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camerad: IFE debayer support (#33720)

Browse Source 
* ife is up

* split out cdm, bps needs this too

* straight to vipc buffer

* start reducing the diff

* support both

* disable for now

* cleanup

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
2024-10-12 13:07:30 -07:00
committed by GitHub
parent 6f40dec427
commit 8e8f61ad35
11 changed files with 930 additions and 84 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
msgq_repo

Submodule msgq_repo updated: a3b51b311f...3e17f865bb

2
system/camerad/SConscript
View File

@@ -3,7 +3,7 @@ Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
libs = ['pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon]
camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
if GetOption("extras") and arch == "x86_64":

25
system/camerad/cameras/camera_common.cc
View File

@@ -7,7 +7,6 @@
#include "common/clutil.h"
#include "common/swaglog.h"
#include "third_party/linux/include/msm_media_info.h"
#include "system/camerad/cameras/spectra.h"
@@ -65,16 +64,13 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
const SensorInfo *sensor = cam->sensor.get();
camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
is_raw = cam->is_raw;
camera_bufs_raw = std::make_unique<VisionBuf[]>(frame_buf_count);
camera_bufs_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
frame_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
// RAW + final frames from ISP
const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
for (int i = 0; i < frame_buf_count; i++) {
camera_bufs[i].allocate(cam->yuv_size);
camera_bufs[i].init_cl(device_id, context);
camera_bufs_raw[i].allocate(raw_frame_size);
camera_bufs_raw[i].init_cl(device_id, context);
}
@@ -95,7 +91,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
CameraBuf::~CameraBuf() {
for (int i = 0; i < frame_buf_count; i++) {
camera_bufs[i].free();
camera_bufs_raw[i].free();
}
if (imgproc) delete imgproc;
@@ -104,18 +99,22 @@ CameraBuf::~CameraBuf() {
bool CameraBuf::acquire(int expo_time) {
if (!safe_queue.try_pop(cur_buf_idx, 50)) return false;
if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) {
if (frame_metadata[cur_buf_idx].frame_id == -1) {
LOGE("no frame data? wtf");
return false;
}
cur_frame_data = camera_bufs_metadata[cur_buf_idx];
cur_yuv_buf = vipc_server->get_buffer(stream_type);
cur_frame_data = frame_metadata[cur_buf_idx];
cur_camera_buf = &camera_bufs_raw[cur_buf_idx];
if (is_raw) {
cur_yuv_buf = vipc_server->get_buffer(stream_type);
double start_time = millis_since_boot();
imgproc->runKernel(camera_bufs_raw[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time);
cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
double start_time = millis_since_boot();
imgproc->runKernel(camera_bufs_raw[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time);
cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
} else {
cur_yuv_buf = vipc_server->get_buffer(stream_type, cur_buf_idx);
}
VisionIpcBufExtra extra = {
cur_frame_data.frame_id,

9
system/camerad/cameras/camera_common.h
View File

@@ -24,20 +24,21 @@ class ImgProc;
class CameraBuf {
private:
VisionIpcServer *vipc_server;
ImgProc *imgproc = nullptr;
VisionStreamType stream_type;
int cur_buf_idx;
SafeQueue<int> safe_queue;
int frame_buf_count;
bool is_raw;
public:
VisionIpcServer *vipc_server;
VisionStreamType stream_type;
FrameMetadata cur_frame_data;
VisionBuf *cur_yuv_buf;
VisionBuf *cur_camera_buf;
std::unique_ptr<VisionBuf[]> camera_bufs;
std::unique_ptr<VisionBuf[]> camera_bufs_raw;
std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
std::unique_ptr<FrameMetadata[]> frame_metadata;
int out_img_width, out_img_height;
CameraBuf() = default;

4
system/camerad/cameras/camera_qcom2.cc
View File

@@ -50,7 +50,7 @@ public:
float fl_pix = 0;
CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {};
CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.camera_num == 2*/) {};
~CameraState();
void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
@@ -285,7 +285,7 @@ void camerad_thread() {
std::vector<std::unique_ptr<CameraState>> cams;
for (const auto &config : {ROAD_CAMERA_CONFIG, WIDE_ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG}) {
auto cam = std::make_unique<CameraState>(&m, config);
cam->init(&v, device_id ,ctx);
cam->init(&v, device_id, ctx);
cams.emplace_back(std::move(cam));
}

