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GNU GENERAL PUBLIC LICENSE
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How to Apply These Terms to Your New Programs
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<http://www.gnu.org/philosophy/why-not-lgpl.html>.
README.md 0 → 100644
View file @ 99b601c4
# elphel-apps-autoexposure
run_bitbake.sh 0 → 100755
View file @ 99b601c4
#!/bin/bash
args="$@"
while (( "$#" )); do
shift
done
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
echo "Launching bitbake $args"
cd $DIR/../../poky
. ./oe-init-build-env
bitbake $args | sed -u 's@| @@'
exit 0
src/Makefile 0 → 100644
View file @ 99b601c4
AXIS_USABLE_LIBS = UCLIBC GLIBC
AXIS_AUTO_DEPEND = yes
include $(AXIS_TOP_DIR)/tools/build/Rules.axis
#include ".depend"
INSTDIR = $(prefix)/usr/local/sbin/
CONFDIR = $(prefix)/etc/
INSTMODE = 0755
INSTOTHER = 0644
INSTOWNER = root
INSTGROUP = root
INCDIR = $(prefix)/include
PROGS = autoexposure temperature
SRCS = autoexposure.c globalsinit.c aexp_utils.c aexp_corr.c white_balance.c hdr_control.c temperature.c
OBJS = autoexposure.o globalsinit.o aexp_utils.o aexp_corr.o white_balance.o hdr_control.o temperature.o
CFLAGS += -Wall -I$(INCDIR) -I$(AXIS_KERNEL_DIR)/include
#CFLAGS += -Wall -I$(INCDIR) -I$(AXIS_KERNEL_DIR)/include -save-temps -dA -dP
all: $(PROGS)
autoexposure: autoexposure.o globalsinit.o aexp_utils.o aexp_corr.o white_balance.o hdr_control.o
$(CC) $(LDFLAGS) $^ $(LDLIBS) -o $@
cris-strip -s $@
temperature: temperature.o
$(CC) $(LDFLAGS) $^ $(LDLIBS) -o $@
cris-strip -s $@
install: $(PROGS)
$(INSTALL) -d $(INSTDIR)
$(INSTALL) -m $(INSTMODE) -o $(INSTOWNER) -g $(INSTGROUP) $(PROGS) $(INSTDIR)
clean:
rm -rf $(PROGS) *.o core
configsubs:
src/aexp_corr.c 0 → 100644
View file @ 99b601c4
/*!***************************************************************************
*! FILE NAME : aexp_corr.c
*! DESCRIPTION: Autoexposure part of the autoexposure/white balance/hdr daemon
*! Copyright (C) 2008 Elphel, Inc.
*! -----------------------------------------------------------------------------**
*! This program is free software: you can redistribute it and/or modify
*! it under the terms of the GNU General Public License as published by
*! the Free Software Foundation, either version 3 of the License, or
*! (at your option) any later version.
*!
*! This program is distributed in the hope that it will be useful,
*! but WITHOUT ANY WARRANTY; without even the implied warranty of
*! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
*! GNU General Public License for more details.
*!
*! You should have received a copy of the GNU General Public License
*! along with this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*!
*! $Log: aexp_corr.c,v $
*! Revision 1.9 2010/12/16 16:52:15 elphel
*! working on HDR autoexposure
*!
*! Revision 1.8 2010/12/15 16:46:44 elphel
*! autoexposure correction: hdr synchronization
*!
*! Revision 1.7 2009/03/14 05:49:41 elphel
*! Fixed autoexposure getting stuck at minimal (one scan line)
*!
*! Revision 1.6 2008/12/14 07:32:54 elphel
*! Monitoring image width (VIRT_WIDTH) and making autoexposure to use absolute time units (usec) instead of native lines when the width changes
*!
*! Revision 1.5 2008/12/10 02:10:48 elphel
*! Added no-correction zone,
*! so integrated error less than half threshold will not cause any correction, from 0.5 to 1.5 threshold - correction will be scaled, above 1.5 - full correction applied.
*! In the case correction is scaled, only portion of integrated error is removed after correction.
*!
*! Revision 1.4 2008/12/04 02:24:08 elphel
*! Added maximal exposure time conversion from usec to lines
*!
*! Revision 1.3 2008/12/02 00:28:13 elphel
*! multiple bugfixes, making white balance to work and work with camvc
*!
*! Revision 1.2 2008/12/01 02:32:48 elphel
*! Updated white balance to use new gains
*!
*! Revision 1.1.1.1 2008/11/27 20:04:01 elphel
*!
*!
*! Revision 1.2 2008/11/18 19:30:16 elphel
*! Added initialization of the "next" frame - otherwise it wait _very_ long if the camera frame number is reset
*!
*! Revision 1.1 2008/11/15 23:08:24 elphel
*! 8.0.alpha17 - split autoexposure source file
*!
*!
*/
#include "autoexposure.h"
void initAexpCorr(void) {
GLOBALPARS(G_NEXT_AE_FRAME)=0; ///NOTE - autoexposure was stuck for a hours when I tried resetting frame number...
}
/**
* @brief Single autoexposure correction step
* autoexposure parameters are used for the target frame, not for the currenly processed
* @param color color number to process - normally COLOR_Y_NUMBER
* @param frame "current" frame, histograms are ready for frame-1
* @param target_frame frame, to which new exposure should be applied (that frame picture will change brightness)
* caller should take care of not bumping into HDR frame
* @return <0 - error, 0 - no correction was made, 1 - correction to [P_VEXPOS] was made
*/
///P_AUTOEXP_OVEREXP_MAX - temporary
/// TODO: if there were no new histograms - just skip to the next frame
/// TODO: Add errors until they are above threshold (simplified logariphm)?
/// TODO: Add non-linear function to expand near-saturation area (and then experiment with such a function)
/// TODO: Don't correct colors when large exposure changes were made
/// TODO: fix exposure when the green is not the highest. Or is it a problem with white balance, not the AE? AE - when gain as above ~0x430/0x400
/// TODO: Maybe switch autoexposure to "color mode" if green is not highest?
// return gammaReverse (perc_frac);
int aexpCorr(int color, int frame, int target_frame) {
// int target_frame=frame+EXPOS_AHEAD;
int rslt;
// unsigned long write_data[6];
unsigned long write_data[4];
int frac; //,frac_recover;
int level,level_gamma; //,num_pix;
int perc;
int old_vexpos;
int old_expos; /// old_expos is used when image width is modified
int new_vexpos;
float fvexpos;
int error_thresh= framePars[target_frame & PARS_FRAMES_MASK].pars[P_AE_THRESH];/// Threshold for integrated error - when errors are smaller - correction is scaled proportionally
int max_vexpos;
int dim;
int diff;
// int adiff,large_diff;
int target_frame8=target_frame & PARS_FRAMES_MASK;
int ae_period_change=framePars[target_frame8].pars[P_AE_PERIOD] & 0xff; /// lower byte
int ae_period_nochange=(framePars[target_frame8].pars[P_AE_PERIOD] >> 8 ) & 0xff; /// next byte
int ae_dont_sync=(framePars[target_frame8].pars[P_AE_PERIOD] & 0x10000); /// don't try to synchronize to availble histograms
int i;
int aerr=0; // just to keep compiler happy
int * ae_err= (int *) &(GLOBALPARS(G_AE_INTEGERR)); /// so it will be signed
if (!ae_period_change) ae_period_change=DEFAULT_AE_PERIOD_CHANGE;
if (!ae_period_nochange) ae_period_nochange=DEFAULT_AE_PERIOD_NOCHANGE;
// unsigned long overexp_scale;
if (!framePars[target_frame & PARS_FRAMES_MASK].pars[P_AUTOEXP_ON]) {
GLOBALPARS(G_NEXT_AE_FRAME)=frame+ae_period_change;
return 0; /// autoexposure is turned off
}
if (GLOBALPARS(G_NEXT_AE_FRAME)>frame) return 0; /// too early to bother
MDF3(fprintf(stderr,"*ae_err=%d\n",*ae_err)); ///======= 0 here
frac=framePars[target_frame & PARS_FRAMES_MASK].pars[P_AEXP_FRACPIX];
// level=framePars[target_frame & PARS_FRAMES_MASK].pars[P_AEXP_LEVEL];
/// get (approximate if not updated) percentile for dim (1 scanline exposure) image -to use as a zero point exposure
dim=(GLOBALPARS((color>1)?G_HIST_DIM_23:G_HIST_DIM_01) >> ((color & 1)? 16 : 0)) & 0xffff;
/// measure
perc=getPercentile(frame-1,color, frac, 1 << color); ///sets global hist_index, gamma_index
// MDF2(fprintf(stderr,"got histogram for frame: 0x%lx, NOW: 0x%lx\n",histogram_cache[hist_index].frame, GLOBALPARS(G_THIS_FRAME)));
if (histogram_cache[hist_index].frame < (frame-1)) { /// histogram is too old - try again
GLOBALPARS(G_NEXT_AE_FRAME)=frame+1;
if (ae_dont_sync) return 0; /// will request histogram for this frame
/// repeat up to 8 times trying to get a fresh histogram
for (i=0; i<8; i++) {
frame++;
MDF3(fprintf(stderr,"Skipping frame trying to synchronize, frame will be 0x%x\n",frame));
lseek(fd_fparmsall, frame +LSEEK_FRAME_WAIT_ABS, SEEK_END);
this_frame=frame;
perc=getPercentile(frame-1,color, frac, 1 << color); ///sets global hist_index, gamma_index
if (histogram_cache[hist_index].frame == (frame-1)) break;
}
if (histogram_cache[hist_index].frame < (frame-1)) { /// histogram is too old - try again
GLOBALPARS(G_NEXT_AE_FRAME)=frame+1;
return 0; /// will request histogram for this frame
}
}
level_gamma=framePars[target_frame & PARS_FRAMES_MASK].pars[P_AEXP_LEVEL];
/// calculate sensor level from gamma_level using gamma table whisth hash32 saved at hist_index
level=gammaReverse (level_gamma);
MDF3(fprintf(stderr,"->>> frame=0x%x, target_frame=0x%x,dim=0x%04x, frac=0x%04x, level=0x%x,level_gamma=0x%x, perc=0x%04x\n",frame,target_frame,dim,frac,level,level_gamma,perc));
if (perc <0) {
GLOBALPARS(G_NEXT_AE_FRAME)=frame+ae_period_change;
return -1; ///getPercentile() failed
}
///
/// overexposure recovery
///
// if (perc > ((level+0xffff)>>1)) {
if ((perc > ((level_gamma+0x1ffff)>>2))&& (perc>0xf000) ) {
aex_recover_cntr++; /// global counter
///NOTE: Maybe just dividing exposure by 2 /counter is enough?
MDF1(fprintf(stderr,"--- Triggered overexposure recovery:perc=0x%x, level_gamma=0x%x,aex_recover_cntr=0x%x\n",perc,level_gamma,aex_recover_cntr));
} else { /// no overexposition
aex_recover_cntr=0;
}
old_vexpos= histogram_cache[hist_index].vexpos;
old_expos= histogram_cache[hist_index].expos;
if (old_vexpos==1) {
fvexpos=old_vexpos;
new_vexpos= (fvexpos*level)/perc;
} else {
fvexpos=(old_vexpos-1);
if (perc < (dim>>1)) { /// wrong/obsolete dim level - ignore it to avoid negatives)
new_vexpos= (fvexpos*level)/perc;
} else {
new_vexpos= (fvexpos*(level-dim))/(perc-dim);
}
if (aex_recover_cntr > 3) { /// *** more aggressive
MDF1(fprintf(stderr,">>>> Reducing new_vexpos twice\n"));
new_vexpos=(new_vexpos>>1)+1;
}
}
MDF3(fprintf(stderr,"old_vexpos=0x%x, new_vexpos=0x%x,\n",old_vexpos,new_vexpos));
/// Add some protection from autoexposure going crazy
max_vexpos= framePars[target_frame & PARS_FRAMES_MASK].pars[P_AUTOEXP_EXP_MAX]; /// for now treat as number of lines TODO: change to usec?
//P_VIRT_WIDTH, P_CLK_SENSOR
MDF3(fprintf(stderr,"max_vexpos=0x%x, [P_CLK_SENSOR]=0x%lx, [P_VIRT_WIDTH]=0x%lx\n", max_vexpos,framePars[target_frame & PARS_FRAMES_MASK].pars[P_CLK_SENSOR],framePars[target_frame & PARS_FRAMES_MASK].pars[P_VIRT_WIDTH]));
max_vexpos=(((long long) max_vexpos) * framePars[target_frame & PARS_FRAMES_MASK].pars[P_CLK_SENSOR])/
framePars[target_frame & PARS_FRAMES_MASK].pars[P_VIRT_WIDTH]/1000000;
if (!max_vexpos) max_vexpos=0x10000; /// temporary limit
if (new_vexpos < 1) new_vexpos=1;
else {
if (new_vexpos > max_vexpos) new_vexpos=max_vexpos;
if (new_vexpos > (old_vexpos*4)) new_vexpos=(old_vexpos*4);
}
diff=poorLog(new_vexpos) - poorLog(old_vexpos);
*ae_err+=diff;
// adiff=abs(diff);
MDF3(fprintf(stderr,"old_vexpos=0x%x, new_vexpos=0x%x, poorLog(new_vexpos)=0x%x, poorLog(old_vexpos)=0x%x, diff=%d, *ae_err=%d\n", old_vexpos, new_vexpos, poorLog(new_vexpos), poorLog(old_vexpos), diff, *ae_err));
error_thresh=framePars[target_frame & PARS_FRAMES_MASK].pars[P_AE_THRESH];/// Threshold for integrated error - when errors are smaller - correction is scaled proportionally
if (error_thresh>0) {
// aerr=abs (ae_err[0]);
// aerr=abs(*ae_err) - (error_thresh>>2); /// TRYING: <1/4 of error_thresh - no correction at all, (0.25..1.25)*error_thresh - scale
aerr=abs(*ae_err) - (error_thresh >> 1); /// TRYING: <1/4 of error_thresh - no correction at all, (0.25..1.25)*error_thresh - scale
if (aerr>0) {
if (aerr > error_thresh) aerr=error_thresh;
new_vexpos=(old_vexpos*(error_thresh-aerr)+new_vexpos*aerr)/error_thresh;
if (new_vexpos != old_vexpos) { /// fixing autoexposure getting stuck at new_vexpos == old_vexpos ==1
if (aerr < error_thresh) *ae_err= (*ae_err * (error_thresh-aerr))/error_thresh; /// reduce residual error
else *ae_err=0; /// reset residual error (save on division)
}
} else new_vexpos=old_vexpos;
}
MDF3(fprintf(stderr,"old_vexpos=0x%x, new_vexpos=0x%x, aerr=%d, ae_err=%d\n", old_vexpos, new_vexpos, aerr, *ae_err));
if (new_vexpos==old_vexpos) {
MDF3(fprintf(stderr,"No correction: thrshold=%d, aerr=%d\n",error_thresh,aerr)); ///======= 1 here
GLOBALPARS(G_NEXT_AE_FRAME)=frame+ae_period_nochange; /// try again next frame (extend in HDR)
return 0; /// too little error - no change in exposure
}
// *ae_err=0; /// reset error accumulator TODO: If scaled - reduce resudual error, not reset it
/// Now apply that new exposure
/// And request
/// First - see if image size was changed. If it was - use exposure (usec), not vexposure(lines)
write_data[0]= FRAMEPARS_SETFRAME;
write_data[1]= target_frame;
int wasVirtWidth= (((long long) old_expos) * framePars[target_frame & PARS_FRAMES_MASK].pars[P_CLK_SENSOR]) / 1000000/ old_vexpos;
int was_vexpos_from_expos= (((long long) old_expos) * framePars[target_frame & PARS_FRAMES_MASK].pars[P_CLK_SENSOR]) / 1000000/ framePars[target_frame & PARS_FRAMES_MASK].pars[P_VIRT_WIDTH];
int new_expos;
MDF3(fprintf(stderr,"VIRT_WIDTH=0x%lx, wasVirtWidth=0x%x, was_vexpos_from_expos=0x%x\n", framePars[target_frame & PARS_FRAMES_MASK].pars[P_VIRT_WIDTH], wasVirtWidth,was_vexpos_from_expos));
// if ((framePars[target_frame & PARS_FRAMES_MASK].pars[P_VIRT_WIDTH] > (wasVirtWidth+10)) || /// real is +/-1 - got 0x888/0x880
// (framePars[target_frame & PARS_FRAMES_MASK].pars[P_VIRT_WIDTH] < (wasVirtWidth-10))) { // changed, trigger exposure mode
if ((was_vexpos_from_expos>(old_vexpos+1)) || (was_vexpos_from_expos<(old_vexpos-1))) {
new_expos= (((long long) old_expos) * new_vexpos) / old_vexpos;
MDF1(fprintf(stderr,"Frame width changed, using absolute exposure new_expos %d (0x%x), old_expos=%d (0x%x) \n", new_expos, new_expos, old_expos,old_expos));
MDF1(fprintf(stderr,"VIRT_WIDTH=0x%lx, wasVirtWidth=0x%x\n", framePars[target_frame & PARS_FRAMES_MASK].pars[P_VIRT_WIDTH], wasVirtWidth));
write_data[2]= P_EXPOS; // | FRAMEPAIR_FORCE_NEWPROC ?
