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camerad: simple BPS support (#34538)

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* camerad: simple BPS support

* works

* cleanup

* lil more

---------

Co-authored-by: Comma Device <device@comma.ai>
pull/34540/head
Adeeb Shihadeh 3 months ago committed by GitHub
parent e31ae06959
commit 5b870c6f92
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GPG Key ID: B5690EEEBB952194
5 changed files with 72 additions and 29 deletions
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  1. 4
      system/camerad/cameras/camera_common.cc
  2. 2
      system/camerad/cameras/camera_qcom2.cc
  3. 83
      system/camerad/cameras/spectra.cc
  4. 10
      system/camerad/cameras/spectra.h
  5. 2
      system/camerad/test/debug.sh

4
system/camerad/cameras/camera_common.cc
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@ -64,11 +64,11 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
const SensorInfo *sensor = cam->sensor.get();
is_raw = cam->is_raw;
is_raw = cam->output_type == ISP_RAW_OUTPUT;
frame_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
// RAW frames from ISP
if (is_raw) {
if (cam->output_type != ISP_IFE_PROCESSED) {
camera_bufs_raw = std::make_unique<VisionBuf[]>(frame_buf_count);
const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;

2
system/camerad/cameras/camera_qcom2.cc
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@ -55,7 +55,7 @@ public:
float fl_pix = 0;
CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD) {};
CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD ? ISP_RAW_OUTPUT : ISP_IFE_PROCESSED) {};
~CameraState();
void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);

