@ -17,10 +17,9 @@
# include "common/swaglog.h" # include "common/swaglog.h"
# include "system/camerad/cameras/ife.h" # include "system/camerad/cameras/ife.h"
# include "system/camerad/cameras/spectra.h" # include "system/camerad/cameras/spectra.h"
# include "system/camerad/cameras/bps_blobs.h"
# include "third_party/linux/include/msm_media_info.h" # include "third_party/linux/include/msm_media_info.h"
// For debugging:
// echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
// ************** low level camera helpers ****************
// ************** low level camera helpers ****************
@ -234,14 +233,14 @@ void SpectraMaster::init() {
// *** SpectraCamera ***
// *** SpectraCamera ***
SpectraCamera : : SpectraCamera ( SpectraMaster * master , const CameraConfig & config , bool raw ) SpectraCamera : : SpectraCamera ( SpectraMaster * master , const CameraConfig & config , SpectraOutputType out )
: m ( master ) , : m ( master ) ,
enabled ( config . enabled ) , enabled ( config . enabled ) ,
cc ( config ) , cc ( config ) ,
is_raw ( raw ) { output_type ( out ) {
mm . init ( m - > video0_fd ) ; mm . init ( m - > video0_fd ) ;
ife_buf_depth = is_raw ? 4 : VIPC_BUFFER_COUNT ; ife_buf_depth = ( out ! = ISP_IFE_PROCESSED ) ? 4 : VIPC_BUFFER_COUNT ;
assert ( ife_buf_depth < MAX_IFE_BUFS ) ; assert ( ife_buf_depth < MAX_IFE_BUFS ) ;
} }
@ -257,7 +256,7 @@ int SpectraCamera::clear_req_queue() {
req_mgr_flush_request . link_hdl = link_handle ; req_mgr_flush_request . link_hdl = link_handle ;
req_mgr_flush_request . flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL ; req_mgr_flush_request . flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL ;
int ret = do_cam_control ( m - > video0_fd , CAM_REQ_MGR_FLUSH_REQ , & req_mgr_flush_request , sizeof ( req_mgr_flush_request ) ) ; 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);
LOGD ( " flushed all req: %d " , ret ) ;
for ( int i = 0 ; i < MAX_IFE_BUFS ; + + i ) { for ( int i = 0 ; i < MAX_IFE_BUFS ; + + i ) {
destroySyncObjectAt ( i ) ; destroySyncObjectAt ( i ) ;
@ -279,7 +278,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
uv_height = VENUS_UV_SCANLINES ( COLOR_FMT_NV12 , sensor - > frame_height ) ; uv_height = VENUS_UV_SCANLINES ( COLOR_FMT_NV12 , sensor - > frame_height ) ;
uv_offset = stride * y_height ; uv_offset = stride * y_height ;
yuv_size = uv_offset + stride * uv_height ; yuv_size = uv_offset + stride * uv_height ;
if ( ! is_raw ) { if ( output_type ! = ISP_RAW_OUTPUT ) {
uv_offset = ALIGNED_SIZE ( uv_offset , 0x1000 ) ; uv_offset = ALIGNED_SIZE ( uv_offset , 0x1000 ) ;
yuv_size = uv_offset + ALIGNED_SIZE ( stride * uv_height , 0x1000 ) ; yuv_size = uv_offset + ALIGNED_SIZE ( stride * uv_height , 0x1000 ) ;
} }
@ -288,7 +287,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
open = true ; open = true ;
configISP ( ) ; configISP ( ) ;
//configICP(); // needs the new AGNOS kernel
if ( output_type = = ISP_BPS_PROCESSED ) configICP ( ) ;
configCSIPHY ( ) ; configCSIPHY ( ) ;
linkDevices ( ) ; linkDevices ( ) ;
@ -454,22 +453,226 @@ int SpectraCamera::sensors_init() {
return ret ; return ret ;
} }
void add_patch ( struct cam_packet * pkt , int32_t dst_hdl , uint32_t dst_offset , int32_t src_hdl , uint32_t src_offset ) {
void * ptr = ( char * ) & pkt - > payload + pkt - > patch_offset ;
struct cam_patch_desc * p = ( struct cam_patch_desc * ) ( ( unsigned char * ) ptr + sizeof ( struct cam_patch_desc ) * pkt - > num_patches ) ;
p - > dst_buf_hdl = dst_hdl ;
p - > src_buf_hdl = src_hdl ;
p - > dst_offset = dst_offset ;
p - > src_offset = src_offset ;
pkt - > num_patches + + ;
} ;
void SpectraCamera : : config_bps ( int idx , int request_id ) { void SpectraCamera : : config_bps ( int idx , int request_id ) {
/*
/*
Handles per - frame BPS config . Handles per - frame BPS config .
