Re: [PATCH v2 23/23] staging: media: tegra-video: add CSI support for Tegra20 and Tegra30

Mikko Perttunen
2025-09-22T05:16:06Z

On Saturday, September 6, 2025 10:53 PM Svyatoslav Ryhel wrote:
> Add support for MIPI CSI device and calibration logic found in Tegra20 and
> Tegra30 SoC.

The patch is on the longer side. I'd add some more explanation in the commit message on the steps done in the patch.

>
> Co-developed-by: Jonas Schwöbel <jonasschwoebel@yahoo.de>
> Signed-off-by: Jonas Schwöbel <jonasschwoebel@yahoo.de>
> Signed-off-by: Svyatoslav Ryhel <clamor95@gmail.com>
> ---
> drivers/staging/media/tegra-video/csi.c | 12 +
> drivers/staging/media/tegra-video/tegra20.c | 593 ++++++++++++++++++--
> drivers/staging/media/tegra-video/vi.h | 2 +
> drivers/staging/media/tegra-video/video.c | 6 +
> 4 files changed, 573 insertions(+), 40 deletions(-)
>
> diff --git a/drivers/staging/media/tegra-video/csi.c b/drivers/staging/media/tegra-video/csi.c
> index 1677eb51ec21..d3f85f964ada 100644
> --- a/drivers/staging/media/tegra-video/csi.c
> +++ b/drivers/staging/media/tegra-video/csi.c
> @@ -863,11 +863,23 @@ static void tegra_csi_remove(struct platform_device *pdev)
> pm_runtime_disable(&pdev->dev);
> }
>
> +#if defined(CONFIG_ARCH_TEGRA_2x_SOC)
> +extern const struct tegra_csi_soc tegra20_csi_soc;
> +#endif
> +#if defined(CONFIG_ARCH_TEGRA_3x_SOC)
> +extern const struct tegra_csi_soc tegra30_csi_soc;
> +#endif
> #if defined(CONFIG_ARCH_TEGRA_210_SOC)
> extern const struct tegra_csi_soc tegra210_csi_soc;
> #endif
>
> static const struct of_device_id tegra_csi_of_id_table[] = {
> +#if defined(CONFIG_ARCH_TEGRA_2x_SOC)
> + { .compatible = "nvidia,tegra20-csi", .data = &tegra20_csi_soc },
> +#endif
> +#if defined(CONFIG_ARCH_TEGRA_3x_SOC)
> + { .compatible = "nvidia,tegra30-csi", .data = &tegra30_csi_soc },
> +#endif
> #if defined(CONFIG_ARCH_TEGRA_210_SOC)
> { .compatible = "nvidia,tegra210-csi", .data = &tegra210_csi_soc },
> #endif
> diff --git a/drivers/staging/media/tegra-video/tegra20.c b/drivers/staging/media/tegra-video/tegra20.c
> index 20cdcc4e01aa..f81c40b6e709 100644
> --- a/drivers/staging/media/tegra-video/tegra20.c
> +++ b/drivers/staging/media/tegra-video/tegra20.c
> @@ -4,6 +4,9 @@
> *
> * Copyright (C) 2023 SKIDATA GmbH
> * Author: Luca Ceresoli <luca.ceresoli@bootlin.com>
> + *
> + * Copyright (c) 2025 Svyatoslav Ryhel <clamor95@gmail.com>
> + * Copyright (c) 2025 Jonas Schwöbel <jonasschwoebel@yahoo.de>
> */
>
> /*
> @@ -12,11 +15,16 @@
> */
>
> #include <linux/bitfield.h>
> +#include <linux/clk.h>
> +#include <linux/clk/tegra.h>
> #include <linux/delay.h>
> #include <linux/host1x.h>
> +#include <linux/iopoll.h>
> #include <linux/kernel.h>
> #include <linux/kthread.h>
> +#include <linux/pm_runtime.h>
> #include <linux/tegra-csi.h>
> +#include <linux/tegra-mipi-cal.h>
> #include <linux/v4l2-mediabus.h>
>
> #include "vip.h"
> @@ -43,6 +51,9 @@ enum tegra_vi_out {
> #define VI_CONT_SYNCPT_OUT_CONTINUOUS_SYNCPT BIT(8)
> #define VI_CONT_SYNCPT_OUT_SYNCPT_IDX_SFT 0
>
> +#define TEGRA_VI_CONT_SYNCPT_CSI_PP_FRAME_START(n) (0x0070 + (n) * 8)
> +#define TEGRA_VI_CONT_SYNCPT_CSI_PP_FRAME_END(n) (0x0074 + (n) * 8)
> +
> #define TEGRA_VI_VI_INPUT_CONTROL 0x0088
> #define VI_INPUT_FIELD_DETECT BIT(27)
> #define VI_INPUT_BT656 BIT(25)
> @@ -88,6 +99,8 @@ enum tegra_vi_out {
> #define VI_OUTPUT_OUTPUT_FORMAT_SFT 0
