132 lines
2.6 KiB
C
132 lines
2.6 KiB
C
|
#ifndef CAMERA_H
|
||
|
|
#define CAMERA_H
|
||
|
|
|
||
|
|
#include <stdint.h>
|
||
|
|
#include <stdbool.h>
|
||
|
|
#include <pthread.h>
|
||
|
|
|
||
|
|
#include "msmb_isp.h"
|
||
|
|
#include "msmb_ispif.h"
|
||
|
|
#include "msmb_camera.h"
|
||
|
|
#include "msm_cam_sensor.h"
|
||
|
|
|
||
|
|
#include "common/mat.h"
|
||
|
|
#include "common/visionbuf.h"
|
||
|
|
#include "common/buffering.h"
|
||
|
|
|
||
|
|
#include "camera_common.h"
|
||
|
|
|
||
|
|
#define FRAME_BUF_COUNT 4
|
||
|
|
#define METADATA_BUF_COUNT 4
|
||
|
|
|
||
|
|
#define DEVICE_OP3 0
|
||
|
|
#define DEVICE_OP3T 1
|
||
|
|
#define DEVICE_LP3 2
|
||
|
|
|
||
|
|
#define NUM_FOCUS 8
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
extern "C" {
|
||
|
|
#endif
|
||
|
|
|
||
|
|
typedef struct CameraState CameraState;
|
||
|
|
|
||
|
|
typedef int (*camera_apply_exposure_func)(CameraState *s, int gain, int integ_lines, int frame_length);
|
||
|
|
|
||
|
|
typedef struct StreamState {
|
||
|
|
struct msm_isp_buf_request buf_request;
|
||
|
|
struct msm_vfe_axi_stream_request_cmd stream_req;
|
||
|
|
struct msm_isp_qbuf_info qbuf_info[FRAME_BUF_COUNT];
|
||
|
|
VisionBuf *bufs;
|
||
|
|
} StreamState;
|
||
|
|
|
||
|
|
typedef struct CameraState {
|
||
|
|
int camera_num;
|
||
|
|
int camera_id;
|
||
|
|
CameraInfo ci;
|
||
|
|
int frame_size;
|
||
|
|
|
||
|
|
int device;
|
||
|
|
|
||
|
|
void* ops_sock;
|
||
|
|
|
||
|
|
uint32_t pixel_clock;
|
||
|
|
uint32_t line_length_pclk;
|
||
|
|
unsigned int max_gain;
|
||
|
|
|
||
|
|
int csid_fd;
|
||
|
|
int csiphy_fd;
|
||
|
|
int sensor_fd;
|
||
|
|
int isp_fd;
|
||
|
|
int eeprom_fd;
|
||
|
|
// rear only
|
||
|
|
int ois_fd, actuator_fd;
|
||
|
|
uint16_t infinity_dac;
|
||
|
|
|
||
|
|
struct msm_vfe_axi_stream_cfg_cmd stream_cfg;
|
||
|
|
|
||
|
|
size_t eeprom_size;
|
||
|
|
uint8_t *eeprom;
|
||
|
|
|
||
|
|
// uint32_t camera_bufs_ids[FRAME_BUF_COUNT];
|
||
|
|
FrameMetadata camera_bufs_metadata[FRAME_BUF_COUNT];
|
||
|
|
TBuffer camera_tb;
|
||
|
|
|
||
|
|
pthread_mutex_t frame_info_lock;
|
||
|
|
FrameMetadata frame_metadata[METADATA_BUF_COUNT];
|
||
|
|
int frame_metadata_idx;
|
||
|
|
float cur_exposure_frac;
|
||
|
|
float cur_gain_frac;
|
||
|
|
int cur_gain;
|
||
|
|
int cur_frame_length;
|
||
|
|
int cur_integ_lines;
|
||
|
|
|
||
|
|
float digital_gain;
|
||
|
|
|
||
|
|
StreamState ss[3];
|
||
|
|
|
||
|
|
uint64_t last_t;
|
||
|
|
|
||
|
|
camera_apply_exposure_func apply_exposure;
|
||
|
|
|
||
|
|
int16_t focus[NUM_FOCUS];
|
||
|
|
uint8_t confidence[NUM_FOCUS];
|
||
|
|
|
||
|
|
float focus_err;
|
||
|
|
|
||
|
|
uint16_t cur_step_pos;
|
||
|
|
uint16_t cur_lens_pos;
|
||
|
|
uint64_t last_sag_ts;
|
||
|
|
float last_sag_acc_z;
|
||
|
|
float lens_true_pos;
|
||
|
|
|
||
|
|
int fps;
|
||
|
|
|
||
|
|
mat3 transform;
|
||
|
|
} CameraState;
|
||
|
|
|
||
|
|
|
||
|
|
typedef struct DualCameraState {
|
||
|
|
int device;
|
||
|
|
|
||
|
|
int ispif_fd;
|
||
|
|
|
||
|
|
CameraState rear;
|
||
|
|
CameraState front;
|
||
|
|
} DualCameraState;
|
||
|
|
|
||
|
|
void cameras_init(DualCameraState *s);
|
||
|
|
void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front);
|
||
|
|
void cameras_run(DualCameraState *s);
|
||
|
|
void cameras_close(DualCameraState *s);
|
||
|
|
|
||
|
|
void camera_autoexposure(CameraState *s, float grey_frac);
|
||
|
|
void actuator_move(CameraState *s, uint16_t target);
|
||
|
|
int sensor_write_regs(CameraState *s, struct msm_camera_i2c_reg_array* arr, size_t size, int data_type);
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
} // extern "C"
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|