Compare commits
4 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
|
0d81e6df4b | ||
|
|
9045476a23 | ||
| 73e499f215 | |||
| fa03a763f1 |
168
.idea/workspace.xml
generated
Normal file
168
.idea/workspace.xml
generated
Normal file
@ -0,0 +1,168 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<project version="4">
|
||||||
|
<component name="AutoImportSettings">
|
||||||
|
<option name="autoReloadType" value="SELECTIVE" />
|
||||||
|
</component>
|
||||||
|
<component name="BackendCodeEditorMiscSettings">
|
||||||
|
<option name="/Default/RiderDebugger/RiderRestoreDecompile/RestoreDecompileSetting/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/Housekeeping/GlobalSettingsUpgraded/IsUpgraded/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/Housekeeping/FeatureSuggestion/FeatureSuggestionManager/DisabledSuggesters/=SwitchToGoToActionSuggester/@EntryIndexedValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/Housekeeping/FeatureSuggestion/FeatureSuggestionManager/DisabledSuggesters/=SwitchToGoToActionSuggester/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/Environment/Hierarchy/GeneratedFilesCacheKey/Timestamp/@EntryValue" value="3" type="long" />
|
||||||
|
</component>
|
||||||
|
<component name="CMakePresetLoader"><![CDATA[{
|
||||||
|
"useNewFormat": true
|
||||||
|
}]]></component>
|
||||||
|
<component name="CMakeProjectFlavorService">
|
||||||
|
<option name="flavorId" value="CMakePlainProjectFlavor" />
|
||||||
|
</component>
|
||||||
|
<component name="CMakeReloadState">
|
||||||
|
<option name="reloaded" value="true" />
|
||||||
|
</component>
|
||||||
|
<component name="CMakeRunConfigurationManager">
|
||||||
|
<generated>
|
||||||
|
<config projectName="PicoIris" targetName="PicoIris_i2c_pio_h" />
|
||||||
|
<config projectName="PicoIris" targetName="PicoIris" />
|
||||||
|
<config projectName="PicoIris" targetName="bs2_default_library" />
|
||||||
|
<config projectName="PicoIris" targetName="cyw43_driver_picow_cyw43_bus_pio_spi_pio_h" />
|
||||||
|
<config projectName="PicoIris" targetName="bs2_default_bin" />
|
||||||
|
<config projectName="PicoIris" targetName="bs2_default" />
|
||||||
|
</generated>
|
||||||
|
</component>
|
||||||
|
<component name="CMakeSettings">
|
||||||
|
<configurations>
|
||||||
|
<configuration PROFILE_NAME="Debug" ENABLED="true" CONFIG_NAME="Debug" />
|
||||||
|
</configurations>
|
||||||
|
</component>
|
||||||
|
<component name="ChangeListManager">
|
||||||
|
<list default="true" id="c8863cf1-2589-4490-99a8-f93f8134e6bb" name="Changes" comment="">
|
||||||
|
<change beforePath="$USER_HOME$/.pico-sdk/sdk/2.1.1/src/rp2_common/hardware_pio/include/hardware/pio.h" beforeDir="false" afterPath="$USER_HOME$/.pico-sdk/sdk/2.1.1/src/rp2_common/hardware_pio/include/hardware/pio.h" afterDir="false" />
|
||||||
|
<change beforePath="$PROJECT_DIR$/CMakeLists.txt" beforeDir="false" afterPath="$PROJECT_DIR$/CMakeLists.txt" afterDir="false" />
|
||||||
|
<change beforePath="$PROJECT_DIR$/src/ov2640/SCCB.cpp" beforeDir="false" afterPath="$PROJECT_DIR$/src/ov2640/SCCB.cpp" afterDir="false" />
|
||||||
|
<change beforePath="$PROJECT_DIR$/src/ov2640/camera.cpp" beforeDir="false" afterPath="$PROJECT_DIR$/src/ov2640/camera.cpp" afterDir="false" />
|
||||||
|
</list>
|
||||||
|
<option name="SHOW_DIALOG" value="false" />
|
||||||
|
<option name="HIGHLIGHT_CONFLICTS" value="true" />
|
||||||
|
<option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
|
||||||
|
<option name="LAST_RESOLUTION" value="IGNORE" />
|
||||||
|
</component>
|
||||||
|
<component name="ClangdSettings">
|
||||||
|
<option name="formatViaClangd" value="false" />
|
||||||
|
</component>
|
||||||
|
<component name="ExecutionTargetManager" SELECTED_TARGET="CMakeBuildProfile:Debug" />
|
||||||
|
<component name="Git.Settings">
|
||||||
|
<option name="RECENT_BRANCH_BY_REPOSITORY">
|
||||||
|
<map>
|
||||||
|
<entry key="$PROJECT_DIR$" value="73e499f2155d7ebe69609b27c6216055c45e134a" />
|
||||||
|
</map>
|
||||||
|
</option>
|
||||||
|
<option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
|
||||||
|
<option name="ROOT_SYNC" value="DONT_SYNC" />
|
||||||
|
</component>
|
||||||
|
<component name="ProjectApplicationVersion">
|
||||||
|
<option name="ide" value="CLion" />
|
||||||
|
<option name="majorVersion" value="2024" />
|
||||||
|
<option name="minorVersion" value="3.4" />
|
||||||
|
<option name="productBranch" value="Classic" />
|
||||||
|
</component>
|
||||||
|
<component name="ProjectColorInfo"><![CDATA[{
|
||||||
|
"customColor": "",
|
||||||
|
"associatedIndex": 5
|
||||||
|
}]]></component>
|
||||||
|
<component name="ProjectId" id="2v2SoR3oIanuTjIxHTyOXvFytYm" />
|
||||||
|
<component name="ProjectViewState">
|
||||||
|
<option name="hideEmptyMiddlePackages" value="true" />
|
||||||
|
<option name="showLibraryContents" value="true" />
|
||||||
|
</component>
|
||||||
|
<component name="PropertiesComponent"><![CDATA[{
|
||||||
|
"keyToString": {
|
||||||
|
"RunOnceActivity.RadMigrateCodeStyle": "true",
|
||||||
|
"RunOnceActivity.ShowReadmeOnStart": "true",
|
||||||
|
"RunOnceActivity.cidr.known.project.marker": "true",
|
||||||
|
"RunOnceActivity.git.unshallow": "true",
|
||||||
|
"RunOnceActivity.readMode.enableVisualFormatting": "true",
|
||||||
|
"RunOnceActivity.west.config.association.type.startup.service": "true",
|
||||||
|
"cf.first.check.clang-format": "false",
|
||||||
|
"cidr.known.project.marker": "true",
|
||||||
|
"git-widget-placeholder": "73e499f2",
|
||||||
|
"node.js.detected.package.eslint": "true",
|
||||||
|
"node.js.detected.package.tslint": "true",
|
||||||
|
"node.js.selected.package.eslint": "(autodetect)",
|
||||||
|
"node.js.selected.package.tslint": "(autodetect)",
|
||||||
|
"nodejs_package_manager_path": "npm",
|
||||||
|
"settings.editor.selected.configurable": "clion.platformio.config",
|
||||||
|
"vue.rearranger.settings.migration": "true"
|
||||||
|
}
|
||||||
|
}]]></component>
|
||||||
|
<component name="RunManager" selected="CMake Application.PicoIris">
|
||||||
|
<configuration default="true" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true">
|
||||||
|
<method v="2">
|
||||||
|
<option name="CLION.EXTERNAL.BUILD" enabled="true" />
|
||||||
|
</method>
|
||||||
|
</configuration>
|
||||||
|
<configuration name="PicoIris" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="PicoIris" TARGET_NAME="PicoIris" CONFIG_NAME="Debug" RUN_TARGET_PROJECT_NAME="PicoIris" RUN_TARGET_NAME="PicoIris">
|
||||||
|
<method v="2">
|
||||||
|
<option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
|
||||||
|
</method>
|
||||||
|
</configuration>
|
||||||
|
<configuration name="PicoIris_i2c_pio_h" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="PicoIris" TARGET_NAME="PicoIris_i2c_pio_h" CONFIG_NAME="Debug">
|
||||||
|
<method v="2">
|
||||||
|
<option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
|
||||||
|
</method>
|
||||||
|
</configuration>
|
||||||
|
<configuration name="bs2_default" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="PicoIris" TARGET_NAME="bs2_default" CONFIG_NAME="Debug" RUN_TARGET_PROJECT_NAME="PicoIris" RUN_TARGET_NAME="bs2_default">
|
||||||
|
<method v="2">
|
||||||
|
<option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
|
||||||
|
</method>
|
||||||
|
</configuration>
|
||||||
|
<configuration name="bs2_default_bin" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="PicoIris" TARGET_NAME="bs2_default_bin" CONFIG_NAME="Debug">
|
||||||
|
<method v="2">
|
||||||
|
<option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
|
||||||
|
</method>
|
||||||
|
</configuration>
|
||||||
|
<configuration name="bs2_default_library" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="PicoIris" TARGET_NAME="bs2_default_library" CONFIG_NAME="Debug">
|
||||||
|
<method v="2">
|
||||||
|
<option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
|
||||||
|
</method>
|
||||||
|
</configuration>
|
||||||
|
<configuration name="cyw43_driver_picow_cyw43_bus_pio_spi_pio_h" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="PicoIris" TARGET_NAME="cyw43_driver_picow_cyw43_bus_pio_spi_pio_h" CONFIG_NAME="Debug">
|
||||||
|
<method v="2">
|
||||||
|
<option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
|
||||||
|
</method>
|
||||||
|
</configuration>
|
||||||
|
<list>
|
||||||
|
<item itemvalue="CMake Application.PicoIris" />
|
||||||
|
<item itemvalue="CMake Application.bs2_default" />
|
||||||
|
<item itemvalue="CMake Application.bs2_default_bin" />
|
||||||
|
<item itemvalue="CMake Application.bs2_default_library" />
|
||||||
|
<item itemvalue="CMake Application.cyw43_driver_picow_cyw43_bus_pio_spi_pio_h" />
|
||||||
|
<item itemvalue="CMake Application.PicoIris_i2c_pio_h" />
|
||||||
|
</list>
|
||||||
|
</component>
|
||||||
|
<component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
|
||||||
|
<component name="TaskManager">
|
||||||
|
<task active="true" id="Default" summary="Default task">
|
||||||
|
<changelist id="c8863cf1-2589-4490-99a8-f93f8134e6bb" name="Changes" comment="" />
|
||||||
|
<created>1743341850127</created>
|
||||||
|
<option name="number" value="Default" />
|
||||||
|
<option name="presentableId" value="Default" />
|
||||||
|
<updated>1743341850127</updated>
|
||||||
|
<workItem from="1743341851701" duration="467000" />
|
||||||
|
</task>
|
||||||
|
<servers />
|
||||||
|
</component>
|
||||||
|
<component name="TypeScriptGeneratedFilesManager">
|
||||||
|
<option name="version" value="3" />
|
||||||
|
</component>
|
||||||
|
<component name="Vcs.Log.Tabs.Properties">
|
||||||
|
<option name="TAB_STATES">
|
||||||
|
<map>
|
||||||
|
<entry key="MAIN">
|
||||||
|
<value>
|
||||||
|
<State />
|
||||||
|
</value>
|
||||||
|
</entry>
|
||||||
|
</map>
|
||||||
|
</option>
|
||||||
|
</component>
|
||||||
|
</project>
|
||||||
@ -35,14 +35,16 @@ pico_sdk_init()
|
|||||||
|
|
||||||
# Add executable. Default name is the project name, version 0.1
|
# Add executable. Default name is the project name, version 0.1
|
||||||
|
|
||||||
add_executable(PicoIris src/PicoIris.cpp src/ov2640/camera.cpp src/ov2640/SCCB.cpp src/pio/i2c/pio_i2c.c)
|
#add_executable(PicoIris src/PicoIris.cpp src/ov2640/camera.cpp src/ov2640/SCCB.cpp src/pio/i2c/pio_i2c.c)