> #define VI_OUTPUT_OUTPUT_FORMAT_YUV422POST (3 << VI_OUTPUT_OUTPUT_FORMAT_SFT)
> #define VI_OUTPUT_OUTPUT_FORMAT_YUV420PLANAR (6 << VI_OUTPUT_OUTPUT_FORMAT_SFT)
> +#define VI_OUTPUT_OUTPUT_FORMAT_CSI_PPA_BAYER (7 << VI_OUTPUT_OUTPUT_FORMAT_SFT)
> +#define VI_OUTPUT_OUTPUT_FORMAT_CSI_PPB_BAYER (8 << VI_OUTPUT_OUTPUT_FORMAT_SFT)
> #define VI_OUTPUT_OUTPUT_FORMAT_VIP_BAYER_DIRECT (9 << VI_OUTPUT_OUTPUT_FORMAT_SFT)
>
> #define TEGRA_VI_VIP_H_ACTIVE 0x00a4
> @@ -152,8 +165,106 @@ enum tegra_vi_out {
> #define TEGRA_VI_VI_RAISE 0x01ac
> #define VI_VI_RAISE_ON_EDGE BIT(0)
>
> +#define TEGRA_VI_CSI_PP_RAISE_FRAME_START(n) (0x01d8 + (n) * 8)
> +#define TEGRA_VI_CSI_PP_RAISE_FRAME_END(n) (0x01dc + (n) * 8)
> +#define TEGRA_VI_CSI_PP_H_ACTIVE(n) (0x01e8 + (n) * 8)
> +#define TEGRA_VI_CSI_PP_V_ACTIVE(n) (0x01ec + (n) * 8)
> +
> +/* Tegra20 CSI registers: Starts from 0x800, offset 0x0 */
> +#define TEGRA_CSI_VI_INPUT_STREAM_CONTROL 0x0000
> +#define TEGRA_CSI_HOST_INPUT_STREAM_CONTROL 0x0008
> +#define TEGRA_CSI_INPUT_STREAM_CONTROL(n) (0x0010 + (n) * 0x2c)
> +#define CSI_SKIP_PACKET_THRESHOLD(n) (((n) & 0xff) << 16)
> +#define TEGRA_CSI_PIXEL_STREAM_CONTROL0(n) (0x0018 + (n) * 0x2c)
> +#define CSI_PP_PAD_FRAME_PAD0S (0 << 28)
> +#define CSI_PP_PAD_FRAME_PAD1S (1 << 28)
> +#define CSI_PP_PAD_FRAME_NOPAD (2 << 28)
> +#define CSI_PP_HEADER_EC_ENABLE BIT(27)
> +#define CSI_PP_PAD_SHORT_LINE_PAD0S (0 << 24)
> +#define CSI_PP_PAD_SHORT_LINE_PAD1S (1 << 24)
> +#define CSI_PP_PAD_SHORT_LINE_NOPAD (2 << 24)
> +#define CSI_PP_EMBEDDED_DATA_EMBEDDED BIT(20)
> +#define CSI_PP_OUTPUT_FORMAT_ARBITRARY (0 << 16)
> +#define CSI_PP_OUTPUT_FORMAT_PIXEL (1 << 16)
> +#define CSI_PP_OUTPUT_FORMAT_PIXEL_REP (2 << 16)
> +#define CSI_PP_OUTPUT_FORMAT_STORE (3 << 16)
> +#define CSI_PP_VIRTUAL_CHANNEL_ID(n) (((n) - 1) << 14)
> +#define CSI_PP_DATA_TYPE(n) ((n) << 8)
> +#define CSI_PP_CRC_CHECK_ENABLE BIT(7)
> +#define CSI_PP_WORD_COUNT_HEADER BIT(6)
> +#define CSI_PP_DATA_IDENTIFIER_ENABLE BIT(5)
> +#define CSI_PP_PACKET_HEADER_SENT BIT(4)
> +#define TEGRA_CSI_PIXEL_STREAM_CONTROL1(n) (0x001c + (n) * 0x2c)
> +#define TEGRA_CSI_PIXEL_STREAM_WORD_COUNT(n) (0x0020 + (n) * 0x2c)
> +#define TEGRA_CSI_PIXEL_STREAM_GAP(n) (0x0024 + (n) * 0x2c)
> +#define CSI_PP_FRAME_MIN_GAP(n) (((n) & 0xffff) << 16)
> +#define CSI_PP_LINE_MIN_GAP(n) (((n) & 0xffff))
> +#define TEGRA_CSI_PIXEL_STREAM_PP_COMMAND(n) (0x0028 + (n) * 0x2c)
> +#define CSI_PP_START_MARKER_FRAME_MAX(n) (((n) & 0xf) << 12)
> +#define CSI_PP_START_MARKER_FRAME_MIN(n) (((n) & 0xf) << 8)
> +#define CSI_PP_VSYNC_START_MARKER BIT(4)
> +#define CSI_PP_SINGLE_SHOT BIT(2)
> +#define CSI_PP_NOP 0
> +#define CSI_PP_ENABLE 1
> +#define CSI_PP_DISABLE 2
> +#define CSI_PP_RST 3
> +#define TEGRA_CSI_PHY_CIL_COMMAND 0x0068
> +#define CSI_A_PHY_CIL_NOP 0x0
> +#define CSI_A_PHY_CIL_ENABLE 0x1
> +#define CSI_A_PHY_CIL_DISABLE 0x2
> +#define CSI_A_PHY_CIL_ENABLE_MASK 0x3
> +#define CSI_B_PHY_CIL_NOP (0x0 << 16)
> +#define CSI_B_PHY_CIL_ENABLE (0x1 << 16)
> +#define CSI_B_PHY_CIL_DISABLE (0x2 << 16)
> +#define CSI_B_PHY_CIL_ENABLE_MASK (0x3 << 16)
> +#define TEGRA_CSI_PHY_CIL_CONTROL0(n) (0x006c + (n) * 4)
> +#define CSI_CONTINUOUS_CLOCK_MODE_ENABLE BIT(5)
> +#define TEGRA_CSI_CSI_PIXEL_PARSER_STATUS 0x0078
> +#define TEGRA_CSI_CSI_CIL_STATUS 0x007c
> +#define CSI_MIPI_AUTO_CAL_DONE BIT(15)
> +#define TEGRA_CSI_CSI_PIXEL_PARSER_INTERRUPT_MASK 0x0080
