sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
885 Commits
123 Branches
82 Tags
5.0 GiB
 
 
 
 
 
 
Tag: Branch: Tree: 12495a4ee0
Branches Tags
${ item.name }
Create tag ${ searchTerm }
Create branch ${ searchTerm }
from '12495a4ee0'
${ noResults }
openpilot_comma/selfdrive/camerad/cameras/camera_qcom.c

2213 lines
64 KiB
Raw Blame History

#include <stdlib.h>
#include <stdio.h>
#include <stdbool.h>
#include <assert.h>
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <sys/ioctl.h>
#include <linux/media.h>
#include <cutils/properties.h>
#include <pthread.h>
#include <czmq.h>
#include "msmb_isp.h"
#include "msmb_ispif.h"
#include "msmb_camera.h"
#include "msm_cam_sensor.h"
#include "common/util.h"
#include "common/timing.h"
#include "common/swaglog.h"
#include "common/params.h"
#include "cereal/gen/c/log.capnp.h"
#include "sensor_i2c.h"
#include "camera_qcom.h"
// enable this to run the camera at 60fps and sample every third frame
// supposed to reduce 33ms of lag, but no results
//#define HIGH_FPS
#define CAMERA_MSG_AUTOEXPOSE 0
typedef struct CameraMsg {
int type;
int camera_num;
float grey_frac;
} CameraMsg;
extern volatile sig_atomic_t do_exit;
CameraInfo cameras_supported[CAMERA_ID_MAX] = {
[CAMERA_ID_IMX298] = {
.frame_width = 2328,
.frame_height = 1748,
.frame_stride = 2912,
.bayer = true,
.bayer_flip = 0,
.hdr = true
},
[CAMERA_ID_IMX179] = {
.frame_width = 3280,
.frame_height = 2464,
.frame_stride = 4104,
.bayer = true,
.bayer_flip = 0,
.hdr = false
},
[CAMERA_ID_S5K3P8SP] = {
.frame_width = 2304,
.frame_height = 1728,
.frame_stride = 2880,
.bayer = true,
.bayer_flip = 1,
.hdr = false
},
[CAMERA_ID_OV8865] = {
.frame_width = 1632,
.frame_height = 1224,
.frame_stride = 2040, // seems right
.bayer = true,
.bayer_flip = 3,
.hdr = false
},
// this exists to get the kernel to build for the LeEco in release
[CAMERA_ID_IMX298_FLIPPED] = {
.frame_width = 2328,
.frame_height = 1748,
.frame_stride = 2912,
.bayer = true,
.bayer_flip = 3,
.hdr = true
},
[CAMERA_ID_OV10640] = {
.frame_width = 1280,
.frame_height = 1080,
.frame_stride = 2040,
.bayer = true,
.bayer_flip = 0,
.hdr = true
},
};
static void camera_release_buffer(void* cookie, int buf_idx) {
CameraState *s = cookie;
// printf("camera_release_buffer %d\n", buf_idx);
s->ss[0].qbuf_info[buf_idx].dirty_buf = 1;
ioctl(s->isp_fd, VIDIOC_MSM_ISP_ENQUEUE_BUF, &s->ss[0].qbuf_info[buf_idx]);
}
static void camera_init(CameraState *s, int camera_id, int camera_num,
uint32_t pixel_clock, uint32_t line_length_pclk,
unsigned int max_gain, unsigned int fps) {
memset(s, 0, sizeof(*s));
s->camera_num = camera_num;
s->camera_id = camera_id;
assert(camera_id < ARRAYSIZE(cameras_supported));
s->ci = cameras_supported[camera_id];
assert(s->ci.frame_width != 0);
s->frame_size = s->ci.frame_height * s->ci.frame_stride;
s->pixel_clock = pixel_clock;
s->line_length_pclk = line_length_pclk;
s->max_gain = max_gain;
s->fps = fps;
zsock_t *ops_sock = zsock_new_push(">inproc://cameraops");
assert(ops_sock);
s->ops_sock = zsock_resolve(ops_sock);
tbuffer_init2(&s->camera_tb, FRAME_BUF_COUNT, "frame",
camera_release_buffer, s);
pthread_mutex_init(&s->frame_info_lock, NULL);
}
int sensor_write_regs(CameraState *s, struct msm_camera_i2c_reg_array* arr, size_t size, int data_type) {
struct msm_camera_i2c_reg_setting out_settings = {
.reg_setting = arr,
.size = size,
.addr_type = MSM_CAMERA_I2C_WORD_ADDR,
.data_type = data_type,
.delay = 0,
};
struct sensorb_cfg_data cfg_data = {0};
cfg_data.cfgtype = CFG_WRITE_I2C_ARRAY;
cfg_data.cfg.setting = &out_settings;
return ioctl(s->sensor_fd, VIDIOC_MSM_SENSOR_CFG, &cfg_data);
}
static int imx298_apply_exposure(CameraState *s, int gain, int integ_lines, int frame_length) {
int err;
int analog_gain = min(gain, 448);
if (gain > 448) {
s->digital_gain = (512.0/(512-(gain))) / 8.0;
} else {
s->digital_gain = 1.0;
}
//printf("%5d/%5d %5d %f\n", s->cur_integ_lines, s->cur_frame_length, analog_gain, s->digital_gain);
int digital_gain = 0x100;
float white_balance[] = {0.4609375, 1.0, 0.546875};
//float white_balance[] = {1.0, 1.0, 1.0};
int digital_gain_gr = digital_gain / white_balance[1];
int digital_gain_gb = digital_gain / white_balance[1];
int digital_gain_r = digital_gain / white_balance[0];
int digital_gain_b = digital_gain / white_balance[2];
struct msm_camera_i2c_reg_array reg_array[] = {
// REG_HOLD
{0x104,0x1,0},
{0x3002,0x0,0}, // long autoexposure off
// FRM_LENGTH
{0x340, frame_length >> 8, 0}, {0x341, frame_length & 0xff, 0},
// INTEG_TIME aka coarse_int_time_addr aka shutter speed
{0x202, integ_lines >> 8, 0}, {0x203, integ_lines & 0xff,0},
// global_gain_addr
// if you assume 1x gain is 32, 448 is 14x gain, aka 2^14=16384
{0x204, analog_gain >> 8, 0}, {0x205, analog_gain & 0xff,0},
// digital gain for colors: gain_greenR, gain_red, gain_blue, gain_greenB
/*{0x20e, digital_gain_gr >> 8, 0}, {0x20f,digital_gain_gr & 0xFF,0},
{0x210, digital_gain_r >> 8, 0}, {0x211,digital_gain_r & 0xFF,0},
{0x212, digital_gain_b >> 8, 0}, {0x213,digital_gain_b & 0xFF,0},
{0x214, digital_gain_gb >> 8, 0}, {0x215,digital_gain_gb & 0xFF,0},*/
// REG_HOLD
{0x104,0x0,0},
};
err = sensor_write_regs(s, reg_array, ARRAYSIZE(reg_array), MSM_CAMERA_I2C_BYTE_DATA);
if (err != 0) {
LOGE("apply_exposure err %d", err);
}
return err;
}
static inline int ov8865_get_coarse_gain(int gain) {
static const int gains[] = {0, 256, 384, 448, 480};
int i;
for (i = 1; i < ARRAYSIZE(gains); i++) {
if (gain >= gains[i - 1] && gain < gains[i])
break;
}
return i - 1;
}
static int ov8865_apply_exposure(CameraState *s, int gain, int integ_lines, int frame_length) {
//printf("front camera: %d %d %d\n", gain, integ_lines, frame_length);
int err, gain_bitmap;
gain_bitmap = (1 << ov8865_get_coarse_gain(gain)) - 1;
integ_lines *= 16; // The exposure value in reg is in 16ths of a line
struct msm_camera_i2c_reg_array reg_array[] = {
//{0x104,0x1,0},
// FRM_LENGTH
{0x380e, frame_length >> 8, 0}, {0x380f, frame_length & 0xff, 0},
// AEC EXPO
{0x3500, integ_lines >> 16, 0}, {0x3501, integ_lines >> 8, 0}, {0x3502, integ_lines & 0xff,0},
// AEC MANUAL
{0x3503, 0x4, 0},
// AEC GAIN
{0x3508, gain_bitmap, 0}, {0x3509, 0xf8, 0},
//{0x104,0x0,0},
};
err = sensor_write_regs(s, reg_array, ARRAYSIZE(reg_array), MSM_CAMERA_I2C_BYTE_DATA);
if (err != 0) {
LOGE("apply_exposure err %d", err);
}
return err;
}
static int imx179_s5k3p8sp_apply_exposure(CameraState *s, int gain, int integ_lines, int frame_length) {
//printf("front camera: %d %d %d\n", gain, integ_lines, frame_length);
int err;
if (gain > 448) {
s->digital_gain = (512.0/(512-(gain))) / 8.0;
} else {
s->digital_gain = 1.0;
}
