mirror of
https://github.com/openmv/openmv.git
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1031 lines
25 KiB
C
1031 lines
25 KiB
C
/*
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* SPDX-License-Identifier: MIT
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*
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* Copyright (C) 2013-2024 OpenMV, LLC.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*
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* GC2145 driver.
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*/
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#include "omv_boardconfig.h"
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#if (OMV_GC2145_ENABLE == 1)
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#include <stdint.h>
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#include <stdlib.h>
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#include <string.h>
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#include "omv_i2c.h"
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#include "omv_csi.h"
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#include "gc2145.h"
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#include "py/mphal.h"
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#define BLANK_LINES 16
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#define DUMMY_LINES 16
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#define BLANK_COLUMNS 0
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#define DUMMY_COLUMNS 8
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#define SENSOR_WIDTH 1616
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#define SENSOR_HEIGHT 1248
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#define ACTIVE_SENSOR_WIDTH (SENSOR_WIDTH - BLANK_COLUMNS - (2 * DUMMY_COLUMNS))
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#define ACTIVE_SENSOR_HEIGHT (SENSOR_HEIGHT - BLANK_LINES - (2 * DUMMY_LINES))
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#define DUMMY_WIDTH_BUFFER 16
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#define DUMMY_HEIGHT_BUFFER 8
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static int16_t readout_x = 0;
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static int16_t readout_y = 0;
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static uint16_t readout_w = ACTIVE_SENSOR_WIDTH;
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static uint16_t readout_h = ACTIVE_SENSOR_HEIGHT;
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static bool fov_wide = false;
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// SLAVE ADDR 0x78
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static const uint8_t default_regs[][2] = {
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{0xfe, 0xf0},
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{0xfe, 0xf0},
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{0xfe, 0xf0},
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{0xfc, 0x06},
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{0xf6, 0x00},
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{0xf7, 0x1d},
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{0xf8, 0x85},
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{0xfa, 0x00},
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{0xf9, 0xfe},
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{0xf2, 0x00},
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/////////////////////////////////////////////////
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//////////////////ISP reg//////////////////////
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////////////////////////////////////////////////////
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{0xfe, 0x00},
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{0x03, 0x04},
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{0x04, 0xe2},
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{0x09, 0x00}, // row start
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{0x0a, 0x00},
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{0x0b, 0x00}, // col start
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{0x0c, 0x00},
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{0x0d, 0x04}, // Window height
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{0x0e, 0xc0},
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{0x0f, 0x06}, // Window width
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{0x10, 0x52},
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{0x99, 0x11}, // Subsample
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{0x9a, 0x0E}, // Subsample mode
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{0x12, 0x2e}, //
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#if (OMV_GC2145_ROTATE == 1)
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{0x17, 0x17}, // Analog Mode 1 (vflip/mirror[1:0])
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#else
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{0x17, 0x14}, // Analog Mode 1 (vflip/mirror[1:0])
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#endif
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{0x18, 0x22}, // Analog Mode 2
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{0x19, 0x0e},
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{0x1a, 0x01},
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{0x1b, 0x4b},
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{0x1c, 0x07},
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{0x1d, 0x10},
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{0x1e, 0x88},
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{0x1f, 0x78},
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{0x20, 0x03},
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{0x21, 0x40},
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{0x22, 0xa0},
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{0x24, 0x16},
