diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 91d981be1..8187d335a 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -185,15 +185,18 @@ static void update_state(UIState *s) { if (sm.updated("roadCameraState")) { auto camera_state = sm["roadCameraState"].getRoadCameraState(); - float max_lines = Hardware::EON() ? 5408 : 1757; - float gain = camera_state.getGain(); + float max_lines = Hardware::EON() ? 5408 : 1904; + float max_gain = Hardware::EON() ? 1.0: 10.0; + float max_ev = max_lines * max_gain; - if (Hardware::TICI()) { - // Max gain is 4 * 2.5 (High Conversion Gain) - gain /= 10.0; + // C3 camera only uses about 10% of available gain at night + if (Hardware::TICI) { + max_ev /= 10; } - scene.light_sensor = std::clamp((1023.0 / max_lines) * (max_lines - camera_state.getIntegLines() * gain), 0.0, 1023.0); + float ev = camera_state.getGain() * float(camera_state.getIntegLines()); + + scene.light_sensor = std::clamp(1.0 - (ev / max_ev), 0.0, 1.0); } scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition; } @@ -335,9 +338,19 @@ void Device::setAwake(bool on, bool reset) { } void Device::updateBrightness(const UIState &s) { - float brightness_b = 10; - float brightness_m = 0.1; - float clipped_brightness = std::min(100.0f, (s.scene.light_sensor * brightness_m) + brightness_b); + // Scale to 0% to 100% + float clipped_brightness = 100.0 * s.scene.light_sensor; + + // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm + if (clipped_brightness <= 8) { + clipped_brightness = (clipped_brightness / 903.3); + } else { + clipped_brightness = std::pow((clipped_brightness + 16.0) / 116.0, 3.0); + } + + // Scale back to 10% to 100% + clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f); + if (!s.scene.started) { clipped_brightness = BACKLIGHT_OFFROAD; }