forked from IQ.Lvbs/IQ.Pilot
IQ.Pilot Release Commit @ 0798119
This commit is contained in:
IQ.Lvbs history cleanup
136
system/camerad/sensors/ar0231.cc
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136
system/camerad/sensors/ar0231.cc
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#include <cassert>
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#include <cmath>
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#include "system/camerad/sensors/sensor.h"
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namespace {
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const size_t AR0231_REGISTERS_HEIGHT = 2;
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// TODO: this extra height is universal and doesn't apply per camera
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const size_t AR0231_STATS_HEIGHT = 2 + 8;
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const float sensor_analog_gains_AR0231[] = {
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1.0 / 8.0, 2.0 / 8.0, 2.0 / 7.0, 3.0 / 7.0, // 0, 1, 2, 3
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3.0 / 6.0, 4.0 / 6.0, 4.0 / 5.0, 5.0 / 5.0, // 4, 5, 6, 7
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5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0, // 8, 9, 10, 11
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7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0}; // 12, 13, 14, 15 = bypass
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} // namespace
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AR0231::AR0231() {
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image_sensor = cereal::FrameData::ImageSensor::AR0231;
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bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
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pixel_size_mm = 0.003;
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data_word = true;
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frame_width = 1928;
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frame_height = 1208;
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frame_stride = (frame_width * 12 / 8) + 4;
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extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT;
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registers_offset = 0;
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frame_offset = AR0231_REGISTERS_HEIGHT;
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stats_offset = AR0231_REGISTERS_HEIGHT + frame_height;
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start_reg_array.assign(std::begin(start_reg_array_ar0231), std::end(start_reg_array_ar0231));
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init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231));
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probe_reg_addr = 0x3000;
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probe_expected_data = 0x354;
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bits_per_pixel = 12;
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mipi_format = CAM_FORMAT_MIPI_RAW_12;
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frame_data_type = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
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mclk_frequency = 19200000; //Hz
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readout_time_ns = 22850000;
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dc_gain_factor = 2.5;
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dc_gain_min_weight = 0;
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dc_gain_max_weight = 1;
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dc_gain_on_grey = 0.2;
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dc_gain_off_grey = 0.3;
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exposure_time_min = 2; // with HDR, fastest ss
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exposure_time_max = 0x0855; // with HDR, slowest ss, 40ms
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analog_gain_min_idx = 0x1; // 0.25x
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analog_gain_rec_idx = 0x6; // 0.8x
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analog_gain_max_idx = 0xD; // 4.0x
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analog_gain_cost_delta = 0;
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analog_gain_cost_low = 0.1;
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analog_gain_cost_high = 5.0;
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for (int i = 0; i <= analog_gain_max_idx; i++) {
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sensor_analog_gains[i] = sensor_analog_gains_AR0231[i];
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}
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min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
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max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
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target_grey_factor = 1.0;
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black_level = 168;
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color_correct_matrix = {
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0x000000af, 0x00000ff9, 0x00000fd8,
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0x00000fbc, 0x000000bb, 0x00000009,
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0x00000fb6, 0x00000fe0, 0x000000ea,
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};
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for (int i = 0; i < 65; i++) {
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float fx = i / 64.0;
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const float gamma_k = 0.75;
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const float gamma_b = 0.125;
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const float mp = 0.01; // ideally midpoint should be adaptive
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const float rk = 9 - 100*mp;
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// poly approximation for s curve
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fx = (fx > mp) ?
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((rk * (fx-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(fx-mp))) + gamma_k*mp + gamma_b) :
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((rk * (fx-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(fx-mp))) + gamma_k*mp + gamma_b);
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gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
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}
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prepare_gamma_lut();
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linearization_lut = {
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0x02000000, 0x02000000, 0x02000000, 0x02000000,
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0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
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0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
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0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
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0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
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0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
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0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
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0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
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0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
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};
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linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
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vignetting_lut = {
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0x00eaa755, 0x00cf2679, 0x00bc05e0, 0x00acc566, 0x00a1450a, 0x009984cc, 0x0095a4ad, 0x009584ac, 0x009944ca, 0x00a0c506, 0x00ac0560, 0x00bb25d9, 0x00ce2671, 0x00e90748, 0x01112889, 0x014a2a51, 0x01984cc2,
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0x00db06d8, 0x00c30618, 0x00afe57f, 0x00a0a505, 0x009524a9, 0x008d646b, 0x0089844c, 0x0089644b, 0x008d2469, 0x0094a4a5, 0x009fe4ff, 0x00af0578, 0x00c20610, 0x00d986cc, 0x00fda7ed, 0x01320990, 0x017aebd7,
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0x00d1868c, 0x00baa5d5, 0x00a7853c, 0x009844c2, 0x008cc466, 0x0085a42d, 0x0083641b, 0x0083641b, 0x0085842c, 0x008c4462, 0x0097a4bd, 0x00a6c536, 0x00b9a5cd, 0x00d06683, 0x00f1678b, 0x01226913, 0x0167ab3d,
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0x00cd0668, 0x00b625b1, 0x00a30518, 0x0093c49e, 0x00884442, 0x00830418, 0x0080e407, 0x0080c406, 0x0082e417, 0x0087c43e, 0x00932499, 0x00a22511, 0x00b525a9, 0x00cbe65f, 0x00eb0758, 0x011a68d3, 0x015daaed,
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0x00cc4662, 0x00b565ab, 0x00a24512, 0x00930498, 0x0087843c, 0x0082a415, 0x00806403, 0x00806403, 0x00828414, 0x00870438, 0x00926493, 0x00a1850c, 0x00b465a3, 0x00cb2659, 0x00ea2751, 0x011928c9, 0x015c2ae1,
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0x00cf667b, 0x00b885c4, 0x00a5652b, 0x009624b1, 0x008aa455, 0x00846423, 0x00822411, 0x00822411, 0x00844422, 0x008a2451, 0x009564ab, 0x00a48524, 0x00b785bc, 0x00ce4672, 0x00ee6773, 0x011e88f4, 0x0162eb17,
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0x00d6c6b6, 0x00bf65fb, 0x00ac4562, 0x009d04e8, 0x0091848c, 0x0089c44e, 0x00862431, 0x00860430, 0x0089844c, 0x00910488, 0x009c64e3, 0x00ab655b, 0x00be65f3, 0x00d566ab, 0x00f847c2, 0x012b2959, 0x01726b93,
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0x00e3e71f, 0x00ca0650, 0x00b705b8, 0x00a7a53d, 0x009c24e1, 0x009484a4, 0x00908484, 0x00908484, 0x009424a1, 0x009bc4de, 0x00a70538, 0x00b625b1, 0x00c90648, 0x00e26713, 0x0108e847, 0x013fe9ff, 0x018bcc5e,
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0x00f807c0, 0x00d966cb, 0x00c5862c, 0x00b625b1, 0x00aaa555, 0x00a30518, 0x009f04f8, 0x009f04f8, 0x00a2a515, 0x00aa2551, 0x00b585ac, 0x00c4a625, 0x00d846c2, 0x00f647b2, 0x0121a90d, 0x015e4af2, 0x01b8cdc6,
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0x011548aa, 0x00f1678b, 0x00d886c4, 0x00c86643, 0x00bce5e7, 0x00b545aa, 0x00b1658b, 0x00b1458a, 0x00b505a8, 0x00bc85e4, 0x00c7c63e, 0x00d786bc, 0x00efe77f, 0x0113489a, 0x0144ea27, 0x01888c44, 0x01fdcfee,
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0x013e49f2, 0x0113e89f, 0x00f5a7ad, 0x00e0c706, 0x00d30698, 0x00cb665b, 0x00c7663b, 0x00c7663b, 0x00cb0658, 0x00d2a695, 0x00dfe6ff, 0x00f467a3, 0x01122891, 0x013be9df, 0x01750ba8, 0x01cfae7d, 0x025912c8,
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0x01766bb3, 0x01446a23, 0x011fc8fe, 0x0105e82f, 0x00f467a3, 0x00e9874c, 0x00e46723, 0x00e44722, 0x00e92749, 0x00f3a79d, 0x0104c826, 0x011e48f2, 0x01424a12, 0x01738b9c, 0x01bf6dfb, 0x023611b0, 0x02ced676,
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0x01cf8e7c, 0x01866c33, 0x015aaad5, 0x013ae9d7, 0x01250928, 0x011768bb, 0x0110a885, 0x01108884, 0x0116e8b7, 0x01242921, 0x0139a9cd, 0x0158eac7, 0x01840c20, 0x01cb0e58, 0x0233719b, 0x02b9d5ce, 0x03645b22,
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};
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}
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std::vector<i2c_random_wr_payload> AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
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uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g;
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return {
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{0x3366, analog_gain_reg},
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{0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)},
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{0x3012, (uint16_t)exposure_time},
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};
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}
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int AR0231::getSlaveAddress(int port) const {
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assert(port >= 0 && port <= 2);
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return (int[]){0x20, 0x30, 0x20}[port];
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}
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float AR0231::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {
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// Cost of ev diff
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float score = std::abs(desired_ev - (exp_t * exp_gain)) * 10;
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// Cost of absolute gain
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float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
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score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
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// Cost of changing gain
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score += std::abs(exp_g_idx - gain_idx) * (score + 1.0) / 10.0;
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return score;
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}
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121
system/camerad/sensors/ar0231_registers.h
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121
system/camerad/sensors/ar0231_registers.h
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#pragma once
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const struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}};
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const struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}};
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const struct i2c_random_wr_payload init_array_ar0231[] = {
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{0x301A, 0x0018}, // RESET_REGISTER
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// **NOTE**: if this is changed, readout_time_ns must be updated in the Sensor config
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// CLOCK Settings
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// input clock is 19.2 / 2 * 0x37 = 528 MHz
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// pixclk is 528 / 6 = 88 MHz
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// full roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*FRAME_LENGTH_LINES)) = 39.99 ms
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// img roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*Y_OUTPUT_CONTROL)) = 22.85 ms
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{0x302A, 0x0006}, // VT_PIX_CLK_DIV
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{0x302C, 0x0001}, // VT_SYS_CLK_DIV
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{0x302E, 0x0002}, // PRE_PLL_CLK_DIV
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{0x3030, 0x0037}, // PLL_MULTIPLIER
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{0x3036, 0x000C}, // OP_PIX_CLK_DIV
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{0x3038, 0x0001}, // OP_SYS_CLK_DIV
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// FORMAT
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{0x3040, 0xC000}, // READ_MODE
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{0x3004, 0x0000}, // X_ADDR_START_
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{0x3008, 0x0787}, // X_ADDR_END_
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{0x3002, 0x0000}, // Y_ADDR_START_
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{0x3006, 0x04B7}, // Y_ADDR_END_
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{0x3032, 0x0000}, // SCALING_MODE
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{0x30A2, 0x0001}, // X_ODD_INC_
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{0x30A6, 0x0001}, // Y_ODD_INC_
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{0x3402, 0x0788}, // X_OUTPUT_CONTROL
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{0x3404, 0x04B8}, // Y_OUTPUT_CONTROL
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{0x3064, 0x1982}, // SMIA_TEST
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{0x30BA, 0x11F2}, // DIGITAL_CTRL
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// Enable external trigger and disable GPIO outputs
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{0x30CE, 0x0120}, // SLAVE_SH_SYNC_MODE | FRAME_START_MODE
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{0x340A, 0xE0}, // GPIO3_INPUT_DISABLE | GPIO2_INPUT_DISABLE | GPIO1_INPUT_DISABLE
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{0x340C, 0x802}, // GPIO_HIDRV_EN | GPIO0_ISEL=2
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// Readout timing
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{0x300C, 0x0672}, // LINE_LENGTH_PCK (valid for 3-exposure HDR)
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{0x300A, 0x0855}, // FRAME_LENGTH_LINES
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{0x3042, 0x0000}, // EXTRA_DELAY
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// Readout Settings
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{0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI
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{0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12
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{0x3342, 0x1212}, // MIPI_F1_PDT_EDT
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{0x3346, 0x1212}, // MIPI_F2_PDT_EDT
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{0x334A, 0x1212}, // MIPI_F3_PDT_EDT
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{0x334E, 0x1212}, // MIPI_F4_PDT_EDT
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{0x3344, 0x0011}, // MIPI_F1_VDT_VC
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{0x3348, 0x0111}, // MIPI_F2_VDT_VC
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{0x334C, 0x0211}, // MIPI_F3_VDT_VC
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{0x3350, 0x0311}, // MIPI_F4_VDT_VC
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{0x31B0, 0x0053}, // FRAME_PREAMBLE
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{0x31B2, 0x003B}, // LINE_PREAMBLE
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{0x301A, 0x001C}, // RESET_REGISTER
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// Noise Corrections
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{0x3092, 0x0C24}, // ROW_NOISE_CONTROL
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{0x337A, 0x0C80}, // DBLC_SCALE0
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{0x3370, 0x03B1}, // DBLC
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{0x3044, 0x0400}, // DARK_CONTROL
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// Enable temperature sensor
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{0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG
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{0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG
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// Enable dead pixel correction using
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// the 1D line correction scheme
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{0x31E0, 0x0003},
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// HDR Settings
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{0x3082, 0x0004}, // OPERATION_MODE_CTRL
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{0x3238, 0x0444}, // EXPOSURE_RATIO
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{0x1008, 0x0361}, // FINE_INTEGRATION_TIME_MIN
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{0x100C, 0x0589}, // FINE_INTEGRATION_TIME2_MIN
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{0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN
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{0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN
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// TODO: do these have to be lower than LINE_LENGTH_PCK?
