openmv/src/omv/common/sensor.h
2024-02-03 08:59:52 +02:00

493 lines
16 KiB
C

/*
* This file is part of the OpenMV project.
*
* Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
* Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
*
* This work is licensed under the MIT license, see the file LICENSE for details.
*
* Sensor abstraction layer.
*/
#ifndef __SENSOR_H__
#define __SENSOR_H__
#include <stdarg.h>
#include "omv_i2c.h"
#include "imlib.h"
#define copy_transposed_line(dstp, srcp) \
for (int i = MAIN_FB()->u, h = MAIN_FB()->v; i; i--) { \
*dstp = *srcp++; \
dstp += h; \
}
#define copy_transposed_line_rev16(dstp, srcp) \
for (int i = MAIN_FB()->u, h = MAIN_FB()->v; i; i--) { \
*dstp = __REV16(*srcp++); \
dstp += h; \
}
#define OV2640_SLV_ADDR (0x60)
#define OV5640_SLV_ADDR (0x78)
#define OV7725_SLV_ADDR (0x42)
#define MT9V0XX_SLV_ADDR (0xB8)
#define MT9M114_SLV_ADDR (0x90)
#define LEPTON_SLV_ADDR (0x54)
#define HM0XX0_SLV_ADDR (0x48)
#define GC2145_SLV_ADDR (0x78)
#define FROGEYE2020_SLV_ADDR (0x6E)
// Chip ID Registers
#define OV5640_CHIP_ID (0x300A)
#define OV_CHIP_ID (0x0A)
#define ON_CHIP_ID (0x00)
#define HIMAX_CHIP_ID (0x0001)
#define GC_CHIP_ID (0xF0)
// Chip ID Values
#define OV2640_ID (0x26)
#define OV5640_ID (0x56)
#define OV7670_ID (0x76)
#define OV7690_ID (0x76)
#define OV7725_ID (0x77)
#define OV9650_ID (0x96)
#define MT9V0X2_ID_V_1 (0x1311)
#define MT9V0X2_ID_V_2 (0x1312)
#define MT9V0X2_ID (0x1313)
#define MT9V0X2_C_ID (0x1413)
#define MT9V0X4_ID (0x1324)
#define MT9V0X4_C_ID (0x1424)
#define MT9M114_ID (0x2481)
#define LEPTON_ID (0x54)
#define LEPTON_1_5 (0x5415)
#define LEPTON_1_6 (0x5416)
#define LEPTON_2_0 (0x5420)
#define LEPTON_2_5 (0x5425)
#define LEPTON_3_0 (0x5430)
#define LEPTON_3_5 (0x5435)
#define HM01B0_ID (0xB0)
#define HM0360_ID (0x60)
#define GC2145_ID (0x21)
#define PAJ6100_ID (0x6100)
#define FROGEYE2020_ID (0x2020)
typedef enum {
FRAMESIZE_INVALID = 0,
// C/SIF Resolutions
FRAMESIZE_QQCIF, // 88x72
FRAMESIZE_QCIF, // 176x144
FRAMESIZE_CIF, // 352x288
FRAMESIZE_QQSIF, // 88x60
FRAMESIZE_QSIF, // 176x120
FRAMESIZE_SIF, // 352x240
// VGA Resolutions
FRAMESIZE_QQQQVGA, // 40x30
FRAMESIZE_QQQVGA, // 80x60
FRAMESIZE_QQVGA, // 160x120
FRAMESIZE_QVGA, // 320x240
FRAMESIZE_VGA, // 640x480
FRAMESIZE_HQQQQVGA, // 30x20
FRAMESIZE_HQQQVGA, // 60x40
FRAMESIZE_HQQVGA, // 120x80
FRAMESIZE_HQVGA, // 240x160
FRAMESIZE_HVGA, // 480x320
// FFT Resolutions
FRAMESIZE_64X32, // 64x32
FRAMESIZE_64X64, // 64x64
FRAMESIZE_128X64, // 128x64
FRAMESIZE_128X128, // 128x128
// Himax Resolutions
