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AF: improve general responsiveness (#1137) 

* sync control with readout; always assume worst

* faster recover
ZwX1616 2020-02-20 13:41:28 -08:00 committed by Willem Melching
parent 4bf377cfef
commit c534346d70
1 changed files with 3 additions and 3 deletions
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6
selfdrive/camerad/cameras/camera_qcom.c
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@ -1711,7 +1711,7 @@ static void parse_autofocus(CameraState *s, uint8_t *d) {
int16_t max_focus = -32767;
int avg_focus = 0;
// force to max if not able to determine focus for long
const int patience_cnt = 100;
const int patience_cnt = 20;
static int nan_cnt = 0;
/*printf("FOCUS: ");
@ -1757,7 +1757,7 @@ static void parse_autofocus(CameraState *s, uint8_t *d) {
nan_cnt = 0;
}
} else {
s->focus_err = avg_focus;
s->focus_err = max_focus;
nan_cnt = 0;
}
// printf("fe=%f\n", s->focus_err);
@ -2084,7 +2084,6 @@ static void* ops_thread(void* arg) {
if (cmsg.type == CAMERA_MSG_AUTOEXPOSE) {
if (cmsg.camera_num == 0) {
do_autoexposure(&s->rear, cmsg.grey_frac);
do_autofocus(&s->rear);
} else {
do_autoexposure(&s->front, cmsg.grey_frac);
}
@ -2187,6 +2186,7 @@ void cameras_run(DualCameraState *s) {
// fwrite(d, c->ss[buffer].bufs[buf_idx].len, sizeof(uint8_t), df);
// fclose(df);
parse_autofocus(c, d);
do_autofocus(&s->rear);
}
c->ss[buffer].qbuf_info[buf_idx].dirty_buf = 1;
ioctl(c->isp_fd, VIDIOC_MSM_ISP_ENQUEUE_BUF, &c->ss[buffer].qbuf_info[buf_idx]);