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{0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_
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{0x321E, 0x0894}, // FINE_INTEGRATION_TIME2
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{0x31D0, 0x0000}, // COMPANDING, no good in 10 bit?
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{0x33DA, 0x0000}, // COMPANDING
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{0x318E, 0x0200}, // PRE_HDR_GAIN_EN
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// DLO Settings
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{0x3100, 0x4000}, // DLO_CONTROL0
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{0x3280, 0x0CCC}, // T1 G1
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{0x3282, 0x0CCC}, // T1 R
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{0x3284, 0x0CCC}, // T1 B
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{0x3286, 0x0CCC}, // T1 G2
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{0x3288, 0x0FA0}, // T2 G1
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{0x328A, 0x0FA0}, // T2 R
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{0x328C, 0x0FA0}, // T2 B
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{0x328E, 0x0FA0}, // T2 G2
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// Initial Gains
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{0x3022, 0x0001}, // GROUPED_PARAMETER_HOLD_
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{0x3366, 0xFF77}, // ANALOG_GAIN (1x)
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{0x3060, 0x3333}, // ANALOG_COLOR_GAIN
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{0x3362, 0x0000}, // DC GAIN
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{0x305A, 0x00F8}, // red gain
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{0x3058, 0x0122}, // blue gain
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{0x3056, 0x009A}, // g1 gain
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{0x305C, 0x009A}, // g2 gain
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{0x3022, 0x0000}, // GROUPED_PARAMETER_HOLD_
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// Initial Integration Time
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{0x3012, 0x0005},
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};
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136
system/camerad/sensors/os04c10.cc
Normal file
136
system/camerad/sensors/os04c10.cc
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@@ -0,0 +1,136 @@
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#include <cmath>
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||||
#include "system/camerad/sensors/sensor.h"
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#include "third_party/linux/include/msm_camsensor_sdk.h"
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namespace {
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const float sensor_analog_gains_OS04C10[] = {
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1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875,
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1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0,
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3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5,
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5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0,
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10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5};
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const uint32_t os04c10_analog_gains_reg[] = {
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0x080, 0x088, 0x090, 0x098, 0x0A0, 0x0A8, 0x0B0, 0x0B8, 0x0C0, 0x0C8, 0x0D8,
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0x0E8, 0x0F8, 0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180,
|
||||
0x190, 0x1B0, 0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0,
|
||||
0x2E0, 0x300, 0x320, 0x340, 0x380, 0x3C0, 0x400, 0x440, 0x480, 0x4C0, 0x500,
|
||||
0x540, 0x580, 0x5C0, 0x600, 0x640, 0x680, 0x6C0, 0x700, 0x740, 0x780, 0x7C0};
|
||||
|
||||
} // namespace
|
||||
|
||||
OS04C10::OS04C10() {
|
||||
image_sensor = cereal::FrameData::ImageSensor::OS04C10;
|
||||
bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG;
|
||||
pixel_size_mm = 0.002;
|
||||
data_word = false;
|
||||
|
||||
// mici driver cam: read full-res and downscale 2x in the BPS (HDR), upstream #37876
|
||||
out_scale = 2;
|
||||
frame_width = 2688;
|
||||
frame_height = 1520;
|
||||
frame_stride = frame_width * 12 / 8;
|
||||
|
||||
extra_height = 0;
|
||||
frame_offset = 0;
|
||||
|
||||
start_reg_array.assign(std::begin(start_reg_array_os04c10), std::end(start_reg_array_os04c10));
|
||||
init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10));
|
||||
probe_reg_addr = 0x300a;
|
||||
probe_expected_data = 0x5304;
|
||||
bits_per_pixel = 12;
|
||||
mipi_format = CAM_FORMAT_MIPI_RAW_12;
|
||||
frame_data_type = CSI_RAW12;
|
||||
mclk_frequency = 24000000; // Hz
|
||||
|
||||
// TODO: this was set from logs. actually calculate it out
|
||||
readout_time_ns = 11000000;
|
||||
|
||||
ev_scale = 150.0;
|
||||
dc_gain_factor = 1;
|
||||
dc_gain_min_weight = 1; // always on is fine
|
||||
dc_gain_max_weight = 1;
|
||||
dc_gain_on_grey = 0.9;
|
||||
dc_gain_off_grey = 1.0;
|
||||
exposure_time_min = 2;
|
||||
exposure_time_max = 2352;
|
||||
analog_gain_min_idx = 0x0;
|
||||
analog_gain_rec_idx = 0x0; // 1x
|
||||
analog_gain_max_idx = 0x28;
|
||||
analog_gain_cost_delta = -1;
|
||||
analog_gain_cost_low = 0.4;
|
||||
analog_gain_cost_high = 6.4;
|
||||
for (int i = 0; i <= analog_gain_max_idx; i++) {
|
||||
sensor_analog_gains[i] = sensor_analog_gains_OS04C10[i];
|
||||
}
|
||||
min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
|
||||
max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
|
||||
target_grey_factor = 0.01;
|
||||
|
||||
black_level = 48;
|
||||
color_correct_matrix = {
|
||||
0x000000c2, 0x00000fe0, 0x00000fde,
|
||||
0x00000fa7, 0x000000d9, 0x00001000,
|
||||
0x00000fca, 0x00000fef, 0x000000c7,
|
||||
};
|
||||
for (int i = 0; i < 65; i++) {
|
||||
float fx = i / 64.0;
|
||||
gamma_lut_rgb.push_back((uint32_t)((10*fx)/(1+9*fx)*1023.0 + 0.5));
|
||||
}
|
||||
prepare_gamma_lut();
|
||||
linearization_lut = {
|
||||
0x02000000, 0x02000000, 0x02000000, 0x02000000,
|
||||
0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
|
||||
0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
|
||||
0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
|
||||
0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
|
||||
0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
|
||||
0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
|
||||
0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
|
||||
0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
|
||||
};
|
||||
linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
|
||||
vignetting_lut = {
|
||||
0x01064832, 0x00da26d1, 0x00bb25d9, 0x00aac556, 0x00a06503, 0x009a64d3, 0x009744ba, 0x009744ba, 0x009a24d1, 0x00a00500, 0x00aa2551, 0x00ba45d2, 0x00d826c1, 0x01040820, 0x013729b9, 0x0171ab8d, 0x01b36d9b,
|
||||
0x00eee777, 0x00c2c616, 0x00ae2571, 0x009fe4ff, 0x0096e4b7, 0x0090e487, 0x008d446a, 0x008d2469, 0x0090a485, 0x009684b4, 0x009f64fb, 0x00ad456a, 0x00c1a60d, 0x00eca765, 0x011fc8fe, 0x015a4ad2, 0x019c0ce0,
|
||||
0x00dee6f7, 0x00b9c5ce, 0x00a5652b, 0x009964cb, 0x00904482, 0x00892449, 0x0085842c, 0x0085642b, 0x0088e447, 0x008fe47f, 0x0098e4c7, 0x00a4c526, 0x00b8a5c5, 0x00dc86e4, 0x010fc87e, 0x014a2a51, 0x018c0c60,
|
||||
0x00d626b1, 0x00b4e5a7, 0x00a1e50f, 0x0095e4af, 0x008c2461, 0x00850428, 0x0081640b, 0x0081440a, 0x0084a425, 0x008ba45d, 0x009564ab, 0x00a1450a, 0x00b3c59e, 0x00d3e69f, 0x01070838, 0x01418a0c, 0x01834c1a,