write_data[3]= new_expos;
} else {
write_data[2]= P_VEXPOS; // | FRAMEPAIR_FORCE_NEWPROC ?
write_data[3]= new_vexpos;
}
rslt=write(fd_fparmsall, write_data, sizeof(write_data));
if (rslt < sizeof(write_data)) return -errno;
GLOBALPARS(G_NEXT_AE_FRAME)=frame+ae_period_change;
return 1;
}
src/aexp_corr.h 0 → 100644
View file @ 99b601c4
/*!***************************************************************************
*! FILE NAME : aexp_corr.h
*! DESCRIPTION: Autoexposure part of the autoexposure/white balance/hdr daemon
*! Copyright (C) 2008 Elphel, Inc.
*! -----------------------------------------------------------------------------**
*! This program is free software: you can redistribute it and/or modify
*! it under the terms of the GNU General Public License as published by
*! the Free Software Foundation, either version 3 of the License, or
*! (at your option) any later version.
*!
*! This program is distributed in the hope that it will be useful,
*! but WITHOUT ANY WARRANTY; without even the implied warranty of
*! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
*! GNU General Public License for more details.
*!
*! You should have received a copy of the GNU General Public License
*! along with this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*!
*! $Log: aexp_corr.h,v $
*! Revision 1.1.1.1 2008/11/27 20:04:01 elphel
*!
*!
*! Revision 1.2 2008/11/18 19:30:16 elphel
*! Added initialization of the "next" frame - otherwise it wait _very_ long if the camera frame number is reset
*!
*! Revision 1.1 2008/11/15 23:08:24 elphel
*! 8.0.alpha17 - split autoexposure source file
*!
*!
*/
#ifndef __H_AUTOEXPOSURE_AEXP_CORR__
#define __H_AUTOEXPOSURE_AEXP_CORR__
void initAexpCorr(void);
int aexpCorr(int color, int frame, int target_frame);
#endif
src/aexp_utils.c 0 → 100644
View file @ 99b601c4
/**
* \file aexp_utils.c
* \brief Daemon to adjust camera exposure and white balance - utility
* functions
* \date 2008
*/
/*!***************************************************************************
*! FILE NAME : aexp_utils.c
*! DESCRIPTION: Daemon to adjust camera exposure and white balance
*! Copyright (C) 2008 Elphel, Inc.
*! -----------------------------------------------------------------------------**
*! This program is free software: you can redistribute it and/or modify
*! it under the terms of the GNU General Public License as published by
*! the Free Software Foundation, either version 3 of the License, or
*! (at your option) any later version.
*!
*! This program is distributed in the hope that it will be useful,
*! but WITHOUT ANY WARRANTY; without even the implied warranty of
*! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
*! GNU General Public License for more details.
*!
*! You should have received a copy of the GNU General Public License
*! along with this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*!
*! $Log: aexp_utils.c,v $
*! Revision 1.4 2008/12/01 02:32:48 elphel
*! Updated white balance to use new gains
*!
*! Revision 1.3 2008/11/30 05:04:45 elphel
*! added Doxygen file data
*!
*! Revision 1.2 2008/11/28 08:17:09 elphel
*! keeping Doxygen a little happier
*!
*! Revision 1.1.1.1 2008/11/27 20:04:01 elphel
*!
*!
*! Revision 1.2 2008/11/18 19:30:16 elphel
*! Added initialization of the "next" frame - otherwise it wait _very_ long if the camera frame number is reset
*!
*! Revision 1.1 2008/11/15 23:08:24 elphel
*! 8.0.alpha17 - split autoexposure source file
*!
*!
*/
#include "autoexposure.h"
int poorLog(int x) {
/*!
0-> 0
32-> 512
64-> 768
128 ->1024
256 ->1280
0x10000000 -> 0x1900
0x80000000 -> 0x1c00
*/
if (x<0) return 0;
int y=5;
if ((x & ~0x1ff) ==0 ) { /// 0..511 gets here
while (((x & 0x100) ==0) && (y>1)) {
y--;
x <<=1;
}
if (y>1) x+=(y<<8);
return x; // 0..511
}
while (x & ~0x1ff) { /// first time always
x >>= 1;
y++;
}
return x+(y<<8);
}
int poorExp(int x) {
int y=x & 0xff;
x >>= 8;
if (x < 1) return y >> 4;
else if (x <= 5) return y >> (5-x);
else return y << (x-5);
}
int waitRequstPrevHist(unsigned long next_frame) {
unsigned long write_data[4];
this_frame=GLOBALPARS(G_THIS_FRAME);
MDF2(fprintf(stderr,"next_frame=0x%08lx, this_frame=0x%08lx\n",next_frame,this_frame)); ///======= 0 here
if (next_frame <= this_frame) return 0; /// too_late
else if (next_frame > (this_frame+5) ) { /// wait heer as it is too early to schedule histograms
lseek(fd_fparmsall, next_frame-5+LSEEK_FRAME_WAIT_ABS, SEEK_END);
this_frame=GLOBALPARS(G_THIS_FRAME);
}
/// schedule all histograms for next_frame-1
write_data[0]= FRAMEPARS_SETFRAME;
write_data[1]= next_frame-1;
write_data[2]= P_HISTRQ_YC; /// will request once all the histogtram for that frame
write_data[3]= 3; /// both
int rslt=write(fd_fparmsall, write_data, sizeof(write_data));
if (rslt < sizeof(write_data)) return -errno;
/// now wait for that next frame (if needed)
if (next_frame > this_frame ) {
lseek(fd_fparmsall, next_frame+LSEEK_FRAME_WAIT_ABS, SEEK_END);
this_frame=GLOBALPARS(G_THIS_FRAME);
return 1;
}
return 0;
}
/**
* @brief calculate pixel value corresponding so that specified fraction of all pixels have value less or equal than it
* both result and input fraction are 16.16 format, so 0x10000 is 1.0
* @param frame - absolute frame number for which percentile is requested
* @param color - color number (0 - R, 1 - G1(G), 2 - G2(GB), 3 - B). G1 is also used for autoexposure
* @param fraction - fraction of all pixels that should have value less or equal result 16.16 format - 0x10000 == 1.0 == all pixels
* @param request_colors - if 0 - use the same histogram index as already calculated, otherwise it is a bit mask of colors to request,
* i.e. (1<<color) - request only the specified color, 0xf - request all colors
* @return <0 for error, or interpalated pixel "input" value in 0..0x10000 scale
*/
long getPercentile(unsigned long frame,int color, unsigned long fraction, int request_colors) {
unsigned long * hist_cumul; /// 256 of cumulated histogram values (in pixels)
unsigned char * hist_percentile; /// 256 of rounded percentiles (1 byte) - used as a starting point for linear interpolation
int total_pixels;
int perc;
int perc_frac=0;
int frac_pixels; /// number of pixels corresponding to a specified fraction (rounded down)
int delta;
MDF2(fprintf(stderr,"percentile for frame=0x%lx, color=%x, fraction=0x%lx, request_colors=0x%x\n",frame, color, fraction, request_colors));
/// Get the histogram (including percentiles)
if (request_colors) { /// at minimum for the new frame request_colors= 1<<color
if (request_colors & ~ (1<<COLOR_Y_NUMBER)) lseek(fd_histogram_cache, LSEEK_HIST_WAIT_C, SEEK_END); /// wait for all histograms, not just Y (G1)
else lseek(fd_histogram_cache, LSEEK_HIST_WAIT_Y, SEEK_END); /// wait for just Y (G1)
MDF2(fprintf(stderr,"this_frame: 0x%lx, NOW: 0x%lx\n",this_frame, GLOBALPARS(G_THIS_FRAME)));
lseek(fd_histogram_cache, LSEEK_HIST_NEEDED + (request_colors << 8), SEEK_END); /// specify that reverse histogram(s) are needed
hist_index=lseek(fd_histogram_cache, frame, SEEK_SET); /// request histograms for the specified frame
MDF2(fprintf(stderr,"got histogram for frame: 0x%lx, NOW: 0x%lx\n",histogram_cache[hist_index].frame, GLOBALPARS(G_THIS_FRAME)));
/// histograms for frame will be available 1 frame later
if(hist_index <0) {
ELP_FERR(fprintf(stderr, "Requested histograms for frame %ld (0x%lx) are not available. this_frame=0x%lx, now=0x%lx\n",frame,frame,this_frame,GLOBALPARS(G_THIS_FRAME) ));
return -1;
}
}
hist_cumul= &(histogram_cache[hist_index].cumul_hist[color<<8]);
hist_percentile=&(histogram_cache[hist_index].percentile[color<<8]);
if (fraction > (PERCENTILE_1-1)) fraction = PERCENTILE_1-1;
total_pixels= hist_cumul[255];
frac_pixels=(((long long) total_pixels) * fraction) >> PERCENTILE_SHIFT;
perc=hist_percentile[fraction >> (PERCENTILE_SHIFT-8)]; /// 8 MSBs used as index
MDF2(fprintf(stderr,"total_pixels=0x%x, frac_pixels=0x%x, perc=0x%x\n",total_pixels, frac_pixels, perc));
if (perc>0) perc--; /// seems hist_percentile[perc] rounds up, not down
while ((perc>0) && (hist_cumul[perc] > frac_pixels)) perc--; /// adjust down (is that needed at all?)
perc++;
while ((perc<255) && (hist_cumul[perc] <= frac_pixels)) perc++; /// adjust up (is that needed at all?)
perc--;
delta=hist_cumul[perc+1] - hist_cumul[perc];
if (delta) {
perc_frac=((frac_pixels-hist_cumul[perc]) << (PERCENTILE_SHIFT-8))/delta;
}
perc_frac += perc << (PERCENTILE_SHIFT-8);
MDF2(fprintf(stderr,"hist_cumul[0x%x]=0x%lx hist_cumul[0x%x]=0x%lx, delta=0x%x, perc_frac=0x%x\n",perc,hist_cumul[perc],perc+1,hist_cumul[perc+1],delta,perc_frac));
/// here perc_frac is the intermediate result, so that (1<<PERCENTILE_SHIFT) corresponds to full scale of after-gamma data
/// Now we need to "un-gamma" it to reference to the (supposingly linear) input range that is proportional to exposure
if (setGammaIndex(color)) /// sets global gamma_index, uses global hist_index;
return gammaReverse (perc_frac);
return -1; /// error
}
/**
* @brief Sets global variable gamma_index (needed to "ungamma" fractions) using current global his_index
* @param color - color number for which gamma_index is needed
* @return gamma_index>0. 0 if not availble
*/
int setGammaIndex(int color) {
unsigned long write_data[2];
unsigned long hash32= histogram_cache[hist_index].gtab[color&3];
// MDF2(fprintf(stderr,"frame=0x%lx hist.frame=0x%lx hist_index=%d hash32=0x%lx\n",frame, histogram_cache[hist_index].frame, hist_index, hash32));
// MDF7(fprintf(stderr,"frame=0x%lx hist.frame=0x%lx hist_index=%d hash32=0x%lx\n",frame, histogram_cache[hist_index].frame, hist_index, hash32));
write_data[0]=hash32;
write_data[1]=GAMMA_MODE_NEED_REVERSE;
int rslt=write(fd_gamma_cache, write_data, 6);
if (rslt<= 0) {
ELP_FERR(fprintf(stderr,"Request for gamma returned %d, hash32=0x%lx (gamma=%f, black=%d, scale=%f)\n",rslt,hash32, 0.01*((hash32>>16) & 0xff),(int)(hash32>>24), (hash32 & 0xffff)/1024.0));
return 0;
}
gamma_index=lseek(fd_gamma_cache, 0, SEEK_CUR);
MDF2(fprintf(stderr,"gamma_index=0x%x, rslt=0x%x\n",gamma_index,rslt));
if (gamma_index <= 0) {
ELP_FERR(fprintf(stderr,"request for gamma table color=%d failed\n",color));
return 0;
}
MDF2(fprintf(stderr,"gamma_index=0x%x\n",gamma_index));
return gamma_index;
}
/**
* @brief calculates direct gamma conversion using gamma tables indexed by global gamma_index
* @param x - argument 0..0xffff (proportional to sensor data)
* @return converted result, in the range 0..0xffff (proportional to 8-bit internal data to be compressed)
*/
unsigned long gammaDirect (unsigned long x) {
if (x>0xffff) x=0xffff;
unsigned long y= gamma_cache[gamma_index].direct[x >> 8]; /// truncating , no interpolation
y+= ((gamma_cache[gamma_index].direct[(x >> 8)+1]-y)*(x & 0xff))>>8;
if (y > 0xffff) y=0xffff;
return y;
}
/**
* @brief calculates reverse gamma conversion using gamma tables indexed by global gamma_index
* @param x - argument 0..0xffff (proportional to 8-bit internal data to be compressed)
* @return converted result, in the range 0..0xffff (proportional to sensor data)
*/
unsigned long gammaReverse (unsigned long x) {
unsigned short * gamma_direct= gamma_cache[gamma_index].direct; /// [257] "Gamma" table, 16-bit for both non-scaled prototypes and scaled, 0..0xffff range (hardware will use less)
unsigned char * gamma_reverse=gamma_cache[gamma_index].reverse; /// [256] reverse table to speed-up reversing (still need interpolation).Index - most significant 8 bits, data - largest direct
if (x>0xffff) x=0xffff;
int y_frac=0;
int y=gamma_reverse[x >> 8]; /// 8 MSBs used as index
if (y>0) y--; /// seems gamma_reverse[] rounds up, not down
while ((y > 0) && (gamma_direct[y] > x)) y--; /// adjust down (is that needed at all?)
