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camerad: setup IFE gamma correction (#33837)

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* setup gamma

* ife happy

* config for sensor

* fill and clean up

* cleanup

---------

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: ZwX1616 <zwx1616@gmail.com>
pull/33852/head
Adeeb Shihadeh 11 months ago committed by GitHub
parent 4f8b11257e
commit fc5f761fa8
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GPG Key ID: B5690EEEBB952194
9 changed files with 76 additions and 94 deletions
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  1. 14
      system/camerad/cameras/cdm.cc
  2. 1
      system/camerad/cameras/cdm.h
  3. 98
      system/camerad/cameras/ife.h
  4. 27
      system/camerad/cameras/spectra.cc
  5. 6
      system/camerad/cameras/spectra.h
  6. 12
      system/camerad/sensors/ar0231.cc
  7. 4
      system/camerad/sensors/os04c10.cc
  8. 5
      system/camerad/sensors/ox03c10.cc
  9. 3
      system/camerad/sensors/sensor.h

14
system/camerad/cameras/cdm.cc
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@ -1,4 +1,18 @@
#include "cdm.h"
#include "stddef.h"
int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel) {
struct cdm_dmi_cmd *cmd = (struct cdm_dmi_cmd*)dst;
cmd->cmd = CAM_CDM_CMD_DMI_32;
cmd->length = length - 1;
cmd->reserved = 0;
cmd->addr = 0; // gets patched in
cmd->DMIAddr = dmi_addr;
cmd->DMISel = sel;
*addr = (uint64_t)(dst + offsetof(struct cdm_dmi_cmd, addr));
return sizeof(struct cdm_dmi_cmd);
}
int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals) {
struct cdm_regcontinuous_cmd *cmd = (struct cdm_regcontinuous_cmd*)dst;

1
system/camerad/cameras/cdm.h
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@ -9,6 +9,7 @@
// our helpers
int write_random(uint8_t *dst, std::vector<uint32_t> vals);
int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals);
int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel);
// from drivers/media/platform/msm/camera/cam_cdm/cam_cdm_util.{c,h}

98
system/camerad/cameras/ife.h
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@ -4,7 +4,7 @@
#include "system/camerad/sensors/sensor.h"
int build_initial_config(uint8_t *dst, const SensorInfo *s) {
int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches) {
uint8_t *start = dst;
dst += write_random(dst, {
@ -178,49 +178,17 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s) {
dst += write_cont(dst, 0x760, s->color_correct_matrix);
dst += write_cont(dst, 0x794, {
0x00000000,
});
/* TODO
cdm_dmi_cmd_t 568
.length = 511
.reserved = 33
.cmd = 11
.addr = 0
.DMIAddr = 3108
.DMISel = 24
*/
// gamma
dst += write_cont(dst, 0x798, {
0x00000000,
});
/* TODO
cdm_dmi_cmd_t 580
.length = 255
.reserved = 33
.cmd = 10
.addr = 0
.DMIAddr = 3108
.DMISel = 26
*/
/* TODO
cdm_dmi_cmd_t 580
.length = 255
.reserved = 33
.cmd = 10
.addr = 0
.DMIAddr = 3108
.DMISel = 28
*/
/* TODO
cdm_dmi_cmd_t 580
.length = 255
.reserved = 33
.cmd = 10
.addr = 0
.DMIAddr = 3108
.DMISel = 30
*/
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
patches.push_back(addr - (uint64_t)start);
dst += write_dmi(dst, &addr, 256, 0xc24, 30); // R
patches.push_back(addr - (uint64_t)start);
dst += write_cont(dst, 0xf30, {
0x00750259,
@ -517,50 +485,6 @@ int build_first_update(uint8_t *dst) {
0x08000066,
});
dst += write_cont(dst, 0x794, {
0x00000001,
});
/* TODO
cdm_dmi_cmd_t 432
.length = 511
.reserved = 33
.cmd = 11
.addr = 832
.DMIAddr = 3108
.DMISel = 25
*/
dst += write_cont(dst, 0x798, {
0x00000007,
});
/* TODO
cdm_dmi_cmd_t 444
.length = 255
.reserved = 33
.cmd = 10
.addr = 5344
.DMIAddr = 3108
.DMISel = 27
*/
/* TODO
cdm_dmi_cmd_t 444
.length = 255
.reserved = 33
.cmd = 10
.addr = 5344
.DMIAddr = 3108
.DMISel = 29
*/
/* TODO
cdm_dmi_cmd_t 444
.length = 255
.reserved = 33
.cmd = 10
.addr = 5344
.DMIAddr = 3108
.DMISel = 31
*/
dst += write_cont(dst, 0xd84, {
0x000004b7,
0x00000787,
@ -644,7 +568,7 @@ int build_first_update(uint8_t *dst) {
return dst - start;
}
int build_update(uint8_t *dst, const CameraConfig &cc, const SensorInfo *s) {
int build_update(uint8_t *dst, const CameraConfig &cc, const SensorInfo *s, std::vector<uint32_t> &patches) {
uint8_t *start = dst;
dst += write_random(dst, {
@ -701,7 +625,7 @@ int build_update(uint8_t *dst, const CameraConfig &cc, const SensorInfo *s) {
});
dst += write_cont(dst, 0x48, {
0b10,
(1 << 3) | (1 << 1),
});
dst += write_cont(dst, 0x4c, {

