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Release 260111

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Comma Device
2026-01-11 18:23:29 +08:00
commit 3721ecbf8a
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34
system/camerad/sensors/ar0231_cl.h Normal file
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#if SENSOR_ID == 1
#define VIGNETTE_PROFILE_8DT0MM
#define BIT_DEPTH 12
#define PV_MAX 4096
#define BLACK_LVL 168
float4 normalize_pv(int4 parsed, float vignette_factor) {
float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX - BLACK_LVL);
return clamp(pv*vignette_factor, 0.0, 1.0);
}
float3 color_correct(float3 rgb) {
float3 corrected = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673);
corrected += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455);
corrected += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
return corrected;
}
float3 apply_gamma(float3 rgb, int expo_time) {
// tone mapping params
const float gamma_k = 0.75;
const float gamma_b = 0.125;
const float mp = 0.01; // ideally midpoint should be adaptive
const float rk = 9 - 100*mp;
// poly approximation for s curve
return (rgb > mp) ?
((rk * (rgb-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(rgb-mp))) + gamma_k*mp + gamma_b) :
((rk * (rgb-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(rgb-mp))) + gamma_k*mp + gamma_b);
}
#endif

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system/camerad/sensors/ar0231_registers.h Normal file
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#pragma once
const struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}};
const struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}};
const struct i2c_random_wr_payload init_array_ar0231[] = {
{0x301A, 0x0018}, // RESET_REGISTER
// **NOTE**: if this is changed, readout_time_ns must be updated in the Sensor config
// CLOCK Settings
// input clock is 19.2 / 2 * 0x37 = 528 MHz
// pixclk is 528 / 6 = 88 MHz
// full roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*FRAME_LENGTH_LINES)) = 39.99 ms
// img roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*Y_OUTPUT_CONTROL)) = 22.85 ms
{0x302A, 0x0006}, // VT_PIX_CLK_DIV
{0x302C, 0x0001}, // VT_SYS_CLK_DIV
{0x302E, 0x0002}, // PRE_PLL_CLK_DIV
{0x3030, 0x0037}, // PLL_MULTIPLIER
{0x3036, 0x000C}, // OP_PIX_CLK_DIV
{0x3038, 0x0001}, // OP_SYS_CLK_DIV
// FORMAT
{0x3040, 0xC000}, // READ_MODE
{0x3004, 0x0000}, // X_ADDR_START_
{0x3008, 0x0787}, // X_ADDR_END_
{0x3002, 0x0000}, // Y_ADDR_START_
{0x3006, 0x04B7}, // Y_ADDR_END_
{0x3032, 0x0000}, // SCALING_MODE
{0x30A2, 0x0001}, // X_ODD_INC_
{0x30A6, 0x0001}, // Y_ODD_INC_
{0x3402, 0x0788}, // X_OUTPUT_CONTROL
{0x3404, 0x04B8}, // Y_OUTPUT_CONTROL
{0x3064, 0x1982}, // SMIA_TEST
{0x30BA, 0x11F2}, // DIGITAL_CTRL
// Enable external trigger and disable GPIO outputs
{0x30CE, 0x0120}, // SLAVE_SH_SYNC_MODE | FRAME_START_MODE
{0x340A, 0xE0}, // GPIO3_INPUT_DISABLE | GPIO2_INPUT_DISABLE | GPIO1_INPUT_DISABLE
{0x340C, 0x802}, // GPIO_HIDRV_EN | GPIO0_ISEL=2
// Readout timing
{0x300C, 0x0672}, // LINE_LENGTH_PCK (valid for 3-exposure HDR)
{0x300A, 0x0855}, // FRAME_LENGTH_LINES
{0x3042, 0x0000}, // EXTRA_DELAY
// Readout Settings
{0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI
{0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12
{0x3342, 0x1212}, // MIPI_F1_PDT_EDT
{0x3346, 0x1212}, // MIPI_F2_PDT_EDT
{0x334A, 0x1212}, // MIPI_F3_PDT_EDT
{0x334E, 0x1212}, // MIPI_F4_PDT_EDT
{0x3344, 0x0011}, // MIPI_F1_VDT_VC
{0x3348, 0x0111}, // MIPI_F2_VDT_VC
{0x334C, 0x0211}, // MIPI_F3_VDT_VC
{0x3350, 0x0311}, // MIPI_F4_VDT_VC
{0x31B0, 0x0053}, // FRAME_PREAMBLE
{0x31B2, 0x003B}, // LINE_PREAMBLE
{0x301A, 0x001C}, // RESET_REGISTER
// Noise Corrections
{0x3092, 0x0C24}, // ROW_NOISE_CONTROL
{0x337A, 0x0C80}, // DBLC_SCALE0
{0x3370, 0x03B1}, // DBLC
{0x3044, 0x0400}, // DARK_CONTROL
// Enable temperature sensor
{0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG
{0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG
// Enable dead pixel correction using
// the 1D line correction scheme
{0x31E0, 0x0003},
// HDR Settings
{0x3082, 0x0004}, // OPERATION_MODE_CTRL
{0x3238, 0x0444}, // EXPOSURE_RATIO
{0x1008, 0x0361}, // FINE_INTEGRATION_TIME_MIN
{0x100C, 0x0589}, // FINE_INTEGRATION_TIME2_MIN
{0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN
{0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN
// TODO: do these have to be lower than LINE_LENGTH_PCK?
{0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_
{0x321E, 0x0894}, // FINE_INTEGRATION_TIME2
{0x31D0, 0x0000}, // COMPANDING, no good in 10 bit?
