port OX03C10 (#25161)

* start porting OS04C10 * something * is the pll why this doesn't work * understand plls, still doesn't work * work * weee something * working? * timing * encoderd works with less cameras * 1928 * flip image * color balance * adjust black level * extra height maybe * cleanups * clean up sensor i2c * sensors * approx 20fps * remove mirror * 50ms, no fsin yet * remove imx390 support * some attempt at AE * linearize the response * OX changes (#25697) * organize * wb * best effort but probably messed up by artifacts * multicam sync Co-authored-by: Comma Device <device@comma.ai> * clean up * more * fix multiexposure * start porting OS04C10 * something * is the pll why this doesn't work * understand plls, still doesn't work * work * weee something * working? * timing * encoderd works with less cameras * 1928 * flip image * color balance * adjust black level * extra height maybe * cleanups * clean up sensor i2c * sensors * approx 20fps * remove mirror * 50ms, no fsin yet * remove imx390 support * some attempt at AE * linearize the response * OX changes (#25697) * organize * wb * best effort but probably messed up by artifacts * multicam sync Co-authored-by: Comma Device <device@comma.ai> * clean up * more * fix multiexposure * unbroken AE * oops * sort of good AE * both should work 1 * open then init * fix debayer * rename * fix test build Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: ZwX1616 <zwx1616@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
3 years ago · aea1a0d5e6
parent 0ef6bb48df
commit aea1a0d5e6
8 changed files with 989 additions and 129 deletions
--- a/selfdrive/loggerd/encoderd.cc
+++ b/selfdrive/loggerd/encoderd.cc
@ -52,17 +52,23 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
      VisionBuf buf_info = vipc_client.buffers[0];
      LOGW("encoder %s init %dx%d", cam_info.filename, buf_info.width, buf_info.height);
-      // main encoder
+      if (buf_info.width > 0 && buf_info.height > 0) {
-      encoders.push_back(new Encoder(cam_info.filename, cam_info.type, buf_info.width, buf_info.height,
+        // main encoder
-                                     cam_info.fps, cam_info.bitrate,
+        encoders.push_back(new Encoder(cam_info.filename, cam_info.type, buf_info.width, buf_info.height,
-                                     cam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264,
+                                      cam_info.fps, cam_info.bitrate,
-                                     buf_info.width, buf_info.height, false));
+                                      cam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264,
-      // qcamera encoder
+                                      buf_info.width, buf_info.height, false));
-      if (cam_info.has_qcamera) {
+        // qcamera encoder
-        encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, buf_info.width, buf_info.height,
+        if (cam_info.has_qcamera) {
-                                       qcam_info.fps, qcam_info.bitrate,
+          encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, buf_info.width, buf_info.height,
-                                       qcam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264,
+                                        qcam_info.fps, qcam_info.bitrate,
-                                       qcam_info.frame_width, qcam_info.frame_height, false));
+                                        qcam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264,
                                        qcam_info.frame_width, qcam_info.frame_height, false));
        }
      } else {
        LOGE("not initting empty encoder");
        s->max_waiting--;
        break;
      }
    }
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@ -36,10 +36,10 @@ public:
             "-cl-fast-relaxed-math -cl-denorms-are-zero "
             "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
             "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DRGB_STRIDE=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d "
-             "-DCAM_NUM=%d%s",
+             "-DIS_OX=%d -DCAM_NUM=%d%s",
             ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset,
             b->rgb_width, b->rgb_height, b->rgb_stride, buf_width, uv_offset,
-             s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
+             s->camera_id==CAMERA_ID_OX03C10 ? 1 : 0, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
    const char *cl_file = "cameras/real_debayer.cl";
    cl_program prg_debayer = cl_program_from_file(context, device_id, cl_file, args);
    krnl_ = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err));
@ -348,8 +348,8 @@ void camerad_thread() {
  MultiCameraState cameras = {};
  VisionIpcServer vipc_server("camerad", device_id, context);
  cameras_init(&vipc_server, &cameras, device_id, context);
  cameras_open(&cameras);
  cameras_init(&vipc_server, &cameras, device_id, context);
  vipc_server.start_listener();
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@ -23,7 +23,7 @@
 #define CAMERA_ID_LGC920 6
 #define CAMERA_ID_LGC615 7
 #define CAMERA_ID_AR0231 8
-#define CAMERA_ID_IMX390 9
+#define CAMERA_ID_OX03C10 9
 #define CAMERA_ID_MAX 10
 const int YUV_BUFFER_COUNT = 40;
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@ -32,7 +32,8 @@ const size_t FRAME_HEIGHT = 1208;
 const size_t FRAME_STRIDE = 2896;  // for 12 bit output. 1928 * 12 / 8 + 4 (alignment)
 const size_t AR0231_REGISTERS_HEIGHT = 2;
-const size_t AR0231_STATS_HEIGHT = 2;
+// TODO: this extra height is universal and doesn't apply per camera
 const size_t AR0231_STATS_HEIGHT = 2+8;
 const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
@ -47,26 +48,60 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
    .frame_offset = AR0231_REGISTERS_HEIGHT,
    .stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT,
  },
-  [CAMERA_ID_IMX390] = {
+  [CAMERA_ID_OX03C10] = {
    .frame_width = FRAME_WIDTH,
    .frame_height = FRAME_HEIGHT,
-    .frame_stride = FRAME_STRIDE,
+    .frame_stride = FRAME_STRIDE, // (0xa80*12//8)
    .extra_height = 16, // this right?
  },
 };
-const float DC_GAIN = 2.5;
+const float DC_GAIN_AR0231 = 2.5;
-const float sensor_analog_gains[] = {
+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= 0.3;
 const float DC_GAIN_OFF_GREY_OX03C10 = 0.375;
 const int DC_GAIN_MIN_WEIGHT = 0;
 const int DC_GAIN_MAX_WEIGHT_AR0231 = 1;
 const int DC_GAIN_MAX_WEIGHT_OX03C10 = 32;
 const float sensor_analog_gains_AR0231[] = {
  1.0/8.0, 2.0/8.0, 2.0/7.0, 3.0/7.0, // 0, 1, 2, 3
  3.0/6.0, 4.0/6.0, 4.0/5.0, 5.0/5.0, // 4, 5, 6, 7
  5.0/4.0, 6.0/4.0, 6.0/3.0, 7.0/3.0, // 8, 9, 10, 11
  7.0/2.0, 8.0/2.0, 8.0/1.0};         // 12, 13, 14, 15 = bypass
-const int ANALOG_GAIN_MIN_IDX = 0x1; // 0.25x
+// similar gain curve to AR
-const int ANALOG_GAIN_REC_IDX = 0x6; // 0.8x
+const float sensor_analog_gains_OX03C10[] = {
-const int ANALOG_GAIN_MAX_IDX = 0xD; // 4.0x
+  1.0, 1.25, 1.3125, 1.5625,
  1.6875, 2.0, 2.25, 2.625,
  3.125, 3.625, 4.5, 5.0,
  7.25, 8.5, 12.0, 15.5};
 const uint32_t ox03c10_analog_gains_reg[] = {
  0x100, 0x140, 0x150, 0x190,
  0x1B0, 0x200, 0x240, 0x2A0,
