Fix low framerate

README.md

@@ -33,7 +33,7 @@ gst-launch-1.0 nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! 'video/x-
 ### UDP Streaming Test
 #### Sender Endpoint
 ```
-gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)30/1' ! omxh264enc control-rate=2 bitrate=8000000 ! 'video/x-h264, stream-format=(string)byte-stream' ! h264parse ! rtph264pay mtu=1400 ! udpsink host=$HOST_IP port=5000 sync=false async=false
+gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)60/1' ! omxh264enc control-rate=2 bitrate=8000000 ! 'video/x-h264, stream-format=(string)byte-stream' ! h264parse ! rtph264pay mtu=1400 ! udpsink host=$HOST_IP port=5000 sync=false async=false
 ```
 
 #### Receiver Endpoint
@@ -71,11 +71,58 @@ v4l2-ctl -d /dev/video0 --set-fmt-video=width=1280,height=720,pixelformat=RG12 -
 
 #### Slave
 ```
-v4l2-ctl -d /dev/video01 --set-fmt-video=width=1280,height=720,pixelformat=RG12 --set-ctrl bypass_mode=0 --stream-mmap
+v4l2-ctl -d /dev/video1 --set-fmt-video=width=1280,height=720,pixelformat=RG12 --set-ctrl bypass_mode=0 --stream-mmap
+```
+
+### AE Synchronized
+First run the master pipeline and then the slave pipeline:
+
+#### Master Pipeline
+```
+gst-launch-1.0 nvarguscamerasrc sensor-id=1 ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)60/1' ! fakesink
+```
+
+#### Slave Pipeline
+```
+gst-launch-1.0 nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)60/1' ! fakesink
+```
+
+### Run script
+```
+./script_to_control_gain_exposure.sh &
 ```
 
 ## Appends
 
+#### Auto Exposure
+
+The AE controls realays in the feedback provided by the Driver's camera sensor to the nvarguscamerasrc libraries,
+and the custom DTSIs with the sensor parameters definitions.
+As the AE has interdependency with the digital gain. This gain it's and operation on the Driver, and follows this setup:
+
+```bash
+  /*
+   * Digital gain equation:
+   *
+   *  RANGE: 1x, 7.97x
+   *  GAIN: VAL / STEPS;
+   *  STEPS: 1/32
+   *
+   *  SCALE FACTOR = 100.000
+   *
+   *  min_gain_val = 100.000
+   *  max_gain_val = 797.000
+   *  step_gain_val = 3125
+   */
+
+   MT9M021 sensor datasheet:
+   * <a href="https://files.niemo.de/aptina_pdfs/MT9M021-M031_Developer_Guide.pdf">MT9M021 Developer Guide</a>
+```
+
+Where, the min_gain_val, max_gain_val, step_gain_val are part of the cameras' DTSI (tegra186-tx2-spiri-camera.dtsi) fixed parameters
+as per the datasheet. The step_gain_val consists of the steps (1/32 for the register) scaled to a value that makes this fraction become an significant
+in integer.
+
 #### Kernel Changes
 
 The Driver for the MT9M021 cameras consists on the following structure, that adds the DTB and Kernel sources, along with its Makefiles that lead its portability to a Kernel source.

hardware/nvidia-spiri/platform/t18x/common/kernel-dts/t18x-common-platforms/tegra186-tx2-spiri-camera.dtsi

@@ -98,26 +98,25 @@ i2c8 = "/i2c@31e0000";
 				inherent_gain = "1";
 				pix_clk_hz = "74250000";
 
-				gain_factor = "1";
+			        gain_factor = "3125";
 				framerate_factor = "1000000";
 				exposure_factor = "1000000";
-				min_gain_val = "4";
+				min_gain_val = "100000";
-				max_gain_val = "6476";
+        max_gain_val = "796000";
 				step_gain_val = "1";
-				default_gain = "100";
+				default_gain = "100000";
 				min_hdr_ratio = "1";
 				max_hdr_ratio = "1";
 
 				min_framerate = "2000000";
 				max_framerate = "60000000";
 				step_framerate = "1";
-				default_framerate = "6000000"; // 60.0 fps 
+				default_framerate = "60000000"; // 60.0 fps
 