33
system/camerad/cameras/cdm.cc Normal file
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@@ -0,0 +1,33 @@
#include "cdm.h"
int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals) {
struct cdm_regcontinuous_cmd *cmd = (struct cdm_regcontinuous_cmd*)dst;
cmd->cmd = CAM_CDM_CMD_REG_CONT;
cmd->count = vals.size();
cmd->offset = reg;
cmd->reserved0 = 0;
cmd->reserved1 = 0;
uint32_t *vd = (uint32_t*)(dst + sizeof(struct cdm_regcontinuous_cmd));
for (int i = 0; i < vals.size(); i++) {
*vd = vals[i];
vd++;
}
return sizeof(struct cdm_regcontinuous_cmd) + vals.size()*sizeof(uint32_t);
}
int write_random(uint8_t *dst, std::vector<uint32_t> vals) {
struct cdm_regrandom_cmd *cmd = (struct cdm_regrandom_cmd*)dst;
cmd->cmd = CAM_CDM_CMD_REG_RANDOM;
cmd->count = vals.size() / 2;
cmd->reserved = 0;
uint32_t *vd = (uint32_t*)(dst + sizeof(struct cdm_regrandom_cmd));
for (int i = 0; i < vals.size(); i++) {
*vd = vals[i];
vd++;
}
return sizeof(struct cdm_regrandom_cmd) + vals.size()*sizeof(uint32_t);
}

12
system/camerad/cameras/cdm.h
View File

@@ -1,3 +1,15 @@
#pragma once
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <vector>
#include <memory>
// our helpers
int write_random(uint8_t *dst, std::vector<uint32_t> vals);
int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals);
// from drivers/media/platform/msm/camera/cam_cdm/cam_cdm_util.{c,h}
enum cam_cdm_command {

