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pull/2047/head
Tici 5 years ago
parent 8b97070435
commit 2d291207ba
3 changed files with 31 additions and 45 deletions
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  1. 16
      SConstruct
  2. 57
      selfdrive/camerad/cameras/camera_qcom2.c
  3. 3
      selfdrive/camerad/cameras/sensor2_i2c.h

16
SConstruct
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@ -215,19 +215,19 @@ if arch != "Darwin":
SConscript(['selfdrive/camerad/SConscript']) SConscript(['selfdrive/camerad/SConscript'])
SConscript(['selfdrive/modeld/SConscript']) SConscript(['selfdrive/modeld/SConscript'])
SConscript(['selfdrive/controls/lib/cluster/SConscript']) #SConscript(['selfdrive/controls/lib/cluster/SConscript'])
SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript']) #SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript']) #SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript']) #SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
SConscript(['selfdrive/boardd/SConscript']) SConscript(['selfdrive/boardd/SConscript'])
SConscript(['selfdrive/proclogd/SConscript']) #SConscript(['selfdrive/proclogd/SConscript'])
SConscript(['selfdrive/ui/SConscript']) #SConscript(['selfdrive/ui/SConscript'])
SConscript(['selfdrive/loggerd/SConscript']) SConscript(['selfdrive/loggerd/SConscript'])
SConscript(['selfdrive/locationd/SConscript']) #SConscript(['selfdrive/locationd/SConscript'])
SConscript(['selfdrive/locationd/models/SConscript']) #SConscript(['selfdrive/locationd/models/SConscript'])
if arch == "aarch64": if arch == "aarch64":
SConscript(['selfdrive/logcatd/SConscript']) SConscript(['selfdrive/logcatd/SConscript'])

57
selfdrive/camerad/cameras/camera_qcom2.c
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@ -28,7 +28,6 @@
//#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
int sr_id = 0; int sr_id = 0;
static void hexdump(uint8_t *data, int len) { static void hexdump(uint8_t *data, int len) {
@ -114,8 +113,8 @@ void *alloc_w_mmu_hdl(int video0_fd, int len, int align, int flags, uint32_t *ha
return ptr; return ptr;
} }
void *alloc(int video0_fd, int len, int align, int flags, uint32_t *handle, int mmu_hdl, int mmu_hdl2) { void *alloc(int video0_fd, int len, int align, int flags, uint32_t *handle) {
return alloc_w_mmu_hdl(video0_fd, len, align, flags, handle, mmu_hdl, mmu_hdl2); return alloc_w_mmu_hdl(video0_fd, len, align, flags, handle, 0, 0);
} }
void release(int video0_fd, uint32_t handle) { void release(int video0_fd, uint32_t handle) {
@ -141,7 +140,7 @@ void sensors_poke(struct CameraState *s, int request_id) {
int size = sizeof(struct cam_packet); int size = sizeof(struct cam_packet);
// printf("- poke allocing for req_id %d -\n", request_id); // printf("- poke allocing for req_id %d -\n", request_id);
struct cam_packet *pkt = alloc(s->video0_fd, size, 8, struct cam_packet *pkt = 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, s->device_iommu, s->cdm_iommu); 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; pkt->header.size = size;
@ -167,7 +166,7 @@ void sensors_i2c(struct CameraState *s, struct i2c_random_wr_payload* dat, int l
uint32_t cam_packet_handle = 0; uint32_t cam_packet_handle = 0;
int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1; int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
struct cam_packet *pkt = alloc(s->video0_fd, size, 8, struct cam_packet *pkt = 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, s->device_iommu, s->cdm_iommu); 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; pkt->header.size = size;
@ -176,7 +175,7 @@ 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, s->device_iommu, s->cdm_iommu); 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_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 +203,7 @@ void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
uint32_t cam_packet_handle = 0; uint32_t cam_packet_handle = 0;
int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2; int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
struct cam_packet *pkt = alloc(video0_fd, size, 8, struct cam_packet *pkt = alloc(video0_fd, size, 8,
CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &cam_packet_handle, 0, 0); CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &cam_packet_handle);
pkt->num_cmd_buf = 2; pkt->num_cmd_buf = 2;
pkt->kmd_cmd_buf_index = -1; pkt->kmd_cmd_buf_index = -1;
pkt->header.op_code = 0x1000003; pkt->header.op_code = 0x1000003;
@ -213,7 +212,7 @@ 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, 0, 0); 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_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) {
@ -250,7 +249,7 @@ 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, 0, 0); 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);
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;
@ -378,7 +377,7 @@ void config_isp(struct CameraState *s, int io_mem_handle, int fence, int request
} }
// printf("- ispc allocing 1 for sync_obj %d, req_id %d -\n", fence, request_id); // printf("- ispc allocing 1 for sync_obj %d, req_id %d -\n", fence, request_id);
struct cam_packet *pkt = alloc(s->video0_fd, size, 8, struct cam_packet *pkt = 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, s->device_iommu, s->cdm_iommu); CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &cam_packet_handle);
pkt->num_cmd_buf = 2; pkt->num_cmd_buf = 2;
pkt->kmd_cmd_buf_index = 0; pkt->kmd_cmd_buf_index = 0;
@ -415,7 +414,7 @@ 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;
// printf("- ispc allocing 2 for sync_obj %d, req_id %d -\n", fence, request_id); // printf("- ispc allocing 2 for sync_obj %d, req_id %d -\n", fence, request_id);
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, s->device_iommu, s->cdm_iommu); 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);
// cam_isp_packet_generic_blob_handler // cam_isp_packet_generic_blob_handler
uint32_t tmp[] = { uint32_t tmp[] = {
@ -741,14 +740,14 @@ static void camera_open(CameraState *s, VisionBuf* b) {
{ {
uint32_t cam_packet_handle = 0; uint32_t cam_packet_handle = 0;
struct cam_packet *pkt = alloc(s->video0_fd, sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1, 8, struct cam_packet *pkt = alloc(s->video0_fd, sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1, 8,
CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &cam_packet_handle, s->device_iommu, s->cdm_iommu); 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;
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 = 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, s->device_iommu, s->cdm_iommu); 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);
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??
@ -963,23 +962,6 @@ void cameras_run(DualCameraState *s) {
enqueue_buffer(&s->front, i); enqueue_buffer(&s->front, i);
} }
struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
req_mgr_flush_request.session_hdl = s->rear.session_handle;
req_mgr_flush_request.link_hdl = s->rear.link_handle;
req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL;
//int ret = cam_control(s->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
//assert(ret == 0);
req_mgr_flush_request.session_hdl = s->wide.session_handle;
req_mgr_flush_request.link_hdl = s->wide.link_handle;
req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL;
//ret = cam_control(s->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
//assert(ret == 0);
req_mgr_flush_request.session_hdl = s->front.session_handle;
req_mgr_flush_request.link_hdl = s->front.link_handle;
req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL;
//ret = cam_control(s->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
//assert(ret == 0);
while (!do_exit) { while (!do_exit) {
struct pollfd fds[3] = {{0}}; struct pollfd fds[3] = {{0}};
@ -1007,8 +989,7 @@ void cameras_run(DualCameraState *s) {
ret = ioctl(fds[i].fd, VIDIOC_DQEVENT, &ev); ret = ioctl(fds[i].fd, VIDIOC_DQEVENT, &ev);
if (ev.type == 0x8000000) { if (ev.type == 0x8000000) {
struct video_event_data *event_data = (struct video_event_data *)ev.u.data; struct video_event_data *event_data = (struct video_event_data *)ev.u.data;