y++;
while ((y<255) && (gamma_direct[y] <= x)) y++; /// adjust up (is that needed at all?)
y--;
int delta=gamma_direct[y+1] - gamma_direct[y];
if (delta) y_frac=((x - gamma_direct[y]) << 8)/delta;
MDF2(fprintf(stderr,"y_frac=0x%x\n",y_frac));
y_frac += y << 8;
MDF2(fprintf(stderr,"gamma_direct[0x%x]=0x%x gamma_direct[0x%x]=0x%x, delta=0x%x, y_frac=0x%x\n",y, (int) gamma_direct[y],y+1,(int) gamma_direct[y+1],delta,y_frac));
/// limit just in case?
if (y_frac < 0) y_frac=0;
else if (y_frac > 0xffff) y_frac=0xffff;
return y_frac;
}
/**
* @brief return value of parameter 'index' from frame 'frame' - use pastPars if too late for framePars
* @param indx parameter indx
* @param frame absolute frame number
* @return parameter value (error will be 0xffffffff, but that could be a legitimate value too)
*/
unsigned long get_imageParamsThat (int indx, unsigned long frame) {
int frame_index= frame & PARS_FRAMES_MASK;
int past_index= frame & PASTPARS_SAVE_ENTRIES_MASK;
unsigned long value;
/// Locate frame info in framePars
if (framePars[frame_index].pars[P_FRAME] != frame) {
/// too late, try pastPars
if ((indx < PARS_SAVE_FROM) || (indx >= (PARS_SAVE_FROM+PARS_SAVE_NUM))) return 0xffffffff ; /// not saved
value=pastPars[past_index].past_pars[indx - PARS_SAVE_FROM]; /// should be retrieved before checking frame (interrupts)
if (pastPars[past_index].past_pars[P_FRAME-PARS_SAVE_FROM] != frame) { /// too late even for pastPars? Or a bug?
ELP_FERR(fprintf (stderr,"Can not find frame 0x%x data neither in framePars[0x%x].pars[0x%x]=0x%x, nor in pastPars[0x%x].past_pars[0x%x]=0x%x\n",\
(int) frame, frame_index, (int) P_FRAME, (int) framePars[frame_index].pars[P_FRAME],\
past_index, (int) (P_FRAME-PARS_SAVE_FROM), (int) pastPars[past_index].past_pars[P_FRAME-PARS_SAVE_FROM]));
return 0xffffffff;
}
} else {
value=framePars[frame_index].pars[indx];
}
return value;
}
/**
* @brief return value of parameter 'indx' from frame 'frame' - use pastPars if too late for framePars (31 bits only)
* @param indx parameter index
* @param frame absolute frame number
* @return <0 - error, otherwise parameter lower 31 bits of the parameter value
*/
int get_imageParamsThatValid(int indx, unsigned long frame) {
int frame_index= frame & PARS_FRAMES_MASK;
int past_index= frame & PASTPARS_SAVE_ENTRIES_MASK;
int value;
/// Locate frame info in framePars
if (framePars[frame_index].pars[P_FRAME] != frame) {
/// too late, try pastPars
if ((indx < PARS_SAVE_FROM) || (indx >= (PARS_SAVE_FROM+PARS_SAVE_NUM))) return -2 ; /// not saved
value=pastPars[past_index].past_pars[indx - PARS_SAVE_FROM] & 0x7fffffff;
if (pastPars[past_index].past_pars[P_FRAME-PARS_SAVE_FROM] != frame) { /// too late even for pastPars? Or a bug?
ELP_FERR(fprintf (stderr,"Can not find frame 0x%x data neither in framePars[0x%x].pars[0x%x]=0x%x, nor in pastPars[0x%x].past_pars[0x%x]=0x%x\n",\
(int) frame, frame_index, (int) P_FRAME, (int) framePars[frame_index].pars[P_FRAME],\
past_index, (int) (P_FRAME-PARS_SAVE_FROM), (int) pastPars[past_index].past_pars[P_FRAME-PARS_SAVE_FROM]));
return -1;
}
} else {
value=framePars[frame_index].pars[indx] & 0x7fffffff;
}
return value ;
}
/**
* @brief Measure the percentile input (sensor) level for the specified by [P_AEXP_FRACPIX] fraction of all pixels
* for VEXPOS = 1 line, use that as a zero level for exposure calculations
* @return 0 - OK
*/
int recalibrateDim(void) {
unsigned long vexpos_was, fraction, dims;
unsigned long write_data[4];
int rslt;
this_frame=GLOBALPARS(G_THIS_FRAME);
MDF1(fprintf(stderr,"this_frame: 0x%lx\n",this_frame));
unsigned long target_frame=this_frame+RECALIBRATE_AHEAD;
vexpos_was= framePars[target_frame & PARS_FRAMES_MASK].pars[P_VEXPOS];
fraction= framePars[target_frame & PARS_FRAMES_MASK].pars[P_AEXP_FRACPIX];
MDF1(fprintf(stderr,"this_frame: 0x%lx target_frame: 0x%lx\n",this_frame,target_frame));
write_data[0]=FRAMEPARS_SETFRAME;
write_data[1]= target_frame;
write_data[2]= P_VEXPOS; // | FRAMEPAIR_FORCE_NEWPROC ?
write_data[3]= 1;
rslt=write(fd_fparmsall, write_data, sizeof(write_data));
if (rslt < sizeof(write_data)) return -errno;
write_data[1]= target_frame+RECALIBRATE_AFTER; /// or is +1 enough? 2 seems to be required for Micron free running mode, for async 1 is OK
write_data[3]= vexpos_was;
rslt=write(fd_fparmsall, write_data, sizeof(write_data));
if (rslt < sizeof(write_data)) return -errno;
/// no error check here
dims= getPercentile(target_frame,0, fraction, 0xf) & 0xffff; /// all colors are needed. Will skip frames
dims|=getPercentile(target_frame,1, fraction, 0xf) << 16;
GLOBALPARS(G_HIST_DIM_01)=dims;
dims= getPercentile(target_frame,2, fraction, 0xf) & 0xffff; /// all colors are needed. Will skip frames
dims|=getPercentile(target_frame,3, fraction, 0xf) << 16;
GLOBALPARS(G_HIST_DIM_23)=dims;
MDF1(fprintf(stderr,"dims: 0x%lx NOW: 0x%lx\n",dims, GLOBALPARS(G_THIS_FRAME)));
lseek(fd_histogram_cache, target_frame+RECALIBRATE_AFTER, SEEK_SET); ///
return 0;
}
src/aexp_utils.h 0 → 100644
View file @ 99b601c4
/*!***************************************************************************
*! FILE NAME : aexp_utils.h
*! DESCRIPTION: Daemon to adjust camera exposure and white balance
*! Copyright (C) 2008 Elphel, Inc.
*! -----------------------------------------------------------------------------**
*! This program is free software: you can redistribute it and/or modify
*! it under the terms of the GNU General Public License as published by
*! the Free Software Foundation, either version 3 of the License, or
*! (at your option) any later version.
*!
*! This program is distributed in the hope that it will be useful,
*! but WITHOUT ANY WARRANTY; without even the implied warranty of
*! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
*! GNU General Public License for more details.
*!
*! You should have received a copy of the GNU General Public License
*! along with this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*!
*! $Log: aexp_utils.h,v $
*! Revision 1.2 2008/12/01 02:32:48 elphel
*! Updated white balance to use new gains
*!
*! Revision 1.1.1.1 2008/11/27 20:04:01 elphel
*!
*!
*! Revision 1.1 2008/11/15 23:08:24 elphel
*! 8.0.alpha17 - split autoexposure source file
*!
*!
*/
#ifndef __H_AUTOEXPOSURE_AEXP_UTILS__
#define __H_AUTOEXPOSURE_AEXP_UTILS__
unsigned long get_imageParamsThat (int indx, unsigned long frame);
int get_imageParamsThatValid(int indx, unsigned long frame);
int setGammaIndex(int color);
long getPercentile(unsigned long frame,int color, unsigned long fraction,int request_colors);
int recalibrateDim(void);
unsigned long gammaDirect (unsigned long x);
unsigned long gammaReverse (unsigned long x);
int waitRequstPrevHist(unsigned long next_frame);
int poorLog(int x);
int poorExp(int x);
#define get_imageParamsThis(x) ( framePars[this_frame & PARS_FRAMES_MASK].pars[x])
#endif
src/autoexposure.c 0 → 100644
View file @ 99b601c4
/*!***************************************************************************
*! FILE NAME : autoexposure.c
*! DESCRIPTION: Daemon to adjust camera exposure and white balance
*! Copyright (C) 2008 Elphel, Inc.
*! -----------------------------------------------------------------------------**
*! This program is free software: you can redistribute it and/or modify
*! it under the terms of the GNU General Public License as published by
*! the Free Software Foundation, either version 3 of the License, or
*! (at your option) any later version.
*!
*! This program is distributed in the hope that it will be useful,
*! but WITHOUT ANY WARRANTY; without even the implied warranty of
*! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
*! GNU General Public License for more details.
*!
*! You should have received a copy of the GNU General Public License
*! along with this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*!
*! $Log: autoexposure.c,v $
*! Revision 1.8 2012/04/08 04:10:36 elphel
*! rev. 8.2.2 - added temperature measuring daemon, related parameters for logging SFE and system temperatures
*!
*! Revision 1.7 2010/12/16 16:52:15 elphel
*! working on HDR autoexposure
*!
*! Revision 1.6 2010/12/15 16:46:44 elphel
*! autoexposure correction: hdr synchronization
*!
*! Revision 1.5 2010/12/14 23:14:18 dzhimiev
*! 1. fixed waiting time for daemons to die
*! 2. + comments
*!
*! Revision 1.4 2008/12/11 17:10:56 elphel
*! Skipping one extra frame at startup of autoexposure
*!
*! Revision 1.3 2008/12/10 02:07:53 elphel
*! removed obsolete debug output
*!
*! Revision 1.2 2008/12/02 19:13:10 elphel
*! It now waits for frame #9 before starting. TODO: make other detection of good frames
*!
*! Revision 1.1.1.1 2008/11/27 20:04:01 elphel
*!
*!
*! Revision 1.16 2008/11/18 19:30:16 elphel
*! Added initialization of the "next" frame - otherwise it wait _very_ long if the camera frame number is reset
*!
*! Revision 1.15 2008/11/15 23:08:24 elphel
*! 8.0.alpha17 - split autoexposure source file
*!
*! Revision 1.14 2008/11/15 07:05:38 elphel
*! implemented analog gain control (in addition to gammas) while while balancing
*!
*! Revision 1.13 2008/11/15 03:10:13 elphel
*! Some parameters renamed, reassigned.
*!
*! Revision 1.12 2008/11/14 07:13:32 elphel
*! Added gammaReverse() and gammaDirect() functions, TODO lists, bug fixes
*!
*! Revision 1.11 2008/11/14 01:01:59 elphel
*! cleared debug output
*!
*! Revision 1.10 2008/11/13 05:40:45 elphel
*! 8.0.alpha16 - modified histogram storage, profiling
*!
*! Revision 1.9 2008/11/08 05:52:21 elphel
*! debug feature
*!
*! Revision 1.8 2008/11/04 17:40:34 elphel
*! comment typos
*!
*! Revision 1.7 2008/11/02 00:32:35 elphel
*! added TODO
*!
*! Revision 1.6 2008/10/31 18:26:32 elphel
*! Adding support for constants like SENSOR_REGS32 (defined constant plus 32 to simplify referencing sensor registers from PHP
*!
*! Revision 1.5 2008/10/29 04:18:28 elphel
*! v.8.0.alpha10 made a separate structure for global parameters (not related to particular frames in a frame queue)
*!
*! Revision 1.4 2008/10/28 07:05:12 elphel
*! implemented white balance, HDR mode (1/1 and 2/2)
*!
*! Revision 1.3 2008/10/26 05:55:38 elphel
*! snapshot
*!
*! Revision 1.2 2008/10/25 19:49:15 elphel
*! 8.0.alpha8 - added autoexposure to the installation
*!
*! Revision 1.1 2008/10/24 00:34:12 elphel
*! initial release
*!
