/* * This file is part of the OpenMV project. * * Copyright (c) 2013-2021 Ibrahim Abdelkader * Copyright (c) 2013-2021 Kwabena W. Agyeman * * This work is licensed under the MIT license, see the file LICENSE for details. * * OV5640 driver. */ #include "omv_boardconfig.h" #if (OMV_ENABLE_OV5640 == 1) #include #include #include #include "cambus.h" #include "sensor.h" #include "ov5640.h" #include "ov5640_regs.h" #include "py/mphal.h" #define BLANK_LINES 8 #define DUMMY_LINES 6 #define BLANK_COLUMNS 0 #define DUMMY_COLUMNS 16 #define SENSOR_WIDTH 2624 #define SENSOR_HEIGHT 1964 #define ACTIVE_SENSOR_WIDTH (SENSOR_WIDTH - BLANK_COLUMNS - (2 * DUMMY_COLUMNS)) #define ACTIVE_SENSOR_HEIGHT (SENSOR_HEIGHT - BLANK_LINES - (2 * DUMMY_LINES)) #define DUMMY_WIDTH_BUFFER 16 #define DUMMY_HEIGHT_BUFFER 8 #define HSYNC_TIME 252 #define VYSNC_TIME 24 static int16_t readout_x = 0; static int16_t readout_y = 0; static uint16_t readout_w = ACTIVE_SENSOR_WIDTH; static uint16_t readout_h = ACTIVE_SENSOR_HEIGHT; static uint16_t hts_target = 0; static const uint8_t default_regs[][3] = { // https://github.com/ArduCAM/Arduino/blob/master/ArduCAM/ov5640_regs.h { 0x47, 0x40, 0x20 }, { 0x40, 0x50, 0x6e }, { 0x40, 0x51, 0x8f }, { 0x30, 0x08, 0x42 }, { 0x31, 0x03, 0x03 }, { 0x30, 0x17, 0xff }, // { 0x30, 0x17, 0x7f }, { 0x30, 0x18, 0xff }, { 0x30, 0x2c, 0x02 }, { 0x31, 0x08, 0x01 }, { 0x36, 0x30, 0x2e }, { 0x36, 0x32, 0xe2 }, { 0x36, 0x33, 0x23 }, { 0x36, 0x21, 0xe0 }, { 0x37, 0x04, 0xa0 }, { 0x37, 0x03, 0x5a }, { 0x37, 0x15, 0x78 }, { 0x37, 0x17, 0x01 }, { 0x37, 0x0b, 0x60 }, { 0x37, 0x05, 0x1a }, { 0x39, 0x05, 0x02 }, { 0x39, 0x06, 0x10 }, { 0x39, 0x01, 0x0a }, { 0x37, 0x31, 0x12 }, { 0x36, 0x00, 0x08 }, { 0x36, 0x01, 0x33 }, { 0x30, 0x2d, 0x60 }, { 0x36, 0x20, 0x52 }, { 0x37, 0x1b, 0x20 }, { 0x47, 0x1c, 0x50 }, { 0x3a, 0x18, 0x00 }, { 0x3a, 0x19, 0xf8 }, { 0x36, 0x35, 0x1c }, { 0x36, 0x34, 0x40 }, { 0x36, 0x22, 0x01 }, { 0x3c, 0x04, 0x28 }, { 0x3c, 0x05, 0x98 }, { 0x3c, 0x06, 0x00 }, { 0x3c, 0x07, 0x08 }, { 0x3c, 0x08, 0x00 }, { 0x3c, 0x09, 0x1c }, { 0x3c, 0x0a, 0x9c }, { 0x3c, 0x0b, 0x40 }, { 0x38, 0x20, 0x47 }, // { 0x38, 0x20, 0x41 }, { 0x38, 0x21, 0x01 }, { 0x38, 0x00, 0x00 }, { 0x38, 0x01, 0x00 }, { 0x38, 0x02, 0x00 }, { 0x38, 0x03, 0x04 }, { 0x38, 0x04, 0x0a }, { 0x38, 0x05, 0x3f }, { 0x38, 0x06, 0x07 }, { 0x38, 0x07, 0x9b }, { 0x38, 0x08, 0x05 }, { 0x38, 0x09, 0x00 }, { 0x38, 0x0a, 0x03 }, { 0x38, 0x0b, 0xc0 }, { 0x38, 0x10, 0x00 }, { 0x38, 0x11, 0x10 }, { 0x38, 0x12, 0x00 }, { 0x38, 0x13, 0x06 }, { 0x38, 0x14, 0x31 }, { 0x38, 0x15, 0x31 }, { 0x30, 0x34, 0x1a }, { 0x30, 0x35, 0x11 }, // { 0x30, 0x35, 0x21 }, { 0x30, 0x36, 0x64 }, // { 0x30, 0x36, 0x46 }, { 0x30, 0x37, 0x13 }, { 0x30, 0x38, 0x00 }, { 0x30, 0x39, 0x00 }, { 0x38, 0x0c, 0x07 }, { 0x38, 0x0d, 0x68 }, { 0x38, 0x0e, 0x03 }, { 0x38, 0x0f, 0xd8 }, { 0x3c, 0x01, 0xb4 }, { 0x3c, 0x00, 0x04 }, { 0x3a, 0x08, 0x00 }, { 0x3a, 0x09, 0x93 }, { 0x3a, 0x0e, 0x06 }, { 0x3a, 0x0a, 0x00 }, { 0x3a, 0x0b, 0x7b }, { 0x3a, 0x0d, 0x08 }, { 0x3a, 0x00, 0x38 }, // { 0x3a, 0x00, 0x3c }, { 0x3a, 0x02, 0x05 }, { 0x3a, 0x03, 0xc4 }, { 0x3a, 0x14, 0x05 }, { 0x3a, 0x15, 0xc4 }, { 0x36, 0x18, 0x00 }, { 0x36, 0x12, 0x29 }, { 0x37, 0x08, 0x64 }, { 0x37, 0x09, 0x52 }, { 0x37, 0x0c, 0x03 }, { 0x40, 0x01, 0x02 }, { 0x40, 0x04, 0x02 }, { 0x30, 0x00, 0x00 }, { 0x30, 0x02, 0x1c }, { 0x30, 0x04, 0xff }, { 0x30, 0x06, 0xc3 }, { 0x30, 0x0e, 0x58 }, { 0x30, 0x2e, 0x00 }, { 0x43, 0x00, 0x30 }, { 0x50, 0x1f, 0x00 }, { 0x47, 0x13, 0x04 }, // { 0x47, 0x13, 0x03 }, { 0x44, 0x07, 0x04 }, { 0x46, 0x0b, 0x35 }, { 0x46, 0x0c, 0x22 }, { 0x38, 0x24, 0x02 }, // { 0x38, 0x24, 0x01 }, { 0x50, 0x01, 0xa3 }, { 0x34, 0x06, 0x01 }, { 0x34, 0x00, 0x06 }, { 0x34, 0x01, 0x80 }, { 0x34, 0x02, 0x04 }, { 0x34, 0x03, 0x00 }, { 0x34, 0x04, 0x06 }, { 0x34, 0x05, 0x00 }, { 0x51, 0x80, 0xff }, { 0x51, 0x81, 0xf2 }, { 0x51, 0x82, 0x00 }, { 0x51, 0x83, 0x14 }, { 0x51, 0x84, 0x25 }, { 0x51, 0x85, 0x24 }, { 0x51, 0x86, 0x16 }, { 0x51, 0x87, 0x16 }, { 0x51, 0x88, 0x16 }, { 0x51, 0x89, 0x62 }, { 0x51, 0x8a, 0x62 }, { 0x51, 0x8b, 0xf0 }, { 0x51, 0x8c, 0xb2 }, { 0x51, 0x8d, 0x50 }, { 0x51, 0x8e, 0x30 }, { 0x51, 0x8f, 0x30 }, { 0x51, 0x90, 0x50 }, { 0x51, 0x91, 0xf8 }, { 0x51, 0x92, 0x04 }, { 0x51, 0x93, 0x70 }, { 0x51, 0x94, 0xf0 }, { 0x51, 0x95, 0xf0 }, { 0x51, 0x96, 0x03 }, { 0x51, 0x97, 0x01 }, { 0x51, 0x98, 0x04 }, { 0x51, 0x99, 0x12 }, { 0x51, 0x9a, 0x04 }, { 0x51, 0x9b, 0x00 }, { 0x51, 0x9c, 0x06 }, { 0x51, 0x9d, 0x82 }, { 0x51, 0x9e, 0x38 }, { 0x53, 0x81, 0x1e }, { 0x53, 0x82, 0x5b }, { 0x53, 0x83, 0x14 }, { 0x53, 0x84, 0x06 }, { 0x53, 0x85, 0x82 }, { 0x53, 0x86, 0x88 }, { 0x53, 0x87, 0x7c }, { 0x53, 0x88, 0x60 }, { 0x53, 0x89, 0x1c }, { 0x53, 0x8a, 0x01 }, { 0x53, 0x8b, 0x98 }, { 0x53, 0x00, 0x08 }, { 0x53, 0x01, 0x30 }, { 0x53, 0x02, 0x3f }, { 0x53, 0x03, 0x10 }, { 0x53, 0x04, 0x08 }, { 0x53, 0x05, 0x30 }, { 0x53, 0x06, 0x18 }, { 0x53, 0x07, 0x28 }, { 0x53, 0x09, 0x08 }, { 0x53, 0x0a, 0x30 }, { 0x53, 0x0b, 0x04 }, { 0x53, 0x0c, 0x06 }, { 0x54, 0x80, 0x01 }, { 0x54, 0x81, 0x06 }, { 0x54, 0x82, 0x12 }, { 0x54, 0x83, 0x24 }, { 0x54, 0x84, 0x4a }, { 0x54, 0x85, 0x58 }, { 0x54, 0x86, 0x65 }, { 0x54, 0x87, 0x72 }, { 0x54, 0x88, 0x7d }, { 0x54, 0x89, 0x88 }, { 0x54, 0x8a, 0x92 }, { 0x54, 0x8b, 0xa3 }, { 0x54, 0x8c, 0xb2 }, { 0x54, 0x8d, 0xc8 }, { 