sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

backup

Browse Source
pull/2047/head
Tici 5 years ago
parent 8b97070435
commit 2d291207ba
3 changed files with 31 additions and 45 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 16
      SConstruct
  2. 57
      selfdrive/camerad/cameras/camera_qcom2.c
  3. 3
      selfdrive/camerad/cameras/sensor2_i2c.h

16
SConstruct
Unescape View File

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

57
selfdrive/camerad/cameras/camera_qcom2.c
Unescape View File

@ -28,7 +28,6 @@
//#define FRAME_STRIDE 1936 // for 8 bit output
#define FRAME_STRIDE 2416 // for 10 bit output
int sr_id = 0;
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;
}
void *alloc(int video0_fd, int len, int align, int flags, uint32_t *handle, int mmu_hdl, int mmu_hdl2) {
return alloc_w_mmu_hdl(video0_fd, len, align, flags, handle, mmu_hdl, 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, 0, 0);
}
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);
// printf("- poke allocing for req_id %d -\n", request_id);
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->kmd_cmd_buf_index = -1;
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;
int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
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->kmd_cmd_buf_index = -1;
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].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;
i2c_random_wr->header.count = len;
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;
int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
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->kmd_cmd_buf_index = -1;
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].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);
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 = 196;
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);
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);
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->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].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
// 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
uint32_t tmp[] = {
@ -741,14 +740,14 @@ static void camera_open(CameraState *s, VisionBuf* b) {
{
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,
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->kmd_cmd_buf_index = -1;
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].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_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);
}
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) {
struct pollfd fds[3] = {{0}};
@ -1007,8 +989,7 @@ void cameras_run(DualCameraState *s) {
ret = ioctl(fds[i].fd, VIDIOC_DQEVENT, &ev);
if (ev.type == 0x8000000) {
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
+ 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);
@ -1074,12 +1055,12 @@ void cameras_run(DualCameraState *s) {
void camera_autoexposure(CameraState *s, float grey_frac) {
// 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 analog_gain_frac_min = 0.125;
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
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) {
s->analog_gain_frac = 8.0;
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 {
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;
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
{0x305A, 0x00BB}, // RED_GAIN
{0x3058, 0x012A}, // BLUE_GAIN
{0x3056, 0x0080}, // GREEN1_GAIN
{0x305C, 0x0080}, // GREEN2_GAIN
{0x3012, s->exposure_time}}; // integ time
sensors_i2c(s, exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload),
CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);

3
selfdrive/camerad/cameras/sensor2_i2c.h
Unescape View File

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

Write Preview
Loading…
Cancel
Save