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camerad: remove AR register processing (#34537)

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This commit is contained in:
Adeeb Shihadeh
2025-02-06 14:15:37 -08:00
committed by GitHub
parent 9bc35c0919
commit e31ae06959
3 changed files with 0 additions and 91 deletions
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system/camerad/cameras/camera_qcom2.cc
-4
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@@ -263,10 +263,6 @@ void CameraState::run() {
framed.setImage(get_raw_frame_image(&camera.buf));
}
// Process camera registers and set camera exposure
if (camera.is_raw) {
camera.sensor->processRegisters((uint8_t *)camera.buf.cur_camera_buf->addr, framed);
}
set_camera_exposure(set_exposure_target(&camera.buf, ae_xywh, 2, camera.cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4));
// Send the message
system/camerad/sensors/ar0231.cc
-85
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@@ -16,64 +16,6 @@ const float sensor_analog_gains_AR0231[] = {
5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0, // 8, 9, 10, 11
7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0}; // 12, 13, 14, 15 = bypass
std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(const AR0231 *s, uint8_t *data) {
// This function builds a lookup table from register address, to a pair of indices in the
// buffer where to read this address. The buffer contains padding bytes,
// as well as markers to indicate the type of the next byte.
//
// 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address.
// Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional
// for contiguous ranges. See page 27-29 of the AR0231 Developer guide for more information.
int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3};
auto get_next_idx = [](int cur_idx) {
return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1; // Every third byte is padding
};
std::map<uint16_t, std::pair<int, int>> registers;
for (int register_row = 0; register_row < 2; register_row++) {
uint8_t *registers_raw = data + s->frame_stride * register_row;
assert(registers_raw[0] == 0x0a); // Start of line
int value_tag_count = 0;
int first_val_idx = 0;
uint16_t cur_addr = 0;
for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) {
int val_idx = get_next_idx(i);
uint8_t tag = registers_raw[i];
uint16_t val = registers_raw[val_idx];
if (tag == 0xAA) { // Register MSB tag
cur_addr = val << 8;
} else if (tag == 0xA5) { // Register LSB tag
cur_addr |= val;
cur_addr -= 2; // Next value tag will increment address again
} else if (tag == 0x5A) { // Value tag
// First tag
if (value_tag_count % 2 == 0) {
cur_addr += 2;
first_val_idx = val_idx;
} else {
registers[cur_addr] = std::make_pair(first_val_idx + s->frame_stride * register_row, val_idx + s->frame_stride * register_row);
}
value_tag_count++;
}
}
}
return registers;
}
float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) {
// See AR0231 Developer Guide - page 36
float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2);
float t0 = 55.0 - slope * (float)calib2;
return t0 + slope * (float)data_reg;
}
} // namespace
AR0231::AR0231() {
@@ -169,33 +111,6 @@ AR0231::AR0231() {
};
}
void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {
const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55};
uint8_t *data = cur_buf + registers_offset;
if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) {
LOGE("unexpected register data found");
return;
}
if (ar0231_register_lut.empty()) {
ar0231_register_lut = ar0231_build_register_lut(this, data);
}
std::map<uint16_t, uint16_t> registers;
for (uint16_t addr : {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc}) {
auto offset = ar0231_register_lut[addr];
registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second];
}
uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002];
framed.setFrameIdSensor(frame_id);
float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]);
float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]);
framed.setTemperaturesC({temp_0, temp_1});
}
std::vector<i2c_random_wr_payload> AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g;
return {
system/camerad/sensors/sensor.h
-2
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@@ -22,7 +22,6 @@ public:
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(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {}
cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN;
float pixel_size_mm;
@@ -90,7 +89,6 @@ public:
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(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const override;
private:
mutable std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;