camerad: reduce ox LFM noise (#26949)

* wip

* make separate score func

* n4ot g

* clean up

* remove

* simplify

* b2b

* more than 0

* this is fine

* led

* balance costs

* clean up

* no if tici

* box view

* new baselines

* Revert "new baselines"

This reverts commit f7a5d059ed.

* Revert "box view"

This reverts commit a57924be36.

* maximize dcg

Co-authored-by: Comma Dev1ce <device@comma.ai>
old-commit-hash: bc8e2032f7

system/camerad/cameras/camera_qcom2.cc

@@ -62,13 +62,13 @@ const float DC_GAIN_OX03C10 = 7.32;
 
 const float DC_GAIN_ON_GREY_AR0231 = 0.2;
 const float DC_GAIN_OFF_GREY_AR0231 = 0.3;
-const float DC_GAIN_ON_GREY_OX03C10= 0.25;
-const float DC_GAIN_OFF_GREY_OX03C10 = 0.35;
+const float DC_GAIN_ON_GREY_OX03C10 = 0.9;
+const float DC_GAIN_OFF_GREY_OX03C10 = 1.0;
 
 const int DC_GAIN_MIN_WEIGHT_AR0231 = 0;
 const int DC_GAIN_MAX_WEIGHT_AR0231 = 1;
-const int DC_GAIN_MIN_WEIGHT_OX03C10 = 16;
-const int DC_GAIN_MAX_WEIGHT_OX03C10 = 32;
+const int DC_GAIN_MIN_WEIGHT_OX03C10 = 1; // always on is fine
+const int DC_GAIN_MAX_WEIGHT_OX03C10 = 1;
 
 const float TARGET_GREY_FACTOR_AR0231 = 1.0;
 const float TARGET_GREY_FACTOR_OX03C10 = 0.02;
@@ -1172,15 +1172,16 @@ void CameraState::set_camera_exposure(float grey_frac) {
     };
     sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true);
   } else if (camera_id == CAMERA_ID_OX03C10) {
-    // t_HCG + t_LCG + t_VS on LPD, t_SPD on SPD
-    uint32_t hcg_time = std::max((dc_gain_weight * exposure_time / dc_gain_max_weight), 0);
-    uint32_t lcg_time = std::max(((dc_gain_max_weight - dc_gain_weight) * exposure_time / dc_gain_max_weight), 0);
-    // uint32_t spd_time = std::max(hcg_time / 16, (uint32_t)exposure_time_min);
-    uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 128, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10);
-    uint32_t spd_time = vs_time;
+    // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD
+    uint32_t hcg_time = exposure_time;
+    uint32_t lcg_time = hcg_time;
+    uint32_t spd_time = exposure_time_max + VS_TIME_MAX_OX03C10;
+    uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10);
 
     uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g];
     uint32_t min_gain = ox03c10_analog_gains_reg[0];
+    uint32_t spd_gain = 0xF00;
+
     struct i2c_random_wr_payload exp_reg_array[] = {
       {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF},
       {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF},
@@ -1189,7 +1190,7 @@ void CameraState::set_camera_exposure(float grey_frac) {
 
       {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
       {0x3588, min_gain>>8}, {0x3589, min_gain&0xFF},
-      {0x3548, min_gain>>8}, {0x3549, min_gain&0xFF},
+      {0x3548, spd_gain>>8}, {0x3549, spd_gain&0xFF},
       {0x35c8, min_gain>>8}, {0x35c9, min_gain&0xFF},
     };
     sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);

system/camerad/cameras/sensor2_i2c.h

@@ -126,7 +126,7 @@ struct i2c_random_wr_payload init_array_ox03c10[] = {
   {0x3219, 0x08},
 
   {0x3506, 0x20}, {0x3507, 0x00}, // hcg fine exposure
-  {0x350a, 0x04}, {0x350b, 0x00}, {0x350c, 0x00}, // hcg digital gain
+  {0x350a, 0x01}, {0x350b, 0x00}, {0x350c, 0x00}, // hcg digital gain
 
   {0x3586, 0x40}, {0x3587, 0x00}, // lcg fine exposure
   {0x358a, 0x01}, {0x358b, 0x00}, {0x358c, 0x00}, // lcg digital gain
@@ -711,11 +711,11 @@ struct i2c_random_wr_payload init_array_ox03c10[] = {
   {0x4221, 0x03},  // this is changed from 1 -> 3
 
   // DCG exposure coarse
-  {0x3501, 0x01}, {0x3502, 0xc8},
+  // {0x3501, 0x01}, {0x3502, 0xc8},
   // SPD exposure coarse
-  {0x3541, 0x01}, {0x3542, 0xc8},
+  // {0x3541, 0x01}, {0x3542, 0xc8},
   // VS exposure coarse
-  {0x35c1, 0x00}, {0x35c2, 0x01},
+  // {0x35c1, 0x00}, {0x35c2, 0x01},
 
   // crc reference
   {0x420e, 0x66}, {0x420f, 0x5d}, {0x4210, 0xa8}, {0x4211, 0x55},