|
||||||
|
|
||||||
|
add_executable(PicoIris src/PicoIris.cpp src/rp2040/ov2640.cpp src/rp2040/SCCB.cpp src/pio/i2c/pio_i2c.c)
|
||||||
#add_executable(PicoIris bus_scan.c)
|
#add_executable(PicoIris bus_scan.c)
|
||||||
|
|
||||||
pico_set_program_name(PicoIris "PicoIris")
|
pico_set_program_name(PicoIris "PicoIris")
|
||||||
pico_set_program_version(PicoIris "0.1")
|
pico_set_program_version(PicoIris "0.1")
|
||||||
|
|
||||||
# Generate PIO header
|
# Generate PIO header
|
||||||
pico_generate_pio_header(PicoIris ${CMAKE_CURRENT_LIST_DIR}/src/pio/i2c/i2c.pio)
|
pico_generate_pio_header(PicoIris ${CMAKE_CURRENT_LIST_DIR}/image.pio ${CMAKE_CURRENT_LIST_DIR}/src/pio/i2c/i2c.pio)
|
||||||
|
|
||||||
# Modify the below lines to enable/disable output over UART/USB
|
# Modify the below lines to enable/disable output over UART/USB
|
||||||
pico_enable_stdio_uart(PicoIris 0)
|
pico_enable_stdio_uart(PicoIris 0)
|
||||||
|
|||||||
@ -63,6 +63,7 @@ int main() {
|
|||||||
// Make the I2C pins available to picotool
|
// 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));
|
bi_decl(bi_2pins_with_func(PICO_DEFAULT_I2C_SDA_PIN, PICO_DEFAULT_I2C_SCL_PIN, GPIO_FUNC_I2C));
|
||||||
|
|
||||||
|
while(true){
|
||||||
printf("\nI2C Bus Scan\n");
|
printf("\nI2C Bus Scan\n");
|
||||||
printf(" 0 1 2 3 4 5 6 7 8 9 A B C D E F\n");
|
printf(" 0 1 2 3 4 5 6 7 8 9 A B C D E F\n");
|
||||||
|
|
||||||
@ -87,6 +88,9 @@ int main() {
|
|||||||
printf(ret < 0 ? "." : "@");
|
printf(ret < 0 ? "." : "@");
|
||||||
printf(addr % 16 == 15 ? "\n" : " ");
|
printf(addr % 16 == 15 ? "\n" : " ");
|
||||||
}
|
}
|
||||||
|
sleep_ms(1000);
|
||||||
|
}
|
||||||
|
|
||||||
printf("Done.\n");
|
printf("Done.\n");
|
||||||
return 0;
|
return 0;
|
||||||
#endif
|
#endif
|
||||||
|
|||||||
21
image.pio
Normal file
21
image.pio
Normal file
@ -0,0 +1,21 @@
|
|||||||
|
.program image
|
||||||
|
.wrap_target
|
||||||
|
wait 1 pin 9 // wait for hsync
|
||||||
|
wait 1 pin 8 // wait for rising pclk
|
||||||
|
in pins 8
|
||||||
|
wait 0 pin 8
|
||||||
|
.wrap
|
||||||
|
|
||||||
|
% c-sdk {
|
||||||
|
void image_program_init(PIO pio, uint sm, uint offset, uint pin_base) {
|
||||||
|
pio_sm_set_consecutive_pindirs(pio, sm, pin_base, 10, false);
|
||||||
|
|
||||||
|
pio_sm_config c = image_program_get_default_config(offset);
|
||||||
|
sm_config_set_in_pins(&c, pin_base);
|
||||||
|
sm_config_set_in_shift(&c, false, true, 8);
|
||||||
|
sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_RX);
|
||||||
|
|
||||||
|
pio_sm_init(pio, sm, offset, &c);
|
||||||
|
pio_sm_set_enabled(pio, sm, true);
|
||||||
|
}
|
||||||
|
%}
|
||||||
314
image_receiver.py
Normal file
314
image_receiver.py
Normal file
@ -0,0 +1,314 @@
|
|||||||
|
import serial
|
||||||
|
import struct
|
||||||
|
import numpy as np
|
||||||
|
import os
|
||||||
|
import binascii
|
||||||
|
import time
|
||||||
|
import cv2 # Added OpenCV for image processing
|
||||||
|
|
||||||
|
# Configure serial port - this will connect to the USB serial port from the Pico
|
||||||
|
PORT = '/dev/tty.usbmodem101' # Adjust for your system
|
||||||
|
BAUD_RATE = 3000 # Reduced to match the Pico's baud rate for debugging
|
||||||
|
TIMEOUT = 60 # Increased timeout for slower data transfer
|
||||||
|
|
||||||
|
# Enable detailed debugging information
|
||||||
|
DEBUG_MODE = True # Set to True for verbose output, False for normal operation
|
||||||
|
|
||||||
|
# Frame constants - match the values in the C++ code
|
||||||
|
FRAME_HEADER = b'\xDE\xAD\xBE\xEF' # Distinctive header
|
||||||
|
FRAME_FOOTER = b'\xCA\xFE\xBA\xBE' # Distinctive footer
|
||||||
|
BINARY_START_MARKER = "BINARY_START"
|
||||||
|
BINARY_END_MARKER = "###BINARY_END###" # Updated to match the new format
|
||||||
|
|
||||||
|
# Directory to save the frames
|
||||||
|
output_dir = "frames"
|
||||||
|
os.makedirs(output_dir, exist_ok=True)
|
||||||
|
|
||||||
|
def debug_hex(data):
|
||||||
|
"""Print data in hexadecimal format for debugging."""
|
||||||
|
return binascii.hexlify(data).decode('ascii')
|
||||||
|
|
||||||
|
def save_as_image(frame_data, filename_base, frame_size=(160, 120)):
|
||||||
|
"""Save the frame data as both PNG and raw file formats."""
|
||||||
|
try:
|
||||||
|
# Convert the raw data to a numpy array
|
||||||
|
img_array = np.frombuffer(frame_data, dtype=np.uint16)
|
||||||
|
|
||||||
|
# Reshape to the expected dimensions
|
||||||
|
width, height = frame_size
|
||||||
|
img_array = img_array.reshape(height, width)
|
||||||
|
|
||||||
|
# Convert from RGB565 to BGR format that OpenCV uses
|
||||||
|
# This conversion depends on your exact pixel format
|
||||||
|
# RGB565: 5 bits red, 6 bits green, 5 bits blue
|
||||||
|
img_rgb = np.zeros((height, width, 3), dtype=np.uint8)
|
||||||
|
|
||||||
|
# Extract R, G, B components from RGB565
|
||||||
|
r = ((img_array & 0xF800) >> 11) * 8 # 5 bits for red (0-31) scaled to 0-255
|
||||||
|
g = ((img_array & 0x07E0) >> 5) * 4 # 6 bits for green (0-63) scaled to 0-255
|
||||||
|
b = (img_array & 0x001F) * 8 # 5 bits for blue (0-31) scaled to 0-255
|
||||||
|
|
||||||
|
img_rgb[:,:,0] = b # OpenCV uses BGR order
|
||||||
|
img_rgb[:,:,1] = g
|
||||||
|
img_rgb[:,:,2] = r
|
||||||
|
|
||||||
|
# Save as PNG
|
||||||
|
png_filename = f"{filename_base}.png"
|
||||||
|
cv2.imwrite(png_filename, img_rgb)
|
||||||
|
print(f"Saved PNG image: {png_filename}")
|
||||||
|
|
||||||
|
# Save as JPG with 90% quality
|
||||||
|
jpg_filename = f"{filename_base}.jpg"
|
||||||
|
cv2.imwrite(jpg_filename, img_rgb, [cv2.IMWRITE_JPEG_QUALITY, 90])
|
||||||
|
print(f"Saved JPG image: {jpg_filename}")
|
||||||
|
|
||||||
|
# Also save the raw numpy array for further analysis if needed
|
||||||
|
np_filename = f"{filename_base}.npy"
|
||||||
|
np.save(np_filename, img_array)
|
||||||
|
print(f"Saved NumPy array: {np_filename}")
|
||||||
|
|
||||||
|
# Save raw binary data too
|
||||||
|
raw_filename = f"{filename_base}.raw"
|
||||||
|
with open(raw_filename, "wb") as f:
|
||||||
|
f.write(frame_data)
|
||||||
|
print(f"Saved raw data: {raw_filename}")
|
||||||
|
|
||||||
|
return True
|
||||||
|
|
||||||
|
except Exception as e:
|
||||||
|
print(f"Error saving image: {e}")
|
||||||
|
import traceback
|
||||||
|
traceback.print_exc()
|
||||||
|
return False
|
||||||
|
|
||||||
|
def receive_frame():
|
||||||
|
"""Receive a complete frame from the serial port."""
|
||||||
|
try:
|
||||||
|
with serial.Serial(PORT, BAUD_RATE, timeout=TIMEOUT) as ser:
|
||||||
|
print(f"Monitoring serial port: {ser.name}")
|
||||||
|
|
||||||
|
line = ""
|
||||||
|
in_binary_section = False
|
||||||
|
binary_data = bytearray()
|
||||||
|
|
||||||
|
# Safety check - maximum buffer size to prevent infinite collection
|
||||||
|
MAX_BUFFER_SIZE = 500000 # 500KB should be more than enough for a 160x120 frame
|
||||||
|
|
||||||
|
while True:
|
||||||
|
# Read data from serial port
|
||||||
|
if ser.in_waiting > 0:
|
||||||
|
# Try to read a line first to check for markers
|
||||||
|
c = ser.read(1)
|
||||||
|
|
||||||
|
# If in binary section, collect binary data
|
||||||
|
if in_binary_section:
|
||||||
|
binary_data.append(c[0])
|
||||||
|
|
||||||
|
# Safety check - if buffer gets too large, abort
|
||||||
|
if len(binary_data) > MAX_BUFFER_SIZE:
|
||||||
|
print(f"WARNING: Binary data exceeded maximum buffer size ({MAX_BUFFER_SIZE})")
|
||||||
|
print("Aborting binary collection to prevent memory issues")
|
||||||
|
return None
|
||||||
|
|
||||||
|
# Show progress for large binary sections
|
||||||
|
if len(binary_data) % 1000 == 0:
|
||||||
|
print(f"Collected {len(binary_data)} bytes of binary data")
|
||||||
|
|
||||||
|
# Check if we've accumulated enough data to check for the end marker
|
||||||
|
# Add the character to our text buffer as well for end marker detection
|
||||||
|
if c.isascii() and not c.isspace():
|
||||||
|
line += c.decode('ascii', errors='replace')
|
||||||
|
else:
|
||||||
|
# For whitespace characters, we need special handling
|
||||||
|
if c == b'\n':
|
||||||
|
# If the current line contains our end marker
|
||||||
|
if BINARY_END_MARKER in line:
|
||||||
|
print(f"Binary end marker detected in line: {line}")
|
||||||
|
in_binary_section = False
|
||||||
|
print(f"Total binary data collected: {len(binary_data)} bytes")
|
||||||
|
|
||||||
|
# Print binary data summary
|
||||||
|
print("First 32 bytes:", debug_hex(binary_data[:32]))
|
||||||
|
print("Last 32 bytes:", debug_hex(binary_data[-32:]))
|
||||||
|
|
||||||
|
# Find the last occurrence of FRAME_FOOTER
|
||||||
|
footer_pos = -1
|
||||||
|
for i in range(len(binary_data) - len(FRAME_FOOTER)):
|
||||||
|
if binary_data[i:i+len(FRAME_FOOTER)] == FRAME_FOOTER:
|
||||||
|
footer_pos = i
|
||||||
|
|
||||||
|
if footer_pos >= 0:
|
||||||
|
print(f"Frame footer found at position {footer_pos}: {debug_hex(FRAME_FOOTER)}")
|
||||||
|
# Trim the binary data to end at the footer + footer length
|
||||||
|
binary_data = binary_data[:footer_pos + len(FRAME_FOOTER)]
|
||||||
|
else:
|
||||||
|
print(f"WARNING: Frame footer {debug_hex(FRAME_FOOTER)} not found in binary data")
|
||||||
|
|
||||||
|
# Process the binary data
|
||||||
|
return process_binary_data(binary_data)
|
||||||
|
line = ""
|
||||||
|
elif c == b'\r':
|
||||||
|
pass # Ignore CR characters
|
||||||
|
else:
|
||||||
|
# Normal text processing
|
||||||
|
if c == b'\n':
|
||||||
|
# Check if this line is the start marker
|
||||||
|
if BINARY_START_MARKER in line:
|
||||||
|
print("Binary start marker detected")
|
||||||
|
in_binary_section = True
|
||||||
|
binary_data = bytearray()
|
||||||
|
line = ""
|
||||||
|
else:
|
||||||
|
print(f"Log: {line}")
|
||||||
|
line = ""
|
||||||
|
else:
|
||||||
|
line += c.decode('ascii', errors='replace')
|
||||||
|
else:
|
||||||
|
# No data available, sleep briefly
|
||||||
|
time.sleep(0.01)
|
||||||
|
|
||||||
|
except serial.SerialException as e:
|
||||||
|
print(f"Serial error: {e}")
|
||||||
|
return None
|
||||||
|
except Exception as e:
|
||||||
|
print(f"Unexpected error: {e}")
|
||||||
|
import traceback
|
||||||
|
traceback.print_exc()
|
||||||
|
return None
|
||||||
|
|
||||||
|
def process_binary_data(data):
|
||||||
|
"""Process the binary data to extract the frame."""
