camerad: imx390 support (#23966)
* something is output * min stuff * visible picture * pics look good * maybe * whole sensor * fix all cameras * support both cameras * autoexposure for imx390 * fix imx390 blacklevel * touchups * put gain in db scale * inline and fix max exposure Co-authored-by: Comma Device <device@comma.ai>pull/24004/head
George Hotz
GitHub
parent
6c7d178d96
commit
5a11101bcf
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@ -52,7 +52,7 @@ public:
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CL_CHECK(clReleaseProgram(prg_debayer));
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}
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void queue(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, float gain, cl_event *debayer_event) {
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void queue(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, float gain, float black_level, cl_event *debayer_event) {
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CL_CHECK(clSetKernelArg(krnl_, 0, sizeof(cl_mem), &cam_buf_cl));
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CL_CHECK(clSetKernelArg(krnl_, 1, sizeof(cl_mem), &buf_cl));
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@ -62,6 +62,7 @@ public:
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const size_t globalWorkSize[] = {size_t(width), size_t(height)};
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const size_t localWorkSize[] = {debayer_local_worksize, debayer_local_worksize};
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CL_CHECK(clSetKernelArg(krnl_, 2, localMemSize, 0));
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CL_CHECK(clSetKernelArg(krnl_, 3, sizeof(float), &black_level));
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CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, debayer_event));
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} else {
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if (hdr_) {
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@ -165,13 +166,15 @@ bool CameraBuf::acquire() {
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if (debayer) {
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float gain = 0.0;
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float black_level = 42.0;
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#ifndef QCOM2
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gain = camera_state->digital_gain;
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if ((int)gain == 0) gain = 1.0;
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#else
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if (camera_state->camera_id == CAMERA_ID_IMX390) black_level = 64.0;
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#endif
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debayer->queue(q, camrabuf_cl, cur_rgb_buf->buf_cl, rgb_width, rgb_height, gain, &event);
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debayer->queue(q, camrabuf_cl, cur_rgb_buf->buf_cl, rgb_width, rgb_height, gain, black_level, &event);
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} else {
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assert(rgb_stride == camera_state->ci.frame_stride);
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CL_CHECK(clEnqueueCopyBuffer(q, camrabuf_cl, cur_rgb_buf->buf_cl, 0, 0, cur_rgb_buf->len, 0, 0, &event));
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@ -25,7 +25,8 @@
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#define CAMERA_ID_LGC920 6
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#define CAMERA_ID_LGC615 7
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#define CAMERA_ID_AR0231 8
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#define CAMERA_ID_MAX 9
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#define CAMERA_ID_IMX390 9
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#define CAMERA_ID_MAX 10
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const int UI_BUF_COUNT = 4;
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const int YUV_BUFFER_COUNT = Hardware::EON() ? 100 : 40;
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@ -22,6 +22,9 @@
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#include "selfdrive/common/swaglog.h"
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#include "selfdrive/camerad/cameras/sensor2_i2c.h"
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// For debugging:
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// echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
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extern ExitHandler do_exit;
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const size_t FRAME_WIDTH = 1928;
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@ -39,6 +42,14 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
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.bayer_flip = 1,
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.hdr = false
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},
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[CAMERA_ID_IMX390] = {
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.frame_width = FRAME_WIDTH,
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.frame_height = FRAME_HEIGHT,
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.frame_stride = FRAME_STRIDE,
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.bayer = true,
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.bayer_flip = 1,
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.hdr = false
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},
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};
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const float DC_GAIN = 2.5;
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@ -160,8 +171,15 @@ void clear_req_queue(int fd, int32_t session_hdl, int32_t link_hdl) {
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// ************** high level camera helpers ****************
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void CameraState::sensors_start() {
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int start_reg_len = sizeof(start_reg_array) / sizeof(struct i2c_random_wr_payload);
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sensors_i2c(start_reg_array, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
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if (camera_id == CAMERA_ID_AR0231) {
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int start_reg_len = sizeof(start_reg_array_ar0231) / sizeof(struct i2c_random_wr_payload);
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sensors_i2c(start_reg_array_ar0231, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true);
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} else if (camera_id == CAMERA_ID_IMX390) {
