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cleanup camera_qcom const structs (#20251)

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* move actuator_ringing_params from global to function actuator_move

* remove varaible infinity_dac from CameraState

* static actuator_ringing_params

* continue

* rebase master
This commit is contained in:
Dean Lee
2021-03-13 11:52:04 +08:00
committed by GitHub
parent 65bb979c34
commit e654d9ddf9
2 changed files with 15 additions and 26 deletions
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selfdrive/camerad/cameras/camera_qcom.cc
+15 -25
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@@ -28,6 +28,9 @@
#include "sensor_i2c.h"
#include "camera_qcom.h"
// leeco actuator (DW9800W H-Bridge Driver IC)
// from sniff
const uint16_t INFINITY_DAC = 364;
extern ExitHandler do_exit;
@@ -553,10 +556,6 @@ static void camera_open(CameraState *s, bool is_road_cam) {
err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
LOG("actuator init: %d", err);
// leeco actuator (DW9800W H-Bridge Driver IC)
// from sniff
s->infinity_dac = 364;
struct msm_actuator_reg_params_t actuator_reg_params[] = {
{
.reg_write_type = MSM_ACTUATOR_WRITE_DAC,
@@ -598,7 +597,7 @@ static void camera_open(CameraState *s, bool is_road_cam) {
.park_lens = {.damping_step = 1023, .damping_delay = 14000, .hw_params = 11, .max_step = 20},
},
.af_tuning_params = {
.initial_code = (int16_t)s->infinity_dac,
.initial_code = INFINITY_DAC,
.pwd_step = 0,
.region_size = 1,
.total_steps = 238,
@@ -756,40 +755,24 @@ static void camera_open(CameraState *s, bool is_road_cam) {
LOG("isp start stream: %d", err);
}
static struct damping_params_t actuator_ringing_params = {
.damping_step = 1023,
.damping_delay = 15000,
.hw_params = 0x0000e422,
};
static void road_camera_start(CameraState *s) {
struct msm_actuator_cfg_data actuator_cfg_data = {0};
set_exposure(s, 1.0, 1.0);
int err = sensor_write_regs(s, start_reg_array, ARRAYSIZE(start_reg_array), MSM_CAMERA_I2C_BYTE_DATA);
LOG("sensor start regs: %d", err);
// focus on infinity assuming phone is perpendicular
int inf_step;
actuator_ringing_params.damping_step = 1023;
actuator_ringing_params.damping_delay = 20000;
actuator_ringing_params.hw_params = 13;
inf_step = 512 - s->infinity_dac;
int inf_step = 512 - INFINITY_DAC;
// initial guess
s->lens_true_pos = 400;
// reset lens position
memset(&actuator_cfg_data, 0, sizeof(actuator_cfg_data));
struct msm_actuator_cfg_data actuator_cfg_data = {};
actuator_cfg_data.cfgtype = CFG_SET_POSITION;
actuator_cfg_data.cfg.setpos = (struct msm_actuator_set_position_t){
.number_of_steps = 1,
.hw_params = (uint32_t)7,
.pos = {s->infinity_dac, 0},
.pos = {INFINITY_DAC, 0},
.delay = {0,}
};
err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
@@ -819,6 +802,14 @@ static void road_camera_start(CameraState *s) {
void actuator_move(CameraState *s, uint16_t target) {
// LP3 moves only on even positions. TODO: use proper sensor params
// focus on infinity assuming phone is perpendicular
static struct damping_params_t actuator_ringing_params = {
.damping_step = 1023,
.damping_delay = 20000,
.hw_params = 13,
};
int step = (target - s->cur_lens_pos) / 2;
int dest_step_pos = s->cur_step_pos + step;
@@ -838,7 +829,6 @@ void actuator_move(CameraState *s, uint16_t target) {
s->cur_step_pos = dest_step_pos;
s->cur_lens_pos = actuator_cfg_data.cfg.move.curr_lens_pos;
//LOGD("step %d target: %d lens pos: %d", dest_step_pos, target, s->cur_lens_pos);
}
selfdrive/camerad/cameras/camera_qcom.h
-1
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@@ -84,7 +84,6 @@ typedef struct CameraState {
uint16_t cur_lens_pos;
int16_t focus[NUM_FOCUS];
uint8_t confidence[NUM_FOCUS];
uint16_t infinity_dac;
} CameraState;