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pull/2047/head
Tici 5 years ago
parent 1ce4879b44
commit 171b4f5e00
4 changed files with 64 additions and 52 deletions
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  1. 38
      selfdrive/camerad/cameras/camera_qcom2.c
  2. 12
      selfdrive/camerad/cameras/camera_qcom2.h
  3. 38
      selfdrive/camerad/cameras/sensor2_i2c.h
  4. 28
      selfdrive/camerad/main.cc

38
selfdrive/camerad/cameras/camera_qcom2.c
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@ -571,7 +571,8 @@ static void camera_init(CameraState *s, int camera_id, int camera_num, unsigned
0.0, 0.0, 1.0,
}};
s->digital_gain = 1.0;
s->analog_gain_frac = 1.5;
s->digital_gain_pre = 4; // for WB
s->analog_gain_frac = 1.0;
s->exposure_time = 598;
}
@ -801,7 +802,7 @@ void cameras_init(DualCameraState *s) {
camera_init(&s->front, CAMERA_ID_AR0231, 2, 20);
printf("front initted \n");
#ifdef NOSCREEN
zsock_t *rgb_sock = zsock_new_push("tcp://192.168.2.221:7768");
zsock_t *rgb_sock = zsock_new_push("tcp://192.168.5.1:7768");
assert(rgb_sock);
s->rgb_sock = rgb_sock;
#endif
@ -1006,15 +1007,18 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
// TODO: get stats from sensor
const float target_grey = 0.3;
const float analog_gain_frac_min = 0.125;
const float analog_gain_frac_min = 0.25;
const float analog_gain_frac_max = 8.0;
const float digital_gain_min = 1.0;
const float digital_gain_max = 3.99; // is the correct?
const int exposure_time_min = 16;
const int exposure_time_max = 1417; // no slower than 1/25 sec. calculated from 0x300C and clock freq, changed
const int exposure_time_max = 1417; // no slower than 1/25 sec. calculated from 0x300C and clock freq
float exposure_factor = pow(1.05, (target_grey - grey_frac) / 0.1 ); // TODO: to be calibrated
if (s->analog_gain_frac >= 8 && exposure_factor < 1) { // set gain down if full gain and over exposed
printf("cam %d grey_frac is %f, ef is %f\n", s->camera_num, grey_frac, exposure_factor);
if (s->analog_gain_frac >= 3 && exposure_factor < 1) { // set gain down if full gain and over exposed
s->analog_gain_frac *= exposure_factor;
} else if (s->exposure_time * exposure_factor <= exposure_time_max && s->exposure_time * exposure_factor >= exposure_time_min) { // adjust exposure time first
s->exposure_time *= exposure_factor;
@ -1034,9 +1038,9 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
AG = AG * 4096 + AG * 256 + AG * 16 + AG;
printf("cam %d gain_frac is %f, set AG to 0x%X, S to %d \n", s->camera_num, s->analog_gain_frac, AG, s->exposure_time);
}
struct i2c_random_wr_payload exp_reg_array[] = {{0x3366, AG}, // analog gain
{0x305A, 0x00BB}, // RED_GAIN BB
{0x3058, 0x012A}, // BLUE_GAIN 12A
struct i2c_random_wr_payload exp_reg_array[] = {{0x3366, 0x1111}, // analog gain
{0x305A, 0x0075}, // RED_GAIN BB
{0x3058, 0x00FA}, // BLUE_GAIN 12A
{0x3056, 0x0080}, // GREEN1_GAIN
{0x305C, 0x0080}, // GREEN2_GAIN
{0x3012, s->exposure_time}}; // integ time
@ -1071,9 +1075,23 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
}
#ifdef NOSCREEN
void sendrgb(DualCameraState *s, void* dat, int len) {
void sendrgb(DualCameraState *s, uint8_t* dat, int len, uint8_t cam_id) {
int err, err2;
err = zmq_send(zsock_resolve(s->rgb_sock), dat, len, ZMQ_DONTWAIT);
int scale = 3;
int old_width = FRAME_WIDTH / 2;
int old_height = FRAME_HEIGHT / 2;
int new_width = FRAME_WIDTH / 2 / scale;
int new_height = FRAME_HEIGHT / 2 / scale;
uint8_t resized_dat[new_width*new_height*3];
memset(&resized_dat, cam_id, 3);
for (uint32_t r=1;r<new_height;r++) {
for (uint32_t c=1;c<new_width;c++) {
resized_dat[(r*new_width+c)*3] = dat[(r*old_width + c)*scale*3];
resized_dat[(r*new_width+c)*3+1] = dat[(r*old_width + c)*scale*3+1];
resized_dat[(r*new_width+c)*3+2] = dat[(r*old_width + c)*scale*3+2];
}
}
err = zmq_send(zsock_resolve(s->rgb_sock), &resized_dat, new_width*new_height*3, ZMQ_DONTWAIT);
err2 = zmq_errno();
//printf("zmq errcode %d, %d\n", err ,err2);
}