{0x33DA, 0x0000}, // COMPANDING
{0x318E, 0x0200}, // PRE_HDR_GAIN_EN
// DLO Settings
{0x3100, 0x4000}, // DLO_CONTROL0
{0x3280, 0x0CCC}, // T1 G1
{0x3282, 0x0CCC}, // T1 R
{0x3284, 0x0CCC}, // T1 B
{0x3286, 0x0CCC}, // T1 G2
{0x3288, 0x0FA0}, // T2 G1
{0x328A, 0x0FA0}, // T2 R
{0x328C, 0x0FA0}, // T2 B
{0x328E, 0x0FA0}, // T2 G2
// Initial Gains
{0x3022, 0x0001}, // GROUPED_PARAMETER_HOLD_
{0x3366, 0xFF77}, // ANALOG_GAIN (1x)
{0x3060, 0x3333}, // ANALOG_COLOR_GAIN
{0x3362, 0x0000}, // DC GAIN
{0x305A, 0x00F8}, // red gain
{0x3058, 0x0122}, // blue gain
{0x3056, 0x009A}, // g1 gain
{0x305C, 0x009A}, // g2 gain
{0x3022, 0x0000}, // GROUPED_PARAMETER_HOLD_
// Initial Integration Time
{0x3012, 0x0005},
};

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#if SENSOR_ID == 3
#define BGGR
#define VIGNETTE_PROFILE_4DT6MM
#define BIT_DEPTH 12
#define PV_MAX10 1023
#define PV_MAX12 4095
#define PV_MAX16 65536 // gamma curve is calibrated to 16bit
#define BLACK_LVL 48
float combine_dual_pvs(float lv, float sv, int expo_time) {
float svc = fmax(sv * expo_time, (float)(64 * (PV_MAX10 - BLACK_LVL)));
float svd = sv * fmin(expo_time, 8.0) / 8;
if (expo_time > 64) {
if (lv < PV_MAX10 - BLACK_LVL) {
return lv / (PV_MAX16 - BLACK_LVL);
} else {
return (svc / 64) / (PV_MAX16 - BLACK_LVL);
}
} else {
if (lv > 32) {
return (lv * 64 / fmax(expo_time, 8.0)) / (PV_MAX16 - BLACK_LVL);
} else {
return svd / (PV_MAX16 - BLACK_LVL);
}
}
}
float4 normalize_pv_hdr(int4 parsed, int4 short_parsed, float vignette_factor, int expo_time) {
float4 pl = convert_float4(parsed - BLACK_LVL);
float4 ps = convert_float4(short_parsed - BLACK_LVL);
float4 pv;
pv.s0 = combine_dual_pvs(pl.s0, ps.s0, expo_time);
pv.s1 = combine_dual_pvs(pl.s1, ps.s1, expo_time);
pv.s2 = combine_dual_pvs(pl.s2, ps.s2, expo_time);
pv.s3 = combine_dual_pvs(pl.s3, ps.s3, expo_time);
return clamp(pv*vignette_factor, 0.0, 1.0);
}
float4 normalize_pv(int4 parsed, float vignette_factor) {
float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX12 - BLACK_LVL);
return clamp(pv*vignette_factor, 0.0, 1.0);
}
float3 color_correct(float3 rgb) {
float3 corrected = rgb.x * (float3)(1.55361989, -0.268894615, -0.000593219);
corrected += rgb.y * (float3)(-0.421217301, 1.51883144, -0.69760146);
corrected += rgb.z * (float3)(-0.132402589, -0.249936825, 1.69819468);
return corrected;
}
float3 apply_gamma(float3 rgb, int expo_time) {
return (10 * rgb) / (1 + 9 * rgb);
}
#endif

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system/camerad/sensors/os04c10_registers.h Normal file
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#pragma once
const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};
const struct i2c_random_wr_payload init_array_os04c10[] = {
// DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
{0x0103, 0x01},
// PLL
{0x0301, 0xe4},
{0x0303, 0x01},
{0x0305, 0xb6},
{0x0306, 0x01},
{0x0307, 0x17},
{0x0323, 0x04},
{0x0324, 0x01},
{0x0325, 0x62},
{0x3012, 0x06},
{0x3013, 0x02},
{0x3016, 0x72},
{0x3021, 0x03},
{0x3106, 0x21},
{0x3107, 0xa1},
// ?
{0x3624, 0x00},
{0x3625, 0x4c},
{0x3660, 0x04},
{0x3666, 0xa5},
{0x3667, 0xa5},
{0x366a, 0x50},
{0x3673, 0x0d},
{0x3672, 0x0d},
{0x3671, 0x0d},
{0x3670, 0x0d},
{0x3685, 0x00},
{0x3694, 0x0d},
{0x3693, 0x0d},
{0x3692, 0x0d},
{0x3691, 0x0d},
{0x3696, 0x4c},
{0x3697, 0x4c},
{0x3698, 0x00},
{0x3699, 0x80},
{0x369a, 0x80},
{0x369b, 0x1f},
{0x369c, 0x1f},
{0x369d, 0x80},
{0x369e, 0x40},
{0x369f, 0x21},
{0x36a0, 0x12},
{0x36a1, 0xdd},
{0x36a2, 0x66},
{0x370a, 0x02},
{0x370e, 0x00},
{0x3710, 0x00},
{0x3713, 0x04},
{0x3725, 0x02},
{0x372a, 0x03},
{0x3738, 0xce},
{0x3748, 0x02},
{0x374a, 0x02},
{0x374c, 0x02},
{0x374e, 0x02},
{0x3756, 0x00},
{0x3757, 0x00},
{0x3767, 0x00},
{0x3771, 0x00},
{0x377b, 0x28},
{0x377c, 0x00},
{0x377d, 0x0c},
{0x3781, 0x03},
{0x3782, 0x00},
{0x3789, 0x14},
{0x3795, 0x02},
{0x379c, 0x00},
{0x379d, 0x00},
{0x37b8, 0x04},
{0x37ba, 0x03},
{0x37bb, 0x00},
{0x37bc, 0x04},
{0x37be, 0x26},
{0x37c4, 0x11},
{0x37c5, 0x80},
{0x37c6, 0x14},
{0x37c7, 0xa8},
{0x37da, 0x11},
{0x381f, 0x08},
{0x3881, 0x00},
{0x3888, 0x04},
{0x388b, 0x00},
{0x3c80, 0x10},
{0x3c86, 0x00},
{0x3c8c, 0x20},
{0x3c9f, 0x01},
{0x3d85, 0x1b},
{0x3d8c, 0x71},
{0x3d8d, 0xe2},
{0x3f00, 0x0b},
{0x3f06, 0x04},
// BLC
{0x400a, 0x01},
{0x400b, 0x50},
{0x400e, 0x08},
{0x4043, 0x7e},
{0x4045, 0x7e},
{0x4047, 0x7e},
{0x4049, 0x7e},
{0x4090, 0x04},
{0x40b0, 0x00},
{0x40b1, 0x00},
{0x40b2, 0x00},
{0x40b3, 0x00},
{0x40b4, 0x00},
{0x40b5, 0x00},
