Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
mt9f002.c File Reference
#include "std.h"
#include "mt9f002.h"
#include "mt9f002_regs.h"
#include "isp/libisp.h"
#include "math/pprz_algebra_int.h"
#include "peripherals/video_device.h"
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/i2c-dev.h>
#include <linux/videodev2.h>
#include "generated/airframe.h"
#include "boards/bebop.h"
+ Include dependency graph for mt9f002.c:
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Go to the source code of this file.

Data Structures

struct  blanking_t
 

Macros

#define PRINT(string, ...)   fprintf(stderr, "[MT9F002->%s()] " string,__FUNCTION__ , ##__VA_ARGS__)
 
#define VERBOSE_PRINT(...)
 
#define MT9F002_TARGET_EXPOSURE   30
 Exposure of the front camera of the bebop. More...
 
#define MT9F002_GAIN_GREEN1   2.0
 
#define MT9F002_GAIN_GREEN2   2.0
 
#define MT9F002_GAIN_RED   1.4
 
#define MT9F002_GAIN_BLUE   2.7
 

Functions

static void write_reg (struct mt9f002_t *mt, uint16_t addr, uint32_t val, uint8_t len)
 Write multiple bytes to a single register. More...
 
static uint32_t read_reg (struct mt9f002_t *mt, uint16_t addr, uint8_t len)
 Read multiple bytes from a register. More...
 
static void mt9f002_mipi_stage1 (struct mt9f002_t *mt)
 Configure stage 1 for both MiPi and HiSPi connection. More...
 
static void mt9f002_mipi_stage2 (struct mt9f002_t *mt)
 Configure stage 2 for both MiPi and HiSPi connection. More...
 
static void mt9f002_mipi_stage3 (struct mt9f002_t *mt)
 Configure stage 3 for both MiPi and HiSPi connection. More...
 
static void mt9f002_parallel_stage1 (struct mt9f002_t *mt)
 Configure stage 1 for parallel connection. More...
 
static void mt9f002_parallel_stage2 (struct mt9f002_t *mt)
 Configure stage 2 for parallel connection. More...
 
static void mt9f002_set_pll (struct mt9f002_t *mt)
 Set the PLL registers based on config. More...
 
static void mt9f002_set_blanking (struct mt9f002_t *mt)
 
void mt9f002_set_exposure (struct mt9f002_t *mt)
 Set the exposure configuration Depends on the blanking (and therefore the FPS) More...
 
static uint16_t mt9f002_calc_gain (float gain)
 Calculate the gain based on value of 1.0 -> 63.50. More...
 
void mt9f002_set_gains (struct mt9f002_t *mt)
 Sets the GreenR, Blue, Red and GreenB gains. More...
 
static void mt9f002_calc_resolution (struct mt9f002_t *mt)
 
static void mt9f002_set_resolution (struct mt9f002_t *mt)
 
void mt9f002_init (struct mt9f002_t *mt)
 Initialisation of the Aptina MT9F002 CMOS sensor (front camera) More...
 
void mt9f002_reset_color (struct mt9f002_t *mt)
 
void mt9f002_reset_exposure (struct mt9f002_t *mt)
 
void mt9f002_setting_update_resolution (float in UNUSED)
 
void mt9f002_setting_update_color (float in UNUSED)
 
void mt9f002_setting_update_exposure (float in UNUSED)
 

Variables

struct video_config_t front_camera
 
struct mt9f002_t mt9f002
 
struct blanking_t mt9f002_blanking
 

Detailed Description

Initialization of MT9F002 chip and options to change settings

Definition in file mt9f002.c.


Data Structure Documentation

◆ blanking_t

struct blanking_t

Definition at line 165 of file mt9f002.c.

Data Fields
uint16_t fine_integration_time_max_margin
uint16_t fine_integration_time_min
uint16_t min_line_blanking_pck
uint16_t min_line_fifo_pck
uint16_t min_line_length_pck

Macro Definition Documentation

◆ MT9F002_GAIN_BLUE

#define MT9F002_GAIN_BLUE   2.7

Definition at line 86 of file mt9f002.c.

