WHAT

src/PicoIris.cpp

@@ -13,38 +13,128 @@
 #include <ov2640/SCCB.hpp>
 #include <ov2640/camera.hpp>
 #include "cstring"
-
+// Frame header and footer markers for synchronization - using distinctive values
+const uint8_t FRAME_HEADER[] = {0xDE, 0xAD, 0xBE, 0xEF}; // Distinctive header
+const uint8_t FRAME_FOOTER[] = {0xCA, 0xFE, 0xBA, 0xBE}; // Distinctive footer
+const int FRAME_MARKER_SIZE = 4;
 // PIO2 is reserved for the cam data retreive functions
 
 camera_config_t left_eye_config = {
     .pin_pwdn = -1,                   /*!< GPIO pin for camera power down line */ //? Also called PWDN, or set to -1 and tie to GND
     .pin_reset = -1,                  /*!< GPIO pin for camera reset line */ //? Cam reset, or set to -1 and tie to 3.3V
-    .pin_xclk = 3,                   /*!< GPIO pin for camera XCLK line */ //? in theory could be shared or perhaps ommited?
+    .pin_xclk = 25,                   /*!< GPIO pin for camera XCLK line */ //? in theory could be shared or perhaps ommited?
-    .pin_sccb_sda = 4,               /*!< GPIO pin for camera SDA line */
+    .pin_sccb_sda = 26,               /*!< GPIO pin for camera SDA line */
-    .pin_sccb_scl = 5,               /*!< GPIO pin for camera SCL line */
+    .pin_sccb_scl = 27,               /*!< GPIO pin for camera SCL line */
-    .pin_data_base = 7,              /*!< this pin + 7 consecutive will be used D0-D7 PCLK HREF */
+    .pin_data_base = 28,              /*!< this pin + 7 consecutive will be used D0-D7 PCLK HREF */
-    .pin_vsync = 18,                  /*!< GPIO pin for camera VSYNC line */
+    .pin_vsync = 39,                  /*!< GPIO pin for camera VSYNC line */
-    .xclk_div = 0,               /*!< Frequency of XCLK signal, in Hz. */ //! Figure out the highest it can go to
+    .sccb_ctrl = 1,              /* Select i2c controller ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio2 */
-    .sccb_ctrl = 0,              /* Select i2c controller ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio2 */
 };
 
+// Send a properly framed image using printf for binary data
+void send_frame(const void* buffer, size_t size) {
+    // Ensure UART output buffer is flushed before sending binary data
+    printf("\n\nBINARY_START\n\n");
+    sleep_ms(100);  // Small delay to ensure the text is transmitted separately
+
+    // Send binary data using fwrite directly to stdout
+    // This avoids any text processing that printf might do
+
+    // Send frame header
+    fwrite(FRAME_HEADER, 1, FRAME_MARKER_SIZE, stdout);
+    sleep_ms(100);  // Small delay to ensure the text is transmitted separately
+    printf("test....");
+
+    // Send frame size (4 bytes, little-endian)
+    uint8_t size_bytes[4];
+    size_bytes[0] = size & 0xFF;
+    size_bytes[1] = (size >> 8) & 0xFF;
+    size_bytes[2] = (size >> 16) & 0xFF;
+    size_bytes[3] = (size >> 24) & 0xFF;
+    fwrite(size_bytes, 1, 4, stdout);
+    printf("test2....");
+
+    // Calculate checksum
+    uint32_t checksum = 0;
+    const uint8_t* buf = (const uint8_t*)buffer;
+    for (size_t i = 0; i < size; i++) {
+        checksum += buf[i];
+    }
+
+    // Send frame data
+    fwrite(buf, 1, size, stdout);
+    sleep_ms(100);  // Small delay to ensure the text is transmitted separately
+
+    // Send checksum (4 bytes)
+    uint8_t checksum_bytes[4];
+    checksum_bytes[0] = checksum & 0xFF;
+    checksum_bytes[1] = (checksum >> 8) & 0xFF;
+    checksum_bytes[2] = (checksum >> 16) & 0xFF;
+    checksum_bytes[3] = (checksum >> 24) & 0xFF;
+    fwrite(checksum_bytes, 1, 4, stdout);
+    sleep_ms(100);  // Small delay to ensure the text is transmitted separately
+    // Send frame footer
+    fwrite(FRAME_FOOTER, 1, FRAME_MARKER_SIZE, stdout);
+    sleep_ms(100);  // Small delay to ensure the text is transmitted separately
+
+    // Flush to ensure all binary data is sent
+    fflush(stdout);
+
+    // Make the end marker very distinctive with multiple newlines and unique pattern
+    sleep_ms(100);
+    printf("\n\n###BINARY_END###\n\n");
+}
+
+// Test function to verify binary data transmission
+void test_binary_transfer() {
+    printf("Testing binary transfer...\n");
+
+    // Create a small test buffer
+    uint8_t test_data[16];
+    for (int i = 0; i < 16; i++) {
+        test_data[i] = i;
+    }
+
+    // Send it as a frame
+    send_frame(test_data, sizeof(test_data));
+
+    printf("Binary test complete\n");
+}
+
 int main()
 {
     stdio_init_all();
 