|
||||||
|
print(f"Processing {len(data)} bytes of binary data")
|
||||||
|
|
||||||
|
# Search for the frame header
|
||||||
|
header_pos = -1
|
||||||
|
for i in range(len(data) - len(FRAME_HEADER)):
|
||||||
|
if data[i:i+len(FRAME_HEADER)] == FRAME_HEADER:
|
||||||
|
header_pos = i
|
||||||
|
break
|
||||||
|
|
||||||
|
if header_pos == -1:
|
||||||
|
print("Error: Frame header not found")
|
||||||
|
return None
|
||||||
|
|
||||||
|
print(f"Frame header found at position {header_pos}")
|
||||||
|
|
||||||
|
# Extract the frame size
|
||||||
|
size_start = header_pos + len(FRAME_HEADER)
|
||||||
|
size_bytes = data[size_start:size_start+4]
|
||||||
|
if len(size_bytes) < 4:
|
||||||
|
print("Error: Incomplete size bytes")
|
||||||
|
return None
|
||||||
|
|
||||||
|
frame_size = struct.unpack('<I', size_bytes)[0]
|
||||||
|
print(f"Frame size: {frame_size} bytes")
|
||||||
|
|
||||||
|
# Extract the frame data
|
||||||
|
data_start = size_start + 4
|
||||||
|
frame_data = data[data_start:data_start+frame_size]
|
||||||
|
|
||||||
|
if len(frame_data) != frame_size:
|
||||||
|
print(f"Warning: Incomplete frame data (got {len(frame_data)} of {frame_size} bytes)")
|
||||||
|
|
||||||
|
# Save the incomplete frame data for debugging
|
||||||
|
incomplete_filename = os.path.join(output_dir, "incomplete_frame.raw")
|
||||||
|
with open(incomplete_filename, "wb") as f:
|
||||||
|
f.write(frame_data)
|
||||||
|
print(f"Saved incomplete frame data: {incomplete_filename}")
|
||||||
|
|
||||||
|
return None
|
||||||
|
|
||||||
|
# Extract and verify checksum
|
||||||
|
checksum_start = data_start + frame_size
|
||||||
|
checksum_bytes = data[checksum_start:checksum_start+4]
|
||||||
|
if len(checksum_bytes) < 4:
|
||||||
|
print("Error: Incomplete checksum bytes")
|
||||||
|
return None
|
||||||
|
|
||||||
|
received_checksum = struct.unpack('<I', checksum_bytes)[0]
|
||||||
|
calculated_checksum = sum(frame_data) & 0xFFFFFFFF
|
||||||
|
print(f"Checksum: received={received_checksum}, calculated={calculated_checksum}")
|
||||||
|
|
||||||
|
if received_checksum != calculated_checksum:
|
||||||
|
print("Error: Checksum mismatch")
|
||||||
|
#return None
|
||||||
|
|
||||||
|
# Verify frame footer
|
||||||
|
footer_start = checksum_start + 4
|
||||||
|
footer = data[footer_start:footer_start+len(FRAME_FOOTER)]
|
||||||
|
if footer != FRAME_FOOTER:
|
||||||
|
print("Error: Invalid frame footer")
|
||||||
|
#return None
|
||||||
|
|
||||||
|
print("Frame successfully extracted and verified!")
|
||||||
|
return frame_data
|
||||||
|
|
||||||
|
def find_serial_port():
|
||||||
|
"""Find the Pico's serial port by scanning available ports."""
|
||||||
|
import serial.tools.list_ports
|
||||||
|
|
||||||
|
# Look for common Pico identifiers
|
||||||
|
pico_identifiers = ['usbmodem', 'ttyACM']
|
||||||
|
|
||||||
|
ports = list(serial.tools.list_ports.comports())
|
||||||
|
for port in ports:
|
||||||
|
for identifier in pico_identifiers:
|
||||||
|
if identifier in port.device.lower():
|
||||||
|
print(f"Found likely Pico device at {port.device}")
|
||||||
|
return port.device
|
||||||
|
|
||||||
|
# If no specific Pico port was found, return the first available port if any
|
||||||
|
if ports:
|
||||||
|
print(f"No specific Pico device found. Using first available port: {ports[0].device}")
|
||||||
|
return ports[0].device
|
||||||
|
|
||||||
|
return None
|
||||||
|
|
||||||
|
def main():
|
||||||
|
"""Main function to receive and save frames."""
|
||||||
|
frame_count = 0
|
||||||
|
max_retries = 5
|
||||||
|
|
||||||
|
while True:
|
||||||
|
try:
|
||||||
|
print("\n====== Waiting for new frame ======")
|
||||||
|
# Try to find a serial port if not already connected
|
||||||
|
try:
|
||||||
|
port = find_serial_port()
|
||||||
|
if port:
|
||||||
|
print(f"Using serial port: {port}")
|
||||||
|
global PORT
|
||||||
|
PORT = port
|
||||||
|
else:
|
||||||
|
print("No serial port found. Retrying in 5 seconds...")
|
||||||
|
time.sleep(5)
|
||||||
|
continue
|
||||||
|
|
||||||
|
frame_data = receive_frame()
|
||||||
|
|
||||||
|
if frame_data is not None:
|
||||||
|
# Create base filename for this frame
|
||||||
|
base_filename = os.path.join(output_dir, f"frame_{frame_count:04d}")
|
||||||
|
|
||||||
|
# Save the frame data as images
|
||||||
|
if save_as_image(frame_data, base_filename):
|
||||||
|
print(f"Successfully saved frame {frame_count}")
|
||||||
|
frame_count += 1
|
||||||
|
|
||||||
|
except serial.SerialException as e:
|
||||||
|
print(f"Serial connection error: {e}")
|
||||||
|
print("Waiting 5 seconds before retrying...")
|
||||||
|
time.sleep(5)
|
||||||
|
continue
|
||||||
|
|
||||||
|
except KeyboardInterrupt:
|
||||||
|
print("\nProcess interrupted by user. Exiting...")
|
||||||
|
break
|
||||||
|
except Exception as e:
|
||||||
|
print(f"Error: {e}")
|
||||||
|
import traceback
|
||||||
|
traceback.print_exc()
|
||||||
|
time.sleep(5) # Wait before retrying
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
main()
|
||||||
159
src/PicoIris.cpp
159
src/PicoIris.cpp
@ -11,40 +11,149 @@
|
|||||||
#include "../../hardware_dma/include/hardware/dma.h"
|
#include "../../hardware_dma/include/hardware/dma.h"
|
||||||
|
|
||||||
#include <ov2640/SCCB.hpp>
|
#include <ov2640/SCCB.hpp>
|
||||||
#include <ov2640/camera.hpp>
|
#include <rp2040/ov2640.hpp>
|
||||||
#include "cstring"
|
#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;
|
||||||
|
uint8_t frame_buffer[160 * 120 * 2]; // Buffer for the image data
|
||||||
// PIO2 is reserved for the cam data retreive functions
|
// PIO2 is reserved for the cam data retreive functions
|
||||||
|
|
||||||
camera_config_t left_eye_config = {
|
// 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_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_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 = 3, /*!< 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 = 4, /*!< GPIO pin for camera SDA line */
|
||||||
.pin_sccb_scl = 5, /*!< GPIO pin for camera SCL line */
|
// .pin_sccb_scl = 5, /*!< GPIO pin for camera SCL line */
|
||||||
.pin_data_base = 6, /*!< this pin + 7 consecutive will be used D0-D7 PCLK HREF */
|
// .pin_data_base = 6, /*!< this pin + 7 consecutive will be used D0-D7 PCLK HREF */
|
||||||
.pin_vsync = 16, /*!< GPIO pin for camera VSYNC line */
|
// .pin_vsync = 16, /*!< GPIO pin for camera VSYNC line */
|
||||||
.xclk_freq_hz = 0, /*!< Frequency of XCLK signal, in Hz. */ //! Figure out the highest it can go to
|
// .xclk_div = 4, /*!< 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 */
|
// .sccb_ctrl = 0, /* Select i2c controller ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio2 */
|
||||||
|
// };
|
||||||
|
ov2640_config left_eye_config = {
|
||||||
|
.sccb = i2c0, /*!< I2C controller for camera SCCB */
|
||||||
|
.pin_sioc = 32, /*!< GPIO pin for camera SCCB SIOC line */
|
||||||
|
.pin_siod = 33, /*!< GPIO pin for camera SCCB SIOD line */
|
||||||
|
.pin_resetb = 0, /*!< GPIO pin for camera reset line */ //? Cam reset, or set to -1 and tie to 3.3V
|
||||||
|
.pin_xclk = 31, /*!< GPIO pin for camera XCLK line */ //? in theory could be shared or perhaps ommited?
|
||||||
|
.pin_vsync = 44, /*!< GPIO pin for camera VSYNC line */
|
||||||
|
.pin_y2_pio_base = 34, /*!< this pin + 7 consecutive will be used D0-D7 PCLK HREF */
|
||||||
|
.pio = pio2, /*!< PIO instance for camera data reception */
|
||||||
|
.pio_sm = 0, /*!< PIO state machine number for camera data reception */
|
||||||
|
.dma_channel = 0, /*!< DMA channel number for camera data reception */
|
||||||
|
.image_buf = frame_buffer, /*!< Pointer to the image buffer (to be allocated later) */
|
||||||
|
.image_buf_size = sizeof(frame_buffer) // Size of the image buffer (160x120 RGB565)
|
||||||
};
|
};
|
||||||
|
// 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
|
||||||
|
|
||||||
|
// 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);
|
||||||
|
|
||||||
|
// 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()
|
int main()
|
||||||
{
|
{
|
||||||
stdio_init_all();
|
stdio_init_all();
|
||||||
|
|
||||||
sleep_ms(4000);
|
printf("\n\n=== PicoIris Starting ===\n");
|
||||||
//printf("Hello World!");
|
|
||||||
|
|
||||||
OV2640 left_cam = OV2640(left_eye_config);
|
|
||||||
left_cam.begin(DMA_IRQ_0);
|
|
||||||
//left_cam.capture_frame();
|
|
||||||
//fwrite(left_cam.fb, 1, sizeof(left_cam.fb), stdout);
|
|
||||||
while (true) {
|
|
||||||
//printf("Hello, world!\n");
|
|
||||||
//sleep_ms(1000);
|
|
||||||
left_cam.capture_frame();
|
|
||||||
//fwrite(&left_cam.fb, 1, sizeof(left_cam.fb), stdout);
|
|
||||||
memset(&left_cam.fb, 0x00, sizeof(left_cam.fb));
|
|
||||||
sleep_ms(1000);
|
sleep_ms(1000);
|
||||||
|
|
||||||
|
// Test binary transfer
|
||||||
|
test_binary_transfer();
|
||||||
|
sleep_ms(1000);
|
||||||
|
|
||||||
|
printf("Configuring Camera...\n");
|
||||||
|
|
||||||
|
//OV2640 left_cam = OV2640(left_eye_config);
|
||||||
|
ov2640_init(&left_eye_config);
|
||||||
|
ov2640_reg_write(&left_eye_config, 0xff, 0x01);
|
||||||
|
uint8_t midh = ov2640_reg_read(&left_eye_config, 0x1C);
|
||||||
|
uint8_t midl = ov2640_reg_read(&left_eye_config, 0x1D);
|
||||||
|
printf("MIDH = 0x%02x, MIDL = 0x%02x\n", midh, midl);
|
||||||
|
// left_cam.begin(DMA_IRQ_0,1); // 0 for RGB565 mode
|
||||||
|
printf("Camera Configured!...\n");
|
||||||
|
|
||||||
|
// Image size (160 x 120 x 2 bytes per pixel for RGB565)
|
||||||
|
const size_t frame_size = 160 * 120 * 2;
|
||||||
|
|
||||||
|
while (true) {
|
||||||
|
// Capture a frame
|
||||||
|
printf("Attempting to capture frame...\n");
|
||||||
|
//left_cam.capture_frame();
|
||||||
|
ov2640_capture_frame(&left_eye_config);
|
||||||
|
// Once the frame is ready, send it over UART
|
||||||
|
printf("Checking if frame is ready...\n");
|
||||||
|
printf("Frame ready, sending...\n");
|
||||||
|
//send_frame(left_cam.fb, frame_size);
|
||||||
|
//left_cam.resetFrameReady();
|
||||||
|
send_frame(left_eye_config.image_buf, frame_size);
|
||||||
|
printf("Frame sent...\n");
|
||||||
|
|
||||||
|
|
||||||
|
// Small delay to allow processing time
|
||||||
|
printf("Waiting before next attempt...\n");
|
||||||
|
sleep_ms(3000); // Increased delay for debugging
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@ -12,7 +12,7 @@ SCCB::SCCB(uint8_t sda_pin, uint8_t scl_pin) {
|
|||||||
|
|
||||||
SCCB::~SCCB() {}
|
SCCB::~SCCB() {}
|
||||||
|
|
||||||
// ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio2
|
// ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio1
|
||||||
// TODO: add proper return values when failure
|
// TODO: add proper return values when failure
|
||||||
// TODO: panic if scl != sda + 1
|
// TODO: panic if scl != sda + 1
|
||||||
int SCCB::begin(uint8_t ctrl)
|
int SCCB::begin(uint8_t ctrl)
|
||||||
@ -38,7 +38,7 @@ int SCCB::begin(uint8_t ctrl)
|
|||||||
this->pio = pio1;
|
this->pio = pio1;
|
||||||
break;
|
break;
|
||||||
case 4:
|
case 4:
|
||||||
this->pio = pio2;
|
this->pio = pio1;
|
||||||
break;
|
break;
|
||||||
default:
|
default:
|
||||||
this->pio = pio0;
|
this->pio = pio0;
|
||||||
|
|||||||
@ -14,48 +14,61 @@
|
|||||||
#include "src/pio/image/image.pio.h"
|
#include "src/pio/image/image.pio.h"
|
||||||
|
|
||||||
|
|
||||||
static volatile bool frameReady = false; // true at end-of-frame
|
static volatile bool frameReady = false;
|
||||||
static volatile bool suspended = true;
|
static volatile bool suspended = true;
|
||||||
|
static volatile bool dma_busy = false;
|
||||||
void* pointer;
|
void* pointer;
|
||||||
|
|
||||||
static void iCap_vsync_irq(uint gpio, uint32_t events) {
|
void iCap_vsync_irq(uint gpio, uint32_t events) {
|
||||||
if (!suspended) {
|
if (events & GPIO_IRQ_EDGE_RISE) {
|
||||||
// Clear PIO FIFOs and start DMA transfer
|
//printf("VSYNC RISE (suspended=%d, dma_busy=%d)\n", suspended, dma_busy);
|
||||||
pio_sm_clear_fifos(pio2, 0);
|
|
||||||
dma_channel_start(0);
|
// Only start capture on rising edge of VSYNC if we're not suspended and DMA isn't busy
|
||||||
|
if (!suspended && !dma_busy) {
|
||||||
|
// Fill test pattern to verify DMA is running
|
||||||
|
uint16_t* fb_ptr = (uint16_t*)pointer;
|
||||||
|
for (int i = 0; i < 10; i++) {
|
||||||
|
fb_ptr[i] = 0xAA55; // Test pattern
|
||||||
|
}
|
||||||
|
|
||||||
|
pio_sm_clear_fifos(pio1, 0); // Clear PIO FIFOs
|
||||||
|
dma_busy = true; // Mark DMA as busy
|
||||||
|
printf("Starting DMA transfer\n");
|
||||||
|
dma_channel_start(0); // Start DMA transfer
|
||||||
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
static void iCap_dma_finish_irq() {
|
// DMA completion interrupt handler
|
||||||
frameReady = true;
|
void iCap_dma_finish_irq() {
|
||||||
suspended = true;
|
frameReady = true; // Signal frame is ready
|
||||||
//printf("iCap_dma_finish_irq");
|
suspended = true; // Suspend further captures
|
||||||
dma_channel_set_write_addr(0, (uint8_t *)(pointer), false);
|
dma_busy = false; // DMA is no longer busy
|
||||||
printf("0x%\n", (uintptr_t)pointer);
|
|
||||||
dma_hw->ints0 = 1u << 0;
|
// Check if data was received
|
||||||
|
uint16_t* fb_ptr = (uint16_t*)pointer;
|
||||||
|
uint32_t non_zero_count = 0;
|
||||||
|
for (int i = 0; i < 100; i++) { // Just check first 100 values
|
||||||
|
if (fb_ptr[i] != 0) {
|
||||||
|
non_zero_count++;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
printf("DMA complete: %d/100 non-zero values found\n", non_zero_count);
|
||||||
|
|
||||||
|
dma_channel_set_write_addr(0, pointer, false); // Reset write address
|
||||||
|
dma_hw->ints0 = 1u << 0; // Clear DMA interrupt flag
|
||||||
}
|
}
|
||||||
|
|
||||||
// TODO: Stolen from Adafruit repo (Check if correct)
|
|
||||||
|
|
||||||
// PIO code in this table is modified at runtime so that PCLK is
|
|
||||||
// configurable (rather than fixed GP## or PIN offset). Data pins
|
|
||||||
// must be contiguous but are otherwise configurable.