767
system/camerad/cameras/ife.h Normal file
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@@ -0,0 +1,767 @@
#include "cdm.h"
int build_initial_config(uint8_t *dst) {
uint8_t *start = dst;
// constants, some kind of HW quirk?
dst += write_random(dst, {
0x2c, 0xffffffff,
0x30, 0xffffffff,
0x34, 0xffffffff,
0x38, 0xffffffff,
0x3c, 0xffffffff,
});
dst += write_cont(dst, 0x478, {
0x00000004,
0x004000c0,
});
dst += write_cont(dst, 0x488, {
0x00000000,
0x00000000,
0x00000f0f,
});
dst += write_cont(dst, 0x49c, {
0x00000001,
});
dst += write_cont(dst, 0xce4, {
0x00000000,
0x00000000,
});
dst += write_cont(dst, 0x4dc, {
0x00000000,
0x04050b84,
0x13031a82,
0x22022981,
0x3100387f,
0x04010b80,
0x13001a80,
0x2200297f,
0x30ff387f,
0x04050b84,
0x13031a82,
0x22022981,
0x3100387f,
0x04010b80,
0x13001a80,
0x2200297f,
0x30ff387f,
0x04050b84,
0x13031a82,
0x22022981,
0x3100387f,
0x04010b80,
0x13001a80,
0x2200297f,
0x30ff387f,
0x04050b84,
0x13031a82,
0x22022981,
0x3100387f,
0x04010b80,
0x13001a80,
0x2200297f,
0x30ff387f,
});
/* TODO
cdm_dmi_cmd_t 248
.length = 287
.reserved = 33
.cmd = 11
.addr = 0
.DMIAddr = 3108
.DMISel = 9
*/
dst += write_cont(dst, 0x560, {
0x00000001,
0x04440444,
0x04450445,
0x04440444,
0x04450445,
0x000000ca,
0x0000009c,
});
dst += write_cont(dst, 0x5e8, {
0x06363005,
});
dst += write_cont(dst, 0x5f4, {
0x00000000,
0x00000000,
0x00000000,
0x00000000,
0x3b3839a0,
0x003f8040,
0x00000000,
0x00000000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00000009,
0x00400808,
0x00000044,
0x004000a0,
0x0a0d00a6,
0x0a0d00a6,
});
/* TODO
cdm_dmi_cmd_t 392
.length = 255
.reserved = 33
.cmd = 10
.addr = 0
.DMIAddr = 3108
.DMISel = 12
*/
dst += write_cont(dst, 0x6bc, {
0x0b3c0000,
0x00670067,
0xd3b1300c,
0x13b1300c,
0x00670067,
0xd3b1300c,
0x13b1300c,
0xec4e4000,
0x0100c003,
0xec4e4000,
0x0100c003,
});
/* TODO
cdm_dmi_cmd_t 444
.length = 883
.reserved = 33
.cmd = 10
.addr = 0
.DMIAddr = 3108
.DMISel = 14
*/
/* TODO
cdm_dmi_cmd_t 444
.length = 883
.reserved = 33
.cmd = 10
.addr = 0
.DMIAddr = 3108
.DMISel = 15
*/
dst += write_cont(dst, 0x6fc, {
0x00bf0080,
0x00000106,
0x00000000,
0x00000000,
});
dst += write_cont(dst, 0x6f8, {
0x00000100,
});
dst += write_cont(dst, 0x71c, {
0x00008000,
0x08000066,
});
dst += write_cont(dst, 0x760, {
0x00800080,
0x00000000,
0x00000000,
0x00000000,
0x00800080,
0x00000000,
0x00000000,
0x00000000,
0x00800080,
0x00000000,
0x00000000,
0x00000000,
0x00000000,
});
dst += write_cont(dst, 0x794, {
0x00000000,
});
/* TODO
cdm_dmi_cmd_t 568
.length = 511
.reserved = 33
.cmd = 11
.addr = 0
.DMIAddr = 3108
.DMISel = 24
*/
dst += write_cont(dst, 0x798, {
0x00000000,
});
/* TODO
cdm_dmi_cmd_t 580
.length = 255
.reserved = 33
.cmd = 10
.addr = 0
.DMIAddr = 3108
.DMISel = 26
*/
/* TODO
cdm_dmi_cmd_t 580
.length = 255
.reserved = 33
.cmd = 10
.addr = 0
.DMIAddr = 3108
.DMISel = 28
*/
/* TODO
cdm_dmi_cmd_t 580
.length = 255
.reserved = 33
.cmd = 10
.addr = 0
.DMIAddr = 3108
.DMISel = 30
*/
dst += write_cont(dst, 0xf30, {
0x00750259,
0x00000132,
0x00000000,
0x03ff0000,
0x01fe1eae,
0x00001f54,
0x02000000,
0x03ff0000,
0x1fad1e55,
0x000001fe,
0x02000000,
