458 lines
18 KiB
C
458 lines
18 KiB
C
/*
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* Copyright (c) 2006-2023, RT-Thread Development Team
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Change Logs:
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* Date Author Notes
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* 2023-03-24 spaceman the first version
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*/
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#include "board.h"
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#include "drv_dcmi.h"
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#ifdef BSP_USING_DCMI
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#define DRV_DEBUG
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#define LOG_TAG "drv.dcmi"
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#include <drv_log.h>
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static struct stm32_dcmi rt_dcmi_dev = {0};
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static volatile uint8_t ov2640_fps; // 帧率
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static void rt_hw_dmci_dma_init(struct stm32_dcmi *dcmi_dev)
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{
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RT_ASSERT(dcmi_dev != RT_NULL);
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DCMI_HandleTypeDef *_dcmi_handle = &dcmi_dev->dcmi_handle;
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DMA_HandleTypeDef *_dma_handle = &dcmi_dev->dma_handle;
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RT_ASSERT(_dcmi_handle != RT_NULL);
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RT_ASSERT(_dma_handle != RT_NULL);
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__HAL_RCC_DMA2_CLK_ENABLE(); // 使能DMA2时钟
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_dma_handle->Instance = DMA2_Stream7; // DMA2数据流7
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_dma_handle->Init.Request = DMA_REQUEST_DCMI; // DMA请求来自DCMI
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_dma_handle->Init.Direction = DMA_PERIPH_TO_MEMORY; // 外设到存储器模式
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_dma_handle->Init.PeriphInc = DMA_PINC_DISABLE; // 外设地址禁止自增
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_dma_handle->Init.MemInc = DMA_MINC_ENABLE; // 存储器地址自增
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_dma_handle->Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD; // DCMI数据位宽，32位
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_dma_handle->Init.MemDataAlignment = DMA_MDATAALIGN_WORD; // 存储器数据位宽，32位
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_dma_handle->Init.Mode = DMA_CIRCULAR; // 循环模式
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_dma_handle->Init.Priority = DMA_PRIORITY_LOW; // 优先级低
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_dma_handle->Init.FIFOMode = DMA_FIFOMODE_ENABLE; // 使能fifo
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_dma_handle->Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL; // 全fifo模式，4*32bit大小
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_dma_handle->Init.MemBurst = DMA_MBURST_SINGLE; // 单次传输
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_dma_handle->Init.PeriphBurst = DMA_PBURST_SINGLE; // 单次传输
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if (HAL_DMA_Init(_dma_handle) != HAL_OK) {
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Error_Handler();
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}
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HAL_DMA_Init(_dma_handle); // 配置DMA
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__HAL_LINKDMA(_dcmi_handle, DMA_Handle, *_dma_handle); // 关联DCMI句柄
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HAL_NVIC_SetPriority(DMA2_Stream7_IRQn, 0, 0); // 设置中断优先级
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HAL_NVIC_EnableIRQ(DMA2_Stream7_IRQn); // 使能中断
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}
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static rt_err_t rt_hw_dcmi_init(struct stm32_dcmi *dcmi_dev)
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{
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RT_ASSERT(dcmi_dev != RT_NULL);
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DCMI_HandleTypeDef *_dcmi_handle = &dcmi_dev->dcmi_handle;
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RT_ASSERT(_dcmi_handle != RT_NULL);
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_dcmi_handle->Instance = DCMI;
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_dcmi_handle->Init.SynchroMode = DCMI_SYNCHRO_HARDWARE; // 硬件同步模式，即使用外部的VS、HS信号进行同步
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_dcmi_handle->Init.PCKPolarity = DCMI_PCKPOLARITY_RISING; // 像素时钟上升沿有效
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_dcmi_handle->Init.VSPolarity = DCMI_VSPOLARITY_LOW; // VS低电平有效
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_dcmi_handle->Init.HSPolarity = DCMI_HSPOLARITY_LOW; // HS低电平有效
