# K230 Sensor API Reference

## Overview

The Sensor API is used to complete the opening, power-on, initialization, mode switching, register reading and writing, and runtime parameter adjustment of the image sensor device. This set of interfaces mainly corresponds to the sensor driver control surface and is usually used together with VICAP and ISP.

The current API header file is located at `src/rtsmart/mpp/userapps/api/mpi_sensor_api.h`, and the relevant data type definitions are located at `k_sensor_comm.h` and `k_vicap_comm.h`.

## Code Location

- Header File: `src/rtsmart/mpp/userapps/api/mpi_sensor_api.h`
- Related types: `src/rtsmart/mpp/include/comm/k_sensor_comm.h`
- VICAP related types: `src/rtsmart/mpp/include/comm/k_vicap_comm.h`

## Fast Index

### Device Life Cycle Management

- [kd_mpi_sensor_open](#kd_mpi_sensor_open)
- [kd_mpi_sensor_close](#kd_mpi_sensor_close)
- [kd_mpi_sensor_power_set](#kd_mpi_sensor_power_set)
- [kd_mpi_sensor_init](#kd_mpi_sensor_init)
- [kd_mpi_sensor_stream_enable](#kd_mpi_sensor_stream_enable)

### Device information and mode management

- [kd_mpi_sensor_id_get](#kd_mpi_sensor_id_get)
- [kd_mpi_sensor_mode_get](#kd_mpi_sensor_mode_get)
- [kd_mpi_sensor_mode_set](#kd_mpi_sensor_mode_set)
- [kd_mpi_sensor_mode_enum](#kd_mpi_sensor_mode_enum)
- [kd_mpi_sensor_caps_get](#kd_mpi_sensor_caps_get)
- [kd_mpi_sensor_connection_check](#kd_mpi_sensor_connection_check)
- [kd_mpi_sensor_adapt_get](#kd_mpi_sensor_adapt_get)

### Register access

- [kd_mpi_sensor_reg_read](#kd_mpi_sensor_reg_read)
- [kd_mpi_sensor_reg_write](#kd_mpi_sensor_reg_write)

### Exposure and gain control

- [kd_mpi_sensor_again_set](#kd_mpi_sensor_again_set)
- [kd_mpi_sensor_again_get](#kd_mpi_sensor_again_get)
- [kd_mpi_sensor_dgain_set](#kd_mpi_sensor_dgain_set)
- [kd_mpi_sensor_dgain_get](#kd_mpi_sensor_dgain_get)
- [kd_mpi_sensor_intg_time_set](#kd_mpi_sensor_intg_time_set)
- [kd_mpi_sensor_intg_time_get](#kd_mpi_sensor_intg_time_get)
- [kd_mpi_sensor_get_exposure_time_range](#kd_mpi_sensor_get_exposure_time_range)
- [kd_mpi_sensor_get_gain_range](#kd_mpi_sensor_get_gain_range)

### Frame rate control

- [kd_mpi_sensor_fps_set](#kd_mpi_sensor_fps_set)
- [kd_mpi_sensor_fps_get](#kd_mpi_sensor_fps_get)

### Image quality control

- [kd_mpi_sensor_isp_status_get](#kd_mpi_sensor_isp_status_get)
- [kd_mpi_sensor_blc_set](#kd_mpi_sensor_blc_set)
- [kd_mpi_sensor_wb_set](#kd_mpi_sensor_wb_set)
- [kd_mpi_sensor_tpg_set](#kd_mpi_sensor_tpg_set)
- [kd_mpi_sensor_tpg_get](#kd_mpi_sensor_tpg_get)
- [kd_mpi_sensor_expand_curve_get](#kd_mpi_sensor_expand_curve_get)
- [kd_mpi_sensor_mirror_set](#kd_mpi_sensor_mirror_set)

### OTP and focus control

- [kd_mpi_sensor_otpdata_get](#kd_mpi_sensor_otpdata_get)
- [kd_mpi_sensor_otpdata_set](#kd_mpi_sensor_otpdata_set)
- [kd_mpi_sensor_set_focus_pos](#kd_mpi_sensor_set_focus_pos)
- [kd_mpi_sensor_get_focus_pos](#kd_mpi_sensor_get_focus_pos)
- [kd_mpi_sensor_get_focus_caps](#kd_mpi_sensor_get_focus_caps)
- [kd_mpi_sensor_set_focus_power](#kd_mpi_sensor_set_focus_power)

### Information query interface

- [kd_mpi_sensor_list_mode](#kd_mpi_sensor_list_mode)
- [kd_mpi_sensor_get_exposure_time_range](#kd_mpi_sensor_get_exposure_time_range)
- [kd_mpi_sensor_get_gain_range](#kd_mpi_sensor_get_gain_range)
- [kd_mpi_sensor_get_focus_caps](#kd_mpi_sensor_get_focus_caps)

---

## Interface detailed description

### Equipment life cycle management

#### kd_mpi_sensor_open

Turn on the sensor device.

