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@ -117,12 +117,7 @@ static int imx298_apply_exposure(CameraState *s, int gain, int integ_lines, int |
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// REG_HOLD
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// REG_HOLD
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{0x104,0x0,0}, |
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{0x104,0x0,0}, |
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}; |
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}; |
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return sensor_write_regs(s, reg_array, ARRAYSIZE(reg_array), MSM_CAMERA_I2C_BYTE_DATA); |
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int err = sensor_write_regs(s, reg_array, ARRAYSIZE(reg_array), MSM_CAMERA_I2C_BYTE_DATA); |
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if (err != 0) { |
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LOGE("apply_exposure err %d", err); |
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} |
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return err; |
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} |
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} |
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static int ov8865_apply_exposure(CameraState *s, int gain, int integ_lines, int frame_length) { |
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static int ov8865_apply_exposure(CameraState *s, int gain, int integ_lines, int frame_length) { |
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@ -157,16 +152,12 @@ static int ov8865_apply_exposure(CameraState *s, int gain, int integ_lines, int |
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//{0x104,0x0,0},
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//{0x104,0x0,0},
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}; |
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}; |
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int err = sensor_write_regs(s, reg_array, ARRAYSIZE(reg_array), MSM_CAMERA_I2C_BYTE_DATA); |
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return sensor_write_regs(s, reg_array, ARRAYSIZE(reg_array), MSM_CAMERA_I2C_BYTE_DATA); |
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if (err != 0) { |
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LOGE("apply_exposure err %d", err); |
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} |
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return err; |
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} |
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} |
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static void camera_init(VisionIpcServer *v, CameraState *s, int camera_id, int camera_num, |
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static void camera_init(VisionIpcServer *v, CameraState *s, int camera_id, int camera_num, |
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uint32_t pixel_clock, uint32_t line_length_pclk, |
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uint32_t pixel_clock, uint32_t line_length_pclk, |
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unsigned int max_gain, unsigned int fps, cl_device_id device_id, cl_context ctx, |
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uint32_t max_gain, uint32_t fps, cl_device_id device_id, cl_context ctx, |
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VisionStreamType rgb_type, VisionStreamType yuv_type) { |
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VisionStreamType rgb_type, VisionStreamType yuv_type) { |
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s->camera_num = camera_num; |
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s->camera_num = camera_num; |
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s->camera_id = camera_id; |
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s->camera_id = camera_id; |
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@ -235,10 +226,10 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i |
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static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) { |
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static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) { |
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int err = 0; |
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int err = 0; |
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unsigned int frame_length = s->pixel_clock / s->line_length_pclk / s->fps; |
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uint32_t frame_length = s->pixel_clock / s->line_length_pclk / s->fps; |
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unsigned int gain = s->cur_gain; |
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uint32_t gain = s->cur_gain; |
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unsigned int integ_lines = s->cur_integ_lines; |
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uint32_t integ_lines = s->cur_integ_lines; |
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if (exposure_frac >= 0) { |
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if (exposure_frac >= 0) { |
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exposure_frac = std::clamp(exposure_frac, 2.0f / frame_length, 1.0f); |
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exposure_frac = std::clamp(exposure_frac, 2.0f / frame_length, 1.0f); |
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@ -275,6 +266,8 @@ static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) { |
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s->cur_gain = gain; |
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s->cur_gain = gain; |
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s->cur_integ_lines = integ_lines; |
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s->cur_integ_lines = integ_lines; |
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s->cur_frame_length = frame_length; |
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s->cur_frame_length = frame_length; |
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} else { |
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LOGE("camera %d apply_exposure err: %d", s->camera_num, err); |
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} |
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} |
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} |
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} |
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@ -294,9 +287,9 @@ static void do_autoexposure(CameraState *s, float grey_frac) { |
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const float gain_frac_min = 0.015625; |
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const float gain_frac_min = 0.015625; |
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const float gain_frac_max = 1.0; |