{0x40b7, 0x00},
{0x40b8, 0x00},
{0x40b9, 0x00},
{0x40ba, 0x01},
{0x4301, 0x00},
{0x4303, 0x00},
{0x4502, 0x04},
{0x4503, 0x00},
{0x4504, 0x06},
{0x4506, 0x00},
{0x4507, 0x47},
{0x4803, 0x00},
{0x480c, 0x32},
{0x480e, 0x04},
{0x4813, 0xe4},
{0x4819, 0x70},
{0x481f, 0x30},
{0x4823, 0x3f},
{0x4825, 0x30},
{0x4833, 0x10},
{0x484b, 0x27},
{0x488b, 0x00},
{0x4d00, 0x04},
{0x4d01, 0xad},
{0x4d02, 0xbc},
{0x4d03, 0xa1},
{0x4d04, 0x1f},
{0x4d05, 0x4c},
{0x4d0b, 0x01},
{0x4e00, 0x2a},
{0x4e0d, 0x00},
// ISP
{0x5001, 0x09},
{0x5004, 0x00},
{0x5080, 0x04},
{0x5036, 0x80},
{0x5180, 0x70},
{0x5181, 0x10},
// DPC
{0x520a, 0x03},
{0x520b, 0x06},
{0x520c, 0x0c},
{0x580b, 0x0f},
{0x580d, 0x00},
{0x580f, 0x00},
{0x5820, 0x00},
{0x5821, 0x00},
{0x301c, 0xf8},
{0x301e, 0xb4},
{0x301f, 0xf0},
{0x3022, 0x61},
{0x3109, 0xe7},
{0x3600, 0x00},
{0x3610, 0x65},
{0x3611, 0x85},
{0x3613, 0x3a},
{0x3615, 0x60},
{0x3621, 0xb0},
{0x3620, 0x0c},
{0x3629, 0x00},
{0x3661, 0x04},
{0x3664, 0x70},
{0x3665, 0x00},
{0x3681, 0x80},
{0x3682, 0x40},
{0x3683, 0x21},
{0x3684, 0x12},
{0x3700, 0x2a},
{0x3701, 0x12},
{0x3703, 0x28},
{0x3704, 0x0e},
{0x3706, 0x9d},
{0x3709, 0x4a},
{0x370b, 0x48},
{0x370c, 0x01},
{0x370f, 0x00},
{0x3714, 0x28},
{0x3716, 0x04},
{0x3719, 0x11},
{0x371a, 0x1e},
{0x3720, 0x00},
{0x3724, 0x13},
{0x373f, 0xb0},
{0x3741, 0x9d},
{0x3743, 0x9d},
{0x3745, 0x9d},
{0x3747, 0x9d},
{0x3749, 0x48},
{0x374b, 0x48},
{0x374d, 0x48},
{0x374f, 0x48},
{0x3755, 0x10},
{0x376c, 0x00},
{0x378d, 0x3c},
{0x3790, 0x01},
{0x3791, 0x01},
{0x3798, 0x40},
{0x379e, 0x00},
{0x379f, 0x04},
{0x37a1, 0x10},
{0x37a2, 0x1e},
{0x37a8, 0x10},
{0x37a9, 0x1e},
{0x37ac, 0xa0},
{0x37b9, 0x01},
{0x37bd, 0x01},
{0x37bf, 0x26},
{0x37c0, 0x11},
{0x37c2, 0x14},
{0x37cd, 0x19},
{0x37e0, 0x08},
{0x37e6, 0x04},
{0x37e5, 0x02},
{0x37e1, 0x0c},
{0x3737, 0x04},
{0x37d8, 0x02},
{0x37e2, 0x10},
{0x3739, 0x10},
{0x3662, 0x08},
{0x37e4, 0x20},
{0x37e3, 0x08},
{0x37d9, 0x04},
{0x4040, 0x00},
{0x4041, 0x03},
{0x4008, 0x01},
{0x4009, 0x06},
// FSIN
{0x3002, 0x22},
{0x3663, 0x22},
{0x368a, 0x04},
{0x3822, 0x44},
{0x3823, 0x00},
{0x3829, 0x03},
{0x3832, 0xf8},
{0x382c, 0x00},
{0x3844, 0x06},
{0x3843, 0x00},
{0x382a, 0x00},
{0x382b, 0x0c},
// 2704x1536 -> 2688x1520 out
{0x3800, 0x00}, {0x3801, 0x00},
{0x3802, 0x00}, {0x3803, 0x00},
{0x3804, 0x0a}, {0x3805, 0x8f},
{0x3806, 0x05}, {0x3807, 0xff},
{0x3808, 0x05}, {0x3809, 0x40},
{0x380a, 0x02}, {0x380b, 0xf8},
{0x3811, 0x08},
{0x3813, 0x08},
{0x3814, 0x03},
{0x3815, 0x01},
{0x3816, 0x03},
{0x3817, 0x01},
{0x380c, 0x0b}, {0x380d, 0xac}, // HTS
{0x380e, 0x06}, {0x380f, 0x9c}, // VTS
{0x3820, 0xb3},
{0x3821, 0x01},
{0x3880, 0x00},
{0x3882, 0x20},
{0x3c91, 0x0b},
{0x3c94, 0x45},
{0x3cad, 0x00},
{0x3cae, 0x00},
{0x4000, 0xf3},
{0x4001, 0x60},
{0x4003, 0x40},
{0x4300, 0xff},
{0x4302, 0x0f},
{0x4305, 0x83},
{0x4505, 0x84},
{0x4809, 0x0e},
{0x480a, 0x04},
{0x4837, 0x15},
{0x4c00, 0x08},
{0x4c01, 0x08},
{0x4c04, 0x00},
{0x4c05, 0x00},
{0x5000, 0xf9},
// {0x0100, 0x01},
// {0x320d, 0x00},
// {0x3208, 0xa0},
// initialize exposure
{0x3503, 0x88},
// long
{0x3500, 0x00}, {0x3501, 0x00}, {0x3502, 0x10},
{0x3508, 0x00}, {0x3509, 0x80},
{0x350a, 0x04}, {0x350b, 0x00},
// short
{0x3510, 0x00}, {0x3511, 0x00}, {0x3512, 0x40},
{0x350c, 0x00}, {0x350d, 0x80},
{0x350e, 0x04}, {0x350f, 0x00},
// wb
// b
{0x5100, 0x06}, {0x5101, 0x7e},
{0x5140, 0x06}, {0x5141, 0x7e},
// g
{0x5102, 0x04}, {0x5103, 0x00},
{0x5142, 0x04}, {0x5143, 0x00},
// r
{0x5104, 0x08}, {0x5105, 0xd6},
{0x5144, 0x08}, {0x5145, 0xd6},
};
const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
// OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
{0x3c8c, 0x40},
{0x3714, 0x24},
{0x37c2, 0x04},
{0x3662, 0x10},
{0x37d9, 0x08},
{0x4041, 0x07},
{0x4008, 0x02},
{0x4009, 0x0d},
{0x3808, 0x0a}, {0x3809, 0x80},
{0x380a, 0x05}, {0x380b, 0xf0},
{0x3814, 0x01},
{0x3816, 0x01},
{0x380c, 0x08}, {0x380d, 0x5c}, // HTS
{0x380e, 0x09}, {0x380f, 0x38}, // VTS
{0x3820, 0xb0},
{0x3821, 0x00},
};

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system/camerad/sensors/ox03c10_cl.h Normal file
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#if SENSOR_ID == 2
#define VIGNETTE_PROFILE_8DT0MM
#define BIT_DEPTH 12
#define BLACK_LVL 64
float ox_lut_func(int x) {
if (x < 512) {
return x * 5.94873e-8;
} else if (512 <= x && x < 768) {
return 3.0458e-05 + (x-512) * 1.19913e-7;
} else if (768 <= x && x < 1536) {
return 6.1154e-05 + (x-768) * 2.38493e-7;
} else if (1536 <= x && x < 1792) {