> +#define TEGRA_CSI_CSI_CIL_INTERRUPT_MASK 0x0084
> +#define TEGRA_CSI_CSI_READONLY_STATUS 0x0088
> +#define TEGRA_CSI_ESCAPE_MODE_COMMAND 0x008c
> +#define TEGRA_CSI_ESCAPE_MODE_DATA 0x0090
> +#define TEGRA_CSI_CIL_PAD_CONFIG0(n) (0x0094 + (n) * 8)
> +#define TEGRA_CSI_CIL_PAD_CONFIG1(n) (0x0098 + (n) * 8)
> +#define TEGRA_CSI_CIL_PAD_CONFIG 0x00a4
> +#define TEGRA_CSI_CILA_MIPI_CAL_CONFIG 0x00a8
> +#define TEGRA_CSI_CILB_MIPI_CAL_CONFIG 0x00ac
> +#define CSI_CIL_MIPI_CAL_STARTCAL BIT(31)
> +#define CSI_CIL_MIPI_CAL_OVERIDE_A BIT(30)
> +#define CSI_CIL_MIPI_CAL_OVERIDE_B BIT(30)
> +#define CSI_CIL_MIPI_CAL_NOISE_FLT(n) (((n) & 0xf) << 26)
> +#define CSI_CIL_MIPI_CAL_PRESCALE(n) (((n) & 0x3) << 24)
> +#define CSI_CIL_MIPI_CAL_SEL_A BIT(21)
> +#define CSI_CIL_MIPI_CAL_SEL_B BIT(21)
> +#define CSI_CIL_MIPI_CAL_HSPDOS(n) (((n) & 0x1f) << 16)
> +#define CSI_CIL_MIPI_CAL_HSPUOS(n) (((n) & 0x1f) << 8)
> +#define CSI_CIL_MIPI_CAL_TERMOS(n) (((n) & 0x1f))
> +#define TEGRA_CSI_CIL_MIPI_CAL_STATUS 0x00b0
> +#define TEGRA_CSI_CLKEN_OVERRIDE 0x00b4
> +#define TEGRA_CSI_DEBUG_CONTROL 0x00b8
> +#define CSI_DEBUG_CONTROL_DEBUG_EN_ENABLED BIT(0)
> +#define CSI_DEBUG_CONTROL_CLR_DBG_CNT_0 BIT(4)
> +#define CSI_DEBUG_CONTROL_CLR_DBG_CNT_1 BIT(5)
> +#define CSI_DEBUG_CONTROL_CLR_DBG_CNT_2 BIT(6)
> +#define CSI_DEBUG_CONTROL_DBG_CNT_SEL(n, v) ((v) << (8 + 8 * (n)))
> +#define TEGRA_CSI_DEBUG_COUNTER(n) (0x00bc + (n) * 4)
> +#define TEGRA_CSI_PIXEL_STREAM_EXPECTED_FRAME(n) (0x00c8 + (n) * 4)
> +#define CSI_PP_EXP_FRAME_HEIGHT(n) (((n) & 0x1fff) << 16)
> +#define CSI_PP_MAX_CLOCKS(n) (((n) & 0xfff) << 4)
> +#define CSI_PP_LINE_TIMEOUT_ENABLE BIT(0)
> +#define TEGRA_CSI_DSI_MIPI_CAL_CONFIG 0x00d0
> +#define TEGRA_CSI_MIPIBIAS_PAD_CONFIG 0x00d4
> +#define CSI_PAD_DRIV_DN_REF(n) (((n) & 0x7) << 16)
> +#define CSI_PAD_DRIV_UP_REF(n) (((n) & 0x7) << 8)
> +#define CSI_PAD_TERM_REF(n) (((n) & 0x7) << 0)
> +#define TEGRA_CSI_CSI_CILA_STATUS 0x00d8
> +#define TEGRA_CSI_CSI_CILB_STATUS 0x00dc
> +
> /* --------------------------------------------------------------------------
> - * VI
> + * Read and Write helpers
> */
>
> static void tegra20_vi_write(struct tegra_vi_channel *chan, unsigned int addr, u32 val)
> @@ -161,6 +272,35 @@ static void tegra20_vi_write(struct tegra_vi_channel *chan, unsigned int addr, u
> writel(val, chan->vi->iomem + addr);
> }
>
> +static int __maybe_unused tegra20_vi_read(struct tegra_vi_channel *chan, unsigned int addr)
> +{
> + return readl(chan->vi->iomem + addr);
> +}
> +
> +static void tegra20_csi_write(struct tegra_csi_channel *csi_chan, unsigned int addr, u32 val)
> +{
> + writel(val, csi_chan->csi->iomem + addr);
> +}
> +
> +static int __maybe_unused tegra20_csi_read(struct tegra_csi_channel *csi_chan, unsigned int addr)
> +{
> + return readl(csi_chan->csi->iomem + addr);
> +}
> +
> +static void tegra20_mipi_write(struct tegra_mipi_device *mipi, unsigned int addr, u32 val)
> +{
> + writel(val, mipi->csi->iomem + addr);
> +}
> +
> +static int __maybe_unused tegra20_mipi_read(struct tegra_mipi_device *mipi, unsigned int addr)
> +{
> + return readl(mipi->csi->iomem + addr);
> +}
> +
> +/* --------------------------------------------------------------------------
> + * VI
> + */
> +
> /*
> * Get the main input format (YUV/RGB...) and the YUV variant as values to
> * be written into registers for the current VI input mbus code.