FRAMESIZE_160X160, // 160x160
FRAMESIZE_320X320, // 320x320
// Other
FRAMESIZE_LCD, // 128x160
FRAMESIZE_QQVGA2, // 128x160
FRAMESIZE_WVGA, // 720x480
FRAMESIZE_WVGA2, // 752x480
FRAMESIZE_SVGA, // 800x600
FRAMESIZE_XGA, // 1024x768
FRAMESIZE_WXGA, // 1280x768
FRAMESIZE_SXGA, // 1280x1024
FRAMESIZE_SXGAM, // 1280x960
FRAMESIZE_UXGA, // 1600x1200
FRAMESIZE_HD, // 1280x720
FRAMESIZE_FHD, // 1920x1080
FRAMESIZE_QHD, // 2560x1440
FRAMESIZE_QXGA, // 2048x1536
FRAMESIZE_WQXGA, // 2560x1600
FRAMESIZE_WQXGA2, // 2592x1944
} framesize_t;
typedef enum {
GAINCEILING_2X,
GAINCEILING_4X,
GAINCEILING_8X,
GAINCEILING_16X,
GAINCEILING_32X,
GAINCEILING_64X,
GAINCEILING_128X,
} gainceiling_t;
typedef enum {
SDE_NORMAL,
SDE_NEGATIVE,
} sde_t;
typedef enum {
ATTR_CONTRAST=0,
ATTR_BRIGHTNESS,
ATTR_SATURATION,
ATTR_GAINCEILING,
} sensor_attr_t;
typedef enum {
ACTIVE_LOW,
ACTIVE_HIGH
} polarity_t;
typedef enum {
IOCTL_SET_READOUT_WINDOW,
IOCTL_GET_READOUT_WINDOW,
IOCTL_SET_TRIGGERED_MODE,
IOCTL_GET_TRIGGERED_MODE,
IOCTL_SET_FOV_WIDE,
IOCTL_GET_FOV_WIDE,
IOCTL_TRIGGER_AUTO_FOCUS,
IOCTL_PAUSE_AUTO_FOCUS,
IOCTL_RESET_AUTO_FOCUS,
IOCTL_WAIT_ON_AUTO_FOCUS,
IOCTL_SET_NIGHT_MODE,
IOCTL_GET_NIGHT_MODE,
IOCTL_LEPTON_GET_WIDTH,
IOCTL_LEPTON_GET_HEIGHT,
IOCTL_LEPTON_GET_RADIOMETRY,
IOCTL_LEPTON_GET_REFRESH,
IOCTL_LEPTON_GET_RESOLUTION,
IOCTL_LEPTON_RUN_COMMAND,
IOCTL_LEPTON_SET_ATTRIBUTE,
IOCTL_LEPTON_GET_ATTRIBUTE,
IOCTL_LEPTON_GET_FPA_TEMPERATURE,
IOCTL_LEPTON_GET_AUX_TEMPERATURE,
IOCTL_LEPTON_SET_MEASUREMENT_MODE,
IOCTL_LEPTON_GET_MEASUREMENT_MODE,
IOCTL_LEPTON_SET_MEASUREMENT_RANGE,
IOCTL_LEPTON_GET_MEASUREMENT_RANGE,
IOCTL_HIMAX_MD_ENABLE,
IOCTL_HIMAX_MD_CLEAR,
IOCTL_HIMAX_MD_WINDOW,
IOCTL_HIMAX_MD_THRESHOLD,
IOCTL_HIMAX_OSC_ENABLE,
} ioctl_t;
typedef enum {
SENSOR_ERROR_NO_ERROR = 0,
SENSOR_ERROR_CTL_FAILED = -1,
SENSOR_ERROR_CTL_UNSUPPORTED = -2,
SENSOR_ERROR_ISC_UNDETECTED = -3,
SENSOR_ERROR_ISC_UNSUPPORTED = -4,
SENSOR_ERROR_ISC_INIT_FAILED = -5,
SENSOR_ERROR_TIM_INIT_FAILED = -6,
SENSOR_ERROR_DMA_INIT_FAILED = -7,
SENSOR_ERROR_DCMI_INIT_FAILED = -8,
SENSOR_ERROR_IO_ERROR = -9,
SENSOR_ERROR_CAPTURE_FAILED = -10,
SENSOR_ERROR_CAPTURE_TIMEOUT = -11,
SENSOR_ERROR_INVALID_FRAMESIZE = -12,
SENSOR_ERROR_INVALID_PIXFORMAT = -13,
SENSOR_ERROR_INVALID_WINDOW = -14,
SENSOR_ERROR_INVALID_FRAMERATE = -15,
SENSOR_ERROR_INVALID_ARGUMENT = -16,
SENSOR_ERROR_PIXFORMAT_UNSUPPORTED = -17,
SENSOR_ERROR_FRAMEBUFFER_ERROR = -18,
SENSOR_ERROR_FRAMEBUFFER_OVERFLOW = -19,
SENSOR_ERROR_JPEG_OVERFLOW = -20,
} sensor_error_t;
// Bayer patterns.
