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Commit 9c1854ca authored by Andrey Filippov's avatar Andrey Filippov
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Merge branch 'framepars'

parents 09367004 20671814
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Showing with 94 additions and 74 deletions
src/drivers/elphel/mt9x001.c
View file @ 9c1854ca
......@@ -712,9 +712,11 @@ int mt9x001_pgm_detectsensor (int sensor_port, ///< sensor port
// unsigned char chipver_reg=P_MT9X001_CHIPVER;
int sensor_subtype=0;
int i;
int sensor_multi_regs_number;
struct sensor_t * psensor; // current sensor
x393_sensio_ctl_t sensio_ctl = {.d32=0};
dev_dbg(g_dev_ptr,"**mt9x001_pgm_detectsensor**: {%d} frame16=%d, thispars->pars[P_SENSOR]= 0x%x\n",sensor_port,frame16, thispars->pars[P_SENSOR]);
unsigned short * sensor_multi_regs;
dev_dbg(g_dev_ptr,"**mt9x001_pgm_detectsensor**: {%d} frame16=%d, thispars->pars[P_SENSOR]= 0x%lx\n",sensor_port,frame16, thispars->pars[P_SENSOR]);
dev_dbg(g_dev_ptr,"{%d} frame16=%d\n",sensor_port,frame16);
// MDD1(printk("sensor=0x%x\n", (int)sensor));
if (thispars->pars[P_SENSOR]!=0) { ///already initialized - called second time after common pgm_detectsensor(), first time is inside pgm_detectsensor()
......@@ -759,7 +761,7 @@ int mt9x001_pgm_detectsensor (int sensor_port, ///< sensor port
x393_sensio_ctrl(sensio_ctl,sensor_port);
udelay(50); // is it needed?
X3X3_I2C_RCV2(sensor_port, psensor->i2c_addr, P_MT9X001_CHIPVER, &i2c_read_dataw);
dev_dbg(g_dev_ptr,"Read i2c (port = %d, sa7=0x%x, reg=0x%x) chip ID=%x\n",sensor_port, psensor->i2c_addr, P_MT9X001_CHIPVER, i2c_read_dataw);
dev_dbg(g_dev_ptr,"Read i2c (port = %d, sa7=0x%lx, reg=0x%x) chip ID=%x\n",sensor_port, psensor->i2c_addr, P_MT9X001_CHIPVER, i2c_read_dataw);
if (((i2c_read_dataw ^ MT9P001_PARTID) & MT9X001_PARTIDMASK)==0) {
dev_dbg(g_dev_ptr,"Found MT9P001 2592x1944 sensor, chip ID=%x\n",i2c_read_dataw);
sensor_subtype=MT9P_TYP; //1;
......@@ -832,8 +834,6 @@ int mt9x001_pgm_detectsensor (int sensor_port, ///< sensor port
// setFramePar(thispars, P_SENSOR | FRAMEPAIR_FORCE_NEWPROC, sensor->sensorType); // force actions
// MDD1(dev_dbg(g_dev_ptr,"\n"));
///TODO: Fill G_MULTI_REGSM+i - which registers need individual values in multi-sensor applications
unsigned short * sensor_multi_regs;
int sensor_multi_regs_number;
for (i=0; i<8; i++ ) GLOBALPARS(sensor_port, G_MULTI_REGSM+i)=0; // erase old (or should we keep them?)
if (GLOBALPARS(sensor_port,G_SENS_AVAIL)!=0) {
switch (sensor_subtype) {
......@@ -892,15 +892,15 @@ int mt9x001_pgm_initsensor (int sensor_port, ///< sensor port
int first_sensor_i2c;
unsigned short * sensor_register_overwrites;
x393_sensio_ctl_t sensio_ctl = {.d32=0};
dev_dbg(g_dev_ptr,"{%d} frame16=%d\n",sensor_port,frame16);
if (frame16 >= 0) return -1; // should be ASAP
// int fpga_addr=(frame16 <0) ? X313_I2C_ASAP : (X313_I2C_FRAME0+frame16);
// unsigned char i2c_read_data[512]; // each two bytes - one short word, big endian
u32 i2c_read_data_dw[256];
int nupdate=0;
int i,color;
int regval, regnum, mreg, j;
int sensor_register_overwrites_number;
int sensor_subtype;
dev_dbg(g_dev_ptr,"{%d} frame16=%d\n",sensor_port,frame16);
if (frame16 >= 0) return -1; // should be ASAP
// reset sensor by applying MRST (low):
#ifdef NC353
CCAM_MRST_ON;
......@@ -973,8 +973,7 @@ int mt9x001_pgm_initsensor (int sensor_port, ///< sensor port
#endif
if (nupdate) setFramePars(sensor_port,thispars, nupdate, pars_to_update); // save changes to sensor register shadows
dev_dbg(g_dev_ptr,"Initializing MT9X001 registers with default values:\n");
int sensor_register_overwrites_number;
int sensor_subtype=sensor->sensorType - SENSOR_MT9X001;
sensor_subtype=sensor->sensorType - SENSOR_MT9X001;
switch (sensor_subtype) {
case MT9M_TYP:
sensor_register_overwrites= (unsigned short *) &mt9m001_inits; // why casting is needed?