0x54, 0x8e, 0xdd }, { 0x54, 0x8f, 0xf0 }, { 0x54, 0x90, 0x15 }, { 0x55, 0x80, 0x06 }, { 0x55, 0x83, 0x40 }, { 0x55, 0x84, 0x20 }, { 0x55, 0x89, 0x10 }, { 0x55, 0x8a, 0x00 }, { 0x55, 0x8b, 0xf8 }, { 0x50, 0x00, 0x27 }, // { 0x50, 0x00, 0xa7 }, { 0x58, 0x00, 0x20 }, { 0x58, 0x01, 0x19 }, { 0x58, 0x02, 0x17 }, { 0x58, 0x03, 0x16 }, { 0x58, 0x04, 0x18 }, { 0x58, 0x05, 0x21 }, { 0x58, 0x06, 0x0F }, { 0x58, 0x07, 0x0A }, { 0x58, 0x08, 0x07 }, { 0x58, 0x09, 0x07 }, { 0x58, 0x0a, 0x0A }, { 0x58, 0x0b, 0x0C }, { 0x58, 0x0c, 0x0A }, { 0x58, 0x0d, 0x03 }, { 0x58, 0x0e, 0x01 }, { 0x58, 0x0f, 0x01 }, { 0x58, 0x10, 0x03 }, { 0x58, 0x11, 0x09 }, { 0x58, 0x12, 0x0A }, { 0x58, 0x13, 0x03 }, { 0x58, 0x14, 0x01 }, { 0x58, 0x15, 0x01 }, { 0x58, 0x16, 0x03 }, { 0x58, 0x17, 0x08 }, { 0x58, 0x18, 0x10 }, { 0x58, 0x19, 0x0A }, { 0x58, 0x1a, 0x06 }, { 0x58, 0x1b, 0x06 }, { 0x58, 0x1c, 0x08 }, { 0x58, 0x1d, 0x0E }, { 0x58, 0x1e, 0x22 }, { 0x58, 0x1f, 0x18 }, { 0x58, 0x20, 0x13 }, { 0x58, 0x21, 0x12 }, { 0x58, 0x22, 0x16 }, { 0x58, 0x23, 0x1E }, { 0x58, 0x24, 0x64 }, { 0x58, 0x25, 0x2A }, { 0x58, 0x26, 0x2C }, { 0x58, 0x27, 0x2A }, { 0x58, 0x28, 0x46 }, { 0x58, 0x29, 0x2A }, { 0x58, 0x2a, 0x26 }, { 0x58, 0x2b, 0x24 }, { 0x58, 0x2c, 0x26 }, { 0x58, 0x2d, 0x2A }, { 0x58, 0x2e, 0x28 }, { 0x58, 0x2f, 0x42 }, { 0x58, 0x30, 0x40 }, { 0x58, 0x31, 0x42 }, { 0x58, 0x32, 0x08 }, { 0x58, 0x33, 0x28 }, { 0x58, 0x34, 0x26 }, { 0x58, 0x35, 0x24 }, { 0x58, 0x36, 0x26 }, { 0x58, 0x37, 0x2A }, { 0x58, 0x38, 0x44 }, { 0x58, 0x39, 0x4A }, { 0x58, 0x3a, 0x2C }, { 0x58, 0x3b, 0x2a }, { 0x58, 0x3c, 0x46 }, { 0x58, 0x3d, 0xCE }, { 0x56, 0x88, 0x11 }, // { 0x56, 0x88, 0x22 }, { 0x56, 0x89, 0x11 }, // { 0x56, 0x89, 0x22 }, { 0x56, 0x8a, 0x11 }, // { 0x56, 0x8a, 0x42 }, { 0x56, 0x8b, 0x11 }, // { 0x56, 0x8b, 0x24 }, { 0x56, 0x8c, 0x11 }, // { 0x56, 0x8c, 0x42 }, { 0x56, 0x8d, 0x11 }, // { 0x56, 0x8d, 0x24 }, { 0x56, 0x8e, 0x11 }, // { 0x56, 0x8e, 0x22 }, { 0x56, 0x8f, 0x11 }, // { 0x56, 0x8f, 0x22 }, { 0x50, 0x25, 0x00 }, { 0x3a, 0x0f, 0x42 }, // { 0x3a, 0x0f, 0x30 }, { 0x3a, 0x10, 0x38 }, // { 0x3a, 0x10, 0x28 }, { 0x3a, 0x1b, 0x44 }, // { 0x3a, 0x1b, 0x30 }, { 0x3a, 0x1e, 0x36 }, // { 0x3a, 0x1e, 0x28 }, { 0x3a, 0x11, 0x60 }, // { 0x3a, 0x11, 0x61 }, { 0x3a, 0x1f, 0x10 }, { 0x40, 0x05, 0x1a }, { 0x34, 0x06, 0x00 }, { 0x35, 0x03, 0x00 }, { 0x30, 0x08, 0x02 }, // OpenMV Custom. { 0x3a, 0x02, 0x07 }, { 0x3a, 0x03, 0xae }, { 0x3a, 0x08, 0x01 }, { 0x3a, 0x09, 0x27 }, { 0x3a, 0x0a, 0x00 }, { 0x3a, 0x0b, 0xf6 }, { 0x3a, 0x0e, 0x06 }, { 0x3a, 0x0d, 0x08 }, { 0x3a, 0x14, 0x07 }, { 0x3a, 0x15, 0xae }, { 0x44, 0x01, 0x0d }, // | Read SRAM enable when blanking | Read SRAM at first blanking { 0x47, 0x23, 0x03 }, // DVP JPEG Mode456 Skip Line Number // End. { 0x00, 0x00, 0x00 } }; #if (OMV_ENABLE_OV5640_AF == 1) static const uint8_t af_firmware_regs[] = { 0x02, 0x0f, 0xd6, 0x02, 0x0a, 0x39, 0xc2, 0x01, 0x22, 0x22, 0x00, 0x02, 0x0f, 0xb2, 0xe5, 0x1f, 0x70, 0x72, 0xf5, 0x1e, 0xd2, 0x35, 0xff, 0xef, 0x25, 0xe0, 0x24, 0x4e, 0xf8, 0xe4, 0xf6, 0x08, 0xf6, 0x0f, 0xbf, 0x34, 0xf2, 0x90, 0x0e, 0x93, 0xe4, 0x93, 0xff, 0xe5, 0x4b, 0xc3, 0x9f, 0x50, 0x04, 0x7f, 0x05, 0x80, 0x02, 0x7f, 0xfb, 0x78, 0xbd, 0xa6, 0x07, 0x12, 0x0f, 0x04, 0x40, 0x04, 0x7f, 0x03, 0x80, 0x02, 0x7f, 0x30, 0x78, 0xbc, 0xa6, 0x07, 0xe6, 0x18, 0xf6, 0x08, 0xe6, 0x78, 0xb9, 0xf6, 0x78, 0xbc, 0xe6, 0x78, 0xba, 0xf6, 0x78, 0xbf, 0x76, 0x33, 0xe4, 0x08, 0xf6, 0x78, 0xb8, 0x76, 0x01, 0x75, 0x4a, 0x02, 0x78, 0xb6, 0xf6, 0x08, 0xf6, 0x74, 0xff, 0x78, 0xc1, 0xf6, 0x08, 0xf6, 0x75, 0x1f, 0x01, 0x78, 0xbc, 0xe6, 0x75, 0xf0, 0x05, 0xa4, 0xf5, 0x4b, 0x12, 0x0a, 0xff, 0xc2, 0x37, 0x22, 0x78, 0xb8, 0xe6, 0xd3, 0x94, 0x00, 0x40, 0x02, 0x16, 0x22, 0xe5, 0x1f, 0xb4, 0x05, 0x23, 0xe4, 0xf5, 0x1f, 0xc2, 0x01, 0x78, 0xb6, 0xe6, 0xfe, 0x08, 0xe6, 0xff, 0x78, 0x4e, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0xa2, 0x37, 0xe4, 0x33, 0xf5, 0x3c, 0x90, 0x30, 0x28, 0xf0, 0x75, 0x1e, 0x10, 0xd2, 0x35, 0x22, 0xe5, 0x4b, 0x75, 0xf0, 0x05, 0x84, 0x78, 0xbc, 0xf6, 0x90, 0x0e, 0x8c, 0xe4, 0x93, 0xff, 0x25, 0xe0, 0x24, 0x0a, 0xf8, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0x78, 0xbc, 0xe6, 0x25, 0xe0, 0x24, 0x4e, 0xf8, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0xef, 0x12, 0x0f, 0x0b, 0xd3, 0x78, 0xb7, 0x96, 0xee, 0x18, 0x96, 0x40, 0x0d, 0x78, 0xbc, 0xe6, 0x78, 0xb9, 0xf6, 0x78, 0xb6, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0x90, 0x0e, 0x8c, 0xe4, 0x93, 0x12, 0x0f, 0x0b, 0xc3, 0x78, 0xc2, 0x96, 0xee, 0x18, 0x96, 0x50, 0x0d, 0x78, 0xbc, 0xe6, 0x78, 0xba, 0xf6, 0x78, 0xc1, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0x78, 0xb6, 0xe6, 0xfe, 0x08, 0xe6, 0xc3, 0x78, 0xc2, 0x96, 0xff, 0xee, 0x18, 0x96, 0x78, 0xc3, 0xf6, 0x08, 0xa6, 0x07, 0x90, 0x0e, 0x95, 0xe4, 0x18, 0x12, 0x0e, 0xe9, 0x40, 0x02, 0xd2, 0x37, 0x78, 0xbc, 0xe6, 0x08, 0x26, 0x08, 0xf6, 0xe5, 0x1f, 0x64, 0x01, 0x70, 0x4a, 0xe6, 0xc3, 0x78, 0xc0, 0x12, 0x0e, 0xdf, 0x40, 0x05, 0x12, 0x0e, 0xda, 0x40, 0x39, 0x12, 0x0f, 0x02, 0x40, 0x04, 0x7f, 0xfe, 0x80, 0x02, 0x7f, 0x02, 0x78, 0xbd, 0xa6, 0x07, 0x78, 0xb9, 0xe6, 0x24, 0x03, 0x78, 0xbf, 0xf6, 0x78, 0xb9, 0xe6, 0x24, 0xfd, 0x78, 0xc0, 0xf6, 0x12, 0x0f, 0x02, 0x40, 0x06, 0x78, 0xc0, 0xe6, 0xff, 0x80, 0x04, 0x78, 0xbf, 0xe6, 0xff, 0x78, 0xbe, 0xa6, 0x07, 0x75, 0x1f, 0x02, 0x78, 0xb8, 0x76, 0x01, 0x02, 0x02, 