G2D图像处理硬件调用和测试-基于米尔全志T113-i开发板
2024-04-09
382
来源:米尔电子
本篇测评由电子工程世界的优秀测评者“jf_99374259”提供。
本文将介绍基于米尔电子MYD-YT113i开发板的G2D图像处理硬件调用和测试。
MYC-YT113i核心板及开发板
真正的国产核心板,100%国产物料认证
国产T113-i处理器配备2*Cortex-A7@1.2GHz ,RISC-V
外置DDR3接口、支持视频编解码器、HiFi4 DSP
接口丰富:视频采集接口、显示器接口、USB2.0 接口、CAN 接口、千兆以太网接口
工业级:-40℃~+85℃、尺寸37mm*39mm
邮票孔+LGA,140+50PIN
全志 T113-i 2D图形加速硬件支持情况
Supports layer size up to 2048 x 2048 pixels
Supports pre-multiply alpha image data
Supports color key
Supports two pipes Porter-Duff alpha blending
Supports multiple video formats 4:2:0, 4:2:2, 4:1:1 and multiple pixel formats (8/16/24/32 bits graphics
layer)Supports memory scan order option
Supports any format convert function
Supports 1/16× to 32× resize ratio
Supports 32-phase 8-tap horizontal anti-alias filter and 32-phase 4-tap vertical anti-alias filter
Supports window clip
Supports FillRectangle, BitBlit, StretchBlit and MaskBlit
Supports horizontal and vertical flip, clockwise 0/90/180/270 degree rotate for normal buffer
Supports horizontal flip, clockwise 0/90/270 degree rotate for LBC buffer
可以看到 g2d 硬件支持相当多的2D图像处理,包括颜色空间转换,分辨率缩放,图层叠加,旋转等
开发环境配置
基于C语言实现的YUV转RGB
这里复用之前T113-i JPG解码的函数
void yuv420sp2rgb(const unsigned char* yuv420sp, int w, int h, unsigned char* rgb) { const unsigned char* yptr = yuv420sp; const unsigned char* vuptr = yuv420sp + w * h; for (int y = 0; y < h; y += 2) { const unsigned char* yptr0 = yptr; const unsigned char* yptr1 = yptr + w; unsigned char* rgb0 = rgb; unsigned char* rgb1 = rgb + w * 3; int remain = w; #define SATURATE_CAST_UCHAR(X) (unsigned char)::std::min(::std::max((int)(X), 0), 255); for (; remain > 0; remain -= 2) { // R = 1.164 * yy + 1.596 * vv // G = 1.164 * yy - 0.813 * vv - 0.391 * uu // B = 1.164 * yy + 2.018 * uu // R = Y + (1.370705 * (V-128)) // G = Y - (0.698001 * (V-128)) - (0.337633 * (U-128)) // B = Y + (1.732446 * (U-128)) // R = ((Y << 6) + 87.72512 * (V-128)) >> 6 // G = ((Y << 6) - 44.672064 * (V-128) - 21.608512 * (U-128)) >> 6 // B = ((Y << 6) + 110.876544 * (U-128)) >> 6 // R = ((Y << 6) + 90 * (V-128)) >> 6 // G = ((Y << 6) - 46 * (V-128) - 22 * (U-128)) >> 6 // B = ((Y << 6) + 113 * (U-128)) >> 6 // R = (yy + 90 * vv) >> 6 // G = (yy - 46 * vv - 22 * uu) >> 6 // B = (yy + 113 * uu) >> 6 int v = vuptr[0] - 128; int u = vuptr[1] - 128; int ruv = 90 * v; int guv = -46 * v + -22 * u; int buv = 113 * u; int y00 = yptr0[0] << 6; rgb0[0] = SATURATE_CAST_UCHAR((y00 + ruv) >> 6); rgb0[1] = SATURATE_CAST_UCHAR((y00 + guv) >> 6); rgb0[2] = SATURATE_CAST_UCHAR((y00 + buv) >> 6); int y01 = yptr0[1] << 6; rgb0[3] = SATURATE_CAST_UCHAR((y01 + ruv) >> 6); rgb0[4] = SATURATE_CAST_UCHAR((y01 + guv) >> 6); rgb0[5] = SATURATE_CAST_UCHAR((y01 + buv) >> 6); int y10 = yptr1[0] << 6; rgb1[0] = SATURATE_CAST_UCHAR((y10 + ruv) >> 6); rgb1[1] = SATURATE_CAST_UCHAR((y10 + guv) >> 6); rgb1[2] = SATURATE_CAST_UCHAR((y10 + buv) >> 6); int y11 = yptr1[1] << 6; rgb1[3] = SATURATE_CAST_UCHAR((y11 + ruv) >> 6); rgb1[4] = SATURATE_CAST_UCHAR((y11 + guv) >> 6); rgb1[5] = SATURATE_CAST_UCHAR((y11 + buv) >> 6); yptr0 += 2; yptr1 += 2; vuptr += 2; rgb0 += 6; rgb1 += 6; } #undef SATURATE_CAST_UCHAR yptr += 2 * w; rgb += 2 * 3 * w; } }
基于ARM neon指令集优化的YUV转RGB
考虑到armv7编译器的自动neon优化能力较差,这里针对性的编写 arm neon inline assembly 实现YUV2RGB内核部分,达到最优化的性能,榨干cpu性能
void yuv420sp2rgb_neon(const unsigned char* yuv420sp, int w, int h, unsigned char* rgb) { const unsigned char* yptr = yuv420sp; const unsigned char* vuptr = yuv420sp + w * h; #if __ARM_NEON uint8x8_t _v128 = vdup_n_u8(128); int8x8_t _v90 = vdup_n_s8(90); int8x8_t _v46 = vdup_n_s8(46); int8x8_t _v22 = vdup_n_s8(22); int8x8_t _v113 = vdup_n_s8(113); #endif // __ARM_NEON for (int y = 0; y < h; y += 2) { const unsigned char* yptr0 = yptr; const unsigned char* yptr1 = yptr + w; unsigned char* rgb0 = rgb; unsigned char* rgb1 = rgb + w * 3; #if __ARM_NEON int nn = w >> 3; int remain = w - (nn << 3); #else int remain = w; #endif // __ARM_NEON #if __ARM_NEON #if __aarch64__ for (; nn > 0; nn--) { int16x8_t _yy0 = vreinterpretq_s16_u16(vshll_n_u8(vld1_u8(yptr0), 6)); int16x8_t _yy1 = vreinterpretq_s16_u16(vshll_n_u8(vld1_u8(yptr1), 6)); int8x8_t _vvuu = vreinterpret_s8_u8(vsub_u8(vld1_u8(vuptr), _v128)); int8x8x2_t _vvvvuuuu = vtrn_s8(_vvuu, _vvuu); int8x8_t _vv = _vvvvuuuu.val[0]; int8x8_t _uu = _vvvvuuuu.val[1]; int16x8_t _r0 = vmlal_s8(_yy0, _vv, _v90); int16x8_t _g0 = vmlsl_s8(_yy0, _vv, _v46); _g0 = vmlsl_s8(_g0, _uu, _v22); int16x8_t _b0 = vmlal_s8(_yy0, _uu, _v113); int16x8_t _r1 = vmlal_s8(_yy1, _vv, _v90); int16x8_t _g1 = vmlsl_s8(_yy1, _vv, _v46); _g1 = vmlsl_s8(_g1, _uu, _v22); int16x8_t _b1 = vmlal_s8(_yy1, _uu, _v113); uint8x8x3_t _rgb0; _rgb0.val[0] = vqshrun_n_s16(_r0, 6); _rgb0.val[1] = vqshrun_n_s16(_g0, 6); _rgb0.val[2] = vqshrun_n_s16(_b0, 6); uint8x8x3_t _rgb1; _rgb1.val[0] = vqshrun_n_s16(_r1, 6); _rgb1.val[1] = vqshrun_n_s16(_g1, 6); _rgb1.val[2] = vqshrun_n_s16(_b1, 6); vst3_u8(rgb0, _rgb0); vst3_u8(rgb1, _rgb1); yptr0 += 8; yptr1 += 8; vuptr += 8; rgb0 += 24; rgb1 += 24; } #else if (nn > 0) { asm volatile( "0: n" "pld [%3, #128] n" "vld1.u8 {d2}, [%3]! n" "vsub.s8 d2, d2, %12 n" "pld [%1, #128] n" "vld1.u8 {d0}, [%1]! n" "pld [%2, #128] n" "vld1.u8 {d1}, [%2]! n" "vshll.u8 q2, d0, #6 n" "vorr d3, d2, d2 