From e654d9ddf9cae61fa5ddc2ba065bff01a2ce20d3 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 13 Mar 2021 11:52:04 +0800
Subject: [PATCH] cleanup camera_qcom const structs (#20251)

* move actuator_ringing_params from global to function actuator_move

* remove varaible infinity_dac from CameraState

* static actuator_ringing_params

* continue

* rebase master
---
 selfdrive/camerad/cameras/camera_qcom.cc | 40 +++++++++---------------
 selfdrive/camerad/cameras/camera_qcom.h  |  1 -
 2 files changed, 15 insertions(+), 26 deletions(-)

diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc
index c0c5df3224..40628e52fe 100644
--- a/selfdrive/camerad/cameras/camera_qcom.cc
+++ b/selfdrive/camerad/cameras/camera_qcom.cc
@@ -28,6 +28,9 @@
 #include "sensor_i2c.h"
 #include "camera_qcom.h"
 
+// leeco actuator (DW9800W H-Bridge Driver IC)
+// from sniff
+const uint16_t INFINITY_DAC = 364;
 
 extern ExitHandler do_exit;
 
@@ -553,10 +556,6 @@ static void camera_open(CameraState *s, bool is_road_cam) {
     err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
     LOG("actuator init: %d", err);
 
-    // leeco actuator (DW9800W H-Bridge Driver IC)
-    // from sniff
-    s->infinity_dac = 364;
-
     struct msm_actuator_reg_params_t actuator_reg_params[] = {
       {
         .reg_write_type = MSM_ACTUATOR_WRITE_DAC,
@@ -598,7 +597,7 @@ static void camera_open(CameraState *s, bool is_road_cam) {
         .park_lens = {.damping_step = 1023, .damping_delay = 14000, .hw_params = 11, .max_step = 20},
       },
       .af_tuning_params = {
-        .initial_code = (int16_t)s->infinity_dac,
+        .initial_code = INFINITY_DAC,
         .pwd_step = 0,
         .region_size = 1,
         .total_steps = 238,
@@ -756,40 +755,24 @@ static void camera_open(CameraState *s, bool is_road_cam) {
   LOG("isp start stream: %d", err);
 }
 
-
-static struct damping_params_t actuator_ringing_params = {
-  .damping_step = 1023,
-  .damping_delay = 15000,
-  .hw_params = 0x0000e422,
-};
-
 static void road_camera_start(CameraState *s) {
-  struct msm_actuator_cfg_data actuator_cfg_data = {0};
-
   set_exposure(s, 1.0, 1.0);
 
   int err = sensor_write_regs(s, start_reg_array, ARRAYSIZE(start_reg_array), MSM_CAMERA_I2C_BYTE_DATA);
   LOG("sensor start regs: %d", err);
 
-  // focus on infinity assuming phone is perpendicular
-  int inf_step;
-
-  actuator_ringing_params.damping_step = 1023;
-  actuator_ringing_params.damping_delay = 20000;
-  actuator_ringing_params.hw_params = 13;
-
-  inf_step = 512 - s->infinity_dac;
+  int inf_step = 512 - INFINITY_DAC;
 
   // initial guess
   s->lens_true_pos = 400;
 
   // reset lens position
-  memset(&actuator_cfg_data, 0, sizeof(actuator_cfg_data));
+  struct msm_actuator_cfg_data actuator_cfg_data = {};
   actuator_cfg_data.cfgtype = CFG_SET_POSITION;
   actuator_cfg_data.cfg.setpos = (struct msm_actuator_set_position_t){
     .number_of_steps = 1,
     .hw_params = (uint32_t)7,
-    .pos = {s->infinity_dac, 0},
+    .pos = {INFINITY_DAC, 0},
     .delay = {0,}
   };
   err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
@@ -819,6 +802,14 @@ static void road_camera_start(CameraState *s) {
 
 void actuator_move(CameraState *s, uint16_t target) {
   // LP3 moves only on even positions. TODO: use proper sensor params
+
+  // focus on infinity assuming phone is perpendicular
+  static struct damping_params_t actuator_ringing_params = {
+      .damping_step = 1023,
+      .damping_delay = 20000,
+      .hw_params = 13,
+  };
+
   int step = (target - s->cur_lens_pos) / 2;
 
   int dest_step_pos = s->cur_step_pos + step;
@@ -838,7 +829,6 @@ void actuator_move(CameraState *s, uint16_t target) {
 
   s->cur_step_pos = dest_step_pos;
   s->cur_lens_pos = actuator_cfg_data.cfg.move.curr_lens_pos;
-
   //LOGD("step %d   target: %d  lens pos: %d", dest_step_pos, target, s->cur_lens_pos);
 }
 
diff --git a/selfdrive/camerad/cameras/camera_qcom.h b/selfdrive/camerad/cameras/camera_qcom.h
index e0bd291174..1ab817f418 100644
--- a/selfdrive/camerad/cameras/camera_qcom.h
+++ b/selfdrive/camerad/cameras/camera_qcom.h
@@ -84,7 +84,6 @@ typedef struct CameraState {
   uint16_t cur_lens_pos;
   int16_t focus[NUM_FOCUS];
   uint8_t confidence[NUM_FOCUS];
-  uint16_t infinity_dac;
 } CameraState;