openpilot v0.9.6 release
date: 2024-01-12T10:13:37 master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
This commit is contained in:
FrogAi
171
system/camerad/sensors/ar0231.cc
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171
system/camerad/sensors/ar0231.cc
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#include <cassert>
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#include "common/swaglog.h"
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#include "system/camerad/cameras/camera_common.h"
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#include "system/camerad/cameras/camera_qcom2.h"
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#include "system/camerad/sensors/sensor.h"
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namespace {
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const size_t AR0231_REGISTERS_HEIGHT = 2;
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// TODO: this extra height is universal and doesn't apply per camera
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const size_t AR0231_STATS_HEIGHT = 2 + 8;
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const float sensor_analog_gains_AR0231[] = {
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1.0 / 8.0, 2.0 / 8.0, 2.0 / 7.0, 3.0 / 7.0, // 0, 1, 2, 3
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3.0 / 6.0, 4.0 / 6.0, 4.0 / 5.0, 5.0 / 5.0, // 4, 5, 6, 7
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5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0, // 8, 9, 10, 11
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7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0}; // 12, 13, 14, 15 = bypass
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std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c, uint8_t *data) {
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// This function builds a lookup table from register address, to a pair of indices in the
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// buffer where to read this address. The buffer contains padding bytes,
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// as well as markers to indicate the type of the next byte.
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//
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// 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address.
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// Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional
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// for contiguous ranges. See page 27-29 of the AR0231 Developer guide for more information.
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int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3};
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auto get_next_idx = [](int cur_idx) {
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return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1; // Every third byte is padding
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};
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std::map<uint16_t, std::pair<int, int>> registers;
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for (int register_row = 0; register_row < 2; register_row++) {
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uint8_t *registers_raw = data + c->ci->frame_stride * register_row;
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assert(registers_raw[0] == 0x0a); // Start of line
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int value_tag_count = 0;
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int first_val_idx = 0;
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uint16_t cur_addr = 0;
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for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) {
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int val_idx = get_next_idx(i);
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uint8_t tag = registers_raw[i];
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uint16_t val = registers_raw[val_idx];
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if (tag == 0xAA) { // Register MSB tag
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cur_addr = val << 8;
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} else if (tag == 0xA5) { // Register LSB tag
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cur_addr |= val;
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cur_addr -= 2; // Next value tag will increment address again
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} else if (tag == 0x5A) { // Value tag
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// First tag
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if (value_tag_count % 2 == 0) {
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cur_addr += 2;
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first_val_idx = val_idx;
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} else {
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registers[cur_addr] = std::make_pair(first_val_idx + c->ci->frame_stride * register_row, val_idx + c->ci->frame_stride * register_row);
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}
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value_tag_count++;
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}
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}
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}
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return registers;
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}
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float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) {
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// See AR0231 Developer Guide - page 36
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float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2);
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float t0 = 55.0 - slope * (float)calib2;
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return t0 + slope * (float)data_reg;
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}
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} // namespace
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AR0231::AR0231() {
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image_sensor = cereal::FrameData::ImageSensor::AR0231;
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data_word = true;
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frame_width = FRAME_WIDTH;
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frame_height = FRAME_HEIGHT;
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frame_stride = FRAME_STRIDE;
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extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT;
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registers_offset = 0;
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frame_offset = AR0231_REGISTERS_HEIGHT;
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stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT;
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start_reg_array.assign(std::begin(start_reg_array_ar0231), std::end(start_reg_array_ar0231));
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init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231));
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probe_reg_addr = 0x3000;
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probe_expected_data = 0x354;
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mipi_format = CAM_FORMAT_MIPI_RAW_12;
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frame_data_type = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
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mclk_frequency = 19200000; //Hz
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dc_gain_factor = 2.5;
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dc_gain_min_weight = 0;
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dc_gain_max_weight = 1;
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dc_gain_on_grey = 0.2;
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dc_gain_off_grey = 0.3;
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exposure_time_min = 2; // with HDR, fastest ss
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exposure_time_max = 0x0855; // with HDR, slowest ss, 40ms
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analog_gain_min_idx = 0x1; // 0.25x
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analog_gain_rec_idx = 0x6; // 0.8x
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analog_gain_max_idx = 0xD; // 4.0x
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analog_gain_cost_delta = 0;
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analog_gain_cost_low = 0.1;
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analog_gain_cost_high = 5.0;
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for (int i = 0; i <= analog_gain_max_idx; i++) {
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sensor_analog_gains[i] = sensor_analog_gains_AR0231[i];
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}
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min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
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max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
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target_grey_factor = 1.0;
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}
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void AR0231::processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {
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const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55};
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uint8_t *data = (uint8_t *)c->buf.cur_camera_buf->addr + c->ci->registers_offset;
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if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) {
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LOGE("unexpected register data found");
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return;
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}
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if (ar0231_register_lut.empty()) {
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ar0231_register_lut = ar0231_build_register_lut(c, data);
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}
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std::map<uint16_t, uint16_t> registers;
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for (uint16_t addr : {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc}) {
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auto offset = ar0231_register_lut[addr];
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registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second];
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}
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uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002];
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framed.setFrameIdSensor(frame_id);
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float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]);
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float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]);
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framed.setTemperaturesC({temp_0, temp_1});
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}
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std::vector<i2c_random_wr_payload> AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
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uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g;
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return {
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{0x3366, analog_gain_reg},
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{0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)},
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{0x3012, (uint16_t)exposure_time},
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};
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}
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int AR0231::getSlaveAddress(int port) const {
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assert(port >= 0 && port <= 2);
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return (int[]){0x20, 0x30, 0x20}[port];
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}
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float AR0231::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {
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// Cost of ev diff
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float score = std::abs(desired_ev - (exp_t * exp_gain)) * 10;
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// Cost of absolute gain
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float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
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score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
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// Cost of changing gain
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score += std::abs(exp_g_idx - gain_idx) * (score + 1.0) / 10.0;
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return score;
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}
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119
system/camerad/sensors/ar0231_registers.h
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119
system/camerad/sensors/ar0231_registers.h
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#pragma once
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const struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}};
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const struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}};
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const struct i2c_random_wr_payload init_array_ar0231[] = {
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{0x301A, 0x0018}, // RESET_REGISTER
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// CLOCK Settings
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// input clock is 19.2 / 2 * 0x37 = 528 MHz
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// pixclk is 528 / 6 = 88 MHz
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// full roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*FRAME_LENGTH_LINES)) = 39.99 ms
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// img roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*Y_OUTPUT_CONTROL)) = 22.85 ms
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{0x302A, 0x0006}, // VT_PIX_CLK_DIV
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{0x302C, 0x0001}, // VT_SYS_CLK_DIV
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{0x302E, 0x0002}, // PRE_PLL_CLK_DIV
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{0x3030, 0x0037}, // PLL_MULTIPLIER
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{0x3036, 0x000C}, // OP_PIX_CLK_DIV
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{0x3038, 0x0001}, // OP_SYS_CLK_DIV
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// FORMAT
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{0x3040, 0xC000}, // READ_MODE
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{0x3004, 0x0000}, // X_ADDR_START_
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{0x3008, 0x0787}, // X_ADDR_END_
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{0x3002, 0x0000}, // Y_ADDR_START_
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{0x3006, 0x04B7}, // Y_ADDR_END_
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{0x3032, 0x0000}, // SCALING_MODE
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{0x30A2, 0x0001}, // X_ODD_INC_
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{0x30A6, 0x0001}, // Y_ODD_INC_
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{0x3402, 0x0788}, // X_OUTPUT_CONTROL
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{0x3404, 0x04B8}, // Y_OUTPUT_CONTROL
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{0x3064, 0x1982}, // SMIA_TEST
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{0x30BA, 0x11F2}, // DIGITAL_CTRL
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// Enable external trigger and disable GPIO outputs
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{0x30CE, 0x0120}, // SLAVE_SH_SYNC_MODE | FRAME_START_MODE
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{0x340A, 0xE0}, // GPIO3_INPUT_DISABLE | GPIO2_INPUT_DISABLE | GPIO1_INPUT_DISABLE
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{0x340C, 0x802}, // GPIO_HIDRV_EN | GPIO0_ISEL=2
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// Readout timing
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{0x300C, 0x0672}, // LINE_LENGTH_PCK (valid for 3-exposure HDR)
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{0x300A, 0x0855}, // FRAME_LENGTH_LINES
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{0x3042, 0x0000}, // EXTRA_DELAY
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// Readout Settings
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{0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI
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{0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12
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{0x3342, 0x1212}, // MIPI_F1_PDT_EDT
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{0x3346, 0x1212}, // MIPI_F2_PDT_EDT
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{0x334A, 0x1212}, // MIPI_F3_PDT_EDT
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{0x334E, 0x1212}, // MIPI_F4_PDT_EDT
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{0x3344, 0x0011}, // MIPI_F1_VDT_VC
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{0x3348, 0x0111}, // MIPI_F2_VDT_VC
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{0x334C, 0x0211}, // MIPI_F3_VDT_VC
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{0x3350, 0x0311}, // MIPI_F4_VDT_VC
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{0x31B0, 0x0053}, // FRAME_PREAMBLE
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{0x31B2, 0x003B}, // LINE_PREAMBLE
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{0x301A, 0x001C}, // RESET_REGISTER
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// Noise Corrections
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{0x3092, 0x0C24}, // ROW_NOISE_CONTROL
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{0x337A, 0x0C80}, // DBLC_SCALE0
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{0x3370, 0x03B1}, // DBLC
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{0x3044, 0x0400}, // DARK_CONTROL
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// Enable temperature sensor
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{0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG
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{0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG
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// Enable dead pixel correction using
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// the 1D line correction scheme
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{0x31E0, 0x0003},
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// HDR Settings
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{0x3082, 0x0004}, // OPERATION_MODE_CTRL
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{0x3238, 0x0444}, // EXPOSURE_RATIO
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{0x1008, 0x0361}, // FINE_INTEGRATION_TIME_MIN
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{0x100C, 0x0589}, // FINE_INTEGRATION_TIME2_MIN
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{0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN
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{0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN
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// TODO: do these have to be lower than LINE_LENGTH_PCK?
