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#

Interface detailed description#

Equipment life cycle management#

kd_mpi_sensor_open#

Turn on the sensor device.

Function prototype

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

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

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fd is no longer valid after closing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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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#

// 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.

K230 Sensor API Reference

Contents

K230 Sensor API Reference#

Overview#

Code Location#

Fast Index#

Device Life Cycle Management#

Device information and mode management#

Register access#

Exposure and gain control#

Frame rate control#

Image quality control#

OTP and focus control#

Information query interface#

Interface detailed description#

Equipment life cycle management#

kd_mpi_sensor_open#

kd_mpi_sensor_close#

kd_mpi_sensor_power_set#

kd_mpi_sensor_init#

kd_mpi_sensor_stream_enable#

Device information and mode management#

kd_mpi_sensor_id_get#

kd_mpi_sensor_mode_get#

kd_mpi_sensor_mode_set#

kd_mpi_sensor_mode_enum#

kd_mpi_sensor_caps_get#

kd_mpi_sensor_connection_check#

kd_mpi_sensor_adapt_get#

Register access#

kd_mpi_sensor_reg_read#

kd_mpi_sensor_reg_write#

Exposure and gain control#

kd_mpi_sensor_again_set#

kd_mpi_sensor_again_get#

kd_mpi_sensor_dgain_set#

kd_mpi_sensor_dgain_get#

kd_mpi_sensor_intg_time_set#

kd_mpi_sensor_intg_time_get#

kd_mpi_sensor_get_exposure_time_range#

kd_mpi_sensor_get_gain_range#

Frame rate control#

kd_mpi_sensor_fps_set#

kd_mpi_sensor_fps_get#

Image quality control#

kd_mpi_sensor_isp_status_get#

kd_mpi_sensor_blc_set#

kd_mpi_sensor_wb_set#

kd_mpi_sensor_tpg_set#

kd_mpi_sensor_tpg_get#

kd_mpi_sensor_expand_curve_get#

kd_mpi_sensor_mirror_set#

OTP and focus control#

kd_mpi_sensor_otpdata_get#

kd_mpi_sensor_otpdata_set#

kd_mpi_sensor_set_focus_pos#

kd_mpi_sensor_get_focus_pos#

kd_mpi_sensor_get_focus_caps#

kd_mpi_sensor_set_focus_power#

Information query interface#

kd_mpi_sensor_list_mode#

Typical usage process#

Things to note#