◆ MT9F002_GAIN_GREEN1

#define MT9F002_GAIN_GREEN1   2.0

Definition at line 74 of file mt9f002.c.

◆ MT9F002_GAIN_GREEN2

#define MT9F002_GAIN_GREEN2   2.0

Definition at line 78 of file mt9f002.c.

◆ MT9F002_GAIN_RED

#define MT9F002_GAIN_RED   1.4

Definition at line 82 of file mt9f002.c.

◆ MT9F002_TARGET_EXPOSURE

#define MT9F002_TARGET_EXPOSURE   30

Exposure of the front camera of the bebop.

Experimental values: Outside: 15 Inside well lit: 30 Inside poorly lit: 60

Definition at line 69 of file mt9f002.c.

◆ PRINT

#define PRINT (   string,
  ... 
)    fprintf(stderr, "[MT9F002->%s()] " string,__FUNCTION__ , ##__VA_ARGS__)

Definition at line 48 of file mt9f002.c.

◆ VERBOSE_PRINT

#define VERBOSE_PRINT (   ...)

Definition at line 53 of file mt9f002.c.

Function Documentation

◆ mt9f002_calc_gain()

static uint16_t mt9f002_calc_gain ( float  gain)
static

Calculate the gain based on value of 1.0 -> 63.50.

Definition at line 860 of file mt9f002.c.

Referenced by mt9f002_set_gains().

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◆ mt9f002_calc_resolution()

◆ mt9f002_init()

◆ mt9f002_mipi_stage1()

static void mt9f002_mipi_stage1 ( struct mt9f002_t mt)
inlinestatic

Configure stage 1 for both MiPi and HiSPi connection.

Definition at line 222 of file mt9f002.c.

