From 67d6847039ecc65186b39382d38a63dfffc0a9b2 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 5 Apr 2022 08:10:53 -0700
Subject: [PATCH] camera_qcom2: target 40ms acquisition time, use register
 wizard (#24093)

* register values from wizard

* target 25fps to leave some room for timing jitter

* update max lines in ui
---
 selfdrive/camerad/cameras/camera_qcom2.cc |  2 +-
 selfdrive/camerad/cameras/sensor2_i2c.h   | 20 ++++++++++++++------
 selfdrive/ui/ui.cc                        |  2 +-
 3 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index 63dd32bb79..e42723ecff 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -64,7 +64,7 @@ const int ANALOG_GAIN_REC_IDX = 0x6; // 0.8x
 const int ANALOG_GAIN_MAX_IDX = 0xD; // 4.0x
 
 const int EXPOSURE_TIME_MIN = 2; // with HDR, fastest ss
-const int EXPOSURE_TIME_MAX = 1904; // with HDR, slowest ss
+const int EXPOSURE_TIME_MAX = 1618; // with HDR, slowest ss, 40ms
 
 // ************** low level camera helpers ****************
 int do_cam_control(int fd, int op_code, void *handle, int size) {
diff --git a/selfdrive/camerad/cameras/sensor2_i2c.h b/selfdrive/camerad/cameras/sensor2_i2c.h
index 169e92182d..75817494b8 100644
--- a/selfdrive/camerad/cameras/sensor2_i2c.h
+++ b/selfdrive/camerad/cameras/sensor2_i2c.h
@@ -65,8 +65,8 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
   {0x3032, 0x0000}, // SCALING_MODE
   {0x30A2, 0x0001}, // X_ODD_INC_
   {0x30A6, 0x0001}, // Y_ODD_INC_
-  {0x3402, 0x0F10}, // X_OUTPUT_CONTROL
-  {0x3404, 0x0970}, // Y_OUTPUT_CONTROL
+  {0x3402, 0x0788}, // X_OUTPUT_CONTROL
+  {0x3404, 0x04B8}, // Y_OUTPUT_CONTROL
   {0x3064, 0x1802}, // SMIA_TEST
   {0x30BA, 0x11F2}, // DIGITAL_CTRL
 
@@ -77,7 +77,7 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
 
   // Readout timing
   {0x300C, 0x07B9}, // LINE_LENGTH_PCK
-  {0x300A, 0x07E7}, // FRAME_LENGTH_LINES
+  {0x300A, 0x0652}, // FRAME_LENGTH_LINES
   {0x3042, 0x0000}, // EXTRA_DELAY
 
   // Readout Settings
@@ -107,9 +107,17 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
 
   // HDR Settings
   {0x3082, 0x0004}, // OPERATION_MODE_CTRL
-  {0x3238, 0x0004}, // EXPOSURE_RATIO
-  {0x3014, 0x098E}, // FINE_INTEGRATION_TIME_
-  {0x321E, 0x098E}, // FINE_INTEGRATION_TIME2
+  {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
+  {0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_
+  {0x321E, 0x08CB}, // FINE_INTEGRATION_TIME2
+  {0x321E, 0x08CB}, // FINE_INTEGRATION_TIME3
+  {0x321E, 0x0894}, // FINE_INTEGRATION_TIME4
+
   {0x31D0, 0x0000}, // COMPANDING, no good in 10 bit?
   {0x33DA, 0x0000}, // COMPANDING
   {0x318E, 0x0200}, // PRE_HDR_GAIN_EN
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 96cd65af79..6825506e66 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -179,7 +179,7 @@ static void update_state(UIState *s) {
   } else if (Hardware::TICI() && sm.updated("wideRoadCameraState")) {
     auto camera_state = sm["wideRoadCameraState"].getWideRoadCameraState();
 
-    float max_lines = 1904;
+    float max_lines = 1618;
     float max_gain = 10.0;
     float max_ev = max_lines * max_gain / 6;