Introduce HW camera stack using Rockchip MPP/VPU

.github/workflows/build.yaml

@@ -10,7 +10,7 @@ on:
 
 jobs:
   custom-firmware-build:
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-24.04-arm
     steps:
     - name: Checkout
       uses: actions/checkout@v3
@@ -31,19 +31,30 @@ jobs:
         key: kernels-${{ runner.os }}-${{ runner.arch }}-${{ env.KERNEL_SHA }}
 
     - name: Install build dependencies
-      run:
-        sudo apt-get update -y && sudo apt-get install -y build-essential cmake gcc-aarch64-linux-gnu
+      run: |
+        sudo apt-get update -y &&
+        sudo apt-get install -y build-essential cmake \
+          gcc-aarch64-linux-gnu pkg-config squashfs-tools git-core \
+          bc libssl-dev
 
     - name: Download firmware
       run: make firmware
 
-    - name: Build with Custom
-      run: make custom_firmware CUSTOM_FIRMWARE_FILE=firmware_custom.bin
+    - name: Build with Basic firmware
+      run: make basic_firmware BASIC_FIRMWARE_FILE=firmware_basic.bin
+
+    - name: Build with Extended firmware
+      run: make extended_firmware EXTENDED_FIRMWARE_FILE=firmware_extended.bin
 
     - name: Clear Kernel Git Repo
       run: git -C tmp/kernel/ clean -fdx
 
     - uses: actions/upload-artifact@v4
       with:
-        name: custom-build
-        path: firmware_custom.bin
+        name: basic-build
+        path: firmware_basic.bin
+
+    - uses: actions/upload-artifact@v4
+      with:
+        name: extended-build
+        path: firmware_extended.bin

Makefile

@@ -5,15 +5,20 @@ all: tools
 # ================= Build Tools =================
 
 DEBUG_FIRMWARE_FILE := firmware/firmware_debug.bin
-CUSTOM_FIRMWARE_FILE := firmware/firmware_custom.bin
+BASIC_FIRMWARE_FILE := firmware/firmware_basic.bin
+EXTENDED_FIRMWARE_FILE := firmware/firmware_extended.bin
 
 $(DEBUG_FIRMWARE_FILE): firmware/$(FIRMWARE_FILE) tools
 	./scripts/enable_debug_misc.sh $< tmp/debug $@
 
-$(CUSTOM_FIRMWARE_FILE): firmware/$(FIRMWARE_FILE) tools
-	./scripts/create_custom_firmware.sh $< tmp/custom $@
+$(BASIC_FIRMWARE_FILE): firmware/$(FIRMWARE_FILE) tools
+	./scripts/create_firmware.sh $< tmp/basic $@ overlays/basic overlays/camera-native
 
-custom_firmware: $(CUSTOM_FIRMWARE_FILE)
+$(EXTENDED_FIRMWARE_FILE): firmware/$(FIRMWARE_FILE) tools
+	./scripts/create_firmware.sh $< tmp/extended $@ overlays/basic overlays/camera-new
+
+basic_firmware: $(BASIC_FIRMWARE_FILE)
+extended_firmware: $(EXTENDED_FIRMWARE_FILE)
 debug_firmware: $(DEBUG_FIRMWARE_FILE)
 extract_firmware: firmware/$(FIRMWARE_FILE) tools
 	./scripts/extract_squashfs.sh $< tmp/extracted

README.md

@@ -8,22 +8,49 @@ This project provides utilities to work with Snapmaker U1 firmware images.
 It enables creating custom firmware builds, and enabling debug features,
 like SSH access.
 
-## Features
+## Firmware Variants
+
+| Variant | Description |
+|---------|-------------|
+| **Basic** | SSH, USB ethernet, native camera (~1Hz in Fluidd) |
+| **Extended** | Basic + new camera stack with HW-accelerated streams |
+
+### Common Features
 
