openmv/src/omv/modules/py_sensor.c
2021-07-31 21:57:23 +02:00

1175 lines
47 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 Python module.
*/
#include <stdarg.h>
#include "py/mphal.h"
#include "py/runtime.h"
#if MICROPY_PY_SENSOR
#include "cambus.h"
#include "sensor.h"
#include "imlib.h"
#include "xalloc.h"
#include "py_assert.h"
#include "py_image.h"
#if MICROPY_PY_IMU
#include "py_imu.h"
#endif
#include "omv_boardconfig.h"
#include "py_helper.h"
#include "framebuffer.h"
extern sensor_t sensor;
static mp_obj_t vsync_callback = mp_const_none;
static mp_obj_t frame_callback = mp_const_none;
#if MICROPY_PY_IMU
static void do_auto_rotation(int pitch_deadzone, int roll_activezone)
{
if (sensor_get_auto_rotation()) {
float pitch = py_imu_pitch_rotation();
if (((pitch <= (90 - pitch_deadzone)) || ((90 + pitch_deadzone) < pitch))
&& ((pitch <= (270 - pitch_deadzone)) || ((270 + pitch_deadzone) < pitch))) { // disable when 90 or 270
float roll = py_imu_roll_rotation();
if (((360 - roll_activezone) <= roll) || (roll < (0 + roll_activezone)) ) { // center is 0/360, upright
sensor_set_hmirror(false);
sensor_set_vflip(false);
sensor_set_transpose(false);
} else if (((270 - roll_activezone) <= roll) && (roll < (270 + roll_activezone))) { // center is 270, rotated right
sensor_set_hmirror(true);
sensor_set_vflip(false);
sensor_set_transpose(true);
} else if (((180 - roll_activezone) <= roll) && (roll < (180 + roll_activezone))) { // center is 180, upside down
sensor_set_hmirror(true);
sensor_set_vflip(true);
sensor_set_transpose(false);
} else if (((90 - roll_activezone) <= roll) && (roll < (90 + roll_activezone))) { // center is 90, rotated left
sensor_set_hmirror(false);
sensor_set_vflip(true);
sensor_set_transpose(true);
}
}
}
}
#endif // MICROPY_PY_IMU
static mp_obj_t py_sensor__init__()
{
// This is the module init function, not the sensor init function,
// it gets called when the module is imported. This is good
// place to check if the sensor was detected or not.
if (sensor_is_detected() == false) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(SENSOR_ERROR_ISC_UNDETECTED));
}
return mp_const_none;
}
static mp_obj_t py_sensor_reset()
{
int ret = sensor_reset();
if (ret != 0) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(ret));
}
#if MICROPY_PY_IMU
// +-10 degree dead-zone around pitch 90/270.
// +-45 degree active-zone around roll 0/90/180/270/360.
do_auto_rotation(10, 45);
// We're setting the dead-zone on pitch because roll readings are invalid there.
// We're setting the full range on roll to set the initial state.
#endif // MICROPY_PY_IMU
return mp_const_none;
}
static mp_obj_t py_sensor_sleep(mp_obj_t enable)
{
PY_ASSERT_FALSE_MSG(sensor_sleep(mp_obj_is_true(enable)) != 0, "Sleep Failed");
return mp_const_none;
}
static mp_obj_t py_sensor_shutdown(mp_obj_t enable)
{
PY_ASSERT_FALSE_MSG(sensor_shutdown(mp_obj_is_true(enable)) != 0, "Shutdown Failed");
return mp_const_none;
}
static mp_obj_t py_sensor_flush()
{
framebuffer_update_jpeg_buffer();
return mp_const_none;
}
static mp_obj_t py_sensor_snapshot(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
{
#if MICROPY_PY_IMU
// +-10 degree dead-zone around pitch 90/270.
// +-35 degree active-zone around roll 0/90/180/270/360.
do_auto_rotation(10, 35);
// We're setting the dead-zone on pitch because roll readings are invalid there.
// We're not setting the full range on roll to prevent oscillation.
#endif // MICROPY_PY_IMU
mp_obj_t image = py_image(0, 0, 0, 0);
int ret = sensor.snapshot(&sensor, (image_t *) py_image_cobj(image), 0);
if (ret != 0) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(ret));
}
return image;
}
static mp_obj_t py_sensor_skip_frames(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
{
mp_map_elem_t *kw_arg = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_time), MP_MAP_LOOKUP);
mp_int_t time = 300; // OV Recommended.
if (kw_arg != NULL) {
time = mp_obj_get_int(kw_arg->value);
}
uint32_t millis = mp_hal_ticks_ms();
if (!n_args) {
while ((mp_hal_ticks_ms() - millis) < time) { // 32-bit math handles wrap around...
