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camerad fixes for updated agnos kernel (#20062)

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* set size

* whitespace

* more cleanup
pull/59/head
Willem Melching 5 years ago committed by GitHub
parent e5cc110081
commit af8eff4610
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 9 additions and 8 deletions
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  1. 17
      selfdrive/camerad/cameras/camera_qcom2.cc

17
selfdrive/camerad/cameras/camera_qcom2.cc
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@ -145,12 +145,11 @@ void sensors_poke(struct CameraState *s, int request_id) {
int size = sizeof(struct cam_packet); int size = sizeof(struct cam_packet);
struct cam_packet *pkt = (struct cam_packet *)alloc(s->video0_fd, size, 8, struct cam_packet *pkt = (struct cam_packet *)alloc(s->video0_fd, size, 8,
CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &cam_packet_handle); CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &cam_packet_handle);
pkt->num_cmd_buf = 1; pkt->num_cmd_buf = 0;
pkt->kmd_cmd_buf_index = -1; pkt->kmd_cmd_buf_index = -1;
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_config_dev_cmd config_dev_cmd = {}; struct cam_config_dev_cmd config_dev_cmd = {};
config_dev_cmd.session_handle = s->session_handle; config_dev_cmd.session_handle = s->session_handle;
@ -177,10 +176,10 @@ void sensors_i2c(struct CameraState *s, struct i2c_random_wr_payload* dat, int l
pkt->header.op_code = op_code; pkt->header.op_code = op_code;
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;
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 i2c_rdwr_header) + len*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 = (struct cam_cmd_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 = (struct cam_cmd_i2c_random_wr *)power; struct cam_cmd_i2c_random_wr *i2c_random_wr = (struct cam_cmd_i2c_random_wr *)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);
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;
i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR; i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR;
@ -197,7 +196,7 @@ void sensors_i2c(struct CameraState *s, struct i2c_random_wr_payload* dat, int l
int ret = cam_control(s->sensor_fd, CAM_CONFIG_DEV, &config_dev_cmd, sizeof(config_dev_cmd)); int ret = cam_control(s->sensor_fd, CAM_CONFIG_DEV, &config_dev_cmd, sizeof(config_dev_cmd));
assert(ret == 0); assert(ret == 0);
munmap(power, buf_desc[0].size); munmap(i2c_random_wr, buf_desc[0].size);
release_fd(s->video0_fd, buf_desc[0].mem_handle); release_fd(s->video0_fd, buf_desc[0].mem_handle);
munmap(pkt, size); munmap(pkt, size);
release_fd(s->video0_fd, cam_packet_handle); release_fd(s->video0_fd, cam_packet_handle);
@ -733,16 +732,18 @@ static void camera_open(CameraState *s) {
LOG("-- Config CSI PHY"); LOG("-- Config CSI PHY");
{ {
uint32_t cam_packet_handle = 0; uint32_t cam_packet_handle = 0;
struct cam_packet *pkt = (struct cam_packet *)alloc(s->video0_fd, sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1, 8, int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
struct cam_packet *pkt = (struct cam_packet *)alloc(s->video0_fd, size, 8,
CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &cam_packet_handle); CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &cam_packet_handle);
pkt->num_cmd_buf = 1; pkt->num_cmd_buf = 1;
pkt->kmd_cmd_buf_index = -1; pkt->kmd_cmd_buf_index = -1;
pkt->header.size = size;
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;
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 = (struct cam_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);
struct cam_csiphy_info *csiphy_info = (struct cam_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??
csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane

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