struct msm_camera_i2c_reg_array reg_array[] = {
{0x104,0x1,0},
// FRM_LENGTH
{0x340, frame_length >> 8, 0}, {0x341, frame_length & 0xff, 0},
// coarse_int_time
{0x202, integ_lines >> 8, 0}, {0x203, integ_lines & 0xff,0},
// global_gain
{0x204, gain >> 8, 0}, {0x205, gain & 0xff,0},
{0x104,0x0,0},
};
err = sensor_write_regs(s, reg_array, ARRAYSIZE(reg_array), MSM_CAMERA_I2C_BYTE_DATA);
if (err != 0) {
LOGE("apply_exposure err %d", err);
}
return err;
}
void cameras_init(DualCameraState *s) {
memset(s, 0, sizeof(*s));
char project_name[1024] = {0};
property_get("ro.boot.project_name", project_name, "");
char product_name[1024] = {0};
property_get("ro.product.name", product_name, "");
if (strlen(project_name) == 0) {
LOGD("LePro 3 op system detected");
s->device = DEVICE_LP3;
// sensor is flipped in LP3
// IMAGE_ORIENT = 3
init_array_imx298[0].reg_data = 3;
cameras_supported[CAMERA_ID_IMX298].bayer_flip = 3;
} else if (strcmp(product_name, "OnePlus3") == 0 && strcmp(project_name, "15811") != 0) {
// no more OP3 support
s->device = DEVICE_OP3;
assert(false);
} else if (strcmp(product_name, "OnePlus3") == 0 && strcmp(project_name, "15811") == 0) {
// only OP3T support
s->device = DEVICE_OP3T;
} else {
assert(false);
}
// 0 = ISO 100
// 256 = ISO 200
// 384 = ISO 400
// 448 = ISO 800
// 480 = ISO 1600
// 496 = ISO 3200
// 504 = ISO 6400, 8x digital gain
// 508 = ISO 12800, 16x digital gain
// 510 = ISO 25600, 32x digital gain
camera_init(&s->rear, CAMERA_ID_IMX298, 0,
/*pixel_clock=*/600000000, /*line_length_pclk=*/5536,
/*max_gain=*/510, //0 (ISO 100)- 448 (ISO 800, max analog gain) - 511 (super noisy)
#ifdef HIGH_FPS
/*fps*/60
#else
/*fps*/20
#endif
);
s->rear.apply_exposure = imx298_apply_exposure;
if (s->device == DEVICE_OP3T) {
camera_init(&s->front, CAMERA_ID_S5K3P8SP, 1,
/*pixel_clock=*/561000000, /*line_length_pclk=*/5120,
/*max_gain=*/510, 10);
s->front.apply_exposure = imx179_s5k3p8sp_apply_exposure;
} else if (s->device == DEVICE_LP3) {
camera_init(&s->front, CAMERA_ID_OV8865, 1,
/*pixel_clock=*/251200000, /*line_length_pclk=*/7000,
/*max_gain=*/510, 10);
s->front.apply_exposure = ov8865_apply_exposure;
} else {
camera_init(&s->front, CAMERA_ID_IMX179, 1,
/*pixel_clock=*/251200000, /*line_length_pclk=*/3440,
/*max_gain=*/224, 20);
s->front.apply_exposure = imx179_s5k3p8sp_apply_exposure;
}
// assume the device is upside-down (not anymore)
s->rear.transform = (mat3){{
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0,
}};
// probably wrong
s->front.transform = (mat3){{
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0,
}};
s->rear.device = s->device;
s->front.device = s->device;
}
static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {
int err = 0;
unsigned int frame_length = s->pixel_clock / s->line_length_pclk / s->fps;
unsigned int gain = s->cur_gain;
unsigned int integ_lines = s->cur_integ_lines;
if (exposure_frac >= 0) {
exposure_frac = clamp(exposure_frac, 2.0 / frame_length, 1.0);
integ_lines = frame_length * exposure_frac;
// See page 79 of the datasheet, this is the max allowed (-1 for phase adjust)
integ_lines = min(integ_lines, frame_length-11);
}
if (gain_frac >= 0) {
// ISO200 is minimum gain
gain_frac = clamp(gain_frac, 1.0/64, 1.0);
// linearize gain response
// TODO: will be wrong for front camera
// 0.125 -> 448
// 0.25 -> 480
// 0.5 -> 496
// 1.0 -> 504
// 512 - 512/(128*gain_frac)
gain = (s->max_gain/510) * (512 - 512/(256*gain_frac));
}
if (gain != s->cur_gain
|| integ_lines != s->cur_integ_lines
|| frame_length != s->cur_frame_length) {
if (s->apply_exposure) {
err = s->apply_exposure(s, gain, integ_lines, frame_length);
}
if (err == 0) {
pthread_mutex_lock(&s->frame_info_lock);
s->cur_gain = gain;
s->cur_integ_lines = integ_lines;
s->cur_frame_length = frame_length;
pthread_mutex_unlock(&s->frame_info_lock);
}
}
if (err == 0) {
s->cur_exposure_frac = exposure_frac;
s->cur_gain_frac = gain_frac;
}
//LOGD("set exposure: %f %f - %d", exposure_frac, gain_frac, err);
}
static void do_autoexposure(CameraState *s, float grey_frac) {
const float target_grey = 0.3;
float new_exposure = s->cur_exposure_frac;
new_exposure *= pow(1.05, (target_grey - grey_frac) / 0.05 );
//LOGD("diff %f: %f to %f", target_grey - grey_frac, s->cur_exposure_frac, new_exposure);
float new_gain = s->cur_gain_frac;
if (new_exposure < 0.10) {
new_gain *= 0.95;
} else if (new_exposure > 0.40) {
new_gain *= 1.05;
}
set_exposure(s, new_exposure, new_gain);
}
void camera_autoexposure(CameraState *s, float grey_frac) {
CameraMsg msg = {
.type = CAMERA_MSG_AUTOEXPOSE,
.camera_num = s->camera_num,
.grey_frac = grey_frac,
};
zmq_send(s->ops_sock, &msg, sizeof(msg), ZMQ_DONTWAIT);
}
static uint8_t* get_eeprom(int eeprom_fd, size_t *out_len) {
int err;
struct msm_eeprom_cfg_data cfg = {0};
cfg.cfgtype = CFG_EEPROM_GET_CAL_DATA;
err = ioctl(eeprom_fd, VIDIOC_MSM_EEPROM_CFG, &cfg);
assert(err >= 0);
uint32_t num_bytes = cfg.cfg.get_data.num_bytes;
assert(num_bytes > 100);
uint8_t* buffer = malloc(num_bytes);
assert(buffer);
memset(buffer, 0, num_bytes);
cfg.cfgtype = CFG_EEPROM_READ_CAL_DATA;
cfg.cfg.read_data.num_bytes = num_bytes;
cfg.cfg.read_data.dbuffer = buffer;
err = ioctl(eeprom_fd, VIDIOC_MSM_EEPROM_CFG, &cfg);
assert(err >= 0);
*out_len = num_bytes;
return buffer;
}
static void imx298_ois_calibration(int ois_fd, uint8_t* eeprom) {
int err;
const int ois_registers[][2] = {
// == SET_FADJ_PARAM() == (factory adjustment)
// Set Hall Current DAC
{0x8230, *(uint16_t*)(eeprom+0x102)}, //_P_30_ADC_CH0 (CURDAT)
// Set Hall PreAmp Offset
{0x8231, *(uint16_t*)(eeprom+0x104)}, //_P_31_ADC_CH1 (HALOFS_X)
{0x8232, *(uint16_t*)(eeprom+0x106)}, //_P_32_ADC_CH2 (HALOFS_Y)
// Set Hall-X/Y PostAmp Offset
{0x841e, *(uint16_t*)(eeprom+0x108)}, //_M_X_H_ofs
{0x849e, *(uint16_t*)(eeprom+0x10a)}, //_M_Y_H_ofs
// Set Residual Offset
{0x8239, *(uint16_t*)(eeprom+0x10c)}, //_P_39_Ch3_VAL_1 (PSTXOF)
{0x823b, *(uint16_t*)(eeprom+0x10e)}, //_P_3B_Ch3_VAL_3 (PSTYOF)
// DIGITAL GYRO OFFSET
{0x8406, *(uint16_t*)(eeprom+0x110)}, //_M_Kgx00
{0x8486, *(uint16_t*)(eeprom+0x112)}, //_M_Kgy00
{0x846a, *(uint16_t*)(eeprom+0x120)}, //_M_TMP_X_
{0x846b, *(uint16_t*)(eeprom+0x122)}, //_M_TMP_Y_
// HALLSENSE
// Set Hall Gain
{0x8446, *(uint16_t*)(eeprom+0x114)}, //_M_KgxHG
{0x84c6, *(uint16_t*)(eeprom+0x116)}, //_M_KgyHG
// Set Cross Talk Canceller
{0x8470, *(uint16_t*)(eeprom+0x124)}, //_M_KgxH0
{0x8472, *(uint16_t*)(eeprom+0x126)}, //_M_KgyH0
// LOOPGAIN
{0x840f, *(uint16_t*)(eeprom+0x118)}, //_M_KgxG
{0x848f, *(uint16_t*)(eeprom+0x11a)}, //_M_KgyG
// Position Servo ON ( OIS OFF )
{0x847f, 0x0c0c}, //_M_EQCTL
};
struct msm_ois_cfg_data cfg = {0};
