diff options
Diffstat (limited to 'ports/cxd56')
| -rw-r--r-- | ports/cxd56/Makefile | 4 | ||||
| -rw-r--r-- | ports/cxd56/common-hal/camera/Camera.c | 183 | ||||
| -rw-r--r-- | ports/cxd56/common-hal/camera/Camera.h | 36 | ||||
| -rw-r--r-- | ports/cxd56/common-hal/camera/__init__.c | 1 | ||||
| -rw-r--r-- | ports/cxd56/configs/circuitpython/defconfig | 1 | ||||
| -rw-r--r-- | ports/cxd56/mpconfigport.h | 6 | ||||
| -rw-r--r-- | ports/cxd56/mpconfigport.mk | 1 | ||||
| m--------- | ports/cxd56/spresense-exported-sdk | 0 | ||||
| -rw-r--r-- | ports/cxd56/supervisor/port.c | 19 |
9 files changed, 244 insertions, 7 deletions
diff --git a/ports/cxd56/Makefile b/ports/cxd56/Makefile index bb3958af4..5201f0db5 100644 --- a/ports/cxd56/Makefile +++ b/ports/cxd56/Makefile @@ -162,7 +162,7 @@ SRC_SHARED_MODULE_EXPANDED = $(addprefix shared-bindings/, $(SRC_SHARED_MODULE)) SRC_S = supervisor/cpu.s -SRC_C = \ +SRC_C += \ background.c \ fatfs_port.c \ mphalport.c \ @@ -201,7 +201,7 @@ all: $(BUILD)/firmware.spk $(FIRMWARE): $(ECHO) "" $(ECHO) "Download the spresense binaries zip archive from:" - $(ECHO) "https://developer.sony.com/file/download/download-spresense-firmware-v1-4-000" + $(ECHO) "https://developer.sony.com/file/download/download-spresense-firmware-v2-0-000" $(ECHO) "Extract spresense binaries to $(FIRMWARE)" $(ECHO) "" $(ECHO) "run make flash-bootloader again to flash bootloader." diff --git a/ports/cxd56/common-hal/camera/Camera.c b/ports/cxd56/common-hal/camera/Camera.c new file mode 100644 index 000000000..35e2ab882 --- /dev/null +++ b/ports/cxd56/common-hal/camera/Camera.c @@ -0,0 +1,183 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright 2020 Sony Semiconductor Solutions Corporation + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include <string.h> +#include <fcntl.h> + +#include <arch/board/board.h> +#include <nuttx/video/video.h> +#include <nuttx/arch.h> + +#include "py/runtime.h" + +#include "shared-bindings/camera/Camera.h" + +typedef struct { + const char* devpath; + int fd; +} camera_dev_t; + +STATIC camera_dev_t camera_dev = {"/dev/video", -1}; + +typedef struct { + uint16_t width; + uint16_t height; +} image_size_t; + +STATIC const image_size_t image_size_table[] = { + { VIDEO_HSIZE_QVGA, VIDEO_VSIZE_QVGA }, + { VIDEO_HSIZE_VGA, VIDEO_VSIZE_VGA }, + { VIDEO_HSIZE_HD, VIDEO_VSIZE_HD }, + { VIDEO_HSIZE_QUADVGA, VIDEO_VSIZE_QUADVGA }, + { VIDEO_HSIZE_FULLHD, VIDEO_VSIZE_FULLHD }, + { VIDEO_HSIZE_3M, VIDEO_VSIZE_3M }, + { VIDEO_HSIZE_5M, VIDEO_VSIZE_5M }, +}; + +static bool camera_check_width_and_height(uint16_t width, uint16_t height) { + for (int i = 0; i < MP_ARRAY_SIZE(image_size_table); i++) { + if (image_size_table[i].width == width && image_size_table[i].height == height) { + return true; + } + } + return false; +} + +static bool camera_check_buffer_length(uint16_t width, uint16_t height, camera_imageformat_t format, size_t length) { + if (format == IMAGEFORMAT_JPG) { + // In SPRESENSE SDK, JPEG compression quality=80 by default. + // In such setting, the maximum actual measured size of JPEG image + // is about width * height * 2 / 9. + return length >= (size_t)(width * height * 2 / 9); + } else { + return false; + } +} + +static bool camera_check_format(camera_imageformat_t format) { + return format == IMAGEFORMAT_JPG; +} + +static void camera_set_format(enum