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