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70 lines
2.2 KiB
70 lines
2.2 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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#include <AP_HAL/I2CDevice.h> |
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#include "AP_HAL_Linux.h" |
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#include "CameraSensor.h" |
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namespace Linux { |
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enum mt9v117_res { |
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MT9V117_QVGA, |
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}; |
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struct mt9v117_patch { |
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uint8_t *data; |
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uint8_t size; |
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}; |
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#define MT9V117_PATCH_LINE_NUM 13 |
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class CameraSensor_Mt9v117 : public CameraSensor { |
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public: |
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CameraSensor_Mt9v117(const char *device_path, |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, |
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enum mt9v117_res res, |
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uint16_t nrst_gpio, uint32_t clock_freq); |
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private: |
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static const struct mt9v117_patch _patch_lines[MT9V117_PATCH_LINE_NUM]; |
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uint8_t _read_reg8(uint16_t reg); |
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void _write_reg8(uint16_t reg, uint8_t val); |
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uint16_t _read_reg16(uint16_t reg); |
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void _write_reg16(uint16_t reg, uint16_t val); |
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void _write_reg32(uint16_t reg, uint32_t val); |
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inline uint16_t _var2reg(uint16_t var, uint16_t offset); |
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uint16_t _read_var16(uint16_t var, uint16_t offset); |
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void _write_var16(uint16_t var, uint16_t offset, uint16_t value); |
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uint8_t _read_var8(uint16_t var, uint16_t offset); |
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void _write_var8(uint16_t var, uint16_t offset, uint8_t value); |
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void _write_var32(uint16_t var, uint16_t offset, uint32_t value); |
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void _config_change(); |
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void _itu656_enable(); |
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void _soft_reset(); |
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void _apply_patch(); |
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void _set_basic_settings(); |
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void _configure_sensor_qvga(); |
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void _init_sensor(); |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev; |
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uint32_t _clock_freq; |
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uint16_t _nrst_gpio = 0xFFFF; |
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uint8_t _addr; |
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}; |
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}
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