if (pass == 1) + if (pass >= 1) cb.query_iq_info = api_test_stub_query_iq; + if (pass == 2) + cb.apply_iq_param = api_test_stub_apply_iq; if (venc_api_register(&cfg, "star6e", &cb, NULL) != 0) { CHECK("routes register", 0); @@ -1802,10 +1813,13 @@ static int test_capabilities_routes_track_callbacks(void) CHECK("routes status", status == 200); CHECK("routes block present", strstr(response, "\"routes\"") != NULL); if (pass == 0) { - CHECK("routes.iq false without query_iq_info", + CHECK("routes.iq false without either callback", + strstr(response, "\"iq\":false") != NULL); + } else if (pass == 1) { + CHECK("routes.iq false with query_iq_info alone", strstr(response, "\"iq\":false") != NULL); } else { - CHECK("routes.iq true with query_iq_info", + CHECK("routes.iq true with both callbacks", strstr(response, "\"iq\":true") != NULL); } }