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_dcmi_handle->Init.CaptureRate = DCMI_CR_ALL_FRAME; // 捕获等级，设置每一帧都进行捕获
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_dcmi_handle->Init.ExtendedDataMode = DCMI_EXTEND_DATA_8B; // 8位数据模式
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_dcmi_handle->Init.JPEGMode = DCMI_JPEG_DISABLE; // 禁止JPEG模式
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_dcmi_handle->Init.ByteSelectMode = DCMI_BSM_ALL; // DCMI接口捕捉所有数据
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_dcmi_handle->Init.ByteSelectStart = DCMI_OEBS_ODD; // 选择开始字节，从 帧/行 的第一个数据开始捕获
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_dcmi_handle->Init.LineSelectMode = DCMI_LSM_ALL; // 捕获所有行
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_dcmi_handle->Init.LineSelectStart = DCMI_OELS_ODD; // 选择开始行,在帧开始后捕获第一行
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if (HAL_DCMI_Init(_dcmi_handle) != HAL_OK) {
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LOG_E("dcmi init error!");
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return -RT_ERROR;
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}
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HAL_NVIC_SetPriority(DCMI_IRQn, 0, 5); // 设置中断优先级
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HAL_NVIC_EnableIRQ(DCMI_IRQn); // 开启DCMI中断
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DCMI->IER = 0x0;
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// 在JPG模式下，一定要单独使能该中断
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__HAL_DCMI_ENABLE_IT(_dcmi_handle, DCMI_IT_FRAME);
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__HAL_DCMI_ENABLE(_dcmi_handle);
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rt_hw_dmci_dma_init(dcmi_dev);
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return RT_EOK;
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}
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/***************************************************************************************************************************************
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* 函 数 名: ov2640_dcmi_crop
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*
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* 入口参数: displey_xsize 、displey_ysize - 显示器的长宽
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* sensor_xsize、sensor_ysize - 摄像头传感器输出图像的长宽
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*
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* 函数功能: 使用DCMI的裁剪功能，将传感器输出的图像裁剪成适应屏幕的大小
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*
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* 说 明: 1. 因为摄像头输出的画面比例固定为4:3，不一定匹配显示器
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* 2. 需要注意的是，摄像头输出的图像长、宽必须要能被4整除！（ 使用OV2640_Set_Framesize函数进行设置 ）
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* 3. DCMI的水平有效像素也必须要能被4整除！
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* 4. 函数会计算水平和垂直偏移，尽量让画面居中裁剪
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*****************************************************************************************************************************************/
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static rt_err_t ov2640_dcmi_crop(struct stm32_dcmi *dcmi_dev, uint16_t displey_xsize, uint16_t displey_ysize, uint16_t sensor_xsize, uint16_t sensor_ysize)
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{
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RT_ASSERT(dcmi_dev != RT_NULL);
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DCMI_HandleTypeDef *_dcmi_handle = &dcmi_dev->dcmi_handle;
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RT_ASSERT(_dcmi_handle != RT_NULL);
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uint16_t dcmi_x_offset, dcmi_y_offset; // 水平和垂直偏移，垂直代表的是行数，水平代表的是像素时钟数（pclk周期数）
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uint16_t dcmi_capcnt; // 水平有效像素，代表的是像素时钟数（pclk周期数）
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uint16_t dcmi_vline; // 垂直有效行数
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if ((displey_xsize >= sensor_xsize) || (displey_ysize >= sensor_ysize)) {
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LOG_E("actual displayed size (%d, %d) >= camera output size (%d, %d), exit dcmi cropping", displey_xsize, displey_ysize, sensor_xsize, sensor_ysize);
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return -RT_ERROR; // 如果实际显示的尺寸大于或等于摄像头输出的尺寸，则退出当前函数，不进行裁剪
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}
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// 在设置为rgb565格式时，水平偏移，必须是奇数，否则画面色彩不正确，
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// 因为一个有效像素是2个字节，需要2个pclk周期，所以必须从奇数位开始，不然数据会错乱，
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// 需要注意的是，寄存器值是从0开始算起的 ！
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dcmi_x_offset = sensor_xsize - displey_xsize; // 实际计算过程为（sensor_xsize - lcd_xsize）/2*2
