sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
14029 Commits
123 Branches
82 Tags
5.0 GiB
 
 
 
 
 
 
Tag: Branch: Tree: 8e8f61ad35
Branches Tags
${ item.name }
Create tag ${ searchTerm }
Create branch ${ searchTerm }
from '8e8f61ad35'
${ noResults }
openpilot_comma/system/camerad/cameras/ife.h

767 lines
11 KiB
Raw Blame History

#include "cdm.h"
int build_initial_config(uint8_t *dst) {
uint8_t *start = dst;
// constants, some kind of HW quirk?
dst += write_random(dst, {
0x2c, 0xffffffff,
0x30, 0xffffffff,
0x34, 0xffffffff,
0x38, 0xffffffff,
0x3c, 0xffffffff,
});
dst += write_cont(dst, 0x478, {
0x00000004,
0x004000c0,
});
dst += write_cont(dst, 0x488, {
0x00000000,
0x00000000,
0x00000f0f,
});
dst += write_cont(dst, 0x49c, {
0x00000001,
});
dst += write_cont(dst, 0xce4, {
0x00000000,
0x00000000,
});
dst += write_cont(dst, 0x4dc, {
0x00000000,
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 248
.length = 287
.reserved = 33
.cmd = 11
.addr = 0
.DMIAddr = 3108
.DMISel = 9
*/
dst += write_cont(dst, 0x560, {
0x00000001,
0x04440444,
0x04450445,
0x04440444,
0x04450445,
0x000000ca,
0x0000009c,
});
dst += write_cont(dst, 0x5e8, {
0x06363005,
});
dst += write_cont(dst, 0x5f4, {
0x00000000,
0x00000000,
0x00000000,
0x00000000,
0x3b3839a0,
0x003f8040,
0x00000000,
0x00000000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00000009,
0x00400808,
0x00000044,
0x004000a0,
0x0a0d00a6,
0x0a0d00a6,
});
/* TODO
cdm_dmi_cmd_t 392
.length = 255
.reserved = 33
.cmd = 10
.addr = 0
.DMIAddr = 3108
.DMISel = 12
*/
dst += write_cont(dst, 0x6bc, {
0x0b3c0000,
0x00670067,
0xd3b1300c,
0x13b1300c,
0x00670067,
0xd3b1300c,
0x13b1300c,
0xec4e4000,
0x0100c003,
0xec4e4000,
0x0100c003,
});
/* TODO
cdm_dmi_cmd_t 444
.length = 883
.reserved = 33
.cmd = 10
.addr = 0
.DMIAddr = 3108
.DMISel = 14
*/
/* TODO
cdm_dmi_cmd_t 444
.length = 883
.reserved = 33
.cmd = 10
.addr = 0
.DMIAddr = 3108
.DMISel = 15
*/
dst += write_cont(dst, 0x6fc, {
0x00bf0080,
0x00000106,
0x00000000,
0x00000000,
});
dst += write_cont(dst, 0x6f8, {
0x00000100,
});
dst += write_cont(dst, 0x71c, {
0x00008000,
0x08000066,
});
dst += write_cont(dst, 0x760, {
0x00800080,
0x00000000,
0x00000000,
0x00000000,
0x00800080,
0x00000000,
0x00000000,
0x00000000,
0x00800080,
0x00000000,
0x00000000,
0x00000000,
0x00000000,
});
dst += write_cont(dst, 0x794, {
0x00000000,
});
/* TODO
cdm_dmi_cmd_t 568
.length = 511
.reserved = 33
.cmd = 11
.addr = 0
.DMIAddr = 3108
.DMISel = 24
*/
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
*/
dst += write_cont(dst, 0xf30, {
0x00750259,
0x00000132,
0x00000000,
0x03ff0000,
0x01fe1eae,
0x00001f54,
0x02000000,
0x03ff0000,
0x1fad1e55,
0x000001fe,
0x02000000,
0x03ff0000,
});
dst += write_cont(dst, 0xa3c, {
0x00000003,
0x07870787,
0x30036666,
0x00000000,
0x00000000,
0x00000787,
0x04b704b7,
0x30036666,
0x00000000,
0x00000000,
0x000004b7,
});
dst += write_cont(dst, 0xa68, {
0x00000003,
0x03c30787,
0x3006cccc,
0x00000000,
0x00000000,
0x00000787,
0x025b04b7,
0x3006cccc,
0x00000000,
0x00000000,
0x00000787,
});
dst += write_cont(dst, 0xe10, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xe30, {
0x0000025b,
0x00000787,
});
dst += write_cont(dst, 0xe18, {
0x0ff00000,
0x00000016,
});
dst += write_cont(dst, 0xe38, {
0x0ff00000,
0x00000017,
});
dst += write_cont(dst, 0xd84, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xda4, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xd60, {
0x04380300,
0x09016c7d,
0x021c0300,
});
dst += write_cont(dst, 0xd98, {
0x0ff00000,
0x00000016,
});
dst += write_cont(dst, 0xdb8, {
0x0ff00000,
0x00000017,
});
dst += write_cont(dst, 0xd6c, {
0x00000300,
});
dst += write_cont(dst, 0xd70, {
0x010e0f00,
0x09016c7d,
0x00870f00,
});
dst += write_cont(dst, 0xd7c, {
0x00000f00,
});
dst += write_cont(dst, 0x40, {
0x00000586,
});
dst += write_cont(dst, 0x48, {
0x0000000e,
});
dst += write_cont(dst, 0x4c, {
0x00000019,
});
dst += write_cont(dst, 0xe4c, {
