From d0cb3e0e06e3b7599770383b50f4237e48515696 Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Sat, 12 Mar 2022 11:48:38 -0800
Subject: [PATCH 01/13] something is output

---
 selfdrive/camerad/cameras/camera_qcom2.cc |   23 +-
 selfdrive/camerad/cameras/sensor2_i2c.h   | 3927 ++++++++++++++++++++-
 2 files changed, 3942 insertions(+), 8 deletions(-)

diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index 2e810e42021d36..7e43cf4ee7eda7 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -22,6 +22,9 @@
 #include "selfdrive/common/swaglog.h"
 #include "selfdrive/camerad/cameras/sensor2_i2c.h"
 
+// For debugging:
+// echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
+
 extern ExitHandler do_exit;
 
 const size_t FRAME_WIDTH = 1928;
@@ -199,7 +202,8 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op
   i2c_random_wr->header.count = len;
   i2c_random_wr->header.op_code = 1;
   i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR;
-  i2c_random_wr->header.data_type = CAMERA_SENSOR_I2C_TYPE_WORD;
+  //i2c_random_wr->header.data_type = CAMERA_SENSOR_I2C_TYPE_WORD;
+  i2c_random_wr->header.data_type = CAMERA_SENSOR_I2C_TYPE_BYTE;
   i2c_random_wr->header.addr_type = CAMERA_SENSOR_I2C_TYPE_WORD;
   memcpy(i2c_random_wr->random_wr_payload, dat, len*sizeof(struct i2c_random_wr_payload));
 
@@ -249,7 +253,8 @@ void CameraState::sensors_init() {
       break;
     case 2:
       // port 2
-      i2c_info->slave_addr = 0x20;
+      //i2c_info->slave_addr = 0x20;
+      i2c_info->slave_addr = 0x34;
       probe->camera_id = 2;
       break;
   }
@@ -263,8 +268,12 @@ void CameraState::sensors_init() {
   probe->addr_type = CAMERA_SENSOR_I2C_TYPE_WORD;
   probe->op_code = 3;   // don't care?
   probe->cmd_type = CAMERA_SENSOR_CMD_TYPE_PROBE;
-  probe->reg_addr = 0x3000; //0x300a; //0x300b;
-  probe->expected_data = 0x354; //0x7750; //0x885a;
+  // ar0231
+  /*probe->reg_addr = 0x3000;
+  probe->expected_data = 0x354;*/
+  // imx390
+  probe->reg_addr = 0x330;
+  probe->expected_data = 0x1538;
   probe->data_mask = 0;
 
   //buf_desc[1].size = buf_desc[1].length = 148;
@@ -293,7 +302,8 @@ void CameraState::sensors_init() {
   power->count = 1;
   power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
   power->power_settings[0].power_seq_type = 0;
-  power->power_settings[0].config_val_low = 19200000; //Hz
+  //power->power_settings[0].config_val_low = 19200000; //Hz
+  power->power_settings[0].config_val_low = 24000000; //Hz
   power = power_set_wait(power, 10);
 
   // 8,1 is this reset?
@@ -675,7 +685,8 @@ void CameraState::camera_open() {
   config_isp(0, 0, 1, buf0_handle, 0);
 
   LOG("-- Configuring sensor");
-  sensors_i2c(init_array_ar0231, std::size(init_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
+  sensors_i2c(init_array_imx390, std::size(init_array_imx390), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
+  //sensors_i2c(init_array_ar0231, std::size(init_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
   //sensors_i2c(start_reg_array, std::size(start_reg_array), CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON);
   //sensors_i2c(stop_reg_array, std::size(stop_reg_array), CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF);
 
