mirror of https://github.com/ArduPilot/ardupilot
71 lines
2.2 KiB
C++
71 lines
2.2 KiB
C++
/*
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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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