ports/stm32: Refactor CSI ISP code.

Signed-off-by: iabdalkader <i.abdalkader@gmail.com>
This commit is contained in:
iabdalkader 2025-07-06 14:26:03 +02:00
parent 5ba66423de
commit ff3e4e0183
3 changed files with 216 additions and 115 deletions

View File

@ -42,6 +42,7 @@
#include "omv_i2c.h"
#include "omv_csi.h"
#include "stm_dma.h"
#include "stm_isp.h"
#if defined(DMA2)
#define USE_DMA (1)
@ -240,74 +241,9 @@ static int stm_csi_config(omv_csi_t *csi, omv_csi_config_t config) {
}
// Configure the pixel processing pipeline.
DCMIPP_PipeConfTypeDef pcfg = { .FrameRate = DCMIPP_FRAME_RATE_ALL };
if (csi->pixformat == PIXFORMAT_RGB565) {
pcfg.PixelPackerFormat = DCMIPP_PIXEL_PACKER_FORMAT_RGB565_1;
} else if (csi->pixformat == PIXFORMAT_GRAYSCALE || csi->pixformat == PIXFORMAT_BAYER) {
pcfg.PixelPackerFormat = DCMIPP_PIXEL_PACKER_FORMAT_MONO_Y8_G8_1;
} else if (csi->pixformat == PIXFORMAT_YUV422) {
pcfg.PixelPackerFormat = DCMIPP_PIXEL_PACKER_FORMAT_YUV422_1;
} else {
return OMV_CSI_ERROR_PIXFORMAT_UNSUPPORTED;
}
if (HAL_DCMIPP_PIPE_SetConfig(&csi->dcmi, DCMIPP_PIPE, &pcfg) != HAL_OK) {
if (stm_isp_config_pipeline(&csi->dcmi, DCMIPP_PIPE, csi->pixformat, csi->raw_output)) {
return OMV_CSI_ERROR_CSI_INIT_FAILED;
}
// Configure debayer.
if (csi->raw_output && csi->pixformat != PIXFORMAT_BAYER) {
DCMIPP_RawBayer2RGBConfTypeDef rawcfg = {
.RawBayerType = DCMIPP_RAWBAYER_BGGR,
.VLineStrength = DCMIPP_RAWBAYER_ALGO_NONE,
.HLineStrength = DCMIPP_RAWBAYER_ALGO_NONE,
.PeakStrength = DCMIPP_RAWBAYER_ALGO_NONE,
.EdgeStrength = DCMIPP_RAWBAYER_ALGO_NONE,
};
if (HAL_DCMIPP_PIPE_SetISPRawBayer2RGBConfig(&csi->dcmi, DCMIPP_PIPE, &rawcfg) != HAL_OK ||
HAL_DCMIPP_PIPE_EnableISPRawBayer2RGB(&csi->dcmi, DCMIPP_PIPE) != HAL_OK) {
return OMV_CSI_ERROR_CSI_INIT_FAILED;
}
DCMIPP_ExposureConfTypeDef expcfg = {
.ShiftRed = 0,
.MultiplierRed = 128,
.ShiftGreen = 0,
.MultiplierGreen = 128,
.ShiftBlue = 0,
.MultiplierBlue = 128,
};
if (HAL_DCMIPP_PIPE_SetISPExposureConfig(&csi->dcmi, DCMIPP_PIPE, &expcfg) != HAL_OK ||
HAL_DCMIPP_PIPE_EnableISPExposure(&csi->dcmi, DCMIPP_PIPE) != HAL_OK) {
return OMV_CSI_ERROR_CSI_INIT_FAILED;
}
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(&csi->dcmi,
DCMIPP_PIPE, i,
&statcfg[i - DCMIPP_STATEXT_MODULE1]) != HAL_OK) {
return OMV_CSI_ERROR_CSI_INIT_FAILED;
}
if (HAL_DCMIPP_PIPE_EnableISPStatisticExtraction(&csi->dcmi, DCMIPP_PIPE, i) != HAL_OK) {
return OMV_CSI_ERROR_CSI_INIT_FAILED;
}
}
}
#endif
}
return 0;
@ -603,54 +539,6 @@ void DCMI_DMAConvCpltUser(uint32_t addr) {
}
#endif
#if USE_DCMIPP
void omv_csi_update_awb(omv_csi_t *csi, uint32_t n_pixels) {
uint32_t avg[3];
uint32_t shift[3];
uint32_t multi[3];
for (int i = 0; i < 3; i++) {
// DCMIPP_STATEXT_MODULE1
HAL_DCMIPP_PIPE_GetISPAccumulatedStatisticsCounter(&csi->dcmi, DCMIPP_PIPE, i + 1, &avg[i]);
}
// Averages are collected from bayer components (4R 2G 4B).
avg[0] = OMV_MAX((avg[0] * 256 * 4) / n_pixels, 1);
avg[1] = OMV_MAX((avg[1] * 256 * 2) / n_pixels, 1);
avg[2] = OMV_MAX((avg[2] * 256 * 4) / n_pixels, 1);
// Compute global luminance
float luminance = avg[0] * 0.299 + avg[1] * 0.587 + avg[2] * 0.114;
//printf("Luminance: %f AVG_R: %lu, AVG_G: %lu, AVG_B: %lu\n", (double) luminance, avg[0], avg[1], avg[2]);
if (csi->ioctl) {
omv_csi_ioctl(csi, OMV_CSI_IOCTL_UPDATE_AGC_AEC, fast_floorf(luminance));
}
// Calculate average and exposure factors for each channel (R, G, B)
for (int i = 0; i < 3; i++) {
shift[i] = 0;
multi[i] = roundf((luminance * 128.0f / avg[i]));
while (multi[i] >= 255.0f && shift[i] < 7) {
multi[i] /= 2;
shift[i]++;
}
//printf("Channel %d: Expf: %lu Shift: %lu, Multi: %lu\n", i, expf, shift[i], multi[i]);
}
// Configure RGB exposure settings.
DCMIPP_ExposureConfTypeDef expcfg = {
.ShiftRed = shift[0],
.MultiplierRed = multi[0],
.ShiftGreen = shift[1],
.MultiplierGreen = multi[1],
.ShiftBlue = shift[2],
.MultiplierBlue = multi[2],
};
HAL_DCMIPP_PIPE_SetISPExposureConfig(&csi->dcmi, DCMIPP_PIPE, &expcfg);
}
#endif
static int stm_csi_snapshot(omv_csi_t *csi, image_t *image, uint32_t flags) {
uint32_t length = 0;
framebuffer_t *fb = csi->fb;
@ -915,7 +803,11 @@ static int stm_csi_snapshot(omv_csi_t *csi, image_t *image, uint32_t flags) {
framebuffer_init_image(fb, image);
#if USE_DCMIPP
if (csi->raw_output) {
omv_csi_update_awb(csi, w * h);
float luminance = stm_isp_update_awb(&csi->dcmi, DCMIPP_PIPE, w * h);
if (csi->ioctl) {
omv_csi_ioctl(csi, OMV_CSI_IOCTL_UPDATE_AGC_AEC, fast_floorf(luminance));
}
}
#endif
return 0;