83
system/camerad/cameras/spectra.cc
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@ -234,14 +234,14 @@ void SpectraMaster::init() {
// *** SpectraCamera ***
SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config, bool raw)
SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config, SpectraOutputType out)
: m(master),
enabled(config.enabled),
cc(config),
is_raw(raw) {
output_type(out) {
mm.init(m->video0_fd);
ife_buf_depth = is_raw ? 4 : VIPC_BUFFER_COUNT;
ife_buf_depth = (out != ISP_IFE_PROCESSED) ? 4 : VIPC_BUFFER_COUNT;
assert(ife_buf_depth < MAX_IFE_BUFS);
}
@ -257,7 +257,7 @@ int SpectraCamera::clear_req_queue() {
req_mgr_flush_request.link_hdl = link_handle;
req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL;
int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
// LOGD("flushed all req: %d", ret);
LOGD("flushed all req: %d", ret);
for (int i = 0; i < MAX_IFE_BUFS; ++i) {
destroySyncObjectAt(i);
@ -279,7 +279,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
uv_offset = stride*y_height;
yuv_size = uv_offset + stride*uv_height;
if (!is_raw) {
if (output_type != ISP_RAW_OUTPUT) {
uv_offset = ALIGNED_SIZE(uv_offset, 0x1000);
yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
}
@ -288,7 +288,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
open = true;
configISP();
//configICP(); // needs the new AGNOS kernel
if (output_type == ISP_BPS_PROCESSED) configICP();
configCSIPHY();
linkDevices();
@ -454,23 +454,24 @@ int SpectraCamera::sensors_init() {
return ret;
}
void add_patch(void *ptr, int n, int32_t dst_hdl, uint32_t dst_offset, int32_t src_hdl, uint32_t src_offset) {
struct cam_patch_desc *p = (struct cam_patch_desc *)((unsigned char*)ptr + sizeof(struct cam_patch_desc)*n);
p->dst_buf_hdl = dst_hdl;
p->src_buf_hdl = src_hdl;
p->dst_offset = dst_offset;
p->src_offset = src_offset;
};
void SpectraCamera::config_bps(int idx, int request_id) {
/*
Handles per-frame BPS config.
* BPS = Bayer Processing Segment
*/
(void)idx;
(void)request_id;
}
void add_patch(void *ptr, int n, int32_t dst_hdl, uint32_t dst_offset, int32_t src_hdl, uint32_t src_offset) {
struct cam_patch_desc *p = (struct cam_patch_desc *)((unsigned char*)ptr + sizeof(struct cam_patch_desc)*n);
p->dst_buf_hdl = dst_hdl;
p->src_buf_hdl = src_hdl;
p->dst_offset = dst_offset;
p->src_offset = src_offset;
};
void SpectraCamera::config_ife(int idx, int request_id, bool init) {
/*
Handles initial + per-frame IFE config.
@ -509,6 +510,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
buf_desc[0].offset = ife_cmd.aligned_size()*idx;
// stream of IFE register writes
bool is_raw = output_type != ISP_IFE_PROCESSED;
if (!is_raw) {
if (init) {
buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches, cc.camera_num);
@ -597,8 +599,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset);
if (is_raw) {
if (output_type != ISP_IFE_PROCESSED) {
io_cfg[0].mem_handle[0] = buf_handle_raw[idx];
io_cfg[0].planes[0] = (struct cam_plane_cfg){
.width = sensor->frame_width,
@ -679,6 +680,8 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
if (sync_objs[i]) {
// SOF has come in, wait until readout is complete
struct cam_sync_wait sync_wait = {0};
// wait for ife
sync_wait.sync_obj = sync_objs[i];
// TODO: write a test to stress test w/ a low timeout and check camera frame ids match
sync_wait.timeout_ms = 100;
@ -687,6 +690,18 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
clear_req_queue();
LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
}
if (ret == 0 && output_type == ISP_BPS_PROCESSED) {
// wait for bps
sync_wait.sync_obj = sync_objs_bps_out[i];
sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
if (ret != 0) {
clear_req_queue();
LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
}
}
buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot();
buf.frame_metadata[i].timestamp_eof = buf.frame_metadata[i].timestamp_sof + sensor->readout_time_ns;
if (dp && ret == 0) {
@ -728,7 +743,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
// submit request to IFE and BPS
config_ife(i, request_id);
config_bps(i, request_id);
if (output_type == ISP_BPS_PROCESSED) config_bps(i, request_id);
}
void SpectraCamera::destroySyncObjectAt(int index) {
@ -751,7 +766,7 @@ void SpectraCamera::destroySyncObjectAt(int index) {
void SpectraCamera::camera_map_bufs() {
int ret;
for (int i = 0; i < ife_buf_depth; i++) {
// configure ISP to put the image in place
// map our VisionIPC bufs into ISP memory
struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
mem_mgr_map_cmd.mmu_hdls[0] = m->device_iommu;
@ -761,14 +776,16 @@ void SpectraCamera::camera_map_bufs() {
mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu;
}
if (is_raw) {
if (output_type != ISP_IFE_PROCESSED) {
// RAW bayer images
mem_mgr_map_cmd.fd = buf.camera_bufs_raw[i].fd;
ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
assert(ret == 0);
LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
buf_handle_raw[i] = mem_mgr_map_cmd.out.buf_handle;
} else {
}
if (output_type != ISP_RAW_OUTPUT) {
// final processed images
VisionBuf *vb = buf.vipc_server->get_buffer(buf.stream_type, i);
mem_mgr_map_cmd.fd = vb->fd;
@ -865,7 +882,7 @@ void SpectraCamera::configISP() {
},
};
if (is_raw) {
if (output_type != ISP_IFE_PROCESSED) {
in_port_info.line_start = 0;
in_port_info.line_stop = sensor->frame_height + sensor->extra_height - 1;
in_port_info.height = sensor->frame_height + sensor->extra_height;
@ -890,7 +907,7 @@ void SpectraCamera::configISP() {
ife_cmd.init(m, 67984, 0x20,
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
m->device_iommu, m->cdm_iommu, ife_buf_depth);
if (!is_raw) {
if (output_type == ISP_IFE_PROCESSED) {
assert(sensor->gamma_lut_rgb.size() == 64);
ife_gamma_lut.init(m, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x20,
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
@ -1028,9 +1045,15 @@ void SpectraCamera::linkDevices() {
ret = device_control(csiphy_fd, CAM_START_DEV, session_handle, csiphy_dev_handle);
LOGD("start csiphy: %d", ret);
assert(ret == 0);
ret = device_control(m->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle);
LOGD("start isp: %d", ret);
assert(ret == 0);
if (output_type == ISP_BPS_PROCESSED) {
ret = device_control(m->icp_fd, CAM_START_DEV, session_handle, icp_dev_handle);
LOGD("start icp: %d", ret);
assert(ret == 0);
}
}
void SpectraCamera::camera_close() {
@ -1041,8 +1064,13 @@ void SpectraCamera::camera_close() {
// LOGD("stop sensor: %d", ret);
int ret = device_control(m->isp_fd, CAM_STOP_DEV, session_handle, isp_dev_handle);
LOGD("stop isp: %d", ret);
if (output_type == ISP_BPS_PROCESSED) {
ret = device_control(m->icp_fd, CAM_STOP_DEV, session_handle, icp_dev_handle);
LOGD("stop icp: %d", ret);
}
ret = device_control(csiphy_fd, CAM_STOP_DEV, session_handle, csiphy_dev_handle);
LOGD("stop csiphy: %d", ret);
// link control stop
LOG("-- Stop link control");
struct cam_req_mgr_link_control req_mgr_link_control = {0};
@ -1069,11 +1097,20 @@ void SpectraCamera::camera_close() {
}
ret = device_control(m->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle);
LOGD("release isp: %d", ret);
if (output_type == ISP_BPS_PROCESSED) {
ret = device_control(m->icp_fd, CAM_RELEASE_DEV, session_handle, icp_dev_handle);
LOGD("release icp: %d", ret);
}
ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle);
LOGD("release csiphy: %d", ret);
for (int i = 0; i < ife_buf_depth; i++) {
release(m->video0_fd, is_raw ? buf_handle_raw[i] : buf_handle_yuv[i]);
if (buf_handle_raw[i]) {
release(m->video0_fd, buf_handle_raw[i]);
}
if (buf_handle_yuv[i]) {
release(m->video0_fd, buf_handle_yuv[i]);
}
}
LOGD("released buffers");
}

10
system/camerad/cameras/spectra.h
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@ -29,6 +29,12 @@ const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py
#define OpcodesIFEInitialConfig 0x0
#define OpcodesIFEUpdate 0x1
typedef enum {
ISP_RAW_OUTPUT, // raw frame from sensor
ISP_IFE_PROCESSED, // fully processed image through the IFE
ISP_BPS_PROCESSED, // fully processed image through the BPS
} SpectraOutputType;
std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1);
int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle);
int device_control(int fd, int op_code, int session_handle, int dev_handle);
@ -103,7 +109,7 @@ public:
class SpectraCamera {
public:
SpectraCamera(SpectraMaster *master, const CameraConfig &config, bool raw);
SpectraCamera(SpectraMaster *master, const CameraConfig &config, SpectraOutputType out);
~SpectraCamera();
void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
@ -177,7 +183,7 @@ public:
uint64_t idx_offset = 0;
bool skipped = true;
bool is_raw;
SpectraOutputType output_type;
CameraBuf buf;
MemoryManager mm;

2
system/camerad/test/debug.sh
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@ -5,7 +5,7 @@ set -e
# no CCI and UTIL, very spammy
echo 0xfffdbfff | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
#echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
sudo dmesg -C
scons -u -j8 --minimal .

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