  0x320, 0x3A0, 0x480, 0x500,
  0x740, 0x880, 0xC00, 0xF80};
 const int ANALOG_GAIN_MIN_IDX_AR0231 = 0x1; // 0.25x
 const int ANALOG_GAIN_REC_IDX_AR0231 = 0x6; // 0.8x
 const int ANALOG_GAIN_MAX_IDX_AR0231 = 0xD; // 4.0x
 const int ANALOG_GAIN_MIN_IDX_OX03C10 = 0x0;
 const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x5; // 2x
 const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0xF;
 const int EXPOSURE_TIME_MIN_AR0231 = 2; // with HDR, fastest ss
 const int EXPOSURE_TIME_MAX_AR0231 = 0x0855; // with HDR, slowest ss, 40ms
-const int EXPOSURE_TIME_MIN = 2; // with HDR, fastest ss
+const int EXPOSURE_TIME_MIN_OX03C10 = 2; // 1x
-const int EXPOSURE_TIME_MAX = 0x0855; // with HDR, slowest ss, 40ms
+const int EXPOSURE_TIME_MAX_OX03C10 = 2016;
 const uint32_t VS_TIME_MIN_OX03C10 = 1;
 const uint32_t VS_TIME_MAX_OX03C10 = 34; // vs < 35
 // ************** low level camera helpers ****************
 int do_cam_control(int fd, int op_code, void *handle, int size) {
@ -213,8 +248,8 @@ void CameraState::sensors_start() {
  LOGD("starting sensor %d", camera_num);
  if (camera_id == CAMERA_ID_AR0231) {
    sensors_i2c(start_reg_array_ar0231, std::size(start_reg_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true);
-  } else if (camera_id == CAMERA_ID_IMX390) {
+  } else if (camera_id == CAMERA_ID_OX03C10) {
-    sensors_i2c(start_reg_array_imx390, std::size(start_reg_array_imx390), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
+    sensors_i2c(start_reg_array_ox03c10, std::size(start_reg_array_ox03c10), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
  } else {
    assert(false);
  }
@ -300,15 +335,15 @@ int CameraState::sensors_init() {
  switch (camera_num) {
    case 0:
      // port 0
-      i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x34;
+      i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x6C; // 6C = 0x36*2
      break;
    case 1:
      // port 1
-      i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x30 : 0x36;
+      i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x30 : 0x20;
      break;
    case 2:
      // port 2
-      i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x34;
+      i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x6C;
      break;
  }
@ -324,9 +359,9 @@ int CameraState::sensors_init() {
  if (camera_id == CAMERA_ID_AR0231) {
    probe->reg_addr = 0x3000;
    probe->expected_data = 0x354;
-  } else if (camera_id == CAMERA_ID_IMX390) {
+  } else if (camera_id == CAMERA_ID_OX03C10) {
-    probe->reg_addr = 0x330;
+    probe->reg_addr = 0x300a;
-    probe->expected_data = 0x1538;
+    probe->expected_data = 0x5803;
  } else {
    assert(false);
  }
@ -393,8 +428,8 @@ int CameraState::sensors_init() {
  power->power_settings[1].power_seq_type = 1;
  power->power_settings[2].power_seq_type = 3;
  LOGD("probing the sensor");
  int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
  LOGD("probing the sensor: %d", ret);
  mm.free(i2c_info);
  mm.free(power_settings);
@ -606,12 +641,67 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) {
 // ******************* camera *******************
-void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServer * v, int camera_id_, int camera_num_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, bool enabled_) {
+void CameraState::camera_set_parameters() {
-  multi_cam_state = multi_cam_state_;
+  if (camera_id == CAMERA_ID_AR0231) {
-  camera_id = camera_id_;
+    dc_gain_factor = DC_GAIN_AR0231;
-  camera_num = camera_num_;
+    dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_AR0231;
-  enabled = enabled_;
+    dc_gain_on_grey = DC_GAIN_ON_GREY_AR0231;
    dc_gain_off_grey = DC_GAIN_OFF_GREY_AR0231;
    exposure_time_min = EXPOSURE_TIME_MIN_AR0231;
    exposure_time_max = EXPOSURE_TIME_MAX_AR0231;
    analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_AR0231;
    analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_AR0231;
    analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_AR0231;
    for (int i=0; i<=analog_gain_max_idx; i++) {
      sensor_analog_gains[i] = sensor_analog_gains_AR0231[i];
    }
    min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
  } else if (camera_id == CAMERA_ID_OX03C10) {
    dc_gain_factor = DC_GAIN_OX03C10;
    dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_OX03C10;
    dc_gain_on_grey = DC_GAIN_ON_GREY_OX03C10;
    dc_gain_off_grey = DC_GAIN_OFF_GREY_OX03C10;
    exposure_time_min = EXPOSURE_TIME_MIN_OX03C10;
    exposure_time_max = EXPOSURE_TIME_MAX_OX03C10;
    analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_OX03C10;
    analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_OX03C10;
    analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_OX03C10;
    for (int i=0; i<=analog_gain_max_idx; i++) {
      sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i];
    }
    min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx];
  } else {
    assert(false);
  }
  max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
  target_grey_fraction = 0.3;
  dc_gain_enabled = false;
  dc_gain_weight = DC_GAIN_MIN_WEIGHT;
  gain_idx = analog_gain_rec_idx;
  exposure_time = 5;
  cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight) * sensor_analog_gains[gain_idx] * exposure_time;
 }
 void CameraState::camera_map_bufs(MultiCameraState *s) {
  for (int i = 0; i < FRAME_BUF_COUNT; i++) {
    // configure ISP to put the image in place
    struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
    mem_mgr_map_cmd.mmu_hdls[0] = s->device_iommu;
    mem_mgr_map_cmd.num_hdl = 1;
    mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
    mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
    int ret = do_cam_control(s->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
    LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
    buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
  }
  enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }
 void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, int camera_id_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type) {
  if (!enabled) return;
  camera_id = camera_id_;
  LOGD("camera init %d", camera_num);
  assert(camera_id < std::size(cameras_supported));
@ -621,19 +711,18 @@ void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServe
  request_id_last = 0;
  skipped = true;
-  min_ev = EXPOSURE_TIME_MIN * sensor_analog_gains[ANALOG_GAIN_MIN_IDX];
+  camera_set_parameters();
  max_ev = EXPOSURE_TIME_MAX * sensor_analog_gains[ANALOG_GAIN_MAX_IDX] * DC_GAIN;
  target_grey_fraction = 0.3;
  dc_gain_enabled = false;
  gain_idx = ANALOG_GAIN_REC_IDX;
  exposure_time = 5;
  cur_ev[0] = cur_ev[1] = cur_ev[2] = (dc_gain_enabled ? DC_GAIN : 1) * sensor_analog_gains[gain_idx] * exposure_time;
  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type);
  camera_map_bufs(s);
 }
-void CameraState::camera_open() {
+void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num_, bool enabled_) {
  multi_cam_state = multi_cam_state_;
  camera_num = camera_num_;
  enabled = enabled_;
  if (!enabled) return;
  int ret;
  sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num);
