drivers/video/video_stm32_dcmi.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /*
  * Copyright (c) 2024 Charles Dias <charlesdias.cd@outlook.com>
  *
  * SPDX-License-Identifier: Apache-2.0
  */

 #define DT_DRV_COMPAT st_stm32_dcmi

 #include <errno.h>
 #include <zephyr/kernel.h>
 #include <zephyr/drivers/video.h>
 #include <zephyr/drivers/pinctrl.h>
 #include <zephyr/irq.h>
 #include <zephyr/drivers/clock_control/stm32_clock_control.h>
 #include <zephyr/drivers/clock_control.h>
 #include <zephyr/drivers/dma.h>
 #include <zephyr/drivers/dma/dma_stm32.h>

 #include <stm32_ll_dma.h>

 #include <zephyr/logging/log.h>
 LOG_MODULE_REGISTER(video_stm32_dcmi, CONFIG_STM32_DCMI_LOG_LEVEL);

 K_HEAP_DEFINE(video_stm32_buffer_pool, CONFIG_VIDEO_BUFFER_POOL_SZ_MAX);

 typedef void (*irq_config_func_t)(const struct device *dev);

 struct stream {
 	DMA_TypeDef *reg;
 	const struct device *dma_dev;
 	uint32_t channel;
 	struct dma_config cfg;
 };

 struct video_stm32_dcmi_data {
 	const struct device *dev;
 	DCMI_HandleTypeDef hdcmi;
 	struct video_format fmt;
 	struct k_fifo fifo_in;
 	struct k_fifo fifo_out;
 	uint32_t pixel_format;
 	uint32_t height;
 	uint32_t width;
 	uint32_t pitch;
 	uint8_t *buffer;
 };

 struct video_stm32_dcmi_config {
 	struct stm32_pclken pclken;
 	irq_config_func_t irq_config;
 	const struct pinctrl_dev_config *pctrl;
 	const struct device *sensor_dev;
 	const struct stream dma;
 };

 static inline unsigned int video_pix_fmt_bpp(uint32_t pixelformat)
 {
 	switch (pixelformat) {
 	case VIDEO_PIX_FMT_BGGR8:
 	case VIDEO_PIX_FMT_GBRG8:
 	case VIDEO_PIX_FMT_GRBG8:
 	case VIDEO_PIX_FMT_RGGB8:
 		return 1;
 	case VIDEO_PIX_FMT_RGB565:
 	case VIDEO_PIX_FMT_YUYV:
 		return 2;
 	default:
 		return 0;
 	}
 }

 void HAL_DCMI_ErrorCallback(DCMI_HandleTypeDef *hdcmi)
 {
 	LOG_WRN("%s", __func__);
 }

 void HAL_DCMI_FrameEventCallback(DCMI_HandleTypeDef *hdcmi)
 {
 	struct video_stm32_dcmi_data *dev_data =
 			CONTAINER_OF(hdcmi, struct video_stm32_dcmi_data, hdcmi);
 	struct video_buffer *vbuf;

 	HAL_DCMI_Suspend(hdcmi);

 	vbuf = k_fifo_get(&dev_data->fifo_in, K_NO_WAIT);

 	if (vbuf == NULL) {
 		LOG_DBG("Failed to get buffer from fifo");
 		goto resume;
 	}

 	vbuf->timestamp = k_uptime_get_32();
 	memcpy(vbuf->buffer, dev_data->buffer, vbuf->bytesused);

 	k_fifo_put(&dev_data->fifo_out, vbuf);

 resume:
 	HAL_DCMI_Resume(hdcmi);
 }

 static void stm32_dcmi_isr(const struct device *dev)
 {
 	struct video_stm32_dcmi_data *data = dev->data;

 	HAL_DCMI_IRQHandler(&data->hdcmi);
 }

 static void dmci_dma_callback(const struct device *dev, void *arg,
 			 uint32_t channel, int status)
 {
 	DMA_HandleTypeDef *hdma = arg;

 	ARG_UNUSED(dev);

 	if (status < 0) {
 		LOG_ERR("DMA callback error with channel %d.", channel);
 	}

 	HAL_DMA_IRQHandler(hdma);
 }

 void HAL_DMA_ErrorCallback(DMA_HandleTypeDef *hdma)
 {
 	LOG_WRN("%s", __func__);
 }

 static int stm32_dma_init(const struct device *dev)
 {
 	struct video_stm32_dcmi_data *data = dev->data;
 	const struct video_stm32_dcmi_config *config = dev->config;
 	int ret;

 	/* Check if the DMA device is ready */
 	if (!device_is_ready(config->dma.dma_dev)) {
 		LOG_ERR("%s DMA device not ready", config->dma.dma_dev->name);
 		return -ENODEV;
 	}