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{0x25, 0x01},
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{0x26, 0x10},
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{0x2d, 0x60},
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{0x30, 0x01},
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{0x31, 0x90},
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{0x33, 0x06},
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{0x34, 0x01},
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{0x80, 0x7f},
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{0x81, 0x26},
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{0x82, 0xfa},
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{0x83, 0x00},
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{0x84, 0x06}, //RGB565
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{0x86, 0x23},
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{0x88, 0x03},
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{0x89, 0x03},
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{0x85, 0x08},
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{0x8a, 0x00},
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{0x8b, 0x00},
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{0xb0, 0x55},
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{0xc3, 0x00},
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{0xc4, 0x80},
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{0xc5, 0x90},
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{0xc6, 0x3b},
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{0xc7, 0x46},
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{0xec, 0x06},
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{0xed, 0x04},
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{0xee, 0x60},
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{0xef, 0x90},
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{0xb6, 0x01},
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{0x90, 0x01}, // Enable crop
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{0x91, 0x00}, // Y offset
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{0x92, 0x00},
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{0x93, 0x00}, // X offset
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{0x94, 0x00},
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{0x95, 0x02}, // Window height
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{0x96, 0x58},
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{0x97, 0x03}, // Window width
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{0x98, 0x20},
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{0x99, 0x22}, // Subsample
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{0x9a, 0x0E}, // Subsample mode
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{0x9b, 0x00},
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{0x9c, 0x00},
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{0x9d, 0x00},
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{0x9e, 0x00},
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{0x9f, 0x00},
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{0xa0, 0x00},
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{0xa1, 0x00},
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{0xa2, 0x00},
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/////////////////////////////////////////
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/////////// BLK ////////////////////////
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/////////////////////////////////////////
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{0xfe, 0x00},
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{0x40, 0x42},
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{0x41, 0x00},
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{0x43, 0x5b},
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{0x5e, 0x00},
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{0x5f, 0x00},
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{0x60, 0x00},
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{0x61, 0x00},
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{0x62, 0x00},
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{0x63, 0x00},
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{0x64, 0x00},
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{0x65, 0x00},
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{0x66, 0x20},
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{0x67, 0x20},
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{0x68, 0x20},
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{0x69, 0x20},
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{0x76, 0x00},
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{0x6a, 0x08},
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{0x6b, 0x08},
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{0x6c, 0x08},
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{0x6d, 0x08},
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{0x6e, 0x08},
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{0x6f, 0x08},
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{0x70, 0x08},
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{0x71, 0x08},
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{0x76, 0x00},
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{0x72, 0xf0},
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{0x7e, 0x3c},
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{0x7f, 0x00},
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{0xfe, 0x02},
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{0x48, 0x15},
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{0x49, 0x00},
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{0x4b, 0x0b},
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{0xfe, 0x00},
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////////////////////////////////////////
