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camera_qcom2 refactor (#23946)

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* convert camerastate to a class

* more refactor

* do the refactor in file

* put that one back

* those changes can wait

* very minor

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 0adfef0b34
taco
George Hotz 3 years ago committed by GitHub
parent 3bd71500bd
commit c0145ae709
2 changed files with 221 additions and 205 deletions
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  1. 406
      selfdrive/camerad/cameras/camera_qcom2.cc
  2. 20
      selfdrive/camerad/cameras/camera_qcom2.h

406
selfdrive/camerad/cameras/camera_qcom2.cc
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@ -56,7 +56,7 @@ const int EXPOSURE_TIME_MIN = 2; // with HDR, fastest ss
const int EXPOSURE_TIME_MAX = 1904; // with HDR, slowest ss
// ************** low level camera helpers ****************
int cam_control(int fd, int op_code, void *handle, int size) {
int do_cam_control(int fd, int op_code, void *handle, int size) {
struct cam_control camcontrol = {0};
camcontrol.op_code = op_code;
camcontrol.handle = (uint64_t)handle;
@ -83,7 +83,7 @@ std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data
.num_resources = (uint32_t)(data ? 1 : 0),
.resource_hdl = (uint64_t)data,
};
int err = cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd));
int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd));
return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt;
};
@ -93,13 +93,13 @@ int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t p
.dev_handle = dev_handle,
.packet_handle = packet_handle,
};
return cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd));
return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd));
}
int device_control(int fd, int op_code, int session_handle, int dev_handle) {
// start stop and release are all the same
struct cam_start_stop_dev_cmd cmd { .session_handle = session_handle, .dev_handle = dev_handle };
return cam_control(fd, op_code, &cmd, sizeof(cmd));
return do_cam_control(fd, op_code, &cmd, sizeof(cmd));
}
void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
@ -118,7 +118,7 @@ void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, i
mem_mgr_alloc_cmd.num_hdl++;
}
cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd));
do_cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd));
*handle = mem_mgr_alloc_cmd.out.buf_handle;
void *ptr = NULL;
@ -137,7 +137,7 @@ void release(int video0_fd, uint32_t handle) {
struct cam_mem_mgr_release_cmd mem_mgr_release_cmd = {0};
mem_mgr_release_cmd.buf_handle = handle;
ret = cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd));
ret = do_cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd));
assert(ret == 0);
}
@ -153,34 +153,39 @@ void clear_req_queue(int fd, int32_t session_hdl, int32_t link_hdl) {
req_mgr_flush_request.link_hdl = link_hdl;
req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL;
int ret;
ret = cam_control(fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
ret = do_cam_control(fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
// LOGD("flushed all req: %d", ret);
}
// ************** high level camera helpers ****************
void sensors_poke(struct CameraState *s, int request_id) {
void CameraState::sensors_start() {
int start_reg_len = sizeof(start_reg_array) / sizeof(struct i2c_random_wr_payload);
sensors_i2c(start_reg_array, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
}
void CameraState::sensors_poke(int request_id) {
uint32_t cam_packet_handle = 0;
int size = sizeof(struct cam_packet);
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, size, &cam_packet_handle);
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle);
pkt->num_cmd_buf = 0;
pkt->kmd_cmd_buf_index = -1;
pkt->header.size = size;
pkt->header.op_code = 0x7f;
pkt->header.request_id = request_id;
int ret = device_config(s->sensor_fd, s->session_handle, s->sensor_dev_handle, cam_packet_handle);
int ret = device_config(sensor_fd, session_handle, sensor_dev_handle, cam_packet_handle);
assert(ret == 0);
munmap(pkt, size);
release_fd(s->multi_cam_state->video0_fd, cam_packet_handle);
release_fd(multi_cam_state->video0_fd, cam_packet_handle);
}
void sensors_i2c(struct CameraState *s, struct i2c_random_wr_payload* dat, int len, int op_code) {
void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code) {
// LOGD("sensors_i2c: %d", len);
uint32_t cam_packet_handle = 0;
int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, size, &cam_packet_handle);
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle);
pkt->num_cmd_buf = 1;
pkt->kmd_cmd_buf_index = -1;
pkt->header.size = size;
@ -190,7 +195,7 @@ void sensors_i2c(struct CameraState *s, struct i2c_random_wr_payload* dat, int l
buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload);
buf_desc[0].type = CAM_CMD_BUF_I2C;
struct cam_cmd_i2c_random_wr *i2c_random_wr = (struct cam_cmd_i2c_random_wr *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
