sensors: Add genx320 driver.

This commit is contained in:
Kwabena W. Agyeman 2024-09-26 14:02:31 -07:00
parent 2586c60af2
commit 8d3eb90a06
11 changed files with 492 additions and 6 deletions

View File

@ -54,6 +54,7 @@ OMV_DIR=omv
CUBEAI_DIR=stm32cubeai
CMSIS_DIR=hal/cmsis
MICROPY_DIR=micropython
GENX320_DIR=drivers/genx320
LEPTON_DIR=drivers/lepton
LSM6DS3_DIR=drivers/lsm6ds3
LSM6DSOX_DIR=drivers/lsm6dsox

View File

@ -56,7 +56,10 @@
* @param buf Pointer to the variable where the data needs to be stored
*/
void psee_sensor_read(uint16_t register_address, uint32_t *buf) {
omv_i2c_readw4(&sensor.i2c_bus, sensor.slv_addr, register_address, buf);
uint8_t addr[] = {(register_address >> 8), register_address};
omv_i2c_write_bytes(&sensor.i2c_bus, sensor.slv_addr, addr, 2, OMV_I2C_XFER_NO_STOP);
omv_i2c_read_bytes(&sensor.i2c_bus, sensor.slv_addr, (uint8_t *) buf, 4, OMV_I2C_XFER_NO_FLAGS);
*buf = __REV(*buf);
};
/**
@ -65,7 +68,9 @@ void psee_sensor_read(uint16_t register_address, uint32_t *buf) {
* @param register_data Data to be written
*/
void psee_sensor_write(uint16_t register_address, uint32_t register_data) {
omv_i2c_writew4(&sensor.i2c_bus, sensor.slv_addr, register_address, register_data);
uint8_t buf[] = {(register_address >> 8), register_address,
(register_data >> 24), (register_data >> 16), (register_data >> 8), register_data};
omv_i2c_write_bytes(&sensor.i2c_bus, sensor.slv_addr, buf, 6, OMV_I2C_XFER_NO_FLAGS);
};
/**

View File

@ -44,6 +44,7 @@ SRCS += $(addprefix sensors/, \
hm01b0.c \
hm0360.c \
gc2145.c \
genx320.c \
pag7920.c \
paj6100.c \
frogeye2020.c \

View File

@ -48,6 +48,7 @@
#define OMV_MT9M114_ENABLE (1)
#define OMV_MT9V0XX_ENABLE (1)
#define OMV_LEPTON_ENABLE (1)
#define OMV_GENX320_ENABLE (1)
#define OMV_PAG7920_ENABLE (1)
#define OMV_PAJ6100_ENABLE (1)
#define OMV_FROGEYE2020_ENABLE (1)

View File

@ -42,6 +42,7 @@
#define OMV_MT9M114_ENABLE (1)
#define OMV_MT9V0XX_ENABLE (1)
#define OMV_LEPTON_ENABLE (1)
#define OMV_GENX320_ENABLE (1)
#define OMV_PAG7920_ENABLE (1)
#define OMV_PAJ6100_ENABLE (1)
#define OMV_FROGEYE2020_ENABLE (1)

View File

@ -22,6 +22,7 @@
#define LEPTON_SLV_ADDR (0x54)
#define HM0XX0_SLV_ADDR (0x48)
#define GC2145_SLV_ADDR (0x78)
#define GENX320_SLV_ADDR (0x78)
#define FROGEYE2020_SLV_ADDR (0x6E)
#define PAG7920_SLV_ADDR (0x80)
@ -31,6 +32,7 @@
#define ON_CHIP_ID (0x00)
#define HIMAX_CHIP_ID (0x0001)
#define GC_CHIP_ID (0xF0)
#define GENX320_CHIP_ID (0x0014)
#define PIXART_CHIP_ID (0x00)
// Chip ID Values
@ -57,6 +59,8 @@
#define HM01B0_ID (0xB0)
#define HM0360_ID (0x60)
#define GC2145_ID (0x21)
#define GENX320_ID_ES (0x30501C01)
#define GENX320_ID_MP (0xB0602003)
#define PAG7920_ID (0x7920)
#define PAJ6100_ID (0x6100)
#define FROGEYE2020_ID (0x2020)

