owner-nrf52sdk/std/camera/sensors/nt99141.c

/*
 * This file is part of the OpenMV project.
 * Copyright (c) 2013/2014 Ibrahim Abdelkader <i.abdalkader@gmail.com>
 * This work is licensed under the MIT license, see the file LICENSE for details.
 *
 * NT99141 driver.
 *
 */
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include "sccb.h"
#include "xclk.h"
#include "nt99141.h"
#include "nt99141_regs.h"
#include "nt99141_settings.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"

#if defined(ARDUINO_ARCH_ESP32) && defined(CONFIG_ARDUHAL_ESP_LOG)
#include "esp32-hal-log.h"
#else
#include "esp_log.h"
static const char *TAG = "NT99141";
#endif

//#define REG_DEBUG_ON

static int read_reg(uint8_t slv_addr, const uint16_t reg)
{
    int ret = SCCB_Read16(slv_addr, reg);
#ifdef REG_DEBUG_ON

    if (ret < 0) {
        ESP_LOGE(TAG, "READ REG 0x%04x FAILED: %d", reg, ret);
    }

#endif
    return ret;
}

static int check_reg_mask(uint8_t slv_addr, uint16_t reg, uint8_t mask)
{
    return (read_reg(slv_addr, reg) & mask) == mask;
}

static int read_reg16(uint8_t slv_addr, const uint16_t reg)
{
    int ret = 0, ret2 = 0;
    ret = read_reg(slv_addr, reg);

    if (ret >= 0) {
        ret = (ret & 0xFF) << 8;
        ret2 = read_reg(slv_addr, reg + 1);

        if (ret2 < 0) {
            ret = ret2;
        } else {
            ret |= ret2 & 0xFF;
        }
    }

    return ret;
}


static int write_reg(uint8_t slv_addr, const uint16_t reg, uint8_t value)
{
    int ret = 0;
#ifndef REG_DEBUG_ON
    ret = SCCB_Write16(slv_addr, reg, value);
#else
    int old_value = read_reg(slv_addr, reg);

    if (old_value < 0) {
        return old_value;
    }

    if ((uint8_t)old_value != value) {
        ESP_LOGD(TAG, "NEW REG 0x%04x: 0x%02x to 0x%02x", reg, (uint8_t)old_value, value);
        ret = SCCB_Write16(slv_addr, reg, value);
    } else {
        ESP_LOGD(TAG, "OLD REG 0x%04x: 0x%02x", reg, (uint8_t)old_value);
        ret = SCCB_Write16(slv_addr, reg, value);//maybe not?
    }

    if (ret < 0) {
        ESP_LOGE(TAG, "WRITE REG 0x%04x FAILED: %d", reg, ret);
    }

#endif
    return ret;
}

static int set_reg_bits(uint8_t slv_addr, uint16_t reg, uint8_t offset, uint8_t mask, uint8_t value)
{
    int ret = 0;
    uint8_t c_value, new_value;
    ret = read_reg(slv_addr, reg);

    if (ret < 0) {
        return ret;
    }

    c_value = ret;
    new_value = (c_value & ~(mask << offset)) | ((value & mask) << offset);
    ret = write_reg(slv_addr, reg, new_value);
    return ret;
}

static int write_regs(uint8_t slv_addr, const uint16_t (*regs)[2])
{
    int i = 0, ret = 0;

    while (!ret && regs[i][0] != REGLIST_TAIL) {
        if (regs[i][0] == REG_DLY) {
            vTaskDelay(regs[i][1] / portTICK_PERIOD_MS);
        } else {
            ret = write_reg(slv_addr, regs[i][0], regs[i][1]);
        }

        i++;
    }

    return ret;
}

static int write_reg16(uint8_t slv_addr, const uint16_t reg, uint16_t value)
{
    if (write_reg(slv_addr, reg, value >> 8) || write_reg(slv_addr, reg + 1, value)) {
        return -1;
    }

    return 0;
}

static int write_addr_reg(uint8_t slv_addr, const uint16_t reg, uint16_t x_value, uint16_t y_value)
{
    if (write_reg16(slv_addr, reg, x_value) || write_reg16(slv_addr, reg + 2, y_value)) {
        return -1;
    }

