opensensor · matteius · Aug 12, 2026
diff --git a/build-t23.sh b/build-t23.sh
@@ -0,0 +1,162 @@
+#!/bin/sh
+set -eu
+
+project_dir=$(CDPATH= cd -- "$(dirname -- "$0")" && pwd)
+output_dir=${T23_OUTPUT_DIR:-"$project_dir/build/t23"}
+firmware_dir=${THINGINO_DIR:-}
+
+if [ -z "$firmware_dir" ]; then
+    for candidate in \
+        "$project_dir/../thingino-firmware-opensensor" \
+        "$project_dir/../thingino-firmware" \
+        "$project_dir/../../thingino-firmware-opensensor" \
+        "$project_dir/../../thingino-firmware"
+    do
+        if [ -d "$candidate/output/master" ]; then
+            firmware_dir=$(CDPATH= cd -- "$candidate" && pwd)
+            break
+        fi
+    done
+fi
+
+: "${firmware_dir:?set THINGINO_DIR to a Thingino firmware checkout}"
+target_name=${T23_TARGET:-cinnado_d1_t23n_sc2336_atbm6012bx-3.10.14-uclibc}
+target_dir="$firmware_dir/output/master/$target_name"
+toolchain_prefix=${TOOLCHAIN_PREFIX:-"$target_dir/host/bin/mipsel-linux"}
+compiler="${toolchain_prefix}-gcc"
+stripper="${toolchain_prefix}-strip"
+
+test -x "$compiler"
+mkdir -p "$output_dir"
+
+base_flags="-std=gnu99 -O2 -mabi=32 -march=mips32r2 -mabicalls"
+base_flags="$base_flags -fPIC -G0 -fno-stack-protector -DPLATFORM_T23"
+repo_includes="-I$project_dir/include -I$project_dir/src"
+
+compile()
+{
+    object=$1
+    source=$2
+    shift 2
+    "$compiler" $base_flags $repo_includes -Wall -Wextra "$@" \
+        -c "$project_dir/$source" -o "$output_dir/$object.o"
+}
+
+# The T23 public ABI feeds the recovered AVPU backend through the T-series
+# stock-driver seam.  Audio remains in the OEM libimp used by RAD.
+compile openimp_p0 src/t40/openimp_p0.c -Werror
+compile openimp_profile src/openimp_profile.c -Werror
+compile openimp_tuning src/openimp_tuning.c -Werror
+compile openimp_p2_encoder src/t40/openimp_p2_encoder.c -Werror
+compile openimp_avc src/t40/openimp_avc.c -Werror
+compile t40_ep1 src/t40/t40_ep1.c -Werror
+compile enc_hw_scaling src/alcodec/EncHwScalingList.c
+compile codec src/t40/codec-t40.c -Wno-stringop-overflow
+compile al_avpu src/al_avpu.c -Wno-stringop-overflow
+compile device_pool src/device_pool.c -Wno-stringop-overflow
+compile fifo src/fifo.c -Wno-stringop-overflow
+compile hw_encoder src/hw_encoder.c -Wno-stringop-overflow
+
+compile time64_shim src/time64_shim.c
+compile kernel_interface src/kernel_interface.c
+compile dma_alloc src/dma_alloc.c
+compile core_device src/core/device.c
+compile core_group src/core/group.c
+compile core_module src/core/module.c
+compile framesource src/framesource/framesource_tseries.c
+compile isp src/isp/isp_tseries.c
+compile t23_compat src/t31/openimp_t31_compat.c
+compile t23_state src/t31/openimp_t31_state.c -Werror
+compile t23_services src/t31/openimp_t31_services.c -Werror
+compile t23_platform_services src/t23/openimp_t23_services.c -Werror
+compile t23_helix_bridge src/t23/openimp_t23_helix_bridge.c -Werror
+compile t23_persist src/t23/openimp_t23_persist.c -Werror
+
+"$compiler" -shared -nostartfiles \
+    -Wl,-soname,libimp.so \
+    -Wl,--version-script="$project_dir/src/t40/libimp.map" \
+    -o "$output_dir/libimp.so" \
+    "$output_dir/openimp_p0.o" \
+    "$output_dir/openimp_profile.o" \
+    "$output_dir/openimp_tuning.o" \
+    "$output_dir/openimp_p2_encoder.o" \
+    "$output_dir/openimp_avc.o" \
+    "$output_dir/t40_ep1.o" \
+    "$output_dir/enc_hw_scaling.o" \
+    "$output_dir/codec.o" \
+    "$output_dir/al_avpu.o" \
+    "$output_dir/device_pool.o" \
+    "$output_dir/fifo.o" \
+    "$output_dir/hw_encoder.o" \
+    "$output_dir/time64_shim.o" \
+    "$output_dir/kernel_interface.o" \
+    "$output_dir/dma_alloc.o" \
+    "$output_dir/core_device.o" \
+    "$output_dir/core_group.o" \
+    "$output_dir/core_module.o" \
+    "$output_dir/framesource.o" \
+    "$output_dir/isp.o" \
+    "$output_dir/t23_compat.o" \
+    "$output_dir/t23_state.o" \
+    "$output_dir/t23_services.o" \
+    "$output_dir/t23_platform_services.o" \
+    "$output_dir/t23_helix_bridge.o" \
+    "$output_dir/t23_persist.o" \
+    -ldl -lpthread -lrt
+
+"$stripper" --strip-unneeded "$output_dir/libimp.so"
+
+if readelf -d "$output_dir/libimp.so" |
+    grep -q 'Shared library: \[libimp.so'
+then
+    echo "T23 build has an OEM libimp dependency" >&2
+    exit 1
+fi
+
+if readelf --dyn-syms --wide "$output_dir/libimp.so" |
+    awk '$7 != "UND" && $8 ~ /^IMP_(AI|AO|AENC|ADEC|DMIC)_/ {found=1} END {exit !found}'
+then
+    echo "T23 build exports audio APIs" >&2
+    exit 1
+fi
+
+rvd=${T23_RVD:-"$target_dir/target/usr/bin/rvd"}
+if [ -f "$rvd" ]; then
+    readelf --dyn-syms --wide "$rvd" |
+        awk '$7 == "UND" && $8 ~ /^IMP_/ {
+            sub(/@.*/, "", $8)
+            print $8
+        }' | sort -u >"$output_dir/rvd-imp-imports.txt"
+    readelf --dyn-syms --wide "$output_dir/libimp.so" |
+        awk '$7 != "UND" && $5 == "GLOBAL" && $8 ~ /^IMP_/ {print $8}' |
+        sort -u >"$output_dir/libimp-exports.txt"
+    comm -23 "$output_dir/rvd-imp-imports.txt" \
+        "$output_dir/libimp-exports.txt" >"$output_dir/rvd-imp-missing.txt"
+    echo "RVD IMP coverage: $(comm -12 "$output_dir/rvd-imp-imports.txt" "$output_dir/libimp-exports.txt" | wc -l)/$(wc -l <"$output_dir/rvd-imp-imports.txt")"
+    if [ -s "$output_dir/rvd-imp-missing.txt" ]; then
+        echo "T23 build is missing RVD IMP imports:" >&2
+        cat "$output_dir/rvd-imp-missing.txt" >&2
+        exit 1
+    fi
+fi
+
+sha256sum "$output_dir/libimp.so"
+readelf -d "$output_dir/libimp.so" | grep -E 'SONAME|NEEDED'
+
+# Keep the proprietary T23 Helix implementation in a clean process.  RVD loads
+# OpenIMP, while this small worker resolves libimp from /usr/lib and exchanges
+# raw frames through tmpfs-backed shared memory.
+"$compiler" $base_flags $repo_includes -Wall -Wextra -Werror \
+    "$project_dir/src/t23/openimp_t23_helix_worker.c" \
+    -L"$target_dir/target/usr/lib" \
+    -Wl,-rpath,/usr/lib -Wl,-rpath-link,"$target_dir/target/usr/lib" \
+    -limp -lalog -lpthread -ldl \
+    -o "$output_dir/openimp-t23-helixd"
+"$stripper" --strip-unneeded "$output_dir/openimp-t23-helixd"
+if ! readelf -d "$output_dir/openimp-t23-helixd" |
+    grep -q 'Shared library: \[libimp.so\]'
+then
+    echo "T23 Helix worker is not linked to the OEM libimp ABI" >&2
+    exit 1
+fi
+ls -l "$output_dir/openimp-t23-helixd"
diff --git a/include/imp/imp_common.h b/include/imp/imp_common.h
@@ -12,6 +12,7 @@ extern "C" {
 #endif
 