View File

@ -30,6 +30,7 @@
#include "paj6100.h"
#include "frogeye2020.h"
#include "gc2145.h"
#include "genx320.h"
#include "framebuffer.h"
#include "unaligned_memcpy.h"
#include "omv_boardconfig.h"
@ -194,17 +195,27 @@ static int sensor_detect() {
return slv_addr;
#endif // (OMV_OV2640_ENABLE == 1)
#if (OMV_OV5640_ENABLE == 1) || (OMV_GC2145_ENABLE == 1)
// OV5640 and GC2145 share the same I2C address
case OV5640_SLV_ADDR: // Or GC2145
#if (OMV_OV5640_ENABLE == 1) || (OMV_GC2145_ENABLE == 1) || (OMV_GENX320_ENABLE == 1)
// OV5640, GC2145, and GENX320 share the same I2C address
case OV5640_SLV_ADDR: // Or GC2145, or GENX320.
// Try to read GC2145 chip ID first
omv_i2c_readb(&sensor.i2c_bus, slv_addr, GC_CHIP_ID, (uint8_t *) &sensor.chip_id);
if (sensor.chip_id != GC2145_ID) {
// If it fails, try reading OV5640 chip ID.
omv_i2c_readb2(&sensor.i2c_bus, slv_addr, OV5640_CHIP_ID, (uint8_t *) &sensor.chip_id);
#if (OMV_GENX320_ENABLE == 1)
if (sensor.chip_id != OV5640_ID) {
// If it fails, try reading GENX320 chip ID.
uint8_t buf[] = {(GENX320_CHIP_ID >> 8), GENX320_CHIP_ID};
omv_i2c_write_bytes(&sensor.i2c_bus, slv_addr, buf, 2, OMV_I2C_XFER_NO_STOP);
omv_i2c_read_bytes(&sensor.i2c_bus, slv_addr, (uint8_t *) &sensor.chip_id, 4, OMV_I2C_XFER_NO_FLAGS);
sensor.chip_id = __REV(sensor.chip_id);
}
#endif // (OMV_GENX320_ENABLE == 1)
}
return slv_addr;
#endif // (OMV_OV5640_ENABLE == 1) || (OMV_GC2145_ENABLE == 1)
#endif // (OMV_OV5640_ENABLE == 1) || (OMV_GC2145_ENABLE == 1) || (OMV_GENX320_ENABLE == 1)
#if (OMV_OV7725_ENABLE == 1) || (OMV_OV7670_ENABLE == 1) || (OMV_OV7690_ENABLE == 1)
case OV7725_SLV_ADDR: // Or OV7690 or OV7670.
@ -442,6 +453,16 @@ int sensor_probe_init(uint32_t bus_id, uint32_t bus_speed) {
break;
#endif //(OMV_GC2145_ENABLE == 1)
#if (OMV_GENX320_ENABLE == 1)
case GENX320_ID_ES:
case GENX320_ID_MP:
if (sensor_set_xclk_frequency(OMV_GENX320_XCLK_FREQ) != 0) {
return SENSOR_ERROR_TIM_INIT_FAILED;
}
init_ret = genx320_init(&sensor);
break;
#endif // (OMV_GENX320_ENABLE == 1)
#if (OMV_PAG7920_ENABLE == 1)
case PAG7920_ID:
if (sensor_set_xclk_frequency(OMV_PAG7920_XCLK_FREQ) != 0) {