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/////////// AEC ////////////////////////
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////////////////////////////////////////
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{0xfe, 0x01},
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{0x01, 0x04},
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{0x02, 0xc0},
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{0x03, 0x04},
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{0x04, 0x90},
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{0x05, 0x30},
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{0x06, 0x90},
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{0x07, 0x30},
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{0x08, 0x80},
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{0x09, 0x00},
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{0x0a, 0x82},
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{0x0b, 0x11},
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{0x0c, 0x10},
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{0x11, 0x10},
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{0x13, 0x68}, //7b->68 bob
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{0x17, 0x00},
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{0x1c, 0x11},
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{0x1e, 0x61},
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{0x1f, 0x35},
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{0x20, 0x40},
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{0x22, 0x40},
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{0x23, 0x20},
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{0xfe, 0x02},
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{0x0f, 0x04},
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{0xfe, 0x01},
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{0x12, 0x30}, //35
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{0x15, 0xb0},
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{0x10, 0x31},
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{0x3e, 0x28},
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{0x3f, 0xb0},
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{0x40, 0x90},
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{0x41, 0x0f},
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/////////////////////////////
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//////// INTPEE /////////////
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/////////////////////////////
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{0xfe, 0x02},
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{0x90, 0x6c},
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{0x91, 0x03},
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{0x92, 0xcb},
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{0x94, 0x33},
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{0x95, 0x84},
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{0x97, 0x65}, // 54->65 bob
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{0xa2, 0x11},
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{0xfe, 0x00},
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/////////////////////////////
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//////// DNDD///////////////
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/////////////////////////////
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{0xfe, 0x02},
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{0x80, 0xc1},
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{0x81, 0x08},
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{0x82, 0x05}, //05
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{0x83, 0x08}, //08
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{0x84, 0x0a},
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{0x86, 0xf0},
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{0x87, 0x50},
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{0x88, 0x15},
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{0x89, 0xb0},
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{0x8a, 0x30},
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{0x8b, 0x10},
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/////////////////////////////////////////
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/////////// ASDE ////////////////////////
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/////////////////////////////////////////
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{0xfe, 0x01},
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{0x21, 0x04},
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{0xfe, 0x02},
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{0xa3, 0x50},
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{0xa4, 0x20},
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{0xa5, 0x40},
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{0xa6, 0x80},
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{0xab, 0x40},
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{0xae, 0x0c},
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{0xb3, 0x46},
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{0xb4, 0x64},
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{0xb6, 0x38},
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{0xb7, 0x01}, //01
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{0xb9, 0x2b}, //2b
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{0x3c, 0x04}, //04
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{0x3d, 0x15}, //15
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{0x4b, 0x06}, //06
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{0x4c, 0x20},
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{0xfe, 0x00},
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/////////////////////////////////////////
