fill and clean up

commaai · Oct 22, 2024 · b586e27 · b586e27
1 parent 9c2296f
commit b586e27
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Showing 6 changed files with 23 additions and 68 deletions.
diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h
@@ -178,19 +178,6 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
 
   dst += write_cont(dst, 0x760, s->color_correct_matrix);
 
-  dst += write_cont(dst, 0x794, {
-    0x00000000,
-  });
-  /* TODO
-  cdm_dmi_cmd_t 568
-    .length = 511
-    .reserved = 33
-    .cmd = 11
-    .addr = 0
-    .DMIAddr = 3108
-    .DMISel = 24
-  */
-
   // gamma
   dst += write_cont(dst, 0x798, {
     0x00000000,
@@ -498,52 +485,6 @@ int build_first_update(uint8_t *dst) {
     0x08000066,
   });
 
-  dst += write_cont(dst, 0x794, {
-    0x00000001,
-  });
-  /* TODO
-  cdm_dmi_cmd_t 432
-    .length = 511
-    .reserved = 33
-    .cmd = 11
-    .addr = 832
-    .DMIAddr = 3108
-    .DMISel = 25
-  */
-
-  /*
-  dst += write_cont(dst, 0x798, {
-    0x00000007,
-  });
-  */
-  /* TODO
-  cdm_dmi_cmd_t 444
-    .length = 255
-    .reserved = 33
-    .cmd = 10
-    .addr = 5344
-    .DMIAddr = 3108
-    .DMISel = 27
-  */
-  /* TODO
-  cdm_dmi_cmd_t 444
-    .length = 255
-    .reserved = 33
-    .cmd = 10
-    .addr = 5344
-    .DMIAddr = 3108
-    .DMISel = 29
-  */
-  /* TODO
-  cdm_dmi_cmd_t 444
-    .length = 255
-    .reserved = 33
-    .cmd = 10
-    .addr = 5344
-    .DMIAddr = 3108
-    .DMISel = 31
-  */
-
   dst += write_cont(dst, 0xd84, {
     0x000004b7,
     0x00000787,

diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
@@ -857,9 +857,9 @@ void SpectraCamera::configISP() {
   ife_dmi.init(m, 64*sizeof(uint32_t), 0x20,
                CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
                m->device_iommu, m->cdm_iommu, 3); // 3 for RGB
-  memcpy(ife_dmi.ptr + ife_dmi.size*0, sensor->gamma_lut_r.data(), ife_dmi.size);
-  memcpy(ife_dmi.ptr + ife_dmi.size*1, sensor->gamma_lut_g.data(), ife_dmi.size);
-  memcpy(ife_dmi.ptr + ife_dmi.size*2, sensor->gamma_lut_b.data(), ife_dmi.size);
+  for (int i = 0; i < 3; i++) {
+    memcpy(ife_dmi.ptr + ife_dmi.size*i, sensor->gamma_lut_rgb.data(), ife_dmi.size);
+  }
 
   config_ife(0, 1, true);
 }

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

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

diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
@@ -69,9 +69,9 @@ OX03C10::OX03C10() {
     0x00000fc2, 0x00000ff6, 0x000000c9,
   };
   for (int i = 0; i < 64; i++) {
-    gamma_lut_r.push_back(0xaa);
-    gamma_lut_g.push_back(0xaa);
-    gamma_lut_b.push_back(0xaa);
+    float fx = i / 63.0;
+    fx = -0.507089*exp(-12.54124638*fx) + 0.9655*pow(fx, 0.5) - 0.472597*fx + 0.507089;
+    gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
   }
 }
 

diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
@@ -69,9 +69,7 @@ class SensorInfo {
   // ISP image processing params
   uint32_t black_level;
   std::vector<uint32_t> color_correct_matrix;  // 3x3
-  std::vector<uint32_t> gamma_lut_r;  // gamma LUTs are length 64 * sizeof(uint32_t)
-  std::vector<uint32_t> gamma_lut_g;
-  std::vector<uint32_t> gamma_lut_b;
+  std::vector<uint32_t> gamma_lut_rgb;  // gamma LUTs are length 64 * sizeof(uint32_t); same for r/g/b here
 };
 
 class AR0231 : public SensorInfo {