-				min_exp_time = "23"; // us 
+				min_exp_time = "500"; // us
-				max_exp_time = "14933"; // us 
+				max_exp_time = "16000"; // us
 				step_exp_time = "1";
-				default_exp_time = "10000"; // us 
+        default_exp_time = "12000"; // us
- 
 			};
 			ports {  
 				#address-cells = <0x1>;
@@ -186,25 +185,25 @@ i2c8 = "/i2c@31e0000";
 				inherent_gain = "1";
 				pix_clk_hz = "74250000";
 
-				gain_factor = "1";
+			        gain_factor = "3125";
 				framerate_factor = "1000000";
 				exposure_factor = "1000000";
-				min_gain_val = "4";
+				min_gain_val = "100000";
-				max_gain_val = "6476";
+        max_gain_val = "796000";
 				step_gain_val = "1";
-				default_gain = "100";
+			        default_gain = "100000";
 				min_hdr_ratio = "1";
 				max_hdr_ratio = "1";
 
 				min_framerate = "2000000";
 				max_framerate = "60000000";
 				step_framerate = "1";
-				default_framerate = "6000000"; // 60.0 fps 
+				default_framerate = "60000000"; // 60.0 fps
 
-				min_exp_time = "23"; // us 
+				min_exp_time = "500"; // us
-				max_exp_time = "14933"; // us 
+				max_exp_time = "16000"; // us
 				step_exp_time = "1";
-				default_exp_time = "10000"; // us 
+              default_exp_time = "12000"; // us
 			};
 			ports {  
 				#address-cells = <0x1>;

kernel/nvidia-spiri/drivers/media/i2c/mt9m021.c

@@ -135,8 +135,8 @@
 #define MT9M021_ANALOG_GAIN_SHIFT       4
 #define MT9M021_ANALOG_GAIN_MASK        0x0030
 
-#define MT9M021_GLOBAL_GAIN_MIN         4
+#define MT9M021_GLOBAL_GAIN_MIN         100000
-#define MT9M021_GLOBAL_GAIN_MAX         6476
+#define MT9M021_GLOBAL_GAIN_MAX         796000
 #define MT9M021_GLOBAL_GAIN_DEF         100
 
 #define MT9M021_COARSE_INT_TIME_MIN     0x0001
@@ -396,54 +396,61 @@ static int mt9m021_set_gain(struct tegracam_device *tc_dev, s64 val)
 {
 	struct camera_common_data *s_data = tc_dev->s_data;
 	struct device *dev = tc_dev->dev;
-	int err = 0;
+  int err = 0;
-	u16 gain_mul;
+  u16 gain_mul;
-	u16 reg16 = 0;
+  u16 reg16 = 0;
-	u8 integer, fraction;
+  u64 gain = 0;
 
 	dev_dbg(dev, "Setting Gain to: %lld", val);
 
-	if (val >= MT9M021_GAIN_8X_FIXED) {
+  if (val >= MT9M021_GAIN_8X_FIXED) {
-		integer = val / MT9M021_GAIN_8X_FIXED;
+    gain_mul = MT9M021_GAIN_8X;
-		fraction = ((val / 8) % 100) * 32 / 100;
+  } else if (val >= MT9M021_GAIN_4X_FIXED) {
-		gain_mul = MT9M021_GAIN_8X;
+    gain_mul = MT9M021_GAIN_4X;
-	} else if (val >= MT9M021_GAIN_4X_FIXED) {
+  } else if (val >= MT9M021_GAIN_2X_FIXED) {
-		integer = val / MT9M021_GAIN_4X_FIXED;
+    gain_mul = MT9M021_GAIN_2X;
-		fraction = ((val / 4) % 100) * 32 / 100;
+  } else {
-		gain_mul = MT9M021_GAIN_4X;
+    gain_mul = MT9M021_GAIN_1X;
-	} else if (val >= MT9M021_GAIN_2X_FIXED) {
+  }
-		integer = val / MT9M021_GAIN_2X_FIXED;
-		fraction = ((val / 2) % 100) * 32 / 100;
-		gain_mul = MT9M021_GAIN_2X;
-	} else {
-		integer = val / MT9M021_GAIN_1X_FIXED;
-		fraction = (val % 100) * 32 / 100;
-		gain_mul = MT9M021_GAIN_1X;
-	}
 
