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camerad: OS HDR (#32112)

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* it's something

* backup

* 16:10

* cleanup

* this is fine

* close

* remove some junk

* no heck

* disos

* real 10

* for some reason this is flipped

* 20hz

* no return

* ae

* tear

* need curve laster

* correct real gains

* fix time

* cleanup

* why the scam

* disable for now

* 0.7

* hdr

* that doesnt work

* what

* hugeoof

* clean up

* cleanup

* fix regs

* welp cant

* is this corrent

* it is sq

* remove

* back

* stg10bit

* back2ten

* Revert "remove"

This reverts commit 18712ab7e1.

* 20hz and swb

* correct height

* 10bit

* ui hack for now

* slight

* perfect

* blk64

* ccm

* fix page faults

* template

* set 4x

* is this fine

* try

* this seems to work

* Revert "this seems to work"

This reverts commit d3c9023d3f.

* needs to be static

* close

* 64 is optimal

* 2

* take

* not 1

* offset

* whats going on

* i have no idea

* less resistence

* box defs

* no

* reduce blur artifacts

* simplify

* fix

* fake short is too much for bright

* can be subzero

* should not use lsvc

* no wasted bit

* cont no slow

* no less than 10bit

* it is based

* wrong

* right

* quart

* shift

* raise noise floor

* 4.5/4.7

* same ballpark

* int is fine

* shane owes me m4a4

* Revert "shane owes me m4a4"

This reverts commit b4283fee18.

* back

* Revert "4.5/4.7"

This reverts commit e38f96e90c.

* default

* oof

* clean up

* simpilfy

* from sensorinfo

* no div

* better name

* not the wrong one

* not anymore relevant

* too

* not call it debayer

* cl headers

* arg is 2nd

* gone is is_bggr

* define

* no is hdr

* rgb_tmp

* p1

* clean up

* 4

* cant for

* fix somewhre else

* const

* ap

* rects

* just set staruc

* nnew tmp

* hmm

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 03d1c48017
pull/32199/head
ZwX1616 1 year ago committed by GitHub
parent 4d57211300
commit cc3550df2a
6 changed files with 184 additions and 99 deletions
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  1. 8
      system/camerad/cameras/camera_common.cc
  2. 66
      system/camerad/cameras/process_raw.cl
  3. 13
      system/camerad/sensors/os04c10.cc
  4. 45
      system/camerad/sensors/os04c10_cl.h
  5. 150
      system/camerad/sensors/os04c10_registers.h
  6. 1
      system/camerad/sensors/sensor.h

8
system/camerad/cameras/camera_common.cc
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@ -26,10 +26,10 @@ public:
"-cl-fast-relaxed-math -cl-denorms-are-zero -Isensors " "-cl-fast-relaxed-math -cl-denorms-are-zero -Isensors "
"-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d " "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
"-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d " "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d "
"-DSENSOR_ID=%hu -DVIGNETTING=%d ", "-DSENSOR_ID=%hu -DHDR_OFFSET=%d -DVIGNETTING=%d ",
ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset, ci->frame_width, ci->frame_height, ci->hdr_offset > 0 ? ci->frame_stride * 2 : ci->frame_stride, ci->frame_offset,
b->rgb_width, b->rgb_height, buf_width, uv_offset, b->rgb_width, b->rgb_height, buf_width, uv_offset,
ci->image_sensor, s->camera_num == 1); ci->image_sensor, ci->hdr_offset, s->camera_num == 1);
const char *cl_file = "cameras/process_raw.cl"; const char *cl_file = "cameras/process_raw.cl";
cl_program prg_imgproc = cl_program_from_file(context, device_id, cl_file, args); cl_program prg_imgproc = cl_program_from_file(context, device_id, cl_file, args);
krnl_ = CL_CHECK_ERR(clCreateKernel(prg_imgproc, "process_raw", &err)); krnl_ = CL_CHECK_ERR(clCreateKernel(prg_imgproc, "process_raw", &err));
@ -74,7 +74,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
LOGD("allocated %d CL buffers", frame_buf_count); LOGD("allocated %d CL buffers", frame_buf_count);
rgb_width = ci->frame_width; rgb_width = ci->frame_width;
rgb_height = ci->frame_height; rgb_height = ci->hdr_offset > 0 ? (ci->frame_height - ci->hdr_offset) / 2 : ci->frame_height;
int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, rgb_width); int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, rgb_width);
int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, rgb_height); int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, rgb_height);

