camerad: IFE BLC/linearization (#33884)

* simplify

* not all needed

* need to combine this

* there is none

* p0s

* cleanup

* lgtm

* lgtm2

* same

* 4

---------

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

system/camerad/cameras/ife.h

@@ -34,7 +34,7 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
   });
 
   dst += write_cont(dst, 0x40, {
-    0x00000c04, // (1<<8) to enable vignetting correction
+    0x00000c06, // (1<<8) to enable vignetting correction
   });
 
   dst += write_cont(dst, 0x48, {
@@ -67,7 +67,7 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
 
   // black level scale + offset
   dst += write_cont(dst, 0x6b0, {
-    (((uint32_t)(1 << s->bits_per_pixel) - 1) << 0xf) | (s->black_level << 0),
+    ((uint32_t)(1 << 11) << 0xf) | (s->black_level << 0),
     0x0,
     0x0,
   });
@@ -105,39 +105,11 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
   // linearization
   dst += write_cont(dst, 0x4dc, {
     0x00000000,
-    0x04050b84,
-    0x13031a82,
-    0x22022981,
-    0x3100387f,
-    0x04010b80,
-    0x13001a80,
-    0x2200297f,
-    0x30ff387f,
-    0x04050b84,
-    0x13031a82,
-    0x22022981,
-    0x3100387f,
-    0x04010b80,
-    0x13001a80,
-    0x2200297f,
-    0x30ff387f,
-    0x04050b84,
-    0x13031a82,
-    0x22022981,
-    0x3100387f,
-    0x04010b80,
-    0x13001a80,
-    0x2200297f,
-    0x30ff387f,
-    0x04050b84,
-    0x13031a82,
-    0x22022981,
-    0x3100387f,
-    0x04010b80,
-    0x13001a80,
-    0x2200297f,
-    0x30ff387f,
   });
+  dst += write_cont(dst, 0x4e0, s->linearization_pts);
+  dst += write_cont(dst, 0x4f0, s->linearization_pts);
+  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);
   patches.push_back(addr - (uint64_t)start);

system/camerad/sensors/ar0231.cc

@@ -138,6 +138,21 @@ AR0231::AR0231() {
       ((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));
   }
+  linearization_lut = {
+    0x02000000, 0x02000000, 0x02000000, 0x02000000,
+    0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
+    0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
+    0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
+    0x020006ff, 0x020006ff, 0x020006ff, 0x020006ff,
+    0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
+    0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+  };
+  for (int i = 0; i < 252; i++) {
+    linearization_lut.push_back(0x0);
+  }
+  linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x3fff3fff};
 }
 
 void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {

system/camerad/sensors/os04c10.cc

@@ -72,6 +72,21 @@ OS04C10::OS04C10() {
     float fx = i / 63.0;
     gamma_lut_rgb.push_back((uint32_t)(pow(fx, 0.7)*1023.0 + 0.5));
   }
+  linearization_lut = {
+    0x02000000, 0x02000000, 0x02000000, 0x02000000,
+    0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
+    0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
+    0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
+    0x020006ff, 0x020006ff, 0x020006ff, 0x020006ff,
+    0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
+    0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+  };
+  for (int i = 0; i < 252; i++) {
+    linearization_lut.push_back(0x0);
+  }
+  linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x3fff3fff};
 }
 
 std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {

system/camerad/sensors/ox03c10.cc

@@ -64,7 +64,7 @@ OX03C10::OX03C10() {
   max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
   target_grey_factor = 0.01;
 
-  black_level = 64;
+  black_level = 0;
   color_correct_matrix = {
     0x000000b6, 0x00000ff1, 0x00000fda,
     0x00000fcc, 0x000000b9, 0x00000ffb,
@@ -75,9 +75,21 @@ OX03C10::OX03C10() {
     fx = -0.507089*exp(-12.54124638*fx) + 0.9655*pow(fx, 0.5) - 0.472597*fx + 0.507089;
     gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
   }
-  for (int i = 0; i < 288; i++) {
+  linearization_lut = {
-    linearization_lut.push_back(0xff);
+    0x00200000, 0x00200000, 0x00200000, 0x00200000,
+    0x00404080, 0x00404080, 0x00404080, 0x00404080,
+    0x00804100, 0x00804100, 0x00804100, 0x00804100,
+    0x006b8402, 0x006b8402, 0x006b8402, 0x006b8402,
+    0x00b8c070, 0x00b8c070, 0x00b8c070, 0x00b8c070,
+    0x06044804, 0x06044804, 0x06044804, 0x06044804,
+    0x100ba015, 0x100ba015, 0x100ba015, 0x100ba015,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+  };
+  for (int i = 0; i < 252; i++) {
+    linearization_lut.push_back(0x0);
   }
+  linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x27ff3fff};
   for (int i = 0; i < 884*2; i++) {
     vignetting_lut.push_back(0xff);
   }

system/camerad/sensors/sensor.h

@@ -73,6 +73,7 @@ public:
   std::vector<uint32_t> color_correct_matrix;  // 3x3
   std::vector<uint32_t> gamma_lut_rgb;         // gamma LUTs are length 64 * sizeof(uint32_t); same for r/g/b here
   std::vector<uint32_t> linearization_lut;     // length 288
+  std::vector<uint32_t> linearization_pts;     // length 4
   std::vector<uint32_t> vignetting_lut;        // 2x length 884
 };