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camera_qcom2: cleanup camera_open (#22085)
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* cleanup camera_open

* remove static

* apply review
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@deanlee
deanlee authored Nov 17, 2021
1 parent 0684482 commit 3d0246e
Showing 1 changed file with 53 additions and 73 deletions.
126 changes: 53 additions & 73 deletions selfdrive/camerad/cameras/camera_qcom2.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -551,7 +551,6 @@ int open_v4l_by_name_and_index(const char name[], int index, int flags = O_RDWR
}

static void camera_open(CameraState *s) {
int ret;
s->sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", s->camera_num);
assert(s->sensor_fd >= 0);
LOGD("opened sensor");
Expand All @@ -566,7 +565,7 @@ static void camera_open(CameraState *s) {

// create session
struct cam_req_mgr_session_info session_info = {};
ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info));
int ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info));
LOGD("get session: %d 0x%X", ret, session_info.session_hdl);
s->session_handle = session_info.session_hdl;

Expand All @@ -577,93 +576,74 @@ static void camera_open(CameraState *s) {
s->sensor_dev_handle = *sensor_dev_handle;
LOGD("acquire sensor dev");

static struct cam_isp_resource isp_resource = {0};
isp_resource.resource_id = CAM_ISP_RES_ID_PORT;
isp_resource.length = sizeof(struct cam_isp_in_port_info) + sizeof(struct cam_isp_out_port_info)*(1-1);
isp_resource.handle_type = CAM_HANDLE_USER_POINTER;

struct cam_isp_in_port_info *in_port_info = (struct cam_isp_in_port_info *)malloc(isp_resource.length);
isp_resource.res_hdl = (uint64_t)in_port_info;

switch (s->camera_num) {
case 0:
in_port_info->res_type = CAM_ISP_IFE_IN_RES_PHY_0;
break;
case 1:
in_port_info->res_type = CAM_ISP_IFE_IN_RES_PHY_1;
break;
case 2:
in_port_info->res_type = CAM_ISP_IFE_IN_RES_PHY_2;
break;
}

in_port_info->lane_type = CAM_ISP_LANE_TYPE_DPHY;
in_port_info->lane_num = 4;
in_port_info->lane_cfg = 0x3210;

in_port_info->vc = 0x0;
//in_port_info->dt = 0x2C; //CSI_RAW12
//in_port_info->format = CAM_FORMAT_MIPI_RAW_12;

in_port_info->dt = 0x2B; //CSI_RAW10
in_port_info->format = CAM_FORMAT_MIPI_RAW_10;

in_port_info->test_pattern = 0x2; // 0x3?
in_port_info->usage_type = 0x0;

in_port_info->left_start = 0x0;
in_port_info->left_stop = FRAME_WIDTH - 1;
in_port_info->left_width = FRAME_WIDTH;

in_port_info->right_start = 0x0;
in_port_info->right_stop = FRAME_WIDTH - 1;
in_port_info->right_width = FRAME_WIDTH;

in_port_info->line_start = 0x0;
in_port_info->line_stop = FRAME_HEIGHT - 1;
in_port_info->height = FRAME_HEIGHT;

in_port_info->pixel_clk = 0x0;
in_port_info->batch_size = 0x0;
in_port_info->dsp_mode = 0x0;
in_port_info->hbi_cnt = 0x0;
in_port_info->custom_csid = 0x0;

in_port_info->num_out_res = 0x1;
in_port_info->data[0] = (struct cam_isp_out_port_info){
.res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
//.format = CAM_FORMAT_MIPI_RAW_12,
.format = CAM_FORMAT_MIPI_RAW_10,
.width = FRAME_WIDTH,
.height = FRAME_HEIGHT,
.comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
struct cam_isp_in_port_info in_port_info = {
.res_type = (uint32_t[]){CAM_ISP_IFE_IN_RES_PHY_0, CAM_ISP_IFE_IN_RES_PHY_1, CAM_ISP_IFE_IN_RES_PHY_2}[s->camera_num],