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{0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_
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{0x321E, 0x0894}, // FINE_INTEGRATION_TIME2
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{0x31D0, 0x0000}, // COMPANDING, no good in 10 bit?
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{0x33DA, 0x0000}, // COMPANDING
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{0x318E, 0x0200}, // PRE_HDR_GAIN_EN
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// DLO Settings
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{0x3100, 0x4000}, // DLO_CONTROL0
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{0x3280, 0x0CCC}, // T1 G1
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{0x3282, 0x0CCC}, // T1 R
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{0x3284, 0x0CCC}, // T1 B
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{0x3286, 0x0CCC}, // T1 G2
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{0x3288, 0x0FA0}, // T2 G1
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{0x328A, 0x0FA0}, // T2 R
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{0x328C, 0x0FA0}, // T2 B
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{0x328E, 0x0FA0}, // T2 G2
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// Initial Gains
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{0x3022, 0x0001}, // GROUPED_PARAMETER_HOLD_
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{0x3366, 0xFF77}, // ANALOG_GAIN (1x)
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{0x3060, 0x3333}, // ANALOG_COLOR_GAIN
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{0x3362, 0x0000}, // DC GAIN
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{0x305A, 0x00F8}, // red gain
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{0x3058, 0x0122}, // blue gain
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{0x3056, 0x009A}, // g1 gain
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{0x305C, 0x009A}, // g2 gain
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{0x3022, 0x0000}, // GROUPED_PARAMETER_HOLD_
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// Initial Integration Time
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{0x3012, 0x0005},
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};
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105
system/camerad/sensors/os04c10.cc
Normal file
105
system/camerad/sensors/os04c10.cc
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@@ -0,0 +1,105 @@
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#include "system/camerad/sensors/sensor.h"
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namespace {
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const float sensor_analog_gains_OS04C10[] = {
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1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875,
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1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0,
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3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5,
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5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0,
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10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5};
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const uint32_t os04c10_analog_gains_reg[] = {
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0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0,
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0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300,
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0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580,
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0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00,
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0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80};
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const uint32_t VS_TIME_MIN_OS04C10 = 1;
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//const uint32_t VS_TIME_MAX_OS04C10 = 34; // vs < 35
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} // namespace
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OS04C10::OS04C10() {
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image_sensor = cereal::FrameData::ImageSensor::OS04C10;
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data_word = false;
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frame_width = 1920;
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frame_height = 1080;
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frame_stride = (1920*10/8);
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/*
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frame_width = 0xa80;
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frame_height = 0x5f0;
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frame_stride = 0xd20;
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*/
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extra_height = 0;
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frame_offset = 0;
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start_reg_array.assign(std::begin(start_reg_array_os04c10), std::end(start_reg_array_os04c10));
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init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10));
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probe_reg_addr = 0x300a;
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probe_expected_data = 0x5304;
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mipi_format = CAM_FORMAT_MIPI_RAW_10;
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frame_data_type = 0x2b;
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mclk_frequency = 24000000; // Hz
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dc_gain_factor = 7.32;
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dc_gain_min_weight = 1; // always on is fine
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dc_gain_max_weight = 1;
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dc_gain_on_grey = 0.9;
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dc_gain_off_grey = 1.0;
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exposure_time_min = 2; // 1x
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exposure_time_max = 2016;
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analog_gain_min_idx = 0x0;
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analog_gain_rec_idx = 0x0; // 1x
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||||