**Function prototype**

```c
k_s32 kd_mpi_sensor_open(const char *sensor_name);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `sensor_name` | `const char*` | Sensor name (e.g. "gc2093_csi2") | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `>= 0` | sensor file descriptor (fd) |
| `< 0` | Failure, return error code |

**Notes**

- The returned fd is used for all subsequent sensor operations
- After use, you must call `kd_mpi_sensor_close()` to shut down the device.
- The sensor name must match the name registered in the driver

**Example**

```c
k_s32 fd = kd_mpi_sensor_open("gc2093_csi2");
if (fd < 0) {
    printf("Failed to open sensor\n");
    return -1;
}
// Use fd for subsequent operations
kd_mpi_sensor_close(fd);
```

---

#### kd_mpi_sensor_close

Turn off the sensor device.

**Function prototype**

```c
k_s32 kd_mpi_sensor_close(k_s32 fd);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

**Notes**

- fd is no longer valid after closing
- Must be paired with `kd_mpi_sensor_open()`

---

#### kd_mpi_sensor_power_set

Set sensor power state.

**Function prototype**

```c
k_s32 kd_mpi_sensor_power_set(k_s32 fd, k_bool on);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `on` | `k_bool` | K_TRUE: power on, K_FALSE: power off | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

**Notes**

- Initialization and configuration can only be performed after power-on.
- Make sure data flow is stopped before powering off

---

#### kd_mpi_sensor_init

Initialize the sensor device.

**Function prototype**

```c
k_s32 kd_mpi_sensor_init(k_s32 fd, k_sensor_mode mode);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `mode` | `k_sensor_mode` | Sensor working mode configuration | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

**Notes**

- Must be called after power-on
- The mode structure needs to correctly configure parameters such as resolution, frame rate, etc.

---

#### kd_mpi_sensor_stream_enable

Enable or disable sensor data streaming.

**Function prototype**

```c
k_s32 kd_mpi_sensor_stream_enable(k_s32 fd, k_s32 enable);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `enable` | `k_s32` | 1: enabled, 0: disabled | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

**Notes**

- After enabling, the sensor begins to output image data
- Stops output when disabled but keeps configuration

---

### Device information and mode management

#### kd_mpi_sensor_id_get

Get sensor ID.

**Function prototype**

```c
k_s32 kd_mpi_sensor_id_get(k_s32 fd, k_u32 *sensor_id);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `sensor_id` | `k_u32*` | Output sensor ID | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

#### kd_mpi_sensor_mode_get

Get the current sensor mode configuration.

**Function prototype**

```c
k_s32 kd_mpi_sensor_mode_get(k_s32 fd, k_sensor_mode *mode);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `mode` | `k_sensor_mode*` | Output mode configuration | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

#### kd_mpi_sensor_mode_set

Set the sensor working mode.

**Function prototype**

```c
k_s32 kd_mpi_sensor_mode_set(k_s32 fd, k_sensor_mode mode);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `mode` | `k_sensor_mode` | Mode configuration | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

**Notes**

- Some mode switches may require restarting the data stream

---

#### kd_mpi_sensor_mode_enum

Enumerate the modes supported by the sensor.

**Function prototype**

```c
k_s32 kd_mpi_sensor_mode_enum(k_s32 fd, k_sensor_enum_mode *enum_mode);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `enum_mode` | `k_sensor_enum_mode*` | Enumeration mode information | Input/Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

#### kd_mpi_sensor_caps_get

Get sensor capability information.

**Function prototype**

```c
k_s32 kd_mpi_sensor_caps_get(k_s32 fd, k_sensor_caps *caps);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `caps` | `k_sensor_caps*` | Output capability information | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

#### kd_mpi_sensor_connection_check

Check sensor connection status.

