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4 Commits
Name ... main

Author SHA1 Message Date
CuriosMind
0d81e6df4b (╯°□°)╯︵ ┻━┻ 2025-04-04 23:16:16 +02:00
CuriosMind
9045476a23 WHAT 2025-03-28 19:31:45 +01:00
KubaWis
73e499f215 Some minor changes 2025-03-27 22:52:08 +01:00
KubaWis
fa03a763f1 check 2025-03-24 21:34:45 +01:00
20 changed files with 900 additions and 903 deletions
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<inspection_tool class="PyPackageRequirementsInspection" enabled="true" level="WARNING" enabled_by_default="true">
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6
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<?xml version="1.0" encoding="UTF-8"?>
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99
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<option name="/Default/Environment/Hierarchy/GeneratedFilesCacheKey/Timestamp/@EntryValue" value="3" type="long" />
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<component name="CMakePresetLoader">{
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@ -35,8 +35,11 @@
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<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" />
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<option name="RECENT_BRANCH_BY_REPOSITORY">
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<entry key="$PROJECT_DIR$" value="73e499f2155d7ebe69609b27c6216055c45e134a" />
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<component name="ProjectApplicationVersion">
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<component name="ProjectColorInfo">{
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<component name="ProjectId" id="2udZkhEv91jWtQ4K8Rvo6Hv3c7Y" />
<component name="ProjectColorInfo"><![CDATA[{
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<option name="showLibraryContents" value="true" />
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<component name="PropertiesComponent">{
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&quot;RunOnceActivity.west.config.association.type.startup.service&quot;: &quot;true&quot;,
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&quot;node.js.detected.package.eslint&quot;: &quot;true&quot;,
&quot;node.js.detected.package.tslint&quot;: &quot;true&quot;,
&quot;node.js.selected.package.eslint&quot;: &quot;(autodetect)&quot;,
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&quot;nodejs_package_manager_path&quot;: &quot;npm&quot;,
&quot;settings.editor.selected.configurable&quot;: &quot;clion.platformio.config&quot;,
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<isAutomaticReloadCMake value="true" />
</component>
<component name="XSLT-Support.FileAssociations.UIState">
<expand />
<select />
<component name="Vcs.Log.Tabs.Properties">
<option name="TAB_STATES">
<map>
<entry key="MAIN">
<value>
<State />
</value>
</entry>
</map>
</option>
</component>
</project>

8
CMakeLists.txt
View File

@ -35,16 +35,18 @@ pico_sdk_init()
# 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)
pico_set_program_name(PicoIris "PicoIris")
pico_set_program_version(PicoIris "0.1")
# 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)
#Disable debug messages on UART by redirecting them to USB
# Modify the below lines to enable/disable output over UART/USB
pico_enable_stdio_uart(PicoIris 0)
pico_enable_stdio_usb(PicoIris 1)

37
bus_scan.c
View File

@ -38,8 +38,7 @@
bool reserved_addr(uint8_t addr) {
return (addr & 0x78) == 0 || (addr & 0x78) == 0x78;
}
#define PICO_DEFAULT_I2C_SDA_PIN 22
#define PICO_DEFAULT_I2C_SCL_PIN 19
int main() {
// Enable UART so we can print status output
stdio_init_all();
@ -48,51 +47,51 @@ int main() {
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(11, GPIO_FUNC_PWM);
uint slice_num = pwm_gpio_to_slice_num(11);
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(11, 3);
pwm_set_gpio_level(3, 3);
pwm_set_enabled(slice_num, true);
sleep_ms(1000);
i2c_init(i2c1, 100 * 1000);
gpio_set_function(22, GPIO_FUNC_I2C);
gpio_set_function(19, GPIO_FUNC_I2C);
gpio_pull_up(22);
gpio_pull_up(19);
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(22, 19, 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(" 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(i2c1, addr, &rxdata, 1, false);
ret = i2c_read_blocking(i2c_default, addr, &rxdata, 1, false);
printf(ret < 0 ? "." : "@");
printf(addr % 16 == 15 ? "\n" : " ");
}
printf("Done.\n");
sleep_ms(1000);
}
printf("Done.\n");
return 0;
#endif
}