analog_gain_max_idx = 0x36;
|
||||
analog_gain_cost_delta = -1;
|
||||
analog_gain_cost_low = 0.4;
|
||||
analog_gain_cost_high = 6.4;
|
||||
for (int i = 0; i <= analog_gain_max_idx; i++) {
|
||||
sensor_analog_gains[i] = sensor_analog_gains_OS04C10[i];
|
||||
}
|
||||
min_ev = (exposure_time_min + VS_TIME_MIN_OS04C10) * sensor_analog_gains[analog_gain_min_idx];
|
||||
max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
|
||||
target_grey_factor = 0.01;
|
||||
}
|
||||
|
||||
std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
|
||||
// t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD
|
||||
uint32_t hcg_time = exposure_time;
|
||||
//uint32_t lcg_time = hcg_time;
|
||||
//uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OS04C10) / 3), exposure_time_max + VS_TIME_MAX_OS04C10);
|
||||
//uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OS04C10), VS_TIME_MAX_OS04C10);
|
||||
|
||||
uint32_t real_gain = os04c10_analog_gains_reg[new_exp_g];
|
||||
|
||||
hcg_time = 100;
|
||||
real_gain = 0x320;
|
||||
|
||||
return {
|
||||
{0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF},
|
||||
//{0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF},
|
||||
//{0x3541, spd_time>>8}, {0x3542, spd_time&0xFF},
|
||||
//{0x35c2, vs_time&0xFF},
|
||||
|
||||
{0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
|
||||
};
|
||||
}
|
||||
|
||||
int OS04C10::getSlaveAddress(int port) const {
|
||||
assert(port >= 0 && port <= 2);
|
||||
return (int[]){0x6C, 0x20, 0x6C}[port];
|
||||
}
|
||||
|
||||
float OS04C10::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {
|
||||
float score = std::abs(desired_ev - (exp_t * exp_gain));
|
||||
float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
|
||||
score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
|
||||
score += ((1 - analog_gain_cost_delta) +
|
||||
analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) *
|
||||
std::abs(exp_g_idx - gain_idx) * 5.0;
|
||||
return score;
|
||||
}
|
||||
298
system/camerad/sensors/os04c10_registers.h
Normal file
298
system/camerad/sensors/os04c10_registers.h
Normal file
@@ -0,0 +1,298 @@
|
||||
#pragma once
|
||||
|
||||
const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
|
||||
const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};
|
||||
|
||||
const struct i2c_random_wr_payload init_array_os04c10[] = {
|
||||
// OS04C10_AA_00_02_17_wAO_1920x1080_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
|
||||
{0x0103, 0x01},
|
||||
{0x0301, 0x84},
|
||||
{0x0303, 0x01},
|
||||
{0x0305, 0x5b},
|
||||
{0x0306, 0x01},
|
||||
{0x0307, 0x17},
|
||||
{0x0323, 0x04},
|
||||
{0x0324, 0x01},
|
||||
{0x0325, 0x62},
|
||||
{0x3012, 0x06},
|
||||
{0x3013, 0x02},
|
||||
{0x3016, 0x72},
|
||||
{0x3021, 0x03},
|
||||
{0x3106, 0x21},
|
||||
{0x3107, 0xa1},
|
||||
{0x3500, 0x00},
|
||||
{0x3501, 0x00},
|
||||
{0x3502, 0x40},
|
||||
{0x3503, 0x88},
|
||||
{0x3508, 0x07},
|
||||
{0x3509, 0xc0},
|
||||
{0x350a, 0x04},
|
||||
{0x350b, 0x00},
|
||||
{0x350c, 0x07},
|
||||
{0x350d, 0xc0},
|
||||
{0x350e, 0x04},
|
||||
{0x350f, 0x00},
|
||||
{0x3510, 0x00},
|
||||
{0x3511, 0x00},
|
||||
{0x3512, 0x20},
|
||||
{0x3624, 0x00},
|
||||
{0x3625, 0x4c},
|
||||
{0x3660, 0x00},
|
||||
{0x3666, 0xa5},
|
||||
{0x3667, 0xa5},
|
||||
{0x366a, 0x64},
|
||||
{0x3673, 0x0d},
|
||||
{0x3672, 0x0d},
|
||||
{0x3671, 0x0d},
|
||||
{0x3670, 0x0d},
|
||||
{0x3685, 0x00},
|
||||
{0x3694, 0x0d},
|
||||
{0x3693, 0x0d},
|
||||
{0x3692, 0x0d},
|
||||
{0x3691, 0x0d},
|
||||
{0x3696, 0x4c},
|
||||
{0x3697, 0x4c},
|
||||
{0x3698, 0x40},
|
||||
{0x3699, 0x80},
|
||||
{0x369a, 0x18},
|
||||
{0x369b, 0x1f},
|
||||
{0x369c, 0x14},
|
||||
{0x369d, 0x80},
|
||||
{0x369e, 0x40},
|
||||
{0x369f, 0x21},
|
||||
{0x36a0, 0x12},
|
||||
{0x36a1, 0x5d},
|
||||
{0x36a2, 0x66},
|
||||
{0x370a, 0x00},
|
||||
{0x370e, 0x0c},
|
||||
{0x3710, 0x00},
|
||||
{0x3713, 0x00},
|
||||
{0x3725, 0x02},
|
||||
{0x372a, 0x03},
|
||||
{0x3738, 0xce},
|
||||
{0x3748, 0x00},
|
||||
{0x374a, 0x00},
|
||||
{0x374c, 0x00},
|
||||
{0x374e, 0x00},
|
||||
{0x3756, 0x00},
|
||||
{0x3757, 0x0e},
|
||||
{0x3767, 0x00},
|
||||
{0x3771, 0x00},
|
||||
{0x377b, 0x20},
|
||||
{0x377c, 0x00},
|
||||
{0x377d, 0x0c},
|
||||
{0x3781, 0x03},
|
||||
{0x3782, 0x00},
|
||||
{0x3789, 0x14},
|
||||
{0x3795, 0x02},
|
||||
{0x379c, 0x00},
|
||||
{0x379d, 0x00},
|
||||
{0x37b8, 0x04},
|
||||
{0x37ba, 0x03},
|
||||
{0x37bb, 0x00},
|
||||
{0x37bc, 0x04},
|
||||
{0x37be, 0x08},
|
||||
{0x37c4, 0x11},
|
||||
{0x37c5, 0x80},
|
||||
{0x37c6, 0x14},
|
||||
{0x37c7, 0x08},
|
||||
{0x37da, 0x11},
|
||||
{0x381f, 0x08},
|
||||
{0x3829, 0x03},
|
||||
{0x3881, 0x00},
|
||||
{0x3888, 0x04},
|
||||
{0x388b, 0x00},
|
||||
{0x3c80, 0x10},
|
||||
{0x3c86, 0x00},
|
||||
{0x3c8c, 0x20},
|
||||
{0x3c9f, 0x01},
|
||||
{0x3d85, 0x1b},
|
||||
{0x3d8c, 0x71},
|
||||
{0x3d8d, 0xe2},
|
||||
{0x3f00, 0x0b},
|
||||
{0x3f06, 0x04},
|
||||
{0x400a, 0x01},
|
||||
{0x400b, 0x50},
|
||||
{0x400e, 0x08},
|
||||
{0x4043, 0x7e},
|
||||
{0x4045, 0x7e},
|
||||
{0x4047, 0x7e},
|
||||
{0x4049, 0x7e},
|
||||
{0x4090, 0x14},
|
||||
{0x40b0, 0x00},
|
||||
{0x40b1, 0x00},
|
||||
{0x40b2, 0x00},
|
||||
{0x40b3, 0x00},
|
||||
{0x40b4, 0x00},
|
||||
{0x40b5, 0x00},
|
||||
{0x40b7, 0x00},
|
||||
{0x40b8, 0x00},
|
||||
{0x40b9, 0x00},
|
||||
{0x40ba, 0x00},
|
||||
{0x4301, 0x00},
|
||||
{0x4303, 0x00},
|
||||
{0x4502, 0x04},
|
||||
{0x4503, 0x00},
|
||||
{0x4504, 0x06},
|
||||
{0x4506, 0x00},
|
||||
{0x4507, 0x64},
|
||||
{0x4803, 0x00},
|
||||
{0x480c, 0x32},
|
||||
{0x480e, 0x00},
|
||||
{0x4813, 0x00},
|
||||
{0x4819, 0x70},
|
||||
{0x481f, 0x30},
|
||||
{0x4823, 0x3f},
|
||||
{0x4825, 0x30},
|
||||
{0x4833, 0x10},
|
||||
{0x484b, 0x07},
|
||||
{0x488b, 0x00},
|
||||
{0x4d00, 0x04},
|
||||
{0x4d01, 0xad},
|
||||
{0x4d02, 0xbc},
|
||||
{0x4d03, 0xa1},
|
||||
{0x4d04, 0x1f},
|
||||
{0x4d05, 0x4c},
|
||||
{0x4d0b, 0x01},
|
||||
{0x4e00, 0x2a},
|
||||
{0x4e0d, 0x00},
|
||||
{0x5001, 0x09},
|
||||
{0x5004, 0x00},
|
||||
{0x5080, 0x04},
|
||||
{0x5036, 0x00},
|
||||
{0x5180, 0x70},
|
||||
{0x5181, 0x10},
|
||||
{0x520a, 0x03},
|
||||
{0x520b, 0x06},
|
||||
{0x520c, 0x0c},
|
||||
{0x580b, 0x0f},
|
||||
{0x580d, 0x00},
|
||||
{0x580f, 0x00},
|
||||
{0x5820, 0x00},
|
||||
{0x5821, 0x00},
|
||||
{0x301c, 0xf8},
|
||||
{0x301e, 0xb4},
|
||||
{0x301f, 0xd0},
|
||||
{0x3022, 0x01},
|
||||
{0x3109, 0xe7},
|
||||
{0x3600, 0x00},
|
||||
{0x3610, 0x65},
|
||||
{0x3611, 0x85},
|
||||
{0x3613, 0x3a},
|
||||
{0x3615, 0x60},
|
||||
{0x3621, 0x90},
|
||||
{0x3620, 0x0c},
|
||||
{0x3629, 0x00},
|
||||
{0x3661, 0x04},
|
||||
{0x3664, 0x70},
|
||||
{0x3665, 0x00},
|
||||
{0x3681, 0xa6},
|
||||
{0x3682, 0x53},
|
||||
{0x3683, 0x2a},
|