diff --git a/selfdrive/camerad/cameras/sensor2_i2c.h b/selfdrive/camerad/cameras/sensor2_i2c.h
index 0f91503be0f9b8..458dad8e9e08c5 100644
--- a/selfdrive/camerad/cameras/sensor2_i2c.h
+++ b/selfdrive/camerad/cameras/sensor2_i2c.h
@@ -1,5 +1,3928 @@
-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[] = {{0x301A, 0x91C}};
+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, 0xb7}, {0x2009, 0x04},  // MODE_VMAX
+  {0x2008, 0xe4}, {0x2009, 0x0c},  // MODE_HMAX
+
+  // external trigger (off)
+  {0x3650, 0},  // CU_MODE
+
+  // exposure
+  {0x000C, 0xf2}, {0x000D, 0x2},  
+  {0x0010, 0xf2}, {0x0011, 0x2},  
+
+  // analog gain
+  {0x0018, 50},
+  {0x001A, 50},
+
+  // digital gain?
+  {0x0024, 50},
+  {0x0026, 50},
+  {0x0028, 50},
+  {0x002c, 50},
+  {0x002e, 50},*/
+
+  /*{0x2008, 0x04B7}, // MODE_VMAX
+  {0x200c, 0x0ce4}, // MODE_HMAX
+
+  {0x2014, 0x0001}, // MODE_ADBIT_CU : 12-bit ADC
+  // is crop enabled?
+  {0x3410, 0x0788}, // CROP_H_SIZE
+  {0x3418, 0x04b8}, // CROP_V_SIZE
+
+
+
+  // analog gain
+  {0x0018, 50},
+  {0x001A, 50},
+
+  // digital gain?
+  {0x0024, 50},
+  {0x0026, 50},
+  {0x0028, 50},
+  {0x002c, 50},
+  {0x002e, 50},
+
+  //{0x2E18, 0x0},
+
+  // IFD_CLBLANKSTOP
+  {0x3450, 0x00},
+
+  // 20-bit is 0x2C
+  //{0x3448, 0x2C},
+
+  // PWL12?
+  {0x232, 0x113},*/
+
+{0x000c, 0x7f}, {0x000d, 0x01},
+{0x000e, 0x00},
+{0x0010, 0x7f}, {0x0011, 0x01},
+
+{0x0012, 0x00},
+{0x0018, 0x64}, {0x0019, 0x00},
+{0x001a, 0x0c}, {0x001b, 0x00},
+
+{0x0038, 0x00},
+{0x003c, 0x00},
+{0x003d, 0x00},
+{0x003e, 0x00},
+{0x0040, 0x00},
+{0x0041, 0x00},
+{0x0042, 0x00},
+{0x0044, 0x00},
+{0x0045, 0x00},
+{0x0046, 0x00},
+{0x0048, 0x00},
+{0x0049, 0x00},
+{0x004a, 0x00},
+{0x004c, 0x00},
+{0x004d, 0x00},
+{0x004e, 0x00},
+{0x0050, 0x00},
+{0x0051, 0x00},
+{0x0052, 0x00},
+{0x0054, 0x00},
+{0x0055, 0x00},
+{0x0056, 0x00},
+{0x0058, 0x00},
+{0x0059, 0x00},
+{0x005a, 0x00},
+{0x005c, 0x00},
+{0x005d, 0x00},
+{0x005e, 0x00},
+{0x0060, 0x00},
+{0x0061, 0x00},
+{0x0062, 0x00},
+{0x0064, 0x00},
+{0x0065, 0x00},
+{0x0066, 0x00},
+{0x0068, 0x00},
+{0x0069, 0x00},
+{0x006a, 0x00},
+{0x0078, 0x00},
+{0x007c, 0x00},
+{0x007d, 0x00},
+{0x0080, 0x00},
+{0x0081, 0x00},
+{0x0090, 0x00},
+{0x00f4, 0x1c},
+{0x00f5, 0xf8},
+{0x00f6, 0x01},
+{0x00f8, 0x03},
+{0x00f9, 0x01},
+{0x00fa, 0x00},
+{0x00fb, 0x02},
+{0x0114, 0x00},
+{0x0115, 0x01},
+{0x0118, 0x20},
+{0x0119, 0x03},
+{0x011a, 0x00},
+{0x011b, 0x41},
+{0x011c, 0x80},
+{0x011d, 0x00},
+{0x0120, 0x20},
+{0x0121, 0x00},
+{0x0122, 0x00},
+{0x0123, 0x44},
+{0x0124, 0x00},
+{0x0125, 0x01},
+{0x0128, 0xac},
+{0x0129, 0x0d},
+{0x012a, 0x00},
+{0x012b, 0xa4},
+{0x012c, 0x00},
+{0x012d, 0x01},
+{0x0130, 0xc4},
+{0x0131, 0x09},
+{0x0132, 0x00},
+{0x0133, 0xda},
+{0x013a, 0x00},
+{0x013b, 0x00},
+{0x013c, 0x00},
+{0x013d, 0x00},
+{0x013e, 0x00},
+{0x0140, 0x00},
+{0x0141, 0x00},
+{0x0142, 0x00},
+{0x0144, 0x80},
+{0x0145, 0x01},
+{0x0146, 0x00},
+{0x0148, 0x80},
+{0x0149, 0x01},
+{0x014a, 0x00},
+{0x014c, 0x40},
+{0x014d, 0x06},
+{0x014e, 0x00},
+{0x0150, 0x15},
+{0x0151, 0x03},
+{0x0152, 0x00},
+{0x0154, 0x74},
+{0x0155, 0x0e},
+{0x0156, 0x00},
+{0x0158, 0xfe},
+{0x0159, 0x03},
+{0x015a, 0x00},
+{0x015c, 0xc0},
+{0x015d, 0x5d},
+{0x015e, 0x00},
+{0x0160, 0xfe},
+{0x0161, 0x04},
+{0x0162, 0x00},
+{0x0164, 0x28},
+{0x0165, 0x1d},
+{0x0166, 0x01},
+{0x0168, 0x32},
+{0x0169, 0x06},
+{0x016a, 0x00},
+{0x016c, 0xd8},
+{0x016d, 0x35},
+{0x016e, 0x03},
+{0x0170, 0xe3},
+{0x0171, 0x07},
+{0x0172, 0x00},
+{0x0174, 0x60},
+{0x0175, 0xe3},
+{0x0176, 0x16},
+{0x0178, 0x6f},
+{0x0179, 0x09},
+{0x017a, 0x00},
+{0x017c, 0x40},
+{0x017d, 0x4b},
+{0x017e, 0x4c},
+{0x0180, 0x87},
+{0x0181, 0x0b},
+{0x0182, 0x00},
+{0x0184, 0xff},
+{0x0185, 0xff},
+{0x0186, 0xff},
+{0x0188, 0x0e},
+{0x0189, 0x0f},
+{0x018a, 0x00},
+{0x018c, 0xff},
+{0x018d, 0xff},
+{0x018e, 0xff},
+{0x0190, 0x0e},
+{0x0191, 0x0f},
+{0x0192, 0x00},
+{0x0194, 0x0e},
+{0x0195, 0x0f},
+{0x0196, 0x00},
+{0x0198, 0x00},
+{0x0199, 0x00},
+{0x019a, 0x00},
+{0x019b, 0x01},
+{0x019c, 0x55},
+{0x019d, 0x55},
+{0x019e, 0x55},
+{0x019f, 0x00},
+{0x01a0, 0xc7},
+{0x01a1, 0x71},
+{0x01a2, 0x1c},
+{0x01a3, 0x00},
+{0x01a4, 0x75},
+{0x01a5, 0x39},
+{0x01a6, 0x03},
+{0x01a7, 0x00},
+{0x01a8, 0xba},
+{0x01a9, 0x9c},
+{0x01aa, 0x01},
+{0x01ab, 0x00},
+{0x01ac, 0x5d},
+{0x01ad, 0xce},
+{0x01ae, 0x00},
+{0x01af, 0x00},
+{0x01b0, 0x19},
+{0x01b1, 0x14},
+{0x01b2, 0x00},
+{0x01b3, 0x00},
+{0x01b4, 0x0c},
+{0x01b5, 0x0a},
+{0x01b6, 0x00},
+{0x01b7, 0x00},
+{0x01b8, 0x06},
+{0x01b9, 0x05},
+{0x01ba, 0x00},
+{0x01bb, 0x00},
+{0x01bc, 0x00},
+{0x01bd, 0x00},
+{0x01be, 0x00},
+{0x01bf, 0x00},
+{0x01c0, 0x00},
+{0x01c1, 0x00},
+{0x01c2, 0x00},
+{0x01c3, 0x00},
+{0x01c4, 0x00},
+{0x01c5, 0x00},
+{0x01cc, 0x01},
+{0x01d0, 0x09},
+{0x01d4, 0x01},
+{0x0390, 0x00},
+{0x0391, 0x00},
+{0x0392, 0x00},
+{0x03c0, 0x00},
+{0x2000, 0x55},
+{0x2001, 0x55},
+{0x2002, 0x55},
+{0x2003, 0x05},
+{0x2004, 0x02},
+{0x2008, 0x65},
+{0x2009, 0x04},
+{0x200a, 0x00},
+{0x200c, 0x98},
+{0x200d, 0x08},
+{0x2010, 0x04},
+{0x2014, 0x00},
+{0x2018, 0x02},
+{0x2019, 0x04},
+{0x201a, 0x00},
+{0x201c, 0x21},
+{0x201d, 0x11},
+{0x201e, 0x00},
+{0x201f, 0x00},
+{0x2020, 0xbc},
+{0x2021, 0x00},
+{0x2022, 0x7f},
+{0x2023, 0x00},
+{0x2024, 0xba},
+{0x2025, 0x00},
+{0x2026, 0x81},
+{0x2027, 0x00},
+{0x2028, 0x7d},
+{0x2029, 0x90},
+{0x202a, 0x05},
+{0x202c, 0xfc},
+{0x202d, 0x02},
+{0x202e, 0x25},
+{0x202f, 0x03},
+{0x2030, 0x05},
+{0x2031, 0x02},
+{0x2032, 0xca},
+{0x2033, 0x02},
+{0x2034, 0xfc},
+{0x2035, 0x02},
+{0x2036, 0x25},
+{0x2037, 0x03},
+{0x2038, 0xf8},
+{0x2039, 0xe4},
+{0x203a, 0xe3},
+{0x203b, 0x01},
+{0x203c, 0xf5},
+{0x203d, 0x8e},
+{0x203e, 0x0c},
+{0x203f, 0x2d},
+{0x2040, 0x69},
+{0x2041, 0x01},
+{0x2042, 0x8e},
+{0x2043, 0x01},
+{0x2044, 0x0c},
+{0x2045, 0x02},
+{0x2046, 0x31},
+{0x2047, 0x02},
+{0x2048, 0x6a},
+{0x2049, 0x01},
+{0x204a, 0x8e},
+{0x204b, 0x01},
+{0x204c, 0x0d},
+{0x204d, 0x02},
+{0x204e, 0x31},
+{0x204f, 0x02},
+{0x2050, 0x7b},
+{0x2051, 0x00},
+{0x2052, 0x7d},
+{0x2053, 0x00},
+{0x2054, 0x95},
+{0x2055, 0x00},
+{0x2056, 0x97},
+{0x2057, 0x00},
+{0x2058, 0xad},
+{0x2059, 0x00},
+{0x205a, 0xaf},
+{0x205b, 0x00},
+{0x205c, 0x92},
+{0x205d, 0x00},
+{0x205e, 0x94},
+{0x205f, 0x00},
+{0x2060, 0x8e},
+{0x2061, 0x00},
+{0x2062, 0x90},
+{0x2063, 0x00},
+{0x2064, 0xb1},
+{0x2065, 0x00},
+{0x2066, 0xb3},
+{0x2067, 0x00},
+{0x2068, 0x08},
+{0x2069, 0x00},
+{0x206a, 0x04},
+{0x206b, 0x00},
+{0x206c, 0x84},
+{0x206d, 0x00},
+{0x206e, 0x80},
+{0x206f, 0x00},
+{0x2070, 0x04},
+{0x2071, 0x00},
+{0x2072, 0x46},
+{0x2073, 0x00},
+{0x2074, 0xe9},
+{0x2075, 0x01},
+{0x2076, 0x74},
+{0x2077, 0x02},
+{0x2078, 0x80},
+{0x2079, 0x00},
+{0x207a, 0xc1},
+{0x207b, 0x00},
+{0x207c, 0xff},
+{0x207d, 0x03},
+{0x207e, 0xff},
+{0x207f, 0x03},
+{0x2080, 0x78},
+{0x2081, 0x00},
+{0x2082, 0x6a},
+{0x2083, 0x01},
+{0x2084, 0xe4},
+{0x2085, 0x01},
+{0x2086, 0x2b},
+{0x2087, 0x03},
+{0x2088, 0x00},
+{0x2089, 0x00},
+{0x208a, 0xff},
+{0x208b, 0x03},
+{0x208c, 0xff},
+{0x208d, 0x03},
+{0x208e, 0xff},
+{0x208f, 0x03},
+{0x2090, 0x7d},
+{0x2091, 0x00},
+{0x2092, 0x62},
+{0x2093, 0x01},
+{0x2094, 0xe9},
+{0x2095, 0x01},
+{0x2096, 0x00},
+{0x2097, 0x00},
+{0x2098, 0x7c},
+{0x2099, 0x00},
+{0x209a, 0x21},
+{0x209b, 0x03},
+{0x209c, 0xe9},
+{0x209d, 0x01},
+{0x209e, 0x21},
+{0x209f, 0x03},
+{0x20a0, 0xff},
+{0x20a1, 0x03},
+{0x20a2, 0xff},
+{0x20a3, 0x03},
+{0x20a4, 0xff},
+{0x20a5, 0x03},
+{0x20a6, 0xff},
+{0x20a7, 0x03},
+{0x20a8, 0xff},
+{0x20a9, 0x03},
+{0x20aa, 0xff},
+{0x20ab, 0x03},
+{0x20ac, 0xff},
+{0x20ad, 0x03},
+{0x20ae, 0xff},
+{0x20af, 0x03},
+{0x20b0, 0xff},
+{0x20b1, 0x03},
+{0x20b2, 0xff},
+{0x20b3, 0x03},
+{0x20b4, 0x87},