 #include <stdint.h>
+#include <stddef.h>
 
 /**
  * Return codes
@@ -84,11 +85,48 @@ typedef struct {
     char aVersion[64];  /**< Version string */
 } IMPVersion;
 
-/** Frame info structure (width/height) */
+/** Frame info structure.  T23 1.3.0 exposes the complete DMA descriptor. */
+#if defined(PLATFORM_T23)
+typedef struct {
+    int index;
+    int pool_idx;
+    uint32_t width;
+    uint32_t height;
+    uint32_t pixfmt;
+    uint32_t size;
+    uint32_t phyAddr;
+    uint32_t virAddr;
+    uint32_t direct_phyAddr;
+    int64_t timeStamp;
+    int64_t timeStamp_ivdc;
+    uint32_t priv[0];
+} IMPFrameInfo;
+
+typedef struct {
+    uint64_t ts;
+    uint64_t minus;
+    uint64_t plus;
+} IMPFrameTimestamp;
+
+_Static_assert(offsetof(IMPFrameInfo, direct_phyAddr) == 0x20,
+               "T23 IMPFrameInfo.direct_phyAddr ABI mismatch");
+_Static_assert(offsetof(IMPFrameInfo, timeStamp) == 0x28,
+               "T23 IMPFrameInfo.timeStamp ABI mismatch");
+_Static_assert(sizeof(IMPFrameInfo) == 0x38,
+               "T23 IMPFrameInfo ABI mismatch");
+#else
 typedef struct {
     int width;
     int height;
 } IMPFrameInfo;
+#endif
+
+/** T23 encoder payload identifiers (SDK 1.3.0). */
+typedef enum {
+    PT_JPEG = 0,
+    PT_H264 = 1,
+    PT_H265 = 2,
+} IMPPayloadType;
 
 /**
  * Rectangle structure
@@ -184,4 +222,3 @@ typedef int IMPRgnHandle;
 #endif
 
 #endif /* __IMP_COMMON_H__ */
-