oneplus cleanup (continue) (#20212)
* cleanup cameras_supported * use macro * remove ois_fd * remove ois_init_settings * cleanup sensor_i2c.h * apply_exposure * better comment * remove int err * init apply_exposure in camera_init * continue * remove event startupOneplus * Revert "remove event startupOneplus" This reverts commit f5b16e864399bcf4dc7c48fc07a43e35c47e7dc2. * move camera_init after xxx_apply_exposurepull/20238/head
Dean Lee
GitHub
parent
0d036de205
commit
2f46ddf779
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@ -41,25 +41,9 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
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.frame_height = 1748,
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.frame_stride = 2912,
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.bayer = true,
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.bayer_flip = 0,
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.bayer_flip = 3,
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.hdr = true
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},
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[CAMERA_ID_IMX179] = {
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.frame_width = 3280,
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.frame_height = 2464,
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.frame_stride = 4104,
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.bayer = true,
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.bayer_flip = 0,
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.hdr = false
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},
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[CAMERA_ID_S5K3P8SP] = {
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.frame_width = 2304,
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.frame_height = 1728,
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.frame_stride = 2880,
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.bayer = true,
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.bayer_flip = 1,
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.hdr = false
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},
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[CAMERA_ID_OV8865] = {
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.frame_width = 1632,
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.frame_height = 1224,
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@ -94,27 +78,6 @@ static void camera_release_buffer(void* cookie, int buf_idx) {
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ioctl(s->isp_fd, VIDIOC_MSM_ISP_ENQUEUE_BUF, &s->ss[0].qbuf_info[buf_idx]);
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}
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static void camera_init(VisionIpcServer *v, CameraState *s, int camera_id, int camera_num,
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uint32_t pixel_clock, uint32_t line_length_pclk,
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unsigned int max_gain, unsigned int fps, cl_device_id device_id, cl_context ctx,
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VisionStreamType rgb_type, VisionStreamType yuv_type) {
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s->camera_num = camera_num;
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s->camera_id = camera_id;
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assert(camera_id < ARRAYSIZE(cameras_supported));
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s->ci = cameras_supported[camera_id];
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assert(s->ci.frame_width != 0);
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s->pixel_clock = pixel_clock;
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s->line_length_pclk = line_length_pclk;
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s->max_gain = max_gain;
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s->fps = fps;
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s->self_recover = 0;
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s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type, camera_release_buffer);
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}
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int sensor_write_regs(CameraState *s, struct msm_camera_i2c_reg_array* arr, size_t size, msm_camera_i2c_data_type data_type) {
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struct msm_camera_i2c_reg_setting out_settings = {
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.reg_setting = arr,
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@ -201,6 +164,27 @@ static int ov8865_apply_exposure(CameraState *s, int gain, int integ_lines, int
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return err;
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}
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static void camera_init(VisionIpcServer *v, CameraState *s, int camera_id, int camera_num,
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uint32_t pixel_clock, uint32_t line_length_pclk,
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unsigned int max_gain, unsigned int fps, cl_device_id device_id, cl_context ctx,
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VisionStreamType rgb_type, VisionStreamType yuv_type) {
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s->camera_num = camera_num;
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s->camera_id = camera_id;
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assert(camera_id < ARRAYSIZE(cameras_supported));
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s->ci = cameras_supported[camera_id];
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assert(s->ci.frame_width != 0);
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s->pixel_clock = pixel_clock;
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s->line_length_pclk = line_length_pclk;
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s->max_gain = max_gain;
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s->fps = fps;
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s->self_recover = 0;
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s->apply_exposure = (camera_id == CAMERA_ID_IMX298) ? imx298_apply_exposure : ov8865_apply_exposure;
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s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type, camera_release_buffer);
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}
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cl_program build_conv_program(cl_device_id device_id, cl_context context, int image_w, int image_h, int filter_size) {
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char args[4096];
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snprintf(args, sizeof(args),
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@ -220,7 +204,6 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
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// sensor is flipped in LP3
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// IMAGE_ORIENT = 3
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init_array_imx298[0].reg_data = 3;
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cameras_supported[CAMERA_ID_IMX298].bayer_flip = 3;
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// 0 = ISO 100
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// 256 = ISO 200
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@ -242,13 +225,11 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
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#endif
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device_id, ctx,
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VISION_STREAM_RGB_BACK, VISION_STREAM_YUV_BACK);
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s->road_cam.apply_exposure = imx298_apply_exposure;
