Enable IFE linearization (#33852)

* enable linearization

* fixup

* gate that

---------

Co-authored-by: Comma Device <device@comma.ai>

system/camerad/cameras/ife.h

@@ -5,6 +5,7 @@
 
 
 int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches) {
+  uint64_t addr;
   uint8_t *start = dst;
 
   dst += write_random(dst, {
@@ -70,6 +71,9 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
     0x2200297f,
     0x30ff387f,
   });
+  // TODO: this is DMI64 in the dump, does that matter?
+  dst += write_dmi(dst, &addr, 288, 0xc24, 9);
+  patches.push_back(addr - (uint64_t)start);
   /* TODO
   cdm_dmi_cmd_t 248
     .length = 287
@@ -182,7 +186,6 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
   dst += write_cont(dst, 0x798, {
     0x00000000,
   });
-  uint64_t addr;
   dst += write_dmi(dst, &addr, 256, 0xc24, 26);  // G
   patches.push_back(addr - (uint64_t)start);
   dst += write_dmi(dst, &addr, 256, 0xc24, 28);  // B
@@ -295,7 +298,7 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
   });
 
   dst += write_cont(dst, 0x40, {
-    0x00000586,
+    0x00000c06,
   });
 
   dst += write_cont(dst, 0x48, {
@@ -365,51 +368,6 @@ int build_first_update(uint8_t *dst) {
     0x3c, 0xffffffff,
   });
 
-  dst += write_cont(dst, 0x4dc, {
-    0x00000001,
-    0x04050b84,
-    0x13031a82,
-    0x22022981,
-    0x3100387f,
-    0x04010b80,
-    0x13001a80,
-    0x2200297f,
-    0x30ff387f,
-    0x04050b84,
-    0x13031a82,
-    0x22022981,
-    0x3100387f,
-    0x04010b80,
-    0x13001a80,
-    0x2200297f,
-    0x30ff387f,
-    0x04050b84,
-    0x13031a82,
-    0x22022981,
-    0x3100387f,
-    0x04010b80,
-    0x13001a80,
-    0x2200297f,
-    0x30ff387f,
-    0x04050b84,
-    0x13031a82,
-    0x22022981,
-    0x3100387f,
-    0x04010b80,
-    0x13001a80,
-    0x2200297f,
-    0x30ff387f,
-  });
-  /* TODO
-  cdm_dmi_cmd_t 184
-    .length = 287
-    .reserved = 33
-    .cmd = 11
-    .addr = 832
-    .DMIAddr = 3108
-    .DMISel = 10
-  */
-
   dst += write_cont(dst, 0x560, {
     0x00000001,
     0x04440444,
@@ -510,7 +468,7 @@ int build_first_update(uint8_t *dst) {
   });
 
   dst += write_cont(dst, 0x40, {
-    0x00000444,
+    0x00000c06,
   });
 
   dst += write_cont(dst, 0x48, {
@@ -621,7 +579,7 @@ int build_update(uint8_t *dst, const CameraConfig &cc, const SensorInfo *s, std:
   });
 
   dst += write_cont(dst, 0x40, {
-    0x00000c04,
+    0x00000c06,
   });
 
   dst += write_cont(dst, 0x48, {

system/camerad/cameras/spectra.cc

@@ -463,7 +463,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     * IFE = Image Front End
   */
   int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2;
-  size += sizeof(struct cam_patch_desc)*3;
+  size += sizeof(struct cam_patch_desc)*4;
   if (!init) {
     size += sizeof(struct cam_buf_io_cfg);
   }
@@ -637,12 +637,19 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     pkt->num_patches = patches.size();
     pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs;
     if (pkt->num_patches > 0) {
+      // linearization LUT
+      struct cam_patch_desc *patch = (struct cam_patch_desc *)((char*)&pkt->payload + pkt->patch_offset);
+      patch->dst_buf_hdl = ife_cmd.handle;
+      patch->src_buf_hdl = ife_linearization_lut.handle;
+      patch->dst_offset = patches[0];
+      patch->src_offset = 0;
+
       // gamma LUT
       for (int i = 0; i < 3; i++) {
-        struct cam_patch_desc *patch = (struct cam_patch_desc *)((char*)&pkt->payload + pkt->patch_offset + sizeof(cam_patch_desc)*i);
+        patch = (struct cam_patch_desc *)((char*)&pkt->payload + pkt->patch_offset + sizeof(cam_patch_desc)*(i+1));
         patch->dst_buf_hdl = ife_cmd.handle;
         patch->src_buf_hdl = ife_gamma_lut.handle;
-        patch->dst_offset = patches[i];
+        patch->dst_offset = patches[i+1];
         patch->src_offset = ife_gamma_lut.size*i;
       }
     }
@@ -857,12 +864,18 @@ void SpectraCamera::configISP() {
   ife_cmd.init(m, 67984, 0x20,
                CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
                m->device_iommu, m->cdm_iommu, FRAME_BUF_COUNT);
+  if (!is_raw) {
     ife_gamma_lut.init(m, 64*sizeof(uint32_t), 0x20,
                        CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
                        m->device_iommu, m->cdm_iommu, 3); // 3 for RGB
     for (int i = 0; i < 3; i++) {
       memcpy(ife_gamma_lut.ptr + ife_gamma_lut.size*i, sensor->gamma_lut_rgb.data(), ife_gamma_lut.size);
     }
+    ife_linearization_lut.init(m, sensor->linearization_lut.size(), 0x20,
+                               CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
+                               m->device_iommu, m->cdm_iommu);
+    memcpy(ife_linearization_lut.ptr, sensor->linearization_lut.data(), ife_linearization_lut.size);
+  }
 
   config_ife(0, 1, true);
 }

system/camerad/cameras/spectra.h

@@ -141,6 +141,7 @@ public:
 
   SpectraBuf ife_cmd;
   SpectraBuf ife_gamma_lut;
+  SpectraBuf ife_linearization_lut;
 
   SpectraBuf bps_cmd;
   SpectraBuf bps_cdm_buffer;

system/camerad/sensors/ox03c10.cc

@@ -73,6 +73,9 @@ OX03C10::OX03C10() {
     fx = -0.507089*exp(-12.54124638*fx) + 0.9655*pow(fx, 0.5) - 0.472597*fx + 0.507089;
     gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
   }
+  for (int i = 0; i < 288; i++) {
+    linearization_lut.push_back(0xff);
+  }
 }
 
 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

@@ -70,6 +70,7 @@ public:
   uint32_t black_level;
   std::vector<uint32_t> color_correct_matrix;  // 3x3
   std::vector<uint32_t> gamma_lut_rgb;         // gamma LUTs are length 64 * sizeof(uint32_t); same for r/g/b here
+  std::vector<uint32_t> linearization_lut;     // length 288
 };
 
 class AR0231 : public SensorInfo {