*/
#include "autoexposure.h"
int main (int argc, char *argv[]) {
int daemon_bit=0; ///TODO: - make it an argument
// int perc;
int rslt, ae_rslt;
int hdr_mode; /// 0 - off, 1 each other frame, 2 - 2 on, 2 - off
unsigned long vexp , old_vexp, old_that_vexpos;
int exp_ahead;
unsigned long next_frame;
const char usage[]= "Usage:\n%s [-b <daemon_bit_number> [-d <debug_bits>]]\n\n"
"Start autoexposure daemon, bind it to bit <daemon_bit_number> (0..31) in P_DAEMON_EN (ELPHEL_DAEMON_EN in PHP)\n"
"Optional debug_bits (hex number) enable different groups of debug messages (1 group per bit) to stderr\n\n";
if (argc < 2) {
daemon_bit=DAEMON_BIT_AUTOEXPOSURE;
} else if ((argc < 3) || (strcasecmp(argv[1], "-b"))) {
printf (usage,argv[0]);
return 0;
}
if ((argc >=5) && (strcasecmp(argv[3], "-d")==0)) {
autoexposure_debug=strtol(argv[4], NULL, 16);
} else autoexposure_debug=1;
daemon_bit=strtol(argv[2], NULL, 10);
if ((daemon_bit<0) || (daemon_bit>31)) {printf ("Invalid bit number %d (should be 0..31)\n", daemon_bit); exit (1);}
fprintf(stderr,"autoexposure started, daemon_bit=0x%x, debug=0x%x\n",daemon_bit,autoexposure_debug);
// MDF1(fprintf(stderr,"\n"));
if (initFilesMmap()<0) exit (1); /// initialization errors
if (autoexposure_debug <0) { /// tempoorary hack for testing
GLOBALPARS(G_DEBUG)=0;
exit (0);
}
MDF0(fprintf(stderr,"autoexposure started, daemon_bit=0x%x, debug=0x%x\n",daemon_bit,autoexposure_debug));
/// Next function call will wait until the daemon_bit will be enabled in [P_DAEMON_EN] giving a chance to other applications to initialize
/// TODO: Find why earlier frames have bad histograms - frame 6 - 0 pixels, frame 7 - 0x3fff pixels and only 8-th has total_pixels=0x4c920
/// For now - just wait for frame 9 (it will use histogram from frame 8)
// lseek(fd_fparmsall,9+LSEEK_FRAME_WAIT_ABS, SEEK_END); /// skip 2 frames (first got 0 pixels, 2- 0x3fff)
lseek(fd_fparmsall,10+LSEEK_FRAME_WAIT_ABS, SEEK_END); /// skip 3 frames (first got 0 pixels, 2- 0x3fff) - one extra, sometimes it is needed
while (1) { /// restart loop
if (initParams(daemon_bit)<0) exit (1); /// initialization errors
/// Main loop
while (1) {
this_frame=GLOBALPARS(G_THIS_FRAME);
MDF6(fprintf(stderr,"Waiting for autoexposure daemon to be enabled\n"));
lseek(fd_histogram_cache, LSEEK_DAEMON_HIST_Y+daemon_bit, SEEK_END); /// wait for autoexposure daemon to be enabled (let it sleep if not)
if (GLOBALPARS(G_THIS_FRAME) != this_frame) {
///TODO: Make it possible for this_frame to lag slightly (1 frame) to compensate for CPU being busy with other tasks?
/// Need to re-initialize after long sleep
if (initParams(daemon_bit)<0) exit (1); /// initialization errors
}
/// Is exposure black level calibration requested (will produce 2 (or 1, depending on trigger mode?) dark frames
if (GLOBALPARS(G_HIST_DIM_01)==0xffffffff) {
rslt=recalibrateDim();
MDF1(fprintf(stderr,"G_HIST_DIM_01: 0x%08lx, G_HIST_DIM_23: 0x%08lx, recalibrateDim()->%d\n",GLOBALPARS(G_HIST_DIM_01),GLOBALPARS(G_HIST_DIM_23),rslt));
this_frame=GLOBALPARS(G_THIS_FRAME);
}
/// In HDR mode make sure we skip those different frames;
hdr_mode=get_imageParamsThis(P_HDR_DUR);
if (hdr_mode>2) hdr_mode=2;
if (hdr_mode>0) {
skipHDR(hdr_mode,this_frame);
this_frame=GLOBALPARS(G_THIS_FRAME);
}
exp_ahead=get_imageParamsThis(P_EXP_AHEAD);
if (!exp_ahead) exp_ahead = 3;
int hdr_target_frame=this_frame+exp_ahead;
/// debugging
old_vexp=framePars[(this_frame+exp_ahead) & PARS_FRAMES_MASK].pars[P_VEXPOS];
old_that_vexpos= get_imageParamsThatValid(P_VEXPOS, this_frame-1);
MDF3(fprintf(stderr, "this_frame= 0x%x, this_frame+exp_ahead= 0x%x, old_vexp= 0x%x, old_that_vexpos = 0x%x\n", (int) this_frame,(int) (this_frame+exp_ahead), (int) old_vexp, (int) old_that_vexpos));
if (hdr_mode>0) { /// align target autoexposure frame to hdr mode
if (hdr_target_frame & 1) hdr_target_frame++;
if ((hdr_mode>1) && (hdr_target_frame & 2)) hdr_target_frame+=2;
/// if it is too far ahead, wait some frames
if ((hdr_target_frame-this_frame)>(exp_ahead+1)) {
lseek(fd_fparmsall, (hdr_target_frame-exp_ahead-1)+LSEEK_FRAME_WAIT_ABS, SEEK_END);
this_frame=GLOBALPARS(G_THIS_FRAME);
}
exp_ahead=hdr_target_frame-this_frame;
}
old_vexp=framePars[(this_frame+exp_ahead) & PARS_FRAMES_MASK].pars[P_VEXPOS];
old_that_vexpos= get_imageParamsThatValid(P_VEXPOS, this_frame-1);
MDF3(fprintf(stderr, "this_frame= 0x%x, this_frame+exp_ahead= 0x%x, old_vexp= 0x%x, old_that_vexpos = 0x%x\n", (int) this_frame,(int) (this_frame+exp_ahead), (int) old_vexp, (int) old_that_vexpos));
if (((ae_rslt=aexpCorr(COLOR_Y_NUMBER, this_frame, this_frame+exp_ahead )))<0) break; /// restart on errors
//GLOBALPARS(G_AE_INTEGERR)
vexp= framePars[(this_frame+exp_ahead) & PARS_FRAMES_MASK].pars[P_VEXPOS];
next_frame=GLOBALPARS(G_NEXT_AE_FRAME);
if (ae_rslt>0) MDF1(fprintf(stderr,"aexpCorr(0x%x, 0x%lx, 0%lx) -> %d, VEXPOS will be 0x%lx (0x%lx , 0x%lx), next_frame=0x%lx\n", COLOR_Y_NUMBER,this_frame,this_frame+exp_ahead,ae_rslt,vexp,old_vexp, old_that_vexpos,next_frame));
/// WB processing
rslt=whiteBalanceCorr(this_frame, this_frame+exp_ahead, ae_rslt );
if (rslt>0) MDF2(fprintf(stderr,"whiteBalanceCorr(0x%lx, 0%lx) -> %d\n",this_frame,this_frame+exp_ahead,rslt));
if (rslt<0) break; /// restart on errors
/// TODO:Add HDR here
// int hdr_target_frame;
if (hdr_mode>0) {
rslt=exposureHDR(this_frame, this_frame+exp_ahead);
MDF3(fprintf(stderr,"exposureHDR(0x%lx, 0%x) -> %d\n",this_frame,hdr_target_frame,rslt));
if (rslt<0) break; /// restart on errors
// if (rslt>0) next_frame=this_frame+4;
next_frame=hdr_target_frame;
}
/// need to wait for the next_frame here, requesting histogram(s) for it.
/// if it is far in the future - wait so we can schedule histograms ahead of time - both?
MDF6(fprintf(stderr,"Waiting for the next frame = 0x%x\n", (int) next_frame));
waitRequstPrevHist(next_frame);
/// Will process WB after exposure, don't chnage next_frame to next_frame_wb
/// histograms are only availble for the previous frame, so this_frame-1
/*
perc=getPercentile(next_frame-1,COLOR_Y_NUMBER, framePars[next_frame & PARS_FRAMES_MASK].pars[P_AEXP_FRACPIX], 1 << COLOR_Y_NUMBER);
MDF6(fprintf(stderr,"FRAME: 0x%lx, COLOR: %d, FRACTION: 0x%04lx RESULT:0x%04x, NOW: 0x%lx\n",next_frame-1,COLOR_Y_NUMBER,framePars[next_frame & PARS_FRAMES_MASK].pars[P_AEXP_FRACPIX],perc,GLOBALPARS(G_THIS_FRAME)));
*/
}
ELP_FERR(fprintf (stderr,"Restarting autoexposure due to errors, skipping a frame\n"));
lseek(fd_fparmsall, GLOBALPARS(G_THIS_FRAME) + 1+LSEEK_FRAME_WAIT_ABS, SEEK_END);
}
return 0;
}
src/autoexposure.h 0 → 100644
View file @ 99b601c4
/*!***************************************************************************
*! FILE NAME : autoexposure.h
*! DESCRIPTION:
*! Copyright (C) 2008 Elphel, Inc.
*! -----------------------------------------------------------------------------**
*! This program is free software: you can redistribute it and/or modify
*! it under the terms of the GNU General Public License as published by
*! the Free Software Foundation, either version 3 of the License, or
*! (at your option) any later version.
*!
*! This program is distributed in the hope that it will be useful,
*! but WITHOUT ANY WARRANTY; without even the implied warranty of
*! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
*! GNU General Public License for more details.
*!
*! You should have received a copy of the GNU General Public License
*! along with this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*!
*! $Log: autoexposure.h,v $
*! Revision 1.2 2009/02/25 17:47:51 spectr_rain
*! removed deprecated dependency
*!
*! Revision 1.1.1.1 2008/11/27 20:04:01 elphel
*!
*!
*! Revision 1.1 2008/11/15 23:08:24 elphel
*! 8.0.alpha17 - split autoexposure source file
*!
*/
#ifndef __H_AUTOEXPOSURE__
#define __H_AUTOEXPOSURE__
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <fcntl.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/stat.h>
//#include <ctype.h>
//#include <getopt.h>
#include <time.h>
#include <string.h>
#include <syslog.h>
#include <netinet/in.h>
#include <sys/mman.h> /* mmap */
#include <sys/ioctl.h>
#include <asm/elphel/c313a.h>
#include <asm/elphel/exifa.h>
#include <asm/byteorder.h>
#include "aexp_utils.h"
#include "aexp_corr.h"
#include "white_balance.h"
#include "hdr_control.h"
#include "globalsinit.h"
//#if ELPHEL_DEBUG
#define THIS_DEBUG 1
//#else
// #define THIS_DEBUG 0
//#endif
//#define ELP_FERR(x) printf(stderr,"%s:%d:%s: ERROR ",__FILE__,__LINE__,__FUNCTION__); x
#if THIS_DEBUG
#define MDF0(x) { if (autoexposure_debug & (1 << 0)) {fprintf(stderr,"%s:%d:%s: ",__FILE__,__LINE__,__FUNCTION__);x;} }
#define MDF1(x) { if (autoexposure_debug & (1 << 1)) {fprintf(stderr,"%s:%d:%s: ",__FILE__,__LINE__,__FUNCTION__);x;} }
#define MDF2(x) { if (autoexposure_debug & (1 << 2)) {fprintf(stderr,"%s:%d:%s: ",__FILE__,__LINE__,__FUNCTION__);x;} }
// #define MDF2(x)
#define MDF3(x) { if (autoexposure_debug & (1 << 3)) {fprintf(stderr,"%s:%d:%s: ",__FILE__,__LINE__,__FUNCTION__);x;} }
// #define MDF3(x)
#define MDF4(x) { if (autoexposure_debug & (1 << 4)) {fprintf(stderr,"%s:%d:%s: ",__FILE__,__LINE__,__FUNCTION__);x;} }
#define MDF5(x) { if (autoexposure_debug & (1 << 5)) {fprintf(stderr,"%s:%d:%s: ",__FILE__,__LINE__,__FUNCTION__);x;} }
#define MDF6(x) { if (autoexposure_debug & (1 << 6)) {fprintf(stderr,"%s:%d:%s: ",__FILE__,__LINE__,__FUNCTION__);x;} }
#define MDF7(x) { if (autoexposure_debug & (1 << 7)) {fprintf(stderr,"%s:%d:%s: ",__FILE__,__LINE__,__FUNCTION__);x;} }
#else
#define MDF0(x)
#define MDF1(x)
#define MDF2(x)
#define MDF3(x)
#define MDF4(x)
#define MDF5(x)
#define MDF6(x)
#define MDF7(x)
#endif
#define START_SKIP_FRAMES 8 // don't try autoexposure until this number of frames after startup
#define get_imageParamsThis(x) ( framePars[this_frame & PARS_FRAMES_MASK].pars[x])
#define min(x,y) ((x<y)?x:y)
//#define get_imageParamsThis(x) ( framePars[this_frame & PARS_FRAMES_MASK].pars[x])
#define RECALIBRATE_AHEAD 3 // Darken frame 3 ahead of current to measure histograms
#define EXPOS_AHEAD 3 // minimal frames ahead of the current to set VEXPOS
#define DEFAULT_AE_PERIOD_CHANGE 4
#define DEFAULT_AE_PERIOD_NOCHANGE 1
#define DEFAULT_WB_PERIOD_CHANGE 16
#define DEFAULT_WB_PERIOD_NOCHANGE 4
#define RECALIBRATE_AFTER 2 // number of dim frames
#define DEFAULT_BLACK_CALIB 0xa00
#define HDR_PATTERN1_8 0xaa
#define HDR_PATTERN2_8 0x66
#define HDR_PATTERN1 (HDR_PATTERN1_8 | (HDR_PATTERN1_8 << 8) | (HDR_PATTERN1_8 << 16) | (HDR_PATTERN1_8 << 24))
#define HDR_PATTERN2 (HDR_PATTERN2_8 | (HDR_PATTERN2_8 << 8) | (HDR_PATTERN2_8 << 16) | (HDR_PATTERN2_8 << 24))
#define DEFAULT_WB_WHITELEV 0xfae1 // 98%
#define DEFAULT_WB_WHITEFRAC 0x028f // 1%
#define PERCENTILE_SHIFT 16
#define PERCENTILE_1 (1 << PERCENTILE_SHIFT)
#endif
src/globalsinit.c 0 → 100644
View file @ 99b601c4
/*!***************************************************************************
*! FILE NAME : globalsinit.c
*! DESCRIPTION: Opens files, mmap-s data structures, initializes variables
*! For the autoexposure daemon
*! Copyright (C) 2008 Elphel, Inc.
*! -----------------------------------------------------------------------------**
*! This program is free software: you can redistribute it and/or modify
*! it under the terms of the GNU General Public License as published by
*! the Free Software Foundation, either version 3 of the License, or
*! (at your option) any later version.
*!
*! This program is distributed in the hope that it will be useful,
*! but WITHOUT ANY WARRANTY; without even the implied warranty of
*! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
*! GNU General Public License for more details.
*!
*! You should have received a copy of the GNU General Public License
*! along with this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*!
*! $Log: globalsinit.c,v $
*! Revision 1.1.1.1 2008/11/27 20:04:01 elphel
*!
*!
*! Revision 1.2 2008/11/18 19:30:16 elphel
*! Added initialization of the "next" frame - otherwise it wait _very_ long if the camera frame number is reset
*!
*! Revision 1.1 2008/11/15 23:08:24 elphel
*! 8.0.alpha17 - split autoexposure source file
*!
*!