12
selfdrive/camerad/cameras/camera_qcom2.h
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@ -29,6 +29,7 @@ typedef struct CameraState {
int frame_size;
float digital_gain;
int digital_gain_pre;
float analog_gain_frac;
int exposure_time;
mat3 transform;
@ -63,15 +64,6 @@ typedef struct CameraState {
struct cam_req_mgr_session_info req_mgr_session_info;
// static packet handles for runtime
uint32_t poke_cam_pkt_handle;
struct cam_packet *poke_cam_pkt;
uint32_t i2c_cam_pkt_handle;
struct cam_packet *i2c_cam_pkt;
struct cam_cmd_power *i2c_cam_pwr;
struct cam_packet *isp_cam_pkt;
uint32_t *isp_config_buf1;
} CameraState;
typedef struct DualCameraState {
@ -96,7 +88,7 @@ void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *ca
void cameras_run(DualCameraState *s);
void camera_autoexposure(CameraState *s, float grey_frac);
#ifdef NOSCREEN
void sendrgb(DualCameraState *s, void* dat, int len);
void sendrgb(DualCameraState *s, uint8_t* dat, int len, uint8_t cam_id);
#endif
#ifdef __cplusplus

38
selfdrive/camerad/cameras/sensor2_i2c.h
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@ -17,10 +17,10 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
{0x3506, 0x3333}, // RESERVED_MFR_3506
{0x3508, 0x3333}, // RESERVED_MFR_3508
{0x3100, 0x4000}, // DLO_CONTROL0
{0x3280, 0x0FA0}, // RESERVED_MFR_3280
{0x3282, 0x0FA0}, // RESERVED_MFR_3282
{0x3284, 0x0FA0}, // RESERVED_MFR_3284
{0x3286, 0x0FA0}, // RESERVED_MFR_3286
{0x3280, 0x0CCC}, // RESERVED_MFR_3280
{0x3282, 0x0CCC}, // RESERVED_MFR_3282
{0x3284, 0x0CCC}, // RESERVED_MFR_3284
{0x3286, 0x0CCC}, // RESERVED_MFR_3286
{0x3288, 0x0FA0}, // RESERVED_MFR_3288
{0x328A, 0x0FA0}, // RESERVED_MFR_328A
{0x328C, 0x0FA0}, // RESERVED_MFR_328C
@ -274,7 +274,7 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
{0x30B0, 0x0800}, // DIGITAL_TEST
{0x30A2, 0x0001}, // X_ODD_INC_
{0x30A6, 0x0001}, // Y_ODD_INC_
{0x3040, 0xC000}, // READ_MODE
{0x3040, 0xC000}, // READ_MODE C000
{0x30BA, 0x11F2}, // DIGITAL_CTRL
{0x3044, 0x0400}, // DARK_CONTROL
{0x3064, 0x1802}, // SMIA_TEST
@ -284,9 +284,9 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
{0x33E0, 0x0C80}, // TEST_ASIL_ROWS
{0x33E0, 0x0C80}, // TEST_ASIL_ROWS
{0x3004, 0x0000}, // X_ADDR_START_
{0x3008, 0x0787}, // X_ADDR_END_
{0x3008, 0x0787}, // X_ADDR_END_ 787
{0x3002, 0x0000}, // Y_ADDR_START_
{0x3006, 0x04B7}, // Y_ADDR_END_
{0x3006, 0x04B7}, // Y_ADDR_END_ 4B7
{0x3032, 0x0000}, // SCALING_MODE
{0x3400, 0x0010}, // RESERVED_MFR_3400
{0x3402, 0x0788}, // X_OUTPUT_CONTROL
@ -296,8 +296,8 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
{0x30BA, 0x11F3}, // DIGITAL_CTRL
// FPS = 88e6 / 0x09C4 / 0x06E0 = 20
{0x300C, 0x09B4}, // LINE_LENGTH_PCK_
{0x300A, 0x06EB}, // FRAME_LENGTH_LINES_
{0x300C, 0x09B4}, // LINE_LENGTH_PCK_ 9B4
{0x300A, 0x06EB}, // FRAME_LENGTH_LINES_ 6EB
{0x3042, 0x0000}, // EXTRA_DELAY
// Readout Settings
@ -322,25 +322,27 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
// HDR Settings
{0x3082, 0x0004}, // OPERATION_MODE_CTRL
{0x3238, 0x0444}, // EXPOSURE_RATIO
{0x3238, 0x0666}, // EXPOSURE_RATIO
{0x3014, 0x098E}, // FINE_INTEGRATION_TIME_
{0x321E, 0x098E}, // FINE_INTEGRATION_TIME2
{0x3222, 0x098E}, // FINE_INTEGRATION_TIME3
{0x3226, 0x098E}, // FINE_INTEGRATION_TIME4
{0x3226, 0x098E}, // FINE_INTEGRATION_TIME4, 098E?
{0x30B0, 0x0800}, // DIGITAL_TEST
{0x32EA, 0x3C0E}, // RESERVED_MFR_32EA
{0x32EC, 0x72A1}, // RESERVED_MFR_32EC
{0x31D0, 0x0001}, // COMPANDING
{0x3362, 0x0003}, // DC GAIN
{0x31D0, 0x0000}, // COMPANDING, no good in 10 bit?
//{0x33DA, 0x0001}, // COMPANDING
{0x3362, 0x0002}, // DC GAIN
{0x3370, 0x0001}, // DBLC
{0x318E, 0x0100}, // PRE_HDR_GAIN_EN
{0x318E, 0x0200}, // PRE_HDR_GAIN_EN
// Initial Gains
{0x3022, 0x01}, // GROUPED_PARAMETER_HOLD_
{0x3366, 0x9999}, // ANALOG_GAIN
{0x3060, 0xAAAA}, // ANALOG_COLOR_GAIN
{0x305A, 0x00BB}, // RED_GAIN
{0x3058, 0x012A}, // BLUE_GAIN
{0x3366, 0x7777}, // ANALOG_GAIN
//{0x3060, 0xAAAA}, // ANALOG_COLOR_GAIN
{0x3060, 0x5655}, // ANALOG_COLOR_GAIN
{0x305A, 0x0080}, // RED_GAIN
{0x3058, 0x0080}, // BLUE_GAIN
{0x3056, 0x0080}, // GREEN1_GAIN
{0x305C, 0x0080}, // GREEN2_GAIN
{0x3022, 0x00}, // GROUPED_PARAMETER_HOLD_