> @@ -283,20 +423,27 @@ static int tegra20_vi_enable(struct tegra_vi *vi, bool on)
> static int tegra20_channel_host1x_syncpt_init(struct tegra_vi_channel *chan)
> {
> struct tegra_vi *vi = chan->vi;
> - struct host1x_syncpt *out_sp;
> + struct host1x_syncpt *out_sp, *fs_sp;
>
> out_sp = host1x_syncpt_request(&vi->client, HOST1X_SYNCPT_CLIENT_MANAGED);
> if (!out_sp)
> - return dev_err_probe(vi->dev, -ENOMEM, "failed to request syncpoint\n");
> + return dev_err_probe(vi->dev, -EBUSY, "failed to request mw ack syncpoint\n");
>
> chan->mw_ack_sp[0] = out_sp;
>
> + fs_sp = host1x_syncpt_request(&vi->client, HOST1X_SYNCPT_CLIENT_MANAGED);
> + if (!fs_sp)
> + return dev_err_probe(vi->dev, -EBUSY, "failed to request frame start syncpoint\n");
> +
> + chan->frame_start_sp[0] = fs_sp;
> +
> return 0;
> }
>
> static void tegra20_channel_host1x_syncpt_free(struct tegra_vi_channel *chan)
> {
> host1x_syncpt_put(chan->mw_ack_sp[0]);
> + host1x_syncpt_put(chan->frame_start_sp[0]);
> }
>
> static void tegra20_fmt_align(struct v4l2_pix_format *pix, unsigned int bpp)
> @@ -417,41 +564,68 @@ static void tegra20_channel_vi_buffer_setup(struct tegra_vi_channel *chan,
> }
>
> static int tegra20_channel_capture_frame(struct tegra_vi_channel *chan,
> - struct tegra_channel_buffer *buf)
> + struct tegra_channel_buffer *buf,
> + struct tegra_csi_channel *csi_chan)
> {
> int err;
>
> - chan->next_out_sp_idx++;
> -
> tegra20_channel_vi_buffer_setup(chan, buf);
>
> - tegra20_vi_write(chan, TEGRA_VI_CAMERA_CONTROL, VI_CAMERA_CONTROL_VIP_ENABLE);
> + if (csi_chan) {
> + u32 port = csi_chan->csi_port_nums[0] & 1;
> +
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PIXEL_STREAM_PP_COMMAND(port),
> + CSI_PP_START_MARKER_FRAME_MAX(0xf) |
> + CSI_PP_SINGLE_SHOT | CSI_PP_ENABLE);
> +
> + err = host1x_syncpt_wait(chan->frame_start_sp[0], chan->next_fs_sp_value + 1,
> + TEGRA_VI_SYNCPT_WAIT_TIMEOUT, NULL);
> + if (err) {
> + if (err != -ERESTARTSYS)
> + dev_err_ratelimited(&chan->video.dev,
> + "frame start syncpt timeout: %d\n", err);
> + } else {
> + chan->next_fs_sp_value++;
> + }

Did you try the idea about resetting the HW and re-checking the syncpoint value to avoid race conditions?

> +
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PIXEL_STREAM_PP_COMMAND(port),
> + CSI_PP_START_MARKER_FRAME_MAX(0xf) |
> + CSI_PP_DISABLE);
> + } else {
> + tegra20_vi_write(chan, TEGRA_VI_CAMERA_CONTROL, VI_CAMERA_CONTROL_VIP_ENABLE);
> + }
>
> - /* Wait for syncpt counter to reach frame start event threshold */
> + chan->next_out_sp_idx++;
> err = host1x_syncpt_wait(chan->mw_ack_sp[0], chan->next_out_sp_idx,
> TEGRA_VI_SYNCPT_WAIT_TIMEOUT, NULL);
> if (err) {
> host1x_syncpt_incr(chan->mw_ack_sp[0]);
> - dev_err_ratelimited(&chan->video.dev, "frame start syncpt timeout: %d\n", err);
> - release_buffer(chan, buf, VB2_BUF_STATE_ERROR);
> - return err;
> + if (err != -ERESTARTSYS)
> + dev_err_ratelimited(&chan->video.dev, "mw ack syncpt timeout: %d\n", err);
> }
>
> - tegra20_vi_write(chan, TEGRA_VI_CAMERA_CONTROL,
> - VI_CAMERA_CONTROL_STOP_CAPTURE | VI_CAMERA_CONTROL_VIP_ENABLE);
> + if (!csi_chan)
> + tegra20_vi_write(chan, TEGRA_VI_CAMERA_CONTROL,
> + VI_CAMERA_CONTROL_STOP_CAPTURE | VI_CAMERA_CONTROL_VIP_ENABLE);
>
> release_buffer(chan, buf, VB2_BUF_STATE_DONE);
>
> - return 0;
> + return err;
> }
>
> static int tegra20_chan_capture_kthread_start(void *data)
> {
> struct tegra_vi_channel *chan = data;
> struct tegra_channel_buffer *buf;
> + struct v4l2_subdev *csi_subdev = NULL;
> + struct tegra_csi_channel *csi_chan = NULL;
> unsigned int retries = 0;
> int err = 0;
>
> + csi_subdev = tegra_channel_get_remote_csi_subdev(chan);
> + if (csi_subdev)
> + csi_chan = to_csi_chan(csi_subdev);
> +
> while (1) {
> /*
> * Source is not streaming if error is non-zero.
> @@ -476,7 +650,7 @@ static int tegra20_chan_capture_kthread_start(void *data)
> list_del_init(&buf->queue);
> spin_unlock(&chan->start_lock);
>
> - err = tegra20_channel_capture_frame(chan, buf);
> + err = tegra20_channel_capture_frame(chan, buf, csi_chan);
> if (!err) {
> retries = 0;
> continue;
> @@ -503,28 +677,6 @@ static void tegra20_camera_capture_setup(struct tegra_vi_channel *chan)
> enum tegra_vi_out output_channel = (data_type == TEGRA_IMAGE_DT_RAW8 ||
> data_type == TEGRA_IMAGE_DT_RAW10) ?
> TEGRA_VI_OUT_2 : TEGRA_VI_OUT_1;
> - int main_output_format;
> - int yuv_output_format;
> -
> - tegra20_vi_get_output_formats(chan, &main_output_format, &yuv_output_format);
> -
> - /*
> - * Set up low pass filter. Use 0x240 for chromaticity and 0x240
> - * for luminance, which is the default and means not to touch
> - * anything.
