openmv/drivers/sensors/gc2145.c
iabdalkader 1a1cf29673 drivers/sensors: Use private CSI resolution table.
Signed-off-by: iabdalkader <i.abdalkader@gmail.com>
2025-08-14 11:40:28 +02:00

1031 lines
25 KiB
C

/*
* SPDX-License-Identifier: MIT
*
* Copyright (C) 2013-2024 OpenMV, LLC.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*
* GC2145 driver.
*/
#include "omv_boardconfig.h"
#if (OMV_GC2145_ENABLE == 1)
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include "omv_i2c.h"
#include "omv_csi.h"
#include "gc2145.h"
#include "py/mphal.h"
#define BLANK_LINES 16
#define DUMMY_LINES 16
#define BLANK_COLUMNS 0
#define DUMMY_COLUMNS 8
#define SENSOR_WIDTH 1616
#define SENSOR_HEIGHT 1248
#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
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 bool fov_wide = false;
// SLAVE ADDR 0x78
static const uint8_t default_regs[][2] = {
{0xfe, 0xf0},
{0xfe, 0xf0},
{0xfe, 0xf0},
{0xfc, 0x06},
{0xf6, 0x00},
{0xf7, 0x1d},
{0xf8, 0x85},
{0xfa, 0x00},
{0xf9, 0xfe},
{0xf2, 0x00},
/////////////////////////////////////////////////
//////////////////ISP reg//////////////////////
////////////////////////////////////////////////////
{0xfe, 0x00},
{0x03, 0x04},
{0x04, 0xe2},
{0x09, 0x00}, // row start
{0x0a, 0x00},
{0x0b, 0x00}, // col start
{0x0c, 0x00},
{0x0d, 0x04}, // Window height
{0x0e, 0xc0},
{0x0f, 0x06}, // Window width
{0x10, 0x52},
{0x99, 0x11}, // Subsample
{0x9a, 0x0E}, // Subsample mode
{0x12, 0x2e}, //
#if (OMV_GC2145_ROTATE == 1)
{0x17, 0x17}, // Analog Mode 1 (vflip/mirror[1:0])
#else
{0x17, 0x14}, // Analog Mode 1 (vflip/mirror[1:0])
#endif
{0x18, 0x22}, // Analog Mode 2
{0x19, 0x0e},
{0x1a, 0x01},
{0x1b, 0x4b},
{0x1c, 0x07},
{0x1d, 0x10},
{0x1e, 0x88},
{0x1f, 0x78},
{0x20, 0x03},
{0x21, 0x40},
{0x22, 0xa0},
{0x24, 0x16},
{0x25, 0x01},
{0x26, 0x10},
{0x2d, 0x60},
{0x30, 0x01},
{0x31, 0x90},
{0x33, 0x06},
{0x34, 0x01},
{0x80, 0x7f},
{0x81, 0x26},
{0x82, 0xfa},
{0x83, 0x00},
{0x84, 0x06}, //RGB565
{0x86, 0x23},
{0x88, 0x03},
{0x89, 0x03},
{0x85, 0x08},
{0x8a, 0x00},
{0x8b, 0x00},
{0xb0, 0x55},
{0xc3, 0x00},
{0xc4, 0x80},
{0xc5, 0x90},
{0xc6, 0x3b},
{0xc7, 0x46},
{0xec, 0x06},
{0xed, 0x04},
{0xee, 0x60},
{0xef, 0x90},
{0xb6, 0x01},
{0x90, 0x01}, // Enable crop
{0x91, 0x00}, // Y offset
{0x92, 0x00},
{0x93, 0x00}, // X offset
{0x94, 0x00},
{0x95, 0x02}, // Window height
{0x96, 0x58},
{0x97, 0x03}, // Window width
{0x98, 0x20},
{0x99, 0x22}, // Subsample
{0x9a, 0x0E}, // Subsample mode
{0x9b, 0x00},
{0x9c, 0x00},
{0x9d, 0x00},
{0x9e, 0x00},
{0x9f, 0x00},
{0xa0, 0x00},
{0xa1, 0x00},
{0xa2, 0x00},
/////////////////////////////////////////
/////////// BLK ////////////////////////
/////////////////////////////////////////
{0xfe, 0x00},
{0x40, 0x42},
{0x41, 0x00},
{0x43, 0x5b},
{0x5e, 0x00},
{0x5f, 0x00},
{0x60, 0x00},
{0x61, 0x00},
{0x62, 0x00},
{0x63, 0x00},
{0x64, 0x00},
{0x65, 0x00},
{0x66, 0x20},
{0x67, 0x20},
{0x68, 0x20},