// NOTE: These must match the Bayer subformats in imlib.h
//
// BGGR matches the bayer pattern of BGBG... etc. coming out of the sensor.
// GRGR... etc.
//
// GBRG matches the bayer pattern of GBGB... etc. coming out of the sensor.
// RGRG... etc.
//
// GRBG matches the bayer pattern of GRGR... etc. coming out of the sensor.
// BGBG... etc.
//
// RGGB matches the bayer pattern of RGRG... etc. coming out of the sensor.
// GBGB... etc.
//
#define SENSOR_HW_FLAGS_BAYER_BGGR (SUBFORMAT_ID_BGGR)
#define SENSOR_HW_FLAGS_BAYER_GBRG (SUBFORMAT_ID_GBRG)
#define SENSOR_HW_FLAGS_BAYER_GRBG (SUBFORMAT_ID_GRBG)
#define SENSOR_HW_FLAGS_BAYER_RGGB (SUBFORMAT_ID_RGGB)
// YUV patterns.
// NOTE: These must match the YUV subformats in imlib.h
//
// YUV422 matches the YUV pattern of YUYV... etc. coming out of the sensor.
//
// YVU422 matches the YUV pattern of YVYU... etc. coming out of the sensor.
//
#define SENSOR_HW_FLAGS_YUV422 (SUBFORMAT_ID_YUV422)
#define SENSOR_HW_FLAGS_YVU422 (SUBFORMAT_ID_YVU422)
typedef void (*vsync_cb_t) (uint32_t vsync);
typedef void (*frame_cb_t) ();
typedef struct _sensor sensor_t;
typedef struct _sensor {
union {
uint8_t chip_id; // Sensor ID.
uint16_t chip_id_w; // Sensor ID 16 bits.
};
uint8_t slv_addr; // Sensor I2C slave address.
// Hardware flags (clock polarities, hw capabilities etc..)
struct {
uint32_t vsync : 1; // Vertical sync polarity.
uint32_t hsync : 1; // Horizontal sync polarity.
uint32_t pixck : 1; // Pixel clock edge.
uint32_t fsync : 1; // Hardware frame sync.
uint32_t jpege : 1; // Hardware jpeg encoder.
uint32_t jpeg_mode : 3; // JPEG mode.
uint32_t gs_bpp : 2; // Grayscale bytes per pixel output.
uint32_t rgb_swap : 1; // Byte-swap 2BPP RGB formats after capture.
uint32_t yuv_swap : 1; // Byte-swap 2BPP YUV formats after capture.
uint32_t bayer : 3; // Bayer/CFA pattern.
uint32_t yuv_order : 1; // YUV/YVU order.
uint32_t blc_size : 4; // Number of black level calibration registers.