struct cam_cmd_i2c_random_wr *i2c_random_wr = (struct cam_cmd_i2c_random_wr *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
i2c_random_wr->header.count = len;
i2c_random_wr->header.op_code = 1;
i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR;
@ -198,14 +203,15 @@ void sensors_i2c(struct CameraState *s, struct i2c_random_wr_payload* dat, int l
i2c_random_wr->header.addr_type = CAMERA_SENSOR_I2C_TYPE_WORD;
memcpy(i2c_random_wr->random_wr_payload, dat, len*sizeof(struct i2c_random_wr_payload));
int ret = device_config(s->sensor_fd, s->session_handle, s->sensor_dev_handle, cam_packet_handle);
int ret = device_config(sensor_fd, session_handle, sensor_dev_handle, cam_packet_handle);
assert(ret == 0);
munmap(i2c_random_wr, buf_desc[0].size);
release_fd(s->multi_cam_state->video0_fd, buf_desc[0].mem_handle);
release_fd(multi_cam_state->video0_fd, buf_desc[0].mem_handle);
munmap(pkt, size);
release_fd(s->multi_cam_state->video0_fd, cam_packet_handle);
release_fd(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;
@ -214,7 +220,8 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
return (struct cam_cmd_power *)(unconditional_wait + 1);
};
void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
void CameraState::sensors_init() {
int video0_fd = multi_cam_state->video0_fd;
uint32_t cam_packet_handle = 0;
int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(video0_fd, size, &cam_packet_handle);
@ -333,7 +340,7 @@ void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
power->power_settings[2].power_seq_type = 3;
LOGD("probing the sensor");
int ret = cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
assert(ret == 0);
munmap(i2c_info, buf_desc[0].size);
@ -344,13 +351,13 @@ void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
release_fd(video0_fd, cam_packet_handle);
}
void config_isp(struct CameraState *s, int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset) {
void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset) {
uint32_t cam_packet_handle = 0;
int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
if (io_mem_handle != 0) {
size += sizeof(struct cam_buf_io_cfg);
}
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, size, &cam_packet_handle);
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle);
pkt->num_cmd_buf = 2;
pkt->kmd_cmd_buf_index = 0;
// YUV has kmd_cmd_buf_offset = 1780
@ -445,7 +452,7 @@ void config_isp(struct CameraState *s, int io_mem_handle, int fence, int request
buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
buf_desc[1].type = CAM_CMD_BUF_GENERIC;
buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
uint32_t *buf2 = (uint32_t *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle, 0x20);
uint32_t *buf2 = (uint32_t *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle, 0x20);
memcpy(buf2, &tmp, sizeof(tmp));
if (io_mem_handle != 0) {
@ -475,133 +482,133 @@ void config_isp(struct CameraState *s, int io_mem_handle, int fence, int request
io_cfg[0].framedrop_pattern = 0x1;
}
int ret = device_config(s->multi_cam_state->isp_fd, s->session_handle, s->isp_dev_handle, cam_packet_handle);
int ret = device_config(multi_cam_state->isp_fd, session_handle, isp_dev_handle, cam_packet_handle);
assert(ret == 0);
if (ret != 0) {
printf("ISP CONFIG FAILED\n");
}
munmap(buf2, buf_desc[1].size);
release_fd(s->multi_cam_state->video0_fd, buf_desc[1].mem_handle);
// release_fd(s->multi_cam_state->video0_fd, buf_desc[0].mem_handle);
release_fd(multi_cam_state->video0_fd, buf_desc[1].mem_handle);
// release_fd(multi_cam_state->video0_fd, buf_desc[0].mem_handle);
munmap(pkt, size);
release_fd(s->multi_cam_state->video0_fd, cam_packet_handle);
release_fd(multi_cam_state->video0_fd, cam_packet_handle);
}
void enqueue_buffer(struct CameraState *s, int i, bool dp) {
void CameraState::enqueue_buffer(int i, bool dp) {
int ret;
int request_id = s->request_ids[i];
int request_id = request_ids[i];
if (s->buf_handle[i]) {
release(s->multi_cam_state->video0_fd, s->buf_handle[i]);
if (buf_handle[i]) {
release(multi_cam_state->video0_fd, buf_handle[i]);
// wait
struct cam_sync_wait sync_wait = {0};
sync_wait.sync_obj = s->sync_objs[i];
sync_wait.sync_obj = sync_objs[i];
sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
ret = cam_control(s->multi_cam_state->video1_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
ret = do_cam_control(multi_cam_state->video1_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
// LOGD("fence wait: %d %d", ret, sync_wait.sync_obj);
s->buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof
if (dp) s->buf.queue(i);
buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof
if (dp) buf.queue(i);
// destroy old output fence
struct cam_sync_info sync_destroy = {0};
strcpy(sync_destroy.name, "NodeOutputPortFence");
sync_destroy.sync_obj = s->sync_objs[i];
ret = cam_control(s->multi_cam_state->video1_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
sync_destroy.sync_obj = sync_objs[i];
ret = do_cam_control(multi_cam_state->video1_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
