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Commit ccb9697d authored by Oleg Dzhimiev's avatar Oleg Dzhimiev
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triggered mode. testing. need to update latencies

parent 22fe353f
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Showing with 119 additions and 36 deletions
src/drivers/elphel/mt9f002.c
View file @ ccb9697d
...@@ -93,6 +93,7 @@ const unsigned short mt9f002_par2addr[] = { ...@@ -93,6 +93,7 @@ const unsigned short mt9f002_par2addr[] = {
P_MT9F002_FRAME_LENGTH_LINES, P_REG_MT9F002_FRAME_LENGTH_LINES, P_MT9F002_FRAME_LENGTH_LINES, P_REG_MT9F002_FRAME_LENGTH_LINES,
P_MT9F002_MIN_FRAME_BLANKING_LINES, P_REG_MT9F002_SMIA_MIN_FRAME_BLANKING_LINES, P_MT9F002_MIN_FRAME_BLANKING_LINES, P_REG_MT9F002_SMIA_MIN_FRAME_BLANKING_LINES,
P_MT9F002_READ_MODE, P_REG_MT9F002_READ_MODE, P_MT9F002_READ_MODE, P_REG_MT9F002_READ_MODE,
P_MT9F002_SLAVE_MODE, P_REG_MT9F002_SLAVE_MODE,
0xffff // END indicator 0xffff // END indicator
}; };
...@@ -195,7 +196,9 @@ static unsigned short mt9f002_inits[]= ...@@ -195,7 +196,9 @@ static unsigned short mt9f002_inits[]=
P_REG_MT9F002_ANALOG_GAIN_CODE_GLOBAL, 0x000a, P_REG_MT9F002_ANALOG_GAIN_CODE_GLOBAL, 0x000a,
P_REG_MT9F002_ANALOG_GAIN_CODE_RED, 0x000d, P_REG_MT9F002_ANALOG_GAIN_CODE_RED, 0x000d,
P_REG_MT9F002_ANALOG_GAIN_CODE_BLUE, 0x0010, P_REG_MT9F002_ANALOG_GAIN_CODE_BLUE, 0x0010,
P_REG_MT9F002_COARSE_INTEGRATION_TIME, 0x0100 P_REG_MT9F002_COARSE_INTEGRATION_TIME, 0x0100,
P_REG_MT9F002_SLAVE_MODE , 0x2000,// disable GRR
P_REG_MT9F002_GPI_STATUS , 0xfcff // configure GPI1 as trigger input
}; };
/** Specifying sensor registers to be controlled individually in multi-sensor applications, MT9P006 */ /** Specifying sensor registers to be controlled individually in multi-sensor applications, MT9P006 */
...@@ -223,7 +226,7 @@ int mt9f002_pgm_window_common(int sensor_port, struct sensor_t * sensor, struct ...@@ -223,7 +226,7 @@ int mt9f002_pgm_window_common(int sensor_port, struct sensor_t * sensor, struct
int mt9f002_pgm_limitfps (int sensor_port, struct sensor_t * sensor, struct framepars_t * thispars, struct framepars_t * prevpars, int frame16); int mt9f002_pgm_limitfps (int sensor_port, struct sensor_t * sensor, struct framepars_t * thispars, struct framepars_t * prevpars, int frame16);
int mt9f002_pgm_exposure (int sensor_port, struct sensor_t * sensor, struct framepars_t * thispars, struct framepars_t * prevpars, int frame16); int mt9f002_pgm_exposure (int sensor_port, struct sensor_t * sensor, struct framepars_t * thispars, struct framepars_t * prevpars, int frame16);
int mt9f002_pgm_gains (int sensor_port, struct sensor_t * sensor, struct framepars_t * thispars, struct framepars_t * prevpars, int frame16); int mt9f002_pgm_gains (int sensor_port, struct sensor_t * sensor, struct framepars_t * thispars, struct framepars_t * prevpars, int frame16);
//int mt9f002_pgm_triggermode (int sensor_port, struct sensor_t * sensor, struct framepars_t * thispars, struct framepars_t * prevpars, int frame16); int mt9f002_pgm_triggermode (int sensor_port, struct sensor_t * sensor, struct framepars_t * thispars, struct framepars_t * prevpars, int frame16);