py_sensor_snapshot(0, NULL, NULL);
}
} else {
for (int i = 0, j = mp_obj_get_int(args[0]); i < j; i++) {
if ((kw_arg != NULL) && ((mp_hal_ticks_ms() - millis) >= time)) {
break;
}
py_sensor_snapshot(0, NULL, NULL);
}
}
return mp_const_none;
}
static mp_obj_t py_sensor_width()
{
return mp_obj_new_int(resolution[sensor.framesize][0]);
}
static mp_obj_t py_sensor_height()
{
return mp_obj_new_int(resolution[sensor.framesize][1]);
}
static mp_obj_t py_sensor_get_fb()
{
if (framebuffer_get_depth() < 0) {
return mp_const_none;
}
image_t image;
framebuffer_initialize_image(&image);
return py_image_from_struct(&image);
}
static mp_obj_t py_sensor_get_id()
{
return mp_obj_new_int(sensor_get_id());
}
static mp_obj_t py_sensor_get_frame_available()
{
return mp_obj_new_bool(framebuffer->tail != framebuffer->head);
}
static mp_obj_t py_sensor_alloc_extra_fb(mp_obj_t w_obj, mp_obj_t h_obj, mp_obj_t type_obj)
{
int w = mp_obj_get_int(w_obj);
PY_ASSERT_TRUE_MSG(w > 0, "Width must be > 0");
int h = mp_obj_get_int(h_obj);
PY_ASSERT_TRUE_MSG(h > 0, "Height must be > 0");
int type = mp_obj_get_int(type_obj);
PY_ASSERT_TRUE_MSG(type > 0, "Type must be > 0");
image_t img = {
.w = w,
.h = h,
.bpp = type,
.pixels = 0
};
switch(img.bpp) {
case PIXFORMAT_BINARY:
img.bpp = IMAGE_BPP_BINARY;
break;
case PIXFORMAT_GRAYSCALE:
img.bpp = IMAGE_BPP_GRAYSCALE;
break;
case PIXFORMAT_RGB565:
img.bpp = IMAGE_BPP_RGB565;
break;
case PIXFORMAT_BAYER:
img.bpp = IMAGE_BPP_BAYER;
break;
default:
break;
}
// Alloc image first (could fail) then alloc RAM so that there's no leak on failure.
mp_obj_t r = py_image_from_struct(&img);
fb_alloc_mark();
((image_t *) py_image_cobj(r))->pixels = fb_alloc0(image_size(&img), FB_ALLOC_NO_HINT);
fb_alloc_mark_permanent(); // pixels will not be popped on exception
return r;
}
static mp_obj_t py_sensor_dealloc_extra_fb()
{
fb_alloc_free_till_mark_past_mark_permanent();
return mp_const_none;
}
static mp_obj_t py_sensor_set_pixformat(mp_obj_t pixformat)
{
if (sensor_set_pixformat(mp_obj_get_int(pixformat)) != 0) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(SENSOR_ERROR_INVALID_PIXFORMAT));
}
return mp_const_none;
}
static mp_obj_t py_sensor_get_pixformat()
{
if (sensor.pixformat == PIXFORMAT_INVALID) {
mp_raise_msg(&mp_type_ValueError, sensor_strerror(SENSOR_ERROR_INVALID_PIXFORMAT));
}
return mp_obj_new_int(sensor.pixformat);
}
static mp_obj_t py_sensor_set_framesize(mp_obj_t framesize)
{
if (sensor_set_framesize(mp_obj_get_int(framesize)) != 0) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(SENSOR_ERROR_INVALID_FRAMESIZE));
}
return mp_const_none;
}
static mp_obj_t py_sensor_get_framesize()
{
if (sensor.framesize == FRAMESIZE_INVALID) {
mp_raise_msg(&mp_type_ValueError, sensor_strerror(SENSOR_ERROR_INVALID_FRAMESIZE));
}
return mp_obj_new_int(sensor.framesize);
}
static mp_obj_t py_sensor_set_framerate(mp_obj_t framerate)
{
if (sensor_set_framerate(mp_obj_get_int(framerate)) != 0) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(SENSOR_ERROR_INVALID_FRAMERATE));
}
return mp_const_none;
}
static mp_obj_t py_sensor_get_framerate()
{
if (sensor.framerate == 0) {
mp_raise_msg(&mp_type_ValueError, sensor_strerror(SENSOR_ERROR_INVALID_FRAMERATE));
}
return mp_obj_new_int(sensor.framerate);
}
static mp_obj_t py_sensor_set_windowing(uint n_args, const mp_obj_t *args)
{
if (sensor.framesize == FRAMESIZE_INVALID) {
mp_raise_msg(&mp_type_ValueError, sensor_strerror(SENSOR_ERROR_INVALID_FRAMESIZE));
}
rectangle_t temp;
temp.x = 0;
temp.y = 0;
temp.w = resolution[sensor.framesize][0];
temp.h = resolution[sensor.framesize][1];
mp_obj_t *array = (mp_obj_t *) args;
mp_uint_t array_len = n_args;
if (n_args == 1) {
mp_obj_get_array(args[0], &array_len, &array);
}
rectangle_t r;
if (array_len == 2) {
r.w = mp_obj_get_int(array[0]);
r.h = mp_obj_get_int(array[1]);
r.x = (temp.w / 2) - (r.w / 2);
r.y = (temp.h / 2) - (r.h / 2);
} else if (array_len == 4) {
r.x = mp_obj_get_int(array[0]);
r.y = mp_obj_get_int(array[1]);
r.w = mp_obj_get_int(array[2]);
r.h = mp_obj_get_int(array[3]);
} else {
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("The tuple/list must either be (x, y, w, h) or (w, h)"));
}
if ((r.w < 1) || (r.h < 1)) {
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Invalid ROI dimensions!"));
}
if (!rectangle_overlap(&r, &temp)) {
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("ROI does not overlap on the image!"));
}
rectangle_intersected(&r, &temp);
if (sensor_set_windowing(r.x, r.y, r.w, r.h) != 0) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(SENSOR_ERROR_INVALID_WINDOW));
}
return mp_const_none;
}
static mp_obj_t py_sensor_get_windowing()
{
if (sensor.framesize == FRAMESIZE_INVALID) {
mp_raise_msg(&mp_type_ValueError, sensor_strerror(SENSOR_ERROR_INVALID_FRAMESIZE));
}
return mp_obj_new_tuple(4, (mp_obj_t []) {mp_obj_new_int(framebuffer_get_x()),
mp_obj_new_int(framebuffer_get_y()),
mp_obj_new_int(framebuffer_get_u()),
mp_obj_new_int(framebuffer_get_v())});
}
static mp_obj_t py_sensor_set_gainceiling(mp_obj_t gainceiling)
{
gainceiling_t gain;
switch (mp_obj_get_int(gainceiling)) {
case 2:
gain = GAINCEILING_2X;
break;
case 4:
gain = GAINCEILING_4X;
break;
case 8:
gain = GAINCEILING_8X;
break;
case 16:
gain = GAINCEILING_16X;
break;
case 32:
gain = GAINCEILING_32X;
break;
case 64:
gain = GAINCEILING_64X;
break;
case 128:
gain = GAINCEILING_128X;
break;
default:
mp_raise_msg(&mp_type_ValueError, sensor_strerror(SENSOR_ERROR_INVALID_ARGUMENT));
break;
}
if (sensor_set_gainceiling(gain) != 0) {
return mp_const_false;
}
return mp_const_true;
}
static mp_obj_t py_sensor_set_brightness(mp_obj_t brightness)
{
if (sensor_set_brightness(mp_obj_get_int(brightness)) != 0) {
return mp_const_false;
}