struct msm_camera_i2c_seq_reg_array ois_reg_settings[ARRAYSIZE(ois_registers)] = {{0}};
for (int i=0; i<ARRAYSIZE(ois_registers); i++) {
ois_reg_settings[i].reg_addr = ois_registers[i][0];
ois_reg_settings[i].reg_data[0] = ois_registers[i][1] & 0xff;
ois_reg_settings[i].reg_data[1] = (ois_registers[i][1] >> 8) & 0xff;
ois_reg_settings[i].reg_data_size = 2;
}
struct msm_camera_i2c_seq_reg_setting ois_reg_setting = {
.reg_setting = &ois_reg_settings[0],
.size = ARRAYSIZE(ois_reg_settings),
.addr_type = MSM_CAMERA_I2C_WORD_ADDR,
.delay = 0,
};
cfg.cfgtype = CFG_OIS_I2C_WRITE_SEQ_TABLE;
cfg.cfg.settings = &ois_reg_setting;
err = ioctl(ois_fd, VIDIOC_MSM_OIS_CFG, &cfg);
LOG("ois reg calibration: %d", err);
}
static void sensors_init(DualCameraState *s) {
int err;
int sensorinit_fd = -1;
if (s->device == DEVICE_LP3) {
sensorinit_fd = open("/dev/v4l-subdev11", O_RDWR | O_NONBLOCK);
} else {
sensorinit_fd = open("/dev/v4l-subdev12", O_RDWR | O_NONBLOCK);
}
assert(sensorinit_fd >= 0);
struct sensor_init_cfg_data sensor_init_cfg = {0};
// init rear sensor
struct msm_camera_sensor_slave_info slave_info = {0};
if (s->device == DEVICE_LP3) {
slave_info = (struct msm_camera_sensor_slave_info){
.sensor_name = "imx298",
.eeprom_name = "sony_imx298",
.actuator_name = "dw9800w",
.ois_name = "",
.flash_name = "pmic",
.camera_id = 0,
.slave_addr = 32,
.i2c_freq_mode = 1,
.addr_type = 2,
.sensor_id_info = {
.sensor_id_reg_addr = 22,
.sensor_id = 664,
.sensor_id_mask = 0,
.module_id = 9,
.vcm_id = 6,
},
.power_setting_array = {
.power_setting_a = {
{
.seq_type = 1,
.seq_val = 0,
.config_val = 0,
.delay = 1,
},{
.seq_type = 2,
.seq_val = 2,
.config_val = 0,
.delay = 0,
},{
.seq_type = 1,
.seq_val = 5,
.config_val = 2,
.delay = 0,
},{
.seq_type = 2,
.seq_val = 1,
.config_val = 0,
.delay = 0,
},{
.seq_type = 2,
.seq_val = 3,
.config_val = 0,
.delay = 1,
},{
.seq_type = 0,
.seq_val = 0,
.config_val = 24000000,
.delay = 1,
},{
.seq_type = 1,
.seq_val = 0,
.config_val = 2,
.delay = 10,
},
},
.size = 7,
.power_down_setting_a = {
{
.seq_type = 0,
.seq_val = 0,
.config_val = 0,
.delay = 1,
},{
.seq_type = 1,
.seq_val = 0,
.config_val = 0,
.delay = 1,
},{
.seq_type = 2,
.seq_val = 1,
.config_val = 0,
.delay = 0,
},{
.seq_type = 1,
.seq_val = 5,
.config_val = 0,
.delay = 0,
},{
.seq_type = 2,
.seq_val = 2,
.config_val = 0,
.delay = 0,
},{
.seq_type = 2,
.seq_val = 3,
.config_val = 0,
.delay = 1,
},
},
.size_down = 6,
},
.is_init_params_valid = 0,
.sensor_init_params = {
.modes_supported = 1,
.position = 0,
.sensor_mount_angle = 90,
},
.output_format = 0,
};
} else {
slave_info = (struct msm_camera_sensor_slave_info){
.sensor_name = "imx298",
.eeprom_name = "sony_imx298",
.actuator_name = "rohm_bu63165gwl",
.ois_name = "rohm_bu63165gwl",
.camera_id = 0,
.slave_addr = 52,
.i2c_freq_mode = 2,
.addr_type = 2,
.sensor_id_info = {
.sensor_id_reg_addr = 22,
.sensor_id = 664,
.sensor_id_mask = 0,
},
.power_setting_array = {
.power_setting_a = {
{
.seq_type = 1,
.seq_val = 0,
.config_val = 0,
.delay = 2,
},{
.seq_type = 2,
.seq_val = 2,
.config_val = 0,
.delay = 2,
},{
.seq_type = 2,
.seq_val = 0,
.config_val = 0,
.delay = 2,
},{
.seq_type = 2,
.seq_val = 1,
.config_val = 0,
.delay = 2,
},{
.seq_type = 1,
.seq_val = 6,
.config_val = 2,
.delay = 0,
},{
.seq_type = 2,
.seq_val = 3,
.config_val = 0,
.delay = 5,
},{
.seq_type = 2,
.seq_val = 4,
.config_val = 0,
.delay = 5,
},{
.seq_type = 0,
.seq_val = 0,
.config_val = 24000000,
.delay = 2,
},{
.seq_type = 1,
.seq_val = 0,
.config_val = 2,
.delay = 2,
},
},
.size = 9,
.power_down_setting_a = {
{
.seq_type = 1,
.seq_val = 0,
.config_val = 0,
.delay = 10,
},{
.seq_type = 0,
.seq_val = 0,
.config_val = 0,
.delay = 1,
},{
.seq_type = 2,
.seq_val = 4,
.config_val = 0,
.delay = 0,
},{
.seq_type = 2,
.seq_val = 3,
.config_val = 0,
.delay = 1,
},{
.seq_type = 1,
.seq_val = 6,
.config_val = 0,
.delay = 0,
},{
.seq_type = 2,
.seq_val = 1,
.config_val = 0,
.delay = 0,
},{
.seq_type = 2,
.seq_val = 0,
.config_val = 0,
.delay = 0,
},{
.seq_type = 2,
.seq_val = 2,
.config_val = 0,
.delay = 0,
},
},
.size_down = 8,
},
.is_init_params_valid = 0,
.sensor_init_params = {
.modes_supported = 1,
.position = 0,
.sensor_mount_angle = 360,
},
.output_format = 0,
};
}
slave_info.power_setting_array.power_setting =
(struct msm_sensor_power_setting *)&slave_info.power_setting_array.power_setting_a[0];
slave_info.power_setting_array.power_down_setting =
(struct msm_sensor_power_setting *)&slave_info.power_setting_array.power_down_setting_a[0];
sensor_init_cfg.cfgtype = CFG_SINIT_PROBE;
sensor_init_cfg.cfg.setting = &slave_info;
err = ioctl(sensorinit_fd, VIDIOC_MSM_SENSOR_INIT_CFG, &sensor_init_cfg);
LOG("sensor init cfg (rear): %d", err);
assert(err >= 0);
struct msm_camera_sensor_slave_info slave_info2 = {0};
if (s->device == DEVICE_LP3) {
slave_info2 = (struct msm_camera_sensor_slave_info){
.sensor_name = "ov8865_sunny",
.eeprom_name = "ov8865_plus",
.actuator_name = "",
.ois_name = "",
.flash_name = "",
.camera_id = 2,
.slave_addr = 108,
.i2c_freq_mode = 1,
.addr_type = 2,
.sensor_id_info = {
.sensor_id_reg_addr = 12299,
.sensor_id = 34917,
.sensor_id_mask = 0,
.module_id = 2,
.vcm_id = 0,
},
.power_setting_array = {
.power_setting_a = {
{
.seq_type = 1,
.seq_val = 0,
.config_val = 0,
.delay = 5,
},{
.seq_type = 2,
.seq_val = 1,
.config_val = 0,
.delay = 0,
},{
.seq_type = 2,
.seq_val = 2,
.config_val = 0,
.delay = 0,
},{
.seq_type = 2,
.seq_val = 0,
.config_val = 0,
.delay = 0,
},{
.seq_type = 0,
.seq_val = 0,
.config_val = 24000000,
.delay = 1,
},{
.seq_type = 1,
.seq_val = 0,
.config_val = 2,
.delay = 1,
},
},
.size = 6,
.power_down_setting_a = {
{
.seq_type = 1,
.seq_val = 0,
.config_val = 0,
.delay = 5,
},{
.seq_type = 0,
.seq_val = 0,
.config_val = 0,
.delay = 1,
},{
.seq_type = 2,
.seq_val = 0,
.config_val = 0,
.delay = 0,
},{
.seq_type = 2,
.seq_val = 1,
.config_val = 0,
.delay = 0,
},{
.seq_type = 2,
.seq_val = 2,
.config_val = 0,
.delay = 1,
},
},
.size_down = 5,
},
.is_init_params_valid = 0,
.sensor_init_params = {
.modes_supported = 1,
.position = 1,
.sensor_mount_angle = 270,
},
.output_format = 0,
};
} else if (s->front.camera_id == CAMERA_ID_S5K3P8SP) {
// init front camera
slave_info2 = (struct msm_camera_sensor_slave_info){
.sensor_name = "s5k3p8sp",
.eeprom_name = "s5k3p8sp_m24c64s",
.actuator_name = "",
.ois_name = "",
.camera_id = 1,
.slave_addr = 32,
.i2c_freq_mode = 1,
.addr_type = 2,
.sensor_id_info = {
.sensor_id_reg_addr = 0,
.sensor_id = 12552,
.sensor_id_mask = 0,
},
.power_setting_array = {
.power_setting_a = {
{
.seq_type = 1,
.seq_val = 0,
.config_val = 0,
.delay = 1,
},{
.seq_type = 2,
.seq_val = 2,
.config_val = 0,
.delay = 1,
},{