* BPS = Bayer Processing Segment * BPS = Bayer Processing Segment
*/ */
( void ) idx ;
( void ) request_id ;
}
void add_patch ( void * ptr , int n , int32_t dst_hdl , uint32_t dst_offset , int32_t src_hdl , uint32_t src_offset ) { int size = sizeof ( struct cam_packet ) + sizeof ( struct cam_cmd_buf_desc ) * 2 + sizeof ( struct cam_buf_io_cfg ) * 2 ;
struct cam_patch_desc * p = ( struct cam_patch_desc * ) ( ( unsigned char * ) ptr + sizeof ( struct cam_patch_desc ) * n ) ; size + = sizeof ( struct cam_patch_desc ) * 8 ;
p - > dst_buf_hdl = dst_hdl ;
p - > src_buf_hdl = src_hdl ; uint32_t cam_packet_handle = 0 ;
p - > dst_offset = dst_offset ; auto pkt = mm . alloc < struct cam_packet > ( size , & cam_packet_handle ) ;
p - > src_offset = src_offset ;
} ; pkt - > header . op_code = CSLDeviceTypeBPS | CAM_ICP_OPCODE_BPS_UPDATE ;
pkt - > header . request_id = request_id ;
pkt - > header . size = size ;
typedef struct {
struct {
uint32_t ptr [ 2 ] ;
uint32_t unknown [ 2 ] ;
} frames [ 9 ] ;
uint32_t unknown1 ;
uint32_t unknown2 ;
uint32_t unknown3 ;
uint32_t unknown4 ;
uint32_t cdm_addr ;
uint32_t cdm_size ;
uint32_t settings_addr ;
uint32_t striping_addr ;
uint32_t cdm_addr2 ;
uint32_t req_id ;
uint64_t handle ;
} bps_tmp ;
typedef struct {
uint32_t a ;
uint32_t n ;
unsigned base : 32 ;
unsigned unused : 12 ;
unsigned length : 20 ;
uint32_t p ;
uint32_t u ;
uint32_t h ;
uint32_t b ;
} cdm_tmp ;
// *** cmd buf ***
struct cam_cmd_buf_desc * buf_desc = ( struct cam_cmd_buf_desc * ) & pkt - > payload ;
{
pkt - > num_cmd_buf = 2 ;
pkt - > kmd_cmd_buf_index = - 1 ;
pkt - > kmd_cmd_buf_offset = 0 ;
buf_desc [ 0 ] . meta_data = 0 ;
buf_desc [ 0 ] . mem_handle = bps_cmd . handle ;
buf_desc [ 0 ] . type = CAM_CMD_BUF_FW ;
buf_desc [ 0 ] . offset = bps_cmd . aligned_size ( ) * idx ;
buf_desc [ 0 ] . length = sizeof ( bps_tmp ) + sizeof ( cdm_tmp ) ;
buf_desc [ 0 ] . size = buf_desc [ 0 ] . length ;
// rest gets patched in
bps_tmp * fp = ( bps_tmp * ) ( ( unsigned char * ) bps_cmd . ptr + buf_desc [ 0 ] . offset ) ;
memset ( fp , 0 , buf_desc [ 0 ] . length ) ;
fp - > handle = ( uint64_t ) icp_dev_handle ;
fp - > cdm_size = bps_cdm_striping_bl . size ; // this comes from the striping lib create call
fp - > req_id = 0 ; // why always 0?