 	/*
 	 * DMA configuration
 	 * Due to use of QSPI HAL API in current driver,
 	 * both HAL and Zephyr DMA drivers should be configured.
 	 * The required configuration for Zephyr DMA driver should only provide
 	 * the minimum information to inform the DMA slot will be in used and
 	 * how to route callbacks.
 	 */
 	struct dma_config dma_cfg = config->dma.cfg;
 	static DMA_HandleTypeDef hdma;

 	/* Proceed to the minimum Zephyr DMA driver init */
 	dma_cfg.user_data = &hdma;
 	/* HACK: This field is used to inform driver that it is overridden */
 	dma_cfg.linked_channel = STM32_DMA_HAL_OVERRIDE;
 	/* Because of the STREAM OFFSET, the DMA channel given here is from 1 - 8 */
 	ret = dma_config(config->dma.dma_dev,
 			config->dma.channel + STM32_DMA_STREAM_OFFSET, &dma_cfg);
 	if (ret != 0) {
 		LOG_ERR("Failed to configure DMA channel %d",
 			config->dma.channel + STM32_DMA_STREAM_OFFSET);
 		return ret;
 	}

 	/*** Configure the DMA ***/
 	/* Set the parameters to be configured */
 	hdma.Init.Request		= DMA_REQUEST_DCMI;
 	hdma.Init.Direction		= DMA_PERIPH_TO_MEMORY;
 	hdma.Init.PeriphInc		= DMA_PINC_DISABLE;
 	hdma.Init.MemInc		= DMA_MINC_ENABLE;
 	hdma.Init.PeriphDataAlignment	= DMA_PDATAALIGN_WORD;
 	hdma.Init.MemDataAlignment	= DMA_MDATAALIGN_WORD;
 	hdma.Init.Mode			= DMA_CIRCULAR;
 	hdma.Init.Priority		= DMA_PRIORITY_HIGH;
 	hdma.Init.FIFOMode		= DMA_FIFOMODE_DISABLE;

 	hdma.Instance = __LL_DMA_GET_STREAM_INSTANCE(config->dma.reg,
 						config->dma.channel);

 	/* Initialize DMA HAL */
 	__HAL_LINKDMA(&data->hdcmi, DMA_Handle, hdma);

 	if (HAL_DMA_Init(&hdma) != HAL_OK) {
 		LOG_ERR("DCMI DMA Init failed");
 		return -EIO;
 	}

 	return 0;
 }

 static int stm32_dcmi_enable_clock(const struct device *dev)
 {
 	const struct video_stm32_dcmi_config *config = dev->config;
 	const struct device *dcmi_clock = DEVICE_DT_GET(STM32_CLOCK_CONTROL_NODE);
 	int err;

 	if (!device_is_ready(dcmi_clock)) {
 		LOG_ERR("clock control device not ready");
 		return -ENODEV;
 	}

 	/* Turn on DCMI peripheral clock */
 	err = clock_control_on(dcmi_clock, (clock_control_subsys_t *) &config->pclken);
 	if (err < 0) {
 		LOG_ERR("Failed to enable DCMI clock. Error %d", err);
 		return err;
 	}

 	return 0;
 }

 static int video_stm32_dcmi_set_fmt(const struct device *dev,
 				  enum video_endpoint_id ep,
 				  struct video_format *fmt)
 {
 	const struct video_stm32_dcmi_config *config = dev->config;
 	struct video_stm32_dcmi_data *data = dev->data;
 	unsigned int bpp = video_pix_fmt_bpp(fmt->pixelformat);

 	if (!bpp || ep != VIDEO_EP_OUT) {
 		return -EINVAL;
 	}

 	data->pixel_format = fmt->pixelformat;
 	data->pitch = fmt->pitch;
 	data->height = fmt->height;
 	data->width = fmt->width;

 	if (video_set_format(config->sensor_dev, ep, fmt)) {
 		return -EIO;
 	}

 	return 0;
 }

 static int video_stm32_dcmi_get_fmt(const struct device *dev,
 				  enum video_endpoint_id ep,
 				  struct video_format *fmt)
 {
 	struct video_stm32_dcmi_data *data = dev->data;
 	const struct video_stm32_dcmi_config *config = dev->config;

 	if ((fmt == NULL) || (ep != VIDEO_EP_OUT)) {
 		return -EINVAL;
 	}

 	if (!video_get_format(config->sensor_dev, ep, fmt)) {
 		/* align DCMI with sensor fmt */
 		return video_stm32_dcmi_set_fmt(dev, ep, fmt);
 	}

 	fmt->pixelformat = data->pixel_format;
 	fmt->height = data->height;
 	fmt->width = data->width;
 	fmt->pitch = data->pitch;

 	return 0;
 }

 static int video_stm32_dcmi_stream_start(const struct device *dev)
 {
 	struct video_stm32_dcmi_data *data = dev->data;
 	const struct video_stm32_dcmi_config *config = dev->config;
 	size_t buffer_size = data->pitch * data->height;