  assert(sensor_fd >= 0);
@ -644,10 +733,12 @@ void CameraState::camera_open() {
  // probe the sensor
  LOGD("-- Probing sensor %d", camera_num);
  camera_id = CAMERA_ID_AR0231;
  ret = sensors_init();
  if (ret != 0) {
-    LOGD("AR0231 init failed, trying IMX390");
+    // TODO: use build flag instead?
-    camera_id = CAMERA_ID_IMX390;
+    LOGD("AR0231 init failed, trying OX03C10");
    camera_id = CAMERA_ID_OX03C10;
    ret = sensors_init();
  }
  LOGD("-- Probing sensor %d done with %d", camera_num, ret);
@ -671,13 +762,18 @@ void CameraState::camera_open() {
  LOGD("acquire sensor dev");
  LOG("-- Configuring sensor");
  uint32_t dt;
  if (camera_id == CAMERA_ID_AR0231) {
    sensors_i2c(init_array_ar0231, std::size(init_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true);
-  } else if (camera_id == CAMERA_ID_IMX390) {
+    dt = 0x12;  // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
-    sensors_i2c(init_array_imx390, std::size(init_array_imx390), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
+  } else if (camera_id == CAMERA_ID_OX03C10) {
    sensors_i2c(init_array_ox03c10, std::size(init_array_ox03c10), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
    // one is 0x2a, two are 0x2b
    dt = 0x2c;
  } else {
    assert(false);
  }
  printf("dt is %x\n", dt);
  // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
  // If you don't do this, the strobe GPIO is an output (even in reset it seems!)
@ -691,7 +787,7 @@ void CameraState::camera_open() {
      .lane_cfg = 0x3210,
      .vc = 0x0,
-      .dt = 0x12, // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
+      .dt = dt,
      .format = CAM_FORMAT_MIPI_RAW_12,
      .test_pattern = 0x2,  // 0x3?
@ -805,29 +901,15 @@ void CameraState::camera_open() {
  ret = device_control(multi_cam_state->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle);
  LOGD("start isp: %d", ret);
  for (int i = 0; i < FRAME_BUF_COUNT; i++) {
    // configure ISP to put the image in place
    struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
    mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
    mem_mgr_map_cmd.num_hdl = 1;
    mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
    mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
    ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
    LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
    buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
  }
  // TODO: this is unneeded, should we be doing the start i2c in a different way?
  //ret = device_control(sensor_fd, CAM_START_DEV, session_handle, sensor_dev_handle);
  //LOGD("start sensor: %d", ret);
  enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  s->driver_cam.camera_init(s, v, CAMERA_ID_AR0231, 2, 20, device_id, ctx, VISION_STREAM_DRIVER, !env_disable_driver);
+  s->driver_cam.camera_init(s, v, s->driver_cam.camera_id, 20, device_id, ctx, VISION_STREAM_DRIVER);
-  s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_ROAD, !env_disable_road);
+  s->road_cam.camera_init(s, v, s->road_cam.camera_id, 20, device_id, ctx, VISION_STREAM_ROAD);
-  s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road);
+  s->wide_road_cam.camera_init(s, v, s->wide_road_cam.camera_id, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD);
  s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
@ -873,11 +955,11 @@ void cameras_open(MultiCameraState *s) {
  ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
  LOGD("req mgr subscribe: %d", ret);
-  s->driver_cam.camera_open();
+  s->driver_cam.camera_open(s, 2, !env_disable_driver);
  LOGD("driver camera opened");
-  s->road_cam.camera_open();
+  s->road_cam.camera_open(s, 1, !env_disable_road);
  LOGD("road camera opened");
-  s->wide_road_cam.camera_open();
+  s->wide_road_cam.camera_open(s, 0, !env_disable_wide_road);
  LOGD("wide road camera opened");
 }
@ -1044,7 +1126,7 @@ void CameraState::handle_camera_event(void *evdat) {
    meta_data.frame_id = main_id - idx_offset;
    meta_data.timestamp_sof = timestamp;
    exp_lock.lock();
-    meta_data.gain = dc_gain_enabled ? analog_gain_frac * DC_GAIN : analog_gain_frac;
+    meta_data.gain = analog_gain_frac * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight);
    meta_data.high_conversion_gain = dc_gain_enabled;
    meta_data.integ_lines = exposure_time;
    meta_data.measured_grey_fraction = measured_grey_fraction;
@ -1096,12 +1178,17 @@ void CameraState::set_camera_exposure(float grey_frac) {
  // Hysteresis around high conversion gain
  // We usually want this on since it results in lower noise, but turn off in very bright day scenes
  bool enable_dc_gain = dc_gain_enabled;
-  if (!enable_dc_gain && target_grey < 0.2) {
+  if (!enable_dc_gain && target_grey < dc_gain_on_grey) {
    enable_dc_gain = true;
-  } else if (enable_dc_gain && target_grey > 0.3) {
+    dc_gain_weight = DC_GAIN_MIN_WEIGHT;
  } else if (enable_dc_gain && target_grey > dc_gain_off_grey) {
    enable_dc_gain = false;
    dc_gain_weight = dc_gain_max_weight;
  }
  if (enable_dc_gain && dc_gain_weight < dc_gain_max_weight) {dc_gain_weight += 1;}
  if (!enable_dc_gain && dc_gain_weight > DC_GAIN_MIN_WEIGHT) {dc_gain_weight -= 1;}
  std::string gain_bytes, time_bytes;
  if (env_ctrl_exp_from_params) {
      gain_bytes = Params().get("CameraDebugExpGain");
@ -1119,14 +1206,14 @@ void CameraState::set_camera_exposure(float grey_frac) {
  } else {
    // Simple brute force optimizer to choose sensor parameters
    // to reach desired EV
-    for (int g = std::max((int)ANALOG_GAIN_MIN_IDX, gain_idx - 1); g <= std::min((int)ANALOG_GAIN_MAX_IDX, gain_idx + 1); g++) {
+    for (int g = std::max((int)analog_gain_min_idx, gain_idx - 1); g <= std::min((int)analog_gain_max_idx, gain_idx + 1); g++) {
-      float gain = sensor_analog_gains[g] * (enable_dc_gain ? DC_GAIN : 1);
+      float gain = sensor_analog_gains[g] * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight);
      // Compute optimal time for given gain
-      int t = std::clamp(int(std::round(desired_ev / gain)), EXPOSURE_TIME_MIN, EXPOSURE_TIME_MAX);
+      int t = std::clamp(int(std::round(desired_ev / gain)), exposure_time_min, exposure_time_max);
      // Only go below recommended gain when absolutely necessary to not overexpose
-      if (g < ANALOG_GAIN_REC_IDX && t > 20 && g < gain_idx) {
+      if (g < analog_gain_rec_idx && t > 20 && g < gain_idx) {
        continue;
      }
@ -1134,8 +1221,8 @@ void CameraState::set_camera_exposure(float grey_frac) {
      float score = std::abs(desired_ev - (t * gain)) * 10;
      // Going below recommended gain needs lower penalty to not overexpose
-      float m = g > ANALOG_GAIN_REC_IDX ? 5.0 : 0.1;
+      float m = g > analog_gain_rec_idx ? 5.0 : 0.1;
-      score += std::abs(g - (int)ANALOG_GAIN_REC_IDX) * m;
+      score += std::abs(g - (int)analog_gain_rec_idx) * m;
      // LOGE("cam: %d - gain: %d, t: %d (%.2f), score %.2f, score + gain %.2f, %.3f, %.3f", camera_num, g, t, desired_ev / gain, score, score + std::abs(g - gain_idx) * (score + 1.0) / 10.0, desired_ev, min_ev);
@ -1160,7 +1247,7 @@ void CameraState::set_camera_exposure(float grey_frac) {