0x4a, 0xe5, 0x1f, 0x64, 0x02, 0x60, 0x03, 0x02, 0x02, 0x2a, 0x78, 0xbe, 0xe6, 0xff, 0xc3, 0x78, 0xc0, 0x12, 0x0e, 0xe0, 0x40, 0x08, 0x12, 0x0e, 0xda, 0x50, 0x03, 0x02, 0x02, 0x28, 0x12, 0x0f, 0x02, 0x40, 0x04, 0x7f, 0xff, 0x80, 0x02, 0x7f, 0x01, 0x78, 0xbd, 0xa6, 0x07, 0x78, 0xb9, 0xe6, 0x04, 0x78, 0xbf, 0xf6, 0x78, 0xb9, 0xe6, 0x14, 0x78, 0xc0, 0xf6, 0x18, 0x12, 0x0f, 0x04, 0x40, 0x04, 0xe6, 0xff, 0x80, 0x02, 0x7f, 0x00, 0x78, 0xbf, 0xa6, 0x07, 0xd3, 0x08, 0xe6, 0x64, 0x80, 0x94, 0x80, 0x40, 0x04, 0xe6, 0xff, 0x80, 0x02, 0x7f, 0x00, 0x78, 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0xd3, 0x08, 0xff, 0xe6, 0x64, 0x80, 0xf8, 0xef, 0x64, 0x80, 0x98, 0x22, 0x93, 0xff, 0x7e, 0x00, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0x12, 0x04, 0xc1, 0x78, 0xc1, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0xd3, 0xef, 0x9d, 0xee, 0x9c, 0x22, 0x78, 0xbd, 0xd3, 0xe6, 0x64, 0x80, 0x94, 0x80, 0x22, 0x25, 0xe0, 0x24, 0x0a, 0xf8, 0xe6, 0xfe, 0x08, 0xe6, 0xff, 0x22, 0xe5, 0x3c, 0xd3, 0x94, 0x00, 0x40, 0x0b, 0x90, 0x0e, 0x88, 0x12, 0x0b, 0xf1, 0x90, 0x0e, 0x86, 0x80, 0x09, 0x90, 0x0e, 0x82, 0x12, 0x0b, 0xf1, 0x90, 0x0e, 0x80, 0xe4, 0x93, 0xf5, 0x44, 0xa3, 0xe4, 0x93, 0xf5, 0x43, 0xd2, 0x06, 0x30, 0x06, 0x03, 0xd3, 0x80, 0x01, 0xc3, 0x92, 0x0e, 0x22, 0xa2, 0xaf, 0x92, 0x32, 0xc2, 0xaf, 0xe5, 0x23, 0x45, 0x22, 0x90, 0x0e, 0x5d, 0x60, 0x0e, 0x12, 0x0f, 0xcb, 0xe0, 0xf5, 0x2c, 0x12, 0x0f, 0xc8, 0xe0, 0xf5, 0x2d, 0x80, 0x0c, 0x12, 0x0f, 0xcb, 0xe5, 0x30, 0xf0, 0x12, 0x0f, 0xc8, 0xe5, 0x31, 0xf0, 0xa2, 0x32, 0x92, 0xaf, 0x22, 0xd2, 0x01, 0xc2, 0x02, 0xe4, 0xf5, 0x1f, 0xf5, 0x1e, 0xd2, 0x35, 0xd2, 0x33, 0xd2, 0x36, 0xd2, 0x01, 0xc2, 0x02, 0xf5, 0x1f, 0xf5, 0x1e, 0xd2, 0x35, 0xd2, 0x33, 0x22, 0xfb, 0xd3, 0xed, 0x9b, 0x74, 0x80, 0xf8, 0x6c, 0x98, 0x22, 0x12, 0x06, 0x69, 0xe5, 0x40, 0x2f, 0xf5, 0x40, 0xe5, 0x3f, 0x3e, 0xf5, 0x3f, 0xe5, 0x3e, 0x3d, 0xf5, 0x3e, 0xe5, 0x3d, 0x3c, 0xf5, 0x3d, 0x22, 0xc0, 0xe0, 0xc0, 0x83, 0xc0, 0x82, 0x90, 0x3f, 0x0d, 0xe0, 0xf5, 0x33, 0xe5, 0x33, 0xf0, 0xd0, 0x82, 0xd0, 0x83, 0xd0, 0xe0, 0x32, 0x90, 0x0e, 0x5f, 0xe4, 0x93, 0xfe, 0x74, 0x01, 0x93, 0xf5, 0x82, 0x8e, 0x83, 0x22, 0x78, 0x7f, 0xe4, 0xf6, 0xd8, 0xfd, 0x75, 0x81, 0xcd, 0x02, 0x0c, 0x98, 0x8f, 0x82, 0x8e, 0x83, 0x75, 0xf0, 0x04, 0xed, 0x02, 0x06, 0xa5 }; static const uint8_t af_firmware_command_regs[][3] = { {0x30, 0x22, 0x03}, {0x30, 0x23, 0x00}, {0x30, 0x24, 0x00}, {0x30, 0x25, 0x00}, {0x30, 0x26, 0x00}, {0x30, 0x27, 0x00}, {0x30, 0x28, 0x00}, {0x30, 0x29, 0x7f}, {0x00, 0x00, 0x00} }; #endif #define NUM_BRIGHTNESS_LEVELS (9) #define NUM_CONTRAST_LEVELS (7) static const uint8_t contrast_regs[NUM_CONTRAST_LEVELS][1] = { {0x14}, /* -3 */ {0x18}, /* -2 */ {0x1C}, /* -1 */ {0x00}, /* +0 */ {0x10}, /* +1 */ {0x18}, /* +2 */ {0x1C}, /* +3 */ }; #define NUM_SATURATION_LEVELS (7) static const uint8_t saturation_regs[NUM_SATURATION_LEVELS][6] = { {0x0c, 0x30, 0x3d, 0x3e, 0x3d, 0x01}, /* -3 */ {0x10, 0x3d, 0x4d, 0x4e, 0x4d, 0x01}, /* -2 */ {0x15, 0x52, 0x66, 0x68, 0x66, 0x02}, /* -1 */ {0x1a, 0x66, 0x80, 0x82, 0x80, 0x02}, /* +0 */ {0x1f, 0x7a, 0x9a, 0x9c, 0x9a, 0x02}, /* +1 */ {0x24, 0x8f, 0xb3, 0xb6, 0xb3, 0x03}, /* +2 */ {0x2b, 0xab, 0xd6, 0xda, 0xd6, 0x04}, /* +3 */ }; static int reset(sensor_t *sensor) { int ret = 0; readout_x = 0; readout_y = 0; readout_w = ACTIVE_SENSOR_WIDTH; readout_h = ACTIVE_SENSOR_HEIGHT; hts_target = 0; // Reset all registers ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, SCCB_SYSTEM_CTRL_1, 0x11); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, SYSTEM_CTROL0, 0x82); // Delay 5 ms mp_hal_delay_ms(5); // Write default regsiters for (int i = 0; default_regs[i][0]; i++) { ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, (default_regs[i][0] << 8) | (default_regs[i][1] << 0), default_regs[i][2]); } #if defined(MCU_SERIES_H7) // Rev V (480 MHz / 20) -> 24 MHz PCLK / 3 * 100 = 800 MHz / 10 = 80 MHz PCLK. // Rev Y (400 MHz / 16) -> 25 MHz PCLK / 3 * 84 = 700 MHz / 10 = 70 MHz PCLK. if (HAL_GetREVID() < 0x2003) { // Is this REV Y? ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, SC_PLL_CONTRL2, 0x54); } #endif #if (OMV_ENABLE_OV5640_AF == 1) ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, SYSTEM_RESET_00, 0x20); // force mcu reset // Write firmware uint16_t fw_addr = __REV16(MCU_FIRMWARE_BASE); ret |= cambus_write_bytes(&sensor->bus, sensor->slv_addr, (uint8_t *) &fw_addr, 2, CAMBUS_XFER_SUSPEND); ret |= cambus_write_bytes(&sensor->bus, sensor->slv_addr, (uint8_t *) af_firmware_regs, sizeof(af_firmware_regs), CAMBUS_XFER_NO_FLAGS); for (int i = 0; af_firmware_command_regs[i][0]; i++) { ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, (af_firmware_command_regs[i][0] << 8) | (af_firmware_command_regs[i][1] << 0), af_firmware_command_regs[i][2]); } ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, SYSTEM_RESET_00, 0x00); // release mcu reset #endif // Delay 300 ms mp_hal_delay_ms(300); return ret; } static int sleep(sensor_t *sensor, int enable) { uint8_t reg; if (enable) { reg = 0x42; } else { reg = 0x02; } return cambus_writeb2(&sensor->bus, sensor->slv_addr, SYSTEM_CTROL0, reg); } static int read_reg(sensor_t *sensor, uint16_t reg_addr) { uint8_t reg_data; if (cambus_readb2(&sensor->bus, sensor->slv_addr, reg_addr, ®_data) != 0) { return -1; } return reg_data; } static int