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openpilot v0.9.6 release

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date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
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FrogAi
2024-01-12 22:39:28 -07:00
commit 08e9fb1edc
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system/camerad/sensors/sensor.h Normal file
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#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;
};