openmv/ports/alif/omv_gpu.c
2025-07-31 13:12:48 -07:00

228 lines
7.6 KiB
C

/*
* Copyright (C) 2023-2024 OpenMV, LLC.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Any redistribution, use, or modification in source or binary form
* is done solely for personal benefit and not for any commercial
* purpose or for monetary gain. For commercial licensing options,
* please contact openmv@openmv.io
*
* THIS SOFTWARE IS PROVIDED BY THE LICENSOR AND COPYRIGHT OWNER "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE LICENSOR OR COPYRIGHT
* OWNER BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
* OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* GPU driver for Alif port.
*/
#include <stdio.h>
#include <assert.h>
#include "py/mphal.h"
#include "py/runtime.h"
#include "dave_d0lib.h"
#include "dave_registermap.h"
#include "dave_driver.h"
#include "omv_gpu.h"
static d2_device *dev;
extern char _gpu_memory_start;
extern char _gpu_memory_end;
#define OMV_GPU_CHECK_ERROR(err) \
omv_gpu_check_error(err, __LINE__)
static void omv_gpu_check_error(uint32_t error, uint32_t line);
#define D2_WIDTH(x) (((uint16_t) (x) << 4) & 0x3FF0) // 10:4 fixed-point number (4 bits fraction)
#define D2_POINT(x) (((uint16_t) (x) << 4) & 0x7FF0) // 1:11:4 FP (1 bit sign, 11 bits integer, 4 bits fraction)
#define D2_BLITP(x) (((uint16_t) (x) << 0) & 0x03FF) // unsigned short. The allowed range is 0 to 1023.
extern NORETURN void __fatal_error(const char *msg);
int omv_gpu_init() {
if (dev != NULL) {
return 0;
}
#if defined(WITH_MM_DYNAMIC)
if (d0_initdefaultheapmanager() != 1) {
__fatal_error("Failed to init GPU heap manager");
}
#elif defined(WITH_MM_FIXED_RANGE)
if (d0_initheapmanager(&_gpu_memory_start,
&_gpu_memory_end - &_gpu_memory_start,
d0_mm_fixed_range,
NULL, // unified memory.
0,
0,
d0_mm_fixed_range,
d0_ma_unified) != 1) {
__fatal_error("Failed to init GPU heap manager");
}
#else
#error "GPU heap manager is not defined"
#endif
dev = d2_opendevice(d2_df_no_irq);
if (dev == NULL) {
__fatal_error("Failed to init GPU device");
}
if (d2_inithw(dev, 0) != D2_OK) {
__fatal_error("Failed to init GPU hardware");
}
#if 0
d2_setblendmode(dev, d2_bm_alpha, d2_bm_one_minus_alpha);
d2_setalphamode(dev, d2_am_constant); // default in d2_newcontext
d2_setlinecap(dev, d2_lc_butt);
d2_setantialiasing(dev, 1);
d2_setblur(dev, 0);
d2_settextureoperation(dev, d2_to_one, d2_to_copy, d2_to_copy, d2_to_copy);
d2_setfillmode(dev, d2_fm_texture);
d2_settexturemode(dev, d2_tm_filter);
#endif
return 0;
}
void omv_gpu_deinit() {
if (dev) {
d2_closedevice(dev);
dev = NULL;
}
}
static d2_u32 omv_gpu_pixfmt(uint32_t omv_pixfmt) {
switch (omv_pixfmt) {
case PIXFORMAT_BINARY:
return d2_mode_alpha1;
case PIXFORMAT_BAYER_ANY:
case PIXFORMAT_GRAYSCALE:
return d2_mode_alpha8;
case PIXFORMAT_RGB565:
return d2_mode_rgb565;
}
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Pixel format is not supported"));
}
int omv_gpu_draw_image(image_t *src_img,
rectangle_t *src_rect,
image_t *dst_img,
rectangle_t *dst_rect,
int alpha,
const uint16_t *color_palette,
const uint8_t *alpha_palette,
image_hint_t hint,
float *transform) {
// Belnding is not supported yet.
if (color_palette || alpha_palette) {
return -1;
}
OMV_PROFILE_START();
d2_s32 err;
d2_u32 blit_flags = 0;
d2_renderbuffer *rbuffer = d2_getrenderbuffer(dev, 0);
err = d2_selectrenderbuffer(dev, rbuffer);
OMV_GPU_CHECK_ERROR(err);
d2_u32 dst_pixfmt = omv_gpu_pixfmt(dst_img->pixfmt);
err = d2_framebuffer(dev, dst_img->data, dst_img->w, dst_img->w, dst_img->h, dst_pixfmt);
OMV_GPU_CHECK_ERROR(err);
d2_u32 src_pixfmt = omv_gpu_pixfmt(src_img->pixfmt);
err = d2_setblitsrc(dev, src_img->data, src_img->w, src_img->w, src_img->h, src_pixfmt);
OMV_GPU_CHECK_ERROR(err);
if (hint & IMAGE_HINT_BILINEAR) {
blit_flags |= d2_bf_filter;
}
if (src_pixfmt == d2_mode_alpha8 || dst_pixfmt == d2_mode_alpha8) {
blit_flags |= d2_bf_usealpha;
}
// Flush source image
SCB_CleanDCache_by_Addr(src_img->data, image_size(src_img));
// Copy source image to the framebuffer.
err = d2_blitcopy(dev,
src_rect->w,
src_rect->h,
D2_BLITP(src_rect->x),
D2_BLITP(src_rect->y),
D2_WIDTH(dst_rect->w),
D2_WIDTH(dst_rect->h),
D2_POINT(dst_rect->x),
D2_POINT(dst_rect->y),
blit_flags | d2_bf_no_blitctxbackup);
OMV_GPU_CHECK_ERROR(err);
err = d2_executerenderbuffer(dev, rbuffer, d2_ef_default);
OMV_GPU_CHECK_ERROR(err);
err = d2_flushframe(dev);
OMV_GPU_CHECK_ERROR(err);
// Invalidate the framebuffer image.
SCB_InvalidateDCache_by_Addr(dst_img->data, image_size(dst_img));
OMV_PROFILE_PRINT();
return 0;
}
static void omv_gpu_check_error(uint32_t error, uint32_t line) {
static const char *errors[] = {
"success",
"memory allocation failed %d",
"invalid device %d",
"invalid rendering context %d",
"invalid renderbuffer context %d",
"hardware device already in use %d",
"device already assigned %d",
"cannot operate on default context %d",
"index is out of bounds %d",
"rendermode not supported %d",
"width out of legal range %d",
"height out of legal range %d",
"illegal framebuffer address %d",
"parameter too close to zero %d",
"parameter is negative %d",
"parameter value is too large %d",
"unsupported mode %d",
"source pointer may not be null %d",
"operation cannot execute while hardware is busy %d",
"cannot operate on default buffer %d",
"d2_df_no_dlist is not supported in low_localmemmode %d",
"not enough dlistblocks. please adjust in d2_lowlocalmemmode(...) %d",
};
if (error == D2_OK) {
return;
}
if (error > (sizeof(errors) / sizeof(errors[0]))) {
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Unknown GPU error."));
}
mp_raise_msg_varg(&mp_type_RuntimeError, (mp_rom_error_text_t) errors[error], line);
}