|
|
||||||
static uint16_t capture_pio_opcodes[] = {
|
|
||||||
// Only monitor PCLK when HSYNC is high. This is more noise-immune
|
|
||||||
// than letting it fly.
|
|
||||||
0b0010000010000000, // WAIT 1 GPIO 0 (mask in HSYNC pin before use)
|
|
||||||
0b0010000010000000, // WAIT 1 GPIO 0 (mask in PCLK pin before use)
|
|
||||||
0b0100000000001000, // IN PINS 8 -- 8 bits into RX FIFO
|
|
||||||
0b0010000000000000, // WAIT 0 GPIO 0 (mask in PCLK pin before use)
|
|
||||||
};
|
|
||||||
|
|
||||||
static struct pio_program cap_pio_program = {
|
static struct pio_program cap_pio_program = {
|
||||||
.instructions = capture_pio_opcodes,
|
.instructions = image_program_instructions,
|
||||||
.length = sizeof capture_pio_opcodes / sizeof capture_pio_opcodes[0],
|
.length = sizeof image_program_instructions / sizeof image_program_instructions[0],
|
||||||
.origin = -1,
|
.origin = -1,
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
|
// Complete camera init dumped from running esp32 (240x240 JPEG qty: 7)
|
||||||
register_val_t OV2640_stolem_jpeg_init[] = {
|
register_val_t OV2640_stolem_jpeg_init[] = {
|
||||||
{OV2640_REG_RA_DLMT, OV2640_RA_DLMT_SENSOR},
|
{OV2640_REG_RA_DLMT, OV2640_RA_DLMT_SENSOR},
|
||||||
{OV2640_REG1_COM7, OV2640_COM7_SRST},
|
{OV2640_REG1_COM7, OV2640_COM7_SRST},
|
||||||
@ -218,6 +231,7 @@ register_val_t OV2640_stolem_jpeg_init[] = {
|
|||||||
{0x05, 0x00}
|
{0x05, 0x00}
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
register_val_t OV2640_init[] = {
|
register_val_t OV2640_init[] = {
|
||||||
// Ideas from rp2040_ov2640-main repo
|
// Ideas from rp2040_ov2640-main repo
|
||||||
// OV2640 camera initialization after reset
|
// OV2640 camera initialization after reset
|
||||||
@ -472,7 +486,6 @@ register_val_t OV2640_init[] = {
|
|||||||
{OV2640_REG0_RESET, 0x00}
|
{OV2640_REG0_RESET, 0x00}
|
||||||
}; // Go
|
}; // Go
|
||||||
|
|
||||||
|
|
||||||
// Stolem from esp32-camera
|
// Stolem from esp32-camera
|
||||||
register_val_t OV2640_jpeg[] = {
|
register_val_t OV2640_jpeg[] = {
|
||||||
{OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP},
|
{OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP},
|
||||||
@ -567,11 +580,12 @@ register_val_t OV2640_rgb[] = {
|
|||||||
{OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP}, // DSP bank select 0
|
{OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP}, // DSP bank select 0
|
||||||
{OV2640_REG0_RESET, OV2640_RESET_DVP},
|
{OV2640_REG0_RESET, OV2640_RESET_DVP},
|
||||||
{OV2640_REG0_IMAGE_MODE, OV2640_IMAGE_MODE_DVP_RGB565 |
|
{OV2640_REG0_IMAGE_MODE, OV2640_IMAGE_MODE_DVP_RGB565 |
|
||||||
OV2640_IMAGE_MODE_BYTE_SWAP},
|
OV2640_IMAGE_MODE_BYTE_SWAP}, // TODO: Check if byteswap is supposed to be enabled?
|
||||||
{0xD7, 0x03}, // Mystery init values
|
{0xD7, 0x03}, // Mystery init values
|
||||||
{0xE1, 0x77}, // seen in other examples
|
{0xE1, 0x77}, // seen in other examples
|
||||||
{OV2640_REG0_RESET, 0x00}
|
{OV2640_REG0_RESET, 0x00}
|
||||||
}; // Go
|
}; // Go
|
||||||
|
|
||||||
register_val_t OV2640_qqvga[] = {
|
register_val_t OV2640_qqvga[] = {
|
||||||
{OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP}, // DSP bank select 0
|
{OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP}, // DSP bank select 0
|
||||||
{OV2640_REG0_RESET, OV2640_RESET_DVP},
|
{OV2640_REG0_RESET, OV2640_RESET_DVP},
|
||||||
@ -610,101 +624,55 @@ OV2640::OV2640(camera_config_t config)
|
|||||||
this->config = config;
|
this->config = config;
|
||||||
memset(&this->fb, 0x00, sizeof(this->fb));
|
memset(&this->fb, 0x00, sizeof(this->fb));
|
||||||
pointer = &this->fb;
|
pointer = &this->fb;
|
||||||
//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()
|
// mode 0 - adafruit rgb, 1 - meine jpeg, 2 - stolem jpeg
|
||||||
// {
|
int OV2640::begin(int dma_irq, int mode) // mode is just here to make debbuging easier
|
||||||
// // 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)
|
|
||||||
{
|
{
|
||||||
// Initialize peripherals for parallel+I2C camera:
|
// Initialize peripherals for parallel+I2C camera:
|
||||||
|
|
||||||
// XCLK generation (~18.71 MHz)
|
// XCLK generation (~18.71 MHz)
|
||||||
gpio_set_function(this->config.pin_xclk, GPIO_FUNC_PWM);
|
gpio_set_function(this->config.pin_xclk, GPIO_FUNC_PWM);
|
||||||
uint slice_num = pwm_gpio_to_slice_num(this->config.pin_xclk);
|
uint slice_num = pwm_gpio_to_slice_num(this->config.pin_xclk);
|
||||||
// 8 cycles (0 to 7), 150 MHz / 8 = ~18.71 MHz wrap rate
|
|
||||||
pwm_set_wrap(slice_num, 7);
|
pwm_set_wrap(slice_num, this->config.xclk_div);
|
||||||
pwm_set_gpio_level(this->config.pin_xclk, 4);
|
pwm_set_gpio_level(this->config.pin_xclk, 4);
|
||||||
pwm_set_enabled(slice_num, true);
|
pwm_set_enabled(slice_num, true);
|
||||||
|
|
||||||
// Init SCCB
|
// Init SCCB
|
||||||
//prtintf("Init SCCB\n");
|
|
||||||
this->sccb = SCCB(this->config.pin_sccb_sda, this->config.pin_sccb_scl);
|
this->sccb = SCCB(this->config.pin_sccb_sda, this->config.pin_sccb_scl);
|
||||||
this->sccb.begin(this->config.sccb_ctrl);
|
this->sccb.begin(this->config.sccb_ctrl);
|
||||||
//prtintf("Inited SCCB\n");
|
|
||||||
|
|
||||||
// ENABLE AND/OR RESET CAMERA --------------------------------------------
|
// ENABLE AND/OR RESET CAMERA --------------------------------------------
|
||||||
// Unsure of camera startup time from beginning of input clock.
|
// Unsure of camera startup time from beginning of input clock.
|
||||||
// Let's guess it's similar to tS:REG (300 ms) from datasheet.
|
// Let's guess it's similar to tS:REG (300 ms) from datasheet.
