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camerad: ISP lsc buffers (#34335)

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* luts

* assert sizeof

* remove 0s

---------

Co-authored-by: Comma Device <device@comma.ai>
pull/34336/head
ZwX1616 4 months ago committed by GitHub
parent c8264cbf2c
commit 2290d2f2fb
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GPG Key ID: B5690EEEBB952194
6 changed files with 70 additions and 41 deletions
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  1. 27
      system/camerad/cameras/ife.h
  2. 17
      system/camerad/cameras/spectra.cc
  3. 21
      system/camerad/sensors/ar0231.cc
  4. 21
      system/camerad/sensors/os04c10.cc
  5. 21
      system/camerad/sensors/ox03c10.cc
  6. 4
      system/camerad/sensors/sensor.h

27
system/camerad/cameras/ife.h
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@ -4,7 +4,7 @@
#include "system/camerad/sensors/sensor.h"
int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches) {
int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches, int camera_num) {
uint8_t *start = dst;
dst += write_random(dst, {
@ -34,7 +34,7 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
});
dst += write_cont(dst, 0x40, {
0x00000c06, // (1<<8) to enable vignetting correction
0x00000c06 | ((uint32_t)(camera_num == 1) << 8),
});
dst += write_cont(dst, 0x48, {
@ -76,11 +76,11 @@ 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 build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches, int camera_num) {
uint8_t *start = dst;
// start with the every frame config
dst += build_update(dst, s, patches);
dst += build_update(dst, s, patches, camera_num);
uint64_t addr;
@ -111,7 +111,7 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
dst += write_cont(dst, 0x500, s->linearization_pts);
dst += write_cont(dst, 0x510, s->linearization_pts);
// TODO: this is DMI64 in the dump, does that matter?
dst += write_dmi(dst, &addr, 288, 0xc24, 9);
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
@ -129,17 +129,14 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
0x00670067,
0xd3b1300c,
0x13b1300c,
0x00670067,
0xd3b1300c,
0x13b1300c,
0xec4e4000,
0x0100c003,
});
dst += write_cont(dst, 0x6d8, {
0xec4e4000,
0x0100c003,
});
dst += write_dmi(dst, &addr, 884, 0xc24, 14);
dst += write_dmi(dst, &addr, s->vignetting_lut.size()*sizeof(uint32_t), 0xc24, 14); // GRR
patches.push_back(addr - (uint64_t)start);
dst += write_dmi(dst, &addr, 884, 0xc24, 15);
dst += write_dmi(dst, &addr, s->vignetting_lut.size()*sizeof(uint32_t), 0xc24, 15); // GBB
patches.push_back(addr - (uint64_t)start);
// debayer
@ -158,11 +155,11 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
dst += write_cont(dst, 0x798, {
0x00000000,
});
dst += write_dmi(dst, &addr, 256, 0xc24, 26); // G
dst += write_dmi(dst, &addr, s->gamma_lut_rgb.size()*sizeof(uint32_t), 0xc24, 26); // G
patches.push_back(addr - (uint64_t)start);
dst += write_dmi(dst, &addr, 256, 0xc24, 28); // B
dst += write_dmi(dst, &addr, s->gamma_lut_rgb.size()*sizeof(uint32_t), 0xc24, 28); // B
patches.push_back(addr - (uint64_t)start);
dst += write_dmi(dst, &addr, 256, 0xc24, 30); // R
dst += write_dmi(dst, &addr, s->gamma_lut_rgb.size()*sizeof(uint32_t), 0xc24, 30); // R
patches.push_back(addr - (uint64_t)start);
// YUV

