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https://github.com/openmv/openmv.git
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1579 lines
53 KiB
C
1579 lines
53 KiB
C
/*
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* This file is part of the OpenMV project.
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*
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* Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
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* Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
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*
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* This work is licensed under the MIT license, see the file LICENSE for details.
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*
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* Sensor abstraction layer.
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*/
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#include <string.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include "py/mphal.h"
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#include "irq.h"
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#include "cambus.h"
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#include "sensor.h"
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#include "ov2640.h"
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#include "ov5640.h"
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#include "ov7725.h"
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#include "ov7670.h"
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#include "ov7690.h"
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#include "ov9650.h"
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#include "mt9v034.h"
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#include "lepton.h"
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#include "hm01b0.h"
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#include "systick.h"
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#include "framebuffer.h"
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#include "omv_boardconfig.h"
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#include "unaligned_memcpy.h"
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#define MAX_XFER_SIZE (0xFFFF*4)
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extern void __fatal_error(const char *msg);
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sensor_t sensor = {0};
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static TIM_HandleTypeDef TIMHandle = {0};
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static DMA_HandleTypeDef DMAHandle = {0};
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static DCMI_HandleTypeDef DCMIHandle = {0};
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extern uint8_t _line_buf;
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static uint8_t *dest_fb = NULL;
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static volatile int offset = 0;
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static volatile bool jpeg_buffer_overflow = false;
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static volatile bool waiting_for_data = false;
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const int resolution[][2] = {
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{0, 0 },
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// C/SIF Resolutions
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{88, 72 }, /* QQCIF */
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{176, 144 }, /* QCIF */
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{352, 288 }, /* CIF */
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{88, 60 }, /* QQSIF */
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{176, 120 }, /* QSIF */
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{352, 240 }, /* SIF */
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// VGA Resolutions
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{40, 30 }, /* QQQQVGA */
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{80, 60 }, /* QQQVGA */
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{160, 120 }, /* QQVGA */
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{320, 240 }, /* QVGA */
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{640, 480 }, /* VGA */
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{60, 40 }, /* HQQQVGA */
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{120, 80 }, /* HQQVGA */
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{240, 160 }, /* HQVGA */
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// FFT Resolutions
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{64, 32 }, /* 64x32 */
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{64, 64 }, /* 64x64 */
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{128, 64 }, /* 128x64 */
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{128, 128 }, /* 128x128 */
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// Other
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{128, 160 }, /* LCD */
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{128, 160 }, /* QQVGA2 */
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{720, 480 }, /* WVGA */
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{752, 480 }, /* WVGA2 */
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{800, 600 }, /* SVGA */
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{1024, 768 }, /* XGA */
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{1280, 1024}, /* SXGA */
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{1600, 1200}, /* UXGA */
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{1280, 720 }, /* HD */
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{1920, 1080}, /* FHD */
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{2560, 1440}, /* QHD */
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{2048, 1536}, /* QXGA */
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{2560, 1600}, /* WQXGA */
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{2592, 1944}, /* WQXGA2 */
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};
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void DCMI_IRQHandler(void) {
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HAL_DCMI_IRQHandler(&DCMIHandle);
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}
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void DMA2_Stream1_IRQHandler(void) {
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HAL_DMA_IRQHandler(DCMIHandle.DMA_Handle);
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}
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static int extclk_config(int frequency)
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{
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#if (OMV_XCLK_SOURCE == OMV_XCLK_TIM)
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/* TCLK (PCLK * 2) */
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int tclk = DCMI_TIM_PCLK_FREQ() * 2;
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/* Period should be even */
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int period = (tclk / frequency) - 1;
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if (TIMHandle.Init.Period && (TIMHandle.Init.Period != period)) {
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// __HAL_TIM_SET_AUTORELOAD sets TIMHandle.Init.Period...
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__HAL_TIM_SET_AUTORELOAD(&TIMHandle, period);
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__HAL_TIM_SET_COMPARE(&TIMHandle, DCMI_TIM_CHANNEL, period / 2);
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return 0;
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}
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/* Timer base configuration */
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TIMHandle.Instance = DCMI_TIM;
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TIMHandle.Init.Period = period;
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TIMHandle.Init.Prescaler = TIM_ETRPRESCALER_DIV1;
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TIMHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
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TIMHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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/* Timer channel configuration */
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TIM_OC_InitTypeDef TIMOCHandle;
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TIMOCHandle.Pulse = period / 2;
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TIMOCHandle.OCMode = TIM_OCMODE_PWM1;
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TIMOCHandle.OCPolarity = TIM_OCPOLARITY_HIGH;
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TIMOCHandle.OCFastMode = TIM_OCFAST_DISABLE;
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TIMOCHandle.OCIdleState = TIM_OCIDLESTATE_RESET;
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TIMOCHandle.OCNIdleState= TIM_OCIDLESTATE_RESET;
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if ((HAL_TIM_PWM_Init(&TIMHandle) != HAL_OK)
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|| (HAL_TIM_PWM_ConfigChannel(&TIMHandle, &TIMOCHandle, DCMI_TIM_CHANNEL) != HAL_OK)
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|| (HAL_TIM_PWM_Start(&TIMHandle, DCMI_TIM_CHANNEL) != HAL_OK)) {
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return -1;
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}
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#endif // (OMV_XCLK_SOURCE == OMV_XCLK_TIM)
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return 0;
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}
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static int dma_config()
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{
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// DMA Stream configuration
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DMAHandle.Instance = DMA2_Stream1; /* Select the DMA instance */
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#if defined(MCU_SERIES_H7)
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DMAHandle.Init.Request = DMA_REQUEST_DCMI; /* DMA Channel */
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#else
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DMAHandle.Init.Channel = DMA_CHANNEL_1; /* DMA Channel */
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#endif
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DMAHandle.Init.Direction = DMA_PERIPH_TO_MEMORY; /* Peripheral to memory transfer */
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DMAHandle.Init.MemInc = DMA_MINC_ENABLE; /* Memory increment mode Enable */
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DMAHandle.Init.PeriphInc = DMA_PINC_DISABLE; /* Peripheral increment mode Enable */
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DMAHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD; /* Peripheral data alignment : Word */
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DMAHandle.Init.MemDataAlignment = DMA_MDATAALIGN_WORD; /* Memory data alignment : Word */
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DMAHandle.Init.Mode = DMA_NORMAL; /* Normal DMA mode */
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DMAHandle.Init.Priority = DMA_PRIORITY_HIGH; /* Priority level : high */
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DMAHandle.Init.FIFOMode = DMA_FIFOMODE_ENABLE; /* FIFO mode enabled */
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DMAHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL; /* FIFO threshold full */
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DMAHandle.Init.MemBurst = DMA_MBURST_INC4; /* Memory burst */
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DMAHandle.Init.PeriphBurst = DMA_PBURST_SINGLE; /* Peripheral burst */
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// Initialize the DMA stream
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HAL_DMA_DeInit(&DMAHandle);
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if (HAL_DMA_Init(&DMAHandle) != HAL_OK) {
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// Initialization Error
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return -1;
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}
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// Configure and enable DMA IRQ Channel
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NVIC_SetPriority(DMA2_Stream1_IRQn, IRQ_PRI_DMA21);
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HAL_NVIC_EnableIRQ(DMA2_Stream1_IRQn);
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return 0;
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}
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static int dcmi_config(uint32_t jpeg_mode)
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{
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// DCMI configuration
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DCMIHandle.Instance = DCMI;
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// VSYNC clock polarity
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DCMIHandle.Init.VSPolarity = SENSOR_HW_FLAGS_GET(&sensor, SENSOR_HW_FLAGS_VSYNC) ?
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DCMI_VSPOLARITY_HIGH : DCMI_VSPOLARITY_LOW;
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// HSYNC clock polarity
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DCMIHandle.Init.HSPolarity = SENSOR_HW_FLAGS_GET(&sensor, SENSOR_HW_FLAGS_HSYNC) ?
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DCMI_HSPOLARITY_HIGH : DCMI_HSPOLARITY_LOW;
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// PXCLK clock polarity
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DCMIHandle.Init.PCKPolarity = SENSOR_HW_FLAGS_GET(&sensor, SENSOR_HW_FLAGS_PIXCK) ?
