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look ma no gpu
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Comma Device committed Oct 15, 2024
1 parent 04571e3 commit 33dc1b8
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Showing 2 changed files with 36 additions and 23 deletions.
2 changes: 1 addition & 1 deletion system/camerad/cameras/camera_qcom2.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,7 @@ class CameraState {

float fl_pix = 0;

CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.camera_num == 2*/) {};
CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, 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);
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57 changes: 35 additions & 22 deletions system/camerad/cameras/spectra.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -281,7 +281,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c

open = true;
configISP();
configICP();
if (is_raw) configICP();
configCSIPHY();
linkDevices();

Expand Down Expand Up @@ -832,13 +832,15 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
// TODO: handle frame drop cleanly
}

// wait for bps
sync_wait.sync_obj = sync_objs_bps_out[i];
sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
if (ret != 0) {
LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
// TODO: handle frame drop cleanly
if (is_raw) {
// wait for bps
sync_wait.sync_obj = sync_objs_bps_out[i];
sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
if (ret != 0) {
LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
// TODO: handle frame drop cleanly
}
}

// TODO: this is wrong for ISP-processed images
Expand Down Expand Up @@ -866,11 +868,13 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
}
sync_objs[i] = sync_create.sync_obj;

ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
if (ret != 0) {
LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
if (is_raw) {
ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
if (ret != 0) {
LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
}
sync_objs_bps_out[i] = sync_create.sync_obj;
}
sync_objs_bps_out[i] = sync_create.sync_obj;

// schedule request with camera request manager
struct cam_req_mgr_sched_request req_mgr_sched_request = {0};
Expand All @@ -896,8 +900,11 @@ void SpectraCamera::camera_map_bufs() {
// map our VisionIPC bufs into ISP memory
struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
mem_mgr_map_cmd.mmu_hdls[0] = m->device_iommu;
mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu;
mem_mgr_map_cmd.num_hdl = 2;
mem_mgr_map_cmd.num_hdl = 1;
if (is_raw) {
mem_mgr_map_cmd.num_hdl = 2;
mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu;
}
mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;

// RAW bayer images
Expand Down Expand Up @@ -1043,7 +1050,7 @@ void SpectraCamera::configICP() {
memset(cfg, 0, sizeof(BpsCfg));

cfg->cmdData.images[0].info.format = IMAGE_FORMAT_MIPI_12;
cfg->cmdData.images[0].info.bayerOrder = FIRST_PIXEL_B; // TODO: get this from sensor->bayer_pattern
cfg->cmdData.images[0].info.bayerOrder = FIRST_PIXEL_GR; // TODO: get this from sensor->bayer_pattern
cfg->cmdData.images[0].info.dimensions.widthPixels = sensor->frame_width;
cfg->cmdData.images[0].info.dimensions.heightLines = sensor->frame_height;
cfg->cmdData.images[0].bufferLayout[0].bufferStride = sensor->frame_stride;
Expand Down Expand Up @@ -1170,9 +1177,11 @@ void SpectraCamera::linkDevices() {
ret = device_control(m->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle);
LOGD("start isp: %d", ret);
assert(ret == 0);
ret = device_control(m->icp_fd, CAM_START_DEV, session_handle, icp_dev_handle);
LOGD("start icp: %d", ret);
assert(ret == 0);
if (is_raw) {
ret = device_control(m->icp_fd, CAM_START_DEV, session_handle, icp_dev_handle);
LOGD("start icp: %d", ret);
assert(ret == 0);
}
}

void SpectraCamera::camera_close() {
Expand All @@ -1183,8 +1192,10 @@ void SpectraCamera::camera_close() {
// LOGD("stop sensor: %d", ret);
int ret = device_control(m->isp_fd, CAM_STOP_DEV, session_handle, isp_dev_handle);
LOGD("stop isp: %d", ret);
ret = device_control(m->icp_fd, CAM_STOP_DEV, session_handle, icp_dev_handle);
LOGD("stop icp: %d", ret);
if (is_raw) {
ret = device_control(m->icp_fd, CAM_STOP_DEV, session_handle, icp_dev_handle);
LOGD("stop icp: %d", ret);
}
ret = device_control(csiphy_fd, CAM_STOP_DEV, session_handle, csiphy_dev_handle);
LOGD("stop csiphy: %d", ret);

Expand All @@ -1210,8 +1221,10 @@ void SpectraCamera::camera_close() {
LOGD("-- Release devices");
ret = device_control(m->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle);
LOGD("release isp: %d", ret);
ret = device_control(m->icp_fd, CAM_RELEASE_DEV, session_handle, icp_dev_handle);
LOGD("release icp: %d", ret);
if (is_raw) {
ret = device_control(m->icp_fd, CAM_RELEASE_DEV, session_handle, icp_dev_handle);
LOGD("release icp: %d", ret);
}
ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle);
LOGD("release csiphy: %d", ret);

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