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68 lines
2.1 KiB
68 lines
2.1 KiB
#pragma once
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#include "common/util.h"
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#include "cereal/gen/cpp/log.capnp.h"
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#include "msgq/visionipc/visionipc_server.h"
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#include "media/cam_isp_ife.h"
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typedef enum {
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ISP_RAW_OUTPUT, // raw frame from sensor
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ISP_IFE_PROCESSED, // fully processed image through the IFE
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ISP_BPS_PROCESSED, // fully processed image through the BPS
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} SpectraOutputType;
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// For the comma 3/3X three camera platform
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struct CameraConfig {
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int camera_num;
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VisionStreamType stream_type;
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float focal_len; // millimeters
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const char *publish_name;
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cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)();
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bool enabled;
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uint32_t phy;
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bool vignetting_correction;
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SpectraOutputType output_type;
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};
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// NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
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// If you don't do this, the strobe GPIO is an output (even in reset it seems!)
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const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
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.camera_num = 0,
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.stream_type = VISION_STREAM_WIDE_ROAD,
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.focal_len = 1.71,
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.publish_name = "wideRoadCameraState",
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.init_camera_state = &cereal::Event::Builder::initWideRoadCameraState,
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.enabled = !getenv("DISABLE_WIDE_ROAD"),
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.phy = CAM_ISP_IFE_IN_RES_PHY_0,
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.vignetting_correction = false,
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.output_type = ISP_IFE_PROCESSED,
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};
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const CameraConfig ROAD_CAMERA_CONFIG = {
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.camera_num = 1,
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.stream_type = VISION_STREAM_ROAD,
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.focal_len = 8.0,
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.publish_name = "roadCameraState",
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.init_camera_state = &cereal::Event::Builder::initRoadCameraState,
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.enabled = !getenv("DISABLE_ROAD"),
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.phy = CAM_ISP_IFE_IN_RES_PHY_1,
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.vignetting_correction = true,
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.output_type = ISP_IFE_PROCESSED,
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};
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const CameraConfig DRIVER_CAMERA_CONFIG = {
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.camera_num = 2,
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.stream_type = VISION_STREAM_DRIVER,
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.focal_len = 1.71,
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.publish_name = "driverCameraState",
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.init_camera_state = &cereal::Event::Builder::initDriverCameraState,
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.enabled = !getenv("DISABLE_DRIVER"),
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.phy = CAM_ISP_IFE_IN_RES_PHY_2,
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.vignetting_correction = false,
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.output_type = ISP_BPS_PROCESSED,
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};
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const CameraConfig ALL_CAMERA_CONFIGS[] = {WIDE_ROAD_CAMERA_CONFIG, ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG};
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