**Function prototype**

```c
k_s32 kd_mpi_sensor_connection_check(k_s32 fd, k_s32 *connection);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `connection` | `k_s32*` | Output connection status (1: connected, 0: not connected) | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

#### kd_mpi_sensor_adapt_get

Get sensor information based on configuration.

**Function prototype**

```c
k_s32 kd_mpi_sensor_adapt_get(k_vicap_probe_config *config, k_vicap_sensor_info *info);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `config` | `k_vicap_probe_config*` | Probe configuration (CSI number, resolution, frame rate) | Input |
| `info` | `k_vicap_sensor_info*` | Output sensor information | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

### Register access

#### kd_mpi_sensor_reg_read

Read the sensor register.

**Function prototype**

```c
k_s32 kd_mpi_sensor_reg_read(k_s32 fd, k_u32 reg_addr, k_u32 *reg_val);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `reg_addr` | `k_u32` | Register address | Input |
| `reg_val` | `k_u32*` | Output register value | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

**Notes**

- for debugging or special configuration
- Register address and bit width vary from sensor to sensor

---

#### kd_mpi_sensor_reg_write

Write to sensor register.

**Function prototype**

```c
k_s32 kd_mpi_sensor_reg_write(k_s32 fd, k_u32 reg_addr, k_u32 reg_val);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `reg_addr` | `k_u32` | Register address | Input |
| `reg_val` | `k_u32` | Register value | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

**Notes**

- Wrong register configuration may cause the sensor to work abnormally
- It is recommended to refer to the sensor data sheet

---

### Exposure and gain control

#### kd_mpi_sensor_again_set

Set the analog gain (Again).

**Function prototype**

```c
k_s32 kd_mpi_sensor_again_set(k_s32 fd, k_sensor_gain gain);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `gain` | `k_sensor_gain` | Gain value structure | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

**Notes**

- The gain value must be within the sensor support range
- It is recommended to call `kd_mpi_sensor_get_gain_range()` first to get the range

**Example**

```c
k_sensor_gain gain;
gain.gain[0] = 2.0f;  // Set gain to 2.0
k_s32 ret = kd_mpi_sensor_again_set(fd, gain);
```

---

#### kd_mpi_sensor_again_get

Get the current analog gain value.

**Function prototype**

```c
k_s32 kd_mpi_sensor_again_get(k_s32 fd, k_sensor_gain *gain);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `gain` | `k_sensor_gain*` | Output gain value | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

#### kd_mpi_sensor_dgain_set

Set digital gain (Dgain).

**Function prototype**

```c
k_s32 kd_mpi_sensor_dgain_set(k_s32 fd, k_sensor_gain gain);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `gain` | `k_sensor_gain` | Gain value structure | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

#### kd_mpi_sensor_dgain_get

Get the current digital gain value.

**Function prototype**

```c
k_s32 kd_mpi_sensor_dgain_get(k_s32 fd, k_sensor_gain *gain);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `gain` | `k_sensor_gain*` | Output gain value | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

#### kd_mpi_sensor_intg_time_set

Set the integration time (exposure time).

**Function prototype**

```c
k_s32 kd_mpi_sensor_intg_time_set(k_s32 fd, k_sensor_intg_time time);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `time` | `k_sensor_intg_time` | Integration time structure (unit: seconds) | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

**Notes**

- The integration time must be within the sensor support range
- It is recommended to call `kd_mpi_sensor_get_exposure_time_range()` first to get the range

**Example**

```c
k_sensor_intg_time time;
time.intg_time[0] = 0.01f;  // 10ms
k_s32 ret = kd_mpi_sensor_intg_time_set(fd, time);
```

---

#### kd_mpi_sensor_intg_time_get

Get the current integration time.

**Function prototype**

```c
k_s32 kd_mpi_sensor_intg_time_get(k_s32 fd, k_sensor_intg_time *time);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `time` | `k_sensor_intg_time*` | Output integration time | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

#### kd_mpi_sensor_get_exposure_time_range

Get the exposure time range. Need to be called after start

**Function prototype**

```c
k_s32 kd_mpi_sensor_get_exposure_time_range(k_s32 fd, k_sensor_exposure_time_range *range);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `range` | `k_sensor_exposure_time_range*` | Output exposure range (unit: microseconds) | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

**Example**

