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qcom2 build fixes

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pull/214/head
Willem Melching 5 years ago
parent 5cbdaa19bb
commit 405d94ec6d
3 changed files with 15 additions and 14 deletions
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  1. 23
      selfdrive/camerad/cameras/camera_qcom2.c
  2. 2
      selfdrive/camerad/main.cc
  3. 4
      selfdrive/ui/sound.hpp

23
selfdrive/camerad/cameras/camera_qcom2.c
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@ -28,6 +28,7 @@
//#define FRAME_STRIDE 1936 // for 8 bit output //#define FRAME_STRIDE 1936 // for 8 bit output
#define FRAME_STRIDE 2416 // for 10 bit output #define FRAME_STRIDE 2416 // for 10 bit output
/*
static void hexdump(uint8_t *data, int len) { static void hexdump(uint8_t *data, int len) {
for (int i = 0; i < len; i++) { for (int i = 0; i < len; i++) {
if (i!=0&&i%0x10==0) printf("\n"); if (i!=0&&i%0x10==0) printf("\n");
@ -35,6 +36,7 @@ static void hexdump(uint8_t *data, int len) {
} }
printf("\n"); printf("\n");
} }
*/
extern volatile sig_atomic_t do_exit; extern volatile sig_atomic_t do_exit;
@ -79,8 +81,6 @@ int device_control(int fd, int op_code, int session_handle, int dev_handle) {
} }
void *alloc_w_mmu_hdl(int video0_fd, int len, int align, int flags, uint32_t *handle, int mmu_hdl, int mmu_hdl2) { void *alloc_w_mmu_hdl(int video0_fd, int len, int align, int flags, uint32_t *handle, int mmu_hdl, int mmu_hdl2) {
int ret;
static struct cam_mem_mgr_alloc_cmd mem_mgr_alloc_cmd = {0}; static struct cam_mem_mgr_alloc_cmd mem_mgr_alloc_cmd = {0};
mem_mgr_alloc_cmd.len = len; mem_mgr_alloc_cmd.len = len;
mem_mgr_alloc_cmd.align = align; mem_mgr_alloc_cmd.align = align;
@ -141,7 +141,7 @@ void sensors_poke(struct CameraState *s, int request_id) {
pkt->header.size = size; pkt->header.size = size;
pkt->header.op_code = 0x7f; pkt->header.op_code = 0x7f;
pkt->header.request_id = request_id; pkt->header.request_id = request_id;
struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload; //struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
static struct cam_config_dev_cmd config_dev_cmd = {}; static struct cam_config_dev_cmd config_dev_cmd = {};
config_dev_cmd.session_handle = s->session_handle; config_dev_cmd.session_handle = s->session_handle;
@ -169,7 +169,7 @@ void sensors_i2c(struct CameraState *s, struct i2c_random_wr_payload* dat, int l
buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_random_wr) + (len-1)*sizeof(struct i2c_random_wr_payload); buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_random_wr) + (len-1)*sizeof(struct i2c_random_wr_payload);
buf_desc[0].type = CAM_CMD_BUF_I2C; buf_desc[0].type = CAM_CMD_BUF_I2C;
struct cam_cmd_power *power = alloc(s->video0_fd, buf_desc[0].size, 8, CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &buf_desc[0].mem_handle); struct cam_cmd_power *power = alloc(s->video0_fd, buf_desc[0].size, 8, CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, (uint32_t*)&buf_desc[0].mem_handle);
struct cam_cmd_i2c_random_wr *i2c_random_wr = (void*)power; struct cam_cmd_i2c_random_wr *i2c_random_wr = (void*)power;
i2c_random_wr->header.count = len; i2c_random_wr->header.count = len;
i2c_random_wr->header.op_code = 1; i2c_random_wr->header.op_code = 1;
@ -204,7 +204,7 @@ void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe); buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe);
buf_desc[0].type = CAM_CMD_BUF_LEGACY; buf_desc[0].type = CAM_CMD_BUF_LEGACY;
struct cam_cmd_i2c_info *i2c_info = alloc(video0_fd, buf_desc[0].size, 8, CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &buf_desc[0].mem_handle); struct cam_cmd_i2c_info *i2c_info = alloc(video0_fd, buf_desc[0].size, 8, CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, (uint32_t*)&buf_desc[0].mem_handle);
struct cam_cmd_probe *probe = (struct cam_cmd_probe *)((uint8_t *)i2c_info) + sizeof(struct cam_cmd_i2c_info); struct cam_cmd_probe *probe = (struct cam_cmd_probe *)((uint8_t *)i2c_info) + sizeof(struct cam_cmd_i2c_info);
switch (camera_num) { switch (camera_num) {
@ -241,11 +241,11 @@ void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
//buf_desc[1].size = buf_desc[1].length = 148; //buf_desc[1].size = buf_desc[1].length = 148;
buf_desc[1].size = buf_desc[1].length = 196; buf_desc[1].size = buf_desc[1].length = 196;
buf_desc[1].type = CAM_CMD_BUF_I2C; buf_desc[1].type = CAM_CMD_BUF_I2C;
struct cam_cmd_power *power = alloc(video0_fd, buf_desc[1].size, 8, CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &buf_desc[1].mem_handle); struct cam_cmd_power *power = alloc(video0_fd, buf_desc[1].size, 8, CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, (uint32_t*)&buf_desc[1].mem_handle);
memset(power, 0, buf_desc[1].size); memset(power, 0, buf_desc[1].size);
struct cam_cmd_unconditional_wait *unconditional_wait; struct cam_cmd_unconditional_wait *unconditional_wait;
void *ptr = power; //void *ptr = power;
// 7750 // 7750
/*power->count = 2; /*power->count = 2;
power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP; power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
@ -350,7 +350,7 @@ void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
power = (void*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings)); power = (void*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings));
LOGD("probing the sensor"); LOGD("probing the sensor");
int ret = cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)cam_packet_handle, 0); int ret = cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
assert(ret == 0); assert(ret == 0);
release_fd(video0_fd, buf_desc[0].mem_handle); release_fd(video0_fd, buf_desc[0].mem_handle);
@ -401,7 +401,7 @@ void config_isp(struct CameraState *s, int io_mem_handle, int fence, int request
} }
buf_desc[1].type = CAM_CMD_BUF_GENERIC; buf_desc[1].type = CAM_CMD_BUF_GENERIC;
buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON; buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
uint32_t *buf2 = alloc(s->video0_fd, buf_desc[1].size, 0x20, CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &buf_desc[1].mem_handle); uint32_t *buf2 = alloc(s->video0_fd, buf_desc[1].size, 0x20, CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, (uint32_t*)&buf_desc[1].mem_handle);
// cam_isp_packet_generic_blob_handler // cam_isp_packet_generic_blob_handler
uint32_t tmp[] = { uint32_t tmp[] = {
@ -526,7 +526,6 @@ void enqueue_buffer(struct CameraState *s, int i) {
// ******************* camera ******************* // ******************* camera *******************
static void camera_release_buffer(void* cookie, int i) { static void camera_release_buffer(void* cookie, int i) {
int ret;
CameraState *s = cookie; CameraState *s = cookie;
enqueue_buffer(s, i); enqueue_buffer(s, i);
} }
@ -692,7 +691,7 @@ static void camera_open(CameraState *s, VisionBuf* b) {
// acquires done // acquires done
// config ISP // config ISP
void *buf0 = alloc_w_mmu_hdl(s->video0_fd, 984480, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &s->buf0_handle, s->device_iommu, s->cdm_iommu); alloc_w_mmu_hdl(s->video0_fd, 984480, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, (uint32_t*)&s->buf0_handle, s->device_iommu, s->cdm_iommu);
config_isp(s, 0, 0, 1, s->buf0_handle, 0); config_isp(s, 0, 0, 1, s->buf0_handle, 0);
LOG("-- Configuring sensor"); LOG("-- Configuring sensor");
@ -715,7 +714,7 @@ static void camera_open(CameraState *s, VisionBuf* b) {
buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info); buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info);
buf_desc[0].type = CAM_CMD_BUF_GENERIC; buf_desc[0].type = CAM_CMD_BUF_GENERIC;
struct cam_csiphy_info *csiphy_info = alloc(s->video0_fd, buf_desc[0].size, 8, CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &buf_desc[0].mem_handle); struct cam_csiphy_info *csiphy_info = alloc(s->video0_fd, buf_desc[0].size, 8, CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, (uint32_t*)&buf_desc[0].mem_handle);
csiphy_info->lane_mask = 0x1f; csiphy_info->lane_mask = 0x1f;
csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels?? csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels??