return 0.0002448 + (x-1536) * 9.56930e-7;
} else if (1792 <= x && x < 2048) {
return 0.00048977 + (x-1792) * 1.91441e-6;
} else if (2048 <= x && x < 2304) {
return 0.00097984 + (x-2048) * 3.82937e-6;
} else if (2304 <= x && x < 2560) {
return 0.0019601 + (x-2304) * 7.659055e-6;
} else if (2560 <= x && x < 2816) {
return 0.0039207 + (x-2560) * 1.525e-5;
} else {
return 0.0078421 + (exp((x-2816)/273.0) - 1) * 0.0092421;
}
}
float4 normalize_pv(int4 parsed, float vignette_factor) {
// PWL
float4 pv = {ox_lut_func(parsed.s0), ox_lut_func(parsed.s1), ox_lut_func(parsed.s2), ox_lut_func(parsed.s3)};
return clamp(pv*vignette_factor*256.0, 0.0, 1.0);
}
float3 color_correct(float3 rgb) {
float3 corrected = rgb.x * (float3)(1.5664815, -0.29808738, -0.03973474);
corrected += rgb.y * (float3)(-0.48672447, 1.41914433, -0.40295248);
corrected += rgb.z * (float3)(-0.07975703, -0.12105695, 1.44268722);
return corrected;
}
float3 apply_gamma(float3 rgb, int expo_time) {
return -0.507089*exp(-12.54124638*rgb) + 0.9655*powr(rgb, 0.5) - 0.472597*rgb + 0.507089;
}
#endif

751
system/camerad/sensors/ox03c10_registers.h Normal file
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@@ -0,0 +1,751 @@
#pragma once
const struct i2c_random_wr_payload start_reg_array_ox03c10[] = {{0x100, 1}};
const struct i2c_random_wr_payload stop_reg_array_ox03c10[] = {{0x100, 0}};
const struct i2c_random_wr_payload init_array_ox03c10[] = {
{0x103, 1},
{0x107, 1},
// X3C_1920x1280_60fps_HDR4_LFR_PWL12_mipi1200
// TPM
{0x4d5a, 0x1a}, {0x4d09, 0xff}, {0x4d09, 0xdf},
/*)
// group 4
{0x3208, 0x04},
{0x4620, 0x04},
{0x3208, 0x14},
// group 5
{0x3208, 0x05},
{0x4620, 0x04},
{0x3208, 0x15},
// group 2
{0x3208, 0x02},
{0x3507, 0x00},
{0x3208, 0x12},
// delay launch group 2
{0x3208, 0xa2},*/
// **NOTE**: if this is changed, readout_time_ns must be updated in the Sensor config
// PLL setup
{0x0301, 0xc8}, // pll1_divs, pll1_predivp, pll1_divpix
{0x0303, 0x01}, // pll1_prediv
{0x0304, 0x01}, {0x0305, 0x2c}, // pll1_loopdiv = 300
{0x0306, 0x04}, // pll1_divmipi = 4
{0x0307, 0x01}, // pll1_divm = 1
{0x0316, 0x00},
{0x0317, 0x00},
{0x0318, 0x00},
{0x0323, 0x05}, // pll2_prediv
{0x0324, 0x01}, {0x0325, 0x2c}, // pll2_divp = 300
// SCLK/PCLK
{0x0400, 0xe0}, {0x0401, 0x80},
{0x0403, 0xde}, {0x0404, 0x34},
{0x0405, 0x3b}, {0x0406, 0xde},
{0x0407, 0x08},
{0x0408, 0xe0}, {0x0409, 0x7f},
{0x040a, 0xde}, {0x040b, 0x34},
{0x040c, 0x47}, {0x040d, 0xd8},
{0x040e, 0x08},
// xchk
{0x2803, 0xfe}, {0x280b, 0x00}, {0x280c, 0x79},
// SC ctrl
{0x3001, 0x03}, // io_pad_oen
{0x3002, 0xfc}, // io_pad_oen
{0x3005, 0x80}, // io_pad_out
{0x3007, 0x01}, // io_pad_sel
{0x3008, 0x80}, // io_pad_sel
// FSIN (frame sync) with external pulses
{0x3009, 0x2},
{0x3015, 0x2},
{0x383E, 0x80},
{0x3881, 0x4},
{0x3882, 0x8}, {0x3883, 0x0D},
{0x3836, 0x1F}, {0x3837, 0x40},
// causes issues on some devices
//{0x3822, 0x33}, // wait for pulse before first frame
{0x3892, 0x44},
{0x3823, 0x41},
{0x3012, 0x41}, // SC_PHY_CTRL = 4 lane MIPI
{0x3020, 0x05}, // SC_CTRL_20
// this is not in the datasheet, listed as RSVD
// but the camera doesn't work without it
{0x3700, 0x28}, {0x3701, 0x15}, {0x3702, 0x19}, {0x3703, 0x23},
{0x3704, 0x0a}, {0x3705, 0x00}, {0x3706, 0x3e}, {0x3707, 0x0d},
{0x3708, 0x50}, {0x3709, 0x5a}, {0x370a, 0x00}, {0x370b, 0x96},
{0x3711, 0x11}, {0x3712, 0x13}, {0x3717, 0x02}, {0x3718, 0x73},
{0x372c, 0x40}, {0x3733, 0x01}, {0x3738, 0x36}, {0x3739, 0x36},
{0x373a, 0x25}, {0x373b, 0x25}, {0x373f, 0x21}, {0x3740, 0x21},
{0x3741, 0x21}, {0x3742, 0x21}, {0x3747, 0x28}, {0x3748, 0x28},
{0x3749, 0x19}, {0x3755, 0x1a}, {0x3756, 0x0a}, {0x3757, 0x1c},
{0x3765, 0x19}, {0x3766, 0x05}, {0x3767, 0x05}, {0x3768, 0x13},
{0x376c, 0x07}, {0x3778, 0x20}, {0x377c, 0xc8}, {0x3781, 0x02},
{0x3783, 0x02}, {0x379c, 0x58}, {0x379e, 0x00}, {0x379f, 0x00},
{0x37a0, 0x00}, {0x37bc, 0x22}, {0x37c0, 0x01}, {0x37c4, 0x3e},
{0x37c5, 0x3e}, {0x37c6, 0x2a}, {0x37c7, 0x28}, {0x37c8, 0x02},
{0x37c9, 0x12}, {0x37cb, 0x29}, {0x37cd, 0x29}, {0x37d2, 0x00},
{0x37d3, 0x73}, {0x37d6, 0x00}, {0x37d7, 0x6b}, {0x37dc, 0x00},
{0x37df, 0x54}, {0x37e2, 0x00}, {0x37e3, 0x00}, {0x37f8, 0x00},
{0x37f9, 0x01}, {0x37fa, 0x00}, {0x37fb, 0x19},
// also RSVD
{0x3c03, 0x01}, {0x3c04, 0x01}, {0x3c06, 0x21}, {0x3c08, 0x01},
{0x3c09, 0x01}, {0x3c0a, 0x01}, {0x3c0b, 0x21}, {0x3c13, 0x21},
{0x3c14, 0x82}, {0x3c16, 0x13}, {0x3c21, 0x00}, {0x3c22, 0xf3},
{0x3c37, 0x12}, {0x3c38, 0x31}, {0x3c3c, 0x00}, {0x3c3d, 0x03},