66
system/camerad/cameras/process_raw.cl
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@ -78,7 +78,18 @@ __kernel void process_raw(const __global uchar * in, __global uchar * out, int e
// read offset // read offset
int start_idx; int start_idx;
start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (3 * gid_x - 2) + (FRAME_STRIDE * FRAME_OFFSET); #if BIT_DEPTH == 10
bool aligned10;
if (gid_x % 2 == 0) {
aligned10 = true;
start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (5 * gid_x / 2 - 2) + (FRAME_STRIDE * FRAME_OFFSET);
} else {
aligned10 = false;
start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (5 * (gid_x - 1) / 2 + 1) + (FRAME_STRIDE * FRAME_OFFSET);
}
#else
start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (3 * gid_x - 2) + (FRAME_STRIDE * FRAME_OFFSET);
#endif
// read in 4 rows, 8 uchars each // read in 4 rows, 8 uchars each
uchar8 dat[4]; uchar8 dat[4];
@ -96,6 +107,16 @@ __kernel void process_raw(const __global uchar * in, __global uchar * out, int e
dat[2] = vload8(0, in + start_idx + FRAME_STRIDE*2); dat[2] = vload8(0, in + start_idx + FRAME_STRIDE*2);
// row_after // row_after
dat[3] = vload8(0, in + start_idx + FRAME_STRIDE*row_after_offset); dat[3] = vload8(0, in + start_idx + FRAME_STRIDE*row_after_offset);
// need extra bit for 10-bit, 4 rows, 1 uchar each
#if BIT_DEPTH == 10
uchar extra_dat[4];
if (!aligned10) {
extra_dat[0] = in[start_idx + FRAME_STRIDE*row_before_offset + 8];
extra_dat[1] = in[start_idx + FRAME_STRIDE*1 + 8];
extra_dat[2] = in[start_idx + FRAME_STRIDE*2 + 8];
extra_dat[3] = in[start_idx + FRAME_STRIDE*row_after_offset + 8];
}
#endif
// read odd rows for staggered second exposure // read odd rows for staggered second exposure
#if HDR_OFFSET > 0 #if HDR_OFFSET > 0
@ -104,19 +125,44 @@ __kernel void process_raw(const __global uchar * in, __global uchar * out, int e
short_dat[1] = vload8(0, in + start_idx + FRAME_STRIDE*(1+HDR_OFFSET/2) + FRAME_STRIDE/2); short_dat[1] = vload8(0, in + start_idx + FRAME_STRIDE*(1+HDR_OFFSET/2) + FRAME_STRIDE/2);
short_dat[2] = vload8(0, in + start_idx + FRAME_STRIDE*(2+HDR_OFFSET/2) + FRAME_STRIDE/2); short_dat[2] = vload8(0, in + start_idx + FRAME_STRIDE*(2+HDR_OFFSET/2) + FRAME_STRIDE/2);
short_dat[3] = vload8(0, in + start_idx + FRAME_STRIDE*(row_after_offset+HDR_OFFSET/2) + FRAME_STRIDE/2); short_dat[3] = vload8(0, in + start_idx + FRAME_STRIDE*(row_after_offset+HDR_OFFSET/2) + FRAME_STRIDE/2);
#if BIT_DEPTH == 10
uchar short_extra_dat[4];
if (!aligned10) {
short_extra_dat[0] = in[start_idx + FRAME_STRIDE*(row_before_offset+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8];
short_extra_dat[1] = in[start_idx + FRAME_STRIDE*(1+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8];
short_extra_dat[2] = in[start_idx + FRAME_STRIDE*(2+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8];
short_extra_dat[3] = in[start_idx + FRAME_STRIDE*(row_after_offset+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8];
}
#endif
#endif #endif
// parse into floats 0.0-1.0 // parse into floats 0.0-1.0
float4 v_rows[4]; float4 v_rows[4];
// no HDR here #if BIT_DEPTH == 10
int4 parsed = parse_12bit(dat[0]); // for now it's always HDR
v_rows[ROW_READ_ORDER[0]] = normalize_pv(parsed, vignette_factor); int4 parsed = parse_10bit(dat[0], extra_dat[0], aligned10);
parsed = parse_12bit(dat[1]); int4 short_parsed = parse_10bit(short_dat[0], short_extra_dat[0], aligned10);
v_rows[ROW_READ_ORDER[1]] = normalize_pv(parsed, vignette_factor); v_rows[ROW_READ_ORDER[0]] = normalize_pv_hdr(parsed, short_parsed, vignette_factor, expo_time);
parsed = parse_12bit(dat[2]); parsed = parse_10bit(dat[1], extra_dat[1], aligned10);
v_rows[ROW_READ_ORDER[2]] = normalize_pv(parsed, vignette_factor); short_parsed = parse_10bit(short_dat[1], short_extra_dat[1], aligned10);
parsed = parse_12bit(dat[3]); v_rows[ROW_READ_ORDER[1]] = normalize_pv_hdr(parsed, short_parsed, vignette_factor, expo_time);
v_rows[ROW_READ_ORDER[3]] = normalize_pv(parsed, vignette_factor); parsed = parse_10bit(dat[2], extra_dat[2], aligned10);
short_parsed = parse_10bit(short_dat[2], short_extra_dat[2], aligned10);
v_rows[ROW_READ_ORDER[2]] = normalize_pv_hdr(parsed, short_parsed, vignette_factor, expo_time);
parsed = parse_10bit(dat[3], extra_dat[3], aligned10);
short_parsed = parse_10bit(short_dat[3], short_extra_dat[3], aligned10);
v_rows[ROW_READ_ORDER[3]] = normalize_pv_hdr(parsed, short_parsed, vignette_factor, expo_time);
#else
// no HDR here
int4 parsed = parse_12bit(dat[0]);
v_rows[ROW_READ_ORDER[0]] = normalize_pv(parsed, vignette_factor);
parsed = parse_12bit(dat[1]);
v_rows[ROW_READ_ORDER[1]] = normalize_pv(parsed, vignette_factor);
parsed = parse_12bit(dat[2]);
v_rows[ROW_READ_ORDER[2]] = normalize_pv(parsed, vignette_factor);
parsed = parse_12bit(dat[3]);
v_rows[ROW_READ_ORDER[3]] = normalize_pv(parsed, vignette_factor);
#endif
// mirror padding // mirror padding
if (gid_x == 0) { if (gid_x == 0) {