  exposure_time = new_t;
  dc_gain_enabled = enable_dc_gain;
-  float gain = analog_gain_frac * (dc_gain_enabled ? DC_GAIN : 1.0);
+  float gain = analog_gain_frac * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight);
  cur_ev[buf.cur_frame_data.frame_id % 3] = exposure_time * gain;
  exp_lock.unlock();
@ -1181,17 +1268,25 @@ void CameraState::set_camera_exposure(float grey_frac) {
                                                    {0x3012, (uint16_t)exposure_time},
                                                  };
    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_IMX390) {
+  } else if (camera_id == CAMERA_ID_OX03C10) {
-    // if gain is sub 1, we have to use exposure to mimic sub 1 gains
+    // t_HCG + t_LCG + t_VS on LPD, t_SPD on SPD
-    uint32_t real_exposure_time = (gain < 1.0) ? (exposure_time*gain) : exposure_time;
+    uint32_t hcg_time = std::max((dc_gain_weight * exposure_time / dc_gain_max_weight), 0);
-    // invert real_exposure_time, max exposure is 2
+    uint32_t lcg_time = std::max(((dc_gain_max_weight - dc_gain_weight) * exposure_time / dc_gain_max_weight), 0);
-    real_exposure_time = (exposure_time >= 0x7cf) ? 2 : (0x7cf - exposure_time);
+    uint32_t spd_time = std::max(hcg_time / 16, (uint32_t)exposure_time_min);
-    uint32_t real_gain = int((10*log10(fmax(1.0, gain)))/0.3);
+    uint32_t vs_time = std::min(std::max(hcg_time / 64, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10);
-    //printf("%d expose: %d gain: %f = %d\n", camera_num, exposure_time, gain, real_gain);
+
    uint32_t real_gain = ox03c10_analog_gains_reg[new_g];
    struct i2c_random_wr_payload exp_reg_array[] = {
-      {0x000c, real_exposure_time&0xFF}, {0x000d, real_exposure_time>>8},
+
-      {0x0010, real_exposure_time&0xFF}, {0x0011, real_exposure_time>>8},
+      {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF},
-      {0x0018, real_gain&0xFF}, {0x0019, real_gain>>8},
+      {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF},
      {0x3541, spd_time>>8}, {0x3542, spd_time&0xFF},
      {0x35c1, vs_time>>8}, {0x35c2, vs_time&0xFF},
      {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
      {0x3588, real_gain>>8}, {0x3589, real_gain&0xFF},
      {0x3548, real_gain>>8}, {0x3549, real_gain&0xFF},
      {0x35c8, real_gain>>8}, {0x35c9, real_gain&0xFF},
    };
    sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
  }
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@ -36,14 +36,28 @@ public:
  int exposure_time;
  bool dc_gain_enabled;
  int dc_gain_weight;
  int gain_idx;
  float analog_gain_frac;
  int exposure_time_min;
  int exposure_time_max;
  float dc_gain_factor;
  int dc_gain_max_weight;
  float dc_gain_on_grey;
  float dc_gain_off_grey;
  float sensor_analog_gains[16];
  int analog_gain_min_idx;
  int analog_gain_max_idx;
  int analog_gain_rec_idx;
  float cur_ev[3];
  float min_ev, max_ev;
  float measured_grey_fraction;
  float target_grey_fraction;
  int gain_idx;
  unique_fd sensor_fd;
  unique_fd csiphy_fd;
@ -55,8 +69,10 @@ public:
  void sensors_start();
-  void camera_open();
+  void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled);
-  void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, bool enabled);
+  void camera_set_parameters();
  void camera_map_bufs(MultiCameraState *s);
  void camera_init(MultiCameraState *s, VisionIpcServer *v, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type);
  void camera_close();
  std::map<uint16_t, uint16_t> ar0231_parse_registers(uint8_t *data, std::initializer_list<uint16_t> addrs);
--- a/system/camerad/cameras/real_debayer.cl
+++ b/system/camerad/cameras/real_debayer.cl
@ -8,9 +8,15 @@
 float3 color_correct(float3 rgb) {
  // color correction
  #if IS_OX
  float3 x = rgb.x * (float3)(1.81485125, -0.51650643, -0.06985117);
  x += rgb.y * (float3)(-0.51681964,  1.85935946, -0.49871889);
  x += rgb.z * (float3)(-0.29803161, -0.34285304,  1.56857006);
  #else
  float3 x = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673);
  x += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455);
  x += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
  #endif
  // tone mapping params
  const float gamma_k = 0.75;
@ -36,14 +42,43 @@ float get_vignetting_s(float r) {
  }
 }
 constant float ox03c10_lut[] = {
  0.0000e+00, 5.9488e-08, 1.1898e-07, 1.7846e-07, 2.3795e-07, 2.9744e-07, 3.5693e-07, 4.1642e-07, 4.7591e-07, 5.3539e-07, 5.9488e-07, 6.5437e-07, 7.1386e-07, 7.7335e-07, 8.3284e-07, 8.9232e-07, 9.5181e-07, 1.0113e-06, 1.0708e-06, 1.1303e-06, 1.1898e-06, 1.2493e-06, 1.3087e-06, 1.3682e-06, 1.4277e-06, 1.4872e-06, 1.5467e-06, 1.6062e-06, 1.6657e-06, 1.7252e-06, 1.7846e-06, 1.8441e-06, 1.9036e-06, 1.9631e-06, 2.0226e-06, 2.0821e-06, 2.1416e-06, 2.2011e-06, 2.2606e-06, 2.3200e-06, 2.3795e-06, 2.4390e-06, 2.4985e-06, 2.5580e-06, 2.6175e-06, 2.6770e-06, 2.7365e-06, 2.7959e-06, 2.8554e-06, 2.9149e-06, 2.9744e-06, 3.0339e-06, 3.0934e-06, 3.1529e-06, 3.2124e-06, 3.2719e-06, 3.3313e-06, 3.3908e-06, 3.4503e-06, 3.5098e-06, 3.5693e-06, 3.6288e-06, 3.6883e-06, 3.7478e-06, 3.8072e-06, 3.8667e-06, 3.9262e-06, 3.9857e-06, 4.0452e-06, 4.1047e-06, 4.1642e-06, 4.2237e-06, 4.2832e-06, 4.3426e-06, 4.4021e-06, 4.4616e-06, 4.5211e-06, 4.5806e-06, 4.6401e-06, 4.6996e-06, 4.7591e-06, 4.8185e-06, 4.8780e-06, 4.9375e-06, 4.9970e-06, 5.0565e-06, 5.1160e-06, 5.1755e-06, 5.2350e-06, 5.2945e-06, 5.3539e-06, 5.4134e-06, 5.4729e-06, 5.5324e-06, 5.5919e-06, 5.6514e-06, 5.7109e-06, 5.7704e-06, 5.8298e-06, 5.8893e-06, 5.9488e-06, 6.0083e-06, 6.0678e-06, 6.1273e-06, 6.1868e-06, 6.2463e-06, 6.3058e-06, 6.3652e-06, 6.4247e-06, 6.4842e-06, 6.5437e-06, 6.6032e-06, 6.6627e-06, 6.7222e-06, 6.7817e-06, 6.8411e-06, 6.9006e-06, 6.9601e-06, 7.0196e-06, 7.0791e-06, 7.1386e-06, 7.1981e-06, 7.2576e-06, 7.3171e-06, 7.3765e-06, 7.4360e-06, 7.4955e-06, 7.5550e-06, 7.6145e-06, 7.6740e-06, 7.7335e-06, 7.7930e-06, 7.8524e-06, 7.9119e-06, 7.9714e-06, 8.0309e-06, 8.0904e-06, 8.1499e-06, 8.2094e-06, 8.2689e-06, 8.3284e-06, 8.3878e-06, 8.4473e-06, 8.5068e-06, 8.5663e-06, 8.6258e-06, 8.6853e-06, 8.7448e-06, 8.8043e-06, 8.8637e-06, 8.9232e-06, 8.9827e-06, 9.0422e-06, 9.1017e-06, 9.1612e-06, 9.2207e-06, 9.2802e-06, 9.3397e-06, 9.3991e-06, 9.4586e-06, 9.5181e-06, 9.5776e-06, 9.6371e-06, 9.6966e-06, 9.7561e-06, 9.8156e-06, 9.8750e-06, 9.9345e-06, 9.9940e-06, 1.0054e-05, 1.0113e-05, 1.0172e-05, 1.0232e-05, 1.0291e-05, 1.0351e-05, 1.0410e-05, 1.0470e-05, 1.0529e-05, 1.0589e-05, 1.0648e-05, 1.0708e-05, 1.0767e-05, 1.0827e-05, 1.0886e-05, 1.0946e-05, 1.1005e-05, 1.1065e-05, 1.1124e-05, 1.1184e-05, 1.1243e-05, 1.1303e-05, 1.1362e-05, 1.1422e-05, 1.1481e-05, 1.1541e-05, 1.1600e-05, 1.1660e-05, 1.1719e-05, 1.1779e-05, 1.1838e-05, 1.1898e-05, 1.1957e-05, 1.2017e-05, 1.2076e-05, 1.2136e-05, 1.2195e-05, 1.2255e-05, 1.2314e-05, 1.2374e-05, 1.2433e-05, 1.2493e-05, 1.2552e-05, 1.2612e-05, 1.2671e-05, 1.2730e-05, 1.2790e-05, 1.2849e-05, 1.2909e-05, 1.2968e-05, 1.3028e-05, 1.3087e-05, 1.3147e-05, 1.3206e-05, 1.3266e-05, 1.3325e-05, 1.3385e-05, 1.3444e-05, 1.3504e-05, 1.3563e-05, 1.3623e-05, 1.3682e-05, 1.3742e-05, 1.3801e-05, 1.3861e-05, 1.3920e-05, 1.3980e-05, 1.4039e-05, 1.4099e-05, 1.4158e-05, 1.4218e-05, 1.4277e-05, 1.4337e-05, 1.4396e-05, 1.4456e-05, 1.4515e-05, 1.4575e-05, 1.4634e-05, 1.4694e-05, 1.4753e-05, 1.4813e-05, 1.4872e-05, 1.4932e-05, 1.4991e-05, 1.5051e-05, 1.5110e-05, 1.5169e-05, 