......@@ -1071,9 +1070,9 @@ int mt9x001_pgm_window_common (int sensor_port, ///< sensor port
int i,dv,dh,bv,bh,ww,wh,wl,wt,flip,flipX,flipY,d, v;
struct frameparspair_t pars_to_update[29];
int nupdate=0;
dev_dbg(g_dev_ptr,"{%d} frame16=%d\n",sensor_port,frame16);
if (frame16 >= PARS_FRAMES) return -1; // wrong frame
int styp = sensor->sensorType & 7;
if (frame16 >= PARS_FRAMES) return -1; // wrong frame
dev_dbg(g_dev_ptr,"{%d} frame16=%d\n",sensor_port,frame16);
dh= thispars->pars[P_DCM_HOR];
dv= thispars->pars[P_DCM_VERT];
bh= thispars->pars[P_BIN_HOR];
......@@ -1229,6 +1228,11 @@ int mt9x001_pgm_limitfps (int sensor_port, ///< sensor port numb
int hor_blank=0;
int p1,p2, pix_period, sclk,fp1000s;
int styp = sensor->sensorType & 7;
int height;
int virt_height;
int vert_blank;
#if USELONGLONG
uint64_t ull_fp1000s;
#endif
......@@ -1346,8 +1350,8 @@ int mt9x001_pgm_limitfps (int sensor_port, ///< sensor port numb
int height = 2 * (wh / (2 * dv));
if((height * dv) < wh) height++;
*/
int height= thispars->pars[P_SENSOR_PIXV];
int virt_height = height + sensor->minVertBlank;
height= thispars->pars[P_SENSOR_PIXV];
virt_height = height + sensor->minVertBlank;
if (thispars->pars[P_VIRT_KEEP]) {
if (virt_height < thispars->pars[P_VIRT_HEIGHT]) {
virt_height = thispars->pars[P_VIRT_HEIGHT];
......@@ -1363,7 +1367,7 @@ int mt9x001_pgm_limitfps (int sensor_port, ///< sensor port numb
dev_dbg(g_dev_ptr,"{%d} height =%d(0x%x), modified virt_height=%d(0x%x)\n",sensor_port,height,height,virt_height,virt_height);
}
int vert_blank= virt_height - height;
vert_blank= virt_height - height;
if(vert_blank > sensor->maxVertBlank) {
vert_blank = sensor->maxVertBlank;
virt_height = vert_blank + height;
......@@ -1433,10 +1437,8 @@ int mt9x001_pgm_exposure (int sensor_port, ///< sensor port
int fp1000s;
struct frameparspair_t pars_to_update[16]; // maximum 7? registers updated
int nupdate=0;
if (frame16 >= PARS_FRAMES) return -1; // wrong frame
int video_exposure = thispars->pars[P_VEXPOS];
int exposure;
dev_dbg(g_dev_ptr,"{%d} sensor_port=%d, frame16=%d, frame=0x%lx (%s)exposure=0x%lx, (%s)video_exposure=0x%lx\n",sensor_port, sensor_port, frame16, thispars->pars[P_FRAME], FRAMEPAR_MODIFIED(P_EXPOS)?"*":" ",thispars->pars[P_EXPOS],FRAMEPAR_MODIFIED(P_VEXPOS)?"*":" ",thispars->pars[P_VEXPOS] );
int use_vexp=0;
int sclk=thispars->pars[P_CLK_SENSOR] ; // pixel clock, in Hz
int vert_blank;
......@@ -1446,6 +1448,11 @@ int mt9x001_pgm_exposure (int sensor_port, ///< sensor port
// NOTE: Is decimation taken care of here ??? FIXME: probably not (here and when deciding to use exposure, not number of lines)!!!