 	data->buffer = k_heap_alloc(&video_stm32_buffer_pool, buffer_size, K_NO_WAIT);
 	if (data->buffer == NULL) {
 		LOG_ERR("Failed to allocate DCMI buffer for image. Size %d bytes", buffer_size);
 		return -ENOMEM;
 	}

 	int err = HAL_DCMI_Start_DMA(&data->hdcmi, DCMI_MODE_CONTINUOUS,
 			(uint32_t)data->buffer, buffer_size / 4);
 	if (err != HAL_OK) {
 		LOG_ERR("Failed to start DCMI DMA");
 		return -EIO;
 	}

 	if (video_stream_start(config->sensor_dev)) {
 		return -EIO;
 	}

 	return 0;
 }

 static int video_stm32_dcmi_stream_stop(const struct device *dev)
 {
 	struct video_stm32_dcmi_data *data = dev->data;
 	const struct video_stm32_dcmi_config *config = dev->config;
 	int err;

 	if (video_stream_stop(config->sensor_dev)) {
 		return -EIO;
 	}

 	/* Release the buffer allocated in stream_start */
 	k_heap_free(&video_stm32_buffer_pool, data->buffer);

 	err = HAL_DCMI_Stop(&data->hdcmi);
 	if (err != HAL_OK) {
 		LOG_ERR("Failed to stop DCMI");
 		return -EIO;
 	}

 	return 0;
 }

 static int video_stm32_dcmi_enqueue(const struct device *dev,
 				  enum video_endpoint_id ep,
 				  struct video_buffer *vbuf)
 {
 	struct video_stm32_dcmi_data *data = dev->data;

 	if (ep != VIDEO_EP_OUT) {
 		return -EINVAL;
 	}

 	vbuf->bytesused = data->pitch * data->height;

 	k_fifo_put(&data->fifo_in, vbuf);

 	return 0;
 }

 static int video_stm32_dcmi_dequeue(const struct device *dev,
 				  enum video_endpoint_id ep,
 				  struct video_buffer **vbuf,
 				  k_timeout_t timeout)
 {
 	struct video_stm32_dcmi_data *data = dev->data;

 	if (ep != VIDEO_EP_OUT) {
 		return -EINVAL;
 	}

 	*vbuf = k_fifo_get(&data->fifo_out, timeout);
 	if (*vbuf == NULL) {
 		return -EAGAIN;
 	}

 	return 0;
 }

 static int video_stm32_dcmi_get_caps(const struct device *dev,
 				   enum video_endpoint_id ep,
 				   struct video_caps *caps)
 {
 	const struct video_stm32_dcmi_config *config = dev->config;
 	int ret = -ENODEV;

 	if (ep != VIDEO_EP_OUT) {
 		return -EINVAL;
 	}

 	/* Forward the message to the sensor device */
 	ret = video_get_caps(config->sensor_dev, ep, caps);

 	return ret;
 }

 static const struct video_driver_api video_stm32_dcmi_driver_api = {
 	.set_format = video_stm32_dcmi_set_fmt,
 	.get_format = video_stm32_dcmi_get_fmt,
 	.stream_start = video_stm32_dcmi_stream_start,
 	.stream_stop = video_stm32_dcmi_stream_stop,
 	.enqueue = video_stm32_dcmi_enqueue,
 	.dequeue = video_stm32_dcmi_dequeue,
 	.get_caps = video_stm32_dcmi_get_caps,
 };

 static void video_stm32_dcmi_irq_config_func(const struct device *dev)
 {
 	IRQ_CONNECT(DT_INST_IRQN(0), DT_INST_IRQ(0, priority),
 		stm32_dcmi_isr, DEVICE_DT_INST_GET(0), 0);
 	irq_enable(DT_INST_IRQN(0));
 }

 #define DCMI_DMA_CHANNEL_INIT(index, src_dev, dest_dev)					\
 	.dma_dev = DEVICE_DT_GET(DT_INST_DMAS_CTLR_BY_IDX(index, 0)),			\
 	.channel = DT_INST_DMAS_CELL_BY_IDX(index, 0, channel),				\
 	.reg = (DMA_TypeDef *)DT_REG_ADDR(						\
 				DT_PHANDLE_BY_IDX(DT_DRV_INST(0), dmas, 0)),		\
 	.cfg = {									\
 		.dma_slot = STM32_DMA_SLOT_BY_IDX(index, 0, slot),			\
 		.channel_direction = STM32_DMA_CONFIG_DIRECTION(			\
 			STM32_DMA_CHANNEL_CONFIG_BY_IDX(index, 0)),			\
 		.source_data_size = STM32_DMA_CONFIG_##src_dev##_DATA_SIZE(		\
 			STM32_DMA_CHANNEL_CONFIG_BY_IDX(index, 0)),			\
 		.dest_data_size = STM32_DMA_CONFIG_##dest_dev##_DATA_SIZE(		\
 			STM32_DMA_CHANNEL_CONFIG_BY_IDX(index, 0)),			\
 		.source_burst_length = 1,       /* SINGLE transfer */			\
 		.dest_burst_length = 1,         /* SINGLE transfer */			\
 		.channel_priority = STM32_DMA_CONFIG_PRIORITY(				\
 			STM32_DMA_CHANNEL_CONFIG_BY_IDX(index, 0)),			\
 		.dma_callback = dmci_dma_callback,					\
 	},										\