//int mt9f002_pgm_sensorregs (int sensor_port, struct sensor_t * sensor, struct framepars_t * thispars, struct framepars_t * prevpars, int frame16); //int mt9f002_pgm_sensorregs (int sensor_port, struct sensor_t * sensor, struct framepars_t * thispars, struct framepars_t * prevpars, int frame16);
/** /**
...@@ -324,7 +327,7 @@ int mt9f002_pgm_detectsensor (int sensor_port, ///< sensor port ...@@ -324,7 +327,7 @@ int mt9f002_pgm_detectsensor (int sensor_port, ///< sensor port
add_sensor_proc(sensor_port,onchange_window_safe, &mt9f002_pgm_window_safe); // program sensor WOI and mirroring (flipping) - now - only flipping? with lower latency add_sensor_proc(sensor_port,onchange_window_safe, &mt9f002_pgm_window_safe); // program sensor WOI and mirroring (flipping) - now - only flipping? with lower latency
add_sensor_proc(sensor_port,onchange_limitfps, &mt9f002_pgm_limitfps); // check compressor will keep up, limit sensor FPS if needed add_sensor_proc(sensor_port,onchange_limitfps, &mt9f002_pgm_limitfps); // check compressor will keep up, limit sensor FPS if needed
add_sensor_proc(sensor_port,onchange_gains, &mt9f002_pgm_gains); // program analog gains add_sensor_proc(sensor_port,onchange_gains, &mt9f002_pgm_gains); // program analog gains
//add_sensor_proc(sensor_port,onchange_triggermode, &mt9x001_pgm_triggermode); // program sensor trigger mode add_sensor_proc(sensor_port,onchange_triggermode, &mt9f002_pgm_triggermode); // program sensor trigger mode
//add_sensor_proc(sensor_port,onchange_sensorregs, &mt9x001_pgm_sensorregs); // write sensor registers (only changed from outside the driver as they may have different latencies)? //add_sensor_proc(sensor_port,onchange_sensorregs, &mt9x001_pgm_sensorregs); // write sensor registers (only changed from outside the driver as they may have different latencies)?
setFramePar(sensor_port, thispars, P_SENSOR, sensor->sensorType); // should cause other actions setFramePar(sensor_port, thispars, P_SENSOR, sensor->sensorType); // should cause other actions
...@@ -1031,21 +1034,18 @@ int compare_to_trig_period_mt9f002(int sensor_port, ///< sensor po ...@@ -1031,21 +1034,18 @@ int compare_to_trig_period_mt9f002(int sensor_port, ///< sensor po
{ {
int trig_period; int trig_period;
int new_pix_period = pix_period;
dev_dbg(g_dev_ptr,"{%d} thispars->pars[P_TRIG] = %d, thispars->pars[P_TRIG_PERIOD] =%d(0x%x)\n", // in triggered mode fps is exact
sensor_port,
(int)thispars->pars[P_TRIG],
(int)thispars->pars[P_TRIG_PERIOD],
(int)thispars->pars[P_TRIG_PERIOD]);
if (thispars->pars[P_TRIG]!=0){ if (thispars->pars[P_TRIG]!=0){
trig_period = camsync_to_sensor(thispars->pars[P_TRIG_PERIOD], thispars->pars[P_CLK_SENSOR]); trig_period = camsync_to_sensor(thispars->pars[P_TRIG_PERIOD],thispars->pars[P_CLK_SENSOR]);
if (trig_period > pix_period) { //if ((pix_period>trig_period)&&((pix_period-1)<trig_period)){
pix_period=trig_period; if (pix_period<trig_period){
new_pix_period = trig_period;
} }
} }
return pix_period; return new_pix_period;
} }
/** Check if compressor can keep up, limit sensor FPS if needed /** Check if compressor can keep up, limit sensor FPS if needed