write_reg(sensor_t *sensor, uint16_t reg_addr, uint16_t reg_data) { return cambus_writeb2(&sensor->bus, sensor->slv_addr, reg_addr, reg_data); } // HTS (Horizontal Time) is the readout width plus the HSYNC_TIME time. However, if this value gets // too low the OV5640 will crash. The minimum was determined empirically with testing... // Additionally, when the image width gets too large we need to slow down the line transfer rate by // increasing HTS so that DCMI_DMAConvCpltUser() can keep up with the data rate. // // WARNING! IF YOU CHANGE ANYTHING HERE RETEST WITH **ALL** RESOLUTIONS FOR THE AFFECTED MODE! static int calculate_hts(sensor_t *sensor, uint16_t width) { uint16_t hts = hts_target; if ((sensor->pixformat == PIXFORMAT_GRAYSCALE) || (sensor->pixformat == PIXFORMAT_BAYER) || (sensor->pixformat == PIXFORMAT_JPEG)) { if (width <= 1280) hts = IM_MAX((width * 2) + 8, hts_target); } else { if (width > 640) hts = IM_MAX((width * 2) + 8, hts_target); } if (width <= 640) hts += 160; // Fix image quality at low resolutions. return IM_MAX(hts + HSYNC_TIME, (SENSOR_WIDTH + HSYNC_TIME) / 2); // Fix to prevent crashing. } // VTS (Vertical Time) is the readout height plus the VYSNC_TIME time. However, if this value gets // too low the OV5640 will crash. The minimum was determined empirically with testing... // // WARNING! IF YOU CHANGE ANYTHING HERE RETEST WITH **ALL** RESOLUTIONS FOR THE AFFECTED MODE! static int calculate_vts(sensor_t *sensor, uint16_t readout_height) { return IM_MAX(readout_height + VYSNC_TIME, (SENSOR_HEIGHT + VYSNC_TIME) / 8); // Fix to prevent crashing. } static int set_pixformat(sensor_t *sensor, pixformat_t pixformat) { uint8_t reg; int ret = 0; // Not a multiple of 8. The JPEG encoder on the OV5640 can't handle this. if ((pixformat == PIXFORMAT_JPEG) && ((resolution[sensor->framesize][0] % 8) || (resolution[sensor->framesize][1] % 8))) { return -1; } // Readout speed too fast. The DCMI_DMAConvCpltUser() line callback overhead is too much to handle the line transfer speed. // If we were to slow the pixclk down these resolutions would work. As of right now, the image shakes and scrolls with // the current line transfer speed. Note that there's an overhead to the DCMI_DMAConvCpltUser() function. It's not the // memory copy operation that's too slow. It's that there's too much overhead in the DCMI_DMAConvCpltUser() method // to even have time to start the line transfer. If it were possible to slow the line readout speed of the OV5640 // this would enable these resolutions below. However, there's nothing in the datasheet that when modified does this. if (((pixformat == PIXFORMAT_GRAYSCALE) || (pixformat == PIXFORMAT_BAYER) || (pixformat == PIXFORMAT_JPEG)) && ((sensor->framesize == FRAMESIZE_QQCIF) || (sensor->framesize == FRAMESIZE_QQSIF) || (sensor->framesize == FRAMESIZE_HQQQVGA) || (sensor->framesize == FRAMESIZE_HQQVGA))) { return -1; } switch (pixformat) { case PIXFORMAT_GRAYSCALE: ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL, 0x10); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL_MUX, 0x00); break; case PIXFORMAT_RGB565: ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL, 0x6F); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL_MUX, 0x01); break; case PIXFORMAT_YUV422: ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL, 0x30); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL_MUX, 0x00); break; case PIXFORMAT_BAYER: ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL, 0x00); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL_MUX, 0x01); break; case PIXFORMAT_JPEG: ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL, 0x30); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL_MUX, 0x00); break; default: return -1; } ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_21, ®); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_21, (reg & 0xDF) | ((pixformat == PIXFORMAT_JPEG) ? 0x20 : 0x00)); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SYSTEM_RESET_02, ®); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, SYSTEM_RESET_02, (reg & 0xE3) | ((pixformat == PIXFORMAT_JPEG) ? 0x00 : 0x1C)); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, CLOCK_ENABLE_02, ®); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, CLOCK_ENABLE_02, (reg & 0xD7) | ((pixformat == PIXFORMAT_JPEG) ? 0x28 : 0x00)); if (hts_target) { uint16_t sensor_hts = calculate_hts(sensor, resolution[sensor->framesize][0]); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HTS_H, sensor_hts >> 8); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HTS_L, sensor_hts); } return ret; } static int set_framesize(sensor_t *sensor, framesize_t framesize) { uint8_t reg; int ret = 0; uint16_t w = resolution[framesize][0]; uint16_t h = resolution[framesize][1]; // Not a multiple of 8. The JPEG encoder on the OV5640 can't handle this. if ((sensor->pixformat == PIXFORMAT_JPEG) && ((w % 8) || (h % 8))) { return -1; } // Readout speed too fast. The DCMI_DMAConvCpltUser() line callback overhead is too much to handle the line transfer speed. // If we were to slow the pixclk down these resolutions would work. As of right now, the image shakes and scrolls with // the current line transfer speed. Note that there's an overhead to the DCMI_DMAConvCpltUser() function. It's not the // memory copy