2
selfdrive/camerad/main.cc
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@ -504,7 +504,9 @@ void* processing_thread(void *arg) {
double t2 = millis_since_boot(); double t2 = millis_since_boot();
#ifndef QCOM2
uint8_t *bgr_ptr = (uint8_t*)s->rgb_bufs[rgb_idx].addr; uint8_t *bgr_ptr = (uint8_t*)s->rgb_bufs[rgb_idx].addr;
#endif
double yt1 = millis_since_boot(); double yt1 = millis_since_boot();

4
selfdrive/ui/sound.hpp
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@ -2,7 +2,7 @@
#include <map> #include <map>
#include "cereal/gen/cpp/log.capnp.h" #include "cereal/gen/cpp/log.capnp.h"
#if defined(QCOM) || defined(QCOM2) #if defined(QCOM)
#include <SLES/OpenSLES.h> #include <SLES/OpenSLES.h>
#include <SLES/OpenSLES_Android.h> #include <SLES/OpenSLES_Android.h>
#endif #endif
@ -18,7 +18,7 @@ class Sound {
void setVolume(int volume); void setVolume(int volume);
~Sound(); ~Sound();
#if defined(QCOM) || defined(QCOM2) #if defined(QCOM)
private: private:
SLObjectItf engine_ = nullptr; SLObjectItf engine_ = nullptr;
SLObjectItf outputMix_ = nullptr; SLObjectItf outputMix_ = nullptr;

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