mt9f002.h

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/*
 * Copyright (C) Freek van Tienen <freek.v.tienen@gmail.com>
 *
 * This file is part of paparazzi
 *
 * paparazzi 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 2, or (at your option)
 * any later version.
 *
 * paparazzi 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 paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */

#ifndef MT9F002H
#define MT9F002H

#include "std.h"
#include "mcu_periph/i2c.h"

/* define required ouput image size */
#ifndef MT9F002_OUTPUT_HEIGHT
#define MT9F002_OUTPUT_HEIGHT 822  // full resolution 3288
#endif

#ifndef MT9F002_OUTPUT_WIDTH
#define MT9F002_OUTPUT_WIDTH 1152 // full resolution 4608
#endif

#ifndef MT9F002_INITIAL_OFFSET_X
#define MT9F002_INITIAL_OFFSET_X 0. // signed fractional offset from centre of image of original sensor [-0.5,0.5]
#endif

#ifndef MT9F002_INITIAL_OFFSET_Y
#define MT9F002_INITIAL_OFFSET_Y 0. // signed fractional offset from centre of image of original sensor [-0.5,0.5]
#endif

#ifndef MT9F002_OUTPUT_SCALER
#define MT9F002_OUTPUT_SCALER 1.
#endif

#ifndef MT9F002_TARGET_EXPOSURE
#define MT9F002_TARGET_EXPOSURE 30
#endif

#ifndef MT9F002_TARGET_FPS
#define MT9F002_TARGET_FPS 15
#endif

/* Set the colour balance gains */
#ifndef MT9F002_GAIN_GREEN1
#define MT9F002_GAIN_GREEN1 3.0
#endif

#ifndef MT9F002_GAIN_GREEN2
#define MT9F002_GAIN_GREEN2 3.0
#endif

#ifndef MT9F002_GAIN_RED
#define MT9F002_GAIN_RED 3.0
#endif

#ifndef MT9F002_GAIN_BLUE
#define MT9F002_GAIN_BLUE 4.0
#endif

/* Set pixel increment value to implement subsampling */
/* Supported values for MT9F002_X_ODD_INC_VAL are 3, 7, 15 and 31 */
#ifndef MT9F002_X_ODD_INC_VAL
#define MT9F002_X_ODD_INC_VAL 1
#endif

/* Supported values for MT9F002_Y_ODD_INC_VAL are 1, 3 and 7 */
#ifndef MT9F002_Y_ODD_INC_VAL
#define MT9F002_Y_ODD_INC_VAL 1
#endif

// parameters for undistortion
#ifndef MT9F002_FOCAL_X
#define MT9F002_FOCAL_X 311.59304538f
#endif
#ifndef MT9F002_FOCAL_Y
#define MT9F002_FOCAL_Y 313.01338397f
#endif
#ifndef MT9F002_CENTER_X
#define MT9F002_CENTER_X 158.37457814f
#endif
#ifndef MT9F002_CENTER_Y
#define MT9F002_CENTER_Y 326.49375925f
#endif
#ifndef MT9F002_DHANE_K
#define MT9F002_DHANE_K 1.25f
#endif

/* Interface types for the MT9F002 connection */
enum mt9f002_interface {
  MT9F002_MIPI,     
  MT9F002_HiSPi,    
  MT9F002_PARALLEL  
};

/* Main configuration structure */
struct mt9f002_t {
  enum mt9f002_interface interface;   
  float input_clk_freq;               
  uint16_t vt_pix_clk_div;            
  uint16_t vt_sys_clk_div;            
  uint16_t pre_pll_clk_div;           
  uint16_t pll_multiplier;            
  uint16_t op_pix_clk_div;            
  uint16_t op_sys_clk_div;            
  uint8_t shift_vt_pix_clk_div;       
  uint8_t rowSpeed_2_0;               
  uint8_t row_speed_10_8;             
  float vt_pix_clk;                   
  float op_pix_clk;                   
  uint16_t line_length;               
  uint16_t frame_length;              

  float target_fps;                   
  float real_fps;                     
  float target_exposure;              
  float real_exposure;                

  float gain_green1;                  
  float gain_blue;                    
  float gain_red;                     
  float gain_green2;                  

  uint16_t output_width;              
  uint16_t output_height;             
  float output_scaler;                
  uint16_t scaled_width;              
  uint16_t scaled_height;             
  float offset_x;                  
  float offset_y;                  

  uint8_t x_odd_inc;                  
  uint8_t y_odd_inc;                  

  struct i2c_periph *i2c_periph;      
  struct i2c_transaction i2c_trans;   
};

void mt9f002_init(struct mt9f002_t *mt);
void mt9f002_set_resolution(struct mt9f002_t *mt);
void mt9f002_set_exposure(struct mt9f002_t *mt);
void mt9f002_set_gains(struct mt9f002_t *mt);

#endif /* MT9F002_H */