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pull/2118/head
Comma Device 5 years ago
parent 4891d3787a
commit 80838f3693
2 changed files with 13 additions and 15 deletions
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  1. 27
      selfdrive/camerad/cameras/camera_qcom2.c
  2. 1
      selfdrive/camerad/cameras/camera_qcom2.h

27
selfdrive/camerad/cameras/camera_qcom2.c
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@ -479,15 +479,16 @@ void config_isp(struct CameraState *s, int io_mem_handle, int fence, int request
void enqueue_buffer(struct CameraState *s, int i) { void enqueue_buffer(struct CameraState *s, int i) {
int ret; int ret;
int request_id = s->frame_id; int request_id = s->camera_bufs_metadata[i].frame_id;
if (s->buf_handle[i]) { if (s->buf_handle[i]) {
release(s->video0_fd, s->buf_handle[i]); release(s->video0_fd, s->buf_handle[i]);
// wait // wait
//struct cam_sync_wait sync_wait = {0}; // struct cam_sync_wait sync_wait = {0};
//sync_wait.sync_obj = s->sync_objs[i]; // sync_wait.sync_obj = s->sync_objs[i];
//sync_wait.timeout_ms = 175; // sync_wait.timeout_ms = 100;
//ret = cam_control(s->video1_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)); // ret = cam_control(s->video1_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
//LOGD("fence wait: %d %d", ret, sync_wait.sync_obj); // LOGD("fence wait: %d %d", ret, sync_wait.sync_obj);
// destroy old output fence // destroy old output fence
struct cam_sync_info sync_destroy = {0}; struct cam_sync_info sync_destroy = {0};
@ -496,8 +497,6 @@ void enqueue_buffer(struct CameraState *s, int i) {
ret = cam_control(s->video1_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy)); ret = cam_control(s->video1_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
LOGD("fence destroy: %d %d", ret, sync_destroy.sync_obj); LOGD("fence destroy: %d %d", ret, sync_destroy.sync_obj);
} }
// new request_ids
s->request_ids[i] = request_id;
// do stuff // do stuff
struct cam_req_mgr_sched_request req_mgr_sched_request = {0}; struct cam_req_mgr_sched_request req_mgr_sched_request = {0};
@ -949,32 +948,32 @@ void cameras_run(MultiCameraState *s) {
struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)ev.u.data; struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)ev.u.data;
uint64_t timestamp = event_data->u.frame_msg.timestamp; uint64_t timestamp = event_data->u.frame_msg.timestamp;
LOGD("v4l2 event: sess_hdl %d, link_hdl %d, frame_id %d, req_id %lld, timestamp 0x%llx, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp, event_data->u.frame_msg.sof_status); LOGD("v4l2 event: sess_hdl %d, link_hdl %d, frame_id %d, req_id %lld, timestamp 0x%llx, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp, event_data->u.frame_msg.sof_status);
// printf("sess_hdl %d, link_hdl %d, frame_id %d, req_id %lld, timestamp 0x%llx, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp, event_data->u.frame_msg.sof_status); printf("sess_hdl %d, link_hdl %d, frame_id %lu, req_id %lu, timestamp 0x%lx, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp, event_data->u.frame_msg.sof_status);
if (event_data->u.frame_msg.request_id != 0 || (event_data->u.frame_msg.request_id == 0 && if (event_data->u.frame_msg.request_id != 0 || (event_data->u.frame_msg.request_id == 0 &&
((s->rear.first && event_data->session_hdl == s->rear.req_mgr_session_info.session_hdl) || ((s->rear.first && event_data->session_hdl == s->rear.req_mgr_session_info.session_hdl) ||
(s->wide.first && event_data->session_hdl == s->wide.req_mgr_session_info.session_hdl) || (s->wide.first && event_data->session_hdl == s->wide.req_mgr_session_info.session_hdl) ||
(s->front.first && event_data->session_hdl == s->front.req_mgr_session_info.session_hdl)))) { (s->front.first && event_data->session_hdl == s->front.req_mgr_session_info.session_hdl)))) {
if (event_data->session_hdl == s->rear.req_mgr_session_info.session_hdl) { if (event_data->session_hdl == s->rear.req_mgr_session_info.session_hdl) {
if (event_data->u.frame_msg.request_id > 0) {s->rear.first = false;}
s->rear.frame_id++; s->rear.frame_id++;
//printf("rear %d\n", s->rear.frame_id); //printf("rear %d\n", s->rear.frame_id);