// LOGD("fence destroy: %d %d", ret, sync_destroy.sync_obj);
}
// do stuff
struct cam_req_mgr_sched_request req_mgr_sched_request = {0};
req_mgr_sched_request.session_hdl = s->session_handle;
req_mgr_sched_request.link_hdl = s->link_handle;
req_mgr_sched_request.session_hdl = session_handle;
req_mgr_sched_request.link_hdl = link_handle;
req_mgr_sched_request.req_id = request_id;
ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request));
ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request));
// LOGD("sched req: %d %d", ret, request_id);
// create output fence
struct cam_sync_info sync_create = {0};
strcpy(sync_create.name, "NodeOutputPortFence");
ret = cam_control(s->multi_cam_state->video1_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
ret = do_cam_control(multi_cam_state->video1_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
// LOGD("fence req: %d %d", ret, sync_create.sync_obj);
s->sync_objs[i] = sync_create.sync_obj;
sync_objs[i] = sync_create.sync_obj;
// configure ISP to put the image in place
struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
mem_mgr_map_cmd.mmu_hdls[0] = s->multi_cam_state->device_iommu;
mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
mem_mgr_map_cmd.num_hdl = 1;
mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
mem_mgr_map_cmd.fd = s->buf.camera_bufs[i].fd;
ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
// LOGD("map buf req: (fd: %d) 0x%x %d", s->bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
s->buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
// LOGD("map buf req: (fd: %d) 0x%x %d", bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
// poke sensor
sensors_poke(s, request_id);
sensors_poke(request_id);
// LOGD("Poked sensor");
// push the buffer
config_isp(s, s->buf_handle[i], s->sync_objs[i], request_id, s->buf0_handle, 65632*(i+1));
config_isp(buf_handle[i], sync_objs[i], request_id, buf0_handle, 65632*(i+1));
}
void enqueue_req_multi(struct CameraState *s, int start, int n, bool dp) {
void CameraState::enqueue_req_multi(int start, int n, bool dp) {
for (int i=start;i<start+n;++i) {
s->request_ids[(i - 1) % FRAME_BUF_COUNT] = i;
enqueue_buffer(s, (i - 1) % FRAME_BUF_COUNT, dp);
request_ids[(i - 1) % FRAME_BUF_COUNT] = i;
enqueue_buffer((i - 1) % FRAME_BUF_COUNT, dp);
}
}
// ******************* camera *******************
static void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, CameraState *s, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) {
void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServer * v, int camera_id, int camera_num_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) {
LOGD("camera init %d", camera_num);
s->multi_cam_state = multi_cam_state;
multi_cam_state = multi_cam_state_;
assert(camera_id < std::size(cameras_supported));
s->ci = cameras_supported[camera_id];
assert(s->ci.frame_width != 0);
ci = cameras_supported[camera_id];
assert(ci.frame_width != 0);
s->camera_num = camera_num;
camera_num = camera_num_;
s->request_id_last = 0;
s->skipped = true;
request_id_last = 0;
skipped = true;
s->min_ev = EXPOSURE_TIME_MIN * sensor_analog_gains[ANALOG_GAIN_MIN_IDX];
s->max_ev = EXPOSURE_TIME_MAX * sensor_analog_gains[ANALOG_GAIN_MAX_IDX] * DC_GAIN;
s->target_grey_fraction = 0.3;
min_ev = EXPOSURE_TIME_MIN * sensor_analog_gains[ANALOG_GAIN_MIN_IDX];
max_ev = EXPOSURE_TIME_MAX * sensor_analog_gains[ANALOG_GAIN_MAX_IDX] * DC_GAIN;
target_grey_fraction = 0.3;
s->dc_gain_enabled = false;
s->gain_idx = ANALOG_GAIN_REC_IDX;
s->exposure_time = 5;
s->cur_ev[0] = s->cur_ev[1] = s->cur_ev[2] = (s->dc_gain_enabled ? DC_GAIN : 1) * sensor_analog_gains[s->gain_idx] * s->exposure_time;
dc_gain_enabled = false;
gain_idx = ANALOG_GAIN_REC_IDX;
exposure_time = 5;
cur_ev[0] = cur_ev[1] = cur_ev[2] = (dc_gain_enabled ? DC_GAIN : 1) * sensor_analog_gains[gain_idx] * exposure_time;
s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
}
static void camera_open(CameraState *s) {
s->sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", s->camera_num);
assert(s->sensor_fd >= 0);
LOGD("opened sensor for %d", s->camera_num);
void CameraState::camera_open() {
sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num);
assert(sensor_fd >= 0);
LOGD("opened sensor for %d", camera_num);
// probe the sensor
LOGD("-- Probing sensor %d", s->camera_num);
sensors_init(s->multi_cam_state->video0_fd, s->sensor_fd, s->camera_num);
LOGD("-- Probing sensor %d", camera_num);
sensors_init();
// create session
struct cam_req_mgr_session_info session_info = {};
int ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info));
int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info));
LOGD("get session: %d 0x%X", ret, session_info.session_hdl);
s->session_handle = session_info.session_hdl;
session_handle = session_info.session_hdl;
// access the sensor
LOGD("-- Accessing sensor");
auto sensor_dev_handle = device_acquire(s->sensor_fd, s->session_handle, nullptr);
assert(sensor_dev_handle);
s->sensor_dev_handle = *sensor_dev_handle;
auto sensor_dev_handle_ = device_acquire(sensor_fd, session_handle, nullptr);
