setup common regs

commaai · Feb 8, 2025 · cca0c1c · cca0c1c
1 parent 1b57e66
commit cca0c1c
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Showing 2 changed files with 40 additions and 31 deletions.
diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h
@@ -5,6 +5,38 @@
 #include "system/camerad/cameras/tici.h"
 #include "system/camerad/sensors/sensor.h"
 
+int build_common_ife_bps(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches, int camera_num, bool ife) {
+  uint8_t *start = dst;
+
+  /*
+    Common between IFE and BPS.
+  */
+
+  // IFE -> BPS addresses
+  /*
+  std::map<uint32_t, uint32_t> addrs = {
+    {0xf30, 0x3468},
+  };
+  */
+
+  // YUV
+  dst += write_cont(dst, ife ? 0xf30 : 0x3468, {
+    0x00680208,
+    0x00000108,
+    0x00400000,
+    0x03ff0000,
+    0x01c01ed8,
+    0x00001f68,
+    0x02000000,
+    0x03ff0000,
+    0x1fb81e88,
+    0x000001c0,
+    0x02000000,
+    0x03ff0000,
+  });
+
+  return dst - start;
+}
 
 int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches, int camera_num) {
   uint8_t *start = dst;
@@ -164,22 +196,6 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
   dst += write_dmi(dst, &addr, s->gamma_lut_rgb.size()*sizeof(uint32_t), 0xc24, 30);  // R
   patches.push_back(addr - (uint64_t)start);
 
-  // YUV
-  dst += write_cont(dst, 0xf30, {
-    0x00680208,
-    0x00000108,
-    0x00400000,
-    0x03ff0000,
-    0x01c01ed8,
-    0x00001f68,
-    0x02000000,
-    0x03ff0000,
-    0x1fb81e88,
-    0x000001c0,
-    0x02000000,
-    0x03ff0000,
-  });
-
   // TODO: remove this
   dst += write_cont(dst, 0xa3c, {
     0x00000003,
@@ -226,6 +242,8 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
     0x00000017,
   });
 
+  dst += build_common_ife_bps(dst, s, patches, camera_num, true);
+
   return dst - start;
 }
 

diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
@@ -558,21 +558,12 @@ void SpectraCamera::config_bps(int idx, int request_id) {
       0x00800066,
     });
 
-    // YUV color xform
-    cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x3468, {
-      0x00680208,
-      0x00000108,
-      0x00400000,
-      0x03ff0000,
-      0x01c01ed8,
-      0x00001f68,
-      0x02000000,
-      0x03ff0000,
-      0x1fb81e88,
-      0x000001c0,
-      0x02000000,
-      0x03ff0000,
-    });
+    // YUV
+    std::vector<uint32_t> patches;
+    cdm_len += build_common_ife_bps((unsigned char *)bps_cdm_program_array.ptr + cdm_len, sensor.get(), patches, cc.camera_num, false);
+
+    // TODO: handle patches
+    assert(patches.size() == 0);
 
     pa->length = cdm_len - 1;