+{0x20b5, 0xcc},
+{0x20b6, 0x87},
+{0x20b7, 0x08},
+{0x20b8, 0xf4},
+{0x20b9, 0xa5},
+{0x20ba, 0x07},
+{0x20bc, 0x1f},
+{0x20bd, 0x01},
+{0x20be, 0xf6},
+{0x20bf, 0x00},
+{0x20c0, 0x90},
+{0x20c1, 0x01},
+{0x20c2, 0x67},
+{0x20c3, 0x01},
+{0x20c4, 0xff},
+{0x20c5, 0x03},
+{0x20c6, 0xff},
+{0x20c7, 0x03},
+{0x20c8, 0x33},
+{0x20c9, 0x02},
+{0x20ca, 0x0a},
+{0x20cb, 0x02},
+{0x20cc, 0x7f},
+{0x20cd, 0x00},
+{0x20ce, 0xd2},
+{0x20cf, 0x00},
+{0x20d0, 0x81},
+{0x20d1, 0x00},
+{0x20d2, 0x87},
+{0x20d3, 0x00},
+{0x20d4, 0x09},
+{0x20d5, 0x00},
+{0x20d8, 0x7f},
+{0x20d9, 0x00},
+{0x20da, 0x62},
+{0x20db, 0x01},
+{0x20dc, 0x7f},
+{0x20dd, 0x00},
+{0x20de, 0x62},
+{0x20df, 0x01},
+{0x20e0, 0x65},
+{0x20e1, 0x00},
+{0x20e2, 0x75},
+{0x20e3, 0x00},
+{0x20e4, 0xe0},
+{0x20e5, 0x00},
+{0x20e6, 0xf0},
+{0x20e7, 0x00},
+{0x20e8, 0x4c},
+{0x20e9, 0x01},
+{0x20ea, 0x5c},
+{0x20eb, 0x01},
+{0x20ec, 0xd1},
+{0x20ed, 0x01},
+{0x20ee, 0xe1},
+{0x20ef, 0x01},
+{0x20f0, 0x93},
+{0x20f1, 0x02},
+{0x20f2, 0xa3},
+{0x20f3, 0x02},
+{0x20f4, 0x0d},
+{0x20f5, 0x03},
+{0x20f6, 0x1d},
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+{0x70c0, 0x55},
+{0x70c1, 0x4a},
+{0x70c2, 0x40},
+{0x70c3, 0x6e},
+{0x70c4, 0xc0},
+{0x70c5, 0x07},
+{0x70c6, 0x7d},
+{0x70c7, 0xd1},
+{0x70c8, 0x17},
+{0x70c9, 0x88},
+{0x70ca, 0x0a},
+{0x70cb, 0x5e},
+{0x70cc, 0x0d},
+{0x70cd, 0x92},
+{0x70ce, 0x53},
+{0x70cf, 0x49},
+{0x70d0, 0x55},
+{0x70d1, 0x48},
+{0x70d2, 0x94},
+{0x70d3, 0x31},
+{0x70d4, 0x89},
+{0x70d5, 0x6b},
+{0x70d6, 0x80},
+{0x70d7, 0x68},
+{0x70d8, 0x09},
+{0x70d9, 0x02},
+{0x70da, 0x00},
+{0x70db, 0x03},
+{0x70dc, 0x09},
+{0x70dd, 0x0e},
+{0x70de, 0x00},
+{0x70df, 0x0b},
+{0x70e0, 0x49},
+{0x70e1, 0x1c},
+{0x70e2, 0x48},
+{0x70e3, 0x43},
+{0x70e4, 0x4d},
+{0x70e5, 0x49},
+{0x70e6, 0x6c},
+{0x70e7, 0x39},
+{0x70e8, 0x8a},
+{0x70e9, 0x6a},
+{0x70ea, 0x07},
+{0x70eb, 0x92},
+{0x70ec, 0xca},
+{0x70ed, 0x6a},
+{0x70ee, 0x00},
+{0x70ef, 0x21},
+{0x70f0, 0xc9},
+{0x70f1, 0x43},
+{0x70f2, 0x03},
+{0x70f3, 0x92},
+{0x70f4, 0x00},
+{0x70f5, 0x22},
+{0x70f6, 0x00},
+{0x70f7, 0x91},
+{0x70f8, 0x01},
+{0x70f9, 0x92},
+{0x70fa, 0x39},
+{0x70fb, 0x46},
+{0x70fc, 0x8f},
+{0x70fd, 0xf6},
+{0x70fe, 0xce},
+{0x70ff, 0xfb},
+{0x7100, 0x01},
+{0x7101, 0x22},
+{0x7102, 0x00},
+{0x7103, 0x23},
+{0x7104, 0x8c},
+{0x7105, 0xf6},
+{0x7106, 0x02},
+{0x7107, 0xfa},
+{0x7108, 0x00},
+{0x7109, 0x21},
+{0x710a, 0x05},
+{0x710b, 0x46},
+{0x710c, 0x01},
+{0x710d, 0x91},
+{0x710e, 0x00},
+{0x710f, 0x90},
+{0x7110, 0x39},
+{0x7111, 0x46},
+{0x7112, 0x07},
+{0x7113, 0x98},
+{0x7114, 0x8f},
+{0x7115, 0xf6},
+{0x7116, 0xc2},
+{0x7117, 0xfb},
+{0x7118, 0x0d},
+{0x7119, 0x9a},
+{0x711a, 0xd3},
+{0x711b, 0x17},
+{0x711c, 0x80},
+{0x711d, 0x18},
+{0x711e, 0x59},
+{0x711f, 0x41},
+{0x7120, 0x01},
+{0x7121, 0x22},
+{0x7122, 0x00},
+{0x7123, 0x23},
+{0x7124, 0x8c},
+{0x7125, 0xf6},
+{0x7126, 0xcd},
+{0x7127, 0xf9},
+{0x7128, 0x07},
+{0x7129, 0x90},
+{0x712a, 0x00},
+{0x712b, 0x20},
+{0x712c, 0x01},
+{0x712d, 0x90},
+{0x712e, 0x00},
+{0x712f, 0x95},
+{0x7130, 0x39},
+{0x7131, 0x46},
+{0x7132, 0x03},
+{0x7133, 0x98},
+{0x7134, 0x8f},
+{0x7135, 0xf6},
+{0x7136, 0xb2},
+{0x7137, 0xfb},
+{0x7138, 0x01},
+{0x7139, 0x22},
+{0x713a, 0x00},
+{0x713b, 0x23},
+{0x713c, 0x8c},
+{0x713d, 0xf6},
+{0x713e, 0xe6},
+{0x713f, 0xf9},
+{0x7140, 0x02},
+{0x7141, 0x46},
+{0x7142, 0x07},
+{0x7143, 0x98},
+{0x7144, 0x00},
+{0x7145, 0x23},
+{0x7146, 0x81},
+{0x7147, 0x0b},
+{0x7148, 0x80},
+{0x7149, 0x04},
+{0x714a, 0x7a},
+{0x714b, 0xf6},
+{0x714c, 0x54},
+{0x714d, 0xf8},
+{0x714e, 0x37},
+{0x714f, 0x4a},
+{0x7150, 0x00},
+{0x7151, 0x23},
+{0x7152, 0x00},
+{0x7153, 0x92},
+{0x7154, 0x01},
+{0x7155, 0x93},
+{0x7156, 0x01},
+{0x7157, 0x22},
+{0x7158, 0x8c},
+{0x7159, 0xf6},
+{0x715a, 0xd8},
+{0x715b, 0xf9},
+{0x715c, 0x05},
+{0x715d, 0x46},
+{0x715e, 0x60},
+{0x715f, 0x68},
+{0x7160, 0x00},
+{0x7161, 0x23},
+{0x7162, 0x01},
+{0x7163, 0x0c},
+{0x7164, 0x00},
+{0x7165, 0x04},
+{0x7166, 0xe2},
+{0x7167, 0x68},
+{0x7168, 0x7a},
+{0x7169, 0xf6},
+{0x716a, 0x45},
+{0x716b, 0xf8},
+{0x716c, 0x00},
+{0x716d, 0x22},
+{0x716e, 0xd2},
+{0x716f, 0x43},
+{0x7170, 0x00},
+{0x7171, 0x23},
+{0x7172, 0x00},
+{0x7173, 0x92},
+{0x7174, 0x01},
+{0x7175, 0x93},
+{0x7176, 0x1a},
+{0x7177, 0x46},
+{0x7178, 0x8c},
+{0x7179, 0xf6},
+{0x717a, 0xc8},
+{0x717b, 0xf9},
+{0x717c, 0x29},
+{0x717d, 0x46},
+{0x717e, 0x8f},
+{0x717f, 0xf6},
+{0x7180, 0x8d},
+{0x7181, 0xfb},
+{0x7182, 0x8a},
+{0x7183, 0x03},
+{0x7184, 0x80},
+{0x7185, 0x0c},
+{0x7186, 0x10},
+{0x7187, 0x43},
+{0x7188, 0x00},
+{0x7189, 0x22},
+{0x718a, 0xd2},
+{0x718b, 0x43},
+{0x718c, 0x00},
+{0x718d, 0x23},
+{0x718e, 0x00},
+{0x718f, 0x92},
+{0x7190, 0x89},
+{0x7191, 0x0c},
+{0x7192, 0x01},
+{0x7193, 0x93},
+{0x7194, 0x1a},
+{0x7195, 0x46},
+{0x7196, 0x8c},
+{0x7197, 0xf6},
+{0x7198, 0xb9},
+{0x7199, 0xf9},
+{0x719a, 0x00},
+{0x719b, 0x24},
+{0x719c, 0x03},
+{0x719d, 0x90},
+{0x719e, 0x0c},
+{0x719f, 0x98},
+{0x71a0, 0x61},
+{0x71a1, 0x00},
+{0x71a2, 0x45},
+{0x71a3, 0x5a},
+{0x71a4, 0x06},
+{0x71a5, 0x98},
+{0x71a6, 0x22},
+{0x71a7, 0x4a},
+{0x71a8, 0x40},
+{0x71a9, 0x5a},
+{0x71aa, 0x00},
+{0x71ab, 0x21},
+{0x71ac, 0x8c},
+{0x71ad, 0xf6},
+{0x71ae, 0xbe},
+{0x71af, 0xf9},
+{0x71b0, 0x07},
+{0x71b1, 0x46},
+{0x71b2, 0x28},
+{0x71b3, 0x46},
+{0x71b4, 0x03},
+{0x71b5, 0x99},
+{0x71b6, 0x8f},
+{0x71b7, 0xf6},
+{0x71b8, 0x71},
+{0x71b9, 0xfb},
+{0x71ba, 0x3a},
+{0x71bb, 0x46},
+{0x71bc, 0x00},
+{0x71bd, 0x23},
+{0x71be, 0x79},
+{0x71bf, 0xf6},
+{0x71c0, 0xca},
+{0x71c1, 0xff},
+{0x71c2, 0x00},
+{0x71c3, 0xe0},
+{0x71c4, 0x0f},
+{0x71c5, 0xe0},
+{0x71c6, 0x8a},
+{0x71c7, 0x02},
+{0x71c8, 0x80},
+{0x71c9, 0x0d},
+{0x71ca, 0x10},
+{0x71cb, 0x43},
+{0x71cc, 0x19},
+{0x71cd, 0x4a},
+{0x71ce, 0x00},
+{0x71cf, 0x23},
+{0x71d0, 0x00},
+{0x71d1, 0x92},
+{0x71d2, 0x89},
+{0x71d3, 0x0d},
+{0x71d4, 0x01},
+{0x71d5, 0x93},
+{0x71d6, 0x40},
+{0x71d7, 0x22},
+{0x71d8, 0x8c},
+{0x71d9, 0xf6},
+{0x71da, 0x98},
+{0x71db, 0xf9},
+{0x71dc, 0xa1},
+{0x71dd, 0x00},
+{0x71de, 0x64},
+{0x71df, 0x1c},
+{0x71e0, 0x70},
+{0x71e1, 0x50},
+{0x71e2, 0x04},
+{0x71e3, 0x2c},
+{0x71e4, 0xdb},
+{0x71e5, 0xd3},
+{0x71e6, 0x14},
+{0x71e7, 0x4d},
+{0x71e8, 0x00},
+{0x71e9, 0x24},
+{0x71ea, 0x0b},
+{0x71eb, 0x98},
+{0x71ec, 0x67},
+{0x71ed, 0x00},
+{0x71ee, 0xc0},
+{0x71ef, 0x5b},
+{0x71f0, 0x2a},
+{0x71f1, 0x46},
+{0x71f2, 0x40},
+{0x71f3, 0x21},
+{0x71f4, 0x8c},
+{0x71f5, 0xf6},
+{0x71f6, 0x9a},
+{0x71f7, 0xf9},
+{0x71f8, 0x05},
+{0x71f9, 0x99},
+{0x71fa, 0x0e},
+{0x71fb, 0x4a},
+{0x71fc, 0xc8},
+{0x71fd, 0x53},
+{0x71fe, 0xa7},
+{0x71ff, 0x00},
+{0x7200, 0xf0},
+{0x7201, 0x59},
+{0x7202, 0x40},
+{0x7203, 0x21},
+{0x7204, 0x8c},
+{0x7205, 0xf6},
+{0x7206, 0x7b},
+{0x7207, 0xf9},
+{0x7208, 0x04},
+{0x7209, 0x99},
+{0x720a, 0x64},
+{0x720b, 0x1c},
+{0x720c, 0xc8},
+{0x720d, 0x51},
+{0x720e, 0x04},
+{0x720f, 0x2c},
+{0x7210, 0xeb},
+{0x7211, 0xd3},
+{0x7212, 0x0f},
+{0x7213, 0xb0},
+{0x7214, 0xf0},
+{0x7215, 0xbd},
+{0x7216, 0x00},
+{0x7217, 0x00},
+{0x7218, 0x76},
+{0x7219, 0x69},
+{0x721a, 0x18},
+{0x721b, 0x00},
+{0x721c, 0xec},
+{0x721d, 0x58},
+{0x721e, 0x18},
+{0x721f, 0x00},
+{0x7220, 0x38},
+{0x7221, 0x36},
+{0x7222, 0x18},
+{0x7223, 0x00},
+{0x7224, 0x00},
+{0x7225, 0x35},
+{0x7226, 0x18},
+{0x7227, 0x00},
+{0x7228, 0x00},
+{0x7229, 0x20},
+{0x722a, 0x18},
+{0x722b, 0x00},
+{0x722c, 0xff},
+{0x722d, 0xff},
+{0x722e, 0xff},
+{0x722f, 0x3f},
+{0x7230, 0xff},
+{0x7231, 0x07},
+{0x7232, 0x00},
+{0x7233, 0x00},
+{0x7234, 0xff},
+{0x7235, 0xff},
+{0x7236, 0x07},
+{0x7237, 0x00},
+{0x7238, 0xff},
+{0x7239, 0x1f},
+{0x723a, 0x00},
+{0x723b, 0x00},
+{0x723c, 0x01},
+{0x723d, 0xf6},
+{0x723e, 0x45},
+{0x723f, 0x12},
+{0x0232, 0x13},
+{0x0233, 0x01},
+};
 
