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init frame_length in camera_init (#20261)

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old-commit-hash: 540b853c9f7e7a6a8db808bd2b1f000d6168cc4d
This commit is contained in:
Dean Lee
2021-04-03 12:10:48 +08:00
committed by GitHub
parent 9d1af2f91e
commit 18a8424e92
2 changed files with 14 additions and 22 deletions
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selfdrive/camerad/cameras/camera_qcom.cc
+11 -19
View File
@@ -100,10 +100,10 @@ int sensor_write_regs(CameraState *s, struct msm_camera_i2c_reg_array* arr, size
return ioctl(s->sensor_fd, VIDIOC_MSM_SENSOR_CFG, &cfg_data);
}
static int imx298_apply_exposure(CameraState *s, int gain, int integ_lines, int frame_length) {
static int imx298_apply_exposure(CameraState *s, int gain, int integ_lines, uint32_t frame_length) {
int analog_gain = std::min(gain, 448);
s->digital_gain = gain > 448 ? (512.0/(512-(gain))) / 8.0 : 1.0;
//printf("%5d/%5d %5d %f\n", s->cur_integ_lines, s->cur_frame_length, analog_gain, s->digital_gain);
//printf("%5d/%5d %5d %f\n", s->cur_integ_lines, s->frame_length, analog_gain, s->digital_gain);
struct msm_camera_i2c_reg_array reg_array[] = {
// REG_HOLD
@@ -130,7 +130,7 @@ static int imx298_apply_exposure(CameraState *s, int gain, int integ_lines, int
return sensor_write_regs(s, reg_array, ARRAYSIZE(reg_array), MSM_CAMERA_I2C_BYTE_DATA);
}
static int ov8865_apply_exposure(CameraState *s, int gain, int integ_lines, int frame_length) {
static int ov8865_apply_exposure(CameraState *s, int gain, int integ_lines, uint32_t frame_length) {
//printf("driver camera: %d %d %d\n", gain, integ_lines, frame_length);
int coarse_gain_bitmap, fine_gain_bitmap;
@@ -177,9 +177,9 @@ static void camera_init(VisionIpcServer *v, CameraState *s, int camera_id, int c
assert(s->ci.frame_width != 0);
s->pixel_clock = pixel_clock;
s->line_length_pclk = line_length_pclk;
s->max_gain = max_gain;
s->fps = fps;
s->frame_length = s->pixel_clock / line_length_pclk / s->fps;
s->self_recover = 0;
s->apply_exposure = (camera_id == CAMERA_ID_IMX298) ? imx298_apply_exposure : ov8865_apply_exposure;
@@ -235,18 +235,15 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {
int err = 0;
uint32_t frame_length = s->pixel_clock / s->line_length_pclk / s->fps;
uint32_t gain = s->cur_gain;
uint32_t integ_lines = s->cur_integ_lines;
if (exposure_frac >= 0) {
exposure_frac = std::clamp(exposure_frac, 2.0f / frame_length, 1.0f);
integ_lines = frame_length * exposure_frac;
exposure_frac = std::clamp(exposure_frac, 2.0f / s->frame_length, 1.0f);
integ_lines = s->frame_length * exposure_frac;
// See page 79 of the datasheet, this is the max allowed (-1 for phase adjust)
integ_lines = std::min(integ_lines, frame_length-11);
integ_lines = std::min(integ_lines, s->frame_length - 11);
}
if (gain_frac >= 0) {
@@ -263,19 +260,15 @@ static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {
gain = (s->max_gain/510) * (512 - 512/(256*gain_frac));
}
if (gain != s->cur_gain
|| integ_lines != s->cur_integ_lines
|| frame_length != s->cur_frame_length) {
if (gain != s->cur_gain || integ_lines != s->cur_integ_lines) {
if (s->apply_exposure == ov8865_apply_exposure) {
gain = 800 * gain_frac; // ISO
}
err = s->apply_exposure(s, gain, integ_lines, frame_length);
err = s->apply_exposure(s, gain, integ_lines, s->frame_length);
if (err == 0) {
std::lock_guard lk(s->frame_info_lock);
s->cur_gain = gain;
s->cur_integ_lines = integ_lines;
s->cur_frame_length = frame_length;
} else {
LOGE("camera %d apply_exposure err: %d", s->camera_num, err);
}
@@ -297,9 +290,8 @@ static void do_autoexposure(CameraState *s, float grey_frac) {
const float gain_frac_min = 0.015625;
const float gain_frac_max = 1.0;
// exposure time limits
uint32_t frame_length = s->pixel_clock / s->line_length_pclk / s->fps;
const uint32_t exposure_time_min = 16;
const uint32_t exposure_time_max = frame_length - 11; // copied from set_exposure()
const uint32_t exposure_time_max = s->frame_length - 11; // copied from set_exposure()
float cur_gain_frac = s->cur_gain_frac;
float exposure_factor = pow(1.05, (target_grey - grey_frac) / 0.05);
@@ -1179,7 +1171,7 @@ void cameras_run(MultiCameraState *s) {
c->frame_metadata[c->frame_metadata_idx] = (FrameMetadata){
.frame_id = isp_event_data->frame_id,
.timestamp_eof = timestamp,
.frame_length = (uint32_t)c->cur_frame_length,
.frame_length = (uint32_t)c->frame_length,
.integ_lines = (uint32_t)c->cur_integ_lines,
.global_gain = (uint32_t)c->cur_gain,
.lens_pos = c->cur_lens_pos,
selfdrive/camerad/cameras/camera_qcom.h
+3 -3
View File
@@ -35,7 +35,7 @@
typedef struct CameraState CameraState;
typedef int (*camera_apply_exposure_func)(CameraState *s, int gain, int integ_lines, int frame_length);
typedef int (*camera_apply_exposure_func)(CameraState *s, int gain, int integ_lines, uint32_t frame_length);
typedef struct StreamState {
struct msm_isp_buf_request buf_request;
@@ -67,10 +67,10 @@ typedef struct CameraState {
// exposure
uint32_t pixel_clock, line_length_pclk;
uint32_t max_gain;
uint32_t frame_length;
unsigned int max_gain;
float cur_exposure_frac, cur_gain_frac;
int cur_gain, cur_integ_lines;
int cur_frame_length;
std::atomic<float> digital_gain;
camera_apply_exposure_func apply_exposure;