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camera_init(v, &s->driver_cam, CAMERA_ID_OV8865, 1,
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/*pixel_clock=*/72000000, /*line_length_pclk=*/1602,
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/*max_gain=*/510, 10, device_id, ctx,
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VISION_STREAM_RGB_FRONT, VISION_STREAM_YUV_FRONT);
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s->driver_cam.apply_exposure = ov8865_apply_exposure;
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s->sm = new SubMaster({"driverState"});
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s->pm = new PubMaster({"roadCameraState", "driverCameraState", "thumbnail"});
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@ -309,11 +290,8 @@ static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {
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if (s->apply_exposure == ov8865_apply_exposure) {
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gain = 800 * gain_frac; // ISO
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err = s->apply_exposure(s, gain, integ_lines, frame_length);
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} else if (s->apply_exposure) {
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err = s->apply_exposure(s, gain, integ_lines, frame_length);
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}
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err = s->apply_exposure(s, gain, integ_lines, frame_length);
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if (err == 0) {
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std::lock_guard lk(s->frame_info_lock);
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s->cur_gain = gain;
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@ -395,8 +373,6 @@ static uint8_t* get_eeprom(int eeprom_fd, size_t *out_len) {
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}
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static void sensors_init(MultiCameraState *s) {
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int err;
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unique_fd sensorinit_fd;
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sensorinit_fd = open("/dev/v4l-subdev11", O_RDWR | O_NONBLOCK);
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assert(sensorinit_fd >= 0);
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@ -443,7 +419,7 @@ static void sensors_init(MultiCameraState *s) {
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slave_info.power_setting_array.power_setting = &slave_info.power_setting_array.power_setting_a[0];
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slave_info.power_setting_array.power_down_setting = &slave_info.power_setting_array.power_down_setting_a[0];
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sensor_init_cfg_data sensor_init_cfg = {.cfgtype = CFG_SINIT_PROBE, .cfg.setting = &slave_info};
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err = ioctl(sensorinit_fd, VIDIOC_MSM_SENSOR_INIT_CFG, &sensor_init_cfg);
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int err = ioctl(sensorinit_fd, VIDIOC_MSM_SENSOR_INIT_CFG, &sensor_init_cfg);
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LOG("sensor init cfg (road camera): %d", err);
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assert(err >= 0);
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@ -487,13 +463,11 @@ static void sensors_init(MultiCameraState *s) {
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sensor_init_cfg.cfgtype = CFG_SINIT_PROBE;
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sensor_init_cfg.cfg.setting = &slave_info2;
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err = ioctl(sensorinit_fd, VIDIOC_MSM_SENSOR_INIT_CFG, &sensor_init_cfg);
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LOG("sensor init cfg (driver): %d", err);
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LOG("sensor init cfg (driver camera): %d", err);
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assert(err >= 0);
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}
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static void camera_open(CameraState *s, bool is_road_cam) {
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int err;
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struct csid_cfg_data csid_cfg_data = {};
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struct v4l2_event_subscription sub = {};
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@ -542,7 +516,7 @@ static void camera_open(CameraState *s, bool is_road_cam) {
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struct msm_camera_csi_lane_params csi_lane_params = {0};
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csi_lane_params.csi_lane_mask = 0x1f;
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csiphy_cfg_data csiphy_cfg_data = { .cfg.csi_lane_params = &csi_lane_params, .cfgtype = CSIPHY_RELEASE};
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err = ioctl(s->csiphy_fd, VIDIOC_MSM_CSIPHY_IO_CFG, &csiphy_cfg_data);
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int err = ioctl(s->csiphy_fd, VIDIOC_MSM_CSIPHY_IO_CFG, &csiphy_cfg_data);
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LOG("release csiphy: %d", err);
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// CSID: release csid
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@ -626,10 +600,6 @@ static void camera_open(CameraState *s, bool is_road_cam) {
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// SENSOR: send i2c configuration
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if (s->camera_id == CAMERA_ID_IMX298) {
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err = sensor_write_regs(s, init_array_imx298, ARRAYSIZE(init_array_imx298), MSM_CAMERA_I2C_BYTE_DATA);
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} else if (s->camera_id == CAMERA_ID_S5K3P8SP) {
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err = sensor_write_regs(s, init_array_s5k3p8sp, ARRAYSIZE(init_array_s5k3p8sp), MSM_CAMERA_I2C_WORD_DATA);
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} else if (s->camera_id == CAMERA_ID_IMX179) {
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err = sensor_write_regs(s, init_array_imx179, ARRAYSIZE(init_array_imx179), MSM_CAMERA_I2C_BYTE_DATA);
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} else if (s->camera_id == CAMERA_ID_OV8865) {
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err = sensor_write_regs(s, init_array_ov8865, ARRAYSIZE(init_array_ov8865), MSM_CAMERA_I2C_BYTE_DATA);
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} else {
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@ -713,10 +683,6 @@ static void camera_open(CameraState *s, bool is_road_cam) {
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struct msm_camera_csiphy_params csiphy_params = {};
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if (s->camera_id == CAMERA_ID_IMX298) {
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csiphy_params = {.lane_cnt = 4, .settle_cnt = 14, .lane_mask = 0x1f, .csid_core = 0};
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} else if (s->camera_id == CAMERA_ID_S5K3P8SP) {
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csiphy_params = {.lane_cnt = 4, .settle_cnt = 24, .lane_mask = 0x1f, .csid_core = 0};
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} else if (s->camera_id == CAMERA_ID_IMX179) {
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csiphy_params = {.lane_cnt = 4, .settle_cnt = 11, .lane_mask = 0x1f, .csid_core = 2};
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} else if (s->camera_id == CAMERA_ID_OV8865) {
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// guess!
