ardupilot/libraries/AP_HAL_Linux/CameraSensor_Mt9v117.h

68 lines
2.1 KiB
C++

/*
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/>.
*/
#pragma once
#include "AP_HAL_Linux.h"
#include "CameraSensor.h"
namespace Linux {
enum mt9v117_res {
MT9V117_QVGA,
};
struct mt9v117_patch {
uint8_t *data;
uint8_t size;
};
#define MT9V117_PATCH_LINE_NUM 13
class CameraSensor_Mt9v117 : public CameraSensor {
public:
CameraSensor_Mt9v117(const char *device_path, AP_HAL::I2CDriver *i2c,
uint8_t addr, enum mt9v117_res res,
uint16_t nrst_gpio, uint32_t clock_freq);
private:
static const struct mt9v117_patch _patch_lines[MT9V117_PATCH_LINE_NUM];
uint8_t _read_reg8(uint16_t reg);
void _write_reg8(uint16_t reg, uint8_t val);
uint16_t _read_reg16(uint16_t reg);
void _write_reg16(uint16_t reg, uint16_t val);
void _write_reg32(uint16_t reg, uint32_t val);
inline uint16_t _var2reg(uint16_t var, uint16_t offset);
uint16_t _read_var16(uint16_t var, uint16_t offset);
void _write_var16(uint16_t var, uint16_t offset, uint16_t value);
uint8_t _read_var8(uint16_t var, uint16_t offset);
void _write_var8(uint16_t var, uint16_t offset, uint8_t value);
void _write_var32(uint16_t var, uint16_t offset, uint32_t value);
void _config_change();
void _itu656_enable();
void _soft_reset();
void _apply_patch();
void _set_basic_settings();
void _configure_sensor_qvga();
void _init_sensor();
AP_HAL::I2CDriver *_i2c;
uint32_t _clock_freq;
uint16_t _nrst_gpio = 0xFFFF;
uint8_t _addr;
};
}