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/////////// GAMMA ////////////////////////
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/////////////////////////////////////////
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///////////////////gamma1////////////////////
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{0xfe, 0x02},
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{0x10, 0x09},
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{0x11, 0x0d},
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{0x12, 0x13},
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{0x13, 0x19},
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{0x14, 0x27},
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{0x15, 0x37},
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{0x16, 0x45},
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{0x17, 0x53},
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{0x18, 0x69},
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{0x19, 0x7d},
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{0x1a, 0x8f},
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{0x1b, 0x9d},
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{0x1c, 0xa9},
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{0x1d, 0xbd},
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{0x1e, 0xcd},
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{0x1f, 0xd9},
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{0x20, 0xe3},
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{0x21, 0xea},
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{0x22, 0xef},
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{0x23, 0xf5},
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{0x24, 0xf9},
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{0x25, 0xff},
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{0xfe, 0x00},
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{0xc6, 0x20},
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{0xc7, 0x2b},
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///////////////////gamma2////////////////////
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{0xfe, 0x02},
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{0x26, 0x0f},
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{0x27, 0x14},
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{0x28, 0x19},
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{0x29, 0x1e},
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{0x2a, 0x27},
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{0x2b, 0x33},
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{0x2c, 0x3b},
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{0x2d, 0x45},
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{0x2e, 0x59},
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{0x2f, 0x69},
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{0x30, 0x7c},
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{0x31, 0x89},
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{0x32, 0x98},
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{0x33, 0xae},
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{0x34, 0xc0},
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{0x35, 0xcf},
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{0x36, 0xda},
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{0x37, 0xe2},
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{0x38, 0xe9},
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{0x39, 0xf3},
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{0x3a, 0xf9},
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{0x3b, 0xff},
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///////////////////////////////////////////////
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///////////YCP ///////////////////////
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///////////////////////////////////////////////
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{0xfe, 0x02},
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{0xd1, 0x32}, //32->2d
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{0xd2, 0x32}, //32->2d bob
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{0xd3, 0x40},
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{0xd6, 0xf0},
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{0xd7, 0x10},
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{0xd8, 0xda},
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{0xdd, 0x14},
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{0xde, 0x86},
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{0xed, 0x80}, //80
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{0xee, 0x00}, //00
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{0xef, 0x3f},
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{0xd8, 0xd8},
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///////////////////abs/////////////////
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{0xfe, 0x01},
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{0x9f, 0x40},
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/////////////////////////////////////////////
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//////////////////////// LSC ///////////////
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//////////////////////////////////////////
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{0xfe, 0x01},
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{0xc2, 0x14},
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{0xc3, 0x0d},
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{0xc4, 0x0c},
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{0xc8, 0x15},
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{0xc9, 0x0d},
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{0xca, 0x0a},
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{0xbc, 0x24},