return mp_const_true;
}
static mp_obj_t py_sensor_set_contrast(mp_obj_t contrast)
{
if (sensor_set_contrast(mp_obj_get_int(contrast)) != 0) {
return mp_const_false;
}
return mp_const_true;
}
static mp_obj_t py_sensor_set_saturation(mp_obj_t saturation)
{
if (sensor_set_saturation(mp_obj_get_int(saturation)) != 0) {
return mp_const_false;
}
return mp_const_true;
}
static mp_obj_t py_sensor_set_quality(mp_obj_t qs)
{
int q = mp_obj_get_int(qs);
PY_ASSERT_TRUE((q >= 0 && q <= 100));
q = 100-q; //invert quality
q = 255*q/100; //map to 0->255
if (sensor_set_quality(q) != 0) {
return mp_const_false;
}
return mp_const_true;
}
static mp_obj_t py_sensor_set_colorbar(mp_obj_t enable)
{
if (sensor_set_colorbar(mp_obj_is_true(enable)) != 0) {
return mp_const_false;
}
return mp_const_true;
}
static mp_obj_t py_sensor_set_auto_gain(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
{
int enable = mp_obj_get_int(args[0]);
float gain_db = py_helper_keyword_float(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_gain_db), NAN);
float gain_db_ceiling = py_helper_keyword_float(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_gain_db_ceiling), NAN);
int ret = sensor_set_auto_gain(enable, gain_db, gain_db_ceiling);
if (ret != 0) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(ret));
}
return mp_const_none;
}
static mp_obj_t py_sensor_get_gain_db()
{
float gain_db;
int ret = sensor_get_gain_db(&gain_db);
if (ret != 0) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(ret));
}
return mp_obj_new_float(gain_db);
}
static mp_obj_t py_sensor_set_auto_exposure(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
{
int exposure_us = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_exposure_us), -1);
int ret = sensor_set_auto_exposure(mp_obj_get_int(args[0]), exposure_us);
if (ret != 0) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(ret));
}
return mp_const_none;
}
static mp_obj_t py_sensor_get_exposure_us()
{
int exposure_us;
int ret = sensor_get_exposure_us(&exposure_us);
if (ret != 0) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(ret));
}
return mp_obj_new_int(exposure_us);
}
static mp_obj_t py_sensor_set_auto_whitebal(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
{
int enable = mp_obj_get_int(args[0]);
float rgb_gain_db[3] = {NAN, NAN, NAN};
py_helper_keyword_float_array(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_rgb_gain_db), rgb_gain_db, 3);
int ret = sensor_set_auto_whitebal(enable, rgb_gain_db[0], rgb_gain_db[1], rgb_gain_db[2]);
if (ret != 0) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(ret));
}
return mp_const_none;
}
static mp_obj_t py_sensor_get_rgb_gain_db()
{
float r_gain_db = 0.0, g_gain_db = 0.0, b_gain_db = 0.0;
int ret = sensor_get_rgb_gain_db(&r_gain_db, &g_gain_db, &b_gain_db);
if (ret != 0) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(ret));
}
return mp_obj_new_tuple(3, (mp_obj_t []) {
mp_obj_new_float(r_gain_db),
mp_obj_new_float(g_gain_db),
mp_obj_new_float(b_gain_db)});
}
static mp_obj_t py_sensor_set_hmirror(mp_obj_t enable)
{
int ret = sensor_set_hmirror(mp_obj_is_true(enable));
if (ret != 0) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(ret));
}
return mp_const_none;
}
static mp_obj_t py_sensor_get_hmirror()
{
return mp_obj_new_bool(sensor_get_hmirror());
}
static mp_obj_t py_sensor_set_vflip(mp_obj_t enable)
{
int ret = sensor_set_vflip(mp_obj_is_true(enable));
if (ret != 0) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(ret));
}
return mp_const_none;
}
static mp_obj_t py_sensor_get_vflip()
{
return mp_obj_new_bool(sensor_get_vflip());
}
static mp_obj_t py_sensor_set_transpose(mp_obj_t enable)
{
int ret = sensor_set_transpose(mp_obj_is_true(enable));
if (ret != 0) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(ret));
}
return mp_const_none;
}
static mp_obj_t py_sensor_get_transpose()
{
return mp_obj_new_bool(sensor_get_transpose());
}
static mp_obj_t py_sensor_set_auto_rotation(mp_obj_t enable)
{
int ret = sensor_set_auto_rotation(mp_obj_is_true(enable));
if (ret != 0) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(ret));
}
return mp_const_none;
}
static mp_obj_t py_sensor_get_auto_rotation()
{
return mp_obj_new_bool(sensor_get_auto_rotation());
}
static mp_obj_t py_sensor_set_framebuffers(mp_obj_t count)
{
mp_int_t c = mp_obj_get_int(count);
if (framebuffer->n_buffers == c) {
return mp_const_none;
}
if (c < 1) {
mp_raise_msg(&mp_type_ValueError, sensor_strerror(SENSOR_ERROR_INVALID_ARGUMENT));
}
int ret = sensor_set_framebuffers(c);
if (ret != 0) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(ret));
}
return mp_const_none;
}
static mp_obj_t py_sensor_get_framebuffers()
{
return mp_obj_new_int(framebuffer->n_buffers);
}
static mp_obj_t py_sensor_disable_full_flush(uint n_args, const mp_obj_t *args)
{
if (!n_args) {
return mp_obj_new_bool(sensor.disable_full_flush);
}
sensor.disable_full_flush = mp_obj_get_int(args[0]);
return mp_const_none;
}
static mp_obj_t py_sensor_set_special_effect(mp_obj_t sde)
{
if (sensor_set_special_effect(mp_obj_get_int(sde)) != 0) {
return mp_const_false;
}
return mp_const_true;
}
static mp_obj_t py_sensor_set_lens_correction(mp_obj_t enable, mp_obj_t radi, mp_obj_t coef)
{
if (sensor_set_lens_correction(mp_obj_is_true(enable),
mp_obj_get_int(radi), mp_obj_get_int(coef)) != 0) {
return mp_const_false;
}
return mp_const_true;
}
static void sensor_vsync_callback(uint32_t vsync)
{
if (mp_obj_is_callable(vsync_callback)) {
mp_call_function_1(vsync_callback, mp_obj_new_int(vsync));
}
}
static mp_obj_t py_sensor_set_vsync_callback(mp_obj_t vsync_callback_obj)
{
if (!mp_obj_is_callable(vsync_callback_obj)) {
vsync_callback = mp_const_none;
sensor_set_vsync_callback(NULL);
} else {
vsync_callback = vsync_callback_obj;
