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camerad: setup IFE black level and color correction (#33834)

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* black level

* enable cc

* seems to work

* doesnt do anything

* sensorinfo

* this is fine

* cleanup

* disable

* cleanup os

* revert

---------

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: ZwX1616 <zwx1616@gmail.com>
This commit is contained in:
Adeeb Shihadeh
2024-10-21 14:23:44 -07:00
committed by GitHub
parent 24a8c7ee1a
commit 89d5761329
8 changed files with 60 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files
system/camerad/SConscript
+4 -3
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@@ -2,9 +2,10 @@ Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
libs = ['pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon]
camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
if arch != "Darwin":
camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
if GetOption("extras") and arch == "x86_64":
env.Program('test/test_ae_gray', ['test/test_ae_gray.cc', camera_obj], LIBS=libs)
system/camerad/cameras/camera_qcom2.cc
+7 -2
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@@ -12,7 +12,12 @@
#include <string>
#include <vector>
#ifdef QCOM2
#include "CL/cl_ext_qcom.h"
#else
#define CL_PRIORITY_HINT_HIGH_QCOM NULL
#define CL_CONTEXT_PRIORITY_HINT_QCOM NULL
#endif
#include "media/cam_sensor_cmn_header.h"
@@ -50,7 +55,7 @@ public:
float fl_pix = 0;
CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.camera_num == 2*/) {};
CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {};
~CameraState();
void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
@@ -283,7 +288,7 @@ void camerad_thread() {
// *** per-cam init ***
std::vector<std::unique_ptr<CameraState>> cams;
for (const auto &config : {ROAD_CAMERA_CONFIG, WIDE_ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG}) {
for (const auto &config : {WIDE_ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG, ROAD_CAMERA_CONFIG}) {
auto cam = std::make_unique<CameraState>(&m, config);
cam->init(&v, device_id, ctx);
cams.emplace_back(std::move(cam));
system/camerad/cameras/ife.h
+18 -20
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@@ -1,9 +1,12 @@
#include "cdm.h"
int build_initial_config(uint8_t *dst) {
#include "system/camerad/cameras/tici.h"
#include "system/camerad/sensors/sensor.h"
int build_initial_config(uint8_t *dst, const SensorInfo *s) {
uint8_t *start = dst;
// constants, some kind of HW quirk?
dst += write_random(dst, {
0x2c, 0xffffffff,
0x30, 0xffffffff,
@@ -173,21 +176,7 @@ int build_initial_config(uint8_t *dst) {
0x08000066,
});
dst += write_cont(dst, 0x760, {
0x00800080,
0x00000000,
0x00000000,
0x00000000,
0x00800080,
0x00000000,
0x00000000,
0x00000000,
0x00800080,
0x00000000,
0x00000000,
0x00000000,
0x00000000,
});
dst += write_cont(dst, 0x760, s->color_correct_matrix);
dst += write_cont(dst, 0x794, {
0x00000000,
@@ -655,7 +644,7 @@ int build_first_update(uint8_t *dst) {
return dst - start;
}
int build_update(uint8_t *dst) {
int build_update(uint8_t *dst, const CameraConfig &cc, const SensorInfo *s) {
uint8_t *start = dst;
dst += write_random(dst, {
@@ -708,11 +697,11 @@ int build_update(uint8_t *dst) {
});
dst += write_cont(dst, 0x40, {
0x00000444,
0x00000c04,
});
dst += write_cont(dst, 0x48, {
0x00000000,
0b10,
});
dst += write_cont(dst, 0x4c, {
@@ -763,5 +752,14 @@ int build_update(uint8_t *dst) {
0x00000000,
});
// *** extras, not in original dump ***
// black level scale + offset
dst += write_cont(dst, 0x6b0, {
(((uint32_t)(1 << s->bits_per_pixel) - 1) << 0xf) | (s->black_level << 0),
0x0,
0x0,
});
return dst - start;
}
system/camerad/cameras/spectra.cc
+2 -2
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@@ -495,11 +495,11 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
// stream of IFE register writes
if (!is_raw) {
if (init) {
buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset);
buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get());
} else if (request_id == 1) {
buf_desc[0].length = build_first_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset);
} else {
buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset);
buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get());
}
}
system/camerad/sensors/ar0231.cc
+8
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@@ -93,6 +93,7 @@ AR0231::AR0231() {
init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231));
probe_reg_addr = 0x3000;
probe_expected_data = 0x354;
bits_per_pixel = 12;
mipi_format = CAM_FORMAT_MIPI_RAW_12;
frame_data_type = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
mclk_frequency = 19200000; //Hz
@@ -116,6 +117,13 @@ AR0231::AR0231() {
min_ev = exposure_time_min * 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 = 1.0;
black_level = 168;
color_correct_matrix = {
0x000000af, 0x00000ff9, 0x00000fd8,
0x00000fbc, 0x000000bb, 0x00000009,
0x00000fb6, 0x00000fe0, 0x000000ea,
};
}
void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {
system/camerad/sensors/os04c10.cc
+8
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@@ -37,6 +37,7 @@ OS04C10::OS04C10() {
init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10));
probe_reg_addr = 0x300a;
probe_expected_data = 0x5304;
bits_per_pixel = 10;
mipi_format = CAM_FORMAT_MIPI_RAW_10;
frame_data_type = 0x2b;
mclk_frequency = 24000000; // Hz
@@ -60,6 +61,13 @@ OS04C10::OS04C10() {
min_ev = (exposure_time_min) * 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;
black_level = 64;
color_correct_matrix = {
0x000000c2, 0x00000fe0, 0x00000fde,
0x00000fa7, 0x000000d9, 0x00001000,
0x00000fca, 0x00000fef, 0x000000c7,
};
}
std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
system/camerad/sensors/ox03c10.cc
+8
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@@ -37,6 +37,7 @@ OX03C10::OX03C10() {
init_reg_array.assign(std::begin(init_array_ox03c10), std::end(init_array_ox03c10));
probe_reg_addr = 0x300a;
probe_expected_data = 0x5803;
bits_per_pixel = 12;
mipi_format = CAM_FORMAT_MIPI_RAW_12;
frame_data_type = 0x2c; // one is 0x2a, two are 0x2b
mclk_frequency = 24000000; //Hz
@@ -60,6 +61,13 @@ OX03C10::OX03C10() {
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;
black_level = 64;
color_correct_matrix = {
0x000000b6, 0x00000ff1, 0x00000fda,
0x00000fcc, 0x000000b9, 0x00000ffb,
0x00000fc2, 0x00000ff6, 0x000000c9,
};
}
std::vector<i2c_random_wr_payload> OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
system/camerad/sensors/sensor.h
+5
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@@ -60,10 +60,15 @@ public:
std::vector<i2c_random_wr_payload> start_reg_array;
std::vector<i2c_random_wr_payload> init_reg_array;
uint32_t bits_per_pixel;
uint32_t bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
uint32_t mipi_format;
uint32_t mclk_frequency;
uint32_t frame_data_type;
// ISP image processing params
uint32_t black_level;
std::vector<uint32_t> color_correct_matrix;
};
class AR0231 : public SensorInfo {