sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
14071 Commits
122 Branches
82 Tags
5.1 GiB
Tag: Branch: Tree: 24a8c7ee1a
Branches Tags
${ item.name }
Create tag ${ searchTerm }
Create branch ${ searchTerm }
from '24a8c7ee1a'
${ noResults }
openpilot_comma/system/camerad/cameras/ife.h

768 lines
11 KiB
Raw Normal View History Unescape

camerad: IFE debayer support (#33720) * ife is up * split out cdm, bps needs this too * straight to vipc buffer * start reducing the diff * support both * disable for now * cleanup --------- Co-authored-by: Comma Device <device@comma.ai>
7 months ago
#include "cdm.h"
int build_initial_config(uint8_t *dst) {
uint8_t *start = dst;
// constants, some kind of HW quirk?
dst += write_random(dst, {
0x2c, 0xffffffff,
0x30, 0xffffffff,
0x34, 0xffffffff,
0x38, 0xffffffff,
0x3c, 0xffffffff,
});
dst += write_cont(dst, 0x478, {
0x00000004,
0x004000c0,
});
dst += write_cont(dst, 0x488, {
0x00000000,
0x00000000,
0x00000f0f,
});
dst += write_cont(dst, 0x49c, {
0x00000001,
});
dst += write_cont(dst, 0xce4, {
0x00000000,
0x00000000,
});
dst += write_cont(dst, 0x4dc, {
0x00000000,
0x04050b84,
0x13031a82,
0x22022981,
0x3100387f,
0x04010b80,
0x13001a80,
0x2200297f,
0x30ff387f,
0x04050b84,
0x13031a82,
0x22022981,
0x3100387f,
0x04010b80,
0x13001a80,
0x2200297f,
0x30ff387f,
0x04050b84,
0x13031a82,
0x22022981,
0x3100387f,
0x04010b80,
0x13001a80,
0x2200297f,
0x30ff387f,
0x04050b84,
0x13031a82,
0x22022981,
0x3100387f,
0x04010b80,
0x13001a80,
0x2200297f,
0x30ff387f,
});
/* TODO
cdm_dmi_cmd_t 248
.length = 287
.reserved = 33
.cmd = 11
.addr = 0
.DMIAddr = 3108
.DMISel = 9
*/
dst += write_cont(dst, 0x560, {
0x00000001,
0x04440444,
0x04450445,
0x04440444,
0x04450445,
0x000000ca,
0x0000009c,
});
dst += write_cont(dst, 0x5e8, {
0x06363005,
});
dst += write_cont(dst, 0x5f4, {
0x00000000,
0x00000000,
0x00000000,
0x00000000,
0x3b3839a0,
0x003f8040,
0x00000000,
0x00000000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00000009,
0x00400808,
0x00000044,
0x004000a0,
0x0a0d00a6,
0x0a0d00a6,
});
/* TODO
cdm_dmi_cmd_t 392
.length = 255
.reserved = 33
.cmd = 10
.addr = 0
.DMIAddr = 3108
.DMISel = 12
*/
dst += write_cont(dst, 0x6bc, {
0x0b3c0000,
0x00670067,
0xd3b1300c,
0x13b1300c,
0x00670067,
0xd3b1300c,
0x13b1300c,
0xec4e4000,
0x0100c003,
0xec4e4000,
0x0100c003,
});
/* TODO
cdm_dmi_cmd_t 444
.length = 883
.reserved = 33
.cmd = 10
.addr = 0
.DMIAddr = 3108
.DMISel = 14
*/
/* TODO
cdm_dmi_cmd_t 444
.length = 883
.reserved = 33
.cmd = 10
.addr = 0
.DMIAddr = 3108
.DMISel = 15
*/
dst += write_cont(dst, 0x6fc, {
0x00bf0080,
0x00000106,
0x00000000,
0x00000000,
});
dst += write_cont(dst, 0x6f8, {
0x00000100,
});
dst += write_cont(dst, 0x71c, {
0x00008000,
0x08000066,
});
dst += write_cont(dst, 0x760, {
0x00800080,
0x00000000,
0x00000000,
0x00000000,
0x00800080,
0x00000000,
0x00000000,
0x00000000,
0x00800080,
0x00000000,
0x00000000,
0x00000000,
0x00000000,
});
dst += write_cont(dst, 0x794, {
0x00000000,
});
/* TODO
cdm_dmi_cmd_t 568
.length = 511
.reserved = 33
.cmd = 11
.addr = 0
.DMIAddr = 3108
.DMISel = 24
*/
dst += write_cont(dst, 0x798, {
0x00000000,
});
/* TODO
cdm_dmi_cmd_t 580
.length = 255
.reserved = 33
.cmd = 10
.addr = 0
.DMIAddr = 3108
.DMISel = 26
*/
/* TODO
cdm_dmi_cmd_t 580
.length = 255
.reserved = 33
