sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Revert "Revert "OS04C10: use IFE downscaler for road cameras"" (#35047)

Browse Source 
* Revert "Revert "OS04C10: use IFE downscaler for road cameras" (#35046)"

This reverts commit aaaa2d0dd0.

* fixed

* patch it here

* surely
pull/35060/head
ZwX1616 1 day ago committed by GitHub
parent a38dcbb3fe
commit e85d833a80
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
8 changed files with 71 additions and 37 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 3
      system/camerad/cameras/camera_common.cc
  2. 2
      system/camerad/cameras/camera_common.h
  3. 10
      system/camerad/cameras/camera_qcom2.cc
  4. 18
      system/camerad/cameras/ife.h
  5. 40
      system/camerad/cameras/spectra.cc
  6. 11
      system/camerad/sensors/os04c10.cc
  7. 22
      system/camerad/sensors/os04c10_registers.h
  8. 2
      system/camerad/sensors/sensor.h

3
system/camerad/cameras/camera_common.cc
Unescape View File

@ -26,9 +26,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
LOGD("allocated %d CL buffers", frame_buf_count);
}
out_img_width = sensor->frame_width;
out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
// the encoder HW tells us the size it wants after setting it up.
// TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride;

2
system/camerad/cameras/camera_common.h
Unescape View File

@ -32,7 +32,7 @@ public:
VisionBuf *cur_yuv_buf;
VisionBuf *cur_camera_buf;
std::unique_ptr<VisionBuf[]> camera_bufs_raw;
int out_img_width, out_img_height;
uint32_t out_img_width, out_img_height;
CameraBuf() = default;
~CameraBuf();

10
system/camerad/cameras/camera_qcom2.cc
Unescape View File

@ -73,7 +73,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct
if (!camera.enabled) return;
fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm;
fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm / camera.sensor->out_scale;
set_exposure_rect();
dc_gain_weight = camera.sensor->dc_gain_min_weight;
@ -107,10 +107,10 @@ void CameraState::set_exposure_rect() {
float fl_ref = ae_target.second;
ae_xywh = (Rect){
std::max(0, camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
std::max(0, camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
std::min((int)(fl_pix / fl_ref * xywh_ref.w), camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
std::min((int)(fl_pix / fl_ref * xywh_ref.h), camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
std::max(0, (int)camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
std::max(0, (int)camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
std::min((int)(fl_pix / fl_ref * xywh_ref.w), (int)camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
std::min((int)(fl_pix / fl_ref * xywh_ref.h), (int)camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
};
}

18
system/camerad/cameras/ife.h
Unescape View File

@ -105,7 +105,7 @@ int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std:
}
int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches) {
int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches, uint32_t out_width, uint32_t out_height) {
uint8_t *start = dst;
// start with the every frame config
@ -185,12 +185,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
// output size/scaling
dst += write_cont(dst, 0xa3c, {
0x00000003,
((s->frame_width - 1) << 16) | (s->frame_width - 1),
((out_width - 1) << 16) | (s->frame_width - 1),
0x30036666,
0x00000000,
0x00000000,
s->frame_width - 1,
((s->frame_height - 1) << 16) | (s->frame_height - 1),
((out_height - 1) << 16) | (s->frame_height - 1),
0x30036666,
0x00000000,
0x00000000,
@ -198,12 +198,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
});
dst += write_cont(dst, 0xa68, {
0x00000003,
((s->frame_width/2 - 1) << 16) | (s->frame_width - 1),
((out_width / 2 - 1) << 16) | (s->frame_width - 1),
0x3006cccc,
0x00000000,
0x00000000,
s->frame_width - 1,
((s->frame_height/2 - 1) << 16) | (s->frame_height - 1),
((out_height / 2 - 1) << 16) | (s->frame_height - 1),
0x3006cccc,
0x00000000,
0x00000000,
@ -212,12 +212,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
// cropping
dst += write_cont(dst, 0xe10, {
s->frame_height - 1,
s->frame_width - 1,
out_height - 1,
out_width - 1,
});
dst += write_cont(dst, 0xe30, {
s->frame_height/2 - 1,
s->frame_width - 1,
out_height / 2 - 1,
out_width - 1,
});
dst += write_cont(dst, 0xe18, {
0x0ff00000,

