box defs

system/camerad/cameras/camera_common.cc

@@ -269,14 +269,14 @@ static void publish_thumbnail(PubMaster *pm, const CameraBuf *b) {
   pm->send("thumbnail", msg);
 }
 
-float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip) {
+float set_exposure_target(const CameraBuf *b, int x_start, int x_len, int x_skip, int y_start, int y_len, int y_skip) {
   int lum_med;
   uint32_t lum_binning[256] = {0};
   const uint8_t *pix_ptr = b->cur_yuv_buf->y;
 
   unsigned int lum_total = 0;
-  for (int y = y_start; y < y_end; y += y_skip) {
-    for (int x = x_start; x < x_end; x += x_skip) {
+  for (int y = y_start; y < y_start + y_len; y += y_skip) {
+    for (int x = x_start; x < x_start + x_len; x += x_skip) {
       uint8_t lum = pix_ptr[(y * b->rgb_width) + x];
       lum_binning[lum]++;
       lum_total += 1;

system/camerad/cameras/camera_common.h

@@ -75,7 +75,7 @@ typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
 
 void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c);
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
-float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
+float set_exposure_target(const CameraBuf *b, int x_start, int x_len, int x_skip, int y_start, int y_len, int y_skip);
 std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx);

system/camerad/cameras/camera_qcom2.cc

@@ -902,7 +902,8 @@ void CameraState::set_camera_exposure(float grey_frac) {
 }
 
 static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  c->set_camera_exposure(set_exposure_target(&c->buf, 96, 1832, 2, 242, 1148, 4));
+  const auto ae_xywh = c->ci->driver_ae_xywh;
+  c->set_camera_exposure(set_exposure_target(&c->buf, ae_xywh[0], ae_xywh[2], 2, ae_xywh[1], ae_xywh[3], 4));
 
   MessageBuilder msg;
   auto framed = msg.initEvent().initDriverCameraState();
@@ -927,9 +928,9 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
   c->ci->processRegisters(c, framed);
   s->pm->send(c == &s->road_cam ? "roadCameraState" : "wideRoadCameraState", msg);
 
-  const auto [x, y, w, h] = (c == &s->wide_road_cam) ? std::tuple(96, 250, 1734, 524) : std::tuple(96, 160, 1734, 986);
+  const auto ae_xywh = (c == &s->wide_road_cam) ? c->ci->wide_ae_xywh : c->ci->road_ae_xywh;
   const int skip = 2;
-  c->set_camera_exposure(set_exposure_target(b, x, x + w, skip, y, y + h, skip));
+  c->set_camera_exposure(set_exposure_target(b, ae_xywh[0], ae_xywh[2], skip, ae_xywh[1], ae_xywh[3], skip));
 }
 
 void cameras_run(MultiCameraState *s) {

system/camerad/sensors/ar0231.cc

@@ -17,6 +17,10 @@ const float sensor_analog_gains_AR0231[] = {
     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 ar0231_road_ae_xywh[] = {96, 160, 1734, 986};
+const int ar0231_wide_ae_xywh[] = {96, 250, 1734, 524};
+const int ar0231_driver_ae_xywh[] = {96, 242, 1736, 906};
+
 std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c, uint8_t *data) {
   // This function builds a lookup table from register address, to a pair of indices in the
   // buffer where to read this address. The buffer contains padding bytes,
@@ -116,6 +120,11 @@ AR0231::AR0231() {
   min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
   max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
   target_grey_factor = 1.0;
+  for (int i = 0; i < 4; i++) {
+    road_ae_xywh[i] = ar0231_road_ae_xywh[i];
+    wide_ae_xywh[i] = ar0231_wide_ae_xywh[i];
+    driver_ae_xywh[i] = ar0231_driver_ae_xywh[i];
+  }
 }
 
 void AR0231::processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {

system/camerad/sensors/os04c10.cc

@@ -16,6 +16,10 @@ const uint32_t os04c10_analog_gains_reg[] = {
     0x2E0, 0x300, 0x320, 0x340, 0x380, 0x3C0, 0x400, 0x440, 0x480, 0x4C0, 0x500,
     0x540, 0x580, 0x5C0, 0x600, 0x640, 0x680, 0x6C0, 0x700, 0x740, 0x780, 0x7C0};
 
+const int os04c10_road_ae_xywh[] = {44, 50, 2600, 1470};
+const int os04c10_wide_ae_xywh[] = {44, 194, 2600, 838};
+const int os04c10_driver_ae_xywh[] = {44, 180, 2600, 1340};
+
 }  // namespace
 
 OS04C10::OS04C10() {
@@ -56,6 +60,11 @@ OS04C10::OS04C10() {
   min_ev = (exposure_time_min) * sensor_analog_gains[analog_gain_min_idx];
   max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
   target_grey_factor = 0.01;
+  for (int i = 0; i < 4; i++) {
+    road_ae_xywh[i] = os04c10_road_ae_xywh[i];
+    wide_ae_xywh[i] = os04c10_wide_ae_xywh[i];
+    driver_ae_xywh[i] = os04c10_driver_ae_xywh[i];
+  }
 }
 
 std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {

system/camerad/sensors/ox03c10.cc

@@ -16,6 +16,10 @@ const uint32_t ox03c10_analog_gains_reg[] = {
     0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00,
     0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80};
 
+const int ox03c10_road_ae_xywh[] = {96, 160, 1734, 986};
+const int ox03c10_wide_ae_xywh[] = {96, 250, 1734, 524};
+const int ox03c10_driver_ae_xywh[] = {96, 242, 1736, 906};
+
 const uint32_t VS_TIME_MIN_OX03C10 = 1;
 const uint32_t VS_TIME_MAX_OX03C10 = 34;  // vs < 35
 
@@ -57,6 +61,11 @@ OX03C10::OX03C10() {
   min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx];
   max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
   target_grey_factor = 0.01;
+  for (int i = 0; i < 4; i++) {
+    road_ae_xywh[i] = ox03c10_road_ae_xywh[i];
+    wide_ae_xywh[i] = ox03c10_wide_ae_xywh[i];
+    driver_ae_xywh[i] = ox03c10_driver_ae_xywh[i];
+  }
 }
 
 std::vector<i2c_random_wr_payload> OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {

system/camerad/sensors/sensor.h

@@ -48,6 +48,9 @@ public:
   float target_grey_factor;
   float min_ev;
   float max_ev;
+  int road_ae_xywh[4];
+  int wide_ae_xywh[4];
+  int driver_ae_xywh[4];
 
   bool data_word;
   uint32_t probe_reg_addr;