cdm_tmp * pa = ( cdm_tmp * ) ( ( unsigned char * ) fp + sizeof ( bps_tmp ) ) ;
pa - > a = 0 ;
pa - > n = 1 ;
pa - > p = 20 ; // GENERIC
pa - > u = 0 ;
pa - > h = 0 ;
pa - > b = 0 ;
pa - > unused = 0 ;
pa - > base = 0 ; // this gets patched
int cdm_len = 0 ;
// debayer params
cdm_len + = write_cont ( ( unsigned char * ) bps_cdm_program_array . ptr + cdm_len , 0x2868 , {
0x06900400 ,
0x000006a6 ,
0x00000000 ,
0x00000000 ,
} ) ;
cdm_len + = write_cont ( ( unsigned char * ) bps_cdm_program_array . ptr + cdm_len , 0x2878 , {
0x00000080 ,
0x00800066 ,
} ) ;
// YUV color xform
cdm_len + = write_cont ( ( unsigned char * ) bps_cdm_program_array . ptr + cdm_len , 0x3468 , {
0x00680208 ,
0x00000108 ,
0x00400000 ,
0x03ff0000 ,
0x01c01ed8 ,
0x00001f68 ,
0x02000000 ,
0x03ff0000 ,
0x1fb81e88 ,
0x000001c0 ,
0x02000000 ,
0x03ff0000 ,
} ) ;
pa - > length = cdm_len - 1 ;
// *** second command ***
// parsed by cam_icp_packet_generic_blob_handler
struct isp_packet {
uint32_t header ;
struct cam_icp_clk_bw_request clk ;
} __attribute__ ( ( packed ) ) tmp ;
tmp . header = CAM_ICP_CMD_GENERIC_BLOB_CLK ;
tmp . header | = ( sizeof ( cam_icp_clk_bw_request ) ) < < 8 ;
tmp . clk . budget_ns = 0x1fca058 ;
tmp . clk . frame_cycles = 2329024 ; // comes from the striping lib
tmp . clk . rt_flag = 0x0 ;
tmp . clk . uncompressed_bw = 0x38512180 ;
tmp . clk . compressed_bw = 0x38512180 ;
buf_desc [ 1 ] . size = sizeof ( tmp ) ;
buf_desc [ 1 ] . offset = 0 ;
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_ICP_CMD_META_GENERIC_BLOB ;
auto buf2 = mm . alloc < uint32_t > ( buf_desc [ 1 ] . size , ( uint32_t * ) & buf_desc [ 1 ] . mem_handle ) ;
memcpy ( buf2 . get ( ) , & tmp , sizeof ( tmp ) ) ;
}
// *** io config ***
pkt - > num_io_configs = 2 ;
pkt - > io_configs_offset = sizeof ( struct cam_cmd_buf_desc ) * pkt - > num_cmd_buf ;
struct cam_buf_io_cfg * io_cfg = ( struct cam_buf_io_cfg * ) ( ( char * ) & pkt - > payload + pkt - > io_configs_offset ) ;
{
// input frame
io_cfg [ 0 ] . offsets [ 0 ] = 0 ;
io_cfg [ 0 ] . mem_handle [ 0 ] = buf_handle_raw [ idx ] ;
io_cfg [ 0 ] . planes [ 0 ] = ( struct cam_plane_cfg ) {
. width = sensor - > frame_width ,
. height = sensor - > frame_height + sensor - > extra_height ,
. plane_stride = sensor - > frame_stride ,
. slice_height = sensor - > frame_height + sensor - > extra_height ,
} ;
io_cfg [ 0 ] . format = sensor - > mipi_format ;
io_cfg [ 0 ] . color_space = CAM_COLOR_SPACE_BASE ;
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 ] . direction = CAM_BUF_INPUT ;
io_cfg [ 0 ] . subsample_pattern = 0x1 ;
io_cfg [ 0 ] . framedrop_pattern = 0x1 ;
// output frame
io_cfg [ 1 ] . mem_handle [ 0 ] = buf_handle_yuv [ idx ] ;
io_cfg [ 1 ] . mem_handle [ 1 ] = buf_handle_yuv [ idx ] ;
io_cfg [ 1 ] . planes [ 0 ] = ( struct cam_plane_cfg ) {
. width = sensor - > frame_width ,
. height = sensor - > frame_height ,
. plane_stride = stride ,
. slice_height = y_height ,
} ;
io_cfg [ 1 ] . planes [ 1 ] = ( struct cam_plane_cfg ) {
. width = sensor - > frame_width ,
. height = sensor - > frame_height / 2 ,
. plane_stride = stride ,
. slice_height = uv_height ,
} ;
io_cfg [ 1 ] . offsets [ 1 ] = ALIGNED_SIZE ( io_cfg [ 1 ] . planes [ 0 ] . plane_stride * io_cfg [ 1 ] . planes [ 0 ] . slice_height , 0x1000 ) ;
assert ( io_cfg [ 1 ] . offsets [ 1 ] = = uv_offset ) ;
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 ] . direction = CAM_BUF_OUTPUT ;
io_cfg [ 1 ] . subsample_pattern = 0x1 ;
io_cfg [ 1 ] . framedrop_pattern = 0x1 ;
}
// *** patches ***
{