0x03ff0000,
});
dst += write_cont(dst, 0xa3c, {
0x00000003,
0x07870787,
0x30036666,
0x00000000,
0x00000000,
0x00000787,
0x04b704b7,
0x30036666,
0x00000000,
0x00000000,
0x000004b7,
});
dst += write_cont(dst, 0xa68, {
0x00000003,
0x03c30787,
0x3006cccc,
0x00000000,
0x00000000,
0x00000787,
0x025b04b7,
0x3006cccc,
0x00000000,
0x00000000,
0x00000787,
});
dst += write_cont(dst, 0xe10, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xe30, {
0x0000025b,
0x00000787,
});
dst += write_cont(dst, 0xe18, {
0x0ff00000,
0x00000016,
});
dst += write_cont(dst, 0xe38, {
0x0ff00000,
0x00000017,
});
dst += write_cont(dst, 0xd84, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xda4, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xd60, {
0x04380300,
0x09016c7d,
0x021c0300,
});
dst += write_cont(dst, 0xd98, {
0x0ff00000,
0x00000016,
});
dst += write_cont(dst, 0xdb8, {
0x0ff00000,
0x00000017,
});
dst += write_cont(dst, 0xd6c, {
0x00000300,
});
dst += write_cont(dst, 0xd70, {
0x010e0f00,
0x09016c7d,
0x00870f00,
});
dst += write_cont(dst, 0xd7c, {
0x00000f00,
});
dst += write_cont(dst, 0x40, {
0x00000586,
});
dst += write_cont(dst, 0x48, {
0x0000000e,
});
dst += write_cont(dst, 0x4c, {
0x00000019,
});
dst += write_cont(dst, 0xe4c, {
0x00000000,
});
dst += write_cont(dst, 0xe6c, {
0x00000000,
});
dst += write_cont(dst, 0xe0c, {
0x00000e00,
});
dst += write_cont(dst, 0xe2c, {
0x00000e00,
});
dst += write_cont(dst, 0xd8c, {
0x00000000,
});
dst += write_cont(dst, 0xdac, {
0x00000000,
});
dst += write_cont(dst, 0xdcc, {
0x00000000,
});
dst += write_cont(dst, 0xdec, {
0x00000000,
});
dst += write_cont(dst, 0x44, {
0x00000000,
});
dst += write_cont(dst, 0xaac, {
0x00000040,
});
dst += write_cont(dst, 0xf00, {
0x00000000,
});
//hexdump(start, dst - start);
return dst - start;
}
int build_first_update(uint8_t *dst) {
uint8_t *start = dst;
dst += write_random(dst, {
0x2c, 0xffffffff,
0x30, 0xffffffff,
0x34, 0xffffffff,
0x38, 0xffffffff,
0x3c, 0xffffffff,
});
dst += write_cont(dst, 0x4dc, {
0x00000001,
0x04050b84,
0x13031a82,
0x22022981,
0x3100387f,
0x04010b80,
0x13001a80,
0x2200297f,
0x30ff387f,
0x04050b84,
0x13031a82,
0x22022981,
0x3100387f,
0x04010b80,
0x13001a80,
0x2200297f,
0x30ff387f,
0x04050b84,
0x13031a82,
0x22022981,
0x3100387f,
0x04010b80,
0x13001a80,
0x2200297f,
0x30ff387f,
0x04050b84,
0x13031a82,
0x22022981,
0x3100387f,
0x04010b80,
0x13001a80,
0x2200297f,
0x30ff387f,
});
/* TODO
cdm_dmi_cmd_t 184
.length = 287
.reserved = 33
.cmd = 11
.addr = 832
.DMIAddr = 3108
.DMISel = 10
*/
dst += write_cont(dst, 0x560, {
0x00000001,
0x04440444,
0x04450445,
0x04440444,
0x04450445,
0x000000ca,
0x0000009c,
});
dst += write_cont(dst, 0x5c4, {
0x00000000,
0x00001000,
0x00001000,
0x00001000,
0x00001000,
0x00800080,
0x00802040,
0x00000000,
});
dst += write_cont(dst, 0x5e8, {
0x06363007,
});
dst += write_cont(dst, 0x5f4, {
0x00000000,
0x00000000,
0x00000000,
0x00000000,
0x3b3839a0,
0x003f8040,
0x00000000,
0x00000000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00000009,
0x00400808,
0x00000044,
0x004000a0,
0x0a0d00a6,
0x0a0d00a6,
});
/* TODO
cdm_dmi_cmd_t 368
.length = 255
.reserved = 33