} hw_flags;
const uint16_t *color_palette; // Color palette used for color lookup.
bool disable_delays; // Set to true to disable all sensor settling time delays.
bool disable_full_flush; // Turn off default frame buffer flush policy when full.
vsync_cb_t vsync_callback; // VSYNC callback.
frame_cb_t frame_callback; // Frame callback.
polarity_t pwdn_pol; // PWDN polarity (TODO move to hw_flags)
polarity_t reset_pol; // Reset polarity (TODO move to hw_flags)
// Sensor state
sde_t sde; // Special digital effects
pixformat_t pixformat; // Pixel format
framesize_t framesize; // Frame size
int framerate; // Frame rate
bool first_line; // Set to true when the first line of the frame is being read.
bool drop_frame; // Set to true to drop the current frame.
uint32_t last_frame_ms; // Last sampled frame timestamp in milliseconds.
bool last_frame_ms_valid; // Last sampled frame timestamp in milliseconds valid.
gainceiling_t gainceiling; // AGC gainceiling
bool hmirror; // Horizontal Mirror
bool vflip; // Vertical Flip
bool transpose; // Transpose Image
bool auto_rotation; // Rotate Image Automatically
bool detected; // Set to true when the sensor is initialized.
omv_i2c_t i2c_bus; // SCCB/I2C bus.
// Sensor function pointers
int (*reset) (sensor_t *sensor);
int (*sleep) (sensor_t *sensor, int enable);
int (*read_reg) (sensor_t *sensor, uint16_t reg_addr);
int (*write_reg) (sensor_t *sensor, uint16_t reg_addr, uint16_t reg_data);
int (*set_pixformat) (sensor_t *sensor, pixformat_t pixformat);
int (*set_framesize) (sensor_t *sensor, framesize_t framesize);
int (*set_framerate) (sensor_t *sensor, int framerate);
int (*set_contrast) (sensor_t *sensor, int level);
int (*set_brightness) (sensor_t *sensor, int level);
int (*set_saturation) (sensor_t *sensor, int level);
int (*set_gainceiling) (sensor_t *sensor, gainceiling_t gainceiling);
int (*set_quality) (sensor_t *sensor, int quality);
int (*set_colorbar) (sensor_t *sensor, int enable);
int (*set_auto_gain) (sensor_t *sensor, int enable, float gain_db, float gain_db_ceiling);
int (*get_gain_db) (sensor_t *sensor, float *gain_db);
int (*set_auto_exposure) (sensor_t *sensor, int enable, int exposure_us);
int (*get_exposure_us) (sensor_t *sensor, int *exposure_us);
int (*set_auto_whitebal) (sensor_t *sensor, int enable, float r_gain_db, float g_gain_db, float b_gain_db);
int (*get_rgb_gain_db) (sensor_t *sensor, float *r_gain_db, float *g_gain_db, float *b_gain_db);
int (*set_auto_blc) (sensor_t *sensor, int enable, int *regs);
int (*get_blc_regs) (sensor_t *sensor, int *regs);
int (*set_hmirror) (sensor_t *sensor, int enable);
int (*set_vflip) (sensor_t *sensor, int enable);
int (*set_special_effect) (sensor_t *sensor, sde_t sde);
int (*set_lens_correction) (sensor_t *sensor, int enable, int radi, int coef);
int (*ioctl) (sensor_t *sensor, int request, va_list ap);
int (*snapshot) (sensor_t *sensor, image_t *image, uint32_t flags);
} sensor_t;
extern sensor_t sensor;
// Resolution table
extern const int resolution[][2];
// Initialize the sensor state.
void sensor_init0();
// Initialize the sensor hardware and probe the image sensor.
int sensor_init();
// Detect and initialize the image sensor.
int sensor_probe_init(uint32_t bus_id, uint32_t bus_speed);
// Configure DCMI hardware interface.
int sensor_dcmi_config(uint32_t pixformat);
// Abort frame capture and disable IRQs, DMA etc..
int sensor_abort(bool fifo_flush, bool in_irq);
// Reset the sensor to its default state.
int sensor_reset();
// Return sensor PID.
int sensor_get_id();
// Returns the xclk freq in hz.
uint32_t sensor_get_xclk_frequency();
// Returns the xclk freq in hz.
int sensor_set_xclk_frequency(uint32_t frequency);
// Return true if the sensor was detected and initialized.
bool sensor_is_detected();
// Sleep mode.
int sensor_sleep(int enable);
// Shutdown mode.
int sensor_shutdown(int enable);
// Read a sensor register.