pkt - > patch_offset = sizeof ( struct cam_cmd_buf_desc ) * pkt - > num_cmd_buf + sizeof ( struct cam_buf_io_cfg ) * pkt - > num_io_configs ;
// input frame
add_patch ( pkt . get ( ) , bps_cmd . handle , buf_desc [ 0 ] . offset + offsetof ( bps_tmp , frames [ 0 ] . ptr [ 0 ] ) , buf_handle_raw [ idx ] , 0 ) ;
// output frame
add_patch ( pkt . get ( ) , bps_cmd . handle , buf_desc [ 0 ] . offset + offsetof ( bps_tmp , frames [ 1 ] . ptr [ 0 ] ) , buf_handle_yuv [ idx ] , 0 ) ;
add_patch ( pkt . get ( ) , bps_cmd . handle , buf_desc [ 0 ] . offset + offsetof ( bps_tmp , frames [ 1 ] . ptr [ 1 ] ) , buf_handle_yuv [ idx ] , io_cfg [ 1 ] . offsets [ 1 ] ) ;
// rest of buffers
add_patch ( pkt . get ( ) , bps_cmd . handle , buf_desc [ 0 ] . offset + offsetof ( bps_tmp , settings_addr ) , bps_iq . handle , 0 ) ;
add_patch ( pkt . get ( ) , bps_cmd . handle , buf_desc [ 0 ] . offset + offsetof ( bps_tmp , cdm_addr2 ) , bps_cmd . handle , sizeof ( bps_tmp ) ) ;
add_patch ( pkt . get ( ) , bps_cmd . handle , buf_desc [ 0 ] . offset + 0xc8 , bps_cdm_program_array . handle , 0 ) ;
add_patch ( pkt . get ( ) , bps_cmd . handle , buf_desc [ 0 ] . offset + offsetof ( bps_tmp , striping_addr ) , bps_striping . handle , 0 ) ;
add_patch ( pkt . get ( ) , bps_cmd . handle , buf_desc [ 0 ] . offset + offsetof ( bps_tmp , cdm_addr ) , bps_cdm_striping_bl . handle , 0 ) ;
}
int ret = device_config ( m - > icp_fd , session_handle , icp_dev_handle , cam_packet_handle ) ;
assert ( ret = = 0 ) ;
}
void SpectraCamera : : config_ife ( int idx , int request_id , bool init ) { void SpectraCamera : : config_ife ( int idx , int request_id , bool init ) {
/*
/*
@ -509,6 +712,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
buf_desc [ 0 ] . offset = ife_cmd . aligned_size ( ) * idx ; buf_desc [ 0 ] . offset = ife_cmd . aligned_size ( ) * idx ;
// stream of IFE register writes
// stream of IFE register writes
bool is_raw = output_type ! = ISP_IFE_PROCESSED ;
if ( ! is_raw ) { if ( ! is_raw ) {
if ( init ) { if ( init ) {
buf_desc [ 0 ] . length = build_initial_config ( ( unsigned char * ) ife_cmd . ptr + buf_desc [ 0 ] . offset , sensor . get ( ) , patches , cc . camera_num ) ; buf_desc [ 0 ] . length = build_initial_config ( ( unsigned char * ) ife_cmd . ptr + buf_desc [ 0 ] . offset , sensor . get ( ) , patches , cc . camera_num ) ;
@ -597,8 +801,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
pkt - > io_configs_offset = sizeof ( struct cam_cmd_buf_desc ) * pkt - > num_cmd_buf ; pkt - > io_configs_offset = sizeof ( struct cam_cmd_buf_desc ) * pkt - > num_cmd_buf ;
struct cam_buf_io_cfg * io_cfg = ( struct cam_buf_io_cfg * ) ( ( char * ) & pkt - > payload + pkt - > io_configs_offset ) ; struct cam_buf_io_cfg * io_cfg = ( struct cam_buf_io_cfg * ) ( ( char * ) & pkt - > payload + pkt - > io_configs_offset ) ;
if ( output_type ! = ISP_IFE_PROCESSED ) {
if ( is_raw ) {
io_cfg [ 0 ] . mem_handle [ 0 ] = buf_handle_raw [ idx ] ; io_cfg [ 0 ] . mem_handle [ 0 ] = buf_handle_raw [ idx ] ;
io_cfg [ 0 ] . planes [ 0 ] = ( struct cam_plane_cfg ) { io_cfg [ 0 ] . planes [ 0 ] = ( struct cam_plane_cfg ) {
. width = sensor - > frame_width , . width = sensor - > frame_width ,
@ -649,21 +852,18 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
// order here corresponds to the one in build_initial_config
// order here corresponds to the one in build_initial_config
assert ( patches . size ( ) = = 6 | | patches . size ( ) = = 0 ) ; assert ( patches . size ( ) = = 6 | | patches . size ( ) = = 0 ) ;
pkt - > num_patches = patches . size ( ) ;