 PINCTRL_DT_INST_DEFINE(0);

 #define STM32_DCMI_GET_CAPTURE_RATE(capture_rate)					\
 	((capture_rate) == 1 ? DCMI_CR_ALL_FRAME :					\
 	(capture_rate) == 2 ? DCMI_CR_ALTERNATE_2_FRAME :				\
 	(capture_rate) == 4 ? DCMI_CR_ALTERNATE_4_FRAME :				\
 	DCMI_CR_ALL_FRAME)

 #define STM32_DCMI_GET_BUS_WIDTH(bus_width)						\
 	((bus_width) == 8 ? DCMI_EXTEND_DATA_8B :					\
 	(bus_width) == 10 ? DCMI_EXTEND_DATA_10B :					\
 	(bus_width) == 12 ? DCMI_EXTEND_DATA_12B :					\
 	(bus_width) == 14 ? DCMI_EXTEND_DATA_14B :					\
 	DCMI_EXTEND_DATA_8B)

 #define DCMI_DMA_CHANNEL(id, src, dest)							\
 	.dma = {									\
 		COND_CODE_1(DT_INST_DMAS_HAS_IDX(id, 0),				\
 			(DCMI_DMA_CHANNEL_INIT(id, src, dest)),				\
 			(NULL))								\
 	},

 static struct video_stm32_dcmi_data video_stm32_dcmi_data_0 = {
 	.hdcmi = {
 		.Instance = (DCMI_TypeDef *) DT_INST_REG_ADDR(0),
 		.Init = {
 				.SynchroMode = DCMI_SYNCHRO_HARDWARE,
 				.PCKPolarity = (DT_INST_PROP(0, pixelclk_active) ?
 						DCMI_PCKPOLARITY_RISING : DCMI_PCKPOLARITY_FALLING),
 				.HSPolarity = (DT_INST_PROP(0, hsync_active) ?
 						DCMI_HSPOLARITY_HIGH : DCMI_HSPOLARITY_LOW),
 				.VSPolarity = (DT_INST_PROP(0, vsync_active) ?
 						DCMI_VSPOLARITY_HIGH : DCMI_VSPOLARITY_LOW),
 				.CaptureRate = STM32_DCMI_GET_CAPTURE_RATE(
 							DT_INST_PROP(0, capture_rate)),
 				.ExtendedDataMode = STM32_DCMI_GET_BUS_WIDTH(
 							DT_INST_PROP(0, bus_width)),
 				.JPEGMode = DCMI_JPEG_DISABLE,
 				.ByteSelectMode = DCMI_BSM_ALL,
 				.ByteSelectStart = DCMI_OEBS_ODD,
 				.LineSelectMode = DCMI_LSM_ALL,
 				.LineSelectStart = DCMI_OELS_ODD,
 		},
 	},
 };

 static const struct video_stm32_dcmi_config video_stm32_dcmi_config_0 = {
 	.pclken = {
 		.enr = DT_INST_CLOCKS_CELL(0, bits),
 		.bus = DT_INST_CLOCKS_CELL(0, bus)
 	},
 	.irq_config = video_stm32_dcmi_irq_config_func,
 	.pctrl = PINCTRL_DT_INST_DEV_CONFIG_GET(0),
 	.sensor_dev = DEVICE_DT_GET(DT_INST_PHANDLE(0, sensor)),
 	DCMI_DMA_CHANNEL(0, PERIPHERAL, MEMORY)
 };

 static int video_stm32_dcmi_init(const struct device *dev)
 {
 	const struct video_stm32_dcmi_config *config = dev->config;
 	struct video_stm32_dcmi_data *data = dev->data;
 	int err;

 	/* Configure DT provided pins */
 	err = pinctrl_apply_state(config->pctrl, PINCTRL_STATE_DEFAULT);
 	if (err < 0) {
 		LOG_ERR("pinctrl setup failed. Error %d.", err);
 		return err;
 	}

 	/* Initialize DMA peripheral */
 	err = stm32_dma_init(dev);
 	if (err < 0) {
 		LOG_ERR("DMA initialization failed.");
 		return err;
 	}

 	/* Enable DCMI clock */
 	err = stm32_dcmi_enable_clock(dev);
 	if (err < 0) {
 		LOG_ERR("Clock enabling failed.");
 		return -EIO;
 	}

 	data->dev = dev;
 	k_fifo_init(&data->fifo_in);
 	k_fifo_init(&data->fifo_out);

 	/* Run IRQ init */
 	config->irq_config(dev);