> - */
> - tegra20_vi_write(chan, TEGRA_VI_H_LPF_CONTROL,
> - 0x0240 << VI_H_LPF_CONTROL_LUMA_SFT |
> - 0x0240 << VI_H_LPF_CONTROL_CHROMA_SFT);
> -
> - /* Set up raise-on-edge, so we get an interrupt on end of frame. */
> - tegra20_vi_write(chan, TEGRA_VI_VI_RAISE, VI_VI_RAISE_ON_EDGE);
> -
> - tegra20_vi_write(chan, TEGRA_VI_VI_OUTPUT_CONTROL(output_channel),
> - (chan->vflip ? VI_OUTPUT_V_DIRECTION : 0) |
> - (chan->hflip ? VI_OUTPUT_H_DIRECTION : 0) |
> - yuv_output_format << VI_OUTPUT_YUV_OUTPUT_FORMAT_SFT |
> - main_output_format << VI_OUTPUT_OUTPUT_FORMAT_SFT);
>
> /* Set up frame size */
> tegra20_vi_write(chan, TEGRA_VI_OUTPUT_FRAME_SIZE(output_channel),
> @@ -555,18 +707,31 @@ static int tegra20_vi_start_streaming(struct vb2_queue *vq, u32 count)
> struct media_pipeline *pipe = &chan->video.pipe;
> int err;
>
> + chan->next_fs_sp_value = host1x_syncpt_read(chan->frame_start_sp[0]);
> chan->next_out_sp_idx = host1x_syncpt_read(chan->mw_ack_sp[0]);
>
> err = video_device_pipeline_start(&chan->video, pipe);
> if (err)
> goto error_pipeline_start;
>
> - tegra20_camera_capture_setup(chan);
> + /*
> + * Set up low pass filter. Use 0x240 for chromaticity and 0x240
> + * for luminance, which is the default and means not to touch
> + * anything.
> + */
> + tegra20_vi_write(chan, TEGRA_VI_H_LPF_CONTROL,
> + 0x0240 << VI_H_LPF_CONTROL_LUMA_SFT |
> + 0x0240 << VI_H_LPF_CONTROL_CHROMA_SFT);
> +
> + /* Set up raise-on-edge, so we get an interrupt on end of frame. */
> + tegra20_vi_write(chan, TEGRA_VI_VI_RAISE, VI_VI_RAISE_ON_EDGE);
>
> err = tegra_channel_set_stream(chan, true);
> if (err)
> goto error_set_stream;
>
> + tegra20_camera_capture_setup(chan);
> +
> chan->sequence = 0;
>
> chan->kthread_start_capture = kthread_run(tegra20_chan_capture_kthread_start,
> @@ -658,6 +823,348 @@ const struct tegra_vi_soc tegra20_vi_soc = {
> .has_h_v_flip = true,
> };
>
> +/* --------------------------------------------------------------------------
> + * MIPI Calibration
> + */
> +static int tegra20_start_pad_calibration(struct tegra_mipi_device *mipi)
> +{
> + struct tegra_csi *csi = mipi->csi;
> + unsigned int port = mipi->pads;
> + u32 value;
> + int ret;
> +
> + guard(mutex)(&csi->mipi_lock);
> +
> + ret = pm_runtime_resume_and_get(csi->dev);
> + if (ret < 0) {
> + dev_err(csi->dev, "failed to get runtime PM: %d\n", ret);
> + return ret;
> + }
> +
> + tegra20_mipi_write(mipi, TEGRA_CSI_DSI_MIPI_CAL_CONFIG,
> + CSI_CIL_MIPI_CAL_HSPDOS(4) |
> + CSI_CIL_MIPI_CAL_HSPUOS(3) |
> + CSI_CIL_MIPI_CAL_TERMOS(0));
> + tegra20_mipi_write(mipi, TEGRA_CSI_MIPIBIAS_PAD_CONFIG,
> + CSI_PAD_DRIV_DN_REF(5) |
> + CSI_PAD_DRIV_UP_REF(7) |
> + CSI_PAD_TERM_REF(0));
> +
> + /* CSI B */
> + value = CSI_CIL_MIPI_CAL_HSPDOS(0) |
> + CSI_CIL_MIPI_CAL_HSPUOS(0) |
> + CSI_CIL_MIPI_CAL_TERMOS(4);
> +
> + if (port == PORT_B)
> + value |= CSI_CIL_MIPI_CAL_SEL_B;
> +
> + tegra20_mipi_write(mipi, TEGRA_CSI_CILB_MIPI_CAL_CONFIG, value);
> +
> + /* CSI A */
> + value = CSI_CIL_MIPI_CAL_STARTCAL |
> + CSI_CIL_MIPI_CAL_NOISE_FLT(0xa) |
> + CSI_CIL_MIPI_CAL_PRESCALE(0x2) |
> + CSI_CIL_MIPI_CAL_HSPDOS(0) |
> + CSI_CIL_MIPI_CAL_HSPUOS(0) |
> + CSI_CIL_MIPI_CAL_TERMOS(4);
> +
> + if (port == PORT_A)
> + value |= CSI_CIL_MIPI_CAL_SEL_A;
> +
> + tegra20_mipi_write(mipi, TEGRA_CSI_CILA_MIPI_CAL_CONFIG, value);
> +
> + tegra20_mipi_write(mipi, TEGRA_CSI_CIL_PAD_CONFIG, 0);
> +
> + return 0;
> +}
> +
> +static int tegra20_finish_pad_calibration(struct tegra_mipi_device *mipi)
> +{
> + struct tegra_csi *csi = mipi->csi;
> + void __iomem *cil_status_reg = csi->iomem + TEGRA_CSI_CSI_CIL_STATUS;
> + unsigned int port = mipi->pads;
> + u32 value, pp, cil;
> + int ret;
> +
> + /* This part is only for CSI */
> + if (port > PORT_B) {
> + pm_runtime_put(csi->dev);
> +
> + return 0;
> + }
> +
> + guard(mutex)(&csi->mipi_lock);
> +
> + ret = readl_relaxed_poll_timeout(cil_status_reg, value,
> + value & CSI_MIPI_AUTO_CAL_DONE, 50, 250000);
> + if (ret < 0) {
> + dev_warn(csi->dev, "MIPI calibration timeout!\n");
> + goto exit;
> + }
> +
> + /* clear status */
> + tegra20_mipi_write(mipi, TEGRA_CSI_CSI_CIL_STATUS, value);
> + ret = readl_relaxed_poll_timeout(cil_status_reg, value,
> + !(value & CSI_MIPI_AUTO_CAL_DONE), 50, 250000);
> + if (ret < 0) {
> + dev_warn(csi->dev, "MIPI calibration status timeout!\n");
> + goto exit;
> + }
> +
> + pp = tegra20_mipi_read(mipi, TEGRA_CSI_CSI_PIXEL_PARSER_STATUS);