    return 0;
}

#define write_reg_bits(slv_addr, reg, mask, enable) set_reg_bits(slv_addr, reg, 0, mask, enable?mask:0)

static int set_pll(sensor_t *sensor, bool bypass, uint8_t multiplier, uint8_t sys_div, uint8_t pre_div, bool root_2x, uint8_t seld5, bool pclk_manual, uint8_t pclk_div)
{
    return -1;
}

static int set_ae_level(sensor_t *sensor, int level);

static int reset(sensor_t *sensor)
{

    int ret = 0;
    // Software Reset: clear all registers and reset them to their default values
    ret = write_reg(sensor->slv_addr, SYSTEM_CTROL0, 0x01);

    if (ret) {
        ESP_LOGE(TAG, "Software Reset FAILED!");
        return ret;
    }

    vTaskDelay(100 / portTICK_PERIOD_MS);
    ret = write_regs(sensor->slv_addr, sensor_default_regs);   //re-initial

    if (ret == 0) {
        ESP_LOGD(TAG, "Camera defaults loaded");
        ret = set_ae_level(sensor, 0);
        vTaskDelay(100 / portTICK_PERIOD_MS);
    }

    return ret;
}

static int set_pixformat(sensor_t *sensor, pixformat_t pixformat)
{
    int ret = 0;
    const uint16_t (*regs)[2];

    switch (pixformat) {
        case PIXFORMAT_YUV422:
            regs = sensor_fmt_yuv422;
            break;

        case PIXFORMAT_GRAYSCALE:
            regs = sensor_fmt_grayscale;
            break;

        case PIXFORMAT_RGB565:
        case PIXFORMAT_RGB888:
            regs = sensor_fmt_rgb565;
            break;

        case PIXFORMAT_JPEG:
            regs = sensor_fmt_jpeg;
            break;

        case PIXFORMAT_RAW:
            regs = sensor_fmt_raw;
            break;

        default:
            ESP_LOGE(TAG, "Unsupported pixformat: %u", pixformat);
            return -1;
    }

    ret = write_regs(sensor->slv_addr, regs);

    if (ret == 0) {
        sensor->pixformat = pixformat;
        ESP_LOGD(TAG, "Set pixformat to: %u", pixformat);
    }

    return ret;
}

static int set_image_options(sensor_t *sensor)
{
    int ret = 0;
    uint8_t reg20 = 0;
    uint8_t reg21 = 0;
    uint8_t reg4514 = 0;
    uint8_t reg4514_test = 0;

    // V-Flip
    if (sensor->status.vflip) {
        reg20 |= 0x01;
        reg4514_test |= 1;
    }

    // H-Mirror
    if (sensor->status.hmirror) {
        reg21 |= 0x02;
        reg4514_test |= 2;
    }

    switch (reg4514_test) {

    }

    if (write_reg(sensor->slv_addr, TIMING_TC_REG20, reg20 | reg21)) {
        ESP_LOGE(TAG, "Setting Image Options Failed");
        ret = -1;
    }

    ESP_LOGD(TAG, "Set Image Options: Compression: %u, Binning: %u, V-Flip: %u, H-Mirror: %u, Reg-4514: 0x%02x",
             sensor->pixformat == PIXFORMAT_JPEG, sensor->status.binning, sensor->status.vflip, sensor->status.hmirror, reg4514);
    return ret;
}

static int set_framesize(sensor_t *sensor, framesize_t framesize)
{
    int ret = 0;

    sensor->status.framesize = framesize;
    ret = write_regs(sensor->slv_addr, sensor_default_regs);

