Fix compilation issues

mmm yes debugging with printf

CMakeLists.txt

@@ -35,7 +35,8 @@ pico_sdk_init()
 
 # Add executable. Default name is the project name, version 0.1
 
-add_executable(PicoIris src/PicoIris.cpp )
+add_executable(PicoIris src/PicoIris.cpp src/ov2640/camera.cpp src/ov2640/SCCB.cpp src/pio/i2c/pio_i2c.c)
+#add_executable(PicoIris bus_scan.c)
 
 pico_set_program_name(PicoIris "PicoIris")
 pico_set_program_version(PicoIris "0.1")
@@ -47,22 +48,21 @@ pico_generate_pio_header(PicoIris ${CMAKE_CURRENT_LIST_DIR}/src/pio/i2c/i2c.pio)
 pico_enable_stdio_uart(PicoIris 0)
 pico_enable_stdio_usb(PicoIris 1)
 
-# Add the standard library to the build
-target_link_libraries(PicoIris
-        pico_stdlib)
-
 # Add the standard include files to the build
 target_include_directories(PicoIris PRIVATE
         ${CMAKE_CURRENT_LIST_DIR}
         src/
         src/ov2640/
+        src/pio/i2c/
 )
 
 # Add any user requested libraries
 target_link_libraries(PicoIris 
+        pico_stdlib
         hardware_spi
         hardware_i2c
         hardware_dma
+        hardware_pwm
         hardware_pio
         hardware_interp
         hardware_timer

bus_scan.c

@@ -0,0 +1,93 @@
+/**
+ * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+// Sweep through all 7-bit I2C addresses, to see if any slaves are present on
+// the I2C bus. Print out a table that looks like this:
+//
+// I2C Bus Scan
+//    0 1 2 3 4 5 6 7 8 9 A B C D E F
+// 00 . . . . . . . . . . . . . . . .
+// 10 . . @ . . . . . . . . . . . . .
+// 20 . . . . . . . . . . . . . . . .
+// 30 . . . . @ . . . . . . . . . . .
+// 40 . . . . . . . . . . . . . . . .
+// 50 . . . . . . . . . . . . . . . .
+// 60 . . . . . . . . . . . . . . . .
+// 70 . . . . . . . . . . . . . . . .
+// E.g. if addresses 0x12 and 0x34 were acknowledged.
+
+#include <stdio.h>
+#include "pico/stdlib.h"
+#include "pico/binary_info.h"
+#include "hardware/i2c.h"
+#include "pico/stdlib.h"
+#include "hardware/spi.h"
+#include "hardware/i2c.h"
+#include "hardware/dma.h"
+#include "hardware/pio.h"
+#include "hardware/interp.h"
+#include "hardware/timer.h"
+#include "hardware/pwm.h"
+#include "hardware/clocks.h"
+#include "hardware/uart.h"
+// I2C reserves some addresses for special purposes. We exclude these from the scan.
+// These are any addresses of the form 000 0xxx or 111 1xxx
+bool reserved_addr(uint8_t addr) {
+    return (addr & 0x78) == 0 || (addr & 0x78) == 0x78;
+}
+
+int main() {
+    // Enable UART so we can print status output
+    stdio_init_all();
+#if !defined(i2c_default) || !defined(PICO_DEFAULT_I2C_SDA_PIN) || !defined(PICO_DEFAULT_I2C_SCL_PIN)
+#warning i2c/bus_scan example requires a board with I2C pins
+    puts("Default I2C pins were not defined");
+#else
+    // This example will use I2C0 on the default SDA and SCL pins (GP4, GP5 on a Pico)
+    gpio_set_function(3, GPIO_FUNC_PWM);
+    uint slice_num = pwm_gpio_to_slice_num(3);
+    // 6 cycles (0 to 5), 125 MHz / 6 = ~20.83 MHz wrap rate
+    pwm_set_wrap(slice_num, 5);
+    pwm_set_gpio_level(3, 3);
+    pwm_set_enabled(slice_num, true);
+    sleep_ms(1000);
+
+    i2c_init(i2c_default, 100 * 1000);
+    gpio_set_function(PICO_DEFAULT_I2C_SDA_PIN, GPIO_FUNC_I2C);
+    gpio_set_function(PICO_DEFAULT_I2C_SCL_PIN, GPIO_FUNC_I2C);
+    gpio_pull_up(PICO_DEFAULT_I2C_SDA_PIN);
+    gpio_pull_up(PICO_DEFAULT_I2C_SCL_PIN);
+    // Make the I2C pins available to picotool
+    bi_decl(bi_2pins_with_func(PICO_DEFAULT_I2C_SDA_PIN, PICO_DEFAULT_I2C_SCL_PIN, GPIO_FUNC_I2C));
+
+    printf("\nI2C Bus Scan\n");
+    printf("   0  1  2  3  4  5  6  7  8  9  A  B  C  D  E  F\n");
+
+    for (int addr = 0; addr < (1 << 7); ++addr) {
+        if (addr % 16 == 0) {
+            printf("%02x ", addr);
+        }
+
+        // Perform a 1-byte dummy read from the probe address. If a slave
+        // acknowledges this address, the function returns the number of bytes
+        // transferred. If the address byte is ignored, the function returns
+        // -1.
+
+        // Skip over any reserved addresses.
+        int ret;
+        uint8_t rxdata;
+        if (reserved_addr(addr))
+            ret = PICO_ERROR_GENERIC;
+        else
+            ret = i2c_read_blocking(i2c_default, addr, &rxdata, 1, false);
+
+        printf(ret < 0 ? "." : "@");
+        printf(addr % 16 == 15 ? "\n" : "  ");
+    }
+    printf("Done.\n");
+    return 0;
+#endif
+}