> + cil = tegra20_mipi_read(mipi, TEGRA_CSI_CSI_CIL_STATUS);
> + if (pp | cil) {
> + dev_warn(csi->dev, "Calibration status not been cleared!\n");
> + ret = -EINVAL;
> + goto exit;
> + }
> +
> +exit:
> + tegra20_mipi_write(mipi, TEGRA_CSI_CSI_CIL_STATUS, pp);
> +
> + /* un-select to avoid interference with DSI */
> + tegra20_mipi_write(mipi, TEGRA_CSI_CILB_MIPI_CAL_CONFIG,
> + CSI_CIL_MIPI_CAL_HSPDOS(0) |
> + CSI_CIL_MIPI_CAL_HSPUOS(0) |
> + CSI_CIL_MIPI_CAL_TERMOS(4));
> +
> + tegra20_mipi_write(mipi, TEGRA_CSI_CILA_MIPI_CAL_CONFIG,
> + CSI_CIL_MIPI_CAL_NOISE_FLT(0xa) |
> + CSI_CIL_MIPI_CAL_PRESCALE(0x2) |
> + CSI_CIL_MIPI_CAL_HSPDOS(0) |
> + CSI_CIL_MIPI_CAL_HSPUOS(0) |
> + CSI_CIL_MIPI_CAL_TERMOS(4));
> +
> + pm_runtime_put(csi->dev);
> +
> + return ret;
> +}
> +
> +static const struct tegra_mipi_ops tegra20_mipi_ops = {
> + .tegra_mipi_start_calibration = tegra20_start_pad_calibration,
> + .tegra_mipi_finish_calibration = tegra20_finish_pad_calibration,
> +};

This patch is very long, maybe split the MIPI calibration into a separate patch to make it easier to read.

> +
> +/* --------------------------------------------------------------------------
> + * CSI
> + */
> +static void tegra20_csi_capture_clean(struct tegra_csi_channel *csi_chan)
> +{
> + tegra20_csi_write(csi_chan, TEGRA_CSI_VI_INPUT_STREAM_CONTROL, 0);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_HOST_INPUT_STREAM_CONTROL, 0);
> +
> + tegra20_csi_write(csi_chan, TEGRA_CSI_CSI_PIXEL_PARSER_STATUS, 0);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_CSI_CIL_STATUS, 0);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_CSI_PIXEL_PARSER_INTERRUPT_MASK, 0);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_CSI_CIL_INTERRUPT_MASK, 0);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_CSI_READONLY_STATUS, 0);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_ESCAPE_MODE_COMMAND, 0);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_ESCAPE_MODE_DATA, 0);
> +
> + tegra20_csi_write(csi_chan, TEGRA_CSI_CIL_PAD_CONFIG, 0);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_CIL_MIPI_CAL_STATUS, 0);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_CLKEN_OVERRIDE, 0);
> +
> + tegra20_csi_write(csi_chan, TEGRA_CSI_DEBUG_CONTROL,
> + CSI_DEBUG_CONTROL_CLR_DBG_CNT_0 |
> + CSI_DEBUG_CONTROL_CLR_DBG_CNT_1 |
> + CSI_DEBUG_CONTROL_CLR_DBG_CNT_2);
> +}
> +
> +static int tegra20_csi_port_start_streaming(struct tegra_csi_channel *csi_chan,
> + u8 portno)
> +{
> + struct tegra_vi_channel *vi_chan = v4l2_get_subdev_hostdata(&csi_chan->subdev);
> + int width = vi_chan->format.width;
> + int height = vi_chan->format.height;
> + u32 data_type = vi_chan->fmtinfo->img_dt;
> + u32 word_count = (width * vi_chan->fmtinfo->bit_width) / 8;
> + enum tegra_vi_out output_channel = TEGRA_VI_OUT_1;
> +
> + unsigned int main_output_format, yuv_output_format;
> + unsigned int port = portno & 1;
> + u32 value;
> +
> + tegra20_vi_get_output_formats(vi_chan, &main_output_format, &yuv_output_format);
> +
> + switch (data_type) {
> + case TEGRA_IMAGE_DT_RAW8:
> + case TEGRA_IMAGE_DT_RAW10:
> + output_channel = TEGRA_VI_OUT_2;
> + if (port == PORT_A)
> + main_output_format = VI_OUTPUT_OUTPUT_FORMAT_CSI_PPA_BAYER;
> + else
> + main_output_format = VI_OUTPUT_OUTPUT_FORMAT_CSI_PPB_BAYER;
> + break;
> + }
> +
> + tegra20_csi_capture_clean(csi_chan);
> +
> + /* CSI port cleanup */
> + tegra20_csi_write(csi_chan, TEGRA_CSI_INPUT_STREAM_CONTROL(port), 0);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PIXEL_STREAM_CONTROL0(port), 0);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PIXEL_STREAM_CONTROL1(port), 0);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PIXEL_STREAM_WORD_COUNT(port), 0);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PIXEL_STREAM_GAP(port), 0);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PIXEL_STREAM_PP_COMMAND(port), 0);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PIXEL_STREAM_EXPECTED_FRAME(port), 0);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PHY_CIL_CONTROL0(port), 0);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_CIL_PAD_CONFIG0(port), 0);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_CIL_PAD_CONFIG1(port), 0);
> +
> + tegra20_vi_write(vi_chan, TEGRA_VI_VI_CORE_CONTROL, BIT(25 + port)); /* CSI_PP_YUV422 */
> +
> + tegra20_vi_write(vi_chan, TEGRA_VI_H_DOWNSCALE_CONTROL, BIT(2 + port)); /* CSI_PP */