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DCMI_PCKPOLARITY_RISING : DCMI_PCKPOLARITY_FALLING;
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// Setup capture parameters.
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DCMIHandle.Init.SynchroMode = DCMI_SYNCHRO_HARDWARE; // Enable Hardware synchronization
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DCMIHandle.Init.CaptureRate = DCMI_CR_ALL_FRAME; // Capture rate all frames
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DCMIHandle.Init.ExtendedDataMode = DCMI_EXTEND_DATA_8B; // Capture 8 bits on every pixel clock
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DCMIHandle.Init.JPEGMode = jpeg_mode; // Set JPEG Mode
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#if defined(MCU_SERIES_F7) || defined(MCU_SERIES_H7)
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DCMIHandle.Init.ByteSelectMode = DCMI_BSM_ALL; // Capture all received bytes
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DCMIHandle.Init.ByteSelectStart = DCMI_OEBS_ODD; // Ignored
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DCMIHandle.Init.LineSelectMode = DCMI_LSM_ALL; // Capture all received lines
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DCMIHandle.Init.LineSelectStart = DCMI_OELS_ODD; // Ignored
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#endif
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// Associate the DMA handle to the DCMI handle
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__HAL_LINKDMA(&DCMIHandle, DMA_Handle, DMAHandle);
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// Initialize the DCMI
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HAL_DCMI_DeInit(&DCMIHandle);
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if (HAL_DCMI_Init(&DCMIHandle) != HAL_OK) {
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// Initialization Error
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return -1;
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}
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// Configure and enable DCMI IRQ Channel
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NVIC_SetPriority(DCMI_IRQn, IRQ_PRI_DCMI);
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HAL_NVIC_EnableIRQ(DCMI_IRQn);
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return 0;
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}
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static void dcmi_abort()
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{
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// This stops the DCMI hardware from generating DMA requests immediately and then stops the DMA
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// hardware. Note that HAL_DMA_Abort is a blocking operation. Do not use this in an interrupt.
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if (DMAHandle.Instance != NULL &&
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DCMI->CR & DCMI_CR_ENABLE) {
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DCMI->CR &= ~DCMI_CR_ENABLE;
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HAL_DMA_Abort(&DMAHandle);
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}
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}
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// Returns true if a crop is being applied to the frame buffer.
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static bool cropped()
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{
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return MAIN_FB()->x // needs to be zero if not being cropped.
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|| MAIN_FB()->y // needs to be zero if not being cropped.
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|| (MAIN_FB()->u != resolution[sensor.framesize][0]) // should be equal to the resolution if not cropped.
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|| (MAIN_FB()->v != resolution[sensor.framesize][1]); // should be equal to the resolution if not cropped.
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}
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void sensor_init0()
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{
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dcmi_abort();
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// Always reinit cambus after soft reset which could have terminated the cambus in the middle
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// of an I2C read/write.
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cambus_init(&sensor.bus, ISC_I2C_ID, ISC_I2C_SPEED);
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// Disable VSYNC IRQ and callback
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sensor_set_vsync_callback(NULL);
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}
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int sensor_init()
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{
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int init_ret = 0;
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/* Do a power cycle */
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DCMI_PWDN_HIGH();
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systick_sleep(10);
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DCMI_PWDN_LOW();
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systick_sleep(10);
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// Configure the sensor external clock (XCLK) to XCLK_FREQ.
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//
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// Max pixclk is 2.5 * HCLK:
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// STM32F427@180MHz PCLK = 71.9999MHz
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// STM32F769@216MHz PCLK = 86.4000MHz
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//
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// OV2640:
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// The sensor's internal PLL (when CLKRC=0x80) doubles the XCLK_FREQ
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// (XCLK=XCLK_FREQ*2), and the unscaled PIXCLK output is XCLK_FREQ*4
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//
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// OV7725 PCLK when prescalar is enabled (CLKRC[6]=0):
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// Internal clock = Input clock × PLL multiplier / [(CLKRC[5:0] + 1) × 2]
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//
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// OV7725 PCLK when prescalar is disabled (CLKRC[6]=1):
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// Internal clock = Input clock × PLL multiplier
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//
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#if (OMV_XCLK_SOURCE == OMV_XCLK_TIM)
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// Configure external clock timer.
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if (extclk_config(OMV_XCLK_FREQUENCY) != 0) {
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// Timer problem
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return -1;
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}
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#elif (OMV_XCLK_SOURCE == OMV_XCLK_MCO)
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// Pass through the MCO1 clock with source input set to HSE (12MHz).
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// Note MCO1 is multiplexed on OPENMV2/TIM1 only.
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HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSE, RCC_MCODIV_1);
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#elif (OMV_XCLK_SOURCE == OMV_XCLK_OSC)
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// An external oscillator is used for the sensor clock.
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// Nothing to do.
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#else
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#error "OMV_XCLK_SOURCE is not set!"
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#endif
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/* Reset the sesnor state */
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memset(&sensor, 0, sizeof(sensor_t));
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/* Some sensors have different reset polarities, and we can't know which sensor
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is connected before initializing cambus and probing the sensor, which in turn
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requires pulling the sensor out of the reset state. So we try to probe the
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sensor with both polarities to determine line state. */
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sensor.pwdn_pol = ACTIVE_HIGH;
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sensor.reset_pol = ACTIVE_HIGH;
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/* Reset the sensor */
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DCMI_RESET_HIGH();
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systick_sleep(10);
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DCMI_RESET_LOW();
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systick_sleep(10);
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// Initialize the camera bus.
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cambus_init(&sensor.bus, ISC_I2C_ID, ISC_I2C_SPEED);
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systick_sleep(10);
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/* Probe the sensor */
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sensor.slv_addr = cambus_scan(&sensor.bus);
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if (sensor.slv_addr == 0) {
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/* Sensor has been held in reset,
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so the reset line is active low */
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sensor.reset_pol = ACTIVE_LOW;
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/* Pull the sensor out of the reset state */
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DCMI_RESET_HIGH();
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systick_sleep(10);
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/* Probe again to set the slave addr */
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sensor.slv_addr = cambus_scan(&sensor.bus);
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if (sensor.slv_addr == 0) {
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sensor.pwdn_pol = ACTIVE_LOW;
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DCMI_PWDN_HIGH();
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systick_sleep(10);
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sensor.slv_addr = cambus_scan(&sensor.bus);
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if (sensor.slv_addr == 0) {
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sensor.reset_pol = ACTIVE_HIGH;
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DCMI_RESET_LOW();
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systick_sleep(10);
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sensor.slv_addr = cambus_scan(&sensor.bus);
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if (sensor.slv_addr == 0) {
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return -2;
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}
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}
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}
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}
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// Clear sensor chip ID.
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sensor.chip_id = 0;
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// Set default snapshot function.
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sensor.snapshot = sensor_snapshot;
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switch (sensor.slv_addr) {
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case OV2640_SLV_ADDR: // Or OV9650.
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cambus_readb(&sensor.bus, sensor.slv_addr, OV_CHIP_ID, &sensor.chip_id);
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break;
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case OV5640_SLV_ADDR:
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cambus_readb2(&sensor.bus, sensor.slv_addr, OV5640_CHIP_ID, &sensor.chip_id);
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break;
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case OV7725_SLV_ADDR: // Or OV7690 or OV7670.
