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.
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4.8 KiB

struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}};
struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}};
struct i2c_random_wr_payload start_reg_array_imx390[] = {{0x0, 0}};
struct i2c_random_wr_payload stop_reg_array_imx390[] = {{0x0, 1}};
struct i2c_random_wr_payload init_array_imx390[] = {
{0x2008, 0xd0}, {0x2009, 0x07}, {0x200a, 0x00}, // MODE_VMAX = time between frames
{0x200C, 0xe4}, {0x200D, 0x0c}, // MODE_HMAX
// crop
{0x3410, 0x88}, {0x3411, 0x7}, // CROP_H_SIZE
{0x3418, 0xb8}, {0x3419, 0x4}, // CROP_V_SIZE
{0x0078, 1}, {0x03c0, 1},
// external trigger (off)
// while images still come in, they are blank with this
{0x3650, 0}, // CU_MODE
// exposure
{0x000c, 0xc0}, {0x000d, 0x07},
{0x0010, 0xc0}, {0x0011, 0x07},
// WUXGA mode
// not in datasheet, from https://github.com/bogsen/STLinux-Kernel/blob/master/drivers/media/platform/tegra/imx185.c
{0x0086, 0xc4}, {0x0087, 0xff}, // WND_SHIFT_V = -60
{0x03c6, 0xc4}, {0x03c7, 0xff}, // SM_WND_SHIFT_V_APL = -60
{0x201c, 0xe1}, {0x201d, 0x12}, // image read amount
{0x21ee, 0xc4}, {0x21ef, 0x04}, // image send amount (1220 is the end)
{0x21f0, 0xc4}, {0x21f1, 0x04}, // image processing amount
// disable a bunch of errors causing blanking
{0x0390, 0x00}, {0x0391, 0x00}, {0x0392, 0x00},
// flip bayer
{0x2D64, 0x64 + 2},
// color correction
{0x0030, 0xf8}, {0x0031, 0x00}, // red gain
{0x0032, 0x9a}, {0x0033, 0x00}, // gr gain
{0x0034, 0x9a}, {0x0035, 0x00}, // gb gain
{0x0036, 0x22}, {0x0037, 0x01}, // blue gain
// hdr enable (noise with this on for now)
{0x00f9, 0}
};
struct i2c_random_wr_payload init_array_ar0231[] = {
{0x301A, 0x0018}, // RESET_REGISTER
// CLOCK Settings
{0x302A, 0x0006}, // VT_PIX_CLK_DIV
{0x302C, 0x0001}, // VT_SYS_CLK_DIV
{0x302E, 0x0002}, // PRE_PLL_CLK_DIV
{0x3030, 0x0032}, // PLL_MULTIPLIER
{0x3036, 0x000C}, // OP_WORD_CLK_DIV
{0x3038, 0x0001}, // OP_SYS_CLK_DIV
// FORMAT
{0x3040, 0xC000}, // READ_MODE
{0x3004, 0x0000}, // X_ADDR_START_
{0x3008, 0x0787}, // X_ADDR_END_
{0x3002, 0x0000}, // Y_ADDR_START_
{0x3006, 0x04B7}, // Y_ADDR_END_
{0x3032, 0x0000}, // SCALING_MODE
{0x30A2, 0x0001}, // X_ODD_INC_
{0x30A6, 0x0001}, // Y_ODD_INC_
{0x3402, 0x0788}, // X_OUTPUT_CONTROL
{0x3404, 0x04B8}, // Y_OUTPUT_CONTROL
{0x3064, 0x1802}, // SMIA_TEST
{0x30BA, 0x11F2}, // DIGITAL_CTRL
// Enable external trigger and disable GPIO outputs
{0x30CE, 0x0120}, // SLAVE_SH_SYNC_MODE | FRAME_START_MODE
{0x340A, 0xE0}, // GPIO3_INPUT_DISABLE | GPIO2_INPUT_DISABLE | GPIO1_INPUT_DISABLE
{0x340C, 0x802}, // GPIO_HIDRV_EN | GPIO0_ISEL=2
// Readout timing
{0x300C, 0x07B9}, // LINE_LENGTH_PCK
{0x300A, 0x0652}, // FRAME_LENGTH_LINES
{0x3042, 0x0000}, // EXTRA_DELAY
// Readout Settings
{0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI
{0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12
{0x3342, 0x122C}, // MIPI_F1_PDT_EDT
{0x3346, 0x122C}, // MIPI_F2_PDT_EDT
{0x334A, 0x122C}, // MIPI_F3_PDT_EDT
{0x334E, 0x122C}, // MIPI_F4_PDT_EDT
{0x3344, 0x0011}, // MIPI_F1_VDT_VC
{0x3348, 0x0111}, // MIPI_F2_VDT_VC
{0x334C, 0x0211}, // MIPI_F3_VDT_VC
{0x3350, 0x0311}, // MIPI_F4_VDT_VC
{0x31B0, 0x0053}, // FRAME_PREAMBLE
{0x31B2, 0x003B}, // LINE_PREAMBLE
{0x301A, 0x001C}, // RESET_REGISTER
// Noise Corrections
{0x3092, 0x0C24}, // ROW_NOISE_CONTROL
{0x337A, 0x0C80}, // DBLC_SCALE0
{0x3370, 0x03B1}, // DBLC
{0x3044, 0x0400}, // DARK_CONTROL
// Enable dead pixel correction using
// the 1D line correction scheme
{0x31E0, 0x0003},
// HDR Settings
{0x3082, 0x0004}, // OPERATION_MODE_CTRL
{0x3238, 0x0444}, // EXPOSURE_RATIO
{0x1008, 0x0361}, // FINE_INTEGRATION_TIME_MIN
{0x100C, 0x0589}, // FINE_INTEGRATION_TIME2_MIN
{0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN
{0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN
{0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_
{0x321E, 0x08CB}, // FINE_INTEGRATION_TIME2
{0x321E, 0x08CB}, // FINE_INTEGRATION_TIME3
{0x321E, 0x0894}, // FINE_INTEGRATION_TIME4
{0x31D0, 0x0000}, // COMPANDING, no good in 10 bit?
{0x33DA, 0x0000}, // COMPANDING
{0x318E, 0x0200}, // PRE_HDR_GAIN_EN
// DLO Settings
{0x3100, 0x4000}, // DLO_CONTROL0
{0x3280, 0x0CCC}, // T1 G1
{0x3282, 0x0CCC}, // T1 R
{0x3284, 0x0CCC}, // T1 B
{0x3286, 0x0CCC}, // T1 G2
{0x3288, 0x0FA0}, // T2 G1
{0x328A, 0x0FA0}, // T2 R
{0x328C, 0x0FA0}, // T2 B
{0x328E, 0x0FA0}, // T2 G2
// Initial Gains
{0x3022, 0x0001}, // GROUPED_PARAMETER_HOLD_
{0x3366, 0xFF77}, // ANALOG_GAIN (1x)
{0x3060, 0x3333}, // ANALOG_COLOR_GAIN
{0x3362, 0x0000}, // DC GAIN
{0x305A, 0x00F8}, // red gain
{0x3058, 0x0122}, // blue gain
{0x3056, 0x009A}, // g1 gain
{0x305C, 0x009A}, // g2 gain
{0x3022, 0x0000}, // GROUPED_PARAMETER_HOLD_
// Initial Integration Time
{0x3012, 0x0005},
};