assert(sensor_dev_handle_);
sensor_dev_handle = *sensor_dev_handle_;
LOGD("acquire sensor dev");
struct cam_isp_in_port_info in_port_info = {
.res_type = (uint32_t[]){CAM_ISP_IFE_IN_RES_PHY_0, CAM_ISP_IFE_IN_RES_PHY_1, CAM_ISP_IFE_IN_RES_PHY_2}[s->camera_num],
.res_type = (uint32_t[]){CAM_ISP_IFE_IN_RES_PHY_0, CAM_ISP_IFE_IN_RES_PHY_1, CAM_ISP_IFE_IN_RES_PHY_2}[camera_num],
.lane_type = CAM_ISP_LANE_TYPE_DPHY,
.lane_num = 4,
@ -649,29 +656,29 @@ static void camera_open(CameraState *s) {
.length = sizeof(in_port_info),
};
auto isp_dev_handle = device_acquire(s->multi_cam_state->isp_fd, s->session_handle, &isp_resource);
assert(isp_dev_handle);
s->isp_dev_handle = *isp_dev_handle;
auto isp_dev_handle_ = device_acquire(multi_cam_state->isp_fd, session_handle, &isp_resource);
assert(isp_dev_handle_);
isp_dev_handle = *isp_dev_handle_;
LOGD("acquire isp dev");
s->csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", s->camera_num);
assert(s->csiphy_fd >= 0);
LOGD("opened csiphy for %d", s->camera_num);
csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", camera_num);
assert(csiphy_fd >= 0);
LOGD("opened csiphy for %d", camera_num);
struct cam_csiphy_acquire_dev_info csiphy_acquire_dev_info = {.combo_mode = 0};
auto csiphy_dev_handle = device_acquire(s->csiphy_fd, s->session_handle, &csiphy_acquire_dev_info);
assert(csiphy_dev_handle);
s->csiphy_dev_handle = *csiphy_dev_handle;
auto csiphy_dev_handle_ = device_acquire(csiphy_fd, session_handle, &csiphy_acquire_dev_info);
assert(csiphy_dev_handle_);
csiphy_dev_handle = *csiphy_dev_handle_;
LOGD("acquire csiphy dev");
// config ISP
alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, 984480, (uint32_t*)&s->buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, s->multi_cam_state->device_iommu, s->multi_cam_state->cdm_iommu);
config_isp(s, 0, 0, 1, s->buf0_handle, 0);
alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu);
config_isp(0, 0, 1, buf0_handle, 0);
LOG("-- Configuring sensor");
sensors_i2c(s, init_array_ar0231, std::size(init_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
//sensors_i2c(s, start_reg_array, std::size(start_reg_array), CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON);
//sensors_i2c(s, stop_reg_array, std::size(stop_reg_array), CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF);
sensors_i2c(init_array_ar0231, std::size(init_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
//sensors_i2c(start_reg_array, std::size(start_reg_array), CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON);
//sensors_i2c(stop_reg_array, std::size(stop_reg_array), CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF);
// config csiphy
@ -679,7 +686,7 @@ static void camera_open(CameraState *s) {
{
uint32_t cam_packet_handle = 0;
int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, size, &cam_packet_handle);
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle);
pkt->num_cmd_buf = 1;
pkt->kmd_cmd_buf_index = -1;
pkt->header.size = size;
@ -688,7 +695,7 @@ static void camera_open(CameraState *s) {
buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info);
buf_desc[0].type = CAM_CMD_BUF_GENERIC;
struct cam_csiphy_info *csiphy_info = (struct cam_csiphy_info *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
struct cam_csiphy_info *csiphy_info = (struct cam_csiphy_info *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
csiphy_info->lane_mask = 0x1f;
csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels??
csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane
@ -698,54 +705,51 @@ static void camera_open(CameraState *s) {
csiphy_info->settle_time = MIPI_SETTLE_CNT * 200000000ULL;
csiphy_info->data_rate = 48000000; // Calculated by camera_freqs.py
int ret_ = device_config(s->csiphy_fd, s->session_handle, s->csiphy_dev_handle, cam_packet_handle);
int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle);
assert(ret_ == 0);
munmap(csiphy_info, buf_desc[0].size);
release_fd(s->multi_cam_state->video0_fd, buf_desc[0].mem_handle);
release_fd(multi_cam_state->video0_fd, buf_desc[0].mem_handle);
munmap(pkt, size);
release_fd(s->multi_cam_state->video0_fd, cam_packet_handle);
release_fd(multi_cam_state->video0_fd, cam_packet_handle);
}
// link devices
LOG("-- Link devices");
struct cam_req_mgr_link_info req_mgr_link_info = {0};
req_mgr_link_info.session_hdl = s->session_handle;
req_mgr_link_info.session_hdl = session_handle;
req_mgr_link_info.num_devices = 2;
req_mgr_link_info.dev_hdls[0] = s->isp_dev_handle;
req_mgr_link_info.dev_hdls[1] = s->sensor_dev_handle;
ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info));
s->link_handle = req_mgr_link_info.link_hdl;
LOGD("link: %d hdl: 0x%X", ret, s->link_handle);
req_mgr_link_info.dev_hdls[0] = isp_dev_handle;
req_mgr_link_info.dev_hdls[1] = sensor_dev_handle;
ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info));
link_handle = req_mgr_link_info.link_hdl;
LOGD("link: %d hdl: 0x%X", ret, link_handle);
struct cam_req_mgr_link_control req_mgr_link_control = {0};
