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media: i2c: update ar0234 EEPROM data structure

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- Integrate calibration data structure from
  Leopard Imaging hawk driver into NVIDIA
  hawk driver
- Rearrange EEPROM calibration data structure to
  maintain backward compatibility with HAWK, OWL
  modules with EEPROMs programmed using earlier
  calibration data structure
- Use separate structures for tracking imu noise
  parameters and place it after the module
  serial number.
- Change module serial number length used for
  reading the serial number from EEPROM data

L4T-4649

Change-Id: I17613905e63fef3fc690dca42a0a10bd1f4fc24d
Signed-off-by: Praveen AC <pac@nvidia.com>
Reviewed-on: https://git-master.nvidia.com/r/c/linux-nv-oot/+/3072846
(cherry picked from commit 518ae94bb4)
Reviewed-on: https://git-master.nvidia.com/r/c/linux-nv-oot/+/3073820
GVS: buildbot_gerritrpt <buildbot_gerritrpt@nvidia.com>
Reviewed-by: Bibek Basu <bbasu@nvidia.com>
This commit is contained in:
Praveen AC
2024-02-08 07:32:04 +00:00
committed by mobile promotions
parent f308807197
commit 8ba7c4a320
2 changed files with 70 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

39
drivers/media/i2c/nv_ar0234.c
View File

@@ -28,6 +28,7 @@
#define MAX_TANGENTIAL_COEFFICIENTS 2
#define MAX_FISHEYE_COEFFICIENTS 6
#define CAMERA_MAX_SN_LENGTH 32
#define LEOP_CAMERA_MAX_SN_LENGTH 10
#define MAX_RLS_COLOR_CHANNELS 4
#define MAX_RLS_BREAKPOINTS 6
@@ -126,7 +127,13 @@ struct camera_extrinsics {
float tx, ty, tz;
};
struct imu_params {
/*
* IMU parameters used by HAWK 1.0. HAWK 1.0 did not have IMU noise model parameters
* in EEPROM. To preserve backward compatibility with HAWK 1.0, the EEPROM data is arranged
* in a certain way which requires tracking the imu noise model parameters in a
* separate structure.
*/
struct imu_params_v1 {
// 3D vector to add to accelerometer readings
float linear_acceleration_bias[3];
// 3D vector to add to gyroscope readings
@@ -135,7 +142,12 @@ struct imu_params {
float gravity_acceleration[3];
// Extrinsic structure for IMU device
struct camera_extrinsics extr;
// Noise model parameters
};
struct imu_params_noise_m {
/*
* Noise model parameters
*/
float update_rate;
float linear_acceleration_noise_density;
float linear_acceleration_random_walk;
@@ -143,6 +155,14 @@ struct imu_params {
float angular_velocity_random_walk;
};
/*
* Combined IMU calibration data structure
*/
struct imu_params_v2 {
struct imu_params_v1 imu_data_v1;
struct imu_params_noise_m nm;
};
struct radial_lsc_params {
// Image height
u16 image_height;
@@ -185,7 +205,7 @@ struct NvCamSyncSensorCalibData {
u8 imu_present;
// Intrinsic structure for IMU
struct imu_params imu;
struct imu_params_v2 imu;
// HAWK module serial number
u8 serial_number[CAMERA_MAX_SN_LENGTH];
@@ -220,10 +240,14 @@ struct LiEeprom_Content_Struct {
/**
* Intrinsic structure for IMU
*/
struct imu_params imu;
struct imu_params_v1 imu;
u8 tmp[16];
// HAWK module serial number
u8 serial_number[CAMERA_MAX_SN_LENGTH];
u8 serial_number[LEOP_CAMERA_MAX_SN_LENGTH];
struct imu_params_noise_m nm;
// Radial Lens Shading Correction parameters
struct radial_lsc_params left_rls;
@@ -677,9 +701,10 @@ static int ar0234_fill_eeprom(struct tegracam_device *tc_dev,
priv->EepromCalib.cam_extr = tmp->cam_extr;
priv->EepromCalib.imu_present = tmp->imu_present;
priv->EepromCalib.imu = tmp->imu;
priv->EepromCalib.imu.imu_data_v1 = tmp->imu;
priv->EepromCalib.imu.nm = tmp->nm;
memcpy(priv->EepromCalib.serial_number, tmp->serial_number,
CAMERA_MAX_SN_LENGTH);
8);
if (priv->sync_sensor_index == 1)
priv->EepromCalib.rls = tmp->left_rls;