    if (framesize == FRAMESIZE_QVGA) {
        ESP_LOGD(TAG, "Set FRAMESIZE_QVGA");
        ret = write_regs(sensor->slv_addr, sensor_framesize_QVGA);
#if    CONFIG_NT99141_SUPPORT_XSKIP
        ESP_LOGD(TAG, "Set FRAMESIZE_QVGA: xskip mode");
        ret = write_regs(sensor->slv_addr, sensor_framesize_QVGA_xskip);
#elif  CONFIG_NT99141_SUPPORT_CROP
        ESP_LOGD(TAG, "Set FRAMESIZE_QVGA: crop mode");
        ret = write_regs(sensor->slv_addr, sensor_framesize_QVGA_crop);
#endif
    } else if (framesize == FRAMESIZE_VGA) {
        ESP_LOGD(TAG, "Set FRAMESIZE_VGA");
        // ret = write_regs(sensor->slv_addr, sensor_framesize_VGA);
        ret = write_regs(sensor->slv_addr, sensor_framesize_VGA_xyskip);// Resolution:640*360 This configuration is equally-scaled without deforming
#ifdef CONFIG_NT99141_SUPPORT_XSKIP
        ESP_LOGD(TAG, "Set FRAMESIZE_QVGA: xskip mode");
        ret = write_regs(sensor->slv_addr, sensor_framesize_VGA_xskip);
#elif CONFIG_NT99141_SUPPORT_CROP
        ESP_LOGD(TAG, "Set FRAMESIZE_QVGA: crop mode");
        ret = write_regs(sensor->slv_addr, sensor_framesize_VGA_crop);
#endif
    } else if (framesize >= FRAMESIZE_HD) {
        ESP_LOGD(TAG, "Set FRAMESIZE_HD");
        ret = write_regs(sensor->slv_addr, sensor_framesize_HD);
    } else {
        ESP_LOGD(TAG, "Dont suppost this size, Set FRAMESIZE_VGA");
        ret = write_regs(sensor->slv_addr, sensor_framesize_VGA);
    }

    return ret;
}

static int set_hmirror(sensor_t *sensor, int enable)
{
    int ret = 0;
    sensor->status.hmirror = enable;
    ret = set_image_options(sensor);

    if (ret == 0) {
        ESP_LOGD(TAG, "Set h-mirror to: %d", enable);
    }

    return ret;
}

static int set_vflip(sensor_t *sensor, int enable)
{
    int ret = 0;
    sensor->status.vflip = enable;
    ret = set_image_options(sensor);

    if (ret == 0) {
        ESP_LOGD(TAG, "Set v-flip to: %d", enable);
    }

    return ret;
}

static int set_quality(sensor_t *sensor, int qs)
{
    int ret = 0;
    ret = write_reg(sensor->slv_addr, COMPRESSION_CTRL07, qs & 0x3f);

    if (ret == 0) {
        sensor->status.quality = qs;
        ESP_LOGD(TAG, "Set quality to: %d", qs);
    }

    return ret;
}

static int set_colorbar(sensor_t *sensor, int enable)
{
    int ret = 0;
    ret = write_reg_bits(sensor->slv_addr, PRE_ISP_TEST_SETTING_1, TEST_COLOR_BAR, enable);

    if (ret == 0) {
        sensor->status.colorbar = enable;
        ESP_LOGD(TAG, "Set colorbar to: %d", enable);
    }

    return ret;
}

static int set_gain_ctrl(sensor_t *sensor, int enable)
{
    int ret = 0;
    ret = write_reg_bits(sensor->slv_addr, 0x32bb, 0x87, enable);

    if (ret == 0) {
        ESP_LOGD(TAG, "Set gain_ctrl to: %d", enable);
        sensor->status.agc = enable;
    }

    return ret;
}

static int set_exposure_ctrl(sensor_t *sensor, int enable)
{
    int ret = 0;
       int data = 0;
    // ret = write_reg_bits(sensor->slv_addr, 0x32bb, 0x87, enable);
    data = read_reg(sensor->slv_addr, 0x3201);
    ESP_LOGD(TAG, "set_exposure_ctrl:enable");
    if (enable) {
        ESP_LOGD(TAG, "set_exposure_ctrl:enable");
        ret = write_reg(sensor->slv_addr, 0x3201, (1 << 5) | data);
    } else {
        ESP_LOGD(TAG, "set_exposure_ctrl:disable");
        ret = write_reg(sensor->slv_addr, 0x3201, (~(1 << 5)) & data);
    }