.cmd = 10
.addr = 5344
.DMIAddr = 3108
.DMISel = 13
*/
dst += write_cont(dst, 0x6fc, {
0x00800080,
0x00000080,
0x00000000,
0x00000000,
});
dst += write_cont(dst, 0x6f8, {
0x00000100,
});
dst += write_cont(dst, 0x71c, {
0x00008000,
0x08000066,
});
dst += write_cont(dst, 0x794, {
0x00000001,
});
/* TODO
cdm_dmi_cmd_t 432
.length = 511
.reserved = 33
.cmd = 11
.addr = 832
.DMIAddr = 3108
.DMISel = 25
*/
dst += write_cont(dst, 0x798, {
0x00000007,
});
/* TODO
cdm_dmi_cmd_t 444
.length = 255
.reserved = 33
.cmd = 10
.addr = 5344
.DMIAddr = 3108
.DMISel = 27
*/
/* TODO
cdm_dmi_cmd_t 444
.length = 255
.reserved = 33
.cmd = 10
.addr = 5344
.DMIAddr = 3108
.DMISel = 29
*/
/* TODO
cdm_dmi_cmd_t 444
.length = 255
.reserved = 33
.cmd = 10
.addr = 5344
.DMIAddr = 3108
.DMISel = 31
*/
dst += write_cont(dst, 0xd84, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xda4, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xd6c, {
0x00000300,
});
dst += write_cont(dst, 0xd70, {
0x02640f00,
0x09016c7d,
0x01320f00,
});
dst += write_cont(dst, 0xd7c, {
0x00000f00,
});
dst += write_cont(dst, 0x40, {
0x00000444,
});
dst += write_cont(dst, 0x48, {
0x00000000,
});
dst += write_cont(dst, 0x4c, {
0x00000019,
});
dst += write_cont(dst, 0xe4c, {
0x00000000,
});
dst += write_cont(dst, 0xe6c, {
0x00000000,
});
dst += write_cont(dst, 0xe0c, {
0x00000e00,
});
dst += write_cont(dst, 0xe2c, {
0x00000e00,
});
dst += write_cont(dst, 0xd8c, {
0x00000000,
});
dst += write_cont(dst, 0xdac, {
0x00000000,
});
dst += write_cont(dst, 0xdcc, {
0x00000000,
});
dst += write_cont(dst, 0xdec, {
0x00000000,
});
dst += write_cont(dst, 0x44, {
0x00000000,
});
dst += write_cont(dst, 0xaac, {
0x00000040,
});
dst += write_cont(dst, 0xf00, {
0x00000000,
});
return dst - start;
}
int build_update(uint8_t *dst) {
uint8_t *start = dst;
dst += write_random(dst, {
0x2c, 0xffffffff,
0x30, 0xffffffff,
0x34, 0xffffffff,
0x38, 0xffffffff,
0x3c, 0xffffffff,
});
dst += write_cont(dst, 0x560, {
0x00000001,
0x04440444,
0x04450445,
0x04440444,
0x04450445,
0x000000ca,
0x0000009c,
});
dst += write_cont(dst, 0x6fc, {
0x00800080,
0x00000080,
0x00000000,
0x00000000,
});
dst += write_cont(dst, 0xd84, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xda4, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xd6c, {
0x00000300,
});
dst += write_cont(dst, 0xd70, {
0x02640f00,
0x09016c7d,
0x01320f00,
});
dst += write_cont(dst, 0xd7c, {
0x00000f00,
});
dst += write_cont(dst, 0x40, {
0x00000444,
});
dst += write_cont(dst, 0x48, {
0x00000000,
});
dst += write_cont(dst, 0x4c, {
0x00000019,
});
dst += write_cont(dst, 0xe4c, {
0x00000000,
});
dst += write_cont(dst, 0xe6c, {
0x00000000,
});
dst += write_cont(dst, 0xe0c, {
0x00000e00,
});
dst += write_cont(dst, 0xe2c, {
0x00000e00,
});
dst += write_cont(dst, 0xd8c, {
0x00000000,
});
dst += write_cont(dst, 0xdac, {
0x00000000,
});
dst += write_cont(dst, 0xdcc, {
0x00000000,
});
dst += write_cont(dst, 0xdec, {
0x00000000,
});
dst += write_cont(dst, 0x44, {
0x00000000,
});
dst += write_cont(dst, 0xaac, {
0x00000040,
});
dst += write_cont(dst, 0xf00, {
0x00000000,
});
return dst - start;
}