||||
{0x3684, 0x15},
|
||||
{0x3700, 0x2a},
|
||||
{0x3701, 0x12},
|
||||
{0x3703, 0x28},
|
||||
{0x3704, 0x0e},
|
||||
{0x3706, 0x4a},
|
||||
{0x3709, 0x4a},
|
||||
{0x370b, 0xa2},
|
||||
{0x370c, 0x01},
|
||||
{0x370f, 0x04},
|
||||
{0x3714, 0x24},
|
||||
{0x3716, 0x24},
|
||||
{0x3719, 0x11},
|
||||
{0x371a, 0x1e},
|
||||
{0x3720, 0x00},
|
||||
{0x3724, 0x13},
|
||||
{0x373f, 0xb0},
|
||||
{0x3741, 0x4a},
|
||||
{0x3743, 0x4a},
|
||||
{0x3745, 0x4a},
|
||||
{0x3747, 0x4a},
|
||||
{0x3749, 0xa2},
|
||||
{0x374b, 0xa2},
|
||||
{0x374d, 0xa2},
|
||||
{0x374f, 0xa2},
|
||||
{0x3755, 0x10},
|
||||
{0x376c, 0x00},
|
||||
{0x378d, 0x30},
|
||||
{0x3790, 0x4a},
|
||||
{0x3791, 0xa2},
|
||||
{0x3798, 0x40},
|
||||
{0x379e, 0x00},
|
||||
{0x379f, 0x04},
|
||||
{0x37a1, 0x10},
|
||||
{0x37a2, 0x1e},
|
||||
{0x37a8, 0x10},
|
||||
{0x37a9, 0x1e},
|
||||
{0x37ac, 0xa0},
|
||||
{0x37b9, 0x01},
|
||||
{0x37bd, 0x01},
|
||||
{0x37bf, 0x26},
|
||||
{0x37c0, 0x11},
|
||||
{0x37c2, 0x04},
|
||||
{0x37cd, 0x19},
|
||||
{0x37e0, 0x08},
|
||||
{0x37e6, 0x04},
|
||||
{0x37e5, 0x02},
|
||||
{0x37e1, 0x0c},
|
||||
{0x3737, 0x04},
|
||||
{0x37d8, 0x02},
|
||||
{0x37e2, 0x10},
|
||||
{0x3739, 0x10},
|
||||
{0x3662, 0x10},
|
||||
{0x37e4, 0x20},
|
||||
{0x37e3, 0x08},
|
||||
{0x37d9, 0x08},
|
||||
{0x4040, 0x00},
|
||||
{0x4041, 0x07},
|
||||
{0x4008, 0x02},
|
||||
{0x4009, 0x0d},
|
||||
{0x3800, 0x01},
|
||||
{0x3801, 0x80},
|
||||
{0x3802, 0x00},
|
||||
{0x3803, 0xdc},
|
||||
{0x3804, 0x09},
|
||||
{0x3805, 0x0f},
|
||||
{0x3806, 0x05},
|
||||
{0x3807, 0x23},
|
||||
{0x3808, 0x07},
|
||||
{0x3809, 0x80},
|
||||
{0x380a, 0x04},
|
||||
{0x380b, 0x38},
|
||||
{0x380c, 0x04},
|
||||
{0x380d, 0x2e},
|
||||
{0x380e, 0x12},
|
||||
{0x380f, 0x70},
|
||||
{0x3811, 0x08},
|
||||
{0x3813, 0x08},
|
||||
{0x3814, 0x01},
|
||||
{0x3815, 0x01},
|
||||
{0x3816, 0x01},
|
||||
{0x3817, 0x01},
|
||||
{0x3820, 0x88},
|
||||
{0x3821, 0x00},
|
||||
{0x3880, 0x25},
|
||||
{0x3882, 0x20},
|
||||
{0x3c91, 0x0b},
|
||||
{0x3c94, 0x45},
|
||||
{0x3cad, 0x00},
|
||||
{0x3cae, 0x00},
|
||||
{0x4000, 0xf3},
|
||||
{0x4001, 0x60},
|
||||
{0x4003, 0x40},
|
||||
{0x4300, 0xff},
|
||||
{0x4302, 0x0f},
|
||||
{0x4305, 0x83},
|
||||
{0x4505, 0x84},
|
||||
{0x4809, 0x1e},
|
||||
{0x480a, 0x04},
|
||||
{0x4837, 0x15},
|
||||
{0x4c00, 0x08},
|
||||
{0x4c01, 0x08},
|
||||
{0x4c04, 0x00},
|
||||
{0x4c05, 0x00},
|
||||
{0x5000, 0xf9},
|
||||
{0x3c8c, 0x10},
|
||||
};
|
||||
94
system/camerad/sensors/ox03c10.cc
Normal file
94
system/camerad/sensors/ox03c10.cc
Normal file
@@ -0,0 +1,94 @@
|
||||
#include "system/camerad/sensors/sensor.h"
|
||||
|
||||
namespace {
|
||||
|
||||
const float sensor_analog_gains_OX03C10[] = {
|
||||
1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875,
|
||||
1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0,
|
||||
3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5,
|
||||
5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0,
|
||||
10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5};
|
||||
|
||||
const uint32_t ox03c10_analog_gains_reg[] = {
|
||||
0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0,
|
||||
0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300,
|
||||
0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580,
|
||||
0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00,
|
||||
0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80};
|
||||
|
||||
const uint32_t VS_TIME_MIN_OX03C10 = 1;
|
||||
const uint32_t VS_TIME_MAX_OX03C10 = 34; // vs < 35
|
||||
|
||||
} // namespace
|
||||
|
||||
OX03C10::OX03C10() {
|
||||
image_sensor = cereal::FrameData::ImageSensor::OX03C10;
|
||||
data_word = false;
|
||||
frame_width = FRAME_WIDTH;
|
||||
frame_height = FRAME_HEIGHT;
|
||||
frame_stride = FRAME_STRIDE; // (0xa80*12//8)
|
||||
extra_height = 16; // top 2 + bot 14
|
||||
frame_offset = 2;
|
||||
|
||||
start_reg_array.assign(std::begin(start_reg_array_ox03c10), std::end(start_reg_array_ox03c10));
|
||||
init_reg_array.assign(std::begin(init_array_ox03c10), std::end(init_array_ox03c10));
|
||||
probe_reg_addr = 0x300a;
|
||||
probe_expected_data = 0x5803;
|
||||
mipi_format = CAM_FORMAT_MIPI_RAW_12;
|
||||
frame_data_type = 0x2c; // one is 0x2a, two are 0x2b
|
||||
mclk_frequency = 24000000; //Hz
|
||||
|
||||
dc_gain_factor = 7.32;
|
||||
dc_gain_min_weight = 1; // always on is fine
|
||||
dc_gain_max_weight = 1;
|
||||
dc_gain_on_grey = 0.9;
|
||||
dc_gain_off_grey = 1.0;
|
||||
exposure_time_min = 2; // 1x
|
||||
exposure_time_max = 2016;
|
||||
analog_gain_min_idx = 0x0;
|
||||
analog_gain_rec_idx = 0x0; // 1x
|
||||
analog_gain_max_idx = 0x36;
|
||||
analog_gain_cost_delta = -1;
|
||||
analog_gain_cost_low = 0.4;
|
||||
analog_gain_cost_high = 6.4;
|
||||
for (int i = 0; i <= analog_gain_max_idx; i++) {
|
||||
sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i];
|
||||
}
|
||||
min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx];
|
||||
max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
|
||||
target_grey_factor = 0.01;
|
||||
}
|
||||
|
||||
std::vector<i2c_random_wr_payload> OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
|
||||
// t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD
|
||||
uint32_t hcg_time = exposure_time;
|
||||
uint32_t lcg_time = hcg_time;
|
||||
uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OX03C10) / 3), exposure_time_max + VS_TIME_MAX_OX03C10);
|
||||
uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10);
|
||||
|
||||
uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g];
|
||||
|
||||
return {
|
||||
{0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF},
|
||||
{0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF},
|
||||
{0x3541, spd_time>>8}, {0x3542, spd_time&0xFF},
|
||||
{0x35c2, vs_time&0xFF},
|
||||
|
||||
{0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
|
||||
};
|
||||
}
|
||||
|
||||
int OX03C10::getSlaveAddress(int port) const {
|
||||
assert(port >= 0 && port <= 2);
|
||||
return (int[]){0x6C, 0x20, 0x6C}[port];
|
||||
}
|
||||
|
||||
float OX03C10::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {
|
||||
float score = std::abs(desired_ev - (exp_t * exp_gain));
|
||||
float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
|
||||
score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
|
||||
score += ((1 - analog_gain_cost_delta) +
|
||||
analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) *
|
||||
std::abs(exp_g_idx - gain_idx) * 5.0;
|
||||
return score;
|
||||
}
|
||||
761
system/camerad/sensors/ox03c10_registers.h
Normal file
761
system/camerad/sensors/ox03c10_registers.h
Normal file
@@ -0,0 +1,761 @@
|
||||
#pragma once
|
||||
|
||||