  1.5229e-05, 1.5288e-05, 1.5348e-05, 1.5407e-05, 1.5467e-05, 1.5526e-05, 1.5586e-05, 1.5645e-05, 1.5705e-05, 1.5764e-05, 1.5824e-05, 1.5883e-05, 1.5943e-05, 1.6002e-05, 1.6062e-05, 1.6121e-05, 1.6181e-05, 1.6240e-05, 1.6300e-05, 1.6359e-05, 1.6419e-05, 1.6478e-05, 1.6538e-05, 1.6597e-05, 1.6657e-05, 1.6716e-05, 1.6776e-05, 1.6835e-05, 1.6895e-05, 1.6954e-05, 1.7014e-05, 1.7073e-05, 1.7133e-05, 1.7192e-05, 1.7252e-05, 1.7311e-05, 1.7371e-05, 1.7430e-05, 1.7490e-05, 1.7549e-05, 1.7609e-05, 1.7668e-05, 1.7727e-05, 1.7787e-05, 1.7846e-05, 1.7906e-05, 1.7965e-05, 1.8025e-05, 1.8084e-05, 1.8144e-05, 1.8203e-05, 1.8263e-05, 1.8322e-05, 1.8382e-05, 1.8441e-05, 1.8501e-05, 1.8560e-05, 1.8620e-05, 1.8679e-05, 1.8739e-05, 1.8798e-05, 1.8858e-05, 1.8917e-05, 1.8977e-05, 1.9036e-05, 1.9096e-05, 1.9155e-05, 1.9215e-05, 1.9274e-05, 1.9334e-05, 1.9393e-05, 1.9453e-05, 1.9512e-05, 1.9572e-05, 1.9631e-05, 1.9691e-05, 1.9750e-05, 1.9810e-05, 1.9869e-05, 1.9929e-05, 1.9988e-05, 2.0048e-05, 2.0107e-05, 2.0167e-05, 2.0226e-05, 2.0285e-05, 2.0345e-05, 2.0404e-05, 2.0464e-05, 2.0523e-05, 2.0583e-05, 2.0642e-05, 2.0702e-05, 2.0761e-05, 2.0821e-05, 2.0880e-05, 2.0940e-05, 2.0999e-05, 2.1059e-05, 2.1118e-05, 2.1178e-05, 2.1237e-05, 2.1297e-05, 2.1356e-05, 2.1416e-05, 2.1475e-05, 2.1535e-05, 2.1594e-05, 2.1654e-05, 2.1713e-05, 2.1773e-05, 2.1832e-05, 2.1892e-05, 2.1951e-05, 2.2011e-05, 2.2070e-05, 2.2130e-05, 2.2189e-05, 2.2249e-05, 2.2308e-05, 2.2368e-05, 2.2427e-05, 2.2487e-05, 2.2546e-05, 2.2606e-05, 2.2665e-05, 2.2725e-05, 2.2784e-05, 2.2843e-05, 2.2903e-05, 2.2962e-05, 2.3022e-05, 2.3081e-05, 2.3141e-05, 2.3200e-05, 2.3260e-05, 2.3319e-05, 2.3379e-05, 2.3438e-05, 2.3498e-05, 2.3557e-05, 2.3617e-05, 2.3676e-05, 2.3736e-05, 2.3795e-05, 2.3855e-05, 2.3914e-05, 2.3974e-05, 2.4033e-05, 2.4093e-05, 2.4152e-05, 2.4212e-05, 2.4271e-05, 2.4331e-05, 2.4390e-05, 2.4450e-05, 2.4509e-05, 2.4569e-05, 2.4628e-05, 2.4688e-05, 2.4747e-05, 2.4807e-05, 2.4866e-05, 2.4926e-05, 2.4985e-05, 2.5045e-05, 2.5104e-05, 2.5164e-05, 2.5223e-05, 2.5282e-05, 2.5342e-05, 2.5401e-05, 2.5461e-05, 2.5520e-05, 2.5580e-05, 2.5639e-05, 2.5699e-05, 2.5758e-05, 2.5818e-05, 2.5877e-05, 2.5937e-05, 2.5996e-05, 2.6056e-05, 2.6115e-05, 2.6175e-05, 2.6234e-05, 2.6294e-05, 2.6353e-05, 2.6413e-05, 2.6472e-05, 2.6532e-05, 2.6591e-05, 2.6651e-05, 2.6710e-05, 2.6770e-05, 2.6829e-05, 2.6889e-05, 2.6948e-05, 2.7008e-05, 2.7067e-05, 2.7127e-05, 2.7186e-05, 2.7246e-05, 2.7305e-05, 2.7365e-05, 2.7424e-05, 2.7484e-05, 2.7543e-05, 2.7603e-05, 2.7662e-05, 2.7722e-05, 2.7781e-05, 2.7840e-05, 2.7900e-05, 2.7959e-05, 2.8019e-05, 2.8078e-05, 2.8138e-05, 2.8197e-05, 2.8257e-05, 2.8316e-05, 2.8376e-05, 2.8435e-05, 2.8495e-05, 2.8554e-05, 2.8614e-05, 2.8673e-05, 2.8733e-05, 2.8792e-05, 2.8852e-05, 2.8911e-05, 2.8971e-05, 2.9030e-05, 2.9090e-05, 2.9149e-05, 2.9209e-05, 2.9268e-05, 2.9328e-05, 2.9387e-05, 2.9447e-05, 2.9506e-05, 2.9566e-05, 2.9625e-05, 2.9685e-05, 2.9744e-05, 2.9804e-05, 2.9863e-05, 2.9923e-05, 2.9982e-05, 3.0042e-05, 3.0101e-05, 3.0161e-05, 3.0220e-05, 3.0280e-05, 3.0339e-05, 3.0398e-05, 
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  3.7695e-01, 3.7890e-01, 3.8086e-01, 3.8281e-01, 3.8476e-01, 3.8672e-01, 3.8867e-01, 3.9062e-01, 3.9258e-01, 3.9453e-01, 3.9648e-01, 3.9844e-01, 4.0039e-01, 4.0234e-01, 4.0430e-01, 4.0625e-01, 4.0820e-01, 4.1015e-01, 4.1211e-01, 4.1406e-01, 4.1601e-01, 4.1797e-01, 4.1992e-01, 4.2187e-01, 4.2383e-01, 4.2578e-01, 4.2773e-01, 4.2969e-01, 4.3164e-01, 4.3359e-01, 4.3555e-01, 4.3750e-01, 4.3945e-01, 4.4140e-01, 4.4336e-01, 4.4531e-01, 4.4726e-01, 4.4922e-01, 4.5117e-01, 4.5312e-01, 4.5508e-01, 4.5703e-01, 4.5898e-01, 4.6094e-01, 4.6289e-01, 4.6484e-01, 4.6680e-01, 4.6875e-01, 4.7070e-01, 4.7265e-01, 4.7461e-01, 4.7656e-01, 4.7851e-01, 4.8047e-01, 4.8242e-01, 4.8437e-01, 4.8633e-01, 4.8828e-01, 4.9023e-01, 4.9219e-01, 4.9414e-01, 4.9609e-01, 4.9805e-01, 5.0000e-01, 5.0195e-01, 5.0390e-01, 5.0586e-01, 5.0781e-01, 5.0976e-01, 5.1172e-01, 5.1367e-01, 5.1562e-01, 5.1758e-01, 5.1953e-01, 5.2148e-01, 5.2344e-01, 5.2539e-01, 5.2734e-01, 5.2930e-01, 5.3125e-01, 5.3320e-01, 5.3515e-01, 5.3711e-01, 5.3906e-01, 5.4101e-01, 5.4297e-01, 5.4492e-01, 5.4687e-01, 5.4883e-01, 5.5078e-01, 5.5273e-01, 5.5469e-01, 5.5664e-01, 5.5859e-01, 5.6055e-01, 5.6250e-01, 5.6445e-01, 5.6640e-01, 5.6836e-01, 5.7031e-01, 5.7226e-01, 5.7422e-01, 5.7617e-01, 5.7812e-01, 5.8008e-01, 5.8203e-01, 5.8398e-01, 5.8594e-01, 5.8789e-01, 5.8984e-01, 5.9180e-01, 5.9375e-01, 5.9570e-01, 5.9765e-01, 5.9961e-01, 6.0156e-01, 6.0351e-01, 6.0547e-01, 6.0742e-01, 6.0937e-01, 6.1133e-01, 6.1328e-01, 6.1523e-01, 6.1719e-01, 6.1914e-01, 6.2109e-01, 6.2305e-01, 6.2500e-01, 6.2695e-01, 6.2890e-01, 6.3086e-01, 6.3281e-01, 6.3476e-01, 6.3672e-01, 6.3867e-01, 6.4062e-01, 6.4258e-01, 6.4453e-01, 6.4648e-01, 6.4844e-01, 6.5039e-01, 6.5234e-01, 6.5430e-01, 6.5625e-01, 6.5820e-01, 6.6015e-01, 6.6211e-01, 6.6406e-01, 6.6601e-01, 6.6797e-01, 6.6992e-01, 6.7187e-01, 6.7383e-01, 6.7578e-01, 6.7773e-01, 6.7969e-01, 6.8164e-01, 6.8359e-01, 6.8554e-01, 6.8750e-01, 6.8945e-01, 6.9140e-01, 6.9336e-01, 6.9531e-01, 6.9726e-01, 6.9922e-01, 7.0117e-01, 7.0312e-01, 7.0508e-01, 7.0703e-01, 7.0898e-01, 7.1094e-01, 7.1289e-01, 7.1484e-01, 7.1679e-01, 7.1875e-01, 7.2070e-01, 7.2265e-01, 7.2461e-01, 7.2656e-01, 7.2851e-01, 7.3047e-01, 7.3242e-01, 7.3437e-01, 7.3633e-01, 7.3828e-01, 7.4023e-01, 7.4219e-01, 7.4414e-01, 7.4609e-01, 7.4804e-01, 7.5000e-01, 7.5390e-01, 7.5781e-01, 7.6172e-01, 7.6562e-01, 7.6953e-01, 7.7344e-01, 7.7734e-01, 7.8125e-01, 7.8515e-01, 7.8906e-01, 7.9297e-01, 7.9687e-01, 8.0078e-01, 8.0469e-01, 8.0859e-01, 8.1250e-01, 8.1640e-01, 8.2031e-01, 8.2422e-01, 8.2812e-01, 8.3203e-01, 8.3594e-01, 8.3984e-01, 8.4375e-01, 8.4765e-01, 8.5156e-01, 8.5547e-01, 8.5937e-01, 8.6328e-01, 8.6719e-01, 8.7109e-01, 8.7500e-01, 8.7890e-01, 8.8281e-01, 8.8672e-01, 8.9062e-01, 8.9453e-01, 8.9844e-01, 9.0234e-01, 9.0625e-01, 9.1015e-01, 9.1406e-01, 9.1797e-01, 9.2187e-01, 9.2578e-01, 9.2969e-01, 9.3359e-01, 9.3750e-01, 9.4140e-01, 9.4531e-01, 9.4922e-01, 9.5312e-01, 9.5703e-01, 9.6094e-01, 9.6484e-01, 9.6875e-01, 9.7265e-01, 9.7656e-01, 9.8047e-01, 9.8437e-01, 9.8828e-01, 9.9219e-01, 9.9609e-01, 1.0000e+00
 };
 float4 val4_from_12(uchar8 pvs, float gain) {
  uint4 parsed = (uint4)(((uint)pvs.s0<<4) + (pvs.s1>>4),  // is from the previous 10 bit
                         ((uint)pvs.s2<<4) + (pvs.s4&0xF),
                         ((uint)pvs.s3<<4) + (pvs.s4>>4),
                         ((uint)pvs.s5<<4) + (pvs.s7&0xF));
  #if IS_OX
  // PWL
  //float4 pv = (convert_float4(parsed) - 64.0) / (4096.0 - 64.0);
  float4 pv = {ox03c10_lut[parsed.s0], ox03c10_lut[parsed.s1], ox03c10_lut[parsed.s2], ox03c10_lut[parsed.s3]};
  // it's a 24 bit signal, center in the middle 8 bits
  return pv*256.0;
  #else // AR
  // normalize and scale
  float4 pv = (convert_float4(parsed) - 168.0) / (4096.0 - 168.0);
  return clamp(pv*gain, 0.0, 1.0);