References mt9f002_t::interface, MT9F002_CPP_DATA_FORMAT, MT9F002_HiSPi, MT9F002_MFR_3176, MT9F002_MFR_317C, MT9F002_MFR_3D00, MT9F002_MFR_3D02, MT9F002_MFR_3D04, MT9F002_MFR_3D06, MT9F002_MFR_3D08, MT9F002_MFR_3D0A, MT9F002_MFR_3D0C, MT9F002_MFR_3D0E, MT9F002_MFR_3D10, MT9F002_MFR_3D12, MT9F002_MFR_3D14, MT9F002_MFR_3D16, MT9F002_MFR_3D18, MT9F002_MFR_3D1A, MT9F002_MFR_3D1C, MT9F002_MFR_3D1E, MT9F002_MFR_3D20, MT9F002_MFR_3D22, MT9F002_MFR_3D24, MT9F002_MFR_3D26, MT9F002_MFR_3D28, MT9F002_MFR_3D2A, MT9F002_MFR_3D2C, MT9F002_MFR_3D2E, MT9F002_MFR_3D30, MT9F002_MFR_3D32, MT9F002_MFR_3D34, MT9F002_MFR_3D36, MT9F002_MFR_3D38, MT9F002_MFR_3D3A, MT9F002_MFR_3D3C, MT9F002_MFR_3D3E, MT9F002_MFR_3D40, MT9F002_MFR_3D42, MT9F002_MFR_3D44, MT9F002_MFR_3D46, MT9F002_MFR_3D48, MT9F002_MFR_3D4A, MT9F002_MFR_3D4C, MT9F002_MFR_3D4E, MT9F002_MFR_3D50, MT9F002_MFR_3D52, MT9F002_MFR_3D54, MT9F002_MFR_3D56, MT9F002_MFR_3D58, MT9F002_MFR_3D5A, MT9F002_MFR_3D5C, MT9F002_MFR_3D5E, MT9F002_MFR_3D60, MT9F002_MFR_3D62, MT9F002_MFR_3D64, MT9F002_MFR_3D66, MT9F002_MFR_3D68, MT9F002_MFR_3D6A, MT9F002_MFR_3D6C, MT9F002_MFR_3D6E, MT9F002_MFR_3D70, MT9F002_MFR_3D72, MT9F002_MFR_3D74, MT9F002_MFR_3D76, MT9F002_MFR_3D78, MT9F002_MFR_3D7A, MT9F002_MFR_3D7C, MT9F002_MFR_3D7E, MT9F002_MFR_3D80, MT9F002_MFR_3D82, MT9F002_MFR_3D84, MT9F002_MFR_3D86, MT9F002_MFR_3D88, MT9F002_MFR_3D8A, MT9F002_MFR_3D8C, MT9F002_MFR_3D8E, MT9F002_MFR_3D90, MT9F002_MFR_3D92, MT9F002_MFR_3D94, MT9F002_MFR_3D96, MT9F002_MFR_3D98, MT9F002_MFR_3D9A, MT9F002_MFR_3D9C, MT9F002_MFR_3D9E, MT9F002_MFR_3DA0, MT9F002_MFR_3DA2, MT9F002_MFR_3DA4, MT9F002_MFR_3DA6, MT9F002_MFR_3DA8, MT9F002_MFR_3DAA, MT9F002_MFR_3DAC, MT9F002_MFR_3DAE, MT9F002_MFR_3DB0, MT9F002_MFR_3DB2, MT9F002_MFR_3DB4, MT9F002_MFR_3DB6, MT9F002_MFR_3DB8, MT9F002_MFR_3DBA, MT9F002_MFR_3DBC, MT9F002_MFR_3DBE, MT9F002_MFR_3DC0, MT9F002_MFR_3DC2, MT9F002_MFR_3DC4, MT9F002_MFR_3DC6, MT9F002_MFR_3DC8, MT9F002_MFR_3DCA, MT9F002_MFR_3DCC, MT9F002_MFR_3DCE, MT9F002_MFR_3DD0, MT9F002_MFR_3DD2, MT9F002_MFR_3DD4, MT9F002_MFR_3DD6, MT9F002_MFR_3DD8, MT9F002_MFR_3DDA, MT9F002_MFR_3DDC, MT9F002_MFR_3DDE, MT9F002_MFR_3DE0, MT9F002_MFR_3DE2, MT9F002_MFR_3DE4, MT9F002_MFR_3DE6, MT9F002