OS04C10: use IFE downscaler for road cameras (#35023)

* squashh * wrong * clean up * rename
6 months ago · 3b60b22cee
parent 2c162d9b75
commit 3b60b22cee
8 changed files with 87 additions and 53 deletions
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@ -26,9 +26,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
    LOGD("allocated %d CL buffers", frame_buf_count);
  }

-  out_img_width = sensor->frame_width;
-  out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
-
  // the encoder HW tells us the size it wants after setting it up.
  // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
  size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride;
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@ -32,7 +32,7 @@ public:
  VisionBuf *cur_yuv_buf;
  VisionBuf *cur_camera_buf;
  std::unique_ptr<VisionBuf[]> camera_bufs_raw;
-  int out_img_width, out_img_height;
+  uint32_t out_img_width, out_img_height;

  CameraBuf() = default;
  ~CameraBuf();
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@ -73,7 +73,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct

  if (!camera.enabled) return;

-  fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm;
+  fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm / camera.sensor->out_scale;
  set_exposure_rect();

  dc_gain_weight = camera.sensor->dc_gain_min_weight;
@ -107,10 +107,10 @@ void CameraState::set_exposure_rect() {
  float fl_ref = ae_target.second;

  ae_xywh = (Rect){
-    std::max(0, camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::max(0, camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.w), camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.h), camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
+    std::max(0, (int)camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::max(0, (int)camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.w), (int)camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.h), (int)camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
  };
 }

--- a/system/camerad/cameras/ife.h
+++ b/system/camerad/cameras/ife.h
@ -105,7 +105,7 @@ int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std:
 }


-int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches) {
+int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches, uint32_t out_width, uint32_t out_height) {
  uint8_t *start = dst;

  // start with the every frame config
@ -185,12 +185,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
  // output size/scaling
  dst += write_cont(dst, 0xa3c, {
    0x00000003,
-    ((s->frame_width - 1) << 16) | (s->frame_width - 1),
+    ((out_width - 1) << 16) | (s->frame_width - 1),
    0x30036666,
    0x00000000,
    0x00000000,
    s->frame_width - 1,
-    ((s->frame_height - 1) << 16) | (s->frame_height - 1),
+    ((out_height - 1) << 16) | (s->frame_height - 1),
    0x30036666,
    0x00000000,
    0x00000000,
@ -198,12 +198,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
  });
  dst += write_cont(dst, 0xa68, {
    0x00000003,
-    ((s->frame_width/2 - 1) << 16) | (s->frame_width - 1),
+    ((out_width / 2 - 1) << 16) | (s->frame_width - 1),
    0x3006cccc,
    0x00000000,
    0x00000000,
    s->frame_width - 1,
-    ((s->frame_height/2 - 1) << 16) | (s->frame_height - 1),
+    ((out_height / 2 - 1) << 16) | (s->frame_height - 1),
    0x3006cccc,
    0x00000000,
    0x00000000,
@ -212,12 +212,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo

  // cropping
  dst += write_cont(dst, 0xe10, {
-    s->frame_height - 1,
-    s->frame_width - 1,
+    out_height - 1,
+    out_width - 1,
  });
  dst += write_cont(dst, 0xe30, {
-    s->frame_height/2 - 1,
-    s->frame_width - 1,
+    out_height / 2 - 1,
+    out_width - 1,
  });
  dst += write_cont(dst, 0xe18, {
    0x0ff00000,
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@ -281,18 +281,21 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c

  if (!enabled) return;

