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

camerad: move AR0231 functions to camera_ar0231.cc (#30635)

Browse Source 
* move AR0231 functions to camera_ar0231.cc

* move to sensors/aro231.cc
old-commit-hash: ecfe201a57
chrysler-long2
Dean Lee 1 year ago committed by GitHub
parent eb622a85d1
commit 3c4d6de5d1
6 changed files with 105 additions and 93 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. 1
      release/files_common
  2. 3
      system/camerad/SConscript
  3. 3
      system/camerad/cameras/camera_common.h
  4. 90
      system/camerad/cameras/camera_qcom2.cc
  5. 3
      system/camerad/cameras/camera_qcom2.h
  6. 98
      system/camerad/sensors/ar0231.cc

1
release/files_common
Unescape View File

@ -319,6 +319,7 @@ system/camerad/snapshot/*
system/camerad/cameras/camera_common.h
system/camerad/cameras/camera_common.cc
system/camerad/cameras/sensor2_i2c.h
system/camerad/sensors/ar0231.cc
selfdrive/manager/__init__.py
selfdrive/manager/build.py

3
system/camerad/SConscript
Unescape View File

@ -2,7 +2,8 @@ Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')
libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon, 'atomic']
camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc'])
camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc',
'sensors/ar0231.cc'])
env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
if GetOption("extras") and arch == "x86_64":

3
system/camerad/cameras/camera_common.h
Unescape View File

@ -103,3 +103,6 @@ void cameras_close(MultiCameraState *s);
void camerad_thread();
int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK);
void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal::FrameData::Builder &framed);

90
system/camerad/cameras/camera_qcom2.cc
Unescape View File

@ -907,70 +907,6 @@ void cameras_close(MultiCameraState *s) {
delete s->pm;
}
std::map<uint16_t, std::pair<int, int>> CameraState::ar0231_build_register_lut(uint8_t *data) {
// This function builds a lookup table from register address, to a pair of indices in the
// buffer where to read this address. The buffer contains padding bytes,
// as well as markers to indicate the type of the next byte.
//
// 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address.
// Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional
// for contiguous ranges. See page 27-29 of the AR0231 Developer guide for more information.
int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3};
auto get_next_idx = [](int cur_idx) {
return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1; // Every third byte is padding
};
std::map<uint16_t, std::pair<int, int>> registers;
for (int register_row = 0; register_row < 2; register_row++) {
uint8_t *registers_raw = data + ci.frame_stride * register_row;
assert(registers_raw[0] == 0x0a); // Start of line
int value_tag_count = 0;
int first_val_idx = 0;
uint16_t cur_addr = 0;
for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) {
int val_idx = get_next_idx(i);
uint8_t tag = registers_raw[i];
uint16_t val = registers_raw[val_idx];
if (tag == 0xAA) { // Register MSB tag
cur_addr = val << 8;
} else if (tag == 0xA5) { // Register LSB tag
cur_addr |= val;
cur_addr -= 2; // Next value tag will increment address again
} else if (tag == 0x5A) { // Value tag
// First tag
if (value_tag_count % 2 == 0) {
cur_addr += 2;
first_val_idx = val_idx;
} else {
registers[cur_addr] = std::make_pair(first_val_idx + ci.frame_stride * register_row, val_idx + ci.frame_stride * register_row);
}
value_tag_count++;
}
}
}
return registers;
}
std::map<uint16_t, uint16_t> CameraState::ar0231_parse_registers(uint8_t *data, std::initializer_list<uint16_t> addrs) {
if (ar0231_register_lut.empty()) {
ar0231_register_lut = ar0231_build_register_lut(data);
}
std::map<uint16_t, uint16_t> registers;
for (uint16_t addr : addrs) {
auto offset = ar0231_register_lut[addr];
registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second];
}
return registers;
}
void CameraState::handle_camera_event(void *evdat) {
if (!enabled) return;
struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)evdat;
@ -1180,32 +1116,6 @@ void CameraState::set_camera_exposure(float grey_frac) {
}
}
static float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) {
// See AR0231 Developer Guide - page 36
float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2);
float t0 = 55.0 - slope * (float)calib2;
return t0 + slope * (float)data_reg;
}
static void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal::FrameData::Builder &framed){
const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55};
uint8_t *data = (uint8_t*)c->buf.cur_camera_buf->addr + c->ci.registers_offset;
if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0){
LOGE("unexpected register data found");
return;
}
auto registers = c->ar0231_parse_registers(data, {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc});
uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002];
framed.setFrameIdSensor(frame_id);
float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]);
float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]);
framed.setTemperaturesC({temp_0, temp_1});
}
static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
c->set_camera_exposure(set_exposure_target(&c->buf, 96, 1832, 2, 242, 1148, 4));

