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camerad: remove AR0231 (#36070)

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pull/36077/head
Adeeb Shihadeh 4 days ago committed by GitHub
parent a254a05df0
commit 1d8dc8a69a
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5 changed files with 2 additions and 272 deletions
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  1. 2
      system/camerad/SConscript
  2. 3
      system/camerad/cameras/spectra.cc
  3. 136
      system/camerad/sensors/ar0231.cc
  4. 121
      system/camerad/sensors/ar0231_registers.h
  5. 12
      system/camerad/sensors/sensor.h

2
system/camerad/SConscript
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@ -4,7 +4,7 @@ libs = [common, 'OpenCL', messaging, visionipc, gpucommon]
if arch != "Darwin":
camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
'cameras/cdm.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
if GetOption("extras") and arch == "x86_64":

3
system/camerad/cameras/spectra.cc
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@ -1004,8 +1004,7 @@ bool SpectraCamera::openSensor() {
};
// Figure out which sensor we have
if (!init_sensor_lambda(new AR0231) &&
!init_sensor_lambda(new OX03C10) &&
if (!init_sensor_lambda(new OX03C10) &&
!init_sensor_lambda(new OS04C10)) {
LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num);
enabled = false;

136
system/camerad/sensors/ar0231.cc
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@ -1,136 +0,0 @@
#include <cassert>
#include <cmath>
#include "system/camerad/sensors/sensor.h"
namespace {
const size_t AR0231_REGISTERS_HEIGHT = 2;
// TODO: this extra height is universal and doesn't apply per camera
const size_t AR0231_STATS_HEIGHT = 2 + 8;
const float sensor_analog_gains_AR0231[] = {
1.0 / 8.0, 2.0 / 8.0, 2.0 / 7.0, 3.0 / 7.0, // 0, 1, 2, 3
3.0 / 6.0, 4.0 / 6.0, 4.0 / 5.0, 5.0 / 5.0, // 4, 5, 6, 7
5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0, // 8, 9, 10, 11
7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0}; // 12, 13, 14, 15 = bypass
} // namespace
AR0231::AR0231() {
image_sensor = cereal::FrameData::ImageSensor::AR0231;
bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
pixel_size_mm = 0.003;
data_word = true;
frame_width = 1928;
frame_height = 1208;
frame_stride = (frame_width * 12 / 8) + 4;
extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT;
registers_offset = 0;
frame_offset = AR0231_REGISTERS_HEIGHT;
stats_offset = AR0231_REGISTERS_HEIGHT + frame_height;
start_reg_array.assign(std::begin(start_reg_array_ar0231), std::end(start_reg_array_ar0231));
