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camerad: disable os HDR (#33838)

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* revert hdr settings

* 12

* pv12

---------

Co-authored-by: Comma Device <device@comma.ai>
pull/33841/head
ZwX1616 7 months ago committed by GitHub
parent 67ced42a15
commit 0d6baffcbf
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GPG Key ID: B5690EEEBB952194
3 changed files with 69 additions and 62 deletions
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  1. 12
      system/camerad/sensors/os04c10.cc
  2. 13
      system/camerad/sensors/os04c10_cl.h
  3. 106
      system/camerad/sensors/os04c10_registers.h

12
system/camerad/sensors/os04c10.cc
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@ -25,10 +25,10 @@ OS04C10::OS04C10() {
pixel_size_mm = 0.004; pixel_size_mm = 0.004;
data_word = false; data_word = false;
hdr_offset = 64 * 2 + 8; // stagger // hdr_offset = 64 * 2 + 8; // stagger
frame_width = 1344; frame_width = 1344;
frame_height = 760 * 2 + hdr_offset; frame_height = 760; //760 * 2 + hdr_offset;
frame_stride = (frame_width * 10 / 8); // no alignment frame_stride = (frame_width * 12 / 8); // no alignment
extra_height = 0; extra_height = 0;
frame_offset = 0; frame_offset = 0;
@ -37,9 +37,9 @@ OS04C10::OS04C10() {
init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10)); init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10));
probe_reg_addr = 0x300a; probe_reg_addr = 0x300a;
probe_expected_data = 0x5304; probe_expected_data = 0x5304;
bits_per_pixel = 10; bits_per_pixel = 12;
mipi_format = CAM_FORMAT_MIPI_RAW_10; mipi_format = CAM_FORMAT_MIPI_RAW_12;
frame_data_type = 0x2b; frame_data_type = 0x2c;
mclk_frequency = 24000000; // Hz mclk_frequency = 24000000; // Hz
dc_gain_factor = 1; dc_gain_factor = 1;

13
system/camerad/sensors/os04c10_cl.h
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@ -2,8 +2,9 @@
#define BGGR #define BGGR
#define BIT_DEPTH 10 #define BIT_DEPTH 12
#define PV_MAX10 1023 #define PV_MAX10 1023
#define PV_MAX12 4096
#define PV_MAX16 65536 // gamma curve is calibrated to 16bit #define PV_MAX16 65536 // gamma curve is calibrated to 16bit
#define BLACK_LVL 64 #define BLACK_LVL 64
#define VIGNETTE_RSZ 2.2545f #define VIGNETTE_RSZ 2.2545f
@ -38,6 +39,11 @@ float4 normalize_pv_hdr(int4 parsed, int4 short_parsed, float vignette_factor, i
return clamp(pv*vignette_factor, 0.0, 1.0); return clamp(pv*vignette_factor, 0.0, 1.0);
} }
float4 normalize_pv(int4 parsed, float vignette_factor) {
float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX12 - BLACK_LVL);
return clamp(pv*vignette_factor, 0.0, 1.0);
}
float3 color_correct(float3 rgb) { float3 color_correct(float3 rgb) {
float3 corrected = rgb.x * (float3)(1.55361989, -0.268894615, -0.000593219); float3 corrected = rgb.x * (float3)(1.55361989, -0.268894615, -0.000593219);
corrected += rgb.y * (float3)(-0.421217301, 1.51883144, -0.69760146); corrected += rgb.y * (float3)(-0.421217301, 1.51883144, -0.69760146);
@ -46,10 +52,11 @@ float3 color_correct(float3 rgb) {
} }
float3 apply_gamma(float3 rgb, int expo_time) { float3 apply_gamma(float3 rgb, int expo_time) {
float s = log2((float)expo_time); return powr(rgb, 0.7);
/*float s = log2((float)expo_time);
if (s < 6) {s = fmin(12.0 - s, 9.0);} if (s < 6) {s = fmin(12.0 - s, 9.0);}
// log function adaptive to number of bits // log function adaptive to number of bits
return clamp(log(1 + rgb*(PV_MAX16 - BLACK_LVL)) * (0.48*s*s - 12.92*s + 115.0) - (1.08*s*s - 29.2*s + 260.0), 0.0, 255.0) / 255.0; return clamp(log(1 + rgb*(PV_MAX16 - BLACK_LVL)) * (0.48*s*s - 12.92*s + 115.0) - (1.08*s*s - 29.2*s + 260.0), 0.0, 255.0) / 255.0;*/
} }
#endif #endif