int sensor_read_reg(uint16_t reg_addr);
// Write a sensor register.
int sensor_write_reg(uint16_t reg_addr, uint16_t reg_data);
// Set the sensor pixel format.
int sensor_set_pixformat(pixformat_t pixformat);
// Set the sensor frame size.
int sensor_set_framesize(framesize_t framesize);
// Set the sensor frame rate.
int sensor_set_framerate(int framerate);
// Return the number of bytes per pixel to read from the image sensor.
uint32_t sensor_get_src_bpp();
// Return the number of bytes per pixel to write to memory.
uint32_t sensor_get_dst_bpp();
// Returns true if a crop is being applied to the frame buffer.
bool sensor_get_cropped();
// Set window size.
int sensor_set_windowing(int x, int y, int w, int h);
// Set the sensor contrast level (from -3 to +3).
int sensor_set_contrast(int level);
// Set the sensor brightness level (from -3 to +3).
int sensor_set_brightness(int level);
// Set the sensor saturation level (from -3 to +3).
int sensor_set_saturation(int level);
// Set the sensor AGC gain ceiling.
// Note: This function has no effect when AGC (Automatic Gain Control) is disabled.
int sensor_set_gainceiling(gainceiling_t gainceiling);
// Set the quantization scale factor, controls JPEG quality (quality 0-255).
int sensor_set_quality(int qs);
// Enable/disable the colorbar mode.
int sensor_set_colorbar(int enable);
// Enable auto gain or set value manually.
int sensor_set_auto_gain(int enable, float gain_db, float gain_db_ceiling);
// Get the gain value.
int sensor_get_gain_db(float *gain_db);
// Enable auto exposure or set value manually.
int sensor_set_auto_exposure(int enable, int exposure_us);
// Get the exposure value.
int sensor_get_exposure_us(int *get_exposure_us);
// Enable auto white balance or set value manually.
int sensor_set_auto_whitebal(int enable, float r_gain_db, float g_gain_db, float b_gain_db);
// Get the rgb gain values.
int sensor_get_rgb_gain_db(float *r_gain_db, float *g_gain_db, float *b_gain_db);
// Enable auto blc (black level calibration) or set from previous calibration.
int sensor_set_auto_blc(int enable, int *regs);
// Get black level valibration register values.
int sensor_get_blc_regs(int *regs);
// Enable/disable the hmirror mode.
int sensor_set_hmirror(int enable);
// Get hmirror status.
bool sensor_get_hmirror();
// Enable/disable the vflip mode.
int sensor_set_vflip(int enable);
// Get vflip status.
bool sensor_get_vflip();
// Enable/disable the transpose mode.
int sensor_set_transpose(bool enable);
// Get transpose mode state.
bool sensor_get_transpose();
// Enable/disable the auto rotation mode.
int sensor_set_auto_rotation(bool enable);
// Get transpose mode state.
bool sensor_get_auto_rotation();
// Set the number of virtual frame buffers.
int sensor_set_framebuffers(int count);
// Drop the next frame to match the current frame rate.
void sensor_throttle_framerate();
// Set special digital effects (SDE).
int sensor_set_special_effect(sde_t sde);
// Set lens shading correction
int sensor_set_lens_correction(int enable, int radi, int coef);
// IOCTL function
int sensor_ioctl(int request, ...);
// Set vsync callback function.
int sensor_set_vsync_callback(vsync_cb_t vsync_cb);
// Set frame callback function.
int sensor_set_frame_callback(frame_cb_t vsync_cb);
// Set color palette
int sensor_set_color_palette(const uint16_t *color_palette);
// Get color palette
const uint16_t *sensor_get_color_palette();
// Return true if the current frame size/format fits in RAM.
int sensor_check_framebuffer_size();
// Auto-crop frame buffer until it fits in RAM (may switch pixel format to BAYER).
int sensor_auto_crop_framebuffer();
// Default snapshot function.
int sensor_snapshot(sensor_t *sensor, image_t *image, uint32_t flags);
// Convert sensor error codes to strings.
const char *sensor_strerror(int error);
#endif /* __SENSOR_H__ */