-    sleep_ms(4000);
+    printf("\n\n=== PicoIris Starting ===\n");
-    //printf("Hello World!");
+    sleep_ms(1000);
+    
+    // Test binary transfer
+    test_binary_transfer();
+    sleep_ms(1000);
+
+    printf("Configuring Camera...\n");
     
     OV2640 left_cam = OV2640(left_eye_config);
-    left_cam.begin(DMA_IRQ_0, 1);
+    left_cam.begin(DMA_IRQ_0, 2); // 0 for RGB565 mode
-    //left_cam.capture_frame();
+    printf("Camera Configured!...\n");
-    //fwrite(left_cam.fb, 1, sizeof(left_cam.fb), stdout);
+
+    // Image size (160 x 120 x 2 bytes per pixel for RGB565)
+    const size_t frame_size = 160 * 120 * 2;
+
     while (true) {
-        //printf("Hello, world!\n");
+        // Capture a frame
-        //sleep_ms(1000);
+        printf("Attempting to capture frame...\n");
         left_cam.capture_frame();
-        fwrite(&left_cam.fb, 1, sizeof(left_cam.fb), stdout);
+
-        //memset(&left_cam.fb, 0x00, sizeof(left_cam.fb));
+        // Once the frame is ready, send it over UART
-        sleep_ms(1000);
+        printf("Checking if frame is ready...\n");
+            printf("Frame ready, sending...\n");
+            send_frame(left_cam.fb, frame_size);
+            left_cam.resetFrameReady();
+            printf("Frame sent...\n");
+
+
+        // Small delay to allow processing time
+        printf("Waiting before next attempt...\n");
+        sleep_ms(3000);  // Increased delay for debugging
      }
 }

src/ov2640/camera.cpp

@@ -16,6 +16,7 @@
 
 static volatile bool frameReady = false;     // true at end-of-frame
 static volatile bool suspended = true; 
+static volatile bool dma_busy = false; // true when DMA transfer is done
 static void* pointer;
 
 static void iCap_vsync_irq(uint gpio, uint32_t events) {
@@ -636,10 +637,11 @@ int OV2640::begin(int dma_irq, int mode) // mode is just here to make debbuging
     // Let's guess it's similar to tS:REG (300 ms) from datasheet.
     sleep_ms(300);
 
-    // Perform a soft reset (we dont wanna waste GPIO on wiring in reset pins)
+    // Perform a soft reset
+    printf("Sending camera reset command...\n");
     this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_SENSOR); // Bank select 1
-    this->sccb.writeRegister(OV2640_REG1_COM7, OV2640_COM7_SRST);        // System reset
+    this->sccb.writeRegister(OV2640_REG1_COM7, OV2640_COM7_SRST);        // System reset<
-    sleep_ms(300);                                                         // Datasheet: tS:RESET = 1 ms
+    printf("Camera reset complete\n");
 
     switch(mode) {
         case 0:
@@ -657,47 +659,8 @@ int OV2640::begin(int dma_irq, int mode) // mode is just here to make debbuging
             break;
     }
     