106
system/camerad/sensors/os04c10_registers.h
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@ -8,14 +8,14 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x0103, 0x01}, {0x0103, 0x01},
// PLL // PLL
{0x0301, 0x84}, {0x0301, 0xe4},
{0x0303, 0x01}, {0x0303, 0x01},
{0x0305, 0x61}, {0x0305, 0xb6},
{0x0306, 0x01}, {0x0306, 0x01},
{0x0307, 0x17}, {0x0307, 0x17},
{0x0323, 0x04}, {0x0323, 0x04},
{0x0324, 0x01}, {0x0324, 0x01},
{0x0325, 0x7a}, {0x0325, 0x62},
{0x3012, 0x06}, {0x3012, 0x06},
{0x3013, 0x02}, {0x3013, 0x02},
@ -30,40 +30,40 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x3660, 0x04}, {0x3660, 0x04},
{0x3666, 0xa5}, {0x3666, 0xa5},
{0x3667, 0xa5}, {0x3667, 0xa5},
{0x366a, 0x54}, {0x366a, 0x50},
{0x3673, 0x0d}, {0x3673, 0x0d},
{0x3672, 0x0d}, {0x3672, 0x0d},
{0x3671, 0x0d}, {0x3671, 0x0d},
{0x3670, 0x0d}, {0x3670, 0x0d},
{0x3685, 0x0a}, {0x3685, 0x00},
{0x3694, 0x0d}, {0x3694, 0x0d},
{0x3693, 0x0d}, {0x3693, 0x0d},
{0x3692, 0x0d}, {0x3692, 0x0d},
{0x3691, 0x0d}, {0x3691, 0x0d},
{0x3696, 0x4c}, {0x3696, 0x4c},
{0x3697, 0x4c}, {0x3697, 0x4c},
{0x3698, 0x00}, {0x3698, 0x40},
{0x3699, 0x80}, {0x3699, 0x80},
{0x369a, 0x80}, {0x369a, 0x18},
{0x369b, 0x1f}, {0x369b, 0x1f},
{0x369c, 0x1f}, {0x369c, 0x14},
{0x369d, 0x80}, {0x369d, 0x80},
{0x369e, 0x40}, {0x369e, 0x40},
{0x369f, 0x21}, {0x369f, 0x21},
{0x36a0, 0x12}, {0x36a0, 0x12},
{0x36a1, 0xdd}, {0x36a1, 0x5d},
{0x36a2, 0x66}, {0x36a2, 0x66},
{0x370a, 0x00}, {0x370a, 0x02},
{0x370e, 0x00}, {0x370e, 0x0c},
{0x3710, 0x00}, {0x3710, 0x00},
{0x3713, 0x04}, {0x3713, 0x00},
{0x3725, 0x02}, {0x3725, 0x02},
{0x372a, 0x03}, {0x372a, 0x03},
{0x3738, 0xce}, {0x3738, 0xce},
{0x3748, 0x00}, {0x3748, 0x02},
{0x374a, 0x00}, {0x374a, 0x02},
{0x374c, 0x00}, {0x374c, 0x02},
{0x374e, 0x00}, {0x374e, 0x02},
{0x3756, 0x00}, {0x3756, 0x00},
{0x3757, 0x00}, {0x3757, 0x00},
{0x3767, 0x00}, {0x3767, 0x00},
@ -81,11 +81,11 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x37ba, 0x03}, {0x37ba, 0x03},
{0x37bb, 0x00}, {0x37bb, 0x00},
{0x37bc, 0x04}, {0x37bc, 0x04},
{0x37be, 0x26}, {0x37be, 0x08},
{0x37c4, 0x11}, {0x37c4, 0x11},
{0x37c5, 0x80}, {0x37c5, 0x80},
{0x37c6, 0x14}, {0x37c6, 0x14},
