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d/wmr: Expand USB transfers to 9

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Enqueue more USB camera transfers to better cope
with extended mis-scheduling in the kernel.
9 pending transfers is 9/90 = 100ms, or 3 loops
through the SLAM/controller/controller exposures
cycle

Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2394>
This commit is contained in:
Jan Schmidt 2024-12-16 10:15:22 +11:00 committed by Marge Bot
parent 37bb719efd
commit 4a905bbb24
1 changed files with 3 additions and 1 deletions
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4
src/xrt/drivers/wmr/wmr_camera.c
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@ -51,7 +51,7 @@ update_expgain(struct wmr_camera *cam, struct xrt_frame **frames);
#define CAM_ENDPOINT 0x05
#define NUM_XFERS 4
#define NUM_XFERS 9
#define WMR_CAMERA_CMD_GAIN 0x80
#define WMR_CAMERA_CMD_ON 0x81
@ -463,6 +463,7 @@ wmr_camera_open(struct wmr_camera_open_config *config)
for (i = 0; i < NUM_XFERS; i++) {
cam->xfers[i] = libusb_alloc_transfer(0);
if (cam->xfers[i] == NULL) {
WMR_CAM_ERROR(cam, "Failed to allocate transfer %d", i);
res = LIBUSB_ERROR_NO_MEM;
goto fail;
}
@ -609,6 +610,7 @@ wmr_camera_start(struct wmr_camera *cam)
res = libusb_submit_transfer(cam->xfers[i]);
if (res < 0) {
WMR_CAM_ERROR(cam, "Failed to submit transfer %d", i);
goto fail;
}
}