-- Extract firmware images (SquashFS rootfs)
-- Create custom firmware with modifications
 - Enable SSH: `root/snapmaker` and `lava/snapmaker`
 - Enable DHCP on USB ethernet adapters
 - Disable WiFi power saving
-- Expose camera feed in Fluidd (~1Hz)
+
+### Extended Camera
+
+The extended firmware replaces the native camera with a hardware-accelerated
+stack using the Rockchip MPP/VPU.
+
+Camera endpoints available at `http://<ip>/webcam/`:
+
+| Endpoint | Description |
+|----------|-------------|
+| `/webcam/snapshot.jpg` | Built-in: JPEG snapshot |
+| `/webcam/stream.mjpg` | Built-in: MJPEG stream (~15fps) |
+| `/webcam/stream.h264` | Built-in: H264 stream (raw) |
+| `/webcam/player` | Built-in: H264 web player |
+| `/webcam2/snapshot.jpg` | USB: JPEG snapshot |
+| `/webcam2/stream.mjpg` | USB: MJPEG stream (~15fps) |
+| `/webcam2/stream.h264` | USB: H264 stream (raw) |
+| `/webcam2/player` | USB: H264 web player |
+
+Fluidd automatically picks up the webcam configuration.
+
+If USB camera is connected it will be exposed under `/webcam2/`.
+Requires reboot.
 
 ## Pre-builts
 
 1. Go to [Actions](https://github.com/paxx12/SnapmakerU1/actions/workflows/build.yaml). You need GitHub account.
-1. Download latest artifact for latest build.
+1. Download `basic-build` or `extended-build` artifact.
 1. Unpack the `.zip`
 1. Put the `.bin` file onto USB device (FAT32/exFAT format).
-1. Go to `About > Firmware version > Local Update > Select firmware_custom.bin`
+1. Go to `About > Firmware version > Local Update > Select the .bin file`
 1. Connect using `ssh root@<ip>` with `snapmaker` password.
 
 **This will void your warranty, but you get SSH access.**

overlays/camera-new/patches/02-disable-native-camera.patch

@@ -0,0 +1,11 @@
+--- a/etc/init.d/S99camera_service
++++ b/etc/init.d/S99camera_service
+@@ -3,6 +3,8 @@
+ # Start/stop camera_service process
+ #
+
++[ -e /oem/.camera-native ] || exit 0
++
+ log()
+ {
+ 	logger -p user.info -t "camera[$$]" -- "$1"

overlays/camera-new/patches/04-enable-moonraker-camera-firame.patch

@@ -0,0 +1,12 @@
+--- a/home/lava/origin_printer_data/config/moonraker.conf
++++ b/home/lava/origin_printer_data/config/moonraker.conf
+@@ -46,3 +46,9 @@
+ mqtt_protocol: v5
+ status_interval: 2
+ default_qos: 1
++[timelapse]
++[webcam case]
++service: iframe
++stream_url: /webcam/player
++snapshot_url: /webcam/snapshot.jpg
++aspect_ratio: 16:9

overlays/camera-new/patches/04-enable-moonraker-camera-mjpg.patch.bak

@@ -0,0 +1,14 @@
+--- a/home/lava/origin_printer_data/config/moonraker.conf
++++ b/home/lava/origin_printer_data/config/moonraker.conf
+@@ -46,3 +46,11 @@
+ mqtt_protocol: v5
+ status_interval: 2
+ default_qos: 1
++[timelapse]
++[webcam case]
++service: mjpegstreamer-adaptive
++stream_url: /webcam/stream.mjpg
++snapshot_url: /webcam/snapshot.jpg
++target_fps: 15
++target_fps_idle: 5
++aspect_ratio: 16:9

