Fix gain documentation on Driver

Max row times = 1650
Default row time = frame_length_line / pixel_freq
		 = 1650 / 74.25M = 22.22 us
Max exposure = 1650 * 22.22 us = 36600 us

README.md

@@ -5,14 +5,16 @@ The camera sensors should be conencted to a ConnectTech's Elroy board.
 
 ## Features
 
-* V4L2 Kernel Driver Version 2.0 supported on L4T32.2.1
+* V4L2 Kernel Driver Version 2.0 supported on L4T32.4.4
 * V4l2 controls
   * test pattern
   * individual gains
   * vertical/horizontal flip
   * flash control
 * LibArgus and nvarguscamerasrc
-* Resolution supported: 1280x720 @ 60fps
+* Resolutions supported:
+  * 1280x720 @ 60fps
+  * 1280x960 @ 45fps
 * Gain, exposure, and framerate controls
 * Camera synchronization
 
@@ -33,7 +35,7 @@ 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 +73,43 @@ 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:
+
+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 `gain` consists on the steps (1x + n * 1/32 for the register) scaled to a value that represents this fraction in an integer value for the gain register.
+
 #### 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

@@ -93,32 +93,71 @@ 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 = "1";
+				gain_factor = "3125";
 				framerate_factor = "1000000";
 				exposure_factor = "1000000";
-				min_gain_val = "4";
-				max_gain_val = "6476";
+				min_gain_val = "100000"; /* 1x */
+				max_gain_val = "796875"; /* 7.97x */
 				step_gain_val = "1";
-				default_gain = "100";
+				default_gain = "100000"; /* 1x */
 				min_hdr_ratio = "1";
 				max_hdr_ratio = "1";
 
 				min_framerate = "2000000";
-				max_framerate = "60000000";
+			        max_framerate = "60000000";
 				step_framerate = "1";
-				default_framerate = "6000000"; // 60.0 fps 
+			        default_framerate = "60000000"; // 60.0 fps
 
-				min_exp_time = "23"; // us 
-				max_exp_time = "14933"; // us 
+				min_exp_time = "100"; // us
+				max_exp_time = "16620"; // us
 				step_exp_time = "1";
-				default_exp_time = "10000"; // us 
- 
+				default_exp_time = "16620"; // us
 			};
+		      mode1 {
+				mclk_khz = "24000";
+				num_lanes = "1";
+				tegra_sinterface = "serial_b";
+				discontinuous_clk = "no";
+				dpcm_enable = "false";
+				cil_settletime = "26";
+
+				active_w = "1280";
+				active_h = "960";
+				dynamic_pixel_bit_depth = "12";
+				csi_pixel_bit_depth = "12";
+				mode_type = "bayer";
+				pixel_phase = "rggb";
+			        readout_orientation = "0";
+				line_length = "1650";
+				inherent_gain = "1";
+				pix_clk_hz = "74250000";
+
+				gain_factor = "3125";
+				framerate_factor = "1000000";
+				exposure_factor = "1000000";
+				min_gain_val = "100000"; /* 1x */
+				max_gain_val = "796875"; /* 7.97x */
+				step_gain_val = "1";
+				default_gain = "100000"; /* 1x */
+				min_hdr_ratio = "1";
+				max_hdr_ratio = "1";
+
+				min_framerate = "2000000";
+				max_framerate = "45000000";
+				step_framerate = "1";
+				default_framerate = "45000000"; // 45.0 fps
+
+				min_exp_time = "100"; // us
+				max_exp_time = "22220"; // us
+				step_exp_time = "1";
+				default_exp_time = "22220"; // us
+		      };
+
 			ports {  
 				#address-cells = <0x1>;
 				#size-cells = <0x0>;
@@ -181,31 +220,70 @@ 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 = "1";
+				gain_factor = "3125";
 				framerate_factor = "1000000";
 				exposure_factor = "1000000";
-				min_gain_val = "4";
-				max_gain_val = "6476";
+				min_gain_val = "100000"; /* 1x */
+				max_gain_val = "796875"; /* 7.97x */
 				step_gain_val = "1";
-				default_gain = "100";
+				default_gain = "100000"; /* 1x */
 				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 
-				max_exp_time = "14933"; // us 
+				min_exp_time = "100"; // us
+				max_exp_time = "16620"; // us
 				step_exp_time = "1";
-				default_exp_time = "10000"; // us 
+				default_exp_time = "16620"; // us
 			};
+		      mode1 {
+				mclk_khz = "24000";
+				num_lanes = "1";
+				tegra_sinterface = "serial_a";
+				discontinuous_clk = "no";
+				dpcm_enable = "false";
+				cil_settletime = "26";
+
+				active_w = "1280";
+				active_h = "960";
+				dynamic_pixel_bit_depth = "12";
+				csi_pixel_bit_depth = "12";
+				mode_type = "bayer";
+				pixel_phase = "rggb";
+			        readout_orientation = "0";
+				line_length = "1650";
+				inherent_gain = "1";
+				pix_clk_hz = "74250000";
+
+				gain_factor = "3125";
+				framerate_factor = "1000000";
+				exposure_factor = "1000000";
+				min_gain_val = "100000"; /* 1x */
+				max_gain_val = "796875"; /* 7.97x */
+				step_gain_val = "1";
+				default_gain = "100000"; /* 1x */
+				min_hdr_ratio = "1";
+				max_hdr_ratio = "1";
+
+				min_framerate = "2000000";
+				max_framerate = "45000000";
+				step_framerate = "1";
+				default_framerate = "45000000"; // 45.0 fps
+
+				min_exp_time = "100"; // us
+				max_exp_time = "22220"; // us
+				step_exp_time = "1";
+				default_exp_time = "22220"; // us
+		      };
 			ports {  
 				#address-cells = <0x1>;
 				#size-cells = <0x0>;