*/
#include "autoexposure.h"
int fd_fparmsall, fd_histogram_cache, fd_gamma_cache;
struct framepars_all_t *frameParsAll;
struct framepars_t *framePars;
unsigned long *globalPars;
struct framepars_past_t *pastPars;
struct histogram_stuct_t * histogram_cache; /// array of histograms
/// gamma cache is needed to re-linearize the data
struct gamma_stuct_t * gamma_cache; /// array of gamma structures
int hist_index; /// to preserve it between calls
int gamma_index; /// to preserve it between calls
int aex_recover_cntr;
unsigned long this_frame;
int autoexposure_debug;
/**
* @brief open required files, mmap theurt data structures
* uses global variables for files and mmap-ed data so they are accessible everywhere
* @return 0 - OK, <0 - problems opening/mma-ing
*/
int initFilesMmap(void) {
const char framepars_driver_name[]="/dev/frameparsall";
const char histogram_driver_name[]="/dev/histogram_cache";
const char gamma_driver_name[]= "/dev/gamma_cache";
///Frame parameters file open/mmap (read/write)
fd_fparmsall= open(framepars_driver_name, O_RDWR);
if (fd_fparmsall <0) {
ELP_FERR(fprintf(stderr, "Open failed: (%s)\r\n", framepars_driver_name));
return -1;
}
frameParsAll = (struct framepars_all_t *) mmap(0, sizeof (struct framepars_all_t) * HISTOGRAM_CACHE_NUMBER , PROT_READ | PROT_WRITE, MAP_SHARED, fd_fparmsall, 0);
if((int) frameParsAll == -1) {
ELP_FERR(fprintf(stderr, "problems with mmap: %s\n", framepars_driver_name));
close (fd_fparmsall);
return -1;
}
framePars = frameParsAll->framePars;
pastPars = frameParsAll->pastPars;
globalPars= frameParsAll->globalPars;
///Histogrames file open/mmap (readonly)
fd_histogram_cache= open(histogram_driver_name, O_RDONLY);
if (fd_histogram_cache <0) {
ELP_FERR(fprintf(stderr, "Open failed: (%s)\r\n", histogram_driver_name));
close (fd_fparmsall);
return -1;
}
histogram_cache = (struct histogram_stuct_t *) mmap(0, sizeof (struct histogram_stuct_t) * HISTOGRAM_CACHE_NUMBER , PROT_READ, MAP_SHARED, fd_histogram_cache, 0);
if((int) histogram_cache == -1) {
ELP_FERR(fprintf(stderr, "problems with mmap: %s\n", histogram_driver_name));
close (fd_fparmsall);
close (fd_histogram_cache);
return -1;
}
///Gamma tables file open/mmap (readonly)
fd_gamma_cache= open(gamma_driver_name, O_RDWR);
if (fd_gamma_cache <0) {
ELP_FERR(fprintf(stderr, "Open failed: (%s)\r\n", gamma_driver_name));
close (fd_fparmsall);
close (fd_histogram_cache);
return -1;
}
gamma_cache = (struct gamma_stuct_t *) mmap(0, sizeof (struct gamma_stuct_t) * GAMMA_CACHE_NUMBER , PROT_READ, MAP_SHARED, fd_gamma_cache, 0);
if((int) gamma_cache == -1) {
ELP_FERR(fprintf(stderr, "problems with mmap: %s\n", gamma_driver_name));
close (fd_fparmsall);
close (fd_histogram_cache);
close (fd_gamma_cache);
return -1;
}
return 0; /// All initialized
}
/**
* @brief give a chance for other applications to initialize P_* parameters related to autoexposure functionality
* so the daemon itself can be started early
* @return just 0 for now
*/
int initParams(int daemon_bit) {
aex_recover_cntr=0;
lseek(fd_histogram_cache, LSEEK_DAEMON_HIST_Y+daemon_bit, SEEK_END); /// wait for autoexposure daemon to be enabled
GLOBALPARS(G_AE_INTEGERR)=0; /// reset running error
GLOBALPARS(G_WB_INTEGERR)=0; /// reset running error
this_frame=GLOBALPARS(G_THIS_FRAME); /// set global frame number
if (GLOBALPARS(G_HIST_DIM_01)==0) {
GLOBALPARS(G_HIST_DIM_01)=DEFAULT_BLACK_CALIB | (DEFAULT_BLACK_CALIB <<16);
GLOBALPARS(G_HIST_DIM_23)=DEFAULT_BLACK_CALIB | (DEFAULT_BLACK_CALIB <<16);
return 1 ; /// used default, no real calibration
}
//#define P_AUTOEXP_EXP_MAX 81 //unsigned long exp_max; /* 100 usec == 1 etc... */
initAexpCorr();
initWhiteBalanceCorr();
return 0;
}
src/globalsinit.h 0 → 100644
View file @ 99b601c4
/*!***************************************************************************
*! FILE NAME : globalsinit.h
*! DESCRIPTION: Daemon to adjust camera exposure and white balance
*! Copyright (C) 2008 Elphel, Inc.
*! -----------------------------------------------------------------------------**
*! This program is free software: you can redistribute it and/or modify
*! it under the terms of the GNU General Public License as published by
*! the Free Software Foundation, either version 3 of the License, or
*! (at your option) any later version.
*!
*! This program is distributed in the hope that it will be useful,
*! but WITHOUT ANY WARRANTY; without even the implied warranty of
*! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
*! GNU General Public License for more details.
*!
*! You should have received a copy of the GNU General Public License
*! along with this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*!
*! $Log: globalsinit.h,v $
*! Revision 1.1.1.1 2008/11/27 20:04:01 elphel
*!
*!
*! Revision 1.1 2008/11/15 23:08:24 elphel
*! 8.0.alpha17 - split autoexposure source file
*!
*!
*/
#ifndef __H_AUTOEXPOSURE_GLOBALSINIT__
#define __H_AUTOEXPOSURE_GLOBALSINIT__
/// Global variables
extern int fd_fparmsall;
extern int fd_histogram_cache;
extern int fd_gamma_cache;
extern struct framepars_all_t * frameParsAll;
extern struct framepars_t * framePars;
extern unsigned long * globalPars;
extern struct framepars_past_t * pastPars;
extern struct histogram_stuct_t * histogram_cache; /// array of histograms
/// gamma cache is needed to re-linearize the data
extern struct gamma_stuct_t * gamma_cache; /// array of gamma structures
extern int hist_index; /// to preserve it between calls
extern int gamma_index; /// to preserve it between calls
extern int aex_recover_cntr;
extern unsigned long this_frame;
extern int autoexposure_debug;
int initFilesMmap(void);
int initParams(int daemon_bit);
#endif
src/hdr_control.c 0 → 100644
View file @ 99b601c4
/*!***************************************************************************
*! FILE NAME : hdr_control.c
*! DESCRIPTION: HDR part of the autoexposure/white balance/hdr daemon
*! Copyright (C) 2008 Elphel, Inc.
*! -----------------------------------------------------------------------------**
*! This program is free software: you can redistribute it and/or modify
*! it under the terms of the GNU General Public License as published by
*! the Free Software Foundation, either version 3 of the License, or
*! (at your option) any later version.
*!
*! This program is distributed in the hope that it will be useful,
*! but WITHOUT ANY WARRANTY; without even the implied warranty of
*! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
*! GNU General Public License for more details.
*!
*! You should have received a copy of the GNU General Public License
*! along with this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*!
*! $Log: hdr_control.c,v $
*! Revision 1.4 2011/05/20 21:42:04 elphel
*! different debug levels
*!
*! Revision 1.3 2010/12/16 16:52:15 elphel
*! working on HDR autoexposure
*!
*! Revision 1.2 2010/12/15 16:46:44 elphel
*! autoexposure correction: hdr synchronization
*!
*! Revision 1.1.1.1 2008/11/27 20:04:01 elphel
*!
*!
*! Revision 1.1 2008/11/15 23:08:24 elphel
*! 8.0.alpha17 - split autoexposure source file
*!
*!
*/
#include "autoexposure.h"
//#define P_HDR_DUR 168 // 0 - HDR 0ff, >1 - duration of same exposure (currently 1 or 2 - for free running)
//#define P_HDR_VEXPOS 169 // if less than 0x10000 - number of lines of exposure, >=10000 - relative to "normal" exposure
int exposureHDR (int frame, int target_frame) {
unsigned long write_data[4];
int target_frame8=target_frame & PARS_FRAMES_MASK;
int HDR_mode;
int vexpos, vexpos_HDR;
int rslt;
if (!((HDR_mode=framePars[target_frame8].pars[P_HDR_DUR]))) return 0; /// HDR mode is disabled
MDF5(fprintf(stderr,"frame=0x%x target_frame=0x%x GLOBALPARS(G_THIS_FRAME)=0x%x\n",(int) frame, (int) target_frame, (int)GLOBALPARS(G_THIS_FRAME)));
if ((HDR_mode<1) || (HDR_mode>2)) {
ELP_FERR(fprintf(stderr, "Wrong HDR mode %d (only 1 or 2 are supported)\n",HDR_mode));
return -1;
}
/// maybe expos (not vexpos!) was just written by autoexposure, not yet recalculated from expos to vexpos
switch (HDR_mode) {
case 1:
lseek(fd_fparmsall, frame+1 +LSEEK_FRAME_WAIT_ABS, SEEK_END);
break;
case 2:
lseek(fd_fparmsall, frame+2 +LSEEK_FRAME_WAIT_ABS, SEEK_END);
break;
}
vexpos= framePars[target_frame8].pars[P_VEXPOS];
vexpos_HDR=framePars[target_frame8].pars[P_HDR_VEXPOS];
if (vexpos_HDR>=0x10000) vexpos_HDR= (((long long) vexpos_HDR) * vexpos) >> 16;
write_data[0]= FRAMEPARS_SETFRAME;
write_data[2]= P_VEXPOS; // | FRAMEPAIR_FORCE_NEWPROC ?
/// program next two frames after target_frame
MDF1(fprintf(stderr,">>>>>HDR_mode=%d, write: %08lx %08lx %08lx %08lx\n",HDR_mode,write_data[0],write_data[1],write_data[2],write_data[3]));
switch (HDR_mode) {
case 1:
write_data[1]= target_frame+1;
write_data[3]= vexpos_HDR;
rslt=write(fd_fparmsall, write_data, sizeof(write_data));
MDF1(fprintf(stderr,"write: %08lx %08lx %08lx %08lx -> %d\n",write_data[0],write_data[1],write_data[2],write_data[3],rslt));
if (rslt < sizeof(write_data)) return -errno;
write_data[1]= target_frame+2;
write_data[3]= vexpos;
rslt=write(fd_fparmsall, write_data, sizeof(write_data));
if (rslt < sizeof(write_data)) return -errno;
MDF5(fprintf(stderr,"write: %08lx %08lx %08lx %08lx -> %d\n",write_data[0],write_data[1],write_data[2],write_data[3],rslt));
break;
case 2:
write_data[1]= target_frame+2;
write_data[3]= vexpos_HDR;
rslt=write(fd_fparmsall, write_data, sizeof(write_data));
if (rslt < sizeof(write_data)) return -errno;
MDF1(fprintf(stderr,"write: %08lx %08lx %08lx %08lx -> %d\n",write_data[0],write_data[1],write_data[2],write_data[3],rslt));
break;
}
/// skip 2 frames from 'frame' (use absolute to add tolerance against being too late)
lseek(fd_fparmsall, frame + 2+LSEEK_FRAME_WAIT_ABS, SEEK_END);
switch (HDR_mode) {
case 1:
write_data[1]= target_frame+3;
write_data[3]= vexpos_HDR;
rslt=write(fd_fparmsall, write_data, sizeof(write_data));
if (rslt < sizeof(write_data)) return -errno;
MDF1(fprintf(stderr,"write: %08lx %08lx %08lx %08lx -> %d\n",write_data[0],write_data[1],write_data[2],write_data[3],rslt));
write_data[1]= target_frame+4;
write_data[3]= vexpos;
rslt=write(fd_fparmsall, write_data, sizeof(write_data));
if (rslt < sizeof(write_data)) return -errno;
MDF1(fprintf(stderr,"write: %08lx %08lx %08lx %08lx -> %d\n",write_data[0],write_data[1],write_data[2],write_data[3],rslt));
break;
case 2:
write_data[1]= target_frame+4;
write_data[3]= vexpos;
rslt=write(fd_fparmsall, write_data, sizeof(write_data));
if (rslt < sizeof(write_data)) return -errno;
MDF1(fprintf(stderr,"write: %08lx %08lx %08lx %08lx -> %d\n",write_data[0],write_data[1],write_data[2],write_data[3],rslt));
break;
}
return 1;
}
/**
* @brief in HDR mode - wait until we get a histogram from a normal frame (only needed to re-sync after long delays
* uses global variables for files and mmap-ed data so they are accessible everywhere
* @return 0 - OK, <0 - problems opening/mma-ing
* BUG: Does not seem to work at all !
*/
int skipHDR(int mode, unsigned long frame) {
int patt;
int skip;
MDF5(fprintf(stderr,"mode=%d frame=0x%x GLOBALPARS(G_THIS_FRAME)=0x%x\n",(int) mode, (int) frame, (int)GLOBALPARS(G_THIS_FRAME)));
switch (mode) {
case 0: return 0;
case 1: patt=HDR_PATTERN1;
break;
case 2: patt=HDR_PATTERN2;
break;
default: return -1;
}
patt >>= (frame & PARS_FRAMES_MASK);
if (patt & 1) return 0;
skip=0;
while (patt && !(patt & 1)) {
patt >>= 1;
skip++;
}
lseek(fd_histogram_cache, LSEEK_HIST_WAIT_Y, SEEK_END); /// wait for Y only
lseek(fd_histogram_cache, LSEEK_HIST_NEEDED + 0, SEEK_END); /// nothing needed, just waiting for some frames to be skipped
// lseek(fd_histogram_cache, skip, SEEK_CUR); /// just wait until the Y histogram will available for non-HDR frame
// lseek(fd_histogram_cache, skip-1, SEEK_CUR); /// just wait until the Y histogram will available for non-HDR frame
lseek(fd_histogram_cache, skip, SEEK_CUR); /// just wait until the Y histogram will available for non-HDR frame
MDF5(fprintf(stderr,"mode=%d frame=0x%x skip=%d GLOBALPARS(G_THIS_FRAME)=0x%x\n",(int) mode, (int) frame, (int) skip, (int)GLOBALPARS(G_THIS_FRAME)));
return 1;
}
src/hdr_control.h 0 → 100644
View file @ 99b601c4
/*!***************************************************************************
*! FILE NAME : hdr_control.h
*! DESCRIPTION: HDR part of the autoexposure/white balance/hdr daemon
*! Copyright (C) 2008 Elphel, Inc.
*! -----------------------------------------------------------------------------**
*! This program is free software: you can redistribute it and/or modify
*! it under the terms of the GNU General Public License as published by
*! the Free Software Foundation, either version 3 of the License, or
*! (at your option) any later version.
*!
*! This program is distributed in the hope that it will be useful,
*! but WITHOUT ANY WARRANTY; without even the implied warranty of
*! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
*! GNU General Public License for more details.
*!
*! You should have received a copy of the GNU General Public License
*! along with this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*!
*! $Log: hdr_control.h,v $
*! Revision 1.1.1.1 2008/11/27 20:04:01 elphel
*!