overlays/camera-new/root/etc/init.d/S99v4l2-mpp-mipi

@@ -0,0 +1,65 @@
+#!/bin/sh
+
+[ ! -e /oem/.camera-native ] || exit 0
+
+CMD_CAPTURE=/usr/local/bin/capture-mipi-mpp
+CMD_CAPTURE_ARGS="--device /dev/video11 --format nv12 --jpeg-quality 7 --jpeg-sock /tmp/capture-mipi-jpeg.sock --mjpeg-sock /tmp/capture-mipi-mjpeg.sock --h264-sock /tmp/capture-mipi-h264.sock"
+
+CMD_HTTP=/usr/local/bin/stream-http.py
+CMD_HTTP_ARGS="--jpeg-sock /tmp/capture-mipi-jpeg.sock --mjpeg-sock /tmp/capture-mipi-mjpeg.sock --h264-sock /tmp/capture-mipi-h264.sock --bind 127.0.0.1"
+
+CMD_MQTT=/usr/local/bin/stream-mqtt.py
+CMD_MQTT_ARGS="--jpeg-sock /tmp/capture-mipi-jpeg.sock --publish-dir /home/lava/printer_data/camera"
+
+start() {
+    if [ ! -e /dev/video11 ]; then
+        echo "MIPI camera device /dev/video11 not found, not starting."
+        return
+    fi
+
+    printf "Starting capture-mipi-mpp: "
+    start-stop-daemon -S -b -q -m -p /var/run/capture-mipi-mpp.pid -x $CMD_CAPTURE -- $CMD_CAPTURE_ARGS
+    echo "OK"
+
+    printf "Starting stream-http: "
+    start-stop-daemon -S -b -q -m -p /var/run/stream-mipi-http.pid -c lava -x /usr/bin/python3 -- $CMD_HTTP $CMD_HTTP_ARGS
+    echo "OK"
+
+    printf "Starting stream-mqtt: "
+    start-stop-daemon -S -b -q -m -p /var/run/stream-mipi-mqtt.pid -c lava -x /usr/bin/python3 -- $CMD_MQTT $CMD_MQTT_ARGS
+    echo "OK"
+}
+
+stop() {
+    printf "Stopping stream-mqtt: "
+    start-stop-daemon -K -q -p /var/run/stream-mipi-mqtt.pid
+    echo "OK"
+
+    printf "Stopping stream-http: "
+    start-stop-daemon -K -q -p /var/run/stream-mipi-http.pid
+    echo "OK"
+
+    printf "Stopping capture-mipi-mpp: "
+    start-stop-daemon -K -q -p /var/run/capture-mipi-mpp.pid
+    echo "OK"
+}
+
+case "$1" in
+    start)
+        start
+        ;;
+    stop)
+        stop
+        ;;
+    restart|reload)
+        stop
+        sleep 1
+        start
+        ;;
+    *)
+        echo "Usage: $0 {start|stop|restart}"
+        exit 1
+        ;;
+esac
+
+exit 0

overlays/camera-new/root/etc/init.d/S99v4l2-mpp-usb

@@ -0,0 +1,62 @@
+#!/bin/sh
+
+[ ! -e /oem/.camera-native ] || exit 0
+
+CMD_CAPTURE=/usr/local/bin/capture-usb-mpp
+CMD_CAPTURE_ARGS="--device /dev/video18 --jpeg-sock /tmp/capture-usb-jpeg.sock --mjpeg-sock /tmp/capture-usb-mjpeg.sock --h264-sock /tmp/capture-usb-h264.sock"
+
+CMD_HTTP=/usr/local/bin/stream-http.py
+CMD_HTTP_ARGS="--jpeg-sock /tmp/capture-usb-jpeg.sock --mjpeg-sock /tmp/capture-usb-mjpeg.sock --h264-sock /tmp/capture-usb-h264.sock --bind 127.0.0.1 --port 8081"
+
+start() {
+    if [ ! -e /dev/video18 ]; then
+        echo "USB camera device /dev/video18 not found, not starting."
+        return
+    fi
+
+    printf "Starting capture-usb-mpp: "
+    start-stop-daemon -S -b -q -m -p /var/run/capture-usb-mpp.pid -x $CMD_CAPTURE -- $CMD_CAPTURE_ARGS
+    echo "OK"
+
+    printf "Starting stream-http: "
+    start-stop-daemon -S -b -q -m -p /var/run/stream-usb-http.pid -c lava -x /usr/bin/python3 -- $CMD_HTTP $CMD_HTTP_ARGS
+    echo "OK"
+
+    printf "Starting stream-mqtt: "
+    start-stop-daemon -S -b -q -m -p /var/run/stream-usb-mqtt.pid -c lava -x /usr/bin/python3 -- $CMD_MQTT $CMD_MQTT_ARGS
+    echo "OK"
+}
+
+stop() {
+    printf "Stopping stream-mqtt: "
+    start-stop-daemon -K -q -p /var/run/stream-usb-mqtt.pid
+    echo "OK"
+
+    printf "Stopping stream-http: "
+    start-stop-daemon -K -q -p /var/run/stream-usb-http.pid
+    echo "OK"
+
+    printf "Stopping capture-usb-mpp: "
+    start-stop-daemon -K -q -p /var/run/capture-usb-mpp.pid
+    echo "OK"
+}
+
+case "$1" in
+    start)
+        start
+        ;;
+    stop)
+        stop
+        ;;
+    restart|reload)
+        stop
+        sleep 1
+        start
+        ;;
+    *)
+        echo "Usage: $0 {start|stop|restart}"
+        exit 1
+        ;;
+esac
+
+exit 0