|
||||
0x00d4c6a6, 0x00b425a1, 0x00a1450a, 0x009544aa, 0x008b645b, 0x00844422, 0x0080a405, 0x0080a405, 0x00840420, 0x008b0458, 0x0094c4a6, 0x00a0a505, 0x00b30598, 0x00d26693, 0x0105a82d, 0x01402a01, 0x0181ec0f,
|
||||
0x00daa6d5, 0x00b765bb, 0x00a3c51e, 0x0097a4bd, 0x008e4472, 0x00872439, 0x0083841c, 0x0083641b, 0x0086e437, 0x008de46f, 0x009724b9, 0x00a30518, 0x00b665b3, 0x00d866c3, 0x010b885c, 0x01460a30, 0x0187ec3f,
|
||||
0x00e80740, 0x00bec5f6, 0x00aa6553, 0x009d24e9, 0x009404a0, 0x008d846c, 0x0089e44f, 0x0089e44f, 0x008d446a, 0x0093c49e, 0x009ca4e5, 0x00a9854c, 0x00bdc5ee, 0x00e5a72d, 0x0118c8c6, 0x01534a9a, 0x01952ca9,
|
||||
0x00fca7e5, 0x00d06683, 0x00b5c5ae, 0x00a5852c, 0x009c84e4, 0x009664b3, 0x0093649b, 0x0093449a, 0x009624b1, 0x009c24e1, 0x00a50528, 0x00b4e5a7, 0x00ce8674, 0x00fa47d2, 0x012d696b, 0x0167eb3f, 0x01a9cd4e,
|
||||
0x011888c4, 0x00ec6763, 0x00c7863c, 0x00b4e5a7, 0x00a8a545, 0x00a1c50e, 0x009ec4f6, 0x009ea4f5, 0x00a1a50d, 0x00a82541, 0x00b445a2, 0x00c5e62f, 0x00ea6753, 0x011648b2, 0x01496a4b, 0x0183ec1f, 0x01c5ae2d,
|
||||
0x013bc9de, 0x010fa87d, 0x00eac756, 0x00cd466a, 0x00bc25e1, 0x00b405a0, 0x00afc57e, 0x00afa57d, 0x00b3a59d, 0x00bbc5de, 0x00cc0660, 0x00e92749, 0x010da86d, 0x013989cc, 0x016cab65, 0x01a72d39, 0x01e8ef47,
|
||||
0x01666b33, 0x013a49d2, 0x011568ab, 0x00f7e7bf, 0x00e1c70e, 0x00d2e697, 0x00cb665b, 0x00cb2659, 0x00d26693, 0x00e0c706, 0x00f6a7b5, 0x0113c89e, 0x013849c2, 0x01642b21, 0x01974cba, 0x01d1ce8e, 0x0213909c,
|
||||
0x01986cc3, 0x016c2b61, 0x01476a3b, 0x0129e94f, 0x0113a89d, 0x0104c826, 0x00fd47ea, 0x00fd27e9, 0x01044822, 0x0112c896, 0x0128a945, 0x0145ca2e, 0x016a4b52, 0x01960cb0, 0x01c92e49, 0x0203b01d, 0x0245922c,
|
||||
0x01d1ae8d, 0x01a58d2c, 0x0180ac05, 0x01632b19, 0x014cea67, 0x013e29f1, 0x013689b4, 0x013669b3, 0x013d89ec, 0x014c0a60, 0x0161eb0f, 0x017f0bf8, 0x01a38d1c, 0x01cf4e7a, 0x02029014, 0x023d11e8, 0x027ed3f6,
|
||||
};
|
||||
}
|
||||
|
||||
std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
|
||||
uint32_t long_time = exposure_time;
|
||||
uint32_t real_gain = os04c10_analog_gains_reg[new_exp_g];
|
||||
|
||||
return {
|
||||
{0x3501, long_time>>8}, {0x3502, long_time&0xFF},
|
||||
{0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
|
||||
{0x350c, real_gain>>8}, {0x350d, real_gain&0xFF},
|
||||
};
|
||||
}
|
||||
|
||||
int OS04C10::getSlaveAddress(int port) const {
|
||||
assert(port >= 0 && port <= 2);
|
||||
return (int[]){0x6C, 0x20, 0x6C}[port];
|
||||
}
|
||||
|
||||
float OS04C10::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {
|
||||
float score = std::abs(desired_ev - (exp_t * exp_gain));
|
||||
float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
|
||||
score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
|
||||
score += ((1 - analog_gain_cost_delta) +
|
||||
analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) *
|
||||
std::abs(exp_g_idx - gain_idx) * 3.0;
|
||||
return score;
|
||||
}
|
||||
332
system/camerad/sensors/os04c10_registers.h
Normal file
332
system/camerad/sensors/os04c10_registers.h
Normal file
@@ -0,0 +1,332 @@
|
||||
#pragma once
|
||||
|
||||
const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
|
||||
const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};
|
||||
|
||||
const struct i2c_random_wr_payload init_array_os04c10[] = {
|
||||
// OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
|
||||
{0x0103, 0x01}, // software reset
|
||||
|
||||
// PLL + clocks
|
||||
{0x0301, 0xe4},
|
||||
{0x0303, 0x01},
|
||||
{0x0305, 0xb6},
|
||||
{0x0306, 0x01},
|
||||
{0x0307, 0x17},
|
||||
{0x0323, 0x04},
|
||||
{0x0324, 0x01},
|
||||
{0x0325, 0x62},
|
||||
|
||||
{0x3012, 0x06},
|
||||
{0x3013, 0x02},
|
||||
{0x3016, 0x72},
|
||||
{0x3021, 0x03},
|
||||
{0x3106, 0x21},
|
||||
{0x3107, 0xa1},
|
||||
|
||||
// Analog/timing fine-tuning block
|
||||
{0x3624, 0x00},
|
||||
{0x3625, 0x4c},
|
||||
{0x3660, 0x04},
|
||||
{0x3666, 0xa5},
|
||||
{0x3667, 0xa5},
|
||||
{0x366a, 0x50},
|
||||
{0x3673, 0x0d},
|
||||
{0x3672, 0x0d},
|
||||
{0x3671, 0x0d},
|
||||
{0x3670, 0x0d},
|
||||
{0x3685, 0x00},
|
||||
{0x3694, 0x0d},
|
||||
{0x3693, 0x0d},
|
||||
{0x3692, 0x0d},
|
||||
{0x3691, 0x0d},
|
||||
{0x3696, 0x4c},
|
||||
{0x3697, 0x4c},
|
||||
{0x3698, 0x00},
|
||||
{0x3699, 0x80},
|
||||
{0x369a, 0x80},
|
||||
{0x369b, 0x1f},
|
||||
{0x369c, 0x1f},
|
||||
{0x369d, 0x80},
|
||||
{0x369e, 0x40},
|
||||
{0x369f, 0x21},
|
||||
{0x36a0, 0x12},
|
||||
{0x36a1, 0xdd},
|
||||
{0x36a2, 0x66},
|
||||
{0x370a, 0x02},
|
||||
{0x370e, 0x00},
|
||||
{0x3710, 0x00},
|
||||
{0x3713, 0x04},
|
||||
{0x3725, 0x02},
|
||||
{0x372a, 0x03},
|
||||
{0x3738, 0xce},
|
||||
{0x3748, 0x02},
|
||||
{0x374a, 0x02},
|
||||
{0x374c, 0x02},
|
||||
{0x374e, 0x02},
|
||||
{0x3756, 0x00},
|
||||
{0x3757, 0x00},
|
||||
{0x3767, 0x00},
|
||||
{0x3771, 0x00},
|
||||
{0x377b, 0x28},
|
||||
{0x377c, 0x00},
|
||||
{0x377d, 0x0c},
|
||||
{0x3781, 0x03},
|
||||
{0x3782, 0x00},
|
||||
{0x3789, 0x14},
|
||||
{0x3795, 0x02},
|
||||
{0x379c, 0x00},
|
||||
{0x379d, 0x00},
|
||||
{0x37b8, 0x04},
|
||||
{0x37ba, 0x03},
|
||||
{0x37bb, 0x00},
|
||||
{0x37bc, 0x04},
|
||||
{0x37be, 0x26},
|
||||
{0x37c4, 0x11},
|
||||
{0x37c5, 0x80},
|
||||
{0x37c6, 0x14},
|
||||
{0x37c7, 0xa8},
|
||||
{0x37da, 0x11},
|
||||
{0x381f, 0x08},
|
||||
{0x3881, 0x00},
|
||||
{0x3888, 0x04},
|
||||
{0x388b, 0x00},
|
||||
{0x3c80, 0x10},
|
||||
{0x3c86, 0x00},
|
||||
{0x3c8c, 0x40},
|
||||
{0x3c9f, 0x01},
|
||||
{0x3d85, 0x1b},
|
||||
{0x3d8c, 0x71},
|
||||
{0x3d8d, 0xe2},
|
||||
{0x3f00, 0x0b},
|
||||
{0x3f06, 0x04},
|
||||
|
||||
// BLC - black level correction
|
||||
{0x400a, 0x01},
|
||||
{0x400b, 0x50},
|
||||
{0x400e, 0x08},
|
||||
{0x4043, 0x7e},
|
||||
{0x4045, 0x7e},
|
||||
{0x4047, 0x7e},
|
||||
{0x4049, 0x7e},
|
||||
{0x4090, 0x04},
|
||||
{0x40b0, 0x00},
|
||||
{0x40b1, 0x00},
|
||||
{0x40b2, 0x00},
|
||||
{0x40b3, 0x00},
|
||||
{0x40b4, 0x00},
|
||||
{0x40b5, 0x00},
|
||||
{0x40b7, 0x00},
|
||||
{0x40b8, 0x00},
|
||||
{0x40b9, 0x00},
|
||||
{0x40ba, 0x01},
|
||||
|
||||
{0x4301, 0x00},
|
||||
{0x4303, 0x00},
|
||||
{0x4502, 0x04},
|
||||
{0x4503, 0x00},
|
||||
{0x4504, 0x06},
|
||||
{0x4506, 0x00},
|
||||
{0x4507, 0x47},
|
||||
{0x4803, 0x00},
|
||||
{0x480c, 0x32},
|
||||
{0x480e, 0x04},
|
||||
{0x4813, 0xe4},
|
||||
{0x4819, 0x70},
|
||||
{0x481f, 0x30},
|
||||
{0x4823, 0x3f},
|
||||
{0x4825, 0x30},
|
||||
{0x4833, 0x10},
|
||||
{0x484b, 0x27},
|
||||
{0x488b, 0x00},
|
||||
{0x4d00, 0x04},
|
||||
{0x4d01, 0xad},
|
||||
{0x4d02, 0xbc},
|
||||
{0x4d03, 0xa1},
|
||||
{0x4d04, 0x1f},
|
||||
{0x4d05, 0x4c},
|
||||
{0x4d0b, 0x01},
|
||||
{0x4e00, 0x2a},
|
||||
{0x4e0d, 0x00},
|
||||
|
||||
// ISP
|
||||
{0x5001, 0x09},
|
||||
{0x5004, 0x00},
|
||||
{0x5080, 0x04},
|
||||
{0x5036, 0x80},
|
||||
{0x5180, 0x70},
|
||||
{0x5181, 0x10},
|
||||
|
||||
// DPC - defective pixel correction
|
||||
{0x520a, 0x03},
|
||||
{0x520b, 0x06},
|
||||
{0x520c, 0x0c},
|
||||
|
||||
{0x580b, 0x0f},
|
||||
{0x580d, 0x00},
|
||||
{0x580f, 0x00},
|
||||
{0x5820, 0x00},
|
||||
{0x5821, 0x00},
|
||||
|
||||
{0x301c, 0xf8},
|
||||
{0x301e, 0xb4},
|
||||
{0x301f, 0xf0},
|
||||
{0x3022, 0x61},
|
||||
{0x3109, 0xe7},
|
||||
{0x3600, 0x00},
|
||||
{0x3610, 0x65},
|
||||
{0x3611, 0x85},
|
||||
{0x3613, 0x3a},
|
||||
{0x3615, 0x60},
|
||||
{0x3621, 0xb0},
|
||||
{0x3620, 0x0c},
|
||||
{0x3629, 0x00},
|
||||
{0x3661, 0x04},
|
||||
{0x3664, 0x70},
|
||||
{0x3665, 0x00},
|
||||
{0x3681, 0x80},
|
||||
{0x3682, 0x40},
|
||||
{0x3683, 0x21},
|
||||
{0x3684, 0x12},
|
||||
{0x3700, 0x2a},
|
||||
{0x3701, 0x12},
|
||||
{0x3703, 0x28},
|
||||
{0x3704, 0x0e},
|
||||
{0x3706, 0x9d},
|
||||
{0x3709, 0x4a},
|
||||
{0x370b, 0x48},
|
||||
{0x370c, 0x01},
|
||||