init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231));
probe_reg_addr = 0x3000;
probe_expected_data = 0x354;
bits_per_pixel = 12;
mipi_format = CAM_FORMAT_MIPI_RAW_12;
frame_data_type = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
mclk_frequency = 19200000; //Hz
readout_time_ns = 22850000;
dc_gain_factor = 2.5;
dc_gain_min_weight = 0;
dc_gain_max_weight = 1;
dc_gain_on_grey = 0.2;
dc_gain_off_grey = 0.3;
exposure_time_min = 2; // with HDR, fastest ss
exposure_time_max = 0x0855; // with HDR, slowest ss, 40ms
analog_gain_min_idx = 0x1; // 0.25x
analog_gain_rec_idx = 0x6; // 0.8x
analog_gain_max_idx = 0xD; // 4.0x
analog_gain_cost_delta = 0;
analog_gain_cost_low = 0.1;
analog_gain_cost_high = 5.0;
for (int i = 0; i <= analog_gain_max_idx; i++) {
sensor_analog_gains[i] = sensor_analog_gains_AR0231[i];
}
min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
target_grey_factor = 1.0;
black_level = 168;
color_correct_matrix = {
0x000000af, 0x00000ff9, 0x00000fd8,
0x00000fbc, 0x000000bb, 0x00000009,
0x00000fb6, 0x00000fe0, 0x000000ea,
};
for (int i = 0; i < 65; i++) {
float fx = i / 64.0;
const float gamma_k = 0.75;
const float gamma_b = 0.125;
const float mp = 0.01; // ideally midpoint should be adaptive
const float rk = 9 - 100*mp;
// poly approximation for s curve
fx = (fx > mp) ?
((rk * (fx-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(fx-mp))) + gamma_k*mp + gamma_b) :
((rk * (fx-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(fx-mp))) + gamma_k*mp + gamma_b);
gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
}
prepare_gamma_lut();
linearization_lut = {
0x02000000, 0x02000000, 0x02000000, 0x02000000,
0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
};
linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
vignetting_lut = {
0x00eaa755, 0x00cf2679, 0x00bc05e0, 0x00acc566, 0x00a1450a, 0x009984cc, 0x0095a4ad, 0x009584ac, 0x009944ca, 0x00a0c506, 0x00ac0560, 0x00bb25d9, 0x00ce2671, 0x00e90748, 0x01112889, 0x014a2a51, 0x01984cc2,
0x00db06d8, 0x00c30618, 0x00afe57f, 0x00a0a505, 0x009524a9, 0x008d646b, 0x0089844c, 0x0089644b, 0x008d2469, 0x0094a4a5, 0x009fe4ff, 0x00af0578, 0x00c20610, 0x00d986cc, 0x00fda7ed, 0x01320990, 0x017aebd7,
0x00d1868c, 0x00baa5d5, 0x00a7853c, 0x009844c2, 0x008cc466, 0x0085a42d, 0x0083641b, 0x0083641b, 0x0085842c, 0x008c4462, 0x0097a4bd, 0x00a6c536, 0x00b9a5cd, 0x00d06683, 0x00f1678b, 0x01226913, 0x0167ab3d,
0x00cd0668, 0x00b625b1, 0x00a30518, 0x0093c49e, 0x00884442, 0x00830418, 0x0080e407, 0x0080c406, 0x0082e417, 0x0087c43e, 0x00932499, 0x00a22511, 0x00b525a9, 0x00cbe65f, 0x00eb0758, 0x011a68d3, 0x015daaed,