operation that's too slow. It's that there's too much overhead in the DCMI_DMAConvCpltUser() method // to even have time to start the line transfer. If it were possible to slow the line readout speed of the OV5640 // this would enable these resolutions below. However, there's nothing in the datasheet that when modified does this. if (((sensor->pixformat == PIXFORMAT_GRAYSCALE) || (sensor->pixformat == PIXFORMAT_BAYER) || (sensor->pixformat == PIXFORMAT_JPEG)) && ((framesize == FRAMESIZE_QQCIF) || (framesize == FRAMESIZE_QQSIF) || (framesize == FRAMESIZE_HQQQVGA) || (framesize == FRAMESIZE_HQQVGA))) { return -1; } // Generally doesn't work for anything. if (framesize == FRAMESIZE_QQQQVGA) { return -1; } // Invalid resolution. if ((w > ACTIVE_SENSOR_WIDTH) || (h > ACTIVE_SENSOR_HEIGHT)) { return -1; } // Step 0: Clamp readout settings. readout_w = IM_MAX(readout_w, w); readout_h = IM_MAX(readout_h, h); int readout_x_max = (ACTIVE_SENSOR_WIDTH - readout_w) / 2; int readout_y_max = (ACTIVE_SENSOR_HEIGHT - readout_h) / 2; readout_x = IM_MAX(IM_MIN(readout_x, readout_x_max), -readout_x_max); readout_y = IM_MAX(IM_MIN(readout_y, readout_y_max), -readout_y_max); // Step 1: Determine readout area and subsampling amount. uint16_t sensor_div = 0; if ((w > (readout_w / 2)) || (h > (readout_h / 2))) { sensor_div = 1; } else { sensor_div = 2; } // Step 2: Determine horizontal and vertical start and end points. uint16_t sensor_w = readout_w + DUMMY_WIDTH_BUFFER; // camera hardware needs dummy pixels to sync uint16_t sensor_h = readout_h + DUMMY_HEIGHT_BUFFER; // camera hardware needs dummy lines to sync uint16_t sensor_ws = IM_MAX(IM_MIN((((ACTIVE_SENSOR_WIDTH - sensor_w) / 4) + (readout_x / 2)) * 2, ACTIVE_SENSOR_WIDTH - sensor_w), -(DUMMY_WIDTH_BUFFER / 2)) + DUMMY_COLUMNS; // must be multiple of 2 uint16_t sensor_we = sensor_ws + sensor_w - 1; uint16_t sensor_hs = IM_MAX(IM_MIN((((ACTIVE_SENSOR_HEIGHT - sensor_h) / 4) - (readout_y / 2)) * 2, ACTIVE_SENSOR_HEIGHT - sensor_h), -(DUMMY_HEIGHT_BUFFER / 2)) + DUMMY_LINES; // must be multiple of 2 uint16_t sensor_he = sensor_hs + sensor_h - 1; // Step 3: Determine scaling window offset. float ratio = IM_MIN((readout_w / sensor_div) / ((float) w), (readout_h / sensor_div) / ((float) h)); uint16_t w_mul = w * ratio; uint16_t h_mul = h * ratio; uint16_t x_off = ((sensor_w / sensor_div) - w_mul) / 2; uint16_t y_off = ((sensor_h / sensor_div) - h_mul) / 2; // Step 4: Compute total frame time. hts_target = sensor_w / sensor_div; uint16_t sensor_hts = calculate_hts(sensor, w); uint16_t sensor_vts = calculate_vts(sensor, sensor_h / sensor_div); uint16_t sensor_x_inc = (((sensor_div * 2) - 1) << 4) | (1 << 0); // odd[7:4]/even[3:0] pixel inc on the bayer pattern uint16_t sensor_y_inc = (((sensor_div * 2) - 1) << 4) | (1 << 0); // odd[7:4]/even[3:0] pixel inc on the bayer pattern // Step 5: Write regs. ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HS_H, sensor_ws >> 8); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HS_L, sensor_ws); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VS_H, sensor_hs >> 8); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VS_L, sensor_hs); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HW_H, sensor_we >> 8); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HW_L, sensor_we); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VH_H, sensor_he >> 8); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VH_L, sensor_he); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_DVPHO_H, w >> 8); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_DVPHO_L, w); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_DVPVO_H, h >> 8); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_DVPVO_L, h); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HTS_H, sensor_hts >> 8); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HTS_L, sensor_hts); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VTS_H, sensor_vts >> 8); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VTS_L, sensor_vts); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HOFFSET_H, x_off >> 8); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HOFFSET_L, x_off); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VOFFSET_H, y_off >> 8); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VOFFSET_L, y_off); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_X_INC, sensor_x_inc); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_Y_INC, sensor_y_inc); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_20, ®); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_20, (reg & 0xFE) | (sensor_div > 1)); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_21, ®); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_21, (reg & 0xFE) | (sensor_div > 1)); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, VFIFO_HSIZE_H, w >> 8); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, VFIFO_HSIZE_L, w); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, VFIFO_VSIZE_H, h >> 8); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, VFIFO_VSIZE_L, h); return ret; } static int set_contrast(sensor_t *sensor, int level) { int ret = 0; int new_level = level + (NUM_CONTRAST_LEVELS / 2); if (new_level < 0 || new_level >= NUM_CONTRAST_LEVELS) { return -1; } ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x03); // start group 3 ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5586, (new_level + 5) << 2); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5585, contrast_regs[new_level][0]); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x13); // end group 3 ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0xa3); // launch group 3 return ret; } static int set_brightness(sensor_t *sensor, int level) { int ret = 0; int new_level = level + (NUM_BRIGHTNESS_LEVELS / 2); if (new_level < 0 || new_level >= NUM_BRIGHTNESS_LEVELS) { return -1; } ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x03); // start group 3 ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5587, abs(level) << 4); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5588, (level < 0) ? 