+  buf.out_img_width = sensor->frame_width / sensor->out_scale;
+  buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale;
+
  // size is driven by all the HW that handles frames,
  // the video encoder has certain alignment requirements in this case
-  stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width);
-  y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
-  uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
+  stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width);
+  y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
+  uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
  uv_offset = stride*y_height;
  yuv_size = uv_offset + stride*uv_height;
  if (cc.output_type != ISP_RAW_OUTPUT) {
    uv_offset = ALIGNED_SIZE(uv_offset, 0x1000);
    yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
  }
-  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width));
+  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width));
  assert(y_height/2 == uv_height);

  open = true;
@ -645,14 +648,14 @@ void SpectraCamera::config_bps(int idx, int request_id) {
    io_cfg[1].mem_handle[0] = buf_handle_yuv[idx];
    io_cfg[1].mem_handle[1] = buf_handle_yuv[idx];
    io_cfg[1].planes[0] = (struct cam_plane_cfg){
-      .width = sensor->frame_width,
-      .height = sensor->frame_height,
+      .width = buf.out_img_width,
+      .height = buf.out_img_height,
      .plane_stride = stride,
      .slice_height = y_height,
    };
    io_cfg[1].planes[1] = (struct cam_plane_cfg){
-      .width = sensor->frame_width,
-      .height = sensor->frame_height/2,
+      .width = buf.out_img_width,
+      .height = buf.out_img_height / 2,
      .plane_stride = stride,
      .slice_height = uv_height,
    };
@ -737,7 +740,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
    bool is_raw = cc.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, cc, sensor.get(), patches);
+        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches, buf.out_img_width, buf.out_img_height);
      } else {
        buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
      }
@ -844,14 +847,14 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
      io_cfg[0].mem_handle[0] = buf_handle_yuv[idx];
      io_cfg[0].mem_handle[1] = buf_handle_yuv[idx];
      io_cfg[0].planes[0] = (struct cam_plane_cfg){
-        .width = sensor->frame_width,
-        .height = sensor->frame_height,
+        .width = buf.out_img_width,
+        .height = buf.out_img_height,
        .plane_stride = stride,
        .slice_height = y_height,
      };
      io_cfg[0].planes[1] = (struct cam_plane_cfg){
-        .width = sensor->frame_width,
-        .height = sensor->frame_height/2,
+        .width = buf.out_img_width,
+        .height = buf.out_img_height / 2,
        .plane_stride = stride,
        .slice_height = uv_height,
      };
@ -993,6 +996,9 @@ bool SpectraCamera::openSensor() {
  LOGD("-- Probing sensor %d", cc.camera_num);

  auto init_sensor_lambda = [this](SensorInfo *s) {
+    if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) {
+      ((OS04C10*)s)->ife_downscale_configure();
+    }
    sensor.reset(s);
    return (sensors_init() == 0);
  };
@ -1065,8 +1071,8 @@ void SpectraCamera::configISP() {
    .data[0] = (struct cam_isp_out_port_info){
      .res_type = CAM_ISP_IFE_OUT_RES_FULL,
      .format = CAM_FORMAT_NV12,
-      .width = sensor->frame_width,
-      .height = sensor->frame_height + sensor->extra_height,
+      .width = buf.out_img_width,
+      .height = buf.out_img_height + sensor->extra_height,
      .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
    },
  };
@ -1141,8 +1147,8 @@ void SpectraCamera::configICP() {
    },
    .out_res[0] = (struct cam_icp_res_info){
      .format = 0x3,  // YUV420NV12
-      .width = sensor->frame_width,
-      .height = sensor->frame_height,
+      .width = buf.out_img_width,
+      .height = buf.out_img_height,
      .fps = 20,
    },
  };
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@ -20,6 +20,17 @@ const uint32_t os04c10_analog_gains_reg[] = {

