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better OX03C10 settings #25796

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merged 11 commits into from
Sep 15, 2022
Merged

better OX03C10 settings #25796

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d9980d3
ev has different scales
ZwX1616 Sep 13, 2022
981682d
Merge branch 'master' into ox_improve
ZwX1616 Sep 13, 2022
7c61c2c
fix initial gradient
ZwX1616 Sep 13, 2022
a6211b4
fix highlight weirdness
Sep 14, 2022
fde632e
try smooth set of gains
ZwX1616 Sep 15, 2022
0e82ac5
delay
ZwX1616 Sep 15, 2022
2ba7169
Merge branch 'master' into ox_reduce_gain_jerk
ZwX1616 Sep 15, 2022
a8ee155
add gain idx
Sep 15, 2022
f34d998
oops
Sep 15, 2022
d8a4579
set different min dc
Sep 15, 2022
411d9bd
Merge branch 'master' into ox_reduce_gain_jerk
ZwX1616 Sep 15, 2022
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61 changes: 38 additions & 23 deletions system/camerad/cameras/camera_qcom2.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -61,39 +61,48 @@ const float DC_GAIN_OX03C10 = 7.32;

const float DC_GAIN_ON_GREY_AR0231= 0.2;
const float DC_GAIN_OFF_GREY_AR0231 = 0.3;
const float DC_GAIN_ON_GREY_OX03C10= 0.3;
const float DC_GAIN_OFF_GREY_OX03C10 = 0.375;
const float DC_GAIN_ON_GREY_OX03C10= 0.25;
const float DC_GAIN_OFF_GREY_OX03C10 = 0.35;

const int DC_GAIN_MIN_WEIGHT = 0;
const int DC_GAIN_MIN_WEIGHT_AR0231 = 0;
const int DC_GAIN_MAX_WEIGHT_AR0231 = 1;
const int DC_GAIN_MIN_WEIGHT_OX03C10 = 16;
const int DC_GAIN_MAX_WEIGHT_OX03C10 = 32;

const float TARGET_GREY_FACTOR_AR0231 = 1.0;
const float TARGET_GREY_FACTOR_OX03C10 = 0.02;

const float sensor_analog_gains_AR0231[] = {
1.0/8.0, 2.0/8.0, 2.0/7.0, 3.0/7.0, // 0, 1, 2, 3
3.0/6.0, 4.0/6.0, 4.0/5.0, 5.0/5.0, // 4, 5, 6, 7
5.0/4.0, 6.0/4.0, 6.0/3.0, 7.0/3.0, // 8, 9, 10, 11
7.0/2.0, 8.0/2.0, 8.0/1.0}; // 12, 13, 14, 15 = bypass

// similar gain curve to AR
const float sensor_analog_gains_OX03C10[] = {
1.0, 1.25, 1.3125, 1.5625,
1.6875, 2.0, 2.25, 2.625,
3.125, 3.625, 4.5, 5.0,
7.25, 8.5, 12.0, 15.5};
1.0, 1.125, 1.25, 1.3125, 1.5625,
1.6875, 2.0, 2.25, 2.625, 3.125,
3.625, 4.0, 4.5, 5.0, 5.5,
6.0, 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, 0x140, 0x150, 0x190,
0x1B0, 0x200, 0x240, 0x2A0,
0x320, 0x3A0, 0x480, 0x500,
0x740, 0x880, 0xC00, 0xF80};
0x100, 0x120, 0x140, 0x150, 0x190,
0x1B0, 0x200, 0x240, 0x2A0, 0x320,
0x3A0, 0x400, 0x480, 0x500, 0x580,
0x600, 0x680, 0x700, 0x780, 0x800,
0x880, 0x900, 0x980, 0xA00, 0xA80,
0xB00, 0xB80, 0xC00, 0xC80, 0xD00,
0xD80, 0xE00, 0xE80, 0xF00, 0xF80};