{0x3c44, 0x16}, {0x3c5c, 0x8a}, {0x3c5f, 0x03}, {0x3c61, 0x80},
{0x3c6f, 0x2b}, {0x3c70, 0x5f}, {0x3c71, 0x2c}, {0x3c72, 0x2c},
{0x3c73, 0x2c}, {0x3c76, 0x12},
// PEC checks
{0x3182, 0x12},
{0x320e, 0x00}, {0x320f, 0x00}, // RSVD
{0x3211, 0x61},
{0x3215, 0xcd},
{0x3219, 0x08},
{0x3506, 0x20}, {0x3507, 0x00}, // hcg fine exposure
{0x350a, 0x01}, {0x350b, 0x00}, {0x350c, 0x00}, // hcg digital gain
{0x3586, 0x40}, {0x3587, 0x00}, // lcg fine exposure
{0x358a, 0x01}, {0x358b, 0x00}, {0x358c, 0x00}, // lcg digital gain
{0x3546, 0x20}, {0x3547, 0x00}, // spd fine exposure
{0x354a, 0x01}, {0x354b, 0x00}, {0x354c, 0x00}, // spd digital gain
{0x35c6, 0xb0}, {0x35c7, 0x00}, // vs fine exposure
{0x35ca, 0x01}, {0x35cb, 0x00}, {0x35cc, 0x00}, // vs digital gain
// also RSVD
{0x3600, 0x8f}, {0x3605, 0x16}, {0x3609, 0xf0}, {0x360a, 0x01},
{0x360e, 0x1d}, {0x360f, 0x10}, {0x3610, 0x70}, {0x3611, 0x3a},
{0x3612, 0x28}, {0x361a, 0x29}, {0x361b, 0x6c}, {0x361c, 0x0b},
{0x361d, 0x00}, {0x361e, 0xfc}, {0x362a, 0x00}, {0x364d, 0x0f},
{0x364e, 0x18}, {0x364f, 0x12}, {0x3653, 0x1c}, {0x3654, 0x00},
{0x3655, 0x1f}, {0x3656, 0x1f}, {0x3657, 0x0c}, {0x3658, 0x0a},
{0x3659, 0x14}, {0x365a, 0x18}, {0x365b, 0x14}, {0x365c, 0x10},
{0x365e, 0x12}, {0x3674, 0x08}, {0x3677, 0x3a}, {0x3678, 0x3a},
{0x3679, 0x19},
// Y_ADDR_START = 4
{0x3802, 0x00}, {0x3803, 0x04},
// Y_ADDR_END = 0x50b
{0x3806, 0x05}, {0x3807, 0x0b},
// X_OUTPUT_SIZE = 0x780 = 1920 (changed to 1928)
{0x3808, 0x07}, {0x3809, 0x88},
// Y_OUTPUT_SIZE = 0x500 = 1280 (changed to 1208)
{0x380a, 0x04}, {0x380b, 0xb8},
// horizontal timing 0x447
{0x380c, 0x04}, {0x380d, 0x47},
// rows per frame (was 0x2ae)
// 0x8ae = 53.65 ms
{0x380e, 0x08}, {0x380f, 0x15},
// this should be triggered by FSIN, not free running
{0x3810, 0x00}, {0x3811, 0x08}, // x cutoff
{0x3812, 0x00}, {0x3813, 0x04}, // y cutoff
{0x3816, 0x01},
{0x3817, 0x01},
{0x381c, 0x18},
{0x381e, 0x01},
{0x381f, 0x01},
// don't mirror, just flip
{0x3820, 0x04},
{0x3821, 0x19},
{0x3832, 0xF0},
{0x3834, 0xF0},
{0x384c, 0x02},
{0x384d, 0x0d},
{0x3850, 0x00},
{0x3851, 0x42},
{0x3852, 0x00},
{0x3853, 0x40},
{0x3858, 0x04},
{0x388c, 0x02},
{0x388d, 0x2b},
// APC
{0x3b40, 0x05}, {0x3b41, 0x40}, {0x3b42, 0x00}, {0x3b43, 0x90},
{0x3b44, 0x00}, {0x3b45, 0x20}, {0x3b46, 0x00}, {0x3b47, 0x20},
{0x3b48, 0x19}, {0x3b49, 0x12}, {0x3b4a, 0x16}, {0x3b4b, 0x2e},
{0x3b4c, 0x00}, {0x3b4d, 0x00},
{0x3b86, 0x00}, {0x3b87, 0x34}, {0x3b88, 0x00}, {0x3b89, 0x08},
{0x3b8a, 0x05}, {0x3b8b, 0x00}, {0x3b8c, 0x07}, {0x3b8d, 0x80},
{0x3b8e, 0x00}, {0x3b8f, 0x00}, {0x3b92, 0x05}, {0x3b93, 0x00},
{0x3b94, 0x07}, {0x3b95, 0x80}, {0x3b9e, 0x09},
// OTP
{0x3d82, 0x73},
{0x3d85, 0x05},
{0x3d8a, 0x03},
{0x3d8b, 0xff},
{0x3d99, 0x00},
{0x3d9a, 0x9f},
{0x3d9b, 0x00},
{0x3d9c, 0xa0},
{0x3da4, 0x00},
{0x3da7, 0x50},
// DTR
{0x420e, 0x6b},
{0x420f, 0x6e},
{0x4210, 0x06},
{0x4211, 0xc1},
{0x421e, 0x02},
{0x421f, 0x45},
{0x4220, 0xe1},
{0x4221, 0x01},
{0x4301, 0xff},
{0x4307, 0x03},
{0x4308, 0x13},
{0x430a, 0x13},
{0x430d, 0x93},
{0x430f, 0x57},
{0x4310, 0x95},
{0x4311, 0x16},
{0x4316, 0x00},
{0x4317, 0x38}, // both embedded rows are enabled
{0x4319, 0x03}, // spd dcg
{0x431a, 0x00}, // 8 bit mipi
{0x431b, 0x00},
{0x431d, 0x2a},
{0x431e, 0x11},
{0x431f, 0x20}, // enable PWL (pwl0_en), 12 bits
//{0x431f, 0x00}, // disable PWL
{0x4320, 0x19},
{0x4323, 0x80},
{0x4324, 0x00},
{0x4503, 0x4e},
{0x4505, 0x00},
{0x4509, 0x00},
{0x450a, 0x00},
{0x4580, 0xf8},
{0x4583, 0x07},
{0x4584, 0x6a},
{0x4585, 0x08},
{0x4586, 0x05},
{0x4587, 0x04},
{0x4588, 0x73},
{0x4589, 0x05},
{0x458a, 0x1f},
{0x458b, 0x02},
{0x458c, 0xdc},
{0x458d, 0x03},
{0x458e, 0x02},
{0x4597, 0x07},
{0x4598, 0x40},
{0x4599, 0x0e},
{0x459a, 0x0e},
{0x459b, 0xfb},
{0x459c, 0xf3},
{0x4602, 0x00},
{0x4603, 0x13},
{0x4604, 0x00},
{0x4609, 0x0a},
{0x460a, 0x30},
{0x4610, 0x00},
{0x4611, 0x70},
{0x4612, 0x01},
{0x4613, 0x00},
{0x4614, 0x00},
{0x4615, 0x70},
{0x4616, 0x01},
{0x4617, 0x00},
{0x4800, 0x04}, // invert output PCLK
{0x480a, 0x22},
{0x4813, 0xe4},
// mipi
{0x4814, 0x2a},
{0x4837, 0x0d},
{0x484b, 0x47},
{0x484f, 0x00},
{0x4887, 0x51},
{0x4d00, 0x4a},
{0x4d01, 0x18},
{0x4d05, 0xff},
{0x4d06, 0x88},
{0x4d08, 0x63},
{0x4d09, 0xdf},
{0x4d15, 0x7d},
{0x4d1a, 0x20},
{0x4d30, 0x0a},
{0x4d31, 0x00},
{0x4d34, 0x7d},
{0x4d3c, 0x7d},
{0x4f00, 0x00},
{0x4f01, 0x00},
{0x4f02, 0x00},
{0x4f03, 0x20},
{0x4f04, 0xe0},
{0x6a00, 0x00},
{0x6a01, 0x20},
{0x6a02, 0x00},
{0x6a03, 0x20},
{0x6a04, 0x02},
{0x6a05, 0x80},
{0x6a06, 0x01},
{0x6a07, 0xe0},