req_mgr_link_control.ops = CAM_REQ_MGR_LINK_ACTIVATE;
req_mgr_link_control.session_hdl = s->session_handle;
req_mgr_link_control.session_hdl = session_handle;
req_mgr_link_control.num_links = 1;
req_mgr_link_control.link_hdls[0] = s->link_handle;
ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control));
req_mgr_link_control.link_hdls[0] = link_handle;
ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control));
LOGD("link control: %d", ret);
ret = device_control(s->csiphy_fd, CAM_START_DEV, s->session_handle, s->csiphy_dev_handle);
ret = device_control(csiphy_fd, CAM_START_DEV, session_handle, csiphy_dev_handle);
LOGD("start csiphy: %d", ret);
ret = device_control(s->multi_cam_state->isp_fd, CAM_START_DEV, s->session_handle, s->isp_dev_handle);
ret = device_control(multi_cam_state->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle);
LOGD("start isp: %d", ret);
ret = device_control(s->sensor_fd, CAM_START_DEV, s->session_handle, s->sensor_dev_handle);
ret = device_control(sensor_fd, CAM_START_DEV, session_handle, sensor_dev_handle);
LOGD("start sensor: %d", ret);
enqueue_req_multi(s, 1, FRAME_BUF_COUNT, 0);
enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
}
void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
camera_init(s, v, &s->driver_cam, CAMERA_ID_AR0231, 2, 20, device_id, ctx,
VISION_STREAM_RGB_FRONT, VISION_STREAM_DRIVER);
s->driver_cam.camera_init(s, v, CAMERA_ID_AR0231, 2, 20, device_id, ctx, VISION_STREAM_RGB_FRONT, VISION_STREAM_DRIVER);
printf("driver camera initted \n");
if (!env_only_driver) {
camera_init(s, v, &s->road_cam, CAMERA_ID_AR0231, 1, 20, device_id, ctx,
VISION_STREAM_RGB_BACK, VISION_STREAM_ROAD); // swap left/right
s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_BACK, VISION_STREAM_ROAD); // swap left/right
printf("road camera initted \n");
camera_init(s, v, &s->wide_road_cam, CAMERA_ID_AR0231, 0, 20, device_id, ctx,
VISION_STREAM_RGB_WIDE, VISION_STREAM_WIDE_ROAD);
s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE, VISION_STREAM_WIDE_ROAD);
printf("wide road camera initted \n");
}
@ -768,7 +772,7 @@ void cameras_open(MultiCameraState *s) {
LOGD("opened video1");
// looks like there's only one of these
s->isp_fd = HANDLE_EINTR(open("/dev/v4l-subdev1", O_RDWR | O_NONBLOCK));
s->isp_fd = open_v4l_by_name_and_index("cam-isp");
assert(s->isp_fd >= 0);
LOGD("opened isp");
@ -779,7 +783,7 @@ void cameras_open(MultiCameraState *s) {
query_cap_cmd.handle_type = 1;
query_cap_cmd.caps_handle = (uint64_t)&isp_query_cap_cmd;
query_cap_cmd.size = sizeof(isp_query_cap_cmd);
ret = cam_control(s->isp_fd, CAM_QUERY_CAP, &query_cap_cmd, sizeof(query_cap_cmd));
ret = do_cam_control(s->isp_fd, CAM_QUERY_CAP, &query_cap_cmd, sizeof(query_cap_cmd));
assert(ret == 0);
LOGD("using MMU handle: %x", isp_query_cap_cmd.device_iommu.non_secure);
LOGD("using MMU handle: %x", isp_query_cap_cmd.cdm_iommu.non_secure);
@ -794,74 +798,72 @@ void cameras_open(MultiCameraState *s) {
ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
printf("req mgr subscribe: %d\n", ret);
camera_open(&s->driver_cam);
s->driver_cam.camera_open();
printf("driver camera opened \n");
if (!env_only_driver) {
camera_open(&s->road_cam);
s->road_cam.camera_open();
printf("road camera opened \n");
camera_open(&s->wide_road_cam);
s->wide_road_cam.camera_open();
printf("wide road camera opened \n");
}
}
static void camera_close(CameraState *s) {
void CameraState::camera_close() {
int ret;
// stop devices
LOG("-- Stop devices");
// ret = device_control(s->sensor_fd, CAM_STOP_DEV, s->session_handle, s->sensor_dev_handle);
// ret = device_control(sensor_fd, CAM_STOP_DEV, session_handle, sensor_dev_handle);
// LOGD("stop sensor: %d", ret);
ret = device_control(s->multi_cam_state->isp_fd, CAM_STOP_DEV, s->session_handle, s->isp_dev_handle);
ret = device_control(multi_cam_state->isp_fd, CAM_STOP_DEV, session_handle, isp_dev_handle);
LOGD("stop isp: %d", ret);
ret = device_control(s->csiphy_fd, CAM_STOP_DEV, s->session_handle, s->csiphy_dev_handle);
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");
static struct cam_req_mgr_link_control req_mgr_link_control = {0};
req_mgr_link_control.ops = CAM_REQ_MGR_LINK_DEACTIVATE;
req_mgr_link_control.session_hdl = s->session_handle;
req_mgr_link_control.session_hdl = session_handle;
req_mgr_link_control.num_links = 1;
req_mgr_link_control.link_hdls[0] = s->link_handle;
ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control));
req_mgr_link_control.link_hdls[0] = link_handle;
ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control));
LOGD("link control stop: %d", ret);
// unlink
LOG("-- Unlink");
static struct cam_req_mgr_unlink_info req_mgr_unlink_info = {0};
req_mgr_unlink_info.session_hdl = s->session_handle;
req_mgr_unlink_info.link_hdl = s->link_handle;
ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_UNLINK, &req_mgr_unlink_info, sizeof(req_mgr_unlink_info));
req_mgr_unlink_info.session_hdl = session_handle;
req_mgr_unlink_info.link_hdl = link_handle;
ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_UNLINK, &req_mgr_unlink_info, sizeof(req_mgr_unlink_info));