.seq_type = 2,
.seq_val = 1,
.config_val = 0,
.delay = 1,
},{
.seq_type = 2,
.seq_val = 0,
.config_val = 0,
.delay = 1,
},{
.seq_type = 0,
.seq_val = 0,
.config_val = 24000000,
.delay = 1,
},{
.seq_type = 1,
.seq_val = 0,
.config_val = 2,
.delay = 1,
},
},
.size = 6,
.power_down_setting_a = {
{
.seq_type = 0,
.seq_val = 0,
.config_val = 0,
.delay = 1,
},{
.seq_type = 1,
.seq_val = 0,
.config_val = 0,
.delay = 1,
},{
.seq_type = 2,
.seq_val = 0,
.config_val = 0,
.delay = 1,
},{
.seq_type = 2,
.seq_val = 1,
.config_val = 0,
.delay = 1,
},{
.seq_type = 2,
.seq_val = 2,
.config_val = 0,
.delay = 1,
},
},
.size_down = 5,
},
.is_init_params_valid = 0,
.sensor_init_params = {
.modes_supported = 1,
.position = 1,
.sensor_mount_angle = 270,
},
.output_format = 0,
};
} else {
// init front camera
slave_info2 = (struct msm_camera_sensor_slave_info){
.sensor_name = "imx179",
.eeprom_name = "sony_imx179",
.actuator_name = "",
.ois_name = "",
.camera_id = 1,
.slave_addr = 32,
.i2c_freq_mode = 1,
.addr_type = 2,
.sensor_id_info = {
.sensor_id_reg_addr = 2,
.sensor_id = 377,
.sensor_id_mask = 4095,
},
.power_setting_array = {
.power_setting_a = {
{
.seq_type = 2,
.seq_val = 2,
.config_val = 0,
.delay = 0,
},{
.seq_type = 2,
.seq_val = 1,
.config_val = 0,
.delay = 0,
},{
.seq_type = 2,
.seq_val = 0,
.config_val = 0,
.delay = 0,
},{
.seq_type = 1,
.seq_val = 0,
.config_val = 2,
.delay = 0,
},{
.seq_type = 0,
.seq_val = 0,
.config_val = 24000000,
.delay = 0,
},
},
.size = 5,
.power_down_setting_a = {
{
.seq_type = 0,
.seq_val = 0,
.config_val = 0,
.delay = 0,
},{
.seq_type = 1,
.seq_val = 0,
.config_val = 0,
.delay = 1,
},{
.seq_type = 2,
.seq_val = 0,
.config_val = 0,
.delay = 2,
},{
.seq_type = 2,
.seq_val = 1,
.config_val = 0,
.delay = 0,
},{
.seq_type = 2,
.seq_val = 2,
.config_val = 0,
.delay = 0,
},
},
.size_down = 5,
},
.is_init_params_valid = 0,
.sensor_init_params = {
.modes_supported = 1,
.position = 1,
.sensor_mount_angle = 270,
},
.output_format = 0,
};
}
slave_info2.power_setting_array.power_setting =
(struct msm_sensor_power_setting *)&slave_info2.power_setting_array.power_setting_a[0];
slave_info2.power_setting_array.power_down_setting =
(struct msm_sensor_power_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 (front): %d", err);
assert(err >= 0);
}
static void camera_open(CameraState *s, bool rear) {
int err;
struct sensorb_cfg_data sensorb_cfg_data = {0};
struct csid_cfg_data csid_cfg_data = {0};
struct csiphy_cfg_data csiphy_cfg_data = {0};
struct msm_camera_csiphy_params csiphy_params = {0};
struct msm_camera_csid_params csid_params = {0};
struct msm_vfe_input_cfg input_cfg = {0};
struct msm_vfe_axi_stream_update_cmd update_cmd = {0};
struct v4l2_event_subscription sub = {0};
struct ispif_cfg_data ispif_cfg_data = {0};
struct msm_vfe_cfg_cmd_list cfg_cmd_list = {0};
struct msm_actuator_cfg_data actuator_cfg_data = {0};
struct msm_ois_cfg_data ois_cfg_data = {0};
// open devices
char *sensor_dev;
if (rear) {
s->csid_fd = open("/dev/v4l-subdev3", O_RDWR | O_NONBLOCK);
assert(s->csid_fd >= 0);
s->csiphy_fd = open("/dev/v4l-subdev0", O_RDWR | O_NONBLOCK);
assert(s->csiphy_fd >= 0);
if (s->device == DEVICE_LP3) {
sensor_dev = "/dev/v4l-subdev17";
} else {
sensor_dev = "/dev/v4l-subdev18";
}
if (s->device == DEVICE_LP3) {
s->isp_fd = open("/dev/v4l-subdev13", O_RDWR | O_NONBLOCK);
} else {
s->isp_fd = open("/dev/v4l-subdev14", O_RDWR | O_NONBLOCK);
}
assert(s->isp_fd >= 0);
s->eeprom_fd = open("/dev/v4l-subdev8", O_RDWR | O_NONBLOCK);
assert(s->eeprom_fd >= 0);
s->actuator_fd = open("/dev/v4l-subdev7", O_RDWR | O_NONBLOCK);
assert(s->actuator_fd >= 0);
if (s->device != DEVICE_LP3) {
s->ois_fd = open("/dev/v4l-subdev10", O_RDWR | O_NONBLOCK);
assert(s->ois_fd >= 0);
}
} else {
s->csid_fd = open("/dev/v4l-subdev5", O_RDWR | O_NONBLOCK);
assert(s->csid_fd >= 0);
s->csiphy_fd = open("/dev/v4l-subdev2", O_RDWR | O_NONBLOCK);
assert(s->csiphy_fd >= 0);
if (s->device == DEVICE_LP3) {
sensor_dev = "/dev/v4l-subdev18";
} else {
sensor_dev = "/dev/v4l-subdev19";
}
if (s->device == DEVICE_LP3) {
s->isp_fd = open("/dev/v4l-subdev14", O_RDWR | O_NONBLOCK);
} else {
s->isp_fd = open("/dev/v4l-subdev15", O_RDWR | O_NONBLOCK);
}
assert(s->isp_fd >= 0);
s->eeprom_fd = open("/dev/v4l-subdev9", O_RDWR | O_NONBLOCK);
assert(s->eeprom_fd >= 0);
}
// wait for sensor device
// on first startup, these devices aren't present yet
for (int i = 0; i < 10; i++) {
s->sensor_fd = open(sensor_dev, O_RDWR | O_NONBLOCK);
if (s->sensor_fd >= 0) break;
LOGW("waiting for sensors...");
sleep(1);
}
assert(s->sensor_fd >= 0);
// *** SHUTDOWN ALL ***
// CSIPHY: release csiphy
struct msm_camera_csi_lane_params csi_lane_params = {0};
csi_lane_params.csi_lane_mask = 0x1f;
csiphy_cfg_data.cfg.csi_lane_params = &csi_lane_params;
csiphy_cfg_data.cfgtype = CSIPHY_RELEASE;
err = ioctl(s->csiphy_fd, VIDIOC_MSM_CSIPHY_IO_CFG, &csiphy_cfg_data);
LOG("release csiphy: %d", err);
// 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);
// SENSOR: send power down
memset(&sensorb_cfg_data, 0, sizeof(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);
if (rear && s->device != DEVICE_LP3) {
// ois powerdown
ois_cfg_data.cfgtype = CFG_OIS_POWERDOWN;
err = ioctl(s->ois_fd, VIDIOC_MSM_OIS_CFG, &ois_cfg_data);
LOG("ois powerdown: %d", err);
}
// 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);
// reset isp
// struct msm_vfe_axi_halt_cmd halt_cmd = {
// .stop_camif = 1,
// .overflow_detected = 1,
// .blocking_halt = 1,
// };
// err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_AXI_HALT, &halt_cmd);
// printf("axi halt: %d\n", err);
// struct msm_vfe_axi_reset_cmd reset_cmd = {
// .blocking = 1,
// .frame_id = 1,
// };
// err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_AXI_RESET, &reset_cmd);
// printf("axi reset: %d\n", err);
// struct msm_vfe_axi_restart_cmd restart_cmd = {
// .enable_camif = 1,
// };
// err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_AXI_RESTART, &restart_cmd);
// printf("axi restart: %d\n", err);
// **** GO GO GO ****
LOG("******************** GO GO GO ************************");
s->eeprom = get_eeprom(s->eeprom_fd, &s->eeprom_size);
// printf("eeprom:\n");
// for (int i=0; i<s->eeprom_size; i++) {
// printf("%02x", s->eeprom[i]);
// }
// printf("\n");
// 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);
// CSIPHY: init csiphy
memset(&csiphy_cfg_data, 0, sizeof(csiphy_cfg_data));
csiphy_cfg_data.cfgtype = CSIPHY_INIT;
err = ioctl(s->csiphy_fd, VIDIOC_MSM_CSIPHY_IO_CFG, &csiphy_cfg_data);
LOG("init csiphy: %d", err);
// SENSOR: stop stream
struct msm_camera_i2c_reg_setting stop_settings = {
.reg_setting = stop_reg_array,