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_MAX         6476
+#define MT9M021_GLOBAL_GAIN_MIN         100
+#define MT9M021_GLOBAL_GAIN_MAX         762
 #define MT9M021_GLOBAL_GAIN_DEF         100
 
 #define MT9M021_COARSE_INT_TIME_MIN     0x0001
@@ -397,59 +397,38 @@ 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;
-	u8 integer, fraction;
+	u64 gain = 0;
 
 	dev_dbg(dev, "Setting Gain to: %lld", val);
 
-	if (val >= MT9M021_GAIN_8X_FIXED) {
-		integer = val / MT9M021_GAIN_8X_FIXED;
-		fraction = ((val / 8) % 100) * 32 / 100;
-		gain_mul = MT9M021_GAIN_8X;
-	} else if (val >= MT9M021_GAIN_4X_FIXED) {
-		integer = val / MT9M021_GAIN_4X_FIXED;
-		fraction = ((val / 4) % 100) * 32 / 100;
-		gain_mul = MT9M021_GAIN_4X;
-	} 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);
-	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;
+	/*
+	 * Digital gain equation:
+	 *
+	 *  RANGE: 1x, 7.97x
+	 *  STEPS: 1/32
+	 *
+	 *  gain accepts mapping from range 32 - 255
+	 *
+	 *  SCALE FACTOR = 3125
+	 *
+	 *  min_gain_val = 100000
+	 *  max_gain_val = 796875
+	 *  gain_factor = 3125
+	 *
+	 */
+	gain = val / 3125;
 
 	/* Update global gain */
-	err =
-	    mt9m021_write_reg16(s_data, MT9M021_GLOBAL_GAIN,
-				(integer << 5) | fraction);
-	msleep(10);
+	err = mt9m021_write_reg16(s_data, MT9M021_GLOBAL_GAIN, gain);
 	if (err)
 		goto exit;
-	err =
-	    mt9m021_write_reg16(s_data, MT9M021_GLOBAL_GAIN_CB,
-				(integer << 5) | fraction);
+	err = mt9m021_write_reg16(s_data, MT9M021_GLOBAL_GAIN_CB, gain);
 	if (err)
 		goto exit;
 
 	return 0;
 
