From mboxrd@z Thu Jan 1 00:00:00 1970 Return-Path: X-Spam-Checker-Version: SpamAssassin 3.4.0 (2014-02-07) on aws-us-west-2-korg-lkml-1.web.codeaurora.org Received: from vger.kernel.org (vger.kernel.org [23.128.96.18]) by smtp.lore.kernel.org (Postfix) with ESMTP id 9BE11C433F5 for ; Tue, 1 Mar 2022 08:41:49 +0000 (UTC) Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S233452AbiCAIm1 (ORCPT ); Tue, 1 Mar 2022 03:42:27 -0500 Received: from lindbergh.monkeyblade.net ([23.128.96.19]:50800 "EHLO lindbergh.monkeyblade.net" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S231189AbiCAImX (ORCPT ); Tue, 1 Mar 2022 03:42:23 -0500 Received: from ni.piap.pl (ni.piap.pl [195.187.100.5]) by lindbergh.monkeyblade.net (Postfix) with ESMTPS id 90CC8888DD; Tue, 1 Mar 2022 00:41:40 -0800 (PST) Received: from t19.piap.pl (OSB1819.piap.pl [10.0.9.19]) by ni.piap.pl (Postfix) with ESMTPSA id 5EA15C3F3EEE; Tue, 1 Mar 2022 09:41:38 +0100 (CET) DKIM-Filter: OpenDKIM Filter v2.11.0 ni.piap.pl 5EA15C3F3EEE DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=piap.pl; s=mail; t=1646124098; bh=XnL2fIQiehtTw5JNVEsMH3BzgRAugID9nSqK5ba1lcs=; h=From:To:Cc:Subject:References:Date:In-Reply-To:From; b=KBNL3LsW9a55H9zQh+xmfmWvYbm+i2BVHHU+d7+qmwhhnnEQ+heZ29aBOAXNB8oSq o7Dls3ghm4PHSO6XMgnYFLbHW65jTmoOcJmyWWsyL8hVR/yW2cBvnJRjkjU1kh2GDh sZXnniRTCoWJW/raxnGcpGMvkOhy7TRN6GdvB8N8= From: =?utf-8?Q?Krzysztof_Ha=C5=82asa?= To: Mauro Carvalho Chehab , Rob Herring Cc: devicetree@vger.kernel.org, linux-media@vger.kernel.org, linux-kernel@vger.kernel.org, Laurent Pinchart , Sakari Ailus , Jacopo Mondi , Joe Perches Subject: [PATCH v8 2/2] On Semi AR0521 sensor driver References: Sender: khalasa@piap.pl Date: Tue, 01 Mar 2022 09:41:38 +0100 In-Reply-To: ("Krzysztof =?utf-8?Q?Ha=C5=82as?= =?utf-8?Q?a=22's?= message of "Tue, 01 Mar 2022 09:33:29 +0100") Message-ID: MIME-Version: 1.0 Content-Type: text/plain; charset=utf-8 Content-Transfer-Encoding: quoted-printable X-KLMS-Rule-ID: 3 X-KLMS-Message-Action: skipped X-KLMS-AntiSpam-Status: not scanned, whitelist X-KLMS-AntiPhishing: not scanned, whitelist X-KLMS-AntiVirus: Kaspersky Security for Linux Mail Server, version 8.0.3.30, not scanned, whitelist Precedence: bulk List-ID: X-Mailing-List: linux-kernel@vger.kernel.org The driver has been extensively tested in an i.MX6-based system. AR0521 is a 5.7 mm x 4.3 mm, 5 MPix RGGB MIPI/HiSPi BSI CMOS sensor from On Semiconductor. Signed-off-by: Krzysztof Ha=C5=82asa diff --git a/MAINTAINERS b/MAINTAINERS index 83d27b57016f8..fb78f871e6e6b 100644 --- a/MAINTAINERS +++ b/MAINTAINERS @@ -1401,6 +1401,13 @@ S: Supported W: http://www.aquantia.com F: drivers/net/ethernet/aquantia/atlantic/aq_ptp* =20 +AR0521 ON SEMICONDUCTOR CAMERA SENSOR DRIVER +M: Krzysztof Ha=C5=82asa +L: linux-media@vger.kernel.org +S: Maintained +F: Documentation/devicetree/bindings/media/i2c/onnn,ar0521.yaml +F: drivers/media/i2c/ar0521.c + ARASAN NAND CONTROLLER DRIVER M: Miquel Raynal M: Naga Sureshkumar Relli diff --git a/drivers/media/i2c/Kconfig b/drivers/media/i2c/Kconfig index fe66093b8849e..b92af4c02d6ac 100644 --- a/drivers/media/i2c/Kconfig +++ b/drivers/media/i2c/Kconfig @@ -733,6 +733,19 @@ config VIDEO_APTINA_PLL config VIDEO_CCS_PLL tristate =20 +config VIDEO_AR0521 + tristate "ON Semiconductor AR0521 sensor support" + depends on I2C && VIDEO_V4L2 + select MEDIA_CONTROLLER + select VIDEO_V4L2_SUBDEV_API + select V4L2_FWNODE + help + This is a Video4Linux2 sensor driver for the ON Semiconductor + AR0521 camera. + + To compile this driver as a module, choose M here: the + module will be called ar0521. + config VIDEO_HI556 tristate "Hynix Hi-556 sensor support" depends on I2C && VIDEO_V4L2 diff --git a/drivers/media/i2c/Makefile b/drivers/media/i2c/Makefile index f6b80ef6f41d7..72d5d310ca23c 100644 --- a/drivers/media/i2c/Makefile +++ b/drivers/media/i2c/Makefile @@ -119,6 +119,7 @@ obj-$(CONFIG_VIDEO_I2C) +=3D video-i2c.o obj-$(CONFIG_VIDEO_ML86V7667) +=3D ml86v7667.o obj-$(CONFIG_VIDEO_OV2659) +=3D ov2659.o obj-$(CONFIG_VIDEO_TC358743) +=3D tc358743.o +obj-$(CONFIG_VIDEO_AR0521) +=3D ar0521.o obj-$(CONFIG_VIDEO_HI556) +=3D hi556.o obj-$(CONFIG_VIDEO_HI846) +=3D hi846.o obj-$(CONFIG_VIDEO_HI847) +=3D hi847.o diff --git a/drivers/media/i2c/ar0521.c b/drivers/media/i2c/ar0521.c new file mode 100644 index 0000000000000..1cce512ff62b0 --- /dev/null +++ b/drivers/media/i2c/ar0521.c @@ -0,0 +1,1059 @@ +// SPDX-License-Identifier: GPL-2.0 +/* + * Copyright (C) 2021 Sie=C4=87 Badawcza =C5=81ukasiewicz + * - Przemys=C5=82owy Instytut Automatyki i Pomiar=C3=B3w PIAP + * Written by Krzysztof Ha=C5=82asa + */ + +#include +#include +#include + +#include +#include +#include + +/* External clock (extclk) frequencies */ +#define AR0521_EXTCLK_MIN (10 * 1000 * 1000) +#define AR0521_EXTCLK_MAX (48 * 1000 * 1000) + +/* PLL and PLL2 */ +#define AR0521_PLL_MIN (320 * 1000 * 1000) +#define AR0521_PLL_MAX (1280 * 1000 * 1000) + +/* Effective pixel clocks, the registers may be DDR */ +#define AR0521_PIXEL_CLOCK_RATE (184 * 1000 * 1000) +#define AR0521_PIXEL_CLOCK_MIN (168 * 1000 * 1000) +#define AR0521_PIXEL_CLOCK_MAX (414 * 1000 * 1000) + +#define AR0521_WIDTH_MIN 8u +#define AR0521_WIDTH_MAX 2608u +#define AR0521_HEIGHT_MIN 8u +#define AR0521_HEIGHT_MAX 1958u + +#define AR0521_WIDTH_BLANKING_MIN 572u +#define AR0521_HEIGHT_BLANKING_MIN 38u /* must be even */ +#define AR0521_TOTAL_WIDTH_MIN 2968u + +/* AR0521 registers */ +#define AR0521_REG_VT_PIX_CLK_DIV 0x0300 +#define AR0521_REG_FRAME_LENGTH_LINES 0x0340 + +#define AR0521_REG_CHIP_ID 0x3000 +#define AR0521_REG_COARSE_INTEGRATION_TIME 0x3012 +#define AR0521_REG_ROW_SPEED 0x3016 +#define AR0521_REG_EXTRA_DELAY 0x3018 +#define AR0521_REG_RESET 0x301A +#define AR0521_REG_RESET_DEFAULTS 0x0238 +#define AR0521_REG_RESET_GROUP_PARAM_HOLD 0x8000 +#define AR0521_REG_RESET_STREAM BIT(2) +#define AR0521_REG_RESET_RESTART BIT(1) +#define AR0521_REG_RESET_INIT BIT(0) + +#define AR0521_REG_GREEN1_GAIN 0x3056 +#define AR0521_REG_BLUE_GAIN 0x3058 +#define AR0521_REG_RED_GAIN 0x305A +#define AR0521_REG_GREEN2_GAIN 0x305C +#define AR0521_REG_GLOBAL_GAIN 0x305E + +#define AR0521_REG_HISPI_TEST_MODE 0x3066 +#define AR0521_REG_HISPI_TEST_MODE_LP11 0x0004 + +#define AR0521_REG_TEST_PATTERN_MODE 0x3070 + +#define AR0521_REG_SERIAL_FORMAT 0x31AE +#define AR0521_REG_SERIAL_FORMAT_MIPI 0x0200 + +#define AR0521_REG_HISPI_CONTROL_STATUS 0x31C6 +#define AR0521_REG_HISPI_CONTROL_STATUS_FRAMER_TEST_MODE_ENABLE 0x80 + +#define be cpu_to_be16 + +static const char * const ar0521_supply_names[] =3D { + "vdd_io", /* I/O (1.8V) supply */ + "vdd", /* Core, PLL and MIPI (1.2V) supply */ + "vaa", /* Analog (2.7V) supply */ +}; + +struct ar0521_ctrls { + struct v4l2_ctrl_handler handler; + struct { + struct v4l2_ctrl *gain; + struct v4l2_ctrl *red_balance; + struct v4l2_ctrl *blue_balance; + }; + struct { + struct v4l2_ctrl *hblank; + struct v4l2_ctrl *vblank; + }; + struct v4l2_ctrl *pixrate; + struct v4l2_ctrl *exposure; + struct v4l2_ctrl *test_pattern; +}; + +struct ar0521_dev { + struct i2c_client *i2c_client; + struct v4l2_subdev sd; + struct media_pad pad; + struct clk *extclk; + u32 extclk_freq; + + struct regulator *supplies[ARRAY_SIZE(ar0521_supply_names)]; + struct gpio_desc *reset_gpio; + + /* lock to protect all members below */ + struct mutex lock; + + struct v4l2_mbus_framefmt fmt; + struct ar0521_ctrls ctrls; + unsigned int lane_count; + u16 total_width; + u16 total_height; + u16 pll_pre; + u16 pll_mult; + u16 pll_pre2; + u16 pll_mult2; + bool streaming; +}; + +static inline struct ar0521_dev *to_ar0521_dev(struct v4l2_subdev *sd) +{ + return container_of(sd, struct ar0521_dev, sd); +} + +static inline struct v4l2_subdev *ctrl_to_sd(struct v4l2_ctrl *ctrl) +{ + return &container_of(ctrl->handler, struct ar0521_dev, + ctrls.handler)->sd; +} + +static u32 div64_round(u64 v, u32 d) +{ + return div_u64(v + (d >> 1), d); +} + +static u32 div64_round_up(u64 v, u32 d) +{ + return div_u64(v + d - 1, d); +} + +/* Data must be BE16, the first value is the register address */ +static int ar0521_write_regs(struct ar0521_dev *sensor, const __be16 *data, + unsigned int count) +{ + struct i2c_client *client =3D sensor->i2c_client; + struct i2c_msg msg; + int ret; + + msg.addr =3D client->addr; + msg.flags =3D client->flags; + msg.buf =3D (u8 *)data; + msg.len =3D count * sizeof(*data); + + ret =3D i2c_transfer(client->adapter, &msg, 1); + + if (ret < 0) { + v4l2_err(&sensor->sd, "%s: I2C write error\n", __func__); + return ret; + } + + return 0; +} + +static int ar0521_write_reg(struct ar0521_dev *sensor, u16 reg, u16 val) +{ + __be16 buf[2] =3D {be(reg), be(val)}; + + return ar0521_write_regs(sensor, buf, 2); +} + +static int ar0521_set_geometry(struct ar0521_dev *sensor) +{ + /* All dimensions are unsigned 12-bit integers */ + u16 x =3D (AR0521_WIDTH_MAX - sensor->fmt.width) / 2; + u16 y =3D ((AR0521_HEIGHT_MAX - sensor->fmt.height) / 2) & ~1; + __be16 regs[] =3D { + be(AR0521_REG_FRAME_LENGTH_LINES), + be(sensor->total_height), + be(sensor->total_width), + be(x), + be(y), + be(x + sensor->fmt.width - 1), + be(y + sensor->fmt.height - 1), + be(sensor->fmt.width), + be(sensor->fmt.height) + }; + + return ar0521_write_regs(sensor, regs, ARRAY_SIZE(regs)); +} + +static int ar0521_set_gains(struct ar0521_dev *sensor) +{ + int green =3D sensor->ctrls.gain->val; + int red =3D max(green + sensor->ctrls.red_balance->val, 0); + int blue =3D max(green + sensor->ctrls.blue_balance->val, 0); + unsigned int gain =3D min(red, min(green, blue)); + unsigned int analog =3D min(gain, 64u); /* range is 0 - 127 */ + __be16 regs[5]; + + red =3D min(red - analog + 64, 511u); + green =3D min(green - analog + 64, 511u); + blue =3D min(blue - analog + 64, 511u); + regs[0] =3D be(AR0521_REG_GREEN1_GAIN); + regs[1] =3D be(green << 7 | analog); + regs[2] =3D be(blue << 7 | analog); + regs[3] =3D be(red << 7 | analog); + regs[4] =3D be(green << 7 | analog); + + return ar0521_write_regs(sensor, regs, ARRAY_SIZE(regs)); +} + +static u32 calc_pll(struct ar0521_dev *sensor, int num, u32 freq, u16 *pre= _ptr, + u16 *mult_ptr) +{ + u16 pre =3D 1, mult =3D 1, new_pre; + u32 pll =3D AR0521_PLL_MAX + 1; + + for (new_pre =3D 1; new_pre < 64; new_pre++) { + u32 new_pll; + u32 new_mult =3D div64_round_up((u64)freq * new_pre, + sensor->extclk_freq); + + if (new_mult < 32) + continue; /* Minimum value */ + if (new_mult > 254) + break; /* Maximum, larger pre won't work either */ + if (sensor->extclk_freq * (u64)new_mult < AR0521_PLL_MIN * + new_pre) + continue; + if (sensor->extclk_freq * (u64)new_mult > AR0521_PLL_MAX * + new_pre) + break; /* Larger pre won't work either */ + new_pll =3D div64_round_up(sensor->extclk_freq * (u64)new_mult, + new_pre); + if (new_pll < pll) { + pll =3D new_pll; + pre =3D new_pre; + mult =3D new_mult; + } + } + + pll =3D div64_round(sensor->extclk_freq * (u64)mult, pre); + *pre_ptr =3D pre; + *mult_ptr =3D mult; + return pll; +} + +#define DIV 4 +static void ar0521_calc_mode(struct ar0521_dev *sensor) +{ + unsigned int speed_mod =3D 4 / sensor->lane_count; /* 1 with 4 DDR lanes = */ + u16 total_width =3D max(sensor->fmt.width + AR0521_WIDTH_BLANKING_MIN, + AR0521_TOTAL_WIDTH_MIN); + u16 total_height =3D sensor->fmt.height + AR0521_HEIGHT_BLANKING_MIN; + + /* Calculate approximate pixel clock first */ + u64 pix_clk =3D AR0521_PIXEL_CLOCK_RATE; + + /* PLL1 drives pixel clock - dual rate */ + pix_clk =3D calc_pll(sensor, 1, pix_clk * (DIV / 2), &sensor->pll_pre, + &sensor->pll_mult); + pix_clk =3D div64_round(pix_clk, (DIV / 2)); + calc_pll(sensor, 2, pix_clk * (DIV / 2) * speed_mod, &sensor->pll_pre2, + &sensor->pll_mult2); + + sensor->total_width =3D total_width; + sensor->total_height =3D total_height; +} + +static int ar0521_write_mode(struct ar0521_dev *sensor) +{ + __be16 pll_regs[] =3D { + be(AR0521_REG_VT_PIX_CLK_DIV), + /* 0x300 */ be(4), /* vt_pix_clk_div =3D number of bits / 2 */ + /* 0x302 */ be(1), /* vt_sys_clk_div */ + /* 0x304 */ be((sensor->pll_pre2 << 8) | sensor->pll_pre), + /* 0x306 */ be((sensor->pll_mult2 << 8) | sensor->pll_mult), + /* 0x308 */ be(8), /* op_pix_clk_div =3D 2 * vt_pix_clk_div */ + /* 0x30A */ be(1) /* op_sys_clk_div */ + }; + int ret; + + /* Stop streaming for just a moment */ + ret =3D ar0521_write_reg(sensor, AR0521_REG_RESET, + AR0521_REG_RESET_DEFAULTS); + if (ret) + return ret; + + ret =3D ar0521_set_geometry(sensor); + if (ret) + return ret; + + ret =3D ar0521_write_regs(sensor, pll_regs, ARRAY_SIZE(pll_regs)); + if (ret) + return ret; + + ret =3D ar0521_write_reg(sensor, AR0521_REG_COARSE_INTEGRATION_TIME, + sensor->ctrls.exposure->val); + if (ret) + return ret; + + ret =3D ar0521_write_reg(sensor, AR0521_REG_RESET, + AR0521_REG_RESET_DEFAULTS | + AR0521_REG_RESET_STREAM); + if (ret) + return ret; + + ret =3D ar0521_write_reg(sensor, AR0521_REG_TEST_PATTERN_MODE, + sensor->ctrls.test_pattern->val); + return ret; +} + +static int ar0521_set_stream(struct ar0521_dev *sensor, bool on) +{ + int ret; + + if (on) { + ret =3D pm_runtime_resume_and_get(&sensor->i2c_client->dev); + if (ret < 0) + return ret; + + ar0521_calc_mode(sensor); + ret =3D ar0521_write_mode(sensor); + if (ret) + goto err; + + ret =3D ar0521_set_gains(sensor); + if (ret) + goto err; + + /* Exit