.size = ARRAYSIZE(stop_reg_array),
.addr_type = MSM_CAMERA_I2C_WORD_ADDR,
.data_type = MSM_CAMERA_I2C_BYTE_DATA,
.delay = 0
};
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);
// SENSOR: send power up
memset(&sensorb_cfg_data, 0, sizeof(sensorb_cfg_data));
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);
// **** configure the sensor ****
// SENSOR: send i2c configuration
if (s->camera_id == CAMERA_ID_IMX298) {
err = sensor_write_regs(s, init_array_imx298, ARRAYSIZE(init_array_imx298), MSM_CAMERA_I2C_BYTE_DATA);
} else if (s->camera_id == CAMERA_ID_S5K3P8SP) {
err = sensor_write_regs(s, init_array_s5k3p8sp, ARRAYSIZE(init_array_s5k3p8sp), MSM_CAMERA_I2C_WORD_DATA);
} else if (s->camera_id == CAMERA_ID_IMX179) {
err = sensor_write_regs(s, init_array_imx179, ARRAYSIZE(init_array_imx179), MSM_CAMERA_I2C_BYTE_DATA);
} else if (s->camera_id == CAMERA_ID_OV8865) {
err = sensor_write_regs(s, init_array_ov8865, ARRAYSIZE(init_array_ov8865), MSM_CAMERA_I2C_BYTE_DATA);
} else {
assert(false);
}
LOG("sensor init i2c: %d", err);
if (rear) {
// 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);
actuator_cfg_data.cfgtype = CFG_ACTUATOR_INIT;
err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
LOG("actuator init: %d", err);
// no OIS in LP3
if (s->device != DEVICE_LP3) {
// see sony_imx298_eeprom_format_afdata in libmmcamera_sony_imx298_eeprom.so
const float far_margin = -0.28;
uint16_t macro_dac = *(uint16_t*)(s->eeprom + 0x24);
s->infinity_dac = *(uint16_t*)(s->eeprom + 0x26);
LOG("macro_dac: %d infinity_dac: %d", macro_dac, s->infinity_dac);
int dac_range = macro_dac - s->infinity_dac;
s->infinity_dac += far_margin * dac_range;
LOG(" -> macro_dac: %d infinity_dac: %d", macro_dac, s->infinity_dac);
struct msm_actuator_reg_params_t actuator_reg_params[] = {
{
.reg_write_type = MSM_ACTUATOR_WRITE_DAC,
.hw_mask = 0,
.reg_addr = 240,
.hw_shift = 0,
.data_type = 10,
.addr_type = 4,
.reg_data = 0,
.delay = 0,
}, {
.reg_write_type = MSM_ACTUATOR_WRITE_DAC,
.hw_mask = 0,
.reg_addr = 241,
.hw_shift = 0,
.data_type = 10,
.addr_type = 4,
.reg_data = 0,
.delay = 0,
}, {
.reg_write_type = MSM_ACTUATOR_WRITE_DAC,
.hw_mask = 0,
.reg_addr = 242,
.hw_shift = 0,
.data_type = 10,
.addr_type = 4,
.reg_data = 0,
.delay = 0,
}, {
.reg_write_type = MSM_ACTUATOR_WRITE_DAC,
.hw_mask = 0,
.reg_addr = 243,
.hw_shift = 0,
.data_type = 10,
.addr_type = 4,
.reg_data = 0,
.delay = 0,
},
};
//...
struct reg_settings_t actuator_init_settings[1] = {0};
struct region_params_t region_params[] = {
{
.step_bound = {512, 0,},
.code_per_step = 118,
.qvalue = 128,
},
};
actuator_cfg_data.cfgtype = CFG_SET_ACTUATOR_INFO;
actuator_cfg_data.cfg.set_info = (struct msm_actuator_set_info_t){
.actuator_params = {
.act_type = ACTUATOR_VCM,
.reg_tbl_size = 4,
.data_size = 10,
.init_setting_size = 0,
.i2c_freq_mode = I2C_CUSTOM_MODE,
.i2c_addr = 28,
.i2c_addr_type = MSM_ACTUATOR_BYTE_ADDR,
.i2c_data_type = MSM_ACTUATOR_BYTE_DATA,
.reg_tbl_params = &actuator_reg_params[0],
.init_settings = &actuator_init_settings[0],
.park_lens = {
.damping_step = 1023,
.damping_delay = 15000,
.hw_params = 58404,
.max_step = 20,
}
},
.af_tuning_params = {
.initial_code = s->infinity_dac,
.pwd_step = 0,
.region_size = 1,
.total_steps = 512,
.region_params = &region_params[0],
},
};
err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
LOG("actuator set info: %d", err);
// power up ois
ois_cfg_data.cfgtype = CFG_OIS_POWERUP;
err = ioctl(s->ois_fd, VIDIOC_MSM_OIS_CFG, &ois_cfg_data);
LOG("ois powerup: %d", err);
ois_cfg_data.cfgtype = CFG_OIS_INIT;
err = ioctl(s->ois_fd, VIDIOC_MSM_OIS_CFG, &ois_cfg_data);
LOG("ois init: %d", err);
ois_cfg_data.cfgtype = CFG_OIS_CONTROL;
ois_cfg_data.cfg.set_info.ois_params = (struct msm_ois_params_t){
// .data_size = 26312,
.setting_size = 120,
.i2c_addr = 28,
.i2c_freq_mode = I2C_CUSTOM_MODE,
// .i2c_addr_type = wtf
// .i2c_data_type = wtf
.settings = &ois_init_settings[0],
};
err = ioctl(s->ois_fd, VIDIOC_MSM_OIS_CFG, &ois_cfg_data);
LOG("ois init settings: %d", err);
} else {
// leeco actuator
// from sniff
s->infinity_dac = 364;
struct msm_actuator_reg_params_t actuator_reg_params[] = {
{
.reg_write_type = MSM_ACTUATOR_WRITE_DAC,
.hw_mask = 0,
.reg_addr = 3,
.hw_shift = 0,
.data_type = 9,
.addr_type = 4,
.reg_data = 0,
.delay = 0,
},
};
struct reg_settings_t actuator_init_settings[] = {
{ .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=1, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 },
{ .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=0, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 2 },
{ .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=2, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 2 },
{ .reg_addr=6, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=64, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 },
{ .reg_addr=7, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=113, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 },
};
struct region_params_t region_params[] = {
{
.step_bound = {238, 0,},
.code_per_step = 235,
.qvalue = 128,
},
};
actuator_cfg_data.cfgtype = CFG_SET_ACTUATOR_INFO;
actuator_cfg_data.cfg.set_info = (struct msm_actuator_set_info_t){
.actuator_params = {
.act_type = ACTUATOR_BIVCM,
.reg_tbl_size = 1,
.data_size = 10,
.init_setting_size = 5,
.i2c_freq_mode = I2C_STANDARD_MODE,
.i2c_addr = 24,
.i2c_addr_type = MSM_ACTUATOR_BYTE_ADDR,
.i2c_data_type = MSM_ACTUATOR_WORD_DATA,
.reg_tbl_params = &actuator_reg_params[0],
.init_settings = &actuator_init_settings[0],
.park_lens = {
.damping_step = 1023,
.damping_delay = 14000,
.hw_params = 11,
.max_step = 20,
}
},
.af_tuning_params = {
.initial_code = s->infinity_dac,
.pwd_step = 0,
.region_size = 1,
.total_steps = 238,
.region_params = &region_params[0],
},
};
err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
LOG("actuator set info: %d", err);
}
}
if (s->camera_id == CAMERA_ID_IMX298) {
err = sensor_write_regs(s, mode_setting_array_imx298, ARRAYSIZE(mode_setting_array_imx298), MSM_CAMERA_I2C_BYTE_DATA);
LOG("sensor setup: %d", err);
}
// CSIPHY: configure csiphy
if (s->camera_id == CAMERA_ID_IMX298) {
csiphy_params.lane_cnt = 4;
csiphy_params.settle_cnt = 14;
csiphy_params.lane_mask = 0x1f;
csiphy_params.csid_core = 0;
} else if (s->camera_id == CAMERA_ID_S5K3P8SP) {
csiphy_params.lane_cnt = 4;
csiphy_params.settle_cnt = 24;
csiphy_params.lane_mask = 0x1f;
csiphy_params.csid_core = 0;
} else if (s->camera_id == CAMERA_ID_IMX179) {
csiphy_params.lane_cnt = 4;
csiphy_params.settle_cnt = 11;
csiphy_params.lane_mask = 0x1f;
csiphy_params.csid_core = 2;
} else if (s->camera_id == CAMERA_ID_OV8865) {
// guess!