View File

@ -96,6 +96,7 @@ OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/templates/
OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/ports/$(PORT)/
OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/ports/$(PORT)/modules/
OMV_CFLAGS += -I$(TOP_DIR)/$(GENX320_DIR)/include/
OMV_CFLAGS += -I$(TOP_DIR)/$(LEPTON_DIR)/include/
OMV_CFLAGS += -I$(TOP_DIR)/$(LSM6DS3_DIR)/include/
OMV_CFLAGS += -I$(TOP_DIR)/$(LSM6DSOX_DIR)/include/
@ -118,6 +119,7 @@ LIBS += $(TOP_DIR)/$(TENSORFLOW_DIR)/libtflm/lib/libtflm-$(CPU)+fp-release.a
#------------- Firmware Objects ----------------#
FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/*/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(HAL_DIR)/drivers/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(GENX320_DIR)/src/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(LEPTON_DIR)/src/*.o)
ifeq ($(MICROPY_PY_IMU), 1)
FIRM_OBJ += $(wildcard $(BUILD)/$(LSM6DS3_DIR)/src/*.o)
@ -171,6 +173,7 @@ FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/sensors/, \
hm01b0.o \
hm0360.o \
gc2145.o \
genx320.o \
pag7920.o \
paj6100.o \
frogeye2020.o \
@ -525,6 +528,7 @@ FIRMWARE_OBJS: | $(BUILD) $(FW_DIR)
$(MAKE) -C $(HAL_DIR) BUILD=$(BUILD)/$(HAL_DIR) CFLAGS="$(CFLAGS) -MMD"
$(MAKE) -C $(TENSORFLOW_DIR) BUILD=$(BUILD)/$(TENSORFLOW_DIR) CFLAGS="$(CFLAGS) -MMD" headers
$(MAKE) -C $(MICROPY_DIR)/ports/$(PORT) BUILD=$(BUILD)/$(MICROPY_DIR) $(MICROPY_ARGS)
$(MAKE) -C $(GENX320_DIR) BUILD=$(BUILD)/$(GENX320_DIR) CFLAGS="$(CFLAGS) -MMD"
$(MAKE) -C $(LEPTON_DIR) BUILD=$(BUILD)/$(LEPTON_DIR) CFLAGS="$(CFLAGS) -MMD"
ifeq ($(MICROPY_PY_IMU), 1)
$(MAKE) -C $(LSM6DS3_DIR) BUILD=$(BUILD)/$(LSM6DS3_DIR) CFLAGS="$(CFLAGS) -MMD"

View File

@ -90,6 +90,7 @@ OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/templates/
OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/ports/$(PORT)/
OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/ports/$(PORT)/modules/
OMV_CFLAGS += -I$(TOP_DIR)/$(GENX320_DIR)/include/
OMV_CFLAGS += -I$(TOP_DIR)/$(LEPTON_DIR)/include/
OMV_CFLAGS += -I$(TOP_DIR)/$(LSM6DS3_DIR)/include/
OMV_CFLAGS += -I$(TOP_DIR)/$(LSM6DSOX_DIR)/include/
@ -145,6 +146,7 @@ LIBS += $(TOP_DIR)/$(TENSORFLOW_DIR)/libtflm/lib/libtflm-$(CPU)+fp-release.a
FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/*/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(HAL_DIR)/src/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(GENX320_DIR)/src/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(LEPTON_DIR)/src/*.o)
ifeq ($(MICROPY_PY_IMU), 1)
FIRM_OBJ += $(wildcard $(BUILD)/$(LSM6DS3_DIR)/src/*.o)
@ -201,6 +203,7 @@ FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/sensors/, \
hm01b0.o \
hm0360.o \
gc2145.o \
genx320.o \
pag7920.o \
paj6100.o \
frogeye2020.o \
@ -607,6 +610,7 @@ UVC_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/sensors/, \
hm01b0.o \
hm0360.o \
gc2145.o \
genx320.o \
pag7920.o \
paj6100.o \
frogeye2020.o \
@ -637,6 +641,7 @@ UVC_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/ports/stm32/,\
omv_spi.o \
)
UVC_OBJ += $(wildcard $(BUILD)/$(GENX320_DIR)/src/*.o)
UVC_OBJ += $(wildcard $(BUILD)/$(LEPTON_DIR)/src/*.o)
ifeq ($(MICROPY_PY_IMU), 1)
UVC_OBJ += $(wildcard $(BUILD)/$(LSM6DS3_DIR)/src/*.o)
@ -663,6 +668,7 @@ FIRMWARE_OBJS: | $(BUILD) $(FW_DIR)
$(MAKE) -C $(HAL_DIR) BUILD=$(BUILD)/$(HAL_DIR) CFLAGS="$(CFLAGS) -MMD"
$(MAKE) -C $(TENSORFLOW_DIR) BUILD=$(BUILD)/$(TENSORFLOW_DIR) CFLAGS="$(CFLAGS) -MMD" headers
$(MAKE) -C $(MICROPY_DIR)/ports/$(PORT) BUILD=$(BUILD)/$(MICROPY_DIR) $(MICROPY_ARGS)
$(MAKE) -C $(GENX320_DIR) BUILD=$(BUILD)/$(GENX320_DIR) CFLAGS="$(CFLAGS) -MMD"
$(MAKE) -C $(LEPTON_DIR) BUILD=$(BUILD)/$(LEPTON_DIR) CFLAGS="$(CFLAGS) -MMD"
ifeq ($(MICROPY_PY_IMU), 1)
$(MAKE) -C $(LSM6DS3_DIR) BUILD=$(BUILD)/$(LSM6DS3_DIR) CFLAGS="$(CFLAGS) -MMD"