13
system/camerad/sensors/os04c10.cc
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@ -23,9 +23,10 @@ OS04C10::OS04C10() {
pixel_size_mm = 0.002; pixel_size_mm = 0.002;
data_word = false; data_word = false;
hdr_offset = 64 * 2 + 8; // stagger
frame_width = 2688; frame_width = 2688;
frame_height = 1520; frame_height = 1520 * 2 + hdr_offset;
frame_stride = (frame_width * 12 / 8); // no alignment frame_stride = (frame_width * 10 / 8); // no alignment
extra_height = 0; extra_height = 0;
frame_offset = 0; frame_offset = 0;
@ -34,8 +35,8 @@ OS04C10::OS04C10() {
init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10)); init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10));
probe_reg_addr = 0x300a; probe_reg_addr = 0x300a;
probe_expected_data = 0x5304; probe_expected_data = 0x5304;
mipi_format = CAM_FORMAT_MIPI_RAW_12; mipi_format = CAM_FORMAT_MIPI_RAW_10;
frame_data_type = 0x2c; frame_data_type = 0x2b;
mclk_frequency = 24000000; // Hz mclk_frequency = 24000000; // Hz
dc_gain_factor = 1; dc_gain_factor = 1;
@ -66,7 +67,7 @@ std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_ti
return { return {
{0x3501, long_time>>8}, {0x3502, long_time&0xFF}, {0x3501, long_time>>8}, {0x3502, long_time&0xFF},
{0x3508, real_gain>>8}, {0x3509, real_gain&0xFF}, {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
// {0x350c, real_gain>>8}, {0x350d, real_gain&0xFF}, {0x350c, real_gain>>8}, {0x350d, real_gain&0xFF},
}; };
} }
@ -81,6 +82,6 @@ float OS04C10::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, floa
score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m; score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
score += ((1 - analog_gain_cost_delta) + score += ((1 - analog_gain_cost_delta) +
analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) * analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) *
std::abs(exp_g_idx - gain_idx) * 5.0; std::abs(exp_g_idx - gain_idx) * 3.0;
return score; return score;
} }

