README.md

@@ -102,7 +102,23 @@ The AE controls realays in the feedback provided by the Driver's camera sensor t
 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:
 
-MT9M021 sensor datasheet:
+```bash
+  /*
+   * Digital gain equation:
+   *
+   *  RANGE: 1x, 7.97x
+   *  STEPS: 1/32
+   *
+   *  SCALE FACTOR = 3
+   *
+   *  min_gain_val = 102
+   *  max_gain_val = 160
+   *  gain_factor = 3
+   *
+   *  gain accepts mapping to range 32 - 53
+   */
+```
+   MT9M021 sensor datasheet:
 	
    * <a href="https://files.niemo.de/aptina_pdfs/MT9M021-M031_Developer_Guide.pdf">MT9M021 Developer Guide</a>
 

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

@@ -93,18 +93,18 @@ i2c8 = "/i2c@31e0000";
 				csi_pixel_bit_depth = "12";
 				mode_type = "bayer";
 				pixel_phase = "rggb";
-			        readout_orientation = "0";
+				readout_orientation = "0";
 				line_length = "1650";
 				inherent_gain = "1";
 				pix_clk_hz = "74250000";
 
-				gain_factor = "3125";
+				gain_factor = "3";
 				framerate_factor = "1000000";
 				exposure_factor = "1000000";
-				min_gain_val = "100000"; /* 1x */
-				max_gain_val = "796875"; /* 7.97x */
+				min_gain_val = "102";
+				max_gain_val = "160";
 				step_gain_val = "1";
-				default_gain = "100000"; /* 1x */
+				default_gain = "102";
 				min_hdr_ratio = "1";
 				max_hdr_ratio = "1";
 
@@ -132,18 +132,18 @@ i2c8 = "/i2c@31e0000";
 				csi_pixel_bit_depth = "12";
 				mode_type = "bayer";
 				pixel_phase = "rggb";
-			        readout_orientation = "0";
+				readout_orientation = "0";
 				line_length = "1650";
 				inherent_gain = "1";
 				pix_clk_hz = "74250000";
 
-				gain_factor = "3125";
+				gain_factor = "3";
 				framerate_factor = "1000000";
 				exposure_factor = "1000000";
-				min_gain_val = "100000"; /* 1x */
-				max_gain_val = "796875"; /* 7.97x */
+				min_gain_val = "102";
+				max_gain_val = "160";
 				step_gain_val = "1";
-				default_gain = "100000"; /* 1x */
+				default_gain = "102";
 				min_hdr_ratio = "1";
 				max_hdr_ratio = "1";
 
@@ -220,18 +220,18 @@ i2c8 = "/i2c@31e0000";
 				csi_pixel_bit_depth = "12";
 				mode_type = "bayer";
 				pixel_phase = "rggb";
-			        readout_orientation = "0";
+				readout_orientation = "0";
 				line_length = "1650";
 				inherent_gain = "1";
 				pix_clk_hz = "74250000";
 
-				gain_factor = "3125";
+				gain_factor = "3";
 				framerate_factor = "1000000";
 				exposure_factor = "1000000";
-				min_gain_val = "100000"; /* 1x */
-				max_gain_val = "796875"; /* 7.97x */
+				min_gain_val = "102";
+				max_gain_val = "160" ;
 				step_gain_val = "1";
-				default_gain = "100000"; /* 1x */
+				default_gain = "102";
 				min_hdr_ratio = "1";
 				max_hdr_ratio = "1";
 
@@ -259,18 +259,18 @@ i2c8 = "/i2c@31e0000";
 				csi_pixel_bit_depth = "12";
 				mode_type = "bayer";
 				pixel_phase = "rggb";
-			        readout_orientation = "0";
+				readout_orientation = "0";
 				line_length = "1650";
 				inherent_gain = "1";
 				pix_clk_hz = "74250000";
 
-				gain_factor = "3125";
+				gain_factor = "3";
 				framerate_factor = "1000000";
 				exposure_factor = "1000000";
-				min_gain_val = "100000"; /* 1x */
-				max_gain_val = "796875"; /* 7.97x */
+				min_gain_val = "102";
+				max_gain_val = "160";
 				step_gain_val = "1";
-				default_gain = "100000"; /* 1x */
+				default_gain = "102";
 				min_hdr_ratio = "1";
 				max_hdr_ratio = "1";
 

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

@@ -397,26 +397,49 @@ 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;
+	u16 gain_mul;
+	u16 reg16 = 0;
 	u64 gain = 0;
 
 	dev_dbg(dev, "Setting Gain to: %lld", val);
 
+	if (val >= MT9M021_GAIN_8X_FIXED) {
+		gain_mul = MT9M021_GAIN_8X;
+	} else if (val >= MT9M021_GAIN_4X_FIXED) {
+		gain_mul = MT9M021_GAIN_4X;
+	} else if (val >= MT9M021_GAIN_2X_FIXED) {
+		gain_mul = MT9M021_GAIN_2X;
+	} else {
+		gain_mul = MT9M021_GAIN_1X;
+	}
+
 	/*
 	 * Digital gain equation:
 	 *
 	 *  RANGE: 1x, 7.97x
 	 *  STEPS: 1/32
 	 *
-	 *  gain accepts mapping from range 32 - 255
-	 *
 	 *  SCALE FACTOR = 3
 	 *
-	 *  min_gain_val = 96
-	 *  max_gain_val = 765
+	 *  min_gain_val = 102
+	 *  max_gain_val = 160
 	 *  gain_factor = 3
 	 *
+	 *  gain accepts mapping to range 32 - 53
 	 */
-	gain = val / 3125;
+	gain = val / 3;
+
+	/* 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);
+	if (err)
+		goto exit;
 
 	/* Update global gain */
 	err = mt9m021_write_reg16(s_data, MT9M021_GLOBAL_GAIN, gain);

script_to_control_gain_exposure.sh

@@ -5,7 +5,7 @@ initial_exposure_time=0
 
 while true; do sleep 0.5;
 	# Read center camera controls
-	echo `v4l2-ctl -d /dev/video0 --get-ctrl=gain --get-ctrl=exposure` > 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
@@ -18,10 +18,10 @@ while true; do sleep 0.5;
 	rm controls get_control
 	# Set R/L camera controls manually
 	if [ $actual_gain -ne $initial_gain ]; then
-                v4l2-ctl -d /dev/video1 --set-ctrl=gain=$actual_gain
+                v4l2-ctl -d /dev/video0 --set-ctrl=gain=$actual_gain
         fi
 	if [ $actual_exposure_time -ne $initial_exposure_time ]; then
-                v4l2-ctl -d /dev/video1 --set-ctrl=exposure=$actual_exposure_time
+                v4l2-ctl -d /dev/video0 --set-ctrl=exposure=$actual_exposure_time
         fi
 	# Define new initial value
 	initial_gain=$actual_gain