    if (ret == 0) {
        ESP_LOGD(TAG, "Set exposure_ctrl to: %d", enable);
        sensor->status.aec = enable;
    }

    return ret;
}

static int set_whitebal(sensor_t *sensor, int enable)
{
    int ret = 0;

    if (ret == 0) {
        ESP_LOGD(TAG, "Set awb to: %d", enable);
        sensor->status.awb = enable;
    }

    return ret;
}

//Advanced AWB
static int set_dcw_dsp(sensor_t *sensor, int enable)
{
    int ret = 0;

    if (ret == 0) {
        ESP_LOGD(TAG, "Set dcw to: %d", enable);
        sensor->status.dcw = enable;
    }

    return ret;
}

//night mode enable
static int set_aec2(sensor_t *sensor, int enable)
{
    int ret = 0;

    if (ret == 0) {
        ESP_LOGD(TAG, "Set aec2 to: %d", enable);
        sensor->status.aec2 = enable;
    }

    return ret;
}

static int set_bpc_dsp(sensor_t *sensor, int enable)
{
    int ret = 0;

    if (ret == 0) {
        ESP_LOGD(TAG, "Set bpc to: %d", enable);
        sensor->status.bpc = enable;
    }

    return ret;
}

static int set_wpc_dsp(sensor_t *sensor, int enable)
{
    int ret = 0;

    if (ret == 0) {
        ESP_LOGD(TAG, "Set wpc to: %d", enable);
        sensor->status.wpc = enable;
    }

    return ret;
}

//Gamma enable
static int set_raw_gma_dsp(sensor_t *sensor, int enable)
{
    int ret = 0;

    if (ret == 0) {
        ESP_LOGD(TAG, "Set raw_gma to: %d", enable);
        sensor->status.raw_gma = enable;
    }

    return ret;
}

static int set_lenc_dsp(sensor_t *sensor, int enable)
{
    int ret = 0;

    if (ret == 0) {
        ESP_LOGD(TAG, "Set lenc to: %d", enable);
        sensor->status.lenc = enable;
    }

    return ret;
}

static int get_agc_gain(sensor_t *sensor)
{
    ESP_LOGD(TAG, "get_agc_gain can not be configured at present");
    return 0;
}

//real gain
static int set_agc_gain(sensor_t *sensor, int gain)
{
    ESP_LOGD(TAG, "set_agc_gain can not be configured at present");
    // ESP_LOGD(TAG, "GAIN = %d\n", gain);
    int cnt = gain / 2;

    switch (cnt) {
        case 0:
            ESP_LOGD(TAG, "set_agc_gain: 1x");
            write_reg(sensor->slv_addr, 0X301D, 0X00);
            break;

        case 1:
            ESP_LOGD(TAG,"set_agc_gain: 2x");
            write_reg(sensor->slv_addr, 0X301D, 0X0F);
            break;

        case 2:
            ESP_LOGD(TAG,"set_agc_gain: 4x");
            write_reg(sensor->slv_addr, 0X301D, 0X2F);
            break;

        case 3:
            ESP_LOGD(TAG,"set_agc_gain: 6x");
            write_reg(sensor->slv_addr, 0X301D, 0X37);
            break;

        case 4:
            ESP_LOGD(TAG,"set_agc_gain: 8x");
            write_reg(sensor->slv_addr, 0X301D, 0X3F);
            break;

        default:
            ESP_LOGD(TAG,"fail set_agc_gain");
            break;
    }

    return 0;
}

static int get_aec_value(sensor_t *sensor)
{
    ESP_LOGD(TAG, "get_aec_value can not be configured at present");
    return 0;
}

static int set_aec_value(sensor_t *sensor, int value)
{
    ESP_LOGD(TAG, "set_aec_value can not be configured at present");
    int ret = 0;
    // ESP_LOGD(TAG, " set_aec_value to: %d", value);
    ret = write_reg_bits(sensor->slv_addr, 0x3012, 0x00, (value >> 8) & 0xff);
    ret = write_reg_bits(sensor->slv_addr, 0x3013, 0x01, value & 0xff);

    if (ret == 0) {
        ESP_LOGD(TAG, " set_aec_value to: %d", value);
        // sensor->status.aec = enable;
    }