LP-11 mode on clock and data lanes */ + ret =3D ar0521_write_reg(sensor, AR0521_REG_HISPI_CONTROL_STATUS, + 0); + if (ret) + goto err; + + /* Start streaming */ + ret =3D ar0521_write_reg(sensor, AR0521_REG_RESET, + AR0521_REG_RESET_DEFAULTS | + AR0521_REG_RESET_STREAM); + if (ret) + goto err; + + return 0; + +err: + pm_runtime_put(&sensor->i2c_client->dev); + return ret; + + } else { + /* Reset gain, the sensor may produce all white pixels without + this */ + ret =3D ar0521_write_reg(sensor, AR0521_REG_GLOBAL_GAIN, 0x2000); + if (ret) + return ret; + + /* Stop streaming */ + ret =3D ar0521_write_reg(sensor, AR0521_REG_RESET, + AR0521_REG_RESET_DEFAULTS); + if (ret) + return ret; + + pm_runtime_put(&sensor->i2c_client->dev); + return 0; + } +} + +static void ar0521_adj_fmt(struct v4l2_mbus_framefmt *fmt) +{ + fmt->width =3D clamp(ALIGN(fmt->width, 4), AR0521_WIDTH_MIN, + AR0521_WIDTH_MAX); + fmt->height =3D clamp(ALIGN(fmt->height, 4), AR0521_HEIGHT_MIN, + AR0521_HEIGHT_MAX); + fmt->code =3D MEDIA_BUS_FMT_SGRBG8_1X8; + fmt->field =3D V4L2_FIELD_NONE; + fmt->colorspace =3D V4L2_COLORSPACE_SRGB; + fmt->ycbcr_enc =3D V4L2_YCBCR_ENC_DEFAULT; + fmt->quantization =3D V4L2_QUANTIZATION_FULL_RANGE; + fmt->xfer_func =3D V4L2_XFER_FUNC_DEFAULT; +} + +static int ar0521_get_fmt(struct v4l2_subdev *sd, + struct v4l2_subdev_state *sd_state, + struct v4l2_subdev_format *format) +{ + struct ar0521_dev *sensor =3D to_ar0521_dev(sd); + struct v4l2_mbus_framefmt *fmt; + + mutex_lock(&sensor->lock); + + if (format->which =3D=3D V4L2_SUBDEV_FORMAT_TRY) + fmt =3D v4l2_subdev_get_try_format(&sensor->sd, sd_state, 0 + /* pad */); + else + fmt =3D &sensor->fmt; + + format->format =3D *fmt; + + mutex_unlock(&sensor->lock); + return 0; +} + +static int ar0521_set_fmt(struct v4l2_subdev *sd, + struct v4l2_subdev_state *sd_state, + struct v4l2_subdev_format *format) +{ + struct ar0521_dev *sensor =3D to_ar0521_dev(sd); + int ret =3D 0; + + ar0521_adj_fmt(&format->format); + + mutex_lock(&sensor->lock); + + if (format->which =3D=3D V4L2_SUBDEV_FORMAT_TRY) { + struct v4l2_mbus_framefmt *fmt; + + fmt =3D v4l2_subdev_get_try_format(sd, sd_state, 0 /* pad */); + *fmt =3D format->format; + } else { + sensor->fmt =3D format->format; + ar0521_calc_mode(sensor); + } + + mutex_unlock(&sensor->lock); + return ret; +} + +static int ar0521_s_ctrl(struct v4l2_ctrl *ctrl) +{ + struct v4l2_subdev *sd =3D ctrl_to_sd(ctrl); + struct ar0521_dev *sensor =3D to_ar0521_dev(sd); + int ret; + + /* v4l2_ctrl_lock() locks our own mutex */ + + switch (ctrl->id) { + case V4L2_CID_HBLANK: + case V4L2_CID_VBLANK: + sensor->total_width =3D sensor->fmt.width + + sensor->ctrls.hblank->val; + sensor->total_height =3D sensor->fmt.width + + sensor->ctrls.vblank->val; + break; + default: + ret =3D -EINVAL; + break; + } + + /* access the sensor only if it's powered up */ + if (!pm_runtime_get_if_in_use(&sensor->i2c_client->dev)) + return 0; + + switch (ctrl->id) { + case V4L2_CID_HBLANK: + case V4L2_CID_VBLANK: + ret =3D ar0521_set_geometry(sensor); + break; + case V4L2_CID_GAIN: + case V4L2_CID_RED_BALANCE: + case V4L2_CID_BLUE_BALANCE: + ret =3D ar0521_set_gains(sensor); + break; + case V4L2_CID_EXPOSURE: + ret =3D ar0521_write_reg(sensor, + AR0521_REG_COARSE_INTEGRATION_TIME, + ctrl->val); + break; + case V4L2_CID_TEST_PATTERN: + ret =3D ar0521_write_reg(sensor, AR0521_REG_TEST_PATTERN_MODE, + ctrl->val); + break; + } + + pm_runtime_put(&sensor->i2c_client->dev); + return ret; +} + +static const struct v4l2_ctrl_ops ar0521_ctrl_ops =3D { + .s_ctrl =3D ar0521_s_ctrl, +}; + +static const char * const test_pattern_menu[] =3D { + "Disabled", + "Solid color", + "Color bars", + "Faded color bars" +}; + +static int ar0521_init_controls(struct ar0521_dev *sensor) +{ + const struct v4l2_ctrl_ops *ops =3D &ar0521_ctrl_ops; + struct ar0521_ctrls *ctrls =3D &sensor->ctrls; + struct v4l2_ctrl_handler *hdl =3D &ctrls->handler; + int ret; + + v4l2_ctrl_handler_init(hdl, 32); + + /* We can use our own mutex for the ctrl lock */ + hdl->lock =3D &sensor->lock; + + /* Manual gain */ + ctrls->gain =3D v4l2_ctrl_new_std(hdl, ops, V4L2_CID_GAIN, 0, 511, 1, 0); + ctrls->red_balance =3D v4l2_ctrl_new_std(hdl, ops, V4L2_CID_RED_BALANCE, + -512, 511, 1, 0); + ctrls->blue_balance =3D v4l2_ctrl_new_std(hdl, ops, V4L2_CID_BLUE_BALANCE, + -512, 511, 1, 0); + v4l2_ctrl_cluster(3, &ctrls->gain); + + ctrls->hblank =3D