> + tegra20_vi_write(vi_chan, TEGRA_VI_V_DOWNSCALE_CONTROL, BIT(2 + port)); /* CSI_PP */
> +
> + tegra20_vi_write(vi_chan, TEGRA_VI_CSI_PP_H_ACTIVE(port), width << 16);
> + tegra20_vi_write(vi_chan, TEGRA_VI_CSI_PP_V_ACTIVE(port), height << 16);
> +
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PIXEL_STREAM_CONTROL1(port), 0x1);
> +
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PIXEL_STREAM_WORD_COUNT(port), word_count);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PIXEL_STREAM_GAP(port),
> + CSI_PP_FRAME_MIN_GAP(0x14)); /* 14 vi clks between frames */
> +
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PIXEL_STREAM_EXPECTED_FRAME(port),
> + CSI_PP_EXP_FRAME_HEIGHT(height) |
> + CSI_PP_MAX_CLOCKS(0x300) | /* wait 0x300 vi clks for timeout */
> + CSI_PP_LINE_TIMEOUT_ENABLE);
> +
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PIXEL_STREAM_CONTROL0(port),
> + CSI_PP_OUTPUT_FORMAT_PIXEL |
> + CSI_PP_DATA_TYPE(data_type) |
> + CSI_PP_CRC_CHECK_ENABLE |
> + CSI_PP_WORD_COUNT_HEADER |
> + CSI_PP_DATA_IDENTIFIER_ENABLE |
> + CSI_PP_PACKET_HEADER_SENT |
> + port);
> +
> + tegra20_csi_write(csi_chan, TEGRA_CSI_INPUT_STREAM_CONTROL(port),
> + CSI_SKIP_PACKET_THRESHOLD(0x3f) |
> + (csi_chan->numlanes - 1));
> +
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PHY_CIL_CONTROL0(port),
> + CSI_CONTINUOUS_CLOCK_MODE_ENABLE |
> + 0x5); /* Clock settle time */
> +
> + tegra20_vi_write(vi_chan, TEGRA_VI_CONT_SYNCPT_CSI_PP_FRAME_START(port),
> + VI_CONT_SYNCPT_OUT_CONTINUOUS_SYNCPT |
> + host1x_syncpt_id(vi_chan->frame_start_sp[0])
> + << VI_CONT_SYNCPT_OUT_SYNCPT_IDX_SFT);
> +
> + tegra20_vi_write(vi_chan, TEGRA_VI_CONT_SYNCPT_OUT(output_channel),
> + VI_CONT_SYNCPT_OUT_CONTINUOUS_SYNCPT |
> + host1x_syncpt_id(vi_chan->mw_ack_sp[0])
> + << VI_CONT_SYNCPT_OUT_SYNCPT_IDX_SFT);
> +
> + value = (port == PORT_A) ? CSI_A_PHY_CIL_ENABLE | CSI_B_PHY_CIL_DISABLE :
> + CSI_B_PHY_CIL_ENABLE | CSI_A_PHY_CIL_DISABLE;
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PHY_CIL_COMMAND, value);
> +
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PIXEL_STREAM_PP_COMMAND(port),
> + CSI_PP_START_MARKER_FRAME_MAX(0xf) |
> + CSI_PP_DISABLE);
> +
> + tegra20_vi_write(vi_chan, TEGRA_VI_VI_OUTPUT_CONTROL(output_channel),
> + (vi_chan->vflip ? VI_OUTPUT_V_DIRECTION : 0) |
> + (vi_chan->hflip ? VI_OUTPUT_H_DIRECTION : 0) |
> + yuv_output_format | main_output_format);
> +
> + return 0;
> +};
> +
> +static void tegra20_csi_port_stop_streaming(struct tegra_csi_channel *csi_chan, u8 portno)
> +{
> + struct tegra_csi *csi = csi_chan->csi;
> + unsigned int port = portno & 1;
> + u32 value;
> +
> + value = tegra20_csi_read(csi_chan, TEGRA_CSI_CSI_PIXEL_PARSER_STATUS);
> + dev_dbg(csi->dev, "TEGRA_CSI_CSI_PIXEL_PARSER_STATUS 0x%08x\n", value);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_CSI_PIXEL_PARSER_STATUS, value);
> +
> + value = tegra20_csi_read(csi_chan, TEGRA_CSI_CSI_CIL_STATUS);
> + dev_dbg(csi->dev, "TEGRA_CSI_CSI_CIL_STATUS 0x%08x\n", value);
> + tegra20_csi_write(csi_chan, TEGRA_CSI_CSI_CIL_STATUS, value);
> +
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PIXEL_STREAM_PP_COMMAND(port),
> + CSI_PP_START_MARKER_FRAME_MAX(0xf) |
> + CSI_PP_DISABLE);
> +
> + if (csi_chan->numlanes == 4) {
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PHY_CIL_COMMAND,
> + CSI_A_PHY_CIL_DISABLE | CSI_B_PHY_CIL_DISABLE);
> + } else {
> + value = (port == PORT_A) ? CSI_A_PHY_CIL_DISABLE | CSI_B_PHY_CIL_NOP :
> + CSI_B_PHY_CIL_DISABLE | CSI_A_PHY_CIL_NOP;
> + tegra20_csi_write(csi_chan, TEGRA_CSI_PHY_CIL_COMMAND, value);
> + }
> +}
> +
> +static int tegra20_csi_start_streaming(struct tegra_csi_channel *csi_chan)
> +{
> + u8 *portnos = csi_chan->csi_port_nums;
> + int ret, i;
> +
> + for (i = 0; i < csi_chan->numgangports; i++) {
> + ret = tegra20_csi_port_start_streaming(csi_chan, portnos[i]);
> + if (ret)
> + goto stream_start_fail;
> + }
> +
> + return 0;
> +
> +stream_start_fail:
> + for (i = i - 1; i >= 0; i--)
> + tegra20_csi_port_stop_streaming(csi_chan, portnos[i]);
> +
> + return ret;
> +}
> +
> +static void tegra20_csi_stop_streaming(struct tegra_csi_channel *csi_chan)
> +{
> + u8 *portnos = csi_chan->csi_port_nums;
> + int i;
> +
> + for (i = 0; i < csi_chan->numgangports; i++)
> + tegra20_csi_port_stop_streaming(csi_chan, portnos[i]);
> +}
> +
> +/* Tegra20 CSI operations */

These comments don't add much.