const struct i2c_random_wr_payload start_reg_array_ox03c10[] = {{0x100, 1}};
|
||||
const struct i2c_random_wr_payload stop_reg_array_ox03c10[] = {{0x100, 0}};
|
||||
|
||||
const struct i2c_random_wr_payload init_array_ox03c10[] = {
|
||||
{0x103, 1},
|
||||
{0x107, 1},
|
||||
|
||||
// X3C_1920x1280_60fps_HDR4_LFR_PWL12_mipi1200
|
||||
|
||||
// TPM
|
||||
{0x4d5a, 0x1a}, {0x4d09, 0xff}, {0x4d09, 0xdf},
|
||||
|
||||
/*)
|
||||
// group 4
|
||||
{0x3208, 0x04},
|
||||
{0x4620, 0x04},
|
||||
{0x3208, 0x14},
|
||||
|
||||
// group 5
|
||||
{0x3208, 0x05},
|
||||
{0x4620, 0x04},
|
||||
{0x3208, 0x15},
|
||||
|
||||
// group 2
|
||||
{0x3208, 0x02},
|
||||
{0x3507, 0x00},
|
||||
{0x3208, 0x12},
|
||||
|
||||
// delay launch group 2
|
||||
{0x3208, 0xa2},*/
|
||||
|
||||
// PLL setup
|
||||
{0x0301, 0xc8}, // pll1_divs, pll1_predivp, pll1_divpix
|
||||
{0x0303, 0x01}, // pll1_prediv
|
||||
{0x0304, 0x01}, {0x0305, 0x2c}, // pll1_loopdiv = 300
|
||||
{0x0306, 0x04}, // pll1_divmipi = 4
|
||||
{0x0307, 0x01}, // pll1_divm = 1
|
||||
{0x0316, 0x00},
|
||||
{0x0317, 0x00},
|
||||
{0x0318, 0x00},
|
||||
{0x0323, 0x05}, // pll2_prediv
|
||||
{0x0324, 0x01}, {0x0325, 0x2c}, // pll2_divp = 300
|
||||
|
||||
// SCLK/PCLK
|
||||
{0x0400, 0xe0}, {0x0401, 0x80},
|
||||
{0x0403, 0xde}, {0x0404, 0x34},
|
||||
{0x0405, 0x3b}, {0x0406, 0xde},
|
||||
{0x0407, 0x08},
|
||||
{0x0408, 0xe0}, {0x0409, 0x7f},
|
||||
{0x040a, 0xde}, {0x040b, 0x34},
|
||||
{0x040c, 0x47}, {0x040d, 0xd8},
|
||||
{0x040e, 0x08},
|
||||
|
||||
// xchk
|
||||
{0x2803, 0xfe}, {0x280b, 0x00}, {0x280c, 0x79},
|
||||
|
||||
// SC ctrl
|
||||
{0x3001, 0x03}, // io_pad_oen
|
||||
{0x3002, 0xfc}, // io_pad_oen
|
||||
{0x3005, 0x80}, // io_pad_out
|
||||
{0x3007, 0x01}, // io_pad_sel
|
||||
{0x3008, 0x80}, // io_pad_sel
|
||||
|
||||
// FSIN first frame
|
||||
/*
|
||||
{0x3009, 0x2},
|
||||
{0x3015, 0x2},
|
||||
{0x3822, 0x20},
|
||||
{0x3823, 0x58},
|
||||
|
||||
{0x3826, 0x0}, {0x3827, 0x8},
|
||||
{0x3881, 0x4},
|
||||
|
||||
{0x3882, 0x8}, {0x3883, 0x0D},
|
||||
{0x3836, 0x1F}, {0x3837, 0x40},
|
||||
*/
|
||||
|
||||
// FSIN with external pulses
|
||||
{0x3009, 0x2},
|
||||
{0x3015, 0x2},
|
||||
{0x383E, 0x80},
|
||||
{0x3881, 0x4},
|
||||
{0x3882, 0x8}, {0x3883, 0x0D},
|
||||
{0x3836, 0x1F}, {0x3837, 0x40},
|
||||
|
||||
{0x3892, 0x44},
|
||||
{0x3823, 0x48},
|
||||
|
||||
{0x3012, 0x41}, // SC_PHY_CTRL = 4 lane MIPI
|
||||
{0x3020, 0x05}, // SC_CTRL_20
|
||||
|
||||
// this is not in the datasheet, listed as RSVD
|
||||
// but the camera doesn't work without it
|
||||
{0x3700, 0x28}, {0x3701, 0x15}, {0x3702, 0x19}, {0x3703, 0x23},
|
||||
{0x3704, 0x0a}, {0x3705, 0x00}, {0x3706, 0x3e}, {0x3707, 0x0d},
|
||||
{0x3708, 0x50}, {0x3709, 0x5a}, {0x370a, 0x00}, {0x370b, 0x96},
|
||||
{0x3711, 0x11}, {0x3712, 0x13}, {0x3717, 0x02}, {0x3718, 0x73},
|
||||
{0x372c, 0x40}, {0x3733, 0x01}, {0x3738, 0x36}, {0x3739, 0x36},
|
||||
{0x373a, 0x25}, {0x373b, 0x25}, {0x373f, 0x21}, {0x3740, 0x21},
|
||||
{0x3741, 0x21}, {0x3742, 0x21}, {0x3747, 0x28}, {0x3748, 0x28},
|
||||
{0x3749, 0x19}, {0x3755, 0x1a}, {0x3756, 0x0a}, {0x3757, 0x1c},
|
||||
{0x3765, 0x19}, {0x3766, 0x05}, {0x3767, 0x05}, {0x3768, 0x13},
|
||||
{0x376c, 0x07}, {0x3778, 0x20}, {0x377c, 0xc8}, {0x3781, 0x02},
|
||||
{0x3783, 0x02}, {0x379c, 0x58}, {0x379e, 0x00}, {0x379f, 0x00},
|
||||
{0x37a0, 0x00}, {0x37bc, 0x22}, {0x37c0, 0x01}, {0x37c4, 0x3e},
|
||||
{0x37c5, 0x3e}, {0x37c6, 0x2a}, {0x37c7, 0x28}, {0x37c8, 0x02},
|
||||
{0x37c9, 0x12}, {0x37cb, 0x29}, {0x37cd, 0x29}, {0x37d2, 0x00},
|
||||
{0x37d3, 0x73}, {0x37d6, 0x00}, {0x37d7, 0x6b}, {0x37dc, 0x00},
|
||||
{0x37df, 0x54}, {0x37e2, 0x00}, {0x37e3, 0x00}, {0x37f8, 0x00},
|
||||
{0x37f9, 0x01}, {0x37fa, 0x00}, {0x37fb, 0x19},
|
||||
|
||||
// also RSVD
|
||||
{0x3c03, 0x01}, {0x3c04, 0x01}, {0x3c06, 0x21}, {0x3c08, 0x01},
|
||||
{0x3c09, 0x01}, {0x3c0a, 0x01}, {0x3c0b, 0x21}, {0x3c13, 0x21},
|
||||
{0x3c14, 0x82}, {0x3c16, 0x13}, {0x3c21, 0x00}, {0x3c22, 0xf3},
|
||||
{0x3c37, 0x12}, {0x3c38, 0x31}, {0x3c3c, 0x00}, {0x3c3d, 0x03},
|
||||
{0x3c44, 0x16}, {0x3c5c, 0x8a}, {0x3c5f, 0x03}, {0x3c61, 0x80},
|
||||
{0x3c6f, 0x2b}, {0x3c70, 0x5f}, {0x3c71, 0x2c}, {0x3c72, 0x2c},
|
||||
{0x3c73, 0x2c}, {0x3c76, 0x12},
|
||||
|
||||
// PEC checks
|
||||
{0x3182, 0x12},
|
||||
|
||||
{0x320e, 0x00}, {0x320f, 0x00}, // RSVD
|
||||
{0x3211, 0x61},
|
||||
{0x3215, 0xcd},
|
||||
{0x3219, 0x08},
|
||||
|
||||
{0x3506, 0x20}, {0x3507, 0x00}, // hcg fine exposure
|
||||
{0x350a, 0x01}, {0x350b, 0x00}, {0x350c, 0x00}, // hcg digital gain
|
||||
|
||||
{0x3586, 0x40}, {0x3587, 0x00}, // lcg fine exposure
|
||||
{0x358a, 0x01}, {0x358b, 0x00}, {0x358c, 0x00}, // lcg digital gain
|
||||
|
||||
{0x3546, 0x20}, {0x3547, 0x00}, // spd fine exposure
|
||||
{0x354a, 0x01}, {0x354b, 0x00}, {0x354c, 0x00}, // spd digital gain
|
||||
|
||||
{0x35c6, 0xb0}, {0x35c7, 0x00}, // vs fine exposure
|
||||
{0x35ca, 0x01}, {0x35cb, 0x00}, {0x35cc, 0x00}, // vs digital gain
|
||||
|
||||
// also RSVD
|
||||
{0x3600, 0x8f}, {0x3605, 0x16}, {0x3609, 0xf0}, {0x360a, 0x01},
|
||||
{0x360e, 0x1d}, {0x360f, 0x10}, {0x3610, 0x70}, {0x3611, 0x3a},
|
||||
{0x3612, 0x28}, {0x361a, 0x29}, {0x361b, 0x6c}, {0x361c, 0x0b},
|
||||
{0x361d, 0x00}, {0x361e, 0xfc}, {0x362a, 0x00}, {0x364d, 0x0f},
|
||||
{0x364e, 0x18}, {0x364f, 0x12}, {0x3653, 0x1c}, {0x3654, 0x00},
|
||||
{0x3655, 0x1f}, {0x3656, 0x1f}, {0x3657, 0x0c}, {0x3658, 0x0a},
|
||||
{0x3659, 0x14}, {0x365a, 0x18}, {0x365b, 0x14}, {0x365c, 0x10},
|
||||
{0x365e, 0x12}, {0x3674, 0x08}, {0x3677, 0x3a}, {0x3678, 0x3a},
|
||||
{0x3679, 0x19},
|
||||
|
||||
// Y_ADDR_START = 4
|
||||
{0x3802, 0x00}, {0x3803, 0x04},
|
||||
// Y_ADDR_END = 0x50b
|
||||
{0x3806, 0x05}, {0x3807, 0x0b},
|
||||
|
||||
// X_OUTPUT_SIZE = 0x780 = 1920 (changed to 1928)
|
||||
{0x3808, 0x07}, {0x3809, 0x88},
|
||||
|
||||
// Y_OUTPUT_SIZE = 0x500 = 1280 (changed to 1208)
|
||||
{0x380a, 0x04}, {0x380b, 0xb8},
|
||||
|
||||
// horizontal timing 0x447
|
||||
{0x380c, 0x04}, {0x380d, 0x47},
|
||||
|
||||
// rows per frame (was 0x2ae)
|
||||
// 0x8ae = 53.65 ms
|
||||
{0x380e, 0x08}, {0x380f, 0x15},
|
||||
// this should be triggered by FSIN, not free running
|
||||
|
||||
{0x3810, 0x00}, {0x3811, 0x08}, // x cutoff
|
||||
{0x3812, 0x00}, {0x3813, 0x04}, // y cutoff
|
||||
{0x3816, 0x01},
|
||||
{0x3817, 0x01},
|
||||
{0x381c, 0x18},
|
||||
{0x381e, 0x01},
|
||||
{0x381f, 0x01},
|
||||
|
||||
// don't mirror, just flip
|
||||
{0x3820, 0x04},
|
||||
|
||||
{0x3821, 0x19},
|
||||
{0x3832, 0xF0},
|
||||
{0x3834, 0xF0},
|
||||
{0x384c, 0x02},
|
||||
{0x384d, 0x0d},
|
||||
{0x3850, 0x00},
|
||||
{0x3851, 0x42},
|
||||
{0x3852, 0x00},
|
||||
{0x3853, 0x40},
|
||||
{0x3858, 0x04},
|
||||
{0x388c, 0x02},