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// 计算垂直偏移，尽量让画面居中裁剪，该值代表的是行数，
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dcmi_y_offset = (sensor_ysize - displey_ysize) / 2 - 1; // 寄存器值是从0开始算起的，所以要-1
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// 因为一个有效像素是2个字节，需要2个pclk周期，所以要乘2
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// 最终得到的寄存器值，必须要能被4整除！
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dcmi_capcnt = displey_xsize * 2 - 1; // 寄存器值是从0开始算起的，所以要-1
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dcmi_vline = displey_ysize - 1; // 垂直有效行数
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// LOG_D("%d %d %d %d", dcmi_x_offset, dcmi_y_offset, dcmi_capcnt, dcmi_vline);
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HAL_DCMI_ConfigCrop(_dcmi_handle, dcmi_x_offset, dcmi_y_offset, dcmi_capcnt, dcmi_vline); // 设置裁剪窗口
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HAL_DCMI_EnableCrop(_dcmi_handle); // 使能裁剪
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return RT_EOK;
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}
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/***************************************************************************************************************************************
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* 函 数 名: ov2640_dma_transmit_continuous
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*
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* 入口参数: dma_buffer - DMA将要传输的地址，即用于存储摄像头数据的存储区地址
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* dma_buffersize - 传输的数据大小，32位宽
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*
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* 函数功能: 启动DMA传输，连续模式
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*
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* 说 明: 1. 开启连续模式之后，会一直进行传输，除非挂起或者停止DCMI
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* 2. OV2640使用RGB565模式时，1个像素点需要2个字节来存储
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* 3. 因为DMA配置传输数据为32位宽，计算 dma_buffersize 时，需要除以4，例如：
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* 要获取 240*240分辨率 的图像，需要传输 240*240*2 = 115200 字节的数据，
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* 则 dma_buffersize = 115200 / 4 = 28800 。
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*
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*****************************************************************************************************************************************/
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static void ov2640_dma_transmit_continuous(struct stm32_dcmi *dcmi_dev, uint32_t dma_buffer, uint32_t dma_buffersize)
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{
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RT_ASSERT(dcmi_dev != RT_NULL);
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DCMI_HandleTypeDef *_dcmi_handle = &dcmi_dev->dcmi_handle;
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DMA_HandleTypeDef *_dma_handle = &dcmi_dev->dma_handle;
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RT_ASSERT(_dcmi_handle != RT_NULL);
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RT_ASSERT(_dma_handle != RT_NULL);
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_dma_handle->Init.Mode = DMA_CIRCULAR; // 循环模式
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HAL_DMA_Init(_dma_handle); // 配置DMA
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// 使能DCMI采集数据,连续采集模式
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HAL_DCMI_Start_DMA(_dcmi_handle, DCMI_MODE_CONTINUOUS, (uint32_t)dma_buffer, dma_buffersize);
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}
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/***************************************************************************************************************************************
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* 函 数 名: ov2640_dma_transmit_snapshot
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*
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* 入口参数: dma_buffer - DMA将要传输的地址，即用于存储摄像头数据的存储区地址
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* dma_buffersize - 传输的数据大小，32位宽
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*
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* 函数功能: 启动DMA传输，快照模式，传输一帧图像后停止
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*
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* 说 明: 1. 快照模式，只传输一帧的数据
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* 2. OV2640使用RGB565模式时，1个像素点需要2个字节来存储
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* 3. 因为DMA配置传输数据为32位宽，计算 dma_buffersize 时，需要除以4，例如：
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* 要获取 240*240分辨率 的图像，需要传输 240*240*2 = 115200 字节的数据，
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* 则 dma_buffersize = 115200 / 4 = 28800 。
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* 4. 使用该模式传输完成之后，DCMI会被挂起，再次启用传输之前，需要调用 OV2640_DCMI_Resume() 恢复DCMI
