ardupilot/libraries/AP_HAL_Linux/CameraSensor_Mt9v117_Patches.cpp

/*
   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/>.
 */

/* It seems to be mandatory to write these patches by unit of 48 bytes, the
 * 2 first ones seem to be an address since it increments of 48 at each line
 * Possibly easier to read if written under the form :
 * writeRegisters(addr, 0xf000, 48, line1);
 * ...
 */
#include "CameraSensor_Mt9v117.h"

#include <AP_HAL/AP_HAL.h>

#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP

using namespace Linux;

static uint8_t patch_line1[] = {
    0xf0, 0x00, 0x72, 0xcf, 0xff, 0x00, 0x3e, 0xd0, 0x92, 0x00,
    0x71, 0xcf, 0xff, 0xff, 0xf2, 0x18, 0xb1, 0x10, 0x92, 0x05,
    0xb1, 0x11, 0x92, 0x04, 0xb1, 0x12, 0x70, 0xcf, 0xff, 0x00,
    0x30, 0xc0, 0x90, 0x00, 0x7f, 0xe0, 0xb1, 0x13, 0x70, 0xcf,
    0xff, 0xff, 0xe7, 0x1c, 0x88, 0x36, 0x09, 0x0f, 0x00, 0xb3
};

static uint8_t patch_line2[] = {
    0xf0, 0x30, 0x69, 0x13, 0xe1, 0x80, 0xd8, 0x08, 0x20, 0xca,
    0x03, 0x22, 0x71, 0xcf, 0xff, 0xff, 0xe5, 0x68, 0x91, 0x35,
    0x22, 0x0a, 0x1f, 0x80, 0xff, 0xff, 0xf2, 0x18, 0x29, 0x05,
    0x00, 0x3e, 0x12, 0x22, 0x11, 0x01, 0x21, 0x04, 0x0f, 0x81,
    0x00, 0x00, 0xff, 0xf0, 0x21, 0x8c, 0xf0, 0x10, 0x1a, 0x22
};

static uint8_t patch_line3[] = {
    0xf0, 0x60, 0x10, 0x44, 0x12, 0x20, 0x11, 0x02, 0xf7, 0x87,
    0x22, 0x4f, 0x03, 0x83, 0x1a, 0x20, 0x10, 0xc4, 0xf0, 0x09,
    0xba, 0xae, 0x7b, 0x50, 0x1a, 0x20, 0x10, 0x84, 0x21, 0x45,
    0x01, 0xc1, 0x1a, 0x22, 0x10, 0x44, 0x70, 0xcf, 0xff, 0x00,
    0x3e, 0xd0, 0xb0, 0x60, 0xb0, 0x25, 0x7e, 0xe0, 0x78, 0xe0
};

static uint8_t patch_line4[] = {
    0xf0, 0x90, 0x71, 0xcf, 0xff, 0xff, 0xf2, 0x18, 0x91, 0x12,
    0x72, 0xcf, 0xff, 0xff, 0xe7, 0x1c, 0x8a, 0x57, 0x20, 0x04,
    0x0f, 0x80, 0x00, 0x00, 0xff, 0xf0, 0xe2, 0x80, 0x20, 0xc5,
    0x01, 0x61, 0x20, 0xc5, 0x03, 0x22, 0xb1, 0x12, 0x71, 0xcf,
    0xff, 0x00, 0x3e, 0xd0, 0xb1, 0x04, 0x7e, 0xe0, 0x78, 0xe0
};

static uint8_t patch_line5[] = {
    0xf0, 0xc0, 0x70, 0xcf, 0xff, 0xff, 0xe7, 0x1c, 0x88, 0x57,
    0x71, 0xcf, 0xff, 0xff, 0xf2, 0x18, 0x91, 0x13, 0xea, 0x84,
    0xb8, 0xa9, 0x78, 0x10, 0xf0, 0x03, 0xb8, 0x89, 0xb8, 0x8c,
    0xb1, 0x13, 0x71, 0xcf, 0xff, 0x00, 0x30, 0xc0, 0xb1, 0x00,
    0x7e, 0xe0, 0xc0, 0xf1, 0x09, 0x1e, 0x03, 0xc0, 0xc1, 0xa1
};

static uint8_t patch_line6[] = {
    0xf0, 0xf0, 0x75, 0x08, 0x76, 0x28, 0x77, 0x48, 0xc2, 0x40,
    0xd8, 0x20, 0x71, 0xcf, 0x00, 0x03, 0x20, 0x67, 0xda, 0x02,
    0x08, 0xae, 0x03, 0xa0, 0x73, 0xc9, 0x0e, 0x25, 0x13, 0xc0,
    0x0b, 0x5e, 0x01, 0x60, 0xd8, 0x06, 0xff, 0xbc, 0x0c, 0xce,
    0x01, 0x00, 0xd8, 0x00, 0xb8, 0x9e, 0x0e, 0x5a, 0x03, 0x20
};

