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Merge pull request #2756 from openmv/refactor_csi_isp
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ports/stm32: Refactor CSI ISP code.
This commit is contained in:
commit
3068fa49db
@ -42,6 +42,7 @@
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#include "omv_i2c.h"
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#include "omv_i2c.h"
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#include "omv_csi.h"
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#include "omv_csi.h"
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#include "stm_dma.h"
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#include "stm_dma.h"
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#include "stm_isp.h"
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#if defined(DMA2)
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#if defined(DMA2)
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#define USE_DMA (1)
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#define USE_DMA (1)
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@ -240,74 +241,9 @@ static int stm_csi_config(omv_csi_t *csi, omv_csi_config_t config) {
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}
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}
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// Configure the pixel processing pipeline.
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// Configure the pixel processing pipeline.
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DCMIPP_PipeConfTypeDef pcfg = { .FrameRate = DCMIPP_FRAME_RATE_ALL };
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if (stm_isp_config_pipeline(&csi->dcmi, DCMIPP_PIPE, csi->pixformat, csi->raw_output)) {
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if (csi->pixformat == PIXFORMAT_RGB565) {
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pcfg.PixelPackerFormat = DCMIPP_PIXEL_PACKER_FORMAT_RGB565_1;
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} else if (csi->pixformat == PIXFORMAT_GRAYSCALE || csi->pixformat == PIXFORMAT_BAYER) {
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pcfg.PixelPackerFormat = DCMIPP_PIXEL_PACKER_FORMAT_MONO_Y8_G8_1;
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} else if (csi->pixformat == PIXFORMAT_YUV422) {
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pcfg.PixelPackerFormat = DCMIPP_PIXEL_PACKER_FORMAT_YUV422_1;
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} else {
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return OMV_CSI_ERROR_PIXFORMAT_UNSUPPORTED;
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}
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if (HAL_DCMIPP_PIPE_SetConfig(&csi->dcmi, DCMIPP_PIPE, &pcfg) != HAL_OK) {
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return OMV_CSI_ERROR_CSI_INIT_FAILED;
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return OMV_CSI_ERROR_CSI_INIT_FAILED;
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}
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}
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// Configure debayer.
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if (csi->raw_output && csi->pixformat != PIXFORMAT_BAYER) {
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DCMIPP_RawBayer2RGBConfTypeDef rawcfg = {
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.RawBayerType = DCMIPP_RAWBAYER_BGGR,
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.VLineStrength = DCMIPP_RAWBAYER_ALGO_NONE,
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.HLineStrength = DCMIPP_RAWBAYER_ALGO_NONE,
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.PeakStrength = DCMIPP_RAWBAYER_ALGO_NONE,
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.EdgeStrength = DCMIPP_RAWBAYER_ALGO_NONE,
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};
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if (HAL_DCMIPP_PIPE_SetISPRawBayer2RGBConfig(&csi->dcmi, DCMIPP_PIPE, &rawcfg) != HAL_OK ||
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HAL_DCMIPP_PIPE_EnableISPRawBayer2RGB(&csi->dcmi, DCMIPP_PIPE) != HAL_OK) {
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return OMV_CSI_ERROR_CSI_INIT_FAILED;
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}
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DCMIPP_ExposureConfTypeDef expcfg = {
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.ShiftRed = 0,
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.MultiplierRed = 128,
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.ShiftGreen = 0,
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.MultiplierGreen = 128,
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.ShiftBlue = 0,
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.MultiplierBlue = 128,
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};
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if (HAL_DCMIPP_PIPE_SetISPExposureConfig(&csi->dcmi, DCMIPP_PIPE, &expcfg) != HAL_OK ||
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HAL_DCMIPP_PIPE_EnableISPExposure(&csi->dcmi, DCMIPP_PIPE) != HAL_OK) {
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return OMV_CSI_ERROR_CSI_INIT_FAILED;
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}
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const uint32_t statsrc[] = {
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DCMIPP_STAT_EXT_SOURCE_PRE_BLKLVL_R,
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DCMIPP_STAT_EXT_SOURCE_PRE_BLKLVL_G,
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DCMIPP_STAT_EXT_SOURCE_PRE_BLKLVL_B
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};
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DCMIPP_StatisticExtractionConfTypeDef statcfg[3];
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for (size_t i = 0; i < 3; i++) {
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statcfg[i].Source = statsrc[i];
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statcfg[i].Mode = DCMIPP_STAT_EXT_MODE_AVERAGE;
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statcfg[i].Bins = DCMIPP_STAT_EXT_AVER_MODE_ALL_PIXELS; //NOEXT16;
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}
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for (size_t i = DCMIPP_STATEXT_MODULE1; i <= DCMIPP_STATEXT_MODULE3; i++) {
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if (HAL_DCMIPP_PIPE_SetISPStatisticExtractionConfig(&csi->dcmi,
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DCMIPP_PIPE, i,
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&statcfg[i - DCMIPP_STATEXT_MODULE1]) != HAL_OK) {
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return OMV_CSI_ERROR_CSI_INIT_FAILED;
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}
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if (HAL_DCMIPP_PIPE_EnableISPStatisticExtraction(&csi->dcmi, DCMIPP_PIPE, i) != HAL_OK) {
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return OMV_CSI_ERROR_CSI_INIT_FAILED;
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}
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}
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}
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#endif
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#endif
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}