149
system/camerad/cameras/spectra.cc
View File

@@ -15,28 +15,13 @@
#include "common/util.h"
#include "common/swaglog.h"
#include "system/camerad/cameras/ife.h"
#include "system/camerad/cameras/spectra.h"
#include "third_party/linux/include/msm_media_info.h"
// For debugging:
// echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals) {
struct cdm_regcontinuous_cmd *cmd = (struct cdm_regcontinuous_cmd*)dst;
cmd->cmd = CAM_CDM_CMD_REG_CONT;
cmd->count = vals.size();
cmd->offset = reg;
cmd->reserved0 = 0;
cmd->reserved1 = 0;
uint32_t *vd = (uint32_t*)(dst + sizeof(struct cdm_regcontinuous_cmd));
for (int i = 0; i < vals.size(); i++) {
*vd = vals[i];
vd++;
}
return sizeof(struct cdm_regcontinuous_cmd) + vals.size()*sizeof(uint32_t);
}
// ************** low level camera helpers ****************
int do_cam_control(int fd, int op_code, void *handle, int size) {
@@ -251,10 +236,11 @@ void SpectraMaster::init() {
// *** SpectraCamera ***
SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config)
SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config, bool raw)
: m(master),
enabled(config.enabled) ,
cc(config) {
enabled(config.enabled),
cc(config),
is_raw(raw) {
mm.init(m->video0_fd);
}
@@ -288,9 +274,12 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
uv_offset = stride*y_height;
yuv_size = uv_offset + stride*uv_height;
// TODO: for when the frames are coming out of the IFE directly
//uv_offset = ALIGNED_SIZE(stride*y_height, 0x1000);
//yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
if (!is_raw) {
uv_offset = ALIGNED_SIZE(uv_offset, 0x1000);
yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
}
assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width));
assert(y_height/2 == uv_height);
open = true;
configISP();
@@ -490,19 +479,12 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
}
pkt->header.size = size;
// *** kmd cmd buf ***
{
pkt->kmd_cmd_buf_index = 0;
pkt->kmd_cmd_buf_offset = 0;
}
// *** cmd buf ***
{
struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
pkt->num_cmd_buf = 2;
// *** first command ***
// TODO: support MMU
buf_desc[0].size = ife_cmd.size;
buf_desc[0].length = 0;
buf_desc[0].type = CAM_CMD_BUF_DIRECT;
@@ -510,6 +492,20 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
buf_desc[0].mem_handle = ife_cmd.handle;
buf_desc[0].offset = ife_cmd.aligned_size()*idx;
// stream of IFE register writes
if (!is_raw) {
if (init) {
buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset);
} else if (request_id == 1) {
buf_desc[0].length = build_first_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset);
} else {
buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset);
}
}
pkt->kmd_cmd_buf_offset = buf_desc[0].length;
pkt->kmd_cmd_buf_index = 0;
// *** second command ***
// parsed by cam_isp_packet_generic_blob_handler
struct isp_packet {
@@ -530,14 +526,15 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
tmp.type_0 |= sizeof(cam_isp_resource_hfr_config) << 8;
static_assert(sizeof(cam_isp_resource_hfr_config) == 0x20);
tmp.resource_hfr = {
.num_ports = 1, // 10 for YUV (but I don't think we need them)
.num_ports = 1,
.port_hfr_config[0] = {
.resource_type = CAM_ISP_IFE_OUT_RES_RDI_0, // CAM_ISP_IFE_OUT_RES_FULL for YUV
.resource_type = static_cast<uint32_t>(is_raw ? CAM_ISP_IFE_OUT_RES_RDI_0 : CAM_ISP_IFE_OUT_RES_FULL),
.subsample_pattern = 1,
.subsample_period = 0,
.framedrop_pattern = 1,
.framedrop_period = 0,
}};
}
};
tmp.type_1 = CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG;
tmp.type_1 |= (sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) << 8;
@@ -586,27 +583,54 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset);
io_cfg[0].offsets[0] = 0;
io_cfg[0].mem_handle[0] = buf_handle_raw[idx];
io_cfg[0].planes[0] = (struct cam_plane_cfg){
.width = sensor->frame_width,
.height = sensor->frame_height + sensor->extra_height,
.plane_stride = sensor->frame_stride,
.slice_height = sensor->frame_height + sensor->extra_height,
};
io_cfg[0].format = sensor->mipi_format;
io_cfg[0].color_space = CAM_COLOR_SPACE_BASE;
io_cfg[0].color_pattern = 0x5;
io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc);
io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0;
io_cfg[0].fence = sync_objs[idx];
io_cfg[0].direction = CAM_BUF_OUTPUT;
io_cfg[0].subsample_pattern = 0x1;
io_cfg[0].framedrop_pattern = 0x1;
if (is_raw) {
io_cfg[0].mem_handle[0] = buf_handle_raw[idx];
io_cfg[0].planes[0] = (struct cam_plane_cfg){
.width = sensor->frame_width,
.height = sensor->frame_height,
.plane_stride = stride,
.slice_height = y_height,
};
io_cfg[0].format = sensor->mipi_format;
io_cfg[0].color_space = CAM_COLOR_SPACE_BASE;
io_cfg[0].color_pattern = 0x5;
io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc);
io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0;
io_cfg[0].fence = sync_objs[idx];
io_cfg[0].direction = CAM_BUF_OUTPUT;
io_cfg[0].subsample_pattern = 0x1;
io_cfg[0].framedrop_pattern = 0x1;
} else {
io_cfg[0].mem_handle[0] = buf_handle_yuv[idx];
io_cfg[0].mem_handle[1] = buf_handle_yuv[idx];
io_cfg[0].planes[0] = (struct cam_plane_cfg){
.width = sensor->frame_width,
.height = sensor->frame_height,
.plane_stride = stride,
.slice_height = y_height,
};
io_cfg[0].planes[1] = (struct cam_plane_cfg){
.width = sensor->frame_width,
.height = sensor->frame_height/2,
.plane_stride = stride,
.slice_height = uv_height,
};
io_cfg[0].offsets[1] = uv_offset;
io_cfg[0].format = CAM_FORMAT_NV12;
io_cfg[0].color_space = 0;
io_cfg[0].color_pattern = 0x0;
io_cfg[0].bpp = 0;
io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_FULL;
io_cfg[0].fence = sync_objs[idx];
io_cfg[0].direction = CAM_BUF_OUTPUT;
io_cfg[0].subsample_pattern = 0x1;
io_cfg[0].framedrop_pattern = 0x1;
}
}
// *** patches ***
// sets up the kernel driver to do address translation for the IFE
{
pkt->num_patches = 0;
pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs;
@@ -631,7 +655,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
// TODO: handle frame drop cleanly
}
buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof
buf.frame_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof
if (dp) buf.queue(i);
// destroy old output fence
@@ -699,11 +723,13 @@ void SpectraCamera::camera_map_bufs() {
LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
buf_handle_raw[i] = mem_mgr_map_cmd.out.buf_handle;
// TODO: this needs to match camera bufs length
// final processed images
mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
VisionBuf *vb = buf.vipc_server->get_buffer(buf.stream_type, i);
mem_mgr_map_cmd.fd = vb->fd;
ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
LOGD("map buf req: (fd: %d) 0x%x %d", vb->fd, mem_mgr_map_cmd.out.buf_handle, ret);
buf_handle_yuv[i] = mem_mgr_map_cmd.out.buf_handle;
}
enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
}
@@ -786,13 +812,19 @@ void SpectraCamera::configISP() {
// ISP outputs
.num_out_res = 0x1,
.data[0] = (struct cam_isp_out_port_info){
.res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
.format = sensor->mipi_format,
.res_type = CAM_ISP_IFE_OUT_RES_FULL,
.format = CAM_FORMAT_NV12,
.width = sensor->frame_width,
.height = sensor->frame_height + sensor->extra_height,
.comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
},
};
if (is_raw) {
in_port_info.data[0].res_type = CAM_ISP_IFE_OUT_RES_RDI_0;
in_port_info.data[0].format = sensor->mipi_format;
}
struct cam_isp_resource isp_resource = {
.resource_id = CAM_ISP_RES_ID_PORT,
.handle_type = CAM_HANDLE_USER_POINTER,
@@ -968,7 +1000,8 @@ void SpectraCamera::camera_close() {
LOGD("release csiphy: %d", ret);
for (int i = 0; i < FRAME_BUF_COUNT; i++) {
release(m->video0_fd, buf_handle[i]);
release(m->video0_fd, buf_handle_yuv[i]);
release(m->video0_fd, buf_handle_raw[i]);
}
LOGD("released buffers");
}
@@ -1013,7 +1046,7 @@ void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
frame_id_last = main_id;
request_id_last = real_id;
auto &meta_data = buf.camera_bufs_metadata[buf_idx];
auto &meta_data = buf.frame_metadata[buf_idx];
meta_data.frame_id = main_id - idx_offset;
meta_data.request_id = real_id;
meta_data.timestamp_sof = timestamp;