LOGD("unlink: %d", ret);
// release devices
LOGD("-- Release devices");
ret = device_control(s->sensor_fd, CAM_RELEASE_DEV, s->session_handle, s->sensor_dev_handle);
ret = device_control(sensor_fd, CAM_RELEASE_DEV, session_handle, sensor_dev_handle);
LOGD("release sensor: %d", ret);
ret = device_control(s->multi_cam_state->isp_fd, CAM_RELEASE_DEV, s->session_handle, s->isp_dev_handle);
ret = device_control(multi_cam_state->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle);
LOGD("release isp: %d", ret);
ret = device_control(s->csiphy_fd, CAM_RELEASE_DEV, s->session_handle, s->csiphy_dev_handle);
ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle);
LOGD("release csiphy: %d", ret);
// destroyed session
struct cam_req_mgr_session_info session_info = {.session_hdl = s->session_handle};
ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_DESTROY_SESSION, &session_info, sizeof(session_info));
struct cam_req_mgr_session_info session_info = {.session_hdl = session_handle};
ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_DESTROY_SESSION, &session_info, sizeof(session_info));
LOGD("destroyed session: %d", ret);
}
void cameras_close(MultiCameraState *s) {
camera_close(&s->driver_cam);
s->driver_cam.camera_close();
if (!env_only_driver) {
camera_close(&s->road_cam);
camera_close(&s->wide_road_cam);
s->road_cam.camera_close();
s->wide_road_cam.camera_close();
}
delete s->sm;
delete s->pm;
}
// ******************* just a helper *******************
void handle_camera_event(CameraState *s, void *evdat) {
void CameraState::handle_camera_event(void *evdat) {
struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)evdat;
uint64_t timestamp = event_data->u.frame_msg.timestamp;
@ -869,53 +871,53 @@ void handle_camera_event(CameraState *s, void *evdat) {
int real_id = event_data->u.frame_msg.request_id;
if (real_id != 0) { // next ready
if (real_id == 1) {s->idx_offset = main_id;}
if (real_id == 1) {idx_offset = main_id;}
int buf_idx = (real_id - 1) % FRAME_BUF_COUNT;
// check for skipped frames
if (main_id > s->frame_id_last + 1 && !s->skipped) {
if (main_id > frame_id_last + 1 && !skipped) {
// realign
clear_req_queue(s->multi_cam_state->video0_fd, event_data->session_hdl, event_data->u.frame_msg.link_hdl);
enqueue_req_multi(s, real_id + 1, FRAME_BUF_COUNT - 1, 0);
s->skipped = true;
} else if (main_id == s->frame_id_last + 1) {
s->skipped = false;
clear_req_queue(multi_cam_state->video0_fd, event_data->session_hdl, event_data->u.frame_msg.link_hdl);
enqueue_req_multi(real_id + 1, FRAME_BUF_COUNT - 1, 0);
skipped = true;
} else if (main_id == frame_id_last + 1) {
skipped = false;
}
// check for dropped requests
if (real_id > s->request_id_last + 1) {
enqueue_req_multi(s, s->request_id_last + 1 + FRAME_BUF_COUNT, real_id - (s->request_id_last + 1), 0);
if (real_id > request_id_last + 1) {
enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0);
}
// metas
s->frame_id_last = main_id;
s->request_id_last = real_id;
frame_id_last = main_id;
request_id_last = real_id;
auto &meta_data = s->buf.camera_bufs_metadata[buf_idx];
meta_data.frame_id = main_id - s->idx_offset;
auto &meta_data = buf.camera_bufs_metadata[buf_idx];
meta_data.frame_id = main_id - idx_offset;
meta_data.timestamp_sof = timestamp;
s->exp_lock.lock();
meta_data.gain = s->dc_gain_enabled ? s->analog_gain_frac * DC_GAIN : s->analog_gain_frac;
meta_data.high_conversion_gain = s->dc_gain_enabled;
meta_data.integ_lines = s->exposure_time;
meta_data.measured_grey_fraction = s->measured_grey_fraction;
meta_data.target_grey_fraction = s->target_grey_fraction;
s->exp_lock.unlock();
exp_lock.lock();
meta_data.gain = dc_gain_enabled ? analog_gain_frac * DC_GAIN : analog_gain_frac;
meta_data.high_conversion_gain = dc_gain_enabled;
meta_data.integ_lines = exposure_time;
meta_data.measured_grey_fraction = measured_grey_fraction;
meta_data.target_grey_fraction = target_grey_fraction;
exp_lock.unlock();
// dispatch
enqueue_req_multi(s, real_id + FRAME_BUF_COUNT, 1, 1);
enqueue_req_multi(real_id + FRAME_BUF_COUNT, 1, 1);
} else { // not ready
// reset after half second of no response
if (main_id > s->frame_id_last + 10) {
clear_req_queue(s->multi_cam_state->video0_fd, event_data->session_hdl, event_data->u.frame_msg.link_hdl);
enqueue_req_multi(s, s->request_id_last + 1, FRAME_BUF_COUNT, 0);
s->frame_id_last = main_id;
s->skipped = true;
if (main_id > frame_id_last + 10) {
clear_req_queue(multi_cam_state->video0_fd, event_data->session_hdl, event_data->u.frame_msg.link_hdl);
enqueue_req_multi(request_id_last + 1, FRAME_BUF_COUNT, 0);
frame_id_last = main_id;
skipped = true;
}
}
}
static void set_camera_exposure(CameraState *s, float grey_frac) {
void CameraState::set_camera_exposure(float grey_frac) {
const float dt = 0.05;
const float ts_grey = 10.0;
@ -929,15 +931,15 @@ static void set_camera_exposure(CameraState *s, float grey_frac) {
// Therefore we use the target EV from 3 frames ago, the grey fraction that was just measured was the result of that control action.