{0x370f, 0x00},
|
||||
{0x3714, 0x24},
|
||||
{0x3716, 0x04},
|
||||
{0x3719, 0x11},
|
||||
{0x371a, 0x1e},
|
||||
{0x3720, 0x00},
|
||||
{0x3724, 0x13},
|
||||
{0x373f, 0xb0},
|
||||
{0x3741, 0x9d},
|
||||
{0x3743, 0x9d},
|
||||
{0x3745, 0x9d},
|
||||
{0x3747, 0x9d},
|
||||
{0x3749, 0x48},
|
||||
{0x374b, 0x48},
|
||||
{0x374d, 0x48},
|
||||
{0x374f, 0x48},
|
||||
{0x3755, 0x10},
|
||||
{0x376c, 0x00},
|
||||
{0x378d, 0x3c},
|
||||
{0x3790, 0x01},
|
||||
{0x3791, 0x01},
|
||||
{0x3798, 0x40},
|
||||
{0x379e, 0x00},
|
||||
{0x379f, 0x04},
|
||||
{0x37a1, 0x10},
|
||||
{0x37a2, 0x1e},
|
||||
{0x37a8, 0x10},
|
||||
{0x37a9, 0x1e},
|
||||
{0x37ac, 0xa0},
|
||||
{0x37b9, 0x01},
|
||||
{0x37bd, 0x01},
|
||||
{0x37bf, 0x26},
|
||||
{0x37c0, 0x11},
|
||||
{0x37c2, 0x04},
|
||||
{0x37cd, 0x19},
|
||||
{0x37e0, 0x08},
|
||||
{0x37e6, 0x04},
|
||||
{0x37e5, 0x02},
|
||||
{0x37e1, 0x0c},
|
||||
{0x3737, 0x04},
|
||||
{0x37d8, 0x02},
|
||||
{0x37e2, 0x10},
|
||||
{0x3739, 0x10},
|
||||
{0x3662, 0x10},
|
||||
{0x37e4, 0x20},
|
||||
{0x37e3, 0x08},
|
||||
{0x37d9, 0x08},
|
||||
{0x4040, 0x00},
|
||||
{0x4041, 0x07},
|
||||
{0x4008, 0x02},
|
||||
{0x4009, 0x0d},
|
||||
|
||||
// FSIN - frame sync
|
||||
{0x3002, 0x22},
|
||||
{0x3663, 0x22},
|
||||
{0x368a, 0x04},
|
||||
{0x3822, 0x44},
|
||||
{0x3823, 0x00},
|
||||
{0x3829, 0x03},
|
||||
{0x3832, 0xf8},
|
||||
{0x382c, 0x00},
|
||||
{0x3844, 0x06},
|
||||
{0x3843, 0x00},
|
||||
{0x382a, 0x00},
|
||||
{0x382b, 0x0c},
|
||||
|
||||
// 2704x1536 -> 2688x1520 out
|
||||
{0x3800, 0x00}, {0x3801, 0x00},
|
||||
{0x3802, 0x00}, {0x3803, 0x00},
|
||||
{0x3804, 0x0a}, {0x3805, 0x8f},
|
||||
{0x3806, 0x05}, {0x3807, 0xff},
|
||||
{0x3808, 0x0a}, {0x3809, 0x80},
|
||||
{0x380a, 0x05}, {0x380b, 0xf0},
|
||||
{0x3811, 0x08},
|
||||
{0x3813, 0x08},
|
||||
{0x3814, 0x01},
|
||||
{0x3815, 0x01},
|
||||
{0x3816, 0x01},
|
||||
{0x3817, 0x01},
|
||||
|
||||
{0x380c, 0x08}, {0x380d, 0x5c}, // HTS (line length)
|
||||
{0x380e, 0x09}, {0x380f, 0x38}, // VTS (frame length)
|
||||
|
||||
{0x3820, 0xb0},
|
||||
{0x3821, 0x00},
|
||||
{0x3880, 0x00},
|
||||
{0x3882, 0x20},
|
||||
{0x3c91, 0x0b},
|
||||
{0x3c94, 0x45},
|
||||
{0x3cad, 0x00},
|
||||
{0x3cae, 0x00},
|
||||
{0x4000, 0xf3},
|
||||
{0x4001, 0x60},
|
||||
{0x4003, 0x40},
|
||||
{0x4300, 0xff},
|
||||
{0x4302, 0x0f},
|
||||
{0x4305, 0x83},
|
||||
{0x4505, 0x84},
|
||||
{0x4809, 0x0e},
|
||||
{0x480a, 0x04},
|
||||
{0x4837, 0x15},
|
||||
{0x4c00, 0x08},
|
||||
{0x4c01, 0x08},
|
||||
{0x4c04, 0x00},
|
||||
{0x4c05, 0x00},
|
||||
{0x5000, 0xf9},
|
||||
// {0x0100, 0x01},
|
||||
// {0x320d, 0x00},
|
||||
// {0x3208, 0xa0},
|
||||
|
||||
// initialize exposure
|
||||
{0x3503, 0x88},
|
||||
|
||||
// long exposure
|
||||
{0x3500, 0x00}, {0x3501, 0x00}, {0x3502, 0x10},
|
||||
{0x3508, 0x00}, {0x3509, 0x80},
|
||||
{0x350a, 0x04}, {0x350b, 0x00},
|
||||
|
||||
// short exposure
|
||||
{0x3510, 0x00}, {0x3511, 0x00}, {0x3512, 0x40},
|
||||
{0x350c, 0x00}, {0x350d, 0x80},
|
||||
{0x350e, 0x04}, {0x350f, 0x00},
|
||||
|
||||
// white balance
|
||||
// b
|
||||
{0x5100, 0x06}, {0x5101, 0x7e},
|
||||
{0x5140, 0x06}, {0x5141, 0x7e},
|
||||
// g
|
||||
{0x5102, 0x04}, {0x5103, 0x00},
|
||||
{0x5142, 0x04}, {0x5143, 0x00},
|
||||
// r
|
||||
{0x5104, 0x08}, {0x5105, 0xd6},
|
||||
{0x5144, 0x08}, {0x5145, 0xd6},
|
||||
};
|
||||
142
system/camerad/sensors/ox03c10.cc
Normal file
142
system/camerad/sensors/ox03c10.cc
Normal file
@@ -0,0 +1,142 @@
|
||||
#include <cmath>
|
||||
|
||||
#include "system/camerad/sensors/sensor.h"
|
||||
#include "third_party/linux/include/msm_camsensor_sdk.h"
|
||||
|
||||
namespace {
|
||||
|
||||
const float sensor_analog_gains_OX03C10[] = {
|
||||
1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875,
|
||||
1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0,
|
||||
3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5,
|
||||
5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0,
|
||||
10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5};
|
||||
|
||||
const uint32_t ox03c10_analog_gains_reg[] = {
|
||||
0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0,
|
||||
0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300,
|
||||
0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580,
|
||||
0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00,
|
||||
0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80};
|
||||
|
||||
const uint32_t VS_TIME_MIN_OX03C10 = 1;
|
||||
const uint32_t VS_TIME_MAX_OX03C10 = 34; // vs < 35
|
||||
|
||||
} // namespace
|
||||
|
||||
OX03C10::OX03C10() {
|
||||
image_sensor = cereal::FrameData::ImageSensor::OX03C10;
|
||||
bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
|
||||
pixel_size_mm = 0.003;
|
||||
data_word = false;
|
||||
frame_width = 1928;
|
||||
frame_height = 1208;
|
||||
frame_stride = (frame_width * 12 / 8) + 4;
|
||||
extra_height = 16; // top 2 + bot 14
|
||||
frame_offset = 2;
|
||||
|
||||
start_reg_array.assign(std::begin(start_reg_array_ox03c10), std::end(start_reg_array_ox03c10));
|
||||
init_reg_array.assign(std::begin(init_array_ox03c10), std::end(init_array_ox03c10));
|
||||
probe_reg_addr = 0x300a;
|
||||
probe_expected_data = 0x5803;
|
||||
bits_per_pixel = 12;
|
||||
mipi_format = CAM_FORMAT_MIPI_RAW_12;
|
||||
frame_data_type = CSI_RAW12;
|
||||
mclk_frequency = 24000000; // Hz
|
||||
|
||||
readout_time_ns = 14697000;
|
||||
|
||||
dc_gain_factor = 7.32;
|
||||
dc_gain_min_weight = 1; // always on is fine
|
||||
dc_gain_max_weight = 1;
|
||||
dc_gain_on_grey = 0.9;
|
||||
dc_gain_off_grey = 1.0;
|
||||
exposure_time_min = 2; // 1x
|
||||
exposure_time_max = 2016;
|
||||
analog_gain_min_idx = 0x0;
|
||||
analog_gain_rec_idx = 0x0; // 1x
|
||||
analog_gain_max_idx = 0x36;
|
||||
analog_gain_cost_delta = -1;
|
||||
analog_gain_cost_low = 0.4;
|
||||
analog_gain_cost_high = 6.4;
|
||||
for (int i = 0; i <= analog_gain_max_idx; i++) {
|
||||
sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i];
|
||||
}
|
||||
min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx];
|
||||
max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
|
||||
target_grey_factor = 0.01;
|
||||
|
||||
black_level = 0;
|
||||
color_correct_matrix = {
|
||||
0x000000b6, 0x00000ff1, 0x00000fda,
|
||||
0x00000fcc, 0x000000b9, 0x00000ffb,
|
||||
0x00000fc2, 0x00000ff6, 0x000000c9,
|
||||
};
|
||||
for (int i = 0; i < 65; i++) {
|
||||
float fx = i / 64.0;
|
||||
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));
|
||||
}
|
||||
prepare_gamma_lut();
|
||||
linearization_lut = {
|
||||
0x00200000, 0x00200000, 0x00200000, 0x00200000,
|
||||
0x00404080, 0x00404080, 0x00404080, 0x00404080,
|
||||
0x00804100, 0x00804100, 0x00804100, 0x00804100,
|
||||
0x02014402, 0x02014402, 0x02014402, 0x02014402,
|
||||
0x0402c804, 0x0402c804, 0x0402c804, 0x0402c804,
|
||||
0x0805d00a, 0x0805d00a, 0x0805d00a, 0x0805d00a,
|
||||
0x100ba015, 0x100ba015, 0x100ba015, 0x100ba015,
|
||||
0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
|
||||
0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
|
||||
};
|
||||
linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x1fff23ff, 0x27ff3fff};
|
||||
vignetting_lut = {
|
||||
0x00eaa755, 0x00cf2679, 0x00bc05e0, 0x00acc566, 0x00a1450a, 0x009984cc, 0x0095a4ad, 0x009584ac, 0x009944ca, 0x00a0c506, 0x00ac0560, 0x00bb25d9, 0x00ce2671, 0x00e90748, 0x01112889, 0x014a2a51, 0x01984cc2,
|
||||
0x00db06d8, 0x00c30618, 0x00afe57f, 0x00a0a505, 0x009524a9, 0x008d646b, 0x0089844c, 0x0089644b, 0x008d2469, 0x0094a4a5, 0x009fe4ff, 0x00af0578, 0x00c20610, 0x00d986cc, 0x00fda7ed, 0x01320990, 0x017aebd7,
|
||||
0x00d1868c, 0x00baa5d5, 0x00a7853c, 0x009844c2, 0x008cc466, 0x0085a42d, 0x0083641b, 0x0083641b, 0x0085842c, 0x008c4462, 0x0097a4bd, 0x00a6c536, 0x00b9a5cd, 0x00d06683, 0x00f1678b, 0x01226913, 0x0167ab3d,