0x00cc4662, 0x00b565ab, 0x00a24512, 0x00930498, 0x0087843c, 0x0082a415, 0x00806403, 0x00806403, 0x00828414, 0x00870438, 0x00926493, 0x00a1850c, 0x00b465a3, 0x00cb2659, 0x00ea2751, 0x011928c9, 0x015c2ae1,
0x00cf667b, 0x00b885c4, 0x00a5652b, 0x009624b1, 0x008aa455, 0x00846423, 0x00822411, 0x00822411, 0x00844422, 0x008a2451, 0x009564ab, 0x00a48524, 0x00b785bc, 0x00ce4672, 0x00ee6773, 0x011e88f4, 0x0162eb17,
0x00d6c6b6, 0x00bf65fb, 0x00ac4562, 0x009d04e8, 0x0091848c, 0x0089c44e, 0x00862431, 0x00860430, 0x0089844c, 0x00910488, 0x009c64e3, 0x00ab655b, 0x00be65f3, 0x00d566ab, 0x00f847c2, 0x012b2959, 0x01726b93,
0x00e3e71f, 0x00ca0650, 0x00b705b8, 0x00a7a53d, 0x009c24e1, 0x009484a4, 0x00908484, 0x00908484, 0x009424a1, 0x009bc4de, 0x00a70538, 0x00b625b1, 0x00c90648, 0x00e26713, 0x0108e847, 0x013fe9ff, 0x018bcc5e,
0x00f807c0, 0x00d966cb, 0x00c5862c, 0x00b625b1, 0x00aaa555, 0x00a30518, 0x009f04f8, 0x009f04f8, 0x00a2a515, 0x00aa2551, 0x00b585ac, 0x00c4a625, 0x00d846c2, 0x00f647b2, 0x0121a90d, 0x015e4af2, 0x01b8cdc6,
0x011548aa, 0x00f1678b, 0x00d886c4, 0x00c86643, 0x00bce5e7, 0x00b545aa, 0x00b1658b, 0x00b1458a, 0x00b505a8, 0x00bc85e4, 0x00c7c63e, 0x00d786bc, 0x00efe77f, 0x0113489a, 0x0144ea27, 0x01888c44, 0x01fdcfee,
0x013e49f2, 0x0113e89f, 0x00f5a7ad, 0x00e0c706, 0x00d30698, 0x00cb665b, 0x00c7663b, 0x00c7663b, 0x00cb0658, 0x00d2a695, 0x00dfe6ff, 0x00f467a3, 0x01122891, 0x013be9df, 0x01750ba8, 0x01cfae7d, 0x025912c8,
0x01766bb3, 0x01446a23, 0x011fc8fe, 0x0105e82f, 0x00f467a3, 0x00e9874c, 0x00e46723, 0x00e44722, 0x00e92749, 0x00f3a79d, 0x0104c826, 0x011e48f2, 0x01424a12, 0x01738b9c, 0x01bf6dfb, 0x023611b0, 0x02ced676,
0x01cf8e7c, 0x01866c33, 0x015aaad5, 0x013ae9d7, 0x01250928, 0x011768bb, 0x0110a885, 0x01108884, 0x0116e8b7, 0x01242921, 0x0139a9cd, 0x0158eac7, 0x01840c20, 0x01cb0e58, 0x0233719b, 0x02b9d5ce, 0x03645b22,
};
}
std::vector<i2c_random_wr_payload> AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g;
return {
{0x3366, analog_gain_reg},
{0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)},
{0x3012, (uint16_t)exposure_time},
};
}
int AR0231::getSlaveAddress(int port) const {
assert(port >= 0 && port <= 2);
return (int[]){0x20, 0x30, 0x20}[port];
}
float AR0231::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {
// Cost of ev diff
float score = std::abs(desired_ev - (exp_t * exp_gain)) * 10;
// Cost of absolute gain
float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
// Cost of changing gain
score += std::abs(exp_g_idx - gain_idx) * (score + 1.0) / 10.0;
return score;
}

