Fix low framerate

Add script to control AE on sensor-id=0
Fix gain equation on Driver
2021-03-08 16:29:16 -06:00 · 2021-03-08 16:29:16 -06:00 · 2021-03-08 16:29:16 -06:00 · 2021-03-08 16:29:16 -06:00 · 2021-03-08 16:29:16 -06:00
5 changed files with 143 additions and 215 deletions
--- a/README.md
+++ b/README.md
@ -5,16 +5,14 @@ The camera sensors should be conencted to a ConnectTech's Elroy board.

 ## Features

-* V4L2 Kernel Driver Version 2.0 supported on L4T32.4.4
+* V4L2 Kernel Driver Version 2.0 supported on L4T32.2.1
 * V4l2 controls
  * test pattern
  * individual gains
  * vertical/horizontal flip
  * flash control
 * LibArgus and nvarguscamerasrc
-* Resolutions supported:
-  * 1280x720 @ 60fps
-  * 1280x960 @ 45fps
+* Resolution supported: 1280x720 @ 60fps
 * Gain, exposure, and framerate controls
 * Camera synchronization

@ -102,13 +100,28 @@ 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:

+```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 `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.
+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

--- a/hardware/nvidia-spiri/platform/t18x/common/kernel-dts/t18x-common-platforms/tegra186-tx2-spiri-camera.dtsi
+++ b/hardware/nvidia-spiri/platform/t18x/common/kernel-dts/t18x-common-platforms/tegra186-tx2-spiri-camera.dtsi
@ -101,10 +101,10 @@ i2c8 = "/i2c@31e0000";
 			        gain_factor = "3125";
 				framerate_factor = "1000000";
 				exposure_factor = "1000000";
-				min_gain_val = "100000"; /* 1x */
-				max_gain_val = "796875"; /* 7.97x */
+				min_gain_val = "100000";
+        max_gain_val = "796000";
 				step_gain_val = "1";
-				default_gain = "100000"; /* 1x */
+				default_gain = "100000";
 				min_hdr_ratio = "1";
 				max_hdr_ratio = "1";

@ -113,51 +113,11 @@ i2c8 = "/i2c@31e0000";
 				step_framerate = "1";
 				default_framerate = "60000000"; // 60.0 fps

-				min_exp_time = "100"; // us
-				max_exp_time = "16620"; // us
+				min_exp_time = "500"; // us
+				max_exp_time = "16000"; // us
 				step_exp_time = "1";
-				default_exp_time = "16620"; // us
+        default_exp_time = "12000"; // 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>;
@ -228,10 +188,10 @@ i2c8 = "/i2c@31e0000";
 			        gain_factor = "3125";
 				framerate_factor = "1000000";
 				exposure_factor = "1000000";
-				min_gain_val = "100000"; /* 1x */
-				max_gain_val = "796875"; /* 7.97x */
+				min_gain_val = "100000";
+        max_gain_val = "796000";
 				step_gain_val = "1";
-				default_gain = "100000"; /* 1x */
+			        default_gain = "100000";
 				min_hdr_ratio = "1";
 				max_hdr_ratio = "1";

@ -240,49 +200,10 @@ i2c8 = "/i2c@31e0000";
 				step_framerate = "1";
 				default_framerate = "60000000"; // 60.0 fps

-				min_exp_time = "100"; // us
-				max_exp_time = "16620"; // us
+				min_exp_time = "500"; // us
+				max_exp_time = "16000"; // us
 				step_exp_time = "1";
-				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
+              default_exp_time = "12000"; // us
 			};
 			ports {  
 				#address-cells = <0x1>;
--- a/kernel/nvidia-spiri/drivers/media/i2c/mt9m021.c
+++ b/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         100
-#define MT9M021_GLOBAL_GAIN_MAX         762
+#define MT9M021_GLOBAL_GAIN_MIN         100000
+#define MT9M021_GLOBAL_GAIN_MAX         796000
 #define MT9M021_GLOBAL_GAIN_DEF         100