21
image.pio Normal file
View 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);
}
%}

103
src/PicoIris.cpp
View File

@ -11,52 +11,52 @@
#include "../../hardware_dma/include/hardware/dma.h"
#include <ov2640/SCCB.hpp>
#include <ov2640/camera.hpp>
#include <rp2040/ov2640.hpp>
#include "cstring"
// Frame header and footer markers for synchronization - using distinctive values
const uint8_t FRAME_HEADER[] = {0xDE, 0xAD, 0xBE, 0xEF}; // Distinctive header
const uint8_t FRAME_FOOTER[] = {0xCA, 0xFE, 0xBA, 0xBE}; // Distinctive footer
const int FRAME_MARKER_SIZE = 4;
uint8_t frame_buffer[160 * 120 * 2]; // Buffer for the image data
// PIO2 is reserved for the cam data retreive functions
// Reduced baud rate for slower, more reliable debugging
#define BAUD_RATE 57600 // Reduced for debugging (standard options: 9600, 19200, 38400, 57600, 115200)
// PIO2 is reserved for the cam data retrieve functions
camera_config_t left_eye_config = {
.pin_pwdn = -1, /*!< GPIO pin for camera power down line */
.pin_reset = -1, /*!< GPIO pin for camera reset line */
.pin_xclk = 11, /*!< GPIO pin for camera XCLK line */
.pin_sccb_sda = 22, /*!< GPIO pin for camera SDA line */
.pin_sccb_scl = 19, /*!< GPIO pin for camera SCL line */
.pin_data_9 = 14, /*!< this pin + 7 consecutive will be used D0-D7 PCLK HREF */
.pin_data_8 = 12,
.pin_data_7 = 10,
.pin_data_6 = 8,
.pin_data_5 = 6,
.pin_data_4 = 5,
.pin_data_3 = 4,
.pin_data_2 = 3,
.pin_vsync = 17, /*!< GPIO pin for camera VSYNC line */
.pin_hsync = 15, /*!< GPIO pin for camera VSYNC line */
.xclk_freq_hz = 0, /*!< Frequency of XCLK signal, in Hz. */
.sccb_ctrl = 1, /* Select i2c controller ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio2 */
};
// camera_config_t left_eye_config = {
// .pin_pwdn = -1, /*!< GPIO pin for camera power down line */ //? Also called PWDN, or set to -1 and tie to GND
// .pin_reset = -1, /*!< GPIO pin for camera reset line */ //? Cam reset, or set to -1 and tie to 3.3V
// .pin_xclk = 3, /*!< GPIO pin for camera XCLK line */ //? in theory could be shared or perhaps ommited?
// .pin_sccb_sda = 4, /*!< GPIO pin for camera SDA 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_vsync = 16, /*!< GPIO pin for camera VSYNC line */
// .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 */
// };
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
printf("test....");
// Send frame size (4 bytes, little-endian)
uint8_t size_bytes[4];
@ -65,7 +65,6 @@ void send_frame(const void* buffer, size_t size) {
size_bytes[2] = (size >> 16) & 0xFF;
size_bytes[3] = (size >> 24) & 0xFF;
fwrite(size_bytes, 1, 4, stdout);
printf("test2....");
// Calculate checksum
uint32_t checksum = 0;
@ -73,7 +72,7 @@ void send_frame(const void* buffer, size_t size) {
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
@ -92,7 +91,7 @@ void send_frame(const void* buffer, size_t size) {
// 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");
@ -101,54 +100,60 @@ void send_frame(const void* buffer, size_t size) {
// Test function to verify binary data transmission
void test_binary_transfer() {
printf("Testing binary transfer...\n");
// Create a small test buffer
uint8_t test_data[16];
for (int i = 0; i < 16; i++) {
test_data[i] = i;
}
// Send it as a frame
send_frame(test_data, sizeof(test_data));
printf("Binary test complete\n");
}
int main()
{
stdio_init_all();
printf("\n\n=== PicoIris Starting ===\n");
sleep_ms(1000);
// Test binary transfer
test_binary_transfer();
sleep_ms(1000);
printf("Configuring Camera...\n");
OV2640 left_cam = OV2640(left_eye_config);
left_cam.begin(DMA_IRQ_0);
//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();
//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_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
}
}
}
}

