You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
124 lines
3.0 KiB
124 lines
3.0 KiB
#pragma once
|
|
|
|
#include <cstdint>
|
|
#include <map>
|
|
#include <utility>
|
|
|
|
#include <media/cam_req_mgr.h>
|
|
|
|
#include "system/camerad/cameras/camera_common.h"
|
|
#include "system/camerad/cameras/camera_util.h"
|
|
#include "common/params.h"
|
|
#include "common/util.h"
|
|
|
|
#define FRAME_BUF_COUNT 4
|
|
#define ANALOG_GAIN_MAX_CNT 55
|
|
|
|
class CameraState {
|
|
public:
|
|
MultiCameraState *multi_cam_state;
|
|
CameraInfo ci;
|
|
bool enabled;
|
|
|
|
std::mutex exp_lock;
|
|
|
|
int exposure_time;
|
|
bool dc_gain_enabled;
|
|
int dc_gain_weight;
|
|
int gain_idx;
|
|
float analog_gain_frac;
|
|
|
|
int exposure_time_min;
|
|
int exposure_time_max;
|
|
|
|
float dc_gain_factor;
|
|
int dc_gain_min_weight;
|
|
int dc_gain_max_weight;
|
|
float dc_gain_on_grey;
|
|
float dc_gain_off_grey;
|
|
|
|
float sensor_analog_gains[ANALOG_GAIN_MAX_CNT];
|
|
int analog_gain_min_idx;
|
|
int analog_gain_max_idx;
|
|
int analog_gain_rec_idx;
|
|
int analog_gain_cost_delta;
|
|
float analog_gain_cost_low;
|
|
float analog_gain_cost_high;
|
|
|
|
float cur_ev[3];
|
|
float min_ev, max_ev;
|
|
float best_ev_score;
|
|
int new_exp_g;
|
|
int new_exp_t;
|
|
|
|
float measured_grey_fraction;
|
|
float target_grey_fraction;
|
|
float target_grey_factor;
|
|
|
|
unique_fd sensor_fd;
|
|
unique_fd csiphy_fd;
|
|
|
|
int camera_num;
|
|
|
|
void handle_camera_event(void *evdat);
|
|
void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
|
|
void set_camera_exposure(float grey_frac);
|
|
|
|
void sensors_start();
|
|
|
|
void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled);
|
|
void camera_set_parameters();
|
|
void camera_map_bufs(MultiCameraState *s);
|
|
void camera_init(MultiCameraState *s, VisionIpcServer *v, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type);
|
|
void camera_close();
|
|
|
|
std::map<uint16_t, uint16_t> ar0231_parse_registers(uint8_t *data, std::initializer_list<uint16_t> addrs);
|
|
|
|
int32_t session_handle;
|
|
int32_t sensor_dev_handle;
|
|
int32_t isp_dev_handle;
|
|
int32_t csiphy_dev_handle;
|
|
|
|
int32_t link_handle;
|
|
|
|
int buf0_handle;
|
|
int buf_handle[FRAME_BUF_COUNT];
|
|
int sync_objs[FRAME_BUF_COUNT];
|
|
int request_ids[FRAME_BUF_COUNT];
|
|
int request_id_last;
|
|
int frame_id_last;
|
|
int idx_offset;
|
|
bool skipped;
|
|
int camera_id;
|
|
|
|
CameraBuf buf;
|
|
MemoryManager mm;
|
|
|
|
private:
|
|
void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset);
|
|
void enqueue_req_multi(int start, int n, bool dp);
|
|
void enqueue_buffer(int i, bool dp);
|
|
int clear_req_queue();
|
|
|
|
int sensors_init();
|
|
void sensors_poke(int request_id);
|
|
void sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word);
|
|
|
|
// Register parsing
|
|
std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
|
|
std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(uint8_t *data);
|
|
};
|
|
|
|
typedef struct MultiCameraState {
|
|
unique_fd video0_fd;
|
|
unique_fd cam_sync_fd;
|
|
unique_fd isp_fd;
|
|
int device_iommu;
|
|
int cdm_iommu;
|
|
|
|
CameraState road_cam;
|
|
CameraState wide_road_cam;
|
|
CameraState driver_cam;
|
|
|
|
PubMaster *pm;
|
|
} MultiCameraState;
|
|
|