v4l2_ctrl_new_std(hdl, ops, V4L2_CID_HBLANK, + AR0521_WIDTH_BLANKING_MIN, 4094, 1, + AR0521_WIDTH_BLANKING_MIN); + ctrls->vblank =3D v4l2_ctrl_new_std(hdl, ops, V4L2_CID_VBLANK, + AR0521_HEIGHT_BLANKING_MIN, 4094, 2, + AR0521_HEIGHT_BLANKING_MIN); + v4l2_ctrl_cluster(2, &ctrls->hblank); + + /* Read-only */ + ctrls->pixrate =3D v4l2_ctrl_new_std(hdl, ops, V4L2_CID_PIXEL_RATE, + AR0521_PIXEL_CLOCK_MIN, + AR0521_PIXEL_CLOCK_MAX, 1, + AR0521_PIXEL_CLOCK_RATE); + + /* Manual exposure time */ + ctrls->exposure =3D v4l2_ctrl_new_std(hdl, ops, V4L2_CID_EXPOSURE, 0, + 65535, 1, 360); + + ctrls->test_pattern =3D v4l2_ctrl_new_std_menu_items(hdl, ops, + V4L2_CID_TEST_PATTERN, + ARRAY_SIZE(test_pattern_menu) - 1, + 0, 0, test_pattern_menu); + + if (hdl->error) { + ret =3D hdl->error; + goto free_ctrls; + } + + sensor->sd.ctrl_handler =3D hdl; + return 0; + +free_ctrls: + v4l2_ctrl_handler_free(hdl); + return ret; +} + +#define REGS_ENTRY(a) {(a), ARRAY_SIZE(a)} +#define REGS(...) REGS_ENTRY(((const __be16[]){__VA_ARGS__})) + +static const struct initial_reg { + const __be16 *data; /* data[0] is register address */ + unsigned int count; +} initial_regs[] =3D { + REGS(be(0x0112), be(0x0808)), /* 8-bit/8-bit mode */ + + /* PEDESTAL+2 :+2 is a workaround for 10bit mode +0.5 rounding */ + REGS(be(0x301E), be(0x00AA)), + + /* corrections_recommended_bayer */ + REGS(be(0x3042), + be(0x0004), /* 3042: RNC: enable b/w rnc mode */ + be(0x4580)), /* 3044: RNC: enable row noise correction */ + + REGS(be(0x30D2), + be(0x0000), /* 30D2: CRM/CC: enable crm on Visible and CC rows */ + be(0x0000), /* 30D4: CC: CC enabled with 16 samples per column */ + /* 30D6: CC: bw mode enabled/12 bit data resolution/bw mode */ + be(0x2FFF)), + + REGS(be(0x30DA), + be(0x0FFF), /* 30DA: CC: column correction clip level 2 is 0 */ + be(0x0FFF), /* 30DC: CC: column correction clip level 3 is 0 */ + be(0x0000)), /* 30DE: CC: Group FPN correction */ + + /* RNC: rnc scaling factor =3D * 54 / 64 (32 / 38 * 64 =3D 53.9) */ + REGS(be(0x30EE), be(0x1136)), + REGS(be(0x30FA), be(0xFD00)), /* GPIO0 =3D flash, GPIO1 =3D shutter */ + REGS(be(0x3120), be(0x0005)), /* p1 dither enabled for 10bit mode */ + REGS(be(0x3172), be(0x0206)), /* txlo clk divider options */ + /* FDOC:fdoc settings with fdoc every frame turned of */ + REGS(be(0x3180), be(0x9434)), + + REGS(be(0x31B0), + be(0x008B), /* 31B0: frame_preamble - FIXME check WRT lanes# */ + be(0x0050)), /* 31B2: line_preamble - FIXME check WRT lanes# */ + + /* don't use continuous clock mode while shut down */ + REGS(be(0x31BC), be(0x068C)), + REGS(be(0x31E0), be(0x0781)), /* Fuse/2DDC: enable 2ddc */ + + /* analog_setup_recommended_10bit */ + REGS(be(0x341A), be(0x4735)), /* Samp&Hold pulse in ADC */ + REGS(be(0x3420), be(0x4735)), /* Samp&Hold pulse in ADC */ + REGS(be(0x3426), be(0x8A1A)), /* ADC offset distribution pulse */ + REGS(be(0x342A), be(0x0018)), /* pulse_config */ + + /* pixel_timing_recommended */ + REGS(be(0x3D00), + /* 3D00 */ be(0x043E), be(0x4760), be(0xFFFF), be(0xFFFF), + /* 3D08 */ be(0x8000), be(0x0510), be(0xAF08), be(0x0252), + /* 3D10 */ be(0x486F), be(0x5D5D), be(0x8056), be(0x8313), + /* 3D18 */ be(0x0087), be(0x6A48), be(0x6982), be(0x0280), + /* 3D20 */ be(0x8359), be(0x8D02), be(0x8020), be(0x4882), + /* 3D28 */ be(0x4269), be(0x6A95), be(0x5988), be(0x5A83), + /* 3D30 */ be(0x5885), be(0x6280), be(0x6289), be(0x6097), + /* 3D38 */ be(0x5782), be(0x605C), be(0xBF18), be(0x0961), + /* 3D40 */ be(0x5080), be(0x2090), be(0x4390), be(0x4382), + /* 3D48 */ be(0x5F8A), be(0x5D5D), be(0x9C63), be(0x8063), + /* 3D50 */ be(0xA960), be(0x9757), be(0x8260), be(0x5CFF), + /* 3D58 */ be(0xBF10), be(0x1681), be(0x0802), be(0x8000), + /* 3D60 */ be(0x141C), be(0x6000), be(0x6022), be(0x4D80), + /* 3D68 */ be(0x5C97), be(0x6A69), be(0xAC6F), be(0x4645), + /* 3D70 */ be(0x4400), be(0x0513), be(0x8069), be(0x6AC6), + /* 3D78 */ be(0x5F95), be(0x5F70), be(0x8040), be(0x4A81), + /* 3D80 */ be(0x0300), be(0xE703), be(0x0088), be(0x4A83), + /* 3D88 */ be(0x40FF), be(0xFFFF), be(0xFD70), be(0x8040), + /* 3D90 */ be(0x4A85), be(0x4FA8), be(0x4F8C), be(0x0070), + /* 3D98 */ be(0xBE47), be(0x8847), be(0xBC78), be(0x6B89), + /* 3DA0 */ be(0x6A80), be(0x6986), be(0x6B8E), be(0x6B80), + /* 3DA8 */ be(0x6980), be(0x6A88), be(0x7C9F), be(0x866B), + /* 3DB0 */ be(0x8765), be(0x46FF), be(0xE365), be(0xA679), + /* 3DB8 */ be(0x4A40), be(0x4580), be(0x44BC), be(0x7000), + /* 