From 8fdcddec8a3798f2f100aec48a7e8047040c2c1d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 9 Dec 2023 05:01:41 +0800 Subject: [PATCH] camerad: define the constants directly in ctor (#30651) --- system/camerad/sensors/ar0231.cc | 48 +++++++++---------------------- system/camerad/sensors/ox03c10.cc | 47 +++++++++--------------------- 2 files changed, 28 insertions(+), 67 deletions(-) diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc index b542f27c828355..01a95252f4ad75 100644 --- a/system/camerad/sensors/ar0231.cc +++ b/system/camerad/sensors/ar0231.cc @@ -10,32 +10,12 @@ const size_t AR0231_REGISTERS_HEIGHT = 2; // TODO: this extra height is universal and doesn't apply per camera const size_t AR0231_STATS_HEIGHT = 2 + 8; -const float DC_GAIN_AR0231 = 2.5; - -const float DC_GAIN_ON_GREY_AR0231 = 0.2; -const float DC_GAIN_OFF_GREY_AR0231 = 0.3; - -const int DC_GAIN_MIN_WEIGHT_AR0231 = 0; -const int DC_GAIN_MAX_WEIGHT_AR0231 = 1; - -const float TARGET_GREY_FACTOR_AR0231 = 1.0; - 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 -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_COST_DELTA_AR0231 = 0; -const float ANALOG_GAIN_COST_LOW_AR0231 = 0.1; -const float ANALOG_GAIN_COST_HIGH_AR0231 = 5.0; - -const int EXPOSURE_TIME_MIN_AR0231 = 2; // with HDR, fastest ss -const int EXPOSURE_TIME_MAX_AR0231 = 0x0855; // with HDR, slowest ss, 40ms - std::map> ar0231_build_register_lut(CameraState *c, uint8_t *data) { // This function builds a lookup table from register address, to a pair of indices in the // buffer where to read this address. The buffer contains padding bytes, @@ -119,25 +99,25 @@ AR0231::AR0231() { frame_offset = AR0231_REGISTERS_HEIGHT; stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT; - 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; - exposure_time_min = EXPOSURE_TIME_MIN_AR0231; - exposure_time_max = EXPOSURE_TIME_MAX_AR0231; - analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_AR0231; - analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_AR0231; - analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_AR0231; - analog_gain_cost_delta = ANALOG_GAIN_COST_DELTA_AR0231; - analog_gain_cost_low = ANALOG_GAIN_COST_LOW_AR0231; - analog_gain_cost_high = ANALOG_GAIN_COST_HIGH_AR0231; + dc_gain_factor = 2.5; + dc_gain_min_weight = 0; + dc_gain_max_weight = 1; + dc_gain_on_grey = 0.2; + dc_gain_off_grey = 0.3; + exposure_time_min = 2; // with HDR, fastest ss + exposure_time_max = 0x0855; // with HDR, slowest ss, 40ms + analog_gain_min_idx = 0x1; // 0.25x + analog_gain_rec_idx = 0x6; // 0.8x + analog_gain_max_idx = 0xD; // 4.0x + analog_gain_cost_delta = 0; + analog_gain_cost_low = 0.1; + analog_gain_cost_high = 5.0; for (int i = 0; i <= analog_gain_max_idx; i++) { sensor_analog_gains[i] = sensor_analog_gains_AR0231[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 = TARGET_GREY_FACTOR_AR0231; + target_grey_factor = 1.0; } void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal::FrameData::Builder &framed) { diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc index b60917b5e89d3f..d55c73a436d434 100644 --- a/system/camerad/sensors/ox03c10.cc +++ b/system/camerad/sensors/ox03c10.cc @@ -2,16 +2,6 @@ namespace { -const float DC_GAIN_OX03C10 = 7.32; - -const float DC_GAIN_ON_GREY_OX03C10 = 0.9; -const float DC_GAIN_OFF_GREY_OX03C10 = 1.0; - -const int DC_GAIN_MIN_WEIGHT_OX03C10 = 1; // always on is fine -const int DC_GAIN_MAX_WEIGHT_OX03C10 = 1; - -const float TARGET_GREY_FACTOR_OX03C10 = 0.01; - 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, @@ -26,15 +16,6 @@ const uint32_t ox03c10_analog_gains_reg[] = { 0x5C0, 0x600, 0x640, 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_OX03C10 = 0x0; -const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x0; // 1x -const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0x36; -const int ANALOG_GAIN_COST_DELTA_OX03C10 = -1; -const float ANALOG_GAIN_COST_LOW_OX03C10 = 0.4; -const float ANALOG_GAIN_COST_HIGH_OX03C10 = 6.4; - -const int EXPOSURE_TIME_MIN_OX03C10 = 2; // 1x -const int EXPOSURE_TIME_MAX_OX03C10 = 2016; const uint32_t VS_TIME_MIN_OX03C10 = 1; const uint32_t VS_TIME_MAX_OX03C10 = 34; // vs < 35 @@ -47,25 +28,25 @@ OX03C10::OX03C10() { extra_height = 16; // top 2 + bot 14 frame_offset = 2; - 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; - exposure_time_min = EXPOSURE_TIME_MIN_OX03C10; - exposure_time_max = EXPOSURE_TIME_MAX_OX03C10; - analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_OX03C10; - analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_OX03C10; - analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_OX03C10; - analog_gain_cost_delta = ANALOG_GAIN_COST_DELTA_OX03C10; - analog_gain_cost_low = ANALOG_GAIN_COST_LOW_OX03C10; - analog_gain_cost_high = ANALOG_GAIN_COST_HIGH_OX03C10; + 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 = TARGET_GREY_FACTOR_OX03C10; + target_grey_factor = 0.01; } std::vector ox03c10_get_exp_registers(const SensorInfo *ci, int exposure_time, int new_exp_g, bool dc_gain_enabled) {