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int start_reg_len = sizeof(start_reg_array_imx390) / sizeof(struct i2c_random_wr_payload);
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sensors_i2c(start_reg_array_imx390, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
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} else {
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assert(false);
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}
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}
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void CameraState::sensors_poke(int request_id) {
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@ -181,7 +199,7 @@ void CameraState::sensors_poke(int request_id) {
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release_fd(multi_cam_state->video0_fd, cam_packet_handle);
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}
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void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code) {
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void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) {
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// LOGD("sensors_i2c: %d", len);
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uint32_t cam_packet_handle = 0;
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int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
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@ -199,7 +217,7 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op
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i2c_random_wr->header.count = len;
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i2c_random_wr->header.op_code = 1;
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i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR;
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i2c_random_wr->header.data_type = CAMERA_SENSOR_I2C_TYPE_WORD;
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i2c_random_wr->header.data_type = data_word ? CAMERA_SENSOR_I2C_TYPE_WORD : CAMERA_SENSOR_I2C_TYPE_BYTE;
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i2c_random_wr->header.addr_type = CAMERA_SENSOR_I2C_TYPE_WORD;
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memcpy(i2c_random_wr->random_wr_payload, dat, len*sizeof(struct i2c_random_wr_payload));
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@ -220,7 +238,7 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
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return (struct cam_cmd_power *)(unconditional_wait + 1);
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};
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void CameraState::sensors_init() {
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int CameraState::sensors_init() {
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int video0_fd = multi_cam_state->video0_fd;
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uint32_t cam_packet_handle = 0;
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int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
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@ -239,17 +257,17 @@ void CameraState::sensors_init() {
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switch (camera_num) {
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case 0:
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// port 0
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i2c_info->slave_addr = 0x20;
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i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x34;
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probe->camera_id = 0;
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break;
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case 1:
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// port 1
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i2c_info->slave_addr = 0x30;
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i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x30 : 0x36;
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probe->camera_id = 1;
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break;
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case 2:
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// port 2
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i2c_info->slave_addr = 0x20;
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i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x34;
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probe->camera_id = 2;
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break;
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}
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@ -263,8 +281,15 @@ void CameraState::sensors_init() {
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probe->addr_type = CAMERA_SENSOR_I2C_TYPE_WORD;
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probe->op_code = 3; // don't care?
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probe->cmd_type = CAMERA_SENSOR_CMD_TYPE_PROBE;
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probe->reg_addr = 0x3000; //0x300a; //0x300b;
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probe->expected_data = 0x354; //0x7750; //0x885a;
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if (camera_id == CAMERA_ID_AR0231) {
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probe->reg_addr = 0x3000;
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probe->expected_data = 0x354;
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} else if (camera_id == CAMERA_ID_IMX390) {
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probe->reg_addr = 0x330;
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probe->expected_data = 0x1538;
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} else {
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assert(false);
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}
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probe->data_mask = 0;
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//buf_desc[1].size = buf_desc[1].length = 148;
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@ -293,7 +318,7 @@ void CameraState::sensors_init() {
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power->count = 1;
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power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
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power->power_settings[0].power_seq_type = 0;
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power->power_settings[0].config_val_low = 19200000; //Hz
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power->power_settings[0].config_val_low = (camera_id == CAMERA_ID_AR0231) ? 19200000 : 24000000; //Hz
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power = power_set_wait(power, 10);
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// 8,1 is this reset?