pkt - > patch_offset = sizeof ( struct cam_cmd_buf_desc ) * pkt - > num_cmd_buf + sizeof ( struct cam_buf_io_cfg ) * pkt - > num_io_configs ; pkt - > patch_offset = sizeof ( struct cam_cmd_buf_desc ) * pkt - > num_cmd_buf + sizeof ( struct cam_buf_io_cfg ) * pkt - > num_io_configs ;
if ( pkt - > num_patches > 0 ) { if ( patches . size ( ) > 0 ) {
void * p = ( char * ) & pkt - > payload + pkt - > patch_offset ;
// linearization LUT
// linearization LUT
add_patch ( p , 0 , ife_cmd . handle , patches [ 0 ] , ife_linearization_lut . handle , 0 ) ; add_patch ( pkt . get ( ) , ife_cmd . handle , patches [ 0 ] , ife_linearization_lut . handle , 0 ) ;
// vignetting correction LUTs
// vignetting correction LUTs
add_patch ( p , 1 , ife_cmd . handle , patches [ 1 ] , ife_vignetting_lut . handle , 0 ) ; add_patch ( pkt . get ( ) , ife_cmd . handle , patches [ 1 ] , ife_vignetting_lut . handle , 0 ) ;
add_patch ( p , 2 , ife_cmd . handle , patches [ 2 ] , ife_vignetting_lut . handle , ife_vignetting_lut . size ) ; add_patch ( pkt . get ( ) , ife_cmd . handle , patches [ 2 ] , ife_vignetting_lut . handle , ife_vignetting_lut . size ) ;
// gamma LUTs
// gamma LUTs
for ( int i = 0 ; i < 3 ; i + + ) { for ( int i = 0 ; i < 3 ; i + + ) {
add_patch ( p , i + 3 , ife_cmd . handle , patches [ i + 3 ] , ife_gamma_lut . handle , ife_gamma_lut . size * i ) ; add_patch ( pkt . get ( ) , ife_cmd . handle , patches [ i + 3 ] , ife_gamma_lut . handle , ife_gamma_lut . size * i ) ;
} }
} }
} }
@ -679,17 +879,31 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
if ( sync_objs [ i ] ) { if ( sync_objs [ i ] ) {
// SOF has come in, wait until readout is complete
// SOF has come in, wait until readout is complete
struct cam_sync_wait sync_wait = { 0 } ; struct cam_sync_wait sync_wait = { 0 } ;
// wait for ife
sync_wait . sync_obj = sync_objs [ i ] ; sync_wait . sync_obj = sync_objs [ i ] ;
// TODO: write a test to stress test w/ a low timeout and check camera frame ids match
sync_wait . timeout_ms = 100 ; sync_wait . timeout_ms = 100 ;
ret = do_sync_control ( m - > cam_sync_fd , CAM_SYNC_WAIT , & sync_wait , sizeof ( sync_wait ) ) ; ret = do_sync_control ( m - > cam_sync_fd , CAM_SYNC_WAIT , & sync_wait , sizeof ( sync_wait ) ) ;
if ( ret ! = 0 ) { if ( ret ! = 0 ) {
// TODO: handle frame drop cleanly
clear_req_queue ( ) ;
// when this happens, it messes up future frames
LOGE ( " failed to wait for sync: %d %d " , ret , sync_wait . sync_obj ) ; LOGE ( " failed to wait for 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
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 ) ;
}
}
buf . frame_metadata [ i ] . timestamp_end_of_isp = ( uint64_t ) nanos_since_boot ( ) ; buf . frame_metadata [ i ] . timestamp_end_of_isp = ( uint64_t ) nanos_since_boot ( ) ;
buf . frame_metadata [ i ] . timestamp_eof = buf . frame_metadata [ i ] . timestamp_sof + sensor - > readout_time_ns ; buf . frame_metadata [ i ] . timestamp_eof = buf . frame_metadata [ i ] . timestamp_sof + sensor - > readout_time_ns ;
if ( dp ) { if ( dp & & ret = = 0 ) {
buf . queue ( i ) ; buf . queue ( i ) ;
} }
@ -728,7 +942,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
// submit request to IFE and BPS
// submit request to IFE and BPS
config_ife ( i , request_id ) ; config_ife ( i , request_id ) ;
config_bps ( i , request_id ) ; if ( output_type = = ISP_BPS_PROCESSED ) config_bps ( i , request_id ) ;
} }
void SpectraCamera : : destroySyncObjectAt ( int index ) { void SpectraCamera : : destroySyncObjectAt ( int index ) {
