From cdedcb7c7f67760b66a4ffa15b23264a9f2c8bcd Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Tue, 15 Mar 2022 20:26:51 -0700
Subject: [PATCH] fix all cameras

---
 selfdrive/camerad/cameras/camera_qcom2.cc | 12 +++++++-----
 selfdrive/camerad/cameras/sensor2_i2c.h   |  9 +++------
 2 files changed, 10 insertions(+), 11 deletions(-)

diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index 2387e5e8b5be77..bcf22a33051552 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -243,12 +243,14 @@ void CameraState::sensors_init() {
   switch (camera_num) {
     case 0:
       // port 0
-      i2c_info->slave_addr = 0x20;
+      //i2c_info->slave_addr = 0x20;
+      i2c_info->slave_addr = 0x34;
       probe->camera_id = 0;
       break;
     case 1:
       // port 1
-      i2c_info->slave_addr = 0x30;
+      //i2c_info->slave_addr = 0x30;
+      i2c_info->slave_addr = 0x36;
       probe->camera_id = 1;
       break;
     case 2:
@@ -1024,9 +1026,9 @@ void CameraState::set_camera_exposure(float grey_frac) {
                                                   {0x3366, analog_gain_reg},
                                                   {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)},
                                                   {0x3012, (uint16_t)exposure_time},
-                                                };
-  sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload),
-              CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);*/
+                                                };*/
+  /*struct i2c_random_wr_payload exp_reg_array[] = {
+  sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);*/
 }
 
 void camera_autoexposure(CameraState *s, float grey_frac) {
diff --git a/selfdrive/camerad/cameras/sensor2_i2c.h b/selfdrive/camerad/cameras/sensor2_i2c.h
index 1d557b8e4b8a23..f989e6043dcd49 100644
--- a/selfdrive/camerad/cameras/sensor2_i2c.h
+++ b/selfdrive/camerad/cameras/sensor2_i2c.h
@@ -4,7 +4,7 @@ struct i2c_random_wr_payload stop_reg_array[] = {{0x301A, 0x918}};*/
 struct i2c_random_wr_payload start_reg_array[] = {{0x0, 0}};
 
 struct i2c_random_wr_payload init_array_imx390[] = {
-  {0x2008, 0xdd}, {0x2009, 0x04}, {0x200a, 0x00}, // MODE_VMAX
+  {0x2008, 0xd0}, {0x2009, 0x07}, {0x200a, 0x00}, // MODE_VMAX = time between frames
   {0x200C, 0xe4}, {0x200D, 0x0c},  // MODE_HMAX
 
   // crop 
@@ -17,8 +17,8 @@ struct i2c_random_wr_payload init_array_imx390[] = {
   {0x3650, 0},  // CU_MODE
 
   // exposure
-  {0x000c, 0x7f}, {0x000d, 0x02},
-  {0x0010, 0x7f}, {0x0011, 0x02},
+  {0x000c, 0x0f}, {0x000d, 0x00},
+  {0x0010, 0x0f}, {0x0011, 0x00},
 
   // WUXGA mode
   // not in datasheet, from https://github.com/bogsen/STLinux-Kernel/blob/master/drivers/media/platform/tegra/imx185.c
@@ -29,9 +29,6 @@ struct i2c_random_wr_payload init_array_imx390[] = {
   {0x21ee, 0xc4}, {0x21ef, 0x04},   // image send amount (1220 is the end)
   {0x21f0, 0xc4}, {0x21f1, 0x04},   // image processing amount
 
-  // analog gain
-  //{0x001a, 0x0c}, {0x001b, 0x00},
-
   // disable a bunch of errors causing blanking
   {0x0390, 0x00}, {0x0391, 0x00}, {0x0392, 0x00},