...@@ -1078,18 +1078,22 @@ int mt9f002_pgm_limitfps (int sensor_port, ///< sensor port numb ...@@ -1078,18 +1078,22 @@ int mt9f002_pgm_limitfps (int sensor_port, ///< sensor port numb
int row_time_in_pixels=0; int row_time_in_pixels=0;
int hor_blank_min; int hor_blank_min;
int hor_blank=0; int hor_blank=0;
int p1, p2, pix_period, sclk,fp1000s, trig_period; int p1, p2, pix_period, sclk,fp1000s;
int height; int height;
// virtual height read from sensor register
int virt_height; int virt_height;
int virt_height_min; // virtual height calculated from trig_period
int virt_height_trig;
int vert_blank; int vert_blank;
uint64_t ull_fp1000s; uint64_t ull_fp1000s;
int target_virt_width=(thispars->pars[P_VIRT_KEEP])?(thispars->pars[P_VIRT_WIDTH]):0; int target_virt_width=(thispars->pars[P_VIRT_KEEP])?(thispars->pars[P_VIRT_WIDTH]):0;
dev_dbg(g_dev_ptr,"{%d} frame16=%d\n",sensor_port,frame16); unsigned long trig_period;
dev_dbg(g_dev_ptr,"{%d} pgm_limit_fps frame16=%d\n",sensor_port,frame16);
if (frame16 >= PARS_FRAMES) return -1; // wrong frame if (frame16 >= PARS_FRAMES) return -1; // wrong frame
//pr_info("mt9f002_pgm_limitfps: %d\n",thispars->pars[P_EXPOS]); //pr_info("mt9f002_pgm_limitfps: %d\n",thispars->pars[P_EXPOS]);
...@@ -1196,15 +1200,31 @@ int mt9f002_pgm_limitfps (int sensor_port, ///< sensor port numb ...@@ -1196,15 +1200,31 @@ int mt9f002_pgm_limitfps (int sensor_port, ///< sensor port numb
} }
dev_dbg(g_dev_ptr,"{%d} height =%d(0x%x), virt_height=%d(0x%x)\n",sensor_port,height,height,virt_height,virt_height); dev_dbg(g_dev_ptr,"{%d} height =%d(0x%x), virt_height=%d(0x%x)\n",sensor_port,height,height,virt_height,virt_height);
// limit frame rate (using minimal period), but only in sync mode - async should be programmed to observe minimal period
// ignore trig - period // trig_period can be long, but it is already compared to P_PERIOD_MIN (compressor capability)
//if ((thispars->pars[P_TRIG] & 4) == 0) { trig_period = camsync_to_sensor(thispars->pars[P_TRIG_PERIOD], thispars->pars[P_CLK_SENSOR]);
// this is calculated minimum for compressor
virt_height_min = thispars->pars[P_PERIOD_MIN]/row_time_in_pixels; // always non-zero, calculated by pgm_limitfps (common) // if trig_period < row_time_in_pixels then virt_height_trig==0 - ignore for now
if ((row_time_in_pixels * virt_height_min) < thispars->pars[P_PERIOD_MIN]) virt_height_min++; //round up virt_height_trig = trig_period/row_time_in_pixels;
if (virt_height < virt_height_min) virt_height = virt_height_min; // reduce by 1 to make sure sensor's slave mode is active before trigger comes
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); if (virt_height_trig>=1) virt_height_trig -=1;
//}
// handle 16 bits overflow
if ((virt_height_trig>>16) & 0xffff){
dev_warn(g_dev_ptr,"(%d) virt_height 16 bits overflow: %d (%08x)\n",sensor_port,virt_height_trig,virt_height_trig);
virt_height_trig = 0xffff;
}
// round up? no
//if ((row_time_in_pixels * virt_height_min) < trig_period) virt_height_min++;
// this line will not recover from longer trigger periods
//if (virt_height < virt_height_min) virt_height = virt_height_min;