 struct i2c_random_wr_payload init_array_ar0231[] = {
   {0x301A, 0x0018}, // RESET_REGISTER

From eef78b622cae83b961ad4102950b02f9f5c312af Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Sat, 12 Mar 2022 11:57:46 -0800
Subject: [PATCH 02/13] min stuff

---
 selfdrive/camerad/cameras/sensor2_i2c.h | 3916 +----------------------
 1 file changed, 7 insertions(+), 3909 deletions(-)

diff --git a/selfdrive/camerad/cameras/sensor2_i2c.h b/selfdrive/camerad/cameras/sensor2_i2c.h
index 458dad8e9e08c5..40678745db6566 100644
--- a/selfdrive/camerad/cameras/sensor2_i2c.h
+++ b/selfdrive/camerad/cameras/sensor2_i2c.h
@@ -4,3924 +4,22 @@ 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, 0xb7}, {0x2009, 0x04},  // MODE_VMAX
+  {0x2008, 0xb7}, {0x2009, 0x04},  // MODE_VMAX
   {0x2008, 0xe4}, {0x2009, 0x0c},  // MODE_HMAX
 
   // external trigger (off)
   {0x3650, 0},  // CU_MODE
 
   // exposure
-  {0x000C, 0xf2}, {0x000D, 0x2},  
-  {0x0010, 0xf2}, {0x0011, 0x2},  
+  {0x000c, 0x7f}, {0x000d, 0x01},
+  {0x0010, 0x7f}, {0x0011, 0x01},
 
   // analog gain
-  {0x0018, 50},
-  {0x001A, 50},
+  {0x0018, 0x64}, {0x0019, 0x00},
+  {0x001a, 0x0c}, {0x001b, 0x00},
 