@ -751,7 +965,7 @@ void SpectraCamera::destroySyncObjectAt(int index) {
void SpectraCamera : : camera_map_bufs ( ) { void SpectraCamera : : camera_map_bufs ( ) {
int ret ; int ret ;
for ( int i = 0 ; i < ife_buf_depth ; i + + ) { for ( int i = 0 ; i < ife_buf_depth ; i + + ) {
// configure ISP to put the image in place
// map our VisionIPC bufs into ISP memory
struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = { 0 } ; struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = { 0 } ;
mem_mgr_map_cmd . flags = CAM_MEM_FLAG_HW_READ_WRITE ; mem_mgr_map_cmd . flags = CAM_MEM_FLAG_HW_READ_WRITE ;
mem_mgr_map_cmd . mmu_hdls [ 0 ] = m - > device_iommu ; mem_mgr_map_cmd . mmu_hdls [ 0 ] = m - > device_iommu ;
@ -761,14 +975,16 @@ void SpectraCamera::camera_map_bufs() {
mem_mgr_map_cmd . mmu_hdls [ 1 ] = m - > icp_device_iommu ; mem_mgr_map_cmd . mmu_hdls [ 1 ] = m - > icp_device_iommu ;
} }
if ( is_raw ) { if ( output_type ! = ISP_IFE_PROCESSED ) {
// RAW bayer images
// RAW bayer images
mem_mgr_map_cmd . fd = buf . camera_bufs_raw [ i ] . fd ; mem_mgr_map_cmd . fd = buf . camera_bufs_raw [ i ] . fd ;
ret = do_cam_control ( m - > video0_fd , CAM_REQ_MGR_MAP_BUF , & mem_mgr_map_cmd , sizeof ( mem_mgr_map_cmd ) ) ; ret = do_cam_control ( m - > video0_fd , CAM_REQ_MGR_MAP_BUF , & mem_mgr_map_cmd , sizeof ( mem_mgr_map_cmd ) ) ;
assert ( ret = = 0 ) ; assert ( ret = = 0 ) ;
LOGD ( " map buf req: (fd: %d) 0x%x %d " , buf . camera_bufs_raw [ i ] . fd , mem_mgr_map_cmd . out . buf_handle , ret ) ; LOGD ( " map buf req: (fd: %d) 0x%x %d " , buf . camera_bufs_raw [ i ] . fd , mem_mgr_map_cmd . out . buf_handle , ret ) ;
buf_handle_raw [ i ] = mem_mgr_map_cmd . out . buf_handle ; buf_handle_raw [ i ] = mem_mgr_map_cmd . out . buf_handle ;
} else { }
if ( output_type ! = ISP_RAW_OUTPUT ) {
// final processed images
// final processed images
VisionBuf * vb = buf . vipc_server - > get_buffer ( buf . stream_type , i ) ; VisionBuf * vb = buf . vipc_server - > get_buffer ( buf . stream_type , i ) ;
mem_mgr_map_cmd . fd = vb - > fd ; mem_mgr_map_cmd . fd = vb - > fd ;
@ -865,7 +1081,7 @@ void SpectraCamera::configISP() {
} , } ,
} ; } ;
if ( is_raw ) { if ( output_type ! = ISP_IFE_PROCESSED ) {
in_port_info . line_start = 0 ; in_port_info . line_start = 0 ;
in_port_info . line_stop = sensor - > frame_height + sensor - > extra_height - 1 ; in_port_info . line_stop = sensor - > frame_height + sensor - > extra_height - 1 ;
in_port_info . height = sensor - > frame_height + sensor - > extra_height ; in_port_info . height = sensor - > frame_height + sensor - > extra_height ;
@ -890,7 +1106,7 @@ void SpectraCamera::configISP() {
ife_cmd . init ( m , 67984 , 0x20 , ife_cmd . init ( m , 67984 , 0x20 ,
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE , CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE ,
m - > device_iommu , m - > cdm_iommu , ife_buf_depth ) ; m - > device_iommu , m - > cdm_iommu , ife_buf_depth ) ;
if ( ! is_raw ) { if ( output_type = = ISP_IFE_PROCESSED ) {
assert ( sensor - > gamma_lut_rgb . size ( ) = = 64 ) ; assert ( sensor - > gamma_lut_rgb . size ( ) = = 64 ) ;
ife_gamma_lut . init ( m , sensor - > gamma_lut_rgb . size ( ) * sizeof ( uint32_t ) , 0x20 , ife_gamma_lut . init ( m , sensor - > gamma_lut_rgb . size ( ) * sizeof ( uint32_t ) , 0x20 ,
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE , CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE ,
@ -920,11 +1136,19 @@ void SpectraCamera::configICP() {
Configures both the ICP and BPS . Configures both the ICP and BPS .
