mirror of https://github.com/commaai/openpilot.git
camerad: final debayer prep (#33598)
* prep part 4? * cleanup * little less magic * reorg * final touches --------- Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
GitHub
parent
eaebea0968
commit
df9b8f0222
|
|
@ -37,6 +37,8 @@ const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
|
|||
const double METER_TO_MILE = KM_TO_MILE / 1000.0;
|
||||
const double METER_TO_FOOT = 3.28084;
|
||||
|
||||
#define ALIGNED_SIZE(x, align) (((x) + (align)-1) & ~((align)-1))
|
||||
|
||||
namespace util {
|
||||
|
||||
void set_thread_name(const char* name);
|
||||
|
|
|
|||
|
|
@ -395,20 +395,15 @@ int SpectraCamera::sensors_init() {
|
|||
return ret;
|
||||
}
|
||||
|
||||
void SpectraCamera::config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset) {
|
||||
uint32_t cam_packet_handle = 0;
|
||||
int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
|
||||
void SpectraCamera::config_isp(int io_mem_handle, int fence, int request_id, int buf0_idx) {
|
||||
printf("cam cmd buf %lu %lu\n", sizeof(struct cam_cmd_buf_desc), sizeof(struct cam_buf_io_cfg));
|
||||
int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2;
|
||||
if (io_mem_handle != 0) {
|
||||
size += sizeof(struct cam_buf_io_cfg);
|
||||
}
|
||||
auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
|
||||
pkt->num_cmd_buf = 2;
|
||||
pkt->kmd_cmd_buf_index = 0;
|
||||
|
||||
if (io_mem_handle != 0) {
|
||||
pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
|
||||
pkt->num_io_configs = 1;
|
||||
}
|
||||
uint32_t cam_packet_handle = 0;
|
||||
auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
|
||||
|
||||
if (io_mem_handle != 0) {
|
||||
pkt->header.op_code = 0xf000001;
|
||||
|
|
@ -418,96 +413,124 @@ void SpectraCamera::config_isp(int io_mem_handle, int fence, int request_id, int
|
|||
pkt->header.request_id = 1;
|
||||
}
|
||||
pkt->header.size = size;
|
||||
struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
|
||||
struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset);
|
||||
|
||||
// TODO: support MMU
|
||||
buf_desc[0].size = 65624;
|
||||
buf_desc[0].length = 0;
|
||||
buf_desc[0].type = CAM_CMD_BUF_DIRECT;
|
||||
buf_desc[0].meta_data = 3;
|
||||
buf_desc[0].mem_handle = buf0_mem_handle;
|
||||
buf_desc[0].offset = buf0_offset;
|
||||
// *** kmd cmd buf ***
|
||||
{
|
||||
pkt->kmd_cmd_buf_index = 0;
|
||||
pkt->kmd_cmd_buf_offset = 0;
|
||||
}
|
||||
|
||||
// parsed by cam_isp_packet_generic_blob_handler
|
||||
struct isp_packet {
|
||||
uint32_t type_0;
|
||||
cam_isp_resource_hfr_config resource_hfr;
|
||||
// *** patches ***
|
||||
{
|
||||
pkt->num_patches = 0;
|
||||
pkt->patch_offset = 0x0;
|
||||
}
|
||||
|
||||
uint32_t type_1;
|
||||
cam_isp_clock_config clock;
|
||||
uint64_t extra_rdi_hz[3];
|
||||
// *** cmd buf ***
|
||||
{
|
||||
struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
|
||||
pkt->num_cmd_buf = 2;
|
||||
|
||||
uint32_t type_2;
|
||||
cam_isp_bw_config bw;
|
||||
struct cam_isp_bw_vote extra_rdi_vote[6];
|
||||
} __attribute__((packed)) tmp;
|
||||
memset(&tmp, 0, sizeof(tmp));
|
||||
// *** first command ***
|
||||
// TODO: support MMU
|
||||
buf_desc[0].size = buf0_size;
|
||||
buf_desc[0].length = 0;
|
||||
buf_desc[0].type = CAM_CMD_BUF_DIRECT;
|
||||
buf_desc[0].meta_data = 3;
|
||||
buf_desc[0].mem_handle = buf0_handle;
|
||||
buf_desc[0].offset = ALIGNED_SIZE(buf0_size, buf0_alignment)*buf0_idx;
|
||||
|
||||
tmp.type_0 = CAM_ISP_GENERIC_BLOB_TYPE_HFR_CONFIG;
|
||||
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)
|
||||
.port_hfr_config[0] = {
|
||||
.resource_type = CAM_ISP_IFE_OUT_RES_RDI_0, // CAM_ISP_IFE_OUT_RES_FULL for YUV
|
||||
.subsample_pattern = 1,
|
||||
.subsample_period = 0,
|
||||
.framedrop_pattern = 1,
|
||||
.framedrop_period = 0,
|
||||
}};
|
||||
// *** second command ***
|
||||
// parsed by cam_isp_packet_generic_blob_handler
