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.
88 lines
2.0 KiB
88 lines
2.0 KiB
1 year ago
|
#pragma once
|
||
|
|
|
||
|
|
#include <memory>
|
||
|
|
#include <utility>
|
||
|
|
|
||
|
|
#include "media/cam_isp_ife.h"
|
||
|
|
|
||
|
|
#include "common/util.h"
|
||
|
|
#include "system/camerad/cameras/tici.h"
|
||
|
|
#include "system/camerad/cameras/camera_util.h"
|
||
|
|
#include "system/camerad/cameras/camera_common.h"
|
||
|
|
#include "system/camerad/sensors/sensor.h"
|
||
|
|
|
||
|
|
#define FRAME_BUF_COUNT 4
|
||
|
|
|
||
|
|
const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py
|
||
|
|
|
||
|
|
// For use with the Spectra 280 ISP in the SDM845
|
||
|
|
// https://github.com/commaai/agnos-kernel-sdm845
|
||
|
|
|
||
|
|
|
||
|
|
class SpectraMaster {
|
||
|
|
public:
|
||
|
|
void init();
|
||
|
|
|
||
|
|
unique_fd video0_fd;
|
||
|
|
unique_fd cam_sync_fd;
|
||
|
|
unique_fd isp_fd;
|
||
|
|
int device_iommu = -1;
|
||
|
|
int cdm_iommu = -1;
|
||
|
|
};
|
||
|
|
|
||
|
|
class SpectraCamera {
|
||
|
|
public:
|
||
|
|
SpectraCamera(SpectraMaster *master, const CameraConfig &config);
|
||
|
|
~SpectraCamera();
|
||
|
|
|
||
|
|
void camera_open();
|
||
|
|
void camera_close();
|
||
|
|
void camera_map_bufs();
|
||
|
|
void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
|
||
|
|
void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset);
|
||
|
|
|
||
|
|
int clear_req_queue();
|
||
|
|
void enqueue_buffer(int i, bool dp);
|
||
|
|
void enqueue_req_multi(uint64_t start, int n, bool dp);
|
||
|
|
|
||
|
|
int sensors_init();
|
||
|
|
void sensors_start();
|
||
|
|
void sensors_poke(int request_id);
|
||
|
|
void sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word);
|
||
|
|
|
||
|
|
bool openSensor();
|
||
|
|
void configISP();
|
||
|
|
void configCSIPHY();
|
||
|
|
void linkDevices();
|
||
|
|
|
||
|
|
// *** state ***
|
||
|
|
|
||
|
|
bool open = false;
|
||
|
|
bool enabled = true;
|
||
|
|
CameraConfig cc;
|
||
|
|
std::unique_ptr<const SensorInfo> sensor;
|
||
|
|
|
||
|
|
unique_fd sensor_fd;
|
||
|
|
unique_fd csiphy_fd;
|
||
|
|
|
||
|
|
int32_t session_handle = -1;
|
||
|
|
int32_t sensor_dev_handle = -1;
|
||
|
|
int32_t isp_dev_handle = -1;
|
||
|
|
int32_t csiphy_dev_handle = -1;
|
||
|
|
|
||
|
|
int32_t link_handle = -1;
|
||
|
|
|
||
|
|
int buf0_handle = 0;
|
||
|
|
int buf_handle[FRAME_BUF_COUNT] = {};
|
||
|
|
int sync_objs[FRAME_BUF_COUNT] = {};
|
||
|
|
uint64_t request_ids[FRAME_BUF_COUNT] = {};
|
||
|
|
uint64_t request_id_last = 0;
|
||
|
|
uint64_t frame_id_last = 0;
|
||
|
|
uint64_t idx_offset = 0;
|
||
|
|
bool skipped = true;
|
||
|
|
|
||
|
|
CameraBuf buf;
|
||
|
|
MemoryManager mm;
|
||
|
|
SpectraMaster *m;
|
||
|
|
};
|