 	/* Initialize DCMI peripheral */
 	err = HAL_DCMI_Init(&data->hdcmi);
 	if (err != HAL_OK) {
 		LOG_ERR("DCMI initialization failed.");
 		return -EIO;
 	}

 	k_sleep(K_MSEC(100));
 	LOG_DBG("%s inited", dev->name);

 	return 0;
 }

 DEVICE_DT_INST_DEFINE(0, &video_stm32_dcmi_init,
 		    NULL, &video_stm32_dcmi_data_0,
 		    &video_stm32_dcmi_config_0,
 		    POST_KERNEL, CONFIG_VIDEO_INIT_PRIORITY,
 		    &video_stm32_dcmi_driver_api);
	/*
	* Copyright (c) 2024 Charles Dias <charlesdias.cd@outlook.com>
	*
	* SPDX-License-Identifier: Apache-2.0
	*/

	#define DT_DRV_COMPAT st_stm32_dcmi

	#include <errno.h>
	#include <zephyr/kernel.h>
	#include <zephyr/drivers/video.h>
	#include <zephyr/drivers/pinctrl.h>
	#include <zephyr/irq.h>
	#include <zephyr/drivers/clock_control/stm32_clock_control.h>
	#include <zephyr/drivers/clock_control.h>
	#include <zephyr/drivers/dma.h>
	#include <zephyr/drivers/dma/dma_stm32.h>

	#include <stm32_ll_dma.h>

	#include <zephyr/logging/log.h>
	LOG_MODULE_REGISTER(video_stm32_dcmi, CONFIG_STM32_DCMI_LOG_LEVEL);

	K_HEAP_DEFINE(video_stm32_buffer_pool, CONFIG_VIDEO_BUFFER_POOL_SZ_MAX);

	typedef void (irq_config_func_t)(const struct device dev);

	struct stream {
	DMA_TypeDef *reg;
	const struct device *dma_dev;
	uint32_t channel;
	struct dma_config cfg;
	};

	struct video_stm32_dcmi_data {
	const struct device *dev;
	DCMI_HandleTypeDef hdcmi;
	struct video_format fmt;
	struct k_fifo fifo_in;
	struct k_fifo fifo_out;
	uint32_t pixel_format;
	uint32_t height;
	uint32_t width;
	uint32_t pitch;
	uint8_t *buffer;
	};

	struct video_stm32_dcmi_config {
	struct stm32_pclken pclken;
	irq_config_func_t irq_config;
	const struct pinctrl_dev_config *pctrl;
	const struct device *sensor_dev;
	const struct stream dma;
	};

	static inline unsigned int video_pix_fmt_bpp(uint32_t pixelformat)
	{
	switch (pixelformat) {
	case VIDEO_PIX_FMT_BGGR8:
	case VIDEO_PIX_FMT_GBRG8:
	case VIDEO_PIX_FMT_GRBG8:
	case VIDEO_PIX_FMT_RGGB8:
	return 1;
	case VIDEO_PIX_FMT_RGB565:
	case VIDEO_PIX_FMT_YUYV:
	return 2;
	default:
	return 0;
	}
	}

	void HAL_DCMI_ErrorCallback(DCMI_HandleTypeDef *hdcmi)
	{
	LOG_WRN("%s", __func__);
	}

	void HAL_DCMI_FrameEventCallback(DCMI_HandleTypeDef *hdcmi)
	{
	struct video_stm32_dcmi_data *dev_data =
	CONTAINER_OF(hdcmi, struct video_stm32_dcmi_data, hdcmi);
	struct video_buffer *vbuf;

	HAL_DCMI_Suspend(hdcmi);

	vbuf = k_fifo_get(&dev_data->fifo_in, K_NO_WAIT);

	if (vbuf == NULL) {
	LOG_DBG("Failed to get buffer from fifo");
	goto resume;
	}

	vbuf->timestamp = k_uptime_get_32();
	memcpy(vbuf->buffer, dev_data->buffer, vbuf->bytesused);

	k_fifo_put(&dev_data->fifo_out, vbuf);

	resume:
	HAL_DCMI_Resume(hdcmi);
	}

	static void stm32_dcmi_isr(const struct device *dev)
	{
	struct video_stm32_dcmi_data *data = dev->data;

	HAL_DCMI_IRQHandler(&data->hdcmi);
	}

	static void dmci_dma_callback(const struct device dev, void arg,
	uint32_t channel, int status)
	{
	DMA_HandleTypeDef *hdma = arg;

	ARG_UNUSED(dev);

	if (status < 0) {
	LOG_ERR("DMA callback error with channel %d.", channel);
	}

	HAL_DMA_IRQHandler(hdma);
	}

	void HAL_DMA_ErrorCallback(DMA_HandleTypeDef *hdma)
	{
	LOG_WRN("%s", __func__);
	}

	static int stm32_dma_init(const struct device *dev)
	{
	struct video_stm32_dcmi_data *data = dev->data;
	const struct video_stm32_dcmi_config *config = dev->config;
	int ret;

