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camerad: match some BPS settings (#34548)

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* start common

* fix bayer pattern

* lil more

* all 1q10

* cc en

* same pts?

* this is weird

* some cleanup

* less

* off

* clean up

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
2025-02-14 16:05:00 -08:00
committed by GitHub
parent 9ccfecb813
commit efda24dbe1
5 changed files with 93 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files
system/camerad/cameras/bps_blobs.h
+8 -8
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File diff suppressed because one or more lines are too long
system/camerad/cameras/camera_qcom2.cc
+2 -2
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@@ -55,7 +55,7 @@ public:
float fl_pix = 0;
CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD ? ISP_RAW_OUTPUT : ISP_IFE_PROCESSED) {};
CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_DRIVER ? ISP_BPS_PROCESSED : ISP_IFE_PROCESSED) {};
~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 +283,7 @@ void camerad_thread() {
// *** per-cam init ***
std::vector<std::unique_ptr<CameraState>> cams;
for (const auto &config : {WIDE_ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG, ROAD_CAMERA_CONFIG}) {
for (const auto &config : {WIDE_ROAD_CAMERA_CONFIG, ROAD_CAMERA_CONFIG, DRIVER_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
+34 -16
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@@ -5,6 +5,38 @@
#include "system/camerad/cameras/hw.h"
#include "system/camerad/sensors/sensor.h"
int build_common_ife_bps(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches, bool ife) {
uint8_t *start = dst;
/*
Common between IFE and BPS.
*/
// IFE -> BPS addresses
/*
std::map<uint32_t, uint32_t> addrs = {
{0xf30, 0x3468},
};
*/
// YUV
dst += write_cont(dst, ife ? 0xf30 : 0x3468, {
0x00680208,
0x00000108,
0x00400000,
0x03ff0000,
0x01c01ed8,
0x00001f68,
0x02000000,
0x03ff0000,
0x1fb81e88,
0x000001c0,
0x02000000,
0x03ff0000,
});
return dst - start;
}
int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches) {
uint8_t *start = dst;
@@ -150,22 +182,6 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
dst += write_dmi(dst, &addr, s->gamma_lut_rgb.size()*sizeof(uint32_t), 0xc24, 30); // R
patches.push_back(addr - (uint64_t)start);
// YUV
dst += write_cont(dst, 0xf30, {
0x00680208,
0x00000108,
0x00400000,
0x03ff0000,
0x01c01ed8,
0x00001f68,
0x02000000,
0x03ff0000,
0x1fb81e88,
0x000001c0,
0x02000000,
0x03ff0000,
});
// output size/scaling
dst += write_cont(dst, 0xa3c, {
0x00000003,
@@ -212,6 +228,8 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
0x00000017,
});
dst += build_common_ife_bps(dst, cam, s, patches, true);
return dst - start;
}
system/camerad/cameras/spectra.cc
+46 -19
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@@ -482,7 +482,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
*/
int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2 + sizeof(struct cam_buf_io_cfg)*2;
size += sizeof(struct cam_patch_desc)*8;
size += sizeof(struct cam_patch_desc)*9;
uint32_t cam_packet_handle = 0;
auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
@@ -525,6 +525,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
} cdm_tmp;
// *** cmd buf ***
std::vector<uint32_t> patches;
struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
{
pkt->num_cmd_buf = 2;
@@ -558,33 +559,46 @@ void SpectraCamera::config_bps(int idx, int request_id) {
int cdm_len = 0;
// debayer params
if (bps_lin_reg.size() == 0) {
for (int i = 0; i < 4; i++) {
bps_lin_reg.push_back(((sensor->linearization_pts[i] & 0xffff) << 0x10) | (sensor->linearization_pts[i] >> 0x10));
}
}
if (bps_ccm_reg.size() == 0) {
for (int i = 0; i < 3; i++) {
bps_ccm_reg.push_back(sensor->color_correct_matrix[i] | (sensor->color_correct_matrix[i+3] << 0x10));
bps_ccm_reg.push_back(sensor->color_correct_matrix[i+6]);
}
}
// white balance
cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2868, {
0x06900400,
0x000006a6,
0x04000400,
0x00000400,
0x00000000,
0x00000000,
});
// debayer
cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2878, {
0x00000080,
0x00800066,
});
// linearization, EN=0
cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1868, bps_lin_reg);
cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1878, bps_lin_reg);
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);
/*
uint8_t *start = (unsigned char *)bps_cdm_program_array.ptr + cdm_len;
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);
patches.push_back(addr - (uint64_t)start);
*/
// color correction
cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2e68, bps_ccm_reg);
// YUV color xform
cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x3468, {
0x00680208,
0x00000108,
0x00400000,
0x03ff0000,
0x01c01ed8,
0x00001f68,
0x02000000,
0x03ff0000,
0x1fb81e88,
0x000001c0,
0x02000000,
0x03ff0000,
});
cdm_len += build_common_ife_bps((unsigned char *)bps_cdm_program_array.ptr + cdm_len, cc, sensor.get(), patches, false);
pa->length = cdm_len - 1;
@@ -665,8 +679,13 @@ void SpectraCamera::config_bps(int idx, int request_id) {
// *** patches ***
{
assert(patches.size() == 0 | patches.size() == 1);
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) {
add_patch(pkt.get(), bps_cmd.handle, patches[0], bps_linearization_lut.handle, 0);
}
// input frame
add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[0].ptr[0]), buf_handle_raw[idx], 0);
@@ -1221,6 +1240,14 @@ void SpectraCamera::configICP() {
bps_cdm_striping_bl.init(m, 0xa100, 0x20,
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
m->icp_device_iommu);
// LUTs
/*
bps_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20,
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
m->icp_device_iommu);
memcpy(bps_linearization_lut.ptr, sensor->linearization_lut.data(), bps_linearization_lut.size);
*/
}
void SpectraCamera::configCSIPHY() {
system/camerad/cameras/spectra.h
+3
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@@ -172,6 +172,9 @@ public:
SpectraBuf bps_cdm_striping_bl;
SpectraBuf bps_iq;
SpectraBuf bps_striping;
SpectraBuf bps_linearization_lut;
std::vector<uint32_t> bps_lin_reg;
std::vector<uint32_t> bps_ccm_reg;
int buf_handle_yuv[MAX_IFE_BUFS] = {};
int buf_handle_raw[MAX_IFE_BUFS] = {};