 #define MT9M021_COARSE_INT_TIME_MIN     0x0001
@ -397,32 +397,60 @@ 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
+   *  GAIN: VAL / STEPS;
   *  STEPS: 1/32
   *
-	 *  gain accepts mapping from range 32 - 255
+   *  SCALE FACTOR = 100.000
   *
-	 *  SCALE FACTOR = 3125
-	 *
-	 *  min_gain_val = 100000
-	 *  max_gain_val = 796875
+   *  min_gain_val = 100.000
+   *  max_gain_val = 797.000
   *  gain_factor = 3125
   *
+   *  gain maps to range 32 - 255
   */
  gain = val / 3125;

-	/* Update global gain */
-	err = mt9m021_write_reg16(s_data, MT9M021_GLOBAL_GAIN, gain);
+  /* Update analog gain multiplier */
+  err = mt9m021_read_reg16(s_data, MT9M021_DIGITAL_TEST, &reg16);
  if (err)
    goto exit;
-	err = mt9m021_write_reg16(s_data, MT9M021_GLOBAL_GAIN_CB, gain);
+  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, gain);
+//	msleep(10);
+	if (err)
+		goto exit;
+	err =
+      mt9m021_write_reg16(s_data, MT9M021_GLOBAL_GAIN_CB, gain);
 	if (err)
 		goto exit;

@ -492,6 +520,7 @@ 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;
 }
@ -539,8 +568,10 @@ 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;

@ -596,6 +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);

 	return 0;

@ -616,7 +648,9 @@ 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);
+		err = mt9m021_write_reg16(s_data, MT9M021_TEST_PATTERN,
+					  val);
+//	msleep(30);
 	if (err)
 		goto exit;

@ -929,10 +963,15 @@ static int mt9m021_col_correction(struct mt9m021 *priv)
 	if (ret < 0)
 		return ret;

+//	msleep(200);
+//  usleep(200);
+
 	/* Enable Streaming */
 	ret = mt9m021_write_table(priv, mode_table[MT9M021_MODE_START_STREAM]);
 	if (ret < 0)
 		return ret;
+//	msleep(200);
+//  usleep(200);

 	/* Disable Streaming */
 	ret = mt9m021_write_table(priv, mode_table[MT9M021_MODE_STOP_STREAM]);
@ -943,6 +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);
+//  usleep(200);

 	return ret;
 }
@ -1089,8 +1130,7 @@ 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);
 	}
--- a/kernel/nvidia-spiri/drivers/media/i2c/mt9m021_mode_tbls.h
+++ b/kernel/nvidia-spiri/drivers/media/i2c/mt9m021_mode_tbls.h
@ -102,42 +102,8 @@ 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,

@ -147,7 +113,6 @@ enum {

 static const mt9m021_reg *mode_table[] = {
 	[MT9M021_MODE_1280x720_60FPS] 		= mt9m021_mode_1280x720_60fps,
-	[MT9M021_MODE_1280x960_45FPS] = mt9m021_mode_1280x960_45fps,

 	[MT9M021_MODE_PLL_SETUP]		= mt9m021_pll_setup,

@ -155,7 +120,7 @@ static const mt9m021_reg *mode_table[] = {
 	[MT9M021_MODE_STOP_STREAM]		= mt9m021_stop,
 };

-static const int mt9m021_framerates_1280x720[] = {
+static const int mt9m021_framerates[] = {
 	10,
 	20,
 	30,
@ -164,19 +129,8 @@ static const int mt9m021_framerates_1280x720[] = {
 	60,
 };

-static const int mt9m021_framerates_1280x960[] = {
-	10,
-	20,
-	30,
-	40,
-	45,
-};
-
 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},
+	{{1280, 720},	mt9m021_framerates, 1, 0, MT9M021_MODE_1280x720_60FPS},
 };

 #endif /* __MT9M021_I2C_TABLES__ */
--- a/script_to_control_gain_exposure.sh
+++ b/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
Author	SHA1	Message	Date
dchvs	c2113b443d	Fix low framerate	2021-03-08 16:29:16 -06:00
dchvs	ca8e71f447	Add script to control AE on sensor-id=0	2021-03-08 16:29:16 -06:00
dchvs	7f1843d73d	Fix gain equation on Driver	2021-03-08 16:29:16 -06:00
dchvs	fef47412d5	documentation: Update README with AE	2021-03-08 16:29:16 -06:00
dchvs	cccd9ac76c	Fix gain & exposure range on DTB	2021-03-08 16:29:16 -06:00