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*
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*****************************************************************************************************************************************/
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static void ov2640_dma_transmit_snapshot(struct stm32_dcmi *dcmi_dev, uint32_t dma_buffer, uint32_t dma_buffersize)
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{
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RT_ASSERT(dcmi_dev != RT_NULL);
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DCMI_HandleTypeDef *_dcmi_handle = &dcmi_dev->dcmi_handle;
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DMA_HandleTypeDef *_dma_handle = &dcmi_dev->dma_handle;
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RT_ASSERT(_dcmi_handle != RT_NULL);
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RT_ASSERT(_dma_handle != RT_NULL);
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_dma_handle->Init.Mode = DMA_NORMAL; // 正常模式
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HAL_DMA_Init(_dma_handle); // 配置DMA
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HAL_DCMI_Start_DMA(_dcmi_handle, DCMI_MODE_SNAPSHOT, (uint32_t)dma_buffer, dma_buffersize);
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}
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/***************************************************************************************************************************************
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* 函 数 名: ov2640_dcmi_suspend
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*
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* 函数功能: 挂起dcmi，停止捕获数据
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*
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* 说 明: 1. 开启连续模式之后，再调用该函数，会停止捕获dcmi的数据
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* 2. 可以调用 ov2640_dcmi_resume() 恢复dcmi
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* 3. 需要注意的，挂起dcmi期间，dma是没有停止工作的
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*fanke
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*****************************************************************************************************************************************/
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static void ov2640_dcmi_suspend(struct stm32_dcmi *dcmi_dev)
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{
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RT_ASSERT(dcmi_dev != RT_NULL);
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DCMI_HandleTypeDef *_dcmi_handle = &dcmi_dev->dcmi_handle;
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RT_ASSERT(_dcmi_handle != RT_NULL);
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HAL_DCMI_Suspend(_dcmi_handle); // 挂起dcmi
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}
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/***************************************************************************************************************************************
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* 函 数 名: ov2640_dcmi_resume
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*
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* 函数功能: 恢复dcmi，开始捕获数据
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*
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* 说 明: 1. 当dcmi被挂起时，可以调用该函数恢复
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* 2. 使用 ov2640_dma_transmit_snapshot() 快照模式，传输完成之后，dcmi也会被挂起，再次启用传输之前，
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* 需要调用本函数恢复dcmi捕获
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*
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*****************************************************************************************************************************************/
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static void ov2640_dcmi_resume(struct stm32_dcmi *dcmi_dev)
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{
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RT_ASSERT(dcmi_dev != RT_NULL);
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DCMI_HandleTypeDef *_dcmi_handle = &dcmi_dev->dcmi_handle;
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RT_ASSERT(_dcmi_handle != RT_NULL);
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_dcmi_handle->State = HAL_DCMI_STATE_BUSY; // 变更dcmi标志
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_dcmi_handle->Instance->CR |= DCMI_CR_CAPTURE; // 开启dcmi捕获
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}
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/***************************************************************************************************************************************
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* 函 数 名: ov2640_dcmi_stop
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*