0x09 : 0x01); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x13); // end group 3 ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0xa3); // launch group 3 return ret; } static int set_saturation(sensor_t *sensor, int level) { int ret = 0; int new_level = level + (NUM_SATURATION_LEVELS / 2); if (new_level < 0 || new_level >= NUM_SATURATION_LEVELS) { return -1; } ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x03); // start group 3 ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5581, 0x1c); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5582, 0x5a); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5583, 0x06); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5584, saturation_regs[new_level][0]); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5585, saturation_regs[new_level][1]); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5586, saturation_regs[new_level][2]); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5587, saturation_regs[new_level][3]); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5588, saturation_regs[new_level][4]); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5589, saturation_regs[new_level][5]); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x558b, 0x98); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x558a, 0x01); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x13); // end group 3 ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0xa3); // launch group 3 return ret; } static int set_gainceiling(sensor_t *sensor, gainceiling_t gainceiling) { uint8_t reg; int ret = 0; int new_gainceiling = 16 << (gainceiling + 1); if (new_gainceiling >= 1024) { return -1; } ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_GAIN_CEILING_H, ®); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_GAIN_CEILING_H, (reg & 0xFC) | (new_gainceiling >> 8)); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_GAIN_CEILING_L, new_gainceiling); return ret; } static int set_quality(sensor_t *sensor, int qs) { uint8_t reg; int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, JPEG_CTRL07, ®); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, JPEG_CTRL07, (reg & 0xC0) | (qs >> 2)); return ret; } static int set_colorbar(sensor_t *sensor, int enable) { uint8_t reg; int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, PRE_ISP_TEST, ®); return cambus_writeb2(&sensor->bus, sensor->slv_addr, PRE_ISP_TEST, (reg & 0x7F) | (enable ? 0x80 : 0x00)) | ret; } static int set_auto_gain(sensor_t *sensor, int enable, float gain_db, float gain_db_ceiling) { uint8_t reg; int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_PK_MANUAL, ®); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_PK_MANUAL, (reg & 0xFD) | ((enable == 0) << 1)); if ((enable == 0) && (!isnanf(gain_db)) && (!isinff(gain_db))) { int gain = IM_MAX(IM_MIN(fast_expf((gain_db / 20.0) * fast_log(10.0)) * 16.0, 1023), 0); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_PK_REAL_GAIN_H, ®); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_PK_REAL_GAIN_H, (reg & 0xFC) | (gain >> 8)); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_PK_REAL_GAIN_L, gain); } else if ((enable != 0) && (!isnanf(gain_db_ceiling)) && (!isinff(gain_db_ceiling))) { int gain_ceiling = IM_MAX(IM_MIN(fast_expf((gain_db_ceiling / 20.0) * fast_log(10.0)) * 16.0, 1023), 0); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_GAIN_CEILING_H, ®); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_GAIN_CEILING_H, (reg & 0xFC) | (gain_ceiling >> 8)); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_GAIN_CEILING_L, gain_ceiling); } return ret; } static int get_gain_db(sensor_t *sensor, float *gain_db) { uint8_t gainh, gainl; int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_PK_REAL_GAIN_H, &gainh); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_PK_REAL_GAIN_L, &gainl); *gain_db = 20.0 * (fast_log((((gainh & 0x3) << 8) | gainl) / 16.0) / fast_log(10.0)); return ret; } static int calc_pclk_freq(uint8_t sc_pll_ctrl_0, uint8_t sc_pll_ctrl_1, uint8_t sc_pll_ctrl_2, uint8_t sc_pll_ctrl_3, uint8_t sys_root_div) { uint32_t pclk_freq = OV5640_XCLK_FREQ; pclk_freq /= ((sc_pll_ctrl_3 & 0x10) != 0x00) ? 2 : 1; pclk_freq /= ((sc_pll_ctrl_0 & 0x0F) == 0x0A) ? 