sensor_set_vsync_callback(sensor_vsync_callback);
}
return mp_const_none;
}
static void sensor_frame_callback()
{
if (mp_obj_is_callable(frame_callback)) {
mp_call_function_0(frame_callback);
}
}
static mp_obj_t py_sensor_set_frame_callback(mp_obj_t frame_callback_obj)
{
if (!mp_obj_is_callable(frame_callback_obj)) {
frame_callback = mp_const_none;
sensor_set_frame_callback(NULL);
} else {
frame_callback = frame_callback_obj;
sensor_set_frame_callback(sensor_frame_callback);
}
return mp_const_none;
}
static mp_obj_t py_sensor_ioctl(uint n_args, const mp_obj_t *args)
{
mp_obj_t ret_obj = mp_const_none;
int request = mp_obj_get_int(args[0]);
int ret = SENSOR_ERROR_INVALID_ARGUMENT;
switch (request) {
case IOCTL_SET_READOUT_WINDOW: {
if (n_args > 2) {
int x, y, w, h;
mp_obj_t *array;
mp_uint_t array_len;
mp_obj_get_array(args[1], &array_len, &array);
if (array_len == 4) {
x = mp_obj_get_int(array[0]);
y = mp_obj_get_int(array[1]);
w = mp_obj_get_int(array[2]);
h = mp_obj_get_int(array[3]);
} else if (array_len == 2) {
w = mp_obj_get_int(array[0]);
h = mp_obj_get_int(array[1]);
x = 0;
y = 0;
} else {
mp_raise_msg(&mp_type_ValueError,
MP_ERROR_TEXT("The tuple/list must either be (x, y, w, h) or (w, h)"));
}
ret = sensor_ioctl(request, x, y, w, h);
}
break;
}
case IOCTL_GET_READOUT_WINDOW: {
int x, y, w, h;
ret = sensor_ioctl(request, &x, &y, &w, &h);
if (ret == 0) {
ret_obj = mp_obj_new_tuple(4, (mp_obj_t []) {mp_obj_new_int(x),
mp_obj_new_int(y),
mp_obj_new_int(w),
mp_obj_new_int(h)});
}
break;
}
case IOCTL_SET_TRIGGERED_MODE: {
if (n_args > 2) {
ret = sensor_ioctl(request, mp_obj_get_int(args[1]));
}
break;
}
case IOCTL_GET_TRIGGERED_MODE: {
int enabled;
ret = sensor_ioctl(request, &enabled);
if (ret == 0) {
ret_obj = mp_obj_new_bool(enabled);
}
break;
}
#if (OMV_ENABLE_OV5640_AF == 1)
case IOCTL_TRIGGER_AUTO_FOCUS:
case IOCTL_PAUSE_AUTO_FOCUS:
case IOCTL_RESET_AUTO_FOCUS: {
ret = sensor_ioctl(request);
break;
}
case IOCTL_WAIT_ON_AUTO_FOCUS: {
ret = sensor_ioctl(request, (n_args < 2) ? 5000 : mp_obj_get_int(args[1]));
break;
}
#endif
case IOCTL_LEPTON_GET_WIDTH: {
int width;
ret = sensor_ioctl(request, &width);
if (ret == 0) {
ret_obj = mp_obj_new_int(width);
}
break;
}
case IOCTL_LEPTON_GET_HEIGHT: {
int height;
ret = sensor_ioctl(request, &height);
if (ret == 0) {
ret_obj = mp_obj_new_int(height);
}
break;
}
case IOCTL_LEPTON_GET_RADIOMETRY: {
int radiometry;
ret = sensor_ioctl(request, &radiometry);
if (ret == 0) {
ret_obj = mp_obj_new_int(radiometry);
}
break;
}
case IOCTL_LEPTON_GET_REFRESH: {
int refresh;
ret = sensor_ioctl(request, &refresh);
if (ret == 0) {
ret_obj = mp_obj_new_int(refresh);
}
break;
}
case IOCTL_LEPTON_GET_RESOLUTION: {
int resolution;
ret = sensor_ioctl(request, &resolution);
if (ret == 0) {
ret_obj = mp_obj_new_int(resolution);
}
break;
}
case IOCTL_LEPTON_RUN_COMMAND: {
if (n_args > 2) {
ret = sensor_ioctl(request, mp_obj_get_int(args[1]));
}
break;
}
case IOCTL_LEPTON_SET_ATTRIBUTE: {
size_t data_len;
int command = mp_obj_get_int(args[1]);
uint16_t *data = (uint16_t *) mp_obj_str_get_data(args[2], &data_len);
PY_ASSERT_TRUE_MSG(data_len > 0, "0 bytes transferred!");
ret = sensor_ioctl(request, command, data, data_len / sizeof(uint16_t));
break;
}
case IOCTL_LEPTON_GET_ATTRIBUTE: {
int command = mp_obj_get_int(args[1]);
size_t data_len = mp_obj_get_int(args[2]);
PY_ASSERT_TRUE_MSG(data_len > 0, "0 bytes transferred!");
uint16_t *data = xalloc(data_len * sizeof(uint16_t));
ret = sensor_ioctl(request, command, data, data_len);
if (ret == 0) {
ret_obj = mp_obj_new_bytearray_by_ref(data_len * sizeof(uint16_t), data);
}
break;
}
case IOCTL_LEPTON_GET_FPA_TEMPERATURE:
case IOCTL_LEPTON_GET_AUX_TEMPERATURE: {
int temp;
ret = sensor_ioctl(request, &temp);
if (ret == 0) {
ret_obj = mp_obj_new_float((((float) temp) / 100) - 273.15f);
}
break;
}
case IOCTL_LEPTON_SET_MEASUREMENT_MODE:
if (n_args > 2) {
ret = sensor_ioctl(request, mp_obj_get_int(args[1]));
}
break;
case IOCTL_LEPTON_GET_MEASUREMENT_MODE: {
int enabled;
ret = sensor_ioctl(request, &enabled);
if (ret == 0) {
ret_obj = mp_obj_new_bool(enabled);
}
break;
}
case IOCTL_LEPTON_SET_MEASUREMENT_RANGE:
if (n_args > 3) {
// GCC will not let us pass floats to ... so we have to pass float pointers instead.
float min = mp_obj_get_float(args[1]);
float max = mp_obj_get_float(args[2]);
ret = sensor_ioctl(request, &min, &max);
}
break;
case IOCTL_LEPTON_GET_MEASUREMENT_RANGE: {
float min, max;
ret = sensor_ioctl(request, &min, &max);
if (ret == 0) {
ret_obj = mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_float(min), mp_obj_new_float(max)});
}
break;
}
#if (OMV_ENABLE_HM01B0 == 1)
case IOCTL_HIMAX_MD_ENABLE: {
if (n_args > 2) {
ret = sensor_ioctl(request, mp_obj_get_int(args[1]));
}
break;
}
case IOCTL_HIMAX_MD_WINDOW: {
if (n_args > 2) {
int x, y, w, h;
mp_obj_t *array;
mp_uint_t array_len;
mp_obj_get_array(args[1], &array_len, &array);
if (array_len == 4) {
x = mp_obj_get_int(array[0]);
y = mp_obj_get_int(array[1]);
w = mp_obj_get_int(array[2]);
h = mp_obj_get_int(array[3]);
} else if (array_len == 2) {
w = mp_obj_get_int(array[0]);
h = mp_obj_get_int(array[1]);
x = 0;
y = 0;
} else {
mp_raise_msg(&mp_type_ValueError,
MP_ERROR_TEXT("The tuple/list must either be (x, y, w, h) or (w, h)"));
}
ret = sensor_ioctl(request, x, y, w, h);
}
break;
}
case IOCTL_HIMAX_MD_THRESHOLD: {
if (n_args > 2) {
ret = sensor_ioctl(request, mp_obj_get_int(args[1]));
}
break;
}
case IOCTL_HIMAX_MD_CLEAR: {
ret = sensor_ioctl(request);
break;
}
case IOCTL_HIMAX_OSC_ENABLE: {
if (n_args > 2) {
ret = sensor_ioctl(request, mp_obj_get_int(args[1]));
}
break;
}
#endif // (OMV_ENABLE_HM01B0 == 1)
default: {
mp_raise_msg(&mp_type_ValueError, sensor_strerror(SENSOR_ERROR_CTL_UNSUPPORTED));