|
||||
0x00cd0668, 0x00b625b1, 0x00a30518, 0x0093c49e, 0x00884442, 0x00830418, 0x0080e407, 0x0080c406, 0x0082e417, 0x0087c43e, 0x00932499, 0x00a22511, 0x00b525a9, 0x00cbe65f, 0x00eb0758, 0x011a68d3, 0x015daaed,
|
||||
0x00cc4662, 0x00b565ab, 0x00a24512, 0x00930498, 0x0087843c, 0x0082a415, 0x00806403, 0x00806403, 0x00828414, 0x00870438, 0x00926493, 0x00a1850c, 0x00b465a3, 0x00cb2659, 0x00ea2751, 0x011928c9, 0x015c2ae1,
|
||||
0x00cf667b, 0x00b885c4, 0x00a5652b, 0x009624b1, 0x008aa455, 0x00846423, 0x00822411, 0x00822411, 0x00844422, 0x008a2451, 0x009564ab, 0x00a48524, 0x00b785bc, 0x00ce4672, 0x00ee6773, 0x011e88f4, 0x0162eb17,
|
||||
0x00d6c6b6, 0x00bf65fb, 0x00ac4562, 0x009d04e8, 0x0091848c, 0x0089c44e, 0x00862431, 0x00860430, 0x0089844c, 0x00910488, 0x009c64e3, 0x00ab655b, 0x00be65f3, 0x00d566ab, 0x00f847c2, 0x012b2959, 0x01726b93,
|
||||
0x00e3e71f, 0x00ca0650, 0x00b705b8, 0x00a7a53d, 0x009c24e1, 0x009484a4, 0x00908484, 0x00908484, 0x009424a1, 0x009bc4de, 0x00a70538, 0x00b625b1, 0x00c90648, 0x00e26713, 0x0108e847, 0x013fe9ff, 0x018bcc5e,
|
||||
0x00f807c0, 0x00d966cb, 0x00c5862c, 0x00b625b1, 0x00aaa555, 0x00a30518, 0x009f04f8, 0x009f04f8, 0x00a2a515, 0x00aa2551, 0x00b585ac, 0x00c4a625, 0x00d846c2, 0x00f647b2, 0x0121a90d, 0x015e4af2, 0x01b8cdc6,
|
||||
0x011548aa, 0x00f1678b, 0x00d886c4, 0x00c86643, 0x00bce5e7, 0x00b545aa, 0x00b1658b, 0x00b1458a, 0x00b505a8, 0x00bc85e4, 0x00c7c63e, 0x00d786bc, 0x00efe77f, 0x0113489a, 0x0144ea27, 0x01888c44, 0x01fdcfee,
|
||||
0x013e49f2, 0x0113e89f, 0x00f5a7ad, 0x00e0c706, 0x00d30698, 0x00cb665b, 0x00c7663b, 0x00c7663b, 0x00cb0658, 0x00d2a695, 0x00dfe6ff, 0x00f467a3, 0x01122891, 0x013be9df, 0x01750ba8, 0x01cfae7d, 0x025912c8,
|
||||
0x01766bb3, 0x01446a23, 0x011fc8fe, 0x0105e82f, 0x00f467a3, 0x00e9874c, 0x00e46723, 0x00e44722, 0x00e92749, 0x00f3a79d, 0x0104c826, 0x011e48f2, 0x01424a12, 0x01738b9c, 0x01bf6dfb, 0x023611b0, 0x02ced676,
|
||||
0x01cf8e7c, 0x01866c33, 0x015aaad5, 0x013ae9d7, 0x01250928, 0x011768bb, 0x0110a885, 0x01108884, 0x0116e8b7, 0x01242921, 0x0139a9cd, 0x0158eac7, 0x01840c20, 0x01cb0e58, 0x0233719b, 0x02b9d5ce, 0x03645b22,
|
||||
};
|
||||
}
|
||||
|
||||
std::vector<i2c_random_wr_payload> OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
|
||||
// t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD
|
||||
uint32_t hcg_time = exposure_time;
|
||||
uint32_t lcg_time = hcg_time;
|
||||
uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OX03C10) / 3), exposure_time_max + VS_TIME_MAX_OX03C10);
|
||||
uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10);
|
||||
|
||||
uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g];
|
||||
|
||||
return {
|
||||
{0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF},
|
||||
{0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF},
|
||||
{0x3541, spd_time>>8}, {0x3542, spd_time&0xFF},
|
||||
{0x35c2, vs_time&0xFF},
|
||||
|
||||
{0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
|
||||
};
|
||||
}
|
||||
|
||||
int OX03C10::getSlaveAddress(int port) const {
|
||||
assert(port >= 0 && port <= 2);
|
||||
return (int[]){0x6C, 0x20, 0x6C}[port];
|
||||
}
|
||||
|
||||
float OX03C10::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {
|
||||
float score = std::abs(desired_ev - (exp_t * exp_gain));
|
||||
float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
|
||||
score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
|
||||
score += ((1 - analog_gain_cost_delta) +
|
||||
analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) *
|
||||
std::abs(exp_g_idx - gain_idx) * 5.0;
|
||||
return score;
|
||||
}
|
||||
751
system/camerad/sensors/ox03c10_registers.h
Normal file
751
system/camerad/sensors/ox03c10_registers.h
Normal file
@@ -0,0 +1,751 @@
|
||||
#pragma once
|
||||
|
||||
const struct i2c_random_wr_payload start_reg_array_ox03c10[] = {{0x100, 1}};
|
||||
const struct i2c_random_wr_payload stop_reg_array_ox03c10[] = {{0x100, 0}};
|
||||
|
||||
const struct i2c_random_wr_payload init_array_ox03c10[] = {
|
||||
{0x103, 1},
|
||||
{0x107, 1},
|
||||
|
||||
// X3C_1920x1280_60fps_HDR4_LFR_PWL12_mipi1200
|
||||
|
||||
// TPM
|
||||
{0x4d5a, 0x1a}, {0x4d09, 0xff}, {0x4d09, 0xdf},
|
||||
|
||||
/*)
|
||||
// group 4
|
||||
{0x3208, 0x04},
|
||||
{0x4620, 0x04},
|
||||
{0x3208, 0x14},
|
||||
|
||||
// group 5
|
||||
{0x3208, 0x05},
|
||||
{0x4620, 0x04},
|
||||
{0x3208, 0x15},
|
||||
|
||||
// group 2
|
||||
{0x3208, 0x02},
|
||||
{0x3507, 0x00},
|
||||
{0x3208, 0x12},
|
||||
|
||||
// delay launch group 2
|
||||
{0x3208, 0xa2},*/
|
||||
|
||||
// **NOTE**: if this is changed, readout_time_ns must be updated in the Sensor config
|
||||
// PLL setup
|
||||
{0x0301, 0xc8}, // pll1_divs, pll1_predivp, pll1_divpix
|
||||
{0x0303, 0x01}, // pll1_prediv
|
||||
{0x0304, 0x01}, {0x0305, 0x2c}, // pll1_loopdiv = 300
|
||||
{0x0306, 0x04}, // pll1_divmipi = 4
|
||||
{0x0307, 0x01}, // pll1_divm = 1
|
||||
{0x0316, 0x00},
|
||||
{0x0317, 0x00},
|
||||
{0x0318, 0x00},
|
||||
{0x0323, 0x05}, // pll2_prediv
|
||||
{0x0324, 0x01}, {0x0325, 0x2c}, // pll2_divp = 300
|
||||
|
||||
// SCLK/PCLK
|
||||
{0x0400, 0xe0}, {0x0401, 0x80},
|
||||
{0x0403, 0xde}, {0x0404, 0x34},
|
||||
{0x0405, 0x3b}, {0x0406, 0xde},
|
||||
{0x0407, 0x08},
|
||||
{0x0408, 0xe0}, {0x0409, 0x7f},
|
||||
{0x040a, 0xde}, {0x040b, 0x34},
|
||||
{0x040c, 0x47}, {0x040d, 0xd8},
|
||||
{0x040e, 0x08},
|
||||
|
||||
// xchk
|
||||
{0x2803, 0xfe}, {0x280b, 0x00}, {0x280c, 0x79},
|
||||
|
||||
// SC ctrl
|
||||
{0x3001, 0x03}, // io_pad_oen
|
||||
{0x3002, 0xfc}, // io_pad_oen
|
||||
{0x3005, 0x80}, // io_pad_out
|
||||
{0x3007, 0x01}, // io_pad_sel
|
||||
{0x3008, 0x80}, // io_pad_sel
|
||||
|
||||
// FSIN (frame sync) with external pulses
|
||||
{0x3009, 0x2},
|
||||
{0x3015, 0x2},
|
||||
{0x383E, 0x80},
|
||||
{0x3881, 0x4},
|
||||
{0x3882, 0x8}, {0x3883, 0x0D},
|
||||
{0x3836, 0x1F}, {0x3837, 0x40},
|
||||
|
||||
// causes issues on some devices
|
||||
//{0x3822, 0x33}, // wait for pulse before first frame
|
||||
|
||||
{0x3892, 0x44},
|
||||
{0x3823, 0x41},
|
||||
|
||||
{0x3012, 0x41}, // SC_PHY_CTRL = 4 lane MIPI
|
||||
{0x3020, 0x05}, // SC_CTRL_20
|
||||
|
||||
// this is not in the datasheet, listed as RSVD
|
||||
// but the camera doesn't work without it
|
||||
{0x3700, 0x28}, {0x3701, 0x15}, {0x3702, 0x19}, {0x3703, 0x23},
|
||||
{0x3704, 0x0a}, {0x3705, 0x00}, {0x3706, 0x3e}, {0x3707, 0x0d},
|
||||
{0x3708, 0x50}, {0x3709, 0x5a}, {0x370a, 0x00}, {0x370b, 0x96},
|
||||
{0x3711, 0x11}, {0x3712, 0x13}, {0x3717, 0x02}, {0x3718, 0x73},
|
||||
{0x372c, 0x40}, {0x3733, 0x01}, {0x3738, 0x36}, {0x3739, 0x36},
|
||||
{0x373a, 0x25}, {0x373b, 0x25}, {0x373f, 0x21}, {0x3740, 0x21},
|
||||
{0x3741, 0x21}, {0x3742, 0x21}, {0x3747, 0x28}, {0x3748, 0x28},
|
||||
{0x3749, 0x19}, {0x3755, 0x1a}, {0x3756, 0x0a}, {0x3757, 0x1c},
|
||||
{0x3765, 0x19}, {0x3766, 0x05}, {0x3767, 0x05}, {0x3768, 0x13},
|
||||
{0x376c, 0x07}, {0x3778, 0x20}, {0x377c, 0xc8}, {0x3781, 0x02},
|
||||
{0x3783, 0x02}, {0x379c, 0x58}, {0x379e, 0x00}, {0x379f, 0x00},
|
||||
{0x37a0, 0x00}, {0x37bc, 0x22}, {0x37c0, 0x01}, {0x37c4, 0x3e},
|
||||
{0x37c5, 0x3e}, {0x37c6, 0x2a}, {0x37c7, 0x28}, {0x37c8, 0x02},
|
||||
{0x37c9, 0x12}, {0x37cb, 0x29}, {0x37cd, 0x29}, {0x37d2, 0x00},
|
||||
{0x37d3, 0x73}, {0x37d6, 0x00}, {0x37d7, 0x6b}, {0x37dc, 0x00},
|
||||
{0x37df, 0x54}, {0x37e2, 0x00}, {0x37e3, 0x00}, {0x37f8, 0x00},
|
||||
{0x37f9, 0x01}, {0x37fa, 0x00}, {0x37fb, 0x19},
|
||||
|
||||
// also RSVD
|
||||
{0x3c03, 0x01}, {0x3c04, 0x01}, {0x3c06, 0x21}, {0x3c08, 0x01},
|
||||
{0x3c09, 0x01}, {0x3c0a, 0x01}, {0x3c0b, 0x21}, {0x3c13, 0x21},
|
||||
{0x3c14, 0x82}, {0x3c16, 0x13}, {0x3c21, 0x00}, {0x3c22, 0xf3},
|
||||
{0x3c37, 0x12}, {0x3c38, 0x31}, {0x3c3c, 0x00}, {0x3c3d, 0x03},
|
||||