src/PicoIris.cpp

@@ -18,13 +18,13 @@
 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 = 0,                   /*!< GPIO pin for camera XCLK line */ //? in theory could be shared or perhaps ommited?
+    .pin_xclk = 3,                   /*!< GPIO pin for camera XCLK line */ //? in theory could be shared or perhaps ommited?
-    .pin_sccb_sda = 0,               /*!< GPIO pin for camera SDA line */
+    .pin_sccb_sda = 4,               /*!< GPIO pin for camera SDA line */
-    .pin_sccb_scl = 0,               /*!< GPIO pin for camera SCL line */
+    .pin_sccb_scl = 5,               /*!< GPIO pin for camera SCL line */
-    .pin_data_base = 0,              /*!< this pin + 7 consecutive will be used D0-D7 */
+    .pin_data_base = 6,              /*!< this pin + 7 consecutive will be used D0-D7 */
-    .pin_vsync = 0,                  /*!< GPIO pin for camera VSYNC line */
+    .pin_vsync = 16,                  /*!< GPIO pin for camera VSYNC line */
-    .pin_href = 0,                   /*!< GPIO pin for camera HREF line */
+    .pin_href = 15,                   /*!< GPIO pin for camera HREF line */
-    .pin_pclk = 0,                   /*!< GPIO pin for camera PCLK line */
+    .pin_pclk = 14,                   /*!< GPIO pin for camera PCLK line */
     .xclk_freq_hz = 0,               /*!< Frequency of XCLK signal, in Hz. */ //! Figure out the highest it can go to
     .sccb_ctrl = 0,              /* Select i2c controller ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio2 */
 };
@@ -33,11 +33,18 @@ int main()
 {
     stdio_init_all();
 
+    sleep_ms(4000);
+    printf("Hello World!");
+    
+    printf("construct OV2640!");
     OV2640 left_cam = OV2640(left_eye_config);
+    printf("begin OV2640!");
     left_cam.begin(DMA_IRQ_0);
 
+
     while (true) {
-        printf("Hello, world!\n");
+        //printf("Hello, world!\n");
-        sleep_ms(1000);
+        //sleep_ms(1000);
+        tight_loop_contents();
     }
 }