    return ret;
}

static int set_ae_level(sensor_t *sensor, int level)
{
    ESP_LOGD(TAG, "set_ae_level can not be configured at present");
    int ret = 0;

    if (level < 0) {
        level = 0;
    } else if (level > 9) {
        level = 9;
    }

    for (int i = 0; i < 5; i++) {
        ret += write_reg(sensor->slv_addr, sensor_ae_level[ 5 * level + i ][0], sensor_ae_level[5 * level + i ][1]);
    }

    if (ret) {
        ESP_LOGE(TAG, " fail to set ae level: %d", ret);
    }

    return 0;
}

static int set_wb_mode(sensor_t *sensor, int mode)
{
    int ret = 0;

    if (mode < 0 || mode > 4) {
        return -1;
    }

    ret = write_reg(sensor->slv_addr, 0x3201, (mode != 0));

    if (ret) {
        return ret;
    }

    switch (mode) {
        case 1://Sunny
            ret  = write_reg16(sensor->slv_addr, 0x3290, 0x01)
                   || write_reg16(sensor->slv_addr, 0x3291, 0x38)
                   || write_reg16(sensor->slv_addr, 0x3296, 0x01)
                   || write_reg16(sensor->slv_addr, 0x3297, 0x68)
                   || write_reg16(sensor->slv_addr, 0x3060, 0x01);

            break;

        case 2://Cloudy

            ret  = write_reg16(sensor->slv_addr, 0x3290, 0x01)
                   || write_reg16(sensor->slv_addr, 0x3291, 0x51)
                   || write_reg16(sensor->slv_addr, 0x3296, 0x01)
                   || write_reg16(sensor->slv_addr, 0x3297, 0x00)
                   || write_reg16(sensor->slv_addr, 0x3060, 0x01);
            break;

        case 3://INCANDESCENCE]
            ret  = write_reg16(sensor->slv_addr, 0x3290, 0x01)
                   || write_reg16(sensor->slv_addr, 0x3291, 0x30)
                   || write_reg16(sensor->slv_addr, 0x3296, 0x01)
                   || write_reg16(sensor->slv_addr, 0x3297, 0xCB)
                   || write_reg16(sensor->slv_addr, 0x3060, 0x01);
            break;

        case 4://FLUORESCENT
            ret  = write_reg16(sensor->slv_addr, 0x3290, 0x01)
                   || write_reg16(sensor->slv_addr, 0x3291, 0x70)
                   || write_reg16(sensor->slv_addr, 0x3296, 0x01)
                   || write_reg16(sensor->slv_addr, 0x3297, 0xFF)
                   || write_reg16(sensor->slv_addr, 0x3060, 0x01);
            break;

        default://AUTO
            break;
    }

    if (ret == 0) {
        ESP_LOGD(TAG, "Set wb_mode to: %d", mode);
        sensor->status.wb_mode = mode;
    }

    return ret;
}

static int set_awb_gain_dsp(sensor_t *sensor, int enable)
{
    int ret = 0;
    int old_mode = sensor->status.wb_mode;
    int mode = enable ? old_mode : 0;

    ret = set_wb_mode(sensor, mode);

    if (ret == 0) {
        sensor->status.wb_mode = old_mode;
        ESP_LOGD(TAG, "Set awb_gain to: %d", enable);
        sensor->status.awb_gain = enable;
    }

    return ret;
}

static int set_special_effect(sensor_t *sensor, int effect)
{
    int ret = 0;

    if (effect < 0 || effect > 6) {
        return -1;
    }

    uint8_t *regs = (uint8_t *)sensor_special_effects[effect];
    ret =  write_reg(sensor->slv_addr, 0x32F1, regs[0])
           || write_reg(sensor->slv_addr, 0x32F4, regs[1])
           || write_reg(sensor->slv_addr, 0x32F5, regs[2])
           || write_reg(sensor->slv_addr, 0x3060, regs[3]);

    if (ret == 0) {
        ESP_LOGD(TAG, "Set special_effect to: %d", effect);
        sensor->status.special_effect = effect;
    }