if (event_data->u.frame_msg.request_id > 0) {s->rear.first = false;}
int buf_idx = s->rear.frame_id % FRAME_BUF_COUNT; int buf_idx = s->rear.frame_id % FRAME_BUF_COUNT;
s->rear.camera_bufs_metadata[buf_idx].frame_id = s->rear.frame_id; s->rear.camera_bufs_metadata[buf_idx].frame_id = s->rear.frame_id;
s->rear.camera_bufs_metadata[buf_idx].timestamp_eof = timestamp; // only has sof? s->rear.camera_bufs_metadata[buf_idx].timestamp_eof = timestamp; // only has sof?
tbuffer_dispatch(&s->rear.camera_tb, buf_idx); tbuffer_dispatch(&s->rear.camera_tb, buf_idx);
} else if (event_data->session_hdl == s->wide.req_mgr_session_info.session_hdl) { } else if (event_data->session_hdl == s->wide.req_mgr_session_info.session_hdl) {
if (event_data->u.frame_msg.request_id > 0) {s->wide.first = false;}
s->wide.frame_id++; s->wide.frame_id++;
//printf("wide %d\n", s->wide.frame_id); //printf("wide %d\n", s->wide.frame_id);
if (event_data->u.frame_msg.request_id > 0) {s->wide.first = false;}
int buf_idx = s->wide.frame_id % FRAME_BUF_COUNT; int buf_idx = s->wide.frame_id % FRAME_BUF_COUNT;
s->wide.camera_bufs_metadata[buf_idx].frame_id = s->wide.frame_id; s->wide.camera_bufs_metadata[buf_idx].frame_id = s->wide.frame_id;
s->wide.camera_bufs_metadata[buf_idx].timestamp_eof = timestamp; s->wide.camera_bufs_metadata[buf_idx].timestamp_eof = timestamp;
tbuffer_dispatch(&s->wide.camera_tb, buf_idx); tbuffer_dispatch(&s->wide.camera_tb, buf_idx);
} else if (event_data->session_hdl == s->front.req_mgr_session_info.session_hdl) { } else if (event_data->session_hdl == s->front.req_mgr_session_info.session_hdl) {
if (event_data->u.frame_msg.request_id > 0) {s->front.first = false;}
s->front.frame_id++; s->front.frame_id++;
//printf("front %d\n", s->front.frame_id); //printf("front %d\n", s->front.frame_id);
if (event_data->u.frame_msg.request_id > 0) {s->front.first = false;}
int buf_idx = s->front.frame_id % FRAME_BUF_COUNT; int buf_idx = s->front.frame_id % FRAME_BUF_COUNT;
s->front.camera_bufs_metadata[buf_idx].frame_id = s->front.frame_id; s->front.camera_bufs_metadata[buf_idx].frame_id = s->front.frame_id;
s->front.camera_bufs_metadata[buf_idx].timestamp_eof = timestamp; s->front.camera_bufs_metadata[buf_idx].timestamp_eof = timestamp;
@ -1027,13 +1026,13 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
if (s->analog_gain_frac > 4) { if (s->analog_gain_frac > 4) {
s->analog_gain_frac = 8.0; s->analog_gain_frac = 8.0;
AG = 0xEEEE; AG = 0xEEEE;
printf("cam %d gain_frac is %f, set AG to 0x%X, S to %d, dc %d \n", s->camera_num, s->analog_gain_frac, AG, s->exposure_time, s->dc_gain_enabled); // printf("cam %d gain_frac is %f, set AG to 0x%X, S to %d, dc %d \n", s->camera_num, s->analog_gain_frac, AG, s->exposure_time, s->dc_gain_enabled);
} else { } else {
AG = -(1.147 * s->analog_gain_frac * s->analog_gain_frac) + (7.67 * s->analog_gain_frac) - 0.1; AG = -(1.147 * s->analog_gain_frac * s->analog_gain_frac) + (7.67 * s->analog_gain_frac) - 0.1;
if (AG - s->analog_gain == -1) {AG = s->analog_gain;} if (AG - s->analog_gain == -1) {AG = s->analog_gain;}
s->analog_gain = AG; s->analog_gain = AG;
AG = AG * 4096 + AG * 256 + AG * 16 + AG; AG = AG * 4096 + AG * 256 + AG * 16 + AG;
printf("cam %d gain_frac is %f, set AG to 0x%X, S to %d, dc %d \n", s->camera_num, s->analog_gain_frac, AG, s->exposure_time, s->dc_gain_enabled); // printf("cam %d gain_frac is %f, set AG to 0x%X, S to %d, dc %d \n", s->camera_num, s->analog_gain_frac, AG, s->exposure_time, s->dc_gain_enabled);
} }
struct i2c_random_wr_payload exp_reg_array[] = {{0x3366, AG}, // analog gain struct i2c_random_wr_payload exp_reg_array[] = {{0x3366, AG}, // analog gain
{0x3362, s->dc_gain_enabled?0x1:0x0}, // DC_GAIN {0x3362, s->dc_gain_enabled?0x1:0x0}, // DC_GAIN

1
selfdrive/camerad/cameras/camera_qcom2.h
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@ -62,7 +62,6 @@ typedef struct CameraState {
int buf0_handle; int buf0_handle;
int buf_handle[FRAME_BUF_COUNT]; int buf_handle[FRAME_BUF_COUNT];
int request_ids[FRAME_BUF_COUNT];
int sync_objs[FRAME_BUF_COUNT]; int sync_objs[FRAME_BUF_COUNT];
int frame_id; int frame_id;
bool first; bool first;

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