// TODO: Lower latency to 2 frames, by using the histogram outputed by the sensor we can do AE before the debayering is complete
const float cur_ev = s->cur_ev[s->buf.cur_frame_data.frame_id % 3];
const float cur_ev_ = cur_ev[buf.cur_frame_data.frame_id % 3];
// Scale target grey between 0.1 and 0.4 depending on lighting conditions
float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + cur_ev) / log2(6000.0), 0.1, 0.4);
float target_grey = (1.0 - k_grey) * s->target_grey_fraction + k_grey * new_target_grey;
float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + cur_ev_) / log2(6000.0), 0.1, 0.4);
float target_grey = (1.0 - k_grey) * target_grey_fraction + k_grey * new_target_grey;
float desired_ev = std::clamp(cur_ev * target_grey / grey_frac, s->min_ev, s->max_ev);
float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, min_ev, max_ev);
float k = (1.0 - k_ev) / 3.0;
desired_ev = (k * s->cur_ev[0]) + (k * s->cur_ev[1]) + (k * s->cur_ev[2]) + (k_ev * desired_ev);
desired_ev = (k * cur_ev[0]) + (k * cur_ev[1]) + (k * cur_ev[2]) + (k_ev * desired_ev);
float best_ev_score = 1e6;
int new_g = 0;
@ -945,7 +947,7 @@ static void set_camera_exposure(CameraState *s, float grey_frac) {
// Hysteresis around high conversion gain
// We usually want this on since it results in lower noise, but turn off in very bright day scenes
bool enable_dc_gain = s->dc_gain_enabled;
bool enable_dc_gain = dc_gain_enabled;
if (!enable_dc_gain && target_grey < 0.2) {
enable_dc_gain = true;
} else if (enable_dc_gain && target_grey > 0.3) {
@ -954,14 +956,14 @@ static void set_camera_exposure(CameraState *s, float grey_frac) {
// Simple brute force optimizer to choose sensor parameters
// to reach desired EV
for (int g = std::max((int)ANALOG_GAIN_MIN_IDX, s->gain_idx - 1); g <= std::min((int)ANALOG_GAIN_MAX_IDX, s->gain_idx + 1); g++) {
for (int g = std::max((int)ANALOG_GAIN_MIN_IDX, gain_idx - 1); g <= std::min((int)ANALOG_GAIN_MAX_IDX, gain_idx + 1); g++) {
float gain = sensor_analog_gains[g] * (enable_dc_gain ? DC_GAIN : 1);
// Compute optimal time for given gain
int t = std::clamp(int(std::round(desired_ev / gain)), EXPOSURE_TIME_MIN, EXPOSURE_TIME_MAX);
// Only go below recomended gain when absolutely necessary to not overexpose
if (g < ANALOG_GAIN_REC_IDX && t > 20 && g < s->gain_idx) {
if (g < ANALOG_GAIN_REC_IDX && t > 20 && g < gain_idx) {
continue;
}
@ -972,10 +974,10 @@ static void set_camera_exposure(CameraState *s, float grey_frac) {
float m = g > ANALOG_GAIN_REC_IDX ? 5.0 : 0.1;
score += std::abs(g - (int)ANALOG_GAIN_REC_IDX) * m;
// LOGE("cam: %d - gain: %d, t: %d (%.2f), score %.2f, score + gain %.2f, %.3f, %.3f", s->camera_num, g, t, desired_ev / gain, score, score + std::abs(g - s->gain_idx) * (score + 1.0) / 10.0, desired_ev, s->min_ev);
// LOGE("cam: %d - gain: %d, t: %d (%.2f), score %.2f, score + gain %.2f, %.3f, %.3f", camera_num, g, t, desired_ev / gain, score, score + std::abs(g - gain_idx) * (score + 1.0) / 10.0, desired_ev, min_ev);
// Small penalty on changing gain
score += std::abs(g - s->gain_idx) * (score + 1.0) / 10.0;
score += std::abs(g - gain_idx) * (score + 1.0) / 10.0;
if (score < best_ev_score) {
new_t = t;
@ -984,42 +986,41 @@ static void set_camera_exposure(CameraState *s, float grey_frac) {
}
}
s->exp_lock.lock();
exp_lock.lock();
s->measured_grey_fraction = grey_frac;
s->target_grey_fraction = target_grey;
measured_grey_fraction = grey_frac;
target_grey_fraction = target_grey;
s->analog_gain_frac = sensor_analog_gains[new_g];
s->gain_idx = new_g;
s->exposure_time = new_t;
s->dc_gain_enabled = enable_dc_gain;
analog_gain_frac = sensor_analog_gains[new_g];
gain_idx = new_g;
exposure_time = new_t;
dc_gain_enabled = enable_dc_gain;
float gain = s->analog_gain_frac * (s->dc_gain_enabled ? DC_GAIN : 1.0);