n" "vshll.u8 q3, d1, #6 n" "vorr q9, q2, q2 n" "vtrn.s8 d2, d3 n" "vorr q11, q3, q3 n" "vmlsl.s8 q9, d2, %14 n" "vorr q8, q2, q2 n" "vmlsl.s8 q11, d2, %14 n" "vorr q10, q3, q3 n" "vmlal.s8 q8, d2, %13 n" "vmlal.s8 q2, d3, %16 n" "vmlal.s8 q10, d2, %13 n" "vmlsl.s8 q9, d3, %15 n" "vmlal.s8 q3, d3, %16 n" "vmlsl.s8 q11, d3, %15 n" "vqshrun.s16 d24, q8, #6 n" "vqshrun.s16 d26, q2, #6 n" "vqshrun.s16 d4, q10, #6 n" "vqshrun.s16 d25, q9, #6 n" "vqshrun.s16 d6, q3, #6 n" "vqshrun.s16 d5, q11, #6 n" "subs %0, #1 n" "vst3.u8 {d24-d26}, [%4]! n" "vst3.u8 {d4-d6}, [%5]! n" "bne 0b n" : "=r"(nn), // %0 "=r"(yptr0), // %1 "=r"(yptr1), // %2 "=r"(vuptr), // %3 "=r"(rgb0), // %4 "=r"(rgb1) // %5 : "0"(nn), "1"(yptr0), "2"(yptr1), "3"(vuptr), "4"(rgb0), "5"(rgb1), "w"(_v128), // %12 "w"(_v90), // %13 "w"(_v46), // %14 "w"(_v22), // %15 "w"(_v113) // %16 : "cc", "memory", "q0", "q1", "q2", "q3", "q8", "q9", "q10", "q11", "q12", "d26"); } #endif // __aarch64__ #endif // __ARM_NEON #define SATURATE_CAST_UCHAR(X) (unsigned char)::std::min(::std::max((int)(X), 0), 255); for (; remain > 0; remain -= 2) { // R = 1.164 * yy + 1.596 * vv // G = 1.164 * yy - 0.813 * vv - 0.391 * uu // B = 1.164 * yy + 2.018 * uu // R = Y + (1.370705 * (V-128)) // G = Y - (0.698001 * (V-128)) - (0.337633 * (U-128)) // B = Y + (1.732446 * (U-128)) // R = ((Y << 6) + 87.72512 * (V-128)) >> 6 // G = ((Y << 6) - 44.672064 * (V-128) - 21.608512 * (U-128)) >> 6 // B = ((Y << 6) + 110.876544 * (U-128)) >> 6 // R = ((Y << 6) + 90 * (V-128)) >> 6 // G = ((Y << 6) - 46 * (V-128) - 22 * (U-128)) >> 6 // B = ((Y << 6) + 113 * (U-128)) >> 6 // R = (yy + 90 * vv) >> 6 // G = (yy - 46 * vv - 22 * uu) >> 6 // B = (yy + 113 * uu) >> 6 int v = vuptr[0] - 128; int u = vuptr[1] - 128; int ruv = 90 * v; int guv = -46 * v + -22 * u; int buv = 113 * u; int y00 = yptr0[0] << 6; rgb0[0] = SATURATE_CAST_UCHAR((y00 + ruv) >> 6); rgb0[1] = SATURATE_CAST_UCHAR((y00 + guv) >> 6); rgb0[2] = SATURATE_CAST_UCHAR((y00 + buv) >> 6); int y01 = yptr0[1] << 6; rgb0[3] = SATURATE_CAST_UCHAR((y01 + ruv) >> 6); rgb0[4] = SATURATE_CAST_UCHAR((y01 + guv) >> 6); rgb0[5] = SATURATE_CAST_UCHAR((y01 + buv) >> 6); int y10 = yptr1[0] << 6; rgb1[0] = SATURATE_CAST_UCHAR((y10 + ruv) >> 6); rgb1[1] = SATURATE_CAST_UCHAR((y10 + guv) >> 6); rgb1[2] = SATURATE_CAST_UCHAR((y10 + buv) >> 6); int y11 = yptr1[1] << 6; rgb1[3] = SATURATE_CAST_UCHAR((y11 + ruv) >> 6); rgb1[4] = SATURATE_CAST_UCHAR((y11 + guv) >> 6); rgb1[5] = SATURATE_CAST_UCHAR((y11 + buv) >> 6); yptr0 += 2; yptr1 += 2; vuptr += 2; rgb0 += 6; rgb1 += 6; } #undef SATURATE_CAST_UCHAR yptr += 2 * w; rgb += 2 * 3 * w; } }
