camerad: IFE debayer support (#33720)

* ife is up * split out cdm, bps needs this too * straight to vipc buffer * start reducing the diff * support both * disable for now * cleanup --------- Co-authored-by: Comma Device <[email protected]>
commaai · Oct 12, 2024 · 8e8f61a · 8e8f61a
1 parent 6f40dec
commit 8e8f61a
Show file tree

Hide file tree

Showing 11 changed files with 931 additions and 85 deletions.
diff --git a/msgq_repo b/msgq_repo
diff --git a/system/camerad/SConscript b/system/camerad/SConscript
@@ -3,7 +3,7 @@ Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
 libs = ['pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon]
 
 camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
- 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
+ 'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
 env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
 
 if GetOption("extras") and arch == "x86_64":

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
@@ -7,7 +7,6 @@
 
 #include "common/clutil.h"
 #include "common/swaglog.h"
-#include "third_party/linux/include/msm_media_info.h"
 
 #include "system/camerad/cameras/spectra.h"
 
@@ -65,16 +64,13 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
 
  const SensorInfo *sensor = cam->sensor.get();
 
- camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
+ is_raw = cam->is_raw;
  camera_bufs_raw = std::make_unique<VisionBuf[]>(frame_buf_count);
- camera_bufs_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
+ frame_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
 
  // RAW + final frames from ISP
  const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
  for (int i = 0; i < frame_buf_count; i++) {
- camera_bufs[i].allocate(cam->yuv_size);
- camera_bufs[i].init_cl(device_id, context);
-
  camera_bufs_raw[i].allocate(raw_frame_size);
  camera_bufs_raw[i].init_cl(device_id, context);
  }
@@ -95,7 +91,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
 
 CameraBuf::~CameraBuf() {
  for (int i = 0; i < frame_buf_count; i++) {
- camera_bufs[i].free();
  camera_bufs_raw[i].free();
  }
  if (imgproc) delete imgproc;
@@ -104,18 +99,22 @@ CameraBuf::~CameraBuf() {
 bool CameraBuf::acquire(int expo_time) {
  if (!safe_queue.try_pop(cur_buf_idx, 50)) return false;
 
- if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) {
+ if (frame_metadata[cur_buf_idx].frame_id == -1) {
  LOGE("no frame data? wtf");
  return false;
  }
 
- cur_frame_data = camera_bufs_metadata[cur_buf_idx];
- cur_yuv_buf = vipc_server->get_buffer(stream_type);
+ cur_frame_data = frame_metadata[cur_buf_idx];
  cur_camera_buf = &camera_bufs_raw[cur_buf_idx];
-
- double start_time = millis_since_boot();
- imgproc->runKernel(camera_bufs_raw[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time);
- cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
+ if (is_raw) {
+ cur_yuv_buf = vipc_server->get_buffer(stream_type);
+
+ double start_time = millis_since_boot();
+ imgproc->runKernel(camera_bufs_raw[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time);
+ cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
+ } else {
+ cur_yuv_buf = vipc_server->get_buffer(stream_type, cur_buf_idx);
+ }
 
  VisionIpcBufExtra extra = {
  cur_frame_data.frame_id,

diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
@@ -24,20 +24,21 @@ class ImgProc;
 
 class CameraBuf {
 private:
- VisionIpcServer *vipc_server;
  ImgProc *imgproc = nullptr;
- VisionStreamType stream_type;
  int cur_buf_idx;
  SafeQueue<int> safe_queue;
  int frame_buf_count;
+ bool is_raw;
 
 public:
+ VisionIpcServer *vipc_server;
+ VisionStreamType stream_type;
+
  FrameMetadata cur_frame_data;
  VisionBuf *cur_yuv_buf;
  VisionBuf *cur_camera_buf;
- std::unique_ptr<VisionBuf[]> camera_bufs;
  std::unique_ptr<VisionBuf[]> camera_bufs_raw;
- std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
+ std::unique_ptr<FrameMetadata[]> frame_metadata;
  int out_img_width, out_img_height;
 
  CameraBuf() = default;

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
@@ -50,7 +50,7 @@ class CameraState {
 
  float fl_pix = 0;
 
- CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {};
+ CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.camera_num == 2*/) {};
  ~CameraState();
  void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
  void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
@@ -285,7 +285,7 @@ void camerad_thread() {
  std::vector<std::unique_ptr<CameraState>> cams;
  for (const auto &config : {ROAD_CAMERA_CONFIG, WIDE_ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG}) {
  auto cam = std::make_unique<CameraState>(&m, config);
- cam->init(&v, device_id ,ctx);
+ cam->init(&v, device_id, ctx);
  cams.emplace_back(std::move(cam));
  }
 

diff --git a/system/camerad/cameras/cdm.cc b/system/camerad/cameras/cdm.cc
@@ -0,0 +1,33 @@
+#include "cdm.h"
+
+int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals) {
+ struct cdm_regcontinuous_cmd *cmd = (struct cdm_regcontinuous_cmd*)dst;
+ cmd->cmd = CAM_CDM_CMD_REG_CONT;
+ cmd->count = vals.size();
+ cmd->offset = reg;
+ cmd->reserved0 = 0;
+ cmd->reserved1 = 0;
+
+ uint32_t *vd = (uint32_t*)(dst + sizeof(struct cdm_regcontinuous_cmd));
+ for (int i = 0; i < vals.size(); i++) {
+ *vd = vals[i];
+ vd++;
+ }
+
+ return sizeof(struct cdm_regcontinuous_cmd) + vals.size()*sizeof(uint32_t);
+}
+
+int write_random(uint8_t *dst, std::vector<uint32_t> vals) {
+ struct cdm_regrandom_cmd *cmd = (struct cdm_regrandom_cmd*)dst;
+ cmd->cmd = CAM_CDM_CMD_REG_RANDOM;
+ cmd->count = vals.size() / 2;
+ cmd->reserved = 0;
+
+ uint32_t *vd = (uint32_t*)(dst + sizeof(struct cdm_regrandom_cmd));
+ for (int i = 0; i < vals.size(); i++) {
+ *vd = vals[i];
+ vd++;
+ }
+
+ return sizeof(struct cdm_regrandom_cmd) + vals.size()*sizeof(uint32_t);
+}
diff --git a/system/camerad/cameras/cdm.h b/system/camerad/cameras/cdm.h
@@ -1,3 +1,15 @@
+#pragma once
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+#include <vector>
+#include <memory>
+
+// our helpers
+int write_random(uint8_t *dst, std::vector<uint32_t> vals);
+int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals);
+
 // from drivers/media/platform/msm/camera/cam_cdm/cam_cdm_util.{c,h}
 
 enum cam_cdm_command {