s->cur_ev[s->buf.cur_frame_data.frame_id % 3] = s->exposure_time * gain;
float gain = analog_gain_frac * (dc_gain_enabled ? DC_GAIN : 1.0);
cur_ev[buf.cur_frame_data.frame_id % 3] = exposure_time * gain;
s->exp_lock.unlock();
exp_lock.unlock();
// Processing a frame takes right about 50ms, so we need to wait a few ms
// so we don't send i2c commands around the frame start.
int ms = (nanos_since_boot() - s->buf.cur_frame_data.timestamp_sof) / 1000000;
int ms = (nanos_since_boot() - buf.cur_frame_data.timestamp_sof) / 1000000;
if (ms < 60) {
util::sleep_for(60 - ms);
}
// LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", s->camera_num, 1e-9 * nanos_since_boot(), 1e-9 * s->buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - s->buf.cur_frame_data.timestamp_sof));
// LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", camera_num, 1e-9 * nanos_since_boot(), 1e-9 * buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - buf.cur_frame_data.timestamp_sof));
uint16_t analog_gain_reg = 0xFF00 | (new_g << 4) | new_g;
struct i2c_random_wr_payload exp_reg_array[] = {
{0x3366, analog_gain_reg},
{0x3362, (uint16_t)(s->dc_gain_enabled ? 0x1 : 0x0)},
{0x3012, (uint16_t)s->exposure_time},
{0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)},
{0x3012, (uint16_t)exposure_time},
};
sensors_i2c(s, exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload),
sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload),
CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
}
void camera_autoexposure(CameraState *s, float grey_frac) {
set_camera_exposure(s, grey_frac);
s->set_camera_exposure(grey_frac);
}
// called by processing_thread
@ -1053,11 +1054,10 @@ void cameras_run(MultiCameraState *s) {
// start devices
LOG("-- Starting devices");
int start_reg_len = sizeof(start_reg_array) / sizeof(struct i2c_random_wr_payload);
sensors_i2c(&s->driver_cam, start_reg_array, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
s->driver_cam.sensors_start();
if (!env_only_driver) {
sensors_i2c(&s->road_cam, start_reg_array, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
sensors_i2c(&s->wide_road_cam, start_reg_array, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
s->road_cam.sensors_start();
s->wide_road_cam.sensors_start();
}
// poll events
@ -1088,11 +1088,11 @@ void cameras_run(MultiCameraState *s) {
}
if (event_data->session_hdl == s->road_cam.session_handle) {
handle_camera_event(&s->road_cam, event_data);
s->road_cam.handle_camera_event(event_data);
} else if (event_data->session_hdl == s->wide_road_cam.session_handle) {
handle_camera_event(&s->wide_road_cam, event_data);
s->wide_road_cam.handle_camera_event(event_data);
} else if (event_data->session_hdl == s->driver_cam.session_handle) {
handle_camera_event(&s->driver_cam, event_data);
s->driver_cam.handle_camera_event(event_data);
} else {
printf("Unknown vidioc event source\n");
assert(false);

20
selfdrive/camerad/cameras/camera_qcom2.h
Unescape View File

@ -9,7 +9,8 @@
#define FRAME_BUF_COUNT 4
typedef struct CameraState {
class CameraState {
public:
MultiCameraState *multi_cam_state;
CameraInfo ci;
@ -31,6 +32,21 @@ typedef struct CameraState {
int camera_num;
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);
void handle_camera_event(void *evdat);
void set_camera_exposure(float grey_frac);
void sensors_start();
void sensors_poke(int request_id);
void sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code);
void sensors_init();
void camera_open();
void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type);
void camera_close();
int32_t session_handle;
int32_t sensor_dev_handle;
int32_t isp_dev_handle;
@ -48,7 +64,7 @@ typedef struct CameraState {
bool skipped;
CameraBuf buf;
} CameraState;
};
typedef struct MultiCameraState {
unique_fd video0_fd;

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