{0x3c44, 0x16}, {0x3c5c, 0x8a}, {0x3c5f, 0x03}, {0x3c61, 0x80},
|
||||
{0x3c6f, 0x2b}, {0x3c70, 0x5f}, {0x3c71, 0x2c}, {0x3c72, 0x2c},
|
||||
{0x3c73, 0x2c}, {0x3c76, 0x12},
|
||||
|
||||
// PEC checks
|
||||
{0x3182, 0x12},
|
||||
|
||||
{0x320e, 0x00}, {0x320f, 0x00}, // RSVD
|
||||
{0x3211, 0x61},
|
||||
{0x3215, 0xcd},
|
||||
{0x3219, 0x08},
|
||||
|
||||
{0x3506, 0x20}, {0x3507, 0x00}, // hcg fine exposure
|
||||
{0x350a, 0x01}, {0x350b, 0x00}, {0x350c, 0x00}, // hcg digital gain
|
||||
|
||||
{0x3586, 0x40}, {0x3587, 0x00}, // lcg fine exposure
|
||||
{0x358a, 0x01}, {0x358b, 0x00}, {0x358c, 0x00}, // lcg digital gain
|
||||
|
||||
{0x3546, 0x20}, {0x3547, 0x00}, // spd fine exposure
|
||||
{0x354a, 0x01}, {0x354b, 0x00}, {0x354c, 0x00}, // spd digital gain
|
||||
|
||||
{0x35c6, 0xb0}, {0x35c7, 0x00}, // vs fine exposure
|
||||
{0x35ca, 0x01}, {0x35cb, 0x00}, {0x35cc, 0x00}, // vs digital gain
|
||||
|
||||
// also RSVD
|
||||
{0x3600, 0x8f}, {0x3605, 0x16}, {0x3609, 0xf0}, {0x360a, 0x01},
|
||||
{0x360e, 0x1d}, {0x360f, 0x10}, {0x3610, 0x70}, {0x3611, 0x3a},
|
||||
{0x3612, 0x28}, {0x361a, 0x29}, {0x361b, 0x6c}, {0x361c, 0x0b},
|
||||
{0x361d, 0x00}, {0x361e, 0xfc}, {0x362a, 0x00}, {0x364d, 0x0f},
|
||||
{0x364e, 0x18}, {0x364f, 0x12}, {0x3653, 0x1c}, {0x3654, 0x00},
|
||||
{0x3655, 0x1f}, {0x3656, 0x1f}, {0x3657, 0x0c}, {0x3658, 0x0a},
|
||||
{0x3659, 0x14}, {0x365a, 0x18}, {0x365b, 0x14}, {0x365c, 0x10},
|
||||
{0x365e, 0x12}, {0x3674, 0x08}, {0x3677, 0x3a}, {0x3678, 0x3a},
|
||||
{0x3679, 0x19},
|
||||
|
||||
// Y_ADDR_START = 4
|
||||
{0x3802, 0x00}, {0x3803, 0x04},
|
||||
// Y_ADDR_END = 0x50b
|
||||
{0x3806, 0x05}, {0x3807, 0x0b},
|
||||
|
||||
// X_OUTPUT_SIZE = 0x780 = 1920 (changed to 1928)
|
||||
{0x3808, 0x07}, {0x3809, 0x88},
|
||||
|
||||
// Y_OUTPUT_SIZE = 0x500 = 1280 (changed to 1208)
|
||||
{0x380a, 0x04}, {0x380b, 0xb8},
|
||||
|
||||
// horizontal timing 0x447
|
||||
{0x380c, 0x04}, {0x380d, 0x47},
|
||||
|
||||
// rows per frame (was 0x2ae)
|
||||
// 0x8ae = 53.65 ms
|
||||
{0x380e, 0x08}, {0x380f, 0x15},
|
||||
// this should be triggered by FSIN, not free running
|
||||
|
||||
{0x3810, 0x00}, {0x3811, 0x08}, // x cutoff
|
||||
{0x3812, 0x00}, {0x3813, 0x04}, // y cutoff
|
||||
{0x3816, 0x01},
|
||||
{0x3817, 0x01},
|
||||
{0x381c, 0x18},
|
||||
{0x381e, 0x01},
|
||||
{0x381f, 0x01},
|
||||
|
||||
// don't mirror, just flip
|
||||
{0x3820, 0x04},
|
||||
|
||||
{0x3821, 0x19},
|
||||
{0x3832, 0xF0},
|
||||
{0x3834, 0xF0},
|
||||
{0x384c, 0x02},
|
||||
{0x384d, 0x0d},
|
||||
{0x3850, 0x00},
|
||||
{0x3851, 0x42},
|
||||
{0x3852, 0x00},
|
||||
{0x3853, 0x40},
|
||||
{0x3858, 0x04},
|
||||
{0x388c, 0x02},
|
||||
{0x388d, 0x2b},
|
||||
|
||||
// APC
|
||||
{0x3b40, 0x05}, {0x3b41, 0x40}, {0x3b42, 0x00}, {0x3b43, 0x90},
|
||||
{0x3b44, 0x00}, {0x3b45, 0x20}, {0x3b46, 0x00}, {0x3b47, 0x20},
|
||||
{0x3b48, 0x19}, {0x3b49, 0x12}, {0x3b4a, 0x16}, {0x3b4b, 0x2e},
|
||||
{0x3b4c, 0x00}, {0x3b4d, 0x00},
|
||||
{0x3b86, 0x00}, {0x3b87, 0x34}, {0x3b88, 0x00}, {0x3b89, 0x08},
|
||||
{0x3b8a, 0x05}, {0x3b8b, 0x00}, {0x3b8c, 0x07}, {0x3b8d, 0x80},
|
||||
{0x3b8e, 0x00}, {0x3b8f, 0x00}, {0x3b92, 0x05}, {0x3b93, 0x00},
|
||||
{0x3b94, 0x07}, {0x3b95, 0x80}, {0x3b9e, 0x09},
|
||||
|
||||
// OTP
|
||||
{0x3d82, 0x73},
|
||||
{0x3d85, 0x05},
|
||||
{0x3d8a, 0x03},
|
||||
{0x3d8b, 0xff},
|
||||
{0x3d99, 0x00},
|
||||
{0x3d9a, 0x9f},
|
||||
{0x3d9b, 0x00},
|
||||
{0x3d9c, 0xa0},
|
||||
{0x3da4, 0x00},
|
||||
{0x3da7, 0x50},
|
||||
|
||||
// DTR
|
||||
{0x420e, 0x6b},
|
||||
{0x420f, 0x6e},
|
||||
{0x4210, 0x06},
|
||||
{0x4211, 0xc1},
|
||||
{0x421e, 0x02},
|
||||
{0x421f, 0x45},
|
||||
{0x4220, 0xe1},
|
||||
{0x4221, 0x01},
|
||||
{0x4301, 0xff},
|
||||
{0x4307, 0x03},
|
||||
{0x4308, 0x13},
|
||||
{0x430a, 0x13},
|
||||
{0x430d, 0x93},
|
||||
{0x430f, 0x57},
|
||||
{0x4310, 0x95},
|
||||
{0x4311, 0x16},
|
||||
{0x4316, 0x00},
|
||||
|
||||
{0x4317, 0x38}, // both embedded rows are enabled
|
||||
|
||||
{0x4319, 0x03}, // spd dcg
|
||||
{0x431a, 0x00}, // 8 bit mipi
|
||||
{0x431b, 0x00},
|
||||
{0x431d, 0x2a},
|
||||
{0x431e, 0x11},
|
||||
|
||||
{0x431f, 0x20}, // enable PWL (pwl0_en), 12 bits
|
||||
//{0x431f, 0x00}, // disable PWL
|
||||
|
||||
{0x4320, 0x19},
|
||||
{0x4323, 0x80},
|
||||
{0x4324, 0x00},
|
||||
{0x4503, 0x4e},
|
||||
{0x4505, 0x00},
|
||||
{0x4509, 0x00},
|
||||
{0x450a, 0x00},
|
||||
{0x4580, 0xf8},
|
||||
{0x4583, 0x07},
|
||||
{0x4584, 0x6a},
|
||||
{0x4585, 0x08},
|
||||
{0x4586, 0x05},
|
||||
{0x4587, 0x04},
|
||||
{0x4588, 0x73},
|
||||
{0x4589, 0x05},
|
||||
{0x458a, 0x1f},
|
||||
{0x458b, 0x02},
|
||||
{0x458c, 0xdc},
|
||||
{0x458d, 0x03},
|
||||
{0x458e, 0x02},
|
||||
{0x4597, 0x07},
|
||||
{0x4598, 0x40},
|
||||
{0x4599, 0x0e},
|
||||
{0x459a, 0x0e},
|
||||
{0x459b, 0xfb},
|
||||
{0x459c, 0xf3},
|
||||
{0x4602, 0x00},
|
||||
{0x4603, 0x13},
|
||||
{0x4604, 0x00},
|
||||
{0x4609, 0x0a},
|
||||
{0x460a, 0x30},
|
||||
{0x4610, 0x00},
|
||||
{0x4611, 0x70},
|
||||
{0x4612, 0x01},
|
||||
{0x4613, 0x00},
|
||||
{0x4614, 0x00},
|
||||
{0x4615, 0x70},
|
||||
{0x4616, 0x01},
|
||||
{0x4617, 0x00},
|
||||
|
||||
{0x4800, 0x04}, // invert output PCLK
|
||||
{0x480a, 0x22},
|
||||
{0x4813, 0xe4},
|
||||
|
||||
// mipi
|
||||
{0x4814, 0x2a},
|
||||
{0x4837, 0x0d},
|
||||
{0x484b, 0x47},
|
||||
{0x484f, 0x00},
|
||||
{0x4887, 0x51},
|
||||
{0x4d00, 0x4a},
|
||||
{0x4d01, 0x18},
|
||||
{0x4d05, 0xff},
|
||||
{0x4d06, 0x88},
|
||||
{0x4d08, 0x63},
|
||||
{0x4d09, 0xdf},
|
||||
{0x4d15, 0x7d},
|
||||
{0x4d1a, 0x20},
|
||||
{0x4d30, 0x0a},
|
||||
{0x4d31, 0x00},
|
||||
{0x4d34, 0x7d},
|
||||
{0x4d3c, 0x7d},
|
||||
{0x4f00, 0x00},
|
||||
{0x4f01, 0x00},
|
||||
{0x4f02, 0x00},
|
||||
{0x4f03, 0x20},
|
||||
{0x4f04, 0xe0},
|
||||
{0x6a00, 0x00},
|
||||
{0x6a01, 0x20},
|
||||
{0x6a02, 0x00},
|
||||
{0x6a03, 0x20},
|
||||
{0x6a04, 0x02},
|
||||
{0x6a05, 0x80},
|
||||
{0x6a06, 0x01},
|
||||
{0x6a07, 0xe0},
|
||||
{0x6a08, 0xcf},
|
||||
{0x6a09, 0x01},
|
||||
{0x6a0a, 0x40},
|
||||
{0x6a20, 0x00},
|
||||
{0x6a21, 0x02},
|
||||
{0x6a22, 0x00},
|
||||
{0x6a23, 0x00},
|
||||
{0x6a24, 0x00},
|
||||
{0x6a25, 0x00},
|
||||
{0x6a26, 0x00},
|
||||
{0x6a27, 0x00},
|
||||
{0x6a28, 0x00},
|
||||
|
||||
// isp
|
||||
{0x5000, 0x8f},
|
||||
{0x5001, 0x75},
|
||||
{0x5002, 0x7f}, // PWL0
|
||||
//{0x5002, 0x3f}, // PWL disable
|
||||
{0x5003, 0x7a},
|
||||
|
||||
{0x5004, 0x3e},
|
||||
{0x5005, 0x1e},
|
||||
{0x5006, 0x1e},
|
||||
{0x5007, 0x1e},
|
||||
|
||||
{0x5008, 0x00},
|
||||
{0x500c, 0x00},
|
||||
{0x502c, 0x00},
|
||||
{0x502e, 0x00},
|
||||
{0x502f, 0x00},
|
||||
{0x504b, 0x00},
|
||||
{0x5053, 0x00},
|
||||
{0x505b, 0x00},
|
||||
{0x5063, 0x00},
|
||||
{0x5070, 0x00},
|
||||
{0x5074, 0x04},
|
||||
{0x507a, 0x04},
|
||||
{0x507b, 0x09},
|
||||
{0x5500, 0x02},
|
||||
{0x5700, 0x02},
|
||||
{0x5900, 0x02},
|
||||
{0x6007, 0x04},
|
||||
{0x6008, 0x05},
|
||||
{0x6009, 0x02},
|
||||
{0x600b, 0x08},
|
||||
{0x600c, 0x07},
|
||||
{0x600d, 0x88},
|
||||
{0x6016, 0x00},
|
||||
{0x6027, 0x04},
|
||||
{0x6028, 0x05},
|
||||
{0x6029, 0x02},
|
||||
{0x602b, 0x08},
|
||||
{0x602c, 0x07},
|
||||
{0x602d, 0x88},
|
||||
{0x6047, 0x04},
|
||||
{0x6048, 0x05},
|
||||
{0x6049, 0x02},
|
||||
{0x604b, 0x08},
|
||||
{0x604c, 0x07},
|
||||
{0x604d, 0x88},
|
||||
{0x6067, 0x04},
|
||||
{0x6068, 0x05},
|
||||
{0x6069, 0x02},
|
||||
{0x606b, 0x08},
|
||||
{0x606c, 0x07},
|
||||
{0x606d, 0x88},
|
||||
{0x6087, 0x04},
|
||||
{0x6088, 0x05},
|
||||
{0x6089, 0x02},
|
||||
{0x608b, 0x08},
|
||||
{0x608c, 0x07},
|
||||
{0x608d, 0x88},
|
||||
|
||||
// 12-bit PWL0
|
||||
{0x5e00, 0x00},
|
||||
|
||||
// m_ndX_exp[0:32]
|
||||
// 9*2+0xa*3+0xb*2+0xc*2+0xd*2+0xe*2+0xf*2+0x10*2+0x11*2+0x12*4+0x13*3+0x14*3+0x15*3+0x16 = 518
|
||||
{0x5e01, 0x09},
|
||||
{0x5e02, 0x09},
|