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{0xbd, 0x10},
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{0xbe, 0x0b},
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{0xb6, 0x25},
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{0xb7, 0x16},
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{0xb8, 0x15},
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{0xc5, 0x00},
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{0xc6, 0x00},
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{0xc7, 0x00},
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{0xcb, 0x00},
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{0xcc, 0x00},
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{0xcd, 0x00},
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{0xbf, 0x07},
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{0xc0, 0x00},
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{0xc1, 0x00},
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{0xb9, 0x00},
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{0xba, 0x00},
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{0xbb, 0x00},
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{0xaa, 0x01},
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{0xab, 0x01},
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{0xac, 0x00},
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{0xad, 0x05},
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{0xae, 0x06},
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{0xaf, 0x0e},
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{0xb0, 0x0b},
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{0xb1, 0x07},
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{0xb2, 0x06},
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{0xb3, 0x17},
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{0xb4, 0x0e},
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{0xb5, 0x0e},
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{0xd0, 0x09},
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{0xd1, 0x00},
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{0xd2, 0x00},
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{0xd6, 0x08},
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{0xd7, 0x00},
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{0xd8, 0x00},
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{0xd9, 0x00},
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{0xda, 0x00},
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{0xdb, 0x00},
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{0xd3, 0x0a},
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{0xd4, 0x00},
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{0xd5, 0x00},
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{0xa4, 0x00},
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{0xa5, 0x00},
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{0xa6, 0x77},
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{0xa7, 0x77},
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{0xa8, 0x77},
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{0xa9, 0x77},
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{0xa1, 0x80},
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{0xa2, 0x80},
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{0xfe, 0x01},
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{0xdf, 0x0d},
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{0xdc, 0x25},
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{0xdd, 0x30},
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{0xe0, 0x77},
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{0xe1, 0x80},
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{0xe2, 0x77},
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{0xe3, 0x90},
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{0xe6, 0x90},
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{0xe7, 0xa0},
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{0xe8, 0x90},
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{0xe9, 0xa0},
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{0xfe, 0x00},
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///////////////////////////////////////////////
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/////////// AWB////////////////////////
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///////////////////////////////////////////////
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{0xfe, 0x01},
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{0x4f, 0x00},
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{0x4f, 0x00},
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{0x4b, 0x01},
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{0x4f, 0x00},
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{0x4c, 0x01}, // D75
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{0x4d, 0x71},
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{0x4e, 0x01},
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{0x4c, 0x01},
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{0x4d, 0x91},
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{0x4e, 0x01},
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{0x4c, 0x01},
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{0x4d, 0x70},
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{0x4e, 0x01},
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{0x4c, 0x01}, // D65
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{0x4d, 0x90},
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{0x4e, 0x02},
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{0x4c, 0x01},
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{0x4d, 0xb0},
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{0x4e, 0x02},
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{0x4c, 0x01},
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{0x4d, 0x8f},