.cmd = 10
.addr = 0
.DMIAddr = 3108
.DMISel = 28
*/
/* TODO
cdm_dmi_cmd_t 580
.length = 255
.reserved = 33
.cmd = 10
.addr = 0
.DMIAddr = 3108
.DMISel = 30
*/
dst += write_cont(dst, 0xf30, {
0x00750259,
0x00000132,
0x00000000,
0x03ff0000,
0x01fe1eae,
0x00001f54,
0x02000000,
0x03ff0000,
0x1fad1e55,
0x000001fe,
0x02000000,
0x03ff0000,
});
dst += write_cont(dst, 0xa3c, {
0x00000003,
0x07870787,
0x30036666,
0x00000000,
0x00000000,
0x00000787,
0x04b704b7,
0x30036666,
0x00000000,
0x00000000,
0x000004b7,
});
dst += write_cont(dst, 0xa68, {
0x00000003,
0x03c30787,
0x3006cccc,
0x00000000,
0x00000000,
0x00000787,
0x025b04b7,
0x3006cccc,
0x00000000,
0x00000000,
0x00000787,
});
dst += write_cont(dst, 0xe10, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xe30, {
0x0000025b,
0x00000787,
});
dst += write_cont(dst, 0xe18, {
0x0ff00000,
0x00000016,
});
dst += write_cont(dst, 0xe38, {
0x0ff00000,
0x00000017,
});
dst += write_cont(dst, 0xd84, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xda4, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xd60, {
0x04380300,
0x09016c7d,
0x021c0300,
});
dst += write_cont(dst, 0xd98, {
0x0ff00000,
0x00000016,
});
dst += write_cont(dst, 0xdb8, {
0x0ff00000,
0x00000017,
});
dst += write_cont(dst, 0xd6c, {
0x00000300,
});
dst += write_cont(dst, 0xd70, {
0x010e0f00,
0x09016c7d,
0x00870f00,
});
dst += write_cont(dst, 0xd7c, {
0x00000f00,
});
dst += write_cont(dst, 0x40, {
0x00000586,
});
dst += write_cont(dst, 0x48, {
0x0000000e,
});
dst += write_cont(dst, 0x4c, {
0x00000019,
});
dst += write_cont(dst, 0xe4c, {
0x00000000,
});
dst += write_cont(dst, 0xe6c, {
0x00000000,
});
dst += write_cont(dst, 0xe0c, {
0x00000e00,
});
dst += write_cont(dst, 0xe2c, {
0x00000e00,
});
dst += write_cont(dst, 0xd8c, {
0x00000000,
});
dst += write_cont(dst, 0xdac, {
0x00000000,
});
dst += write_cont(dst, 0xdcc, {
0x00000000,
});
dst += write_cont(dst, 0xdec, {
0x00000000,
});
dst += write_cont(dst, 0x44, {
0x00000000,
});
dst += write_cont(dst, 0xaac, {
0x00000040,
});
dst += write_cont(dst, 0xf00, {
0x00000000,
});
//hexdump(start, dst - start);
return dst - start;
}
int build_first_update(uint8_t *dst) {
uint8_t *start = dst;
dst += write_random(dst, {
0x2c, 0xffffffff,
0x30, 0xffffffff,
0x34, 0xffffffff,
0x38, 0xffffffff,
0x3c, 0xffffffff,
});
dst += write_cont(dst, 0x4dc, {
0x00000001,
0x04050b84,
0x13031a82,
0x22022981,
0x3100387f,
0x04010b80,
0x13001a80,
0x2200297f,
0x30ff387f,
0x04050b84,
0x13031a82,
0x22022981,
0x3100387f,
0x04010b80,
0x13001a80,
0x2200297f,
0x30ff387f,
0x04050b84,
0x13031a82,
0x22022981,
0x3100387f,
0x04010b80,
0x13001a80,
0x2200297f,
0x30ff387f,
0x04050b84,
0x13031a82,
0x22022981,
0x3100387f,
0x04010b80,
0x13001a80,
0x2200297f,
0x30ff387f,
});
/* TODO
cdm_dmi_cmd_t 184
.length = 287
.reserved = 33
.cmd = 11
.addr = 832
.DMIAddr = 3108
.DMISel = 10
*/
dst += write_cont(dst, 0x560, {
0x00000001,
0x04440444,
0x04450445,
0x04440444,
0x04450445,
0x000000ca,
0x0000009c,
});
dst += write_cont(dst, 0x5c4, {
0x00000000,
0x00001000,
0x00001000,
0x00001000,
0x00001000,
0x00800080,
0x00802040,
0x00000000,
});
dst += write_cont(dst, 0x5e8, {
0x06363007,
});
dst += write_cont(dst, 0x5f4, {
0x00000000,
0x00000000,
0x00000000,
0x00000000,
0x3b3839a0,
0x003f8040,
0x00000000,
