camerad: support OS04 binning by ISP

system/camerad/cameras/camera_common.cc

@@ -79,9 +79,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
     LOGD("allocated %d CL buffers", frame_buf_count);
   }
 
-  out_img_width = sensor->frame_width;
-  out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
-
   // the encoder HW tells us the size it wants after setting it up.
   // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
   size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride;

system/camerad/cameras/camera_common.h

@@ -40,7 +40,7 @@ class CameraBuf {
   VisionBuf *cur_camera_buf;
   std::unique_ptr<VisionBuf[]> camera_bufs_raw;
   std::unique_ptr<FrameMetadata[]> frame_metadata;
-  int out_img_width, out_img_height;
+  uint32_t out_img_width, out_img_height;
 
   CameraBuf() = default;
   ~CameraBuf();

system/camerad/cameras/camera_qcom2.cc

@@ -73,7 +73,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct
 
   if (!camera.enabled) return;
 
-  fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm;
+  fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm / camera.sensor->out_scale;
   set_exposure_rect();
 
   dc_gain_weight = camera.sensor->dc_gain_min_weight;
@@ -109,10 +109,10 @@ void CameraState::set_exposure_rect() {
   float fl_ref = ae_target.second;
 
   ae_xywh = (Rect){
-    std::max(0, camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::max(0, camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.w), camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.h), camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
+    std::max(0, (int)camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::max(0, (int)camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.w), (int)camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.h), (int)camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
   };
 }
 

system/camerad/cameras/ife.h

@@ -76,7 +76,7 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
 }
 
 
-int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches) {
+int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches, uint32_t out_width, uint32_t out_height) {
   uint8_t *start = dst;
 
   // start with the every frame config
@@ -184,25 +184,25 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
   // TODO: remove this
   dst += write_cont(dst, 0xa3c, {
     0x00000003,
-    ((s->frame_width - 1) << 16) | (s->frame_width - 1),
+    ((out_width - 1) << 16) | (s->frame_width - 1),
     0x30036666,
     0x00000000,
     0x00000000,
     s->frame_width - 1,
-    ((s->frame_height - 1) << 16) | (s->frame_height - 1),
+    ((out_height - 1) << 16) | (s->frame_height - 1),
     0x30036666,
     0x00000000,
     0x00000000,
     s->frame_height - 1,
   });
   dst += write_cont(dst, 0xa68, {
     0x00000003,
-    ((s->frame_width/2 - 1) << 16) | (s->frame_width - 1),
+    ((out_width / 2 - 1) << 16) | (s->frame_width - 1),
     0x3006cccc,
     0x00000000,
     0x00000000,
     s->frame_width - 1,
-    ((s->frame_height/2 - 1) << 16) | (s->frame_height - 1),
+    ((out_height / 2 - 1) << 16) | (s->frame_height - 1),
     0x3006cccc,
     0x00000000,
     0x00000000,
@@ -211,12 +211,12 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
 
   // cropping
   dst += write_cont(dst, 0xe10, {
-    s->frame_height - 1,
-    s->frame_width - 1,
+    out_height - 1,
+    out_width - 1,
   });
   dst += write_cont(dst, 0xe30, {
-    s->frame_height/2 - 1,
-    s->frame_width - 1,
+    out_height / 2 - 1,
+    out_width - 1,
   });
   dst += write_cont(dst, 0xe18, {
     0x0ff00000,

system/camerad/cameras/spectra.cc

@@ -270,18 +270,21 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
 
   if (!enabled) return;
 
+  buf.out_img_width = sensor->frame_width / sensor->out_scale;
+  buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale;
+
   // size is driven by all the HW that handles frames,
   // the video encoder has certain alignment requirements in this case
-  stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width);
-  y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
-  uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
+  stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width);
+  y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
+  uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
   uv_offset = stride*y_height;
   yuv_size = uv_offset + stride*uv_height;
   if (!is_raw) {
     uv_offset = ALIGNED_SIZE(uv_offset, 0x1000);
     yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
   }
-  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width));
+  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width));
   assert(y_height/2 == uv_height);
 
   open = true;
@@ -509,7 +512,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     // stream of IFE register writes
     if (!is_raw) {
       if (init) {
-        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches);
+        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches, buf.out_img_width, buf.out_img_height);
       } else {
         buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches);
       }
@@ -617,14 +620,14 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
       io_cfg[0].mem_handle[0] = buf_handle_yuv[idx];
       io_cfg[0].mem_handle[1] = buf_handle_yuv[idx];
       io_cfg[0].planes[0] = (struct cam_plane_cfg){
-        .width = sensor->frame_width,
-        .height = sensor->frame_height,
+        .width = buf.out_img_width,
+        .height = buf.out_img_height,
         .plane_stride = stride,
         .slice_height = y_height,
       };
       io_cfg[0].planes[1] = (struct cam_plane_cfg){
-        .width = sensor->frame_width,
-        .height = sensor->frame_height/2,
+        .width = buf.out_img_width,
+        .height = buf.out_img_height / 2,
         .plane_stride = stride,
         .slice_height = uv_height,
       };
@@ -847,8 +850,8 @@ void SpectraCamera::configISP() {
     .data[0] = (struct cam_isp_out_port_info){
       .res_type = CAM_ISP_IFE_OUT_RES_FULL,
       .format = CAM_FORMAT_NV12,
-      .width = sensor->frame_width,
-      .height = sensor->frame_height + sensor->extra_height,
+      .width = buf.out_img_width,
+      .height = buf.out_img_height + sensor->extra_height,
       .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
     },
   };
@@ -920,8 +923,8 @@ void SpectraCamera::configICP() {
     },
     .out_res[0] = (struct cam_icp_res_info){
       .format = 0x3,  // YUV420NV12
-      .width = sensor->frame_width,
-      .height = sensor->frame_height,
+      .width = buf.out_img_width,
+      .height = buf.out_img_height,
       .fps = 20,
     },
   };