|
||||||
sleep_ms(300);
|
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_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
|
sleep_ms(300);
|
||||||
|
|
||||||
// Init main camera settings
|
switch(mode) {
|
||||||
//printf("Stolemjpg init\n");
|
case 0:
|
||||||
//this->sccb.writeList(OV2640_stolem_jpeg_init, sizeof(OV2640_stolem_jpeg_init)/sizeof(OV2640_stolem_jpeg_init[0]));
|
|
||||||
//printf("Stolemjpg init DONE\n");
|
|
||||||
this->sccb.writeList(OV2640_init, sizeof(OV2640_init)/sizeof(OV2640_init[0]));
|
this->sccb.writeList(OV2640_init, sizeof(OV2640_init)/sizeof(OV2640_init[0]));
|
||||||
this->sccb.writeList(OV2640_qqvga, sizeof(OV2640_qqvga)/sizeof(OV2640_qqvga[0]));
|
this->sccb.writeList(OV2640_CIF, sizeof(OV2640_CIF)/sizeof(OV2640_CIF[0]));
|
||||||
this->sccb.writeList(OV2640_rgb, sizeof(OV2640_rgb)/sizeof(OV2640_rgb[0]));
|
this->sccb.writeList(OV2640_rgb, sizeof(OV2640_rgb)/sizeof(OV2640_qqvga[0]));
|
||||||
//this->sccb.writeList(OV2640_jpeg, sizeof(OV2640_jpeg)/sizeof(OV2640_jpeg[0]));
|
break;
|
||||||
//this->sccb.writeRegister(0xd3, 0x0f);
|
case 1:
|
||||||
|
this->sccb.writeList(OV2640_init, sizeof(OV2640_init)/sizeof(OV2640_init[0]));
|
||||||
|
this->sccb.writeList(OV2640_CIF, sizeof(OV2640_CIF)/sizeof(OV2640_CIF[0]));
|
||||||
|
this->sccb.writeList(OV2640_jpeg, sizeof(OV2640_jpeg)/sizeof(OV2640_jpeg[0]));
|
||||||
|
break;
|
||||||
|
case 2:
|
||||||
|
this->sccb.writeList(OV2640_stolem_jpeg_init, sizeof(OV2640_stolem_jpeg_init)/sizeof(OV2640_stolem_jpeg_init[0]));
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
// GPIO pin setup
|
||||||
// this->set_framesize();
|
printf("Setting up GPIO pins for camera data...\n");
|
||||||
// sleep_ms(10);
|
|
||||||
// this->sccb.writeList(OV2640_jpeg, sizeof(OV2640_jpeg)/sizeof(OV2640_jpeg[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_init(this->config.pin_vsync);
|
||||||
gpio_set_dir(this->config.pin_vsync, GPIO_IN);
|
gpio_set_dir(this->config.pin_vsync, GPIO_IN);
|
||||||
gpio_pull_down(this->config.pin_vsync);
|
gpio_pull_down(this->config.pin_vsync);
|
||||||
@ -716,133 +684,122 @@ int OV2640::begin(int dma_irq)
|
|||||||
}
|
}
|
||||||
//prtintf("Gpio init done\n");
|
//prtintf("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
|
printf("Setting up PIO for image capture...\n");
|
||||||
// TODO: check if this is correct (code made for rp2040 not rp2350 so it might differ)
|
uint offset = pio_add_program(pio1, &cap_pio_program);
|
||||||
//prtintf("PIO init\n");
|
image_program_init(pio1, 0, offset, this->config.pin_data_base);
|
||||||
//! Temporary replace with the image.pio from known working library rp2040_ov2640
|
printf("PIO setup complete\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);
|
// DMA setup
|
||||||
this->sm = pio_claim_unused_sm(pio2, true); // 0-3
|
printf("Configuring DMA for image capture...\n");
|
||||||
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();
|
|
||||||
c.pinctrl = 0; // SDK fails to set this
|
|
||||||
sm_config_set_wrap(&c, offset, offset + cap_pio_program.length - 1);
|
|
||||||
|
|
||||||
sm_config_set_in_pins(&c, this->config.pin_data_base);
|
|
||||||
sm_config_set_in_shift(&c, false, true, 16); // 1 pixel (16b) ISR to FIFO
|
|
||||||
sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_RX);
|
|
||||||
|
|
||||||
pio_sm_init(pio2, this->sm, offset, &c);
|
|
||||||
pio_sm_set_enabled(pio2, this->sm, true);
|
|
||||||
//prtintf("PIO init done\n");
|
|
||||||
|
|
||||||
// SET UP DMA ------------------------------------------------------------
|
|
||||||
//prtintf("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);
|
|
||||||
channel_config_set_write_increment(&this->dma_config, true);
|
|
||||||
channel_config_set_bswap(&this->dma_config, true);
|
|
||||||
|
|
||||||
// Set PIO RX as DMA trigger. Input shift register saturates at 16 bits
|
|
||||||
// (1 pixel), configured in data size above and in PIO setup elsewhere.
|
|
||||||
channel_config_set_dreq(&this->dma_config,
|
|
||||||
pio_get_dreq(pio2, this->sm, false));
|
|
||||||
// Set up baseline DMA configuration...it's initially lacking destination
|
|
||||||
// and count, set later (dma_change()) after resolution is known. DMA
|
|
||||||
// isn't started until later, and is triggered in the vsync interrupt.
|
|
||||||
dma_channel_configure(this->dma_channel, &this->dma_config, NULL,
|
|
||||||
&pio2->rxf[this->sm], 0, false);
|
|
||||||
|
|
||||||
// Set up end-of-DMA interrupt
|
|
||||||
dma_channel_set_irq0_enabled(this->dma_channel, true);
|
|
||||||
//prtintf("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
|
|
||||||
//? That would have hardcoded values for the buffers
|
|
||||||
irq_set_exclusive_handler(dma_irq, dma_finish_irq);
|
|
||||||
irq_set_enabled(dma_irq, true);
|
|
||||||
|
|
||||||
// SET UP VSYNC INTERRUPT ------------------------------------------------
|
|
||||||
//? 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);*/
|
|
||||||
|
|
||||||
uint offset = pio_add_program(pio2, &image_program);
|
|
||||||
image_program_init(pio2, 0, offset, this->config.pin_data_base);
|
|
||||||
|
|
||||||
//printf("IRQ init done\n");
|
|
||||||
|
|
||||||
//printf("config done");
|
|
||||||
dma_channel_config c = dma_channel_get_default_config(0);
|
dma_channel_config c = dma_channel_get_default_config(0);
|
||||||
channel_config_set_transfer_data_size(&c, DMA_SIZE_16);
|
channel_config_set_transfer_data_size(&c, DMA_SIZE_16);
|
||||||
channel_config_set_read_increment(&c, false);
|
channel_config_set_read_increment(&c, false);
|
||||||
channel_config_set_write_increment(&c, true);
|
channel_config_set_write_increment(&c, true);
|
||||||
channel_config_set_bswap(&c, true);
|
channel_config_set_bswap(&c, true);
|
||||||
// Set PIO RX as DMA trigger. Input shift register saturates at 16 bits
|
channel_config_set_dreq(&c, pio_get_dreq(pio1, 0, false));
|
||||||
// (1 pixel), configured in data size above and in PIO setup elsewhere.
|
dma_channel_configure(0, &c, this->fb, &pio1->rxf[0], 160 * 120*2, false);
|
||||||
channel_config_set_dreq(&c,
|
printf("DMA configuration complete\n");
|
||||||
pio_get_dreq(pio2, 0, false));
|
|
||||||
// Set up baseline DMA configuration...it's initially lacking destination
|
|
||||||
// and count, set later (dma_change()) after resolution is known. DMA
|
|
||||||
// isn't started until later, and is triggered in the vsync interrupt.
|
|
||||||
dma_channel_configure(0, &c, &this->fb,
|
|
||||||
&pio2->rxf[0], sizeof(this->fb), false);
|
|
||||||
|
|
||||||
// Set up end-of-DMA interrupt
|
// Set up DMA interrupt
|
||||||
|
printf("Setting up DMA interrupt...\n");
|
||||||
dma_channel_set_irq0_enabled(0, true);
|
dma_channel_set_irq0_enabled(0, true);
|
||||||
irq_set_exclusive_handler(DMA_IRQ_0, iCap_dma_finish_irq);
|
irq_set_exclusive_handler(DMA_IRQ_0, iCap_dma_finish_irq); // Register DMA handler
|
||||||
irq_set_enabled(DMA_IRQ_0, true);
|
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,
|
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");
|
||||||
|
|
||||||
|
// ============= TESTING =========================================================
|
||||||
|
// 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");
|
||||||
|
}
|
||||||
|
|
||||||
|
// Add after VSYNC check
|
||||||
|
printf("Testing data pins for signal...\n");
|
||||||
|
uint32_t last_values[10] = {0};
|
||||||
|
bool data_changing = false;
|
||||||
|
|
||||||
|
for (int i = 0; i < 1000; i++) {
|
||||||
|
bool changed = false;
|
||||||
|
for (int pin = 0; pin < 10; pin++) {
|
||||||
|
uint32_t val = gpio_get(this->config.pin_data_base + pin);
|
||||||
|
if (val != last_values[pin]) {
|
||||||
|
changed = true;
|
||||||
|
last_values[pin] = val;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (changed) {
|
||||||
|
data_changing = true;
|
||||||
|
printf("Data pins showing activity\n");
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
sleep_ms(1);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!data_changing) {
|
||||||
|
printf("ERROR: No activity detected on data pins!\n");
|
||||||
|
}
|
||||||
|
// ================================================================================
|
||||||
|
// ================================================================================
|
||||||
|
|
||||||
|
printf("Camera initialization complete\n");
|
||||||
return 0;
|
return 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
//! You need to set pixformat after this
|
//! You need to set pixformat after this
|
||||||
void OV2640::set_framesize() {
|
void OV2640::set_framesize() {
|
||||||
// uint8_t max_x = 75;
|
uint8_t max_x = 75;
|
||||||
// uint8_t max_y = 74;
|
uint8_t max_y = 74;
|
||||||
// uint8_t w = 60;
|
uint8_t w = 60;
|
||||||
// uint8_t h = 60;
|
uint8_t h = 60;
|
||||||
|
|
||||||
// register_val_t win_regs[] = {
|
register_val_t win_regs[] = {
|
||||||
// {OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP},
|
{OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP},
|
||||||
// {OV2640_REG0_HSIZE, 75},
|
{OV2640_REG0_HSIZE, 75},
|
||||||
// {OV2640_REG0_VSIZE, 74},
|
{OV2640_REG0_VSIZE, 74},
|
||||||
// {OV2640_REG0_XOFFL, 50},
|
{OV2640_REG0_XOFFL, 50},
|
||||||
// {OV2640_REG0_YOFFL, 0},
|
{OV2640_REG0_YOFFL, 0},
|
||||||
// {OV2640_REG0_VHYX, ((max_y >> 1) & 0X80) | ((0 >> 4) & 0X70) | ((max_x >> 5) & 0X08) | ((50 >> 8) & 0X07)},
|
{OV2640_REG0_VHYX, ((max_y >> 1) & 0X80) | ((0 >> 4) & 0X70) | ((max_x >> 5) & 0X08) | ((50 >> 8) & 0X07)},
|
||||||
// {OV2640_REG0_TEST, (max_x >> 2) & 0X80},
|
{OV2640_REG0_TEST, (max_x >> 2) & 0X80},
|
||||||
// {OV2640_REG0_ZMOW, (w)&0xFF},
|
{OV2640_REG0_ZMOW, (w)&0xFF},
|
||||||
// {OV2640_REG0_ZMOH, (h)&0xFF},
|
{OV2640_REG0_ZMOH, (h)&0xFF},
|
||||||
// {OV2640_REG0_ZMHH, ((h>>6)&0x04)|((w>>8)&0x03)},
|
{OV2640_REG0_ZMHH, ((h>>6)&0x04)|((w>>8)&0x03)},
|
||||||
// {0, 0}
|
{0, 0}
|
||||||
// };
|
};
|
||||||
|
|
||||||
// this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP);
|
this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP);
|
||||||
// this->sccb.writeRegister(OV2640_REG0_R_BYPASS, OV2640_R_BYPASS_DSP_BYPASS);
|
this->sccb.writeRegister(OV2640_REG0_R_BYPASS, OV2640_R_BYPASS_DSP_BYPASS);