// update except if zero
if (virt_height_trig) virt_height = virt_height_trig;
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);
// schedule updating P_VIRT_HEIGHT if it changed // schedule updating P_VIRT_HEIGHT if it changed
dev_dbg(g_dev_ptr,"{%d} thispars->pars[P_VIRT_HEIGHT] =%d(0x%x), virt_height=%d(0x%x)\n", dev_dbg(g_dev_ptr,"{%d} thispars->pars[P_VIRT_HEIGHT] =%d(0x%x), virt_height=%d(0x%x)\n",
...@@ -1221,8 +1241,12 @@ int mt9f002_pgm_limitfps (int sensor_port, ///< sensor port numb ...@@ -1221,8 +1241,12 @@ int mt9f002_pgm_limitfps (int sensor_port, ///< sensor port numb
} }
// schedule updating P_PERIOD if it changed // schedule updating P_PERIOD if it changed
pix_period=row_time_in_pixels*virt_height;
if (!pix_period ){ // in triggered mode fps is exact
pix_period = row_time_in_pixels*virt_height;
pix_period = compare_to_trig_period_mt9f002(sensor_port,pix_period,thispars);
if (!pix_period){
dev_warn(g_dev_ptr,"** mt9f002_pgm_limitfps(%d) pix_period == 0!! (row_time_in_pixels =%d(0x%x), virt_height=%d(0x%x)\n",sensor_port,row_time_in_pixels,row_time_in_pixels,virt_height,virt_height); dev_warn(g_dev_ptr,"** mt9f002_pgm_limitfps(%d) pix_period == 0!! (row_time_in_pixels =%d(0x%x), virt_height=%d(0x%x)\n",sensor_port,row_time_in_pixels,row_time_in_pixels,virt_height,virt_height);
pix_period = 1000; // just non-zero pix_period = 1000; // just non-zero
} }
...@@ -1256,7 +1280,7 @@ int mt9f002_pgm_limitfps (int sensor_port, ///< sensor port numb ...@@ -1256,7 +1280,7 @@ int mt9f002_pgm_limitfps (int sensor_port, ///< sensor port numb
SETFRAMEPARS_SET(P_FP1000S, fp1000s); SETFRAMEPARS_SET(P_FP1000S, fp1000s);
} }
// update to compressor minimum // update
if (virt_height != thispars->pars[P_SENSOR_REGS+P_MT9F002_FRAME_LENGTH_LINES]){ if (virt_height != thispars->pars[P_SENSOR_REGS+P_MT9F002_FRAME_LENGTH_LINES]){
//pr_info("LIMIT_FPS, old frame_length_lines=0x%08x, new frame_length_lines=0x%08x\n", //pr_info("LIMIT_FPS, old frame_length_lines=0x%08x, new frame_length_lines=0x%08x\n",
// thispars->pars[P_SENSOR_REGS+P_MT9F002_FRAME_LENGTH_LINES],virt_height); // thispars->pars[P_SENSOR_REGS+P_MT9F002_FRAME_LENGTH_LINES],virt_height);
...@@ -1307,6 +1331,7 @@ int mt9f002_pgm_exposure (int sensor_port, ///< sensor port number ...@@ -1307,6 +1331,7 @@ int mt9f002_pgm_exposure (int sensor_port, ///< sensor port number
int row_time_in_pixels=thispars->pars[P_VIRT_WIDTH]; int row_time_in_pixels=thispars->pars[P_VIRT_WIDTH];
int pix_period; int pix_period;
dev_dbg(g_dev_ptr,"{%d} pgm_exposure frame16=%d\n",sensor_port,frame16);
// wrong frame // wrong frame
if (frame16 >= PARS_FRAMES) return -1; if (frame16 >= PARS_FRAMES) return -1;
...@@ -1314,9 +1339,7 @@ int mt9f002_pgm_exposure (int sensor_port, ///< sensor port number ...@@ -1314,9 +1339,7 @@ int mt9f002_pgm_exposure (int sensor_port, ///< sensor port number
virt_height = thispars->pars[P_VIRT_HEIGHT]; virt_height = thispars->pars[P_VIRT_HEIGHT];
//frame_length_lines = thispars->pars[P_VIRT_HEIGHT]; //frame_length_lines = thispars->pars[P_VIRT_HEIGHT];
//pr_info("EXPOS: %d\n",thispars->pars[P_EXPOS]); //exposure = thispars->pars[P_EXPOS];
