Fix low framerate

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:
 
-MT9M021 sensor datasheet:
+```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
 

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

@@ -93,71 +93,31 @@ 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 = "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";
 
 				min_framerate = "2000000";
-			        max_framerate = "60000000";
+				max_framerate = "60000000";
 				step_framerate = "1";
-			        default_framerate = "60000000"; // 60.0 fps
+				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>;
@@ -220,18 +180,18 @@ 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 = "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";
 
@@ -240,50 +200,11 @@ 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_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         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
@@ -396,39 +396,67 @@ 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;
-	u64 gain = 0;
+  int err = 0;
+  u16 gain_mul;
+  u16 reg16 = 0;
+  u64 gain = 0;
 
 	dev_dbg(dev, "Setting Gain to: %lld", val);
 
-	/*
-	 * 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;
+  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
+   *
+   *  SCALE FACTOR = 100.000
+   *
+   *  min_gain_val = 100.000
+   *  max_gain_val = 797.000
+   *  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, 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);
+	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;
@@ -464,8 +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->image_properties.line_length / val;
+      mode->control_properties.framerate_factor /
+      mode->image_properties.line_length / val;
 
 	err = mt9m021_set_frame_length(priv, frame_length);
 	if (err)
@@ -473,7 +501,7 @@ 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;
 }
@@ -486,12 +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);
 
 	return 0;
 }
@@ -502,24 +531,24 @@ 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);
 
-	coarse_time =
-	    val * mode->signal_properties.pixel_clock.val /
-	    mode->image_properties.line_length /
-	    mode->control_properties.exposure_factor;
+  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);
+  err = mt9m021_set_coarse_time(priv, coarse_time);
 	if (err)
 		goto exit;
 
 	return err;
 
- exit:
+exit:
 	dev_err(dev, "Exposure control error: %d", err);
 	return err;
 }
@@ -539,14 +568,16 @@ 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;
@@ -596,10 +627,11 @@ 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;
 }
@@ -616,13 +648,15 @@ 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;
 
 	return 0;
 
- exit:
+exit:
 	dev_err(dev, "Test Pattern control error: %d", err);
 
 	return err;
@@ -637,7 +671,7 @@ 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;
@@ -656,7 +690,7 @@ 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;
@@ -670,7 +704,7 @@ 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);
@@ -689,7 +723,7 @@ 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;
@@ -760,7 +794,7 @@ 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;
@@ -882,7 +916,7 @@ 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;
@@ -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;
 }
@@ -972,7 +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) {
@@ -1057,7 +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";
@@ -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);
 	}
@@ -1106,7 +1146,7 @@ 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}
 };
 
@@ -102,42 +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,
 
@@ -146,16 +112,15 @@ 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_1280x720_60FPS] 		= mt9m021_mode_1280x720_60fps,
 
-	[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_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__ */
+#endif /* __MT9M021_I2C_TABLES__ */

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