int row_time_in_pixels=thispars->pars[P_VIRT_WIDTH ];
int pix_period;
if (frame16 >= PARS_FRAMES) return -1; // wrong frame
dev_dbg(g_dev_ptr,"{%d} sensor_port=%d, frame16=%d, frame=0x%lx (%s)exposure=0x%lx, (%s)video_exposure=0x%lx\n",sensor_port, sensor_port, frame16, thispars->pars[P_FRAME], FRAMEPAR_MODIFIED(P_EXPOS)?"*":" ",thispars->pars[P_EXPOS],FRAMEPAR_MODIFIED(P_VEXPOS)?"*":" ",thispars->pars[P_VEXPOS] );
dev_dbg(g_dev_ptr,"{%d} row_time_in_pixels=0x%x\n",sensor_port, row_time_in_pixels); // 0
vert_blank= thispars->pars[P_SENSOR_REGS+P_MT9X001_VERTBLANK ];
dev_dbg(g_dev_ptr,"{%d} vert_blank=0x%x\n",sensor_port,vert_blank); // 0
......@@ -1513,7 +1520,7 @@ int mt9x001_pgm_exposure (int sensor_port, ///< sensor port
}
// is exposure longer then maximal period (specified for constant fps?
int pix_period=video_exposure*row_time_in_pixels;
pix_period=video_exposure*row_time_in_pixels;
if (thispars->pars[P_FPSFLAGS] & 2) {
if (pix_period > thispars->pars[P_PERIOD_MAX]) {
video_exposure=thispars->pars[P_PERIOD_MAX]/row_time_in_pixels;
......@@ -1599,11 +1606,12 @@ unsigned long gain_ajust_mt9x001(
unsigned long maxGain) ///< maximal allowed value of the analog gain (normally 0xfc000 ~ 15.75)
///< @return residual value of the digital gain (>=1.0 0x10000) except limited by the minGain
{
dev_dbg(g_dev_ptr,"gain=0x%lx, curRegGain=0x%lx, minGain=0x%lx, maxGain=0x%lx\n",gain,curRegGain,minGain,maxGain);
int g=gain;
int gainIndex; // index of the gain value in the table (each register value has index, each index has preferrable register value)
int curGainIndex; // current index in the gains table matching sensor register value
uint64_t ull_gain;
dev_dbg(g_dev_ptr,"gain=0x%lx, curRegGain=0x%lx, minGain=0x%lx, maxGain=0x%lx\n",gain,curRegGain,minGain,maxGain);
curRegGain &=0x7f; // ignoring sensor digital gains
// find out gain index for the current value of the sensor gain register
curGainIndex=(curRegGain<=32)?curRegGain:((curRegGain>=80)?(curRegGain-48):
......@@ -1716,6 +1724,13 @@ int mt9x001_pgm_gains (int sensor_port, ///< sensor port numb
unsigned long maxGain;
int limitsModified=0;
int gaingModified=FRAMEPAR_MODIFIED(P_GAING);
unsigned long gainr, gaing, gaingb, gainb;
unsigned long rscale_all, gscale_all, bscale_all;
unsigned long rscale, gscale, bscale, rscale_ctl, gscale_ctl, bscale_ctl;
unsigned long newval;
dev_dbg(g_dev_ptr,"{%d} frame16=%d\n",sensor_port,frame16);
if (frame16 >= PARS_FRAMES) return -1; // wrong frame
///make sure limits are OK. Allow violating minimal gain here
......@@ -1736,20 +1751,19 @@ int mt9x001_pgm_gains (int sensor_port, ///< sensor port numb
// maxGain= maxAnaGain * (MAX_DIGITAL_GAIN >> 8);
maxGain= (maxAnaGain * MAX_DIGITAL_GAIN) >> 8; ///should not overflow for Micron as max digital gain <4.0 (0x400), max analog <0x100000)