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{0x4e, 0x02},
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{0x4c, 0x01},
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{0x4d, 0x6f},
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{0x4e, 0x02},
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{0x4c, 0x01},
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{0x4d, 0xaf},
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{0x4e, 0x02},
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{0x4c, 0x01},
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{0x4d, 0xd0},
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{0x4e, 0x02},
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{0x4c, 0x01},
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{0x4d, 0xf0},
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{0x4e, 0x02},
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{0x4c, 0x01},
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{0x4d, 0xcf},
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{0x4e, 0x02},
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{0x4c, 0x01},
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{0x4d, 0xef},
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{0x4e, 0x02},
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{0x4c, 0x01}, //D50
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{0x4d, 0x6e},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0x8e},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0xae},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0xce},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0x4d},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0x6d},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0x8d},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0xad},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0xcd},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0x4c},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0x6c},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0x8c},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0xac},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0xcc},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0xcb},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0x4b},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0x6b},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0x8b},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0xab},
|
|
{0x4e, 0x03},
|
|
{0x4c, 0x01}, //CWF
|
|
{0x4d, 0x8a},
|
|
{0x4e, 0x04},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0xaa},
|
|
{0x4e, 0x04},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0xca},
|
|
{0x4e, 0x04},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0xca},
|
|
{0x4e, 0x04},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0xc9},
|
|
{0x4e, 0x04},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0x8a},
|
|
{0x4e, 0x04},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0x89},
|
|
{0x4e, 0x04},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0xa9},
|
|
{0x4e, 0x04},
|
|
{0x4c, 0x02}, //tl84
|
|
{0x4d, 0x0b},
|
|
{0x4e, 0x05},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0x0a},
|
|
{0x4e, 0x05},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0xeb},
|
|
{0x4e, 0x05},
|
|
{0x4c, 0x01},
|
|
{0x4d, 0xea},
|
|
{0x4e, 0x05},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0x09},
|
|
{0x4e, 0x05},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0x29},
|
|
{0x4e, 0x05},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0x2a},
|
|
{0x4e, 0x05},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0x4a},
|
|
{0x4e, 0x05},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0x8a},
|
|
{0x4e, 0x06},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0x49},
|
|
{0x4e, 0x06},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0x69},
|
|
{0x4e, 0x06},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0x89},
|
|
{0x4e, 0x06},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0xa9},
|
|
{0x4e, 0x06},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0x48},
|
|
{0x4e, 0x06},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0x68},
|
|
{0x4e, 0x06},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0x69},
|
|
{0x4e, 0x06},
|
|
{0x4c, 0x02}, //H
|
|
{0x4d, 0xca},
|
|
{0x4e, 0x07},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0xc9},
|
|
{0x4e, 0x07},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0xe9},
|
|
{0x4e, 0x07},
|
|
{0x4c, 0x03},
|
|
{0x4d, 0x09},
|
|
{0x4e, 0x07},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0xc8},
|
|
{0x4e, 0x07},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0xe8},
|
|
{0x4e, 0x07},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0xa7},
|
|
{0x4e, 0x07},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0xc7},
|
|
{0x4e, 0x07},
|
|
{0x4c, 0x02},
|
|
{0x4d, 0xe7},
|
|
{0x4e, 0x07},
|
|
{0x4c, 0x03},
|
|
{0x4d, 0x07},
|
|
{0x4e, 0x07},
|
|
|
|
{0x4f, 0x01},
|
|
{0x50, 0x80},
|
|
{0x51, 0xa8},
|
|
{0x52, 0x47},
|
|
{0x53, 0x38},
|
|
{0x54, 0xc7},
|
|
{0x56, 0x0e},
|
|
{0x58, 0x08},
|
|
{0x5b, 0x00},
|
|
{0x5c, 0x74},
|
|
{0x5d, 0x8b},
|
|
{0x61, 0xdb},
|
|
{0x62, 0xb8},
|
|
{0x63, 0x86},
|
|
{0x64, 0xc0},
|
|
{0x65, 0x04},
|
|
{0x67, 0xa8},
|
|
{0x68, 0xb0},
|
|
{0x69, 0x00},
|
|
{0x6a, 0xa8},
|
|
{0x6b, 0xb0},
|
|
{0x6c, 0xaf},
|
|
{0x6d, 0x8b},
|
|
{0x6e, 0x50},
|
|
{0x6f, 0x18},
|
|
{0x73, 0xf0},
|
|
{0x70, 0x0d},
|
|
{0x71, 0x60},
|
|
{0x72, 0x80},
|
|
{0x74, 0x01},
|
|
{0x75, 0x01},
|
|
{0x7f, 0x0c},
|
|
{0x76, 0x70},
|
|
{0x77, 0x58},
|
|
{0x78, 0xa0},
|
|
{0x79, 0x5e},
|
|
{0x7a, 0x54},
|
|
{0x7b, 0x58},
|
|
{0xfe, 0x00},
|
|
//////////////////////////////////////////
|
|
///////////CC////////////////////////
|
|
//////////////////////////////////////////
|
|
{0xfe, 0x02},
|
|
{0xc0, 0x01},
|
|
{0xc1, 0x44},
|
|
{0xc2, 0xfd},
|
|
{0xc3, 0x04},
|
|
{0xc4, 0xF0},
|
|
{0xc5, 0x48},
|
|
{0xc6, 0xfd},
|
|
{0xc7, 0x46},
|
|
{0xc8, 0xfd},
|
|
