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camerad: flush BPS requests (#34581)

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* repro

* cleanup

* flush bps

* cleanup

* revert that

---------

Co-authored-by: Comma Device <device@comma.ai>
pull/34584/head
Adeeb Shihadeh 2 months ago committed by GitHub
parent 77a442c4e8
commit d1b93287f2
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GPG Key ID: B5690EEEBB952194
2 changed files with 50 additions and 31 deletions
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  1. 77
      system/camerad/cameras/spectra.cc
  2. 4
      system/camerad/cameras/spectra.h

77
system/camerad/cameras/spectra.cc
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@ -193,11 +193,11 @@ void SpectraMaster::init() {
// looks like there's only one of these
isp_fd = open_v4l_by_name_and_index("cam-isp");
assert(isp_fd >= 0);
LOGD("opened isp");
LOGD("opened isp %d", (int)isp_fd);
icp_fd = open_v4l_by_name_and_index("cam-icp");
assert(icp_fd >= 0);
LOGD("opened icp");
LOGD("opened icp %d", (int)icp_fd);
// query ISP for MMU handles
LOG("-- Query for MMU handles");
@ -258,9 +258,20 @@ int SpectraCamera::clear_req_queue() {
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);
if (icp_dev_handle) {
struct cam_flush_dev_cmd cmd = {
.session_handle = session_handle,
.dev_handle = icp_dev_handle,
.flush_type = CAM_FLUSH_TYPE_ALL,
};
int err = do_cam_control(m->icp_fd, CAM_FLUSH_REQ, &cmd, sizeof(cmd));
assert(err == 0);
}
for (int i = 0; i < MAX_IFE_BUFS; ++i) {
destroySyncObjectAt(i);
}
return ret;
}
@ -620,7 +631,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
io_cfg[0].color_pattern = 0x5;
io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc);
io_cfg[0].resource_type = CAM_ICP_BPS_INPUT_IMAGE;
io_cfg[0].fence = sync_objs[idx];
io_cfg[0].fence = sync_objs_ife[idx];
io_cfg[0].direction = CAM_BUF_INPUT;
io_cfg[0].subsample_pattern = 0x1;
io_cfg[0].framedrop_pattern = 0x1;
@ -646,7 +657,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
io_cfg[1].format = CAM_FORMAT_NV12; // TODO: why is this 21 in the dump? should be 12
io_cfg[1].color_space = CAM_COLOR_SPACE_BT601_FULL;
io_cfg[1].resource_type = CAM_ICP_BPS_OUTPUT_IMAGE_FULL;
io_cfg[1].fence = sync_objs_bps_out[idx];
io_cfg[1].fence = sync_objs_bps[idx];
io_cfg[1].direction = CAM_BUF_OUTPUT;
io_cfg[1].subsample_pattern = 0x1;
io_cfg[1].framedrop_pattern = 0x1;
@ -815,7 +826,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
io_cfg[0].color_pattern = 0x5;
io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc);
io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0;
io_cfg[0].fence = sync_objs[idx];
io_cfg[0].fence = sync_objs_ife[idx];
io_cfg[0].direction = CAM_BUF_OUTPUT;
io_cfg[0].subsample_pattern = 0x1;
io_cfg[0].framedrop_pattern = 0x1;
@ -840,7 +851,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
io_cfg[0].color_pattern = 0x0;
io_cfg[0].bpp = 0;
io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_FULL;
io_cfg[0].fence = sync_objs[idx];
io_cfg[0].fence = sync_objs_ife[idx];
io_cfg[0].direction = CAM_BUF_OUTPUT;
io_cfg[0].subsample_pattern = 0x1;
io_cfg[0].framedrop_pattern = 0x1;
@ -877,37 +888,46 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
int ret;
uint64_t request_id = request_ids[i];
if (sync_objs[i]) {
// SOF has come in, wait until readout is complete
// Before queuing up a new frame, wait for the
// previous one in this slot (index) to come in.
if (sync_objs_ife[i]) {
// TODO: write a test to stress test w/ a low timeout and check camera frame ids match
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
// *** Wait for IFE ***
// in RAW_OUTPUT mode, this is just the frame readout from the sensor
// in IFE_PROCESSED mode, this is both frame readout and image processing (~1ms)
sync_wait.sync_obj = sync_objs_ife[i];
sync_wait.timeout_ms = 100;
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);
LOGE("failed to wait for IFE 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
// *** Wait for BPS ***
if (ret == 0 && sync_objs_bps[i]) {
sync_wait.sync_obj = sync_objs_bps[i];
sync_wait.timeout_ms = 50; // typically 7ms
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);
LOGE("failed to wait for BPS sync: %d %d", ret, sync_wait.sync_obj);
}
}
buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot();
// in IFE_PROCESSED mode, we can't know the true EOF, so recover it with sensor readout time
buf.frame_metadata[i].timestamp_eof = buf.frame_metadata[i].timestamp_sof + sensor->readout_time_ns;
buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot();
// all good, hand off frame
if (dp && ret == 0) {
buf.queue(i);
}
if (ret != 0) {
clear_req_queue();
}
destroySyncObjectAt(i);
}
@ -918,14 +938,14 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
if (ret != 0) {
LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
}
sync_objs[i] = sync_create.sync_obj;
sync_objs_ife[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;
sync_objs_bps[i] = sync_create.sync_obj;
}
// schedule request with camera request manager
@ -959,8 +979,8 @@ void SpectraCamera::destroySyncObjectAt(int index) {
sync_obj = 0; // Reset the sync object to 0
};
destroy_sync_obj(m->cam_sync_fd, sync_objs[index]);
destroy_sync_obj(m->cam_sync_fd, sync_objs_bps_out[index]);
destroy_sync_obj(m->cam_sync_fd, sync_objs_ife[index]);
destroy_sync_obj(m->cam_sync_fd, sync_objs_bps[index]);
}
void SpectraCamera::camera_map_bufs() {
@ -1251,6 +1271,7 @@ void SpectraCamera::linkDevices() {
req_mgr_link_info.dev_hdls[0] = isp_dev_handle;
req_mgr_link_info.dev_hdls[1] = sensor_dev_handle;
int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info));
assert(ret == 0);
link_handle = req_mgr_link_info.link_hdl;
LOGD("link: %d session: 0x%X isp: 0x%X sensors: 0x%X link: 0x%X", ret, session_handle, isp_dev_handle, sensor_dev_handle, link_handle);
@ -1310,10 +1331,6 @@ 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);
if (output_type == ISP_BPS_PROCESSED) {
@ -1351,7 +1368,9 @@ void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
uint64_t real_id = event_data->u.frame_msg.request_id;
if (real_id != 0) { // next ready
if (real_id == 1) {idx_offset = main_id;}
if (real_id == 1) {
idx_offset = main_id;
}
int buf_idx = (real_id - 1) % ife_buf_depth;
// check for skipped frames

4
system/camerad/cameras/spectra.h
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@ -175,8 +175,8 @@ public:
int buf_handle_yuv[MAX_IFE_BUFS] = {};
int buf_handle_raw[MAX_IFE_BUFS] = {};
int sync_objs[MAX_IFE_BUFS] = {};
int sync_objs_bps_out[MAX_IFE_BUFS] = {};
int sync_objs_ife[MAX_IFE_BUFS] = {};
int sync_objs_bps[MAX_IFE_BUFS] = {};
uint64_t request_ids[MAX_IFE_BUFS] = {};
uint64_t request_id_last = 0;
uint64_t frame_id_last = 0;

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