3
system/camerad/cameras/camera_qcom2.h
Unescape View File

@ -94,7 +94,6 @@ public:
CameraBuf buf;
MemoryManager mm;
private:
void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset);
void enqueue_req_multi(int start, int n, bool dp);
void enqueue_buffer(int i, bool dp);
@ -106,8 +105,8 @@ private:
// Register parsing
std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(uint8_t *data);
private:
// for debugging
Params params;
};

98
system/camerad/sensors/ar0231.cc
Unescape View File

@ -0,0 +1,98 @@
#include <cassert>
#include "system/camerad/cameras/camera_common.h"
#include "system/camerad/cameras/camera_qcom2.h"
namespace {
std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c, uint8_t *data) {
// This function builds a lookup table from register address, to a pair of indices in the
// buffer where to read this address. The buffer contains padding bytes,
// as well as markers to indicate the type of the next byte.
//
// 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address.
// Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional
// for contiguous ranges. See page 27-29 of the AR0231 Developer guide for more information.
int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3};
auto get_next_idx = [](int cur_idx) {
return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1; // Every third byte is padding
};
std::map<uint16_t, std::pair<int, int>> registers;
for (int register_row = 0; register_row < 2; register_row++) {
uint8_t *registers_raw = data + c->ci.frame_stride * register_row;
assert(registers_raw[0] == 0x0a); // Start of line
int value_tag_count = 0;
int first_val_idx = 0;
uint16_t cur_addr = 0;
for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) {
int val_idx = get_next_idx(i);
uint8_t tag = registers_raw[i];
uint16_t val = registers_raw[val_idx];
if (tag == 0xAA) { // Register MSB tag
cur_addr = val << 8;
} else if (tag == 0xA5) { // Register LSB tag
cur_addr |= val;
cur_addr -= 2; // Next value tag will increment address again
} else if (tag == 0x5A) { // Value tag
// First tag
if (value_tag_count % 2 == 0) {
cur_addr += 2;
first_val_idx = val_idx;
} else {
registers[cur_addr] = std::make_pair(first_val_idx + c->ci.frame_stride * register_row, val_idx + c->ci.frame_stride * register_row);
}
value_tag_count++;
}
}
}
return registers;
}
std::map<uint16_t, uint16_t> ar0231_parse_registers(CameraState *c, uint8_t *data, std::initializer_list<uint16_t> addrs) {
if (c->ar0231_register_lut.empty()) {
c->ar0231_register_lut = ar0231_build_register_lut(c, data);
}
std::map<uint16_t, uint16_t> registers;
for (uint16_t addr : addrs) {
auto offset = c->ar0231_register_lut[addr];
registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second];
}
return registers;
}
float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) {
// See AR0231 Developer Guide - page 36
float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2);
float t0 = 55.0 - slope * (float)calib2;
return t0 + slope * (float)data_reg;
}
} // namespace
void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal::FrameData::Builder &framed) {
const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55};
uint8_t *data = (uint8_t *)c->buf.cur_camera_buf->addr + c->ci.registers_offset;
if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) {
LOGE("unexpected register data found");
return;
}
auto registers = ar0231_parse_registers(c, data, {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc});
uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002];
framed.setFrameIdSensor(frame_id);
float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]);
float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]);
framed.setTemperaturesC({temp_0, temp_1});
}
Write Preview
Loading…
Cancel
Save