{0xc9, 0x02},
|
|
{0xca, 0xe0},
|
|
{0xcb, 0x45},
|
|
{0xcc, 0xec},
|
|
{0xcd, 0x48},
|
|
{0xce, 0xf0},
|
|
{0xcf, 0xf0},
|
|
{0xe3, 0x0c},
|
|
{0xe4, 0x4b},
|
|
{0xe5, 0xe0},
|
|
//////////////////////////////////////////
|
|
///////////ABS ////////////////////
|
|
//////////////////////////////////////////
|
|
{0xfe, 0x01},
|
|
{0x9f, 0x40},
|
|
{0xfe, 0x00},
|
|
|
|
//////////////////////////////////////
|
|
/////////// OUTPUT ////////////////
|
|
//////////////////////////////////////
|
|
{0xfe, 0x00},
|
|
{0xf2, 0x0f},
|
|
|
|
///////////////dark sun////////////////////
|
|
{0xfe, 0x02},
|
|
{0x40, 0xbf},
|
|
{0x46, 0xcf},
|
|
{0xfe, 0x00},
|
|
|
|
//////////////frame rate control/////////
|
|
{0xfe, 0x00},
|
|
{0x05, 0x01}, // HBLANK
|
|
{0x06, 0x1C},
|
|
{0x07, 0x00}, // VBLANK
|
|
{0x08, 0x32},
|
|
{0x11, 0x00}, // SH Delay
|
|
{0x12, 0x1D},
|
|
{0x13, 0x00}, // St
|
|
{0x14, 0x00}, // Et
|
|
|
|
{0xfe, 0x01},
|
|
{0x3c, 0x00},
|
|
{0x3d, 0x04},
|
|
{0xfe, 0x00},
|
|
|
|
{0x00, 0x00},
|
|
};
|
|
|
|
static int reset(omv_csi_t *csi) {
|
|
int ret = 0;
|
|
|
|
readout_x = 0;
|
|
readout_y = 0;
|
|
|
|
readout_w = ACTIVE_SENSOR_WIDTH;
|
|
readout_h = ACTIVE_SENSOR_HEIGHT;
|
|
|
|
fov_wide = false;
|
|
|
|
// Write default registers
|
|
for (int i = 0; default_regs[i][0]; i++) {
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, default_regs[i][0], default_regs[i][1]);
|
|
}
|
|
|
|
// Delay 10 ms
|
|
mp_hal_delay_ms(10);
|
|
|
|
return ret;
|
|
}
|
|
|
|
static int sleep(omv_csi_t *csi, int enable) {
|
|
int ret = 0;
|
|
|
|
if (enable) {
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0xF2, 0x0);
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0xF7, 0x10);
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0xFC, 0x01);
|
|
} else {
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0xF2, 0x0F);
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0xF7, 0x1d);
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0xFC, 0x06);
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
static int read_reg(omv_csi_t *csi, uint16_t reg_addr) {
|
|
uint8_t reg_data;
|
|
if (omv_i2c_readb(csi->i2c, csi->slv_addr, reg_addr, ®_data) != 0) {
|
|
return -1;
|
|
}
|
|
return reg_data;
|
|
}
|
|
|
|
static int write_reg(omv_csi_t *csi, uint16_t reg_addr, uint16_t reg_data) {
|
|
return omv_i2c_writeb(csi->i2c, csi->slv_addr, reg_addr, reg_data);
|
|
}
|
|
|
|
static int set_pixformat(omv_csi_t *csi, pixformat_t pixformat) {
|
|
int ret = 0;
|
|
uint8_t reg;
|
|
|
|
// P0 regs
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0xFE, 0x00);
|
|
|
|
// Read current output format reg
|
|
ret |= omv_i2c_readb(csi->i2c, csi->slv_addr, REG_OUTPUT_FMT, ®);
|
|
|
|
switch (pixformat) {
|
|
case PIXFORMAT_RGB565:
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr,
|
|
REG_OUTPUT_FMT, REG_OUTPUT_SET_FMT(reg, REG_OUTPUT_FMT_RGB565));
|
|
break;
|
|
case PIXFORMAT_YUV422:
|
|
case PIXFORMAT_GRAYSCALE:
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr,
|
|
REG_OUTPUT_FMT, REG_OUTPUT_SET_FMT(reg, REG_OUTPUT_FMT_YCBYCR));
|
|
break;
|
|
case PIXFORMAT_BAYER:
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr,
|
|
REG_OUTPUT_FMT, REG_OUTPUT_SET_FMT(reg, REG_OUTPUT_FMT_BAYER));
|
|
break;
|
|
default:
|
|
return -1;
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
static int set_window(omv_csi_t *csi, uint16_t reg, uint16_t x, uint16_t y, uint16_t w, uint16_t h) {
|
|
int ret = 0;
|
|
|
|
// P0 regs
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0xFE, 0x00);
|
|
|
|
// Y/row offset
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, reg++, y >> 8);
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, reg++, y & 0xff);
|
|
|
|
// X/col offset
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, reg++, x >> 8);
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, reg++, x & 0xff);
|
|
|
|
// Window height
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, reg++, h >> 8);
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, reg++, h & 0xff);
|
|
|
|
// Window width
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, reg++, w >> 8);
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, reg++, w & 0xff);
|
|
|
|
return ret;
|
|
}
|
|
|
|
static int set_framesize(omv_csi_t *csi, omv_csi_framesize_t framesize) {
|
|
int ret = 0;
|
|
|
|
uint16_t w = csi->resolution[framesize][0];
|
|
uint16_t h = csi->resolution[framesize][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_CLAMP(readout_x, -readout_x_max, readout_x_max);
|
|
readout_y = IM_CLAMP(readout_y, -readout_y_max, readout_y_max);
|
|
|
|
// Step 1: Determine sub-readout window.
|
|
|
|
uint16_t ratio = fast_floorf(IM_MIN(readout_w / ((float) w), readout_h / ((float) h)));
|
|
|
|
// Limit the maximum amount of scaling allowed to keep the frame rate up.
|
|
ratio = IM_MIN(ratio, (fov_wide ? 5 : 3));
|
|
|
|
if (!(ratio % 2)) {
|
|
// camera outputs messed up bayer images at even ratios for some reason...
|
|
ratio -= 1;
|
|
}
|
|
|
|
uint16_t sub_readout_w = w * ratio;
|
|
uint16_t sub_readout_h = h * ratio;
|
|
|
|
// Step 2: Determine horizontal and vertical start and end points.
|
|
|
|
uint16_t sensor_w = sub_readout_w + DUMMY_WIDTH_BUFFER; // camera hardware needs dummy pixels to sync
|
|
uint16_t sensor_h = sub_readout_h + DUMMY_HEIGHT_BUFFER; // camera hardware needs dummy lines to sync
|
|
|
|
uint16_t sensor_x = IM_CLAMP((((ACTIVE_SENSOR_WIDTH - sensor_w) / 4) - (readout_x / 2)) * 2,
|
|
-(DUMMY_WIDTH_BUFFER / 2), ACTIVE_SENSOR_WIDTH - sensor_w) + DUMMY_COLUMNS; // must be multiple of 2
|
|
|
|
uint16_t sensor_y = IM_CLAMP((((ACTIVE_SENSOR_HEIGHT - sensor_h) / 4) - (readout_y / 2)) * 2,
|
|
-(DUMMY_HEIGHT_BUFFER / 2), ACTIVE_SENSOR_HEIGHT - sensor_h) + DUMMY_LINES; // must be multiple of 2
|
|
|
|
// Step 3: Write regs.
|
|
|
|
// Set Readout window first.
|
|
ret |= set_window(csi, 0x09, sensor_x, sensor_y, sensor_w, sensor_h);
|
|
|
|
// Set cropping window next.
