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make qcom2 robust to moving v4l-subdevs

albatross
Comma Device 2020-12-10 05:44:29 +00:00
parent 257c5f9d94
commit 0e84e04539
1 changed files with 30 additions and 24 deletions
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54
selfdrive/camerad/cameras/camera_qcom2.cc
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@ -589,35 +589,41 @@ static void camera_init(CameraState *s, int camera_id, int camera_num, unsigned
s->buf.init(device_id, ctx, s, FRAME_BUF_COUNT, "frame");
}
// TODO: refactor this to somewhere nicer, perhaps use in camera_qcom as well
static int open_v4l_by_name_and_index(const char name[], int index, int flags) {
char nbuf[0x100];
int v4l_index = 0;
int cnt_index = index;
while (1) {
snprintf(nbuf, sizeof(nbuf), "/sys/class/video4linux/v4l-subdev%d/name", v4l_index);
FILE *f = fopen(nbuf, "rb");
if (f == NULL) return -1;
int len = fread(nbuf, 1, sizeof(nbuf), f);
fclose(f);
// name ends with '\n', remove it
if (len < 1) return -1;
nbuf[len-1] = '\0';
if (strcmp(nbuf, name) == 0) {
if (cnt_index == 0) {
snprintf(nbuf, sizeof(nbuf), "/dev/v4l-subdev%d", v4l_index);
LOGD("open %s for %s index %d", nbuf, name, index);
return open(nbuf, flags);
}
cnt_index--;
}
v4l_index++;
}
}
static void camera_open(CameraState *s) {
int ret;
// /dev/v4l-subdev10 is sensor, 11, 12, 13 are the other sensors
switch (s->camera_num) {
case 0:
s->sensor_fd = open("/dev/v4l-subdev10", O_RDWR | O_NONBLOCK);
break;
case 1:
s->sensor_fd = open("/dev/v4l-subdev11", O_RDWR | O_NONBLOCK);
break;
case 2:
s->sensor_fd = open("/dev/v4l-subdev12", O_RDWR | O_NONBLOCK);
break;
}
s->sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", s->camera_num, O_RDWR | O_NONBLOCK);
assert(s->sensor_fd >= 0);
LOGD("opened sensor");
// also at /dev/v4l-subdev3, 4, 5, 6
switch (s->camera_num) {
case 0:
s->csiphy_fd = open("/dev/v4l-subdev3", O_RDWR | O_NONBLOCK);
break;
case 1:
s->csiphy_fd = open("/dev/v4l-subdev4", O_RDWR | O_NONBLOCK);
break;
case 2:
s->csiphy_fd = open("/dev/v4l-subdev5", O_RDWR | O_NONBLOCK);
break;
}
s->csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", s->camera_num, O_RDWR | O_NONBLOCK);
assert(s->csiphy_fd >= 0);
LOGD("opened csiphy");