427
src/omv/sensors/genx320.c Normal file
View File

@ -0,0 +1,427 @@
/*
* This file is part of the OpenMV project.
*
* Copyright (c) 2013-2024 Ibrahim Abdelkader <iabdalkader@openmv.io>
* Copyright (c) 2013-2024 Kwabena W. Agyeman <kwagyeman@openmv.io>
*
* This work is licensed under the MIT license, see the file LICENSE for details.
*
* GENX320 driver.
*/
#include "omv_boardconfig.h"
#if (OMV_GENX320_ENABLE == 1)
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include "omv_i2c.h"
#include "sensor.h"
#include "framebuffer.h"
#include "genx320.h"
#include "py/mphal.h"
#include "evt_2_0.h"
#include "psee_genx320.h"
#define BLANK_LINES 4
#define BLANK_COLUMNS 4
#define SENSOR_WIDTH 324
#define SENSOR_HEIGHT 324
#define ACTIVE_SENSOR_WIDTH (SENSOR_WIDTH - BLANK_COLUMNS)
#define ACTIVE_SENSOR_HEIGHT (SENSOR_HEIGHT - BLANK_LINES)
#define ACTIVE_SENSOR_SIZE (ACTIVE_SENSOR_WIDTH * ACTIVE_SENSOR_HEIGHT)
#define HSYNC_CLOCK_CYCLES 32
#define VSYNC_CLOCK_CYCLES 32
#define CONTRAST_DEFAULT 16
#define BRIGHTNESS_DEFAULT 128
#define I2C_TIMEOUT 1000
#define SRAM_INIT_TIMEOUT 100
#define INTEGRATION_DEF_PREIOD 10000 // 10ms (100 FPS)
#define INTEGRATION_MIN_PREIOD 0x10 // 16us
#define INTEGRATION_MAX_PREIOD 0x1FFF0 // 131056us
#define FPS_TO_US(fps) (1000000 / (fps))
#define EVENT_THRESHOLD_TO_CALIBRATE 100000
#define EVENT_THRESHOLD_SIGMA 10
#if (OMV_GENX320_CAL_ENABLE == 1)
static bool hot_pixels_disabled = false;
#endif // (OMV_GENX320_CAL_ENABLE == 1)
static int32_t contrast = CONTRAST_DEFAULT;
static int32_t brightness = BRIGHTNESS_DEFAULT;
static int reset(sensor_t *sensor) {
sensor->color_palette = NULL;
#if (OMV_GENX320_CAL_ENABLE == 1)
hot_pixels_disabled = false;
#endif // (OMV_GENX320_CAL_ENABLE == 1)
contrast = CONTRAST_DEFAULT;
brightness = BRIGHTNESS_DEFAULT;
BIAS_Params_t biases = (sensor->chip_id == SAPHIR_ES_ID) ? genx320es_default_biases : genx320mp_default_biases;
// Force CPI with chicken bits
psee_sensor_write(TOP_CHICKEN, TOP_CHICKEN_OVERRIDE_MIPI_MODE_EN |
TOP_CHICKEN_OVERRIDE_HISTO_MODE_EN |
#if (OMV_GENX320_EHC_ENABLE == 1)
1 << TOP_CHICKEN_OVERRIDE_HISTO_MODE_Pos |
#else
0 << TOP_CHICKEN_OVERRIDE_HISTO_MODE_Pos |
#endif // (OMV_GENX320_EHC_ENABLE == 1)
I2C_TIMEOUT << TOP_CHICKEN_I2C_TIMEOUT_Pos);
// Start the Init sequence
psee_sensor_init(&dcmi_evt);
// Set EVT20 mode
psee_sensor_write(EDF_CONTROL, 0);
// Configure Packet and Frame sizes