csiphy_params.lane_cnt = 4;
csiphy_params.settle_cnt = 24;
csiphy_params.lane_mask = 0x1f;
csiphy_params.csid_core = 2;
}
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);
// CSID: configure csid
csid_params.lane_cnt = 4;
csid_params.lane_assign = 0x4320;
if (rear) {
csid_params.phy_sel = 0;
} else {
csid_params.phy_sel = 2;
}
csid_params.lut_params.num_cid = rear ? 3 : 1;
#define CSI_STATS 0x35
#define CSI_PD 0x36
csid_params.lut_params.vc_cfg_a[0].cid = 0;
csid_params.lut_params.vc_cfg_a[0].dt = CSI_RAW10;
csid_params.lut_params.vc_cfg_a[0].decode_format = CSI_DECODE_10BIT;
csid_params.lut_params.vc_cfg_a[1].cid = 1;
csid_params.lut_params.vc_cfg_a[1].dt = CSI_PD;
csid_params.lut_params.vc_cfg_a[1].decode_format = CSI_DECODE_10BIT;
csid_params.lut_params.vc_cfg_a[2].cid = 2;
csid_params.lut_params.vc_cfg_a[2].dt = CSI_STATS;
csid_params.lut_params.vc_cfg_a[2].decode_format = CSI_DECODE_10BIT;
csid_params.lut_params.vc_cfg[0] = &csid_params.lut_params.vc_cfg_a[0];
csid_params.lut_params.vc_cfg[1] = &csid_params.lut_params.vc_cfg_a[1];
csid_params.lut_params.vc_cfg[2] = &csid_params.lut_params.vc_cfg_a[2];
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);
// ISP: SMMU_ATTACH
struct 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);
// ******************* STREAM RAW *****************************
// configure QMET input
for (int i = 0; i < (rear ? 3 : 1); i++) {
StreamState *ss = &s->ss[i];
memset(&input_cfg, 0, sizeof(struct msm_vfe_input_cfg));
input_cfg.input_src = VFE_RAW_0+i;
input_cfg.input_pix_clk = s->pixel_clock;
input_cfg.d.rdi_cfg.cid = i;
input_cfg.d.rdi_cfg.frame_based = 1;
err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_INPUT_CFG, &input_cfg);
LOG("configure input(%d): %d", i, err);
// ISP: REQUEST_STREAM
ss->stream_req.axi_stream_handle = 0;
if (rear) {
ss->stream_req.session_id = 2;
ss->stream_req.stream_id = /*ISP_META_CHANNEL_BIT | */ISP_NATIVE_BUF_BIT | (1+i);
} else {
ss->stream_req.session_id = 3;
ss->stream_req.stream_id = ISP_NATIVE_BUF_BIT | 1;
}
if (i == 0) {
ss->stream_req.output_format = v4l2_fourcc('R', 'G', '1', '0');
} else {
ss->stream_req.output_format = v4l2_fourcc('Q', 'M', 'E', 'T');
}
ss->stream_req.stream_src = RDI_INTF_0+i;
#ifdef HIGH_FPS
if (rear) {
ss->stream_req.frame_skip_pattern = EVERY_3FRAME;
}
#endif
ss->stream_req.frame_base = 1;
ss->stream_req.buf_divert = 1; //i == 0;
// setup stream plane. doesn't even matter?
/*s->stream_req.plane_cfg[0].output_plane_format = Y_PLANE;
s->stream_req.plane_cfg[0].output_width = s->ci.frame_width;
s->stream_req.plane_cfg[0].output_height = s->ci.frame_height;
s->stream_req.plane_cfg[0].output_stride = s->ci.frame_width;
s->stream_req.plane_cfg[0].output_scan_lines = s->ci.frame_height;
s->stream_req.plane_cfg[0].rdi_cid = 0;*/
err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_REQUEST_STREAM, &ss->stream_req);
LOG("isp request stream: %d -> 0x%x", err, ss->stream_req.axi_stream_handle);
// ISP: REQUEST_BUF
ss->buf_request.session_id = ss->stream_req.session_id;
ss->buf_request.stream_id = ss->stream_req.stream_id;
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);
LOG("got buf handle: 0x%x", ss->buf_request.handle);
// ENQUEUE all buffers
for (int j = 0; j < ss->buf_request.num_buf; j++) {
ss->qbuf_info[j].handle = ss->buf_request.handle;
ss->qbuf_info[j].buf_idx = j;
ss->qbuf_info[j].buffer.num_planes = 1;
ss->qbuf_info[j].buffer.planes[0].addr = ss->bufs[j].fd;
ss->qbuf_info[j].buffer.planes[0].length = ss->bufs[j].len;
err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_ENQUEUE_BUF, &ss->qbuf_info[j]);
}
// ISP: UPDATE_STREAM
update_cmd.num_streams = 1;
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);
}
LOG("******** START STREAMS ********");
sub.id = 0;
sub.type = 0x1ff;
err = ioctl(s->isp_fd, VIDIOC_SUBSCRIBE_EVENT, &sub);
LOG("isp subscribe: %d", err);
// ISP: START_STREAM
s->stream_cfg.cmd = START_STREAM;
s->stream_cfg.num_streams = rear ? 3 : 1;
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);
}
static struct damping_params_t actuator_ringing_params = {
.damping_step = 1023,
.damping_delay = 15000,
.hw_params = 0x0000e422,
};
static void rear_start(CameraState *s) {
int err;
struct msm_actuator_cfg_data actuator_cfg_data = {0};
set_exposure(s, 1.0, 1.0);
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;
if (s->device != DEVICE_LP3) {
imx298_ois_calibration(s->ois_fd, s->eeprom);
inf_step = 332 - s->infinity_dac;
// initial guess
s->lens_true_pos = 300;
} else {
// default is OP3, this is for LeEco
actuator_ringing_params.damping_step = 1023;
actuator_ringing_params.damping_delay = 20000;
actuator_ringing_params.hw_params = 13;
inf_step = 512 - s->infinity_dac;
// initial guess
s->lens_true_pos = 400;
}
// reset lens position
memset(&actuator_cfg_data, 0, sizeof(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 = (s->device != DEVICE_LP3) ? 0x0000e424 : 7,
.pos = {s->infinity_dac, 0},
.delay = {0,}
};
err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
LOG("actuator set pos: %d", err);
// TODO: confirm this isn't needed
/*memset(&actuator_cfg_data, 0, sizeof(actuator_cfg_data));
actuator_cfg_data.cfgtype = CFG_MOVE_FOCUS;
actuator_cfg_data.cfg.move = (struct msm_actuator_move_params_t){
.dir = 0,
.sign_dir = 1,
.dest_step_pos = inf_step,
.num_steps = inf_step,
.curr_lens_pos = 0,
.ringing_params = &actuator_ringing_params,
};
err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data); // should be ~332 at startup ?
