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camerad: move AR0231 functions to camera_ar0231.cc (commaai#30635)
* move AR0231 functions to camera_ar0231.cc * move to sensors/aro231.cc
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,98 @@ | ||
| #include <cassert> | ||
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| #include "system/camerad/cameras/camera_common.h" | ||
| #include "system/camerad/cameras/camera_qcom2.h" | ||
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| namespace { | ||
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| std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c, uint8_t *data) { | ||
| // This function builds a lookup table from register address, to a pair of indices in the | ||
| // buffer where to read this address. The buffer contains padding bytes, | ||
| // as well as markers to indicate the type of the next byte. | ||
| // | ||
| // 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address. | ||
| // Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional | ||
| // for contiguous ranges. See page 27-29 of the AR0231 Developer guide for more information. | ||
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| int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3}; | ||
| auto get_next_idx = [](int cur_idx) { | ||
| return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1; // Every third byte is padding | ||
| }; | ||
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| std::map<uint16_t, std::pair<int, int>> registers; | ||
| for (int register_row = 0; register_row < 2; register_row++) { | ||
| uint8_t *registers_raw = data + c->ci.frame_stride * register_row; | ||
| assert(registers_raw[0] == 0x0a); // Start of line | ||
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| int value_tag_count = 0; | ||
| int first_val_idx = 0; | ||
| uint16_t cur_addr = 0; | ||
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| for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) { | ||
| int val_idx = get_next_idx(i); | ||
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| uint8_t tag = registers_raw[i]; | ||
| uint16_t val = registers_raw[val_idx]; | ||
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| if (tag == 0xAA) { // Register MSB tag | ||
| cur_addr = val << 8; | ||
| } else if (tag == 0xA5) { // Register LSB tag | ||
| cur_addr |= val; | ||
| cur_addr -= 2; // Next value tag will increment address again | ||
| } else if (tag == 0x5A) { // Value tag | ||
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| // First tag | ||
| if (value_tag_count % 2 == 0) { | ||
| cur_addr += 2; | ||
| first_val_idx = val_idx; | ||
| } else { | ||
| registers[cur_addr] = std::make_pair(first_val_idx + c->ci.frame_stride * register_row, val_idx + c->ci.frame_stride * register_row); | ||
| } | ||
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| value_tag_count++; | ||
| } | ||
| } | ||
| } | ||
| return registers; | ||
| } | ||
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| std::map<uint16_t, uint16_t> ar0231_parse_registers(CameraState *c, uint8_t *data, std::initializer_list<uint16_t> addrs) { | ||
| if (c->ar0231_register_lut.empty()) { | ||
| c->ar0231_register_lut = ar0231_build_register_lut(c, data); | ||
| } | ||
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| std::map<uint16_t, uint16_t> registers; | ||
| for (uint16_t addr : addrs) { | ||
| auto offset = c->ar0231_register_lut[addr]; | ||
| registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second]; | ||
| } | ||
| return registers; | ||
| } | ||
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| float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) { | ||
| // See AR0231 Developer Guide - page 36 | ||
| float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2); | ||
| float t0 = 55.0 - slope * (float)calib2; | ||
| return t0 + slope * (float)data_reg; | ||
| } | ||
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| } // namespace | ||
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| void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal::FrameData::Builder &framed) { | ||
| const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55}; | ||
| uint8_t *data = (uint8_t *)c->buf.cur_camera_buf->addr + c->ci.registers_offset; | ||
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| if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) { | ||
| LOGE("unexpected register data found"); | ||
| return; | ||
| } | ||
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| auto registers = ar0231_parse_registers(c, data, {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc}); | ||
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| uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002]; | ||
| framed.setFrameIdSensor(frame_id); | ||
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| float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]); | ||
| float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]); | ||
| framed.setTemperaturesC({temp_0, temp_1}); | ||
| } |