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119 lines
3.3 KiB
119 lines
3.3 KiB
#pragma once
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#include <memory>
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#include <utility>
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#include "media/cam_req_mgr.h"
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#include "common/util.h"
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#include "system/camerad/cameras/tici.h"
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#include "system/camerad/cameras/camera_common.h"
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#include "system/camerad/sensors/sensor.h"
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#define FRAME_BUF_COUNT 4
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const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py
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// For use with the Spectra 280 ISP in the SDM845
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// https://github.com/commaai/agnos-kernel-sdm845
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std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1);
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int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle);
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int device_control(int fd, int op_code, int session_handle, int dev_handle);
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int do_cam_control(int fd, int op_code, void *handle, int size);
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void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
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int mmu_hdl = 0, int mmu_hdl2 = 0);
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void release(int video0_fd, uint32_t handle);
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class MemoryManager {
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public:
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void init(int _video0_fd) { video0_fd = _video0_fd; }
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~MemoryManager();
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template <class T>
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auto alloc(int len, uint32_t *handle) {
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return std::unique_ptr<T, std::function<void(void *)>>((T*)alloc_buf(len, handle), [this](void *ptr) { this->free(ptr); });
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}
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private:
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void *alloc_buf(int len, uint32_t *handle);
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void free(void *ptr);
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std::mutex lock;
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std::map<void *, uint32_t> handle_lookup;
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std::map<void *, int> size_lookup;
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std::map<int, std::queue<void *> > cached_allocations;
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int video0_fd;
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};
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class SpectraMaster {
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public:
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void init();
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unique_fd video0_fd;
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unique_fd cam_sync_fd;
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unique_fd isp_fd;
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int device_iommu = -1;
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int cdm_iommu = -1;
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};
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class SpectraCamera {
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public:
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SpectraCamera(SpectraMaster *master, const CameraConfig &config);
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~SpectraCamera();
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void camera_open();
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void handle_camera_event(const cam_req_mgr_message *event_data);
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void camera_close();
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void camera_map_bufs();
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void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
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void config_isp(int io_mem_handle, int fence, int request_id, int buf0_idx);
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int clear_req_queue();
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void enqueue_buffer(int i, bool dp);
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void enqueue_req_multi(uint64_t start, int n, bool dp);
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int sensors_init();
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void sensors_start();
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void sensors_poke(int request_id);
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void sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word);
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bool openSensor();
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void configISP();
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void configCSIPHY();
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void linkDevices();
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// *** state ***
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bool open = false;
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bool enabled = true;
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CameraConfig cc;
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std::unique_ptr<const SensorInfo> sensor;
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unique_fd sensor_fd;
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unique_fd csiphy_fd;
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int32_t session_handle = -1;
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int32_t sensor_dev_handle = -1;
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int32_t isp_dev_handle = -1;
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int32_t csiphy_dev_handle = -1;
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int32_t link_handle = -1;
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const int buf0_size = 65624; // unclear what this is and how it's determined, for internal ISP use? it's just copied from an ioctl dump
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const int buf0_alignment = 0x20;
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int buf0_handle = 0;
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int buf_handle[FRAME_BUF_COUNT] = {};
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int sync_objs[FRAME_BUF_COUNT] = {};
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uint64_t request_ids[FRAME_BUF_COUNT] = {};
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uint64_t request_id_last = 0;
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uint64_t frame_id_last = 0;
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uint64_t idx_offset = 0;
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bool skipped = true;
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CameraBuf buf;
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MemoryManager mm;
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SpectraMaster *m;
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};
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