{0x37c7, 0xa8}, {0x37c7, 0x08},
{0x37da, 0x11}, {0x37da, 0x11},
{0x381f, 0x08}, {0x381f, 0x08},
// {0x3829, 0x03}, // {0x3829, 0x03},
@ -111,7 +111,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x4045, 0x7e}, {0x4045, 0x7e},
{0x4047, 0x7e}, {0x4047, 0x7e},
{0x4049, 0x7e}, {0x4049, 0x7e},
{0x4090, 0x14}, {0x4090, 0x04},
{0x40b0, 0x00}, {0x40b0, 0x00},
{0x40b1, 0x00}, {0x40b1, 0x00},
{0x40b2, 0x00}, {0x40b2, 0x00},
@ -129,7 +129,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x4503, 0x00}, {0x4503, 0x00},
{0x4504, 0x06}, {0x4504, 0x06},
{0x4506, 0x00}, {0x4506, 0x00},
{0x4507, 0x57}, {0x4507, 0x47},
{0x4803, 0x00}, {0x4803, 0x00},
{0x480c, 0x32}, {0x480c, 0x32},
{0x480e, 0x04}, {0x480e, 0x04},
@ -139,7 +139,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x4823, 0x3f}, {0x4823, 0x3f},
{0x4825, 0x30}, {0x4825, 0x30},
{0x4833, 0x10}, {0x4833, 0x10},
{0x484b, 0x07}, {0x484b, 0x27},
{0x488b, 0x00}, {0x488b, 0x00},
{0x4d00, 0x04}, {0x4d00, 0x04},
{0x4d01, 0xad}, {0x4d01, 0xad},
@ -152,7 +152,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x4e0d, 0x00}, {0x4e0d, 0x00},
// ISP // ISP
{0x5001, 0x00}, {0x5001, 0x09},
{0x5004, 0x00}, {0x5004, 0x00},
{0x5080, 0x04}, {0x5080, 0x04},
{0x5036, 0x80}, {0x5036, 0x80},
@ -173,32 +173,32 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x301c, 0xf8}, {0x301c, 0xf8},
{0x301e, 0xb4}, {0x301e, 0xb4},
{0x301f, 0xf0}, {0x301f, 0xf0},
{0x3022, 0x01}, {0x3022, 0x61},
{0x3109, 0xe7}, {0x3109, 0xe7},
{0x3600, 0x00}, {0x3600, 0x00},
{0x3610, 0x75}, {0x3610, 0x65},
{0x3611, 0x85}, {0x3611, 0x85},
{0x3613, 0x3a}, {0x3613, 0x3a},
{0x3615, 0x60}, {0x3615, 0x60},
{0x3621, 0x90}, {0x3621, 0xb0},
{0x3620, 0x0c}, {0x3620, 0x0c},
{0x3629, 0x00}, {0x3629, 0x00},
{0x3661, 0x04}, {0x3661, 0x04},
{0x3664, 0x70}, {0x3664, 0x70},
{0x3665, 0x00}, {0x3665, 0x00},
{0x3681, 0x80}, {0x3681, 0xa6},
{0x3682, 0x40}, {0x3682, 0x53},
{0x3683, 0x21}, {0x3683, 0x2a},
{0x3684, 0x12}, {0x3684, 0x15},
{0x3700, 0x2a}, {0x3700, 0x2a},
{0x3701, 0x12}, {0x3701, 0x12},
{0x3703, 0x28}, {0x3703, 0x28},
{0x3704, 0x0e}, {0x3704, 0x0e},
{0x3706, 0x4a}, {0x3706, 0x9d},
{0x3709, 0x4a}, {0x3709, 0x4a},
{0x370b, 0xa2}, {0x370b, 0x48},