 }  // namespace

+void OS04C10::ife_downscale_configure() {
+  out_scale = 2;
+
+  pixel_size_mm = 0.002;
+  frame_width = 2688;
+  frame_height = 1520;
+  exposure_time_max = 2352;
+
+  init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10));
+}
+
 OS04C10::OS04C10() {
  image_sensor = cereal::FrameData::ImageSensor::OS04C10;
  bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG;
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@ -88,8 +88,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  {0x37c7, 0xa8},
  {0x37da, 0x11},
  {0x381f, 0x08},
-  // {0x3829, 0x03},
-  // {0x3832, 0x00},
  {0x3881, 0x00},
  {0x3888, 0x04},
  {0x388b, 0x00},
@ -199,7 +197,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  {0x370b, 0x48},
  {0x370c, 0x01},
  {0x370f, 0x00},
-  {0x3714, 0x28},
  {0x3716, 0x04},
  {0x3719, 0x11},
  {0x371a, 0x1e},
@ -231,7 +228,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  {0x37bd, 0x01},
  {0x37bf, 0x26},
  {0x37c0, 0x11},
-  {0x37c2, 0x14},
  {0x37cd, 0x19},
  {0x37e0, 0x08},
  {0x37e6, 0x04},
@ -241,14 +237,9 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  {0x37d8, 0x02},
  {0x37e2, 0x10},
  {0x3739, 0x10},
-  {0x3662, 0x08},
  {0x37e4, 0x20},
  {0x37e3, 0x08},
-  {0x37d9, 0x04},
  {0x4040, 0x00},
-  {0x4041, 0x03},
-  {0x4008, 0x01},
-  {0x4009, 0x06},

  // FSIN
  {0x3002, 0x22},
@ -269,20 +260,11 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  {0x3802, 0x00}, {0x3803, 0x00},
  {0x3804, 0x0a}, {0x3805, 0x8f},
  {0x3806, 0x05}, {0x3807, 0xff},
-  {0x3808, 0x05}, {0x3809, 0x40},
-  {0x380a, 0x02}, {0x380b, 0xf8},
  {0x3811, 0x08},
  {0x3813, 0x08},
-  {0x3814, 0x03},
  {0x3815, 0x01},
-  {0x3816, 0x03},
  {0x3817, 0x01},

-  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
-  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS
-
-  {0x3820, 0xb3},
-  {0x3821, 0x01},
  {0x3880, 0x00},
  {0x3882, 0x20},
  {0x3c91, 0x0b},
@ -331,4 +313,40 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  // r
  {0x5104, 0x08}, {0x5105, 0xd6},
  {0x5144, 0x08}, {0x5145, 0xd6},
+
+  {0x3714, 0x28},
+  {0x37c2, 0x14},
+  {0x3662, 0x08},
+  {0x37d9, 0x04},
+  {0x4041, 0x03},
+  {0x4008, 0x01},
+  {0x4009, 0x06},
+  {0x3808, 0x05}, {0x3809, 0x40},
+  {0x380a, 0x02}, {0x380b, 0xf8},
+  {0x3814, 0x03},
+  {0x3816, 0x03},
+  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
+  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS
+  {0x3820, 0xb3},
+  {0x3821, 0x01},
+};
+
+const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
+  // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
+  {0x3829, 0x03},
+  {0x3714, 0x24},
+  {0x37c2, 0x04},
+  {0x3662, 0x10},
+  {0x37d9, 0x08},
+  {0x4041, 0x07},
+  {0x4008, 0x02},
+  {0x4009, 0x0d},
+  {0x3808, 0x0a}, {0x3809, 0x80},
+  {0x380a, 0x05}, {0x380b, 0xf0},
+  {0x3814, 0x01},
+  {0x3816, 0x01},
+  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
+  {0x380e, 0x09}, {0x380f, 0x38}, // VTS
+  {0x3820, 0xb0},
+  {0x3821, 0x00},
 };
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@ -29,6 +29,7 @@ public:
  uint32_t frame_stride;
  uint32_t frame_offset = 0;
  uint32_t extra_height = 0;
+  int out_scale = 1;
  int registers_offset = -1;
  int stats_offset = -1;
  int hdr_offset = -1;
@ -109,6 +110,7 @@ public:
 class OS04C10 : public SensorInfo {
 public:
  OS04C10();
+  void ife_downscale_configure();
  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;