static uint8_t patch_line7[] = {
    0xf1, 0x20, 0xd9, 0x01, 0xd8, 0x00, 0xb8, 0x9e, 0x0e, 0xb6,
    0x03, 0x20, 0xd9, 0x01, 0x8d, 0x14, 0x08, 0x17, 0x01, 0x91,
    0x8d, 0x16, 0xe8, 0x07, 0x0b, 0x36, 0x01, 0x60, 0xd8, 0x07,
    0x0b, 0x52, 0x01, 0x60, 0xd8, 0x11, 0x8d, 0x14, 0xe0, 0x87,
    0xd8, 0x00, 0x20, 0xca, 0x02, 0x62, 0x00, 0xc9, 0x03, 0xe0
};

static uint8_t patch_line8[] = {
    0xf1, 0x50, 0xc0, 0xa1, 0x78, 0xe0, 0xc0, 0xf1, 0x08, 0xb2,
    0x03, 0xc0, 0x76, 0xcf, 0xff, 0xff, 0xe5, 0x40, 0x75, 0xcf,
    0xff, 0xff, 0xe5, 0x68, 0x95, 0x17, 0x96, 0x40, 0x77, 0xcf,
    0xff, 0xff, 0xe5, 0x42, 0x95, 0x38, 0x0a, 0x0d, 0x00, 0x01,
    0x97, 0x40, 0x0a, 0x11, 0x00, 0x40, 0x0b, 0x0a, 0x01, 0x00
};

static uint8_t patch_line9[] = {
    0xf1, 0x80, 0x95, 0x17, 0xb6, 0x00, 0x95, 0x18, 0xb7, 0x00,
    0x76, 0xcf, 0xff, 0xff, 0xe5, 0x44, 0x96, 0x20, 0x95, 0x15,
    0x08, 0x13, 0x00, 0x40, 0x0e, 0x1e, 0x01, 0x20, 0xd9, 0x00,
    0x95, 0x15, 0xb6, 0x00, 0xff, 0xa1, 0x75, 0xcf, 0xff, 0xff,
    0xe7, 0x1c, 0x77, 0xcf, 0xff, 0xff, 0xe5, 0x46, 0x97, 0x40
};

static uint8_t patch_line10[] = {
    0xf1, 0xb0, 0x8d, 0x16, 0x76, 0xcf, 0xff, 0xff, 0xe5, 0x48,
    0x8d, 0x37, 0x08, 0x0d, 0x00, 0x81, 0x96, 0x40, 0x09, 0x15,
    0x00, 0x80, 0x0f, 0xd6, 0x01, 0x00, 0x8d, 0x16, 0xb7, 0x00,
    0x8d, 0x17, 0xb6, 0x00, 0xff, 0xb0, 0xff, 0xbc, 0x00, 0x41,
    0x03, 0xc0, 0xc0, 0xf1, 0x0d, 0x9e, 0x01, 0x00, 0xe8, 0x04
};

static uint8_t patch_line11[] = {
    0xf1, 0xe0, 0xff, 0x88, 0xf0, 0x0a, 0x0d, 0x6a, 0x01, 0x00,
    0x0d, 0x8e, 0x01, 0x00, 0xe8, 0x7e, 0xff, 0x85, 0x0d, 0x72,
    0x01, 0x00, 0xff, 0x8c, 0xff, 0xa7, 0xff, 0xb2, 0xd8, 0x00,
    0x73, 0xcf, 0xff, 0xff, 0xf2, 0x40, 0x23, 0x15, 0x00, 0x01,
    0x81, 0x41, 0xe0, 0x02, 0x81, 0x20, 0x08, 0xf7, 0x81, 0x34
};

static uint8_t patch_line12[] = {
    0xf2, 0x10, 0xa1, 0x40, 0xd8, 0x00, 0xc0, 0xd1, 0x7e, 0xe0,
    0x53, 0x51, 0x30, 0x34, 0x20, 0x6f, 0x6e, 0x5f, 0x73, 0x74,
    0x61, 0x72, 0x74, 0x5f, 0x73, 0x74, 0x72, 0x65, 0x61, 0x6d,
    0x69, 0x6e, 0x67, 0x20, 0x25, 0x64, 0x20, 0x25, 0x64, 0x0a,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
};

static uint8_t patch_line13[] = {
    0xf2, 0x40, 0xff, 0xff, 0xe8, 0x28, 0xff, 0xff, 0xf0, 0xe8,
    0xff, 0xff, 0xe8, 0x08, 0xff, 0xff, 0xf1, 0x54
};

const struct mt9v117_patch CameraSensor_Mt9v117::_patch_lines[MT9V117_PATCH_LINE_NUM] = {
    {patch_line1, sizeof(patch_line1)},
    {patch_line2, sizeof(patch_line2)},
    {patch_line3, sizeof(patch_line3)},
    {patch_line4, sizeof(patch_line4)},
    {patch_line5, sizeof(patch_line5)},
    {patch_line6, sizeof(patch_line6)},
    {patch_line7, sizeof(patch_line7)},
    {patch_line8, sizeof(patch_line8)},
    {patch_line9, sizeof(patch_line9)},
    {patch_line10, sizeof(patch_line10)},
    {patch_line11, sizeof(patch_line11)},
    {patch_line12, sizeof(patch_line12)},
    {patch_line13, sizeof(patch_line13)}
};

#endif