45
system/camerad/sensors/os04c10_cl.h
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@ -2,25 +2,54 @@
#define BGGR #define BGGR
#define BIT_DEPTH 12 #define BIT_DEPTH 10
#define PV_MAX 4096 #define PV_MAX10 1023
#define PV_MAX16 65536 // gamma curve is calibrated to 16bit
#define BLACK_LVL 64 #define BLACK_LVL 64
#define VIGNETTE_RSZ 2.2545f #define VIGNETTE_RSZ 2.2545f
float4 normalize_pv(int4 parsed, float vignette_factor) { float combine_dual_pvs(float lv, float sv, int expo_time) {
float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX - BLACK_LVL); float svc = fmax(sv * expo_time, (float)(64 * (PV_MAX10 - BLACK_LVL)));
float svd = sv * fmin(expo_time, 8.0) / 8;
if (expo_time > 64) {
if (lv < PV_MAX10 - BLACK_LVL) {
return lv / (PV_MAX16 - BLACK_LVL);
} else {
return (svc / 64) / (PV_MAX16 - BLACK_LVL);
}
} else {
if (lv > 32) {
return (lv * 64 / fmax(expo_time, 8.0)) / (PV_MAX16 - BLACK_LVL);
} else {
return svd / (PV_MAX16 - BLACK_LVL);
}
}
}
float4 normalize_pv_hdr(int4 parsed, int4 short_parsed, float vignette_factor, int expo_time) {
float4 pl = convert_float4(parsed - BLACK_LVL);
float4 ps = convert_float4(short_parsed - BLACK_LVL);
float4 pv;
pv.s0 = combine_dual_pvs(pl.s0, ps.s0, expo_time);
pv.s1 = combine_dual_pvs(pl.s1, ps.s1, expo_time);
pv.s2 = combine_dual_pvs(pl.s2, ps.s2, expo_time);
pv.s3 = combine_dual_pvs(pl.s3, ps.s3, expo_time);
return clamp(pv*vignette_factor, 0.0, 1.0); return clamp(pv*vignette_factor, 0.0, 1.0);
} }
float3 color_correct(float3 rgb) { float3 color_correct(float3 rgb) {
float3 corrected = rgb.x * (float3)(1.5664815, -0.29808738, -0.03973474); float3 corrected = rgb.x * (float3)(1.55361989, -0.268894615, -0.000593219);
corrected += rgb.y * (float3)(-0.48672447, 1.41914433, -0.40295248); corrected += rgb.y * (float3)(-0.421217301, 1.51883144, -0.69760146);
corrected += rgb.z * (float3)(-0.07975703, -0.12105695, 1.44268722); corrected += rgb.z * (float3)(-0.132402589, -0.249936825, 1.69819468);
return corrected; return corrected;
} }
float3 apply_gamma(float3 rgb, int expo_time) { float3 apply_gamma(float3 rgb, int expo_time) {
return powr(rgb, 0.7); float s = log2((float)expo_time);
if (s < 6) {s = fmin(12.0 - s, 9.0);}
// log function adaptive to number of bits
return clamp(log(1 + rgb*(PV_MAX16 - BLACK_LVL)) * (0.48*s*s - 12.92*s + 115.0) - (1.08*s*s - 29.2*s + 260.0), 0.0, 255.0) / 255.0;
} }
#endif #endif