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cambus_readb(&sensor.bus, sensor.slv_addr, OV_CHIP_ID, &sensor.chip_id);
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break;
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case MT9V034_SLV_ADDR:
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cambus_readb(&sensor.bus, sensor.slv_addr, ON_CHIP_ID, &sensor.chip_id);
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break;
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case LEPTON_SLV_ADDR:
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sensor.chip_id = LEPTON_ID;
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break;
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case HM01B0_SLV_ADDR:
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cambus_readb2(&sensor.bus, sensor.slv_addr, HIMAX_CHIP_ID, &sensor.chip_id);
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break;
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default:
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return -3;
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break;
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}
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switch (sensor.chip_id) {
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#if (OMV_ENABLE_OV2640 == 1)
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case OV2640_ID:
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if (extclk_config(OV2640_XCLK_FREQ) != 0) {
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return -3;
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}
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init_ret = ov2640_init(&sensor);
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break;
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#endif // (OMV_ENABLE_OV2640 == 1)
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#if (OMV_ENABLE_OV5640 == 1)
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case OV5640_ID:
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if (extclk_config(OV5640_XCLK_FREQ) != 0) {
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return -3;
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}
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init_ret = ov5640_init(&sensor);
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break;
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#endif // (OMV_ENABLE_OV5640 == 1)
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#if (OMV_ENABLE_OV7670 == 1)
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case OV7670_ID:
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if (extclk_config(OV7670_XCLK_FREQ) != 0) {
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return -3;
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}
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init_ret = ov7670_init(&sensor);
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break;
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#endif // (OMV_ENABLE_OV7670 == 1)
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#if (OMV_ENABLE_OV7690 == 1)
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case OV7690_ID:
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if (extclk_config(OV7690_XCLK_FREQ) != 0) {
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return -3;
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}
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init_ret = ov7690_init(&sensor);
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break;
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#endif // (OMV_ENABLE_OV7690 == 1)
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#if (OMV_ENABLE_OV7725 == 1)
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case OV7725_ID:
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init_ret = ov7725_init(&sensor);
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break;
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#endif // (OMV_ENABLE_OV7725 == 1)
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#if (OMV_ENABLE_OV9650 == 1)
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case OV9650_ID:
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init_ret = ov9650_init(&sensor);
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break;
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#endif // (OMV_ENABLE_OV9650 == 1)
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#if (OMV_ENABLE_MT9V034 == 1)
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case MT9V034_ID:
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if (extclk_config(MT9V034_XCLK_FREQ) != 0) {
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return -3;
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}
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init_ret = mt9v034_init(&sensor);
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break;
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#endif //(OMV_ENABLE_MT9V034 == 1)
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#if (OMV_ENABLE_LEPTON == 1)
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case LEPTON_ID:
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if (extclk_config(LEPTON_XCLK_FREQ) != 0) {
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return -3;
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}
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init_ret = lepton_init(&sensor);
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break;
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#endif // (OMV_ENABLE_LEPTON == 1)
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#if (OMV_ENABLE_HM01B0 == 1)
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case HM01B0_ID:
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init_ret = hm01b0_init(&sensor);
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break;
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#endif //(OMV_ENABLE_HM01B0 == 1)
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default:
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return -3;
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break;
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}
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|
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if (init_ret != 0 ) {
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// Sensor init failed.
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return -4;
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||
}
|
||
|
||
/* Configure the DCMI DMA Stream */
|
||
if (dma_config() != 0) {
|
||
// DMA problem
|
||
return -5;
|
||
}
|
||
|
||
/* Configure the DCMI interface. This should be called
|
||
after ovxxx_init to set VSYNC/HSYNC/PCLK polarities */
|
||
if (dcmi_config(DCMI_JPEG_DISABLE) != 0){
|
||
// DCMI config failed
|
||
return -6;
|
||
}
|
||
|
||
// Disable VSYNC EXTI IRQ
|
||
HAL_NVIC_DisableIRQ(DCMI_VSYNC_IRQN);
|
||
|
||
// Clear fb_enabled flag
|
||
// This is executed only once to initialize the FB enabled flag.
|
||
JPEG_FB()->enabled = 0;
|
||
|
||
// Set default color palette.
|
||
sensor.color_palette = rainbow_table;
|
||
|
||
sensor.detected = true;
|
||
|
||
/* All good! */
|
||
return 0;
|
||
}
|
||
|
||
int sensor_reset()
|
||
{
|
||
dcmi_abort();
|
||
|
||
// Reset the sensor state
|
||
sensor.sde = 0;
|
||
sensor.pixformat = 0;
|
||
sensor.framesize = 0;
|
||
sensor.framerate = 0;
|
||
sensor.gainceiling = 0;
|
||
sensor.hmirror = false;
|
||
sensor.vflip = false;
|
||
sensor.transpose = false;
|
||
#if MICROPY_PY_IMU
|
||
sensor.auto_rotation = sensor.chip_id == OV7690_ID;
|
||
#else
|
||
sensor.auto_rotation = false;
|
||
#endif // MICROPY_PY_IMU
|
||
sensor.vsync_callback= NULL;
|
||
|
||
// Reset default color palette.
|
||
sensor.color_palette = rainbow_table;
|
||
|
||
// Restore shutdown state on reset.
|
||
sensor_shutdown(false);
|
||
|
||
// Hard-reset the sensor
|
||
if (sensor.reset_pol == ACTIVE_HIGH) {
|
||
DCMI_RESET_HIGH();
|
||
systick_sleep(10);
|
||
DCMI_RESET_LOW();
|
||
} else {
|
||
DCMI_RESET_LOW();
|
||
systick_sleep(10);
|
||
DCMI_RESET_HIGH();
|
||
}
|
||
systick_sleep(20);
|
||
|
||
// Call sensor-specific reset function
|
||
if (sensor.reset(&sensor) != 0) {
|
||
return -1;
|
||
}
|
||
|
||
// Disable VSYNC EXTI IRQ
|
||
HAL_NVIC_DisableIRQ(DCMI_VSYNC_IRQN);
|
||
|
||
return 0;
|
||
}
|
||
|
||
int sensor_get_id()
|
||
{
|
||
return sensor.chip_id;
|
||
}
|
||
|
||
bool sensor_is_detected()
|
||
{
|
||
return sensor.detected;
|
||
}
|
||
|
||
int sensor_sleep(int enable)
|
||
{
|
||
dcmi_abort();
|
||
|
||
if (sensor.sleep == NULL
|
||
|| sensor.sleep(&sensor, enable) != 0) {
|
||
// Operation not supported
|
||
return -1;
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
int sensor_shutdown(int enable)
|
||
{
|
||
int ret = 0;
|
||
dcmi_abort();
|
||
|
||
if (enable) {
|
||
if (sensor.pwdn_pol == ACTIVE_HIGH) {
|
||
DCMI_PWDN_HIGH();
|
||
} else {
|
||
DCMI_PWDN_LOW();
|
||
}
|
||
HAL_NVIC_DisableIRQ(DCMI_IRQn);
|
||
HAL_DCMI_DeInit(&DCMIHandle);
|
||
} else {
|
||
if (sensor.pwdn_pol == ACTIVE_HIGH) {
|
||
DCMI_PWDN_LOW();
|
||
} else {
|
||
DCMI_PWDN_HIGH();
|
||
}
|
||
ret = dcmi_config(DCMI_JPEG_DISABLE);
|
||
}
|
||
|
||
systick_sleep(10);
|
||
return ret;
|
||
}
|
||
|
||
int sensor_read_reg(uint16_t reg_addr)
|
||
{
|
||
if (sensor.read_reg == NULL) {
|
||
// Operation not supported
|
||
return -1;
|
||
}
|
||
return sensor.read_reg(&sensor, reg_addr);
|
||
}
|
||
|
||
int sensor_write_reg(uint16_t reg_addr, uint16_t reg_data)
|
||
{
|
||
if (sensor.write_reg == NULL) {
|
||
// Operation not supported
|
||
return -1;
|
||
}
|
||
return sensor.write_reg(&sensor, reg_addr, reg_data);
|
||
}
|
||
|
||
int sensor_set_pixformat(pixformat_t pixformat)
|
||
{
|
||
if (sensor.pixformat == pixformat) {
|
||
// No change
|
||
return 0;
|
||
}
|
||
|
||
// sensor_check_buffsize() will switch from PIXFORMAT_BAYER to PIXFORMAT_RGB565 to try to fit
|
||
// the MAIN_FB() in RAM as a first step optimization. If the user tries to switch back to RGB565
|
||
// and that would be bigger than the RAM buffer we would just switch back.
|
||
//
|
||
// So, just short-circuit doing any work.
|
||
//
|
||
// This code is explicitly here to allow users to set the resolution to RGB565 and have it
|
||
// switch to BAYER only once even though they are setting the resolution to RGB565 repeatedly
|
||
// in a loop. Only RGB565->BAYER has this problem and needs this fix because of sensor_check_buffsize().
