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AR0231

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firestar5683
2026-07-10 23:11:46 -05:00
parent a999f28270
commit 6cc8e9b86a
5 changed files with 59 additions and 31 deletions
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panda/board/obj/gitversion.h
+1 -1
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@@ -1,2 +1,2 @@
extern const uint8_t gitversion[19];
const uint8_t gitversion[19] = "DEV-2a3d2744-DEBUG";
const uint8_t gitversion[19] = "DEV-57a36f06-DEBUG";
panda/board/obj/version
+1 -1
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@@ -1 +1 @@
DEV-2a3d2744-DEBUG
DEV-57a36f06-DEBUG
system/camerad/camerad
BIN
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Binary file not shown.
system/camerad/cameras/bps_blobs.h
+3 -3
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system/camerad/cameras/spectra.cc
+54 -26
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@@ -36,6 +36,10 @@ static std::tuple<uint32_t, uint32_t, uint32_t, uint32_t> get_nv12_info(int widt
return {stride, y_height, uv_height, size};
}
static bool uses_legacy_bps_config(const SensorInfo *sensor) {
return sensor->image_sensor == cereal::FrameData::ImageSensor::AR0231;
}
// ************** low level camera helpers ****************
@@ -497,9 +501,10 @@ void SpectraCamera::config_bps(int idx, int request_id) {
* BPS = Bayer Processing Segment
*/
bool needs_downscale = sensor->out_scale > 1;
const bool legacy_bps = uses_legacy_bps_config(sensor.get());
bool needs_downscale = !legacy_bps && sensor->out_scale > 1;
int num_io_cfgs = needs_downscale ? 3 : 2;
int num_patches = needs_downscale ? 14 : 12;
int num_patches = legacy_bps ? 9 : (needs_downscale ? 14 : 12);
int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2 + sizeof(struct cam_buf_io_cfg)*num_io_cfgs;
size += sizeof(struct cam_patch_desc)*num_patches;
@@ -579,15 +584,21 @@ void SpectraCamera::config_bps(int idx, int request_id) {
int cdm_len = 0;
if (bps_lin_reg.size() == 0) {
// set first knee pt to do BLC
uint32_t new_knee[8];
new_knee[0] = sensor->black_level << (14 - sensor->bits_per_pixel);
for (int i = 0; i < 7; i++) {
uint32_t pts = sensor->linearization_pts[i / 2];
new_knee[i + 1] = (i % 2 == 0) ? (pts >> 16) : (pts & 0xffff);
}
for (int i = 0; i < 4; i++) {
bps_lin_reg.push_back((new_knee[2*i + 1] << 16) | new_knee[2*i]);
if (legacy_bps) {
for (int i = 0; i < 4; i++) {
bps_lin_reg.push_back(((sensor->linearization_pts[i] & 0xffff) << 0x10) | (sensor->linearization_pts[i] >> 0x10));
}
} else {
// set first knee pt to do BLC
uint32_t new_knee[8];
new_knee[0] = sensor->black_level << (14 - sensor->bits_per_pixel);
for (int i = 0; i < 7; i++) {
uint32_t pts = sensor->linearization_pts[i / 2];
new_knee[i + 1] = (i % 2 == 0) ? (pts >> 16) : (pts & 0xffff);
}
for (int i = 0; i < 4; i++) {
bps_lin_reg.push_back((new_knee[2*i + 1] << 16) | new_knee[2*i]);
}
}
}
@@ -616,16 +627,20 @@ void SpectraCamera::config_bps(int idx, int request_id) {
cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1888, bps_lin_reg);
cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1898, bps_lin_reg);
uint64_t addr;
cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->linearization_lut.size()*sizeof(uint32_t), 0x1808, 1, CAM_CDM_CMD_DMI);
patches.push_back(addr - (uint64_t)bps_cdm_program_array.ptr);
if (!legacy_bps) {
cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->linearization_lut.size()*sizeof(uint32_t), 0x1808, 1, CAM_CDM_CMD_DMI);
patches.push_back(addr - (uint64_t)bps_cdm_program_array.ptr);
}
// color correction
cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2e68, bps_ccm_reg);
// gamma
for (uint8_t ch = 1; ch <= 3; ch++) {
cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x3208, ch, CAM_CDM_CMD_DMI);
patches.push_back(addr - (uint64_t)bps_cdm_program_array.ptr);
if (!legacy_bps) {
for (uint8_t ch = 1; ch <= 3; ch++) {
cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x3208, ch, CAM_CDM_CMD_DMI);
patches.push_back(addr - (uint64_t)bps_cdm_program_array.ptr);
}
}
cdm_len += build_common_ife_bps((unsigned char *)bps_cdm_program_array.ptr + cdm_len, cc, sensor.get(), patches, false);
@@ -641,7 +656,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
tmp.header = CAM_ICP_CMD_GENERIC_BLOB_CLK;
tmp.header |= (sizeof(cam_icp_clk_bw_request)) << 8;
tmp.clk.budget_ns = 0x1fca058;
tmp.clk.frame_cycles = sensor->frame_width * sensor->frame_height; // matches striping lib pixelCount
tmp.clk.frame_cycles = legacy_bps ? 2329024 : sensor->frame_width * sensor->frame_height; // matches striping lib pixelCount
tmp.clk.rt_flag = 0x0;
tmp.clk.uncompressed_bw = 0x38512180;
tmp.clk.compressed_bw = 0x38512180;
@@ -737,15 +752,23 @@ void SpectraCamera::config_bps(int idx, int request_id) {
// *** patches ***
{
assert(patches.size() == 0 || patches.size() == 4);
if (legacy_bps) {
assert(patches.size() == 0 || patches.size() == 1);
} else {
assert(patches.size() == 0 || patches.size() == 4);
}
pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs;
if (patches.size() > 0) {
// linearization LUT
add_patch(pkt.get(), bps_cdm_program_array.handle, patches[0], bps_linearization_lut.handle, 0);
// gamma LUTs
for (int i = 0; i < 3; i++) {
add_patch(pkt.get(), bps_cdm_program_array.handle, patches[i+1], bps_gamma_lut.handle, 0);
if (legacy_bps) {
add_patch(pkt.get(), bps_cmd.handle, patches[0], bps_linearization_lut.handle, 0);
} else {
// linearization LUT
add_patch(pkt.get(), bps_cdm_program_array.handle, patches[0], bps_linearization_lut.handle, 0);
// gamma LUTs
for (int i = 0; i < 3; i++) {
add_patch(pkt.get(), bps_cdm_program_array.handle, patches[i+1], bps_gamma_lut.handle, 0);
}
}
}
@@ -1199,6 +1222,7 @@ void SpectraCamera::configICP() {
*/
int cfg_handle;
const bool legacy_bps = uses_legacy_bps_config(sensor.get());
uint32_t cfg_size = sizeof(bps_cfg[0]) / sizeof(bps_cfg[0][0]);
void *cfg = alloc_w_mmu_hdl(m->video0_fd, cfg_size, (uint32_t*)&cfg_handle, 0x1,
@@ -1245,21 +1269,25 @@ void SpectraCamera::configICP() {
bps_cdm_program_array.init(m, 0x1000, 0x20, true, m->icp_device_iommu);
// striping lib output
uint32_t striping_size = sizeof(bps_striping_output[0]) / sizeof(bps_striping_output[0][0]);
uint32_t striping_size = legacy_bps ? 0x9a0 : sizeof(bps_striping_output[0]) / sizeof(bps_striping_output[0][0]);
bps_striping.init(m, striping_size, 0x20, true, m->icp_device_iommu);
memcpy(bps_striping.ptr, bps_striping_output[sensor->num()], striping_size);
// used internally by the BPS, we just allocate it.
// size comes from the BPSStripingLib
bps_cdm_striping_bl.init(m, 0xcfe0, 0x20, true, m->icp_device_iommu);
bps_cdm_striping_bl.init(m, legacy_bps ? 0xa100 : 0xcfe0, 0x20, true, m->icp_device_iommu);
if (sensor->out_scale > 1) {
if (!legacy_bps && sensor->out_scale > 1) {
uint32_t full_stride, full_y_h, full_uv_h, full_yuv_size;
std::tie(full_stride, full_y_h, full_uv_h, full_yuv_size) = get_nv12_info(sensor->frame_width, sensor->frame_height);
bps_fullres_dummy.init(m, full_yuv_size, 0x1000, true, m->icp_device_iommu);
}
// LUTs
if (legacy_bps) {
return;
}
assert(sensor->linearization_lut.size() == 36);
bps_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20, true, m->icp_device_iommu);