45
drivers/media/i2c/nv_hawk_owl.c
View File

@@ -26,6 +26,7 @@
#define MAX_TANGENTIAL_COEFFICIENTS 2
#define MAX_FISHEYE_COEFFICIENTS 6
#define CAMERA_MAX_SN_LENGTH 32
#define LEOP_CAMERA_MAX_SN_LENGTH 10
#define MAX_RLS_COLOR_CHANNELS 4
#define MAX_RLS_BREAKPOINTS 6
#define OWL_CHANNEL 1
@@ -128,6 +129,13 @@ typedef struct
// Translation parameter from one camera to another parameter
float tx, ty, tz;
} camera_extrinsics;
/*
* IMU parameters used by HAWK 1.0. HAWK 1.0 did not have IMU noise model parameters
* in EEPROM. To preserve backward compatibility with HAWK 1.0, the EEPROM data is arranged
* in a certain way which requires tracking the imu noise model parameters in a
* separate structure.
*/
typedef struct
{
// 3D vector to add to accelerometer readings
@@ -138,13 +146,26 @@ typedef struct
float gravity_acceleration[3];
// Extrinsic structure for IMU device
camera_extrinsics extr;
// Noise model parameters
} imu_params_v1;
typedef struct {
/*
* Noise model parameters
*/
float update_rate;
float linear_acceleration_noise_density;
float linear_acceleration_random_walk;
float angular_velocity_noise_density;
float angular_velocity_random_walk;
} imu_params;
} imu_params_noise_m;
/*
* Combined IMU calibration data structure
*/
typedef struct {
imu_params_v1 imu_data_v1;
imu_params_noise_m nm;
} imu_params_v2;
typedef struct {
// Image height
@@ -188,7 +209,7 @@ typedef struct
u8 imu_present;
// Intrinsic structure for IMU
imu_params imu;
imu_params_v2 imu;
// HAWK module serial number
u8 serial_number[CAMERA_MAX_SN_LENGTH];
@@ -196,6 +217,7 @@ typedef struct
// Radial Lens Shading Correction parameters
radial_lsc_params rls;
} NvCamSyncSensorCalibData;
typedef struct
{
/**
@@ -223,15 +245,20 @@ typedef struct
/**
* Intrinsic structure for IMU
*/
imu_params imu;
imu_params_v1 imu;
u8 tmp[16];
// HAWK module serial number
u8 serial_number[CAMERA_MAX_SN_LENGTH];
u8 serial_number[LEOP_CAMERA_MAX_SN_LENGTH];
imu_params_noise_m nm;
// Radial Lens Shading Correction parameters
radial_lsc_params left_rls;
radial_lsc_params right_rls;
} LiEeprom_Content_Struct;
struct ar0234 {
struct camera_common_eeprom_data eeprom[AR0234_EEPROM_NUM_BLOCKS];
u8 eeprom_buf[AR0234_EEPROM_SIZE];
@@ -246,17 +273,20 @@ struct ar0234 {
const char *sensor_name;
NvCamSyncSensorCalibData EepromCalib;
};
static const struct regmap_config sensor_regmap_config = {
.reg_bits = 16,
.val_bits = 16,
.cache_type = REGCACHE_RBTREE,
};
static inline void ar0234_get_coarse_time_regs_shs1(ar0234_reg *regs,
u16 coarse_time)
{
regs->addr = AR0234_COARSE_TIME_SHS1_ADDR;
regs->val = (coarse_time) & 0xffff;
}
static inline void ar0234_get_gain_reg(ar0234_reg *regs,
u16 gain)
{
@@ -764,9 +794,10 @@ static int ar0234_fill_eeprom(struct tegracam_device *tc_dev,
}
priv->EepromCalib.cam_extr = tmp->cam_extr;
priv->EepromCalib.imu_present = tmp->imu_present;
priv->EepromCalib.imu = tmp->imu;
priv->EepromCalib.imu.imu_data_v1 = tmp->imu;
priv->EepromCalib.imu.nm = tmp->nm;
memcpy(priv->EepromCalib.serial_number, tmp->serial_number,
CAMERA_MAX_SN_LENGTH);
8);
if (priv->sync_sensor_index == 1)
priv->EepromCalib.rls = tmp->left_rls;