-  // digital gain?
-  {0x0024, 50},
-  {0x0026, 50},
-  {0x0028, 50},
-  {0x002c, 50},
-  {0x002e, 50},*/
-
-  /*{0x2008, 0x04B7}, // MODE_VMAX
-  {0x200c, 0x0ce4}, // MODE_HMAX
-
-  {0x2014, 0x0001}, // MODE_ADBIT_CU : 12-bit ADC
-  // is crop enabled?
-  {0x3410, 0x0788}, // CROP_H_SIZE
-  {0x3418, 0x04b8}, // CROP_V_SIZE
-
-
-
-  // analog gain
-  {0x0018, 50},
-  {0x001A, 50},
-
-  // digital gain?
-  {0x0024, 50},
-  {0x0026, 50},
-  {0x0028, 50},
-  {0x002c, 50},
-  {0x002e, 50},
-
-  //{0x2E18, 0x0},
-
-  // IFD_CLBLANKSTOP
-  {0x3450, 0x00},
-
-  // 20-bit is 0x2C
-  //{0x3448, 0x2C},
-
-  // PWL12?
-  {0x232, 0x113},*/
-
-{0x000c, 0x7f}, {0x000d, 0x01},
-{0x000e, 0x00},
-{0x0010, 0x7f}, {0x0011, 0x01},
-
-{0x0012, 0x00},
-{0x0018, 0x64}, {0x0019, 0x00},
-{0x001a, 0x0c}, {0x001b, 0x00},
-
-{0x0038, 0x00},
-{0x003c, 0x00},
-{0x003d, 0x00},
-{0x003e, 0x00},
-{0x0040, 0x00},
-{0x0041, 0x00},
-{0x0042, 0x00},
-{0x0044, 0x00},
-{0x0045, 0x00},
-{0x0046, 0x00},
-{0x0048, 0x00},
-{0x0049, 0x00},
-{0x004a, 0x00},
-{0x004c, 0x00},
-{0x004d, 0x00},
-{0x004e, 0x00},
-{0x0050, 0x00},
-{0x0051, 0x00},
-{0x0052, 0x00},
-{0x0054, 0x00},
-{0x0055, 0x00},
-{0x0056, 0x00},
-{0x0058, 0x00},
-{0x0059, 0x00},
-{0x005a, 0x00},
-{0x005c, 0x00},
-{0x005d, 0x00},
-{0x005e, 0x00},
-{0x0060, 0x00},
-{0x0061, 0x00},
-{0x0062, 0x00},
-{0x0064, 0x00},
-{0x0065, 0x00},
-{0x0066, 0x00},
-{0x0068, 0x00},
-{0x0069, 0x00},
-{0x006a, 0x00},
-{0x0078, 0x00},
-{0x007c, 0x00},
-{0x007d, 0x00},
-{0x0080, 0x00},
-{0x0081, 0x00},
-{0x0090, 0x00},
-{0x00f4, 0x1c},
-{0x00f5, 0xf8},
-{0x00f6, 0x01},
-{0x00f8, 0x03},
-{0x00f9, 0x01},
-{0x00fa, 0x00},
-{0x00fb, 0x02},
-{0x0114, 0x00},
-{0x0115, 0x01},
-{0x0118, 0x20},
-{0x0119, 0x03},
-{0x011a, 0x00},
-{0x011b, 0x41},
-{0x011c, 0x80},
-{0x011d, 0x00},
-{0x0120, 0x20},
-{0x0121, 0x00},
-{0x0122, 0x00},
-{0x0123, 0x44},
-{0x0124, 0x00},
-{0x0125, 0x01},
-{0x0128, 0xac},
-{0x0129, 0x0d},
-{0x012a, 0x00},
-{0x012b, 0xa4},
-{0x012c, 0x00},
-{0x012d, 0x01},
-{0x0130, 0xc4},
-{0x0131, 0x09},
-{0x0132, 0x00},
-{0x0133, 0xda},
-{0x013a, 0x00},
-{0x013b, 0x00},
-{0x013c, 0x00},
-{0x013d, 0x00},
-{0x013e, 0x00},
-{0x0140, 0x00},
-{0x0141, 0x00},
-{0x0142, 0x00},
-{0x0144, 0x80},
-{0x0145, 0x01},
-{0x0146, 0x00},
-{0x0148, 0x80},
-{0x0149, 0x01},
-{0x014a, 0x00},
-{0x014c, 0x40},
-{0x014d, 0x06},
-{0x014e, 0x00},
-{0x0150, 0x15},
-{0x0151, 0x03},
-{0x0152, 0x00},
-{0x0154, 0x74},
-{0x0155, 0x0e},
-{0x0156, 0x00},
-{0x0158, 0xfe},
-{0x0159, 0x03},
-{0x015a, 0x00},
-{0x015c, 0xc0},
-{0x015d, 0x5d},
-{0x015e, 0x00},
-{0x0160, 0xfe},
-{0x0161, 0x04},
-{0x0162, 0x00},
-{0x0164, 0x28},
-{0x0165, 0x1d},
-{0x0166, 0x01},
-{0x0168, 0x32},
-{0x0169, 0x06},
-{0x016a, 0x00},
-{0x016c, 0xd8},
-{0x016d, 0x35},
-{0x016e, 0x03},
-{0x0170, 0xe3},
-{0x0171, 0x07},
-{0x0172, 0x00},
-{0x0174, 0x60},
-{0x0175, 0xe3},
-{0x0176, 0x16},
-{0x0178, 0x6f},
-{0x0179, 0x09},
-{0x017a, 0x00},
-{0x017c, 0x40},
-{0x017d, 0x4b},
-{0x017e, 0x4c},
-{0x0180, 0x87},
-{0x0181, 0x0b},
-{0x0182, 0x00},
-{0x0184, 0xff},
-{0x0185, 0xff},
-{0x0186, 0xff},
-{0x0188, 0x0e},
-{0x0189, 0x0f},
-{0x018a, 0x00},
-{0x018c, 0xff},
-{0x018d, 0xff},
-{0x018e, 0xff},
-{0x0190, 0x0e},
-{0x0191, 0x0f},
-{0x0192, 0x00},
-{0x0194, 0x0e},
-{0x0195, 0x0f},
-{0x0196, 0x00},
-{0x0198, 0x00},
-{0x0199, 0x00},
-{0x019a, 0x00},
-{0x019b, 0x01},
-{0x019c, 0x55},
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-{0x70a1, 0x90},
-{0x70a2, 0x5f},
-{0x70a3, 0x48},
-{0x70a4, 0x06},
-{0x70a5, 0x90},
-{0x70a6, 0x20},
-{0x70a7, 0x46},
-{0x70a8, 0x34},
-{0x70a9, 0x30},
-{0x70aa, 0x0b},
-{0x70ab, 0x90},
-{0x70ac, 0x5b},
-{0x70ad, 0x48},
-{0x70ae, 0x5a},
-{0x70af, 0x49},
-{0x70b0, 0x26},
-{0x70b1, 0x46},
-{0x70b2, 0x66},
-{0x70b3, 0x30},
-{0x70b4, 0x3a},
-{0x70b5, 0x31},
-{0x70b6, 0x3c},
-{0x70b7, 0x36},
-{0x70b8, 0x05},
-{0x70b9, 0x90},
-{0x70ba, 0x0a},
-{0x70bb, 0x30},
-{0x70bc, 0x04},
-{0x70bd, 0x90},
-{0x70be, 0x59},
-{0x70bf, 0x48},
-{0x70c0, 0x55},
-{0x70c1, 0x4a},
-{0x70c2, 0x40},
-{0x70c3, 0x6e},
-{0x70c4, 0xc0},
-{0x70c5, 0x07},
-{0x70c6, 0x7d},
-{0x70c7, 0xd1},
-{0x70c8, 0x17},
-{0x70c9, 0x88},
-{0x70ca, 0x0a},
-{0x70cb, 0x5e},
-{0x70cc, 0x0d},
-{0x70cd, 0x92},
-{0x70ce, 0x53},
-{0x70cf, 0x49},
-{0x70d0, 0x55},
-{0x70d1, 0x48},
-{0x70d2, 0x94},
-{0x70d3, 0x31},
-{0x70d4, 0x89},
-{0x70d5, 0x6b},
-{0x70d6, 0x80},
-{0x70d7, 0x68},
-{0x70d8, 0x09},
-{0x70d9, 0x02},
-{0x70da, 0x00},
-{0x70db, 0x03},
-{0x70dc, 0x09},
-{0x70dd, 0x0e},
-{0x70de, 0x00},
-{0x70df, 0x0b},
-{0x70e0, 0x49},
-{0x70e1, 0x1c},
-{0x70e2, 0x48},
-{0x70e3, 0x43},
-{0x70e4, 0x4d},
-{0x70e5, 0x49},
-{0x70e6, 0x6c},
-{0x70e7, 0x39},
-{0x70e8, 0x8a},
-{0x70e9, 0x6a},
-{0x70ea, 0x07},
-{0x70eb, 0x92},
-{0x70ec, 0xca},
-{0x70ed, 0x6a},
-{0x70ee, 0x00},
-{0x70ef, 0x21},
-{0x70f0, 0xc9},
-{0x70f1, 0x43},
-{0x70f2, 0x03},
-{0x70f3, 0x92},
-{0x70f4, 0x00},
-{0x70f5, 0x22},
-{0x70f6, 0x00},
-{0x70f7, 0x91},
-{0x70f8, 0x01},
-{0x70f9, 0x92},
-{0x70fa, 0x39},
-{0x70fb, 0x46},
-{0x70fc, 0x8f},
-{0x70fd, 0xf6},
-{0x70fe, 0xce},
-{0x70ff, 0xfb},
-{0x7100, 0x01},
-{0x7101, 0x22},
-{0x7102, 0x00},
-{0x7103, 0x23},
-{0x7104, 0x8c},
-{0x7105, 0xf6},
-{0x7106, 0x02},
-{0x7107, 0xfa},
-{0x7108, 0x00},
-{0x7109, 0x21},
-{0x710a, 0x05},
-{0x710b, 0x46},
-{0x710c, 0x01},
-{0x710d, 0x91},
-{0x710e, 0x00},
-{0x710f, 0x90},
-{0x7110, 0x39},
-{0x7111, 0x46},
-{0x7112, 0x07},
-{0x7113, 0x98},
-{0x7114, 0x8f},
-{0x7115, 0xf6},
-{0x7116, 0xc2},
-{0x7117, 0xfb},
-{0x7118, 0x0d},
-{0x7119, 0x9a},
-{0x711a, 0xd3},
-{0x711b, 0x17},
-{0x711c, 0x80},
-{0x711d, 0x18},
-{0x711e, 0x59},
-{0x711f, 0x41},
-{0x7120, 0x01},
-{0x7121, 0x22},
-{0x7122, 0x00},
-{0x7123, 0x23},
-{0x7124, 0x8c},
-{0x7125, 0xf6},
-{0x7126, 0xcd},
-{0x7127, 0xf9},
-{0x7128, 0x07},
-{0x7129, 0x90},
-{0x712a, 0x00},
-{0x712b, 0x20},
-{0x712c, 0x01},
-{0x712d, 0x90},
-{0x712e, 0x00},
-{0x712f, 0x95},
-{0x7130, 0x39},
-{0x7131, 0x46},
-{0x7132, 0x03},
-{0x7133, 0x98},
-{0x7134, 0x8f},
-{0x7135, 0xf6},
-{0x7136, 0xb2},
-{0x7137, 0xfb},
-{0x7138, 0x01},
-{0x7139, 0x22},
-{0x713a, 0x00},
-{0x713b, 0x23},
-{0x713c, 0x8c},
-{0x713d, 0xf6},
-{0x713e, 0xe6},
-{0x713f, 0xf9},
-{0x7140, 0x02},
-{0x7141, 0x46},
-{0x7142, 0x07},
-{0x7143, 0x98},
-{0x7144, 0x00},
-{0x7145, 0x23},
-{0x7146, 0x81},
-{0x7147, 0x0b},
-{0x7148, 0x80},
-{0x7149, 0x04},
-{0x714a, 0x7a},
-{0x714b, 0xf6},
-{0x714c, 0x54},
-{0x714d, 0xf8},
-{0x714e, 0x37},
-{0x714f, 0x4a},
-{0x7150, 0x00},
-{0x7151, 0x23},
-{0x7152, 0x00},
-{0x7153, 0x92},
-{0x7154, 0x01},
-{0x7155, 0x93},
-{0x7156, 0x01},
-{0x7157, 0x22},
-{0x7158, 0x8c},
-{0x7159, 0xf6},
-{0x715a, 0xd8},
-{0x715b, 0xf9},
-{0x715c, 0x05},
-{0x715d, 0x46},
-{0x715e, 0x60},
-{0x715f, 0x68},
-{0x7160, 0x00},
-{0x7161, 0x23},
-{0x7162, 0x01},
-{0x7163, 0x0c},
-{0x7164, 0x00},
-{0x7165, 0x04},
-{0x7166, 0xe2},
-{0x7167, 0x68},
-{0x7168, 0x7a},
-{0x7169, 0xf6},
-{0x716a, 0x45},
-{0x716b, 0xf8},
-{0x716c, 0x00},
-{0x716d, 0x22},
-{0x716e, 0xd2},
-{0x716f, 0x43},
-{0x7170, 0x00},
-{0x7171, 0x23},
-{0x7172, 0x00},
-{0x7173, 0x92},
-{0x7174, 0x01},
-{0x7175, 0x93},
-{0x7176, 0x1a},
-{0x7177, 0x46},
-{0x7178, 0x8c},
-{0x7179, 0xf6},
-{0x717a, 0xc8},
-{0x717b, 0xf9},
-{0x717c, 0x29},
-{0x717d, 0x46},
-{0x717e, 0x8f},
-{0x717f, 0xf6},
-{0x7180, 0x8d},
-{0x7181, 0xfb},
-{0x7182, 0x8a},
-{0x7183, 0x03},
-{0x7184, 0x80},
-{0x7185, 0x0c},
-{0x7186, 0x10},
-{0x7187, 0x43},
-{0x7188, 0x00},
-{0x7189, 0x22},
-{0x718a, 0xd2},
-{0x718b, 0x43},
-{0x718c, 0x00},
-{0x718d, 0x23},
-{0x718e, 0x00},
-{0x718f, 0x92},
-{0x7190, 0x89},
-{0x7191, 0x0c},
-{0x7192, 0x01},
-{0x7193, 0x93},
-{0x7194, 0x1a},
-{0x7195, 0x46},
-{0x7196, 0x8c},
-{0x7197, 0xf6},
-{0x7198, 0xb9},
-{0x7199, 0xf9},
-{0x719a, 0x00},
-{0x719b, 0x24},
-{0x719c, 0x03},
-{0x719d, 0x90},
-{0x719e, 0x0c},
-{0x719f, 0x98},
-{0x71a0, 0x61},
-{0x71a1, 0x00},
-{0x71a2, 0x45},
-{0x71a3, 0x5a},
-{0x71a4, 0x06},
-{0x71a5, 0x98},
-{0x71a6, 0x22},
-{0x71a7, 0x4a},
-{0x71a8, 0x40},
-{0x71a9, 0x5a},
-{0x71aa, 0x00},
-{0x71ab, 0x21},
-{0x71ac, 0x8c},
-{0x71ad, 0xf6},
-{0x71ae, 0xbe},
-{0x71af, 0xf9},
-{0x71b0, 0x07},
-{0x71b1, 0x46},
-{0x71b2, 0x28},
-{0x71b3, 0x46},
-{0x71b4, 0x03},
-{0x71b5, 0x99},
-{0x71b6, 0x8f},
-{0x71b7, 0xf6},
-{0x71b8, 0x71},
-{0x71b9, 0xfb},
-{0x71ba, 0x3a},
-{0x71bb, 0x46},
-{0x71bc, 0x00},
-{0x71bd, 0x23},
-{0x71be, 0x79},
-{0x71bf, 0xf6},
-{0x71c0, 0xca},
-{0x71c1, 0xff},
-{0x71c2, 0x00},
-{0x71c3, 0xe0},
-{0x71c4, 0x0f},
-{0x71c5, 0xe0},
-{0x71c6, 0x8a},
-{0x71c7, 0x02},
-{0x71c8, 0x80},
-{0x71c9, 0x0d},
-{0x71ca, 0x10},
-{0x71cb, 0x43},
-{0x71cc, 0x19},
-{0x71cd, 0x4a},
-{0x71ce, 0x00},
-{0x71cf, 0x23},
-{0x71d0, 0x00},
-{0x71d1, 0x92},
-{0x71d2, 0x89},
-{0x71d3, 0x0d},
-{0x71d4, 0x01},
-{0x71d5, 0x93},
-{0x71d6, 0x40},
-{0x71d7, 0x22},
-{0x71d8, 0x8c},
-{0x71d9, 0xf6},
-{0x71da, 0x98},
-{0x71db, 0xf9},
-{0x71dc, 0xa1},
-{0x71dd, 0x00},
-{0x71de, 0x64},
-{0x71df, 0x1c},
-{0x71e0, 0x70},
-{0x71e1, 0x50},
-{0x71e2, 0x04},
-{0x71e3, 0x2c},
-{0x71e4, 0xdb},
-{0x71e5, 0xd3},
-{0x71e6, 0x14},
-{0x71e7, 0x4d},
-{0x71e8, 0x00},
-{0x71e9, 0x24},
-{0x71ea, 0x0b},
-{0x71eb, 0x98},
-{0x71ec, 0x67},
-{0x71ed, 0x00},
-{0x71ee, 0xc0},
-{0x71ef, 0x5b},
-{0x71f0, 0x2a},
-{0x71f1, 0x46},
-{0x71f2, 0x40},
-{0x71f3, 0x21},
-{0x71f4, 0x8c},
-{0x71f5, 0xf6},
-{0x71f6, 0x9a},
-{0x71f7, 0xf9},
-{0x71f8, 0x05},
-{0x71f9, 0x99},
-{0x71fa, 0x0e},
-{0x71fb, 0x4a},
-{0x71fc, 0xc8},
-{0x71fd, 0x53},
-{0x71fe, 0xa7},
-{0x71ff, 0x00},
-{0x7200, 0xf0},
-{0x7201, 0x59},
-{0x7202, 0x40},
-{0x7203, 0x21},
-{0x7204, 0x8c},
-{0x7205, 0xf6},
-{0x7206, 0x7b},
-{0x7207, 0xf9},
-{0x7208, 0x04},
-{0x7209, 0x99},
-{0x720a, 0x64},
-{0x720b, 0x1c},
-{0x720c, 0xc8},
-{0x720d, 0x51},
-{0x720e, 0x04},
-{0x720f, 0x2c},
-{0x7210, 0xeb},
-{0x7211, 0xd3},
-{0x7212, 0x0f},
-{0x7213, 0xb0},
-{0x7214, 0xf0},
-{0x7215, 0xbd},
-{0x7216, 0x00},
-{0x7217, 0x00},
-{0x7218, 0x76},
-{0x7219, 0x69},
-{0x721a, 0x18},
-{0x721b, 0x00},
-{0x721c, 0xec},
-{0x721d, 0x58},
-{0x721e, 0x18},
-{0x721f, 0x00},
-{0x7220, 0x38},
-{0x7221, 0x36},
-{0x7222, 0x18},
-{0x7223, 0x00},
-{0x7224, 0x00},
-{0x7225, 0x35},
-{0x7226, 0x18},
-{0x7227, 0x00},
-{0x7228, 0x00},
-{0x7229, 0x20},
-{0x722a, 0x18},
-{0x722b, 0x00},
-{0x722c, 0xff},
-{0x722d, 0xff},
-{0x722e, 0xff},
-{0x722f, 0x3f},
-{0x7230, 0xff},
-{0x7231, 0x07},
-{0x7232, 0x00},
-{0x7233, 0x00},
-{0x7234, 0xff},
-{0x7235, 0xff},
-{0x7236, 0x07},
-{0x7237, 0x00},
-{0x7238, 0xff},
-{0x7239, 0x1f},
-{0x723a, 0x00},
-{0x723b, 0x00},
-{0x723c, 0x01},
-{0x723d, 0xf6},
-{0x723e, 0x45},
-{0x723f, 0x12},
-{0x0232, 0x13},
-{0x0233, 0x01},
+  // disable a bunch of errors causing blanking
+  {0x0390, 0x00}, {0x0391, 0x00}, {0x0392, 0x00},
 };
 