3DC0 */ be(0x8040), be(0x0802), be(0x10EF), be(0x0104), + /* 3DC8 */ be(0x3860), be(0x5D5D), be(0x5682), be(0x1300), + /* 3DD0 */ be(0x8648), be(0x8202), be(0x8082), be(0x598A), + /* 3DD8 */ be(0x0280), be(0x2048), be(0x3060), be(0x8042), + /* 3DE0 */ be(0x9259), be(0x865A), be(0x8258), be(0x8562), + /* 3DE8 */ be(0x8062), be(0x8560), be(0x9257), be(0x8221), + /* 3DF0 */ be(0x10FF), be(0xB757), be(0x9361), be(0x1019), + /* 3DF8 */ be(0x8020), be(0x9043), be(0x8E43), be(0x845F), + /* 3E00 */ be(0x835D), be(0x805D), be(0x8163), be(0x8063), + /* 3E08 */ be(0xA060), be(0x9157), be(0x8260), be(0x5CFF), + /* 3E10 */ be(0xFFFF), be(0xFFE5), be(0x1016), be(0x2048), + /* 3E18 */ be(0x0802), be(0x1C60), be(0x0014), be(0x0060), + /* 3E20 */ be(0x2205), be(0x8120), be(0x908F), be(0x6A80), + /* 3E28 */ be(0x6982), be(0x5F9F), be(0x6F46), be(0x4544), + /* 3E30 */ be(0x0005), be(0x8013), be(0x8069), be(0x6A80), + /* 3E38 */ be(0x7000), be(0x0000), be(0x0000), be(0x0000), + /* 3E40 */ be(0x0000), be(0x0000), be(0x0000), be(0x0000), + /* 3E48 */ be(0x0000), be(0x0000), be(0x0000), be(0x0000), + /* 3E50 */ be(0x0000), be(0x0000), be(0x0000), be(0x0000), + /* 3E58 */ be(0x0000), be(0x0000), be(0x0000), be(0x0000), + /* 3E60 */ be(0x0000), be(0x0000), be(0x0000), be(0x0000), + /* 3E68 */ be(0x0000), be(0x0000), be(0x0000), be(0x0000), + /* 3E70 */ be(0x0000), be(0x0000), be(0x0000), be(0x0000), + /* 3E78 */ be(0x0000), be(0x0000), be(0x0000), be(0x0000), + /* 3E80 */ be(0x0000), be(0x0000), be(0x0000), be(0x0000), + /* 3E88 */ be(0x0000), be(0x0000), be(0x0000), be(0x0000), + /* 3E90 */ be(0x0000), be(0x0000), be(0x0000), be(0x0000), + /* 3E98 */ be(0x0000), be(0x0000), be(0x0000), be(0x0000), + /* 3EA0 */ be(0x0000), be(0x0000), be(0x0000), be(0x0000), + /* 3EA8 */ be(0x0000), be(0x0000), be(0x0000), be(0x0000), + /* 3EB0 */ be(0x0000), be(0x0000), be(0x0000)), + + REGS(be(0x3EB6), be(0x004C)), /* ECL */ + + REGS(be(0x3EBA), + be(0xAAAD), /* 3EBA */ + be(0x0086)), /* 3EBC: Bias currents for FSC/ECL */ + + REGS(be(0x3EC0), + be(0x1E00), /* 3EC0: SFbin/SH mode settings */ + be(0x100A), /* 3EC2: CLK divider for ramp for 10 bit 400MH */ + /* 3EC4: FSC clamps for HDR mode and adc comp power down co */ + be(0x3300), + be(0xEA44), /* 3EC6: VLN and clk gating controls */ + be(0x6F6F), /* 3EC8: Txl0 and Txlo1 settings for normal mode */ + be(0x2F4A), /* 3ECA: CDAC/Txlo2/RSTGHI/RSTGLO settings */ + be(0x0506), /* 3ECC: RSTDHI/RSTDLO/CDAC/TXHI settings */ + /* 3ECE: Ramp buffer settings and Booster enable (bits 0-5) */ + be(0x203B), + be(0x13F0), /* 3ED0: TXLO from atest/sf bin settings */ + be(0xA53D), /* 3ED2: Ramp offset */ + be(0x862F), /* 3ED4: TXLO open loop/row driver settings */ + be(0x4081), /* 3ED6: Txlatch fr cfpn rows/vln bias */ + be(0x8003), /* 3ED8: Ramp step setting for 10 bit 400 Mhz */ + be(0xA580), /* 3EDA: Ramp Offset */ + be(0xC000), /* 3EDC: over range for rst and under range for sig */ + be(0xC103)), /* 3EDE: over range for sig and col dec clk settings */ + + /* corrections_recommended_bayer */ + REGS(be(0x3F00), + be(0x0017), /* 3F00: BM_T0 */ + be(0x02DD), /* 3F02: BM_T1 */ + /* 3F04: if Ana_gain less than 2, use noise_floor0, multipl */ + be(0x0020), + /* 3F06: if Ana_gain between 4 and 7, use noise_floor2 and */ + be(0x0040), + /* 3F08: if Ana_gain between 4 and 7, use noise_floor2 and */ + be(0x0070), + /* 3F0A: Define noise_floor0(low address) and noise_floor1 */ + be(0x0101), + be(0x0302)), /* 3F0C: Define noise_floor2 and noise_floor3 */ + + REGS(be(0x3F10), + be(0x0505), /* 3F10: single k factor 0 */ + be(0x0505), /* 3F12: single k factor 1 */ + be(0x0505), /* 3F14: single k factor 2 */ + be(0x01FF), /* 3F16: cross factor 0 */ + be(0x01FF), /* 3F18: cross factor 1 */ + be(0x01FF), /* 3F1A: cross factor 2 */ + be(0x0022)), /* 3F1E */ + + /* GTH_THRES_RTN: 4max,4min filtered out of every 46 samples and */ + REGS(be(0x3F2C), be(0x442E)), + + REGS(be(0x3F3E), + be(0x0000), /* 3F3E: Switch ADC from 12 bit to 10 bit mode */ + be(0x1511), /* 3F40: couple k factor 0 */ + be(0x1511), /* 3F42: couple k factor 1 */ + be(0x0707)), /* 3F44: couple k factor 2 */ +}; + +static int ar0521_power_off(struct device *dev) +{ + struct v4l2_subdev *sd =3D dev_get_drvdata(dev); + struct ar0521_dev *sensor =3D to_ar0521_dev(sd); + int i; + + clk_disable_unprepare(sensor->extclk); + + if (sensor->reset_gpio) + gpiod_set_value(sensor->reset_gpio, 