break;
}
}
if (ret != 0) {
mp_raise_msg(&mp_type_RuntimeError, sensor_strerror(ret));
}
return ret_obj;
}
static mp_obj_t py_sensor_set_color_palette(mp_obj_t palette_obj)
{
int palette = mp_obj_get_int(palette_obj);
switch (palette) {
case COLOR_PALETTE_RAINBOW:
sensor_set_color_palette(rainbow_table);
break;
case COLOR_PALETTE_IRONBOW:
sensor_set_color_palette(ironbow_table);
break;
default:
mp_raise_msg(&mp_type_ValueError, sensor_strerror(SENSOR_ERROR_INVALID_ARGUMENT));
break;
}
return mp_const_none;
}
static mp_obj_t py_sensor_get_color_palette()
{
const uint16_t *palette = sensor_get_color_palette();
if (palette == rainbow_table) {
return mp_obj_new_int(COLOR_PALETTE_RAINBOW);
} else if (palette == ironbow_table) {
return mp_obj_new_int(COLOR_PALETTE_IRONBOW);
}
return mp_const_none;
}
static mp_obj_t py_sensor_write_reg(mp_obj_t addr, mp_obj_t val)
{
sensor_write_reg(mp_obj_get_int(addr), mp_obj_get_int(val));
return mp_const_none;
}
static mp_obj_t py_sensor_read_reg(mp_obj_t addr)
{
return mp_obj_new_int(sensor_read_reg(mp_obj_get_int(addr)));
}
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor__init__obj, py_sensor__init__);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_reset_obj, py_sensor_reset);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_sleep_obj, py_sensor_sleep);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_shutdown_obj, py_sensor_shutdown);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_flush_obj, py_sensor_flush);
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_sensor_snapshot_obj, 0, py_sensor_snapshot);
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_sensor_skip_frames_obj, 0, py_sensor_skip_frames);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_width_obj, py_sensor_width);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_height_obj, py_sensor_height);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_fb_obj, py_sensor_get_fb);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_id_obj, py_sensor_get_id);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_frame_available_obj, py_sensor_get_frame_available);
STATIC MP_DEFINE_CONST_FUN_OBJ_3(py_sensor_alloc_extra_fb_obj, py_sensor_alloc_extra_fb);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_dealloc_extra_fb_obj, py_sensor_dealloc_extra_fb);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_pixformat_obj, py_sensor_set_pixformat);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_pixformat_obj, py_sensor_get_pixformat);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_framesize_obj, py_sensor_set_framesize);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_framesize_obj, py_sensor_get_framesize);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_framerate_obj, py_sensor_set_framerate);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_framerate_obj, py_sensor_get_framerate);
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(py_sensor_set_windowing_obj, 1, 4, py_sensor_set_windowing);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_windowing_obj, py_sensor_get_windowing);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_gainceiling_obj, py_sensor_set_gainceiling);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_contrast_obj, py_sensor_set_contrast);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_brightness_obj, py_sensor_set_brightness);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_saturation_obj, py_sensor_set_saturation);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_quality_obj, py_sensor_set_quality);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_colorbar_obj, py_sensor_set_colorbar);
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_sensor_set_auto_gain_obj, 1,py_sensor_set_auto_gain);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_gain_db_obj, py_sensor_get_gain_db);
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_sensor_set_auto_exposure_obj,1,py_sensor_set_auto_exposure);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_exposure_us_obj, py_sensor_get_exposure_us);
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_sensor_set_auto_whitebal_obj,1,py_sensor_set_auto_whitebal);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_rgb_gain_db_obj, py_sensor_get_rgb_gain_db);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_hmirror_obj, py_sensor_set_hmirror);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_hmirror_obj, py_sensor_get_hmirror);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_vflip_obj, py_sensor_set_vflip);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_vflip_obj, py_sensor_get_vflip);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_transpose_obj, py_sensor_set_transpose);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_transpose_obj, py_sensor_get_transpose);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_auto_rotation_obj, py_sensor_set_auto_rotation);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_auto_rotation_obj, py_sensor_get_auto_rotation);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_framebuffers_obj, py_sensor_set_framebuffers);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_framebuffers_obj, py_sensor_get_framebuffers);
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(py_sensor_disable_full_flush_obj, 0, 1, py_sensor_disable_full_flush);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_special_effect_obj, py_sensor_set_special_effect);
STATIC MP_DEFINE_CONST_FUN_OBJ_3(py_sensor_set_lens_correction_obj, py_sensor_set_lens_correction);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_vsync_callback_obj, py_sensor_set_vsync_callback);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_frame_callback_obj, py_sensor_set_frame_callback);