7
system/camerad/cameras/spectra.h
View File

@@ -88,7 +88,7 @@ public:
class SpectraCamera {
public:
SpectraCamera(SpectraMaster *master, const CameraConfig &config);
SpectraCamera(SpectraMaster *master, const CameraConfig &config, bool raw);
~SpectraCamera();
void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
@@ -147,8 +147,7 @@ public:
SpectraBuf bps_iq;
SpectraBuf bps_striping;
int buf0_handle = 0;
int buf_handle[FRAME_BUF_COUNT] = {};
int buf_handle_yuv[FRAME_BUF_COUNT] = {};
int buf_handle_raw[FRAME_BUF_COUNT] = {};
int sync_objs[FRAME_BUF_COUNT] = {};
int sync_objs_bps_out[FRAME_BUF_COUNT] = {};
@@ -158,6 +157,8 @@ public:
uint64_t idx_offset = 0;
bool skipped = true;
bool is_raw;
CameraBuf buf;
MemoryManager mm;
SpectraMaster *m;

4
system/camerad/test/debug.sh
View File

@@ -10,7 +10,7 @@ echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
sudo dmesg -C
scons -u -j8 --minimal .
export DEBUG_FRAMES=1
export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
#export DISABLE_DRIVER=1
#export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
export DISABLE_DRIVER=1
#export LOGPRINT=debug
./camerad