|
||||
{0x388d, 0x2b},
|
||||
|
||||
// APC
|
||||
{0x3b40, 0x05}, {0x3b41, 0x40}, {0x3b42, 0x00}, {0x3b43, 0x90},
|
||||
{0x3b44, 0x00}, {0x3b45, 0x20}, {0x3b46, 0x00}, {0x3b47, 0x20},
|
||||
{0x3b48, 0x19}, {0x3b49, 0x12}, {0x3b4a, 0x16}, {0x3b4b, 0x2e},
|
||||
{0x3b4c, 0x00}, {0x3b4d, 0x00},
|
||||
{0x3b86, 0x00}, {0x3b87, 0x34}, {0x3b88, 0x00}, {0x3b89, 0x08},
|
||||
{0x3b8a, 0x05}, {0x3b8b, 0x00}, {0x3b8c, 0x07}, {0x3b8d, 0x80},
|
||||
{0x3b8e, 0x00}, {0x3b8f, 0x00}, {0x3b92, 0x05}, {0x3b93, 0x00},
|
||||
{0x3b94, 0x07}, {0x3b95, 0x80}, {0x3b9e, 0x09},
|
||||
|
||||
// OTP
|
||||
{0x3d82, 0x73},
|
||||
{0x3d85, 0x05},
|
||||
{0x3d8a, 0x03},
|
||||
{0x3d8b, 0xff},
|
||||
{0x3d99, 0x00},
|
||||
{0x3d9a, 0x9f},
|
||||
{0x3d9b, 0x00},
|
||||
{0x3d9c, 0xa0},
|
||||
{0x3da4, 0x00},
|
||||
{0x3da7, 0x50},
|
||||
|
||||
// DTR
|
||||
{0x420e, 0x6b},
|
||||
{0x420f, 0x6e},
|
||||
{0x4210, 0x06},
|
||||
{0x4211, 0xc1},
|
||||
{0x421e, 0x02},
|
||||
{0x421f, 0x45},
|
||||
{0x4220, 0xe1},
|
||||
{0x4221, 0x01},
|
||||
{0x4301, 0xff},
|
||||
{0x4307, 0x03},
|
||||
{0x4308, 0x13},
|
||||
{0x430a, 0x13},
|
||||
{0x430d, 0x93},
|
||||
{0x430f, 0x57},
|
||||
{0x4310, 0x95},
|
||||
{0x4311, 0x16},
|
||||
{0x4316, 0x00},
|
||||
|
||||
{0x4317, 0x38}, // both embedded rows are enabled
|
||||
|
||||
{0x4319, 0x03}, // spd dcg
|
||||
{0x431a, 0x00}, // 8 bit mipi
|
||||
{0x431b, 0x00},
|
||||
{0x431d, 0x2a},
|
||||
{0x431e, 0x11},
|
||||
|
||||
{0x431f, 0x20}, // enable PWL (pwl0_en), 12 bits
|
||||
//{0x431f, 0x00}, // disable PWL
|
||||
|
||||
{0x4320, 0x19},
|
||||
{0x4323, 0x80},
|
||||
{0x4324, 0x00},
|
||||
{0x4503, 0x4e},
|
||||
{0x4505, 0x00},
|
||||
{0x4509, 0x00},
|
||||
{0x450a, 0x00},
|
||||
{0x4580, 0xf8},
|
||||
{0x4583, 0x07},
|
||||
{0x4584, 0x6a},
|
||||
{0x4585, 0x08},
|
||||
{0x4586, 0x05},
|
||||
{0x4587, 0x04},
|
||||
{0x4588, 0x73},
|
||||
{0x4589, 0x05},
|
||||
{0x458a, 0x1f},
|
||||
{0x458b, 0x02},
|
||||
{0x458c, 0xdc},
|
||||
{0x458d, 0x03},
|
||||
{0x458e, 0x02},
|
||||
{0x4597, 0x07},
|
||||
{0x4598, 0x40},
|
||||
{0x4599, 0x0e},
|
||||
{0x459a, 0x0e},
|
||||
{0x459b, 0xfb},
|
||||
{0x459c, 0xf3},
|
||||
{0x4602, 0x00},
|
||||
{0x4603, 0x13},
|
||||
{0x4604, 0x00},
|
||||
{0x4609, 0x0a},
|
||||
{0x460a, 0x30},
|
||||
{0x4610, 0x00},
|
||||
{0x4611, 0x70},
|
||||
{0x4612, 0x01},
|
||||
{0x4613, 0x00},
|
||||
{0x4614, 0x00},
|
||||
{0x4615, 0x70},
|
||||
{0x4616, 0x01},
|
||||
{0x4617, 0x00},
|
||||
|
||||
{0x4800, 0x04}, // invert output PCLK
|
||||
{0x480a, 0x22},
|
||||
{0x4813, 0xe4},
|
||||
|
||||
// mipi
|
||||
{0x4814, 0x2a},
|
||||
{0x4837, 0x0d},
|
||||
{0x484b, 0x47},
|
||||
{0x484f, 0x00},
|
||||
{0x4887, 0x51},
|
||||
{0x4d00, 0x4a},
|
||||
{0x4d01, 0x18},
|
||||
{0x4d05, 0xff},
|
||||
{0x4d06, 0x88},
|
||||
{0x4d08, 0x63},
|
||||
{0x4d09, 0xdf},
|
||||
{0x4d15, 0x7d},
|
||||
{0x4d1a, 0x20},
|
||||
{0x4d30, 0x0a},
|
||||
{0x4d31, 0x00},
|
||||
{0x4d34, 0x7d},
|
||||
{0x4d3c, 0x7d},
|
||||
{0x4f00, 0x00},
|
||||
{0x4f01, 0x00},
|
||||
{0x4f02, 0x00},
|
||||
{0x4f03, 0x20},
|
||||
{0x4f04, 0xe0},
|
||||
{0x6a00, 0x00},
|
||||
{0x6a01, 0x20},
|
||||
{0x6a02, 0x00},
|
||||
{0x6a03, 0x20},
|
||||
{0x6a04, 0x02},
|
||||
{0x6a05, 0x80},
|
||||
{0x6a06, 0x01},
|
||||
{0x6a07, 0xe0},
|
||||
{0x6a08, 0xcf},
|
||||
{0x6a09, 0x01},
|
||||
{0x6a0a, 0x40},
|
||||
{0x6a20, 0x00},
|
||||
{0x6a21, 0x02},
|
||||
{0x6a22, 0x00},
|
||||
{0x6a23, 0x00},
|
||||
{0x6a24, 0x00},
|
||||
{0x6a25, 0x00},
|
||||
{0x6a26, 0x00},
|
||||
{0x6a27, 0x00},
|
||||
{0x6a28, 0x00},
|
||||
|
||||
// isp
|
||||
{0x5000, 0x8f},
|
||||
{0x5001, 0x75},
|
||||
{0x5002, 0x7f}, // PWL0
|
||||
//{0x5002, 0x3f}, // PWL disable
|
||||
{0x5003, 0x7a},
|
||||
|
||||
{0x5004, 0x3e},
|
||||
{0x5005, 0x1e},
|
||||
{0x5006, 0x1e},
|
||||
{0x5007, 0x1e},
|
||||
|
||||
{0x5008, 0x00},
|
||||
{0x500c, 0x00},
|
||||
{0x502c, 0x00},
|
||||
{0x502e, 0x00},
|
||||
{0x502f, 0x00},
|
||||
{0x504b, 0x00},
|
||||
{0x5053, 0x00},
|
||||
{0x505b, 0x00},
|
||||
{0x5063, 0x00},
|
||||
{0x5070, 0x00},
|
||||
{0x5074, 0x04},
|
||||
{0x507a, 0x04},
|
||||
{0x507b, 0x09},
|
||||
{0x5500, 0x02},
|
||||
{0x5700, 0x02},
|
||||
{0x5900, 0x02},
|
||||
{0x6007, 0x04},
|
||||
{0x6008, 0x05},
|
||||
{0x6009, 0x02},
|
||||
{0x600b, 0x08},
|
||||
{0x600c, 0x07},
|
||||
{0x600d, 0x88},
|
||||
{0x6016, 0x00},
|
||||
{0x6027, 0x04},
|
||||
{0x6028, 0x05},
|
||||
{0x6029, 0x02},
|
||||
{0x602b, 0x08},
|
||||
{0x602c, 0x07},
|
||||
{0x602d, 0x88},
|
||||
{0x6047, 0x04},
|
||||
{0x6048, 0x05},
|
||||
{0x6049, 0x02},
|
||||
{0x604b, 0x08},
|
||||
{0x604c, 0x07},
|
||||
{0x604d, 0x88},
|
||||
{0x6067, 0x04},
|
||||
{0x6068, 0x05},
|
||||
{0x6069, 0x02},
|
||||
{0x606b, 0x08},
|
||||
{0x606c, 0x07},
|
||||
{0x606d, 0x88},
|
||||
{0x6087, 0x04},
|
||||
{0x6088, 0x05},
|
||||
{0x6089, 0x02},
|
||||
{0x608b, 0x08},
|
||||
{0x608c, 0x07},
|
||||
{0x608d, 0x88},
|
||||
|
||||
// 12-bit PWL0
|
||||
{0x5e00, 0x00},
|
||||
|
||||
// m_ndX_exp[0:32]
|
||||
// 9*2+0xa*3+0xb*2+0xc*2+0xd*2+0xe*2+0xf*2+0x10*2+0x11*2+0x12*4+0x13*3+0x14*3+0x15*3+0x16 = 518
|
||||
{0x5e01, 0x09},
|
||||
{0x5e02, 0x09},
|
||||
{0x5e03, 0x0a},
|
||||
{0x5e04, 0x0a},
|
||||
{0x5e05, 0x0a},
|
||||
{0x5e06, 0x0b},
|
||||
{0x5e07, 0x0b},
|
||||
{0x5e08, 0x0c},
|
||||
{0x5e09, 0x0c},
|
||||
{0x5e0a, 0x0d},
|
||||
{0x5e0b, 0x0d},
|
||||
{0x5e0c, 0x0e},
|
||||
{0x5e0d, 0x0e},
|
||||
{0x5e0e, 0x0f},
|
||||
{0x5e0f, 0x0f},
|
||||
{0x5e10, 0x10},
|
||||
{0x5e11, 0x10},
|
||||
{0x5e12, 0x11},
|
||||
{0x5e13, 0x11},
|
||||
{0x5e14, 0x12},
|
||||
{0x5e15, 0x12},
|
||||
{0x5e16, 0x12},
|
||||
{0x5e17, 0x12},
|
||||
{0x5e18, 0x13},
|
||||
{0x5e19, 0x13},
|
||||
{0x5e1a, 0x13},
|
||||
{0x5e1b, 0x14},
|
||||
{0x5e1c, 0x14},
|
||||
{0x5e1d, 0x14},
|
||||
{0x5e1e, 0x15},
|
||||
{0x5e1f, 0x15},
|
||||
{0x5e20, 0x15},
|
||||
{0x5e21, 0x16},
|
||||
|
||||
// m_ndY_val[0:32]
|
||||
// 0x200+0xff+0x100*3+0x80*12+0x40*16 = 4095
|
||||
{0x5e22, 0x00}, {0x5e23, 0x02}, {0x5e24, 0x00},
|
||||
{0x5e25, 0x00}, {0x5e26, 0x00}, {0x5e27, 0xff},
|
||||
{0x5e28, 0x00}, {0x5e29, 0x01}, {0x5e2a, 0x00},
|
||||
{0x5e2b, 0x00}, {0x5e2c, 0x01}, {0x5e2d, 0x00},
|
||||
{0x5e2e, 0x00}, {0x5e2f, 0x01}, {0x5e30, 0x00},
|
||||
{0x5e31, 0x00}, {0x5e32, 0x00}, {0x5e33, 0x80},
|
||||
{0x5e34, 0x00}, {0x5e35, 0x00}, {0x5e36, 0x80},
|
||||
{0x5e37, 0x00}, {0x5e38, 0x00}, {0x5e39, 0x80},
|
||||
{0x5e3a, 0x00}, {0x5e3b, 0x00}, {0x5e3c, 0x80},
|
||||
{0x5e3d, 0x00}, {0x5e3e, 0x00}, {0x5e3f, 0x80},
|
||||
{0x5e40, 0x00}, {0x5e41, 0x00}, {0x5e42, 0x80},
|
||||
{0x5e43, 0x00}, {0x5e44, 0x00}, {0x5e45, 0x80},
|
||||
{0x5e46, 0x00}, {0x5e47, 0x00}, {0x5e48, 0x80},
|
||||
{0x5e49, 0x00}, {0x5e4a, 0x00}, {0x5e4b, 0x80},
|
||||
{0x5e4c, 0x00}, {0x5e4d, 0x00}, {0x5e4e, 0x80},