{0x69, 0x20},
{0x76, 0x00},
{0x6a, 0x08},
{0x6b, 0x08},
{0x6c, 0x08},
{0x6d, 0x08},
{0x6e, 0x08},
{0x6f, 0x08},
{0x70, 0x08},
{0x71, 0x08},
{0x76, 0x00},
{0x72, 0xf0},
{0x7e, 0x3c},
{0x7f, 0x00},
{0xfe, 0x02},
{0x48, 0x15},
{0x49, 0x00},
{0x4b, 0x0b},
{0xfe, 0x00},
////////////////////////////////////////
/////////// AEC ////////////////////////
////////////////////////////////////////
{0xfe, 0x01},
{0x01, 0x04},
{0x02, 0xc0},
{0x03, 0x04},
{0x04, 0x90},
{0x05, 0x30},
{0x06, 0x90},
{0x07, 0x30},
{0x08, 0x80},
{0x09, 0x00},
{0x0a, 0x82},
{0x0b, 0x11},
{0x0c, 0x10},
{0x11, 0x10},
{0x13, 0x68}, //7b->68 bob
{0x17, 0x00},
{0x1c, 0x11},
{0x1e, 0x61},
{0x1f, 0x35},
{0x20, 0x40},
{0x22, 0x40},
{0x23, 0x20},
{0xfe, 0x02},
{0x0f, 0x04},
{0xfe, 0x01},
{0x12, 0x30}, //35
{0x15, 0xb0},
{0x10, 0x31},
{0x3e, 0x28},
{0x3f, 0xb0},
{0x40, 0x90},
{0x41, 0x0f},
/////////////////////////////
//////// INTPEE /////////////
/////////////////////////////
{0xfe, 0x02},
{0x90, 0x6c},
{0x91, 0x03},
{0x92, 0xcb},
{0x94, 0x33},
{0x95, 0x84},
{0x97, 0x65}, // 54->65 bob
{0xa2, 0x11},
{0xfe, 0x00},
/////////////////////////////
//////// DNDD///////////////
/////////////////////////////
{0xfe, 0x02},
{0x80, 0xc1},
{0x81, 0x08},
{0x82, 0x05}, //05
{0x83, 0x08}, //08
{0x84, 0x0a},
{0x86, 0xf0},
{0x87, 0x50},
{0x88, 0x15},
{0x89, 0xb0},
{0x8a, 0x30},
{0x8b, 0x10},
/////////////////////////////////////////
/////////// ASDE ////////////////////////
/////////////////////////////////////////
{0xfe, 0x01},
{0x21, 0x04},
{0xfe, 0x02},
{0xa3, 0x50},
{0xa4, 0x20},
{0xa5, 0x40},
{0xa6, 0x80},
{0xab, 0x40},
{0xae, 0x0c},
{0xb3, 0x46},
{0xb4, 0x64},
{0xb6, 0x38},
{0xb7, 0x01}, //01
{0xb9, 0x2b}, //2b
{0x3c, 0x04}, //04
{0x3d, 0x15}, //15
{0x4b, 0x06}, //06
{0x4c, 0x20},
{0xfe, 0x00},
/////////////////////////////////////////
/////////// GAMMA ////////////////////////
/////////////////////////////////////////
///////////////////gamma1////////////////////
{0xfe, 0x02},
{0x10, 0x09},
{0x11, 0x0d},
{0x12, 0x13},
{0x13, 0x19},
{0x14, 0x27},
{0x15, 0x37},
{0x16, 0x45},
{0x17, 0x53},
{0x18, 0x69},
{0x19, 0x7d},
{0x1a, 0x8f},
{0x1b, 0x9d},
{0x1c, 0xa9},
{0x1d, 0xbd},
{0x1e, 0xcd},
{0x1f, 0xd9},
{0x20, 0xe3},
{0x21, 0xea},
{0x22, 0xef},
{0x23, 0xf5},
{0x24, 0xf9},
{0x25, 0xff},
{0xfe, 0x00},
{0xc6, 0x20},
{0xc7, 0x2b},
///////////////////gamma2////////////////////
{0xfe, 0x02},
{0x26, 0x0f},
{0x27, 0x14},
{0x28, 0x19},
{0x29, 0x1e},
{0x2a, 0x27},
{0x2b, 0x33},
{0x2c, 0x3b},
{0x2d, 0x45},
{0x2e, 0x59},
{0x2f, 0x69},
{0x30, 0x7c},
{0x31, 0x89},
{0x32, 0x98},
{0x33, 0xae},
{0x34, 0xc0},
{0x35, 0xcf},
{0x36, 0xda},
{0x37, 0xe2},
{0x38, 0xe9},
{0x39, 0xf3},
{0x3a, 0xf9},
{0x3b, 0xff},
///////////////////////////////////////////////
///////////YCP ///////////////////////
///////////////////////////////////////////////
{0xfe, 0x02},
{0xd1, 0x32}, //32->2d
{0xd2, 0x32}, //32->2d bob
{0xd3, 0x40},
{0xd6, 0xf0},
{0xd7, 0x10},
