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80 lines
1.5 KiB
80 lines
1.5 KiB
#pragma once
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#include <stdint.h>
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#include <stdbool.h>
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#include <pthread.h>
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#include <media/cam_req_mgr.h>
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#include "selfdrive/camerad/cameras/camera_common.h"
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#include "selfdrive/common/util.h"
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#define FRAME_BUF_COUNT 4
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#define ANALOG_GAIN_MAX_IDX 10 // 0xF is bypass
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#define EXPOSURE_TIME_MIN 2 // with HDR, fastest ss
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#define EXPOSURE_TIME_MAX 1904 // with HDR, slowest ss
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#define EF_LOWPASS_K 0.35
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#define DEBAYER_LOCAL_WORKSIZE 16
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typedef struct CameraState {
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MultiCameraState *multi_cam_state;
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CameraInfo ci;
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std::mutex exp_lock;
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float analog_gain_frac;
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uint16_t analog_gain;
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bool dc_gain_enabled;
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int exposure_time;
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int exposure_time_min;
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int exposure_time_max;
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float ef_filtered;
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unique_fd sensor_fd;
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unique_fd csiphy_fd;
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int camera_num;
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uint32_t session_handle;
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uint32_t sensor_dev_handle;
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uint32_t isp_dev_handle;
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uint32_t csiphy_dev_handle;
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int32_t link_handle;
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int buf0_handle;
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int buf_handle[FRAME_BUF_COUNT];
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int sync_objs[FRAME_BUF_COUNT];
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int request_ids[FRAME_BUF_COUNT];
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int request_id_last;
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int frame_id_last;
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int idx_offset;
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bool skipped;
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struct cam_req_mgr_session_info req_mgr_session_info;
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CameraBuf buf;
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} CameraState;
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typedef struct MultiCameraState {
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int device;
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unique_fd video0_fd;
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unique_fd video1_fd;
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unique_fd isp_fd;
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int device_iommu;
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int cdm_iommu;
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CameraState road_cam;
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CameraState wide_road_cam;
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CameraState driver_cam;
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pthread_mutex_t isp_lock;
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SubMaster *sm;
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PubMaster *pm;
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} MultiCameraState;
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