|
||||
{0x5e4f, 0x00}, {0x5e50, 0x00}, {0x5e51, 0x80},
|
||||
{0x5e52, 0x00}, {0x5e53, 0x00}, {0x5e54, 0x80},
|
||||
{0x5e55, 0x00}, {0x5e56, 0x00}, {0x5e57, 0x40},
|
||||
{0x5e58, 0x00}, {0x5e59, 0x00}, {0x5e5a, 0x40},
|
||||
{0x5e5b, 0x00}, {0x5e5c, 0x00}, {0x5e5d, 0x40},
|
||||
{0x5e5e, 0x00}, {0x5e5f, 0x00}, {0x5e60, 0x40},
|
||||
{0x5e61, 0x00}, {0x5e62, 0x00}, {0x5e63, 0x40},
|
||||
{0x5e64, 0x00}, {0x5e65, 0x00}, {0x5e66, 0x40},
|
||||
{0x5e67, 0x00}, {0x5e68, 0x00}, {0x5e69, 0x40},
|
||||
{0x5e6a, 0x00}, {0x5e6b, 0x00}, {0x5e6c, 0x40},
|
||||
{0x5e6d, 0x00}, {0x5e6e, 0x00}, {0x5e6f, 0x40},
|
||||
{0x5e70, 0x00}, {0x5e71, 0x00}, {0x5e72, 0x40},
|
||||
{0x5e73, 0x00}, {0x5e74, 0x00}, {0x5e75, 0x40},
|
||||
{0x5e76, 0x00}, {0x5e77, 0x00}, {0x5e78, 0x40},
|
||||
{0x5e79, 0x00}, {0x5e7a, 0x00}, {0x5e7b, 0x40},
|
||||
{0x5e7c, 0x00}, {0x5e7d, 0x00}, {0x5e7e, 0x40},
|
||||
{0x5e7f, 0x00}, {0x5e80, 0x00}, {0x5e81, 0x40},
|
||||
{0x5e82, 0x00}, {0x5e83, 0x00}, {0x5e84, 0x40},
|
||||
|
||||
// disable PWL
|
||||
/*{0x5e01, 0x18}, {0x5e02, 0x00}, {0x5e03, 0x00}, {0x5e04, 0x00},
|
||||
{0x5e05, 0x00}, {0x5e06, 0x00}, {0x5e07, 0x00}, {0x5e08, 0x00},
|
||||
{0x5e09, 0x00}, {0x5e0a, 0x00}, {0x5e0b, 0x00}, {0x5e0c, 0x00},
|
||||
{0x5e0d, 0x00}, {0x5e0e, 0x00}, {0x5e0f, 0x00}, {0x5e10, 0x00},
|
||||
{0x5e11, 0x00}, {0x5e12, 0x00}, {0x5e13, 0x00}, {0x5e14, 0x00},
|
||||
{0x5e15, 0x00}, {0x5e16, 0x00}, {0x5e17, 0x00}, {0x5e18, 0x00},
|
||||
{0x5e19, 0x00}, {0x5e1a, 0x00}, {0x5e1b, 0x00}, {0x5e1c, 0x00},
|
||||
{0x5e1d, 0x00}, {0x5e1e, 0x00}, {0x5e1f, 0x00}, {0x5e20, 0x00},
|
||||
{0x5e21, 0x00},
|
||||
|
||||
{0x5e22, 0x00}, {0x5e23, 0x0f}, {0x5e24, 0xFF},*/
|
||||
|
||||
{0x4001, 0x2b}, // BLC_CTRL_1
|
||||
{0x4008, 0x02}, {0x4009, 0x03},
|
||||
{0x4018, 0x12},
|
||||
{0x4022, 0x40},
|
||||
{0x4023, 0x20},
|
||||
|
||||
// all black level targets are 0x40
|
||||
{0x4026, 0x00}, {0x4027, 0x40},
|
||||
{0x4028, 0x00}, {0x4029, 0x40},
|
||||
{0x402a, 0x00}, {0x402b, 0x40},
|
||||
{0x402c, 0x00}, {0x402d, 0x40},
|
||||
|
||||
{0x407e, 0xcc},
|
||||
{0x407f, 0x18},
|
||||
{0x4080, 0xff},
|
||||
{0x4081, 0xff},
|
||||
{0x4082, 0x01},
|
||||
{0x4083, 0x53},
|
||||
{0x4084, 0x01},
|
||||
{0x4085, 0x2b},
|
||||
{0x4086, 0x00},
|
||||
{0x4087, 0xb3},
|
||||
|
||||
{0x4640, 0x40},
|
||||
{0x4641, 0x11},
|
||||
{0x4642, 0x0e},
|
||||
{0x4643, 0xee},
|
||||
{0x4646, 0x0f},
|
||||
{0x4648, 0x00},
|
||||
{0x4649, 0x03},
|
||||
|
||||
{0x4f00, 0x00},
|
||||
{0x4f01, 0x00},
|
||||
{0x4f02, 0x80},
|
||||
{0x4f03, 0x2c},
|
||||
{0x4f04, 0xf8},
|
||||
|
||||
{0x4d09, 0xff},
|
||||
{0x4d09, 0xdf},
|
||||
|
||||
{0x5003, 0x7a},
|
||||
{0x5b80, 0x08},
|
||||
{0x5c00, 0x08},
|
||||
{0x5c80, 0x00},
|
||||
{0x5bbe, 0x12},
|
||||
{0x5c3e, 0x12},
|
||||
{0x5cbe, 0x12},
|
||||
{0x5b8a, 0x80},
|
||||
{0x5b8b, 0x80},
|
||||
{0x5b8c, 0x80},
|
||||
{0x5b8d, 0x80},
|
||||
{0x5b8e, 0x60},
|
||||
{0x5b8f, 0x80},
|
||||
{0x5b90, 0x80},
|
||||
{0x5b91, 0x80},
|
||||
{0x5b92, 0x80},
|
||||
{0x5b93, 0x20},
|
||||
{0x5b94, 0x80},
|
||||
{0x5b95, 0x80},
|
||||
{0x5b96, 0x80},
|
||||
{0x5b97, 0x20},
|
||||
{0x5b98, 0x00},
|
||||
{0x5b99, 0x80},
|
||||
{0x5b9a, 0x40},
|
||||
{0x5b9b, 0x20},
|
||||
{0x5b9c, 0x00},
|
||||
{0x5b9d, 0x00},
|
||||
{0x5b9e, 0x80},
|
||||
{0x5b9f, 0x00},
|
||||
{0x5ba0, 0x00},
|
||||
{0x5ba1, 0x00},
|
||||
{0x5ba2, 0x00},
|
||||
{0x5ba3, 0x00},
|
||||
{0x5ba4, 0x00},
|
||||
{0x5ba5, 0x00},
|
||||
{0x5ba6, 0x00},
|
||||
{0x5ba7, 0x00},
|
||||
{0x5ba8, 0x02},
|
||||
{0x5ba9, 0x00},
|
||||
{0x5baa, 0x02},
|
||||
{0x5bab, 0x76},
|
||||
{0x5bac, 0x03},
|
||||
{0x5bad, 0x08},
|
||||
{0x5bae, 0x00},
|
||||
{0x5baf, 0x80},
|
||||
{0x5bb0, 0x00},
|
||||
{0x5bb1, 0xc0},
|
||||
{0x5bb2, 0x01},
|
||||
{0x5bb3, 0x00},
|
||||
|
||||
// m_nNormCombineWeight
|
||||
{0x5c0a, 0x80}, {0x5c0b, 0x80}, {0x5c0c, 0x80}, {0x5c0d, 0x80}, {0x5c0e, 0x60},
|
||||
{0x5c0f, 0x80}, {0x5c10, 0x80}, {0x5c11, 0x80}, {0x5c12, 0x60}, {0x5c13, 0x20},
|
||||
{0x5c14, 0x80}, {0x5c15, 0x80}, {0x5c16, 0x80}, {0x5c17, 0x20}, {0x5c18, 0x00},
|
||||
{0x5c19, 0x80}, {0x5c1a, 0x40}, {0x5c1b, 0x20}, {0x5c1c, 0x00}, {0x5c1d, 0x00},
|
||||
{0x5c1e, 0x80}, {0x5c1f, 0x00}, {0x5c20, 0x00}, {0x5c21, 0x00}, {0x5c22, 0x00},
|
||||
{0x5c23, 0x00}, {0x5c24, 0x00}, {0x5c25, 0x00}, {0x5c26, 0x00}, {0x5c27, 0x00},
|
||||
|
||||
// m_nCombinThreL
|
||||
{0x5c28, 0x02}, {0x5c29, 0x00},
|
||||
{0x5c2a, 0x02}, {0x5c2b, 0x76},
|
||||
{0x5c2c, 0x03}, {0x5c2d, 0x08},
|
||||
|
||||
// m_nCombinThreS
|
||||
{0x5c2e, 0x00}, {0x5c2f, 0x80},
|
||||
{0x5c30, 0x00}, {0x5c31, 0xc0},
|
||||
{0x5c32, 0x01}, {0x5c33, 0x00},
|
||||
|
||||
// m_nNormCombineWeight
|
||||
{0x5c8a, 0x80}, {0x5c8b, 0x80}, {0x5c8c, 0x80}, {0x5c8d, 0x80}, {0x5c8e, 0x80},
|
||||
{0x5c8f, 0x80}, {0x5c90, 0x80}, {0x5c91, 0x80}, {0x5c92, 0x80}, {0x5c93, 0x60},
|
||||
{0x5c94, 0x80}, {0x5c95, 0x80}, {0x5c96, 0x80}, {0x5c97, 0x60}, {0x5c98, 0x40},
|
||||
{0x5c99, 0x80}, {0x5c9a, 0x80}, {0x5c9b, 0x80}, {0x5c9c, 0x40}, {0x5c9d, 0x00},
|
||||
{0x5c9e, 0x80}, {0x5c9f, 0x80}, {0x5ca0, 0x80}, {0x5ca1, 0x20}, {0x5ca2, 0x00},
|
||||
{0x5ca3, 0x80}, {0x5ca4, 0x80}, {0x5ca5, 0x00}, {0x5ca6, 0x00}, {0x5ca7, 0x00},
|
||||
|
||||
{0x5ca8, 0x01}, {0x5ca9, 0x00},
|
||||
{0x5caa, 0x02}, {0x5cab, 0x00},
|
||||
{0x5cac, 0x03}, {0x5cad, 0x08},
|
||||
|
||||
{0x5cae, 0x01}, {0x5caf, 0x00},
|
||||
{0x5cb0, 0x02}, {0x5cb1, 0x00},
|
||||
{0x5cb2, 0x03}, {0x5cb3, 0x08},
|
||||
|
||||
// combine ISP
|
||||
{0x5be7, 0x80},
|
||||
{0x5bc9, 0x80},
|
||||
{0x5bca, 0x80},
|
||||
{0x5bcb, 0x80},
|
||||
{0x5bcc, 0x80},
|
||||
{0x5bcd, 0x80},
|
||||
{0x5bce, 0x80},
|
||||
{0x5bcf, 0x80},
|
||||
{0x5bd0, 0x80},
|
||||
{0x5bd1, 0x80},
|
||||
{0x5bd2, 0x20},
|
||||
{0x5bd3, 0x80},
|
||||
{0x5bd4, 0x40},
|
||||
{0x5bd5, 0x20},
|
||||
{0x5bd6, 0x00},
|
||||
{0x5bd7, 0x00},
|
||||
{0x5bd8, 0x00},
|
||||
{0x5bd9, 0x00},
|
||||
{0x5bda, 0x00},
|
||||
{0x5bdb, 0x00},
|
||||
{0x5bdc, 0x00},
|
||||
{0x5bdd, 0x00},
|
||||
{0x5bde, 0x00},
|
||||
{0x5bdf, 0x00},
|
||||
{0x5be0, 0x00},
|
||||
{0x5be1, 0x00},
|
||||
{0x5be2, 0x00},
|
||||
{0x5be3, 0x00},
|
||||
{0x5be4, 0x00},
|
||||
{0x5be5, 0x00},
|
||||
{0x5be6, 0x00},
|
||||
|
||||
// m_nSPDCombineWeight
|
||||
{0x5c49, 0x80}, {0x5c4a, 0x80}, {0x5c4b, 0x80}, {0x5c4c, 0x80}, {0x5c4d, 0x40},
|
||||
{0x5c4e, 0x80}, {0x5c4f, 0x80}, {0x5c50, 0x80}, {0x5c51, 0x60}, {0x5c52, 0x20},
|
||||
{0x5c53, 0x80}, {0x5c54, 0x80}, {0x5c55, 0x80}, {0x5c56, 0x20}, {0x5c57, 0x00},
|
||||
{0x5c58, 0x80}, {0x5c59, 0x40}, {0x5c5a, 0x20}, {0x5c5b, 0x00}, {0x5c5c, 0x00},
|
||||
{0x5c5d, 0x80}, {0x5c5e, 0x00}, {0x5c5f, 0x00}, {0x5c60, 0x00}, {0x5c61, 0x00},
|
||||
{0x5c62, 0x00}, {0x5c63, 0x00}, {0x5c64, 0x00}, {0x5c65, 0x00}, {0x5c66, 0x00},