.lane_type = CAM_ISP_LANE_TYPE_DPHY,
.lane_num = 4,
.lane_cfg = 0x3210,

.vc = 0x0,
// .dt = 0x2C; //CSI_RAW12
.dt = 0x2B, //CSI_RAW10
.format = CAM_FORMAT_MIPI_RAW_10,

.test_pattern = 0x2, // 0x3?
.usage_type = 0x0,

.left_start = 0,
.left_stop = FRAME_WIDTH - 1,
.left_width = FRAME_WIDTH,

.right_start = 0,
.right_stop = FRAME_WIDTH - 1,
.right_width = FRAME_WIDTH,

.line_start = 0,
.line_stop = FRAME_HEIGHT - 1,
.height = FRAME_HEIGHT,

.pixel_clk = 0x0,
.batch_size = 0x0,
.dsp_mode = 0x0,
.hbi_cnt = 0x0,
.custom_csid = 0x0,

.num_out_res = 0x1,
.data[0] = (struct cam_isp_out_port_info){
.res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
.format = CAM_FORMAT_MIPI_RAW_10,
.width = FRAME_WIDTH,
.height = FRAME_HEIGHT,
.comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
},
};
struct cam_isp_resource isp_resource = {
.resource_id = CAM_ISP_RES_ID_PORT,
.handle_type = CAM_HANDLE_USER_POINTER,
.res_hdl = (uint64_t)&in_port_info,
.length = sizeof(in_port_info),
};

auto isp_dev_handle = device_acquire(s->multi_cam_state->isp_fd, s->session_handle, &isp_resource);
assert(isp_dev_handle);
s->isp_dev_handle = *isp_dev_handle;
LOGD("acquire isp dev");
free(in_port_info);

struct cam_csiphy_acquire_dev_info csiphy_acquire_dev_info = {.combo_mode = 0};
auto csiphy_dev_handle = device_acquire(s->csiphy_fd, s->session_handle, &csiphy_acquire_dev_info);
assert(csiphy_dev_handle);
s->csiphy_dev_handle = *csiphy_dev_handle;
LOGD("acquire csiphy dev");

// acquires done

// config ISP
alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, 984480, (uint32_t*)&s->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, s->multi_cam_state->device_iommu, s->multi_cam_state->cdm_iommu);
config_isp(s, 0, 0, 1, s->buf0_handle, 0);

LOG("-- Configuring sensor");
sensors_i2c(s, init_array_ar0231, sizeof(init_array_ar0231)/sizeof(struct i2c_random_wr_payload),
CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
//sensors_i2c(s, start_reg_array, sizeof(start_reg_array)/sizeof(struct i2c_random_wr_payload),
//CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON);
//sensors_i2c(s, stop_reg_array, sizeof(stop_reg_array)/sizeof(struct i2c_random_wr_payload),
//CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF);
sensors_i2c(s, init_array_ar0231, std::size(init_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
//sensors_i2c(s, start_reg_array, std::size(start_reg_array), CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON);
//sensors_i2c(s, stop_reg_array, std::size(stop_reg_array), CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF);

// config csiphy
LOG("-- Config CSI PHY");
Expand Down Expand Up @@ -700,7 +680,7 @@ static void camera_open(CameraState *s) {

// link devices
LOG("-- Link devices");
static struct cam_req_mgr_link_info req_mgr_link_info = {0};
struct cam_req_mgr_link_info req_mgr_link_info = {0};
req_mgr_link_info.session_hdl = s->session_handle;
req_mgr_link_info.num_devices = 2;
req_mgr_link_info.dev_hdls[0] = s->isp_dev_handle;
Expand All @@ -709,7 +689,7 @@ static void camera_open(CameraState *s) {
LOGD("link: %d", ret);
s->link_handle = req_mgr_link_info.link_hdl;

static struct cam_req_mgr_link_control req_mgr_link_control = {0};
struct cam_req_mgr_link_control req_mgr_link_control = {0};
req_mgr_link_control.ops = CAM_REQ_MGR_LINK_ACTIVATE;
req_mgr_link_control.session_hdl = s->session_handle;
req_mgr_link_control.num_links = 1;
Expand Down

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