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const float gain_frac_max = 1.0; |
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// exposure time limits
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// exposure time limits
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unsigned int frame_length = s->pixel_clock / s->line_length_pclk / s->fps; |
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uint32_t frame_length = s->pixel_clock / s->line_length_pclk / s->fps; |
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const unsigned int exposure_time_min = 16; |
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const uint32_t exposure_time_min = 16; |
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const unsigned int exposure_time_max = frame_length - 11; // copied from set_exposure()
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const uint32_t exposure_time_max = frame_length - 11; // copied from set_exposure()
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float cur_gain_frac = s->cur_gain_frac; |
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float cur_gain_frac = s->cur_gain_frac; |
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float exposure_factor = pow(1.05, (target_grey - grey_frac) / 0.05); |
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float exposure_factor = pow(1.05, (target_grey - grey_frac) / 0.05); |
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@ -328,28 +321,6 @@ static void do_autoexposure(CameraState *s, float grey_frac) { |
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} |
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} |
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} |
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} |
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static uint8_t* get_eeprom(int eeprom_fd, size_t *out_len) { |
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msm_eeprom_cfg_data cfg = {.cfgtype = CFG_EEPROM_GET_CAL_DATA}; |
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int err = ioctl(eeprom_fd, VIDIOC_MSM_EEPROM_CFG, &cfg); |
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assert(err >= 0); |
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uint32_t num_bytes = cfg.cfg.get_data.num_bytes; |
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assert(num_bytes > 100); |
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uint8_t* buffer = (uint8_t*)malloc(num_bytes); |
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assert(buffer); |
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memset(buffer, 0, num_bytes); |
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cfg.cfgtype = CFG_EEPROM_READ_CAL_DATA; |
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cfg.cfg.read_data.num_bytes = num_bytes; |
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cfg.cfg.read_data.dbuffer = buffer; |
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err = ioctl(eeprom_fd, VIDIOC_MSM_EEPROM_CFG, &cfg); |
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assert(err >= 0); |
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*out_len = num_bytes; |
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return buffer; |
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} |
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static void sensors_init(MultiCameraState *s) { |
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static void sensors_init(MultiCameraState *s) { |
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unique_fd sensorinit_fd; |
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unique_fd sensorinit_fd; |
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sensorinit_fd = open("/dev/v4l-subdev11", O_RDWR | O_NONBLOCK); |
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sensorinit_fd = open("/dev/v4l-subdev11", O_RDWR | O_NONBLOCK); |
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@ -461,9 +432,6 @@ static void camera_open(CameraState *s, bool is_road_cam) { |
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sensor_dev = "/dev/v4l-subdev17"; |
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sensor_dev = "/dev/v4l-subdev17"; |
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s->isp_fd = open("/dev/v4l-subdev13", O_RDWR | O_NONBLOCK); |
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s->isp_fd = open("/dev/v4l-subdev13", O_RDWR | O_NONBLOCK); |
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assert(s->isp_fd >= 0); |
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assert(s->isp_fd >= 0); |
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s->eeprom_fd = open("/dev/v4l-subdev8", O_RDWR | O_NONBLOCK); |
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assert(s->eeprom_fd >= 0); |
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s->actuator_fd = open("/dev/v4l-subdev7", O_RDWR | O_NONBLOCK); |
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s->actuator_fd = open("/dev/v4l-subdev7", O_RDWR | O_NONBLOCK); |
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assert(s->actuator_fd >= 0); |
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assert(s->actuator_fd >= 0); |
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} else { |
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} else { |
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@ -474,8 +442,6 @@ static void camera_open(CameraState *s, bool is_road_cam) { |
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sensor_dev = "/dev/v4l-subdev18"; |
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sensor_dev = "/dev/v4l-subdev18"; |
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s->isp_fd = open("/dev/v4l-subdev14", O_RDWR | O_NONBLOCK); |
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s->isp_fd = open("/dev/v4l-subdev14", O_RDWR | O_NONBLOCK); |
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assert(s->isp_fd >= 0); |
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assert(s->isp_fd >= 0); |
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s->eeprom_fd = open("/dev/v4l-subdev9", O_RDWR | O_NONBLOCK); |
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assert(s->eeprom_fd >= 0); |
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} |
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} |
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// wait for sensor device
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// wait for sensor device
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@ -537,14 +503,6 @@ static void camera_open(CameraState *s, bool is_road_cam) { |
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// **** GO GO GO ****
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// **** GO GO GO ****
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LOG("******************** GO GO GO ************************"); |
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LOG("******************** GO GO GO ************************"); |