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}
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return 0;
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return 0;
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@ -603,54 +539,6 @@ void DCMI_DMAConvCpltUser(uint32_t addr) {
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}
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}
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#endif
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#endif
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#if USE_DCMIPP
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void omv_csi_update_awb(omv_csi_t *csi, uint32_t n_pixels) {
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uint32_t avg[3];
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uint32_t shift[3];
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uint32_t multi[3];
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for (int i = 0; i < 3; i++) {
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// DCMIPP_STATEXT_MODULE1
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HAL_DCMIPP_PIPE_GetISPAccumulatedStatisticsCounter(&csi->dcmi, DCMIPP_PIPE, i + 1, &avg[i]);
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}
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// Averages are collected from bayer components (4R 2G 4B).
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avg[0] = OMV_MAX((avg[0] * 256 * 4) / n_pixels, 1);
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avg[1] = OMV_MAX((avg[1] * 256 * 2) / n_pixels, 1);
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avg[2] = OMV_MAX((avg[2] * 256 * 4) / n_pixels, 1);
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// Compute global luminance
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float luminance = avg[0] * 0.299 + avg[1] * 0.587 + avg[2] * 0.114;
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//printf("Luminance: %f AVG_R: %lu, AVG_G: %lu, AVG_B: %lu\n", (double) luminance, avg[0], avg[1], avg[2]);
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if (csi->ioctl) {
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omv_csi_ioctl(csi, OMV_CSI_IOCTL_UPDATE_AGC_AEC, fast_floorf(luminance));
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}
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// Calculate average and exposure factors for each channel (R, G, B)
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for (int i = 0; i < 3; i++) {
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shift[i] = 0;
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multi[i] = roundf((luminance * 128.0f / avg[i]));
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while (multi[i] >= 255.0f && shift[i] < 7) {
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multi[i] /= 2;
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shift[i]++;
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}
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//printf("Channel %d: Expf: %lu Shift: %lu, Multi: %lu\n", i, expf, shift[i], multi[i]);
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}
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// Configure RGB exposure settings.
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DCMIPP_ExposureConfTypeDef expcfg = {
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.ShiftRed = shift[0],
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.MultiplierRed = multi[0],
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.ShiftGreen = shift[1],
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.MultiplierGreen = multi[1],
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.ShiftBlue = shift[2],
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.MultiplierBlue = multi[2],
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};
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HAL_DCMIPP_PIPE_SetISPExposureConfig(&csi->dcmi, DCMIPP_PIPE, &expcfg);
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}
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#endif
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static int stm_csi_snapshot(omv_csi_t *csi, image_t *image, uint32_t flags) {
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static int stm_csi_snapshot(omv_csi_t *csi, image_t *image, uint32_t flags) {
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uint32_t length = 0;
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uint32_t length = 0;
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framebuffer_t *fb = csi->fb;
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framebuffer_t *fb = csi->fb;
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@ -915,7 +803,11 @@ static int stm_csi_snapshot(omv_csi_t *csi, image_t *image, uint32_t flags) {
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framebuffer_init_image(fb, image);
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framebuffer_init_image(fb, image);
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#if USE_DCMIPP
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#if USE_DCMIPP
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if (csi->raw_output) {
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if (csi->raw_output) {
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omv_csi_update_awb(csi, w * h);
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float luminance = stm_isp_update_awb(&csi->dcmi, DCMIPP_PIPE, w * h);
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if (csi->ioctl) {
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omv_csi_ioctl(csi, OMV_CSI_IOCTL_UPDATE_AGC_AEC, fast_floorf(luminance));
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}
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}
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}
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#endif
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#endif
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return 0;
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return 0;
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164
ports/stm32/stm_isp.c
Normal file
164
ports/stm32/stm_isp.c
Normal file
@ -0,0 +1,164 @@
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/*
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* Copyright (C) 2023-2024 OpenMV, LLC.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Any redistribution, use, or modification in source or binary form
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* is done solely for personal benefit and not for any commercial
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* purpose or for monetary gain. For commercial licensing options,
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* please contact openmv@openmv.io
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*
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* THIS SOFTWARE IS PROVIDED BY THE LICENSOR AND COPYRIGHT OWNER "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE LICENSOR OR COPYRIGHT
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* OWNER BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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* OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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* STM32 DCMIPP ISP driver.