```c
k_sensor_exposure_time_range range;
k_s32 ret = kd_mpi_sensor_get_exposure_time_range(fd, &range);
if (ret == 0) {
    printf("Exposure range: %.0f - %.0f us\n",
           range.min_intg_time_us, range.max_intg_time_us);
}
```

---

#### kd_mpi_sensor_get_gain_range

Get the gain range. Need to be called after start

**Function prototype**

```c
k_s32 kd_mpi_sensor_get_gain_range(k_s32 fd, k_sensor_gain_info *range);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `range` | `k_sensor_gain_info*` | Output gain range | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

**Example**

```c
k_sensor_gain_info range;
k_s32 ret = kd_mpi_sensor_get_gain_range(fd, &range);
if (ret == 0) {
    printf("Gain range: %.2f - %.2f, step: %.6f\n",
           range.min_gain, range.max_gain, range.step_gain);
}
```

---

### Frame rate control

#### kd_mpi_sensor_fps_set

Set sensor frame rate.

**Function prototype**

```c
k_s32 kd_mpi_sensor_fps_set(k_s32 fd, k_u32 fps);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `fps` | `k_u32` | Frame rate value | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

#### kd_mpi_sensor_fps_get

Get the current frame rate.

**Function prototype**

```c
k_s32 kd_mpi_sensor_fps_get(k_s32 fd, k_u32 *fps);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `fps` | `k_u32*` | Output frame rate | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

### Image quality control

#### kd_mpi_sensor_isp_status_get

Get ISP status information.

**Function prototype**

```c
k_s32 kd_mpi_sensor_isp_status_get(k_s32 fd, k_sensor_isp_status *isp_status);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `isp_status` | `k_sensor_isp_status*` | Output ISP status | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

#### kd_mpi_sensor_blc_set

Set black level correction (BLC).

**Function prototype**

```c
k_s32 kd_mpi_sensor_blc_set(k_s32 fd, k_sensor_blc blc);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `blc` | `k_sensor_blc` | Black level correction value (including R/Gr/Gb/B four channels) | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

#### kd_mpi_sensor_wb_set

Set white balance (WB).

**Function prototype**

```c
k_s32 kd_mpi_sensor_wb_set(k_s32 fd, k_sensor_white_balance wb);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `wb` | `k_sensor_white_balance` | White balance gain (including R/Gr/Gb/B four channels) | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

#### kd_mpi_sensor_tpg_set

Set up the test pattern generator (TPG).

**Function prototype**

```c
k_s32 kd_mpi_sensor_tpg_set(k_s32 fd, k_sensor_test_pattern tpg);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `tpg` | `k_sensor_test_pattern` | Test pattern configuration (enable/pattern) | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

**Notes**

- TPG is used for debugging and does not rely on real image input

---

#### kd_mpi_sensor_tpg_get

Get TPG configuration.

**Function prototype**

```c
k_s32 kd_mpi_sensor_tpg_get(k_s32 fd, k_sensor_test_pattern *tpg);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `tpg` | `k_sensor_test_pattern*` | Output TPG configuration | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

#### kd_mpi_sensor_expand_curve_get

Get the expansion curve configuration.

**Function prototype**

```c
k_s32 kd_mpi_sensor_expand_curve_get(k_s32 fd, k_sensor_compand_curve *curve);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `curve` | `k_sensor_compand_curve*` | Output expansion curve configuration | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

#### kd_mpi_sensor_mirror_set

Set mirror flip.

**Function prototype**

```c
k_s32 kd_mpi_sensor_mirror_set(k_s32 fd, k_vicap_mirror_mode mirror);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `mirror` | `k_vicap_mirror_mode` | Mirror mode configuration | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

### OTP and focus control

#### kd_mpi_sensor_otpdata_get

Get OTP data.

**Function prototype**

```c
k_s32 kd_mpi_sensor_otpdata_get(k_s32 fd, void *otp_data);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `otp_data` | `void*` | Output OTP data buffer | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

#### kd_mpi_sensor_otpdata_set

Set OTP data.

**Function prototype**

```c
k_s32 kd_mpi_sensor_otpdata_set(k_s32 fd, void *otp_data);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `otp_data` | `void*` | OTP data buffer | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

**Notes**

- OTP writing operations require caution as they may be irreversible

---

#### kd_mpi_sensor_set_focus_pos

Set the focus position.

**Function prototype**

```c
k_s32 kd_mpi_sensor_set_focus_pos(k_s32 fd, k_sensor_focus_pos *focus_pos);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `focus_pos` | `k_sensor_focus_pos*` | Focus position configuration | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

**Notes**

- Only supports sensor modules with autofocus function

---

#### kd_mpi_sensor_get_focus_pos

Get the current focus position.