 struct i2c_random_wr_payload init_array_ar0231[] = {

From c2939f22a1cf1d588bbd5325279c2818968a5fcc Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Sat, 12 Mar 2022 12:39:50 -0800
Subject: [PATCH 03/13] visible picture

---
 selfdrive/camerad/cameras/camera_qcom2.cc |  8 ++++----
 selfdrive/camerad/cameras/sensor2_i2c.h   | 13 +++++++++----
 2 files changed, 13 insertions(+), 8 deletions(-)

diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index 7e43cf4ee7eda7..1e4e3c8d7020d6 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -302,8 +302,8 @@ void CameraState::sensors_init() {
   power->count = 1;
   power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
   power->power_settings[0].power_seq_type = 0;
-  //power->power_settings[0].config_val_low = 19200000; //Hz
-  power->power_settings[0].config_val_low = 24000000; //Hz
+  power->power_settings[0].config_val_low = 19200000; //Hz
+  //power->power_settings[0].config_val_low = 24000000; //Hz
   power = power_set_wait(power, 10);
 
   // 8,1 is this reset?
@@ -1019,14 +1019,14 @@ void CameraState::set_camera_exposure(float grey_frac) {
   }
   // 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));
 
-  uint16_t analog_gain_reg = 0xFF00 | (new_g << 4) | new_g;
+  /*uint16_t analog_gain_reg = 0xFF00 | (new_g << 4) | new_g;
   struct i2c_random_wr_payload exp_reg_array[] = {
                                                   {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);
+              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 40678745db6566..4f5facaf75defc 100644
--- a/selfdrive/camerad/cameras/sensor2_i2c.h
+++ b/selfdrive/camerad/cameras/sensor2_i2c.h
@@ -4,15 +4,20 @@ 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, 0xb7}, {0x2009, 0x04},  // MODE_VMAX
-  {0x2008, 0xe4}, {0x2009, 0x0c},  // MODE_HMAX
+  {0x2008, 0xb8}, {0x2009, 0x04}, {0x200a, 0x00}, // MODE_VMAX
+  {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)
   {0x3650, 0},  // CU_MODE
 
   // exposure
-  {0x000c, 0x7f}, {0x000d, 0x01},
-  {0x0010, 0x7f}, {0x0011, 0x01},
+  {0x000c, 0x7f}, {0x000d, 0x02},
+  {0x0010, 0x7f}, {0x0011, 0x02},
 
   // analog gain
   {0x0018, 0x64}, {0x0019, 0x00},

From 7ca55546a082a83c4cb82cca67cf67fabfb73483 Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Sat, 12 Mar 2022 13:14:25 -0800
Subject: [PATCH 04/13] pics look good

---
 selfdrive/camerad/cameras/camera_qcom2.cc |  4 ++--
 selfdrive/camerad/cameras/sensor2_i2c.h   | 19 ++++++++++++++++---
 2 files changed, 18 insertions(+), 5 deletions(-)

diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index 1e4e3c8d7020d6..2387e5e8b5be77 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -302,8 +302,8 @@ void CameraState::sensors_init() {
   power->count = 1;
   power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
   power->power_settings[0].power_seq_type = 0;
-  power->power_settings[0].config_val_low = 19200000; //Hz
-  //power->power_settings[0].config_val_low = 24000000; //Hz
+  //power->power_settings[0].config_val_low = 19200000; //Hz
+  power->power_settings[0].config_val_low = 24000000; //Hz
   power = power_set_wait(power, 10);
 
   // 8,1 is this reset?
diff --git a/selfdrive/camerad/cameras/sensor2_i2c.h b/selfdrive/camerad/cameras/sensor2_i2c.h
index 4f5facaf75defc..58f4c2bc1b72a7 100644
--- a/selfdrive/camerad/cameras/sensor2_i2c.h
+++ b/selfdrive/camerad/cameras/sensor2_i2c.h
@@ -4,8 +4,9 @@ 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, 0xb8}, {0x2009, 0x04}, {0x200a, 0x00}, // MODE_VMAX
+  {0x2008, 0xdd}, {0x2009, 0x04}, {0x200a, 0x00}, // MODE_VMAX
   {0x200C, 0xe4}, {0x200D, 0x0c},  // MODE_HMAX
+  //{0x201c, 0x01}, {0x201D, 0x13},
 
   // crop 
   {0x3410, 0x88}, {0x3411, 0x7},     // CROP_H_SIZE
@@ -20,11 +21,23 @@ struct i2c_random_wr_payload init_array_imx390[] = {
   {0x0010, 0x7f}, {0x0011, 0x02},
 
   // analog gain
-  {0x0018, 0x64}, {0x0019, 0x00},
-  {0x001a, 0x0c}, {0x001b, 0x00},
+  //{0x0018, 0x64}, {0x0019, 0x00},
+  //{0x001a, 0x0c}, {0x001b, 0x00},
 
   // 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[] = {

From 3dc5ce71a9499335a47be4b491f72c4c43030f33 Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Sat, 12 Mar 2022 14:05:18 -0800
Subject: [PATCH 05/13] maybe

---
 selfdrive/camerad/cameras/sensor2_i2c.h | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/selfdrive/camerad/cameras/sensor2_i2c.h b/selfdrive/camerad/cameras/sensor2_i2c.h
index 58f4c2bc1b72a7..0ab6bd2aa1e135 100644
--- a/selfdrive/camerad/cameras/sensor2_i2c.h
+++ b/selfdrive/camerad/cameras/sensor2_i2c.h
@@ -8,20 +8,26 @@ struct i2c_random_wr_payload init_array_imx390[] = {
   {0x200C, 0xe4}, {0x200D, 0x0c},  // MODE_HMAX
   //{0x201c, 0x01}, {0x201D, 0x13},
 
+  //{0x201c, 0xf1}, {0x201D, 0x12},
+
   // 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, 0x7f}, {0x000d, 0x02},
   {0x0010, 0x7f}, {0x0011, 0x02},
 
+  // WUXGA mode
+  // not in datasheet, from https://github.com/bogsen/STLinux-Kernel/blob/master/drivers/media/platform/tegra/imx185.c
+
+
   // analog gain
-  //{0x0018, 0x64}, {0x0019, 0x00},
   //{0x001a, 0x0c}, {0x001b, 0x00},
 
   // disable a bunch of errors causing blanking

From 7e598153e9f729527a34d26dde3dfdf19c28f226 Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Tue, 15 Mar 2022 19:16:09 -0700
Subject: [PATCH 06/13] whole sensor

---
 selfdrive/camerad/cameras/sensor2_i2c.h | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/selfdrive/camerad/cameras/sensor2_i2c.h b/selfdrive/camerad/cameras/sensor2_i2c.h
index 0ab6bd2aa1e135..1d557b8e4b8a23 100644
--- a/selfdrive/camerad/cameras/sensor2_i2c.h
+++ b/selfdrive/camerad/cameras/sensor2_i2c.h
@@ -6,9 +6,6 @@ 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
   {0x200C, 0xe4}, {0x200D, 0x0c},  // MODE_HMAX
-  //{0x201c, 0x01}, {0x201D, 0x13},
-
-  //{0x201c, 0xf1}, {0x201D, 0x12},
 
   // crop 
   {0x3410, 0x88}, {0x3411, 0x7},     // CROP_H_SIZE
@@ -25,7 +22,12 @@ struct i2c_random_wr_payload init_array_imx390[] = {
 
   // 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
 
   // analog gain
   //{0x001a, 0x0c}, {0x001b, 0x00},

From 6084b10c7033a1796c7ce2ccbd867e0d1719ce95 Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Tue, 15 Mar 2022 20:26:51 -0700
Subject: [PATCH 07/13] 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},
 

From 488512ef81ef8452df7aa9ca230d38295fd1850e Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Tue, 15 Mar 2022 23:08:38 -0700
Subject: [PATCH 08/13] support both cameras