psee_sensor_write(CPI_PACKET_SIZE_CONTROL, ACTIVE_SENSOR_WIDTH);
psee_sensor_write(CPI_PACKET_TIME_CONTROL, ACTIVE_SENSOR_WIDTH << CPI_PACKET_TIME_CONTROL_PERIOD_Pos |
HSYNC_CLOCK_CYCLES << CPI_PACKET_TIME_CONTROL_BLANKING_Pos);
psee_sensor_write(CPI_FRAME_SIZE_CONTROL, ACTIVE_SENSOR_HEIGHT);
psee_sensor_write(CPI_FRAME_TIME_CONTROL, VSYNC_CLOCK_CYCLES);
// Enable dropping
psee_sensor_write(RO_READOUT_CTRL, RO_READOUT_CTRL_DIGITAL_PIPE_EN |
RO_READOUT_CTRL_AVOID_BPRESS_TD |
RO_READOUT_CTRL_DROP_EN |
RO_READOUT_CTRL_DROP_ON_FULL_EN);
// Disable the Anti-FlicKering filter
psee_disable_afk();
// Operation Mode Configuration
psee_PM3C_config();
// Set the default border for the Activity map
psee_set_default_XY_borders(&genx320mp_default_am_borders);
// Configure the activity map
psee_configure_activity_map();
// Set Standard biases
psee_sensor_set_biases(&biases);
// Start the sensor
psee_sensor_start(&dcmi_evt);
#if (OMV_GENX320_EHC_ENABLE == 1)
// Bypass Filter
psee_sensor_write(EHC_PIPELINE_CONTROL, 0);
// Start sram init
psee_sensor_write(SRAM_INITN, SRAM_INITN_EHC_STC);
uint32_t reg;
psee_sensor_read(SRAM_PD0, &reg);
psee_sensor_write(SRAM_PD0, reg & ~(SRAM_PD0_EHC_PD | SRAM_PD0_STC0_PD | SRAM_PD0_STC1_PD));
psee_sensor_write(EHC_INITIALISATION, EHC_INITIALISATION_REQ_INIT);
// Configure the block
psee_sensor_write(EHC_EHC_CONTROL, 0 << EHC_CONTROL_ALGO_SEL_Pos | // diff3
1 << EHC_CONTROL_TRIG_SEL_Pos); // integration period
psee_sensor_write(EHC_BITS_SPLITTING, INT8_T_BITS << EHC_BITS_SPLITTING_NEGATIVE_BIT_LENGTH_Pos |
0 << EHC_BITS_SPLITTING_POSITIVE_BIT_LENGTH_Pos |
0 << EHC_BITS_SPLITTING_OUT_16BITS_PADDING_MODE_Pos);
psee_sensor_write(EHC_INTEGRATION_PERIOD, INTEGRATION_DEF_PREIOD);
// Check SRAM INIT done
for (mp_uint_t start = mp_hal_ticks_ms();; mp_hal_delay_ms(1)) {
uint32_t reg;
psee_sensor_read(EHC_INITIALISATION, &reg);
if (reg & EHC_INITIALISATION_FLAG_INIT_DONE) {
psee_sensor_write(EHC_INITIALISATION, EHC_INITIALISATION_FLAG_INIT_DONE);
break;
}
if ((mp_hal_ticks_ms() - start) >= SRAM_INIT_TIMEOUT) {
return -1;
}
}
// Re-enable filter
psee_sensor_write(EHC_PIPELINE_CONTROL, EHC_PIPELINE_CONTROL_ENABLE);
#endif // (OMV_GENX320_EHC_ENABLE == 1)
return 0;
}
static int sleep(sensor_t *sensor, int enable) {
if (enable) {
psee_PM2_config();
} else {
psee_PM3C_config();
}
return 0;
}
static int read_reg(sensor_t *sensor, uint16_t reg_addr) {
uint32_t reg_data;