_MFR_3DE8, MT9F002_MFR_3DEA, MT9F002_MFR_3DEC, MT9F002_MFR_3DEE, MT9F002_MFR_3DF0, MT9F002_MFR_3DF2, MT9F002_MFR_3DF4, MT9F002_MFR_3DF6, MT9F002_MFR_3DF8, MT9F002_MFR_3DFA, MT9F002_MFR_3DFC, MT9F002_MFR_3DFE, MT9F002_MFR_3E00, MT9F002_MFR_3E02, MT9F002_MFR_3E04, MT9F002_MFR_3E06, MT9F002_MFR_3E08, MT9F002_MFR_3E0A, MT9F002_MFR_3E0C, MT9F002_MFR_3E0E, MT9F002_MFR_3E10, MT9F002_MFR_3E12, MT9F002_MFR_3E14, MT9F002_MFR_3E16, MT9F002_MFR_3E18, MT9F002_MFR_3E1A, MT9F002_MFR_3E1C, MT9F002_MFR_3E1E, MT9F002_MFR_3E20, MT9F002_MFR_3E22, MT9F002_MFR_3E24, MT9F002_MFR_3E26, MT9F002_MFR_3E28, MT9F002_MFR_3E2A, MT9F002_MFR_3E2C, MT9F002_MFR_3E2E, MT9F002_MFR_3E30, MT9F002_MFR_3E32, MT9F002_MFR_3E34, MT9F002_MFR_3E36, MT9F002_MFR_3E38, MT9F002_MFR_3E3A, MT9F002_MFR_3E3C, MT9F002_MFR_3E3E, MT9F002_MFR_3E40, MT9F002_MFR_3E42, MT9F002_MFR_3E44, MT9F002_MFR_3E46, MT9F002_MFR_3E48, MT9F002_MFR_3E4A, MT9F002_MFR_3E4C, MT9F002_MFR_3E4E, MT9F002_MFR_3E50, MT9F002_MFR_3E52, MT9F002_MFR_3E54, MT9F002_MFR_3E56, MT9F002_MFR_3E58, MT9F002_MFR_3E5A, MT9F002_MFR_3E5C, MT9F002_MFR_3E5E, MT9F002_MFR_3E60, MT9F002_MFR_3E62, MT9F002_MFR_3E64, MT9F002_MFR_3E66, MT9F002_MFR_3E68, MT9F002_MFR_3E6A, MT9F002_MFR_3E6C, MT9F002_MFR_3E6E, MT9F002_MFR_3E70, MT9F002_MFR_3E72, MT9F002_MFR_3E74, MT9F002_MFR_3E76, MT9F002_MFR_3E78, MT9F002_MFR_3E7A, MT9F002_MFR_3E7C, MT9F002_MFR_3E7E, MT9F002_MFR_3E80, MT9F002_MFR_3E82, MT9F002_MFR_3E84, MT9F002_MFR_3E86, MT9F002_MFR_3E88, MT9F002_MFR_3E8A, MT9F002_MFR_3E8C, MT9F002_MFR_3E8E, MT9F002_MFR_3E90, MT9F002_MFR_3E92, MT9F002_MFR_3E94, MT9F002_MFR_3E96, MT9F002_MFR_3E98, MT9F002_MFR_3E9A, MT9F002_MFR_3E9C, MT9F002_MFR_3E9E, MT9F002_MFR_3EA0, MT9F002_MFR_3EA2, MT9F002_MFR_3EA4, MT9F002_MFR_3EA6, MT9F002_MFR_3EA8, MT9F002_MFR_3EAA, MT9F002_MFR_3EAC, MT9F002_MFR_3EAE, MT9F002_MFR_3EB0, MT9F002_MFR_3EB2, MT9F002_MFR_3EB4, MT9F002_MFR_3EB6, MT9F002_MFR_3EB8, MT9F002_MFR_3EBA, MT9F002_MFR_3EBC, MT9F002_MFR_3EBE, MT9F002_MFR_3EC0, MT9F002_MFR_3EC2, MT9F002_MFR_3EC4, MT9F002_MFR_3EC6, MT9F002_MFR_3EC8, MT9F002_MFR_3ECA, MT9F002_MFR_3ED8, MT9F002_MFR_3EE6, MT9F002_MFR_3EE8, MT9F002_MODE_SELECT, MT9F002_RESET_REGISTER, MT9F002_SERIAL_FORMAT, MT9F002_SMIA_TEST, and write_reg().