unsigned long gainr= thispars->pars[P_GAINR ];
unsigned long gaing= thispars->pars[P_GAING ];
unsigned long gaingb=thispars->pars[P_GAINGB];
unsigned long gainb= thispars->pars[P_GAINB ];
unsigned long rscale_all=thispars->pars[P_RSCALE_ALL];
unsigned long gscale_all=thispars->pars[P_GSCALE_ALL];
unsigned long bscale_all=thispars->pars[P_BSCALE_ALL];
unsigned long rscale=rscale_all & ((1<<CSCALES_WIDTH)-1);
unsigned long gscale=gscale_all & ((1<<CSCALES_WIDTH)-1);
unsigned long bscale=bscale_all & ((1<<CSCALES_WIDTH)-1);
unsigned long rscale_ctl=(rscale_all >> CSCALES_CTL_BIT) & ((1<<CSCALES_CTL_WIDTH)-1);
unsigned long gscale_ctl=(gscale_all >> CSCALES_CTL_BIT) & ((1<<CSCALES_CTL_WIDTH)-1);
unsigned long bscale_ctl=(bscale_all >> CSCALES_CTL_BIT) & ((1<<CSCALES_CTL_WIDTH)-1);
unsigned long newval;
gainr= thispars->pars[P_GAINR ];
gaing= thispars->pars[P_GAING ];
gaingb=thispars->pars[P_GAINGB];
gainb= thispars->pars[P_GAINB ];
rscale_all=thispars->pars[P_RSCALE_ALL];
gscale_all=thispars->pars[P_GSCALE_ALL];
bscale_all=thispars->pars[P_BSCALE_ALL];
rscale=rscale_all & ((1<<CSCALES_WIDTH)-1);
gscale=gscale_all & ((1<<CSCALES_WIDTH)-1);
bscale=bscale_all & ((1<<CSCALES_WIDTH)-1);
rscale_ctl=(rscale_all >> CSCALES_CTL_BIT) & ((1<<CSCALES_CTL_WIDTH)-1);
gscale_ctl=(gscale_all >> CSCALES_CTL_BIT) & ((1<<CSCALES_CTL_WIDTH)-1);
bscale_ctl=(bscale_all >> CSCALES_CTL_BIT) & ((1<<CSCALES_CTL_WIDTH)-1);
///
// FIXME: use different gain limitation when anaGainEn==0 (from current analog channel gain to that * MAX_DIGITAL_GAIN>>8),
......@@ -1969,12 +1983,17 @@ int mt9x001_pgm_triggermode (int sensor_port, ///< sensor p
///< be applied to, negative - ASAP
///< @return 0 - OK, negative - error
{
dev_dbg(g_dev_ptr,"{%d} frame16=%d\n",sensor_port,frame16);
struct frameparspair_t pars_to_update[4]; ///
int nupdate=0;
unsigned long newreg;
dev_dbg(g_dev_ptr,"{%d} frame16=%d\n",sensor_port,frame16);
if (frame16 >= PARS_FRAMES) return -1; // wrong frame
unsigned long newreg= (thispars->pars[P_SENSOR_REGS+P_MT9X001_RMODE1] & 0xfeff) | ((thispars->pars[P_TRIG] & 4)?0x100:0);
newreg= (thispars->pars[P_SENSOR_REGS+P_MT9X001_RMODE1] & 0xfeff) | ((thispars->pars[P_TRIG] & 4)?0x100:0);
if (newreg != thispars->pars[P_SENSOR_REGS+P_MT9X001_RMODE1]) {
// turn off triggered mode immediately, turn on later (or should made at leas before changing camsync parameters)
if (!(thispars->pars[P_TRIG] & 4)){
frame16 = -1;
}
SET_SENSOR_MBPAR(sensor_port, frame16,sensor->i2c_addr, P_MT9X001_RMODE1, newreg);
dev_dbg(g_dev_ptr,"{%d} SET_SENSOR_MBPAR(0x%x, 0x%x, 0x%x, 0x%x, 0x%x)\n",sensor_port, sensor_port, frame16, (int) sensor->i2c_addr, (int) P_MT9X001_RMODE1, (int) newreg);
}
......@@ -1994,8 +2013,6 @@ int mt9x001_pgm_sensorregs (int sensor_port, ///< sensor port