uint8_t addr[] = {(reg_addr >> 8), reg_addr};
if (omv_i2c_write_bytes(&sensor->i2c_bus, sensor->slv_addr, addr, 2, OMV_I2C_XFER_NO_STOP) != 0) {
return -1;
}
if (omv_i2c_read_bytes(&sensor->i2c_bus, sensor->slv_addr, (uint8_t *) &reg_data, 4, OMV_I2C_XFER_NO_FLAGS) != 0) {
return -1;
}
reg_data = __REV(reg_data);
return reg_data;
}
static int write_reg(sensor_t *sensor, uint16_t reg_addr, uint16_t reg_data) {
uint8_t buf[] = {(reg_addr >> 8), reg_addr, (reg_data >> 24), (reg_data >> 16), (reg_data >> 8), reg_data};
return omv_i2c_write_bytes(&sensor->i2c_bus, sensor->slv_addr, buf, 6, OMV_I2C_XFER_NO_FLAGS);
}
static int set_pixformat(sensor_t *sensor, pixformat_t pixformat) {
return (pixformat == PIXFORMAT_GRAYSCALE) ? 0 : -1;
}
static int set_framesize(sensor_t *sensor, framesize_t framesize) {
return (framesize == FRAMESIZE_320X320) ? 0 : -1;
}
static int set_framerate(sensor_t *sensor, int framerate) {
#if (OMV_GENX320_EHC_ENABLE == 1)
int us = FPS_TO_US(framerate);
if (us < INTEGRATION_MIN_PREIOD) {
return -1;
}
if (us > INTEGRATION_MAX_PREIOD) {
return -1;
}
psee_sensor_write(EHC_INTEGRATION_PERIOD, us);
#endif // (OMV_GENX320_EHC_ENABLE == 1)
return 0;
}
static int set_contrast(sensor_t *sensor, int level) {
contrast = __USAT(level, UINT8_T_BITS);
return 0;
}
static int set_brightness(sensor_t *sensor, int level) {
brightness = __USAT(level, UINT8_T_BITS);
return 0;
}
static int set_colorbar(sensor_t *sensor, int enable) {
uint32_t reg;
psee_sensor_read(RO_READOUT_CTRL, &reg);
reg = (reg & ~RO_READOUT_CTRL_ERC_SELF_TEST_EN) | (enable ? RO_READOUT_CTRL_ERC_SELF_TEST_EN : 0);
psee_sensor_write(RO_READOUT_CTRL, reg);
return 0;
}
static int set_hmirror(sensor_t *sensor, int enable) {
psee_sensor_set_flip(enable, sensor->vflip);
return 0;
}
static int set_vflip(sensor_t *sensor, int enable) {
psee_sensor_set_flip(sensor->hmirror, enable);
return 0;
}
#if (OMV_GENX320_CAL_ENABLE == 1)
static void disable_hot_pixels(uint8_t *histogram) {
// Compute average
int32_t avg = 0;
for (uint32_t i = 0; i < ACTIVE_SENSOR_SIZE; i++) {
avg += histogram[i];
}
avg /= ACTIVE_SENSOR_SIZE;
// Compute std
int32_t std = 0;
for (uint32_t i = 0; i < ACTIVE_SENSOR_SIZE; i++) {
int32_t diff = histogram[i] - avg;
std += diff * diff;
}
std = fast_sqrtf(std / ACTIVE_SENSOR_SIZE);
int32_t threshold = avg + (std * EVENT_THRESHOLD_SIGMA);
for (uint32_t y = 0; y < ACTIVE_SENSOR_HEIGHT; y++) {
// Reset all blocks