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@ -341,7 +366,6 @@ void CameraState::sensors_init() {
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LOGD("probing the sensor");
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int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
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assert(ret == 0);
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munmap(i2c_info, buf_desc[0].size);
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release_fd(video0_fd, buf_desc[0].mem_handle);
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@ -349,6 +373,8 @@ void CameraState::sensors_init() {
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release_fd(video0_fd, buf_desc[1].mem_handle);
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munmap(pkt, size);
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release_fd(video0_fd, cam_packet_handle);
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return ret;
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}
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void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset) {
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@ -561,9 +587,10 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) {
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// ******************* camera *******************
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void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServer * v, int camera_id, int camera_num_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) {
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void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServer * v, int camera_id_, int camera_num_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) {
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LOGD("camera init %d", camera_num);
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multi_cam_state = multi_cam_state_;
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camera_id = camera_id_;
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assert(camera_id < std::size(cameras_supported));
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ci = cameras_supported[camera_id];
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assert(ci.frame_width != 0);
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@ -586,17 +613,24 @@ void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServe
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}
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void CameraState::camera_open() {
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int ret;
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sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num);
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assert(sensor_fd >= 0);
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LOGD("opened sensor for %d", camera_num);
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// probe the sensor
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LOGD("-- Probing sensor %d", camera_num);
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sensors_init();
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ret = sensors_init();
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if (ret != 0) {
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LOGD("AR0231 init failed, trying IMX390");
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camera_id = CAMERA_ID_IMX390;
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ret = sensors_init();
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}
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assert(ret == 0);
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// create session
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struct cam_req_mgr_session_info session_info = {};
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int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info));
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ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info));
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LOGD("get session: %d 0x%X", ret, session_info.session_hdl);
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session_handle = session_info.session_hdl;
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@ -675,10 +709,13 @@ void CameraState::camera_open() {
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config_isp(0, 0, 1, buf0_handle, 0);
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LOG("-- Configuring sensor");
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sensors_i2c(init_array_ar0231, std::size(init_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
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//sensors_i2c(start_reg_array, std::size(start_reg_array), CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON);
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//sensors_i2c(stop_reg_array, std::size(stop_reg_array), CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF);
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if (camera_id == CAMERA_ID_AR0231) {
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sensors_i2c(init_array_ar0231, std::size(init_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true);
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} else if (camera_id == CAMERA_ID_IMX390) {
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sensors_i2c(init_array_imx390, std::size(init_array_imx390), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
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} else {
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assert(false);
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}
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// config csiphy
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LOG("-- Config CSI PHY");
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@ -1008,14 +1045,28 @@ void CameraState::set_camera_exposure(float grey_frac) {
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}
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// LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", camera_num, 1e-9 * nanos_since_boot(), 1e-9 * buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - buf.cur_frame_data.timestamp_sof));
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uint16_t analog_gain_reg = 0xFF00 | (new_g << 4) | new_g;
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struct i2c_random_wr_payload exp_reg_array[] = {
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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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sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload),
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CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
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if (camera_id == CAMERA_ID_AR0231) {
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uint16_t analog_gain_reg = 0xFF00 | (new_g << 4) | new_g;
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struct i2c_random_wr_payload exp_reg_array[] = {
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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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sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true);
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} else if (camera_id == CAMERA_ID_IMX390) {
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// if gain is sub 1, we have to use exposure to mimic sub 1 gains
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uint32_t real_exposure_time = (gain < 1.0) ? (exposure_time*gain) : exposure_time;
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// invert real_exposure_time, max exposure is 2