exposure = thispars->pars[P_EXPOS];
//pr_info("mt9f002_pgm_exposure: %d\n",thispars->pars[P_EXPOS]); //pr_info("mt9f002_pgm_exposure: %d\n",thispars->pars[P_EXPOS]);
//pr_info("fll = %d vs VIRT_HEIGHT = %d\n",frame_length_lines,thispars->pars[P_VIRT_HEIGHT]); //pr_info("fll = %d vs VIRT_HEIGHT = %d\n",frame_length_lines,thispars->pars[P_VIRT_HEIGHT]);
...@@ -1368,15 +1391,15 @@ int mt9f002_pgm_exposure (int sensor_port, ///< sensor port number ...@@ -1368,15 +1391,15 @@ int mt9f002_pgm_exposure (int sensor_port, ///< sensor port number
// at the same time the fine exposure will be: // at the same time the fine exposure will be:
ull_video_exposure = (long long) (sclk / 1000000) * (long long) exposure; //ull_video_exposure = (long long) (sclk / 1000000) * (long long) exposure;
fine_exposure = ull_video_exposure - (long long) coarse_exposure * (long long) row_time_in_pixels; //fine_exposure = ull_video_exposure - (long long) coarse_exposure * (long long) row_time_in_pixels;
//pr_info("fine exposure = %d (0x%08x)\n",fine_exposure,fine_exposure); //pr_info("fine exposure = %d (0x%08x)\n",fine_exposure,fine_exposure);
} }
if (exposure <1) exposure=1; if (exposure < 1) exposure=1;
if (coarse_exposure <1) coarse_exposure=1; if (coarse_exposure < 1) coarse_exposure=1;
// check against max shutter? // check against max shutter?
// is exposure longer then maximal period (specified for constant fps? // is exposure longer then maximal period (specified for constant fps?
...@@ -1403,7 +1426,7 @@ int mt9f002_pgm_exposure (int sensor_port, ///< sensor port number ...@@ -1403,7 +1426,7 @@ int mt9f002_pgm_exposure (int sensor_port, ///< sensor port number
}else{ }else{
virt_height = frame_length_lines; virt_height = frame_length_lines;
} }
//virt_height will not overflow 16 bits
pix_period = row_time_in_pixels*virt_height; pix_period = row_time_in_pixels*virt_height;
} }
...@@ -1412,6 +1435,9 @@ int mt9f002_pgm_exposure (int sensor_port, ///< sensor port number ...@@ -1412,6 +1435,9 @@ int mt9f002_pgm_exposure (int sensor_port, ///< sensor port number
SETFRAMEPARS_SET(P_VIRT_HEIGHT, virt_height); SETFRAMEPARS_SET(P_VIRT_HEIGHT, virt_height);
} }
// pix_period is calculated based in exposure, compare to trig_period
pix_period = compare_to_trig_period_mt9f002(sensor_port,pix_period,thispars);
SETFRAMEPARS_SET(P_PERIOD, pix_period); SETFRAMEPARS_SET(P_PERIOD, pix_period);
ull_fp1000s=((long long) 1000)* ((long long) sclk); ull_fp1000s=((long long) 1000)* ((long long) sclk);
__div64_32(&ull_fp1000s,pix_period); __div64_32(&ull_fp1000s,pix_period);
...@@ -1564,6 +1590,13 @@ int mt9f002_pgm_exposure (int sensor_port, ///< sensor port number ...@@ -1564,6 +1590,13 @@ int mt9f002_pgm_exposure (int sensor_port, ///< sensor port number
} }
*/ */
// update
if (virt_height != thispars->pars[P_SENSOR_REGS+P_MT9F002_FRAME_LENGTH_LINES]){
//pr_info("LIMIT_FPS, old frame_length_lines=0x%08x, new frame_length_lines=0x%08x\n",
// thispars->pars[P_SENSOR_REGS+P_MT9F002_FRAME_LENGTH_LINES],virt_height);
SET_SENSOR_MBPAR_LUT(sensor_port, frame16, P_MT9F002_FRAME_LENGTH_LINES, virt_height);
}
// coarse integration time // coarse integration time