for (uint32_t i = 0; i < (ACTIVE_SENSOR_WIDTH / UINT32_T_BITS); i++) {
psee_write_ROI_X(i * sizeof(uint32_t), 0);
}
// Select line
uint32_t offset = y / UINT32_T_BITS;
psee_write_ROI_Y(offset * sizeof(uint32_t), 1 << (y % UINT32_T_BITS));
// Trigger shadow
psee_write_ROI_CTRL(ROI_CTRL_PX_SW_RSTN | ROI_CTRL_TD_SHADOW_TRIGGER);
uint32_t tmp[ACTIVE_SENSOR_WIDTH / UINT32_T_BITS] = {};
for (uint32_t x = 0; x < ACTIVE_SENSOR_WIDTH; x++) {
if (histogram[(y * ACTIVE_SENSOR_WIDTH) + x] > threshold) {
tmp[x / UINT32_T_BITS] |= 1 << (x % UINT32_T_BITS);
}
}
// Write x values to disable
for (uint32_t i = 0; i < (ACTIVE_SENSOR_WIDTH / UINT32_T_BITS); i++) {
psee_write_ROI_X(i * sizeof(uint32_t), tmp[i]);
}
// Activate block
psee_write_ROI_CTRL(ROI_CTRL_PX_SW_RSTN | ROI_CTRL_TD_SHADOW_TRIGGER | ROI_CTRL_TD_EN);
// Disable roi block
psee_write_ROI_CTRL(ROI_CTRL_PX_SW_RSTN);
psee_write_ROI_Y(offset * sizeof(uint32_t), 0);
}
}
#endif // (OMV_GENX320_CAL_ENABLE == 1)
static void snapshot_post_process(image_t *image) {
#if (OMV_GENX320_EHC_ENABLE == 1)
for (uint32_t i = 0; i < ACTIVE_SENSOR_SIZE; i++) {
image->data[i] = __USAT((((int8_t *) image->data)[i] * contrast) + brightness, UINT8_T_BITS);
}
#else
uint8_t *out = fb_alloc(ACTIVE_SENSOR_SIZE, FB_ALLOC_NO_HINT);
memset(out, brightness, ACTIVE_SENSOR_SIZE);
for (uint32_t i = 0; i < (ACTIVE_SENSOR_SIZE / sizeof(uint32_t)); i++) {
uint32_t val = ((uint32_t *) image->data)[i];
uint32_t x = __EVT20_X(val);
uint32_t y = __EVT20_Y(val);
switch (__EVT20_TYPE(val)) {
case TD_LOW: {
if ((x < ACTIVE_SENSOR_WIDTH) && (y < ACTIVE_SENSOR_HEIGHT)) {
uint32_t index = (y * ACTIVE_SENSOR_WIDTH) + x;
out[index] = __USAT(((int32_t) out[index]) - contrast, UINT8_T_BITS);
}
break;
}
case TD_HIGH: {
if ((x < ACTIVE_SENSOR_WIDTH) && (y < ACTIVE_SENSOR_HEIGHT)) {
uint32_t index = (y * ACTIVE_SENSOR_WIDTH) + x;
out[index] = __USAT(((int32_t) out[index]) + contrast, UINT8_T_BITS);
}
break;
}
default: {
break;
}
}
}
memcpy(image->data, out, ACTIVE_SENSOR_SIZE);
fb_free();
#endif // (OMV_GENX320_EHC_ENABLE == 1)
if (sensor.color_palette && (framebuffer_get_buffer_size() >= (ACTIVE_SENSOR_SIZE * sizeof(uint16_t)))) {
for (int32_t i = ACTIVE_SENSOR_SIZE - 1; i >= 0; i--) {
((uint16_t *) image->data)[i] = sensor.color_palette[image->data[i]];
}
image->pixfmt = PIXFORMAT_RGB565;
MAIN_FB()->pixfmt = PIXFORMAT_RGB565;
}
}
static int snapshot(sensor_t *sensor, image_t *image, uint32_t flags) {