overlays/camera-new/root/home/lava/moonraker/moonraker/components/timelapse.py

@@ -0,0 +1,22 @@
+from __future__ import annotations
+from typing import TYPE_CHECKING
+
+if TYPE_CHECKING:
+    from confighelper import ConfigHelper
+
+class Timelapse:
+
+    def __init__(self, confighelper: ConfigHelper) -> None:
+        self.confighelper = confighelper
+        self.server = confighelper.get_server()
+
+        # setup eventhandlers and endpoints
+        file_manager = self.server.lookup_component("file_manager")
+        camera_path = file_manager.datapath.joinpath("camera")
+        file_manager.register_directory("timelapse",
+                                        str(camera_path),
+                                        full_access=True
+                                        )
+
+def load_component(config: ConfigHelper) -> Timelapse:
+    return Timelapse(config)

overlays/camera-new/scripts/01-v4l2-mpp.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+
+ROOT_DIR="$(realpath "$(dirname "$0")/../../..")"
+
+if [[ $# -ne 1 ]]; then
+  echo "Usage: $0 <rootfs-dir>"
+  exit 1
+fi
+
+set -eo pipefail
+
+TARGET_DIR="$ROOT_DIR/tmp/v4l2-mpp"
+
+if [[ ! -d "$TARGET_DIR" ]]; then
+  git clone https://github.com/paxx12/v4l2-mpp.git "$TARGET_DIR"
+fi
+
+echo ">> Compiling MPP library..."
+"$TARGET_DIR/deps/compile_mpp.sh"
+
+echo ">> Compiling v4l2-mpp applications..."
+make -C "$TARGET_DIR" install DESTDIR="$1"

scripts/create_custom_firmware.sh → scripts/create_firmware.sh

@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
-if [[ $# -ne 3 ]]; then
-  echo "Usage: $0 <upgrade.bin> <temp-dir> <output.bin>"
+if [[ $# -lt 3 ]]; then
+  echo "Usage: $0 <upgrade.bin> <temp-dir> <output.bin> [overlays...]"
   exit 1
 fi
 
@@ -11,6 +11,7 @@ IN_FIRMWARE="$(realpath "$1")"
 TEMP_DIR="$(realpath -m "$2")"
 OUT_FIRMWARE="$(realpath -m "$3")"
 ROOT_DIR="$(realpath "$(dirname "$0")/..")"
+shift 3
 
 rm -rf "$TEMP_DIR"
 
@@ -23,17 +24,28 @@ unsquashfs -d "$TEMP_DIR/rootfs" "$TEMP_DIR/rk-unpacked/rootfs.img"
 echo ">> Add kernel modules to rootfs..."
 "$ROOT_DIR/scripts/helpers/compile_kernel_modules.sh" "$TEMP_DIR/rootfs/info/config-6.1" "$ROOT_DIR/tmp/kernel" "$TEMP_DIR/rootfs/lib/modules/"
 
-echo ">> Applying custom patches..."
-for patchfile in "$ROOT_DIR/custom/patches/"*.patch; do
-  echo "[+] Applying patch: $(basename "$patchfile")"
-  patch -d "$TEMP_DIR/rootfs" -p1 < "$patchfile"
+for overlay; do
+  echo ">> Applying overlay $overlay..."
+  if [[ -d "$overlay/patches/" ]]; then
+    for patchfile in "$overlay/patches/"*.patch; do
+      echo "[+] Applying patch: $(basename "$patchfile")"
+      patch -d "$TEMP_DIR/rootfs" -p1 < "$patchfile"
+    done
+  fi
+
+  if [[ -d "$overlay/scripts/" ]]; then
+    for scriptfile in "$overlay/scripts/"*.sh; do
+      echo "[+] Running script: $(basename "$scriptfile")"
+      ./"$scriptfile" "$TEMP_DIR/rootfs"
+    done
+  fi
+
+  if [[ -d "$overlay/root/" ]]; then
+    echo ">> Copying custom files..."
+    cp -rv "$overlay/root/." "$TEMP_DIR/rootfs/"
+  fi
 done
 
-if [[ -d "$ROOT_DIR/custom/root/" ]]; then
-  echo ">> Copying custom files..."
-  cp -rv "$ROOT_DIR/custom/root/." "$TEMP_DIR/rootfs/"
-fi
-
 echo ">> Create squash filesystem..."
 mksquashfs "$TEMP_DIR/rootfs" "$TEMP_DIR/rk-unpacked/rootfs-v2.img" -comp gzip