28
selfdrive/camerad/main.cc
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@ -251,8 +251,8 @@ void* frontview_thread(void *arg) {
}
#ifdef NOSCREEN
if (frame_data.frame_id % 5 == 1) {
sendrgb(&s->cameras, (void*) s->rgb_front_bufs[rgb_idx].addr, s->rgb_front_bufs[rgb_idx].len);
if (frame_data.frame_id % 2 == 0) {
sendrgb(&s->cameras, (uint8_t*) s->rgb_front_bufs[rgb_idx].addr, s->rgb_front_bufs[rgb_idx].len, 2);
}
#endif
@ -475,8 +475,8 @@ void* wideview_thread(void *arg) {
visionbuf_sync(&s->rgb_wide_bufs[rgb_idx], VISIONBUF_SYNC_FROM_DEVICE);
#ifdef NOSCREEN
if (frame_data.frame_id % 5 == 0) {
//sendrgb(&s->cameras, (void*) s->rgb_wide_bufs[rgb_idx].addr, s->rgb_wide_bufs[rgb_idx].len);
if (frame_data.frame_id % 2 == 0) {
sendrgb(&s->cameras, (uint8_t*) s->rgb_wide_bufs[rgb_idx].addr, s->rgb_wide_bufs[rgb_idx].len, 1);
}
#endif
@ -539,10 +539,10 @@ void* wideview_thread(void *arg) {
tbuffer_dispatch(&s->ui_wide_tb, ui_idx);
// auto exposure over big box
const int exposure_x = 290;
const int exposure_y = 282 + 40;
const int exposure_height = 314;
const int exposure_width = 560;
const int exposure_x = 2;//290;
const int exposure_y = 200;//282 + 40; // TODO: fix this? should not use med imo
const int exposure_height = 250;// 314;
const int exposure_width = 450;//560;
if (cnt % 3 == 0) {
// find median box luminance for AE
uint32_t lum_binning[256] = {0,};
@ -645,8 +645,8 @@ void* processing_thread(void *arg) {
visionbuf_sync(&s->rgb_bufs[rgb_idx], VISIONBUF_SYNC_FROM_DEVICE);
#ifdef NOSCREEN
if (frame_data.frame_id % 5 == 2) {
//sendrgb(&s->cameras, (void*) s->rgb_bufs[rgb_idx].addr, s->rgb_bufs[rgb_idx].len);
if (frame_data.frame_id % 2 == 1) {
sendrgb(&s->cameras, (uint8_t*) s->rgb_bufs[rgb_idx].addr, s->rgb_bufs[rgb_idx].len, 0);
}
#endif
@ -856,10 +856,10 @@ void* processing_thread(void *arg) {
tbuffer_dispatch(&s->ui_tb, ui_idx);
// auto exposure over big box
const int exposure_x = 290;
const int exposure_y = 282 + 40;
const int exposure_height = 314;
const int exposure_width = 560;
const int exposure_x = 2;
const int exposure_y = 200;// + 40;
const int exposure_height = 250;// 314;
const int exposure_width = 450;//560;
if (cnt % 3 == 0) {
// find median box luminance for AE
uint32_t lum_binning[256] = {0,};

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