const int ANALOG_GAIN_MIN_IDX_AR0231 = 0x1; // 0.25x
const int ANALOG_GAIN_REC_IDX_AR0231 = 0x6; // 0.8x
const int ANALOG_GAIN_MAX_IDX_AR0231 = 0xD; // 4.0x

const int ANALOG_GAIN_MIN_IDX_OX03C10 = 0x0;
const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x5; // 2x
const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0xF;
const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x6; // 2x
const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0x22;

const int EXPOSURE_TIME_MIN_AR0231 = 2; // with HDR, fastest ss
const int EXPOSURE_TIME_MAX_AR0231 = 0x0855; // with HDR, slowest ss, 40ms
Expand Down Expand Up @@ -517,6 +526,7 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) {
void CameraState::camera_set_parameters() {
if (camera_id == CAMERA_ID_AR0231) {
dc_gain_factor = DC_GAIN_AR0231;
dc_gain_min_weight = DC_GAIN_MIN_WEIGHT_AR0231;
dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_AR0231;
dc_gain_on_grey = DC_GAIN_ON_GREY_AR0231;
dc_gain_off_grey = DC_GAIN_OFF_GREY_AR0231;
Expand All @@ -529,8 +539,10 @@ void CameraState::camera_set_parameters() {
sensor_analog_gains[i] = sensor_analog_gains_AR0231[i];
}
min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
target_grey_factor = TARGET_GREY_FACTOR_AR0231;
} else if (camera_id == CAMERA_ID_OX03C10) {
dc_gain_factor = DC_GAIN_OX03C10;
dc_gain_min_weight = DC_GAIN_MIN_WEIGHT_OX03C10;
dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_OX03C10;
dc_gain_on_grey = DC_GAIN_ON_GREY_OX03C10;
dc_gain_off_grey = DC_GAIN_OFF_GREY_OX03C10;
Expand All @@ -543,6 +555,7 @@ void CameraState::camera_set_parameters() {
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];
target_grey_factor = TARGET_GREY_FACTOR_OX03C10;
} else {
assert(false);
}
Expand All @@ -551,7 +564,7 @@ void CameraState::camera_set_parameters() {
target_grey_fraction = 0.3;

dc_gain_enabled = false;
dc_gain_weight = DC_GAIN_MIN_WEIGHT;
dc_gain_weight = dc_gain_min_weight;
gain_idx = analog_gain_rec_idx;
exposure_time = 5;
cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight) * sensor_analog_gains[gain_idx] * exposure_time;
Expand Down Expand Up @@ -1037,7 +1050,7 @@ void CameraState::set_camera_exposure(float grey_frac) {
const float cur_ev_ = cur_ev[buf.cur_frame_data.frame_id % 3];

// Scale target grey between 0.1 and 0.4 depending on lighting conditions
float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + cur_ev_) / log2(6000.0), 0.1, 0.4);
float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4);
float target_grey = (1.0 - k_grey) * target_grey_fraction + k_grey * new_target_grey;

float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, min_ev, max_ev);
Expand All @@ -1053,14 +1066,14 @@ void CameraState::set_camera_exposure(float grey_frac) {
bool enable_dc_gain = dc_gain_enabled;
if (!enable_dc_gain && target_grey < dc_gain_on_grey) {
enable_dc_gain = true;
dc_gain_weight = DC_GAIN_MIN_WEIGHT;
dc_gain_weight = dc_gain_min_weight;
} else if (enable_dc_gain && target_grey > dc_gain_off_grey) {
enable_dc_gain = false;
dc_gain_weight = dc_gain_max_weight;
}

if (enable_dc_gain && dc_gain_weight < dc_gain_max_weight) {dc_gain_weight += 1;}
if (!enable_dc_gain && dc_gain_weight > DC_GAIN_MIN_WEIGHT) {dc_gain_weight -= 1;}
if (!enable_dc_gain && dc_gain_weight > dc_gain_min_weight) {dc_gain_weight -= 1;}

