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camerad: move AR0231 functions to camera_ar0231.cc (#30635) 

* move AR0231 functions to camera_ar0231.cc

* move to sensors/aro231.cc
This commit is contained in:
Dean Lee 2023-12-08 03:48:17 +08:00 committed by GitHub
parent 1cd7b04e6f
commit ecfe201a57
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 105 additions and 93 deletions
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1
release/files_common
View File

@ -319,6 +319,7 @@ system/camerad/snapshot/*
system/camerad/cameras/camera_common.h
system/camerad/cameras/camera_common.cc
system/camerad/cameras/sensor2_i2c.h
system/camerad/sensors/ar0231.cc
selfdrive/manager/__init__.py
selfdrive/manager/build.py

3
system/camerad/SConscript
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@ -2,7 +2,8 @@ Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')
libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon, 'atomic']
camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc'])
camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc',
'sensors/ar0231.cc'])
env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
if GetOption("extras") and arch == "x86_64":

3
system/camerad/cameras/camera_common.h
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@ -103,3 +103,6 @@ void cameras_close(MultiCameraState *s);
void camerad_thread();
int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK);
void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal::FrameData::Builder &framed);

90
system/camerad/cameras/camera_qcom2.cc
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@ -907,70 +907,6 @@ void cameras_close(MultiCameraState *s) {
delete s->pm;
}
std::map<uint16_t, std::pair<int, int>> CameraState::ar0231_build_register_lut(uint8_t *data) {
// This function builds a lookup table from register address, to a pair of indices in the
// buffer where to read this address. The buffer contains padding bytes,
// as well as markers to indicate the type of the next byte.
//
// 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address.
// Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional
// for contiguous ranges. See page 27-29 of the AR0231 Developer guide for more information.
int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3};
auto get_next_idx = [](int cur_idx) {
return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1; // Every third byte is padding
};
std::map<uint16_t, std::pair<int, int>> registers;
for (int register_row = 0; register_row < 2; register_row++) {
uint8_t *registers_raw = data + ci.frame_stride * register_row;
assert(registers_raw[0] == 0x0a); // Start of line
int value_tag_count = 0;
int first_val_idx = 0;
uint16_t cur_addr = 0;
for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) {
int val_idx = get_next_idx(i);
uint8_t tag = registers_raw[i];
uint16_t val = registers_raw[val_idx];
if (tag == 0xAA) { // Register MSB tag
cur_addr = val << 8;
} else if (tag == 0xA5) { // Register LSB tag
cur_addr |= val;
cur_addr -= 2; // Next value tag will increment address again
} else if (tag == 0x5A) { // Value tag
// First tag
if (value_tag_count % 2 == 0) {
cur_addr += 2;
first_val_idx = val_idx;
} else {
registers[cur_addr] = std::make_pair(first_val_idx + ci.frame_stride * register_row, val_idx + ci.frame_stride * register_row);
}
value_tag_count++;
}
}
}
return registers;
}
std::map<uint16_t, uint16_t> CameraState::ar0231_parse_registers(uint8_t *data, std::initializer_list<uint16_t> addrs) {
if (ar0231_register_lut.empty()) {
ar0231_register_lut = ar0231_build_register_lut(data);
}
std::map<uint16_t, uint16_t> registers;
for (uint16_t addr : addrs) {
auto offset = ar0231_register_lut[addr];
registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second];
}
return registers;
}
void CameraState::handle_camera_event(void *evdat) {
if (!enabled) return;
struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)evdat;
@ -1180,32 +1116,6 @@ void CameraState::set_camera_exposure(float grey_frac) {
}
}
static float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) {
// See AR0231 Developer Guide - page 36
float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2);
float t0 = 55.0 - slope * (float)calib2;
return t0 + slope * (float)data_reg;
}
static void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal::FrameData::Builder &framed){
const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55};
uint8_t *data = (uint8_t*)c->buf.cur_camera_buf->addr + c->ci.registers_offset;
if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0){
LOGE("unexpected register data found");
return;
}
auto registers = c->ar0231_parse_registers(data, {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc});
uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002];
framed.setFrameIdSensor(frame_id);
float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]);
float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]);
framed.setTemperaturesC({temp_0, temp_1});
}
static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
c->set_camera_exposure(set_exposure_target(&c->buf, 96, 1832, 2, 242, 1148, 4));

3
system/camerad/cameras/camera_qcom2.h
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@ -94,7 +94,6 @@ public:
CameraBuf buf;
MemoryManager mm;
private:
void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset);
void enqueue_req_multi(int start, int n, bool dp);
void enqueue_buffer(int i, bool dp);
@ -106,8 +105,8 @@ private:
// Register parsing
std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(uint8_t *data);
private:
// for debugging
Params params;
};

98
system/camerad/sensors/ar0231.cc Normal file
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@ -0,0 +1,98 @@
#include <cassert>
#include "system/camerad/cameras/camera_common.h"
#include "system/camerad/cameras/camera_qcom2.h"
namespace {
std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c, uint8_t *data) {
// This function builds a lookup table from register address, to a pair of indices in the
// buffer where to read this address. The buffer contains padding bytes,
// as well as markers to indicate the type of the next byte.
//
// 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address.
// Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional
// for contiguous ranges. See page 27-29 of the AR0231 Developer guide for more information.
int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3};
auto get_next_idx = [](int cur_idx) {
return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1; // Every third byte is padding
};
std::map<uint16_t, std::pair<int, int>> registers;
for (int register_row = 0; register_row < 2; register_row++) {
uint8_t *registers_raw = data + c->ci.frame_stride * register_row;
assert(registers_raw[0] == 0x0a); // Start of line
int value_tag_count = 0;
int first_val_idx = 0;
uint16_t cur_addr = 0;
for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) {
int val_idx = get_next_idx(i);
uint8_t tag = registers_raw[i];
uint16_t val = registers_raw[val_idx];
if (tag == 0xAA) { // Register MSB tag
cur_addr = val << 8;
} else if (tag == 0xA5) { // Register LSB tag
cur_addr |= val;
cur_addr -= 2; // Next value tag will increment address again
} else if (tag == 0x5A) { // Value tag
// First tag
if (value_tag_count % 2 == 0) {
cur_addr += 2;
first_val_idx = val_idx;
} else {
registers[cur_addr] = std::make_pair(first_val_idx + c->ci.frame_stride * register_row, val_idx + c->ci.frame_stride * register_row);
}
value_tag_count++;
}
}
}
return registers;
}
std::map<uint16_t, uint16_t> ar0231_parse_registers(CameraState *c, uint8_t *data, std::initializer_list<uint16_t> addrs) {
if (c->ar0231_register_lut.empty()) {
c->ar0231_register_lut = ar0231_build_register_lut(c, data);
}
std::map<uint16_t, uint16_t> registers;
for (uint16_t addr : addrs) {
auto offset = c->ar0231_register_lut[addr];
registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second];
}
return registers;
}
float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) {
// See AR0231 Developer Guide - page 36
float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2);
float t0 = 55.0 - slope * (float)calib2;
return t0 + slope * (float)data_reg;
}
} // namespace
void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal::FrameData::Builder &framed) {
const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55};
uint8_t *data = (uint8_t *)c->buf.cur_camera_buf->addr + c->ci.registers_offset;
if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) {
LOGE("unexpected register data found");
return;
}
auto registers = ar0231_parse_registers(c, data, {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc});
uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002];
framed.setFrameIdSensor(frame_id);
float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]);
float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]);
framed.setTemperaturesC({temp_0, temp_1});
}