if (coarse_exposure != thispars->pars[P_SENSOR_REGS+P_MT9F002_COARSE_INTEGRATION_TIME]) { if (coarse_exposure != thispars->pars[P_SENSOR_REGS+P_MT9F002_COARSE_INTEGRATION_TIME]) {
SET_SENSOR_MBPAR_LUT(sensor_port,frame16,P_MT9F002_COARSE_INTEGRATION_TIME, coarse_exposure); SET_SENSOR_MBPAR_LUT(sensor_port,frame16,P_MT9F002_COARSE_INTEGRATION_TIME, coarse_exposure);
...@@ -2046,7 +2079,55 @@ int mt9f002_pgm_gains (int sensor_port, ///< sensor port numb ...@@ -2046,7 +2079,55 @@ int mt9f002_pgm_gains (int sensor_port, ///< sensor port numb
} }
/** Program trigger mode as sensor-specific */
int mt9f002_pgm_triggermode (int sensor_port, ///< sensor port number (0..3)
struct sensor_t * sensor, ///< sensor static parameters (capabilities)
struct framepars_t * thispars, ///< sensor current parameters
struct framepars_t * prevpars, ///< sensor previous parameters (not used here)
int frame16) ///< 4-bit (hardware) frame number parameters should
///< be applied to, negative - ASAP
///< @return 0 - OK, negative - error
{
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
if (thispars->pars[P_TRIG]==4){
newreg = 0xa000;
// limit exposure here ?
}else{
newreg = 0x2000;
}
if (newreg != thispars->pars[P_SENSOR_REGS+P_MT9F002_SLAVE_MODE]){
// turn off triggered mode immediately, turn on later (or should made at least before changing camsync parameters)
if (!(thispars->pars[P_TRIG] & 4)){
frame16 = -1;
}
SET_SENSOR_MBPAR_LUT(sensor_port, frame16, P_MT9F002_SLAVE_MODE, newreg);
}
/*
newreg= (thispars->pars[P_SENSOR_REGS+P_MT9X001_RMODE1] & 0xfe7f) | // old value without snapshot and GRR bits
((thispars->pars[P_TRIG] & 4)?0x100:0) | // snapshot mode for P_TRIG==4 or 20
((thispars->pars[P_TRIG] & 0x10)?0x80:0); // GRR mode for P_TRIG==20
if (newreg != thispars->pars[P_SENSOR_REGS+P_MT9X001_RMODE1]) {
// turn off triggered mode immediately, turn on later (or should made at least before changing camsync parameters)
if (!(thispars->pars[P_TRIG] & 4)){
frame16 = -1;
}
SET_SENSOR_MBPAR_LUT(sensor_port, frame16, 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);
}
*/
if (nupdate) setFramePars(sensor_port,thispars, nupdate, pars_to_update); // save changes sensor register shadows
return 0;
}
......
src/drivers/elphel/mt9f002.h
View file @ ccb9697d
...@@ -440,6 +440,7 @@ ...@@ -440,6 +440,7 @@
#define P_REG_MT9F002_OTPM_TCFG_READ_4B 0x3138 #define P_REG_MT9F002_OTPM_TCFG_READ_4B 0x3138
#define P_REG_MT9F002_OTPM_CFG 0x3140 #define P_REG_MT9F002_OTPM_CFG 0x3140
#define P_REG_MT9F002_SLAVE_MODE 0x3158
#define P_REG_MT9F002_GLOBAL_FLASH_START 0x315A #define P_REG_MT9F002_GLOBAL_FLASH_START 0x315A
#define P_REG_MT9F002_GLOBAL_SEQ_TRIGGER 0x315E #define P_REG_MT9F002_GLOBAL_SEQ_TRIGGER 0x315E
#define P_REG_MT9F002_GLOBAL_RST_END 0x3160 #define P_REG_MT9F002_GLOBAL_RST_END 0x3160
...@@ -641,6 +642,7 @@ ...@@ -641,6 +642,7 @@
#define P_MT9F002_MIN_FRAME_BLANKING_LINES 32 #define P_MT9F002_MIN_FRAME_BLANKING_LINES 32
#define P_MT9F002_READ_MODE 33 #define P_MT9F002_READ_MODE 33
#define P_MT9F002_SLAVE_MODE 34
//#define P_REG(x) x //#define P_REG(x) x
......
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