0x00000000,
});
dst += write_cont(dst, 0xe6c, {
0x00000000,
});
dst += write_cont(dst, 0xe0c, {
0x00000e00,
});
dst += write_cont(dst, 0xe2c, {
0x00000e00,
});
dst += write_cont(dst, 0xd8c, {
0x00000000,
});
dst += write_cont(dst, 0xdac, {
0x00000000,
});
dst += write_cont(dst, 0xdcc, {
0x00000000,
});
dst += write_cont(dst, 0xdec, {
0x00000000,
});
dst += write_cont(dst, 0x44, {
0x00000000,
});
dst += write_cont(dst, 0xaac, {
0x00000040,
});
dst += write_cont(dst, 0xf00, {
0x00000000,
});
//hexdump(start, dst - start);
return dst - start;
}
int build_first_update(uint8_t *dst) {
uint8_t *start = dst;
dst += write_random(dst, {
0x2c, 0xffffffff,
0x30, 0xffffffff,
0x34, 0xffffffff,
0x38, 0xffffffff,
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,
0x04450445,
0x04440444,
0x04450445,
0x000000ca,
0x0000009c,
});
dst += write_cont(dst, 0x5c4, {
0x00000000,
0x00001000,
0x00001000,
0x00001000,
0x00001000,
0x00800080,
0x00802040,
0x00000000,
});
dst += write_cont(dst, 0x5e8, {
0x06363007,
});
dst += write_cont(dst, 0x5f4, {
0x00000000,
0x00000000,
0x00000000,
0x00000000,
0x3b3839a0,
0x003f8040,
0x00000000,
0x00000000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00078000,
0x00000009,
0x00400808,
0x00000044,
0x004000a0,
0x0a0d00a6,
0x0a0d00a6,
});
/* TODO
cdm_dmi_cmd_t 368
.length = 255
.reserved = 33
.cmd = 10
.addr = 5344
.DMIAddr = 3108
.DMISel = 13
*/
dst += write_cont(dst, 0x6fc, {
0x00800080,
0x00000080,
0x00000000,
0x00000000,
});
dst += write_cont(dst, 0x6f8, {
0x00000100,
});
dst += write_cont(dst, 0x71c, {
0x00008000,
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,
});
dst += write_cont(dst, 0xda4, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xd6c, {
0x00000300,
});
dst += write_cont(dst, 0xd70, {
0x02640f00,
0x09016c7d,
0x01320f00,
});
dst += write_cont(dst, 0xd7c, {
0x00000f00,
});
dst += write_cont(dst, 0x40, {
0x00000444,
});
dst += write_cont(dst, 0x48, {
0x00000000,
});
dst += write_cont(dst, 0x4c, {
0x00000019,
});
dst += write_cont(dst, 0xe4c, {
0x00000000,
});
dst += write_cont(dst, 0xe6c, {
0x00000000,
});
dst += write_cont(dst, 0xe0c, {
0x00000e00,
});
dst += write_cont(dst, 0xe2c, {
0x00000e00,
});
dst += write_cont(dst, 0xd8c, {
0x00000000,
});
dst += write_cont(dst, 0xdac, {
0x00000000,
});
dst += write_cont(dst, 0xdcc, {
0x00000000,
});
dst += write_cont(dst, 0xdec, {
0x00000000,
});
dst += write_cont(dst, 0x44, {
0x00000000,
});
dst += write_cont(dst, 0xaac, {
0x00000040,
});
dst += write_cont(dst, 0xf00, {
0x00000000,
});
return dst - start;
}
int build_update(uint8_t *dst) {
uint8_t *start = dst;
dst += write_random(dst, {
0x2c, 0xffffffff,
0x30, 0xffffffff,
0x34, 0xffffffff,
0x38, 0xffffffff,
0x3c, 0xffffffff,
});
dst += write_cont(dst, 0x560, {
0x00000001,
0x04440444,
0x04450445,
0x04440444,
0x04450445,
0x000000ca,
0x0000009c,
});
dst += write_cont(dst, 0x6fc, {
0x00800080,
0x00000080,
0x00000000,
0x00000000,
});
dst += write_cont(dst, 0xd84, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xda4, {
0x000004b7,
0x00000787,
});
dst += write_cont(dst, 0xd6c, {
0x00000300,
});
dst += write_cont(dst, 0xd70, {
0x02640f00,
0x09016c7d,
0x01320f00,
});
dst += write_cont(dst, 0xd7c, {
0x00000f00,
});
dst += write_cont(dst, 0x40, {
0x00000444,
});
dst += write_cont(dst, 0x48, {
0x00000000,
});
dst += write_cont(dst, 0x4c, {
0x00000019,
});
dst += write_cont(dst, 0xe4c, {
0x00000000,
});
dst += write_cont(dst, 0xe6c, {
0x00000000,
});
dst += write_cont(dst, 0xe0c, {
0x00000e00,
});
dst += write_cont(dst, 0xe2c, {
0x00000e00,
});
dst += write_cont(dst, 0xd8c, {
0x00000000,
});
dst += write_cont(dst, 0xdac, {
0x00000000,
});
dst += write_cont(dst, 0xdcc, {
0x00000000,
});
dst += write_cont(dst, 0xdec, {
0x00000000,
});
dst += write_cont(dst, 0x44, {
0x00000000,
});
dst += write_cont(dst, 0xaac, {
0x00000040,
});
dst += write_cont(dst, 0xf00, {
0x00000000,
});
return dst - start;
}