camerad: prep for the BPS (#34244)

prep

Co-authored-by: Comma Device <device@comma.ai>

system/camerad/cameras/spectra.cc

@@ -196,9 +196,9 @@ void SpectraMaster::init() {
   assert(isp_fd >= 0);
   LOGD("opened isp");
 
-  //icp_fd = open_v4l_by_name_and_index("cam-icp");
-  //assert(icp_fd >= 0);
-  //LOGD("opened icp");
+  icp_fd = open_v4l_by_name_and_index("cam-icp");
+  assert(icp_fd >= 0);
+  LOGD("opened icp");
 
   // query ISP for MMU handles
   LOG("-- Query for MMU handles");
@@ -215,7 +215,6 @@ void SpectraMaster::init() {
   cdm_iommu = isp_query_cap_cmd.cdm_iommu.non_secure;
 
   // query ICP for MMU handles
-  /*
   struct cam_icp_query_cap_cmd icp_query_cap_cmd = {0};
   query_cap_cmd.caps_handle = (uint64_t)&icp_query_cap_cmd;
   query_cap_cmd.size = sizeof(icp_query_cap_cmd);
@@ -223,7 +222,6 @@ void SpectraMaster::init() {
   assert(ret == 0);
   LOGD("using ICP MMU handle: %x", icp_query_cap_cmd.dev_iommu_handle.non_secure);
   icp_device_iommu = icp_query_cap_cmd.dev_iommu_handle.non_secure;
-  */
 
   // subscribe
   LOG("-- Subscribing");
@@ -712,13 +710,13 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
   }
   sync_objs[i] = sync_create.sync_obj;
 
-  /*
+  if (icp_dev_handle > 0) {
     ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
     if (ret != 0) {
       LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
     }
     sync_objs_bps_out[i] = sync_create.sync_obj;
-  */
+  }
 
   // schedule request with camera request manager
   struct cam_req_mgr_sched_request req_mgr_sched_request = {0};
@@ -746,8 +744,10 @@ void SpectraCamera::camera_map_bufs() {
     mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
     mem_mgr_map_cmd.mmu_hdls[0] = m->device_iommu;
     mem_mgr_map_cmd.num_hdl = 1;
-    //mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu;
-    //mem_mgr_map_cmd.num_hdl = 2;
+    if (icp_dev_handle > 0) {
+      mem_mgr_map_cmd.num_hdl = 2;
+      mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu;
+    }
 
     if (is_raw) {
       // RAW bayer images
@@ -899,8 +899,6 @@ void SpectraCamera::configISP() {
 }
 
 void SpectraCamera::configICP() {
-  if (!enabled) return;
-
   /*
     Configures both the ICP and BPS.
   */
@@ -1048,6 +1046,10 @@ void SpectraCamera::camera_close() {
 
     // release devices
     LOGD("-- Release devices");
+    if (icp_dev_handle > 0) {
+      ret = device_control(m->icp_fd, CAM_RELEASE_DEV, session_handle, icp_dev_handle);
+      LOGD("release icp: %d", ret);
+    }
     ret = device_control(m->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle);
     LOGD("release isp: %d", ret);
     ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle);

system/camerad/cameras/spectra.h

@@ -22,8 +22,9 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 
 // CSLDeviceType/CSLPacketOpcodesIFE from camx
 // cam_packet_header.op_code = (device << 24) | (opcode);
-#define CSLDeviceTypeImageSensor (0x1 << 24)
-#define CSLDeviceTypeIFE         (0xF << 24)
+#define CSLDeviceTypeImageSensor (0x01 << 24)
+#define CSLDeviceTypeIFE         (0x0F << 24)
+#define CSLDeviceTypeBPS         (0x10 << 24)
 #define OpcodesIFEInitialConfig  0x0
 #define OpcodesIFEUpdate         0x1
 

system/camerad/test/debug.sh

@@ -10,7 +10,7 @@ echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
 sudo dmesg -C
 scons -u -j8 --minimal .
 export DEBUG_FRAMES=1
-#export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
-export DISABLE_DRIVER=1
-#export LOGPRINT=debug
+export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
+#export DISABLE_DRIVER=1
+export LOGPRINT=debug
 ./camerad

system/camerad/test/icp_debug.sh

@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+set -e
+
+cd /sys/kernel/debug/tracing
+echo "" > trace
+echo 1 > tracing_on
+#echo Y > /sys/kernel/debug/camera_icp/a5_debug_q
+echo 0x1 > /sys/kernel/debug/camera_icp/a5_debug_type
+echo 1 > /sys/kernel/debug/tracing/events/camera/enable
+echo 0xffffffff > /sys/kernel/debug/camera_icp/a5_debug_lvl
+echo 1 > /sys/kernel/debug/tracing/events/camera/cam_icp_fw_dbg/enable
+
+cat /sys/kernel/debug/tracing/trace_pipe