|
||
uint32_t size = framebuffer_get_buffer_size();
|
||
if ((sensor.pixformat == PIXFORMAT_BAYER)
|
||
&& (pixformat == PIXFORMAT_RGB565)
|
||
&& (MAIN_FB()->u * MAIN_FB()->v * 2 > size)
|
||
&& (MAIN_FB()->u * MAIN_FB()->v * 1 <= size)) {
|
||
// No change
|
||
return 0;
|
||
}
|
||
|
||
// Cropping and transposing (and thus auto rotation) don't work in JPEG mode.
|
||
if ((pixformat == PIXFORMAT_JPEG) && (cropped() || sensor.transpose || sensor.auto_rotation)) {
|
||
return -1;
|
||
}
|
||
|
||
dcmi_abort();
|
||
|
||
if (sensor.set_pixformat == NULL
|
||
|| sensor.set_pixformat(&sensor, pixformat) != 0) {
|
||
// Operation not supported
|
||
return -1;
|
||
}
|
||
|
||
systick_sleep(100); // wait for the camera to settle
|
||
|
||
// Set pixel format
|
||
sensor.pixformat = pixformat;
|
||
|
||
// Skip the first frame.
|
||
MAIN_FB()->bpp = -1;
|
||
|
||
// Change the JPEG mode.
|
||
return dcmi_config((pixformat == PIXFORMAT_JPEG) ? DCMI_JPEG_ENABLE : DCMI_JPEG_DISABLE);
|
||
}
|
||
|
||
int sensor_set_framesize(framesize_t framesize)
|
||
{
|
||
if (sensor.framesize == framesize) {
|
||
// No change
|
||
return 0;
|
||
}
|
||
|
||
dcmi_abort();
|
||
|
||
// Call the sensor specific function
|
||
if (sensor.set_framesize == NULL
|
||
|| sensor.set_framesize(&sensor, framesize) != 0) {
|
||
// Operation not supported
|
||
return -1;
|
||
}
|
||
|
||
systick_sleep(100); // wait for the camera to settle
|
||
|
||
// Set framebuffer size
|
||
sensor.framesize = framesize;
|
||
|
||
// Skip the first frame.
|
||
MAIN_FB()->bpp = -1;
|
||
|
||
// Set MAIN FB x offset, y offset, width, height, backup width, and backup height.
|
||
MAIN_FB()->x = 0;
|
||
MAIN_FB()->y = 0;
|
||
MAIN_FB()->w = MAIN_FB()->u = resolution[framesize][0];
|
||
MAIN_FB()->h = MAIN_FB()->v = resolution[framesize][1];
|
||
|
||
return 0;
|
||
}
|
||
|
||
int sensor_set_framerate(int framerate)
|
||
{
|
||
if (sensor.framerate == framerate) {
|
||
// No change
|
||
return 0;
|
||
}
|
||
|
||
// Call the sensor specific function
|
||
if (sensor.set_framerate == NULL
|
||
|| sensor.set_framerate(&sensor, framerate) != 0) {
|
||
// Operation not supported
|
||
return -1;
|
||
}
|
||
|
||
return 0;
|
||
}
|
||
|
||
int sensor_set_windowing(int x, int y, int w, int h)
|
||
{
|
||
// py_sensor_set_windowing ensures this the window is at least 8x8
|
||
// and that it is fully inside the sensor output framesize window.
|
||
if (sensor.pixformat == PIXFORMAT_JPEG) {
|
||
return -1;
|
||
}
|
||
|
||
// We force everything to be a multiple of 2 so that when you switch between
|
||
// grayscale/rgb565/bayer/jpeg the frame doesn't need to move around for bayer to work.
|
||
MAIN_FB()->x = (x / 2) * 2;
|
||
MAIN_FB()->y = (y / 2) * 2;
|
||
MAIN_FB()->w = MAIN_FB()->u = (w / 2) * 2;
|
||
MAIN_FB()->h = MAIN_FB()->v = (h / 2) * 2;
|
||
|
||
return 0;
|
||
}
|
||
|
||
int sensor_set_contrast(int level)
|
||
{
|
||
if (sensor.set_contrast != NULL) {
|
||
return sensor.set_contrast(&sensor, level);
|
||
}
|
||
return -1;
|
||
}
|
||
|
||
int sensor_set_brightness(int level)
|
||
{
|
||
if (sensor.set_brightness != NULL) {
|
||
return sensor.set_brightness(&sensor, level);
|
||
}
|
||
return -1;
|
||
}
|
||
|
||
int sensor_set_saturation(int level)
|
||
{
|
||
if (sensor.set_saturation != NULL) {
|
||
return sensor.set_saturation(&sensor, level);
|
||
}
|
||
return -1;
|
||
}
|
||
|
||
int sensor_set_gainceiling(gainceiling_t gainceiling)
|
||
{
|
||
if (sensor.gainceiling == gainceiling) {
|
||
/* no change */
|
||
return 0;
|
||
}
|
||
|
||
/* call the sensor specific function */
|
||
if (sensor.set_gainceiling == NULL
|
||
|| sensor.set_gainceiling(&sensor, gainceiling) != 0) {
|
||
/* operation not supported */
|
||
return -1;
|
||
}
|
||
|
||
sensor.gainceiling = gainceiling;
|
||
return 0;
|
||
}
|
||
|
||
int sensor_set_quality(int qs)
|
||
{
|
||
/* call the sensor specific function */
|
||
if (sensor.set_quality == NULL
|
||
|| sensor.set_quality(&sensor, qs) != 0) {
|
||
/* operation not supported */
|
||
return -1;
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
int sensor_set_colorbar(int enable)
|
||
{
|
||
/* call the sensor specific function */
|
||
if (sensor.set_colorbar == NULL
|
||
|| sensor.set_colorbar(&sensor, enable) != 0) {
|
||
/* operation not supported */
|
||
return -1;
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
int sensor_set_auto_gain(int enable, float gain_db, float gain_db_ceiling)
|
||
{
|
||
/* call the sensor specific function */
|
||
if (sensor.set_auto_gain == NULL
|
||
|| sensor.set_auto_gain(&sensor, enable, gain_db, gain_db_ceiling) != 0) {
|
||
/* operation not supported */
|
||
return -1;
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
int sensor_get_gain_db(float *gain_db)
|
||
{
|
||
/* call the sensor specific function */
|
||
if (sensor.get_gain_db == NULL
|
||
|| sensor.get_gain_db(&sensor, gain_db) != 0) {
|
||
/* operation not supported */
|
||
return -1;
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
int sensor_set_auto_exposure(int enable, int exposure_us)
|
||
{
|
||
/* call the sensor specific function */
|
||
if (sensor.set_auto_exposure == NULL
|
||
|| sensor.set_auto_exposure(&sensor, enable, exposure_us) != 0) {
|
||
/* operation not supported */
|
||
return -1;
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
int sensor_get_exposure_us(int *exposure_us)
|
||
{
|
||
/* call the sensor specific function */
|
||
if (sensor.get_exposure_us == NULL
|
||
|| sensor.get_exposure_us(&sensor, exposure_us) != 0) {
|
||
/* operation not supported */
|
||
return -1;
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
int sensor_set_auto_whitebal(int enable, float r_gain_db, float g_gain_db, float b_gain_db)
|
||
{
|
||
/* call the sensor specific function */
|
||
if (sensor.set_auto_whitebal == NULL
|
||
|| sensor.set_auto_whitebal(&sensor, enable, r_gain_db, g_gain_db, b_gain_db) != 0) {
|
||
/* operation not supported */
|
||
return -1;
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
int sensor_get_rgb_gain_db(float *r_gain_db, float *g_gain_db, float *b_gain_db)
|
||
{
|
||
/* call the sensor specific function */
|
||
if (sensor.get_rgb_gain_db == NULL