///< @return 0 - OK, negative - error
{
dev_dbg(g_dev_ptr,"{%d} frame16=%d\n",sensor_port,frame16);
if (frame16 >= PARS_FRAMES) return -1; // wrong frame
// send all parameters marked as "needed to be processed" to the sensor, clear those flags
// mask out all non sensor pars
// unsigned long bmask32= ((thispars->mod32) >> (P_SENSOR_REGS>>5)) & (P_SENSOR_NUMREGS-1) ;
......@@ -2004,12 +2021,13 @@ int mt9x001_pgm_sensorregs (int sensor_port, ///< sensor port
// unsigned long bmask32= ((thispars->mod32) >> (P_SENSOR_REGS>>5)) & (P_SENSOR_NUMREGS-1) ; // wromg!, only valid for P_SENSOR_NUMREGS==256 (that is the case, actually)
unsigned long bmask32= ((thispars->mod32) >> (P_SENSOR_REGS>>5)) & (( 1 << (P_SENSOR_NUMREGS >> 5))-1) ;
dev_dbg(g_dev_ptr,"{%d} bmask32=0x%lx, thispars->mod32=0x%lx, P_SENSOR_REGS=0x%x, P_SENSOR_NUMREGS=0x%x\n",sensor_port,bmask32,thispars->mod32,P_SENSOR_REGS,P_SENSOR_NUMREGS);
unsigned long mask;
int index,index32;
struct frameparspair_t pars_to_update[2*P_MULTI_NUMREGS*MAX_SENSORS]; ///
int nupdate=0;
dev_dbg(g_dev_ptr,"{%d} frame16=%d\n",sensor_port,frame16);
if (frame16 >= PARS_FRAMES) return -1; // wrong frame
dev_dbg(g_dev_ptr,"{%d} bmask32=0x%lx, thispars->mod32=0x%lx, P_SENSOR_REGS=0x%x, P_SENSOR_NUMREGS=0x%x\n",sensor_port,bmask32,thispars->mod32,P_SENSOR_REGS,P_SENSOR_NUMREGS);
if (GLOBALPARS(sensor_port, G_MULTI_NUM)==0) { // single sensor,don't bother with individual registers, do all old way.
if (bmask32) {
......@@ -2189,7 +2207,7 @@ static int elphel393_mt9x001_sysfs_register(struct platform_device *pdev)
int mt9x001_init(struct platform_device *pdev)
{
int res;
// int res;
struct device *dev = &pdev->dev;
// const struct of_device_id *match;
int sensor_port;
......
src/drivers/elphel/pgm_functions.h
View file @ 9c1854ca
......@@ -87,24 +87,25 @@ int add_sensor_proc(int port, int index, int (*sens_func)(int sensor_port, struc
#define SET_SENSOR_MBPAR(p,f,s,r,v) { pars_to_update[nupdate ].num= P_SENSOR_REGS+(r) ;\
pars_to_update[nupdate++].val=(v);\
X3X3_I2C_SEND2((p), (f), (s), (r), (v)); \
int _MINDEX= MULTIREG(p,P_SENSOR_REGS+(r),0); \
if (_MINDEX) { \
{int _MINDEX= MULTIREG(p,P_SENSOR_REGS+(r),0); \
if (_MINDEX) { \
EDBG(if (GLOBALPARS(G_DEBUG) & (1 <<4)) printk("%s:%d:%s _MINDEX=0x%x, v=0x%x, FRAMEPAR_MODIFIED(_MINDEX)=0x%x\n",__FILE__,__LINE__,__FUNCTION__, _MINDEX, (int) (v), (int) FRAMEPAR_MODIFIED(_MINDEX) ));\
if (!FRAMEPAR_MODIFIED(_MINDEX)) { \
pars_to_update[nupdate ].num= _MINDEX ;\
pars_to_update[nupdate++].val=(v);\
} \
_MINDEX++ ;\
if (!FRAMEPAR_MODIFIED(_MINDEX)) { \
pars_to_update[nupdate ].num= _MINDEX ;\
pars_to_update[nupdate++].val=(v);\
} \
_MINDEX++ ;\
EDBG(if (GLOBALPARS(G_DEBUG) & (1 <<4)) printk("%s:%d:%s _MINDEX=0x%x, v=0x%x, FRAMEPAR_MODIFIED(_MINDEX)=0x%x\n",__FILE__,__LINE__,__FUNCTION__, _MINDEX, (int) (v), (int) FRAMEPAR_MODIFIED(_MINDEX) ));\