150
system/camerad/sensors/os04c10_registers.h
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@ -4,18 +4,18 @@ const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}}; const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};
const struct i2c_random_wr_payload init_array_os04c10[] = { const struct i2c_random_wr_payload init_array_os04c10[] = {
// OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz // DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
{0x0103, 0x01}, {0x0103, 0x01},
// PLL // PLL
{0x0301, 0xe4}, {0x0301, 0x84},
{0x0303, 0x01}, {0x0303, 0x01},
{0x0305, 0xb6}, {0x0305, 0x61},
{0x0306, 0x01}, {0x0306, 0x01},
{0x0307, 0x17}, {0x0307, 0x17},
{0x0323, 0x04}, {0x0323, 0x04},
{0x0324, 0x01}, {0x0324, 0x01},
{0x0325, 0x62}, {0x0325, 0x7a},
{0x3012, 0x06}, {0x3012, 0x06},
{0x3013, 0x02}, {0x3013, 0x02},
@ -30,40 +30,40 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x3660, 0x04}, {0x3660, 0x04},
{0x3666, 0xa5}, {0x3666, 0xa5},
{0x3667, 0xa5}, {0x3667, 0xa5},
{0x366a, 0x50}, {0x366a, 0x54},
{0x3673, 0x0d}, {0x3673, 0x0d},
{0x3672, 0x0d}, {0x3672, 0x0d},
{0x3671, 0x0d}, {0x3671, 0x0d},
{0x3670, 0x0d}, {0x3670, 0x0d},
{0x3685, 0x00}, {0x3685, 0x0a},
{0x3694, 0x0d}, {0x3694, 0x0d},
{0x3693, 0x0d}, {0x3693, 0x0d},
{0x3692, 0x0d}, {0x3692, 0x0d},
{0x3691, 0x0d}, {0x3691, 0x0d},
{0x3696, 0x4c}, {0x3696, 0x4c},
{0x3697, 0x4c}, {0x3697, 0x4c},
{0x3698, 0x40}, {0x3698, 0x00},
{0x3699, 0x80}, {0x3699, 0x80},
{0x369a, 0x18}, {0x369a, 0x80},
{0x369b, 0x1f}, {0x369b, 0x1f},
{0x369c, 0x14}, {0x369c, 0x1f},
{0x369d, 0x80}, {0x369d, 0x80},
{0x369e, 0x40}, {0x369e, 0x40},
{0x369f, 0x21}, {0x369f, 0x21},
{0x36a0, 0x12}, {0x36a0, 0x12},
{0x36a1, 0x5d}, {0x36a1, 0xdd},
{0x36a2, 0x66}, {0x36a2, 0x66},
{0x370a, 0x02}, {0x370a, 0x00},
{0x370e, 0x0c}, {0x370e, 0x00},
{0x3710, 0x00}, {0x3710, 0x00},
{0x3713, 0x00}, {0x3713, 0x04},
{0x3725, 0x02}, {0x3725, 0x02},
{0x372a, 0x03}, {0x372a, 0x03},
{0x3738, 0xce}, {0x3738, 0xce},
{0x3748, 0x02}, {0x3748, 0x00},
{0x374a, 0x02}, {0x374a, 0x00},
{0x374c, 0x02}, {0x374c, 0x00},
{0x374e, 0x02}, {0x374e, 0x00},
{0x3756, 0x00}, {0x3756, 0x00},
{0x3757, 0x00}, {0x3757, 0x00},
{0x3767, 0x00}, {0x3767, 0x00},