-	/* Update analog gain multiplier */
+  /*
-	err = mt9m021_read_reg16(s_data, MT9M021_DIGITAL_TEST, &reg16);
+   * Digital gain equation:
-	if (err)
+   *
-		goto exit;
+   *  RANGE: 1x, 7.97x
-	reg16 =
+   *  GAIN: VAL / STEPS;
-	    (reg16 & ~MT9M021_ANALOG_GAIN_MASK) |
+   *  STEPS: 1/32
-	    ((gain_mul << MT9M021_ANALOG_GAIN_SHIFT) &
+   *
-	     MT9M021_ANALOG_GAIN_MASK);
+   *  SCALE FACTOR = 100.000
-	err = mt9m021_write_reg16(s_data, MT9M021_DIGITAL_TEST, reg16);
+   *
-	msleep(10);
+   *  min_gain_val = 100.000
-	if (err)
+   *  max_gain_val = 797.000
-		goto exit;
+   *  gain_factor = 3125
+   *
+   *  gain maps to range 32 - 255
+   */
+  gain = val / 3125;
+
+  /* Update analog gain multiplier */
+  err = mt9m021_read_reg16(s_data, MT9M021_DIGITAL_TEST, &reg16);
+  if (err)
+    goto exit;
+  reg16 =
+      (reg16 & ~MT9M021_ANALOG_GAIN_MASK) |
+      ((gain_mul << MT9M021_ANALOG_GAIN_SHIFT) &
+       MT9M021_ANALOG_GAIN_MASK);
+  err = mt9m021_write_reg16(s_data, MT9M021_DIGITAL_TEST, reg16);
+//  msleep(10);
+  if (err)
+    goto exit;
 
 	/* Update global gain */
 	err =
-	    mt9m021_write_reg16(s_data, MT9M021_GLOBAL_GAIN,
+      mt9m021_write_reg16(s_data, MT9M021_GLOBAL_GAIN, gain);
-				(integer << 5) | fraction);
+//	msleep(10);
-	msleep(10);
 	if (err)
 		goto exit;
 	err =
-	    mt9m021_write_reg16(s_data, MT9M021_GLOBAL_GAIN_CB,
+      mt9m021_write_reg16(s_data, MT9M021_GLOBAL_GAIN_CB, gain);
-				(integer << 5) | fraction);
 	if (err)
 		goto exit;
 
@@ -485,8 +492,8 @@ static int mt9m021_set_frame_rate(struct tegracam_device *tc_dev, s64 val)
 
 	/* Calculate frame-length */
 	frame_length = mode->signal_properties.pixel_clock.val *
-	    mode->control_properties.framerate_factor /
+      mode->control_properties.framerate_factor /
-	    mode->image_properties.line_length / val;
+      mode->image_properties.line_length / val;
 
 	err = mt9m021_set_frame_length(priv, frame_length);
 	if (err)
@@ -507,13 +514,13 @@ static int mt9m021_set_coarse_time(struct mt9m021 *priv, s64 val)
 
 	dev_dbg(dev, "Setting Coarse Time to: %lld", val);
 
-	err = mt9m021_write_reg16(s_data, MT9M021_COARSE_INT_TIME, val);
+  err = mt9m021_write_reg16(s_data, MT9M021_COARSE_INT_TIME, val);
 	if (err)
 		return err;
 	err = mt9m021_write_reg16(s_data, MT9M021_COARSE_INT_TIME_CB, val);
 	if (err)
 		return err;
-	msleep(30);
+//	msleep(30);
 
 	return 0;
 }
@@ -524,18 +531,18 @@ static int mt9m021_set_exposure(struct tegracam_device *tc_dev, s64 val)
 	struct mt9m021 *priv = (struct mt9m021 *)tc_dev->priv;
 	struct device *dev = tc_dev->dev;
 	const struct sensor_mode_properties *mode =
-	    &s_data->sensor_props.sensor_modes[s_data->mode];
+      &s_data->sensor_props.sensor_modes[s_data->mode];
 	u64 coarse_time;
 	int err = 0;
 
-	dev_dbg(dev, "Setting Exposure Time to: %lld", val);
+  dev_dbg(dev, "Setting Exposure Time to : %lld", val);
 
-	/* Calculate coarse-time */
+  coarse_time =
-	coarse_time = mode->signal_properties.pixel_clock.val *
+    val * mode->signal_properties.pixel_clock.val /
-	    val / mode->image_properties.line_length /
+      mode->image_properties.line_length /
-	    mode->control_properties.exposure_factor;
+        mode->control_properties.exposure_factor;
 