Thanks,
Mikko

> +static const struct tegra_csi_ops tegra20_csi_ops = {
> + .csi_start_streaming = tegra20_csi_start_streaming,
> + .csi_stop_streaming = tegra20_csi_stop_streaming,
> +};
> +
> +static const char * const tegra20_csi_clks[] = {
> + NULL,
> +};
> +
> +/* Tegra20 CSI SoC data */
> +const struct tegra_csi_soc tegra20_csi_soc = {
> + .ops = &tegra20_csi_ops,
> + .mipi_ops = &tegra20_mipi_ops,
> + .csi_max_channels = 2, /* CSI-A and CSI-B */
> + .clk_names = tegra20_csi_clks,
> + .num_clks = ARRAY_SIZE(tegra20_csi_clks),
> +};
> +
> +static const char * const tegra30_csi_clks[] = {
> + "csi",
> + "csia-pad",
> + "csib-pad",
> +};
> +
> +/* Tegra30 CSI SoC data */
> +const struct tegra_csi_soc tegra30_csi_soc = {
> + .ops = &tegra20_csi_ops,
> + .mipi_ops = &tegra20_mipi_ops,
> + .csi_max_channels = 2, /* CSI-A and CSI-B */
> + .clk_names = tegra30_csi_clks,
> + .num_clks = ARRAY_SIZE(tegra30_csi_clks),
> +};
> +
> /* --------------------------------------------------------------------------
> * VIP
> */
> @@ -677,10 +1184,11 @@ static int tegra20_vip_start_streaming(struct tegra_vip_channel *vip_chan)
> enum tegra_vi_out output_channel = (data_type == TEGRA_IMAGE_DT_RAW8 ||
> data_type == TEGRA_IMAGE_DT_RAW10) ?
> TEGRA_VI_OUT_2 : TEGRA_VI_OUT_1;
> - unsigned int main_input_format;
> - unsigned int yuv_input_format;
> + unsigned int main_input_format, yuv_input_format;
> + unsigned int main_output_format, yuv_output_format;
>
> tegra20_vi_get_input_formats(vi_chan, &main_input_format, &yuv_input_format);
> + tegra20_vi_get_output_formats(vi_chan, &main_output_format, &yuv_output_format);
>
> tegra20_vi_write(vi_chan, TEGRA_VI_VI_CORE_CONTROL, 0);
>
> @@ -713,6 +1221,11 @@ static int tegra20_vip_start_streaming(struct tegra_vip_channel *vip_chan)
>
> tegra20_vi_write(vi_chan, TEGRA_VI_CAMERA_CONTROL, VI_CAMERA_CONTROL_STOP_CAPTURE);
>
> + tegra20_vi_write(vi_chan, TEGRA_VI_VI_OUTPUT_CONTROL(output_channel),
> + (vi_chan->vflip ? VI_OUTPUT_V_DIRECTION : 0) |
> + (vi_chan->hflip ? VI_OUTPUT_H_DIRECTION : 0) |
> + yuv_output_format | main_output_format);
> +
> return 0;
> }
>
> diff --git a/drivers/staging/media/tegra-video/vi.h b/drivers/staging/media/tegra-video/vi.h
> index 367667adf745..648dde82a14b 100644
> --- a/drivers/staging/media/tegra-video/vi.h
> +++ b/drivers/staging/media/tegra-video/vi.h
> @@ -124,6 +124,7 @@ struct tegra_vi {
> * frame through host1x syncpoint counters (On Tegra20 used for the
> * OUT_1 syncpt)
> * @sp_incr_lock: protects cpu syncpoint increment.
> + * @next_fs_sp_idx: next expected value for frame_start_sp[0] (Tegra20)
> * @next_out_sp_idx: next expected value for mw_ack_sp[0], i.e. OUT_1 (Tegra20)
> *
> * @kthread_start_capture: kthread to start capture of single frame when
> @@ -188,6 +189,7 @@ struct tegra_vi_channel {
> /* protects the cpu syncpoint increment */
> spinlock_t sp_incr_lock[GANG_PORTS_MAX];
> u32 next_out_sp_idx;
> + u32 next_fs_sp_value;
>
> struct task_struct *kthread_start_capture;
> wait_queue_head_t start_wait;
> diff --git a/drivers/staging/media/tegra-video/video.c b/drivers/staging/media/tegra-video/video.c
> index 6fe8d5301b9c..9f2bddc460bf 100644
> --- a/drivers/staging/media/tegra-video/video.c
> +++ b/drivers/staging/media/tegra-video/video.c
> @@ -127,6 +127,12 @@ static const struct of_device_id host1x_video_subdevs[] = {
> { .compatible = "nvidia,tegra20-vip", },
> { .compatible = "nvidia,tegra20-vi", },
> #endif
> +#if defined(CONFIG_ARCH_TEGRA_2x_SOC)
> + { .compatible = "nvidia,tegra20-csi", },
> +#endif
> +#if defined(CONFIG_ARCH_TEGRA_3x_SOC)
> + { .compatible = "nvidia,tegra30-csi", },
> +#endif
> #if defined(CONFIG_ARCH_TEGRA_210_SOC)
> { .compatible = "nvidia,tegra210-csi", },
> { .compatible = "nvidia,tegra210-vi", },
>