|
|
ret |= set_window(csi, 0x91, 0, 0, w, h);
|
|
|
|
// Enable crop
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0x90, 0x01);
|
|
|
|
// Set Sub-sampling ratio and mode
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0x99, ((ratio << 4) | (ratio)));
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0x9A, 0x0E);
|
|
|
|
return ret;
|
|
}
|
|
|
|
static int set_hmirror(omv_csi_t *csi, int enable) {
|
|
int ret = 0;
|
|
uint8_t reg;
|
|
#if (OMV_GC2145_ROTATE == 1)
|
|
enable = !enable;
|
|
#endif
|
|
|
|
// P0 regs
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0xFE, 0x00);
|
|
ret |= omv_i2c_readb(csi->i2c, csi->slv_addr, REG_AMODE1, ®);
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, REG_AMODE1, REG_AMODE1_SET_HMIRROR(reg, enable));
|
|
return ret;
|
|
}
|
|
|
|
static int set_vflip(omv_csi_t *csi, int enable) {
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int ret = 0;
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uint8_t reg;
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#if (OMV_GC2145_ROTATE == 1)
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enable = !enable;
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#endif
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|
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// P0 regs
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ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0xFE, 0x00);
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ret |= omv_i2c_readb(csi->i2c, csi->slv_addr, REG_AMODE1, ®);
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ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, REG_AMODE1, REG_AMODE1_SET_VMIRROR(reg, enable));
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return ret;
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}
|
|
|
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static int set_auto_exposure(omv_csi_t *csi, int enable, int exposure_us) {
|
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int ret = 0;
|
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uint8_t reg;
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ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0xFE, 0x00);
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ret |= omv_i2c_readb(csi->i2c, csi->slv_addr, 0xb6, ®);
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ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0xb6, (reg & 0xFE) | (enable & 0x01));
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return ret;
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|
}
|
|
|
|
static int set_auto_whitebal(omv_csi_t *csi, int enable, float r_gain_db, float g_gain_db, float b_gain_db) {
|
|
int ret = 0;
|
|
uint8_t reg;
|
|
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0xFE, 0x00);
|
|
ret |= omv_i2c_readb(csi->i2c, csi->slv_addr, 0x82, ®);
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ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0x82, (reg & 0xFD) | ((enable & 0x01) << 1));
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return ret;
|
|
}
|
|
|
|
static int ioctl(omv_csi_t *csi, int request, va_list ap) {
|
|
int ret = 0;
|
|
|
|
switch (request) {
|
|
case OMV_CSI_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_CLAMP(va_arg(ap, int),
|
|
csi->resolution[csi->framesize][0],
|
|
ACTIVE_SENSOR_WIDTH);
|
|
int tmp_readout_h = IM_CLAMP(va_arg(ap, int),
|
|
csi->resolution[csi->framesize][1],
|
|
ACTIVE_SENSOR_HEIGHT);
|
|
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_CLAMP(tmp_readout_x, -readout_x_max, readout_x_max);
|
|
tmp_readout_y = IM_CLAMP(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 && (csi->framesize != OMV_CSI_FRAMESIZE_INVALID)) {
|
|
set_framesize(csi, csi->framesize);
|
|
}
|
|
break;
|
|
}
|
|
case OMV_CSI_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;
|
|
}
|
|
case OMV_CSI_IOCTL_SET_FOV_WIDE: {
|
|
fov_wide = va_arg(ap, int);
|
|
break;
|
|
}
|
|
case OMV_CSI_IOCTL_GET_FOV_WIDE: {
|
|
*va_arg(ap, int *) = fov_wide;
|
|
break;
|
|
}
|
|
default: {
|
|
ret = -1;
|
|
break;
|
|
}
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
int gc2145_init(omv_csi_t *csi) {
|
|
// Initialize csi structure.
|
|
csi->reset = reset;
|
|
csi->sleep = sleep;
|
|
csi->read_reg = read_reg;
|
|
csi->write_reg = write_reg;
|
|
csi->set_pixformat = set_pixformat;
|
|
csi->set_framesize = set_framesize;
|
|
csi->set_hmirror = set_hmirror;
|
|
csi->set_vflip = set_vflip;
|
|
csi->set_auto_exposure = set_auto_exposure;
|
|
csi->set_auto_whitebal = set_auto_whitebal;
|
|
csi->ioctl = ioctl;
|
|
|
|
// Set csi flags
|
|
csi->vsync_pol = 0;
|
|
csi->hsync_pol = 0;
|
|
csi->pixck_pol = 1;
|
|
csi->frame_sync = 0;
|
|
csi->mono_bpp = 2;
|
|
csi->rgb_swap = 1;
|
|
csi->cfa_format = SUBFORMAT_ID_GBRG;
|
|
|
|
return 0;
|
|
}
|
|
#endif // (OMV_GC2145_ENABLE == 1)
|