10 : 8; switch (sc_pll_ctrl_3 & 0x0F) { case 0: pclk_freq /= 1; break; case 1: pclk_freq /= 2; break; case 2: pclk_freq /= 3; break; case 3: pclk_freq /= 4; break; case 4: pclk_freq /= 6; break; case 5: pclk_freq /= 8; break; default: pclk_freq /= 3; break; } pclk_freq *= sc_pll_ctrl_2; sc_pll_ctrl_1 >>= 4; pclk_freq /= sc_pll_ctrl_1; switch (sys_root_div & 0x30) { case 0x00: pclk_freq /= 1; break; case 0x10: pclk_freq /= 2; break; case 0x20: pclk_freq /= 4; break; case 0x30: pclk_freq /= 8; break; default: pclk_freq /= 1; break; } return (int)pclk_freq; } static int set_auto_exposure(sensor_t *sensor, int enable, int exposure_us) { uint8_t reg, spc0, spc1, spc2, spc3, sysrootdiv, hts_h, hts_l, vts_h, vts_l; int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_PK_MANUAL, ®); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_PK_MANUAL, (reg & 0xFE) | ((enable == 0) << 0)); if ((enable == 0) && (exposure_us >= 0)) { ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SC_PLL_CONTRL0, &spc0); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SC_PLL_CONTRL1, &spc1); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SC_PLL_CONTRL2, &spc2); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SC_PLL_CONTRL3, &spc3); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SYSTEM_ROOT_DIVIDER, &sysrootdiv); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_HTS_H, &hts_h); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_HTS_L, &hts_l); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_VTS_H, &vts_h); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_VTS_L, &vts_l); uint16_t hts = (hts_h << 8) | hts_l; uint16_t vts = (vts_h << 8) | vts_l; int pclk_freq = calc_pclk_freq(spc0, spc1, spc2, spc3, sysrootdiv); int clocks_per_us = pclk_freq / 1000000; int exposure = IM_MAX(IM_MIN((exposure_us * clocks_per_us) / hts, 0xFFFF), 0x0000); int new_vts = IM_MAX(exposure, vts); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_PK_EXPOSURE_0, exposure >> 12); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_PK_EXPOSURE_1, exposure >> 4); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_PK_EXPOSURE_2, exposure << 4); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VTS_H, new_vts >> 8); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VTS_L, new_vts); } return ret; } static int get_exposure_us(sensor_t *sensor, int *exposure_us) { uint8_t spc0, spc1, spc2, spc3, sysrootdiv, aec_0, aec_1, aec_2, hts_h, hts_l; int ret = 0; ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SC_PLL_CONTRL0, &spc0); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SC_PLL_CONTRL1, &spc1); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SC_PLL_CONTRL2, &spc2); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SC_PLL_CONTRL3, &spc3); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SYSTEM_ROOT_DIVIDER, &sysrootdiv); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_PK_EXPOSURE_0, &aec_0); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_PK_EXPOSURE_1, &aec_1); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_PK_EXPOSURE_2, &aec_2); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_HTS_H, &hts_h); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_HTS_L, &hts_l); uint32_t aec = ((aec_0 << 16) | (aec_1 << 8) | aec_2) >> 4; uint16_t hts = (hts_h << 8) | hts_l; int pclk_freq = calc_pclk_freq(spc0, spc1, spc2, spc3, sysrootdiv); int clocks_per_us = pclk_freq / 1000000; *exposure_us = (aec * hts) / clocks_per_us; return ret; } static int set_auto_whitebal(sensor_t *sensor, int enable, float r_gain_db, float g_gain_db, float b_gain_db) { uint8_t reg; int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, AWB_MANUAL_CONTROL, ®); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AWB_MANUAL_CONTROL, (reg & 0xFE) | (enable == 0)); if ((enable == 0) && (!isnanf(r_gain_db)) && (!isnanf(g_gain_db)) && (!isnanf(b_gain_db)) && (!isinff(r_gain_db)) && (!isinff(g_gain_db)) && (!isinff(b_gain_db))) { int r_gain = IM_MAX(IM_MIN(fast_roundf(fast_expf((r_gain_db / 20.0) * fast_log(10.0))), 4095), 0); int g_gain = IM_MAX(IM_MIN(fast_roundf(fast_expf((g_gain_db / 20.0) * fast_log(10.0))), 4095), 0); int b_gain = IM_MAX(IM_MIN(fast_roundf(fast_expf((b_gain_db / 20.0) * fast_log(10.0))), 4095), 0); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AWB_R_GAIN_H, r_gain >> 8); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AWB_R_GAIN_L, r_gain); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AWB_G_GAIN_H, g_gain >> 8); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AWB_G_GAIN_L, g_gain); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AWB_B_GAIN_H, b_gain >> 8); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AWB_B_GAIN_L, b_gain); } return ret; } static int get_rgb_gain_db(sensor_t *sensor, float *r_gain_db, float *g_gain_db, float *b_gain_db) { uint8_t redh, redl, greenh, greenl, blueh, bluel; int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, AWB_R_GAIN_H, &redh); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AWB_R_GAIN_L, &redl); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AWB_G_GAIN_H, &greenh); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AWB_G_GAIN_L, &greenl); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AWB_B_GAIN_H, &blueh); ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AWB_B_GAIN_L, &bluel); *r_gain_db = 20.0 * (fast_log(((redh & 0xF) << 8) | redl) / fast_log(10.0)); *g_gain_db = 20.0 * (fast_log(((greenh & 0xF) << 8) | greenl) / fast_log(10.0)); *b_gain_db = 20.0 * (fast_log(((blueh & 0xF) << 