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* 函数功能: 禁止dcmi的dma请求，停止dcmi捕获，禁止dcmi外设
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*
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*****************************************************************************************************************************************/
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static void ov2640_dcmi_stop(struct stm32_dcmi *dcmi_dev)
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{
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RT_ASSERT(dcmi_dev != RT_NULL);
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DCMI_HandleTypeDef *_dcmi_handle = &dcmi_dev->dcmi_handle;
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RT_ASSERT(_dcmi_handle != RT_NULL);
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HAL_DCMI_Stop(_dcmi_handle);
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}
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void DCMI_IRQHandler(void)
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{
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/* enter interrupt */
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rt_interrupt_enter();
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HAL_DCMI_IRQHandler(&rt_dcmi_dev.dcmi_handle);
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/* leave interrupt */
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rt_interrupt_leave();
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}
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void DMA2_Stream7_IRQHandler(void)
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{
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/* enter interrupt */
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rt_interrupt_enter();
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HAL_DMA_IRQHandler(&rt_dcmi_dev.dma_handle);
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/* leave interrupt */
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rt_interrupt_leave();
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}
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/* Capture a frame of the image */
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void HAL_DCMI_FrameEventCallback(DCMI_HandleTypeDef *hdcmi)
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{
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/* enter interrupt */
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rt_interrupt_enter();
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static uint32_t dcmi_tick = 0; // 用于保存当前的时间计数值
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static uint8_t dcmi_frame_count = 0; // 帧数计数
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if (HAL_GetTick() - dcmi_tick >= 1000) // 每隔 1s 计算一次帧率
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{
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dcmi_tick = HAL_GetTick(); // 重新获取当前时间计数值
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ov2640_fps = dcmi_frame_count; // 获得fps
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dcmi_frame_count = 0; // 计数清0
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}
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dcmi_frame_count++; // 没进入一次中断（每次传输完一帧数据），计数值+1
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rt_sem_release(&rt_dcmi_dev.cam_semaphore);
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/* leave interrupt */
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rt_interrupt_leave();
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}
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void HAL_DCMI_ErrorCallback(DCMI_HandleTypeDef *hdcmi)
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{
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/* enter interrupt */
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rt_interrupt_enter();
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if (HAL_DCMI_GetError(hdcmi) == HAL_DCMI_ERROR_OVR) {
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LOG_E("FIFO overflow error");
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}
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LOG_E("error:0x%08x", HAL_DCMI_GetError(hdcmi));
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/* leave interrupt */
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rt_interrupt_leave();
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}
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static rt_err_t rt_dcmi_init(rt_device_t dev)
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{
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RT_ASSERT(dev != RT_NULL);
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rt_err_t result = RT_EOK;
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struct stm32_dcmi *_rt_dcmi_dev = DCMI_DEVICE(dev);
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result = rt_hw_dcmi_init(_rt_dcmi_dev);
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if (result != RT_EOK) {
