12bit only (commaai#23953)

Co-authored-by: Comma Device <device@comma.ai>
budney · Mar 14, 2022 · a9b7f3b · a9b7f3b
1 parent 5c3f3e4
commit a9b7f3b
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Showing 3 changed files with 18 additions and 19 deletions.
diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -26,7 +26,7 @@ extern ExitHandler do_exit;
 
 const size_t FRAME_WIDTH = 1928;
 const size_t FRAME_HEIGHT = 1208;
-const size_t FRAME_STRIDE = 2416;  // for 10 bit output
+const size_t FRAME_STRIDE = 2896;  // for 12 bit output. 1928 * 12 / 8 + 4 (alignment)
 
 const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 
@@ -471,10 +471,10 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
 		 .h_init = 0x0,
 		 .v_init = 0x0,
 		};
-    io_cfg[0].format = CAM_FORMAT_MIPI_RAW_10;             // CAM_FORMAT_UBWC_TP10 for YUV
+    io_cfg[0].format = CAM_FORMAT_MIPI_RAW_12;             // CAM_FORMAT_UBWC_TP10 for YUV
     io_cfg[0].color_space = CAM_COLOR_SPACE_BASE;          // CAM_COLOR_SPACE_BT601_FULL for YUV
     io_cfg[0].color_pattern = 0x5;                         // 0x0 for YUV
-    io_cfg[0].bpp = 0xa;
+    io_cfg[0].bpp = 0xc;
     io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0;   // CAM_ISP_IFE_OUT_RES_FULL for YUV
     io_cfg[0].fence = fence;
     io_cfg[0].direction = CAM_BUF_OUTPUT;
@@ -615,9 +615,8 @@ void CameraState::camera_open() {
       .lane_cfg = 0x3210,
 
       .vc = 0x0,
-      // .dt = 0x2C; //CSI_RAW12
-      .dt = 0x2B,  //CSI_RAW10
-      .format = CAM_FORMAT_MIPI_RAW_10,
+      .dt = 0x2C,  // CSI_RAW12
+      .format = CAM_FORMAT_MIPI_RAW_12,
 
       .test_pattern = 0x2,  // 0x3?
       .usage_type = 0x0,
@@ -643,7 +642,7 @@ void CameraState::camera_open() {
       .num_out_res = 0x1,
       .data[0] = (struct cam_isp_out_port_info){
           .res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
-          .format = CAM_FORMAT_MIPI_RAW_10,
+          .format = CAM_FORMAT_MIPI_RAW_12,
           .width = FRAME_WIDTH,
           .height = FRAME_HEIGHT,
           .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,

diff --git a/selfdrive/camerad/cameras/real_debayer.cl b/selfdrive/camerad/cameras/real_debayer.cl
@@ -40,12 +40,12 @@ half3 color_correct(half3 rgb) {
 }
 
 half val_from_10(const uchar * source, int gx, int gy) {
-  // parse 10bit
-  int start = gy * FRAME_STRIDE + (5 * (gx / 4));
-  int offset = gx % 4;
-  uint major = (uint)source[start + offset] << 2;
-  uint minor = (source[start + 4] >> (2 * offset)) & 3;
-  half pv = (half)(major + minor);
+  // parse 12bit
+  int start = gy * FRAME_STRIDE + (3 * (gx / 2));
+  int offset = gx % 2;
+  uint major = (uint)source[start + offset] << 4;
+  uint minor = (source[start + 2] >> (4 * offset)) & 0xf;
+  half pv = (half)((major + minor)/4);
 
   // normalize
   pv = max(0.0h, pv - black_level);

diff --git a/selfdrive/camerad/cameras/sensor2_i2c.h b/selfdrive/camerad/cameras/sensor2_i2c.h
@@ -9,7 +9,7 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
   {0x302C, 0x0001}, // VT_SYS_CLK_DIV
   {0x302E, 0x0002}, // PRE_PLL_CLK_DIV
   {0x3030, 0x0032}, // PLL_MULTIPLIER
-  {0x3036, 0x000A}, // OP_WORD_CLK_DIV
+  {0x3036, 0x000C}, // OP_WORD_CLK_DIV
   {0x3038, 0x0001}, // OP_SYS_CLK_DIV
 
   // FORMAT
@@ -46,11 +46,11 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
 
   // Readout Settings
   {0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI
-  {0x31AC, 0x0C0A}, // DATA_FORMAT_BITS, 12 -> 10
-  {0x3342, 0x122B}, // MIPI_F1_PDT_EDT
-  {0x3346, 0x122B}, // MIPI_F2_PDT_EDT
-  {0x334A, 0x122B}, // MIPI_F3_PDT_EDT
-  {0x334E, 0x122B}, // MIPI_F4_PDT_EDT
+  {0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12
+  {0x3342, 0x122C}, // MIPI_F1_PDT_EDT
+  {0x3346, 0x122C}, // MIPI_F2_PDT_EDT
+  {0x334A, 0x122C}, // MIPI_F3_PDT_EDT
+  {0x334E, 0x122C}, // MIPI_F4_PDT_EDT
   {0x3344, 0x0011}, // MIPI_F1_VDT_VC
   {0x3348, 0x0111}, // MIPI_F2_VDT_VC
   {0x334C, 0x0211}, // MIPI_F3_VDT_VC