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(py_sensor_ioctl_obj, 1, 5, py_sensor_ioctl);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_color_palette_obj, py_sensor_set_color_palette);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_color_palette_obj, py_sensor_get_color_palette);
STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_sensor_write_reg_obj, py_sensor_write_reg);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_read_reg_obj, py_sensor_read_reg);
STATIC const mp_map_elem_t globals_dict_table[] = {
{ MP_OBJ_NEW_QSTR(MP_QSTR___name__), MP_OBJ_NEW_QSTR(MP_QSTR_sensor)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_BINARY), MP_OBJ_NEW_SMALL_INT(PIXFORMAT_BINARY)}, /* 1BPP/BINARY*/
{ MP_OBJ_NEW_QSTR(MP_QSTR_GRAYSCALE), MP_OBJ_NEW_SMALL_INT(PIXFORMAT_GRAYSCALE)},/* 1BPP/GRAYSCALE*/
{ MP_OBJ_NEW_QSTR(MP_QSTR_RGB565), MP_OBJ_NEW_SMALL_INT(PIXFORMAT_RGB565)}, /* 2BPP/RGB565*/
{ MP_OBJ_NEW_QSTR(MP_QSTR_YUV422), MP_OBJ_NEW_SMALL_INT(PIXFORMAT_YUV422)}, /* 2BPP/YUV422*/
{ MP_OBJ_NEW_QSTR(MP_QSTR_BAYER), MP_OBJ_NEW_SMALL_INT(PIXFORMAT_BAYER)}, /* 1BPP/RAW*/
{ MP_OBJ_NEW_QSTR(MP_QSTR_JPEG), MP_OBJ_NEW_SMALL_INT(PIXFORMAT_JPEG)}, /* JPEG/COMPRESSED*/
{ MP_OBJ_NEW_QSTR(MP_QSTR_OV2640), MP_OBJ_NEW_SMALL_INT(OV2640_ID)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_OV5640), MP_OBJ_NEW_SMALL_INT(OV5640_ID)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_OV7670), MP_OBJ_NEW_SMALL_INT(OV7670_ID)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_OV7690), MP_OBJ_NEW_SMALL_INT(OV7690_ID)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_OV7725), MP_OBJ_NEW_SMALL_INT(OV7725_ID)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_OV9650), MP_OBJ_NEW_SMALL_INT(OV9650_ID)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_MT9V034), MP_OBJ_NEW_SMALL_INT(MT9V034_ID)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_LEPTON), MP_OBJ_NEW_SMALL_INT(LEPTON_ID)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_HM01B0), MP_OBJ_NEW_SMALL_INT(HM01B0_ID)},
// Special effects
{ MP_OBJ_NEW_QSTR(MP_QSTR_NORMAL), MP_OBJ_NEW_SMALL_INT(SDE_NORMAL)}, /* Normal/No SDE */
{ MP_OBJ_NEW_QSTR(MP_QSTR_NEGATIVE), MP_OBJ_NEW_SMALL_INT(SDE_NEGATIVE)}, /* Negative image */
// C/SIF Resolutions
{ MP_OBJ_NEW_QSTR(MP_QSTR_QQCIF), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QQCIF)}, /* 88x72 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_QCIF), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QCIF)}, /* 176x144 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_CIF), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_CIF)}, /* 352x288 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_QQSIF), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QQSIF)}, /* 88x60 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_QSIF), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QSIF)}, /* 176x120 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_SIF), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_SIF)}, /* 352x240 */
// VGA Resolutions
{ MP_OBJ_NEW_QSTR(MP_QSTR_QQQQVGA), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QQQQVGA)}, /* 40x30 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_QQQVGA), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QQQVGA)}, /* 80x60 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_QQVGA), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QQVGA)}, /* 160x120 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_QVGA), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QVGA)}, /* 320x240 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_VGA), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_VGA)}, /* 640x480 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_HQQQQVGA), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_HQQQQVGA)}, /* 40x20 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_HQQQVGA), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_HQQQVGA)}, /* 80x40 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_HQQVGA), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_HQQVGA)}, /* 160x80 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_HQVGA), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_HQVGA)}, /* 240x160 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_HVGA), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_HVGA)}, /* 480x320 */
// FFT Resolutions
{ MP_OBJ_NEW_QSTR(MP_QSTR_B64X32), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_64X32)}, /* 64x32 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_B64X64), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_64X64)}, /* 64x64 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_B128X64), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_128X64)}, /* 128x64 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_B128X128), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_128X128)}, /* 128x128 */
// Himax Resolutions
{ MP_OBJ_NEW_QSTR(MP_QSTR_B160X160), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_160X160)}, /* 160x160 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_B320X320), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_320X320)}, /* 320x320 */
// Other
