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camera_qcom: added new function cam_ioctl (#20184)

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* added new function cam_ioctl

* static
pull/20275/head^2
Dean Lee 4 years ago committed by GitHub
parent 4e68bab6f6
commit dd54c18bb7
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 34 additions and 54 deletions
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  1. 88
      selfdrive/camerad/cameras/camera_qcom.cc

88
selfdrive/camerad/cameras/camera_qcom.cc
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@ -34,6 +34,13 @@ const uint16_t INFINITY_DAC = 364;
extern ExitHandler do_exit;
static int cam_ioctl(int fd, unsigned long int request, void *arg, const char *log_msg = nullptr) {
int err = ioctl(fd, request, arg);
if (err != 0 && log_msg) {
LOG(util::string_format("%s: %d", log_msg, err).c_str());
}
return err;
}
// global var for AE/AF ops
std::atomic<CameraExpInfo> road_cam_exp{{0}};
std::atomic<CameraExpInfo> driver_cam_exp{{0}};
@ -371,8 +378,7 @@ static void sensors_init(MultiCameraState *s) {
slave_info.power_setting_array.power_setting = &slave_info.power_setting_array.power_setting_a[0];
slave_info.power_setting_array.power_down_setting = &slave_info.power_setting_array.power_down_setting_a[0];
sensor_init_cfg_data sensor_init_cfg = {.cfgtype = CFG_SINIT_PROBE, .cfg.setting = &slave_info};
int err = ioctl(sensorinit_fd, VIDIOC_MSM_SENSOR_INIT_CFG, &sensor_init_cfg);
LOG("sensor init cfg (road camera): %d", err);
int err = cam_ioctl(sensorinit_fd, VIDIOC_MSM_SENSOR_INIT_CFG, &sensor_init_cfg, "sensor init cfg (road camera)");
assert(err >= 0);
struct msm_camera_sensor_slave_info slave_info2 = {0};
@ -414,8 +420,7 @@ static void sensors_init(MultiCameraState *s) {
slave_info2.power_setting_array.power_down_setting = &slave_info2.power_setting_array.power_down_setting_a[0];
sensor_init_cfg.cfgtype = CFG_SINIT_PROBE;
sensor_init_cfg.cfg.setting = &slave_info2;
err = ioctl(sensorinit_fd, VIDIOC_MSM_SENSOR_INIT_CFG, &sensor_init_cfg);
LOG("sensor init cfg (driver camera): %d", err);
err = cam_ioctl(sensorinit_fd, VIDIOC_MSM_SENSOR_INIT_CFG, &sensor_init_cfg, "sensor init cfg (driver camera)");
assert(err >= 0);
}
@ -463,23 +468,19 @@ static void camera_open(CameraState *s, bool is_road_cam) {
struct msm_camera_csi_lane_params csi_lane_params = {0};
csi_lane_params.csi_lane_mask = 0x1f;
csiphy_cfg_data csiphy_cfg_data = { .cfg.csi_lane_params = &csi_lane_params, .cfgtype = CSIPHY_RELEASE};
int err = ioctl(s->csiphy_fd, VIDIOC_MSM_CSIPHY_IO_CFG, &csiphy_cfg_data);
LOG("release csiphy: %d", err);
int err = cam_ioctl(s->csiphy_fd, VIDIOC_MSM_CSIPHY_IO_CFG, &csiphy_cfg_data, "release csiphy");
// CSID: release csid
csid_cfg_data.cfgtype = CSID_RELEASE;
err = ioctl(s->csid_fd, VIDIOC_MSM_CSID_IO_CFG, &csid_cfg_data);
LOG("release csid: %d", err);
cam_ioctl(s->csid_fd, VIDIOC_MSM_CSID_IO_CFG, &csid_cfg_data, "release csid");
// SENSOR: send power down
struct sensorb_cfg_data sensorb_cfg_data = {.cfgtype = CFG_POWER_DOWN};
err = ioctl(s->sensor_fd, VIDIOC_MSM_SENSOR_CFG, &sensorb_cfg_data);
LOG("sensor power down: %d", err);
cam_ioctl(s->sensor_fd, VIDIOC_MSM_SENSOR_CFG, &sensorb_cfg_data, "sensor power down");
// actuator powerdown
actuator_cfg_data.cfgtype = CFG_ACTUATOR_POWERDOWN;
err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
LOG("actuator powerdown: %d", err);
cam_ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data, "actuator powerdown");
// reset isp
// struct msm_vfe_axi_halt_cmd halt_cmd = {
@ -508,13 +509,11 @@ static void camera_open(CameraState *s, bool is_road_cam) {
// CSID: init csid