	/* Check if the DMA device is ready */
	if (!device_is_ready(config->dma.dma_dev)) {
	LOG_ERR("%s DMA device not ready", config->dma.dma_dev->name);
	return -ENODEV;
	}

	/*
	* DMA configuration
	* Due to use of QSPI HAL API in current driver,
	* both HAL and Zephyr DMA drivers should be configured.
	* The required configuration for Zephyr DMA driver should only provide
	* the minimum information to inform the DMA slot will be in used and
	* how to route callbacks.
	*/
	struct dma_config dma_cfg = config->dma.cfg;
	static DMA_HandleTypeDef hdma;

	/* Proceed to the minimum Zephyr DMA driver init */
	dma_cfg.user_data = &hdma;
	/* HACK: This field is used to inform driver that it is overridden */
	dma_cfg.linked_channel = STM32_DMA_HAL_OVERRIDE;
	/* Because of the STREAM OFFSET, the DMA channel given here is from 1 - 8 */
	ret = dma_config(config->dma.dma_dev,
	config->dma.channel + STM32_DMA_STREAM_OFFSET, &dma_cfg);
	if (ret != 0) {
	LOG_ERR("Failed to configure DMA channel %d",
	config->dma.channel + STM32_DMA_STREAM_OFFSET);
	return ret;
	}

	/* Configure the DMA */
	/* Set the parameters to be configured */
	hdma.Init.Request = DMA_REQUEST_DCMI;
	hdma.Init.Direction = DMA_PERIPH_TO_MEMORY;
	hdma.Init.PeriphInc = DMA_PINC_DISABLE;
	hdma.Init.MemInc = DMA_MINC_ENABLE;
	hdma.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
	hdma.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
	hdma.Init.Mode = DMA_CIRCULAR;
	hdma.Init.Priority = DMA_PRIORITY_HIGH;
	hdma.Init.FIFOMode = DMA_FIFOMODE_DISABLE;

	hdma.Instance = __LL_DMA_GET_STREAM_INSTANCE(config->dma.reg,
	config->dma.channel);

	/* Initialize DMA HAL */
	__HAL_LINKDMA(&data->hdcmi, DMA_Handle, hdma);

	if (HAL_DMA_Init(&hdma) != HAL_OK) {
	LOG_ERR("DCMI DMA Init failed");
	return -EIO;
	}

	return 0;
	}

	static int stm32_dcmi_enable_clock(const struct device *dev)
	{
	const struct video_stm32_dcmi_config *config = dev->config;
	const struct device *dcmi_clock = DEVICE_DT_GET(STM32_CLOCK_CONTROL_NODE);
	int err;

	if (!device_is_ready(dcmi_clock)) {
	LOG_ERR("clock control device not ready");
	return -ENODEV;
	}

	/* Turn on DCMI peripheral clock */
	err = clock_control_on(dcmi_clock, (clock_control_subsys_t *) &config->pclken);
	if (err < 0) {
	LOG_ERR("Failed to enable DCMI clock. Error %d", err);
	return err;
	}

	return 0;
	}

	static int video_stm32_dcmi_set_fmt(const struct device *dev,
	enum video_endpoint_id ep,
	struct video_format *fmt)
	{
	const struct video_stm32_dcmi_config *config = dev->config;
	struct video_stm32_dcmi_data *data = dev->data;
	unsigned int bpp = video_pix_fmt_bpp(fmt->pixelformat);

	if (!bpp \|\| ep != VIDEO_EP_OUT) {
	return -EINVAL;
	}

	data->pixel_format = fmt->pixelformat;
	data->pitch = fmt->pitch;
	data->height = fmt->height;
	data->width = fmt->width;

	if (video_set_format(config->sensor_dev, ep, fmt)) {
	return -EIO;
	}

	return 0;
	}

	static int video_stm32_dcmi_get_fmt(const struct device *dev,
	enum video_endpoint_id ep,
	struct video_format *fmt)
	{
	struct video_stm32_dcmi_data *data = dev->data;
	const struct video_stm32_dcmi_config *config = dev->config;

	if ((fmt == NULL) \|\| (ep != VIDEO_EP_OUT)) {
	return -EINVAL;
	}

	if (!video_get_format(config->sensor_dev, ep, fmt)) {
	/* align DCMI with sensor fmt */
	return video_stm32_dcmi_set_fmt(dev, ep, fmt);
	}

	fmt->pixelformat = data->pixel_format;
	fmt->height = data->height;
	fmt->width = data->width;
	fmt->pitch = data->pitch;

	return 0;
	}

	static int video_stm32_dcmi_stream_start(const struct device *dev)
	{
	struct video_stm32_dcmi_data *data = dev->data;
	const struct video_stm32_dcmi_config *config = dev->config;
	size_t buffer_size = data->pitch * data->height;

	data->buffer = k_heap_alloc(&video_stm32_buffer_pool, buffer_size, K_NO_WAIT);
	if (data->buffer == NULL) {
	LOG_ERR("Failed to allocate DCMI buffer for image. Size %d bytes", buffer_size);
	return -ENOMEM;
	}

