camerad: pixclk 88mhz but frame time the same (#24587)

* pixclk 88mhz but frame time the same

* scale integration time

* 22.8 ms

* 15.18 ms

* fix exposure

* fix glitching, 18.9 ms

* set both to min

* faster pixclk = more power

* should pass CI

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 7c74ab8992

selfdrive/camerad/cameras/camera_qcom2.cc

@@ -74,7 +74,7 @@ const int ANALOG_GAIN_REC_IDX = 0x6; // 0.8x
 const int ANALOG_GAIN_MAX_IDX = 0xD; // 4.0x
 
 const int EXPOSURE_TIME_MIN = 2; // with HDR, fastest ss
-const int EXPOSURE_TIME_MAX = 1618; // with HDR, slowest ss, 40ms
+const int EXPOSURE_TIME_MAX = 0x0855; // with HDR, slowest ss, 40ms
 
 // ************** low level camera helpers ****************
 int do_cam_control(int fd, int op_code, void *handle, int size) {

selfdrive/camerad/cameras/sensor2_i2c.h

@@ -49,11 +49,15 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
   {0x301A, 0x0018}, // RESET_REGISTER
 
   // CLOCK Settings
+  // input clock is 19.2 / 2 * 0x37 = 528 MHz
+  // pixclk is 528 / 6 = 88 MHz
+  // full roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*FRAME_LENGTH_LINES)) = 39.99 ms
+  // img  roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*Y_OUTPUT_CONTROL))   = 22.85 ms
   {0x302A, 0x0006}, // VT_PIX_CLK_DIV
   {0x302C, 0x0001}, // VT_SYS_CLK_DIV
   {0x302E, 0x0002}, // PRE_PLL_CLK_DIV
-  {0x3030, 0x0032}, // PLL_MULTIPLIER
-  {0x3036, 0x000C}, // OP_WORD_CLK_DIV
+  {0x3030, 0x0037}, // PLL_MULTIPLIER
+  {0x3036, 0x000C}, // OP_PIX_CLK_DIV
   {0x3038, 0x0001}, // OP_SYS_CLK_DIV
 
   // FORMAT
@@ -76,8 +80,8 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
   {0x340C, 0x802},  // GPIO_HIDRV_EN | GPIO0_ISEL=2
 
   // Readout timing
-  {0x300C, 0x07B9}, // LINE_LENGTH_PCK
-  {0x300A, 0x0652}, // FRAME_LENGTH_LINES
+  {0x300C, 0x0672}, // LINE_LENGTH_PCK (valid for 3-exposure HDR)
+  {0x300A, 0x0855}, // FRAME_LENGTH_LINES
   {0x3042, 0x0000}, // EXTRA_DELAY
 
   // Readout Settings
@@ -117,6 +121,8 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
   {0x100C, 0x0589}, // FINE_INTEGRATION_TIME2_MIN
   {0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN
   {0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN
+
+  // TODO: do these have to be lower than LINE_LENGTH_PCK?
   {0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_
   {0x321E, 0x0894}, // FINE_INTEGRATION_TIME2
 

selfdrive/hardware/tici/test_power_draw.py

@@ -19,7 +19,7 @@ class Proc:
   warmup: float = 3.
 
 PROCS = [
-  Proc('camerad', 2.02),
+  Proc('camerad', 2.25),
   Proc('modeld', 0.95),
   Proc('dmonitoringmodeld', 0.25),
   Proc('encoderd', 0.42),