*!
*! Revision 1.1 2008/11/15 23:08:24 elphel
*! 8.0.alpha17 - split autoexposure source file
*!
*!
*/
#ifndef __H_AUTOEXPOSURE_HDR_CONTROL__
#define __H_AUTOEXPOSURE_HDR_CONTROL__
int skipHDR(int mode, unsigned long frame);
int exposureHDR (int frame, int target_frame);
#endif
src/temperature.c 0 → 100644
View file @ 99b601c4
/*!***************************************************************************
*! FILE NAME : temperature.c
*! DESCRIPTION: Daemon to measure sensor (100338 rev E) and/or system temperature
*! Copyright (C) 2012 Elphel, Inc.
*! -----------------------------------------------------------------------------**
*! This program is free software: you can redistribute it and/or modify
*! it under the terms of the GNU General Public License as published by
*! the Free Software Foundation, either version 3 of the License, or
*! (at your option) any later version.
*!
*! This program is distributed in the hope that it will be useful,
*! but WITHOUT ANY WARRANTY; without even the implied warranty of
*! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
*! GNU General Public License for more details.
*!
*! You should have received a copy of the GNU General Public License
*! along with this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*!
*! $Log: temperature.c,v $
*! Revision 1.2 2012/04/16 00:23:53 elphel
*! temperature daemon waits for the daemon enable bit to be set and skips one frame before probing devices
*!
*! Revision 1.1 2012/04/08 04:10:36 elphel
*! rev. 8.2.2 - added temperature measuring daemon, related parameters for logging SFE and system temperatures
*!
*!
*/
#include "temperature.h"
int fd_fparmsall;
struct framepars_all_t *frameParsAll;
struct framepars_t *framePars;
unsigned long *globalPars;
// struct framepars_past_t *pastPars;
unsigned long this_frame;
int temperature_debug;
int slaves[]= {0x90, 0x30, 0x34, 0x38, 0x3c};
char bus0slow[]={11,11, 1, 1, 7, 7};
char bus0dflt[]={ 2, 2, 1, 1, 7, 7}; // will be updated
int tempIndices[]={0,1,1,2,3}; // where to write result
short * tempData;
long long due_time;
long long due_times[5];
long long now;
unsigned long thisFrame;
long long thatTime;
unsigned long thatFrame;
long long period_us;
long long individual_period_us;
const char SA56004X_LTM=0x0;
const char SA56004X_LTL=0x22;
const char MCP98242_LT=0x5;
const char MCP98242_RESOL=0x8;
int initFrameParsMmap(void);
long long getNowTime(void);
int readTemperature(int indx);
int setResolution(int indx);
int main (int argc, char *argv[]) {
int daemon_bit=DAEMON_BIT_TEMPERATURE;
// int rslt;
// unsigned long prev_seconds=0,prev_useconds=0;
// int delta_msec;
// unsigned long next_frame;
const char usage[]= "Usage:\n%s [-b <daemon_bit_number> | -nodaemon [-d <debug_bits>]]\n\n"
"Start temperature measurement daemon, bind it to bit <daemon_bit_number> (0..31, defaults to %d) in P_DAEMON_EN (ELPHEL_DAEMON_EN in PHP).\n"
"-nodaemon makes the program update temperatures once and exit.\n"
"Optional debug_bits (hex number) enable different groups of debug messages (1 group per bit) to stderr.\n\n";
if (argc < 2) {
daemon_bit=DAEMON_BIT_TEMPERATURE;
} else if (strcasecmp(argv[1], "-nodaemon")==0) {
daemon_bit=-1;
} else if ((argc < 3) || ((strcasecmp(argv[1], "-b") && (strcasecmp(argv[1], "-d"))))) {
printf (usage,argv[0],daemon_bit);
return 0;
} else {
daemon_bit=strtol(argv[2], NULL, 10);
}
if ((argc >=2) && (strcasecmp(argv[argc-2], "-d")==0)) {
temperature_debug=strtol(argv[argc-1], NULL, 16);
} else temperature_debug=1;
if (daemon_bit>31) {printf ("Invalid bit number %d (should be 0..31)\n", daemon_bit); exit (1);}
if (daemon_bit>=0) fprintf(stderr,"Temperature monitor started, daemon_bit=0x%x\n",daemon_bit);
else fprintf(stderr,"Temperature monitor in no-daemon mode (single run)\n");
if (initFrameParsMmap()<0) exit (1); /// initialization errors
// lseek(fd_fparmsall,10+LSEEK_FRAME_WAIT_ABS, SEEK_END); /// skip 3 frames (first got 0 pixels, 2- 0x3fff) - one extra, sometimes it is needed
tempData= (short *) &(GLOBALPARS(G_TEMPERATURE01)); // 2 32-bit words
now=getNowTime();
int numTemperatureDevices=0;
int indx;
period_us=((long long)1000)*((long long) get_imageParamsThis(P_TEMPERATURE_PERIOD));
if (daemon_bit>=0){ // skip frame to make sure the 10359 is programmed
lseek(fd_fparmsall, LSEEK_DAEMON_FRAME+daemon_bit, SEEK_END); /// wait for temperature daemon to be enabled (let it sleep if not)
lseek(fd_fparmsall, LSEEK_FRAME_WAIT_REL+1, SEEK_END);
}
for (indx=0;indx<5;indx++){
int result=readTemperature(indx);
if (result<0) slaves[indx]=-1;
else {
tempData[tempIndices[indx]]=result;
due_times[indx]=now+period_us;
numTemperatureDevices++;
MDF3(fprintf(stderr,"Due time %d %d ms\n",indx, (int)((due_times[indx]/((long long)1000)) & 0x7fffffff)));
if (indx>0) setResolution(indx);
}
}
if (numTemperatureDevices==0){
fprintf(stderr,"No temperature measurement devices found, exiting.");
return 0;
}
individual_period_us=period_us/numTemperatureDevices;
due_time=now+individual_period_us;
MDF3(fprintf(stderr,"Due time %d ms\n", (int)((due_time/((long long)1000)) & 0x7fffffff)));
if (daemon_bit<0) return 0; // update once, exit
/// Main loop
int i;
thatTime=now;
thatFrame=GLOBALPARS(G_THIS_FRAME);
// sleep one frame or until enabled
lseek(fd_fparmsall, LSEEK_FRAME_WAIT_REL+1, SEEK_END); /// skip 1 frame before returning (wait up to 255 frames with such command)
while (1) {
MDF6(fprintf(stderr,"Waiting for temperature daemon to be enabled, frame=%ld\n",GLOBALPARS(G_THIS_FRAME)));
lseek(fd_fparmsall, LSEEK_DAEMON_FRAME+daemon_bit, SEEK_END); /// wait for temperature daemon to be enabled (let it sleep if not)
now=getNowTime();
MDF3(fprintf(stderr,"Now is %d ms. due is %d ms \n",(int)((now/((long long)1000)) & 0x7fffffff),(int)((due_time/((long long)1000)) & 0x7fffffff)));
thisFrame=GLOBALPARS(G_THIS_FRAME);
if (now>=due_time){
MDF3(fprintf(stderr," It is due!\n"));
int numMeasured=0;
// update all temperatures that are already due;
for (i=0;i<5;i++) if ((slaves[i]>0) && (due_times[i]<due_time)){ // first service those that are due
int temperature=readTemperature(i);
if (temperature>=0) tempData[tempIndices[i]]=temperature; // >=0 is not >=0C :-)
due_times[i]=now+period_us;
MDF3(fprintf(stderr,"Due time %d is %d ms\n",i, (int)((due_times[i]/((long long)1000)) & 0x7fffffff)));
numMeasured++;
}
MDF3(fprintf(stderr,"--- numMeasured=%d\n",numMeasured));
if (numMeasured==0) { // none was due, measure the soonest to become due
indx=-1;
for (i=0;i<5;i++) if ((slaves[i]>0) && ((indx<0) || (due_times[i]<due_times[indx]))) indx=i;
if (indx<0){
fprintf(stderr,"BUG: earliest due indx<0");
return -1;
}
int temperature=readTemperature(indx);
if (temperature>=0) tempData[tempIndices[indx]]=temperature; // >=0 is not >=0C :-)
due_times[indx]=now+period_us;
MDF3(fprintf(stderr,"Updated earliest - due time %d is %d ms\n",indx, (int)((due_times[indx]/((long long)1000)) & 0x7fffffff)));
}
due_time=now+ individual_period_us;
MDF3(fprintf(stderr,"Due time is %d ms\n", (int)((due_time/((long long) 1000)) & 0x7fffffff)));
for (i=0;i<5;i++) if ((slaves[i]>0) && (due_times[i]<due_time)) due_time=due_times[i];
MDF3(fprintf(stderr,"Due time updated is %d ms\n", (int)((due_time/((long long)1000)) & 0x7fffffff)));
}
// set due time as earliest of individual due times and now+ individual_period_us
MDF3(fprintf(stderr,"Wait till next measurement for %d milliseconds\n",(int) ((due_time-now)/((long long)1000))));
// guess how many frames to wait
int framePeriod=(now-thatTime)/(thisFrame-thatFrame);
int numSkip=(due_time-now)/framePeriod;
if (numSkip>255) numSkip=255;
if (numSkip<1) numSkip=1;
MDF3(fprintf(stderr,"Will skip %d frames\n",numSkip));
if (numSkip>0) lseek(fd_fparmsall, LSEEK_FRAME_WAIT_REL+numSkip, SEEK_END); /// skip 1 frame before returning (wait up to 255 frames with such command)
}
}
long long getNowTime(void){
lseek(fd_fparmsall, LSEEK_GET_FPGA_TIME, SEEK_END); /// get FPGA time
long long result=GLOBALPARS(G_SECONDS);
result*=1000000;
result+=GLOBALPARS(G_MICROSECONDS);
MDF4(fprintf(stderr,"getNowTime(): %ld.%06ld, result=%d, == %d ms\n",GLOBALPARS(G_SECONDS),GLOBALPARS(G_MICROSECONDS), (int) (result & 0x7fffffff), (int) ((result/((long long) 1000)) & 0x7fffffff)));
return result;
}
int readTemperature(int indx){
MDF2(fprintf(stderr, "Measuring temperature data for index=%d, frame # %ld, slaves[index]=%d\n",indx,GLOBALPARS(G_THIS_FRAME),slaves[indx]));
int result=-1;
int devfd,ctlfd;
unsigned char data8[2];
// unsigned short *data16= (short *) data8;
if (slaves[indx]<0) {MDF2(fprintf(stderr, "Measuring temperature failed\n")); return -1;}
// int err;
if (indx==0) {
devfd=open("/dev/xi2c8_aux", O_RDONLY);
if (devfd<0) return -1;
if (lseek(devfd,(slaves[indx]<<7)+(SA56004X_LTM),0)<0) { // 0x4800, byte mode
close (devfd);
return -1;
}
if (read(devfd,&data8[1],1)<1) {
close (devfd);
return -1;
}
if (lseek(devfd,(slaves[indx]<<7)+(SA56004X_LTL),0)<0) { // 0x4822
close (devfd);
return -1;
}
if (read(devfd,&data8[0],1)<1) {
close (devfd);
return -1;
}
result=((data8[1]<<4 ) | (data8[0]>>4)) & 0xfff;
// MDF2(fprintf(stderr, "data8[0]=0x%x, data8[1]=0x%x, result=0x%04x\n",data8[0],data8[1],result));
if (result & 0x800) {
result&=0x7ff;
result |=0x1000;
}
} else { // bus 0 - need to slow down first
ctlfd=open("/dev/xi2cctl", O_RDWR);
/**
commented out so the communication speed will always be restored to fast (for the sensors)
read(ctlfd,bus0dflt,6); // read and save old i2c bus0 timing parameters
lseek(ctlfd,0,SEEK_SET); // rewind
*/
write(ctlfd,bus0slow,6); // set slow i2c bus0 timing parameters
devfd=open("/dev/xi2c16", O_RDONLY);
if (devfd<0) return -1;
if (lseek(devfd,((slaves[indx]<<7) +(MCP98242_LT))<<1,0)<0) { // 16-bit mode, 2 bytes/register
close (devfd);
// restore fast speed
lseek(ctlfd,0,SEEK_SET); // rewind
write(ctlfd,bus0dflt,6); // set slow i2c bus0 timing parameters // BUG: for some reason write returns here-1 after successful write
close (ctlfd);
return -1;
}
if (read(devfd,data8,2) <2) {
close (ctlfd);
// restore fast speed
lseek(ctlfd,0,SEEK_SET); // rewind
write(ctlfd,bus0dflt,6); // set slow i2c bus0 timing parameters
close (ctlfd);
return -1;
} // read and save old i2c bus0 timing parameters
//swap bytes
result =((data8[0]<<8) | data8[1])&0x1fff; // sign+temperature as 8.4
// restore i2c bus 0 speed
lseek(ctlfd,0,SEEK_SET); // rewind
write(ctlfd,bus0dflt,6); // set slow i2c bus0 timing parameters
close (ctlfd);
}
close (devfd);
MDF1(fprintf(stderr,"Temperature data for index=%d is 0x%x, frame # %ld\n",indx, result, GLOBALPARS(G_THIS_FRAME)));
return result;
/*
if (ctlfd<0) {
MDF2(fprintf(stderr, "Measuring temperature failed\n"));
return -1;
}
if (read(ctlfd,bus0dflt,6) <6) {close (ctlfd); MDF2(fprintf(stderr, "Measuring temperature failed\n")); return -2;} // read and save old i2c bus0 timing parameters
if (lseek(ctlfd,0,SEEK_SET)<0) {close (ctlfd); MDF2(fprintf(stderr, "Measuring temperature failed\n")); return -2;} // rewind
close (ctlfd);
ctlfd=open("/dev/xi2cctl", O_RDWR);
// if ((err=write(ctlfd,bus0slow,6))<6) {close (ctlfd); MDF2(fprintf(stderr, "Measuring temperature failed, err=%d\n",err)); return -2;} // set slow i2c bus0 timing parameters
if ((err=write(ctlfd,bus0slow,6))<-6) {close (ctlfd); MDF2(fprintf(stderr, "Measuring temperature failed, err=%d\n",err)); return -2;} // set slow i2c bus0 timing parameters
devfd=open("/dev/xi2c16", O_RDONLY);
if (devfd<0) {MDF2(fprintf(stderr, "Measuring temperature failed\n")); return -1;}
if (lseek(devfd,((slaves[indx]<<7) +(MCP98242_LT))<<1,0)<0) { // 16-but mode, 2 bytes/register
close (devfd);
MDF2(fprintf(stderr, "Measuring temperature failed\n"));
return -1;
}
if (read(devfd,data16,2) <2) {close (ctlfd); MDF2(fprintf(stderr, "Measuring temperature failed\n")); return -1;} // read and save old i2c bus0 timing parameters
result =data16[0]&0x1fff; // sign+temperature as 8.4
// restore i2c bus 0 speed
if (lseek(ctlfd,0,SEEK_SET)<0) {close (ctlfd);close (devfd); MDF2(fprintf(stderr, "Measuring temperature failed\n")); return -2;} // rewind
if (write(ctlfd,bus0dflt,6)<-6) {close (ctlfd);close (devfd); MDF2(fprintf(stderr, "Measuring temperature failed\n")); return -2;} // set slow i2c bus0 timing parameters
close (ctlfd);
}
close (devfd);
MDF2(fprintf(stderr,"Temperature data for index=%d is 0x%x, frame # %ld\n",indx, result, GLOBALPARS(G_THIS_FRAME)));
return result;
*/
}
int setResolution(int indx){
MDF2(fprintf(stderr, "Setting full temperature resolution for index=%d, frame # %ld, slaves[index]=%d\n",indx,GLOBALPARS(G_THIS_FRAME),slaves[indx]));
int devfd,ctlfd;
unsigned char data8[2];
if (indx<1) return 0; // no resolution settings fro system temperature, only for SFE
ctlfd=open("/dev/xi2cctl", O_RDWR);
/**
commented out so the communication speed will always be restored to fast (for the sensors)
read(ctlfd,bus0dflt,6); // read and save old i2c bus0 timing parameters
lseek(ctlfd,0,SEEK_SET); // rewind
*/
write(ctlfd,bus0slow,6); // set slow i2c bus0 timing parameters
devfd=open("/dev/xi2c8", O_RDWR);
if (devfd<0) return -1;
if (lseek(devfd,(slaves[indx]<<7) +(MCP98242_RESOL),0)<0) { // 8-bit mode
close (devfd);
// restore fast speed
lseek(ctlfd,0,SEEK_SET); // rewind
write(ctlfd,bus0dflt,6); // set slow i2c bus0 timing parameters // BUG: for some reason write returns here-1 after successful write
close (ctlfd);
return -1;
}
data8[0]=3; // full resolution
write(devfd,data8,1);
// restore i2c bus 0 speed
lseek(ctlfd,0,SEEK_SET); // rewind
write(ctlfd,bus0dflt,6); // set slow i2c bus0 timing parameters
close (ctlfd);
close (devfd);
MDF1(fprintf(stderr,"Temperature sensor %d is set to maximal resolution\n",indx));
return 0;
}
/**
* @brief open required files, mmap theurt data structures
* uses global variables for files and mmap-ed data so they are accessible everywhere
* @return 0 - OK, <0 - problems opening/mma-ing
*/
int initFrameParsMmap(void) {
const char framepars_driver_name[]="/dev/frameparsall";
///Frame parameters file open/mmap (read/write)
fd_fparmsall= open(framepars_driver_name, O_RDWR);
if (fd_fparmsall <0) {
ELP_FERR(fprintf(stderr, "Open failed: (%s)\r\n", framepars_driver_name));
return -1;
}
frameParsAll = (struct framepars_all_t *) mmap(0, sizeof (struct framepars_all_t) * HISTOGRAM_CACHE_NUMBER , PROT_READ | PROT_WRITE, MAP_SHARED, fd_fparmsall, 0);
if((int) frameParsAll == -1) {
ELP_FERR(fprintf(stderr, "problems with mmap: %s\n", framepars_driver_name));
close (fd_fparmsall);
return -1;
}
framePars = frameParsAll->framePars;
// pastPars = frameParsAll->pastPars;
globalPars= frameParsAll->globalPars;
return 0; /// All initialized
}
src/temperature.h 0 → 100644
View file @ 99b601c4
/*!***************************************************************************
*! FILE NAME : temperature.h
*! DESCRIPTION:
*! Copyright (C) 2012 Elphel, Inc.