*/ */
int cfg_handle ;
uint32_t cfg_size = sizeof ( bps_cfg [ 0 ] ) / sizeof ( bps_cfg [ 0 ] [ 0 ] ) ;
void * cfg = alloc_w_mmu_hdl ( m - > video0_fd , cfg_size , ( uint32_t * ) & cfg_handle , 0x1 ,
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_HW_SHARED_ACCESS ,
m - > icp_device_iommu ) ;
memcpy ( cfg , bps_cfg [ sensor - > num ( ) ] , cfg_size ) ;
struct cam_icp_acquire_dev_info icp_info = { struct cam_icp_acquire_dev_info icp_info = {
. scratch_mem_size = 0x0 , . scratch_mem_size = 0x0 ,
. dev_type = 0x1 , // BPS
. dev_type = CAM_ICP_RES_TYPE_BPS ,
. io_config_cmd_size = 0 , . io_config_cmd_size = cfg_size ,
. io_config_cmd_handle = 0 , . io_config_cmd_handle = cfg_handle ,
. secure_mode = 0 , . secure_mode = 0 ,
. num_out_res = 1 , . num_out_res = 1 ,
. in_res = ( struct cam_icp_res_info ) { . in_res = ( struct cam_icp_res_info ) {
@ -945,24 +1169,35 @@ void SpectraCamera::configICP() {
icp_dev_handle = * h ; icp_dev_handle = * h ;
LOGD ( " acquire icp dev " ) ; LOGD ( " acquire icp dev " ) ;
// BPS CMD buffer
release ( m - > video0_fd , cfg_handle ) ;
unsigned char striping_out [ ] = " \x00 " ;
bps_cmd . init ( m , ife_buf_depth * ALIGNED_SIZE ( 464 , 0x20 ) , 0x20 , // BPS has a lot of buffers to init
bps_cmd . init ( m , 464 , 0x20 ,
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS , CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS ,
m - > icp_device_iommu ) ; m - > icp_device_iommu , 0 , ife_buf_depth ) ;
bps_iq . init ( m , 560 , 0x20 , // BPSIQSettings struct
uint32_t settings_size = sizeof ( bps_settings [ 0 ] ) / sizeof ( bps_settings [ 0 ] [ 0 ] ) ;
bps_iq . init ( m , settings_size , 0x20 ,
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS , CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS ,
m - > icp_device_iommu ) ; m - > icp_device_iommu ) ;
bps_cdm_program_array . init ( m , 0x40 , 0x20 , memcpy ( bps_iq . ptr , bps_settings [ sensor - > num ( ) ] , settings_size ) ;
// for cdm register writes, just make it bigger than you need
bps_cdm_program_array . init ( m , 0x1000 , 0x20 ,
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS , CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS ,
m - > icp_device_iommu ) ; m - > icp_device_iommu ) ;
bps_striping . init ( m , sizeof ( striping_out ) , 0x20 ,
// striping lib output
uint32_t striping_size = sizeof ( bps_striping_output [ 0 ] ) / sizeof ( bps_striping_output [ 0 ] [ 0 ] ) ;
bps_striping . init ( m , striping_size , 0x20 ,
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS , CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS ,
m - > icp_device_iommu ) ; m - > icp_device_iommu ) ;
memcpy ( bps_striping . ptr , striping_out , sizeof ( striping_out ) ) ; memcpy ( bps_striping . ptr , bps_striping_output [ sensor - > num ( ) ] , striping_size ) ;
bps_cdm_striping_bl . init ( m , 65216 , 0x20 , // used internally by the BPS, we just allocate it.