  #endif
 }
 float get_k(float a, float b, float c, float d) {
--- a/system/camerad/cameras/sensor2_i2c.h
+++ b/system/camerad/cameras/sensor2_i2c.h
@ -1,48 +1,754 @@
 struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}};
 struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}};
-struct i2c_random_wr_payload start_reg_array_imx390[] = {{0x0, 0}};
+struct i2c_random_wr_payload start_reg_array_ox03c10[] = {{0x100, 1}};
-struct i2c_random_wr_payload stop_reg_array_imx390[] = {{0x0, 1}};
+struct i2c_random_wr_payload stop_reg_array_ox03c10[] = {{0x100, 0}};
-struct i2c_random_wr_payload init_array_imx390[] = {
+struct i2c_random_wr_payload init_array_ox03c10[] = {
-  {0x2008, 0xd0}, {0x2009, 0x07}, {0x200a, 0x00}, // MODE_VMAX = time between frames
+  {0x103, 1},
-  {0x200C, 0xe4}, {0x200D, 0x0c},  // MODE_HMAX
+  {0x107, 1},
-  // crop
+  // X3C_1920x1280_60fps_HDR4_LFR_PWL12_mipi1200
  {0x3410, 0x88}, {0x3411, 0x7},     // CROP_H_SIZE
  {0x3418, 0xb8}, {0x3419, 0x4},     // CROP_V_SIZE
  {0x0078, 1}, {0x03c0, 1},
-  // external trigger (off)
+  // TPM
-  // while images still come in, they are blank with this
+  {0x4d5a, 0x1a}, {0x4d09, 0xff}, {0x4d09, 0xdf},
  {0x3650, 0},  // CU_MODE
-  // exposure
+  /*)
-  {0x000c, 0xc0}, {0x000d, 0x07},
+  // group 4
-  {0x0010, 0xc0}, {0x0011, 0x07},
+  {0x3208, 0x04},
  {0x4620, 0x04},
  {0x3208, 0x14},
-  // WUXGA mode
+  // group 5
-  // not in datasheet, from https://github.com/bogsen/STLinux-Kernel/blob/master/drivers/media/platform/tegra/imx185.c
+  {0x3208, 0x05},
-  {0x0086, 0xc4}, {0x0087, 0xff},   // WND_SHIFT_V = -60
+  {0x4620, 0x04},
-  {0x03c6, 0xc4}, {0x03c7, 0xff},   // SM_WND_SHIFT_V_APL = -60
+  {0x3208, 0x15},
-  {0x201c, 0xe1}, {0x201d, 0x12},   // image read amount
+  // group 2
-  {0x21ee, 0xc4}, {0x21ef, 0x04},   // image send amount (1220 is the end)
+  {0x3208, 0x02},
-  {0x21f0, 0xc4}, {0x21f1, 0x04},   // image processing amount
+  {0x3507, 0x00},
  {0x3208, 0x12},
-  // disable a bunch of errors causing blanking
+  // delay launch group 2
-  {0x0390, 0x00}, {0x0391, 0x00}, {0x0392, 0x00},
+  {0x3208, 0xa2},*/
-  // flip bayer
+  // PLL setup
-  {0x2D64, 0x64 + 2},
+  {0x0301, 0xc8}, // pll1_divs, pll1_predivp, pll1_divpix
  {0x0303, 0x01}, // pll1_prediv
  {0x0304, 0x01}, {0x0305, 0x2c}, // pll1_loopdiv = 300
  {0x0306, 0x04}, // pll1_divmipi = 4
  {0x0307, 0x01}, // pll1_divm = 1
  {0x0316, 0x00},
  {0x0317, 0x00},
  {0x0318, 0x00},
  {0x0323, 0x05}, // pll2_prediv
  {0x0324, 0x01}, {0x0325, 0x2c}, // pll2_divp = 300
-  // color correction
+  // SCLK/PCLK
-  {0x0030, 0xf8}, {0x0031, 0x00},  // red gain
+  {0x0400, 0xe0}, {0x0401, 0x80},
-  {0x0032, 0x9a}, {0x0033, 0x00},  // gr gain
+  {0x0403, 0xde}, {0x0404, 0x34},
-  {0x0034, 0x9a}, {0x0035, 0x00},  // gb gain
+  {0x0405, 0x3b}, {0x0406, 0xde},
-  {0x0036, 0x22}, {0x0037, 0x01},  // blue gain
+  {0x0407, 0x08},
  {0x0408, 0xe0}, {0x0409, 0x7f},
  {0x040a, 0xde}, {0x040b, 0x34},
  {0x040c, 0x47}, {0x040d, 0xd8},
  {0x040e, 0x08},
-  // hdr enable (noise with this on for now)
+  // xchk
-  {0x00f9, 0}
+  {0x2803, 0xfe}, {0x280b, 0x00}, {0x280c, 0x79},
  // SC ctrl
  {0x3001, 0x03}, // io_pad_oen
  {0x3002, 0xf8}, // io_pad_oen
  {0x3005, 0x80}, // io_pad_out
  {0x3007, 0x01}, // io_pad_sel
  {0x3008, 0x80}, // io_pad_sel
  // FSIN first frame
  /*
  {0x3009, 0x2},
  {0x3015, 0x2},
  {0x3822, 0x20},
  {0x3823, 0x58},
  {0x3826, 0x0}, {0x3827, 0x8},
  {0x3881, 0x4},
  {0x3882, 0x8}, {0x3883, 0x0D},
  {0x3836, 0x1F}, {0x3837, 0x40},
  */
  // FSIN with external pulses
  {0x3009, 0x2},
  {0x3015, 0x2},
  {0x383E, 0x80},
  {0x3881, 0x4},
  {0x3882, 0x8}, {0x3883, 0x0D},
  {0x3836, 0x1F}, {0x3837, 0x40},
  {0x3012, 0x41}, // SC_PHY_CTRL = 4 lane MIPI
  {0x3020, 0x05}, // SC_CTRL_20
  // this is not in the datasheet, listed as RSVD
  // but the camera doesn't work without it
  {0x3700, 0x28}, {0x3701, 0x15}, {0x3702, 0x19}, {0x3703, 0x23},
  {0x3704, 0x0a}, {0x3705, 0x00}, {0x3706, 0x3e}, {0x3707, 0x0d},
  {0x3708, 0x50}, {0x3709, 0x5a}, {0x370a, 0x00}, {0x370b, 0x96},
  {0x3711, 0x11}, {0x3712, 0x13}, {0x3717, 0x02}, {0x3718, 0x73},
  {0x372c, 0x40}, {0x3733, 0x01}, {0x3738, 0x36}, {0x3739, 0x36},
  {0x373a, 0x25}, {0x373b, 0x25}, {0x373f, 0x21}, {0x3740, 0x21},
  {0x3741, 0x21}, {0x3742, 0x21}, {0x3747, 0x28}, {0x3748, 0x28},
  {0x3749, 0x19}, {0x3755, 0x1a}, {0x3756, 0x0a}, {0x3757, 0x1c},
  {0x3765, 0x19}, {0x3766, 0x05}, {0x3767, 0x05}, {0x3768, 0x13},
  {0x376c, 0x07}, {0x3778, 0x20}, {0x377c, 0xc8}, {0x3781, 0x02},
  {0x3783, 0x02}, {0x379c, 0x58}, {0x379e, 0x00}, {0x379f, 0x00},
  {0x37a0, 0x00}, {0x37bc, 0x22}, {0x37c0, 0x01}, {0x37c4, 0x3e},
  {0x37c5, 0x3e}, {0x37c6, 0x2a}, {0x37c7, 0x28}, {0x37c8, 0x02},
  {0x37c9, 0x12}, {0x37cb, 0x29}, {0x37cd, 0x29}, {0x37d2, 0x00},
  {0x37d3, 0x73}, {0x37d6, 0x00}, {0x37d7, 0x6b}, {0x37dc, 0x00},
  {0x37df, 0x54}, {0x37e2, 0x00}, {0x37e3, 0x00}, {0x37f8, 0x00},
  {0x37f9, 0x01}, {0x37fa, 0x00}, {0x37fb, 0x19},
  // also RSVD
  {0x3c03, 0x01}, {0x3c04, 0x01}, {0x3c06, 0x21}, {0x3c08, 0x01},
  {0x3c09, 0x01}, {0x3c0a, 0x01}, {0x3c0b, 0x21}, {0x3c13, 0x21},
  {0x3c14, 0x82}, {0x3c16, 0x13}, {0x3c21, 0x00}, {0x3c22, 0xf3},
  {0x3c37, 0x12}, {0x3c38, 0x31}, {0x3c3c, 0x00}, {0x3c3d, 0x03},
  {0x3c44, 0x16}, {0x3c5c, 0x8a}, {0x3c5f, 0x03}, {0x3c61, 0x80},
  {0x3c6f, 0x2b}, {0x3c70, 0x5f}, {0x3c71, 0x2c}, {0x3c72, 0x2c},
  {0x3c73, 0x2c}, {0x3c76, 0x12},
  // PEC checks
  {0x3182, 0x12},
  {0x320e, 0x00}, {0x320f, 0x00}, // RSVD
  {0x3211, 0x61},
  {0x3215, 0xcd},
  {0x3219, 0x08},
  {0x3506, 0x20}, {0x3507, 0x00}, // hcg fine exposure
  {0x350a, 0x04}, {0x350b, 0x00}, {0x350c, 0x00}, // hcg digital gain
  {0x3586, 0x40}, {0x3587, 0x00}, // lcg fine exposure
  {0x358a, 0x04}, {0x358b, 0x00}, {0x358c, 0x00}, // lcg digital gain
  {0x3546, 0x20}, {0x3547, 0x00}, // spd fine exposure
  {0x354a, 0x04}, {0x354b, 0x00}, {0x354c, 0x00}, // spd digital gain
  {0x35c6, 0xb0}, {0x35c7, 0x00}, // vs fine exposure
  {0x35ca, 0x04}, {0x35cb, 0x00}, {0x35cc, 0x00}, // vs digital gain
  // also RSVD
  {0x3600, 0x8f}, {0x3605, 0x16}, {0x3609, 0xf0}, {0x360a, 0x01},
  {0x360e, 0x1d}, {0x360f, 0x10}, {0x3610, 0x70}, {0x3611, 0x3a},
  {0x3612, 0x28}, {0x361a, 0x29}, {0x361b, 0x6c}, {0x361c, 0x0b},
  {0x361d, 0x00}, {0x361e, 0xfc}, {0x362a, 0x00}, {0x364d, 0x0f},
  {0x364e, 0x18}, {0x364f, 0x12}, {0x3653, 0x1c}, {0x3654, 0x00},
  {0x3655, 0x1f}, {0x3656, 0x1f}, {0x3657, 0x0c}, {0x3658, 0x0a},
  {0x3659, 0x14}, {0x365a, 0x18}, {0x365b, 0x14}, {0x365c, 0x10},
  {0x365e, 0x12}, {0x3674, 0x08}, {0x3677, 0x3a}, {0x3678, 0x3a},
  {0x3679, 0x19},
  // Y_ADDR_START = 4
  {0x3802, 0x00}, {0x3803, 0x04},
  // Y_ADDR_END = 0x50b
  {0x3806, 0x05}, {0x3807, 0x0b},
  // X_OUTPUT_SIZE = 0x780 = 1920 (changed to 1928)
  {0x3808, 0x07}, {0x3809, 0x88},
  // Y_OUTPUT_SIZE = 0x500 = 1280 (changed to 1208)
  {0x380a, 0x04}, {0x380b, 0xb8},
  // horizontal timing 0x447
  {0x380c, 0x04}, {0x380d, 0x47},
  // rows per frame (was 0x2ae)
  // 0x8ae = 53.65 ms
  {0x380e, 0x08}, {0x380f, 0x15},
  // this should be triggered by FSIN, not free running
  {0x3810, 0x00}, {0x3811, 0x08}, // x cutoff