---
 selfdrive/camerad/cameras/camera_common.h |  3 +-
 selfdrive/camerad/cameras/camera_qcom2.cc | 79 +++++++++++++++--------
 selfdrive/camerad/cameras/camera_qcom2.h  |  6 +-
 selfdrive/camerad/cameras/sensor2_i2c.h   |  6 +-
 4 files changed, 59 insertions(+), 35 deletions(-)

diff --git a/selfdrive/camerad/cameras/camera_common.h b/selfdrive/camerad/cameras/camera_common.h
index d3cdc67b9165a7..7aa1891aac71d5 100644
--- a/selfdrive/camerad/cameras/camera_common.h
+++ b/selfdrive/camerad/cameras/camera_common.h
@@ -25,7 +25,8 @@
 #define CAMERA_ID_LGC920 6
 #define CAMERA_ID_LGC615 7
 #define CAMERA_ID_AR0231 8
-#define CAMERA_ID_MAX 9
+#define CAMERA_ID_IMX390 9
+#define CAMERA_ID_MAX 10
 
 const int UI_BUF_COUNT = 4;
 const int YUV_BUFFER_COUNT = Hardware::EON() ? 100 : 40;
diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index bcf22a33051552..c68cf0cd87a624 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -42,6 +42,14 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
     .bayer_flip = 1,
     .hdr = false
   },
+  [CAMERA_ID_IMX390] = {
+    .frame_width = FRAME_WIDTH,
+    .frame_height = FRAME_HEIGHT,
+    .frame_stride = FRAME_STRIDE,
+    .bayer = true,
+    .bayer_flip = 1,
+    .hdr = false
+  },
 };
 
 const float DC_GAIN = 2.5;
@@ -163,8 +171,15 @@ void clear_req_queue(int fd, int32_t session_hdl, int32_t link_hdl) {
 // ************** high level camera helpers ****************
 
 void CameraState::sensors_start() {
-  int start_reg_len = sizeof(start_reg_array) / sizeof(struct i2c_random_wr_payload);
-  sensors_i2c(start_reg_array, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
+  if (camera_id == CAMERA_ID_AR0231) {
+    int start_reg_len = sizeof(start_reg_array_ar0231) / sizeof(struct i2c_random_wr_payload);
+    sensors_i2c(start_reg_array_ar0231, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true);
+  } else if (camera_id == CAMERA_ID_IMX390) {
+    int start_reg_len = sizeof(start_reg_array_imx390) / sizeof(struct i2c_random_wr_payload);
+    sensors_i2c(start_reg_array_imx390, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
+  } else {
+    assert(false);
+  }
 }
 
 void CameraState::sensors_poke(int request_id) {
@@ -184,7 +199,7 @@ void CameraState::sensors_poke(int request_id) {
   release_fd(multi_cam_state->video0_fd, cam_packet_handle);
 }
 
-void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code) {
+void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) {
   // LOGD("sensors_i2c: %d", len);
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
@@ -202,8 +217,7 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op
   i2c_random_wr->header.count = len;
   i2c_random_wr->header.op_code = 1;
   i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR;
-  //i2c_random_wr->header.data_type = CAMERA_SENSOR_I2C_TYPE_WORD;
-  i2c_random_wr->header.data_type = CAMERA_SENSOR_I2C_TYPE_BYTE;
+  i2c_random_wr->header.data_type = data_word ? CAMERA_SENSOR_I2C_TYPE_WORD : CAMERA_SENSOR_I2C_TYPE_BYTE;
   i2c_random_wr->header.addr_type = CAMERA_SENSOR_I2C_TYPE_WORD;
   memcpy(i2c_random_wr->random_wr_payload, dat, len*sizeof(struct i2c_random_wr_payload));
 
@@ -224,7 +238,7 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
   return (struct cam_cmd_power *)(unconditional_wait + 1);
 };
 
-void CameraState::sensors_init() {
+int CameraState::sensors_init() {
   int video0_fd = multi_cam_state->video0_fd;
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
@@ -243,20 +257,17 @@ void CameraState::sensors_init() {
   switch (camera_num) {
     case 0:
       // port 0
-      //i2c_info->slave_addr = 0x20;
-      i2c_info->slave_addr = 0x34;
+      i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x34;
       probe->camera_id = 0;
       break;
     case 1:
       // port 1
-      //i2c_info->slave_addr = 0x30;
-      i2c_info->slave_addr = 0x36;
+      i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x30 : 0x36;
       probe->camera_id = 1;
       break;
     case 2:
       // port 2
-      //i2c_info->slave_addr = 0x20;
-      i2c_info->slave_addr = 0x34;
+      i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x34;
       probe->camera_id = 2;
       break;
   }
@@ -270,12 +281,15 @@ void CameraState::sensors_init() {
   probe->addr_type = CAMERA_SENSOR_I2C_TYPE_WORD;
   probe->op_code = 3;   // don't care?
   probe->cmd_type = CAMERA_SENSOR_CMD_TYPE_PROBE;
-  // ar0231
-  /*probe->reg_addr = 0x3000;
-  probe->expected_data = 0x354;*/
-  // imx390
-  probe->reg_addr = 0x330;
-  probe->expected_data = 0x1538;
+  if (camera_id == CAMERA_ID_AR0231) {
+    probe->reg_addr = 0x3000;
+    probe->expected_data = 0x354;
+  } else if (camera_id == CAMERA_ID_IMX390) {
+    probe->reg_addr = 0x330;
+    probe->expected_data = 0x1538;
+  } else {
+    assert(false);
+  }
   probe->data_mask = 0;
 
   //buf_desc[1].size = buf_desc[1].length = 148;
@@ -353,7 +367,6 @@ void CameraState::sensors_init() {
 
   LOGD("probing the sensor");
   int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
-  assert(ret == 0);
 
   munmap(i2c_info, buf_desc[0].size);
   release_fd(video0_fd, buf_desc[0].mem_handle);
@@ -361,6 +374,8 @@ void CameraState::sensors_init() {
   release_fd(video0_fd, buf_desc[1].mem_handle);
   munmap(pkt, size);
   release_fd(video0_fd, cam_packet_handle);
+
+  return ret;
 }
 
 void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset) {
@@ -573,9 +588,10 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) {
 
 // ******************* camera *******************
 
-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) {
+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) {
   LOGD("camera init %d", camera_num);
   multi_cam_state = multi_cam_state_;
+  camera_id = camera_id_;
   assert(camera_id < std::size(cameras_supported));
   ci = cameras_supported[camera_id];
   assert(ci.frame_width != 0);
@@ -598,17 +614,24 @@ void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServe
 }
 
 void CameraState::camera_open() {
+  int ret;
   sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num);
   assert(sensor_fd >= 0);
   LOGD("opened sensor for %d", camera_num);
 
   // probe the sensor
   LOGD("-- Probing sensor %d", camera_num);
-  sensors_init();
+  ret = sensors_init();
+  if (ret != 0) {
+    LOGD("AR0231 init failed, trying IMX390");
+    camera_id = CAMERA_ID_IMX390;
+    ret = sensors_init();
+  }
+  assert(ret == 0);
 
   // create session
   struct cam_req_mgr_session_info session_info = {};
-  int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info));
+  ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info));
   LOGD("get session: %d 0x%X", ret, session_info.session_hdl);
   session_handle = session_info.session_hdl;
 
@@ -687,11 +710,13 @@ void CameraState::camera_open() {
   config_isp(0, 0, 1, buf0_handle, 0);
 
   LOG("-- Configuring sensor");
-  sensors_i2c(init_array_imx390, std::size(init_array_imx390), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
-  //sensors_i2c(init_array_ar0231, std::size(init_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
-  //sensors_i2c(start_reg_array, std::size(start_reg_array), CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON);
-  //sensors_i2c(stop_reg_array, std::size(stop_reg_array), CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF);
-
+  if (camera_id == CAMERA_ID_AR0231) {
+    sensors_i2c(init_array_ar0231, std::size(init_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true);
+  } else if (camera_id == CAMERA_ID_IMX390) {
+    sensors_i2c(init_array_imx390, std::size(init_array_imx390), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
+  } else {
+    assert(false);
+  }
 
   // config csiphy
   LOG("-- Config CSI PHY");
diff --git a/selfdrive/camerad/cameras/camera_qcom2.h b/selfdrive/camerad/cameras/camera_qcom2.h
index d021ba256ea6cb..83dca68238aa88 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.h
+++ b/selfdrive/camerad/cameras/camera_qcom2.h
@@ -40,8 +40,8 @@ class CameraState {
 
   void sensors_start();
   void sensors_poke(int request_id);
-  void sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code);
-  void sensors_init();
+  void sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool as_word);
+  int sensors_init();
 
   void camera_open();
   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);
@@ -62,6 +62,7 @@ class CameraState {
   int frame_id_last;
   int idx_offset;
   bool skipped;
+  int camera_id;
 
   CameraBuf buf;
 };
@@ -73,7 +74,6 @@ typedef struct MultiCameraState {
   int device_iommu;
   int cdm_iommu;
 
-
   CameraState road_cam;
   CameraState wide_road_cam;
   CameraState driver_cam;
diff --git a/selfdrive/camerad/cameras/sensor2_i2c.h b/selfdrive/camerad/cameras/sensor2_i2c.h
index f989e6043dcd49..4089115c637784 100644
--- a/selfdrive/camerad/cameras/sensor2_i2c.h
+++ b/selfdrive/camerad/cameras/sensor2_i2c.h
@@ -1,7 +1,5 @@
-/*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[] = {{0x0, 0}};
+struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}};
+struct i2c_random_wr_payload start_reg_array_imx390[] = {{0x0, 0}};
 
 struct i2c_random_wr_payload init_array_imx390[] = {
   {0x2008, 0xd0}, {0x2009, 0x07}, {0x200a, 0x00}, // MODE_VMAX = time between frames

From ae33ceb5af4e5468b178e4166c3bc84ad2e2d063 Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Tue, 15 Mar 2022 23:36:55 -0700
Subject: [PATCH 09/13] autoexposure for imx390

---
 selfdrive/camerad/cameras/camera_qcom2.cc | 31 +++++++++++++++--------
 selfdrive/camerad/cameras/sensor2_i2c.h   |  4 +--
 2 files changed, 23 insertions(+), 12 deletions(-)

diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index c68cf0cd87a624..99ef88d97498c1 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -318,8 +318,7 @@ int CameraState::sensors_init() {
   power->count = 1;
   power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
   power->power_settings[0].power_seq_type = 0;
-  //power->power_settings[0].config_val_low = 19200000; //Hz
-  power->power_settings[0].config_val_low = 24000000; //Hz
+  power->power_settings[0].config_val_low = (camera_id == CAMERA_ID_AR0231) ? 19200000 : 24000000; //Hz
   power = power_set_wait(power, 10);
 
   // 8,1 is this reset?
@@ -1046,14 +1045,26 @@ void CameraState::set_camera_exposure(float grey_frac) {
   }
   // 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));
 