// printf("pending? %d/%d \n", ev.pending, fds[i].revents); //printf("sess_hdl %d, link_hdl %d, frame_id %d, reserved %d, req_id %lld, tv_sec %lld, tv_usec %lld\n", event_data->session_hdl, event_data->link_hdl, event_data->frame_id, event_data->reserved, event_data->req_id, event_data->tv_sec, event_data->tv_usec);
printf("sess_hdl %d, link_hdl %d, frame_id %d, reserved %d, req_id %lld, tv_sec %lld, tv_usec %lld\n", event_data->session_hdl, event_data->link_hdl, event_data->frame_id, event_data->reserved, event_data->req_id, event_data->tv_sec, event_data->tv_usec);
uint64_t timestamp = (event_data->tv_sec*1000000000ULL uint64_t timestamp = (event_data->tv_sec*1000000000ULL
+ event_data->tv_usec*1000); + event_data->tv_usec*1000);
LOGD("video%d dqevent: %d type:0x%x frame_id:%d timestamp: %llu", i, ret, ev.type, event_data->frame_id, timestamp); LOGD("video%d dqevent: %d type:0x%x frame_id:%d timestamp: %llu", i, ret, ev.type, event_data->frame_id, timestamp);
@ -1074,12 +1055,12 @@ void cameras_run(DualCameraState *s) {
void camera_autoexposure(CameraState *s, float grey_frac) { void camera_autoexposure(CameraState *s, float grey_frac) {
// TODO: implement autoexposure // TODO: implement autoexposure
printf("camera %d AE %f\n", s->camera_num, grey_frac); // printf("camera %d AE %f\n", s->camera_num, grey_frac);
const float target_grey = 0.3; const float target_grey = 0.3;
const float analog_gain_frac_min = 0.125; const float analog_gain_frac_min = 0.125;
const float analog_gain_frac_max = 8.0; const float analog_gain_frac_max = 8.0;
const int exposure_time_min = 1; const int exposure_time_min = 128;
const int exposure_time_max = 1417; // no slower than 1/25 sec. calculated from 0x300C and clock freq const int exposure_time_max = 1417; // no slower than 1/25 sec. calculated from 0x300C and clock freq
float exposure_factor = pow(1.05, (target_grey - grey_frac) / 0.1 ); // TODO: to be calibrated float exposure_factor = pow(1.05, (target_grey - grey_frac) / 0.1 ); // TODO: to be calibrated
@ -1099,13 +1080,17 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
if (s->analog_gain_frac > 5.5) { if (s->analog_gain_frac > 5.5) {
s->analog_gain_frac = 8.0; s->analog_gain_frac = 8.0;
AG = 0xEEEE; AG = 0xEEEE;
printf("gain_frac is %f, set AG to 0x%X \n", s->analog_gain_frac, AG); printf("cam %d gain_frac is %f, set AG to 0x%X, S to %d \n", s->camera_num, s->analog_gain_frac, AG, s->exposure_time);
} else { } else {
AG = -(1.147 * s->analog_gain_frac * s->analog_gain_frac) + (7.67 * s->analog_gain_frac) - 0.1; AG = -(1.147 * s->analog_gain_frac * s->analog_gain_frac) + (7.67 * s->analog_gain_frac) - 0.1;
printf("gain_frac is %f, set AG to 0x%X \n", s->analog_gain_frac, AG);
AG = AG * 4096 + AG * 256 + AG * 16 + AG; AG = AG * 4096 + AG * 256 + AG * 16 + AG;
printf("cam %d gain_frac is %f, set AG to 0x%X, S to %d \n", s->camera_num, s->analog_gain_frac, AG, s->exposure_time);
} }
struct i2c_random_wr_payload exp_reg_array[] = {{0x3366, AG}, // analog gain struct i2c_random_wr_payload exp_reg_array[] = {{0x3366, AG}, // analog gain
{0x305A, 0x00BB}, // RED_GAIN
{0x3058, 0x012A}, // BLUE_GAIN
{0x3056, 0x0080}, // GREEN1_GAIN
{0x305C, 0x0080}, // GREEN2_GAIN
{0x3012, s->exposure_time}}; // integ time {0x3012, s->exposure_time}}; // integ time
sensors_i2c(s, exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), sensors_i2c(s, exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload),
CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG); CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);

3
selfdrive/camerad/cameras/sensor2_i2c.h
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@ -331,8 +331,9 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
{0x32EA, 0x3C0E}, // RESERVED_MFR_32EA {0x32EA, 0x3C0E}, // RESERVED_MFR_32EA
{0x32EC, 0x72A1}, // RESERVED_MFR_32EC {0x32EC, 0x72A1}, // RESERVED_MFR_32EC
{0x31D0, 0x0001}, // COMPANDING {0x31D0, 0x0001}, // COMPANDING
{0x3362, 0x0001}, // DC GAIN {0x3362, 0x0003}, // DC GAIN
{0x3370, 0x0001}, // DBLC {0x3370, 0x0001}, // DBLC
{0x318E, 0x0100}, // PRE_HDR_GAIN_EN
// Initial Gains // Initial Gains
{0x3022, 0x01}, // GROUPED_PARAMETER_HOLD_ {0x3022, 0x01}, // GROUPED_PARAMETER_HOLD_

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