121
system/camerad/sensors/ar0231_registers.h
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@ -1,121 +0,0 @@
#pragma once
const struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}};
const struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}};
const struct i2c_random_wr_payload init_array_ar0231[] = {
{0x301A, 0x0018}, // RESET_REGISTER
// **NOTE**: if this is changed, readout_time_ns must be updated in the Sensor config
// 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, 0x0037}, // PLL_MULTIPLIER
{0x3036, 0x000C}, // OP_PIX_CLK_DIV
{0x3038, 0x0001}, // OP_SYS_CLK_DIV
// FORMAT
{0x3040, 0xC000}, // READ_MODE
{0x3004, 0x0000}, // X_ADDR_START_
{0x3008, 0x0787}, // X_ADDR_END_
{0x3002, 0x0000}, // Y_ADDR_START_
{0x3006, 0x04B7}, // Y_ADDR_END_
{0x3032, 0x0000}, // SCALING_MODE
{0x30A2, 0x0001}, // X_ODD_INC_
{0x30A6, 0x0001}, // Y_ODD_INC_
{0x3402, 0x0788}, // X_OUTPUT_CONTROL
{0x3404, 0x04B8}, // Y_OUTPUT_CONTROL
{0x3064, 0x1982}, // SMIA_TEST
{0x30BA, 0x11F2}, // DIGITAL_CTRL
// Enable external trigger and disable GPIO outputs
{0x30CE, 0x0120}, // SLAVE_SH_SYNC_MODE | FRAME_START_MODE
{0x340A, 0xE0}, // GPIO3_INPUT_DISABLE | GPIO2_INPUT_DISABLE | GPIO1_INPUT_DISABLE
{0x340C, 0x802}, // GPIO_HIDRV_EN | GPIO0_ISEL=2
// Readout timing
{0x300C, 0x0672}, // LINE_LENGTH_PCK (valid for 3-exposure HDR)
{0x300A, 0x0855}, // FRAME_LENGTH_LINES
{0x3042, 0x0000}, // EXTRA_DELAY
// Readout Settings
{0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI
{0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12
{0x3342, 0x1212}, // MIPI_F1_PDT_EDT
{0x3346, 0x1212}, // MIPI_F2_PDT_EDT
{0x334A, 0x1212}, // MIPI_F3_PDT_EDT
{0x334E, 0x1212}, // MIPI_F4_PDT_EDT
{0x3344, 0x0011}, // MIPI_F1_VDT_VC
{0x3348, 0x0111}, // MIPI_F2_VDT_VC
{0x334C, 0x0211}, // MIPI_F3_VDT_VC
{0x3350, 0x0311}, // MIPI_F4_VDT_VC
{0x31B0, 0x0053}, // FRAME_PREAMBLE
{0x31B2, 0x003B}, // LINE_PREAMBLE
{0x301A, 0x001C}, // RESET_REGISTER
// Noise Corrections
{0x3092, 0x0C24}, // ROW_NOISE_CONTROL
{0x337A, 0x0C80}, // DBLC_SCALE0
{0x3370, 0x03B1}, // DBLC
{0x3044, 0x0400}, // DARK_CONTROL
// Enable temperature sensor
{0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG
{0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG
// Enable dead pixel correction using
// the 1D line correction scheme
{0x31E0, 0x0003},
// HDR Settings
{0x3082, 0x0004}, // OPERATION_MODE_CTRL
{0x3238, 0x0444}, // EXPOSURE_RATIO
{0x1008, 0x0361}, // FINE_INTEGRATION_TIME_MIN
{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
{0x31D0, 0x0000}, // COMPANDING, no good in 10 bit?
{0x33DA, 0x0000}, // COMPANDING
{0x318E, 0x0200}, // PRE_HDR_GAIN_EN
// DLO Settings
{0x3100, 0x4000}, // DLO_CONTROL0
{0x3280, 0x0CCC}, // T1 G1
{0x3282, 0x0CCC}, // T1 R
{0x3284, 0x0CCC}, // T1 B
{0x3286, 0x0CCC}, // T1 G2
{0x3288, 0x0FA0}, // T2 G1
{0x328A, 0x0FA0}, // T2 R
{0x328C, 0x0FA0}, // T2 B
{0x328E, 0x0FA0}, // T2 G2
// Initial Gains
{0x3022, 0x0001}, // GROUPED_PARAMETER_HOLD_
{0x3366, 0xFF77}, // ANALOG_GAIN (1x)
{0x3060, 0x3333}, // ANALOG_COLOR_GAIN
{0x3362, 0x0000}, // DC GAIN
{0x305A, 0x00F8}, // red gain
{0x3058, 0x0122}, // blue gain
{0x3056, 0x009A}, // g1 gain
{0x305C, 0x009A}, // g2 gain
{0x3022, 0x0000}, // GROUPED_PARAMETER_HOLD_
// Initial Integration Time
{0x3012, 0x0005},
};

12
system/camerad/sensors/sensor.h
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@ -10,7 +10,6 @@
#include "media/cam_sensor.h"
#include "cereal/gen/cpp/log.capnp.h"
#include "system/camerad/sensors/ar0231_registers.h"
#include "system/camerad/sensors/ox03c10_registers.h"
#include "system/camerad/sensors/os04c10_registers.h"
@ -88,17 +87,6 @@ public:
};
};
class AR0231 : public SensorInfo {
public:
AR0231();
std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
int getSlaveAddress(int port) const override;
private:
mutable std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
};
class OX03C10 : public SensorInfo {
public:
OX03C10();

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