    return ret;
}

static int set_brightness(sensor_t *sensor, int level)
{
    int ret = 0;
    uint8_t value = 0;

    switch (level) {
        case 3:
            value = 0xA0;
            break;

        case 2:
            value = 0x90;
            break;

        case 1:
            value = 0x88;
            break;

        case -1:
            value = 0x78;
            break;

        case -2:
            value = 0x70;
            break;

        case -3:
            value = 0x60;
            break;

        default: // 0
            break;
    }

    ret = write_reg(sensor->slv_addr, 0x32F2, value);

    if (ret == 0) {
        ESP_LOGD(TAG, "Set brightness to: %d", level);
        sensor->status.brightness = level;
    }

    return ret;
}

static int set_contrast(sensor_t *sensor, int level)
{
    int ret = 0;
    uint8_t value1 = 0, value2 = 0 ;

    switch (level) {
        case 3:
            value1 = 0xD0;
            value2 = 0xB0;
            break;

        case 2:
            value1 = 0xE0;
            value2 = 0xA0;
            break;

        case 1:
            value1 = 0xF0;
            value2 = 0x90;
            break;

        case 0:
            value1 = 0x00;
            value2 = 0x80;
            break;

        case -1:
            value1 = 0x10;
            value2 = 0x70;
            break;

        case -2:
            value1 = 0x20;
            value2 = 0x60;
            break;

        case -3:
            value1 = 0x30;
            value2 = 0x50;
            break;

        default: // 0
            break;
    }

    ret = write_reg(sensor->slv_addr, 0x32FC, value1);
    ret = write_reg(sensor->slv_addr, 0x32F2, value2);
    ret = write_reg(sensor->slv_addr, 0x3060, 0x01);

    if (ret == 0) {
        ESP_LOGD(TAG, "Set contrast to: %d", level);
        sensor->status.contrast = level;
    }

    return ret;
}

static int set_saturation(sensor_t *sensor, int level)
{
    int ret = 0;

    if (level > 4 || level < -4) {
        return -1;
    }

    uint8_t *regs = (uint8_t *)sensor_saturation_levels[level + 4];
    {
        ret = write_reg(sensor->slv_addr, 0x32F3, regs[0]);

        if (ret) {
            return ret;
        }
    }

    if (ret == 0) {
        ESP_LOGD(TAG, "Set saturation to: %d", level);
        sensor->status.saturation = level;
    }

    return ret;
}

static int set_sharpness(sensor_t *sensor, int level)
{
    int ret = 0;

    if (level > 3 || level < -3) {
        return -1;
    }

    uint8_t mt_offset_2 = (level + 3) * 8;
    uint8_t mt_offset_1 = mt_offset_2 + 1;

    ret = write_reg_bits(sensor->slv_addr, 0x5308, 0x40, false)//0x40 means auto
          || write_reg(sensor->slv_addr, 0x5300, 0x10)
          || write_reg(sensor->slv_addr, 0x5301, 0x10)
          || write_reg(sensor->slv_addr, 0x5302, mt_offset_1)
          || write_reg(sensor->slv_addr, 0x5303, mt_offset_2)
          || write_reg(sensor->slv_addr, 0x5309, 0x10)
          || write_reg(sensor->slv_addr, 0x530a, 0x10)
          || write_reg(sensor->slv_addr, 0x530b, 0x04)
          || write_reg(sensor->slv_addr, 0x530c, 0x06);

    if (ret == 0) {
        ESP_LOGD(TAG, "Set sharpness to: %d", level);
        sensor->status.sharpness = level;
    }

    return ret;
}

static int set_gainceiling(sensor_t *sensor, gainceiling_t level)
{
    ESP_LOGD(TAG, "set_gainceiling can not be configured at present");
    return 0;
}

static int get_denoise(sensor_t *sensor)
{

    return (read_reg(sensor->slv_addr, 0x5306) / 4) + 1;
}

static int set_denoise(sensor_t *sensor, int level)
{
    ESP_LOGD(TAG, "set_denoise can not be configured at present");
    return 0;
}

static int get_reg(sensor_t *sensor, int reg, int mask)
{
    int ret = 0, ret2 = 0;