src/ov2640/SCCB.cpp

@@ -59,8 +59,8 @@ int SCCB::readRegister(uint8_t reg)
         i2c_write_blocking(this->i2cc, OV2640_ADDR, &reg, 1, true); // TODO: check if true or false is correct here
         i2c_read_blocking(this->i2cc, OV2640_ADDR, buf, 1, false);  // false - finished with bus
     }else {
-        pio_i2c_write_blocking(this->pio, this->sm, OV2640_ADDR, &reg, 1);
+        //pio_i2c_write_blocking(this->pio, this->sm, OV2640_ADDR, &reg, 1);
-        pio_i2c_read_blocking(this->pio, this->sm, OV2640_ADDR, buf, 1);
+        //pio_i2c_read_blocking(this->pio, this->sm, OV2640_ADDR, buf, 1);
     }
     return buf[0];
 }
@@ -74,7 +74,7 @@ void SCCB::writeRegister(uint8_t reg, uint8_t value)
     if (this->ctrl < 2) {
         i2c_write_blocking(this->i2cc, OV2640_ADDR, buf, 2, false);
     }else {
-        pio_i2c_write_blocking(this->pio, this->sm, OV2640_ADDR, buf, 2);
+        //pio_i2c_write_blocking(this->pio, this->sm, OV2640_ADDR, buf, 2);
     }
 }
 
@@ -84,6 +84,6 @@ void SCCB::writeList(const register_val_t *cfg,
     for (int i = 0; i < len; i++)
     {
         writeRegister(cfg[i].reg, cfg[i].value);
-        sleep_ms(1000); // Some cams require, else lockup on init
+        sleep_ms(10); // Some cams require, else lockup on init
     }
 }

src/ov2640/SCCB.hpp

@@ -1,3 +1,8 @@
+#include <cstdint>
+#include "pico/stdlib.h"
+#include "hardware/i2c.h"
+#include "hardware/pio.h"
+
 typedef struct {
     uint8_t reg;   ///< Register address
     uint8_t value; ///< Value to store
@@ -17,8 +22,8 @@ public:
 private:
     uint8_t sda;
     uint8_t scl;
-    uint ctrl;
+    int ctrl;
     i2c_inst_t* i2cc;
     pio_hw_t* pio;
-    uint sm;
+    int sm;
 };

src/ov2640/camera.cpp

@@ -1,5 +1,7 @@
-#include <camera.hpp>
 #include <SCCB.hpp>
+#include <camera.hpp>
+
+#include <stdio.h>
 #include "pico/stdlib.h"
 
 #include "../../hardware_dma/include/hardware/dma.h"
@@ -281,7 +283,7 @@ register_val_t OV2640_init[] = {
     {OV2640_REG0_R_DVP_SP, 0x02}, // Manual DVP PCLK setting
     {OV2640_REG0_RESET, 0x00}};   // Go
 // TODO: figure out how to set to JPEG and 260x260
-/*OV2640_qqvga[] =
+register_val_t OV2640_qqvga[] =
     {// Configure OV2640 for QQVGA output
      {OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP}, // DSP bank select 0
      {OV2640_REG0_RESET, OV2640_RESET_DVP},
@@ -300,16 +302,18 @@ register_val_t OV2640_init[] = {
      {OV2640_REG0_ZMOH, 0x1E},     // OUTH low bits
      {OV2640_REG0_ZMHH, 0x00},     // OUTW/H high bits
      {OV2640_REG0_R_DVP_SP, 0x08}, // Manual DVP PCLK setting
-     {OV2640_REG0_RESET, 0x00}},   // Go
+     {OV2640_REG0_RESET, 0x00}
-OV2640_rgb[] = {{OV2640_REG_RA_DLMT,
+    };   // Go
-                 OV2640_RA_DLMT_DSP}, // DSP bank select 0
+register_val_t OV2640_rgb[] = {
+    {OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP}, // DSP bank select 0
                 {OV2640_REG0_RESET, OV2640_RESET_DVP},
                 {OV2640_REG0_IMAGE_MODE, OV2640_IMAGE_MODE_DVP_RGB565 |
                                              OV2640_IMAGE_MODE_BYTE_SWAP},
                 {0xD7, 0x03},               // Mystery init values
                 {0xE1, 0x77},               // seen in other examples
-                {OV2640_REG0_RESET, 0x00}}, // Go
+                {OV2640_REG0_RESET, 0x00}
-OV2640_yuv[] = {
+            }; // Go
+register_val_t OV2640_yuv[] = {
     {OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP}, // DSP bank select 0
     {OV2640_REG0_RESET, OV2640_RESET_DVP},
     {OV2640_REG0_IMAGE_MODE,
@@ -317,15 +321,34 @@ OV2640_yuv[] = {
     {0xD7, 0x01},               // Mystery init values
     {0xE1, 0x67},               // seen in other examples
     {OV2640_REG0_RESET, 0x00}
-}; // Go*/
+}; // Go
 