||||
{0x5e03, 0x0a},
|
||||
{0x5e04, 0x0a},
|
||||
{0x5e05, 0x0a},
|
||||
{0x5e06, 0x0b},
|
||||
{0x5e07, 0x0b},
|
||||
{0x5e08, 0x0c},
|
||||
{0x5e09, 0x0c},
|
||||
{0x5e0a, 0x0d},
|
||||
{0x5e0b, 0x0d},
|
||||
{0x5e0c, 0x0e},
|
||||
{0x5e0d, 0x0e},
|
||||
{0x5e0e, 0x0f},
|
||||
{0x5e0f, 0x0f},
|
||||
{0x5e10, 0x10},
|
||||
{0x5e11, 0x10},
|
||||
{0x5e12, 0x11},
|
||||
{0x5e13, 0x11},
|
||||
{0x5e14, 0x12},
|
||||
{0x5e15, 0x12},
|
||||
{0x5e16, 0x12},
|
||||
{0x5e17, 0x12},
|
||||
{0x5e18, 0x13},
|
||||
{0x5e19, 0x13},
|
||||
{0x5e1a, 0x13},
|
||||
{0x5e1b, 0x14},
|
||||
{0x5e1c, 0x14},
|
||||
{0x5e1d, 0x14},
|
||||
{0x5e1e, 0x15},
|
||||
{0x5e1f, 0x15},
|
||||
{0x5e20, 0x15},
|
||||
{0x5e21, 0x16},
|
||||
|
||||
// m_ndY_val[0:32]
|
||||
// 0x200+0xff+0x100*3+0x80*12+0x40*16 = 4095
|
||||
{0x5e22, 0x00}, {0x5e23, 0x02}, {0x5e24, 0x00},
|
||||
{0x5e25, 0x00}, {0x5e26, 0x00}, {0x5e27, 0xff},
|
||||
{0x5e28, 0x00}, {0x5e29, 0x01}, {0x5e2a, 0x00},
|
||||
{0x5e2b, 0x00}, {0x5e2c, 0x01}, {0x5e2d, 0x00},
|
||||
{0x5e2e, 0x00}, {0x5e2f, 0x01}, {0x5e30, 0x00},
|
||||
{0x5e31, 0x00}, {0x5e32, 0x00}, {0x5e33, 0x80},
|
||||
{0x5e34, 0x00}, {0x5e35, 0x00}, {0x5e36, 0x80},
|
||||
{0x5e37, 0x00}, {0x5e38, 0x00}, {0x5e39, 0x80},
|
||||
{0x5e3a, 0x00}, {0x5e3b, 0x00}, {0x5e3c, 0x80},
|
||||
{0x5e3d, 0x00}, {0x5e3e, 0x00}, {0x5e3f, 0x80},
|
||||
{0x5e40, 0x00}, {0x5e41, 0x00}, {0x5e42, 0x80},
|
||||
{0x5e43, 0x00}, {0x5e44, 0x00}, {0x5e45, 0x80},
|
||||
{0x5e46, 0x00}, {0x5e47, 0x00}, {0x5e48, 0x80},
|
||||
{0x5e49, 0x00}, {0x5e4a, 0x00}, {0x5e4b, 0x80},
|
||||
{0x5e4c, 0x00}, {0x5e4d, 0x00}, {0x5e4e, 0x80},
|
||||
{0x5e4f, 0x00}, {0x5e50, 0x00}, {0x5e51, 0x80},
|
||||
{0x5e52, 0x00}, {0x5e53, 0x00}, {0x5e54, 0x80},
|
||||
{0x5e55, 0x00}, {0x5e56, 0x00}, {0x5e57, 0x40},
|
||||
{0x5e58, 0x00}, {0x5e59, 0x00}, {0x5e5a, 0x40},
|
||||
{0x5e5b, 0x00}, {0x5e5c, 0x00}, {0x5e5d, 0x40},
|
||||
{0x5e5e, 0x00}, {0x5e5f, 0x00}, {0x5e60, 0x40},
|
||||
{0x5e61, 0x00}, {0x5e62, 0x00}, {0x5e63, 0x40},
|
||||
{0x5e64, 0x00}, {0x5e65, 0x00}, {0x5e66, 0x40},
|
||||
{0x5e67, 0x00}, {0x5e68, 0x00}, {0x5e69, 0x40},
|
||||
{0x5e6a, 0x00}, {0x5e6b, 0x00}, {0x5e6c, 0x40},
|
||||
{0x5e6d, 0x00}, {0x5e6e, 0x00}, {0x5e6f, 0x40},
|
||||
{0x5e70, 0x00}, {0x5e71, 0x00}, {0x5e72, 0x40},
|
||||
{0x5e73, 0x00}, {0x5e74, 0x00}, {0x5e75, 0x40},
|
||||
{0x5e76, 0x00}, {0x5e77, 0x00}, {0x5e78, 0x40},
|
||||
{0x5e79, 0x00}, {0x5e7a, 0x00}, {0x5e7b, 0x40},
|
||||
{0x5e7c, 0x00}, {0x5e7d, 0x00}, {0x5e7e, 0x40},
|
||||
{0x5e7f, 0x00}, {0x5e80, 0x00}, {0x5e81, 0x40},
|
||||
{0x5e82, 0x00}, {0x5e83, 0x00}, {0x5e84, 0x40},
|
||||
|
||||
// disable PWL
|
||||
/*{0x5e01, 0x18}, {0x5e02, 0x00}, {0x5e03, 0x00}, {0x5e04, 0x00},
|
||||
{0x5e05, 0x00}, {0x5e06, 0x00}, {0x5e07, 0x00}, {0x5e08, 0x00},
|
||||
{0x5e09, 0x00}, {0x5e0a, 0x00}, {0x5e0b, 0x00}, {0x5e0c, 0x00},
|
||||
{0x5e0d, 0x00}, {0x5e0e, 0x00}, {0x5e0f, 0x00}, {0x5e10, 0x00},
|
||||
{0x5e11, 0x00}, {0x5e12, 0x00}, {0x5e13, 0x00}, {0x5e14, 0x00},
|
||||
{0x5e15, 0x00}, {0x5e16, 0x00}, {0x5e17, 0x00}, {0x5e18, 0x00},
|
||||
{0x5e19, 0x00}, {0x5e1a, 0x00}, {0x5e1b, 0x00}, {0x5e1c, 0x00},
|
||||
{0x5e1d, 0x00}, {0x5e1e, 0x00}, {0x5e1f, 0x00}, {0x5e20, 0x00},
|
||||
{0x5e21, 0x00},
|
||||
|
||||
{0x5e22, 0x00}, {0x5e23, 0x0f}, {0x5e24, 0xFF},*/
|
||||
|
||||
{0x4001, 0x2b}, // BLC_CTRL_1
|
||||
{0x4008, 0x02}, {0x4009, 0x03},
|
||||
{0x4018, 0x12},
|
||||
{0x4022, 0x40},
|
||||
{0x4023, 0x20},
|
||||
|
||||
// all black level targets are 0x40
|
||||
{0x4026, 0x00}, {0x4027, 0x40},
|
||||
{0x4028, 0x00}, {0x4029, 0x40},
|
||||
{0x402a, 0x00}, {0x402b, 0x40},
|
||||
{0x402c, 0x00}, {0x402d, 0x40},
|
||||
|
||||
{0x407e, 0xcc},
|
||||
{0x407f, 0x18},
|
||||
{0x4080, 0xff},
|
||||
{0x4081, 0xff},
|
||||
{0x4082, 0x01},
|
||||
{0x4083, 0x53},
|
||||
{0x4084, 0x01},
|
||||
{0x4085, 0x2b},
|
||||
{0x4086, 0x00},
|
||||
{0x4087, 0xb3},
|
||||
|
||||
{0x4640, 0x40},
|
||||
{0x4641, 0x11},
|
||||
{0x4642, 0x0e},
|
||||
{0x4643, 0xee},
|
||||
{0x4646, 0x0f},
|
||||
{0x4648, 0x00},
|
||||
{0x4649, 0x03},
|
||||
|
||||
{0x4f00, 0x00},
|
||||
{0x4f01, 0x00},
|
||||
{0x4f02, 0x80},
|
||||
{0x4f03, 0x2c},
|
||||
{0x4f04, 0xf8},
|
||||
|
||||
{0x4d09, 0xff},
|
||||
{0x4d09, 0xdf},
|
||||
|
||||
{0x5003, 0x7a},
|
||||
{0x5b80, 0x08},
|
||||
{0x5c00, 0x08},
|
||||
{0x5c80, 0x00},
|
||||
{0x5bbe, 0x12},
|
||||
{0x5c3e, 0x12},
|
||||
{0x5cbe, 0x12},
|
||||
{0x5b8a, 0x80},
|
||||
{0x5b8b, 0x80},
|
||||
{0x5b8c, 0x80},
|
||||
{0x5b8d, 0x80},
|
||||
{0x5b8e, 0x60},
|
||||
{0x5b8f, 0x80},
|
||||
{0x5b90, 0x80},
|
||||
{0x5b91, 0x80},
|
||||
{0x5b92, 0x80},
|
||||
{0x5b93, 0x20},
|
||||
{0x5b94, 0x80},
|
||||
{0x5b95, 0x80},
|
||||
{0x5b96, 0x80},
|
||||
{0x5b97, 0x20},
|
||||
{0x5b98, 0x00},
|
||||
{0x5b99, 0x80},
|
||||
{0x5b9a, 0x40},
|
||||
{0x5b9b, 0x20},
|
||||
{0x5b9c, 0x00},
|
||||
{0x5b9d, 0x00},
|
||||
{0x5b9e, 0x80},
|
||||
{0x5b9f, 0x00},
|
||||
{0x5ba0, 0x00},
|
||||
{0x5ba1, 0x00},
|
||||
{0x5ba2, 0x00},
|
||||
{0x5ba3, 0x00},
|
||||
{0x5ba4, 0x00},
|
||||
{0x5ba5, 0x00},
|
||||
{0x5ba6, 0x00},
|
||||
{0x5ba7, 0x00},
|
||||
{0x5ba8, 0x02},
|
||||
{0x5ba9, 0x00},
|
||||
{0x5baa, 0x02},
|
||||
{0x5bab, 0x76},
|
||||
{0x5bac, 0x03},
|
||||
{0x5bad, 0x08},
|
||||
{0x5bae, 0x00},
|
||||
{0x5baf, 0x80},
|
||||
{0x5bb0, 0x00},
|
||||
{0x5bb1, 0xc0},
|
||||
{0x5bb2, 0x01},
|
||||
{0x5bb3, 0x00},
|
||||
|
||||
// m_nNormCombineWeight
|
||||
{0x5c0a, 0x80}, {0x5c0b, 0x80}, {0x5c0c, 0x80}, {0x5c0d, 0x80}, {0x5c0e, 0x60},
|
||||
{0x5c0f, 0x80}, {0x5c10, 0x80}, {0x5c11, 0x80}, {0x5c12, 0x60}, {0x5c13, 0x20},
|
||||
{0x5c14, 0x80}, {0x5c15, 0x80}, {0x5c16, 0x80}, {0x5c17, 0x20}, {0x5c18, 0x00},
|
||||
{0x5c19, 0x80}, {0x5c1a, 0x40}, {0x5c1b, 0x20}, {0x5c1c, 0x00}, {0x5c1d, 0x00},
|
||||
{0x5c1e, 0x80}, {0x5c1f, 0x00}, {0x5c20, 0x00}, {0x5c21, 0x00}, {0x5c22, 0x00},
|
||||
{0x5c23, 0x00}, {0x5c24, 0x00}, {0x5c25, 0x00}, {0x5c26, 0x00}, {0x5c27, 0x00},
|
||||
|
||||
// m_nCombinThreL
|
||||
{0x5c28, 0x02}, {0x5c29, 0x00},
|
||||
{0x5c2a, 0x02}, {0x5c2b, 0x76},
|
||||
{0x5c2c, 0x03}, {0x5c2d, 0x08},
|
||||
|
||||
// m_nCombinThreS
|
||||
{0x5c2e, 0x00}, {0x5c2f, 0x80},
|
||||
{0x5c30, 0x00}, {0x5c31, 0xc0},
|
||||
{0x5c32, 0x01}, {0x5c33, 0x00},
|
||||
|
||||
// m_nNormCombineWeight
|
||||
{0x5c8a, 0x80}, {0x5c8b, 0x80}, {0x5c8c, 0x80}, {0x5c8d, 0x80}, {0x5c8e, 0x80},
|
||||
{0x5c8f, 0x80}, {0x5c90, 0x80}, {0x5c91, 0x80}, {0x5c92, 0x80}, {0x5c93, 0x60},
|
||||
{0x5c94, 0x80}, {0x5c95, 0x80}, {0x5c96, 0x80}, {0x5c97, 0x60}, {0x5c98, 0x40},
|
||||
{0x5c99, 0x80}, {0x5c9a, 0x80}, {0x5c9b, 0x80}, {0x5c9c, 0x40}, {0x5c9d, 0x00},
|
||||
{0x5c9e, 0x80}, {0x5c9f, 0x80}, {0x5ca0, 0x80}, {0x5ca1, 0x20}, {0x5ca2, 0x00},
|
||||
{0x5ca3, 0x80}, {0x5ca4, 0x80}, {0x5ca5, 0x00}, {0x5ca6, 0x00}, {0x5ca7, 0x00},
|
||||
|
||||
{0x5ca8, 0x01}, {0x5ca9, 0x00},
|
||||
{0x5caa, 0x02}, {0x5cab, 0x00},
|
||||
{0x5cac, 0x03}, {0x5cad, 0x08},
|
||||
|
||||
{0x5cae, 0x01}, {0x5caf, 0x00},
|
||||
{0x5cb0, 0x02}, {0x5cb1, 0x00},
|
||||
{0x5cb2, 0x03}, {0x5cb3, 0x08},
|
||||
|
||||
// combine ISP
|
||||
{0x5be7, 0x80},
|
||||
{0x5bc9, 0x80},
|
||||
{0x5bca, 0x80},
|
||||
{0x5bcb, 0x80},
|
||||
{0x5bcc, 0x80},
|
||||
{0x5bcd, 0x80},
|
||||
{0x5bce, 0x80},
|
||||
{0x5bcf, 0x80},
|
||||
{0x5bd0, 0x80},
|
||||
{0x5bd1, 0x80},
|
||||
{0x5bd2, 0x20},
|
||||
{0x5bd3, 0x80},
|
||||
{0x5bd4, 0x40},
|
||||
{0x5bd5, 0x20},
|
||||
{0x5bd6, 0x00},
|
||||
{0x5bd7, 0x00},
|
||||
{0x5bd8, 0x00},
|
||||
{0x5bd9, 0x00},
|
||||
{0x5bda, 0x00},
|
||||
{0x5bdb, 0x00},
|
||||
{0x5bdc, 0x00},
|
||||
{0x5bdd, 0x00},
|
||||
{0x5bde, 0x00},
|
||||
{0x5bdf, 0x00},
|
||||
{0x5be0, 0x00},
|
||||
{0x5be1, 0x00},
|
||||
{0x5be2, 0x00},
|
||||
{0x5be3, 0x00},
|
||||
{0x5be4, 0x00},
|
||||
{0x5be5, 0x00},
|
||||
{0x5be6, 0x00},
|
||||
|
||||