if (!FRAMEPAR_MODIFIED(_MINDEX)) { \
pars_to_update[nupdate ].num= _MINDEX ;\
pars_to_update[nupdate++].val=(v);\
} \
_MINDEX++ ;\
if (!FRAMEPAR_MODIFIED(_MINDEX)) { \
pars_to_update[nupdate ].num= _MINDEX ;\
pars_to_update[nupdate++].val=(v);\
} \
_MINDEX++ ;\
EDBG(if (GLOBALPARS(G_DEBUG) & (1 <<4)) printk("%s:%d:%s _MINDEX=0x%x, v=0x%x, FRAMEPAR_MODIFIED(_MINDEX)=0x%x\n",__FILE__,__LINE__,__FUNCTION__, _MINDEX, (int) (v), (int) FRAMEPAR_MODIFIED(_MINDEX) ));\
if (!FRAMEPAR_MODIFIED(_MINDEX)) { \
pars_to_update[nupdate ].num= _MINDEX ;\
pars_to_update[nupdate++].val=(v);\
if (!FRAMEPAR_MODIFIED(_MINDEX)) { \
pars_to_update[nupdate ].num= _MINDEX ;\
pars_to_update[nupdate++].val=(v);\
} \
} \
} \
}
......@@ -120,30 +121,31 @@ int add_sensor_proc(int port, int index, int (*sens_func)(int sensor_port, struc
* @param v value to set (16 bits)
* @see SET_SENSOR_MBPAR */
#define SET_SENSOR_MBOPAR(p,f,s,r,v) { X3X3_I2C_SEND2((p), (f), (s), (r), (v)); \
int _MINDEX= MULTIREG(p,P_SENSOR_REGS+(r),0); \
{ \
int _MINDEX= MULTIREG(p,P_SENSOR_REGS+(r),0); \
EDBG(if (GLOBALPARS(G_DEBUG) & (1 <<4)) printk("%s:%d:%s _MINDEX=0x%x, v=0x%x, FRAMEPAR_MODIFIED(_MINDEX)=0x%x\n",__FILE__,__LINE__,__FUNCTION__, _MINDEX, (int) (v), (int) FRAMEPAR_MODIFIED(_MINDEX) ));\
if (_MINDEX) { \
if (!FRAMEPAR_MODIFIED(_MINDEX)) { \
pars_to_update[nupdate ].num= _MINDEX ;\
pars_to_update[nupdate++].val=(v);\
} \
_MINDEX++ ;\
if (_MINDEX) { \
if (!FRAMEPAR_MODIFIED(_MINDEX)) { \
pars_to_update[nupdate ].num= _MINDEX ;\
pars_to_update[nupdate++].val=(v);\
} \
_MINDEX++ ;\
EDBG(if (GLOBALPARS(G_DEBUG) & (1 <<4)) printk("%s:%d:%s _MINDEX=0x%x, v=0x%x, FRAMEPAR_MODIFIED(_MINDEX)=0x%x\n",__FILE__,__LINE__,__FUNCTION__, _MINDEX, (int) (v), (int) FRAMEPAR_MODIFIED(_MINDEX) ));\
if (!FRAMEPAR_MODIFIED(_MINDEX)) { \
pars_to_update[nupdate ].num= _MINDEX ;\
pars_to_update[nupdate++].val=(v);\
} \
_MINDEX++ ;\
if (!FRAMEPAR_MODIFIED(_MINDEX)) { \
pars_to_update[nupdate ].num= _MINDEX ;\
pars_to_update[nupdate++].val=(v);\
} \
_MINDEX++ ;\
EDBG(if (GLOBALPARS(G_DEBUG) & (1 <<4)) printk("%s:%d:%s _MINDEX=0x%x, v=0x%x, FRAMEPAR_MODIFIED(_MINDEX)=0x%x\n",__FILE__,__LINE__,__FUNCTION__, _MINDEX, (int) (v), (int) FRAMEPAR_MODIFIED(_MINDEX) ));\
if (!FRAMEPAR_MODIFIED(_MINDEX)) { \
pars_to_update[nupdate ].num= _MINDEX ;\
pars_to_update[nupdate++].val=(v);\
} \
} \
if (!FRAMEPAR_MODIFIED(_MINDEX)) { \
pars_to_update[nupdate ].num= _MINDEX ;\
pars_to_update[nupdate++].val=(v);\
} \
} \
} \
}
/**Set individual (multiplexed) sensor parameter (and send to hardware i2c sequencer)
* Do nothing if there is no individual parameter reserved
* @param p Sensor port number
......
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