6
src/ov2640/SCCB.cpp
View File

@ -12,7 +12,7 @@ SCCB::SCCB(uint8_t sda_pin, uint8_t scl_pin) {
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: panic if scl != sda + 1
int SCCB::begin(uint8_t ctrl)
@ -38,7 +38,7 @@ int SCCB::begin(uint8_t ctrl)
this->pio = pio1;
break;
case 4:
this->pio = pio2;
this->pio = pio1;
break;
default:
this->pio = pio0;
@ -100,6 +100,6 @@ void SCCB::writeList(const register_val_t *cfg,
for (int i = 0; i < len; i++)
{
writeRegister(cfg[i].reg, cfg[i].value);
sleep_ms(10); // Some cams require, else lockup on init
sleep_ms(2); // Some cams require, else lockup on init
}
}

353
src/ov2640/camera.cpp
View File

@ -19,12 +19,23 @@ static volatile bool suspended = true;
static volatile bool dma_busy = false;
void* pointer;
// VSYNC interrupt handler
void iCap_vsync_irq(uint gpio, uint32_t events) {
if (!suspended && !dma_busy) {
pio_sm_clear_fifos(pio2, 0); // Clear PIO FIFOs
dma_busy = true; // Mark DMA as busy
dma_channel_start(0); // Start DMA transfer
if (events & GPIO_IRQ_EDGE_RISE) {
//printf("VSYNC RISE (suspended=%d, dma_busy=%d)\n", suspended, dma_busy);
// 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
}
}
}
@ -33,31 +44,31 @@ void iCap_dma_finish_irq() {
frameReady = true; // Signal frame is ready
suspended = true; // Suspend further captures
dma_busy = false; // DMA is no longer busy
// 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 = {
.instructions = capture_pio_opcodes,
.length = sizeof capture_pio_opcodes / sizeof capture_pio_opcodes[0],
.instructions = image_program_instructions,
.length = sizeof image_program_instructions / sizeof image_program_instructions[0],
.origin = -1,
};
// Complete camera init dumped from running esp32 (240x240 JPEG qty: 7)
register_val_t OV2640_stolem_jpeg_init[] = {
{OV2640_REG_RA_DLMT, OV2640_RA_DLMT_SENSOR},
{OV2640_REG1_COM7, OV2640_COM7_SRST},
@ -220,6 +231,7 @@ register_val_t OV2640_stolem_jpeg_init[] = {
{0x05, 0x00}
};
register_val_t OV2640_init[] = {
// Ideas from rp2040_ov2640-main repo
// OV2640 camera initialization after reset
@ -474,7 +486,6 @@ register_val_t OV2640_init[] = {
{OV2640_REG0_RESET, 0x00}
}; // Go
// Stolem from esp32-camera
register_val_t OV2640_jpeg[] = {
{OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP},
@ -569,11 +580,12 @@ 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},
OV2640_IMAGE_MODE_BYTE_SWAP}, // TODO: Check if byteswap is supposed to be enabled?
{0xD7, 0x03}, // Mystery init values
{0xE1, 0x77}, // seen in other examples
{OV2640_REG0_RESET, 0x00}
}; // Go
register_val_t OV2640_qqvga[] = {
{OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP}, // DSP bank select 0
{OV2640_REG0_RESET, OV2640_RESET_DVP},
@ -607,125 +619,75 @@ register_val_t OV2640_qqvga[] = {
// };
OV2640::OV2640(camera_config_t config)
{
this->config = config;
memset(&this->fb, 0x00, sizeof(this->fb));
memset(&this->fb, 0x00, sizeof(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()
// {
// // 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)
// 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
{
// Initialize peripherals for parallel+I2C camera:
// XCLK generation (~18.71 MHz)
gpio_set_function(this->config.pin_xclk, GPIO_FUNC_PWM);
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_enabled(slice_num, true);
printf("PWM clock setup for XCLK complete (9.375 MHz)\n");
// Init SCCB
printf("Initializing SCCB on SDA=%d, SCL=%d...\n",
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);
printf("SCCB initialization complete\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.
printf("Waiting for camera to stabilize...\n");
sleep_ms(300);
// Perform a soft reset
printf("Sending camera reset command...\n");
this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_SENSOR); // Bank select 1
this->sccb.writeRegister(OV2640_REG1_COM7, OV2640_COM7_SRST); // System reset
sleep_ms(1000); // Datasheet: tS:RESET = 1 ms
printf("Camera reset complete\n");
this->sccb.writeRegister(OV2640_REG1_COM7, OV2640_COM7_SRST); // System reset<
sleep_ms(300);
printf("Initializing camera registers...\n");