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real_exposure_time = (exposure_time >= 0x7cf) ? 2 : (0x7cf - exposure_time);
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uint32_t real_gain = int((10*log10(fmax(1.0, gain)))/0.3);
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//printf("%d expose: %d gain: %f = %d\n", camera_num, exposure_time, gain, real_gain);
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struct i2c_random_wr_payload exp_reg_array[] = {
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{0x000c, real_exposure_time&0xFF}, {0x000d, real_exposure_time>>8},
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{0x0010, real_exposure_time&0xFF}, {0x0011, real_exposure_time>>8},
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{0x0018, real_gain&0xFF}, {0x0019, real_gain>>8},
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};
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sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
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}
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}
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void camera_autoexposure(CameraState *s, float grey_frac) {
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@ -40,8 +40,8 @@ public:
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void sensors_start();
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void sensors_poke(int request_id);
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void sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code);
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void sensors_init();
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void sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word);
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int sensors_init();
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void camera_open();
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void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type);
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@ -62,6 +62,7 @@ public:
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int frame_id_last;
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int idx_offset;
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bool skipped;
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int camera_id;
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CameraBuf buf;
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};
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@ -73,7 +74,6 @@ typedef struct MultiCameraState {
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int device_iommu;
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int cdm_iommu;
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CameraState road_cam;
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CameraState wide_road_cam;
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CameraState driver_cam;
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@ -1,7 +1,5 @@
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#pragma OPENCL EXTENSION cl_khr_fp16 : enable
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const half black_level = 42.0;
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const __constant half3 color_correction[3] = {
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// post wb CCM
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(half3)(1.82717181, -0.31231438, 0.07307673),
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@ -39,7 +37,7 @@ half3 color_correct(half3 rgb) {
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return ret;
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}
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half val_from_10(const uchar * source, int gx, int gy) {
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inline half val_from_10(const uchar * source, int gx, int gy, half black_level) {
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// parse 12bit
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int start = gy * FRAME_STRIDE + (3 * (gx / 2));
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int offset = gx % 2;
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@ -49,7 +47,7 @@ half val_from_10(const uchar * source, int gx, int gy) {
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// normalize
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pv = max(0.0h, pv - black_level);
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pv *= 0.00101833h; // /= (1024.0f - black_level);
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pv /= (1024.0f - black_level);
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// correct vignetting
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if (CAM_NUM == 1) { // fcamera
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@ -89,7 +87,8 @@ half phi(half x) {
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__kernel void debayer10(const __global uchar * in,
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__global uchar * out,
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__local half * cached
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__local half * cached,
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float black_level
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)
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{
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const int x_global = get_global_id(0);
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@ -102,7 +101,7 @@ __kernel void debayer10(const __global uchar * in,
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int out_idx = 3 * x_global + 3 * y_global * RGB_WIDTH;
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|
||||
half pv = val_from_10(in, x_global, y_global);
|
||||
half pv = val_from_10(in, x_global, y_global, black_level);
|
||||
cached[localOffset] = pv;
|
||||
|
||||
// don't care
|
||||
|
|
@ -118,22 +117,22 @@ __kernel void debayer10(const __global uchar * in,
|
|||
if (x_local < 1) {
|
||||
localColOffset = x_local;
|
||||
globalColOffset = -1;
|
||||
cached[(y_local + 1) * localRowLen + x_local] = val_from_10(in, x_global-1, y_global);
|
||||
cached[(y_local + 1) * localRowLen + x_local] = val_from_10(in, x_global-1, y_global, black_level);
|
||||
} else if (x_local >= get_local_size(0) - 1) {
|
||||
localColOffset = x_local + 2;
|
||||
globalColOffset = 1;
|
||||
cached[localOffset + 1] = val_from_10(in, x_global+1, y_global);
|
||||
cached[localOffset + 1] = val_from_10(in, x_global+1, y_global, black_level);
|
||||
}
|
||||
|
||||
if (y_local < 1) {
|
||||
cached[y_local * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global-1);
|
||||
cached[y_local * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global-1, black_level);
|
||||
if (localColOffset != -1) {
|
||||
cached[y_local * localRowLen + localColOffset] = val_from_10(in, x_global+globalColOffset, y_global-1);
|
||||
cached[y_local * localRowLen + localColOffset] = val_from_10(in, x_global+globalColOffset, y_global-1, black_level);
|
||||
}
|
||||
} else if (y_local >= get_local_size(1) - 1) {
|
||||
cached[(y_local + 2) * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global+1);
|
||||
cached[(y_local + 2) * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global+1, black_level);
|
||||
if (localColOffset != -1) {
|
||||
cached[(y_local + 2) * localRowLen + localColOffset] = val_from_10(in, x_global+globalColOffset, y_global+1);
|
||||
cached[(y_local + 2) * localRowLen + localColOffset] = val_from_10(in, x_global+globalColOffset, y_global+1, black_level);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1,5 +1,49 @@
|
|||
struct i2c_random_wr_payload start_reg_array[] = {{0x301A, 0x91C}};
|
||||
struct i2c_random_wr_payload stop_reg_array[] = {{0x301A, 0x918}};
|
||||
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
|
||||
|
|
|
|||
Loading…
Reference in New Issue