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s->eeprom = get_eeprom(s->eeprom_fd, &s->eeprom_size); |
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// printf("eeprom:\n");
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// for (int i=0; i<s->eeprom_size; i++) {
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// printf("%02x", s->eeprom[i]);
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// }
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// printf("\n");
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// CSID: init csid
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// CSID: init csid
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csid_cfg_data.cfgtype = CSID_INIT; |
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csid_cfg_data.cfgtype = CSID_INIT; |
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err = ioctl(s->csid_fd, VIDIOC_MSM_CSID_IO_CFG, &csid_cfg_data); |
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err = ioctl(s->csid_fd, VIDIOC_MSM_CSID_IO_CFG, &csid_cfg_data); |
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@ -856,7 +814,6 @@ static void road_camera_start(CameraState *s) { |
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s->cur_step_pos = inf_step; |
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s->cur_step_pos = inf_step; |
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actuator_move(s, s->cur_lens_pos); |
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actuator_move(s, s->cur_lens_pos); |
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LOG("init lens pos: %d", s->cur_lens_pos); |
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LOG("init lens pos: %d", s->cur_lens_pos); |
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} |
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} |
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@ -870,8 +827,8 @@ void actuator_move(CameraState *s, uint16_t target) { |
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struct msm_actuator_cfg_data actuator_cfg_data = {0}; |
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struct msm_actuator_cfg_data actuator_cfg_data = {0}; |
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actuator_cfg_data.cfgtype = CFG_MOVE_FOCUS; |
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actuator_cfg_data.cfgtype = CFG_MOVE_FOCUS; |
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actuator_cfg_data.cfg.move = (struct msm_actuator_move_params_t){ |
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actuator_cfg_data.cfg.move = (struct msm_actuator_move_params_t){ |
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.dir = (int8_t)((step > 0) ? 0 : 1), |
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.dir = (int8_t)((step > 0) ? MOVE_NEAR : MOVE_FAR), |
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.sign_dir = (int8_t)((step > 0) ? 1 : -1), |
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.sign_dir = (int8_t)((step > 0) ? MSM_ACTUATOR_MOVE_SIGNED_NEAR : MSM_ACTUATOR_MOVE_SIGNED_FAR), |
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.dest_step_pos = (int16_t)dest_step_pos, |
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.dest_step_pos = (int16_t)dest_step_pos, |
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.num_steps = abs(step), |
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.num_steps = abs(step), |
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.curr_lens_pos = s->cur_lens_pos, |
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.curr_lens_pos = s->cur_lens_pos, |
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@ -1083,11 +1040,9 @@ static void camera_close(CameraState *s) { |
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LOG("isp release stream: %d", err); |
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LOG("isp release stream: %d", err); |
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} |
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} |
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} |
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} |
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free(s->eeprom); |
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} |
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} |
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const char* get_isp_event_name(unsigned int type) { |
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const char* get_isp_event_name(uint32_t type) { |
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switch (type) { |
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switch (type) { |
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case ISP_EVENT_REG_UPDATE: return "ISP_EVENT_REG_UPDATE"; |
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case ISP_EVENT_REG_UPDATE: return "ISP_EVENT_REG_UPDATE"; |
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case ISP_EVENT_EPOCH_0: return "ISP_EVENT_EPOCH_0"; |
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case ISP_EVENT_EPOCH_0: return "ISP_EVENT_EPOCH_0"; |
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@ -1255,9 +1210,9 @@ void cameras_run(MultiCameraState *s) { |
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c->frame_metadata[c->frame_metadata_idx] = (FrameMetadata){ |
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c->frame_metadata[c->frame_metadata_idx] = (FrameMetadata){ |
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.frame_id = isp_event_data->frame_id, |
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.frame_id = isp_event_data->frame_id, |
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.timestamp_eof = timestamp, |
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.timestamp_eof = timestamp, |
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.frame_length = (unsigned int)c->cur_frame_length, |
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.frame_length = (uint32_t)c->cur_frame_length, |
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.integ_lines = (unsigned int)c->cur_integ_lines, |
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.integ_lines = (uint32_t)c->cur_integ_lines, |
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.global_gain = (unsigned int)c->cur_gain, |
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.global_gain = (uint32_t)c->cur_gain, |
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.lens_pos = c->cur_lens_pos, |
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.lens_pos = c->cur_lens_pos, |
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.lens_sag = c->last_sag_acc_z, |
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.lens_sag = c->last_sag_acc_z, |
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.lens_err = c->focus_err, |
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.lens_err = c->focus_err, |
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Jason Young
5 years ago
committed by
GitHub