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return result;
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}
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return result;
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}
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static rt_err_t rt_dcmi_open(rt_device_t dev, rt_uint16_t oflag)
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{
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RT_ASSERT(dev != RT_NULL);
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return RT_EOK;
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}
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static rt_err_t rt_dcmi_close(rt_device_t dev)
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{
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RT_ASSERT(dev != RT_NULL);
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return RT_EOK;
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}
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static rt_err_t rt_dcmi_control(rt_device_t dev, int cmd, void *args)
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{
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RT_ASSERT(dev != RT_NULL);
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struct stm32_dcmi *_rt_dcmi_dev = DCMI_DEVICE(dev);
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switch (cmd) {
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case DCMI_CTRL_CROP: {
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RT_ASSERT(args != RT_NULL);
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struct stm32_dcmi_cropsize* cropsize = (struct stm32_dcmi_cropsize*)args;
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ov2640_dcmi_crop(_rt_dcmi_dev, cropsize->displey_xsize, cropsize->displey_ysize, cropsize->sensor_xsize, cropsize->sensor_ysize);
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} break;
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case DCMI_CTRL_TRANSMIT_CONTINUOUS: {
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RT_ASSERT(args != RT_NULL);
|
||
struct stm32_dcmi_dma_transmitbuffer* transmitbuffer = (struct stm32_dcmi_dma_transmitbuffer*)args;
|
||
ov2640_dma_transmit_continuous(_rt_dcmi_dev, transmitbuffer->dma_buffer, transmitbuffer->dma_buffersize);
|
||
} break;
|
||
case DCMI_CTRL_TRANSMIT_SNAPSHOT: {
|
||
RT_ASSERT(args != RT_NULL);
|
||
struct stm32_dcmi_dma_transmitbuffer* transmitbuffer = (struct stm32_dcmi_dma_transmitbuffer*)args;
|
||
ov2640_dma_transmit_snapshot(_rt_dcmi_dev, transmitbuffer->dma_buffer, transmitbuffer->dma_buffersize);
|
||
} break;
|
||
case DCMI_CTRL_SUSPEND: {
|
||
ov2640_dcmi_suspend(_rt_dcmi_dev);
|
||
} break;
|
||
case DCMI_CTRL_RESUME: {
|
||
ov2640_dcmi_resume(_rt_dcmi_dev);
|
||
} break;
|
||
case DCMI_CTRL_STOP: {
|
||
ov2640_dcmi_stop(_rt_dcmi_dev);
|
||
} break;
|
||
case DCMI_CTRL_GET_FPS: {
|
||
*(uint8_t*)args = ov2640_fps;
|
||
} break;
|
||
|
||
default:
|
||
return -RT_EINVAL;
|
||
}
|
||
|
||
return RT_EOK;
|
||
}
|
||
|
||
static rt_ssize_t rt_dcmi_read(rt_device_t dev, rt_off_t pos, void *buffer, rt_size_t size)
|
||
{
|
||
RT_ASSERT(dev != RT_NULL);
|
||
|
||
return RT_EOK;
|
||
}
|
||
|
||
static rt_ssize_t rt_dcmi_write(rt_device_t dev, rt_off_t pos, const void *buffer, rt_size_t size)
|
||
{
|
||
RT_ASSERT(dev != RT_NULL);
|
||
|
||
return RT_EOK;
|
||
}
|
||
|
||
#ifdef RT_USING_DEVICE_OPS
|
||
const static struct rt_device_ops dcmi_ops =
|
||
{
|
||
rt_dcmi_init,
|
||
rt_dcmi_open,
|
||
rt_dcmi_close,
|
||
rt_dcmi_read,
|
||
rt_dcmi_write,
|
||
rt_dcmi_control,
|
||
};
|
||
#endif
|
||
|
||
int dcmi_init(void)
|
||
{
|
||
int ret = 0;
|
||
rt_device_t device = &rt_dcmi_dev.parent;
|
||
|
||
/* memset rt_dcmi_dev to zero */
|
||
memset(&rt_dcmi_dev, 0x00, sizeof(rt_dcmi_dev));
|
||
|
||
/* init cam_semaphore semaphore */
|
||
ret = rt_sem_init(&rt_dcmi_dev.cam_semaphore, "cam_sem", 0, RT_IPC_FLAG_FIFO);
|
||
if (ret != RT_EOK) {
|
||
LOG_E("init semaphore failed!\n");
|
||
ret = -RT_ENOMEM;
|
||
goto __exit;
|
||
}
|
||
|
||
device->type = RT_Device_Class_Miscellaneous;
|
||
#ifdef RT_USING_DEVICE_OPS
|
||
device->ops = &dcmi_ops;
|
||
#else
|
||
device->init = rt_dcmi_init;
|
||
device->open = rt_dcmi_open;
|
||
device->close = rt_dcmi_close;
|
||
device->read = rt_dcmi_read;
|
||
device->write = rt_dcmi_write;
|
||
device->control = rt_dcmi_control;
|
||
#endif
|
||
device->user_data = RT_NULL;
|
||
|
||
ret = rt_device_register(device, "dcmi", RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_REMOVABLE | RT_DEVICE_FLAG_STANDALONE);
|
||
if (ret != RT_EOK) {
|
||
LOG_E("dcmi registered fail!\n\r");
|
||
return -RT_ERROR;
|
||
}
|
||
|
||
LOG_I("dcmi init success!");
|
||
|
||
return RT_EOK;
|
||
__exit:
|
||
if (ret != RT_EOK) {
|
||
rt_sem_delete(&rt_dcmi_dev.cam_semaphore);
|
||
}
|
||
return ret;
|
||
}
|
||
INIT_BOARD_EXPORT(dcmi_init);
|
||
|
||
#endif /* BSP_USING_DCMI */
|