-exit:
+ exit:
 	dev_err(dev, "Gain control error: %d", err);
 
 	return err;
@@ -494,7 +473,7 @@ static int mt9m021_set_frame_rate(struct tegracam_device *tc_dev, s64 val)
 
 	return 0;
 
-exit:
+ exit:
 	dev_err(dev, "Frame rate control error: %d", err);
 	return err;
 }
@@ -513,7 +492,6 @@ static int mt9m021_set_coarse_time(struct mt9m021 *priv, s64 val)
 	err = mt9m021_write_reg16(s_data, MT9M021_COARSE_INT_TIME_CB, val);
 	if (err)
 		return err;
-	msleep(30);
 
 	return 0;
 }
@@ -528,11 +506,11 @@ static int mt9m021_set_exposure(struct tegracam_device *tc_dev, s64 val)
 	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 = mode->signal_properties.pixel_clock.val *
-	    val / mode->image_properties.line_length /
+	coarse_time =
+	    val * mode->signal_properties.pixel_clock.val /
+	    mode->image_properties.line_length /
 	    mode->control_properties.exposure_factor;
 
 	err = mt9m021_set_coarse_time(priv, coarse_time);
@@ -541,7 +519,7 @@ static int mt9m021_set_exposure(struct tegracam_device *tc_dev, s64 val)
 
 	return err;
 
-exit:
+ exit:
 	dev_err(dev, "Exposure control error: %d", err);
 	return err;
 }
@@ -561,16 +539,14 @@ static int mt9m021_set_analog_gain(struct tegracam_device *tc_dev, s64 val)
 		goto exit;
 	reg16 =
 	    (reg16 & ~MT9M021_ANALOG_GAIN_MASK) |
-	    ((val << MT9M021_ANALOG_GAIN_SHIFT) &
-	     MT9M021_ANALOG_GAIN_MASK);
+	    ((val << MT9M021_ANALOG_GAIN_SHIFT) & MT9M021_ANALOG_GAIN_MASK);
 	err = mt9m021_write_reg16(s_data, MT9M021_DIGITAL_TEST, reg16);
-	msleep(30);
 	if (err)
 		goto exit;
 
 	return 0;
 
-exit:
+ exit:
 	dev_err(dev, "Analog Gain control error: %d", err);
 
 	return err;
@@ -620,11 +596,10 @@ 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);
 
 	return 0;
 
-exit:
+ exit:
 	dev_err(dev, "Digital Gain control error: %d", err);
 	return err;
 }
@@ -641,15 +616,13 @@ static int mt9m021_set_test_pattern(struct tegracam_device *tc_dev, s32 val)
 		err = mt9m021_write_reg16(s_data, MT9M021_TEST_PATTERN,
 					  MT9M021_TEST_PATTERN_VAL);
 	else
-		err = mt9m021_write_reg16(s_data, MT9M021_TEST_PATTERN,
-					  val);
-	msleep(30);
+		err = mt9m021_write_reg16(s_data, MT9M021_TEST_PATTERN, val);
 	if (err)
 		goto exit;
 
 	return 0;
 
-exit:
+ exit:
 	dev_err(dev, "Test Pattern control error: %d", err);
 
 	return err;
@@ -664,7 +637,7 @@ static int mt9m021_set_flash(struct tegracam_device *tc_dev, s32 val)
 
 	dev_dbg(dev, "Setting Flash to: %d", val);
 
-	switch(val) {
+	switch (val) {
 	case V4L2_FLASH_LED_MODE_NONE:
 		err = mt9m021_write_reg16(s_data, MT9M021_FLASH, 0x0000);
 		priv->flash_en = false;
@@ -683,7 +656,7 @@ static int mt9m021_set_flash(struct tegracam_device *tc_dev, s32 val)
 		goto exit;
 
 	return 0;
-exit:
+ exit:
 	dev_err(dev, "Flash control error: %d", err);
 
 	return err;
@@ -697,7 +670,7 @@ static int mt9m021_set_flip(struct tegracam_device *tc_dev, s32 val, int id)
 
 	dev_dbg(dev, "Setting Flip to: %d", val);
 