**Function prototype**

```c
k_s32 kd_mpi_sensor_get_focus_pos(k_s32 fd, k_sensor_focus_pos *focus_pos);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `focus_pos` | `k_sensor_focus_pos*` | Output focus position | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

#### kd_mpi_sensor_get_focus_caps

Get focus capability information.

**Function prototype**

```c
k_s32 kd_mpi_sensor_get_focus_caps(k_s32 fd, k_sensor_autofocus_caps *caps);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `caps` | `k_sensor_autofocus_caps*` | Output focus capability information | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

#### kd_mpi_sensor_set_focus_power

Set the focus power status.

**Function prototype**

```c
k_s32 kd_mpi_sensor_set_focus_power(k_s32 fd, k_bool power);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `fd` | `k_s32` | sensor file descriptor | Input |
| `power` | `k_bool` | K_TRUE: power on, K_FALSE: power off | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

---

### Information query interface

#### kd_mpi_sensor_list_mode

Get the list of modes supported by the sensor.

**Function prototype**

```c
k_s32 kd_mpi_sensor_list_mode(const char *sensor_name, k_sensor_mode_list *list);
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `sensor_name` | `const char*` | Sensor name | Input |
| `list` | `k_sensor_mode_list*` | Output mode list | Output |

**return value**

| Return Value | illustrate |
|--------|------|
| `0` | Success |
| Not `0` | Failure, return error code |

**Notes**

- Returns up to 6 patterns
- Automatically match the corresponding sensor_type and csi_num based on sensor_name

**Example**

```c
k_sensor_mode_list list;
k_s32 ret = kd_mpi_sensor_list_mode("gc2093_csi2", &list);
if (ret == 0) {
    for (k_u32 i = 0; i < list.count; i++) {
        printf("Mode %u: %ux%u@%ufps\n",
               i, list.modes[i].width, list.modes[i].height, list.modes[i].fps);
    }
}
```

---

Open the device based on the sensor name.

**Function prototype**

```c
```

**parameter**

| parameter | type | illustrate | Input/Output |
|------|------|------|-----------|
| `sensor_name` | `const char*` | Sensor name | Input |

**return value**

| Return Value | illustrate |
|--------|------|
| `>= 0` | sensor file descriptor |
| `< 0` | Failure, return error code |

**Notes**

- This function is a convenience version of `kd_mpi_sensor_open()`
- Internally it looks for a matching sensor configuration and opens the device

---

## Typical usage process

```c
// 1. Open sensor
k_s32 fd = kd_mpi_sensor_open("gc2093_csi2");
if (fd < 0) {
    printf("Failed to open sensor\n");
    return -1;
}

// 2. Power on
kd_mpi_sensor_power_set(fd, K_TRUE);

// 3. Initialize (configure mode)
k_sensor_mode mode;
// ... Configure mode structure ...
kd_mpi_sensor_init(fd, mode);

// 4. Adjust parameters (optional)
kd_mpi_sensor_fps_set(fd, 30);
kd_mpi_sensor_again_set(fd, gain);

// 5. Enable data stream
kd_mpi_sensor_stream_enable(fd, 1);

// ... Use sensor ...

// 6. Disable data stream
kd_mpi_sensor_stream_enable(fd, 0);

// 7. Power off
kd_mpi_sensor_power_set(fd, K_FALSE);

// 8. Close device
kd_mpi_sensor_close(fd);
```

---

## Things to note

- **fd management**: All operations depend on the fd returned by `kd_mpi_sensor_open()`. After use, `kd_mpi_sensor_close()` must be called to close.

- **Calling sequence**: It is recommended to call in the order of power on → initialization → configuration → enable flow.

- **Parameter range**: Before setting parameters such as gain and exposure, it is recommended to call the corresponding `get_*_range()` interface to obtain the effective range.

- **Sensor differences**: Different sensors may support different functions and parameter ranges, and the specific capabilities are determined by the driver.

- **Concurrent access**: Avoid multiple threads operating the same sensor fd at the same time.

- **Error handling**: All interfaces returning non-0 values ​​indicate failure. The return value should be checked and processed accordingly.