基于G2D图形硬件的YUV转RGB
我们先实现 dmaion buffer 管理器,参考
这里贴的代码省略了异常错误处理的逻辑,有个坑是 linux-4.9 和 linux-5.4 用法不一样,米尔电子的这个T113-i系统是linux-5.4,所以不兼容4.9内核的ioctl用法习惯
struct ion_memory { size_t size; int fd; void* virt_addr; unsigned int phy_addr; }; class ion_allocator { public: ion_allocator(); ~ion_allocator(); int open(); void close(); int alloc(size_t size, struct ion_memory* mem); int free(struct ion_memory* mem); int flush(struct ion_memory* mem); public: int ion_fd; int cedar_fd; }; ion_allocator::ion_allocator() { ion_fd = -1; cedar_fd = -1; } ion_allocator::~ion_allocator() { close(); } int ion_allocator::open() { close(); ion_fd = ::open("/dev/ion", O_RDWR); cedar_fd = ::open("/dev/cedar_dev", O_RDONLY); ioctl(cedar_fd, IOCTL_ENGINE_REQ, 0); return 0; } void ion_allocator::close() { if (cedar_fd != -1) { ioctl(cedar_fd, IOCTL_ENGINE_REL, 0); ::close(cedar_fd); cedar_fd = -1; } if (ion_fd != -1) { ::close(ion_fd); ion_fd = -1; } } int ion_allocator::alloc(size_t size, struct ion_memory* mem) { struct aw_ion_new_alloc_data alloc_data; alloc_data.len = size; alloc_data.heap_id_mask = AW_ION_SYSTEM_HEAP_MASK; alloc_data.flags = AW_ION_CACHED_FLAG | AW_ION_CACHED_NEEDS_SYNC_FLAG; alloc_data.fd = 0; alloc_data.unused = 0; ioctl(ion_fd, AW_ION_IOC_NEW_ALLOC, &alloc_data); void* virt_addr = mmap(NULL, size, PROT_READ|PROT_WRITE, MAP_SHARED, alloc_data.fd, 0); struct aw_user_iommu_param iommu_param; iommu_param.fd = alloc_data.fd; iommu_param.iommu_addr = 0; ioctl(cedar_fd, IOCTL_GET_IOMMU_ADDR, &iommu_param); mem->size = size; mem->fd = alloc_data.fd; mem->virt_addr = virt_addr; mem->phy_addr = iommu_param.iommu_addr; return 0; } int ion_allocator::free(struct ion_memory* mem) { if (mem->fd == -1) return 0; struct aw_user_iommu_param iommu_param; iommu_param.fd = mem->fd; ioctl(cedar_fd, IOCTL_FREE_IOMMU_ADDR, &iommu_param); munmap(mem->virt_addr, mem->size); ::close(mem->fd); mem->size = 0; mem->fd = -1; mem->virt_addr = 0; mem->phy_addr = 0; return 0; } int ion_allocator::flush(struct ion_memory* mem) { struct dma_buf_sync sync; sync.flags = DMA_BUF_SYNC_END | DMA_BUF_SYNC_RW; ioctl(mem->fd, DMA_BUF_IOCTL_SYNC, &sync); return 0; }
然后再实现 G2D图形硬件 YUV转RGB 的转换器
提前分配好YUV和RGB的dmaion buffer
将YUV数据拷贝到dmaion buffer,flush cache完成同步
配置转换参数,ioctl调用G2D_CMD_BITBLT_H完成转换
flush cache完成同步,从dmaion buffer拷贝出RGB数据
释放dmaion buffer