std::string gain_bytes, time_bytes;
if (env_ctrl_exp_from_params) {
Expand Down Expand Up @@ -1145,10 +1158,12 @@ void CameraState::set_camera_exposure(float grey_frac) {
// t_HCG + t_LCG + t_VS on LPD, t_SPD on SPD
uint32_t hcg_time = std::max((dc_gain_weight * exposure_time / dc_gain_max_weight), 0);
uint32_t lcg_time = std::max(((dc_gain_max_weight - dc_gain_weight) * exposure_time / dc_gain_max_weight), 0);
uint32_t spd_time = std::max(hcg_time / 16, (uint32_t)exposure_time_min);
uint32_t vs_time = std::min(std::max(hcg_time / 64, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10);
// uint32_t spd_time = std::max(hcg_time / 16, (uint32_t)exposure_time_min);
uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 128, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10);
uint32_t spd_time = vs_time;

uint32_t real_gain = ox03c10_analog_gains_reg[new_g];
uint32_t min_gain = ox03c10_analog_gains_reg[0];
struct i2c_random_wr_payload exp_reg_array[] = {

{0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF},
Expand All @@ -1157,9 +1172,9 @@ void CameraState::set_camera_exposure(float grey_frac) {
{0x35c1, vs_time>>8}, {0x35c2, vs_time&0xFF},

{0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
{0x3588, real_gain>>8}, {0x3589, real_gain&0xFF},
{0x3548, real_gain>>8}, {0x3549, real_gain&0xFF},
{0x35c8, real_gain>>8}, {0x35c9, real_gain&0xFF},
{0x3588, min_gain>>8}, {0x3589, min_gain&0xFF},
{0x3548, min_gain>>8}, {0x3549, min_gain&0xFF},
{0x35c8, min_gain>>8}, {0x35c9, min_gain&0xFF},
};
sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
}
Expand Down
4 changes: 3 additions & 1 deletion system/camerad/cameras/camera_qcom2.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,11 +31,12 @@ class CameraState {
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 sensor_analog_gains[16];
float sensor_analog_gains[35];
int analog_gain_min_idx;
int analog_gain_max_idx;
int analog_gain_rec_idx;
Expand All @@ -45,6 +46,7 @@ class CameraState {

float measured_grey_fraction;
float target_grey_fraction;
float target_grey_factor;

unique_fd sensor_fd;
unique_fd csiphy_fd;
Expand Down
6 changes: 3 additions & 3 deletions system/camerad/cameras/sensor2_i2c.h
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Original file line number Diff line number Diff line change
Expand Up @@ -129,13 +129,13 @@ struct i2c_random_wr_payload init_array_ox03c10[] = {
{0x350a, 0x04}, {0x350b, 0x00}, {0x350c, 0x00}, // hcg digital gain

{0x3586, 0x40}, {0x3587, 0x00}, // lcg fine exposure
{0x358a, 0x04}, {0x358b, 0x00}, {0x358c, 0x00}, // lcg digital gain
{0x358a, 0x01}, {0x358b, 0x00}, {0x358c, 0x00}, // lcg digital gain

{0x3546, 0x20}, {0x3547, 0x00}, // spd fine exposure
{0x354a, 0x04}, {0x354b, 0x00}, {0x354c, 0x00}, // spd digital gain
{0x354a, 0x01}, {0x354b, 0x00}, {0x354c, 0x00}, // spd digital gain

{0x35c6, 0xb0}, {0x35c7, 0x00}, // vs fine exposure
{0x35ca, 0x04}, {0x35cb, 0x00}, {0x35cc, 0x00}, // vs digital gain
{0x35ca, 0x01}, {0x35cb, 0x00}, {0x35cc, 0x00}, // vs digital gain

// also RSVD
{0x3600, 0x8f}, {0x3605, 0x16}, {0x3609, 0xf0}, {0x360a, 0x01},
Expand Down