17
system/camerad/cameras/spectra.cc
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@ -507,9 +507,9 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
// stream of IFE register writes
if (!is_raw) {
if (init) {
buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches);
buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches, cc.camera_num);
} else {
buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches);
buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches, cc.camera_num);
}
}
@ -879,20 +879,25 @@ void SpectraCamera::configISP() {
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
m->device_iommu, m->cdm_iommu, ife_buf_depth);
if (!is_raw) {
ife_gamma_lut.init(m, 64*sizeof(uint32_t), 0x20,
assert(sensor->gamma_lut_rgb.size() == 64);
ife_gamma_lut.init(m, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x20,
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
m->device_iommu, m->cdm_iommu, 3); // 3 for RGB
for (int i = 0; i < 3; i++) {
memcpy(ife_gamma_lut.ptr + ife_gamma_lut.size*i, sensor->gamma_lut_rgb.data(), ife_gamma_lut.size);
}
ife_linearization_lut.init(m, sensor->linearization_lut.size(), 0x20,
assert(sensor->linearization_lut.size() == 36);
ife_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20,
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
m->device_iommu, m->cdm_iommu);
memcpy(ife_linearization_lut.ptr, sensor->linearization_lut.data(), ife_linearization_lut.size);
ife_vignetting_lut.init(m, sensor->vignetting_lut.size(), 0x20,
assert(sensor->vignetting_lut.size() == 221);
ife_vignetting_lut.init(m, sensor->vignetting_lut.size()*sizeof(uint32_t), 0x20,
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
m->device_iommu, m->cdm_iommu, 2);
memcpy(ife_vignetting_lut.ptr, sensor->vignetting_lut.data(), ife_vignetting_lut.size*2);
for (int i = 0; i < 2; i++) {
memcpy(ife_vignetting_lut.ptr + ife_vignetting_lut.size*i, sensor->vignetting_lut.data(), ife_vignetting_lut.size);
}
}
config_ife(0, 1, true);

21
system/camerad/sensors/ar0231.cc
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@ -151,13 +151,22 @@ AR0231::AR0231() {
0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
};
for (int i = 0; i < 252; i++) {
linearization_lut.push_back(0x0);
}
linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
for (int i = 0; i < 884*2; i++) {
vignetting_lut.push_back(0xff);
}
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,
};
}
void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {

21
system/camerad/sensors/os04c10.cc
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@ -86,13 +86,22 @@ OS04C10::OS04C10() {
0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
};
for (int i = 0; i < 252; i++) {
linearization_lut.push_back(0x0);
}
linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
for (int i = 0; i < 884*2; i++) {
vignetting_lut.push_back(0xff);
}
vignetting_lut = {
0x01064832, 0x00da26d1, 0x00bb25d9, 0x00aac556, 0x00a06503, 0x009a64d3, 0x009744ba, 0x009744ba, 0x009a24d1, 0x00a00500, 0x00aa2551, 0x00ba45d2, 0x00d826c1, 0x01040820, 0x013729b9, 0x0171ab8d, 0x01b36d9b,
0x00eee777, 0x00c2c616, 0x00ae2571, 0x009fe4ff, 0x0096e4b7, 0x0090e487, 0x008d446a, 0x008d2469, 0x0090a485, 0x009684b4, 0x009f64fb, 0x00ad456a, 0x00c1a60d, 0x00eca765, 0x011fc8fe, 0x015a4ad2, 0x019c0ce0,
0x00dee6f7, 0x00b9c5ce, 0x00a5652b, 0x009964cb, 0x00904482, 0x00892449, 0x0085842c, 0x0085642b, 0x0088e447, 0x008fe47f, 0x0098e4c7, 0x00a4c526, 0x00b8a5c5, 0x00dc86e4, 0x010fc87e, 0x014a2a51, 0x018c0c60,
0x00d626b1, 0x00b4e5a7, 0x00a1e50f, 0x0095e4af, 0x008c2461, 0x00850428, 0x0081640b, 0x0081440a, 0x0084a425, 0x008ba45d, 0x009564ab, 0x00a1450a, 0x00b3c59e, 0x00d3e69f, 0x01070838, 0x01418a0c, 0x01834c1a,
0x00d4c6a6, 0x00b425a1, 0x00a1450a, 0x009544aa, 0x008b645b, 0x00844422, 0x0080a405, 0x0080a405, 0x00840420, 0x008b0458, 0x0094c4a6, 0x00a0a505, 0x00b30598, 0x00d26693, 0x0105a82d, 0x01402a01, 0x0181ec0f,
0x00daa6d5, 0x00b765bb, 0x00a3c51e, 0x0097a4bd, 0x008e4472, 0x00872439, 0x0083841c, 0x0083641b, 0x0086e437, 0x008de46f, 0x009724b9, 0x00a30518, 0x00b665b3, 0x00d866c3, 0x010b885c, 0x01460a30, 0x0187ec3f,
0x00e80740, 0x00bec5f6, 0x00aa6553, 0x009d24e9, 0x009404a0, 0x008d846c, 0x0089e44f, 0x0089e44f, 0x008d446a, 0x0093c49e, 0x009ca4e5, 0x00a9854c, 0x00bdc5ee, 0x00e5a72d, 0x0118c8c6, 0x01534a9a, 0x01952ca9,
0x00fca7e5, 0x00d06683, 0x00b5c5ae, 0x00a5852c, 0x009c84e4, 0x009664b3, 0x0093649b, 0x0093449a, 0x009624b1, 0x009c24e1, 0x00a50528, 0x00b4e5a7, 0x00ce8674, 0x00fa47d2, 0x012d696b, 0x0167eb3f, 0x01a9cd4e,
0x011888c4, 0x00ec6763, 0x00c7863c, 0x00b4e5a7, 0x00a8a545, 0x00a1c50e, 0x009ec4f6, 0x009ea4f5, 0x00a1a50d, 0x00a82541, 0x00b445a2, 0x00c5e62f, 0x00ea6753, 0x011648b2, 0x01496a4b, 0x0183ec1f, 0x01c5ae2d,
0x013bc9de, 0x010fa87d, 0x00eac756, 0x00cd466a, 0x00bc25e1, 0x00b405a0, 0x00afc57e, 0x00afa57d, 0x00b3a59d, 0x00bbc5de, 0x00cc0660, 0x00e92749, 0x010da86d, 0x013989cc, 0x016cab65, 0x01a72d39, 0x01e8ef47,
0x01666b33, 0x013a49d2, 0x011568ab, 0x00f7e7bf, 0x00e1c70e, 0x00d2e697, 0x00cb665b, 0x00cb2659, 0x00d26693, 0x00e0c706, 0x00f6a7b5, 0x0113c89e, 0x013849c2, 0x01642b21, 0x01974cba, 0x01d1ce8e, 0x0213909c,
0x01986cc3, 0x016c2b61, 0x01476a3b, 0x0129e94f, 0x0113a89d, 0x0104c826, 0x00fd47ea, 0x00fd27e9, 0x01044822, 0x0112c896, 0x0128a945, 0x0145ca2e, 0x016a4b52, 0x01960cb0, 0x01c92e49, 0x0203b01d, 0x0245922c,
0x01d1ae8d, 0x01a58d2c, 0x0180ac05, 0x01632b19, 0x014cea67, 0x013e29f1, 0x013689b4, 0x013669b3, 0x013d89ec, 0x014c0a60, 0x0161eb0f, 0x017f0bf8, 0x01a38d1c, 0x01cf4e7a, 0x02029014, 0x023d11e8, 0x027ed3f6,
};
}
std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {

21
system/camerad/sensors/ox03c10.cc
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@ -88,13 +88,22 @@ OX03C10::OX03C10() {
0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
};
for (int i = 0; i < 252; i++) {
linearization_lut.push_back(0x0);
}
linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x1fff23ff, 0x27ff3fff};
for (int i = 0; i < 884*2; i++) {
vignetting_lut.push_back(0xff);
}
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> OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {

4
system/camerad/sensors/sensor.h
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@ -79,9 +79,9 @@ public:
}
gamma_lut_rgb.pop_back();
}
std::vector<uint32_t> linearization_lut; // length 288
std::vector<uint32_t> linearization_lut; // length 36
std::vector<uint32_t> linearization_pts; // length 4
std::vector<uint32_t> vignetting_lut; // 2x length 884
std::vector<uint32_t> vignetting_lut; // length 221
};
class AR0231 : public SensorInfo {

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