	int err = HAL_DCMI_Start_DMA(&data->hdcmi, DCMI_MODE_CONTINUOUS,
	(uint32_t)data->buffer, buffer_size / 4);
	if (err != HAL_OK) {
	LOG_ERR("Failed to start DCMI DMA");
	return -EIO;
	}

	if (video_stream_start(config->sensor_dev)) {
	return -EIO;
	}

	return 0;
	}

	static int video_stm32_dcmi_stream_stop(const struct device *dev)
	{
	struct video_stm32_dcmi_data *data = dev->data;
	const struct video_stm32_dcmi_config *config = dev->config;
	int err;

	if (video_stream_stop(config->sensor_dev)) {
	return -EIO;
	}

	/* Release the buffer allocated in stream_start */
	k_heap_free(&video_stm32_buffer_pool, data->buffer);

	err = HAL_DCMI_Stop(&data->hdcmi);
	if (err != HAL_OK) {
	LOG_ERR("Failed to stop DCMI");
	return -EIO;
	}

	return 0;
	}

	static int video_stm32_dcmi_enqueue(const struct device *dev,
	enum video_endpoint_id ep,
	struct video_buffer *vbuf)
	{
	struct video_stm32_dcmi_data *data = dev->data;

	if (ep != VIDEO_EP_OUT) {
	return -EINVAL;
	}

	vbuf->bytesused = data->pitch * data->height;

	k_fifo_put(&data->fifo_in, vbuf);

	return 0;
	}

	static int video_stm32_dcmi_dequeue(const struct device *dev,
	enum video_endpoint_id ep,
	struct video_buffer **vbuf,
	k_timeout_t timeout)
	{
	struct video_stm32_dcmi_data *data = dev->data;

	if (ep != VIDEO_EP_OUT) {
	return -EINVAL;
	}

	*vbuf = k_fifo_get(&data->fifo_out, timeout);
	if (*vbuf == NULL) {
	return -EAGAIN;
	}

	return 0;
	}

	static int video_stm32_dcmi_get_caps(const struct device *dev,
	enum video_endpoint_id ep,
	struct video_caps *caps)
	{
	const struct video_stm32_dcmi_config *config = dev->config;
	int ret = -ENODEV;

	if (ep != VIDEO_EP_OUT) {
	return -EINVAL;
	}

	/* Forward the message to the sensor device */
	ret = video_get_caps(config->sensor_dev, ep, caps);

	return ret;
	}

	static const struct video_driver_api video_stm32_dcmi_driver_api = {
	.set_format = video_stm32_dcmi_set_fmt,
	.get_format = video_stm32_dcmi_get_fmt,
	.stream_start = video_stm32_dcmi_stream_start,
	.stream_stop = video_stm32_dcmi_stream_stop,
	.enqueue = video_stm32_dcmi_enqueue,
	.dequeue = video_stm32_dcmi_dequeue,
	.get_caps = video_stm32_dcmi_get_caps,
	};

	static void video_stm32_dcmi_irq_config_func(const struct device *dev)
	{
	IRQ_CONNECT(DT_INST_IRQN(0), DT_INST_IRQ(0, priority),
	stm32_dcmi_isr, DEVICE_DT_INST_GET(0), 0);
	irq_enable(DT_INST_IRQN(0));
	}

	#define DCMI_DMA_CHANNEL_INIT(index, src_dev, dest_dev) \
	.dma_dev = DEVICE_DT_GET(DT_INST_DMAS_CTLR_BY_IDX(index, 0)), \
	.channel = DT_INST_DMAS_CELL_BY_IDX(index, 0, channel), \
	.reg = (DMA_TypeDef *)DT_REG_ADDR( \
	DT_PHANDLE_BY_IDX(DT_DRV_INST(0), dmas, 0)), \
	.cfg = { \
	.dma_slot = STM32_DMA_SLOT_BY_IDX(index, 0, slot), \
	.channel_direction = STM32_DMA_CONFIG_DIRECTION( \
	STM32_DMA_CHANNEL_CONFIG_BY_IDX(index, 0)), \
	.source_data_size = STM32_DMA_CONFIG_##src_dev##_DATA_SIZE( \
	STM32_DMA_CHANNEL_CONFIG_BY_IDX(index, 0)), \
	.dest_data_size = STM32_DMA_CONFIG_##dest_dev##_DATA_SIZE( \
	STM32_DMA_CHANNEL_CONFIG_BY_IDX(index, 0)), \
	.source_burst_length = 1, /* SINGLE transfer */ \
	.dest_burst_length = 1, /* SINGLE transfer */ \
	.channel_priority = STM32_DMA_CONFIG_PRIORITY( \
	STM32_DMA_CHANNEL_CONFIG_BY_IDX(index, 0)), \
	.dma_callback = dmci_dma_callback, \
	}, \