40
system/camerad/cameras/spectra.cc
Unescape View File

@ -281,18 +281,21 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
if (!enabled) return;
buf.out_img_width = sensor->frame_width / sensor->out_scale;
buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale;
// size is driven by all the HW that handles frames,
// the video encoder has certain alignment requirements in this case
stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width);
y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width);
y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
uv_offset = stride*y_height;
yuv_size = uv_offset + stride*uv_height;
if (cc.output_type != ISP_RAW_OUTPUT) {
uv_offset = ALIGNED_SIZE(uv_offset, 0x1000);
yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
}
assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width));
assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width));
assert(y_height/2 == uv_height);
open = true;
@ -645,14 +648,14 @@ void SpectraCamera::config_bps(int idx, int request_id) {
io_cfg[1].mem_handle[0] = buf_handle_yuv[idx];
io_cfg[1].mem_handle[1] = buf_handle_yuv[idx];
io_cfg[1].planes[0] = (struct cam_plane_cfg){
.width = sensor->frame_width,
.height = sensor->frame_height,
.width = buf.out_img_width,
.height = buf.out_img_height,
.plane_stride = stride,
.slice_height = y_height,
};
io_cfg[1].planes[1] = (struct cam_plane_cfg){
.width = sensor->frame_width,
.height = sensor->frame_height/2,
.width = buf.out_img_width,
.height = buf.out_img_height / 2,
.plane_stride = stride,
.slice_height = uv_height,
};
@ -737,7 +740,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
bool is_raw = cc.output_type != ISP_IFE_PROCESSED;
if (!is_raw) {
if (init) {
buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches, buf.out_img_width, buf.out_img_height);
} else {
buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
}
@ -844,14 +847,14 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
io_cfg[0].mem_handle[0] = buf_handle_yuv[idx];
io_cfg[0].mem_handle[1] = buf_handle_yuv[idx];
io_cfg[0].planes[0] = (struct cam_plane_cfg){
.width = sensor->frame_width,
.height = sensor->frame_height,
.width = buf.out_img_width,
.height = buf.out_img_height,
.plane_stride = stride,
.slice_height = y_height,
};
io_cfg[0].planes[1] = (struct cam_plane_cfg){
.width = sensor->frame_width,
.height = sensor->frame_height/2,
.width = buf.out_img_width,
.height = buf.out_img_height / 2,
.plane_stride = stride,
.slice_height = uv_height,
};
@ -993,6 +996,9 @@ bool SpectraCamera::openSensor() {
LOGD("-- Probing sensor %d", cc.camera_num);
auto init_sensor_lambda = [this](SensorInfo *s) {
if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) {
((OS04C10*)s)->ife_downscale_configure();
}
sensor.reset(s);
return (sensors_init() == 0);
};
@ -1065,8 +1071,8 @@ void SpectraCamera::configISP() {
.data[0] = (struct cam_isp_out_port_info){
.res_type = CAM_ISP_IFE_OUT_RES_FULL,
.format = CAM_FORMAT_NV12,
.width = sensor->frame_width,
.height = sensor->frame_height + sensor->extra_height,
.width = buf.out_img_width,
.height = buf.out_img_height + sensor->extra_height,
.comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
},
};
@ -1141,8 +1147,8 @@ void SpectraCamera::configICP() {
},
.out_res[0] = (struct cam_icp_res_info){
.format = 0x3, // YUV420NV12
.width = sensor->frame_width,
.height = sensor->frame_height,
.width = buf.out_img_width,
.height = buf.out_img_height,
.fps = 20,
},
};

11
system/camerad/sensors/os04c10.cc
Unescape View File

@ -20,6 +20,17 @@ const uint32_t os04c10_analog_gains_reg[] = {
} // namespace
void OS04C10::ife_downscale_configure() {
out_scale = 2;
pixel_size_mm = 0.002;
frame_width = 2688;
frame_height = 1520;
exposure_time_max = 2352;
init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10));
}
OS04C10::OS04C10() {
image_sensor = cereal::FrameData::ImageSensor::OS04C10;
bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG;

22
system/camerad/sensors/os04c10_registers.h
Unescape View File

@ -88,8 +88,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x37c7, 0xa8},
{0x37da, 0x11},
{0x381f, 0x08},
// {0x3829, 0x03},
// {0x3832, 0x00},
{0x3881, 0x00},
{0x3888, 0x04},
{0x388b, 0x00},
@ -332,3 +330,23 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x5104, 0x08}, {0x5105, 0xd6},
{0x5144, 0x08}, {0x5145, 0xd6},
};
const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
// OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
{0x3c8c, 0x40},
{0x3714, 0x24},
{0x37c2, 0x04},
{0x3662, 0x10},
{0x37d9, 0x08},
{0x4041, 0x07},
{0x4008, 0x02},
{0x4009, 0x0d},
{0x3808, 0x0a}, {0x3809, 0x80},
{0x380a, 0x05}, {0x380b, 0xf0},
{0x3814, 0x01},
{0x3816, 0x01},
{0x380c, 0x08}, {0x380d, 0x5c}, // HTS
{0x380e, 0x09}, {0x380f, 0x38}, // VTS
{0x3820, 0xb0},
{0x3821, 0x00},
};

2
system/camerad/sensors/sensor.h
Unescape View File

@ -29,6 +29,7 @@ public:
uint32_t frame_stride;
uint32_t frame_offset = 0;
uint32_t extra_height = 0;
int out_scale = 1;
int registers_offset = -1;
int stats_offset = -1;
int hdr_offset = -1;
@ -109,6 +110,7 @@ public:
class OS04C10 : public SensorInfo {
public:
OS04C10();
void ife_downscale_configure();
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;

Write Preview
Loading…
Cancel
Save