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_rgb, sizeof(OV2640_rgb)/sizeof(OV2640_rgb[0]));
switch(mode) {
case 0:
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_rgb, sizeof(OV2640_rgb)/sizeof(OV2640_qqvga[0]));
break;
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;
}
// // Enable color bar test pattern for debugging
//printf("Enabling color bar test pattern...\n");
//this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_SENSOR);
//this->sccb.writeRegister(OV2640_REG1_COM7, OV2640_COM7_COLORBAR); // Output test pattern
//printf("Test pattern enabled\n");
// GPIO pin setup
printf("Setting up GPIO pins for camera data...\n");
gpio_init(this->config.pin_vsync);
gpio_set_dir(this->config.pin_vsync, GPIO_IN);
gpio_pull_down(this->config.pin_vsync);
for (uint8_t i = 0; i < 10; i++)
{
gpio_init(this->config.pin_data_base + i);
gpio_set_dir(this->config.pin_data_base + i, GPIO_IN);
//gpio_pull_down(this->config.pin_data_base + i);
}
//prtintf("Gpio init done\n");
gpio_init(this->config.pin_data_9 );
gpio_set_dir(this->config.pin_data_9, GPIO_IN);
gpio_init(this->config.pin_data_8 );
gpio_set_dir(this->config.pin_data_8, GPIO_IN);
gpio_init(this->config.pin_data_7 );
gpio_set_dir(this->config.pin_data_7, GPIO_IN);
gpio_init(this->config.pin_data_6 );
gpio_set_dir(this->config.pin_data_6, GPIO_IN);
gpio_init(this->config.pin_data_5 );
gpio_set_dir(this->config.pin_data_5, GPIO_IN);
gpio_init(this->config.pin_data_4 );
gpio_set_dir(this->config.pin_data_4, GPIO_IN);
gpio_init(this->config.pin_data_3 );
gpio_set_dir(this->config.pin_data_3, GPIO_IN);
gpio_init(this->config.pin_data_2 );
gpio_set_dir(this->config.pin_data_2, GPIO_IN);
printf("GPIO initialization complete\n");
// PIO setup for image capture
printf("Setting up PIO for image capture...\n");
uint offset = pio_add_program(pio2, &image_program);
image_program_init(pio2, 0, offset, this->config.pin_data_9);
image_program_init(pio2, 0, offset, this->config.pin_data_8);
image_program_init(pio2, 0, offset, this->config.pin_data_7);
image_program_init(pio2, 0, offset, this->config.pin_data_6);
image_program_init(pio2, 0, offset, this->config.pin_data_5);
image_program_init(pio2, 0, offset, this->config.pin_data_4);
image_program_init(pio2, 0, offset, this->config.pin_data_3);
image_program_init(pio2, 0, offset, this->config.pin_data_2);
image_program_init(pio2, 0, offset, this->config.pin_hsync);
uint offset = pio_add_program(pio1, &cap_pio_program);
image_program_init(pio1, 0, offset, this->config.pin_data_base);
printf("PIO setup complete\n");
// DMA setup
@ -735,8 +697,8 @@ int OV2640::begin(int dma_irq)
channel_config_set_read_increment(&c, false);
channel_config_set_write_increment(&c, true);
channel_config_set_bswap(&c, true);
channel_config_set_dreq(&c, pio_get_dreq(pio2, 0, false));
dma_channel_configure(0, &c, this->fb, &pio2->rxf[0], 160 * 120, false);
channel_config_set_dreq(&c, pio_get_dreq(pio1, 0, false));
dma_channel_configure(0, &c, this->fb, &pio1->rxf[0], 160 * 120*2, false);
printf("DMA configuration complete\n");
// Set up DMA interrupt
@ -752,7 +714,9 @@ int OV2640::begin(int dma_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();
@ -773,41 +737,69 @@ int OV2640::begin(int dma_irq)
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;
}
//! You need to set pixformat after this
void OV2640::set_framesize() {
// uint8_t max_x = 75;
// uint8_t max_y = 74;
// uint8_t w = 60;
// uint8_t h = 60;
uint8_t max_x = 75;
uint8_t max_y = 74;
uint8_t w = 60;
uint8_t h = 60;
// register_val_t win_regs[] = {
// {OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP},
// {OV2640_REG0_HSIZE, 75},
// {OV2640_REG0_VSIZE, 74},
// {OV2640_REG0_XOFFL, 50},
// {OV2640_REG0_YOFFL, 0},
// {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_ZMOW, (w)&0xFF},
// {OV2640_REG0_ZMOH, (h)&0xFF},
// {OV2640_REG0_ZMHH, ((h>>6)&0x04)|((w>>8)&0x03)},
// {0, 0}
// };
register_val_t win_regs[] = {
{OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP},
{OV2640_REG0_HSIZE, 75},
{OV2640_REG0_VSIZE, 74},
{OV2640_REG0_XOFFL, 50},
{OV2640_REG0_YOFFL, 0},
{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_ZMOW, (w)&0xFF},