system/camerad/sensors/os04c10.cc

@@ -23,13 +23,14 @@ const uint32_t os04c10_analog_gains_reg[] = {
 OS04C10::OS04C10() {
   image_sensor = cereal::FrameData::ImageSensor::OS04C10;
   bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG;
-  pixel_size_mm = 0.004;
+  pixel_size_mm = 0.002;
   data_word = false;
 
   // hdr_offset = 64 * 2 + 8; // stagger
-  frame_width = 1344;
-  frame_height = 760; //760 * 2 + hdr_offset;
+  frame_width = 2688;
+  frame_height = 1520; // * 2 + hdr_offset;
   frame_stride = (frame_width * 12 / 8); // no alignment
+  out_scale = 2;
 
   extra_height = 0;
   frame_offset = 0;
@@ -50,7 +51,7 @@ OS04C10::OS04C10() {
   dc_gain_on_grey = 0.9;
   dc_gain_off_grey = 1.0;
   exposure_time_min = 2;
-  exposure_time_max = 1684;
+  exposure_time_max = 2352;
   analog_gain_min_idx = 0x0;
   analog_gain_rec_idx = 0x0;  // 1x
   analog_gain_max_idx = 0x28;

system/camerad/sensors/os04c10_registers.h

@@ -4,7 +4,7 @@ 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
+  // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
   {0x0103, 0x01},
 
   // PLL
@@ -88,8 +88,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37c7, 0xa8},
   {0x37da, 0x11},
   {0x381f, 0x08},
-  // {0x3829, 0x03},
-  // {0x3832, 0x00},
+  {0x3829, 0x03},
   {0x3881, 0x00},
   {0x3888, 0x04},
   {0x388b, 0x00},
@@ -199,7 +198,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x370b, 0x48},
   {0x370c, 0x01},
   {0x370f, 0x00},
-  {0x3714, 0x28},
+  {0x3714, 0x24},
   {0x3716, 0x04},
   {0x3719, 0x11},
   {0x371a, 0x1e},
@@ -231,7 +230,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37bd, 0x01},
   {0x37bf, 0x26},
   {0x37c0, 0x11},
-  {0x37c2, 0x14},
+  {0x37c2, 0x04},
   {0x37cd, 0x19},
   {0x37e0, 0x08},
   {0x37e6, 0x04},
@@ -241,14 +240,14 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37d8, 0x02},
   {0x37e2, 0x10},
   {0x3739, 0x10},
-  {0x3662, 0x08},
+  {0x3662, 0x10},
   {0x37e4, 0x20},
   {0x37e3, 0x08},
-  {0x37d9, 0x04},
+  {0x37d9, 0x08},
   {0x4040, 0x00},
-  {0x4041, 0x03},
-  {0x4008, 0x01},
-  {0x4009, 0x06},
+  {0x4041, 0x07},
+  {0x4008, 0x02},
+  {0x4009, 0x0d},
 
   // FSIN
   {0x3002, 0x22},
@@ -269,20 +268,20 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3802, 0x00}, {0x3803, 0x00},
   {0x3804, 0x0a}, {0x3805, 0x8f},
   {0x3806, 0x05}, {0x3807, 0xff},
-  {0x3808, 0x05}, {0x3809, 0x40},
-  {0x380a, 0x02}, {0x380b, 0xf8},
+  {0x3808, 0x0a}, {0x3809, 0x80},
+  {0x380a, 0x05}, {0x380b, 0xf0},
   {0x3811, 0x08},
   {0x3813, 0x08},
-  {0x3814, 0x03},
+  {0x3814, 0x01},
   {0x3815, 0x01},
-  {0x3816, 0x03},
+  {0x3816, 0x01},
   {0x3817, 0x01},
 
-  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
-  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS
+  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
+  {0x380e, 0x09}, {0x380f, 0x38}, // VTS
 
-  {0x3820, 0xb3},
-  {0x3821, 0x01},
+  {0x3820, 0xb0},
+  {0x3821, 0x00},
   {0x3880, 0x00},
   {0x3882, 0x20},
   {0x3c91, 0x0b},
@@ -304,9 +303,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x4c04, 0x00},
   {0x4c05, 0x00},
   {0x5000, 0xf9},
-  // {0x0100, 0x01},
-  // {0x320d, 0x00},
-  // {0x3208, 0xa0},
+  {0x3822, 0x14},
 
   // initialize exposure
   {0x3503, 0x88},

system/camerad/sensors/sensor.h

@@ -30,6 +30,7 @@ class SensorInfo {
   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;