    if (mask > 0xFF) {
        ret = read_reg16(sensor->slv_addr, reg);

        if (ret >= 0 && mask > 0xFFFF) {
            ret2 = read_reg(sensor->slv_addr, reg + 2);

            if (ret2 >= 0) {
                ret = (ret << 8) | ret2 ;
            } else {
                ret = ret2;
            }
        }
    } else {
        ret = read_reg(sensor->slv_addr, reg);
    }

    if (ret > 0) {
        ret &= mask;
    }

    return ret;
}

static int set_reg(sensor_t *sensor, int reg, int mask, int value)
{
    int ret = 0, ret2 = 0;

    if (mask > 0xFF) {
        ret = read_reg16(sensor->slv_addr, reg);

        if (ret >= 0 && mask > 0xFFFF) {
            ret2 = read_reg(sensor->slv_addr, reg + 2);

            if (ret2 >= 0) {
                ret = (ret << 8) | ret2 ;
            } else {
                ret = ret2;
            }
        }
    } else {
        ret = read_reg(sensor->slv_addr, reg);
    }

    if (ret < 0) {
        return ret;
    }

    value = (ret & ~mask) | (value & mask);

    if (mask > 0xFFFF) {
        ret = write_reg16(sensor->slv_addr, reg, value >> 8);

        if (ret >= 0) {
            ret = write_reg(sensor->slv_addr, reg + 2, value & 0xFF);
        }
    } else if (mask > 0xFF) {
        ret = write_reg16(sensor->slv_addr, reg, value);
    } else {
        ret = write_reg(sensor->slv_addr, reg, value);
    }

    return ret;
}

static int set_res_raw(sensor_t *sensor, int startX, int startY, int endX, int endY, int offsetX, int offsetY, int totalX, int totalY, int outputX, int outputY, bool scale, bool binning)
{
    int ret = 0;
    ret  = write_addr_reg(sensor->slv_addr, X_ADDR_ST_H, startX, startY)
           || write_addr_reg(sensor->slv_addr, X_ADDR_END_H, endX, endY)
           || write_addr_reg(sensor->slv_addr, X_OFFSET_H, offsetX, offsetY)
           || write_addr_reg(sensor->slv_addr, X_TOTAL_SIZE_H, totalX, totalY)
           || write_addr_reg(sensor->slv_addr, X_OUTPUT_SIZE_H, outputX, outputY);

    if (!ret) {
        sensor->status.scale = scale;
        sensor->status.binning = binning;
        ret = set_image_options(sensor);
    }

    return ret;
}

static int _set_pll(sensor_t *sensor, int bypass, int multiplier, int sys_div, int root_2x, int pre_div, int seld5, int pclk_manual, int pclk_div)
{
    return set_pll(sensor, bypass > 0, multiplier, sys_div, pre_div, root_2x > 0, seld5, pclk_manual > 0, pclk_div);
}

static int set_xclk(sensor_t *sensor, int timer, int xclk)
{
    int ret = 0;
    if (xclk > 10)
    {
        ESP_LOGE(TAG, "only XCLK under 10MHz is supported, and XCLK is now set to 10M");
        xclk = 10;
    }
    sensor->xclk_freq_hz = xclk * 1000000U;
    ret = xclk_timer_conf(timer, sensor->xclk_freq_hz);
    return ret;
}

int nt99141_detect(int slv_addr, sensor_id_t *id)
{
    if (NT99141_SCCB_ADDR == slv_addr) {
        SCCB_Write16(slv_addr, 0x3008, 0x01);//bank sensor
        uint16_t h = SCCB_Read16(slv_addr, 0x3000);
        uint16_t l = SCCB_Read16(slv_addr, 0x3001);
        uint16_t PID = (h<<8) | l;
        if (NT99141_PID == PID) {
            id->PID = PID;
            return PID;
        } else {
            ESP_LOGI(TAG, "Mismatch PID=0x%x", PID);
        }
    }
    return 0;
}