-	switch(id) {
+	switch (id) {
 	case V4L2_CID_HFLIP:
 		err = mt9m021_update_bits(s_data, MT9M021_READ_MODE,
 					  val << 14, MT9M021_HFLIP_MASK);
@@ -716,7 +689,7 @@ static int mt9m021_set_flip(struct tegracam_device *tc_dev, s32 val, int id)
 		goto exit;
 
 	return 0;
-exit:
+ exit:
 	dev_err(dev, "Flip control error: %d", err);
 
 	return err;
@@ -787,7 +760,7 @@ static int mt9m021_power_off(struct camera_common_data *s_data)
 		usleep_range(2000, 2010);
 	}
 
-power_off_done:
+ power_off_done:
 	pw->state = SWITCH_OFF;
 
 	return 0;
@@ -909,7 +882,7 @@ static struct camera_common_pdata *mt9m021_parse_dt(struct tegracam_device
 
 	return board_priv_pdata;
 
-error:
+ error:
 	devm_kfree(dev, board_priv_pdata);
 
 	return ret;
@@ -956,13 +929,10 @@ static int mt9m021_col_correction(struct mt9m021 *priv)
 	if (ret < 0)
 		return ret;
 
-	msleep(200);
-
 	/* Enable Streaming */
 	ret = mt9m021_write_table(priv, mode_table[MT9M021_MODE_START_STREAM]);
 	if (ret < 0)
 		return ret;
-	msleep(200);
 
 	/* Disable Streaming */
 	ret = mt9m021_write_table(priv, mode_table[MT9M021_MODE_STOP_STREAM]);
@@ -973,7 +943,6 @@ 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);
 
 	return ret;
 }
@@ -1120,7 +1089,8 @@ static int mt9m021_verify_chip_id(struct mt9m021 *priv)
 		err = mt9m021_read_reg16(s_data, MT9M021_CHIP_ID_REG, &chip_id);
 		if (!err)
 			break;
-		dev_info(&client->dev, "Failed to read Chip ID, trying again\n");
+		dev_info(&client->dev,
+			 "Failed to read Chip ID, trying again\n");
 		max_retries--;
 		msleep(30);
 	}
@@ -1136,7 +1106,7 @@ static int mt9m021_verify_chip_id(struct mt9m021 *priv)
 		goto exit;
 	}
 
-exit:
+ exit:
 	ret = mt9m021_power_off(s_data);
 	if (ret)
 		return ret;

kernel/nvidia-spiri/drivers/media/i2c/mt9m021_mode_tbls.h

@@ -31,12 +31,12 @@
 #define mt9m021_reg struct reg_16
 
 static const mt9m021_reg mt9m021_start[] = {
-	{0x301A, 0x00DC}, /* Enable Streaming */
+	{0x301A, 0x00DC},	/* Enable Streaming */
 	{MT9M021_TABLE_END, 0x00}
 };
 
 static const mt9m021_reg mt9m021_stop[] = {
-	{0x301A, 0x00D8}, /* Disable Streaming */
+	{0x301A, 0x00D8},	/* Disable Streaming */
 	{MT9M021_TABLE_END, 0x00}
 };
 
@@ -102,8 +102,42 @@ static const mt9m021_reg mt9m021_mode_1280x720_60fps[] = {
 	{MT9M021_TABLE_END, 0x00}
 };
 