|
||||
struct isp_packet {
|
||||
uint32_t type_0;
|
||||
cam_isp_resource_hfr_config resource_hfr;
|
||||
|
||||
tmp.type_1 = CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG;
|
||||
tmp.type_1 |= (sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) << 8;
|
||||
static_assert((sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) == 0x38);
|
||||
tmp.clock = {
|
||||
.usage_type = 1, // dual mode
|
||||
.num_rdi = 4,
|
||||
.left_pix_hz = 404000000,
|
||||
.right_pix_hz = 404000000,
|
||||
.rdi_hz[0] = 404000000,
|
||||
};
|
||||
uint32_t type_1;
|
||||
cam_isp_clock_config clock;
|
||||
uint64_t extra_rdi_hz[3];
|
||||
|
||||
tmp.type_2 = CAM_ISP_GENERIC_BLOB_TYPE_BW_CONFIG;
|
||||
tmp.type_2 |= (sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) << 8;
|
||||
static_assert((sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) == 0xe0);
|
||||
tmp.bw = {
|
||||
.usage_type = 1, // dual mode
|
||||
.num_rdi = 4,
|
||||
.left_pix_vote = {
|
||||
.resource_id = 0,
|
||||
.cam_bw_bps = 450000000,
|
||||
.ext_bw_bps = 450000000,
|
||||
},
|
||||
.rdi_vote[0] = {
|
||||
.resource_id = 0,
|
||||
.cam_bw_bps = 8706200000,
|
||||
.ext_bw_bps = 8706200000,
|
||||
},
|
||||
};
|
||||
uint32_t type_2;
|
||||
cam_isp_bw_config bw;
|
||||
struct cam_isp_bw_vote extra_rdi_vote[6];
|
||||
} __attribute__((packed)) tmp;
|
||||
memset(&tmp, 0, sizeof(tmp));
|
||||
|
||||
static_assert(offsetof(struct isp_packet, type_2) == 0x60);
|
||||
tmp.type_0 = CAM_ISP_GENERIC_BLOB_TYPE_HFR_CONFIG;
|
||||
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)
|
||||
.port_hfr_config[0] = {
|
||||
.resource_type = CAM_ISP_IFE_OUT_RES_RDI_0, // CAM_ISP_IFE_OUT_RES_FULL for YUV
|
||||
.subsample_pattern = 1,
|
||||
.subsample_period = 0,
|
||||
.framedrop_pattern = 1,
|
||||
.framedrop_period = 0,
|
||||
}};
|
||||
|
||||
buf_desc[1].size = sizeof(tmp);
|
||||
buf_desc[1].offset = io_mem_handle != 0 ? 0x60 : 0;
|
||||
buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
|
||||
buf_desc[1].type = CAM_CMD_BUF_GENERIC;
|
||||
buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
|
||||
auto buf2 = mm.alloc<uint32_t>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
|
||||
memcpy(buf2.get(), &tmp, sizeof(tmp));
|
||||
tmp.type_1 = CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG;
|
||||
tmp.type_1 |= (sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) << 8;
|
||||
static_assert((sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) == 0x38);
|
||||
tmp.clock = {
|
||||
.usage_type = 1, // dual mode
|
||||
.num_rdi = 4,
|
||||
.left_pix_hz = 404000000,
|
||||
.right_pix_hz = 404000000,
|
||||
.rdi_hz[0] = 404000000,
|
||||
};
|
||||
|
||||
tmp.type_2 = CAM_ISP_GENERIC_BLOB_TYPE_BW_CONFIG;
|
||||
tmp.type_2 |= (sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) << 8;
|
||||
static_assert((sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) == 0xe0);
|
||||
tmp.bw = {
|
||||
.usage_type = 1, // dual mode
|
||||
.num_rdi = 4,
|
||||
.left_pix_vote = {
|
||||
.resource_id = 0,
|
||||
.cam_bw_bps = 450000000,
|
||||
.ext_bw_bps = 450000000,
|
||||
},
|
||||
.rdi_vote[0] = {
|
||||
.resource_id = 0,
|
||||
.cam_bw_bps = 8706200000,
|
||||
.ext_bw_bps = 8706200000,
|
||||
},
|
||||
};
|
||||
|
||||
static_assert(offsetof(struct isp_packet, type_2) == 0x60);
|
||||
|
||||
buf_desc[1].size = sizeof(tmp);
|
||||
buf_desc[1].offset = io_mem_handle != 0 ? 0x60 : 0;
|
||||
buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
|
||||
buf_desc[1].type = CAM_CMD_BUF_GENERIC;
|
||||
buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
|
||||
auto buf2 = mm.alloc<uint32_t>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
|
||||
memcpy(buf2.get(), &tmp, sizeof(tmp));
|
||||
}
|
||||
|
||||
// *** io config ***
|
||||
if (io_mem_handle != 0) {
|
||||
// configure output frame
|
||||
pkt->num_io_configs = 1;
|
||||