LOG("init actuator move focus: %d", err);*/
//actuator_cfg_data.cfg.move.curr_lens_pos;
s->cur_lens_pos = 0;
s->cur_step_pos = inf_step;
actuator_move(s, s->cur_lens_pos);
LOG("init lens pos: %d", s->cur_lens_pos);
}
void actuator_move(CameraState *s, uint16_t target) {
int err;
int step = target - s->cur_lens_pos;
// LP3 moves only on even positions. TODO: use proper sensor params
if (s->device == DEVICE_LP3) {
step /= 2;
}
int dest_step_pos = s->cur_step_pos + step;
dest_step_pos = clamp(dest_step_pos, 0, 255);
struct msm_actuator_cfg_data actuator_cfg_data = {0};
actuator_cfg_data.cfgtype = CFG_MOVE_FOCUS;
actuator_cfg_data.cfg.move = (struct msm_actuator_move_params_t){
.dir = (step > 0) ? 0 : 1,
.sign_dir = (step > 0) ? 1 : -1,
.dest_step_pos = dest_step_pos,
.num_steps = abs(step),
.curr_lens_pos = s->cur_lens_pos,
.ringing_params = &actuator_ringing_params,
};
err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
//LOGD("actuator move focus: %d", err);
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);
}
static void parse_autofocus(CameraState *s, uint8_t *d) {
int good_count = 0;
int16_t max_focus = -32767;
int avg_focus = 0;
/*printf("FOCUS: ");
for (int i = 0; i < 0x10; i++) {
printf("%2.2X ", d[i]);
}*/
for (int i = 0; i < NUM_FOCUS; i++) {
int doff = i*5+5;
s->confidence[i] = d[doff];
int16_t focus_t = (d[doff+1] << 3) | (d[doff+2] >> 5);
if (focus_t >= 1024) focus_t = -(2048-focus_t);
s->focus[i] = focus_t;
//printf("%x->%d ", d[doff], focus_t);
if (s->confidence[i] > 0x20) {
good_count++;
max_focus = max(max_focus, s->focus[i]);
avg_focus += s->focus[i];
}
}
//printf("\n");
if (good_count < 4) {
s->focus_err = nan("");
return;
}
avg_focus /= good_count;
// outlier rejection
if (abs(avg_focus - max_focus) > 200) {
s->focus_err = nan("");
return;
}
s->focus_err = max_focus*1.0;
}
static void do_autofocus(CameraState *s) {
// params for focus PI controller
const float focus_kp = 0.005;
float err = s->focus_err;
float sag = (s->last_sag_acc_z/9.8) * 128;
const int dac_up = s->device == DEVICE_LP3? 634:456;
const int dac_down = s->device == DEVICE_LP3? 366:224;
if (!isnan(err)) {
// learn lens_true_pos
s->lens_true_pos -= err*focus_kp;
}
// stay off the walls
s->lens_true_pos = clamp(s->lens_true_pos, dac_down, dac_up);
int target = clamp(s->lens_true_pos - sag, dac_down, dac_up);
/*char debug[4096];
char *pdebug = debug;
pdebug += sprintf(pdebug, "focus ");
for (int i = 0; i < NUM_FOCUS; i++) pdebug += sprintf(pdebug, "%2x(%4d) ", s->confidence[i], s->focus[i]);
pdebug += sprintf(pdebug, " err: %7.2f offset: %6.2f sag: %6.2f lens_true_pos: %6.2f cur_lens_pos: %4d->%4d", err * focus_kp, offset, sag, s->lens_true_pos, s->cur_lens_pos, target);
LOGD(debug);*/
actuator_move(s, target);
}
static void front_start(CameraState *s) {
int err;
set_exposure(s, 1.0, 1.0);
err = sensor_write_regs(s, start_reg_array, ARRAYSIZE(start_reg_array), MSM_CAMERA_I2C_BYTE_DATA);
LOG("sensor start regs: %d", err);
}
void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front) {
int err;
struct ispif_cfg_data ispif_cfg_data = {0};
struct msm_ispif_param_data ispif_params = {0};
ispif_params.num = 4;
// rear camera
ispif_params.entries[0].vfe_intf = 0;
ispif_params.entries[0].intftype = RDI0;
ispif_params.entries[0].num_cids = 1;
ispif_params.entries[0].cids[0] = 0;
ispif_params.entries[0].csid = 0;
// front camera
ispif_params.entries[1].vfe_intf = 1;
ispif_params.entries[1].intftype = RDI0;
ispif_params.entries[1].num_cids = 1;
ispif_params.entries[1].cids[0] = 0;
ispif_params.entries[1].csid = 2;
// rear camera (focus)
ispif_params.entries[2].vfe_intf = 0;
ispif_params.entries[2].intftype = RDI1;
ispif_params.entries[2].num_cids = 1;
ispif_params.entries[2].cids[0] = 1;
ispif_params.entries[2].csid = 0;
// rear camera (stats, for AE)
ispif_params.entries[3].vfe_intf = 0;
ispif_params.entries[3].intftype = RDI2;
ispif_params.entries[3].num_cids = 1;
ispif_params.entries[3].cids[0] = 2;
ispif_params.entries[3].csid = 0;
assert(camera_bufs_rear);
assert(camera_bufs_front);
int msmcfg_fd = open("/dev/media0", O_RDWR | O_NONBLOCK);
assert(msmcfg_fd >= 0);
sensors_init(s);
int v4l_fd = open("/dev/video0", O_RDWR | O_NONBLOCK);
assert(v4l_fd >= 0);
if (s->device == DEVICE_LP3) {
s->ispif_fd = open("/dev/v4l-subdev15", O_RDWR | O_NONBLOCK);
} else {
s->ispif_fd = open("/dev/v4l-subdev16", O_RDWR | O_NONBLOCK);
}
assert(s->ispif_fd >= 0);
// ISPIF: stop
// memset(&ispif_cfg_data, 0, sizeof(ispif_cfg_data));
// ispif_cfg_data.cfg_type = ISPIF_STOP_FRAME_BOUNDARY;
// ispif_cfg_data.params = ispif_params;
// err = ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data);
// LOG("ispif stop: %d", err);
LOG("*** open front ***");
s->front.ss[0].bufs = camera_bufs_front;
camera_open(&s->front, false);
LOG("*** open rear ***");
s->rear.ss[0].bufs = camera_bufs_rear;
s->rear.ss[1].bufs = camera_bufs_focus;
s->rear.ss[2].bufs = camera_bufs_stats;
camera_open(&s->rear, true);
if (getenv("CAMERA_TEST")) {
cameras_close(s);
exit(0);
}
// ISPIF: set vfe info
memset(&ispif_cfg_data, 0, sizeof(ispif_cfg_data));
ispif_cfg_data.cfg_type = ISPIF_SET_VFE_INFO;
ispif_cfg_data.vfe_info.num_vfe = 2;
err = ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data);
LOG("ispif set vfe info: %d", err);
// ISPIF: setup
memset(&ispif_cfg_data, 0, sizeof(ispif_cfg_data));
ispif_cfg_data.cfg_type = ISPIF_INIT;
ispif_cfg_data.csid_version = 0x30050000; //CSID_VERSION_V35
err = ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data);
LOG("ispif setup: %d", err);
memset(&ispif_cfg_data, 0, sizeof(ispif_cfg_data));
ispif_cfg_data.cfg_type = ISPIF_CFG;
ispif_cfg_data.params = ispif_params;
err = ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data);
LOG("ispif cfg: %d", err);
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);
front_start(&s->front);
rear_start(&s->rear);
}
static void camera_close(CameraState *s) {
int err;
tbuffer_stop(&s->camera_tb);
// ISP: STOP_STREAM
s->stream_cfg.cmd = STOP_STREAM;
err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_CFG_STREAM, &s->stream_cfg);
LOG("isp stop stream: %d", err);
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);
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);
}
}
free(s->eeprom);
}
const char* get_isp_event_name(unsigned int type) {
switch (type) {
case ISP_EVENT_REG_UPDATE: return "ISP_EVENT_REG_UPDATE";
case ISP_EVENT_EPOCH_0: return "ISP_EVENT_EPOCH_0";
case ISP_EVENT_EPOCH_1: return "ISP_EVENT_EPOCH_1";
case ISP_EVENT_START_ACK: return "ISP_EVENT_START_ACK";
case ISP_EVENT_STOP_ACK: return "ISP_EVENT_STOP_ACK";
case ISP_EVENT_IRQ_VIOLATION: return "ISP_EVENT_IRQ_VIOLATION";
case ISP_EVENT_STATS_OVERFLOW: return "ISP_EVENT_STATS_OVERFLOW";
case ISP_EVENT_ERROR: return "ISP_EVENT_ERROR";
case ISP_EVENT_SOF: return "ISP_EVENT_SOF";
case ISP_EVENT_EOF: return "ISP_EVENT_EOF";
