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Added function power_set_wait, fix munmap invalid pointer error. (#20189)

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* added function power_set_wait_cmd

* cleanup

* rename power_set_wait_cmd to power_set_wait

* rename delay to delay_ms
old-commit-hash: 9b9bdd3da5
commatwo_master
Dean Lee 4 years ago committed by GitHub
parent cc749a73fc
commit 42b4cb6c29
1 changed files with 17 additions and 49 deletions
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  1. 66
      selfdrive/camerad/cameras/camera_qcom2.cc

66
selfdrive/camerad/cameras/camera_qcom2.cc
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@ -196,6 +196,13 @@ void sensors_i2c(struct CameraState *s, struct i2c_random_wr_payload* dat, int l
munmap(pkt, size);
release_fd(s->multi_cam_state->video0_fd, cam_packet_handle);
}
static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
cam_cmd_unconditional_wait *unconditional_wait = (cam_cmd_unconditional_wait *)((char *)power + (sizeof(struct cam_cmd_power) + (power->count - 1) * sizeof(struct cam_power_settings)));
unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
unconditional_wait->delay = delay_ms;
unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
return (struct cam_cmd_power *)(unconditional_wait + 1);
};
void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
uint32_t cam_packet_handle = 0;
@ -246,11 +253,8 @@ 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 = (struct cam_cmd_power *)alloc_w_mmu_hdl(video0_fd, buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
memset(power, 0, buf_desc[1].size);
struct cam_cmd_unconditional_wait *unconditional_wait;
//void *ptr = power;
struct cam_cmd_power *power_settings = (struct cam_cmd_power *)alloc_w_mmu_hdl(video0_fd, buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
memset(power_settings, 0, buf_desc[1].size);
// 7750
/*power->count = 2;
power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
@ -259,45 +263,28 @@ void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
power = (void*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings));*/
// 885a
struct cam_cmd_power *power = power_settings;
power->count = 4;
power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
power->power_settings[0].power_seq_type = 3; // clock??
power->power_settings[1].power_seq_type = 1; // analog
power->power_settings[2].power_seq_type = 2; // digital
power->power_settings[3].power_seq_type = 8; // reset low
power = (struct cam_cmd_power *)((char*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings)));
unconditional_wait = (struct cam_cmd_unconditional_wait *)power;
unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
unconditional_wait->delay = 5;
unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
power = (struct cam_cmd_power *)((char*)power + sizeof(struct cam_cmd_unconditional_wait));
power = power_set_wait(power, 5);
// set clock
power->count = 1;
power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
power->power_settings[0].power_seq_type = 0;
power->power_settings[0].config_val_low = 24000000; //Hz
power = (struct cam_cmd_power *)((char*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings)));
unconditional_wait = (struct cam_cmd_unconditional_wait *)power;
unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
unconditional_wait->delay = 10; // ms
unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
power = (struct cam_cmd_power *)((char*)power + sizeof(struct cam_cmd_unconditional_wait));
power = power_set_wait(power, 10);
// 8,1 is this reset?
power->count = 1;
power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
power->power_settings[0].power_seq_type = 8;
power->power_settings[0].config_val_low = 1;
power = (struct cam_cmd_power *)((char*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings)));
unconditional_wait = (struct cam_cmd_unconditional_wait *)power;
unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
unconditional_wait->delay = 100; // ms
unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
power = (struct cam_cmd_power *)((char*)power + sizeof(struct cam_cmd_unconditional_wait));
power = power_set_wait(power, 100);
// probe happens here
@ -306,39 +293,21 @@ void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
power->power_settings[0].power_seq_type = 0;
power->power_settings[0].config_val_low = 0;
power = (struct cam_cmd_power *)((char*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings)));
unconditional_wait = (struct cam_cmd_unconditional_wait *)power;
unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
unconditional_wait->delay = 1;
unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
power = (struct cam_cmd_power *)((char*)power + sizeof(struct cam_cmd_unconditional_wait));
power = power_set_wait(power, 1);
// reset high
power->count = 1;
power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
power->power_settings[0].power_seq_type = 8;
power->power_settings[0].config_val_low = 1;
power = (struct cam_cmd_power *)((char*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings)));
unconditional_wait = (struct cam_cmd_unconditional_wait *)power;
unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
unconditional_wait->delay = 1;
unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
power = (struct cam_cmd_power *)((char*)power + sizeof(struct cam_cmd_unconditional_wait));
power = power_set_wait(power, 1);
// reset low
power->count = 1;
power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
power->power_settings[0].power_seq_type = 8;
power->power_settings[0].config_val_low = 0;
power = (struct cam_cmd_power *)((char*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings)));
unconditional_wait = (struct cam_cmd_unconditional_wait *)power;
unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
unconditional_wait->delay = 1;
unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
power = (struct cam_cmd_power *)((char*)power + sizeof(struct cam_cmd_unconditional_wait));
power = power_set_wait(power, 1);
// 7750
/*power->count = 1;
@ -352,7 +321,6 @@ void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
power->power_settings[0].power_seq_type = 2;
power->power_settings[1].power_seq_type = 1;
power->power_settings[2].power_seq_type = 3;
power = (struct cam_cmd_power *)((char*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings)));
LOGD("probing the sensor");
int ret = cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
@ -360,7 +328,7 @@ void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
munmap(i2c_info, buf_desc[0].size);
release_fd(video0_fd, buf_desc[0].mem_handle);
munmap(power, buf_desc[1].size);
munmap(power_settings, buf_desc[1].size);
release_fd(video0_fd, buf_desc[1].mem_handle);
munmap(pkt, size);
release_fd(video0_fd, cam_packet_handle);

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