From 1537da74427791bb3b5880e7d002daf8ea42db31 Mon Sep 17 00:00:00 2001 From: David Plowman Date: Thu, 19 Jun 2025 11:05:56 +0100 Subject: [PATCH] pipeline: rpi: Add wallclock timestamp support A ClockRecovery object is added for derived classes to use, and wallclock timestamps are copied into the request metadata for applications. Wallclock timestamps are derived corresponding to the sensor timestamp, and made available to the base pipeline handler class and to IPAs, for both vc4 and pisp platforms. Signed-off-by: David Plowman Reviewed-by: Kieran Bingham Reviewed-by: Naushir Patuck Signed-off-by: Naushir Patuck Signed-off-by: Kieran Bingham --- src/libcamera/pipeline/rpi/common/pipeline_base.cpp | 5 +++++ src/libcamera/pipeline/rpi/common/pipeline_base.h | 3 +++ src/libcamera/pipeline/rpi/pisp/pisp.cpp | 10 ++++++++-- src/libcamera/pipeline/rpi/vc4/vc4.cpp | 10 ++++++++-- 4 files changed, 24 insertions(+), 4 deletions(-) diff --git a/src/libcamera/pipeline/rpi/common/pipeline_base.cpp b/src/libcamera/pipeline/rpi/common/pipeline_base.cpp index d8c7ca935..e14d3b913 100644 --- a/src/libcamera/pipeline/rpi/common/pipeline_base.cpp +++ b/src/libcamera/pipeline/rpi/common/pipeline_base.cpp @@ -685,6 +685,9 @@ int PipelineHandlerBase::start(Camera *camera, const ControlList *controls) return ret; } + /* A good moment to add an initial clock sample. */ + data->wallClockRecovery_.addSample(); + /* * Reset the delayed controls with the gain and exposure values set by * the IPA. @@ -1482,6 +1485,8 @@ void CameraData::fillRequestMetadata(const ControlList &bufferControls, Request { request->metadata().set(controls::SensorTimestamp, bufferControls.get(controls::SensorTimestamp).value_or(0)); + request->metadata().set(controls::FrameWallClock, + bufferControls.get(controls::FrameWallClock).value_or(0)); if (cropParams_.size()) { std::vector crops; diff --git a/src/libcamera/pipeline/rpi/common/pipeline_base.h b/src/libcamera/pipeline/rpi/common/pipeline_base.h index 898f31577..4c5743e04 100644 --- a/src/libcamera/pipeline/rpi/common/pipeline_base.h +++ b/src/libcamera/pipeline/rpi/common/pipeline_base.h @@ -20,6 +20,7 @@ #include "libcamera/internal/bayer_format.h" #include "libcamera/internal/camera.h" #include "libcamera/internal/camera_sensor.h" +#include "libcamera/internal/clock_recovery.h" #include "libcamera/internal/framebuffer.h" #include "libcamera/internal/media_device.h" #include "libcamera/internal/media_object.h" @@ -172,6 +173,8 @@ public: Config config_; + ClockRecovery wallClockRecovery_; + protected: void fillRequestMetadata(const ControlList &bufferControls, Request *request); diff --git a/src/libcamera/pipeline/rpi/pisp/pisp.cpp b/src/libcamera/pipeline/rpi/pisp/pisp.cpp index ccf135c3d..2df91bacf 100644 --- a/src/libcamera/pipeline/rpi/pisp/pisp.cpp +++ b/src/libcamera/pipeline/rpi/pisp/pisp.cpp @@ -1755,9 +1755,15 @@ void PiSPCameraData::cfeBufferDequeue(FrameBuffer *buffer) auto [ctrl, delayContext] = delayedCtrls_->get(buffer->metadata().sequence); /* * Add the frame timestamp to the ControlList for the IPA to use - * as it does not receive the FrameBuffer object. + * as it does not receive the FrameBuffer object. Also derive a + * corresponding wallclock value. */ - ctrl.set(controls::SensorTimestamp, buffer->metadata().timestamp); + wallClockRecovery_.addSample(); + uint64_t sensorTimestamp = buffer->metadata().timestamp; + uint64_t wallClockTimestamp = wallClockRecovery_.getOutput(sensorTimestamp / 1000); + + ctrl.set(controls::SensorTimestamp, sensorTimestamp); + ctrl.set(controls::FrameWallClock, wallClockTimestamp); job.sensorControls = std::move(ctrl); job.delayContext = delayContext; } else if (stream == &cfe_[Cfe::Config]) { diff --git a/src/libcamera/pipeline/rpi/vc4/vc4.cpp b/src/libcamera/pipeline/rpi/vc4/vc4.cpp index ac6dab814..e99a7edf8 100644 --- a/src/libcamera/pipeline/rpi/vc4/vc4.cpp +++ b/src/libcamera/pipeline/rpi/vc4/vc4.cpp @@ -773,9 +773,15 @@ void Vc4CameraData::unicamBufferDequeue(FrameBuffer *buffer) auto [ctrl, delayContext] = delayedCtrls_->get(buffer->metadata().sequence); /* * Add the frame timestamp to the ControlList for the IPA to use - * as it does not receive the FrameBuffer object. + * as it does not receive the FrameBuffer object. Also derive a + * corresponding wallclock value. */ - ctrl.set(controls::SensorTimestamp, buffer->metadata().timestamp); + wallClockRecovery_.addSample(); + uint64_t sensorTimestamp = buffer->metadata().timestamp; + uint64_t wallClockTimestamp = wallClockRecovery_.getOutput(sensorTimestamp / 1000); + + ctrl.set(controls::SensorTimestamp, sensorTimestamp); + ctrl.set(controls::FrameWallClock, wallClockTimestamp); bayerQueue_.push({ buffer, std::move(ctrl), delayContext }); } else { embeddedQueue_.push(buffer);