{OV2640_REG0_ZMOH, (h)&0xFF},
{OV2640_REG0_ZMHH, ((h>>6)&0x04)|((w>>8)&0x03)},
{0, 0}
};
// 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.writeList(OV2640_CIF, sizeof(OV2640_CIF)/sizeof(OV2640_CIF[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_REG1_CLKRC, 0);
// this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP);
// this->sccb.writeRegister(OV2640_REG0_R_DVP_SP, 8);
// 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_REG_RA_DLMT, OV2640_RA_DLMT_DSP);
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(win_regs, sizeof(win_regs)/sizeof(win_regs[0]));
this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_SENSOR);
this->sccb.writeRegister(OV2640_REG1_CLKRC, 0);
this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP);
this->sccb.writeRegister(OV2640_REG0_R_DVP_SP, 8);
this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP);
this->sccb.writeRegister(OV2640_REG0_R_BYPASS, OV2640_R_BYPASS_DSP_ENABLE);
}
void OV2640::set_quality(int quality) {
@ -850,82 +842,57 @@ bool OV2640::isFrameReady() const {
void OV2640::resetFrameReady() {
frameReady = false;
}
void OV2640::capture_frame() {
// Reset frame ready flag before starting capture
// Reset frame buffer with a known pattern
uint16_t* fb_ptr = (uint16_t*)this->fb;
for (int i = 0; i < 160 * 120; i++) {
fb_ptr[i] = 0; // Clear to zero
}
// 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;
// Allow captures to proceed
// Important: Enable capture by setting suspended to false
suspended = false;
// Wait for frame with timeout to prevent infinite loops
// 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! Sending incomplete frame...\n");
// Reset DMA in case it's stuck
printf("Frame capture timeout!\n");
dma_channel_abort(0);
dma_channel_set_write_addr(0, pointer, false);
dma_busy = false;
suspended = true;
return; // Exit without waiting for frameReady
return;
}
// Small yield to avoid tight loop
sleep_us(100);
}
// Frame is ready, no need to do anything else
// The DMA handler has already set frameReady = true
printf("Frame captured successfully\n");
}
// void OV2640::set_resolution(uint16_t width, uint16_t height) {
// // Set resolution registers
// this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP); // DSP bank select 0
// this->sccb.writeRegister(OV2640_REG0_HSIZE8, (width >> 3) & 0xFF); // HSIZE high bits
// this->sccb.writeRegister(OV2640_REG0_VSIZE8, (height >> 3) & 0xFF); // VSIZE high bits
// this->sccb.writeRegister(OV2640_REG0_HSIZE, width & 0xFF); // HSIZE low bits
// this->sccb.writeRegister(OV2640_REG0_VSIZE, height & 0xFF); // VSIZE low bits
// this->sccb.writeRegister(OV2640_REG0_ZMOW, width & 0xFF); // OUTW low bits
// this->sccb.writeRegister(OV2640_REG0_ZMOH, height & 0xFF); // OUTH low bits
// this->sccb.writeRegister(OV2640_REG0_ZMHH, ((height >> 8) & 0x04) | ((width >> 8) & 0x03)); // OUTW/H high bits
// printf("Resolution set to %dx%d\n", width, height);
// }
// void OV2640::set_resolution_vga() {
// // Set resolution to VGA (640x480)
// uint16_t width = 640;
// uint16_t height = 480;
// // Adjust frame buffer size for VGA resolution
// this->fb = new uint8_t[width * height * 2]; // Assuming 2 bytes per pixel (RGB565)
// pointer = this->fb;
// // Set resolution registers
// this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP); // DSP bank select 0
// this->sccb.writeRegister(OV2640_REG0_HSIZE8, (width >> 3) & 0xFF); // HSIZE high bits
// this->sccb.writeRegister(OV2640_REG0_VSIZE8, (height >> 3) & 0xFF); // VSIZE high bits
// this->sccb.writeRegister(OV2640_REG0_HSIZE, width & 0xFF); // HSIZE low bits
// this->sccb.writeRegister(OV2640_REG0_VSIZE, height & 0xFF); // VSIZE low bits
// this->sccb.writeRegister(OV2640_REG0_ZMOW, width & 0xFF); // OUTW low bits
// this->sccb.writeRegister(OV2640_REG0_ZMOH, height & 0xFF); // OUTH low bits
// this->sccb.writeRegister(OV2640_REG0_ZMHH, ((height >> 8) & 0x04) | ((width >> 8) & 0x03)); // OUTW/H high bits
// printf("Resolution set to VGA (640x480)\n");
// }
//! 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(); }
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
}

