mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-27 13:03:52 +08:00
8db0993663
* capnparm * building in progress * scons build works * that script fixes opencl * start new camera code * includes and more camera scripts * control c works now * no device control yet * phy too * just one camera for now * fix capnparm * hmm, the inits are needed * more cameras * link stop start * doesn't work yet * fix ion on qcom2 * start poll ish * 4 pictures and done * no jpeg * it works to picture * destroy sync obj * both work for now * defined QCOM2 * fix fd leak * run modeld * 10 bit mode * real frame stride * needs digital gain * dnew * no color correcting on new * that snpe doesn't work * qcom2 gate * cleanups * oops, fix aarch64 detector * update cereal * modeld works with SNPE * fix driver monitoring model Co-authored-by: Tici <robbe@comma.ai>
87 lines
1.5 KiB
C
87 lines
1.5 KiB
C
#ifndef CAMERA_H
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#define CAMERA_H
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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 "common/mat.h"
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#include "common/visionbuf.h"
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#include "common/buffering.h"
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#include "camera_common.h"
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#include "media/cam_req_mgr.h"
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#define FRAME_BUF_COUNT 4
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#define METADATA_BUF_COUNT 4
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#ifdef __cplusplus
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extern "C" {
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#endif
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typedef struct CameraState {
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CameraInfo ci;
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FrameMetadata camera_bufs_metadata[FRAME_BUF_COUNT];
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TBuffer camera_tb;
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int frame_size;
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float digital_gain;
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mat3 transform;
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int device_iommu;
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int cdm_iommu;
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int video0_fd;
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int video1_fd;
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int isp_fd;
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int sensor_fd;
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int csiphy_fd;
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int camera_num;
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VisionBuf *bufs;
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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 sched_request_id;
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int request_ids[FRAME_BUF_COUNT];
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int sync_objs[FRAME_BUF_COUNT];
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struct cam_req_mgr_session_info req_mgr_session_info;
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} CameraState;
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typedef struct DualCameraState {
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int device;
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int video0_fd;
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int video1_fd;
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int isp_fd;
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CameraState rear;
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CameraState front;
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CameraState wide;
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} DualCameraState;
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void cameras_init(DualCameraState *s);
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void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front);
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void cameras_run(DualCameraState *s);
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void camera_autoexposure(CameraState *s, float grey_frac);
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#ifdef __cplusplus
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} // extern "C"
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#endif
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#endif
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