|
||||
|
||||
// m_nSPDCombineWeight
|
||||
{0x5cc9, 0x80}, {0x5cca, 0x80}, {0x5ccb, 0x80}, {0x5ccc, 0x80}, {0x5ccd, 0x80},
|
||||
{0x5cce, 0x80}, {0x5ccf, 0x80}, {0x5cd0, 0x80}, {0x5cd1, 0x80}, {0x5cd2, 0x60},
|
||||
{0x5cd3, 0x80}, {0x5cd4, 0x80}, {0x5cd5, 0x80}, {0x5cd6, 0x60}, {0x5cd7, 0x40},
|
||||
{0x5cd8, 0x80}, {0x5cd9, 0x80}, {0x5cda, 0x80}, {0x5cdb, 0x40}, {0x5cdc, 0x20},
|
||||
{0x5cdd, 0x80}, {0x5cde, 0x80}, {0x5cdf, 0x80}, {0x5ce0, 0x20}, {0x5ce1, 0x00},
|
||||
{0x5ce2, 0x80}, {0x5ce3, 0x80}, {0x5ce4, 0x80}, {0x5ce5, 0x00}, {0x5ce6, 0x00},
|
||||
|
||||
{0x5d74, 0x01},
|
||||
{0x5d75, 0x00},
|
||||
|
||||
{0x5d1f, 0x81},
|
||||
{0x5d11, 0x00},
|
||||
{0x5d12, 0x10},
|
||||
{0x5d13, 0x10},
|
||||
{0x5d15, 0x05},
|
||||
{0x5d16, 0x05},
|
||||
{0x5d17, 0x05},
|
||||
{0x5d08, 0x03},
|
||||
{0x5d09, 0xb6},
|
||||
{0x5d0a, 0x03},
|
||||
{0x5d0b, 0xb6},
|
||||
{0x5d18, 0x03},
|
||||
{0x5d19, 0xb6},
|
||||
{0x5d62, 0x01},
|
||||
{0x5d40, 0x02},
|
||||
{0x5d41, 0x01},
|
||||
{0x5d63, 0x1f},
|
||||
{0x5d64, 0x00},
|
||||
{0x5d65, 0x80},
|
||||
{0x5d56, 0x00},
|
||||
{0x5d57, 0x20},
|
||||
{0x5d58, 0x00},
|
||||
{0x5d59, 0x20},
|
||||
{0x5d5a, 0x00},
|
||||
{0x5d5b, 0x0c},
|
||||
{0x5d5c, 0x02},
|
||||
{0x5d5d, 0x40},
|
||||
{0x5d5e, 0x02},
|
||||
{0x5d5f, 0x40},
|
||||
{0x5d60, 0x03},
|
||||
{0x5d61, 0x40},
|
||||
{0x5d4a, 0x02},
|
||||
{0x5d4b, 0x40},
|
||||
{0x5d4c, 0x02},
|
||||
{0x5d4d, 0x40},
|
||||
{0x5d4e, 0x02},
|
||||
{0x5d4f, 0x40},
|
||||
{0x5d50, 0x18},
|
||||
{0x5d51, 0x80},
|
||||
{0x5d52, 0x18},
|
||||
{0x5d53, 0x80},
|
||||
{0x5d54, 0x18},
|
||||
{0x5d55, 0x80},
|
||||
{0x5d46, 0x20},
|
||||
{0x5d47, 0x00},
|
||||
{0x5d48, 0x22},
|
||||
{0x5d49, 0x00},
|
||||
{0x5d42, 0x20},
|
||||
{0x5d43, 0x00},
|
||||
{0x5d44, 0x22},
|
||||
{0x5d45, 0x00},
|
||||
|
||||
{0x5004, 0x1e},
|
||||
{0x4221, 0x03}, // this is changed from 1 -> 3
|
||||
|
||||
// DCG exposure coarse
|
||||
// {0x3501, 0x01}, {0x3502, 0xc8},
|
||||
// SPD exposure coarse
|
||||
// {0x3541, 0x01}, {0x3542, 0xc8},
|
||||
// VS exposure coarse
|
||||
// {0x35c1, 0x00}, {0x35c2, 0x01},
|
||||
|
||||
// crc reference
|
||||
{0x420e, 0x66}, {0x420f, 0x5d}, {0x4210, 0xa8}, {0x4211, 0x55},
|
||||
// crc stat check
|
||||
{0x507a, 0x5f}, {0x507b, 0x46},
|
||||
|
||||
// watchdog control
|
||||
{0x4f00, 0x00}, {0x4f01, 0x01}, {0x4f02, 0x80}, {0x4f04, 0x2c},
|
||||
|
||||
// color balance gains
|
||||
// blue
|
||||
{0x5280, 0x06}, {0x5281, 0xCB}, // hcg
|
||||
{0x5480, 0x06}, {0x5481, 0xCB}, // lcg
|
||||
{0x5680, 0x06}, {0x5681, 0xCB}, // spd
|
||||
{0x5880, 0x06}, {0x5881, 0xCB}, // vs
|
||||
|
||||
// green(blue)
|
||||
{0x5282, 0x04}, {0x5283, 0x00},
|
||||
{0x5482, 0x04}, {0x5483, 0x00},
|
||||
{0x5682, 0x04}, {0x5683, 0x00},
|
||||
{0x5882, 0x04}, {0x5883, 0x00},
|
||||
|
||||
// green(red)
|
||||
{0x5284, 0x04}, {0x5285, 0x00},
|
||||
{0x5484, 0x04}, {0x5485, 0x00},
|
||||
{0x5684, 0x04}, {0x5685, 0x00},
|
||||
{0x5884, 0x04}, {0x5885, 0x00},
|
||||
|
||||
// red
|
||||
{0x5286, 0x08}, {0x5287, 0xDE},
|
||||
{0x5486, 0x08}, {0x5487, 0xDE},
|
||||
{0x5686, 0x08}, {0x5687, 0xDE},
|
||||
{0x5886, 0x08}, {0x5887, 0xDE},
|
||||
|
||||
// fixed gains
|
||||
{0x3588, 0x01}, {0x3589, 0x00},
|
||||
{0x35c8, 0x01}, {0x35c9, 0x00},
|
||||
{0x3548, 0x0F}, {0x3549, 0x00},
|
||||
{0x35c1, 0x00},
|
||||
};
|
||||
93
system/camerad/sensors/sensor.h
Normal file
93
system/camerad/sensors/sensor.h
Normal file
@@ -0,0 +1,93 @@
|
||||
#pragma once
|
||||
|
||||
#include <cassert>
|
||||
#include <cstdint>
|
||||
#include <map>
|
||||
#include <utility>
|
||||
#include <vector>
|
||||
#include "media/cam_sensor.h"
|
||||
#include "system/camerad/cameras/camera_common.h"
|
||||
#include "system/camerad/sensors/ar0231_registers.h"
|
||||
#include "system/camerad/sensors/ox03c10_registers.h"
|
||||
#include "system/camerad/sensors/os04c10_registers.h"
|
||||
|
||||
#define ANALOG_GAIN_MAX_CNT 55
|
||||
const size_t FRAME_WIDTH = 1928;
|
||||
const size_t FRAME_HEIGHT = 1208;
|
||||
const size_t FRAME_STRIDE = 2896; // for 12 bit output. 1928 * 12 / 8 + 4 (alignment)
|
||||
|
||||
|
||||
class SensorInfo {
|
||||
public:
|
||||
SensorInfo() = default;
|
||||
virtual std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { return {}; }
|
||||
virtual float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {return 0; }
|
||||
virtual int getSlaveAddress(int port) const { assert(0); }
|
||||
virtual void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {}
|
||||
|
||||
cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN;
|
||||
uint32_t frame_width, frame_height;
|
||||
uint32_t frame_stride;
|
||||
uint32_t frame_offset = 0;
|
||||
uint32_t extra_height = 0;
|
||||
int registers_offset = -1;
|
||||
int stats_offset = -1;
|
||||
|
||||
int exposure_time_min;
|
||||
int exposure_time_max;
|
||||
|
||||
float dc_gain_factor;
|
||||
int dc_gain_min_weight;
|
||||
int dc_gain_max_weight;
|
||||
float dc_gain_on_grey;
|
||||
float dc_gain_off_grey;
|
||||
|
||||
float sensor_analog_gains[ANALOG_GAIN_MAX_CNT];
|
||||
int analog_gain_min_idx;
|
||||
int analog_gain_max_idx;
|
||||
int analog_gain_rec_idx;
|
||||
int analog_gain_cost_delta;
|
||||
float analog_gain_cost_low;
|
||||
float analog_gain_cost_high;
|
||||
float target_grey_factor;
|
||||
float min_ev;
|
||||
float max_ev;
|
||||
|
||||
bool data_word;
|
||||
uint32_t probe_reg_addr;
|
||||
uint32_t probe_expected_data;
|
||||
std::vector<i2c_random_wr_payload> start_reg_array;
|
||||
std::vector<i2c_random_wr_payload> init_reg_array;
|
||||
|
||||
uint32_t mipi_format;
|
||||
uint32_t mclk_frequency;
|
||||
uint32_t frame_data_type;
|
||||
};
|
||||
|
||||
class AR0231 : public SensorInfo {
|
||||
public:
|
||||
AR0231();
|
||||
std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
|
||||
float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
|
||||
int getSlaveAddress(int port) const override;
|
||||
void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const override;
|
||||
|
||||
private:
|
||||
mutable std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
|
||||
};
|
||||
|
||||
class OX03C10 : public SensorInfo {
|
||||
public:
|
||||
OX03C10();
|
||||
std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
|
||||
float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
|
||||
int getSlaveAddress(int port) const override;
|
||||
};
|
||||
|
||||
class OS04C10 : public SensorInfo {
|
||||
public:
|
||||
OS04C10();
|
||||
std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
|
||||
float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
|
||||
int getSlaveAddress(int port) const override;
|
||||
};
|
||||
Reference in New Issue
Block a user