{0x6a08, 0xcf},
{0x6a09, 0x01},
{0x6a0a, 0x40},
{0x6a20, 0x00},
{0x6a21, 0x02},
{0x6a22, 0x00},
{0x6a23, 0x00},
{0x6a24, 0x00},
{0x6a25, 0x00},
{0x6a26, 0x00},
{0x6a27, 0x00},
{0x6a28, 0x00},
// isp
{0x5000, 0x8f},
{0x5001, 0x75},
{0x5002, 0x7f}, // PWL0
//{0x5002, 0x3f}, // PWL disable
{0x5003, 0x7a},
{0x5004, 0x3e},
{0x5005, 0x1e},
{0x5006, 0x1e},
{0x5007, 0x1e},
{0x5008, 0x00},
{0x500c, 0x00},
{0x502c, 0x00},
{0x502e, 0x00},
{0x502f, 0x00},
{0x504b, 0x00},
{0x5053, 0x00},
{0x505b, 0x00},
{0x5063, 0x00},
{0x5070, 0x00},
{0x5074, 0x04},
{0x507a, 0x04},
{0x507b, 0x09},
{0x5500, 0x02},
{0x5700, 0x02},
{0x5900, 0x02},
{0x6007, 0x04},
{0x6008, 0x05},
{0x6009, 0x02},
{0x600b, 0x08},
{0x600c, 0x07},
{0x600d, 0x88},
{0x6016, 0x00},
{0x6027, 0x04},
{0x6028, 0x05},
{0x6029, 0x02},
{0x602b, 0x08},
{0x602c, 0x07},
{0x602d, 0x88},
{0x6047, 0x04},
{0x6048, 0x05},
{0x6049, 0x02},
{0x604b, 0x08},
{0x604c, 0x07},
{0x604d, 0x88},
{0x6067, 0x04},
{0x6068, 0x05},
{0x6069, 0x02},
{0x606b, 0x08},
{0x606c, 0x07},
{0x606d, 0x88},
{0x6087, 0x04},
{0x6088, 0x05},
{0x6089, 0x02},
{0x608b, 0x08},
{0x608c, 0x07},
{0x608d, 0x88},
// 12-bit PWL0
{0x5e00, 0x00},
// m_ndX_exp[0:32]
// 9*2+0xa*3+0xb*2+0xc*2+0xd*2+0xe*2+0xf*2+0x10*2+0x11*2+0x12*4+0x13*3+0x14*3+0x15*3+0x16 = 518
{0x5e01, 0x09},
{0x5e02, 0x09},
{0x5e03, 0x0a},
{0x5e04, 0x0a},
{0x5e05, 0x0a},
{0x5e06, 0x0b},
{0x5e07, 0x0b},
{0x5e08, 0x0c},
{0x5e09, 0x0c},
{0x5e0a, 0x0d},
{0x5e0b, 0x0d},
{0x5e0c, 0x0e},
{0x5e0d, 0x0e},
{0x5e0e, 0x0f},
{0x5e0f, 0x0f},
{0x5e10, 0x10},
{0x5e11, 0x10},
{0x5e12, 0x11},
{0x5e13, 0x11},
{0x5e14, 0x12},
{0x5e15, 0x12},
{0x5e16, 0x12},
{0x5e17, 0x12},
{0x5e18, 0x13},
{0x5e19, 0x13},
{0x5e1a, 0x13},
{0x5e1b, 0x14},
{0x5e1c, 0x14},
{0x5e1d, 0x14},
{0x5e1e, 0x15},
{0x5e1f, 0x15},
{0x5e20, 0x15},
{0x5e21, 0x16},
// m_ndY_val[0:32]
// 0x200+0xff+0x100*3+0x80*12+0x40*16 = 4095
{0x5e22, 0x00}, {0x5e23, 0x02}, {0x5e24, 0x00},
{0x5e25, 0x00}, {0x5e26, 0x00}, {0x5e27, 0xff},
{0x5e28, 0x00}, {0x5e29, 0x01}, {0x5e2a, 0x00},
{0x5e2b, 0x00}, {0x5e2c, 0x01}, {0x5e2d, 0x00},
{0x5e2e, 0x00}, {0x5e2f, 0x01}, {0x5e30, 0x00},
{0x5e31, 0x00}, {0x5e32, 0x00}, {0x5e33, 0x80},
{0x5e34, 0x00}, {0x5e35, 0x00}, {0x5e36, 0x80},
{0x5e37, 0x00}, {0x5e38, 0x00}, {0x5e39, 0x80},
{0x5e3a, 0x00}, {0x5e3b, 0x00}, {0x5e3c, 0x80},
{0x5e3d, 0x00}, {0x5e3e, 0x00}, {0x5e3f, 0x80},
{0x5e40, 0x00}, {0x5e41, 0x00}, {0x5e42, 0x80},
{0x5e43, 0x00}, {0x5e44, 0x00}, {0x5e45, 0x80},
{0x5e46, 0x00}, {0x5e47, 0x00}, {0x5e48, 0x80},
{0x5e49, 0x00}, {0x5e4a, 0x00}, {0x5e4b, 0x80},
{0x5e4c, 0x00}, {0x5e4d, 0x00}, {0x5e4e, 0x80},
{0x5e4f, 0x00}, {0x5e50, 0x00}, {0x5e51, 0x80},
{0x5e52, 0x00}, {0x5e53, 0x00}, {0x5e54, 0x80},
{0x5e55, 0x00}, {0x5e56, 0x00}, {0x5e57, 0x40},
{0x5e58, 0x00}, {0x5e59, 0x00}, {0x5e5a, 0x40},
{0x5e5b, 0x00}, {0x5e5c, 0x00}, {0x5e5d, 0x40},
{0x5e5e, 0x00}, {0x5e5f, 0x00}, {0x5e60, 0x40},
{0x5e61, 0x00}, {0x5e62, 0x00}, {0x5e63, 0x40},
{0x5e64, 0x00}, {0x5e65, 0x00}, {0x5e66, 0x40},
{0x5e67, 0x00}, {0x5e68, 0x00}, {0x5e69, 0x40},
{0x5e6a, 0x00}, {0x5e6b, 0x00}, {0x5e6c, 0x40},
{0x5e6d, 0x00}, {0x5e6e, 0x00}, {0x5e6f, 0x40},
{0x5e70, 0x00}, {0x5e71, 0x00}, {0x5e72, 0x40},
{0x5e73, 0x00}, {0x5e74, 0x00}, {0x5e75, 0x40},
{0x5e76, 0x00}, {0x5e77, 0x00}, {0x5e78, 0x40},
{0x5e79, 0x00}, {0x5e7a, 0x00}, {0x5e7b, 0x40},
{0x5e7c, 0x00}, {0x5e7d, 0x00}, {0x5e7e, 0x40},
{0x5e7f, 0x00}, {0x5e80, 0x00}, {0x5e81, 0x40},
{0x5e82, 0x00}, {0x5e83, 0x00}, {0x5e84, 0x40},
// disable PWL
/*{0x5e01, 0x18}, {0x5e02, 0x00}, {0x5e03, 0x00}, {0x5e04, 0x00},
{0x5e05, 0x00}, {0x5e06, 0x00}, {0x5e07, 0x00}, {0x5e08, 0x00},
{0x5e09, 0x00}, {0x5e0a, 0x00}, {0x5e0b, 0x00}, {0x5e0c, 0x00},
{0x5e0d, 0x00}, {0x5e0e, 0x00}, {0x5e0f, 0x00}, {0x5e10, 0x00},
{0x5e11, 0x00}, {0x5e12, 0x00}, {0x5e13, 0x00}, {0x5e14, 0x00},
{0x5e15, 0x00}, {0x5e16, 0x00}, {0x5e17, 0x00}, {0x5e18, 0x00},
{0x5e19, 0x00}, {0x5e1a, 0x00}, {0x5e1b, 0x00}, {0x5e1c, 0x00},
{0x5e1d, 0x00}, {0x5e1e, 0x00}, {0x5e1f, 0x00}, {0x5e20, 0x00},
{0x5e21, 0x00},
{0x5e22, 0x00}, {0x5e23, 0x0f}, {0x5e24, 0xFF},*/
{0x4001, 0x2b}, // BLC_CTRL_1
{0x4008, 0x02}, {0x4009, 0x03},
{0x4018, 0x12},
{0x4022, 0x40},
{0x4023, 0x20},
// all black level targets are 0x40
{0x4026, 0x00}, {0x4027, 0x40},
{0x4028, 0x00}, {0x4029, 0x40},
{0x402a, 0x00}, {0x402b, 0x40},
{0x402c, 0x00}, {0x402d, 0x40},
{0x407e, 0xcc},
{0x407f, 0x18},
{0x4080, 0xff},
{0x4081, 0xff},
{0x4082, 0x01},
{0x4083, 0x53},
{0x4084, 0x01},
{0x4085, 0x2b},
{0x4086, 0x00},
{0x4087, 0xb3},
{0x4640, 0x40},