|
||
|| sensor.get_rgb_gain_db(&sensor, r_gain_db, g_gain_db, b_gain_db) != 0) {
|
||
/* operation not supported */
|
||
return -1;
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
int sensor_set_hmirror(int enable)
|
||
{
|
||
if (sensor.hmirror == ((bool) enable)) {
|
||
/* no change */
|
||
return 0;
|
||
}
|
||
|
||
/* call the sensor specific function */
|
||
if (sensor.set_hmirror == NULL
|
||
|| sensor.set_hmirror(&sensor, enable) != 0) {
|
||
/* operation not supported */
|
||
return -1;
|
||
}
|
||
sensor.hmirror = enable;
|
||
systick_sleep(100); // wait for the camera to settle
|
||
return 0;
|
||
}
|
||
|
||
bool sensor_get_hmirror()
|
||
{
|
||
return sensor.hmirror;
|
||
}
|
||
|
||
int sensor_set_vflip(int enable)
|
||
{
|
||
if (sensor.vflip == ((bool) enable)) {
|
||
/* no change */
|
||
return 0;
|
||
}
|
||
|
||
/* call the sensor specific function */
|
||
if (sensor.set_vflip == NULL
|
||
|| sensor.set_vflip(&sensor, enable) != 0) {
|
||
/* operation not supported */
|
||
return -1;
|
||
}
|
||
sensor.vflip = enable;
|
||
systick_sleep(100); // wait for the camera to settle
|
||
return 0;
|
||
}
|
||
|
||
bool sensor_get_vflip()
|
||
{
|
||
return sensor.vflip;
|
||
}
|
||
|
||
int sensor_set_transpose(bool enable)
|
||
{
|
||
if (sensor.pixformat == PIXFORMAT_JPEG) {
|
||
return -1;
|
||
}
|
||
|
||
sensor.transpose = enable;
|
||
return 0;
|
||
}
|
||
|
||
bool sensor_get_transpose()
|
||
{
|
||
return sensor.transpose;
|
||
}
|
||
|
||
int sensor_set_auto_rotation(bool enable)
|
||
{
|
||
if (sensor.pixformat == PIXFORMAT_JPEG) {
|
||
return -1;
|
||
}
|
||
|
||
sensor.auto_rotation = enable;
|
||
return 0;
|
||
}
|
||
|
||
bool sensor_get_auto_rotation()
|
||
{
|
||
return sensor.auto_rotation;
|
||
}
|
||
|
||
int sensor_set_special_effect(sde_t sde)
|
||
{
|
||
if (sensor.sde == sde) {
|
||
/* no change */
|
||
return 0;
|
||
}
|
||
|
||
/* call the sensor specific function */
|
||
if (sensor.set_special_effect == NULL
|
||
|| sensor.set_special_effect(&sensor, sde) != 0) {
|
||
/* operation not supported */
|
||
return -1;
|
||
}
|
||
|
||
sensor.sde = sde;
|
||
return 0;
|
||
}
|
||
|
||
int sensor_set_lens_correction(int enable, int radi, int coef)
|
||
{
|
||
/* call the sensor specific function */
|
||
if (sensor.set_lens_correction == NULL
|
||
|| sensor.set_lens_correction(&sensor, enable, radi, coef) != 0) {
|
||
/* operation not supported */
|
||
return -1;
|
||
}
|
||
|
||
return 0;
|
||
}
|
||
|
||
int sensor_ioctl(int request, ... /* arg */)
|
||
{
|
||
dcmi_abort();
|
||
|
||
int ret = -1;
|
||
|
||
if (sensor.ioctl != NULL) {
|
||
va_list ap;
|
||
va_start(ap, request);
|
||
/* call the sensor specific function */
|
||
ret = sensor.ioctl(&sensor, request, ap);
|
||
va_end(ap);
|
||
}
|
||
|
||
return ret;
|
||
}
|
||
|
||
int sensor_set_vsync_callback(vsync_cb_t vsync_cb)
|
||
{
|
||
sensor.vsync_callback = vsync_cb;
|
||
if (sensor.vsync_callback == NULL) {
|
||
// Disable VSYNC EXTI IRQ
|
||
HAL_NVIC_DisableIRQ(DCMI_VSYNC_IRQN);
|
||
} else {
|
||
// Enable VSYNC EXTI IRQ
|
||
NVIC_SetPriority(DCMI_VSYNC_IRQN, IRQ_PRI_EXTINT);
|
||
HAL_NVIC_EnableIRQ(DCMI_VSYNC_IRQN);
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
int sensor_set_color_palette(const uint16_t *color_palette)
|
||
{
|
||
sensor.color_palette = color_palette;
|
||
return 0;
|
||
}
|
||
|
||
const uint16_t *sensor_get_color_palette()
|
||
{
|
||
return sensor.color_palette;
|
||
}
|
||
|
||
void DCMI_VsyncExtiCallback()
|
||
{
|
||
__HAL_GPIO_EXTI_CLEAR_FLAG(1 << DCMI_VSYNC_IRQ_LINE);
|
||
if (sensor.vsync_callback != NULL) {
|
||
sensor.vsync_callback(HAL_GPIO_ReadPin(DCMI_VSYNC_PORT, DCMI_VSYNC_PIN));
|
||
}
|
||
}
|
||
|
||
// To make the user experience better we automatically shrink the size of the MAIN_FB() to fit
|
||
// within the RAM we have onboard the system.
|
||
static void sensor_check_buffsize()
|
||
{
|
||
uint32_t size = framebuffer_get_buffer_size();
|
||
uint32_t bpp;
|
||
|
||
switch (sensor.pixformat) {
|
||
case PIXFORMAT_GRAYSCALE:
|
||
case PIXFORMAT_BAYER:
|
||
bpp = 1;
|
||
break;
|
||
case PIXFORMAT_RGB565:
|
||
case PIXFORMAT_YUV422:
|
||
bpp = 2;
|
||
break;
|
||
// If the pixformat is NULL/JPEG there we can't do anything to check if it fits before hand.
|
||
default:
|
||
return;
|
||
}
|
||
|
||
// MAIN_FB() fits, we are done.
|
||
if ((MAIN_FB()->u * MAIN_FB()->v * bpp) <= size) {
|
||
return;
|
||
}
|
||
|
||
if (sensor.pixformat == PIXFORMAT_RGB565) {
|
||
// Switch to bayer for the quick 2x savings.
|
||
sensor_set_pixformat(PIXFORMAT_BAYER);
|
||
bpp = 1;
|
||
|
||
// MAIN_FB() fits, we are done (bpp is 1).
|
||
if (MAIN_FB()->u * MAIN_FB()->v <= size) {
|
||
return;
|
||
}
|
||
}
|
||
|
||
int window_w = MAIN_FB()->u;
|
||
int window_h = MAIN_FB()->v;
|
||
|
||
// We need to shrink the frame buffer. We can do this by cropping. So, we will subtract columns
|
||
// and rows from the frame buffer until it fits within the frame buffer.
|
||
int max = IM_MAX(window_w, window_h);
|
||
int min = IM_MIN(window_w, window_h);
|
||
float aspect_ratio = max / ((float) min);
|
||
float r = aspect_ratio, best_r = r;
|
||
int c = 1, best_c = c;
|
||
float best_err = FLT_MAX;
|
||
|
||
// Find the width/height ratio that's within 1% of the aspect ratio with a loop limit.
|
||
for (int i = 100; i; i--) {
|
||
float err = fast_fabsf(r - fast_roundf(r));
|
||
|
||
if (err <= best_err) {
|
||
best_err = err;
|
||
best_r = r;
|
||
best_c = c;
|
||
}
|
||
|
||
if (best_err <= 0.01f) {
|
||
break;
|
||
}
|
||
|
||
r += aspect_ratio;
|
||
c += 1;
|
||
}
|
||
|
||
// Select the larger geometry to map the aspect ratio to.
|
||
int u_sub, v_sub;
|
||
|
||
if (window_w > window_h) {
|
||
u_sub = fast_roundf(best_r);
|
||
v_sub = best_c;
|
||
} else {
|
||
u_sub = best_c;
|
||
v_sub = fast_roundf(best_r);
|
||
}
|
||
|
||
// Crop the frame buffer while keeping the aspect ratio and keeping the width/height even.
|
||
while (((MAIN_FB()->u * MAIN_FB()->v * bpp) > size) || (MAIN_FB()->u % 2) || (MAIN_FB()->v % 2)) {
|
||
MAIN_FB()->u -= u_sub;
|
||
MAIN_FB()->v -= v_sub;
|
||
}
|
||
|
||
// Center the new window using the previous offset and keep the offset even.