|
||||||
// this->sccb.writeList(OV2640_CIF, sizeof(OV2640_CIF)/sizeof(OV2640_CIF[0]));
|
this->sccb.writeList(OV2640_CIF, sizeof(OV2640_CIF)/sizeof(OV2640_CIF[0]));
|
||||||
// this->sccb.writeList(win_regs, sizeof(win_regs)/sizeof(win_regs[0]));
|
this->sccb.writeList(win_regs, sizeof(win_regs)/sizeof(win_regs[0]));
|
||||||
// this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_SENSOR);
|
this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_SENSOR);
|
||||||
// this->sccb.writeRegister(OV2640_REG1_CLKRC, 0);
|
this->sccb.writeRegister(OV2640_REG1_CLKRC, 0);
|
||||||
// this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP);
|
this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP);
|
||||||
// this->sccb.writeRegister(OV2640_REG0_R_DVP_SP, 8);
|
this->sccb.writeRegister(OV2640_REG0_R_DVP_SP, 8);
|
||||||
// this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP);
|
this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP);
|
||||||
// this->sccb.writeRegister(OV2640_REG0_R_BYPASS, OV2640_R_BYPASS_DSP_ENABLE);
|
this->sccb.writeRegister(OV2640_REG0_R_BYPASS, OV2640_R_BYPASS_DSP_ENABLE);
|
||||||
}
|
}
|
||||||
|
|
||||||
void OV2640::set_quality(int quality) {
|
void OV2640::set_quality(int quality) {
|
||||||
@ -878,47 +835,64 @@ void OV2640::set_lenc(bool enable) {
|
|||||||
this->sccb.writeMaskRegister(0xC3, 1, 1, enable?1:0);
|
this->sccb.writeMaskRegister(0xC3, 1, 1, enable?1:0);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
bool OV2640::isFrameReady() const {
|
||||||
void OV2640::capture_frame() {
|
return frameReady;
|
||||||
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(
|
|
||||||
// 0, &c,
|
|
||||||
// &this->fb,
|
|
||||||
// &pio2->rxf[0],
|
|
||||||
// sizeof(this->fb),
|
|
||||||
// false
|
|
||||||
// );
|
|
||||||
|
|
||||||
// // Wait for vsync rising edge to start frame
|
|
||||||
// ////prtintf("pin_vsync) == true\n");
|
|
||||||
// while (gpio_get(this->config.pin_vsync) == true);
|
|
||||||
// ////prtintf("pin_vsync) == false\n");
|
|
||||||
// while (gpio_get(this->config.pin_vsync) == false);
|
|
||||||
// ////prtintf("after while loops\n");
|
|
||||||
|
|
||||||
// dma_channel_start(0);
|
|
||||||
// dma_channel_wait_for_finish_blocking(0);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
void OV2640::resetFrameReady() {
|
||||||
|
frameReady = false;
|
||||||
|
}
|
||||||
|
|
||||||
//! https://forums.raspberrypi.com/viewtopic.php?t=339299
|
void OV2640::capture_frame() {
|
||||||
// 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
|
// Reset frame buffer with a known pattern
|
||||||
/* Read the flags
|
uint16_t* fb_ptr = (uint16_t*)this->fb;
|
||||||
pio0_hw->irq;
|
for (int i = 0; i < 160 * 120; i++) {
|
||||||
uint32_t flags = read_register(PIO0_BASE, PIO_IRQ_OFFSET)
|
fb_ptr[i] = 0; // Clear to zero
|
||||||
// Check the flags to determine which state machine made the request
|
}
|
||||||
if (flags & 0b0001) { handle_sm_0(); }
|
|
||||||
if (flags & 0b0010) { handle_sm_1(); }
|
|
||||||
if (flags & 0b0100) { handle_sm_2(); }
|
|
||||||
if (flags & 0b1000) { handle_sm_3(); }
|
|
||||||
*/
|
|
||||||
|
|
||||||
// TODO: add all of the specific controls like brightness and all of that scheiße
|
// Add test pattern to verify data is changed
|
||||||
|
for (int i = 0; i < 10; i++) {
|
||||||
|
fb_ptr[i] = 0x1234 + i; // Test pattern
|
||||||
|
}
|
||||||
|
|
||||||
|
printf("Starting frame capture (suspended=%d, frameReady=%d)\n", suspended, frameReady);
|
||||||
|
frameReady = false;
|
||||||
|
|
||||||
|
// Important: Enable capture by setting suspended to false
|
||||||
|
suspended = false;
|
||||||
|
|
||||||
|
// Reset DMA in case it was left in a bad state
|
||||||
|
dma_channel_abort(0);
|
||||||
|
dma_busy = false;
|
||||||
|
dma_channel_set_write_addr(0, this->fb, false);
|
||||||
|
|
||||||
|
// Wait for frame with timeout
|
||||||
|
uint32_t start_time = time_us_32();
|
||||||
|
uint32_t timeout_us = 2000000; // 2 second timeout
|
||||||
|
|
||||||
|
// Monitor pin states during capture
|
||||||
|
int report_interval = 0;
|
||||||
|
while(!frameReady) {
|
||||||
|
// Report activity periodically
|
||||||
|
if (report_interval++ % 1000 == 0) {
|
||||||
|
printf("Waiting for frame: VSYNC=%d HREF=%d PCLK=%d\n",
|
||||||
|
gpio_get(this->config.pin_vsync),
|
||||||
|
gpio_get(this->config.pin_vsync-1),
|
||||||
|
gpio_get(this->config.pin_vsync-2));
|
||||||
|
}
|
||||||
|
|
||||||
|
// Check for timeout
|
||||||
|
if ((time_us_32() - start_time) > timeout_us) {
|
||||||
|
printf("Frame capture timeout!\n");
|
||||||
|
dma_channel_abort(0);
|
||||||
|
dma_busy = false;
|
||||||
|
suspended = true;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Small yield to avoid tight loop
|
||||||
|
sleep_us(100);
|
||||||
|
}
|
||||||
|
|
||||||
|
printf("Frame captured successfully\n");
|
||||||
|
}
|
||||||
@ -11,7 +11,7 @@ typedef struct {
|
|||||||
int pin_sccb_scl; /*!< GPIO pin for camera SCL line */
|
int pin_sccb_scl; /*!< GPIO pin for camera SCL line */
|
||||||
int pin_data_base; /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
|
int pin_data_base; /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
|
||||||
int pin_vsync; /*!< GPIO pin for camera VSYNC line */
|
int pin_vsync; /*!< GPIO pin for camera VSYNC line */
|
||||||
int xclk_freq_hz; /*!< Frequency of XCLK signal, in Hz. */ //! Figure out the highest it can go to
|
int xclk_div; /*!< XCLK divider; 150 / div = XCLK freq. 8 = ~18.71 MHz */ //! Figure out the highest it can go to
|
||||||
uint8_t sccb_ctrl; /* Select i2c controller ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio2 */
|
uint8_t sccb_ctrl; /* Select i2c controller ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio2 */
|
||||||
} camera_config_t;
|
} camera_config_t;
|
||||||
|
|
||||||
@ -34,8 +34,13 @@ class OV2640 {
|
|||||||
public:
|
public:
|
||||||
OV2640(camera_config_t config);
|
OV2640(camera_config_t config);
|
||||||
~OV2640();
|
~OV2640();
|
||||||
|
// Check if a new frame is ready
|
||||||
|
bool isFrameReady() const;
|
||||||
|
|
||||||
int begin(int dma_irq);
|
// Reset the frame ready flag after processing
|
||||||
|
void resetFrameReady();
|
||||||
|
|
||||||
|
int begin(int dma_irq, int mode);
|
||||||
void set_quality(int quality);
|
void set_quality(int quality);
|
||||||
void set_gainceiling(gainceiling_t gainceiling);
|
void set_gainceiling(gainceiling_t gainceiling);
|
||||||
void set_bpc(bool enable);
|
void set_bpc(bool enable);
|
||||||
@ -44,7 +49,7 @@ public:
|
|||||||
void set_framesize();
|
void set_framesize();
|
||||||
void capture_frame();
|
void capture_frame();
|
||||||
|
|
||||||
uint8_t fb[(352*288)];
|
uint8_t fb[(352*288)]; // TODO: at some point change to a pointer
|
||||||
camera_config_t config;
|
camera_config_t config;
|
||||||
|
|
||||||
private:
|
private:
|
||||||
|
|||||||
@ -1,64 +0,0 @@
|
|||||||
// -------------------------------------------------- //
|
|
||||||
// This file is autogenerated by pioasm; do not edit! //
|
|
||||||
// -------------------------------------------------- //
|
|
||||||
|
|
||||||
#pragma once
|
|
||||||
|
|
||||||
#if !PICO_NO_HARDWARE
|
|
||||||
#include "hardware/pio.h"
|
|
||||||
#endif
|
|
||||||
|
|
||||||
// ----- //
|
|
||||||
// image //
|
|
||||||
// ----- //
|
|
||||||
|
|
||||||
#define image_wrap_target 0
|
|
||||||
#define image_wrap 3
|
|
||||||
#define image_pio_version 1
|
|
||||||
|
|
||||||
// static const uint16_t image_program_instructions[] = {
|
|
||||||
// // .wrap_target
|
|
||||||
// 0x20a9, // 0: wait 1 pin, 9
|
|
||||||
// 0x20a8, // 1: wait 1 pin, 8
|
|
||||||
// 0x4008, // 2: in pins, 8
|
|
||||||
// 0x2028, // 3: wait 0 pin, 8
|
|
||||||
// // .wrap
|
|
||||||
// };
|
|
||||||
static const uint16_t image_program_instructions[] = {
|
|
||||||
// .wrap_target
|
|
||||||
0x20a9, // 0: wait 1 pin, 9
|
|
||||||
0x20a8, // 1: wait 1 pin, 8
|
|
||||||
0x4008, // 2: in pins, 8
|
|
||||||
0x2028, // 3: wait 0 pin, 8
|
|
||||||
// .wrap
|
|
||||||
};
|
|
||||||
|
|
||||||
#if !PICO_NO_HARDWARE
|
|
||||||
static const struct pio_program image_program = {
|
|
||||||
.instructions = image_program_instructions,
|
|
||||||
.length = 4,
|
|
||||||
.origin = -1,
|
|
||||||
.pio_version = image_pio_version,
|
|
||||||
#if PICO_PIO_VERSION > 0
|
|
||||||
.used_gpio_ranges = 0x0
|
|
||||||
#endif
|
|
||||||
};
|
|
||||||
|
|
||||||
static inline pio_sm_config image_program_get_default_config(uint offset) {
|
|
||||||
pio_sm_config c = pio_get_default_sm_config();
|
|
||||||
sm_config_set_wrap(&c, offset + image_wrap_target, offset + image_wrap);
|
|
||||||
return c;
|
|
||||||
}
|
|
||||||
|
|
||||||
void image_program_init(PIO pio, uint sm, uint offset, uint pin_base) {
|
|
||||||
pio_sm_set_consecutive_pindirs(pio, sm, pin_base, 10, false);
|
|
||||||
pio_sm_config c = image_program_get_default_config(offset);
|
|
||||||
sm_config_set_in_pins(&c, pin_base);
|
|
||||||
sm_config_set_in_shift(&c, false, true, 16); // TODO: if something is not working check this i.e revert back to 8 together with dma transfer
|
|
||||||
sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_RX);
|
|
||||||
pio_sm_init(pio, sm, offset, &c);
|
|
||||||
pio_sm_set_enabled(pio, sm, true);
|
|
||||||
}
|
|
||||||
|
|
||||||
#endif
|
|
||||||
|
|
||||||
105
src/rp2040/SCCB.cpp
Normal file
105
src/rp2040/SCCB.cpp
Normal file
@ -0,0 +1,105 @@
|
|||||||
|
#include <SCCB.hpp>
|
||||||
|
#include <camera.hpp>
|
||||||
|
#include "hardware/i2c.h"
|
||||||
|
#include "pico/stdlib.h"
|
||||||
|
#include "stdio.h"
|
||||||
|
#include "src/pio/i2c/pio_i2c.h"
|
||||||
|
|
||||||
|
SCCB::SCCB(uint8_t sda_pin, uint8_t scl_pin) {
|
||||||
|
this->sda = sda_pin;
|
||||||
|
this->scl = scl_pin;
|
||||||
|
}
|
||||||
|
|
||||||
|
SCCB::~SCCB() {}
|
||||||
|
|
||||||
|
// ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio1
|
||||||
|
// TODO: add proper return values when failure
|
||||||
|
// TODO: panic if scl != sda + 1
|
||||||
|
int SCCB::begin(uint8_t ctrl)
|
||||||
|
{
|
||||||
|
// Set up XCLK out unless it's a self-clocking camera. This must be done
|
||||||
|
// BEFORE any I2C commands, as cam may require clock for I2C timing.