@ -81,20 +81,21 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x37ba, 0x03}, {0x37ba, 0x03},
{0x37bb, 0x00}, {0x37bb, 0x00},
{0x37bc, 0x04}, {0x37bc, 0x04},
{0x37be, 0x08}, {0x37be, 0x26},
{0x37c4, 0x11}, {0x37c4, 0x11},
{0x37c5, 0x80}, {0x37c5, 0x80},
{0x37c6, 0x14}, {0x37c6, 0x14},
{0x37c7, 0x08}, {0x37c7, 0xa8},
{0x37da, 0x11}, {0x37da, 0x11},
{0x381f, 0x08}, {0x381f, 0x08},
{0x3829, 0x03}, {0x3829, 0x03},
{0x3832, 0x00},
{0x3881, 0x00}, {0x3881, 0x00},
{0x3888, 0x04}, {0x3888, 0x04},
{0x388b, 0x00}, {0x388b, 0x00},
{0x3c80, 0x10}, {0x3c80, 0x10},
{0x3c86, 0x00}, {0x3c86, 0x00},
{0x3c8c, 0x20}, // {0x3c8c, 0x20},
{0x3c9f, 0x01}, {0x3c9f, 0x01},
{0x3d85, 0x1b}, {0x3d85, 0x1b},
{0x3d8c, 0x71}, {0x3d8c, 0x71},
@ -110,7 +111,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x4045, 0x7e}, {0x4045, 0x7e},
{0x4047, 0x7e}, {0x4047, 0x7e},
{0x4049, 0x7e}, {0x4049, 0x7e},
{0x4090, 0x04}, {0x4090, 0x14},
{0x40b0, 0x00}, {0x40b0, 0x00},
{0x40b1, 0x00}, {0x40b1, 0x00},
{0x40b2, 0x00}, {0x40b2, 0x00},
@ -128,7 +129,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x4503, 0x00}, {0x4503, 0x00},
{0x4504, 0x06}, {0x4504, 0x06},
{0x4506, 0x00}, {0x4506, 0x00},
{0x4507, 0x47}, {0x4507, 0x57},
{0x4803, 0x00}, {0x4803, 0x00},
{0x480c, 0x32}, {0x480c, 0x32},
{0x480e, 0x04}, {0x480e, 0x04},
@ -138,7 +139,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x4823, 0x3f}, {0x4823, 0x3f},
{0x4825, 0x30}, {0x4825, 0x30},
{0x4833, 0x10}, {0x4833, 0x10},
{0x484b, 0x27}, {0x484b, 0x07},
{0x488b, 0x00}, {0x488b, 0x00},
{0x4d00, 0x04}, {0x4d00, 0x04},
{0x4d01, 0xad}, {0x4d01, 0xad},
@ -151,7 +152,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x4e0d, 0x00}, {0x4e0d, 0x00},
// ISP // ISP
{0x5001, 0x09}, {0x5001, 0x00},
{0x5004, 0x00}, {0x5004, 0x00},
{0x5080, 0x04}, {0x5080, 0x04},
{0x5036, 0x80}, {0x5036, 0x80},
@ -172,32 +173,32 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x301c, 0xf8}, {0x301c, 0xf8},
{0x301e, 0xb4}, {0x301e, 0xb4},
{0x301f, 0xf0}, {0x301f, 0xf0},
{0x3022, 0x61}, {0x3022, 0x01},
{0x3109, 0xe7}, {0x3109, 0xe7},
{0x3600, 0x00}, {0x3600, 0x00},
{0x3610, 0x65}, {0x3610, 0x75},
{0x3611, 0x85}, {0x3611, 0x85},
{0x3613, 0x3a}, {0x3613, 0x3a},
{0x3615, 0x60}, {0x3615, 0x60},
{0x3621, 0xb0}, {0x3621, 0x90},