// 步骤1 ion_allocator ion; ion.open(); struct ion_memory yuv_ion; ion.alloc(rgb_size, &rgb_ion); struct ion_memory rgb_ion; ion.alloc(yuv_size, &yuv_ion); int g2d_fd = ::open("/dev/g2d", O_RDWR); // 步骤2 memcpy((unsigned char*)yuv_ion.virt_addr, yuv420sp, yuv_size); ion.flush(&yuv_ion); // 步骤3 g2d_blt_h blit; memset(&blit, 0, sizeof(blit)); blit.flag_h = G2D_BLT_NONE_H; blit.src_image_h.format = G2D_FORMAT_YUV420UVC_V1U1V0U0; blit.src_image_h.width = width; blit.src_image_h.height = height; blit.src_image_h.align[0] = 0; blit.src_image_h.align[1] = 0; blit.src_image_h.clip_rect.x = 0; blit.src_image_h.clip_rect.y = 0; blit.src_image_h.clip_rect.w = width; blit.src_image_h.clip_rect.h = height; blit.src_image_h.gamut = G2D_BT601; blit.src_image_h.bpremul = 0; blit.src_image_h.mode = G2D_PIXEL_ALPHA; blit.src_image_h.use_phy_addr = 0; blit.src_image_h.fd = yuv_ion.fd; blit.dst_image_h.format = G2D_FORMAT_RGB888; blit.dst_image_h.width = width; blit.dst_image_h.height = height; blit.dst_image_h.align[0] = 0; blit.dst_image_h.clip_rect.x = 0; blit.dst_image_h.clip_rect.y = 0; blit.dst_image_h.clip_rect.w = width; blit.dst_image_h.clip_rect.h = height; blit.dst_image_h.gamut = G2D_BT601; blit.dst_image_h.bpremul = 0; blit.dst_image_h.mode = G2D_PIXEL_ALPHA; blit.dst_image_h.use_phy_addr = 0; blit.dst_image_h.fd = rgb_ion.fd; ioctl(g2d_fd, G2D_CMD_BITBLT_H, &blit); // 步骤4 ion.flush(&rgb_ion); memcpy(rgb, (const unsigned char*)rgb_ion.virt_addr, rgb_size); // 步骤5 ion.free(&rgb_ion); ion.free(&yuv_ion); ion.close(); ::close(g2d_fd);
G2D图像硬件YUV转RGB测试
考虑到dmaion buffer分配和释放都比较耗时,我们提前做好,循环调用步骤3的G2D转换,统计耗时,并在top工具中查看CPU占用率
sh-4.4# LD_LIBRARY_PATH=. ./g2dtest INFO : cedarc <CedarPluginVDInit:84>: register mjpeg decoder success! this device is not whitelisted for jpeg decoder cvi this device is not whitelisted for jpeg decoder cvi this device is not whitelisted for jpeg decoder cvi this device is not whitelisted for jpeg encoder rkmpp INFO : cedarc <log_set_level:43>: Set log level to 5 from /vendor/etc/cedarc.conf ERROR : cedarc <DebugCheckConfig:316>: now cedarc log level:5 ERROR : cedarc <VideoEncCreate:241>: now cedarc log level:5 yuv420sp2rgb 46.61 yuv420sp2rgb 42.04 yuv420sp2rgb 41.32 yuv420sp2rgb 42.06 yuv420sp2rgb 41.69 yuv420sp2rgb 42.05 yuv420sp2rgb 41.29 yuv420sp2rgb 41.30 yuv420sp2rgb 42.14 yuv420sp2rgb 41.33 yuv420sp2rgb_neon 10.57 yuv420sp2rgb_neon 7.21 yuv420sp2rgb_neon 6.77 yuv420sp2rgb_neon 8.31 yuv420sp2rgb_neon 7.60 yuv420sp2rgb_neon 6.80 yuv420sp2rgb_neon 6.77 yuv420sp2rgb_neon 7.01 yuv420sp2rgb_neon 7.11 yuv420sp2rgb_neon 7.06 yuv420sp2rgb_g2d 4.32 yuv420sp2rgb_g2d 4.69 yuv420sp2rgb_g2d 4.56 yuv420sp2rgb_g2d 4.57 yuv420sp2rgb_g2d 4.52 yuv420sp2rgb_g2d 4.54 yuv420sp2rgb_g2d 4.52 yuv420sp2rgb_g2d 4.58 yuv420sp2rgb_g2d 4.60 yuv420sp2rgb_g2d 4.67
可以看到 ARM neon 的优化效果非常明显,而使用G2D图形硬件能获得进一步加速,并且能显著降低CPU占用率!