v4l2_buf_type type, uint32_t pixformat, uint16_t width, uint16_t height) { + v4l2_requestbuffers_t req = {0}; + + // Set Buffer Mode. + req.type = type; + req.memory = V4L2_MEMORY_USERPTR; + req.count = 1; + req.mode = V4L2_BUF_MODE_RING; + ioctl(camera_dev.fd, VIDIOC_REQBUFS, (unsigned long)&req); + v4l2_format_t fmt = {0}; + + // Set Format. + fmt.type = type; + fmt.fmt.pix.width = width; + fmt.fmt.pix.height = height; + fmt.fmt.pix.field = V4L2_FIELD_ANY; + fmt.fmt.pix.pixelformat = pixformat; + ioctl(camera_dev.fd, VIDIOC_S_FMT, (unsigned long)&fmt); +} + +static void camera_start_streaming(enum v4l2_buf_type type) { + ioctl(camera_dev.fd, VIDIOC_STREAMON, (unsigned long)&type); +} + +static void camera_start_preview() { + camera_set_format(V4L2_BUF_TYPE_VIDEO_CAPTURE, V4L2_PIX_FMT_UYVY, VIDEO_HSIZE_QVGA, VIDEO_VSIZE_QVGA); + + v4l2_buffer_t buf; + + memset(&buf, 0, sizeof(v4l2_buffer_t)); + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_USERPTR; + ioctl(camera_dev.fd, VIDIOC_QBUF, (unsigned long)&buf); + + camera_start_streaming(V4L2_BUF_TYPE_VIDEO_CAPTURE); +} + +void common_hal_camera_construct(camera_obj_t *self) { + if (camera_dev.fd < 0) { + if (video_initialize(camera_dev.devpath) < 0) { + mp_raise_ValueError(translate("Could not initialize Camera")); + } + camera_dev.fd = open(camera_dev.devpath, 0); + if (camera_dev.fd < 0) { + mp_raise_ValueError(translate("Could not initialize Camera")); + } + } + + camera_start_preview(); + + camera_start_streaming(V4L2_BUF_TYPE_STILL_CAPTURE); + + sleep(1); +} + +void common_hal_camera_deinit(camera_obj_t *self) { + if (common_hal_camera_deinited(self)) { + return; + } + + video_uninitialize(); + + close(camera_dev.fd); + camera_dev.fd = -1; +} + +bool common_hal_camera_deinited(camera_obj_t *self) { + return camera_dev.fd < 0; +} + +size_t common_hal_camera_take_picture(camera_obj_t *self, uint8_t *buffer, size_t len, uint16_t width, uint16_t height, camera_imageformat_t format) { + if (!camera_check_width_and_height(width, height)) { + mp_raise_ValueError(translate("Size not supported")); + } + if (!camera_check_buffer_length(width, height, format, len)) { + mp_raise_ValueError(translate("Buffer is too small")); + } + if (!camera_check_format(format)) { + mp_raise_ValueError(translate("Format not supported")); + } + + camera_set_format(V4L2_BUF_TYPE_STILL_CAPTURE, V4L2_PIX_FMT_JPEG, width, height); + + v4l2_buffer_t buf; + + memset(&buf, 0, sizeof(v4l2_buffer_t)); + buf.type = V4L2_BUF_TYPE_STILL_CAPTURE; + buf.memory = V4L2_MEMORY_USERPTR; + buf.m.userptr = (unsigned long)buffer; + buf.length = len; + ioctl(camera_dev.fd, VIDIOC_QBUF, (unsigned long)&buf); + + ioctl(camera_dev.fd, VIDIOC_TAKEPICT_START, 0); + + ioctl(camera_dev.fd, VIDIOC_DQBUF, (unsigned long)&buf); + + ioctl(camera_dev.fd, VIDIOC_TAKEPICT_STOP, false); + + return (size_t)buf.bytesused; +} diff --git a/ports/cxd56/common-hal/camera/Camera.h b/ports/cxd56/common-hal/camera/Camera.h new file mode 100644 index 000000000..7056237d1 --- /dev/null +++ b/ports/cxd56/common-hal/camera/Camera.h @@ -0,0 +1,36 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright 2020 Sony Semiconductor Solutions Corporation + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#ifndef MICROPY_INCLUDED_CXD56_COMMON_HAL_CAMERA_CAMERA_H +#define MICROPY_INCLUDED_CXD56_COMMON_HAL_CAMERA_CAMERA_H + +#include "py/obj.h" + +typedef struct { + mp_obj_base_t base; +} camera_obj_t; + +#endif // MICROPY_INCLUDED_CXD56_COMMON_HAL_CAMERA_CAMERA_H diff --git a/ports/cxd56/common-hal/camera/__init__.c b/ports/cxd56/common-hal/camera/__init__.c new file mode 100644 index 000000000..bf38b5f2b --- /dev/null +++ b/ports/cxd56/common-hal/camera/__init__.c @@ -0,0 +1 @@ +// No camera module functions. diff --git a/ports/cxd56/configs/circuitpython/defconfig b/ports/cxd56/configs/circuitpython/defconfig index 268f7a68e..a97f821df 100644 --- a/ports/cxd56/configs/circuitpython/defconfig +++ b/ports/cxd56/configs/circuitpython/defconfig @@ -165,7 +165,6 @@ CONFIG_USBDEV=y CONFIG_USBDEV_DMA=y CONFIG_USBDEV_DUALSPEED=y CONFIG_USEC_PER_TICK=1000 -CONFIG_USERMAIN_STACKSIZE=1064960 CONFIG_USER_ENTRYPOINT="spresense_main" CONFIG_VIDEO_ISX012=y CONFIG_VIDEO_STREAM=y diff --git a/ports/cxd56/mpconfigport.h b/ports/cxd56/mpconfigport.h index df87946b9..27c82337b 100644 --- a/ports/cxd56/mpconfigport.h +++ b/ports/cxd56/mpconfigport.h @@ -27,13 +27,15 @@ #ifndef __INCLUDED_MPCONFIGPORT_H #define __INCLUDED_MPCONFIGPORT_H -#define MICROPY_PY_SYS_PLATFORM "CXD56" +#define MICROPY_PY_SYS_PLATFORM "CXD56" // 64kiB stack -#define CIRCUITPY_DEFAULT_STACK_SIZE 0x10000 +#define CIRCUITPY_DEFAULT_STACK_SIZE (0x10000) #include "py/circuitpy_mpconfig.h" +#define MICROPY_BYTES_PER_GC_BLOCK (32) + #define MICROPY_PORT_ROOT_POINTERS \ CIRCUITPY_COMMON_ROOT_POINTERS \ diff --git a/ports/cxd56/mpconfigport.mk b/ports/cxd56/mpconfigport.mk index 914e0b37d..e1ffc79d0 100644 --- a/ports/cxd56/mpconfigport.mk +++ b/ports/cxd56/mpconfigport.mk @@ -11,6 +11,7 @@ MPY_TOOL_LONGINT_IMPL = -mlongint-impl=mpz CIRCUITPY_AUDIOBUSIO = 0 CIRCUITPY_AUDIOIO = 0 +CIRCUITPY_CAMERA = 1 CIRCUITPY_COUNTIO = 0 CIRCUITPY_DISPLAYIO = 0 CIRCUITPY_FREQUENCYIO = 0 diff --git a/ports/cxd56/spresense-exported-sdk b/ports/cxd56/spresense-exported-sdk -Subproject c991d439fac9c23cfcac0da16fe8055f818d40a +Subproject 752c4cd56dd0a270a559c28272ceb61ddcb7806 diff --git a/ports/cxd56/supervisor/port.c b/ports/cxd56/supervisor/port.c index 7038ca478..92d335cd5 100644 --- a/ports/cxd56/supervisor/port.c +++ b/ports/cxd56/supervisor/port.c @@ -46,12 +46,22 @@ #include "common-hal/pwmio/PWMOut.h" #include "common-hal/busio/UART.h" +#define SPRESENSE_MEM_ALIGN (32) + +uint32_t* heap; +uint32_t heap_size; + safe_mode_t port_init(void) { boardctl(BOARDIOC_INIT, 0); // Wait until RTC is available while (g_rtc_enabled == false); + heap = memalign(SPRESENSE_MEM_ALIGN, 128 * 1024); + uint32_t size = CONFIG_RAM_START + CONFIG_RAM_SIZE - (uint32_t)heap - 2 * SPRESENSE_MEM_ALIGN; + heap = realloc(heap, size); + heap_size = size / sizeof(uint32_t); + if (board_requests_safe_mode()) { return USER_SAFE_MODE; } @@ -61,6 +71,8 @@ safe_mode_t port_init(void) { void reset_cpu(void) { boardctl(BOARDIOC_RESET, 0); + for (;;) { + } } void reset_port(void) { @@ -81,6 +93,9 @@ void reset_port(void) { } void reset_to_bootloader(void) { + boardctl(BOARDIOC_RESET, 0); + for (;;) { + } } supervisor_allocation* port_fixed_stack(void) { @@ -100,11 +115,11 @@ uint32_t *port_stack_get_top(void) { } uint32_t *port_heap_get_bottom(void) { - return port_stack_get_limit(); + return heap; } uint32_t *port_heap_get_top(void) { - return port_stack_get_top(); + return heap + heap_size; } extern uint32_t _ebss; |