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
 

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

@@ -109,7 +109,7 @@ i2c8 = "/i2c@31e0000";
 				max_hdr_ratio = "1";
 
 				min_framerate = "2000000";
-				max_framerate = "60000000";
+        max_framerate = "60000000";
 				step_framerate = "1";
         default_framerate = "60000000"; // 60.0 fps
 
@@ -118,6 +118,46 @@ i2c8 = "/i2c@31e0000";
         step_exp_time = "1";
         default_exp_time = "50000"; // 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 = "3";
+        framerate_factor = "1000000";
+        exposure_factor = "1000000";
+        min_gain_val = "102";
+        max_gain_val = "160" ;
+        step_gain_val = "1";
+        default_gain = "102";
+        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 = "24000"; // us
+        max_exp_time = "74000"; // us
+        step_exp_time = "1";
+        default_exp_time = "50000"; // us
+      };
+
 			ports {  
 				#address-cells = <0x1>;
 				#size-cells = <0x0>;
@@ -205,6 +245,45 @@ i2c8 = "/i2c@31e0000";
         step_exp_time = "1";
         default_exp_time = "50000"; // 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 = "3";
+        framerate_factor = "1000000";
+        exposure_factor = "1000000";
+        min_gain_val = "102";
+        max_gain_val = "160" ;
+        step_gain_val = "1";
+        default_gain = "102";
+        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 = "24000"; // us
+        max_exp_time = "74000"; // us
+        step_exp_time = "1";
+        default_exp_time = "50000"; // us
+      };
 			ports {  
 				#address-cells = <0x1>;
 				#size-cells = <0x0>;

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

@@ -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,
 
@@ -113,6 +147,7 @@ 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,
 
@@ -120,17 +155,26 @@ static const mt9m021_reg *mode_table[] = {
 	[MT9M021_MODE_STOP_STREAM]		= mt9m021_stop,
 };
 
-static const int mt9m021_framerates[] = {
+static const int mt9m021_framerates_1280x720[] = {
 	10,
 	20,
 	30,
-	40,
+       40,
 	50,
 	60,
 };
 
+static const int mt9m021_framerates_1280x960[] = {
+  10,
+  20,
+  30,
+  40,
+  45,
+};
+
 static const struct camera_common_frmfmt mt9m021_frmfmt[] = {
-	{{1280, 720},	mt9m021_framerates, 1, 0, MT9M021_MODE_1280x720_60FPS},
+  {{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__ */