#if (OMV_GENX320_CAL_ENABLE == 1)
if (!hot_pixels_disabled) {
uint8_t *histogram = fb_alloc0(ACTIVE_SENSOR_SIZE, FB_ALLOC_NO_HINT);
// Collect events to calibrate hot pixels.
for (uint32_t i = 0; i < EVENT_THRESHOLD_TO_CALIBRATE; ) {
int ret = sensor_snapshot(sensor, image, flags);
if (ret < 0) {
return ret;
}
// Build histogram of events.
#if (OMV_GENX320_EHC_ENABLE == 1)
for (uint32_t j = 0; j < ACTIVE_SENSOR_SIZE; j++) {
int32_t val = abs(((int8_t *) image->data)[j]);
histogram[j] = val;
i += val;
}
#else
for (uint32_t j = 0; j < (ACTIVE_SENSOR_SIZE / sizeof(uint32_t)); j++) {
uint32_t val = ((uint32_t *) image->data)[j];
switch (__EVT20_TYPE(val)) {
case TD_LOW:
case TD_HIGH: {
uint32_t x = __EVT20_X(val);
uint32_t y = __EVT20_Y(val);
if ((x < ACTIVE_SENSOR_WIDTH) && (y < ACTIVE_SENSOR_HEIGHT)) {
uint32_t index = (y * ACTIVE_SENSOR_WIDTH) + x;
histogram[index] = __USAT(histogram[index] + 1, UINT8_T_BITS);
i++;
}
break;
}
default: {
break;
}
}
}
#endif // (OMV_GENX320_EHC_ENABLE == 1)
snapshot_post_process(image);
}
disable_hot_pixels(histogram);
fb_free();
hot_pixels_disabled = true;
}
#endif // (OMV_GENX320_CAL_ENABLE == 1)
int ret = sensor_snapshot(sensor, image, flags);
if (ret < 0) {
return ret;
}
snapshot_post_process(image);
return ret;
}
int genx320_init(sensor_t *sensor) {
// Initialize sensor structure
sensor->reset = reset;
sensor->sleep = sleep;
sensor->read_reg = read_reg;
sensor->write_reg = write_reg;
sensor->set_pixformat = set_pixformat;
sensor->set_framesize = set_framesize;
sensor->set_framerate = set_framerate;
sensor->set_contrast = set_contrast;
sensor->set_brightness = set_brightness;
sensor->set_colorbar = set_colorbar;
sensor->set_hmirror = set_hmirror;
sensor->set_vflip = set_vflip;
sensor->snapshot = snapshot;
// Set sensor flags
sensor->mono_bpp = sizeof(uint8_t);
return 0;
}
#endif // (OMV_GENX320_ENABLE == 1)

15
src/omv/sensors/genx320.h Normal file
View File

@ -0,0 +1,15 @@
/*
* This file is part of the OpenMV project.
*
* Copyright (c) 2013-2024 Ibrahim Abdelkader <iabdalkader@openmv.io>
* Copyright (c) 2013-2024 Kwabena W. Agyeman <kwagyeman@openmv.io>
*
* This work is licensed under the MIT license, see the file LICENSE for details.
*
* GENX320 driver.
*/
#ifndef __GENX320_H__
#define __GENX320_H__
#define OMV_GENX320_XCLK_FREQ (24000000)
int genx320_init(sensor_t *sensor);
#endif // __GENX320_H__