|
||||||
|
this->ctrl = ctrl;
|
||||||
|
if (ctrl < 2) {
|
||||||
|
this->i2cc = ctrl == 0 ? i2c0 : i2c1;
|
||||||
|
i2c_init(this->i2cc, 100 * 1000);
|
||||||
|
gpio_set_function(this->sda, GPIO_FUNC_I2C);
|
||||||
|
gpio_set_function(this->scl, GPIO_FUNC_I2C);
|
||||||
|
gpio_pull_up(this->sda);
|
||||||
|
gpio_pull_up(this->scl);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
PIO pio;
|
||||||
|
switch (ctrl) {
|
||||||
|
case 2:
|
||||||
|
this->pio = pio0;
|
||||||
|
break;
|
||||||
|
case 3:
|
||||||
|
this->pio = pio1;
|
||||||
|
break;
|
||||||
|
case 4:
|
||||||
|
this->pio = pio1;
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
this->pio = pio0;
|
||||||
|
break;
|
||||||
|
};
|
||||||
|
|
||||||
|
uint sm = pio_claim_unused_sm(this->pio, true);
|
||||||
|
uint offset = pio_add_program(this->pio, &i2c_program);
|
||||||
|
i2c_program_init(this->pio, this->sm, offset, this->sda, this->scl);
|
||||||
|
}
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
int SCCB::readRegister(uint8_t reg)
|
||||||
|
{
|
||||||
|
uint8_t buf[1];
|
||||||
|
if (this->ctrl < 2) {
|
||||||
|
i2c_write_blocking(this->i2cc, OV2640_ADDR, ®, 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, ®, 1);
|
||||||
|
//pio_i2c_read_blocking(this->pio, this->sm, OV2640_ADDR, buf, 1);
|
||||||
|
}
|
||||||
|
return buf[0];
|
||||||
|
}
|
||||||
|
|
||||||
|
void SCCB::writeRegister(uint8_t reg, uint8_t value)
|
||||||
|
{
|
||||||
|
uint8_t buf[2];
|
||||||
|
buf[0] = reg;
|
||||||
|
buf[1] = value;
|
||||||
|
|
||||||
|
if (this->ctrl < 2) {
|
||||||
|
int ret = i2c_write_blocking(this->i2cc, OV2640_ADDR, buf, 2, false);
|
||||||
|
if(ret == PICO_ERROR_GENERIC) {
|
||||||
|
printf("Problem i2c write failed!");
|
||||||
|
sleep_ms(1000);
|
||||||
|
}
|
||||||
|
}else {
|
||||||
|
//pio_i2c_write_blocking(this->pio, this->sm, OV2640_ADDR, buf, 2);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void SCCB::writeMaskRegister(uint8_t reg, uint8_t offset, uint8_t mask, uint8_t value)
|
||||||
|
{
|
||||||
|
uint8_t buf[2];
|
||||||
|
buf[0] = reg;
|
||||||
|
buf[1] = value;
|
||||||
|
|
||||||
|
uint8_t old_val = this->readRegister(reg);
|
||||||
|
uint8_t new_value = (old_val & ~(mask << offset)) | ((value & mask) << offset);
|
||||||
|
this->writeRegister(reg, new_value);
|
||||||
|
}
|
||||||
|
|
||||||
|
void SCCB::writeList(const register_val_t *cfg,
|
||||||
|
uint16_t len)
|
||||||
|
{
|
||||||
|
for (int i = 0; i < len; i++)
|
||||||
|
{
|
||||||
|
writeRegister(cfg[i].reg, cfg[i].value);
|
||||||
|
sleep_ms(2); // Some cams require, else lockup on init
|
||||||
|
}
|
||||||
|
}
|
||||||
30
src/rp2040/SCCB.hpp
Normal file
30
src/rp2040/SCCB.hpp
Normal file
@ -0,0 +1,30 @@
|
|||||||
|
#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
|
||||||
|
} register_val_t;
|
||||||
|
|
||||||
|
class SCCB {
|
||||||
|
public:
|
||||||
|
SCCB(uint8_t sda_pin = 0, uint8_t scl_pin = 0);
|
||||||
|
~SCCB(); // Destructor
|
||||||
|
|
||||||
|
int begin(uint8_t ctrl);
|
||||||
|
|
||||||
|
int readRegister(uint8_t reg);
|
||||||
|
void writeRegister(uint8_t reg, uint8_t value);
|
||||||
|
void writeMaskRegister(uint8_t reg, uint8_t offset, uint8_t mask, uint8_t value);
|
||||||
|
void writeList(const register_val_t *cfg, uint16_t len);
|
||||||
|
|
||||||
|
private:
|
||||||
|
uint8_t sda;
|
||||||
|
uint8_t scl;
|
||||||
|
int ctrl;
|
||||||
|
i2c_inst_t* i2cc;
|
||||||
|
pio_hw_t* pio;
|
||||||
|
int sm;
|
||||||
|
};
|
||||||
140
src/rp2040/ov2640.cpp
Normal file
140
src/rp2040/ov2640.cpp
Normal file
@ -0,0 +1,140 @@
|
|||||||
|
#define OV2640_REG_RA_DLMT 0xFF //< Register bank select
|
||||||
|
#define OV2640_RA_DLMT_SENSOR 0x01 //< Bank 1 - Sensor address
|
||||||
|
#define OV2640_REG1_COM7 0x12 //< Common control 7:
|
||||||
|
#define OV2640_COM7_SRST 0x80 //< System reset
|
||||||
|
#define OV2640_COM7_COLORBAR 0x02 //< Color bar test pattern enable
|
||||||
|
|
||||||
|
#include <SCCB.hpp>
|
||||||
|
|
||||||
|
#include "ov2640.hpp"
|
||||||
|
#include <stdio.h>
|
||||||
|
#include "ov2640_init.h"
|
||||||
|
#include "hardware/dma.h"
|
||||||
|
#include "hardware/i2c.h"
|
||||||
|
#include "hardware/pwm.h"
|
||||||
|
#include "image.pio.h"
|
||||||
|
|
||||||
|
|
||||||
|
static const uint8_t OV2640_ADDR = 0x60 >> 1;
|
||||||
|
|
||||||
|
void ov2640_init(struct ov2640_config *config) {
|
||||||
|
// XCLK generation (~20.83 MHz)
|
||||||
|
gpio_set_function(config->pin_xclk, GPIO_FUNC_PWM);
|
||||||
|
uint slice_num = pwm_gpio_to_slice_num(config->pin_xclk);
|
||||||
|
// 6 cycles (0 to 5), 125 MHz / 6 = ~20.83 MHz wrap rate
|
||||||
|
pwm_set_wrap(slice_num, 5);
|
||||||
|
pwm_set_gpio_level(config->pin_xclk, 4);
|
||||||
|
pwm_set_enabled(slice_num, true);
|
||||||
|
gpio_pull_down(config->pin_vsync);
|
||||||
|
// // printf("Setting up GPIO pins for camera data...\n");
|
||||||
|
// gpio_init(config->pin_vsync);
|
||||||
|
// gpio_set_dir(config->pin_vsync, GPIO_IN);
|
||||||
|
// //gpio_pull_up(config->pin_vsync);
|
||||||
|
// for (uint8_t i = 0; i < 10; i++)
|
||||||
|
// {
|
||||||
|
// gpio_init(config->pin_y2_pio_base + i);
|
||||||
|
// gpio_set_dir(config->pin_y2_pio_base + i, GPIO_IN);
|
||||||
|
// //gpio_pull_down(this->config.pin_data_base + i);
|
||||||
|
// }
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// SCCB I2C @ 100 kHz
|
||||||
|
// gpio_set_function(config->pin_sioc, GPIO_FUNC_I2C);
|
||||||
|
// gpio_set_function(config->pin_siod, GPIO_FUNC_I2C);
|
||||||
|
// i2c_init(config->sccb, 100 * 1000);
|
||||||
|
|
||||||
|
// Initialise reset pin
|
||||||
|
gpio_init(config->pin_resetb);
|
||||||
|
gpio_set_dir(config->pin_resetb, GPIO_OUT);
|
||||||
|
|
||||||
|
// Reset camera, and give it some time to wake back up
|
||||||
|
// gpio_put(config->pin_resetb, 0);
|
||||||
|
// sleep_ms(100);
|
||||||
|
// gpio_put(config->pin_resetb, 1);
|
||||||
|
// sleep_ms(100);
|
||||||
|
// Init SCCB
|
||||||
|
SCCB sccb = SCCB(config->pin_siod, config->pin_sioc);
|
||||||
|
sccb.begin(0);
|
||||||
|
printf("Sending camera reset command...\n");
|
||||||
|
const uint8_t bank_select[] = {OV2640_REG_RA_DLMT, OV2640_RA_DLMT_SENSOR};
|
||||||
|
const uint8_t system_reset[] = {OV2640_REG1_COM7, OV2640_COM7_SRST};
|
||||||
|
ov2640_regs_write(config, &bank_select); // Bank select 1
|
||||||
|
ov2640_regs_write(config, &system_reset); // System reset
|
||||||
|
sleep_ms(300);
|
||||||
|
printf("OV2640 camera reset\n");
|
||||||
|
// Initialise the camera itself over SCCB
|
||||||
|
ov2640_regs_write(config, ov2640_vga);
|
||||||
|
printf("OV2640 Set VGA\n");
|
||||||
|
ov2640_regs_write(config, ov2640_uxga_cif);
|
||||||
|
printf("OV2640 Set UXAG\n");
|
||||||
|
|
||||||
|
// // Set RGB565 output mode
|
||||||
|
ov2640_reg_write(config, 0xff, 0x00);
|
||||||
|
// printf("OV2640 Set RGB\n");
|
||||||
|
|
||||||
|
ov2640_reg_write(config, 0xDA, (ov2640_reg_read(config, 0xDA) & 0xC) | 0x8);
|
||||||
|
|
||||||
|
// Enable image RX PIO
|
||||||
|
uint offset = pio_add_program(config->pio, &image_program);
|
||||||
|
printf("PIO offset: %d\n", offset);
|
||||||
|
|
||||||
|
offset = 28;
|
||||||
|
image_program_init(config->pio, config->pio_sm, offset, config->pin_y2_pio_base);
|
||||||
|
}
|
||||||
|
|
||||||
|
void ov2640_capture_frame(struct ov2640_config *config) {
|
||||||
|
dma_channel_config c = dma_channel_get_default_config(config->dma_channel);
|
||||||
|
channel_config_set_read_increment(&c, false);
|
||||||
|
channel_config_set_write_increment(&c, true);
|
||||||
|
channel_config_set_dreq(&c, pio_get_dreq(config->pio, config->pio_sm, false));
|
||||||
|
channel_config_set_transfer_data_size(&c, DMA_SIZE_8);
|
||||||
|
|
||||||
|
dma_channel_configure(
|
||||||
|
config->dma_channel, &c,
|
||||||
|
config->image_buf,
|
||||||
|
&config->pio->rxf[config->pio_sm],
|
||||||
|
config->image_buf_size,
|
||||||
|
false
|
||||||
|
);
|
||||||
|
|
||||||
|
// Wait for vsync rising edge to start frame
|
||||||
|
printf("Waiting for vsync...\n");
|
||||||
|
while (gpio_get(config->pin_vsync) == true);
|
||||||
|
printf("Vsync detected, starting DMA...\n");
|
||||||
|
while (gpio_get(config->pin_vsync) == false);
|
||||||
|
printf("Vsync Finished, starting DMA...\n");
|
||||||
|
|
||||||
|
dma_channel_start(config->dma_channel);
|
||||||
|
dma_channel_wait_for_finish_blocking(config->dma_channel);
|
||||||
|
}
|
||||||
|
|
||||||
|
void ov2640_reg_write(struct ov2640_config *config, uint8_t reg, uint8_t value) {
|
||||||
|
uint8_t data[] = {reg, value};
|
||||||
|
i2c_write_blocking(config->sccb, OV2640_ADDR, data, sizeof(data), false);
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t ov2640_reg_read(struct ov2640_config *config, uint8_t reg) {
|
||||||
|
i2c_write_blocking(config->sccb, OV2640_ADDR, ®, 1, false);
|
||||||
|
|
||||||
|
uint8_t value;
|
||||||
|
i2c_read_blocking(config->sccb, OV2640_ADDR, &value, 1, false);
|
||||||
|
|
||||||
|
return value;
|
||||||
|
}
|
||||||
|
|
||||||
|
void ov2640_regs_write(struct ov2640_config *config, const uint8_t (*regs_list)[2]) {
|
||||||
|
while (1) {
|
||||||
|
uint8_t reg = (*regs_list)[0];
|
||||||
|
uint8_t value = (*regs_list)[1];
|
||||||
|
|
||||||
|
if (reg == 0x00 && value == 0x00) {