{0xd8, 0xda},
{0xdd, 0x14},
{0xde, 0x86},
{0xed, 0x80}, //80
{0xee, 0x00}, //00
{0xef, 0x3f},
{0xd8, 0xd8},
///////////////////abs/////////////////
{0xfe, 0x01},
{0x9f, 0x40},
/////////////////////////////////////////////
//////////////////////// LSC ///////////////
//////////////////////////////////////////
{0xfe, 0x01},
{0xc2, 0x14},
{0xc3, 0x0d},
{0xc4, 0x0c},
{0xc8, 0x15},
{0xc9, 0x0d},
{0xca, 0x0a},
{0xbc, 0x24},
{0xbd, 0x10},
{0xbe, 0x0b},
{0xb6, 0x25},
{0xb7, 0x16},
{0xb8, 0x15},
{0xc5, 0x00},
{0xc6, 0x00},
{0xc7, 0x00},
{0xcb, 0x00},
{0xcc, 0x00},
{0xcd, 0x00},
{0xbf, 0x07},
{0xc0, 0x00},
{0xc1, 0x00},
{0xb9, 0x00},
{0xba, 0x00},
{0xbb, 0x00},
{0xaa, 0x01},
{0xab, 0x01},
{0xac, 0x00},
{0xad, 0x05},
{0xae, 0x06},
{0xaf, 0x0e},
{0xb0, 0x0b},
{0xb1, 0x07},
{0xb2, 0x06},
{0xb3, 0x17},
{0xb4, 0x0e},
{0xb5, 0x0e},
{0xd0, 0x09},
{0xd1, 0x00},
{0xd2, 0x00},
{0xd6, 0x08},
{0xd7, 0x00},
{0xd8, 0x00},
{0xd9, 0x00},
{0xda, 0x00},
{0xdb, 0x00},
{0xd3, 0x0a},
{0xd4, 0x00},
{0xd5, 0x00},
{0xa4, 0x00},
{0xa5, 0x00},
{0xa6, 0x77},
{0xa7, 0x77},
{0xa8, 0x77},
{0xa9, 0x77},
{0xa1, 0x80},
{0xa2, 0x80},
{0xfe, 0x01},
{0xdf, 0x0d},
{0xdc, 0x25},
{0xdd, 0x30},
{0xe0, 0x77},
{0xe1, 0x80},
{0xe2, 0x77},
{0xe3, 0x90},
{0xe6, 0x90},
{0xe7, 0xa0},
{0xe8, 0x90},
{0xe9, 0xa0},
{0xfe, 0x00},
///////////////////////////////////////////////
/////////// AWB////////////////////////
///////////////////////////////////////////////
{0xfe, 0x01},
{0x4f, 0x00},
{0x4f, 0x00},
{0x4b, 0x01},
{0x4f, 0x00},
{0x4c, 0x01}, // D75
{0x4d, 0x71},
{0x4e, 0x01},
{0x4c, 0x01},
{0x4d, 0x91},
{0x4e, 0x01},
{0x4c, 0x01},
{0x4d, 0x70},
{0x4e, 0x01},
{0x4c, 0x01}, // D65
{0x4d, 0x90},
{0x4e, 0x02},
{0x4c, 0x01},
{0x4d, 0xb0},
{0x4e, 0x02},
{0x4c, 0x01},
{0x4d, 0x8f},
{0x4e, 0x02},
{0x4c, 0x01},
{0x4d, 0x6f},
{0x4e, 0x02},
{0x4c, 0x01},
{0x4d, 0xaf},
{0x4e, 0x02},
{0x4c, 0x01},
{0x4d, 0xd0},
{0x4e, 0x02},
{0x4c, 0x01},
{0x4d, 0xf0},
{0x4e, 0x02},
{0x4c, 0x01},
{0x4d, 0xcf},
{0x4e, 0x02},
{0x4c, 0x01},
{0x4d, 0xef},
{0x4e, 0x02},
{0x4c, 0x01}, //D50
{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, &reg_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, &reg);
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, &reg);
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) {
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, &reg);
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, REG_AMODE1, REG_AMODE1_SET_VMIRROR(reg, enable));
return ret;
}
static int set_auto_exposure(omv_csi_t *csi, int enable, int exposure_us) {
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, 0xb6, &reg);
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0xb6, (reg & 0xFE) | (enable & 0x01));
return ret;
}
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, &reg);
ret |= omv_i2c_writeb(csi->i2c, csi->slv_addr, 0x82, (reg & 0xFD) | ((enable & 0x01) << 1));
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)