camerad: IFE register cleanup (#34550)

* start there

* lil more

* get camera num out of there

---------

Co-authored-by: Comma Device <device@comma.ai>

system/camerad/cameras/hw.h

@@ -16,6 +16,7 @@ struct CameraConfig {
   cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)();
   bool enabled;
   uint32_t phy;
+  bool vignetting_correction;
 };
 
 // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
@@ -28,6 +29,7 @@ const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
   .init_camera_state = &cereal::Event::Builder::initWideRoadCameraState,
   .enabled = !getenv("DISABLE_WIDE_ROAD"),
   .phy = CAM_ISP_IFE_IN_RES_PHY_0,
+  .vignetting_correction = false,
 };
 
 const CameraConfig ROAD_CAMERA_CONFIG = {
@@ -38,6 +40,7 @@ const CameraConfig ROAD_CAMERA_CONFIG = {
   .init_camera_state = &cereal::Event::Builder::initRoadCameraState,
   .enabled = !getenv("DISABLE_ROAD"),
   .phy = CAM_ISP_IFE_IN_RES_PHY_1,
+  .vignetting_correction = true,
 };
 
 const CameraConfig DRIVER_CAMERA_CONFIG = {
@@ -48,4 +51,5 @@ const CameraConfig DRIVER_CAMERA_CONFIG = {
   .init_camera_state = &cereal::Event::Builder::initDriverCameraState,
   .enabled = !getenv("DISABLE_DRIVER"),
   .phy = CAM_ISP_IFE_IN_RES_PHY_2,
+  .vignetting_correction = false,
 };

system/camerad/cameras/ife.h

@@ -2,13 +2,14 @@
 
 #include "cdm.h"
 
-#include "system/camerad/cameras/tici.h"
+#include "system/camerad/cameras/hw.h"
 #include "system/camerad/sensors/sensor.h"
 
 
-int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches, int camera_num) {
+int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches) {
   uint8_t *start = dst;
 
+  // init sequence
   dst += write_random(dst, {
     0x2c, 0xffffffff,
     0x30, 0xffffffff,
@@ -17,6 +18,7 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
     0x3c, 0xffffffff,
   });
 
+  // demux cfg
   dst += write_cont(dst, 0x560, {
     0x00000001,
     0x04440444,
@@ -35,38 +37,31 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
     0x00000000,
   });
 
+  // module config/enables (e.g. enable debayer, white balance, etc.)
   dst += write_cont(dst, 0x40, {
-    0x00000c06 | ((uint32_t)(camera_num == 1) << 8),
+    0x00000c06 | ((uint32_t)(cam.vignetting_correction) << 8),
+  });
+  dst += write_cont(dst, 0x44, {
+    0x00000000,
   });
-
   dst += write_cont(dst, 0x48, {
     (1 << 3) | (1 << 1),
   });
-
   dst += write_cont(dst, 0x4c, {
     0x00000019,
   });
+  dst += write_cont(dst, 0xf00, {
+    0x00000000,
+  });
 
+  // cropping
   dst += write_cont(dst, 0xe0c, {
     0x00000e00,
   });
-
   dst += write_cont(dst, 0xe2c, {
     0x00000e00,
   });
 
-  dst += write_cont(dst, 0x44, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xaac, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xf00, {
-    0x00000000,
-  });
-
   // black level scale + offset
   dst += write_cont(dst, 0x6b0, {
     ((uint32_t)(1 << 11) << 0xf) | (s->black_level << (14 - s->bits_per_pixel)),
@@ -78,11 +73,11 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
 }
 
 
-int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches, int camera_num) {
+int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches) {
   uint8_t *start = dst;
 
   // start with the every frame config
-  dst += build_update(dst, s, patches, camera_num);
+  dst += build_update(dst, cam, s, patches);
 
   uint64_t addr;
 
@@ -115,15 +110,6 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
   // TODO: this is DMI64 in the dump, does that matter?
   dst += write_dmi(dst, &addr, s->linearization_lut.size()*sizeof(uint32_t), 0xc24, 9);
   patches.push_back(addr - (uint64_t)start);
-  /* TODO
-  cdm_dmi_cmd_t 248
-    .length = 287
-    .reserved = 33
-    .cmd = 11
-    .addr = 0
-    .DMIAddr = 3108
-    .DMISel = 9
-  */
 
   // vignetting correction
   dst += write_cont(dst, 0x6bc, {
@@ -180,7 +166,7 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
     0x03ff0000,
   });
 
-  // TODO: remove this
+  // output size/scaling
   dst += write_cont(dst, 0xa3c, {
     0x00000003,
     ((s->frame_width - 1) << 16) | (s->frame_width - 1),

system/camerad/cameras/spectra.cc

@@ -715,9 +715,9 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     bool is_raw = output_type != ISP_IFE_PROCESSED;
     if (!is_raw) {
       if (init) {
-        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches, cc.camera_num);
+        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
       } else {
-        buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches, cc.camera_num);
+        buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
       }
     }
 

system/camerad/cameras/spectra.h

@@ -9,7 +9,7 @@
 #include "media/cam_req_mgr.h"
 
 #include "common/util.h"
-#include "system/camerad/cameras/tici.h"
+#include "system/camerad/cameras/hw.h"
 #include "system/camerad/cameras/camera_common.h"
 #include "system/camerad/sensors/sensor.h"