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*/
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#include <string.h>
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#include "imlib.h"
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#include "stm_isp.h"
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#include "omv_boardconfig.h"
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#ifdef DCMIPP
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float stm_isp_update_awb(DCMIPP_HandleTypeDef *dcmipp, uint32_t pipe, uint32_t n_pixels) {
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uint32_t avg[3];
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uint32_t shift[3];
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uint32_t multi[3];
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for (int i = 0; i < 3; i++) {
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// DCMIPP_STATEXT_MODULE1
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HAL_DCMIPP_PIPE_GetISPAccumulatedStatisticsCounter(dcmipp, pipe, i + 1, &avg[i]);
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}
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// Averages are collected from bayer components (4R 2G 4B).
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avg[0] = OMV_MAX((avg[0] * 256 * 4) / n_pixels, 1);
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avg[1] = OMV_MAX((avg[1] * 256 * 2) / n_pixels, 1);
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avg[2] = OMV_MAX((avg[2] * 256 * 4) / n_pixels, 1);
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// Compute global luminance
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float luminance = avg[0] * 0.299 + avg[1] * 0.587 + avg[2] * 0.114;
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// Calculate average and exposure factors for each channel (R, G, B)
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for (int i = 0; i < 3; i++) {
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shift[i] = 0;
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multi[i] = roundf((luminance * 128.0f / avg[i]));
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|
while (multi[i] >= 255.0f && shift[i] < 7) {
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multi[i] /= 2;
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shift[i]++;
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}
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}
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// Configure RGB exposure settings.
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DCMIPP_ExposureConfTypeDef expcfg = {
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.ShiftRed = shift[0],
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.MultiplierRed = multi[0],
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.ShiftGreen = shift[1],
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.MultiplierGreen = multi[1],
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.ShiftBlue = shift[2],
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.MultiplierBlue = multi[2],
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};
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HAL_DCMIPP_PIPE_SetISPExposureConfig(dcmipp, pipe, &expcfg);
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return luminance;
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}
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int stm_isp_config_pipeline(DCMIPP_HandleTypeDef *dcmipp, uint32_t pipe,
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pixformat_t pixformat, bool raw_output) {
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// Configure the pixel processing pipeline.
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DCMIPP_PipeConfTypeDef pcfg = {
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.FrameRate = DCMIPP_FRAME_RATE_ALL
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};
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if (pixformat == PIXFORMAT_RGB565) {
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pcfg.PixelPackerFormat = DCMIPP_PIXEL_PACKER_FORMAT_RGB565_1;
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} else if (pixformat == PIXFORMAT_GRAYSCALE || pixformat == PIXFORMAT_BAYER) {
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pcfg.PixelPackerFormat = DCMIPP_PIXEL_PACKER_FORMAT_MONO_Y8_G8_1;
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} else if (pixformat == PIXFORMAT_YUV422) {
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pcfg.PixelPackerFormat = DCMIPP_PIXEL_PACKER_FORMAT_YUV422_1;
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} else {
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return -1;
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}
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|
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|
if (HAL_DCMIPP_PIPE_SetConfig(dcmipp, pipe, &pcfg) != HAL_OK) {
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|
return -1;
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}
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// Early exit if no debayer is needed.
