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115 lines
3.7 KiB
115 lines
3.7 KiB
#pragma once
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#include <cassert>
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#include <cstdint>
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#include <map>
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#include <utility>
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#include <vector>
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#include "media/cam_isp.h"
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#include "media/cam_sensor.h"
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#include "cereal/gen/cpp/log.capnp.h"
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#include "system/camerad/sensors/ar0231_registers.h"
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#include "system/camerad/sensors/ox03c10_registers.h"
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#include "system/camerad/sensors/os04c10_registers.h"
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#define ANALOG_GAIN_MAX_CNT 55
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class SensorInfo {
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public:
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SensorInfo() = default;
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virtual std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { return {}; }
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virtual float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {return 0; }
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virtual int getSlaveAddress(int port) const { assert(0); }
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cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN;
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float pixel_size_mm;
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uint32_t frame_width, frame_height;
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uint32_t frame_stride;
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uint32_t frame_offset = 0;
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uint32_t extra_height = 0;
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int registers_offset = -1;
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int stats_offset = -1;
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int hdr_offset = -1;
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int exposure_time_min;
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int exposure_time_max;
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float dc_gain_factor;
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int dc_gain_min_weight;
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int dc_gain_max_weight;
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float dc_gain_on_grey;
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float dc_gain_off_grey;
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float ev_scale = 1.0;
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float sensor_analog_gains[ANALOG_GAIN_MAX_CNT];
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int analog_gain_min_idx;
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int analog_gain_max_idx;
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int analog_gain_rec_idx;
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int analog_gain_cost_delta;
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float analog_gain_cost_low;
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float analog_gain_cost_high;
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float target_grey_factor;
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float min_ev;
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float max_ev;
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bool data_word;
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uint32_t probe_reg_addr;
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uint32_t probe_expected_data;
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std::vector<i2c_random_wr_payload> start_reg_array;
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std::vector<i2c_random_wr_payload> init_reg_array;
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uint32_t bits_per_pixel;
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uint32_t bayer_pattern;
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uint32_t mipi_format;
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uint32_t mclk_frequency;
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uint32_t frame_data_type;
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uint32_t readout_time_ns; // used to recover EOF from SOF
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// ISP image processing params
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uint32_t black_level;
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std::vector<uint32_t> color_correct_matrix; // 3x3
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std::vector<uint32_t> gamma_lut_rgb; // gamma LUTs are length 64 * sizeof(uint32_t); same for r/g/b here
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void prepare_gamma_lut() {
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for (int i = 0; i < 64; i++) {
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gamma_lut_rgb[i] |= ((uint32_t)(gamma_lut_rgb[i+1] - gamma_lut_rgb[i]) << 10);
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}
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gamma_lut_rgb.pop_back();
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}
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std::vector<uint32_t> linearization_lut; // length 36
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std::vector<uint32_t> linearization_pts; // length 4
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std::vector<uint32_t> vignetting_lut; // length 221
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const int num() const {
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return static_cast<int>(image_sensor);
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};
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};
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class AR0231 : public SensorInfo {
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public:
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AR0231();
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std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
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float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
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int getSlaveAddress(int port) const override;
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private:
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mutable std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
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};
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class OX03C10 : public SensorInfo {
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public:
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OX03C10();
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std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
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float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
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int getSlaveAddress(int port) const override;
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};
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class OS04C10 : public SensorInfo {
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public:
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OS04C10();
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std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
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float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
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int getSlaveAddress(int port) const override;
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};
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