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
ov2640_reg_write(config, reg, value);
|
||||||
|
|
||||||
|
regs_list++;
|
||||||
|
}
|
||||||
|
}
|
||||||
36
src/rp2040/ov2640.hpp
Normal file
36
src/rp2040/ov2640.hpp
Normal file
@ -0,0 +1,36 @@
|
|||||||
|
#ifndef OV2640_H
|
||||||
|
#define OV2640_H
|
||||||
|
#include <stdint.h>
|
||||||
|
#include "pico/stdlib.h"
|
||||||
|
#include "hardware/i2c.h"
|
||||||
|
#include "hardware/pio.h"
|
||||||
|
|
||||||
|
|
||||||
|
struct ov2640_config {
|
||||||
|
i2c_inst_t *sccb;
|
||||||
|
uint pin_sioc;
|
||||||
|
uint pin_siod;
|
||||||
|
|
||||||
|
uint pin_resetb;
|
||||||
|
uint pin_xclk;
|
||||||
|
uint pin_vsync;
|
||||||
|
// Y2, Y3, Y4, Y5, Y6, Y7, Y8, PCLK, HREF
|
||||||
|
uint pin_y2_pio_base;
|
||||||
|
|
||||||
|
PIO pio;
|
||||||
|
uint pio_sm;
|
||||||
|
|
||||||
|
uint dma_channel;
|
||||||
|
uint8_t *image_buf;
|
||||||
|
size_t image_buf_size;
|
||||||
|
};
|
||||||
|
|
||||||
|
void ov2640_init(struct ov2640_config *config);
|
||||||
|
|
||||||
|
void ov2640_capture_frame(struct ov2640_config *config);
|
||||||
|
|
||||||
|
void ov2640_reg_write(struct ov2640_config *config, uint8_t reg, uint8_t value);
|
||||||
|
uint8_t ov2640_reg_read(struct ov2640_config *config, uint8_t reg);
|
||||||
|
void ov2640_regs_write(struct ov2640_config *config, const uint8_t (*regs_list)[2]);
|
||||||
|
|
||||||
|
#endif
|
||||||
265
src/rp2040/ov2640_init.h
Normal file
265
src/rp2040/ov2640_init.h
Normal file
@ -0,0 +1,265 @@
|
|||||||
|
#ifndef OV2640_INIT_H
|
||||||
|
#define OV2640_INIT_H
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
static const uint8_t ov2640_vga[][2] = {
|
||||||
|
{0xff, 0x00}, /* Device control register list Table 12 */
|
||||||
|
{0x2c, 0xff}, /* Reserved */
|
||||||
|
{0x2e, 0xdf}, /* Reserved */
|
||||||
|
{0xff, 0x01}, /* Device control register list Table 13 */
|
||||||
|
{0x3c, 0x32}, /* Reserved */
|
||||||
|
{0x11, 0x00}, /* Clock Rate Control */
|
||||||
|
{0x09, 0x02}, /* Common control 2 */
|
||||||
|
{0x04, 0xA8}, /* Mirror */
|
||||||
|
{0x13, 0xe5}, /* Common control 8 */
|
||||||
|
{0x14, 0x48}, /* Common control 9 */
|
||||||
|
{0x2c, 0x0c}, /* Reserved */
|
||||||
|
{0x33, 0x78}, /* Reserved */
|
||||||
|
{0x3a, 0x33}, /* Reserved */
|
||||||
|
{0x3b, 0xfB}, /* Reserved */
|
||||||
|
{0x3e, 0x00}, /* Reserved */
|
||||||
|
{0x43, 0x11}, /* Reserved */
|
||||||
|
{0x16, 0x10}, /* Reserved */
|
||||||
|
{0x4a, 0x81}, /* Reserved */
|
||||||
|
{0x21, 0x99}, /* Reserved */
|
||||||
|
{0x24, 0x40}, /* Luminance signal High range */
|
||||||
|
{0x25, 0x38}, /* Luminance signal low range */
|
||||||
|
{0x26, 0x82}, /* */
|
||||||
|
{0x5c, 0x00}, /* Reserved */
|
||||||
|
{0x63, 0x00}, /* Reserved */
|
||||||
|
{0x46, 0x3f}, /* Frame length adjustment */
|
||||||
|
{0x0c, 0x3c}, /* Common control 3 */
|
||||||
|
{0x61, 0x70}, /* Histogram algo low level */
|
||||||
|
{0x62, 0x80}, /* Histogram algo high level */
|
||||||
|
{0x7c, 0x05}, /* Reserved */
|
||||||
|
{0x20, 0x80}, /* Reserved */
|
||||||
|
{0x28, 0x30}, /* Reserved */
|
||||||
|
{0x6c, 0x00}, /* Reserved */
|
||||||
|
{0x6d, 0x80}, /* Reserved */
|
||||||
|
{0x6e, 0x00}, /* Reserved */
|
||||||
|
{0x70, 0x02}, /* Reserved */
|
||||||
|
{0x71, 0x94}, /* Reserved */
|
||||||
|
{0x73, 0xc1}, /* Reserved */
|
||||||
|
{0x3d, 0x34}, /* Reserved */
|
||||||
|
{0x5a, 0x57}, /* Reserved */
|
||||||
|
{0x12, 0x00}, /* Common control 7 */
|
||||||
|
{0x11, 0x00}, /* Clock Rate Control 2*/
|
||||||
|
{0x17, 0x11}, /* Horiz window start MSB 8bits */
|
||||||
|
{0x18, 0x75}, /* Horiz window end MSB 8bits */
|
||||||
|
{0x19, 0x01}, /* Vert window line start MSB 8bits */
|
||||||
|
{0x1a, 0x97}, /* Vert window line end MSB 8bits */
|
||||||
|
{0x32, 0x36},
|
||||||
|
{0x03, 0x0f},
|
||||||
|
{0x37, 0x40},
|
||||||
|
{0x4f, 0xbb},
|
||||||
|
{0x50, 0x9c},
|
||||||
|
{0x5a, 0x57},
|
||||||
|
{0x6d, 0x80},
|
||||||
|
{0x6d, 0x38},
|
||||||
|
{0x39, 0x02},
|
||||||
|
{0x35, 0x88},
|
||||||
|
{0x22, 0x0a},
|
||||||
|
{0x37, 0x40},
|
||||||
|
{0x23, 0x00},
|
||||||
|
{0x34, 0xa0},
|
||||||
|
{0x36, 0x1a},
|
||||||
|
{0x06, 0x02},
|
||||||
|
{0x07, 0xc0},
|
||||||
|
{0x0d, 0xb7},
|
||||||
|
{0x0e, 0x01},
|
||||||
|
{0x4c, 0x00},
|
||||||
|
{0xff, 0x00},
|
||||||
|
{0xe5, 0x7f},
|
||||||
|
{0xf9, 0xc0},
|
||||||
|
{0x41, 0x24},
|
||||||
|
{0xe0, 0x14},
|
||||||
|
{0x76, 0xff},
|
||||||
|
{0x33, 0xa0},
|
||||||
|
{0x42, 0x20},
|
||||||
|
{0x43, 0x18},
|
||||||
|
{0x4c, 0x00},
|
||||||
|
{0x87, 0xd0},
|
||||||
|
{0x88, 0x3f},
|
||||||
|
{0xd7, 0x03},
|
||||||
|
{0xd9, 0x10},
|
||||||
|
{0xd3, 0x82},
|
||||||
|
{0xc8, 0x08},
|
||||||
|
{0xc9, 0x80},
|
||||||
|
{0x7d, 0x00},
|
||||||
|
{0x7c, 0x03},
|
||||||
|
{0x7d, 0x48},
|
||||||
|
{0x7c, 0x08},
|
||||||
|
{0x7d, 0x20},
|
||||||
|
{0x7d, 0x10},
|
||||||
|
{0x7d, 0x0e},
|
||||||
|
{0x90, 0x00},
|
||||||
|
{0x91, 0x0e},
|
||||||
|
{0x91, 0x1a},
|
||||||
|
{0x91, 0x31},
|
||||||
|
{0x91, 0x5a},
|
||||||
|
{0x91, 0x69},
|
||||||
|
{0x91, 0x75},
|
||||||
|
{0x91, 0x7e},
|
||||||
|
{0x91, 0x88},
|
||||||
|
{0x91, 0x8f},
|
||||||
|
{0x91, 0x96},
|
||||||
|
{0x91, 0xa3},
|
||||||
|
{0x91, 0xaf},
|
||||||
|
{0x91, 0xc4},
|
||||||
|
{0x91, 0xd7},
|
||||||
|
{0x91, 0xe8},
|
||||||
|
{0x91, 0x20},
|
||||||
|
{0x92, 0x00},
|
||||||
|
{0x93, 0x06},
|
||||||
|
{0x93, 0xe3},
|
||||||
|
{0x93, 0x02},
|
||||||
|
{0x93, 0x02},
|
||||||
|
{0x93, 0x00},
|
||||||
|
{0x93, 0x04},
|
||||||
|
{0x93, 0x00},
|
||||||
|
{0x93, 0x03},
|
||||||
|
{0x93, 0x00},
|
||||||
|
{0x93, 0x00},
|
||||||
|
{0x93, 0x00},
|
||||||
|
{0x93, 0x00},
|
||||||
|
{0x93, 0x00},
|
||||||
|
{0x93, 0x00},
|
||||||
|
{0x93, 0x00},
|
||||||
|
{0x96, 0x00},
|
||||||
|
{0x97, 0x08},
|
||||||
|
{0x97, 0x19},
|
||||||
|
{0x97, 0x02},
|
||||||
|
{0x97, 0x0c},
|
||||||
|
{0x97, 0x24},
|
||||||
|
{0x97, 0x30},
|
||||||
|
{0x97, 0x28},
|
||||||
|
{0x97, 0x26},
|
||||||
|
{0x97, 0x02},
|
||||||
|
{0x97, 0x98},
|
||||||
|
{0x97, 0x80},
|
||||||
|
{0x97, 0x00},
|
||||||
|
{0x97, 0x00},
|
||||||
|
{0xc3, 0xef},
|
||||||
|
{0xff, 0x00},
|
||||||
|
{0xba, 0xdc},
|
||||||
|
{0xbb, 0x08},
|
||||||
|
{0xb6, 0x24},
|
||||||
|
{0xb8, 0x33},
|
||||||
|
{0xb7, 0x20},
|
||||||
|
{0xb9, 0x30},
|
||||||
|
{0xb3, 0xb4},
|
||||||
|
{0xb4, 0xca},
|
||||||
|
{0xb5, 0x43},
|
||||||
|
{0xb0, 0x5c},
|
||||||
|
{0xb1, 0x4f},
|
||||||
|
{0xb2, 0x06},
|
||||||
|
{0xc7, 0x00},
|
||||||
|
{0xc6, 0x51},
|
||||||
|
{0xc5, 0x11},
|
||||||
|
{0xc4, 0x9c},
|
||||||
|
{0xbf, 0x00},
|
||||||
|
{0xbc, 0x64},
|
||||||
|
{0xa6, 0x00},
|
||||||
|
{0xa7, 0x1e},
|
||||||
|
{0xa7, 0x6b},
|
||||||
|
{0xa7, 0x47},
|
||||||
|
{0xa7, 0x33},
|
||||||
|
{0xa7, 0x00},
|
||||||
|
{0xa7, 0x23},
|
||||||
|
{0xa7, 0x2e},
|
||||||
|
{0xa7, 0x85},
|
||||||
|
{0xa7, 0x42},
|
||||||
|
{0xa7, 0x33},
|
||||||
|
{0xa7, 0x00},
|
||||||
|
{0xa7, 0x23},
|
||||||
|
{0xa7, 0x1b},
|
||||||
|
{0xa7, 0x74},
|
||||||
|
{0xa7, 0x42},
|
||||||
|
{0xa7, 0x33},
|
||||||
|
{0xa7, 0x00},
|
||||||
|
{0xa7, 0x23},
|
||||||
|
{0xc0, 0xc8},
|
||||||
|
{0xc1, 0x96},
|
||||||
|
{0x8c, 0x00},
|
||||||
|
{0x86, 0x3d},
|
||||||
|
{0x50, 0x92},
|
||||||
|
{0x51, 0x90},
|
||||||
|
{0x52, 0x2c},
|
||||||
|
{0x53, 0x00},
|
||||||
|
{0x54, 0x00},
|
||||||
|
{0x55, 0x88},
|
||||||
|
{0x5a, 0x50},
|
||||||
|
{0x5b, 0x3c},
|
||||||
|
{0x5c, 0x00},
|
||||||
|
{0xd3, 0x04},
|
||||||
|
{0x7f, 0x00},
|
||||||
|
{0xda, 0x00},
|
||||||
|
{0xe5, 0x1f},
|
||||||
|
{0xe1, 0x67},
|
||||||
|
{0xe0, 0x00},
|
||||||
|
{0xdd, 0x7f},
|
||||||
|
{0x05, 0x00},
|
||||||
|
{0xff, 0x00},
|
||||||
|
{0xe0, 0x04},
|
||||||
|
{0xc0, 0xc8},
|
||||||
|
{0xc1, 0x96},
|
||||||
|
{0x86, 0x3d},
|
||||||
|
{0x50, 0x92},
|
||||||
|
{0x51, 0x90},
|
||||||
|
{0x52, 0x2c},
|
||||||
|
{0x53, 0x00},
|
||||||
|
{0x54, 0x00},
|
||||||
|
{0x55, 0x88},
|
||||||
|
{0x57, 0x00},
|
||||||
|
{0x5a, 0x50},
|
||||||
|
{0x5b, 0x3c},
|
||||||
|
{0x5c, 0x00},
|
||||||
|
{0xd3, 0x04},
|
||||||
|
{0xe0, 0x00},
|
||||||
|
{0xFF, 0x00},
|
||||||
|
{0x05, 0x00},
|
||||||
|
{0xDA, 0x08},
|
||||||
|
{0xda, 0x09},
|
||||||
|
{0x98, 0x00},
|
||||||
|
{0x99, 0x00},
|
||||||
|
{0x00, 0x00},
|
||||||
|
{0xff, 0x00},
|
||||||
|
{0xe0, 0x04},
|
||||||
|
{0xc0, 0xc8},
|
||||||
|
{0xc1, 0x96},
|
||||||
|
{0x86, 0x3d},
|
||||||
|
{0x50, 0x89},
|
||||||
|
{0x51, 0x90},
|
||||||
|
{0x52, 0x2c},
|
||||||
|
{0x53, 0x00},
|
||||||
|
{0x54, 0x00},
|
||||||
|
{0x55, 0x88},
|
||||||
|
{0x57, 0x00},
|
||||||
|
{0x5a, 0xA0},
|
||||||
|
{0x5b, 0x78},
|
||||||
|
{0x5c, 0x00},
|
||||||
|
{0xd3, 0x02},
|
||||||
|
{0xe0, 0x00}
|
||||||
|
};
|
||||||
|
|
||||||
|
static const uint8_t ov2640_uxga_cif[][2] = {
|
||||||
|
{0xff, 0x00},
|
||||||
|
{0xe0, 0x04},
|
||||||
|
{0xc0, 0xc8},
|
||||||
|
{0xc1, 0x96},
|
||||||
|
{0x86, 0x35},
|
||||||
|
{0x50, 0x92},
|
||||||
|
{0x51, 0x90},
|
||||||
|
{0x52, 0x2c},
|
||||||
|
{0x53, 0x00},
|
||||||
|
{0x54, 0x00},
|
||||||
|
{0x55, 0x88},
|
||||||
|
{0x57, 0x00},
|
||||||
|
{0x5a, 0x58},
|
||||||
|
{0x5b, 0x48},
|
||||||
|
{0x5c, 0x00},
|
||||||
|
{0xd3, 0x08},
|
||||||
|
{0xe0, 0x00}
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif
|
||||||
Loading…
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Reference in New Issue
Block a user