-  /*uint16_t analog_gain_reg = 0xFF00 | (new_g << 4) | new_g;
-  struct i2c_random_wr_payload exp_reg_array[] = {
-                                                  {0x3366, analog_gain_reg},
-                                                  {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)},
-                                                  {0x3012, (uint16_t)exposure_time},
-                                                };*/
-  /*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);*/
+  if (camera_id == CAMERA_ID_AR0231) {
+    uint16_t analog_gain_reg = 0xFF00 | (new_g << 4) | new_g;
+    struct i2c_random_wr_payload exp_reg_array[] = {
+                                                    {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, true);
+  } else if (camera_id == CAMERA_ID_IMX390) {
+    // TODO: is this right?
+    uint32_t real_exposure_time = (exposure_time >= 0x7d0) ? 1 : (0x7d0 - exposure_time);
+    uint32_t real_gain = int(gain/0.3);
+    //printf("%d expose: %d gain: %d\n", camera_num, exposure_time, real_gain);
+    struct i2c_random_wr_payload exp_reg_array[] = {
+      {0x000c, real_exposure_time&0xFF}, {0x000d, real_exposure_time>>8},
+      {0x0010, real_exposure_time&0xFF}, {0x0011, real_exposure_time>>8},
+      {0x0018, real_gain&0xFF}, {0x0019, real_gain>>8},
+    };
+    sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
+  }
 }
 
 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 4089115c637784..29ad09295fc6be 100644
--- a/selfdrive/camerad/cameras/sensor2_i2c.h
+++ b/selfdrive/camerad/cameras/sensor2_i2c.h
@@ -15,8 +15,8 @@ struct i2c_random_wr_payload init_array_imx390[] = {
   {0x3650, 0},  // CU_MODE
 
   // exposure
-  {0x000c, 0x0f}, {0x000d, 0x00},
-  {0x0010, 0x0f}, {0x0011, 0x00},
+  {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

From 4267e99caf2154dc1df91b1f51b3c9b990cacc4c Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Wed, 16 Mar 2022 00:12:52 -0700
Subject: [PATCH 10/13] fix imx390 blacklevel

---
 selfdrive/camerad/cameras/camera_common.cc |  9 ++++++---
 selfdrive/camerad/cameras/real_debayer.cl  | 23 +++++++++++-----------
 2 files changed, 17 insertions(+), 15 deletions(-)

diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc
index 20edab14eaf7ef..0570364ec30805 100644
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/selfdrive/camerad/cameras/camera_common.cc
@@ -52,7 +52,7 @@ class Debayer {
     CL_CHECK(clReleaseProgram(prg_debayer));
   }
 
-  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) {
+  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) {
     CL_CHECK(clSetKernelArg(krnl_, 0, sizeof(cl_mem), &cam_buf_cl));
     CL_CHECK(clSetKernelArg(krnl_, 1, sizeof(cl_mem), &buf_cl));
 
@@ -62,6 +62,7 @@ class Debayer {
       const size_t globalWorkSize[] = {size_t(width), size_t(height)};
       const size_t localWorkSize[] = {debayer_local_worksize, debayer_local_worksize};
       CL_CHECK(clSetKernelArg(krnl_, 2, localMemSize, 0));
+      CL_CHECK(clSetKernelArg(krnl_, 3, sizeof(float), &black_level));
       CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, debayer_event));
     } else {
       if (hdr_) {
@@ -165,13 +166,15 @@ bool CameraBuf::acquire() {
 
   if (debayer) {
     float gain = 0.0;
-
+    float black_level = 42.0;
 #ifndef QCOM2
     gain = camera_state->digital_gain;
     if ((int)gain == 0) gain = 1.0;
+#else
+    if (camera_state->camera_id == CAMERA_ID_IMX390) black_level = 64.0;
 #endif
 
-    debayer->queue(q, camrabuf_cl, cur_rgb_buf->buf_cl, rgb_width, rgb_height, gain, &event);
+    debayer->queue(q, camrabuf_cl, cur_rgb_buf->buf_cl, rgb_width, rgb_height, gain, black_level, &event);
   } else {
     assert(rgb_stride == camera_state->ci.frame_stride);
     CL_CHECK(clEnqueueCopyBuffer(q, camrabuf_cl, cur_rgb_buf->buf_cl, 0, 0, cur_rgb_buf->len, 0, 0, &event));
diff --git a/selfdrive/camerad/cameras/real_debayer.cl b/selfdrive/camerad/cameras/real_debayer.cl
index 4553036ee35646..5bfa2f5feabc26 100644
--- a/selfdrive/camerad/cameras/real_debayer.cl
+++ b/selfdrive/camerad/cameras/real_debayer.cl
@@ -1,7 +1,5 @@
 #pragma OPENCL EXTENSION cl_khr_fp16 : enable
 
-const half black_level = 42.0;
-
 const __constant half3 color_correction[3] = {
   // post wb CCM
   (half3)(1.82717181, -0.31231438, 0.07307673),
@@ -39,7 +37,7 @@ half3 color_correct(half3 rgb) {
   return ret;
 }
 
-half val_from_10(const uchar * source, int gx, int gy) {
+half val_from_10(const uchar * source, int gx, int gy, half black_level) {
   // parse 12bit
   int start = gy * FRAME_STRIDE + (3 * (gx / 2));
   int offset = gx % 2;
@@ -49,7 +47,7 @@ half val_from_10(const uchar * source, int gx, int gy) {
 
   // normalize
   pv = max(0.0h, pv - black_level);
-  pv *= 0.00101833h; // /= (1024.0f - black_level);
+  pv /= (1024.0f - black_level);
 
   // correct vignetting
   if (CAM_NUM == 1) { // fcamera
@@ -89,7 +87,8 @@ half phi(half x) {
 
 __kernel void debayer10(const __global uchar * in,
                         __global uchar * out,
-                        __local half * cached
+                        __local half * cached,
+                        float black_level
                        )
 {
   const int x_global = get_global_id(0);
@@ -102,7 +101,7 @@ __kernel void debayer10(const __global uchar * in,
 
   int out_idx = 3 * x_global + 3 * y_global * RGB_WIDTH;
 
-  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);
     }
   }
 

From 014cd5988734dc9b161325596872868137857803 Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Wed, 16 Mar 2022 10:01:57 -0700
Subject: [PATCH 11/13] touchups

---
 selfdrive/camerad/cameras/camera_qcom2.h | 2 +-
 selfdrive/camerad/cameras/sensor2_i2c.h  | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/camerad/cameras/camera_qcom2.h b/selfdrive/camerad/cameras/camera_qcom2.h
index 83dca68238aa88..ef57a728a382e0 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.h
+++ b/selfdrive/camerad/cameras/camera_qcom2.h
@@ -40,7 +40,7 @@ class CameraState {
 
   void sensors_start();
   void sensors_poke(int request_id);
-  void sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool as_word);
+  void sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word);
   int sensors_init();
 
   void camera_open();
diff --git a/selfdrive/camerad/cameras/sensor2_i2c.h b/selfdrive/camerad/cameras/sensor2_i2c.h
index 29ad09295fc6be..41f7e36cdd7f92 100644
--- a/selfdrive/camerad/cameras/sensor2_i2c.h
+++ b/selfdrive/camerad/cameras/sensor2_i2c.h
@@ -1,5 +1,7 @@
 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

From 13ec65eb0524fe92fc23274c069cc1f59a614e1f Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Wed, 16 Mar 2022 10:20:36 -0700
Subject: [PATCH 12/13] put gain in db scale

---
 selfdrive/camerad/cameras/camera_qcom2.cc | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index 99ef88d97498c1..5686ef6a37ac70 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -1054,10 +1054,11 @@ void CameraState::set_camera_exposure(float grey_frac) {
                                                   };
     sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true);
   } else if (camera_id == CAMERA_ID_IMX390) {
-    // TODO: is this right?
-    uint32_t real_exposure_time = (exposure_time >= 0x7d0) ? 1 : (0x7d0 - exposure_time);
-    uint32_t real_gain = int(gain/0.3);
-    //printf("%d expose: %d gain: %d\n", camera_num, exposure_time, real_gain);
+    // if gain is sub 1, we have to use exposure to mimic sub 1 gains
+    uint32_t real_exposure_time = (gain < 1.0) ? (exposure_time*gain) : exposure_time;
+    real_exposure_time = (exposure_time >= 0x7d0) ? 1 : (0x7d0 - exposure_time);
+    uint32_t real_gain = int((10*log10(fmax(1.0, gain)))/0.3);
+    //printf("%d expose: %d gain: %f = %d\n", camera_num, exposure_time, gain, real_gain);
     struct i2c_random_wr_payload exp_reg_array[] = {
       {0x000c, real_exposure_time&0xFF}, {0x000d, real_exposure_time>>8},
       {0x0010, real_exposure_time&0xFF}, {0x0011, real_exposure_time>>8},

From ebfe0950dca733bb20854ddb5e7544cd4716a981 Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Wed, 16 Mar 2022 10:30:16 -0700
Subject: [PATCH 13/13] inline and fix max exposure

---
 selfdrive/camerad/cameras/camera_qcom2.cc | 3 ++-
 selfdrive/camerad/cameras/real_debayer.cl | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index 5686ef6a37ac70..8b27b94d0f200c 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -1056,7 +1056,8 @@ void CameraState::set_camera_exposure(float grey_frac) {
   } else if (camera_id == CAMERA_ID_IMX390) {
     // if gain is sub 1, we have to use exposure to mimic sub 1 gains
     uint32_t real_exposure_time = (gain < 1.0) ? (exposure_time*gain) : exposure_time;
-    real_exposure_time = (exposure_time >= 0x7d0) ? 1 : (0x7d0 - exposure_time);
+    // invert real_exposure_time, max exposure is 2
+    real_exposure_time = (exposure_time >= 0x7cf) ? 2 : (0x7cf - exposure_time);
     uint32_t real_gain = int((10*log10(fmax(1.0, gain)))/0.3);
     //printf("%d expose: %d gain: %f = %d\n", camera_num, exposure_time, gain, real_gain);
     struct i2c_random_wr_payload exp_reg_array[] = {
diff --git a/selfdrive/camerad/cameras/real_debayer.cl b/selfdrive/camerad/cameras/real_debayer.cl
index 5bfa2f5feabc26..6452e44ebb6b62 100644
--- a/selfdrive/camerad/cameras/real_debayer.cl
+++ b/selfdrive/camerad/cameras/real_debayer.cl
@@ -37,7 +37,7 @@ half3 color_correct(half3 rgb) {
   return ret;
 }
 
-half val_from_10(const uchar * source, int gx, int gy, half black_level) {
+inline half val_from_10(const uchar * source, int gx, int gy, half black_level) {
   // parse 12bit
   int start = gy * FRAME_STRIDE + (3 * (gx / 2));
   int offset = gx % 2;