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|
if (!raw_output || pixformat == PIXFORMAT_BAYER) {
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return 0;
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|
}
|
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|
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|
// Configure ISP debayer.
|
||||||
|
DCMIPP_RawBayer2RGBConfTypeDef rawcfg = {
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.RawBayerType = DCMIPP_RAWBAYER_BGGR,
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|
.VLineStrength = DCMIPP_RAWBAYER_ALGO_NONE,
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|
.HLineStrength = DCMIPP_RAWBAYER_ALGO_NONE,
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||||||
|
.PeakStrength = DCMIPP_RAWBAYER_ALGO_NONE,
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.EdgeStrength = DCMIPP_RAWBAYER_ALGO_NONE,
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|
};
|
||||||
|
|
||||||
|
if (HAL_DCMIPP_PIPE_SetISPRawBayer2RGBConfig(dcmipp, pipe, &rawcfg) != HAL_OK ||
|
||||||
|
HAL_DCMIPP_PIPE_EnableISPRawBayer2RGB(dcmipp, pipe) != HAL_OK) {
|
||||||
|
return -1;
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||||||
|
}
|
||||||
|
|
||||||
|
DCMIPP_ExposureConfTypeDef expcfg = {
|
||||||
|
.ShiftRed = 0,
|
||||||
|
.MultiplierRed = 128,
|
||||||
|
.ShiftGreen = 0,
|
||||||
|
.MultiplierGreen = 128,
|
||||||
|
.ShiftBlue = 0,
|
||||||
|
.MultiplierBlue = 128,
|
||||||
|
};
|
||||||
|
|
||||||
|
if (HAL_DCMIPP_PIPE_SetISPExposureConfig(dcmipp, pipe, &expcfg) != HAL_OK ||
|
||||||
|
HAL_DCMIPP_PIPE_EnableISPExposure(dcmipp, pipe) != HAL_OK) {
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
const uint32_t statsrc[] = {
|
||||||
|
DCMIPP_STAT_EXT_SOURCE_PRE_BLKLVL_R,
|
||||||
|
DCMIPP_STAT_EXT_SOURCE_PRE_BLKLVL_G,
|
||||||
|
DCMIPP_STAT_EXT_SOURCE_PRE_BLKLVL_B
|
||||||
|
};
|
||||||
|
DCMIPP_StatisticExtractionConfTypeDef statcfg[3];
|
||||||
|
|
||||||
|
for (size_t i = 0; i < 3; i++) {
|
||||||
|
statcfg[i].Source = statsrc[i];
|
||||||
|
statcfg[i].Mode = DCMIPP_STAT_EXT_MODE_AVERAGE;
|
||||||
|
statcfg[i].Bins = DCMIPP_STAT_EXT_AVER_MODE_ALL_PIXELS; //NOEXT16;
|
||||||
|
}
|
||||||
|
|
||||||
|
for (size_t i = DCMIPP_STATEXT_MODULE1; i <= DCMIPP_STATEXT_MODULE3; i++) {
|
||||||
|
if (HAL_DCMIPP_PIPE_SetISPStatisticExtractionConfig(dcmipp,
|
||||||
|
pipe, i,
|
||||||
|
&statcfg[i - DCMIPP_STATEXT_MODULE1]) != HAL_OK) {
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (HAL_DCMIPP_PIPE_EnableISPStatisticExtraction(dcmipp, pipe, i) != HAL_OK) {
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
#endif // DCMIPP
|
45
ports/stm32/stm_isp.h
Normal file
45
ports/stm32/stm_isp.h
Normal file
@ -0,0 +1,45 @@
|
|||||||
|
/*
|
||||||
|
* Copyright (C) 2023-2024 OpenMV, LLC.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Any redistribution, use, or modification in source or binary form
|
||||||
|
* is done solely for personal benefit and not for any commercial
|
||||||
|
* purpose or for monetary gain. For commercial licensing options,
|
||||||
|
* please contact openmv@openmv.io
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE LICENSOR AND COPYRIGHT OWNER "AS IS"
|
||||||
|
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
|
||||||
|
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||||
|
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE LICENSOR OR COPYRIGHT
|
||||||
|
* OWNER BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
||||||
|
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
||||||
|
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
||||||
|
* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
|
||||||
|
* OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||||
|
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||||
|
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
* STM32 DCMIPP ISP driver.
|
||||||
|
*/
|
||||||
|
#ifndef __STM_ISP_H__
|
||||||
|
#define __STM_ISP_H__
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <stdbool.h>
|
||||||
|
#include STM32_HAL_H
|
||||||
|
|
||||||
|
#ifdef DCMIPP
|
||||||
|
int stm_isp_config_pipeline(DCMIPP_HandleTypeDef *dcmipp, uint32_t pipe,
|
||||||
|
pixformat_t pixformat, bool raw_output);
|
||||||
|
float stm_isp_update_awb(DCMIPP_HandleTypeDef *dcmipp, uint32_t pipe, uint32_t n_pixels);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif // __STM_ISP_H__
|
Loading…
Reference in New Issue
Block a user