{ MP_OBJ_NEW_QSTR(MP_QSTR_LCD), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_LCD)}, /* 128x160 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_QQVGA2), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QQVGA2)}, /* 128x160 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_WVGA), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_WVGA)}, /* 720x480 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_WVGA2), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_WVGA2)}, /* 752x480 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_SVGA), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_SVGA)}, /* 800x600 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_XGA), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_XGA)}, /* 1024x768 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_WXGA), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_WXGA)}, /* 1280x768 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_SXGA), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_SXGA)}, /* 1280x1024 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_SXGAM), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_SXGAM)}, /* 1280x960 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_UXGA), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_UXGA)}, /* 1600x1200 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_HD), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_HD)}, /* 1280x720 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_FHD), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_FHD)}, /* 1920x1080 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_QHD), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QHD)}, /* 2560x1440 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_QXGA), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QXGA)}, /* 2048x1536 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_WQXGA), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_WQXGA)}, /* 2560x1600 */
{ MP_OBJ_NEW_QSTR(MP_QSTR_WQXGA2), MP_OBJ_NEW_SMALL_INT(FRAMESIZE_WQXGA2)}, /* 2592x1944 */
// Color Palettes
{ MP_OBJ_NEW_QSTR(MP_QSTR_PALETTE_RAINBOW), MP_OBJ_NEW_SMALL_INT(COLOR_PALETTE_RAINBOW)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_PALETTE_IRONBOW), MP_OBJ_NEW_SMALL_INT(COLOR_PALETTE_IRONBOW)},
// IOCTLs
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_SET_READOUT_WINDOW), MP_OBJ_NEW_SMALL_INT(IOCTL_SET_READOUT_WINDOW)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_GET_READOUT_WINDOW), MP_OBJ_NEW_SMALL_INT(IOCTL_GET_READOUT_WINDOW)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_SET_TRIGGERED_MODE), MP_OBJ_NEW_SMALL_INT(IOCTL_SET_TRIGGERED_MODE)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_GET_TRIGGERED_MODE), MP_OBJ_NEW_SMALL_INT(IOCTL_GET_TRIGGERED_MODE)},
#if (OMV_ENABLE_OV5640_AF == 1)
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_TRIGGER_AUTO_FOCUS), MP_OBJ_NEW_SMALL_INT(IOCTL_TRIGGER_AUTO_FOCUS)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_PAUSE_AUTO_FOCUS), MP_OBJ_NEW_SMALL_INT(IOCTL_PAUSE_AUTO_FOCUS)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_RESET_AUTO_FOCUS), MP_OBJ_NEW_SMALL_INT(IOCTL_RESET_AUTO_FOCUS)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_WAIT_ON_AUTO_FOCUS), MP_OBJ_NEW_SMALL_INT(IOCTL_WAIT_ON_AUTO_FOCUS)},
#endif
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_WIDTH), MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_WIDTH)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_HEIGHT), MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_HEIGHT)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_RADIOMETRY), MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_RADIOMETRY)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_REFRESH), MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_REFRESH)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_RESOLUTION), MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_RESOLUTION)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_RUN_COMMAND), MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_RUN_COMMAND)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_SET_ATTRIBUTE), MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_SET_ATTRIBUTE)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_ATTRIBUTE), MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_ATTRIBUTE)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_FPA_TEMPERATURE), MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_FPA_TEMPERATURE)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_AUX_TEMPERATURE), MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_AUX_TEMPERATURE)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_SET_MEASUREMENT_MODE), MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_SET_MEASUREMENT_MODE)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_MEASUREMENT_MODE), MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_MEASUREMENT_MODE)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_SET_MEASUREMENT_RANGE), MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_SET_MEASUREMENT_RANGE)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_MEASUREMENT_RANGE), MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_MEASUREMENT_RANGE)},
#if (OMV_ENABLE_HM01B0 == 1)
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_HIMAX_MD_ENABLE), MP_OBJ_NEW_SMALL_INT(IOCTL_HIMAX_MD_ENABLE)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_HIMAX_MD_WINDOW), MP_OBJ_NEW_SMALL_INT(IOCTL_HIMAX_MD_WINDOW)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_HIMAX_MD_THRESHOLD), MP_OBJ_NEW_SMALL_INT(IOCTL_HIMAX_MD_THRESHOLD)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_HIMAX_MD_CLEAR), MP_OBJ_NEW_SMALL_INT(IOCTL_HIMAX_MD_CLEAR)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_HIMAX_OSC_ENABLE), MP_OBJ_NEW_SMALL_INT(IOCTL_HIMAX_OSC_ENABLE)},
#endif
// Framebuffer Sizes
{ MP_OBJ_NEW_QSTR(MP_QSTR_SINGLE_BUFFER), MP_OBJ_NEW_SMALL_INT(1)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_DOUBLE_BUFFER), MP_OBJ_NEW_SMALL_INT(2)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_TRIPLE_BUFFER), MP_OBJ_NEW_SMALL_INT(3)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_VIDEO_FIFO), MP_OBJ_NEW_SMALL_INT(4)},