*! -----------------------------------------------------------------------------**
*! This program is free software: you can redistribute it and/or modify
*! it under the terms of the GNU General Public License as published by
*! the Free Software Foundation, either version 3 of the License, or
*! (at your option) any later version.
*!
*! This program is distributed in the hope that it will be useful,
*! but WITHOUT ANY WARRANTY; without even the implied warranty of
*! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
*! GNU General Public License for more details.
*!
*! You should have received a copy of the GNU General Public License
*! along with this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*!
*! $Log: temperature.h,v $
*! Revision 1.1 2012/04/08 04:10:36 elphel
*! rev. 8.2.2 - added temperature measuring daemon, related parameters for logging SFE and system temperatures
*!
*/
#ifndef __H_TEMPERATURE__
#define __H_TEMPERATURE__
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <fcntl.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/stat.h>
//#include <ctype.h>
//#include <getopt.h>
#include <time.h>
#include <string.h>
#include <syslog.h>
#include <netinet/in.h>
#include <sys/mman.h> /* mmap */
#include <sys/ioctl.h>
#include <asm/elphel/c313a.h>
//#include <asm/elphel/exifa.h>
#include <asm/byteorder.h>
//#if ELPHEL_DEBUG
#define THIS_DEBUG 1
//#else
// #define THIS_DEBUG 0
//#endif
//#define ELP_FERR(x) printf(stderr,"%s:%d:%s: ERROR ",__FILE__,__LINE__,__FUNCTION__); x
#if THIS_DEBUG
#define MDF0(x) { if (temperature_debug & (1 << 0)) {fprintf(stderr,"%s:%d:%s: ",__FILE__,__LINE__,__FUNCTION__);x;} }
#define MDF1(x) { if (temperature_debug & (1 << 1)) {fprintf(stderr,"%s:%d:%s: ",__FILE__,__LINE__,__FUNCTION__);x;} }
#define MDF2(x) { if (temperature_debug & (1 << 2)) {fprintf(stderr,"%s:%d:%s: ",__FILE__,__LINE__,__FUNCTION__);x;} }
// #define MDF2(x)
#define MDF3(x) { if (temperature_debug & (1 << 3)) {fprintf(stderr,"%s:%d:%s: ",__FILE__,__LINE__,__FUNCTION__);x;} }
// #define MDF3(x)
#define MDF4(x) { if (temperature_debug & (1 << 4)) {fprintf(stderr,"%s:%d:%s: ",__FILE__,__LINE__,__FUNCTION__);x;} }
#define MDF5(x) { if (temperature_debug & (1 << 5)) {fprintf(stderr,"%s:%d:%s: ",__FILE__,__LINE__,__FUNCTION__);x;} }
#define MDF6(x) { if (temperature_debug & (1 << 6)) {fprintf(stderr,"%s:%d:%s: ",__FILE__,__LINE__,__FUNCTION__);x;} }
#define MDF7(x) { if (temperature_debug & (1 << 7)) {fprintf(stderr,"%s:%d:%s: ",__FILE__,__LINE__,__FUNCTION__);x;} }
#else
#define MDF0(x)
#define MDF1(x)
#define MDF2(x)
#define MDF3(x)
#define MDF4(x)
#define MDF5(x)
#define MDF6(x)
#define MDF7(x)
#endif
#define get_imageParamsThis(x) ( framePars[this_frame & PARS_FRAMES_MASK].pars[x])
#define min(x,y) ((x<y)?x:y)
#endif
src/white_balance.c 0 → 100644
View file @ 99b601c4
/*!***************************************************************************
*! FILE NAME : white_balance.c
*! DESCRIPTION: White balance part of the autoexposure/white balance/hdr daemon
*! Copyright (C) 2008 Elphel, Inc.
*! -----------------------------------------------------------------------------**
*! This program is free software: you can redistribute it and/or modify
*! it under the terms of the GNU General Public License as published by
*! the Free Software Foundation, either version 3 of the License, or
*! (at your option) any later version.
*!
*! This program is distributed in the hope that it will be useful,
*! but WITHOUT ANY WARRANTY; without even the implied warranty of
*! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
*! GNU General Public License for more details.
*!
*! You should have received a copy of the GNU General Public License
*! along with this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*!
*! $Log: white_balance.c,v $
*! Revision 1.6 2008/12/10 02:12:54 elphel
*! Added threshold with no-correction zone, similar to autoexposure.
*! Individual, per-color integration: whenintegrated error is less than half threshold - no correction will take place,, from 0.5 to 1.5 threshold - correction will be scaled, above 1.5 - full correction applied.
*! In the case correction is scaled, only portion of integrated error is removed after correction. If full correction applied - integrated error is reset.
*!
*! Revision 1.5 2008/12/02 19:12:13 elphel
*! made it check that there is enough pixels to work with (before it got 0 if daemon started to early on all colors but one were zeroed out)
*!
*! Revision 1.4 2008/12/02 00:28:13 elphel
*! multiple bugfixes, making white balance to work and work with camvc
*!
*! Revision 1.3 2008/12/01 02:32:48 elphel
*! Updated white balance to use new gains
*!
*! Revision 1.2 2008/11/30 05:34:12 elphel
*! Updated for WB_EN/WB_MASK split (still not updated for the new gain control - not operational)
*!
*! Revision 1.1.1.1 2008/11/27 20:04:01 elphel
*!
*!
*! Revision 1.5 2008/11/18 19:30:16 elphel
*! Added initialization of the "next" frame - otherwise it wait _very_ long if the camera frame number is reset
*!
*! Revision 1.4 2008/11/18 07:36:55 elphel
*! added TODO
*!
*! Revision 1.3 2008/11/17 06:49:48 elphel
*! synchronized greens analog gains when color HDR is not used
*!
*! Revision 1.2 2008/11/16 17:35:06 elphel
*! improved control of analog gains
*!
*! Revision 1.1 2008/11/15 23:08:24 elphel
*! 8.0.alpha17 - split autoexposure source file
*!
*!
*/
#include "autoexposure.h"
void initWhiteBalanceCorr(void) {
GLOBALPARS(G_NEXT_WB_FRAME)=0;
}
#define MIN_LEVEL_TO_ADJUST 0x1000 /// 1/16 of the full scale
#define MIN_PIXELS_TO_ADJUST 0x100 /// one 32x32 block, 1 color
/**
* @brief Single white balance correction step (through scaling "gamma" curves).
* white balance parameters are used for the target fram, not for the currenly processed
* @param frame "current" frame, histograms are ready for frame-1
* @param target_frame frame, to which new exposure should be applied (that frame picture will change brightness)
* caller should take care of not bumping into HDR frame
* @return <0 - error, 0 - no correction was made, 1 - correction to [P_VEXPOS] was made
*/
/// TODO: at startup or long pause, set wb after aexp settles to within thershold
/// TODO: SupportT P_WB_MASK - now it is just ON/OFF. NOTE:When the bit is off it should be scaled with the G1 color!
int whiteBalanceCorr(int frame, int target_frame, int ae_rslt) {
MDF3(fprintf(stderr,"frame=0x%x, target_frame=0x%x G_WB_INTEGERR=0x%08lx\n",frame,target_frame,GLOBALPARS(G_WB_INTEGERR))); ///======= 0 here
int rslt;
int colors;
unsigned long write_data[18];
/// int gamma_index; - global
/// int hist_index; - global
/// int error_thresh;
int color;
int wb_whitelev,wb_whitefrac,wb_whitepix, wb_whiteindex,wb_maxwhite;
int brightest_color=-1; /// brightest one of the enabled colors (including COLOR_Y_NUMBER)
int max_white_pixels; /// maximal (among colors) number of "white" (>wb_whitelev) pixels
int min_white_pixels; ///to detect overexposure for all colors
int num_pixels,white_pixels,nonwhite_frac,nonwhite_pixels;
int perc,delta,perc_frac;
unsigned long * hist_cumul; /// 256 of cumulated histogram values (in pixels) for selected color
unsigned char * hist_percentile; /// 256 of rounded percentiles (1 byte) - used as a starting point for linear interpolation
int levels[4]; /// 16-bit levels for "white" for different colors (output levels),
int corr[4]; /// 16.16 additional manual color correction coefficients
int gains[4]; /// full gain (analog+digital) per channel
int new_gains[4];
int target_frame8=target_frame & PARS_FRAMES_MASK;
int i;
int error_thresh= framePars[target_frame8].pars[P_WB_THRESH];/// Threshold for integrated error - when errors are smaller - correction is scaled proportionally
int wb_period_change= framePars[target_frame8].pars[P_WB_PERIOD] & 0xff; /// lower byte
int wb_period_nochange=(framePars[target_frame8].pars[P_WB_PERIOD] >> 8 ) & 0xff; /// next byte
int wb_dont_sync= (framePars[target_frame8].pars[P_WB_PERIOD] & 0x10000); /// don't try to synchronize to availble histograms
int aerr=0; // just to keep compiler happy
// int * wb_err= (int *) &(GLOBALPARS(G_WB_INTEGERR)); /// so it will be signed
static int wb_err[4]; /// individual per-color. Maybe make visible outside? Or not?
if (!wb_period_change) wb_period_change= DEFAULT_WB_PERIOD_CHANGE;
if (!wb_period_nochange) wb_period_nochange=DEFAULT_WB_PERIOD_NOCHANGE;
if (!((colors=framePars[target_frame8].pars[P_WB_CTRL] & 0x0f)) || !(framePars[target_frame8].pars[P_WB_CTRL] & (1<<WB_CTRL_BIT_EN))) {
GLOBALPARS(G_NEXT_WB_FRAME)=frame+wb_period_change;
return 0; /// white balance is off (mask==0)
}
if (GLOBALPARS(G_NEXT_WB_FRAME) > frame) return 0; /// too early to bother
MDF3(fprintf(stderr,"G_WB_INTEGERR=0x%08lx\n",GLOBALPARS(G_WB_INTEGERR))); ///======= 0 here
colors |= (1 << COLOR_Y_NUMBER);
/// Get the histogram (including percentiles)
lseek(fd_histogram_cache, LSEEK_HIST_WAIT_C, SEEK_END); /// wait for all histograms, not just Y (G1)
lseek(fd_histogram_cache, LSEEK_HIST_NEEDED + (colors << 8), SEEK_END); /// specify that reverse histogram(s) are needed. Are they?