// size comes from the BPSStripingLib
bps_cdm_striping_bl . init ( m , 0xa100 , 0x20 ,
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS , CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS ,
m - > icp_device_iommu ) ; m - > icp_device_iommu ) ;
} }
@ -1028,9 +1263,15 @@ void SpectraCamera::linkDevices() {
ret = device_control ( csiphy_fd , CAM_START_DEV , session_handle , csiphy_dev_handle ) ; ret = device_control ( csiphy_fd , CAM_START_DEV , session_handle , csiphy_dev_handle ) ;
LOGD ( " start csiphy: %d " , ret ) ; LOGD ( " start csiphy: %d " , ret ) ;
assert ( ret = = 0 ) ;
ret = device_control ( m - > isp_fd , CAM_START_DEV , session_handle , isp_dev_handle ) ; ret = device_control ( m - > isp_fd , CAM_START_DEV , session_handle , isp_dev_handle ) ;
LOGD ( " start isp: %d " , ret ) ; LOGD ( " start isp: %d " , ret ) ;
assert ( ret = = 0 ) ; assert ( ret = = 0 ) ;
if ( output_type = = ISP_BPS_PROCESSED ) {
ret = device_control ( m - > icp_fd , CAM_START_DEV , session_handle , icp_dev_handle ) ;
LOGD ( " start icp: %d " , ret ) ;
assert ( ret = = 0 ) ;
}
} }
void SpectraCamera : : camera_close ( ) { void SpectraCamera : : camera_close ( ) {
@ -1041,8 +1282,13 @@ void SpectraCamera::camera_close() {
// LOGD("stop sensor: %d", ret);
// LOGD("stop sensor: %d", ret);
int ret = device_control ( m - > isp_fd , CAM_STOP_DEV , session_handle , isp_dev_handle ) ; int ret = device_control ( m - > isp_fd , CAM_STOP_DEV , session_handle , isp_dev_handle ) ;
LOGD ( " stop isp: %d " , ret ) ; LOGD ( " stop isp: %d " , ret ) ;
if ( output_type = = ISP_BPS_PROCESSED ) {
ret = device_control ( m - > icp_fd , CAM_STOP_DEV , session_handle , icp_dev_handle ) ;
LOGD ( " stop icp: %d " , ret ) ;
}
ret = device_control ( csiphy_fd , CAM_STOP_DEV , session_handle , csiphy_dev_handle ) ; ret = device_control ( csiphy_fd , CAM_STOP_DEV , session_handle , csiphy_dev_handle ) ;
LOGD ( " stop csiphy: %d " , ret ) ; LOGD ( " stop csiphy: %d " , ret ) ;
// link control stop
// link control stop
LOG ( " -- Stop link control " ) ; LOG ( " -- Stop link control " ) ;
struct cam_req_mgr_link_control req_mgr_link_control = { 0 } ; struct cam_req_mgr_link_control req_mgr_link_control = { 0 } ;
@ -1069,11 +1315,20 @@ void SpectraCamera::camera_close() {
} }
ret = device_control ( m - > isp_fd , CAM_RELEASE_DEV , session_handle , isp_dev_handle ) ; ret = device_control ( m - > isp_fd , CAM_RELEASE_DEV , session_handle , isp_dev_handle ) ;
LOGD ( " release isp: %d " , ret ) ; LOGD ( " release isp: %d " , ret ) ;
if ( output_type = = ISP_BPS_PROCESSED ) {
ret = device_control ( m - > icp_fd , CAM_RELEASE_DEV , session_handle , icp_dev_handle ) ;
LOGD ( " release icp: %d " , ret ) ;
}
ret = device_control ( csiphy_fd , CAM_RELEASE_DEV , session_handle , csiphy_dev_handle ) ; ret = device_control ( csiphy_fd , CAM_RELEASE_DEV , session_handle , csiphy_dev_handle ) ;
LOGD ( " release csiphy: %d " , ret ) ; LOGD ( " release csiphy: %d " , ret ) ;
for ( int i = 0 ; i < ife_buf_depth ; i + + ) { for ( int i = 0 ; i < ife_buf_depth ; i + + ) {
release ( m - > video0_fd , is_raw ? buf_handle_raw [ i ] : buf_handle_yuv [ i ] ) ; if ( buf_handle_raw [ i ] ) {
release ( m - > video0_fd , buf_handle_raw [ i ] ) ;
}
if ( buf_handle_yuv [ i ] ) {
release ( m - > video0_fd , buf_handle_yuv [ i ] ) ;
}
} }
LOGD ( " released buffers " ) ; LOGD ( " released buffers " ) ;
} }
Kacper Rączy
7 months ago