csid_cfg_data.cfgtype = CSID_INIT;
err = ioctl(s->csid_fd, VIDIOC_MSM_CSID_IO_CFG, &csid_cfg_data);
LOG("init csid: %d", err);
cam_ioctl(s->csid_fd, VIDIOC_MSM_CSID_IO_CFG, &csid_cfg_data, "init csid");
// CSIPHY: init csiphy
csiphy_cfg_data = {.cfgtype = CSIPHY_INIT};
err = ioctl(s->csiphy_fd, VIDIOC_MSM_CSIPHY_IO_CFG, &csiphy_cfg_data);
LOG("init csiphy: %d", err);
cam_ioctl(s->csiphy_fd, VIDIOC_MSM_CSIPHY_IO_CFG, &csiphy_cfg_data, "init csiphy");
// SENSOR: stop stream
struct msm_camera_i2c_reg_setting stop_settings = {
@ -526,13 +525,11 @@ static void camera_open(CameraState *s, bool is_road_cam) {
};
sensorb_cfg_data.cfgtype = CFG_SET_STOP_STREAM_SETTING;
sensorb_cfg_data.cfg.setting = &stop_settings;
err = ioctl(s->sensor_fd, VIDIOC_MSM_SENSOR_CFG, &sensorb_cfg_data);
LOG("stop stream: %d", err);
cam_ioctl(s->sensor_fd, VIDIOC_MSM_SENSOR_CFG, &sensorb_cfg_data, "stop stream");
// SENSOR: send power up
sensorb_cfg_data = {.cfgtype = CFG_POWER_UP};
err = ioctl(s->sensor_fd, VIDIOC_MSM_SENSOR_CFG, &sensorb_cfg_data);
LOG("sensor power up: %d", err);
cam_ioctl(s->sensor_fd, VIDIOC_MSM_SENSOR_CFG, &sensorb_cfg_data, "sensor power up");
// **** configure the sensor ****
@ -549,12 +546,10 @@ static void camera_open(CameraState *s, bool is_road_cam) {
if (is_road_cam) {
// init the actuator
actuator_cfg_data.cfgtype = CFG_ACTUATOR_POWERUP;
err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
LOG("actuator powerup: %d", err);
cam_ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data, "actuator powerup");
actuator_cfg_data.cfgtype = CFG_ACTUATOR_INIT;
err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
LOG("actuator init: %d", err);
cam_ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data, "actuator init");
struct msm_actuator_reg_params_t actuator_reg_params[] = {
{
@ -605,8 +600,7 @@ static void camera_open(CameraState *s, bool is_road_cam) {
},
};
err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
LOG("actuator set info: %d", err);
cam_ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data, "actuator set info");
}
if (s->camera_id == CAMERA_ID_IMX298) {
@ -624,8 +618,7 @@ static void camera_open(CameraState *s, bool is_road_cam) {
}
csiphy_cfg_data.cfgtype = CSIPHY_CFG;
csiphy_cfg_data.cfg.csiphy_params = &csiphy_params;
err = ioctl(s->csiphy_fd, VIDIOC_MSM_CSIPHY_IO_CFG, &csiphy_cfg_data);
LOG("csiphy configure: %d", err);
cam_ioctl(s->csiphy_fd, VIDIOC_MSM_CSIPHY_IO_CFG, &csiphy_cfg_data, "csiphy configure");
// CSID: configure csid
#define CSI_STATS 0x35
@ -648,13 +641,11 @@ static void camera_open(CameraState *s, bool is_road_cam) {
csid_cfg_data.cfgtype = CSID_CFG;
csid_cfg_data.cfg.csid_params = &csid_params;
err = ioctl(s->csid_fd, VIDIOC_MSM_CSID_IO_CFG, &csid_cfg_data);
LOG("csid configure: %d", err);
cam_ioctl(s->csid_fd, VIDIOC_MSM_CSID_IO_CFG, &csid_cfg_data, "csid configure");
// ISP: SMMU_ATTACH
msm_vfe_smmu_attach_cmd smmu_attach_cmd = {.security_mode = 0, .iommu_attach_mode = IOMMU_ATTACH};
err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_SMMU_ATTACH, &smmu_attach_cmd);
LOG("isp smmu attach: %d", err);
cam_ioctl(s->isp_fd, VIDIOC_MSM_ISP_SMMU_ATTACH, &smmu_attach_cmd, "isp smmu attach");
// ******************* STREAM RAW *****************************
@ -714,8 +705,7 @@ static void camera_open(CameraState *s, bool is_road_cam) {
ss->buf_request.num_buf = FRAME_BUF_COUNT;
ss->buf_request.buf_type = ISP_PRIVATE_BUF;
ss->buf_request.handle = 0;
err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_REQUEST_BUF, &ss->buf_request);
LOG("isp request buf: %d", err);
cam_ioctl(s->isp_fd, VIDIOC_MSM_ISP_REQUEST_BUF, &ss->buf_request, "isp request buf");