case ISP_EVENT_BUF_DONE: return "ISP_EVENT_BUF_DONE";
case ISP_EVENT_BUF_DIVERT: return "ISP_EVENT_BUF_DIVERT";
case ISP_EVENT_STATS_NOTIFY: return "ISP_EVENT_STATS_NOTIFY";
case ISP_EVENT_COMP_STATS_NOTIFY: return "ISP_EVENT_COMP_STATS_NOTIFY";
case ISP_EVENT_FE_READ_DONE: return "ISP_EVENT_FE_READ_DONE";
case ISP_EVENT_IOMMU_P_FAULT: return "ISP_EVENT_IOMMU_P_FAULT";
case ISP_EVENT_HW_FATAL_ERROR: return "ISP_EVENT_HW_FATAL_ERROR";
case ISP_EVENT_PING_PONG_MISMATCH: return "ISP_EVENT_PING_PONG_MISMATCH";
case ISP_EVENT_REG_UPDATE_MISSING: return "ISP_EVENT_REG_UPDATE_MISSING";
case ISP_EVENT_BUF_FATAL_ERROR: return "ISP_EVENT_BUF_FATAL_ERROR";
case ISP_EVENT_STREAM_UPDATE_DONE: return "ISP_EVENT_STREAM_UPDATE_DONE";
default: return "unknown";
}
}
static FrameMetadata get_frame_metadata(CameraState *s, uint32_t frame_id) {
pthread_mutex_lock(&s->frame_info_lock);
for (int i=0; i<METADATA_BUF_COUNT; i++) {
if (s->frame_metadata[i].frame_id == frame_id) {
pthread_mutex_unlock(&s->frame_info_lock);
return s->frame_metadata[i];
}
}
pthread_mutex_unlock(&s->frame_info_lock);
// should never happen
return (FrameMetadata){
.frame_id = -1,
};
}
static bool acceleration_from_sensor_sock(void* sock, float* vs) {
int err;
zmq_msg_t msg;
err = zmq_msg_init(&msg);
assert(err == 0);
err = zmq_msg_recv(&msg, sock, 0);
assert(err >= 0);
struct capn ctx;
capn_init_mem(&ctx, zmq_msg_data(&msg), zmq_msg_size(&msg), 0);
cereal_Event_ptr eventp;
eventp.p = capn_getp(capn_root(&ctx), 0, 1);
struct cereal_Event eventd;
cereal_read_Event(&eventd, eventp);
bool ret = false;
if (eventd.which == cereal_Event_sensorEvents) {
cereal_SensorEventData_list lst = eventd.sensorEvents;
int len = capn_len(lst);
for (int i=0; i<len; i++) {
struct cereal_SensorEventData sensord;
cereal_get_SensorEventData(&sensord, lst, i);
if (sensord.which == cereal_SensorEventData_acceleration) {
struct cereal_SensorEventData_SensorVec vecd;
cereal_read_SensorEventData_SensorVec(&vecd, sensord.acceleration);
int vlen = capn_len(vecd.v);
if (vlen < 3) {
continue; //wtf
}
for (int j=0; j<3; j++) {
vs[j] = capn_to_f32(capn_get32(vecd.v, j));
}
ret = true;
break;
}
}
}
capn_free(&ctx);
zmq_msg_close(&msg);
return ret;
}
static void ops_term() {
zsock_t *ops_sock = zsock_new_push(">inproc://cameraops");
assert(ops_sock);
CameraMsg msg = {.type = -1};
zmq_send(zsock_resolve(ops_sock), &msg, sizeof(msg), ZMQ_DONTWAIT);
zsock_destroy(&ops_sock);
}
static void* ops_thread(void* arg) {
int err;
DualCameraState *s = (DualCameraState*)arg;
set_thread_name("camera_settings");
zsock_t *cameraops = zsock_new_pull("@inproc://cameraops");
assert(cameraops);
zsock_t *sensor_sock = zsock_new_sub(">tcp://127.0.0.1:8003", "");
assert(sensor_sock);
zsock_t *terminate = zsock_new_sub(">inproc://terminate", "");
assert(terminate);
zpoller_t *poller = zpoller_new(cameraops, sensor_sock, terminate, NULL);
assert(poller);
while (!do_exit) {
zsock_t *which = (zsock_t*)zpoller_wait(poller, -1);
if (which == terminate || which == NULL) {
break;
}
void* sockraw = zsock_resolve(which);
if (which == cameraops) {
zmq_msg_t msg;
err = zmq_msg_init(&msg);
assert(err == 0);
err = zmq_msg_recv(&msg, sockraw, 0);
assert(err >= 0);
CameraMsg cmsg;
if (zmq_msg_size(&msg) == sizeof(cmsg)) {
memcpy(&cmsg, zmq_msg_data(&msg), zmq_msg_size(&msg));
//LOGD("cameraops %d", cmsg.type);
if (cmsg.type == CAMERA_MSG_AUTOEXPOSE) {
if (cmsg.camera_num == 0) {
do_autoexposure(&s->rear, cmsg.grey_frac);
do_autofocus(&s->rear);
} else {
do_autoexposure(&s->front, cmsg.grey_frac);
}
} else if (cmsg.type == -1) {
break;
}
}
zmq_msg_close(&msg);
} else if (which == sensor_sock) {
float vs[3] = {0.0};
bool got_accel = acceleration_from_sensor_sock(sockraw, vs);
uint64_t ts = nanos_since_boot();
if (got_accel && ts - s->rear.last_sag_ts > 10000000) { // 10 ms
s->rear.last_sag_ts = ts;
s->rear.last_sag_acc_z = -vs[2];
}
}
}
zpoller_destroy(&poller);
zsock_destroy(&cameraops);
zsock_destroy(&sensor_sock);
zsock_destroy(&terminate);
return NULL;
}
void cameras_run(DualCameraState *s) {
int err;
pthread_t ops_thread_handle;
err = pthread_create(&ops_thread_handle, NULL,
ops_thread, s);
assert(err == 0);
CameraState* cameras[2] = {&s->rear, &s->front};
while (!do_exit) {
struct pollfd fds[2] = {{0}};
fds[0].fd = cameras[0]->isp_fd;
fds[0].events = POLLPRI;
fds[1].fd = cameras[1]->isp_fd;
fds[1].events = POLLPRI;
int ret = poll(fds, ARRAYSIZE(fds), 1000);
if (ret <= 0) {
LOGE("poll failed (%d)", ret);
break;
}
// process cameras
for (int i=0; i<2; i++) {
if (!fds[i].revents) continue;
CameraState *c = cameras[i];
struct v4l2_event ev;
ret = ioctl(c->isp_fd, VIDIOC_DQEVENT, &ev);
struct msm_isp_event_data *isp_event_data = (struct msm_isp_event_data *)ev.u.data;
unsigned int event_type = ev.type;
uint64_t timestamp = (isp_event_data->mono_timestamp.tv_sec*1000000000ULL
+ isp_event_data->mono_timestamp.tv_usec*1000);
int buf_idx = isp_event_data->u.buf_done.buf_idx;
int stream_id = isp_event_data->u.buf_done.stream_id;
int buffer = (stream_id&0xFFFF) - 1;
uint64_t t = nanos_since_boot();
/*if (i == 1) {
printf("%10.2f: VIDIOC_DQEVENT: %d type:%X (%s)\n", t*1.0/1e6, ret, event_type, get_isp_event_name(event_type));
}*/
// printf("%d: %s\n", i, get_isp_event_name(event_type));
switch (event_type) {
case ISP_EVENT_BUF_DIVERT:
/*if (c->is_samsung) {
printf("write %d\n", c->frame_size);
FILE *f = fopen("/tmp/test", "wb");
fwrite((void*)c->camera_bufs[i].addr, 1, c->frame_size, f);
fclose(f);
}*/
//printf("divert: %d %d %d\n", i, buffer, buf_idx);
if (buffer == 0) {
c->camera_bufs_metadata[buf_idx] = get_frame_metadata(c, isp_event_data->frame_id);
tbuffer_dispatch(&c->camera_tb, buf_idx);
} else {
uint8_t *d = c->ss[buffer].bufs[buf_idx].addr;
if (buffer == 1) {
parse_autofocus(c, d);
}
c->ss[buffer].qbuf_info[buf_idx].dirty_buf = 1;
ioctl(c->isp_fd, VIDIOC_MSM_ISP_ENQUEUE_BUF, &c->ss[buffer].qbuf_info[buf_idx]);
}
break;
case ISP_EVENT_EOF:
// printf("ISP_EVENT_EOF delta %f\n", (t-last_t)/1e6);
c->last_t = t;
pthread_mutex_lock(&c->frame_info_lock);
c->frame_metadata[c->frame_metadata_idx] = (FrameMetadata){
.frame_id = isp_event_data->frame_id,
.timestamp_eof = timestamp,
.frame_length = c->cur_frame_length,
.integ_lines = c->cur_integ_lines,
.global_gain = c->cur_gain,
.lens_pos = c->cur_lens_pos,
.lens_sag = c->last_sag_acc_z,
.lens_err = c->focus_err,
.lens_true_pos = c->lens_true_pos,
.gain_frac = c->cur_gain_frac,
};
c->frame_metadata_idx = (c->frame_metadata_idx+1)%METADATA_BUF_COUNT;
pthread_mutex_unlock(&c->frame_info_lock);
break;
case ISP_EVENT_ERROR:
LOGE("ISP_EVENT_ERROR! err type: 0x%08x", isp_event_data->u.error_info.err_type);
break;
}
}
}
LOG(" ************** STOPPING **************");
ops_term();
err = pthread_join(ops_thread_handle, NULL);
assert(err == 0);
cameras_close(s);
}
void cameras_close(DualCameraState *s) {
camera_close(&s->rear);
camera_close(&s->front);
}