camerad: remove AR register processing (#34537)

system/camerad/cameras/camera_qcom2.cc

@@ -263,10 +263,6 @@ void CameraState::run() {
       framed.setImage(get_raw_frame_image(&camera.buf));
     }
 
-    // Process camera registers and set camera exposure
-    if (camera.is_raw) {
-      camera.sensor->processRegisters((uint8_t *)camera.buf.cur_camera_buf->addr, framed);
-    }
     set_camera_exposure(set_exposure_target(&camera.buf, ae_xywh, 2, camera.cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4));
 
     // Send the message

system/camerad/sensors/ar0231.cc

@@ -16,64 +16,6 @@ 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
 
-std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(const AR0231 *s, 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,
-  // as well as markers to indicate the type of the next byte.
-  //
-  // 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address.
-  // Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional
-  // for contiguous ranges. See page 27-29 of the AR0231 Developer guide for more information.
-
-  int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3};
-  auto get_next_idx = [](int cur_idx) {
-    return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1;  // Every third byte is padding
-  };
-
-  std::map<uint16_t, std::pair<int, int>> registers;
-  for (int register_row = 0; register_row < 2; register_row++) {
-    uint8_t *registers_raw = data + s->frame_stride * register_row;
-    assert(registers_raw[0] == 0x0a);  // Start of line
-
-    int value_tag_count = 0;
-    int first_val_idx = 0;
-    uint16_t cur_addr = 0;
-
-    for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) {
-      int val_idx = get_next_idx(i);
-
-      uint8_t tag = registers_raw[i];
-      uint16_t val = registers_raw[val_idx];
-
-      if (tag == 0xAA) {  // Register MSB tag
-        cur_addr = val << 8;
-      } else if (tag == 0xA5) {  // Register LSB tag
-        cur_addr |= val;
-        cur_addr -= 2;           // Next value tag will increment address again
-      } else if (tag == 0x5A) {  // Value tag
-
-        // First tag
-        if (value_tag_count % 2 == 0) {
-          cur_addr += 2;
-          first_val_idx = val_idx;
-        } else {
-          registers[cur_addr] = std::make_pair(first_val_idx + s->frame_stride * register_row, val_idx + s->frame_stride * register_row);
-        }
-
-        value_tag_count++;
-      }
-    }
-  }
-  return registers;
-}
-
-float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) {
-  // See AR0231 Developer Guide - page 36
-  float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2);
-  float t0 = 55.0 - slope * (float)calib2;
-  return t0 + slope * (float)data_reg;
-}
-
 }  // namespace
 
 AR0231::AR0231() {
@@ -169,33 +111,6 @@ AR0231::AR0231() {
   };
 }
 
-void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {
-  const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55};
-  uint8_t *data = cur_buf + registers_offset;
-
-  if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) {
-    LOGE("unexpected register data found");
-    return;
-  }
-
-  if (ar0231_register_lut.empty()) {
-    ar0231_register_lut = ar0231_build_register_lut(this, data);
-  }
-  std::map<uint16_t, uint16_t> registers;
-  for (uint16_t addr : {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc}) {
-    auto offset = ar0231_register_lut[addr];
-    registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second];
-  }
-
-  uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002];
-  framed.setFrameIdSensor(frame_id);
-
-  float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]);
-  float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]);
-  framed.setTemperaturesC({temp_0, temp_1});
-}
-
-
 std::vector<i2c_random_wr_payload> AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
   uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g;
   return {

system/camerad/sensors/sensor.h

@@ -22,7 +22,6 @@ public:
   virtual std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { return {}; }
   virtual float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {return 0; }
   virtual int getSlaveAddress(int port) const { assert(0); }
-  virtual void processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {}
 
   cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN;
   float pixel_size_mm;
@@ -90,7 +89,6 @@ public:
   std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
   float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
   int getSlaveAddress(int port) const override;
-  void processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const override;
 
 private:
   mutable std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;