|
||
MAIN_FB()->x += (window_w - MAIN_FB()->u) / 2;
|
||
MAIN_FB()->y += (window_h - MAIN_FB()->v) / 2;
|
||
if (MAIN_FB()->x % 2) MAIN_FB()->x -= 1;
|
||
if (MAIN_FB()->y % 2) MAIN_FB()->y -= 1;
|
||
}
|
||
|
||
// Stop allowing new data in on the end of the frame and let snapshot know that the frame has been
|
||
// received. Note that DCMI_DMAConvCpltUser() is called before DCMI_IT_FRAME is enabled by
|
||
// DCMI_DMAXferCplt() so this means that the last line of data is *always* transferred before
|
||
// waiting_for_data is set to false.
|
||
void HAL_DCMI_FrameEventCallback(DCMI_HandleTypeDef *hdcmi)
|
||
{
|
||
waiting_for_data = false;
|
||
}
|
||
|
||
// This function is called back after each line transfer is complete,
|
||
// with a pointer to the line buffer that was used. At this point the
|
||
// DMA transfers the next line to the other half of the line buffer.
|
||
void DCMI_DMAConvCpltUser(uint32_t addr)
|
||
{
|
||
// If snapshot was not already waiting to receive data then we have missed this frame and have
|
||
// to drop it. So, abort this and future transfers. Snapshot will restart the process.
|
||
if (!waiting_for_data) {
|
||
DCMI->CR &= ~DCMI_CR_ENABLE;
|
||
HAL_DMA_Abort_IT(&DMAHandle); // Note: Use HAL_DMA_Abort_IT and not HAL_DMA_Abort inside an interrupt.
|
||
return;
|
||
}
|
||
|
||
// We are transferring the image from the DCMI hardware to line buffers so that we have more
|
||
// control to post process the image data before writing it to the frame buffer. This requires
|
||
// more CPU, but, allows us to crop and rotate the image as the data is received.
|
||
|
||
// Additionally, the line buffers act as very large fifos which hide SDRAM memory access times
|
||
// on the OpenMV Cam H7 Plus. When SDRAM refreshes the row you are trying to write to the fifo
|
||
// depth on the DCMI hardware and DMA hardware is not enough to prevent data loss.
|
||
|
||
uint8_t *src = (uint8_t*) addr;
|
||
uint8_t *dst = (uint8_t*) dest_fb;
|
||
|
||
uint16_t *src16 = (uint16_t*) addr;
|
||
uint16_t *dst16 = (uint16_t*) dest_fb;
|
||
|
||
if (sensor.pixformat == PIXFORMAT_JPEG) {
|
||
if (sensor.chip_id == OV5640_ID) {
|
||
// JPEG MODE 4:
|
||
//
|
||
// The width and height are fixed in each frame. The first two bytes are valid data
|
||
// length in every line, followed by valid image data. Dummy data (0xFF) may be used as
|
||
// padding at each line end if the current valid image data is less than the line width.
|
||
//
|
||
// In this mode `offset` holds the size of all jpeg data transferred.
|
||
//
|
||
// Note: We are using this mode for the OV5640 because it allows us to use the line
|
||
// buffers to fifo the JPEG image data input so we can handle SDRAM refresh hiccups
|
||
// that will cause data loss if we make the DMA hardware write directly to the FB.
|
||
//
|
||
uint16_t size = __REV16(*src16);
|
||
// Prevent a buffer overflow when writing the jpeg data.
|
||
if (offset + size > framebuffer_get_buffer_size()) {
|
||
jpeg_buffer_overflow = true;
|
||
return;
|
||
}
|
||
unaligned_memcpy(dst + offset, src16 + 1, size);
|
||
offset += size;
|
||
} else {
|
||
// JPEG MODE 3:
|
||
//
|
||
// Compression data is transmitted with programmable width. The last line width maybe
|
||
// different from the other line (there is no dummy data). In each frame, the line
|
||
// number may be different.
|
||
//
|
||
// In this mode `offset` will be incremented by one after 262,140 Bytes have been
|
||
// transferred. If 524,280 Bytes have been transferred line will be incremented again.
|
||
// The DMA counter must be used to get the amount of data transferred between.
|
||
//
|
||
// Note: In this mode the JPEG image data is written directly to the frame buffer. This
|
||
// is not optimal. However, it works okay for the OV2640 since the PCLK is much lower
|
||
// than the OV5640 PCLK. The OV5640 drops data in this mode. Hence using mode 4 above.
|
||
//
|
||
offset += 1;
|
||
}
|
||
return;
|
||
}
|
||
|
||
// Implement per line, per pixel cropping, and image transposing (for image rotation) in
|
||
// in software using the CPU to transfer the image from the line buffers to the frame buffer.
|
||
if (offset >= MAIN_FB()->y && offset <= (MAIN_FB()->y + MAIN_FB()->h)) {
|
||
if (!sensor.transpose) {
|
||
switch (sensor.pixformat) {
|
||
case PIXFORMAT_BAYER:
|
||
dst += (offset - MAIN_FB()->y) * MAIN_FB()->w;
|
||
src += MAIN_FB()->x;
|
||
unaligned_memcpy(dst, src, MAIN_FB()->w);
|
||
break;
|
||
case PIXFORMAT_GRAYSCALE:
|
||
dst += (offset - MAIN_FB()->y) * MAIN_FB()->w;
|
||
if (sensor.gs_bpp == 1) {
|
||
// 1BPP GRAYSCALE.
|
||
src += MAIN_FB()->x;
|
||
unaligned_memcpy(dst, src, MAIN_FB()->w);
|
||
} else {
|
||
// Extract Y channel from YUV.
|
||
src16 += MAIN_FB()->x;
|
||
unaligned_2_to_1_memcpy(dst, src16, MAIN_FB()->w);
|
||
}
|
||
break;
|
||
case PIXFORMAT_YUV422:
|
||
case PIXFORMAT_RGB565:
|
||
dst16 += (offset - MAIN_FB()->y) * MAIN_FB()->w;
|
||
src16 += MAIN_FB()->x;
|
||
if (SENSOR_HW_FLAGS_GET(&sensor, SWNSOR_HW_FLAGS_RGB565_REV)) {
|
||
unaligned_memcpy_rev16(dst16, src16, MAIN_FB()->w);
|
||
} else {
|
||
unaligned_memcpy(dst16, src16, MAIN_FB()->w * sizeof(uint16_t));
|
||
}
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
} else {
|
||
switch (sensor.pixformat) {
|
||
case PIXFORMAT_BAYER:
|
||
dst += offset - MAIN_FB()->y;
|
||
src += MAIN_FB()->x;
|
||
for (int i = MAIN_FB()->w, h = MAIN_FB()->h; i; i--) {
|
||
*dst = *src++;
|
||
dst += h;
|
||
}
|
||
break;
|
||
case PIXFORMAT_GRAYSCALE:
|
||
dst += offset - MAIN_FB()->y;
|
||
if (sensor.gs_bpp == 1) {
|
||
src += MAIN_FB()->x;
|
||
// 1BPP GRAYSCALE.
|
||
for (int i = MAIN_FB()->w, h = MAIN_FB()->h; i; i--) {
|
||
*dst = *src++;
|
||
dst += h;
|
||
}
|
||
} else {
|
||
src16 += MAIN_FB()->x;
|
||
// Extract Y channel from YUV.
|
||
for (int i = MAIN_FB()->w, h = MAIN_FB()->h; i; i--) {
|
||
*dst = *src16++;
|
||
dst += h;
|
||
}
|
||
}
|
||
break;
|
||
case PIXFORMAT_YUV422:
|
||
case PIXFORMAT_RGB565:
|
||
dst16 += offset - MAIN_FB()->y;
|
||
src16 += MAIN_FB()->x;
|
||
if (SENSOR_HW_FLAGS_GET(&sensor, SWNSOR_HW_FLAGS_RGB565_REV)) {
|
||
for (int i = MAIN_FB()->w, h = MAIN_FB()->h; i; i--) {
|
||
*dst16 = __REV16(*src16++);
|
||
dst16 += h;
|
||
}
|
||
} else {
|
||
for (int i = MAIN_FB()->w, h = MAIN_FB()->h; i; i--) {
|
||
*dst16 = *src16++;
|
||
dst16 += h;
|
||
}
|
||
}
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
}
|
||
|
||
offset++;
|
||
}
|
||
|
||
// This is the default snapshot function, which can be replaced in sensor_init functions. This function
|
||
// uses the DCMI and DMA to capture frames and each line is processed in the DCMI_DMAConvCpltUser function.