{0x370c, 0x01}, {0x370c, 0x01},
{0x370f, 0x00}, {0x370f, 0x04},
{0x3714, 0x28}, {0x3714, 0x28},
{0x3716, 0x04}, {0x3716, 0x04},
{0x3719, 0x11}, {0x3719, 0x11},
@ -206,19 +206,19 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x3720, 0x00}, {0x3720, 0x00},
{0x3724, 0x13}, {0x3724, 0x13},
{0x373f, 0xb0}, {0x373f, 0xb0},
{0x3741, 0x4a}, {0x3741, 0x9d},
{0x3743, 0x4a}, {0x3743, 0x9d},
{0x3745, 0x4a}, {0x3745, 0x9d},
{0x3747, 0x4a}, {0x3747, 0x9d},
{0x3749, 0xa2}, {0x3749, 0x48},
{0x374b, 0xa2}, {0x374b, 0x48},
{0x374d, 0xa2}, {0x374d, 0x48},
{0x374f, 0xa2}, {0x374f, 0x48},
{0x3755, 0x10}, {0x3755, 0x10},
{0x376c, 0x00}, {0x376c, 0x00},
{0x378d, 0x30}, {0x378d, 0x3c},
{0x3790, 0x4a}, {0x3790, 0x01},
{0x3791, 0xa2}, {0x3791, 0x01},
{0x3798, 0x40}, {0x3798, 0x40},
{0x379e, 0x00}, {0x379e, 0x00},
{0x379f, 0x04}, {0x379f, 0x04},
@ -278,27 +278,27 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x3816, 0x03}, {0x3816, 0x03},
{0x3817, 0x01}, {0x3817, 0x01},
{0x380c, 0x04}, {0x380d, 0x2e}, // HTS {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
{0x380e, 0x09}, {0x380f, 0xdb}, // VTS {0x380e, 0x09}, {0x380f, 0x38}, // VTS
{0x3820, 0xb3}, {0x3820, 0xb3},
{0x3821, 0x05}, {0x3821, 0x01},
{0x3880, 0x00}, {0x3880, 0x25},
{0x3882, 0x20}, {0x3882, 0x20},
{0x3c91, 0x0b}, {0x3c91, 0x0b},
{0x3c94, 0x45}, {0x3c94, 0x45},
// {0x3cad, 0x00}, {0x3cad, 0x00},
// {0x3cae, 0x00}, {0x3cae, 0x00},
{0x4000, 0xf3}, {0x4000, 0xf3},
{0x4001, 0x60}, {0x4001, 0x60},
{0x4003, 0x40}, {0x4003, 0x80},
{0x4300, 0xff}, {0x4300, 0xff},
{0x4302, 0x0f}, {0x4302, 0x0f},
{0x4305, 0x93}, {0x4305, 0x83},
{0x4505, 0x84}, {0x4505, 0x84},
{0x4809, 0x0e}, {0x4809, 0x0e},
{0x480a, 0x04}, {0x480a, 0x04},
{0x4837, 0x14}, {0x4837, 0x15},
{0x4c00, 0x08}, {0x4c00, 0x08},
{0x4c01, 0x08}, {0x4c01, 0x08},
{0x4c04, 0x00}, {0x4c04, 0x00},
@ -307,7 +307,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
// {0x0100, 0x01}, // {0x0100, 0x01},
// {0x320d, 0x00}, // {0x320d, 0x00},
// {0x3208, 0xa0}, // {0x3208, 0xa0},
// {0x3822, 0x14}, {0x3822, 0x14},
// initialize exposure // initialize exposure
{0x3503, 0x88}, {0x3503, 0x88},

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