{0x3620, 0x0c}, {0x3620, 0x0c},
{0x3629, 0x00}, {0x3629, 0x00},
{0x3661, 0x04}, {0x3661, 0x04},
{0x3664, 0x70}, {0x3664, 0x70},
{0x3665, 0x00}, {0x3665, 0x00},
{0x3681, 0xa6}, {0x3681, 0x80},
{0x3682, 0x53}, {0x3682, 0x40},
{0x3683, 0x2a}, {0x3683, 0x21},
{0x3684, 0x15}, {0x3684, 0x12},
{0x3700, 0x2a}, {0x3700, 0x2a},
{0x3701, 0x12}, {0x3701, 0x12},
{0x3703, 0x28}, {0x3703, 0x28},
{0x3704, 0x0e}, {0x3704, 0x0e},
{0x3706, 0x9d}, {0x3706, 0x4a},
{0x3709, 0x4a}, {0x3709, 0x4a},
{0x370b, 0x48}, {0x370b, 0xa2},
{0x370c, 0x01}, {0x370c, 0x01},
{0x370f, 0x04}, {0x370f, 0x00},
{0x3714, 0x24}, {0x3714, 0x24},
{0x3716, 0x04}, {0x3716, 0x04},
{0x3719, 0x11}, {0x3719, 0x11},
@ -205,19 +206,19 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x3720, 0x00}, {0x3720, 0x00},
{0x3724, 0x13}, {0x3724, 0x13},
{0x373f, 0xb0}, {0x373f, 0xb0},
{0x3741, 0x9d}, {0x3741, 0x4a},
{0x3743, 0x9d}, {0x3743, 0x4a},
{0x3745, 0x9d}, {0x3745, 0x4a},
{0x3747, 0x9d}, {0x3747, 0x4a},
{0x3749, 0x48}, {0x3749, 0xa2},
{0x374b, 0x48}, {0x374b, 0xa2},
{0x374d, 0x48}, {0x374d, 0xa2},
{0x374f, 0x48}, {0x374f, 0xa2},
{0x3755, 0x10}, {0x3755, 0x10},
{0x376c, 0x00}, {0x376c, 0x00},
{0x378d, 0x3c}, {0x378d, 0x30},
{0x3790, 0x01}, {0x3790, 0x4a},
{0x3791, 0x01}, {0x3791, 0xa2},
{0x3798, 0x40}, {0x3798, 0x40},
{0x379e, 0x00}, {0x379e, 0x00},
{0x379f, 0x04}, {0x379f, 0x04},
@ -232,17 +233,17 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x37c0, 0x11}, {0x37c0, 0x11},
{0x37c2, 0x04}, {0x37c2, 0x04},
{0x37cd, 0x19}, {0x37cd, 0x19},
{0x37e0, 0x08}, // {0x37e0, 0x08},
{0x37e6, 0x04}, // {0x37e6, 0x04},
{0x37e5, 0x02}, {0x37e5, 0x02},
{0x37e1, 0x0c}, // {0x37e1, 0x0c},
{0x3737, 0x04}, // {0x3737, 0x04},
{0x37d8, 0x02}, {0x37d8, 0x02},
{0x37e2, 0x10}, // {0x37e2, 0x10},
{0x3739, 0x10}, {0x3739, 0x10},
{0x3662, 0x10}, {0x3662, 0x10},
{0x37e4, 0x20}, // {0x37e4, 0x20},
{0x37e3, 0x08}, // {0x37e3, 0x08},
{0x37d9, 0x08}, {0x37d9, 0x08},
{0x4040, 0x00}, {0x4040, 0x00},
{0x4041, 0x07}, {0x4041, 0x07},
@ -263,51 +264,58 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x3816, 0x01}, {0x3816, 0x01},
{0x3817, 0x01}, {0x3817, 0x01},
{0x380c, 0x08}, {0x380d, 0x5c}, // HTS {0x380c, 0x04}, {0x380d, 0x2e}, // HTS
