A camera system comprises: a main control chip, wherein the main control chip includes at least one main control unit; at least one group of cameras, wherein each camera in each group of cameras includes an image acquisition control chip; and at least one pair of bidirectional differential data lines, wherein each pair of bidirectional differential data lines is connected to a single main control unit and all image acquisition control chips in a single group of cameras.

A transmitter circuit including an impedance setting circuit having first and second legs, wherein each leg includes an adjustable pull-up resistance and an adjustable pull-down resistance connected in series between a supply terminal and a reference terminal. A first-leg-node, between the adjustable resistances of the first leg, is connected to a first bus terminal. A second-leg-node, between the adjustable resistances of the second leg, is connected to a second bus terminal. The controller detects a transition in a transmission data signal, and in response to a dominant to recessive transition the controller controls a voltage setting circuit to set the differential driver voltage on the bus to a recessive value; adjusts each of the adjustable pull-up resistances and the adjustable pull-down resistances with the same target impedance profile such that the transmitter circuit drives the bus with a target driver impedance for an active recessive period of a bit time.

A camera system comprises: a main control chip, wherein the main control chip includes at least one main control unit; at least one group of cameras, wherein each camera in each group of cameras includes an image acquisition control chip; and at least one pair of bidirectional differential data lines, wherein each pair of bidirectional differential data lines is connected to a single main control unit and all image acquisition control chips in a single group of cameras.

A method and apparatus for matching the lengths of traces of differential signal pairs. The method includes determining that a first trace is longer than a second trace and modifying the second trace so that the length is substantially equal to the length of the first trace. In some implementations, the second trace can be modified by replacing one or more sections of the trace with two line segments that are substantially equal in length and meet at a vertex that is less than 180 degrees.

A method and apparatus for matching the lengths of traces of differential signal pairs. The method includes determining that a first trace is longer than a second trace and modifying the second trace so that the length is substantially equal to the length of the first trace. In some implementations, the second trace can be modified by replacing one or more sections of the trace with two line segments that are substantially equal in length and meet at a vertex that is less than 180 degrees.

A method and apparatus for matching the lengths of traces of differential signal pairs. The method includes determining that a first trace is longer than a second trace and modifying the second trace so that the length is substantially equal to the length of the first trace. In some implementations, the second trace can be modified by replacing one or more sections of the trace with two line segments that are substantially equal in length and meet at a vertex that is less than 180 degrees.

A transmitter circuit including an impedance setting circuit having first and second legs, wherein each leg includes an adjustable pull-up resistance and an adjustable pull-down resistance connected in series between a supply terminal and a reference terminal. A first-leg-node, between the adjustable resistances of the first leg, is connected to a first bus terminal. A second-leg-node, between the adjustable resistances of the second leg, is connected to a second bus terminal. The controller detects a transition in a transmission data signal, and in response to a dominant to recessive transition the controller controls a voltage setting circuit to set the differential driver voltage on the bus to a recessive value; adjusts each of the adjustable pull-up resistances and the adjustable pull-down resistances with the same target impedance profile such that the transmitter circuit drives the bus with a target driver impedance for an active recessive period of a bit time.