{0x4641, 0x11},
{0x4642, 0x0e},
{0x4643, 0xee},
{0x4646, 0x0f},
{0x4648, 0x00},
{0x4649, 0x03},
{0x4f00, 0x00},
{0x4f01, 0x00},
{0x4f02, 0x80},
{0x4f03, 0x2c},
{0x4f04, 0xf8},
{0x4d09, 0xff},
{0x4d09, 0xdf},
{0x5003, 0x7a},
{0x5b80, 0x08},
{0x5c00, 0x08},
{0x5c80, 0x00},
{0x5bbe, 0x12},
{0x5c3e, 0x12},
{0x5cbe, 0x12},
{0x5b8a, 0x80},
{0x5b8b, 0x80},
{0x5b8c, 0x80},
{0x5b8d, 0x80},
{0x5b8e, 0x60},
{0x5b8f, 0x80},
{0x5b90, 0x80},
{0x5b91, 0x80},
{0x5b92, 0x80},
{0x5b93, 0x20},
{0x5b94, 0x80},
{0x5b95, 0x80},
{0x5b96, 0x80},
{0x5b97, 0x20},
{0x5b98, 0x00},
{0x5b99, 0x80},
{0x5b9a, 0x40},
{0x5b9b, 0x20},
{0x5b9c, 0x00},
{0x5b9d, 0x00},
{0x5b9e, 0x80},
{0x5b9f, 0x00},
{0x5ba0, 0x00},
{0x5ba1, 0x00},
{0x5ba2, 0x00},
{0x5ba3, 0x00},
{0x5ba4, 0x00},
{0x5ba5, 0x00},
{0x5ba6, 0x00},
{0x5ba7, 0x00},
{0x5ba8, 0x02},
{0x5ba9, 0x00},
{0x5baa, 0x02},
{0x5bab, 0x76},
{0x5bac, 0x03},
{0x5bad, 0x08},
{0x5bae, 0x00},
{0x5baf, 0x80},
{0x5bb0, 0x00},
{0x5bb1, 0xc0},
{0x5bb2, 0x01},
{0x5bb3, 0x00},
// m_nNormCombineWeight
{0x5c0a, 0x80}, {0x5c0b, 0x80}, {0x5c0c, 0x80}, {0x5c0d, 0x80}, {0x5c0e, 0x60},
{0x5c0f, 0x80}, {0x5c10, 0x80}, {0x5c11, 0x80}, {0x5c12, 0x60}, {0x5c13, 0x20},
{0x5c14, 0x80}, {0x5c15, 0x80}, {0x5c16, 0x80}, {0x5c17, 0x20}, {0x5c18, 0x00},
{0x5c19, 0x80}, {0x5c1a, 0x40}, {0x5c1b, 0x20}, {0x5c1c, 0x00}, {0x5c1d, 0x00},
{0x5c1e, 0x80}, {0x5c1f, 0x00}, {0x5c20, 0x00}, {0x5c21, 0x00}, {0x5c22, 0x00},
{0x5c23, 0x00}, {0x5c24, 0x00}, {0x5c25, 0x00}, {0x5c26, 0x00}, {0x5c27, 0x00},
// m_nCombinThreL
{0x5c28, 0x02}, {0x5c29, 0x00},
{0x5c2a, 0x02}, {0x5c2b, 0x76},
{0x5c2c, 0x03}, {0x5c2d, 0x08},
// m_nCombinThreS
{0x5c2e, 0x00}, {0x5c2f, 0x80},
{0x5c30, 0x00}, {0x5c31, 0xc0},
{0x5c32, 0x01}, {0x5c33, 0x00},
// m_nNormCombineWeight
{0x5c8a, 0x80}, {0x5c8b, 0x80}, {0x5c8c, 0x80}, {0x5c8d, 0x80}, {0x5c8e, 0x80},
{0x5c8f, 0x80}, {0x5c90, 0x80}, {0x5c91, 0x80}, {0x5c92, 0x80}, {0x5c93, 0x60},
{0x5c94, 0x80}, {0x5c95, 0x80}, {0x5c96, 0x80}, {0x5c97, 0x60}, {0x5c98, 0x40},
{0x5c99, 0x80}, {0x5c9a, 0x80}, {0x5c9b, 0x80}, {0x5c9c, 0x40}, {0x5c9d, 0x00},
{0x5c9e, 0x80}, {0x5c9f, 0x80}, {0x5ca0, 0x80}, {0x5ca1, 0x20}, {0x5ca2, 0x00},
{0x5ca3, 0x80}, {0x5ca4, 0x80}, {0x5ca5, 0x00}, {0x5ca6, 0x00}, {0x5ca7, 0x00},
{0x5ca8, 0x01}, {0x5ca9, 0x00},
{0x5caa, 0x02}, {0x5cab, 0x00},
{0x5cac, 0x03}, {0x5cad, 0x08},
{0x5cae, 0x01}, {0x5caf, 0x00},
{0x5cb0, 0x02}, {0x5cb1, 0x00},
{0x5cb2, 0x03}, {0x5cb3, 0x08},
// combine ISP
{0x5be7, 0x80},
{0x5bc9, 0x80},
{0x5bca, 0x80},
{0x5bcb, 0x80},
{0x5bcc, 0x80},
{0x5bcd, 0x80},
{0x5bce, 0x80},
{0x5bcf, 0x80},
{0x5bd0, 0x80},
{0x5bd1, 0x80},
{0x5bd2, 0x20},
{0x5bd3, 0x80},
{0x5bd4, 0x40},
{0x5bd5, 0x20},
{0x5bd6, 0x00},
{0x5bd7, 0x00},
{0x5bd8, 0x00},
{0x5bd9, 0x00},
{0x5bda, 0x00},
{0x5bdb, 0x00},
{0x5bdc, 0x00},
{0x5bdd, 0x00},
{0x5bde, 0x00},
{0x5bdf, 0x00},
{0x5be0, 0x00},
{0x5be1, 0x00},
{0x5be2, 0x00},
{0x5be3, 0x00},
{0x5be4, 0x00},
{0x5be5, 0x00},
{0x5be6, 0x00},
// m_nSPDCombineWeight
{0x5c49, 0x80}, {0x5c4a, 0x80}, {0x5c4b, 0x80}, {0x5c4c, 0x80}, {0x5c4d, 0x40},
{0x5c4e, 0x80}, {0x5c4f, 0x80}, {0x5c50, 0x80}, {0x5c51, 0x60}, {0x5c52, 0x20},
{0x5c53, 0x80}, {0x5c54, 0x80}, {0x5c55, 0x80}, {0x5c56, 0x20}, {0x5c57, 0x00},
{0x5c58, 0x80}, {0x5c59, 0x40}, {0x5c5a, 0x20}, {0x5c5b, 0x00}, {0x5c5c, 0x00},
{0x5c5d, 0x80}, {0x5c5e, 0x00}, {0x5c5f, 0x00}, {0x5c60, 0x00}, {0x5c61, 0x00},
{0x5c62, 0x00}, {0x5c63, 0x00}, {0x5c64, 0x00}, {0x5c65, 0x00}, {0x5c66, 0x00},
// m_nSPDCombineWeight
{0x5cc9, 0x80}, {0x5cca, 0x80}, {0x5ccb, 0x80}, {0x5ccc, 0x80}, {0x5ccd, 0x80},
{0x5cce, 0x80}, {0x5ccf, 0x80}, {0x5cd0, 0x80}, {0x5cd1, 0x80}, {0x5cd2, 0x60},
{0x5cd3, 0x80}, {0x5cd4, 0x80}, {0x5cd5, 0x80}, {0x5cd6, 0x60}, {0x5cd7, 0x40},
{0x5cd8, 0x80}, {0x5cd9, 0x80}, {0x5cda, 0x80}, {0x5cdb, 0x40}, {0x5cdc, 0x20},
{0x5cdd, 0x80}, {0x5cde, 0x80}, {0x5cdf, 0x80}, {0x5ce0, 0x20}, {0x5ce1, 0x00},
{0x5ce2, 0x80}, {0x5ce3, 0x80}, {0x5ce4, 0x80}, {0x5ce5, 0x00}, {0x5ce6, 0x00},
{0x5d74, 0x01},
{0x5d75, 0x00},
{0x5d1f, 0x81},
{0x5d11, 0x00},
{0x5d12, 0x10},
{0x5d13, 0x10},
{0x5d15, 0x05},
{0x5d16, 0x05},
{0x5d17, 0x05},
{0x5d08, 0x03},
{0x5d09, 0xb6},
{0x5d0a, 0x03},
{0x5d0b, 0xb6},
{0x5d18, 0x03},
{0x5d19, 0xb6},
{0x5d62, 0x01},
{0x5d40, 0x02},
{0x5d41, 0x01},
{0x5d63, 0x1f},
{0x5d64, 0x00},
{0x5d65, 0x80},
{0x5d56, 0x00},
{0x5d57, 0x20},
{0x5d58, 0x00},
{0x5d59, 0x20},
{0x5d5a, 0x00},
{0x5d5b, 0x0c},
{0x5d5c, 0x02},
{0x5d5d, 0x40},
{0x5d5e, 0x02},
{0x5d5f, 0x40},
{0x5d60, 0x03},
{0x5d61, 0x40},
{0x5d4a, 0x02},