164
ports/stm32/stm_isp.c Normal file
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@ -0,0 +1,164 @@
/*
* 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.
*/
#include <string.h>
#include "imlib.h"
#include "stm_isp.h"
#include "omv_boardconfig.h"
#ifdef DCMIPP
float stm_isp_update_awb(DCMIPP_HandleTypeDef *dcmipp, uint32_t pipe, uint32_t n_pixels) {
uint32_t avg[3];
uint32_t shift[3];
uint32_t multi[3];
for (int i = 0; i < 3; i++) {
// DCMIPP_STATEXT_MODULE1
HAL_DCMIPP_PIPE_GetISPAccumulatedStatisticsCounter(dcmipp, pipe, i + 1, &avg[i]);
}
// Averages are collected from bayer components (4R 2G 4B).
avg[0] = OMV_MAX((avg[0] * 256 * 4) / n_pixels, 1);
avg[1] = OMV_MAX((avg[1] * 256 * 2) / n_pixels, 1);
avg[2] = OMV_MAX((avg[2] * 256 * 4) / n_pixels, 1);
// Compute global luminance
float luminance = avg[0] * 0.299 + avg[1] * 0.587 + avg[2] * 0.114;
// Calculate average and exposure factors for each channel (R, G, B)
for (int i = 0; i < 3; i++) {
shift[i] = 0;
multi[i] = roundf((luminance * 128.0f / avg[i]));
while (multi[i] >= 255.0f && shift[i] < 7) {
multi[i] /= 2;
shift[i]++;
}
}
// Configure RGB exposure settings.
DCMIPP_ExposureConfTypeDef expcfg = {
.ShiftRed = shift[0],
.MultiplierRed = multi[0],
.ShiftGreen = shift[1],
.MultiplierGreen = multi[1],
.ShiftBlue = shift[2],
.MultiplierBlue = multi[2],
};
HAL_DCMIPP_PIPE_SetISPExposureConfig(dcmipp, pipe, &expcfg);
return luminance;
}
int stm_isp_config_pipeline(DCMIPP_HandleTypeDef *dcmipp, uint32_t pipe,
pixformat_t pixformat, bool raw_output) {
// Configure the pixel processing pipeline.
DCMIPP_PipeConfTypeDef pcfg = {
.FrameRate = DCMIPP_FRAME_RATE_ALL
};
if (pixformat == PIXFORMAT_RGB565) {
pcfg.PixelPackerFormat = DCMIPP_PIXEL_PACKER_FORMAT_RGB565_1;
} else if (pixformat == PIXFORMAT_GRAYSCALE || pixformat == PIXFORMAT_BAYER) {
pcfg.PixelPackerFormat = DCMIPP_PIXEL_PACKER_FORMAT_MONO_Y8_G8_1;
} else if (pixformat == PIXFORMAT_YUV422) {
pcfg.PixelPackerFormat = DCMIPP_PIXEL_PACKER_FORMAT_YUV422_1;
} else {
return -1;
}
if (HAL_DCMIPP_PIPE_SetConfig(dcmipp, pipe, &pcfg) != HAL_OK) {
return -1;
}
// Early exit if no debayer is needed.
if (!raw_output || pixformat == PIXFORMAT_BAYER) {
return 0;
}
// Configure ISP debayer.
DCMIPP_RawBayer2RGBConfTypeDef rawcfg = {
.RawBayerType = DCMIPP_RAWBAYER_BGGR,
.VLineStrength = DCMIPP_RAWBAYER_ALGO_NONE,
.HLineStrength = DCMIPP_RAWBAYER_ALGO_NONE,
.PeakStrength = DCMIPP_RAWBAYER_ALGO_NONE,
.EdgeStrength = DCMIPP_RAWBAYER_ALGO_NONE,
};
if (HAL_DCMIPP_PIPE_SetISPRawBayer2RGBConfig(dcmipp, pipe, &rawcfg) != HAL_OK ||
HAL_DCMIPP_PIPE_EnableISPRawBayer2RGB(dcmipp, pipe) != HAL_OK) {
return -1;
}
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
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@ -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__