+static const mt9m021_reg mt9m021_mode_1280x960_45fps[] = {
+	/* Rev2 Settings */
+	{0x307A, 0x0000},
+	{0x30EA, 0x0C00},
+	{0x3044, 0x0404},
+	{0x301E, 0x012C},
+	{0x3180, 0x8000},
+	{0x3014, 0x0000},
+
+	/* Analog Settings */
+	{0x3ED6, 0x00FD},
+	{0x3ED8, 0x0FFF},
+	{0x3EDA, 0x0003},
+	{0x3EDC, 0xF87A},
+	{0x3EDE, 0xE075},
+	{0x3EE0, 0x077C},
+	{0x3EE2, 0xA4EB},
+	{0x3EE4, 0xD208},
+
+	/* Size Settings */
+	{0x3064, 0x1802},	/* EMBEDDED_DATA_CTRL */
+	{0x3032, 0x0020},	/* DIGITAL_BINNING */
+	{0x3002, 0x0004},	/* Y ADDR START */
+	{0x3004, 0x0001},	/* X ADDR START */
+	{0x3006, 0x03C3},	/* Y ADDR END */
+	{0x3008, 0x0500},	/* X ADDR END */
+	{0x300A, 0x03DE},	/* FRAME_LENGTH_LINES */
+	{0x300C, 0x0672},	/* LINE_LENGTH_PCK */
+	{0x30A2, 0x0001},	/* X_ODD_INC */
+	{0x30A6, 0x0001},	/* Y_ODD_INC */
+	{MT9M021_TABLE_END, 0x00}
+};
+
 enum {
 	MT9M021_MODE_1280x720_60FPS,
+	MT9M021_MODE_1280x960_45FPS,
 
 	MT9M021_MODE_PLL_SETUP,
 
@@ -112,15 +146,16 @@ enum {
 };
 
 static const mt9m021_reg *mode_table[] = {
-	[MT9M021_MODE_1280x720_60FPS] 		= mt9m021_mode_1280x720_60fps,
+	[MT9M021_MODE_1280x720_60FPS] = mt9m021_mode_1280x720_60fps,
+	[MT9M021_MODE_1280x960_45FPS] = mt9m021_mode_1280x960_45fps,
 
-	[MT9M021_MODE_PLL_SETUP]		= mt9m021_pll_setup,
+	[MT9M021_MODE_PLL_SETUP] = mt9m021_pll_setup,
 
-	[MT9M021_MODE_START_STREAM]		= mt9m021_start,
-	[MT9M021_MODE_STOP_STREAM]		= mt9m021_stop,
+	[MT9M021_MODE_START_STREAM] = mt9m021_start,
+	[MT9M021_MODE_STOP_STREAM] = mt9m021_stop,
 };
 
-static const int mt9m021_framerates[] = {
+static const int mt9m021_framerates_1280x720[] = {
 	10,
 	20,
 	30,
@@ -129,8 +164,19 @@ static const int mt9m021_framerates[] = {
 	60,
 };
 
-static const struct camera_common_frmfmt mt9m021_frmfmt[] = {
-	{{1280, 720},	mt9m021_framerates, 1, 0, MT9M021_MODE_1280x720_60FPS},
+static const int mt9m021_framerates_1280x960[] = {
+	10,
+	20,
+	30,
+	40,
+	45,
 };
 
-#endif /* __MT9M021_I2C_TABLES__ */
+static const struct camera_common_frmfmt mt9m021_frmfmt[] = {
+	{{1280, 720}, mt9m021_framerates_1280x720, 1, 0,
+	 MT9M021_MODE_1280x720_60FPS},
+	{{1280, 960}, mt9m021_framerates_1280x960, 1, 0,
+	 MT9M021_MODE_1280x960_45FPS},
+};
+
+#endif				/* __MT9M021_I2C_TABLES__ */

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/video0 --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 $initial_gain ]; then
+                v4l2-ctl -d /dev/video1 --set-ctrl=gain=$actual_gain
+        fi
+	if [ $actual_exposure_time -ne $initial_exposure_time ]; then
+                v4l2-ctl -d /dev/video1 --set-ctrl=exposure=$actual_exposure_time
+        fi
+	# Define new initial value
+	initial_gain=$actual_gain
+	initial_exposure_time=$actual_exposure_time
+done