{0x380e, 0x09}, {0x380f, 0x38}, // VTS {0x380e, 0x09}, {0x380f, 0xdb}, // VTS
{0x3820, 0xb0}, {0x3820, 0xb0},
{0x3821, 0x00}, {0x3821, 0x04},
{0x3880, 0x25}, {0x3880, 0x00},
{0x3882, 0x20}, {0x3882, 0x20},
{0x3c91, 0x0b}, {0x3c91, 0x0b},
{0x3c94, 0x45}, {0x3c94, 0x45},
{0x3cad, 0x00}, // {0x3cad, 0x00},
{0x3cae, 0x00}, // {0x3cae, 0x00},
{0x4000, 0xf3}, {0x4000, 0xf3},
{0x4001, 0x60}, {0x4001, 0x60},
{0x4003, 0x80}, {0x4003, 0x40},
{0x4300, 0xff}, {0x4300, 0xff},
{0x4302, 0x0f}, {0x4302, 0x0f},
{0x4305, 0x83}, {0x4305, 0x93},
{0x4505, 0x84}, {0x4505, 0x84},
{0x4809, 0x0e}, {0x4809, 0x0e},
{0x480a, 0x04}, {0x480a, 0x04},
{0x4837, 0x15}, {0x4837, 0x14},
{0x4c00, 0x08}, {0x4c00, 0x08},
{0x4c01, 0x08}, {0x4c01, 0x08},
{0x4c04, 0x00}, {0x4c04, 0x00},
{0x4c05, 0x00}, {0x4c05, 0x00},
{0x5000, 0xf9}, {0x5000, 0xf9},
{0x3822, 0x14}, // {0x0100, 0x01},
// {0x320d, 0x00},
// {0x3208, 0xa0},
// {0x3822, 0x14},
// initialize exposure // initialize exposure
{0x3503, 0x88}, {0x3503, 0x88},
// long // long
{0x3500, 0x00}, {0x3501, 0x00}, {0x3502, 0x80}, {0x3500, 0x00}, {0x3501, 0x00}, {0x3502, 0x10},
{0x3508, 0x00}, {0x3509, 0x80}, {0x3508, 0x00}, {0x3509, 0x80},
{0x350a, 0x04}, {0x350b, 0x00}, {0x350a, 0x04}, {0x350b, 0x00},
// short // short
// {0x3510, 0x00}, {0x3511, 0x00}, {0x3512, 0x10}, {0x3510, 0x00}, {0x3511, 0x00}, {0x3512, 0x40},
// {0x350c, 0x00}, {0x350d, 0x80}, {0x350c, 0x00}, {0x350d, 0x80},
// {0x350e, 0x04}, {0x350f, 0x00}, {0x350e, 0x04}, {0x350f, 0x00},
// wb // wb
{0x5100, 0x06}, {0x5101, 0xcb}, // b
{0x5100, 0x06}, {0x5101, 0x7e},
{0x5140, 0x06}, {0x5141, 0x7e},
// g
{0x5102, 0x04}, {0x5103, 0x00}, {0x5102, 0x04}, {0x5103, 0x00},
{0x5104, 0x08}, {0x5105, 0xde}, {0x5142, 0x04}, {0x5143, 0x00},
// r
{0x5106, 0x02}, {0x5107, 0x00}, {0x5104, 0x08}, {0x5105, 0xd6},
}; {0x5144, 0x08}, {0x5145, 0xd6},
};

1
system/camerad/sensors/sensor.h
Unescape View File

@ -29,6 +29,7 @@ public:
uint32_t extra_height = 0; uint32_t extra_height = 0;
int registers_offset = -1; int registers_offset = -1;
int stats_offset = -1; int stats_offset = -1;
int hdr_offset = -1;
int exposure_time_min; int exposure_time_min;
int exposure_time_max; int exposure_time_max;

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