LOG("got buf handle: 0x%x", ss->buf_request.handle);
// ENQUEUE all buffers
@ -734,16 +724,14 @@ static void camera_open(CameraState *s, bool is_road_cam) {
update_cmd.update_info[0].user_stream_id = ss->stream_req.stream_id;
update_cmd.update_info[0].stream_handle = ss->stream_req.axi_stream_handle;
update_cmd.update_type = UPDATE_STREAM_ADD_BUFQ;
err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_UPDATE_STREAM, &update_cmd);
LOG("isp update stream: %d", err);
cam_ioctl(s->isp_fd, VIDIOC_MSM_ISP_UPDATE_STREAM, &update_cmd, "isp update stream");
}
LOG("******** START STREAMS ********");
sub.id = 0;
sub.type = 0x1ff;
err = ioctl(s->isp_fd, VIDIOC_SUBSCRIBE_EVENT, &sub);
LOG("isp subscribe: %d", err);
cam_ioctl(s->isp_fd, VIDIOC_SUBSCRIBE_EVENT, &sub, "isp subscribe");
// ISP: START_STREAM
s->stream_cfg.cmd = START_STREAM;
@ -751,8 +739,7 @@ static void camera_open(CameraState *s, bool is_road_cam) {
for (int i = 0; i < s->stream_cfg.num_streams; i++) {
s->stream_cfg.stream_handle[i] = s->ss[i].stream_req.axi_stream_handle;
}
err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_CFG_STREAM, &s->stream_cfg);
LOG("isp start stream: %d", err);
cam_ioctl(s->isp_fd, VIDIOC_MSM_ISP_CFG_STREAM, &s->stream_cfg, "isp start stream");
}
static void road_camera_start(CameraState *s) {
@ -775,8 +762,7 @@ static void road_camera_start(CameraState *s) {
.pos = {INFINITY_DAC, 0},
.delay = {0,}
};
err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
LOG("actuator set pos: %d", err);
cam_ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data, "actuator set pos");
// TODO: confirm this isn't needed
/*memset(&actuator_cfg_data, 0, sizeof(actuator_cfg_data));
@ -994,16 +980,13 @@ void cameras_open(MultiCameraState *s) {
// ISPIF: setup
ispif_cfg_data = {.cfg_type = ISPIF_INIT, .csid_version = 0x30050000 /* CSID_VERSION_V35*/};
err = ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data);
LOG("ispif setup: %d", err);
cam_ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data, "ispif setup");
ispif_cfg_data = {.cfg_type = ISPIF_CFG, .params = ispif_params};
err = ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data);
LOG("ispif cfg: %d", err);
cam_ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data, "ispif cfg");
ispif_cfg_data.cfg_type = ISPIF_START_FRAME_BOUNDARY;
err = ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data);
LOG("ispif start_frame_boundary: %d", err);
cam_ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data, "ispif start_frame_boundary");
driver_camera_start(&s->driver_cam);
road_camera_start(&s->road_cam);
@ -1013,20 +996,17 @@ void cameras_open(MultiCameraState *s) {
static void camera_close(CameraState *s) {
// ISP: STOP_STREAM
s->stream_cfg.cmd = STOP_STREAM;
int err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_CFG_STREAM, &s->stream_cfg);
LOG("isp stop stream: %d", err);
cam_ioctl(s->isp_fd, VIDIOC_MSM_ISP_CFG_STREAM, &s->stream_cfg, "isp stop stream");
for (int i = 0; i < 3; i++) {
StreamState *ss = &s->ss[i];
if (ss->stream_req.axi_stream_handle != 0) {
err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_RELEASE_BUF, &ss->buf_request);
LOG("isp release buf: %d", err);
cam_ioctl(s->isp_fd, VIDIOC_MSM_ISP_RELEASE_BUF, &ss->buf_request, "isp release buf");
struct msm_vfe_axi_stream_release_cmd stream_release = {
.stream_handle = ss->stream_req.axi_stream_handle,
};
err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_RELEASE_STREAM, &stream_release);
LOG("isp release stream: %d", err);
cam_ioctl(s->isp_fd, VIDIOC_MSM_ISP_RELEASE_STREAM, &stream_release, "isp release stream");
}
}
}

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