-uint8_t image_buf[3][13 * 1024];
+uint8_t image_buf[352*288*2];
 sm_dma_config_t gpios[48];
+int dma_channel;
+int sm;
 
 OV2640::OV2640(camera_config_t config)
 {
     this->config = config;
-    this->fb = &image_buf;
+    //this->fb = &image_buf;
+}
+
+// Pin interrupt on VSYNC calls this to start DMA transfer (unless suspended).
+static void vsync_irq(uint gpio, uint32_t events)
+{
+    pio_sm_clear_fifos(pio2, sm);
+    dma_channel_start(dma_channel);
+}
+
+static void dma_finish_irq()
+{
+    // Channel MUST be reconfigured each time (to reset the dest address).
+    dma_channel_set_write_addr(dma_channel,
+                              (uint8_t *)(image_buf), false);
+    dma_hw->ints0 = 1u << dma_channel; // Clear IRQ
+    uint32_t data = pio2->rxf[sm];
+    fwrite(&data, 1, 32, stdout);
 }
 
 int OV2640::begin(int dma_irq)
@@ -341,26 +364,36 @@ int OV2640::begin(int dma_irq)
     pwm_set_enabled(slice_num, true);
 
     // Init SCCB
+    printf("Init SCCB\n");
     this->sccb = SCCB(this->config.pin_sccb_sda, this->config.pin_sccb_scl);
     this->sccb.begin(this->config.sccb_ctrl);
+    printf("Inited SCCB\n");
 
     // ENABLE AND/OR RESET CAMERA --------------------------------------------
     // Unsure of camera startup time from beginning of input clock.
     // Let's guess it's similar to tS:REG (300 ms) from datasheet.
-    sleep_ms(300000);
+    sleep_ms(300);
 
     // Perform a soft reset (we dont wanna waste GPIO on wiring in reset pins)
     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
-    sleep_ms(1);                                                         // Datasheet: tS:RESET = 1 ms
+    sleep_ms(300);                                                         // Datasheet: tS:RESET = 1 ms
 
     // Init main camera settings
+    printf("Write list of init\n");
     this->sccb.writeList(OV2640_init, sizeof OV2640_init / sizeof OV2640_init[0]);
+    printf("Write list of qqvga\n");
+    this->sccb.writeList(OV2640_qqvga, sizeof OV2640_qqvga / sizeof OV2640_qqvga[0]);
+    printf("Write list of rgb\n");
+    this->sccb.writeList(OV2640_rgb, sizeof OV2640_rgb / sizeof OV2640_rgb[0]);
 
+
+    printf("Gpio init\n");
     gpio_init(this->config.pin_pclk);
     gpio_set_dir(this->config.pin_pclk, GPIO_IN);
     gpio_init(this->config.pin_vsync);
     gpio_set_dir(this->config.pin_vsync, GPIO_IN);
+    gpio_pull_down(this->config.pin_vsync);
     gpio_init(this->config.pin_href);
     gpio_set_dir(this->config.pin_href, GPIO_IN);
     for (uint8_t i = 0; i < 8; i++)
@@ -368,19 +401,21 @@ int OV2640::begin(int dma_irq)
         gpio_init(this->config.pin_data_base + i);
         gpio_set_dir(this->config.pin_data_base + i, GPIO_IN);
     }
+    printf("Gpio init done\n");
 
     // PIO periph to use is currently specified by the user in the arch struct,
     // but I suppose this could be written to use whatever PIO has resources.
 