-	err = mt9m021_set_coarse_time(priv, coarse_time);
+  err = mt9m021_set_coarse_time(priv, coarse_time);
 	if (err)
 		goto exit;
 
@@ -564,7 +571,7 @@ static int mt9m021_set_analog_gain(struct tegracam_device *tc_dev, s64 val)
 	    ((val << MT9M021_ANALOG_GAIN_SHIFT) &
 	     MT9M021_ANALOG_GAIN_MASK);
 	err = mt9m021_write_reg16(s_data, MT9M021_DIGITAL_TEST, reg16);
-	msleep(30);
+//	msleep(30);
 	if (err)
 		goto exit;
 
@@ -620,7 +627,7 @@ static int mt9m021_set_digital_gain(struct tegracam_device *tc_dev, s64 val,
 	err = mt9m021_write_reg16(s_data, gain_cb_reg, val);
 	if (err)
 		goto exit;
-	msleep(30);
+//	msleep(30);
 
 	return 0;
 
@@ -643,7 +650,7 @@ static int mt9m021_set_test_pattern(struct tegracam_device *tc_dev, s32 val)
 	else
 		err = mt9m021_write_reg16(s_data, MT9M021_TEST_PATTERN,
 					  val);
-	msleep(30);
+//	msleep(30);
 	if (err)
 		goto exit;
 
@@ -956,13 +963,15 @@ static int mt9m021_col_correction(struct mt9m021 *priv)
 	if (ret < 0)
 		return ret;
 
-	msleep(200);
+//	msleep(200);
+//  usleep(200);
 
 	/* Enable Streaming */
 	ret = mt9m021_write_table(priv, mode_table[MT9M021_MODE_START_STREAM]);
 	if (ret < 0)
 		return ret;
-	msleep(200);
+//	msleep(200);
+//  usleep(200);
 
 	/* Disable Streaming */
 	ret = mt9m021_write_table(priv, mode_table[MT9M021_MODE_STOP_STREAM]);
@@ -973,7 +982,8 @@ static int mt9m021_col_correction(struct mt9m021 *priv)
 	ret = mt9m021_write_reg16(s_data, MT9M021_COLUMN_CORRECTION, 0xE007);
 	if (ret < 0)
 		return ret;
-	msleep(200);
+//  msleep(200);
+//  usleep(200);
 
 	return ret;
 }
@@ -1003,7 +1013,7 @@ static int mt9m021_set_mode(struct tegracam_device *tc_dev)
 		dev_err(dev, "%s: Failed to set pll setup\n", __func__);
 		return ret;
 	}
-	msleep(100);
+  msleep(100);
 
 	ret = mt9m021_col_correction(priv);
 	if (ret < 0) {
@@ -1088,7 +1098,7 @@ static int mt9m021_get_trigger_mode(struct mt9m021 *priv)
 	}
 
 	err =
-	    of_property_read_string(node, "trigger_mode", &priv->trigger_mode);
+      of_property_read_string(node, "trigger_mode", &priv->trigger_mode);
 	if (err == -EINVAL) {
 		dev_warn(&client->dev, "trigger_mode not in device tree\n");
 		*(&priv->trigger_mode) = "master";

script_to_control_gain_exposure.sh

@@ -0,0 +1,29 @@
+#!/bin/bash
+
+initial_gain=0
+initial_exposure_time=0
+
+while true; do sleep 0.5;
+	# Read center camera controls
+	echo `v4l2-ctl -d /dev/video1 --get-ctrl=gain --get-ctrl=exposure` > controls
+	awk '{print $2}' controls > get_control
+	actual_gain=`cat get_control`
+	awk '{print $4}' controls > get_control
+	actual_exposure_time=`cat get_control`
+	
+	# Print controls	
+	#echo -e "\n**Center Camera Controls**"	
+	#cat controls
+	# Remove temp files
+	rm controls get_control
+	# Set R/L camera controls manually
+	if [ $actual_gain -ne $initial_gain ]; then
+                v4l2-ctl -d /dev/video0 --set-ctrl=gain=$actual_gain
+        fi
+	if [ $actual_exposure_time -ne $initial_exposure_time ]; then
+                v4l2-ctl -d /dev/video0 --set-ctrl=exposure=$actual_exposure_time
+        fi
+	# Define new initial value
+	initial_gain=$actual_gain
+	initial_exposure_time=$actual_exposure_time
+done