|
||
int sensor_snapshot(sensor_t *sensor, image_t *image, streaming_cb_t streaming_cb)
|
||
{
|
||
uint32_t frame = 0;
|
||
bool streaming = (streaming_cb != NULL); // Streaming mode.
|
||
bool doublebuf = false;
|
||
uint32_t addr, length, tick_start;
|
||
|
||
// In streaming mode the image pointer must be valid.
|
||
if (streaming) {
|
||
if (image == NULL) {
|
||
return -1;
|
||
}
|
||
|
||
// Clear the first image in to not trigger the streaming_cb in double buffer mode.
|
||
image->pixels = NULL;
|
||
}
|
||
|
||
// Compress the framebuffer for the IDE preview, only if it's not the first frame,
|
||
// the framebuffer is enabled and the image sensor does not support JPEG encoding.
|
||
// Note: This doesn't run unless the IDE is connected and the framebuffer is enabled.
|
||
fb_update_jpeg_buffer();
|
||
|
||
// Make sure the raw frame fits into the FB. It will be switched from RGB565 to BAYER
|
||
// first to save space before being cropped until it fits.
|
||
sensor_check_buffsize();
|
||
|
||
// Set the current frame buffer target used in the DMA line callback
|
||
// (DCMI_DMAConvCpltUser function), in both snapshot and streaming modes.
|
||
dest_fb = MAIN_FB()->pixels;
|
||
|
||
// The user may have changed the MAIN_FB width or height on the last image so we need
|
||
// to restore that here. We don't have to restore bpp because that's taken care of
|
||
// already in the code below. Note that we do the JPEG compression above first to save
|
||
// the FB of whatever the user set it to and now we restore.
|
||
MAIN_FB()->w = MAIN_FB()->u;
|
||
MAIN_FB()->h = MAIN_FB()->v;
|
||
|
||
// If an error occurs we should have a valid w/h and invalid bpp so that we leave the frame
|
||
// buffer like how sensor_set_pixformat()/sensor_set_framesize() leave it.
|
||
MAIN_FB()->bpp = -1;
|
||
|
||
// We use the stored frame size to read the whole frame. Note that cropping is
|
||
// done in the line function using the dimensions stored in MAIN_FB()->x,y,w,h.
|
||
uint32_t w = resolution[sensor->framesize][0];
|
||
uint32_t h = resolution[sensor->framesize][1];
|
||
|
||
// Setup the size and address of the transfer
|
||
switch (sensor->pixformat) {
|
||
case PIXFORMAT_GRAYSCALE:
|
||
// 1/2BPP Grayscale.
|
||
length = (w * h * sensor->gs_bpp);
|
||
addr = (uint32_t) &_line_buf;
|
||
break;
|
||
case PIXFORMAT_RGB565:
|
||
case PIXFORMAT_YUV422:
|
||
// RGB/YUV read 2 bytes per pixel.
|
||
length = (w * h * 2);
|
||
addr = (uint32_t) &_line_buf;
|
||
break;
|
||
case PIXFORMAT_BAYER:
|
||
// BAYER/RAW: 1 byte per pixel
|
||
length = (w * h * 1);
|
||
addr = (uint32_t) &_line_buf;
|
||
break;
|
||
case PIXFORMAT_JPEG:
|
||
if (sensor->chip_id == OV5640_ID) {
|
||
// The JPEG image needs to be transferred to the line buffer.
|
||
// There is no limit on the amount of data transferred.
|
||
length = w * h;
|
||
addr = (uint32_t) &_line_buf;
|
||
} else {
|
||
// The JPEG image will be directly transferred to the frame buffer.
|
||
// The DCMI hardware can transfer up to 524,280 bytes.
|
||
length = MAX_XFER_SIZE * 2;
|
||
addr = (uint32_t) (MAIN_FB()->pixels);
|
||
}
|
||
break;
|
||
default:
|
||
return -2; // Error out if the pixformat is not set.
|
||
}
|
||
|
||
// Error out if the frame size wasn't set or the line width is larger than the camera line buffers.
|
||
if ((!length) || (((length / h) > (OMV_LINE_BUF_SIZE / 2)) && (addr == ((uint32_t) &_line_buf)))) {
|
||
return -3;
|
||
}
|
||
|
||
// If two frames fit in ram, use double buffering in streaming mode.
|
||
doublebuf = ((length*2) <= framebuffer_get_buffer_size());
|
||
|
||
#if OMV_ENABLE_HM01B0
|
||
HAL_DCMI_EnableCrop(&DCMIHandle);
|
||
HAL_DCMI_ConfigCrop(&DCMIHandle,0,0,w-1,h-1);
|
||
#endif
|
||
|
||
do {
|
||
// Clear the offset counter variable before we allow more data to be received.
|
||
offset = 0;
|
||
|
||
// Clear jpeg error flag before we allow more data to be received.
|
||
jpeg_buffer_overflow = false;
|
||
|
||
// If DCMI_DMAConvCpltUser() happens before waiting_for_data = true; below then the
|
||
// transfer is stopped and it will be re-enabled again right afterwards. We know the
|
||
// transfer was stopped by checking DCMI_CR_ENABLE.
|
||
|
||
waiting_for_data = true;
|
||
|
||
// We will be in one of the following states now:
|
||
// 1. No transfer is currently running right now and DCMI_CR_ENABLE is not set.
|
||
// 2. A transfer is running and we are waiting for the data to be received.
|
||
|
||
// We are not using DCMI_CR_CAPTURE because when this bit is cleared to stop the continuous transfer it does not actually go
|
||
// low until the end of the frame (yes, you read that right). DCMI_CR_ENABLE stops the capture when cleared and stays low.
|
||
//
|
||
// When DCMI_CR_ENABLE is cleared during a DCMI transfer the hardware will automatically
|
||
// wait for the start of the next frame when it's re-enabled again below. So, we do not
|
||
// need to wait till there's no frame happening before enabling.
|
||
if (!(DCMI->CR & DCMI_CR_ENABLE)) {
|
||
// Note that HAL_DCMI_Start_DMA and HAL_DCMI_Start_DMA_MB are effectively the same
|
||
// method. The only difference between them is how large the DMA transfer size gets
|
||
// set at. For both of them DMA doesn't actually care how much data the DCMI hardware
|
||
// generates. It's just trying to move fixed size DMA transfers from the DCMI hardware
|
||
// to one memory address or another memory address. After transferring X bytes to one
|
||
// address it will switch to the next address and transfer X bytes again. Both of these
|
||
// methods set the addresses right after each other. So, effectively DMA is just writing
|
||
// data to a circular buffer with an interrupt every time 1/2 of it is written.
|
||
if ((sensor->pixformat == PIXFORMAT_JPEG) && (sensor->chip_id != OV5640_ID)) {
|
||
// Start a transfer where the whole frame buffer is located where the DMA is writing
|
||
// data to. We only use this for JPEG mode for the OV2640. Since we don't know the
|
||
// line size of data being transferred we just examine how much data was transferred
|
||
// once DMA hardware stalls waiting for data. Note that because we are writing
|
||
// directly to the frame buffer we do not have the option of aborting the transfer
|
||
// if we are not ready to move data from a line buffer to the frame buffer.
|
||
HAL_DCMI_Start_DMA(&DCMIHandle,
|
||
DCMI_MODE_SNAPSHOT, addr, length/4);
|
||
// In this mode the DMA hardware is just treating the frame buffer as two large
|
||
// DMA buffers. At the end of the frame less data may be transferred than requested.
|
||
} else {
|
||
// Start a multibuffer transfer (line by line). The DMA hardware will ping-pong
|
||
// transferring data between the uncached line buffers. Since data is continuously
|
||
// being captured the ping-ponging will stop at the end of the frame and then
|
||
// continue when the next frame starts.