     // Mask the GPIO pin used PCLK into the PIO opcodes -- see notes at top
     // TODO: check if this is correct (code made for rp2040 not rp2350 so it might differ)
+    printf("PIO init\n");
     capture_pio_opcodes[0] |= (this->config.pin_href & 31);
     capture_pio_opcodes[1] |= (this->config.pin_pclk & 31);
     capture_pio_opcodes[3] |= (this->config.pin_pclk & 31);
 
     uint offset = pio_add_program(pio2, &cap_pio_program);
     this->sm = pio_claim_unused_sm(pio2, true); // 0-3
-
+    sm = this->sm;
     pio_sm_set_consecutive_pindirs(pio2, this->sm, this->config.pin_data_base, 8, false);
 
     pio_sm_config c = pio_get_default_sm_config();
@@ -393,11 +428,12 @@ int OV2640::begin(int dma_irq)
 
     pio_sm_init(pio2, this->sm, offset, &c);
     pio_sm_set_enabled(pio2, this->sm, true);
+    printf("PIO init done\n");
 
     // SET UP DMA ------------------------------------------------------------
-
+    printf("DMA init\n");
     this->dma_channel = dma_claim_unused_channel(false); // don't panic
-
+    dma_channel = this->dma_channel;
     this->dma_config = dma_channel_get_default_config(this->dma_channel);
     channel_config_set_transfer_data_size(&this->dma_config, DMA_SIZE_16);
     channel_config_set_read_increment(&this->dma_config, false);
@@ -416,7 +452,7 @@ int OV2640::begin(int dma_irq)
 
     // Set up end-of-DMA interrupt
     dma_channel_set_irq0_enabled(this->dma_channel, true);
-    
+    printf("DMA init done\n");
     //? setup diffrent handlers for each cam???
     //? check with a button or smth if this fires all events or only one
     //? cuz then I would be able to do dma_finish_irq_cam1, dma_finish_irq_cam2, dma_finish_irq_cam3
@@ -428,29 +464,17 @@ int OV2640::begin(int dma_irq)
     //? This also could be redone with hardcoded values
     gpio_set_irq_enabled_with_callback(this->config.pin_vsync, GPIO_IRQ_EDGE_RISE, true,
                                        &vsync_irq);
-
+    printf("IRQ init done\n");
     return 0;
 }
 
 
-// Pin interrupt on VSYNC calls this to start DMA transfer (unless suspended).
-static void vsync_irq(uint gpio, uint32_t events)
-{
-    pio_sm_clear_fifos(pio2, archptr->sm);
-    dma_channel_start(archptr->dma_channel);
-}
 
-static void dma_finish_irq()
-{
-    // Channel MUST be reconfigured each time (to reset the dest address).
-    dma_channel_set_write_addr(archptr->dma_channel,
-                               (uint8_t *)(image_buf), false);
-    dma_hw->ints0 = 1u << archptr->dma_channel; // Clear IRQ
-}
 
 //! https://forums.raspberrypi.com/viewtopic.php?t=339299
 // TODO: change to switches and experiment with state machines, check if I can kinda reserve dma's so 0-3 would indicate state machines 0-3 
 /* Read the flags
+pio0_hw->irq;
 uint32_t flags = read_register(PIO0_BASE, PIO_IRQ_OFFSET)
 // Check the flags to determine which state machine made the request
 if (flags & 0b0001) { handle_sm_0(); }

src/ov2640/camera.hpp

@@ -1,3 +1,6 @@
+#include <cstdint>
+#include "pico/stdlib.h"
+#include "../../hardware_dma/include/hardware/dma.h"
 // TODO: Add XCLK settings
 typedef struct {
     int pin_pwdn;                   /*!< GPIO pin for camera power down line */ //? Also called PWDN, or set to -1 and tie to GND
@@ -14,8 +17,8 @@ typedef struct {
 } camera_config_t;
 
 typedef struct {
-    uint sm;
+    int sm;
-    uint dma_channel;
+    int dma_channel;
 } sm_dma_config_t;
 
 
@@ -29,8 +32,8 @@ private:
     camera_config_t config;
     SCCB sccb;
     uint8_t* (*fb)[3];
-    uint sm;
+    int sm;
-    uint dma_channel;
+    int dma_channel;
     dma_channel_config dma_config;
 };
 

src/pio/i2c/pio_i2c.c

@@ -3,8 +3,8 @@
  *
  * SPDX-License-Identifier: BSD-3-Clause
  */
-
+#include "pio_i2c.h"
- #include "pio_i2c.hpp"
+ #include "i2c.pio.h"
 
  const int PIO_I2C_ICOUNT_LSB = 10;
  const int PIO_I2C_FINAL_LSB  = 9;