static int init_status(sensor_t *sensor)
{
    sensor->status.brightness = 0;
    sensor->status.contrast = 0;
    sensor->status.saturation = 0;
    sensor->status.sharpness = (read_reg(sensor->slv_addr, 0x3301));
    sensor->status.denoise = get_denoise(sensor);
    sensor->status.ae_level = 0;
    sensor->status.gainceiling = read_reg16(sensor->slv_addr, 0x32F0) & 0xFF;
    sensor->status.awb = check_reg_mask(sensor->slv_addr, ISP_CONTROL_01, 0x10);
    sensor->status.dcw = !check_reg_mask(sensor->slv_addr, 0x5183, 0x80);
    sensor->status.agc = !check_reg_mask(sensor->slv_addr, AEC_PK_MANUAL, AEC_PK_MANUAL_AGC_MANUALEN);
    sensor->status.aec = !check_reg_mask(sensor->slv_addr, AEC_PK_MANUAL, AEC_PK_MANUAL_AEC_MANUALEN);
    sensor->status.hmirror = check_reg_mask(sensor->slv_addr, TIMING_TC_REG21, TIMING_TC_REG21_HMIRROR);
    sensor->status.vflip = check_reg_mask(sensor->slv_addr, TIMING_TC_REG20, TIMING_TC_REG20_VFLIP);
    sensor->status.colorbar = check_reg_mask(sensor->slv_addr, PRE_ISP_TEST_SETTING_1, TEST_COLOR_BAR);
    sensor->status.bpc = check_reg_mask(sensor->slv_addr, 0x5000, 0x04);
    sensor->status.wpc = check_reg_mask(sensor->slv_addr, 0x5000, 0x02);
    sensor->status.raw_gma = check_reg_mask(sensor->slv_addr, 0x5000, 0x20);
    sensor->status.lenc = check_reg_mask(sensor->slv_addr, 0x5000, 0x80);
    sensor->status.quality = read_reg(sensor->slv_addr, COMPRESSION_CTRL07) & 0x3f;
    sensor->status.special_effect = 0;
    sensor->status.wb_mode = 0;
    sensor->status.awb_gain = check_reg_mask(sensor->slv_addr, 0x3000, 0x01);
    sensor->status.agc_gain = get_agc_gain(sensor);
    sensor->status.aec_value = get_aec_value(sensor);
    sensor->status.aec2 = check_reg_mask(sensor->slv_addr, 0x3000, 0x04);
    return 0;
}

int nt99141_init(sensor_t *sensor)
{
    sensor->reset = reset;
    sensor->set_pixformat = set_pixformat;
    sensor->set_framesize = set_framesize;
    sensor->set_contrast = set_contrast;
    sensor->set_brightness = set_brightness;
    sensor->set_saturation = set_saturation;
    sensor->set_sharpness = set_sharpness;
    sensor->set_gainceiling = set_gainceiling;
    sensor->set_quality = set_quality;
    sensor->set_colorbar = set_colorbar;
    sensor->set_gain_ctrl = set_gain_ctrl;
    sensor->set_exposure_ctrl = set_exposure_ctrl;
    sensor->set_whitebal = set_whitebal;
    sensor->set_hmirror = set_hmirror;
    sensor->set_vflip = set_vflip;
    sensor->init_status = init_status;
    sensor->set_aec2 = set_aec2;
    sensor->set_aec_value = set_aec_value;
    sensor->set_special_effect = set_special_effect;
    sensor->set_wb_mode = set_wb_mode;
    sensor->set_ae_level = set_ae_level;
    sensor->set_dcw = set_dcw_dsp;
    sensor->set_bpc = set_bpc_dsp;
    sensor->set_wpc = set_wpc_dsp;
    sensor->set_awb_gain = set_awb_gain_dsp;
    sensor->set_agc_gain = set_agc_gain;
    sensor->set_raw_gma = set_raw_gma_dsp;
    sensor->set_lenc = set_lenc_dsp;
    sensor->set_denoise = set_denoise;

    sensor->get_reg = get_reg;
    sensor->set_reg = set_reg;
    sensor->set_res_raw = set_res_raw;
    sensor->set_pll = _set_pll;
    sensor->set_xclk = set_xclk;
    return 0;
}