|
||
HAL_DCMI_Start_DMA_MB(&DCMIHandle,
|
||
DCMI_MODE_CONTINUOUS, addr, length/4, h);
|
||
}
|
||
}
|
||
|
||
// Let the camera know we want to trigger it now.
|
||
#if defined(DCMI_FSYNC_PIN)
|
||
if (SENSOR_HW_FLAGS_GET(sensor, SENSOR_HW_FLAGS_FSYNC)) {
|
||
DCMI_FSYNC_HIGH();
|
||
}
|
||
#endif
|
||
|
||
// DCMI_DMAConvCpltUser() will start triggering now. Since waiting_for_data = true; the
|
||
// data will be transferred to the frame buffer.
|
||
|
||
// Before we wait for the next frame try to get some work done. If we are in double buffer
|
||
// mode then we can start processing the previous image buffer.
|
||
if (streaming_cb && doublebuf && image->pixels != NULL) {
|
||
// Call streaming callback function with previous frame.
|
||
// Note: Image pointer should Not be NULL in streaming mode.
|
||
streaming = streaming_cb(image);
|
||
}
|
||
|
||
// In camera sensor JPEG mode 4 we will not necessarily see every line in the frame and
|
||
// in camera sensor JPEG mode 3 we will definitely not see every line in the frame. Given
|
||
// this, we need to enable the end of frame interrupt before we have necessarily
|
||
// finished transferring all JEPG data. This works as long as the end of the frame comes
|
||
// much later after all JPEG data has been transferred. If this is violated the JPEG image
|
||
// will be corrupted.
|
||
if (DCMI->CR & DCMI_JPEG_ENABLE) {
|
||
__HAL_DCMI_ENABLE_IT(&DCMIHandle, DCMI_IT_FRAME);
|
||
}
|
||
|
||
// Wait for the frame data. __WFI() below will exit right on time because of DCMI_IT_FRAME.
|
||
// While waiting SysTick will trigger allowing us to timeout.
|
||
for (tick_start = HAL_GetTick(); waiting_for_data; ) {
|
||
__WFI();
|
||
|
||
// If we haven't exited this loop before the timeout then we need to abort the transfer.
|
||
if ((HAL_GetTick() - tick_start) >= 3000) {
|
||
waiting_for_data = false;
|
||
dcmi_abort();
|
||
|
||
#if defined(DCMI_FSYNC_PIN)
|
||
if (SENSOR_HW_FLAGS_GET(sensor, SENSOR_HW_FLAGS_FSYNC)) {
|
||
DCMI_FSYNC_LOW();
|
||
}
|
||
#endif
|
||
|
||
return -4;
|
||
}
|
||
}
|
||
|
||
// We have to abort the JPEG data transfer since it will be stuck waiting for data.
|
||
// line will contain how many transfers we completed.
|
||
// The DMA counter must be used to get the number of remaining words to be transferred.
|
||
if ((sensor->pixformat == PIXFORMAT_JPEG) && (sensor->chip_id != OV5640_ID)) {
|
||
dcmi_abort();
|
||
}
|
||
|
||
// We're done receiving data.
|
||
#if defined(DCMI_FSYNC_PIN)
|
||
if (SENSOR_HW_FLAGS_GET(sensor, SENSOR_HW_FLAGS_FSYNC)) {
|
||
DCMI_FSYNC_LOW();
|
||
}
|
||
#endif
|
||
|
||
// The JPEG in the frame buffer is actually invalid.
|
||
if (jpeg_buffer_overflow) {
|
||
return -5;
|
||
}
|
||
|
||
// After the above loop we have received all data in the frame. The DCMI hardware is left
|
||
// running to look for the start of the next frame which it needs to sync to to capture
|
||
// data. If it misses the start of the frame then the DCMI hardware will not capture that
|
||
// frame. Assuming our processing is fast enough to start waiting for data again before
|
||
// DCMI_DMAConvCpltUser() is called we can receive the next frame. If we are not fast
|
||
// enough DCMI_DMAConvCpltUser() will automatically abort the transfer on being called.
|
||
//
|
||
// In the case of the OV2640 in JPEG mode since we are writing to the main FB we do not
|
||
// put the DCMI hardware into continuous mode. So, we will drop frames more easily in that
|
||
// mode and may be able to only achieve 1/2 the max FPS.
|
||
|
||
//
|
||
// Next, prepare the frame buffer w/h/bpp values given the image type.
|
||
//
|
||
|
||
// Fix resolution if transposed.
|
||
if (sensor->transpose) {
|
||
MAIN_FB()->w = MAIN_FB()->v; // v==h -> w
|
||
MAIN_FB()->h = MAIN_FB()->u; // u==w -> h
|
||
}
|
||
|
||
// Fix the BPP.
|
||
switch (sensor->pixformat) {
|
||
case PIXFORMAT_GRAYSCALE:
|
||
MAIN_FB()->bpp = 1;
|
||
break;
|
||
case PIXFORMAT_YUV422:
|
||
case PIXFORMAT_RGB565:
|
||
MAIN_FB()->bpp = 2;
|
||
break;
|
||
case PIXFORMAT_BAYER:
|
||
MAIN_FB()->bpp = 3;
|
||
break;
|
||
case PIXFORMAT_JPEG:
|
||
if (sensor->chip_id == OV5640_ID) {
|
||
// Offset contains the sum of all the bytes transferred from the offset buffers
|
||
// while in DCMI_DMAConvCpltUser().
|
||
MAIN_FB()->bpp = offset;
|
||
} else {
|
||
// Offset contains the number of MAX_XFER_SIZE transfers completed. To get the number of bytes transferred
|
||
// within a transfer we have to look at the DMA counter and see how much data was moved.
|
||
MAIN_FB()->bpp = (offset * MAX_XFER_SIZE) + ((MAX_XFER_SIZE/4) - __HAL_DMA_GET_COUNTER(&DMAHandle))*4;
|
||
|
||
uint32_t size = framebuffer_get_buffer_size();
|
||
// DMA has most likely corrupted FB alloc state and or more.
|
||
if (MAIN_FB()->bpp > size) {
|
||
__fatal_error("JPEG Overflow!");
|
||
}
|
||
|
||
#if defined(MCU_SERIES_F7) || defined(MCU_SERIES_H7)
|
||
// In JPEG mode, the DMA uses the frame buffer memory directly instead of the line buffer, which is
|
||
// located in a cacheable region and therefore must be invalidated before the CPU can access it again.
|
||
// Note: The frame buffer address is 32-byte aligned, and the size is a multiple of 32-bytes for all boards.
|
||
SCB_InvalidateDCache_by_Addr((uint32_t*)MAIN_FB()->pixels, size);
|
||
#endif
|
||
}
|
||
// Clean trailing data after 0xFFD9 at the end of the jpeg byte stream.
|
||
MAIN_FB()->bpp = jpeg_clean_trailing_bytes(MAIN_FB()->bpp, MAIN_FB()->pixels);
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
|
||
//
|
||
// Finally, return an image object.
|
||
//
|
||
|
||
// Set the user image.
|
||
if (image != NULL) {
|
||
image->w = MAIN_FB()->w;
|
||
image->h = MAIN_FB()->h;
|
||
image->bpp = MAIN_FB()->bpp;
|
||
image->pixels = MAIN_FB()->pixels;
|
||
|
||
if (streaming_cb) {
|
||
// In streaming mode, either switch frame buffers in double buffer mode,
|
||
// or call the streaming callback with the main FB in single buffer mode.
|
||
if (doublebuf == false) {
|
||
// In single buffer mode, call streaming callback.
|
||
streaming = streaming_cb(image);
|
||
} else {
|
||
// In double buffer mode, switch frame buffers.
|
||
if (frame == 0) {
|
||
image->pixels = MAIN_FB()->pixels;
|
||
// Next frame will be transferred to the second half.
|
||
dest_fb = MAIN_FB()->pixels + length;
|
||
} else {
|
||
image->pixels = MAIN_FB()->pixels + length;
|
||
// Next frame will be transferred to the first half.
|
||
dest_fb = MAIN_FB()->pixels;
|
||
}
|
||
|
||
// Switch frame buffers.
|
||
frame ^= 1;
|
||
}
|
||
}
|
||
}
|
||
} while (streaming == true);
|
||
|
||
return 0;
|
||
}
|