0x00000000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00000009,
0x00400808,
0x00000044,
0x004000a0,
0x0a0d00a6,
0x0a0d00a6,
});
/* TODO
cdm_dmi_cmd_t 368
.length = 255
.reserved = 33
.cmd = 10
.addr = 5344
.DMIAddr = 3108
.DMISel = 13
*/
dst += write_cont(dst, 0x6fc, {
0x00800080,
0x00000080,
0x00000000,
0x00000000,
});
dst += write_cont(dst, 0x6f8, {
0x00000100,
});
dst += write_cont(dst, 0x71c, {
0x00008000,
0x08000066,
});
dst += write_cont(dst, 0x794, {
0x00000001,
});
/* TODO
cdm_dmi_cmd_t 432
.length = 511
.reserved = 33
.cmd = 11
.addr = 832
.DMIAddr = 3108
.DMISel = 25
*/
dst += write_cont(dst, 0x798, {
0x00000007,
});
/* TODO
cdm_dmi_cmd_t 444
.length = 255
.reserved = 33
.cmd = 10
.addr = 5344
.DMIAddr = 3108
.DMISel = 27
*/
/* TODO
cdm_dmi_cmd_t 444
.length = 255
.reserved = 33
.cmd = 10
.addr = 5344
.DMIAddr = 3108
.DMISel = 29
*/
/* TODO
cdm_dmi_cmd_t 444
.length = 255
.reserved = 33
.cmd = 10
.addr = 5344
.DMIAddr = 3108
.DMISel = 31
*/
dst += write_cont(dst, 0xd84, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xda4, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xd6c, {
0x00000300,
});
dst += write_cont(dst, 0xd70, {
0x02640f00,
0x09016c7d,
0x01320f00,
});
dst += write_cont(dst, 0xd7c, {
0x00000f00,
});
dst += write_cont(dst, 0x40, {
0x00000444,
});
dst += write_cont(dst, 0x48, {
0x00000000,
});
dst += write_cont(dst, 0x4c, {
0x00000019,
});
dst += write_cont(dst, 0xe4c, {
0x00000000,
});
dst += write_cont(dst, 0xe6c, {
0x00000000,
});
dst += write_cont(dst, 0xe0c, {
0x00000e00,
});
dst += write_cont(dst, 0xe2c, {
0x00000e00,
});
dst += write_cont(dst, 0xd8c, {
0x00000000,
});
dst += write_cont(dst, 0xdac, {
0x00000000,
});
dst += write_cont(dst, 0xdcc, {
0x00000000,
});
dst += write_cont(dst, 0xdec, {
0x00000000,
});
dst += write_cont(dst, 0x44, {
0x00000000,
});
dst += write_cont(dst, 0xaac, {
0x00000040,
});
dst += write_cont(dst, 0xf00, {
0x00000000,
});
return dst - start;
}
int build_update(uint8_t *dst) {
uint8_t *start = dst;
dst += write_random(dst, {
0x2c, 0xffffffff,
0x30, 0xffffffff,
0x34, 0xffffffff,
0x38, 0xffffffff,
0x3c, 0xffffffff,
});
dst += write_cont(dst, 0x560, {
0x00000001,
0x04440444,
0x04450445,
0x04440444,
0x04450445,
0x000000ca,
0x0000009c,
});
dst += write_cont(dst, 0x6fc, {
0x00800080,
0x00000080,
0x00000000,
0x00000000,
});
dst += write_cont(dst, 0xd84, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xda4, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xd6c, {
0x00000300,
});
dst += write_cont(dst, 0xd70, {
0x02640f00,
0x09016c7d,
0x01320f00,
});
dst += write_cont(dst, 0xd7c, {
0x00000f00,
});
dst += write_cont(dst, 0x40, {
0x00000444,
});
dst += write_cont(dst, 0x48, {
0x00000000,
});
dst += write_cont(dst, 0x4c, {
0x00000019,
});
dst += write_cont(dst, 0xe4c, {
0x00000000,
});
dst += write_cont(dst, 0xe6c, {
0x00000000,
});
dst += write_cont(dst, 0xe0c, {
0x00000e00,
});
dst += write_cont(dst, 0xe2c, {
0x00000e00,
});
dst += write_cont(dst, 0xd8c, {
0x00000000,
});
dst += write_cont(dst, 0xdac, {
0x00000000,
});
dst += write_cont(dst, 0xdcc, {
0x00000000,
});
dst += write_cont(dst, 0xdec, {
0x00000000,
});
dst += write_cont(dst, 0x44, {
0x00000000,
});
dst += write_cont(dst, 0xaac, {
0x00000040,
});
dst += write_cont(dst, 0xf00, {
0x00000000,
});
return dst - start;
}