27
system/camerad/cameras/spectra.cc
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@ -463,6 +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;
if (!init) {
size += sizeof(struct cam_buf_io_cfg);
}
@ -480,6 +481,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
pkt->header.size = size;
// *** cmd buf ***
std::vector<uint32_t> patches;
{
struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
pkt->num_cmd_buf = 2;
@ -495,11 +497,11 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
// stream of IFE register writes
if (!is_raw) {
if (init) {
buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get());
buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches);
} else if (request_id == 1) {
buf_desc[0].length = build_first_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset);
} else {
buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get());
buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
}
}
@ -632,8 +634,18 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
// *** patches ***
// sets up the kernel driver to do address translation for the IFE
{
pkt->num_patches = 0;
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) {
// 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->dst_buf_hdl = ife_cmd.handle;
patch->src_buf_hdl = ife_gamma_lut.handle;
patch->dst_offset = patches[i];
patch->src_offset = ife_gamma_lut.size*i;
}
}
}
int ret = device_config(m->isp_fd, session_handle, isp_dev_handle, cam_packet_handle);
@ -841,10 +853,17 @@ void SpectraCamera::configISP() {
isp_dev_handle = *isp_dev_handle_;
LOGD("acquire isp dev");
// config IFE
// allocate IFE memory, then configure it
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);
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);
}
config_ife(0, 1, true);
}

6
system/camerad/cameras/spectra.h
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@ -74,7 +74,8 @@ public:
void init(SpectraMaster *m, int s, int a, int flags, int mmu_hdl = 0, int mmu_hdl2 = 0, int count=1) {
size = s;
alignment = a;
ptr = alloc_w_mmu_hdl(m->video0_fd, ALIGNED_SIZE(size, alignment)*count, (uint32_t*)&handle, alignment, flags, mmu_hdl, mmu_hdl2);
void *p = alloc_w_mmu_hdl(m->video0_fd, ALIGNED_SIZE(size, alignment)*count, (uint32_t*)&handle, alignment, flags, mmu_hdl, mmu_hdl2);
ptr = (unsigned char*)p;
assert(ptr != NULL);
};
@ -82,7 +83,7 @@ public:
return ALIGNED_SIZE(size, alignment);
};
void *ptr;
unsigned char *ptr;
int size, alignment, handle;
};
@ -139,6 +140,7 @@ public:
int32_t link_handle = -1;
SpectraBuf ife_cmd;
SpectraBuf ife_gamma_lut;
SpectraBuf bps_cmd;
SpectraBuf bps_cdm_buffer;

12
system/camerad/sensors/ar0231.cc
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@ -124,6 +124,18 @@ AR0231::AR0231() {
0x00000fbc, 0x000000bb, 0x00000009,
0x00000fb6, 0x00000fe0, 0x000000ea,
};
for (int i = 0; i < 64; i++) {
float fx = i / 63.0;
const float gamma_k = 0.75;
const float gamma_b = 0.125;
const float mp = 0.01; // ideally midpoint should be adaptive
const float rk = 9 - 100*mp;
// poly approximation for s curve
fx = (fx > mp) ?
((rk * (fx-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(fx-mp))) + gamma_k*mp + gamma_b) :
((rk * (fx-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(fx-mp))) + gamma_k*mp + gamma_b);
gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
}
}
void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {

4
system/camerad/sensors/os04c10.cc
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@ -68,6 +68,10 @@ OS04C10::OS04C10() {
0x00000fa7, 0x000000d9, 0x00001000,
0x00000fca, 0x00000fef, 0x000000c7,
};
for (int i = 0; i < 64; i++) {
float fx = i / 63.0;
gamma_lut_rgb.push_back((uint32_t)(pow(fx, 0.7)*1023.0 + 0.5));
}
}
std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {

5
system/camerad/sensors/ox03c10.cc
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@ -68,6 +68,11 @@ OX03C10::OX03C10() {
0x00000fcc, 0x000000b9, 0x00000ffb,
0x00000fc2, 0x00000ff6, 0x000000c9,
};
for (int i = 0; i < 64; i++) {
float fx = i / 63.0;
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));
}
}
std::vector<i2c_random_wr_payload> OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {

3
system/camerad/sensors/sensor.h
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@ -68,7 +68,8 @@ public:
// ISP image processing params
uint32_t black_level;
std::vector<uint32_t> color_correct_matrix;
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
};
class AR0231 : public SensorInfo {

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