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csiphy_params = {.lane_cnt = 4, .settle_cnt = 24, .lane_mask = 0x1f, .csid_core = 2};
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@ -1004,10 +970,6 @@ static std::optional<float> get_accel_z(SubMaster *sm) {
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}
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static void do_autofocus(CameraState *s, SubMaster *sm) {
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// params for focus PI controller
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const int dac_up = LP3_AF_DAC_UP;
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const int dac_down = LP3_AF_DAC_DOWN;
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float lens_true_pos = s->lens_true_pos.load();
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if (!isnan(s->focus_err)) {
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// learn lens_true_pos
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@ -1020,8 +982,8 @@ static void do_autofocus(CameraState *s, SubMaster *sm) {
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}
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const float sag = (s->last_sag_acc_z / 9.8) * 128;
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// stay off the walls
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lens_true_pos = std::clamp(lens_true_pos, float(dac_down), float(dac_up));
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int target = std::clamp(lens_true_pos - sag, float(dac_down), float(dac_up));
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lens_true_pos = std::clamp(lens_true_pos, float(LP3_AF_DAC_DOWN), float(LP3_AF_DAC_UP));
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int target = std::clamp(lens_true_pos - sag, float(LP3_AF_DAC_DOWN), float(LP3_AF_DAC_UP));
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s->lens_true_pos.store(lens_true_pos);
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/*char debug[4096];
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@ -1147,7 +1109,6 @@ static void camera_close(CameraState *s) {
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free(s->eeprom);
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}
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const char* get_isp_event_name(unsigned int type) {
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switch (type) {
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case ISP_EVENT_REG_UPDATE: return "ISP_EVENT_REG_UPDATE";
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@ -1250,24 +1211,19 @@ static void update_lapmap(MultiCameraState *s, const CameraBuf *b, const int cnt
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}
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static void setup_self_recover(CameraState *c, const uint16_t *lapres, size_t lapres_size) {
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const int dac_down = LP3_AF_DAC_DOWN;
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const int dac_up = LP3_AF_DAC_UP;
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const int dac_m = LP3_AF_DAC_M;
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const int dac_3sig = LP3_AF_DAC_3SIG;
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const float lens_true_pos = c->lens_true_pos.load();
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int self_recover = c->self_recover.load();
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if (self_recover < 2 && (lens_true_pos < (dac_down + 1) || lens_true_pos > (dac_up - 1)) && is_blur(lapres, lapres_size)) {
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if (self_recover < 2 && (lens_true_pos < (LP3_AF_DAC_DOWN + 1) || lens_true_pos > (LP3_AF_DAC_UP - 1)) && is_blur(lapres, lapres_size)) {
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// truly stuck, needs help
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if (--self_recover < -FOCUS_RECOVER_PATIENCE) {
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LOGD("road camera bad state detected. attempting recovery from %.1f, recover state is %d", lens_true_pos, self_recover);
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// parity determined by which end is stuck at
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self_recover = FOCUS_RECOVER_STEPS + (lens_true_pos < dac_m ? 1 : 0);
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self_recover = FOCUS_RECOVER_STEPS + (lens_true_pos < LP3_AF_DAC_M ? 1 : 0);
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}
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} else if (self_recover < 2 && (lens_true_pos < (dac_m - dac_3sig) || lens_true_pos > (dac_m + dac_3sig))) {
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} else if (self_recover < 2 && (lens_true_pos < (LP3_AF_DAC_M - LP3_AF_DAC_3SIG) || lens_true_pos > (LP3_AF_DAC_M + LP3_AF_DAC_3SIG))) {
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// in suboptimal position with high prob, but may still recover by itself
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if (--self_recover < -(FOCUS_RECOVER_PATIENCE * 3)) {
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self_recover = FOCUS_RECOVER_STEPS / 2 + (lens_true_pos < dac_m ? 1 : 0);
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self_recover = FOCUS_RECOVER_STEPS / 2 + (lens_true_pos < LP3_AF_DAC_M ? 1 : 0);
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}
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} else if (self_recover < 0) {
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self_recover += 1; // reset if fine
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@ -74,7 +74,7 @@ typedef struct CameraState {
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camera_apply_exposure_func apply_exposure;
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// rear camera only,used for focusing
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unique_fd actuator_fd, ois_fd, eeprom_fd;
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unique_fd actuator_fd, eeprom_fd;
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std::atomic<float> focus_err;
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std::atomic<float> last_sag_acc_z;
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std::atomic<float> lens_true_pos;
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File diff suppressed because it is too large
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