{0x5d4b, 0x40},
{0x5d4c, 0x02},
{0x5d4d, 0x40},
{0x5d4e, 0x02},
{0x5d4f, 0x40},
{0x5d50, 0x18},
{0x5d51, 0x80},
{0x5d52, 0x18},
{0x5d53, 0x80},
{0x5d54, 0x18},
{0x5d55, 0x80},
{0x5d46, 0x20},
{0x5d47, 0x00},
{0x5d48, 0x22},
{0x5d49, 0x00},
{0x5d42, 0x20},
{0x5d43, 0x00},
{0x5d44, 0x22},
{0x5d45, 0x00},
{0x5004, 0x1e},
{0x4221, 0x03}, // this is changed from 1 -> 3
// DCG exposure coarse
// {0x3501, 0x01}, {0x3502, 0xc8},
// SPD exposure coarse
// {0x3541, 0x01}, {0x3542, 0xc8},
// VS exposure coarse
// {0x35c1, 0x00}, {0x35c2, 0x01},
// crc reference
{0x420e, 0x66}, {0x420f, 0x5d}, {0x4210, 0xa8}, {0x4211, 0x55},
// crc stat check
{0x507a, 0x5f}, {0x507b, 0x46},
// watchdog control
{0x4f00, 0x00}, {0x4f01, 0x01}, {0x4f02, 0x80}, {0x4f04, 0x2c},
// color balance gains
// blue
{0x5280, 0x06}, {0x5281, 0xCB}, // hcg
{0x5480, 0x06}, {0x5481, 0xCB}, // lcg
{0x5680, 0x06}, {0x5681, 0xCB}, // spd
{0x5880, 0x06}, {0x5881, 0xCB}, // vs
// green(blue)
{0x5282, 0x04}, {0x5283, 0x00},
{0x5482, 0x04}, {0x5483, 0x00},
{0x5682, 0x04}, {0x5683, 0x00},
{0x5882, 0x04}, {0x5883, 0x00},
// green(red)
{0x5284, 0x04}, {0x5285, 0x00},
{0x5484, 0x04}, {0x5485, 0x00},
{0x5684, 0x04}, {0x5685, 0x00},
{0x5884, 0x04}, {0x5885, 0x00},
// red
{0x5286, 0x08}, {0x5287, 0xDE},
{0x5486, 0x08}, {0x5487, 0xDE},
{0x5686, 0x08}, {0x5687, 0xDE},
{0x5886, 0x08}, {0x5887, 0xDE},
// fixed gains
{0x3588, 0x01}, {0x3589, 0x00},
{0x35c8, 0x01}, {0x35c9, 0x00},
{0x3548, 0x0F}, {0x3549, 0x00},
{0x35c1, 0x00},
};

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system/camerad/sensors/sensor.h Normal file
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#pragma once
#include <cassert>
#include <cstdint>
#include <map>
#include <utility>
#include <vector>
#include "media/cam_isp.h"
#include "media/cam_sensor.h"
#include "cereal/gen/cpp/log.capnp.h"
#include "system/camerad/sensors/ar0231_registers.h"
#include "system/camerad/sensors/ox03c10_registers.h"
#include "system/camerad/sensors/os04c10_registers.h"
#define ANALOG_GAIN_MAX_CNT 55
class SensorInfo {
public:
SensorInfo() = default;
virtual std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { return {}; }
virtual float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {return 0; }
virtual int getSlaveAddress(int port) const { assert(0); }
cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN;
float pixel_size_mm;
uint32_t frame_width, frame_height;
uint32_t frame_stride;
uint32_t frame_offset = 0;
uint32_t extra_height = 0;
int out_scale = 1;
int registers_offset = -1;
int stats_offset = -1;
int hdr_offset = -1;
int exposure_time_min;
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 ev_scale = 1.0;
float sensor_analog_gains[ANALOG_GAIN_MAX_CNT];
int analog_gain_min_idx;
int analog_gain_max_idx;
int analog_gain_rec_idx;
int analog_gain_cost_delta;
float analog_gain_cost_low;
float analog_gain_cost_high;
float target_grey_factor;
float min_ev;
float max_ev;
bool data_word;
uint32_t probe_reg_addr;
uint32_t probe_expected_data;
std::vector<i2c_random_wr_payload> start_reg_array;
std::vector<i2c_random_wr_payload> init_reg_array;
uint32_t bits_per_pixel;
uint32_t bayer_pattern;
uint32_t mipi_format;
uint32_t mclk_frequency;
uint32_t frame_data_type;
uint32_t readout_time_ns; // used to recover EOF from SOF
// ISP image processing params
uint32_t black_level;
std::vector<uint32_t> color_correct_matrix; // 3x3
std::vector<uint32_t> gamma_lut_rgb; // gamma LUTs are length 64 * sizeof(uint32_t); same for r/g/b here
void prepare_gamma_lut() {
for (int i = 0; i < 64; i++) {
gamma_lut_rgb[i] |= ((uint32_t)(gamma_lut_rgb[i+1] - gamma_lut_rgb[i]) << 10);
}
gamma_lut_rgb.pop_back();
}
std::vector<uint32_t> linearization_lut; // length 36
std::vector<uint32_t> linearization_pts; // length 4
std::vector<uint32_t> vignetting_lut; // length 221
const int num() const {
return static_cast<int>(image_sensor);
};
};
class AR0231 : public SensorInfo {
public:
AR0231();
std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
int getSlaveAddress(int port) const override;
private:
mutable std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
};
class OX03C10 : public SensorInfo {
public:
OX03C10();
std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
int getSlaveAddress(int port) const override;
};
class OS04C10 : public SensorInfo {
public:
OS04C10();
void ife_downscale_configure();
std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
int getSlaveAddress(int port) const override;
};