耗时(ms) | CPU占用率(%) | |
---|---|---|
C | 41.30 | 50 |
neon | 6.77 | 50 |
g2d | 4.32 | 12 |
转换结果对比和分析
C和neon的转换结果完全一致,但是g2d转换后的图片有明显的色差
G2D图形硬件只支持 G2D_BT601,G2D_BT709,G2D_BT2020 3种YUV系数,而JPG所使用的YUV系数是改版BT601,因此产生了色差
从g2d内核驱动中也可以得知,暂时没有方法为g2d设置自定义的YUV系数,g2d不适合用于JPG的编解码,但依然适合摄像头和视频编解码的颜色空间转换
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本篇测评由与非网的优秀测评者“短笛君”提供。本文将介绍基于米尔电子MYD-YD9360商显板(米尔基于芯驰D9360国产开发板)的TinyMaxi轻量级的神经网络推理库方案测试。算力测试TinyMaix 是面向单片机的超轻量级的神经网络推理库,即 TinyML 推理库,可以让你在任意单片机上运行轻量级深度学习模型~ 开源地址:https://github.com/sipeed/TinyMaix搭建
2024-06-28
米尔创新设计RK3568全LGA国产核心板,更紧凑可靠省连接器成本
今天,米尔电子发布MYC-LR3568核心板及开发板,核心板基于高性能、低功耗的国产芯片-瑞芯微RK3568。核心板采用LGA 创新设计,可实现100%全国产自主可控。MYC-LR3568系列核心板采用高密度高速电路板设计,在大小为43mm*45mm*3.85mm板卡上集成了RK3568J/RK3568B2、LPDDR4、eMMC、E2PROM、PMIC电源等电路。核心板根据存储器件参数的不同,细
2024-06-28
米尔基于NXP i.MX 93开发板的M33处理器应用开发笔记
1.概述本文主要介绍M33核的两种工程调试开发,第一种方式是通过板子自带的固件进行开发,第二种方式是使用 IAR Embedded Workbench 来构建可移植的Freertos文件进行开发。2.硬件资源MYD-LMX9X 开发板(米尔基于NXP i.MX 93开发板)3.软件资源Windows7及以上版本软件 :IAR Embedded Workbench4.板载固件调试M334.1环境准备
2024-06-21
米尔T527系列加推工控板和工控机,更多工业场景DEMO
自米尔首发基于全志T527系列核心板以来,这款基于八核CPU的高性能国产核心板得到广大客户的好评。这款产品支持Android13、Linux5.15操作系统,还将适配Ubuntu系统,满足开发者们更灵活地开发各种创新应用。米尔为满足不同的客户需求,推出基于全志T527的全系列的产品:米粉派T527、MYD-LT527-SX商显板等等。此次,米尔加推了MYD-LT527-GK工控板和MYD-LT52
2024-06-21
7折购!米尔基于全志T113系列开发板
全志T113系列芯片是目前比较受欢迎的国产入门级嵌入式工业芯片。米尔是基于T113芯片开发较早、提供配置最全的厂家,目前是唯一一家提供T113-S和T113-i两种芯片核心板的厂家。T113-i的核心板兼容T113-S的核心板,同一个硬件设计,有多种更适合的选择。2种芯片,多种配置,全志T113系列产品自上市以来已得到各行各业的应用。为回馈广大客户的支持,助力国产芯的发展,米尔特推出特大优惠活动:
2024-06-13
两款新品!米尔基于全志T527的商显主板及工业微型控制器
摘自:strongerHuang前段时间,给大家推荐过米粉派(MIFANS Pi)T527,它是由米尔电子推出的高性能T527开发板。而今天主要给大家推荐米粉派T527的兄弟:MYD-LT527-SX商显板,以及它的升级版MYD-LT527-GK-B微型工控机。米尔基于全志T527板卡米尔基于全志T527处理器推出了多款产品,包含核心板、开发板、工控板、商显板,以满足不同行业、不同研发能力、不同需