8) | bluel) / fast_log(10.0)); return ret; } static int set_hmirror(sensor_t *sensor, int enable) { uint8_t reg; int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_21, ®); if (enable){ ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_21, reg|0x06); } else { ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_21, reg&0xF9); } return ret; } static int set_vflip(sensor_t *sensor, int enable) { uint8_t reg; int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_20, ®); if (!enable){ ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_20, reg|0x06); } else { ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_20, reg&0xF9); } return ret; } static int set_special_effect(sensor_t *sensor, sde_t sde) { int ret = 0; switch (sde) { case SDE_NEGATIVE: ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x03); // start group 3 ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5580, 0x40); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5003, 0x08); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5583, 0x40); // sat U ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5584, 0x10); // sat V ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x13); // end group 3 ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0xa3); // latch group 3 break; case SDE_NORMAL: ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x03); // start group 3 ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5580, 0x06); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5583, 0x40); // sat U ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5584, 0x10); // sat V ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5003, 0x08); ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x13); // end group 3 ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0xa3); // latch group 3 break; default: return -1; } return ret; } static int set_lens_correction(sensor_t *sensor, int enable, int radi, int coef) { uint8_t reg; int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, ISP_CONTROL_00, ®); return cambus_writeb2(&sensor->bus, sensor->slv_addr, ISP_CONTROL_00, (reg & 0x7F) | (enable ? 0x80 : 0x00)) | ret; } static int ioctl(sensor_t *sensor, int request, va_list ap) { int ret = 0; switch (request) { case IOCTL_SET_READOUT_WINDOW: { int tmp_readout_x = va_arg(ap, int); int tmp_readout_y = va_arg(ap, int); int tmp_readout_w = IM_MAX(IM_MIN(va_arg(ap, int), ACTIVE_SENSOR_WIDTH), resolution[sensor->framesize][0]); int tmp_readout_h = IM_MAX(IM_MIN(va_arg(ap, int), ACTIVE_SENSOR_HEIGHT), resolution[sensor->framesize][1]); int readout_x_max = (ACTIVE_SENSOR_WIDTH - tmp_readout_w) / 2; int readout_y_max = (ACTIVE_SENSOR_HEIGHT - tmp_readout_h) / 2; tmp_readout_x = IM_MAX(IM_MIN(tmp_readout_x, readout_x_max), -readout_x_max); tmp_readout_y = IM_MAX(IM_MIN(tmp_readout_y, readout_y_max), -readout_y_max); bool changed = (tmp_readout_x != readout_x) || (tmp_readout_y != readout_y) || (tmp_readout_w != readout_w) || (tmp_readout_h != readout_h); readout_x = tmp_readout_x; readout_y = tmp_readout_y; readout_w = tmp_readout_w; readout_h = tmp_readout_h; if (changed && (sensor->framesize != FRAMESIZE_INVALID)) set_framesize(sensor, sensor->framesize); break; } case IOCTL_GET_READOUT_WINDOW: { *va_arg(ap, int *) = readout_x; *va_arg(ap, int *) = readout_y; *va_arg(ap, int *) = readout_w; *va_arg(ap, int *) = readout_h; break; } #if (OMV_ENABLE_OV5640_AF == 1) case IOCTL_TRIGGER_AUTO_FOCUS: { ret = cambus_writeb2(&sensor->bus, sensor->slv_addr, AF_CMD_MAIN, 0x03); break; } case IOCTL_PAUSE_AUTO_FOCUS: { ret = cambus_writeb2(&sensor->bus, sensor->slv_addr, AF_CMD_MAIN, 0x06); break; } case IOCTL_RESET_AUTO_FOCUS: { ret = cambus_writeb2(&sensor->bus, sensor->slv_addr, AF_CMD_MAIN, 0x08); break; } case IOCTL_WAIT_ON_AUTO_FOCUS: { mp_uint_t start_tick = mp_hal_ticks_ms(), delay_ms = va_arg(ap, uint32_t); for (;;) { uint8_t reg; ret = cambus_readb2(&sensor->bus, sensor->slv_addr, AF_CMD_ACK, ®); if ((ret < 0) || (!reg)) break; if ((mp_hal_ticks_ms() - start_tick) >= delay_ms) return -1; mp_hal_delay_ms(1); } break; } #endif default: { ret = -1; break; } } return ret; } int ov5640_init(sensor_t *sensor) { // Initialize sensor structure. sensor->gs_bpp = 1; 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_contrast = set_contrast; sensor->set_brightness = set_brightness; sensor->set_saturation = set_saturation; sensor->set_gainceiling = set_gainceiling; sensor->set_quality = set_quality; sensor->set_colorbar = set_colorbar; sensor->set_auto_gain = set_auto_gain; sensor->get_gain_db = get_gain_db; sensor->set_auto_exposure = set_auto_exposure; sensor->get_exposure_us = get_exposure_us; sensor->set_auto_whitebal = set_auto_whitebal; sensor->get_rgb_gain_db = get_rgb_gain_db; sensor->set_hmirror = set_hmirror; sensor->set_vflip = set_vflip; sensor->set_special_effect = set_special_effect; sensor->set_lens_correction = set_lens_correction; sensor->ioctl = ioctl; // Set sensor flags SENSOR_HW_FLAGS_SET(sensor, SENSOR_HW_FLAGS_VSYNC, 1); SENSOR_HW_FLAGS_SET(sensor, SENSOR_HW_FLAGS_HSYNC, 0); SENSOR_HW_FLAGS_SET(sensor, SENSOR_HW_FLAGS_PIXCK, 1); SENSOR_HW_FLAGS_SET(sensor, SENSOR_HW_FLAGS_FSYNC, 0); SENSOR_HW_FLAGS_SET(sensor, SENSOR_HW_FLAGS_JPEGE, 1); SENSOR_HW_FLAGS_SET(sensor, SWNSOR_HW_FLAGS_RGB565_REV, 0); return 0; } #endif // (OMV_ENABLE_OV5640 == 1)