hist_index=lseek(fd_histogram_cache, frame-1, SEEK_SET); /// request histograms for the previous frame
if(hist_index <0) {
ELP_FERR(fprintf(stderr, "Requested histograms for frame %d (0x%x) are not available\n",frame-1,frame-1));
return -1;
}
if (histogram_cache[hist_index].frame < (frame-1)) { /// histogram is too old - try again
GLOBALPARS(G_NEXT_WB_FRAME)=frame+1;
if (wb_dont_sync) return 0; /// will request histogram for this frame
/// repeat up to 8 times trying to get a fresh histogram
for (i=0; i<8; i++) {
frame++;
MDF3(fprintf(stderr,"Skipping frame trying to synchronize, frame will be 0x%x\n",frame));
lseek(fd_fparmsall, frame +LSEEK_FRAME_WAIT_ABS, SEEK_END);
this_frame=frame;
hist_index=lseek(fd_histogram_cache, frame-1, SEEK_SET); /// request histograms for the previous frame
if (histogram_cache[hist_index].frame == (frame-1)) break;
}
if (histogram_cache[hist_index].frame < (frame-1)) { /// histogram is too old - try again
GLOBALPARS(G_NEXT_WB_FRAME)=frame+1;
return 0; /// will request histogram for this frame
}
}
wb_whitelev=framePars[target_frame8].pars[P_WB_WHITELEV];
wb_whitefrac=framePars[target_frame8].pars[P_WB_WHITEFRAC];
wb_maxwhite=framePars[target_frame8].pars[P_WB_MAXWHITE];
if (!wb_whitelev || (wb_whitelev > 0xffff)) wb_whitelev =DEFAULT_WB_WHITELEV; /// 0xfae1 // 98%
if (!wb_whitefrac || (wb_whitefrac > 0xffff)) wb_whitefrac=DEFAULT_WB_WHITEFRAC; /// 0x028f // 1%
if (!wb_maxwhite || (wb_maxwhite > 0xffff)) wb_maxwhite= wb_whitefrac<<2; /// 48
MDF4(fprintf(stderr,"colors=0x%x wb_whitelev=0x%x, wb_whitefrac=0x%x\n",colors,wb_whitelev,wb_whitefrac));
corr[COLOR_RED]= framePars[target_frame8].pars[P_WB_SCALE_R];
corr[COLOR_GREEN1]=0x10000;
corr[COLOR_GREEN2]=framePars[target_frame8].pars[P_WB_SCALE_GB];
corr[COLOR_BLUE]= framePars[target_frame8].pars[P_WB_SCALE_B];
for (color=0;color<4;color++) if (!corr[color]) corr[color]=0x10000;
MDF4(fprintf(stderr,"corr[]= 0x%04x 0x%04x 0x%04x 0x%04x\n",corr[0],corr[1],corr[2],corr[3]));
/// Find the "brightest" color (maximal number of pixels above wb_whitelev ). wb_whitelev is currently rounded to 8 bits
max_white_pixels=0;
num_pixels=histogram_cache[hist_index].cumul_hist[255+ (COLOR_Y_NUMBER<<8)]; /// this one is definitely calculated
if (num_pixels < MIN_PIXELS_TO_ADJUST) {
ELP_FERR(fprintf(stderr, "Few pixels to process, giving up. num_pixels=%d, frame=%d (0x%x)\n", num_pixels, frame,frame));
return -1;
}
min_white_pixels=num_pixels;
wb_whitepix= (((long long) num_pixels) * wb_whitefrac)>>16;
wb_whiteindex=(wb_whitelev>>8) & 0xff;
wb_maxwhite =(((long long) num_pixels) * wb_maxwhite)>>16;
MDF4(fprintf(stderr,"num_pixels=0x%04x wb_whitepix=0x%04x wb_whiteindex=0x%04x\n",num_pixels,wb_whitepix,wb_whiteindex));
/// Find the "brightest" color (maximal number of pixels above wb_whitelev ). wb_whitelev is currently rounded to 8 bits
for (color=0;color<4;color++) if (colors & (1 << color)) {
hist_cumul= &(histogram_cache[hist_index].cumul_hist[(color << 8)]);
if ( ((white_pixels= (num_pixels-hist_cumul[wb_whiteindex])))> max_white_pixels) {
max_white_pixels=white_pixels;
brightest_color=color;
}
if (min_white_pixels> white_pixels) min_white_pixels = white_pixels;
}
MDF4(fprintf(stderr,"brightest_color=%d, max_white_pixels= 0x%x, min_white_pixels=0x%x wb_whiteindex=0x%x, wb_maxwhite=0x%x\n", brightest_color, max_white_pixels, min_white_pixels, wb_whiteindex,wb_maxwhite));
///#define P_WB_MAXWHITE 175 /// Maximal allowed "white" pixels fraction (16.16) to have level above [P_WB_WHITELEV] for the darkest color
/// if this limit is exceeded there will be no correction (waiting for autoexposure to decrease overall brightness)
if (min_white_pixels > wb_maxwhite) { /// everexposure - wait for the next chance
MDF4(fprintf(stderr,"Overexposure - giving up: min_white_pixels=0x%x wb_maxwhite=0x%x\n",min_white_pixels, wb_maxwhite));
return 0; /// wait for the next frame (skip normal interval here?)
}
while (max_white_pixels < wb_whitepix) { /// No, wb_whitelev has to be lowered and brightest color is unknown (maybe max_white_pixels==0)
for (brightest_color=0;brightest_color<4;brightest_color++) if (colors & (1 << brightest_color)) {
if ( ((max_white_pixels= (num_pixels-histogram_cache[hist_index].cumul_hist[(brightest_color << 8) +wb_whiteindex])))>=wb_whitepix) break;
}
wb_whiteindex--;
}
MDF4(fprintf(stderr,"brightest_color=%d, max_white_pixels= 0x%04x, wb_whiteindex=0x%x\n",brightest_color,max_white_pixels,wb_whiteindex));
hist_cumul=&(histogram_cache[hist_index].cumul_hist[brightest_color << 8]);
/// See if enough pixels are above wb_whitelev
if (max_white_pixels < wb_whitepix) { /// No, wb_whitelev has to be lowered
while (wb_whiteindex && (hist_cumul[wb_whiteindex] > (num_pixels-wb_whitepix))) wb_whiteindex--;
}
wb_whitelev=wb_whiteindex<<8;
/// Find levels for other (than brightest) colors so the same number of pixels is below it. First - output range, then correct by gamma-tables to input range
nonwhite_pixels=hist_cumul[wb_whiteindex]; /// number of non-white (less than level) pixels for the brightest color
if (nonwhite_pixels<0) nonwhite_pixels=0; /// still bad
nonwhite_frac= (((long long) nonwhite_pixels)<<16)/num_pixels;
white_pixels=num_pixels-nonwhite_pixels;
levels[brightest_color]=wb_whitelev;
MDF4(fprintf(stderr,"wb_whitelev=0x%x white_pixels=0x%04x, nonwhite_pixels=0x%04x, nonwhite_frac= 0x%04x\n",wb_whitelev, white_pixels,nonwhite_pixels,nonwhite_frac));
for (color=0;color<4;color++) if (colors & (1 << color)) {
if (color != brightest_color){
/// nonwhite_frac-> levels[color]
hist_cumul= &(histogram_cache[hist_index].cumul_hist[color<<8]);
hist_percentile=&(histogram_cache[hist_index].percentile[color<<8]);
perc=hist_percentile[nonwhite_frac >> (PERCENTILE_SHIFT-8)]; /// 8 MSBs used as index
MDF4(fprintf(stderr,"perc=0x%04x nonwhite_frac >> (PERCENTILE_SHIFT-8)= 0x%04x\n",perc, nonwhite_frac >> (PERCENTILE_SHIFT-8)));
if (perc>0) perc--; /// seems hist_percentile[perc] rounds up, not down
while ((perc>0) && (hist_cumul[perc] > nonwhite_pixels)) perc--; /// adjust down (is that needed at all?)
perc++;
while ((perc<255) && (hist_cumul[perc] <= nonwhite_pixels)) perc++; /// adjust up (is that needed at all?)
perc--;
delta=hist_cumul[perc+1] - hist_cumul[perc];
MDF4(fprintf(stderr,"perc=0x%04x delta= 0x%04x\n",perc, delta));
if (delta) {
perc_frac=((nonwhite_pixels-hist_cumul[perc]) << (PERCENTILE_SHIFT-8))/delta;
} else perc_frac=0;
levels[color]=(perc << (PERCENTILE_SHIFT-8)) + perc_frac;
MDF4(fprintf(stderr,"hist_cumul[0x%x]=0x%lx hist_cumul[0x%x]=0x%lx, delta=0x%x, levels[%d]=0x%x\n",perc,hist_cumul[perc],perc+1,hist_cumul[perc+1],delta,color,levels[color]));
}
/// Now - "ungamma" levels to map them to the sensor input data
/// sets global gamma_index, uses global hist_index;
if (!setGammaIndex(color)) return -1; /// could not get gamma table
levels[color]= gammaReverse (levels[color]) - get_imageParamsThat (P_SCALE_ZERO_OUT, frame-1); /// Could use "this", not "that" - unlikely to change
gains[color] = histogram_cache[hist_index].gains[color&3];
new_gains[color] =gains[color];
// MDF4(fprintf(stderr,"levels[%d]=0x%x\n",color,levels[color]));
}
MDF4(fprintf(stderr,"levels[0]=0x%x levels[1]=0x%x levels[2]=0x%x levels[3]=0x%x\n",levels[0],levels[1],levels[2],levels[3]));
MDF4(fprintf(stderr,"gains[0]=0x%x gains[1]=0x%x gains[2]=0x%x gains[3]=0x%x\n",gains[0],gains[1],gains[2],gains[3]));
/// Now levels are (0..0xffff)-fatzero (so can be negative?) and the gains should be calculated for R,G2,B - don't touch G here
///corr[0]
if (levels[COLOR_Y_NUMBER] < MIN_LEVEL_TO_ADJUST) { /// green level is too low to adjust
// return -1; /// give up?
levels[COLOR_Y_NUMBER]= MIN_LEVEL_TO_ADJUST; /// still try
}
// int target_frame8=target_frame & PARS_FRAMES_MASK;
// int ae_period_change=framePars[target_frame8].pars[P_AE_PERIOD] & 0xff; /// lower byte
/// It is important to use the new value of Green gain - it (an all the rest gains) could change if application had written
/// green gain and driver adjusted the rest of them. It would be safer to recalculate all the gains from the taget frame green gain
/// and then write all in one atomic write, including the same green. That writing green back will help in the cases when write
/// occured after we read green gain but before had written back. So we are risking missing the gain chnage, otherwise we'll have
/// the gains mismatch. But tghat can be chnaged by define
#define BETTER_MISS_GAIN_CHANGE 1
for (color=0;color<4;color++) if ((colors & (1 << color)) && (color != COLOR_Y_NUMBER)) {
/// gain[i]=gain[i]*level[green]/level[i]*corr[i]>>16
if (levels[color]<MIN_LEVEL_TO_ADJUST) levels[color] =MIN_LEVEL_TO_ADJUST;
new_gains[color]= (((long long) gains[color]) * levels[COLOR_Y_NUMBER] / levels[color] * corr[color]) >> 16;
///per-color damping is here
if (error_thresh>0) { /// if threshold ==0 - just apply what is calculated
wb_err[color]+=(new_gains[color]>>4); /// Too high precision - scale to have reasonable threshold ~500, same as for the autoexposure
wb_err[color]-=(gains[color]>>4);
aerr=abs(wb_err[color])- (error_thresh >> 1); /// TRYING: <1/2 of error_thresh - no correction at all, (0.5..1.5)*error_thresh - scale
if (aerr>0) {
if (aerr > error_thresh) aerr=error_thresh;
new_gains[color]=(gains[color]*(error_thresh-aerr)+new_gains[color]*aerr)/error_thresh;
if (aerr < error_thresh) wb_err[color]= (wb_err[color]*(error_thresh-aerr))/error_thresh; /// reduce residual error
else wb_err[color]= 0; /// reset residual error (save on division)
} else new_gains[color]=gains[color];
}
}
MDF5(fprintf(stderr,"wb_err[0]=%d, wb_err[1]=%d, wb_err[2]=%d, wb_err[3]=%d\n",wb_err[0],wb_err[1],wb_err[2],wb_err[3]));
MDF5(fprintf(stderr,"new_gains[0]=0x%x new_gains[1]=0x%x new_gains[2]=0x%x new_gains[3]=0x%x\n",new_gains[0],new_gains[1],new_gains[2],new_gains[3]));
unsigned long targetGain=framePars[target_frame & PARS_FRAMES_MASK].pars[P_GAINR+COLOR_Y_NUMBER];
if (targetGain!=gains[COLOR_Y_NUMBER]) { /// need to correct gains to the green gain at target frame modified by externally
for (color=0;color<4;color++) if ((colors & (1 << color)) && (color != COLOR_Y_NUMBER)) {
/// gain[i]*=targetGain/gain[COLOR_Y_NUMBER]
/// could take division out of cycle, but that's not that often to get here
new_gains[color]= (((long long) new_gains[color]) * targetGain)/ gains[COLOR_Y_NUMBER];
}
new_gains[COLOR_Y_NUMBER]=targetGain;
MDF4(fprintf(stderr,"Corrected for green gain changed: new_gains[0]=0x%x new_gains[1]=0x%x new_gains[2]=0x%x new_gains[3]=0x%x\n",new_gains[0],new_gains[1],new_gains[2],new_gains[3]));
}
/// Now apply modified scales
i=0;
write_data[i++]= FRAMEPARS_SETFRAME;
write_data[i++]= target_frame;
for (color=0;color<4;color++) if ((colors & (1 << color)) && (BETTER_MISS_GAIN_CHANGE ||(color != COLOR_Y_NUMBER))){
write_data[i++]= P_GAINR+color;
write_data[i++]= new_gains[color];
}
rslt=write(fd_fparmsall, write_data, (i << 2));
if (rslt < (i << 2)) return -errno;
GLOBALPARS(G_NEXT_WB_FRAME)=frame+framePars[target_frame8].pars[P_WB_PERIOD]; /// modify overall next_frame
return 1;
/// TODO: add error integration, don't rush for instant changes?
}
src/white_balance.h 0 → 100644
View file @ 99b601c4
/*!***************************************************************************
*! FILE NAME : white_balance.h
*! DESCRIPTION: White balance part of the autoexposure/white balance/hdr daemon
*! Copyright (C) 2008 Elphel, Inc.
*! -----------------------------------------------------------------------------**
*! This program is free software: you can redistribute it and/or modify
*! it under the terms of the GNU General Public License as published by
*! the Free Software Foundation, either version 3 of the License, or
*! (at your option) any later version.
*!
*! This program is distributed in the hope that it will be useful,
*! but WITHOUT ANY WARRANTY; without even the implied warranty of
*! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
*! GNU General Public License for more details.
*!
*! You should have received a copy of the GNU General Public License
*! along with this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*!
*! $Log: white_balance.h,v $
*! Revision 1.1.1.1 2008/11/27 20:04:01 elphel
*!
*!
*! Revision 1.2 2008/11/18 19:30:16 elphel
*! Added initialization of the "next" frame - otherwise it wait _very_ long if the camera frame number is reset
*!
*! Revision 1.1 2008/11/15 23:08:24 elphel
*! 8.0.alpha17 - split autoexposure source file
*!
*!
*/
#ifndef __H_AUTOEXPOSURE_WHITE_BALANCE__
#define __H_AUTOEXPOSURE_WHITE_BALANCE__
int whiteBalanceCorr(int frame, int target_frame, int ae_rslt);
void initWhiteBalanceCorr(void);
#endif
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