-    //this->sccb.writeList(OV2640_test_ptrn, sizeof(OV2640_test_ptrn)/sizeof(OV2640_test_ptrn[0]));
+    // GPIO pin setup
-    //this->sccb.writeList(OV2640_jpeg, sizeof(OV2640_jpeg)/sizeof(OV2640_jpeg[0]));
+    printf("Setting up GPIO pins for camera data...\n");
-    //this->sccb.writeRegister(0xd3, 0x0f);
-
-
-    // this->set_framesize();
-    //  sleep_ms(10);
-    // this->sccb.writeList(OV2640_jpeg, sizeof(OV2640_jpeg)/sizeof(OV2640_jzpeg[0]));
-
-    //this->set_gainceiling(GAINCEILING_2X);
-    //sleep_ms(10);
-    //this->set_bpc(false);
-    //sleep_ms(10);
-    //this->set_wpc(true);
-    //sleep_ms(10);
-    //this->set_lenc(true);
-    //sleep_ms(10);
-    // this->set_quality(5);
-    // sleep_ms(10);
-    // this->sccb.writeList(OV2640_jpeg, sizeof(OV2640_jpeg)/sizeof(OV2640_jpeg[0]));
-
-    // this->set_quality(5);
-
-    // //prtintf("Write list of init\n");
-    // // sleep_ms(10);
-    // // this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP);
-    //  sleep_ms(10);
-    // //this->sccb.writeRegister(0xd3, 0x05);
-    //  sleep_ms(10);
-
-
-    // // for (int i=0; i<5; i++) {
-    // //     this->sccb.writeRegister(0xff, 0x00);
-    // //     this->sccb.writeRegister(special_effects_regs[0][i], special_effects_regs[3][i]);
-    // // }
-
-    // this->sccb.writeRegister(0xff, 0x00);
-    // this->sccb.writeRegister(0xd3, 0x05); // try 0x80 next
-
-
-    //prtintf("Gpio init\n");
     gpio_init(this->config.pin_vsync);
     gpio_set_dir(this->config.pin_vsync, GPIO_IN);
     gpio_pull_down(this->config.pin_vsync);
@@ -797,11 +760,36 @@ int OV2640::begin(int dma_irq, int mode) // mode is just here to make debbuging
     dma_channel_set_irq0_enabled(0, true);
     irq_set_exclusive_handler(DMA_IRQ_0, iCap_dma_finish_irq);
     irq_set_enabled(DMA_IRQ_0, true);
-  
+    printf("DMA interrupt setup complete\n");
-    // SET UP VSYNC INTERRUPT ------------------------------------------------
+
-  
+    // Set up VSYNC interrupt
+    printf("Setting up VSYNC interrupt on pin %d...\n", this->config.pin_vsync);
     gpio_set_irq_enabled_with_callback(this->config.pin_vsync, GPIO_IRQ_EDGE_RISE, true,
-                                       &iCap_vsync_irq);
+                                      &iCap_vsync_irq);  // Register VSYNC handler
+    printf("VSYNC interrupt setup complete\n");
+
+    // Test if VSYNC is toggling
+    printf("Checking if VSYNC is toggling...\n");
+    bool initial_vsync = gpio_get(this->config.pin_vsync);
+    uint32_t start_time = time_us_32();
+    bool vsync_changed = false;
+    while ((time_us_32() - start_time) < 1000000) { // 1 second timeout
+        bool current_vsync = gpio_get(this->config.pin_vsync);
+        if (current_vsync != initial_vsync) {
+            vsync_changed = true;
+            printf("VSYNC toggled from %d to %d\n", initial_vsync, current_vsync);
+            break;
+        }
+        sleep_ms(1);
+    }
+
+    if (!vsync_changed) {
+        printf("WARNING: VSYNC signal not detected during initialization\n");
+    } else {
+        printf("VSYNC signal detected successfully\n");
+    }
+
+    printf("Camera initialization complete\n");
     return 0;
 }
 
@@ -871,34 +859,39 @@ void OV2640::set_lenc(bool enable) {
     this->sccb.writeMaskRegister(0xC3, 1, 1, enable?1:0);
 }
 
+bool OV2640::isFrameReady() const {
+    return frameReady;
+}
+
+void OV2640::resetFrameReady() {
+    frameReady = false;
+}
 
 void OV2640::capture_frame() {
     suspended = false;
-    while(!frameReady);
-    return;
-    // dma_channel_config c = dma_channel_get_default_config(0);
-    // channel_config_set_read_increment(&c, false);
-    // channel_config_set_write_increment(&c, true);
-    // channel_config_set_dreq(&c, pio_get_dreq(pio2, 0, false));
-    // channel_config_set_transfer_data_size(&c, DMA_SIZE_16);
     
-    // dma_channel_configure(
+    // Wait for frame with timeout to prevent infinite loops
-    //     0, &c,
+    uint32_t start_time = time_us_32();
-    //     &this->fb,
+    uint32_t timeout_us = 2000000; // 2 second timeout
-    //     &pio2->rxf[0],
-    //     sizeof(this->fb),
-    //     false
-    // );
 
-    // // Wait for vsync rising edge to start frame
+    while(!frameReady) {
-    // ////prtintf("pin_vsync) == true\n");
+        // Check for timeout
-    // while (gpio_get(this->config.pin_vsync) == true);
+        if ((time_us_32() - start_time) > timeout_us) {
-    // ////prtintf("pin_vsync) == false\n");
+            printf("Frame capture timeout! Sending incomplete frame...\n");
-    // while (gpio_get(this->config.pin_vsync) == false);
+            // Reset DMA in case it's stuck
-    // ////prtintf("after while loops\n");
+            dma_channel_abort(0);
+            dma_channel_set_write_addr(0, pointer, false);
+            dma_busy = false;
+            suspended = true;
+            return; // Exit without waiting for frameReady
+        }
+        // Small yield to avoid tight loop
+        sleep_us(100);
+    }
 
-    // dma_channel_start(0);
+    // Frame is ready, no need to do anything else
-    // dma_channel_wait_for_finish_blocking(0);
+    // The DMA handler has already set frameReady = true
+    printf("Frame captured successfully\n");
 }
 
 

src/ov2640/camera.hpp

@@ -34,6 +34,11 @@ class OV2640 {
 public:
     OV2640(camera_config_t config);
     ~OV2640();
+        // Check if a new frame is ready
+        bool isFrameReady() const;
+
+        // Reset the frame ready flag after processing
+        void resetFrameReady();
 
     int begin(int dma_irq, int mode);
     void set_quality(int quality);