  {0x3812, 0x00}, {0x3813, 0x04}, // y cutoff
  {0x3816, 0x01},
  {0x3817, 0x01},
  {0x381c, 0x18},
  {0x381e, 0x01},
  {0x381f, 0x01},
  // don't mirror, just flip
  {0x3820, 0x04},
  {0x3821, 0x19},
  {0x3832, 0x00},
  {0x3834, 0x00},
  {0x384c, 0x02},
  {0x384d, 0x0d},
  {0x3850, 0x00},
  {0x3851, 0x42},
  {0x3852, 0x00},
  {0x3853, 0x40},
  {0x3858, 0x04},
  {0x388c, 0x02},
  {0x388d, 0x2b},
  // APC
  {0x3b40, 0x05}, {0x3b41, 0x40}, {0x3b42, 0x00}, {0x3b43, 0x90},
  {0x3b44, 0x00}, {0x3b45, 0x20}, {0x3b46, 0x00}, {0x3b47, 0x20},
  {0x3b48, 0x19}, {0x3b49, 0x12}, {0x3b4a, 0x16}, {0x3b4b, 0x2e},
  {0x3b4c, 0x00}, {0x3b4d, 0x00},
  {0x3b86, 0x00}, {0x3b87, 0x34}, {0x3b88, 0x00}, {0x3b89, 0x08},
  {0x3b8a, 0x05}, {0x3b8b, 0x00}, {0x3b8c, 0x07}, {0x3b8d, 0x80},
  {0x3b8e, 0x00}, {0x3b8f, 0x00}, {0x3b92, 0x05}, {0x3b93, 0x00},
  {0x3b94, 0x07}, {0x3b95, 0x80}, {0x3b9e, 0x09},
  // OTP
  {0x3d82, 0x73},
  {0x3d85, 0x05},
  {0x3d8a, 0x03},
  {0x3d8b, 0xff},
  {0x3d99, 0x00},
  {0x3d9a, 0x9f},
  {0x3d9b, 0x00},
  {0x3d9c, 0xa0},
  {0x3da4, 0x00},
  {0x3da7, 0x50},
  // DTR
  {0x420e, 0x6b},
  {0x420f, 0x6e},
  {0x4210, 0x06},
  {0x4211, 0xc1},
  {0x421e, 0x02},
  {0x421f, 0x45},
  {0x4220, 0xe1},
  {0x4221, 0x01},
  {0x4301, 0xff},
  {0x4307, 0x03},
  {0x4308, 0x13},
  {0x430a, 0x13},
  {0x430d, 0x93},
  {0x430f, 0x57},
  {0x4310, 0x95},
  {0x4311, 0x16},
  {0x4316, 0x00},
  {0x4317, 0x38}, // both embedded rows are enabled
  {0x4319, 0x03}, // spd dcg
  {0x431a, 0x00}, // 8 bit mipi
  {0x431b, 0x00},
  {0x431d, 0x2a},
  {0x431e, 0x11},
  {0x431f, 0x20}, // enable PWL (pwl0_en), 12 bits
  //{0x431f, 0x00}, // disable PWL
  {0x4320, 0x19},
  {0x4323, 0x80},
  {0x4324, 0x00},
  {0x4503, 0x4e},
  {0x4505, 0x00},
  {0x4509, 0x00},
  {0x450a, 0x00},
  {0x4580, 0xf8},
  {0x4583, 0x07},
  {0x4584, 0x6a},
  {0x4585, 0x08},
  {0x4586, 0x05},
  {0x4587, 0x04},
  {0x4588, 0x73},
  {0x4589, 0x05},
  {0x458a, 0x1f},
  {0x458b, 0x02},
  {0x458c, 0xdc},
  {0x458d, 0x03},
  {0x458e, 0x02},
  {0x4597, 0x07},
  {0x4598, 0x40},
  {0x4599, 0x0e},
  {0x459a, 0x0e},
  {0x459b, 0xfb},
  {0x459c, 0xf3},
  {0x4602, 0x00},
  {0x4603, 0x13},
  {0x4604, 0x00},
  {0x4609, 0x0a},
  {0x460a, 0x30},
  {0x4610, 0x00},
  {0x4611, 0x70},
  {0x4612, 0x01},
  {0x4613, 0x00},
  {0x4614, 0x00},
  {0x4615, 0x70},
  {0x4616, 0x01},
  {0x4617, 0x00},
  {0x4800, 0x04}, // invert output PCLK
  {0x480a, 0x22},
  {0x4813, 0xe4},
  // mipi
  {0x4814, 0x2a},
  {0x4837, 0x0d},
  {0x484b, 0x47},
  {0x484f, 0x00},
  {0x4887, 0x51},
  {0x4d00, 0x4a},
  {0x4d01, 0x18},
  {0x4d05, 0xff},
  {0x4d06, 0x88},
  {0x4d08, 0x63},
  {0x4d09, 0xdf},
  {0x4d15, 0x7d},
  {0x4d1a, 0x20},
  {0x4d30, 0x0a},
  {0x4d31, 0x00},
  {0x4d34, 0x7d},
  {0x4d3c, 0x7d},
  {0x4f00, 0x00},
  {0x4f01, 0x00},
  {0x4f02, 0x00},
  {0x4f03, 0x20},
  {0x4f04, 0xe0},
  {0x6a00, 0x00},
  {0x6a01, 0x20},
  {0x6a02, 0x00},
  {0x6a03, 0x20},
  {0x6a04, 0x02},
  {0x6a05, 0x80},
  {0x6a06, 0x01},
  {0x6a07, 0xe0},
  {0x6a08, 0xcf},
  {0x6a09, 0x01},
  {0x6a0a, 0x40},
  {0x6a20, 0x00},
  {0x6a21, 0x02},
  {0x6a22, 0x00},
  {0x6a23, 0x00},
  {0x6a24, 0x00},
  {0x6a25, 0x00},
  {0x6a26, 0x00},
  {0x6a27, 0x00},
  {0x6a28, 0x00},
  // isp
  {0x5000, 0x8f},
  {0x5001, 0x75},
  {0x5002, 0x7f}, // PWL0
  //{0x5002, 0x3f}, // PWL disable
  {0x5003, 0x7a},
  {0x5004, 0x3e},
  {0x5005, 0x1e},
  {0x5006, 0x1e},
  {0x5007, 0x1e},
  {0x5008, 0x00},
  {0x500c, 0x00},
  {0x502c, 0x00},
  {0x502e, 0x00},
  {0x502f, 0x00},
  {0x504b, 0x00},
  {0x5053, 0x00},
  {0x505b, 0x00},
  {0x5063, 0x00},
  {0x5070, 0x00},
  {0x5074, 0x04},
  {0x507a, 0x04},
  {0x507b, 0x09},
  {0x5500, 0x02},
  {0x5700, 0x02},
  {0x5900, 0x02},
  {0x6007, 0x04},
  {0x6008, 0x05},
  {0x6009, 0x02},
  {0x600b, 0x08},
  {0x600c, 0x07},
  {0x600d, 0x88},
  {0x6016, 0x00},
  {0x6027, 0x04},
  {0x6028, 0x05},
  {0x6029, 0x02},
  {0x602b, 0x08},
  {0x602c, 0x07},
  {0x602d, 0x88},
  {0x6047, 0x04},
  {0x6048, 0x05},
  {0x6049, 0x02},
  {0x604b, 0x08},
  {0x604c, 0x07},
  {0x604d, 0x88},
  {0x6067, 0x04},
  {0x6068, 0x05},
  {0x6069, 0x02},
  {0x606b, 0x08},
  {0x606c, 0x07},
  {0x606d, 0x88},
  {0x6087, 0x04},
  {0x6088, 0x05},
  {0x6089, 0x02},
  {0x608b, 0x08},
  {0x608c, 0x07},
  {0x608d, 0x88},
  // 12-bit PWL0
  {0x5e00, 0x00},
  // m_ndX_exp[0:32]
  // 9*2+0xa*3+0xb*2+0xc*2+0xd*2+0xe*2+0xf*2+0x10*2+0x11*2+0x12*4+0x13*3+0x14*3+0x15*3+0x16 = 518
  {0x5e01, 0x09},
  {0x5e02, 0x09},
  {0x5e03, 0x0a},
  {0x5e04, 0x0a},
  {0x5e05, 0x0a},
  {0x5e06, 0x0b},
  {0x5e07, 0x0b},
  {0x5e08, 0x0c},
  {0x5e09, 0x0c},
  {0x5e0a, 0x0d},
  {0x5e0b, 0x0d},
  {0x5e0c, 0x0e},
  {0x5e0d, 0x0e},
  {0x5e0e, 0x0f},
  {0x5e0f, 0x0f},
  {0x5e10, 0x10},
  {0x5e11, 0x10},
  {0x5e12, 0x11},
  {0x5e13, 0x11},
  {0x5e14, 0x12},
  {0x5e15, 0x12},
  {0x5e16, 0x12},
  {0x5e17, 0x12},
  {0x5e18, 0x13},
  {0x5e19, 0x13},
  {0x5e1a, 0x13},
  {0x5e1b, 0x14},
  {0x5e1c, 0x14},
  {0x5e1d, 0x14},
  {0x5e1e, 0x15},
  {0x5e1f, 0x15},
  {0x5e20, 0x15},
  {0x5e21, 0x16},
  // m_ndY_val[0:32]
  // 0x200+0xff+0x100*3+0x80*12+0x40*16 = 4095
  {0x5e22, 0x00}, {0x5e23, 0x02}, {0x5e24, 0x00},
  {0x5e25, 0x00}, {0x5e26, 0x00}, {0x5e27, 0xff},
  {0x5e28, 0x00}, {0x5e29, 0x01}, {0x5e2a, 0x00},
  {0x5e2b, 0x00}, {0x5e2c, 0x01}, {0x5e2d, 0x00},
  {0x5e2e, 0x00}, {0x5e2f, 0x01}, {0x5e30, 0x00},
  {0x5e31, 0x00}, {0x5e32, 0x00}, {0x5e33, 0x80},
  {0x5e34, 0x00}, {0x5e35, 0x00}, {0x5e36, 0x80},
  {0x5e37, 0x00}, {0x5e38, 0x00}, {0x5e39, 0x80},
  {0x5e3a, 0x00}, {0x5e3b, 0x00}, {0x5e3c, 0x80},
  {0x5e3d, 0x00}, {0x5e3e, 0x00}, {0x5e3f, 0x80},
  {0x5e40, 0x00}, {0x5e41, 0x00}, {0x5e42, 0x80},
  {0x5e43, 0x00}, {0x5e44, 0x00}, {0x5e45, 0x80},
  {0x5e46, 0x00}, {0x5e47, 0x00}, {0x5e48, 0x80},
  {0x5e49, 0x00}, {0x5e4a, 0x00}, {0x5e4b, 0x80},
  {0x5e4c, 0x00}, {0x5e4d, 0x00}, {0x5e4e, 0x80},
  {0x5e4f, 0x00}, {0x5e50, 0x00}, {0x5e51, 0x80},
  {0x5e52, 0x00}, {0x5e53, 0x00}, {0x5e54, 0x80},
  {0x5e55, 0x00}, {0x5e56, 0x00}, {0x5e57, 0x40},
  {0x5e58, 0x00}, {0x5e59, 0x00}, {0x5e5a, 0x40},
  {0x5e5b, 0x00}, {0x5e5c, 0x00}, {0x5e5d, 0x40},
  {0x5e5e, 0x00}, {0x5e5f, 0x00}, {0x5e60, 0x40},
  {0x5e61, 0x00}, {0x5e62, 0x00}, {0x5e63, 0x40},
  {0x5e64, 0x00}, {0x5e65, 0x00}, {0x5e66, 0x40},
  {0x5e67, 0x00}, {0x5e68, 0x00}, {0x5e69, 0x40},
  {0x5e6a, 0x00}, {0x5e6b, 0x00}, {0x5e6c, 0x40},
  {0x5e6d, 0x00}, {0x5e6e, 0x00}, {0x5e6f, 0x40},
  {0x5e70, 0x00}, {0x5e71, 0x00}, {0x5e72, 0x40},
  {0x5e73, 0x00}, {0x5e74, 0x00}, {0x5e75, 0x40},
  {0x5e76, 0x00}, {0x5e77, 0x00}, {0x5e78, 0x40},
  {0x5e79, 0x00}, {0x5e7a, 0x00}, {0x5e7b, 0x40},
  {0x5e7c, 0x00}, {0x5e7d, 0x00}, {0x5e7e, 0x40},
  {0x5e7f, 0x00}, {0x5e80, 0x00}, {0x5e81, 0x40},
  {0x5e82, 0x00}, {0x5e83, 0x00}, {0x5e84, 0x40},
  // disable PWL
  /*{0x5e01, 0x18}, {0x5e02, 0x00}, {0x5e03, 0x00}, {0x5e04, 0x00},
  {0x5e05, 0x00}, {0x5e06, 0x00}, {0x5e07, 0x00}, {0x5e08, 0x00},
  {0x5e09, 0x00}, {0x5e0a, 0x00}, {0x5e0b, 0x00}, {0x5e0c, 0x00},
  {0x5e0d, 0x00}, {0x5e0e, 0x00}, {0x5e0f, 0x00}, {0x5e10, 0x00},
  {0x5e11, 0x00}, {0x5e12, 0x00}, {0x5e13, 0x00}, {0x5e14, 0x00},
  {0x5e15, 0x00}, {0x5e16, 0x00}, {0x5e17, 0x00}, {0x5e18, 0x00},
  {0x5e19, 0x00}, {0x5e1a, 0x00}, {0x5e1b, 0x00}, {0x5e1c, 0x00},