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] = io_mem_handle;
|
||||
|
||||
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,
|
||||
.meta_stride = 0x0, // YUV has meta(stride=0x400, size=0x5000)
|
||||
|
||||
// these are for UBWC, we'll want that eventually
|
||||
.meta_stride = 0x0,
|
||||
.meta_size = 0x0,
|
||||
.meta_offset = 0x0,
|
||||
.packer_config = 0x0, // 0xb for YUV
|
||||
.mode_config = 0x0, // 0x9ef for YUV
|
||||
.packer_config = 0x0,
|
||||
.mode_config = 0x0,
|
||||
.tile_config = 0x0,
|
||||
.h_init = 0x0,
|
||||
.v_init = 0x0,
|
||||
|
|
@ -525,9 +548,6 @@ void SpectraCamera::config_isp(int io_mem_handle, int fence, int request_id, int
|
|||
|
||||
int ret = device_config(m->isp_fd, session_handle, isp_dev_handle, cam_packet_handle);
|
||||
assert(ret == 0);
|
||||
if (ret != 0) {
|
||||
LOGE("isp config failed");
|
||||
}
|
||||
}
|
||||
|
||||
void SpectraCamera::enqueue_buffer(int i, bool dp) {
|
||||
|
|
@ -580,7 +600,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
|
|||
sensors_poke(request_id);
|
||||
|
||||
// submit request to the ife
|
||||
config_isp(buf_handle[i], sync_objs[i], request_id, buf0_handle, 65632*(i+1));
|
||||
config_isp(buf_handle[i], sync_objs[i], request_id, i);
|
||||
}
|
||||
|
||||
void SpectraCamera::camera_map_bufs() {
|
||||
|
|
@ -639,11 +659,10 @@ bool SpectraCamera::openSensor() {
|
|||
}
|
||||
|
||||
void SpectraCamera::configISP() {
|
||||
// NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
|
||||
// If you don't do this, the strobe GPIO is an output (even in reset it seems!)
|
||||
if (!enabled) return;
|
||||
|
||||
struct cam_isp_in_port_info in_port_info = {
|
||||
// ISP input to the CSID
|
||||
.res_type = cc.phy,
|
||||
.lane_type = CAM_ISP_LANE_TYPE_DPHY,
|
||||
.lane_num = 4,
|
||||
|
|
@ -674,6 +693,7 @@ void SpectraCamera::configISP() {
|
|||
.hbi_cnt = 0x0,
|
||||
.custom_csid = 0x0,
|
||||
|
||||
// ISP outputs
|
||||
.num_out_res = 0x1,
|
||||
.data[0] = (struct cam_isp_out_port_info){
|
||||
.res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
|
||||
|
|
@ -696,9 +716,11 @@ void SpectraCamera::configISP() {
|
|||
LOGD("acquire isp dev");
|
||||
|
||||
// config ISP
|
||||
alloc_w_mmu_hdl(m->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS |
|
||||
CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, m->device_iommu, m->cdm_iommu);
|
||||
config_isp(0, 0, 1, buf0_handle, 0);
|
||||
// TODO: unclear where this 15 comes from
|
||||
alloc_w_mmu_hdl(m->video0_fd, 15*ALIGNED_SIZE(buf0_size, buf0_alignment), (uint32_t*)&buf0_handle, buf0_alignment,
|
||||
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
|
||||
m->device_iommu, m->cdm_iommu);
|
||||
config_isp(0, 0, 1, 0);
|
||||
}
|
||||
|
||||
void SpectraCamera::configCSIPHY() {
|
||||
|
|
|
|||
|
|
@ -68,7 +68,7 @@ public:
|
|||
void camera_close();
|
||||
void camera_map_bufs();
|
||||
void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
|
||||
void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset);
|
||||
void config_isp(int io_mem_handle, int fence, int request_id, int buf0_idx);
|
||||
|
||||
int clear_req_queue();
|
||||
void enqueue_buffer(int i, bool dp);
|
||||
|
|
@ -101,6 +101,9 @@ public:
|
|||
|
||||
int32_t link_handle = -1;
|
||||
|
||||
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
|
||||
const int buf0_alignment = 0x20;
|
||||
|
||||
int buf0_handle = 0;
|
||||
int buf_handle[FRAME_BUF_COUNT] = {};
|
||||
int sync_objs[FRAME_BUF_COUNT] = {};
|
||||
|
|
|
|||
|
|
@ -18,6 +18,8 @@ struct CameraConfig {
|
|||
uint32_t phy;
|
||||
};
|
||||
|
||||
// NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
|
||||
// If you don't do this, the strobe GPIO is an output (even in reset it seems!)
|
||||
const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
|
||||
.camera_num = 0,
|
||||
.stream_type = VISION_STREAM_WIDE_ROAD,
|
||||
|
|
|
|||
Loading…
Reference in New Issue