1); /* assert RESET signal */ + + for (i =3D ARRAY_SIZE(ar0521_supply_names) - 1; i >=3D 0; i--) { + if (sensor->supplies[i]) + regulator_disable(sensor->supplies[i]); + } + return 0; +} + +static int ar0521_power_on(struct device *dev) +{ + struct v4l2_subdev *sd =3D dev_get_drvdata(dev); + struct ar0521_dev *sensor =3D to_ar0521_dev(sd); + unsigned int cnt; + int ret; + + for (cnt =3D 0; cnt < ARRAY_SIZE(ar0521_supply_names); cnt++) + if (sensor->supplies[cnt]) { + ret =3D regulator_enable(sensor->supplies[cnt]); + if (ret < 0) + goto off; + + usleep_range(1000, 1500); /* min 1 ms */ + } + + ret =3D clk_prepare_enable(sensor->extclk); + if (ret < 0) { + v4l2_err(&sensor->sd, "error enabling sensor clock\n"); + goto off; + } + usleep_range(1000, 1500); /* min 1 ms */ + + if (sensor->reset_gpio) + /* deassert RESET signal */ + gpiod_set_value(sensor->reset_gpio, 0); + usleep_range(4500, 5000); /* min 45000 clocks */ + + for (cnt =3D 0; cnt < ARRAY_SIZE(initial_regs); cnt++) + if (ar0521_write_regs(sensor, initial_regs[cnt].data, + initial_regs[cnt].count)) + goto off; + + ret =3D ar0521_write_reg(sensor, AR0521_REG_SERIAL_FORMAT, + AR0521_REG_SERIAL_FORMAT_MIPI | + sensor->lane_count); + if (ret) + goto off; + + /* set MIPI test mode - disabled for now */ + ret =3D ar0521_write_reg(sensor, AR0521_REG_HISPI_TEST_MODE, + ((0x40 << sensor->lane_count) - 0x40) | + AR0521_REG_HISPI_TEST_MODE_LP11); + if (ret) + goto off; + + ret =3D ar0521_write_reg(sensor, AR0521_REG_ROW_SPEED, 0x110 | + 4 / sensor->lane_count); + if (ret) + goto off; + + return 0; +off: + ar0521_power_off(dev); + return ret; +} + +static int ar0521_enum_mbus_code(struct v4l2_subdev *sd, + struct v4l2_subdev_state *sd_state, + struct v4l2_subdev_mbus_code_enum *code) +{ + struct ar0521_dev *sensor =3D to_ar0521_dev(sd); + + if (code->index) + return -EINVAL; + + code->code =3D sensor->fmt.code; + return 0; +} + +static int ar0521_pre_streamon(struct v4l2_subdev *sd, u32 flags) +{ + struct ar0521_dev *sensor =3D to_ar0521_dev(sd); + int ret; + + if (!(flags & V4L2_SUBDEV_PRE_STREAMON_FL_MANUAL_LP)) + return -EACCES; + + ret =3D pm_runtime_resume_and_get(&sensor->i2c_client->dev); + if (ret < 0) + return ret; + + /* Set LP-11 on clock and data lanes */ + ret =3D ar0521_write_reg(sensor, AR0521_REG_HISPI_CONTROL_STATUS, + AR0521_REG_HISPI_CONTROL_STATUS_FRAMER_TEST_MODE_ENABLE); + if (ret) + goto err; + + /* Start streaming LP-11 */ + ret =3D ar0521_write_reg(sensor, AR0521_REG_RESET, + AR0521_REG_RESET_DEFAULTS | + AR0521_REG_RESET_STREAM); + if (ret) + goto err; + return 0; + +err: + pm_runtime_put(&sensor->i2c_client->dev); + return ret; +} + +static int ar0521_post_streamoff(struct v4l2_subdev *sd) +{ + struct ar0521_dev *sensor =3D to_ar0521_dev(sd); + + pm_runtime_put(&sensor->i2c_client->dev); + return 0; +} + +static int ar0521_s_stream(struct v4l2_subdev *sd, int enable) +{ + struct ar0521_dev *sensor =3D to_ar0521_dev(sd); + int ret; + + mutex_lock(&sensor->lock); + + ret =3D ar0521_set_stream(sensor, enable); + if (!ret) + sensor->streaming =3D enable; + + mutex_unlock(&sensor->lock); + return ret; +} + +static const struct v4l2_subdev_core_ops ar0521_core_ops =3D { + .log_status =3D v4l2_ctrl_subdev_log_status, +}; + +static const struct v4l2_subdev_video_ops ar0521_video_ops =3D { + .s_stream =3D ar0521_s_stream, + .pre_streamon =3D ar0521_pre_streamon, + .post_streamoff =3D ar0521_post_streamoff, +}; + +static const struct v4l2_subdev_pad_ops ar0521_pad_ops =3D { + .enum_mbus_code =3D ar0521_enum_mbus_code, + .get_fmt =3D ar0521_get_fmt, + .set_fmt =3D ar0521_set_fmt, +}; + +static const struct v4l2_subdev_ops ar0521_subdev_ops =3D { + .core =3D &ar0521_core_ops, + .video =3D &ar0521_video_ops, + .pad =3D &ar0521_pad_ops, +}; + +static int __maybe_unused ar0521_suspend(struct device *dev) +{ + struct v4l2_subdev *sd =3D dev_get_drvdata(dev); + struct ar0521_dev *sensor =3D to_ar0521_dev(sd); + + if (sensor->streaming) + ar0521_set_stream(sensor, 0); + + return 0; +} + +static int __maybe_unused ar0521_resume(struct device *dev) +{ + struct v4l2_subdev *sd =3D dev_get_drvdata(dev); + struct ar0521_dev *sensor =3D to_ar0521_dev(sd); + + if (sensor->streaming) + return ar0521_set_stream(sensor, 1); + + return 0; +} + +static int ar0521_probe(struct i2c_client *client) +{ + struct v4l2_fwnode_endpoint ep =3D { + .bus_type =3D V4L2_MBUS_CSI2_DPHY + }; + struct device *dev =3D &client->dev; + struct fwnode_handle *endpoint; + struct ar0521_dev *sensor; + unsigned int cnt; + int ret; + + sensor =3D devm_kzalloc(dev, sizeof(*sensor), GFP_KERNEL); + if (!sensor) + return -ENOMEM; + + sensor->i2c_client =3D client; + sensor->fmt.width =3D AR0521_WIDTH_MAX; + sensor->fmt.height =3D AR0521_HEIGHT_MAX; + + endpoint =3D fwnode_graph_get_endpoint_by_id(dev_fwnode(dev), 0, 0, + FWNODE_GRAPH_ENDPOINT_NEXT); + if (!endpoint) { + dev_err(dev, "endpoint node not found\n"); + return -EINVAL; + } + + ret =3D v4l2_fwnode_endpoint_parse(endpoint, &ep); + fwnode_handle_put(endpoint); + if (ret) { + dev_err(dev, "could not parse endpoint\n"); + return ret; + } + + if (ep.bus_type !=3D V4L2_MBUS_CSI2_DPHY) { + dev_err(dev, "invalid bus type, must be MIPI CSI2\n"); + return -EINVAL; + } + + sensor->lane_count =3D ep.bus.mipi_csi2.num_data_lanes; + switch (sensor->lane_count) { + case 1: + case 2: + case 4: + break; + default: + dev_err(dev, "invalid number of MIPI data lanes\n"); + return -EINVAL; + } + + /* Get master clock (extclk) */ + sensor->extclk =3D devm_clk_get(dev, "extclk"); + if (IS_ERR(sensor->extclk)) { + dev_err(dev, "failed to get extclk\n"); + return PTR_ERR(sensor->extclk); + } + + sensor->extclk_freq =3D clk_get_rate(sensor->extclk); + + if (sensor->extclk_freq < AR0521_EXTCLK_MIN || + sensor->extclk_freq > AR0521_EXTCLK_MAX) { + dev_err(dev, "extclk frequency out of range: %u Hz\n", + sensor->extclk_freq); + return -EINVAL; + } + + /* Request optional reset pin (usually active low) and assert it */ + sensor->reset_gpio =3D devm_gpiod_get_optional(dev, "reset", + GPIOD_OUT_HIGH); + + v4l2_i2c_subdev_init(&sensor->sd, client, &ar0521_subdev_ops); + + sensor->sd.flags =3D V4L2_SUBDEV_FL_HAS_DEVNODE; + sensor->pad.flags =3D MEDIA_PAD_FL_SOURCE; + sensor->sd.entity.function =3D MEDIA_ENT_F_CAM_SENSOR; + ret =3D media_entity_pads_init(&sensor->sd.entity, 1, &sensor->pad); + if (ret) + return ret; + + for (cnt =3D 0; cnt < ARRAY_SIZE(ar0521_supply_names); cnt++) { + struct regulator *supply =3D devm_regulator_get(dev, + ar0521_supply_names[cnt]); + + if (IS_ERR(supply)) { + dev_info(dev, "no %s regulator found: %li\n", + ar0521_supply_names[cnt], PTR_ERR(supply)); + return PTR_ERR(supply); + } + sensor->supplies[cnt] =3D supply; + } + + mutex_init(&sensor->lock); + + ret =3D ar0521_init_controls(sensor); + if (ret) + goto entity_cleanup; + + ar0521_adj_fmt(&sensor->fmt); + + ret =3D v4l2_async_register_subdev(&sensor->sd); + if (ret) + goto free_ctrls; + + /* Turn on the device and enable runtime PM */ + ret =3D ar0521_power_on(&client->dev); + if (ret) + goto disable; + pm_runtime_set_active(&client->dev); + pm_runtime_enable(&client->dev); + pm_runtime_idle(&client->dev); + return 0; + +disable: + v4l2_async_unregister_subdev(&sensor->sd); + media_entity_cleanup(&sensor->sd.entity); +free_ctrls: + v4l2_ctrl_handler_free(&sensor->ctrls.handler); +entity_cleanup: + media_entity_cleanup(&sensor->sd.entity); + mutex_destroy(&sensor->lock); + return ret; +} + +static int ar0521_remove(struct i2c_client *client) +{ + struct v4l2_subdev *sd =3D i2c_get_clientdata(client); + struct ar0521_dev *sensor =3D to_ar0521_dev(sd); + + v4l2_async_unregister_subdev(&sensor->sd); + media_entity_cleanup(&sensor->sd.entity); + v4l2_ctrl_handler_free(&sensor->ctrls.handler); + pm_runtime_disable(&client->dev); + if (!pm_runtime_status_suspended(&client->dev)) + ar0521_power_off(&client->dev); + pm_runtime_set_suspended(&client->dev); + mutex_destroy(&sensor->lock); + return 0; +} + +static const struct dev_pm_ops ar0521_pm_ops =3D { + SET_SYSTEM_SLEEP_PM_OPS(ar0521_suspend, ar0521_resume) + SET_RUNTIME_PM_OPS(ar0521_power_off, ar0521_power_on, NULL) +}; +static const struct of_device_id ar0521_dt_ids[] =3D { + {.compatible =3D "onnn,ar0521"}, + {} +}; +MODULE_DEVICE_TABLE(of, ar0521_dt_ids); + +static struct i2c_driver ar0521_i2c_driver =3D { + .driver =3D { + .name =3D "ar0521", + .pm =3D &ar0521_pm_ops, + .of_match_table =3D ar0521_dt_ids, + }, + .probe_new =3D ar0521_probe, + .remove =3D ar0521_remove, +}; + +module_i2c_driver(ar0521_i2c_driver); + +MODULE_DESCRIPTION("AR0521 MIPI Camera subdev driver"); +MODULE_AUTHOR("Krzysztof Ha=C5=82asa "); +MODULE_LICENSE("GPL v2"); --=20 Krzysztof "Chris" Ha=C5=82asa Sie=C4=87 Badawcza =C5=81ukasiewicz Przemys=C5=82owy Instytut Automatyki i Pomiar=C3=B3w PIAP Al. Jerozolimskie 202, 02-486 Warszawa