  {0x5e1d, 0x00}, {0x5e1e, 0x00}, {0x5e1f, 0x00}, {0x5e20, 0x00},
  {0x5e21, 0x00},
  {0x5e22, 0x00}, {0x5e23, 0x0f}, {0x5e24, 0xFF},*/
  {0x4001, 0x2b},  // BLC_CTRL_1
  {0x4008, 0x02}, {0x4009, 0x03},
  {0x4018, 0x12},
  {0x4022, 0x40},
  {0x4023, 0x20},
  // all black level targets are 0x40
  {0x4026, 0x00}, {0x4027, 0x40},
  {0x4028, 0x00}, {0x4029, 0x40},
  {0x402a, 0x00}, {0x402b, 0x40},
  {0x402c, 0x00}, {0x402d, 0x40},
  {0x407e, 0xcc},
  {0x407f, 0x18},
  {0x4080, 0xff},
  {0x4081, 0xff},
  {0x4082, 0x01},
  {0x4083, 0x53},
  {0x4084, 0x01},
  {0x4085, 0x2b},
  {0x4086, 0x00},
  {0x4087, 0xb3},
  {0x4640, 0x40},
  {0x4641, 0x11},
  {0x4642, 0x0e},
  {0x4643, 0xee},
  {0x4646, 0x0f},
  {0x4648, 0x00},
  {0x4649, 0x03},
  {0x4f00, 0x00},
  {0x4f01, 0x00},
  {0x4f02, 0x80},
  {0x4f03, 0x2c},
  {0x4f04, 0xf8},
  {0x4d09, 0xff},
  {0x4d09, 0xdf},
  {0x5003, 0x7a},
  {0x5b80, 0x08},
  {0x5c00, 0x08},
  {0x5c80, 0x00},
  {0x5bbe, 0x12},
  {0x5c3e, 0x12},
  {0x5cbe, 0x12},
  {0x5b8a, 0x80},
  {0x5b8b, 0x80},
  {0x5b8c, 0x80},
  {0x5b8d, 0x80},
  {0x5b8e, 0x60},
  {0x5b8f, 0x80},
  {0x5b90, 0x80},
  {0x5b91, 0x80},
  {0x5b92, 0x80},
  {0x5b93, 0x20},
  {0x5b94, 0x80},
  {0x5b95, 0x80},
  {0x5b96, 0x80},
  {0x5b97, 0x20},
  {0x5b98, 0x00},
  {0x5b99, 0x80},
  {0x5b9a, 0x40},
  {0x5b9b, 0x20},
  {0x5b9c, 0x00},
  {0x5b9d, 0x00},
  {0x5b9e, 0x80},
  {0x5b9f, 0x00},
  {0x5ba0, 0x00},
  {0x5ba1, 0x00},
  {0x5ba2, 0x00},
  {0x5ba3, 0x00},
  {0x5ba4, 0x00},
  {0x5ba5, 0x00},
  {0x5ba6, 0x00},
  {0x5ba7, 0x00},
  {0x5ba8, 0x02},
  {0x5ba9, 0x00},
  {0x5baa, 0x02},
  {0x5bab, 0x76},
  {0x5bac, 0x03},
  {0x5bad, 0x08},
  {0x5bae, 0x00},
  {0x5baf, 0x80},
  {0x5bb0, 0x00},
  {0x5bb1, 0xc0},
  {0x5bb2, 0x01},
  {0x5bb3, 0x00},
  // m_nNormCombineWeight
  {0x5c0a, 0x80}, {0x5c0b, 0x80}, {0x5c0c, 0x80}, {0x5c0d, 0x80}, {0x5c0e, 0x60},
  {0x5c0f, 0x80}, {0x5c10, 0x80}, {0x5c11, 0x80}, {0x5c12, 0x60}, {0x5c13, 0x20},
  {0x5c14, 0x80}, {0x5c15, 0x80}, {0x5c16, 0x80}, {0x5c17, 0x20}, {0x5c18, 0x00},
  {0x5c19, 0x80}, {0x5c1a, 0x40}, {0x5c1b, 0x20}, {0x5c1c, 0x00}, {0x5c1d, 0x00},
  {0x5c1e, 0x80}, {0x5c1f, 0x00}, {0x5c20, 0x00}, {0x5c21, 0x00}, {0x5c22, 0x00},
  {0x5c23, 0x00}, {0x5c24, 0x00}, {0x5c25, 0x00}, {0x5c26, 0x00}, {0x5c27, 0x00},
  // m_nCombinThreL
  {0x5c28, 0x02}, {0x5c29, 0x00},
  {0x5c2a, 0x02}, {0x5c2b, 0x76},
  {0x5c2c, 0x03}, {0x5c2d, 0x08},
  // m_nCombinThreS
  {0x5c2e, 0x00}, {0x5c2f, 0x80},
  {0x5c30, 0x00}, {0x5c31, 0xc0},
  {0x5c32, 0x01}, {0x5c33, 0x00},
  // m_nNormCombineWeight
  {0x5c8a, 0x80}, {0x5c8b, 0x80}, {0x5c8c, 0x80}, {0x5c8d, 0x80}, {0x5c8e, 0x80},
  {0x5c8f, 0x80}, {0x5c90, 0x80}, {0x5c91, 0x80}, {0x5c92, 0x80}, {0x5c93, 0x60},
  {0x5c94, 0x80}, {0x5c95, 0x80}, {0x5c96, 0x80}, {0x5c97, 0x60}, {0x5c98, 0x40},
  {0x5c99, 0x80}, {0x5c9a, 0x80}, {0x5c9b, 0x80}, {0x5c9c, 0x40}, {0x5c9d, 0x00},
  {0x5c9e, 0x80}, {0x5c9f, 0x80}, {0x5ca0, 0x80}, {0x5ca1, 0x20}, {0x5ca2, 0x00},
  {0x5ca3, 0x80}, {0x5ca4, 0x80}, {0x5ca5, 0x00}, {0x5ca6, 0x00}, {0x5ca7, 0x00},
  {0x5ca8, 0x01}, {0x5ca9, 0x00},
  {0x5caa, 0x02}, {0x5cab, 0x00},
  {0x5cac, 0x03}, {0x5cad, 0x08},
  {0x5cae, 0x01}, {0x5caf, 0x00},
  {0x5cb0, 0x02}, {0x5cb1, 0x00},
  {0x5cb2, 0x03}, {0x5cb3, 0x08},
  // combine ISP
  {0x5be7, 0x80},
  {0x5bc9, 0x80},
  {0x5bca, 0x80},
  {0x5bcb, 0x80},
  {0x5bcc, 0x80},
  {0x5bcd, 0x80},
  {0x5bce, 0x80},
  {0x5bcf, 0x80},
  {0x5bd0, 0x80},
  {0x5bd1, 0x80},
  {0x5bd2, 0x20},
  {0x5bd3, 0x80},
  {0x5bd4, 0x40},
  {0x5bd5, 0x20},
  {0x5bd6, 0x00},
  {0x5bd7, 0x00},
  {0x5bd8, 0x00},
  {0x5bd9, 0x00},
  {0x5bda, 0x00},
  {0x5bdb, 0x00},
  {0x5bdc, 0x00},
  {0x5bdd, 0x00},
  {0x5bde, 0x00},
  {0x5bdf, 0x00},
  {0x5be0, 0x00},
  {0x5be1, 0x00},
  {0x5be2, 0x00},
  {0x5be3, 0x00},
  {0x5be4, 0x00},
  {0x5be5, 0x00},
  {0x5be6, 0x00},
  // m_nSPDCombineWeight
  {0x5c49, 0x80}, {0x5c4a, 0x80}, {0x5c4b, 0x80}, {0x5c4c, 0x80}, {0x5c4d, 0x40},
  {0x5c4e, 0x80}, {0x5c4f, 0x80}, {0x5c50, 0x80}, {0x5c51, 0x60}, {0x5c52, 0x20},
  {0x5c53, 0x80}, {0x5c54, 0x80}, {0x5c55, 0x80}, {0x5c56, 0x20}, {0x5c57, 0x00},
  {0x5c58, 0x80}, {0x5c59, 0x40}, {0x5c5a, 0x20}, {0x5c5b, 0x00}, {0x5c5c, 0x00},
  {0x5c5d, 0x80}, {0x5c5e, 0x00}, {0x5c5f, 0x00}, {0x5c60, 0x00}, {0x5c61, 0x00},
  {0x5c62, 0x00}, {0x5c63, 0x00}, {0x5c64, 0x00}, {0x5c65, 0x00}, {0x5c66, 0x00},
  // m_nSPDCombineWeight
  {0x5cc9, 0x80}, {0x5cca, 0x80}, {0x5ccb, 0x80}, {0x5ccc, 0x80}, {0x5ccd, 0x80},
  {0x5cce, 0x80}, {0x5ccf, 0x80}, {0x5cd0, 0x80}, {0x5cd1, 0x80}, {0x5cd2, 0x60},
  {0x5cd3, 0x80}, {0x5cd4, 0x80}, {0x5cd5, 0x80}, {0x5cd6, 0x60}, {0x5cd7, 0x40},
  {0x5cd8, 0x80}, {0x5cd9, 0x80}, {0x5cda, 0x80}, {0x5cdb, 0x40}, {0x5cdc, 0x20},
  {0x5cdd, 0x80}, {0x5cde, 0x80}, {0x5cdf, 0x80}, {0x5ce0, 0x20}, {0x5ce1, 0x00},
  {0x5ce2, 0x80}, {0x5ce3, 0x80}, {0x5ce4, 0x80}, {0x5ce5, 0x00}, {0x5ce6, 0x00},
  {0x5d74, 0x01},
  {0x5d75, 0x00},
  {0x5d1f, 0x81},
  {0x5d11, 0x00},
  {0x5d12, 0x10},
  {0x5d13, 0x10},
  {0x5d15, 0x05},
  {0x5d16, 0x05},
  {0x5d17, 0x05},
  {0x5d08, 0x03},
  {0x5d09, 0xb6},
  {0x5d0a, 0x03},
  {0x5d0b, 0xb6},
  {0x5d18, 0x03},
  {0x5d19, 0xb6},
  {0x5d62, 0x01},
  {0x5d40, 0x02},
  {0x5d41, 0x01},
  {0x5d63, 0x1f},
  {0x5d64, 0x00},
  {0x5d65, 0x80},
  {0x5d56, 0x00},
  {0x5d57, 0x20},
  {0x5d58, 0x00},
  {0x5d59, 0x20},
  {0x5d5a, 0x00},
  {0x5d5b, 0x0c},
  {0x5d5c, 0x02},
  {0x5d5d, 0x40},
  {0x5d5e, 0x02},
  {0x5d5f, 0x40},
  {0x5d60, 0x03},
  {0x5d61, 0x40},
  {0x5d4a, 0x02},
  {0x5d4b, 0x40},
  {0x5d4c, 0x02},
  {0x5d4d, 0x40},
  {0x5d4e, 0x02},
  {0x5d4f, 0x40},
  {0x5d50, 0x18},
  {0x5d51, 0x80},
  {0x5d52, 0x18},
  {0x5d53, 0x80},
  {0x5d54, 0x18},
  {0x5d55, 0x80},
  {0x5d46, 0x20},
  {0x5d47, 0x00},
  {0x5d48, 0x22},
  {0x5d49, 0x00},
  {0x5d42, 0x20},
  {0x5d43, 0x00},
  {0x5d44, 0x22},
  {0x5d45, 0x00},
  {0x5004, 0x1e},
  {0x4221, 0x03},  // this is changed from 1 -> 3
  // DCG exposure coarse
  {0x3501, 0x01}, {0x3502, 0xc8},
  // SPD exposure coarse
  {0x3541, 0x01}, {0x3542, 0xc8},
  // VS exposure coarse
  {0x35c1, 0x00}, {0x35c2, 0x01},
  // crc reference
  {0x420e, 0x66}, {0x420f, 0x5d}, {0x4210, 0xa8}, {0x4211, 0x55},
  // crc stat check
  {0x507a, 0x5f}, {0x507b, 0x46},
  // watchdog control
  {0x4f00, 0x00}, {0x4f01, 0x01}, {0x4f02, 0x80}, {0x4f04, 0x2c},
  // color balance gains
  // blue
  {0x5280, 0x06}, {0x5281, 0x4A}, // hcg
  {0x5480, 0x06}, {0x5481, 0x4A}, // lcg
  {0x5680, 0x07}, {0x5681, 0xDD}, // spd
  {0x5880, 0x06}, {0x5881, 0x4A}, // vs
  // green(blue)
  {0x5282, 0x04}, {0x5283, 0x00},
  {0x5482, 0x04}, {0x5483, 0x00},
  {0x5682, 0x04}, {0x5683, 0x00},
  {0x5882, 0x04}, {0x5883, 0x00},
  // green(red)
  {0x5284, 0x04}, {0x5285, 0x00},
  {0x5484, 0x04}, {0x5485, 0x00},
  {0x5684, 0x04}, {0x5685, 0x00},
  {0x5884, 0x04}, {0x5885, 0x00},
  // red
  {0x5286, 0x08}, {0x5287, 0x6C},
  {0x5486, 0x08}, {0x5487, 0x6C},
  {0x5686, 0x08}, {0x5687, 0xAA},
  {0x5886, 0x08}, {0x5887, 0x6C},
 };
 struct i2c_random_wr_payload init_array_ar0231[] = {
--- a/system/camerad/test/camera_test.h
+++ b/system/camerad/test/camera_test.h
@ -12,6 +12,8 @@ typedef struct CameraState {
  int fps;
  float digital_gain = 0;
  int camera_id;
  CameraBuf buf;
 } CameraState;