	PINCTRL_DT_INST_DEFINE(0);

	#define STM32_DCMI_GET_CAPTURE_RATE(capture_rate) \
	((capture_rate) == 1 ? DCMI_CR_ALL_FRAME : \
	(capture_rate) == 2 ? DCMI_CR_ALTERNATE_2_FRAME : \
	(capture_rate) == 4 ? DCMI_CR_ALTERNATE_4_FRAME : \
	DCMI_CR_ALL_FRAME)

	#define STM32_DCMI_GET_BUS_WIDTH(bus_width) \
	((bus_width) == 8 ? DCMI_EXTEND_DATA_8B : \
	(bus_width) == 10 ? DCMI_EXTEND_DATA_10B : \
	(bus_width) == 12 ? DCMI_EXTEND_DATA_12B : \
	(bus_width) == 14 ? DCMI_EXTEND_DATA_14B : \
	DCMI_EXTEND_DATA_8B)

	#define DCMI_DMA_CHANNEL(id, src, dest) \
	.dma = { \
	COND_CODE_1(DT_INST_DMAS_HAS_IDX(id, 0), \
	(DCMI_DMA_CHANNEL_INIT(id, src, dest)), \
	(NULL)) \
	},

	static struct video_stm32_dcmi_data video_stm32_dcmi_data_0 = {
	.hdcmi = {
	.Instance = (DCMI_TypeDef *) DT_INST_REG_ADDR(0),
	.Init = {
	.SynchroMode = DCMI_SYNCHRO_HARDWARE,
	.PCKPolarity = (DT_INST_PROP(0, pixelclk_active) ?
	DCMI_PCKPOLARITY_RISING : DCMI_PCKPOLARITY_FALLING),
	.HSPolarity = (DT_INST_PROP(0, hsync_active) ?
	DCMI_HSPOLARITY_HIGH : DCMI_HSPOLARITY_LOW),
	.VSPolarity = (DT_INST_PROP(0, vsync_active) ?
	DCMI_VSPOLARITY_HIGH : DCMI_VSPOLARITY_LOW),
	.CaptureRate = STM32_DCMI_GET_CAPTURE_RATE(
	DT_INST_PROP(0, capture_rate)),
	.ExtendedDataMode = STM32_DCMI_GET_BUS_WIDTH(
	DT_INST_PROP(0, bus_width)),
	.JPEGMode = DCMI_JPEG_DISABLE,
	.ByteSelectMode = DCMI_BSM_ALL,
	.ByteSelectStart = DCMI_OEBS_ODD,
	.LineSelectMode = DCMI_LSM_ALL,
	.LineSelectStart = DCMI_OELS_ODD,
	},
	},
	};

	static const struct video_stm32_dcmi_config video_stm32_dcmi_config_0 = {
	.pclken = {
	.enr = DT_INST_CLOCKS_CELL(0, bits),
	.bus = DT_INST_CLOCKS_CELL(0, bus)
	},
	.irq_config = video_stm32_dcmi_irq_config_func,
	.pctrl = PINCTRL_DT_INST_DEV_CONFIG_GET(0),
	.sensor_dev = DEVICE_DT_GET(DT_INST_PHANDLE(0, sensor)),
	DCMI_DMA_CHANNEL(0, PERIPHERAL, MEMORY)
	};

	static int video_stm32_dcmi_init(const struct device *dev)
	{
	const struct video_stm32_dcmi_config *config = dev->config;
	struct video_stm32_dcmi_data *data = dev->data;
	int err;

	/* Configure DT provided pins */
	err = pinctrl_apply_state(config->pctrl, PINCTRL_STATE_DEFAULT);
	if (err < 0) {
	LOG_ERR("pinctrl setup failed. Error %d.", err);
	return err;
	}

	/* Initialize DMA peripheral */
	err = stm32_dma_init(dev);
	if (err < 0) {
	LOG_ERR("DMA initialization failed.");
	return err;
	}

	/* Enable DCMI clock */
	err = stm32_dcmi_enable_clock(dev);
	if (err < 0) {
	LOG_ERR("Clock enabling failed.");
	return -EIO;
	}

	data->dev = dev;
	k_fifo_init(&data->fifo_in);
	k_fifo_init(&data->fifo_out);

	/* Run IRQ init */
	config->irq_config(dev);

	/* Initialize DCMI peripheral */
	err = HAL_DCMI_Init(&data->hdcmi);
	if (err != HAL_OK) {
	LOG_ERR("DCMI initialization failed.");
	return -EIO;
	}

	k_sleep(K_MSEC(100));
	LOG_DBG("%s inited", dev->name);

	return 0;
	}

	DEVICE_DT_INST_DEFINE(0, &video_stm32_dcmi_init,
	NULL, &video_stm32_dcmi_data_0,
	&video_stm32_dcmi_config_0,
	POST_KERNEL, CONFIG_VIDEO_INIT_PRIORITY,
	&video_stm32_dcmi_driver_api);