// m_nSPDCombineWeight
|
||||
{0x5c49, 0x80}, {0x5c4a, 0x80}, {0x5c4b, 0x80}, {0x5c4c, 0x80}, {0x5c4d, 0x40},
|
||||
{0x5c4e, 0x80}, {0x5c4f, 0x80}, {0x5c50, 0x80}, {0x5c51, 0x60}, {0x5c52, 0x20},
|
||||
{0x5c53, 0x80}, {0x5c54, 0x80}, {0x5c55, 0x80}, {0x5c56, 0x20}, {0x5c57, 0x00},
|
||||
{0x5c58, 0x80}, {0x5c59, 0x40}, {0x5c5a, 0x20}, {0x5c5b, 0x00}, {0x5c5c, 0x00},
|
||||
{0x5c5d, 0x80}, {0x5c5e, 0x00}, {0x5c5f, 0x00}, {0x5c60, 0x00}, {0x5c61, 0x00},
|
||||
{0x5c62, 0x00}, {0x5c63, 0x00}, {0x5c64, 0x00}, {0x5c65, 0x00}, {0x5c66, 0x00},
|
||||
|
||||
// m_nSPDCombineWeight
|
||||
{0x5cc9, 0x80}, {0x5cca, 0x80}, {0x5ccb, 0x80}, {0x5ccc, 0x80}, {0x5ccd, 0x80},
|
||||
{0x5cce, 0x80}, {0x5ccf, 0x80}, {0x5cd0, 0x80}, {0x5cd1, 0x80}, {0x5cd2, 0x60},
|
||||
{0x5cd3, 0x80}, {0x5cd4, 0x80}, {0x5cd5, 0x80}, {0x5cd6, 0x60}, {0x5cd7, 0x40},
|
||||
{0x5cd8, 0x80}, {0x5cd9, 0x80}, {0x5cda, 0x80}, {0x5cdb, 0x40}, {0x5cdc, 0x20},
|
||||
{0x5cdd, 0x80}, {0x5cde, 0x80}, {0x5cdf, 0x80}, {0x5ce0, 0x20}, {0x5ce1, 0x00},
|
||||
{0x5ce2, 0x80}, {0x5ce3, 0x80}, {0x5ce4, 0x80}, {0x5ce5, 0x00}, {0x5ce6, 0x00},
|
||||
|
||||
{0x5d74, 0x01},
|
||||
{0x5d75, 0x00},
|
||||
|
||||
{0x5d1f, 0x81},
|
||||
{0x5d11, 0x00},
|
||||
{0x5d12, 0x10},
|
||||
{0x5d13, 0x10},
|
||||
{0x5d15, 0x05},
|
||||
{0x5d16, 0x05},
|
||||
{0x5d17, 0x05},
|
||||
{0x5d08, 0x03},
|
||||
{0x5d09, 0xb6},
|
||||
{0x5d0a, 0x03},
|
||||
{0x5d0b, 0xb6},
|
||||
{0x5d18, 0x03},
|
||||
{0x5d19, 0xb6},
|
||||
{0x5d62, 0x01},
|
||||
{0x5d40, 0x02},
|
||||
{0x5d41, 0x01},
|
||||
{0x5d63, 0x1f},
|
||||
{0x5d64, 0x00},
|
||||
{0x5d65, 0x80},
|
||||
{0x5d56, 0x00},
|
||||
{0x5d57, 0x20},
|
||||
{0x5d58, 0x00},
|
||||
{0x5d59, 0x20},
|
||||
{0x5d5a, 0x00},
|
||||
{0x5d5b, 0x0c},
|
||||
{0x5d5c, 0x02},
|
||||
{0x5d5d, 0x40},
|
||||
{0x5d5e, 0x02},
|
||||
{0x5d5f, 0x40},
|
||||
{0x5d60, 0x03},
|
||||
{0x5d61, 0x40},
|
||||
{0x5d4a, 0x02},
|
||||
{0x5d4b, 0x40},
|
||||
{0x5d4c, 0x02},
|
||||
{0x5d4d, 0x40},
|
||||
{0x5d4e, 0x02},
|
||||
{0x5d4f, 0x40},
|
||||
{0x5d50, 0x18},
|
||||
{0x5d51, 0x80},
|
||||
{0x5d52, 0x18},
|
||||
{0x5d53, 0x80},
|
||||
{0x5d54, 0x18},
|
||||
{0x5d55, 0x80},
|
||||
{0x5d46, 0x20},
|
||||
{0x5d47, 0x00},
|
||||
{0x5d48, 0x22},
|
||||
{0x5d49, 0x00},
|
||||
{0x5d42, 0x20},
|
||||
{0x5d43, 0x00},
|
||||
{0x5d44, 0x22},
|
||||
{0x5d45, 0x00},
|
||||
|
||||
{0x5004, 0x1e},
|
||||
{0x4221, 0x03}, // this is changed from 1 -> 3
|
||||
|
||||
// DCG exposure coarse
|
||||
// {0x3501, 0x01}, {0x3502, 0xc8},
|
||||
// SPD exposure coarse
|
||||
// {0x3541, 0x01}, {0x3542, 0xc8},
|
||||
// VS exposure coarse
|
||||
// {0x35c1, 0x00}, {0x35c2, 0x01},
|
||||
|
||||
// crc reference
|
||||
{0x420e, 0x66}, {0x420f, 0x5d}, {0x4210, 0xa8}, {0x4211, 0x55},
|
||||
// crc stat check
|
||||
{0x507a, 0x5f}, {0x507b, 0x46},
|
||||
|
||||
// watchdog control
|
||||
{0x4f00, 0x00}, {0x4f01, 0x01}, {0x4f02, 0x80}, {0x4f04, 0x2c},
|
||||
|
||||
// color balance gains
|
||||
// blue
|
||||
{0x5280, 0x06}, {0x5281, 0xCB}, // hcg
|
||||
{0x5480, 0x06}, {0x5481, 0xCB}, // lcg
|
||||
{0x5680, 0x06}, {0x5681, 0xCB}, // spd
|
||||
{0x5880, 0x06}, {0x5881, 0xCB}, // vs
|
||||
|
||||
// green(blue)
|
||||
{0x5282, 0x04}, {0x5283, 0x00},
|
||||
{0x5482, 0x04}, {0x5483, 0x00},
|
||||
{0x5682, 0x04}, {0x5683, 0x00},
|
||||
{0x5882, 0x04}, {0x5883, 0x00},
|
||||
|
||||
// green(red)
|
||||
{0x5284, 0x04}, {0x5285, 0x00},
|
||||
{0x5484, 0x04}, {0x5485, 0x00},
|
||||
{0x5684, 0x04}, {0x5685, 0x00},
|
||||
{0x5884, 0x04}, {0x5885, 0x00},
|
||||
|
||||
// red
|
||||
{0x5286, 0x08}, {0x5287, 0xDE},
|
||||
{0x5486, 0x08}, {0x5487, 0xDE},
|
||||
{0x5686, 0x08}, {0x5687, 0xDE},
|
||||
{0x5886, 0x08}, {0x5887, 0xDE},
|
||||
|
||||
// fixed gains
|
||||
{0x3588, 0x01}, {0x3589, 0x00},
|
||||
{0x35c8, 0x01}, {0x35c9, 0x00},
|
||||
{0x3548, 0x0F}, {0x3549, 0x00},
|
||||
{0x35c1, 0x00},
|
||||
};
|
||||
116
system/camerad/sensors/sensor.h
Normal file
116
system/camerad/sensors/sensor.h
Normal file
@@ -0,0 +1,116 @@
|
||||
#pragma once
|
||||
|
||||
#include <cassert>
|
||||
#include <cstdint>
|
||||
#include <map>
|
||||
#include <utility>
|
||||
#include <vector>
|
||||
|
||||
#include "media/cam_isp.h"
|
||||
#include "media/cam_sensor.h"
|
||||
|
||||
#include "cereal/gen/cpp/log.capnp.h"
|
||||
#include "system/camerad/sensors/ar0231_registers.h"
|
||||
#include "system/camerad/sensors/ox03c10_registers.h"
|
||||
#include "system/camerad/sensors/os04c10_registers.h"
|
||||
|
||||
#define ANALOG_GAIN_MAX_CNT 55
|
||||
|
||||
class SensorInfo {
|
||||
public:
|
||||
SensorInfo() = default;
|
||||
virtual std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { return {}; }
|
||||
virtual float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {return 0; }
|
||||
virtual int getSlaveAddress(int port) const { assert(0); }
|
||||
|
||||
cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN;
|
||||
float pixel_size_mm;
|
||||
uint32_t frame_width, frame_height;
|
||||
uint32_t frame_stride;
|
||||
uint32_t frame_offset = 0;
|
||||
uint32_t extra_height = 0;
|
||||
int out_scale = 1;
|
||||
int registers_offset = -1;
|
||||
int stats_offset = -1;
|
||||
int hdr_offset = -1;
|
||||
|
||||
int exposure_time_min;
|
||||
int exposure_time_max;
|
||||
|
||||
float dc_gain_factor;
|
||||
int dc_gain_min_weight;
|
||||
int dc_gain_max_weight;
|
||||
float dc_gain_on_grey;
|
||||
float dc_gain_off_grey;
|
||||
|
||||
float ev_scale = 1.0;
|
||||
float sensor_analog_gains[ANALOG_GAIN_MAX_CNT];
|
||||
int analog_gain_min_idx;
|
||||
int analog_gain_max_idx;
|
||||
int analog_gain_rec_idx;
|
||||
int analog_gain_cost_delta;
|
||||
float analog_gain_cost_low;
|
||||
float analog_gain_cost_high;
|
||||
float target_grey_factor;
|
||||
float min_ev;
|
||||
float max_ev;
|
||||
|
||||
bool data_word;
|
||||
uint32_t probe_reg_addr;
|
||||
uint32_t probe_expected_data;
|
||||
std::vector<i2c_random_wr_payload> start_reg_array;
|
||||
std::vector<i2c_random_wr_payload> init_reg_array;
|
||||
|
||||
uint32_t bits_per_pixel;
|
||||
uint32_t bayer_pattern;
|
||||
uint32_t mipi_format;
|
||||
uint32_t mclk_frequency;
|
||||
uint32_t frame_data_type;
|
||||
|
||||
uint32_t readout_time_ns; // used to recover EOF from SOF
|
||||
|
||||
// ISP image processing params
|
||||
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
|
||||
void prepare_gamma_lut() {
|
||||
for (int i = 0; i < 64; i++) {
|
||||
gamma_lut_rgb[i] |= ((uint32_t)(gamma_lut_rgb[i+1] - gamma_lut_rgb[i]) << 10);
|
||||
}
|
||||
gamma_lut_rgb.pop_back();
|
||||
}
|
||||
std::vector<uint32_t> linearization_lut; // length 36
|
||||
std::vector<uint32_t> linearization_pts; // length 4
|
||||
std::vector<uint32_t> vignetting_lut; // length 221
|
||||
|
||||
const int num() const {
|
||||
return static_cast<int>(image_sensor);
|
||||
};
|
||||
};
|
||||
|
||||
class AR0231 : public SensorInfo {
|
||||
public:
|
||||
AR0231();
|
||||
std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
|
||||
float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
|
||||
int getSlaveAddress(int port) const override;
|
||||
|
||||
private:
|
||||
mutable std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
|
||||
};
|
||||
|
||||
class OX03C10 : public SensorInfo {
|
||||
public:
|
||||
OX03C10();
|
||||
std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
|
||||
float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
|
||||
int getSlaveAddress(int port) const override;
|
||||
};
|
||||
|
||||
class OS04C10 : public SensorInfo {
|
||||
public:
|
||||
OS04C10();
|
||||
std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
|
||||
float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
|
||||
int getSlaveAddress(int port) const override;
|
||||
};
|
||||
Reference in New Issue
Block a user