// Sensor functions
{ MP_OBJ_NEW_QSTR(MP_QSTR___init__), (mp_obj_t)&py_sensor__init__obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_reset), (mp_obj_t)&py_sensor_reset_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_sleep), (mp_obj_t)&py_sensor_sleep_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_shutdown), (mp_obj_t)&py_sensor_shutdown_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_flush), (mp_obj_t)&py_sensor_flush_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_snapshot), (mp_obj_t)&py_sensor_snapshot_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_skip_frames), (mp_obj_t)&py_sensor_skip_frames_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_width), (mp_obj_t)&py_sensor_width_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_height), (mp_obj_t)&py_sensor_height_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_get_fb), (mp_obj_t)&py_sensor_get_fb_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_get_id), (mp_obj_t)&py_sensor_get_id_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_get_frame_available), (mp_obj_t)&py_sensor_get_frame_available_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_alloc_extra_fb), (mp_obj_t)&py_sensor_alloc_extra_fb_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_dealloc_extra_fb), (mp_obj_t)&py_sensor_dealloc_extra_fb_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_pixformat), (mp_obj_t)&py_sensor_set_pixformat_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_get_pixformat), (mp_obj_t)&py_sensor_get_pixformat_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_framesize), (mp_obj_t)&py_sensor_set_framesize_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_get_framesize), (mp_obj_t)&py_sensor_get_framesize_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_framerate), (mp_obj_t)&py_sensor_set_framerate_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_get_framerate), (mp_obj_t)&py_sensor_get_framerate_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_windowing), (mp_obj_t)&py_sensor_set_windowing_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_get_windowing), (mp_obj_t)&py_sensor_get_windowing_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_gainceiling), (mp_obj_t)&py_sensor_set_gainceiling_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_contrast), (mp_obj_t)&py_sensor_set_contrast_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_brightness), (mp_obj_t)&py_sensor_set_brightness_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_saturation), (mp_obj_t)&py_sensor_set_saturation_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_quality), (mp_obj_t)&py_sensor_set_quality_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_colorbar), (mp_obj_t)&py_sensor_set_colorbar_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_auto_gain), (mp_obj_t)&py_sensor_set_auto_gain_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_get_gain_db), (mp_obj_t)&py_sensor_get_gain_db_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_auto_exposure), (mp_obj_t)&py_sensor_set_auto_exposure_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_get_exposure_us), (mp_obj_t)&py_sensor_get_exposure_us_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_auto_whitebal), (mp_obj_t)&py_sensor_set_auto_whitebal_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_get_rgb_gain_db), (mp_obj_t)&py_sensor_get_rgb_gain_db_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_hmirror), (mp_obj_t)&py_sensor_set_hmirror_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_get_hmirror), (mp_obj_t)&py_sensor_get_hmirror_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_vflip), (mp_obj_t)&py_sensor_set_vflip_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_get_vflip), (mp_obj_t)&py_sensor_get_vflip_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_transpose), (mp_obj_t)&py_sensor_set_transpose_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_get_transpose), (mp_obj_t)&py_sensor_get_transpose_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_auto_rotation), (mp_obj_t)&py_sensor_set_auto_rotation_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_get_auto_rotation), (mp_obj_t)&py_sensor_get_auto_rotation_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_framebuffers), (mp_obj_t)&py_sensor_set_framebuffers_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_get_framebuffers), (mp_obj_t)&py_sensor_get_framebuffers_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_disable_full_flush), (mp_obj_t)&py_sensor_disable_full_flush_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_special_effect), (mp_obj_t)&py_sensor_set_special_effect_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_lens_correction), (mp_obj_t)&py_sensor_set_lens_correction_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_vsync_callback), (mp_obj_t)&py_sensor_set_vsync_callback_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_frame_callback), (mp_obj_t)&py_sensor_set_frame_callback_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_ioctl), (mp_obj_t)&py_sensor_ioctl_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_set_color_palette), (mp_obj_t)&py_sensor_set_color_palette_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_get_color_palette), (mp_obj_t)&py_sensor_get_color_palette_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR___write_reg), (mp_obj_t)&py_sensor_write_reg_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR___read_reg), (mp_obj_t)&py_sensor_read_reg_obj },
};
STATIC MP_DEFINE_CONST_DICT(globals_dict, globals_dict_table);
const mp_obj_module_t sensor_module = {
.base = { &mp_type_module },
.globals = (mp_obj_t)&globals_dict,
};
#endif // MICROPY_PY_SENSOR