iter40: Pi 5 HEVC chapter — backend integration lands, bit-exact pending

Phase 6 implementation. Backend builds clean on higgs (Debian 13
trixie, aarch64), vainfo lists VAProfileHEVCMain via rpi-hevc-dec,
multi-device probe finds /dev/video19 + /dev/media1, CreateContext
+ S_FMT + REQBUFS + STREAMON all succeed.

Phase 7 partial: infrastructure works, 10 frames flow through the
pipeline (correct byte counts produced — 13824000 for 1280x720 x 10
NV12 frames). But every DQBUF CAPTURE returns V4L2_BUF_FLAG_ERROR
so output content is wrong (libva sha != kdirect sha). The decode
itself is failing on the rpi-hevc-dec side despite all ctrl
submissions returning success.

Code changes:
- request.h: video_fd_rpi_hevc_dec / media_fd_rpi_hevc_dec slots +
  has_hevc_ext_sps_rps_rpi_hevc_dec flag (mirrors iter38 + iter2
  pair-of-flags pattern, naturally false on Pi).
- request.c: known_decoder_drivers gains rpi-hevc-dec; primary-driver
  probe gets an else-if branch setting the new fds (Phase 5 F3);
  request_switch_device_for_profile prefers 'p' for HEVC when
  rpi-hevc-dec present.
- context.c: per-fd want_pixfmt (NC12 on Pi), capture_pixelformat
  taken from video_format slot (not hardcoded NV12/NV15);
  synthetic-SPS pre-seed gated off for Pi (Phase 5 F6);
  destination_sizes uses nv12_col128_uv_plane_offset for NC12 SAND
  layout (Phase 5 F2);
  per-driver HEVC_START_CODE (NONE on Pi, ANNEX_B on RK);
  per-driver context_object->h264_start_code (skip prepend on Pi).
- video.c: NV12_COL128 video_format entry (8-bit SAND, single
  buffer, 2 planes, NV12 drm_format with MOD_NONE so detile branch
  fires rather than tiled_to_planar).
- nv12_col128.c/.h: detile primitive (Y + UV per-plane, kernel
  hevc_d_video.c bytesperline formula + ffmpeg/Kynesim per-pixel
  offset). UV plane offset = 128 * ALIGN(h, 8) — within-column
  (SAND interleaves Y+UV per column, NOT plane-concatenated;
  earlier wrong formula caught by Phase 7 SEGV).
- image.c: #ifdef __arm__ extended to __arm__ || __aarch64__
  (Phase 5 F1 — guard was killing detile path on all aarch64
  hosts including fresnel iter39 NV15 path, masked because 10-bit
  never exercised); RequestCreateImage NC12 → NV12 stride override
  (linear width, not column-stride); copy_surface_to_image NC12
  detile branch (gates on fourcc + v4l2_format).
- nv15.h: fallback V4L2_PIX_FMT_NV15 define (Debian 13 headers
  omit it though they have NC12).
- nv12_col128.h: fallback V4L2_PIX_FMT_NV12_COL128 +
  V4L2_PIX_FMT_NV12_10_COL128 (Arch / mainline pre-Pi headers).
- tests/test_nv12_col128_detile.c: hand-crafted-bytes unit test;
  passes (8 cases: Y + UV for 4 widths incl. 1366 misaligned;
  UV-offset helper).
- meson.build / nv12_col128 sources listed.

Phase 7 status: not yet bit-exact. Remaining diagnosis: per-frame
S_EXT_CTRLS payload diff vs kdirect (kdirect sends 4 ctrls
SPS+PPS+decode_params+slice_array; ours sends 5 incl. scaling_matrix;
field ordering differs). Likely the slice_array contents need
per-driver handling for rpi-hevc-dec's expected layout. Beyond
in-session reach.

iter38 5/5 baseline on fresnel + ampere should be unaffected (new
fd stays -1 on non-Pi hosts; all gates either short-circuit on
fd-not-present or no-op).

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

src/video.c

@@ -31,6 +31,8 @@
 #include <drm_fourcc.h>
 #include <linux/videodev2.h>
 
+#include "nv12_col128.h"  /* fallback V4L2_PIX_FMT_NV12_COL128 define */
+#include "nv15.h"         /* fallback V4L2_PIX_FMT_NV15 define */
 #include "utils.h"
 #include "video.h"
 
@@ -55,6 +57,28 @@ static struct video_format formats[] = {
 		.planes_count		= 2,
 		.bpp			= 24,
 	},
+	{
+		/*
+		 * iter40: Pi 5 / CM5 rpi-hevc-dec CAPTURE format. 8-bit NV12
+		 * stored as 128-pixel-wide column tiles (SAND128 layout).
+		 * Pi-specific; not in mainline drm_fourcc.h (uses NV12 + a
+		 * BROADCOM_SAND128 modifier for DRM_PRIME). Our consumer path
+		 * always detiles to linear NV12 in copy_surface_to_image, so
+		 * we don't expose the SAND modifier downstream — drm_format is
+		 * still DRM_FORMAT_NV12 and drm_modifier MOD_NONE so the
+		 * format-is-linear gate doesn't pull us into tiled_to_planar
+		 * (Sunxi-specific). image.c branches on v4l2_format ==
+		 * V4L2_PIX_FMT_NV12_COL128 to invoke the dedicated detile.
+		 */
+		.description		= "NV12 SAND128 (8-bit, rpi-hevc-dec)",
+		.v4l2_format		= V4L2_PIX_FMT_NV12_COL128,
+		.v4l2_buffers_count	= 1,
+		.v4l2_mplane		= true,
+		.drm_format		= DRM_FORMAT_NV12,
+		.drm_modifier		= DRM_FORMAT_MOD_NONE,
+		.planes_count		= 2,
+		.bpp			= 16,
+	},
 // Code to handle this DRM_FORMAT is __arm__ only
 #ifdef __arm__
 	{