Referenced by mt9f002_init().

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◆ mt9f002_mipi_stage2()

static void mt9f002_mipi_stage2 ( struct mt9f002_t mt)
inlinestatic

Configure stage 2 for both MiPi and HiSPi connection.

Definition at line 478 of file mt9f002.c.

References MT9F002_SMIA_TEST, and write_reg().

Referenced by mt9f002_init().

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◆ mt9f002_mipi_stage3()

static void mt9f002_mipi_stage3 ( struct mt9f002_t mt)
inlinestatic

Configure stage 3 for both MiPi and HiSPi connection.

Definition at line 486 of file mt9f002.c.

References MT9F002_EXTRA_DELAY, MT9F002_MFR_3EDC, MT9F002_MFR_3EE2, MT9F002_RESET_REGISTER, and write_reg().

Referenced by mt9f002_init().

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◆ mt9f002_parallel_stage1()

static void mt9f002_parallel_stage1 ( struct mt9f002_t mt)
inlinestatic

Configure stage 1 for parallel connection.

Definition at line 497 of file mt9f002.c.

References MT9F002_ANALOG_CONTROL4, MT9F002_CTX_CONTROL_REG, MT9F002_CTX_WR_DATA_REG, MT9F002_DAC_LD_14_15, MT9F002_DATA_PEDESTAL_, MT9F002_DATAPATH_SELECT, MT9F002_GLOBAL_GAIN, MT9F002_RESET_REGISTER, MT9F002_SERIAL_FORMAT, MT9F002_SMIA_TEST, and write_reg().

Referenced by mt9f002_init().

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◆ mt9f002_parallel_stage2()

static void mt9f002_parallel_stage2 ( struct mt9f002_t mt)
inlinestatic

◆ mt9f002_reset_color()

void mt9f002_reset_color ( struct mt9f002_t mt)

Definition at line 1093 of file mt9f002.c.

References mt9f002_t::gain_blue, mt9f002_t::gain_green1, mt9f002_t::gain_green2, mt9f002_t::gain_red, MT9F002_GAIN_BLUE, MT9F002_GAIN_GREEN1, MT9F002_GAIN_GREEN2, MT9F002_GAIN_RED, and mt9f002_set_gains().

Referenced by update_ae_awb().

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◆ mt9f002_reset_exposure()

void mt9f002_reset_exposure ( struct mt9f002_t mt)

Definition at line 1102 of file mt9f002.c.

References mt9f002_set_exposure(), MT9F002_TARGET_EXPOSURE, and mt9f002_t::target_exposure.

Referenced by update_ae_awb().

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◆ mt9f002_set_blanking()

◆ mt9f002_set_exposure()

◆ mt9f002_set_gains()

void mt9f002_set_gains ( struct mt9f002_t mt)

Sets the GreenR, Blue, Red and GreenB gains.

Definition at line 906 of file mt9f002.c.

References mt9f002_t::gain_blue, mt9f002_t::gain_green1, mt9f002_t::gain_green2, mt9f002_t::gain_red, MT9F002_BLUE_GAIN, mt9f002_calc_gain(), MT9F002_GREEN1_GAIN, MT9F002_GREEN2_GAIN, MT9F002_RED_GAIN, and write_reg().

Referenced by mt9f002_init(), mt9f002_reset_color(), mt9f002_setting_update_color(), and update_ae_awb().

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◆ mt9f002_set_pll()

◆ mt9f002_set_resolution()

◆ mt9f002_setting_update_color()

void mt9f002_setting_update_color ( float in  UNUSED)

Definition at line 1133 of file mt9f002.c.

References mt9f002, and mt9f002_set_gains().

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◆ mt9f002_setting_update_exposure()

void mt9f002_setting_update_exposure ( float in  UNUSED)

Definition at line 1138 of file mt9f002.c.

References mt9f002, and mt9f002_set_exposure().

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◆ mt9f002_setting_update_resolution()

◆ read_reg()

static uint32_t read_reg ( struct mt9f002_t mt,
uint16_t  addr,
uint8_t  len 
)
static

Read multiple bytes from a register.

Definition at line 203 of file mt9f002.c.

References i2c_transaction::buf, i2c_blocking_transceive(), mt9f002_t::i2c_periph, mt9f002_t::i2c_trans, and MT9F002_ADDRESS.

Referenced by mt9f002_set_blanking(), mt9f002_set_exposure(), and mt9f002_set_pll().

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◆ write_reg()

static void write_reg ( struct mt9f002_t mt,
uint16_t  addr,
uint32_t  val,
uint8_t  len 
)
static

Variable Documentation

◆ front_camera

struct video_config_t front_camera

Definition at line 90 of file mt9f002.c.

◆ mt9f002

◆ mt9f002_blanking

struct blanking_t mt9f002_blanking