18
src/ov2640/camera.hpp
View File

@ -9,17 +9,9 @@ typedef struct {
int pin_xclk; /*!< GPIO pin for camera XCLK line */ //? in theory could be shared or perhaps ommited?
int pin_sccb_sda; /*!< GPIO pin for camera SDA line */
int pin_sccb_scl; /*!< GPIO pin for camera SCL line */
int pin_data_9; /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
int pin_data_8; /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
int pin_data_7; /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
int pin_data_6; /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
int pin_data_5; /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
int pin_data_4; /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
int pin_data_3; /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
int pin_data_2; /*!< 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_hsync; /*!< 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 */
} camera_config_t;
@ -44,11 +36,11 @@ public:
~OV2640();
// Check if a new frame is ready
bool isFrameReady() const;
// Reset the frame ready flag after processing
void resetFrameReady();
int begin(int dma_irq);
int begin(int dma_irq, int mode);
void set_quality(int quality);
void set_gainceiling(gainceiling_t gainceiling);
void set_bpc(bool enable);
@ -57,7 +49,7 @@ public:
void set_framesize();
void capture_frame();
uint8_t* fb; // Changed from fixed array to pointer
uint8_t fb[(352*288)]; // TODO: at some point change to a pointer
camera_config_t config;
private:

0
src/ov2640/image_pio_wrapper.cpp
View File

66
src/pio/image/image.pio.h
View File

@ -1,66 +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);
}
// New function to initialize PIO with camera configuration pins - declaration only
// In image.pio.h, replace the implementation with a declaration
#endif

105
src/rp2040/SCCB.cpp Normal file
View 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, &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_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
View 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
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@ -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, &reg, 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++;
}
}

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src/rp2040/ov2640.hpp Normal file
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#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

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#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