Merge branch 'main' into esp32s2-bssid

Author: astrobokonon

.github/workflows/build.yml

@@ -416,6 +416,7 @@ jobs:
         - "espressif_saola_1_wroom"
         - "espressif_saola_1_wrover"
         - "microdev_micro_s2"
+        - "muselab_nanoesp32_s2"
         - "unexpectedmaker_feathers2"
 
     steps:

locale/circuitpython.pot

@@ -430,7 +430,7 @@ msgstr ""
 msgid "Buffer is not a bytearray."
 msgstr ""
 
-#: shared-bindings/displayio/Display.c
+#: ports/cxd56/common-hal/camera/Camera.c shared-bindings/displayio/Display.c
 #: shared-bindings/framebufferio/FramebufferDisplay.c
 msgid "Buffer is too small"
 msgstr ""
@@ -615,6 +615,10 @@ msgstr ""
 msgid "Corrupt raw code"
 msgstr ""
 
+#: ports/cxd56/common-hal/camera/Camera.c
+msgid "Could not initialize Camera"
+msgstr ""
+
 #: ports/cxd56/common-hal/gnss/GNSS.c
 msgid "Could not initialize GNSS"
 msgstr ""
@@ -841,6 +845,10 @@ msgstr ""
 msgid "File exists"
 msgstr ""
 
+#: ports/cxd56/common-hal/camera/Camera.c
+msgid "Format not supported"
+msgstr ""
+
 #: shared-module/framebufferio/FramebufferDisplay.c
 #, c-format
 msgid "Framebuffer requires %d bytes"
@@ -905,6 +913,10 @@ msgstr ""
 msgid "Incorrect buffer size"
 msgstr ""
 
+#: ports/atmel-samd/common-hal/pulseio/PulseIn.c
+msgid "Input taking too long"
+msgstr ""
+
 #: py/moduerrno.c
 msgid "Input/output error"
 msgstr ""
@@ -1503,6 +1515,10 @@ msgstr ""
 msgid "Server side context cannot have hostname"
 msgstr ""
 
+#: ports/cxd56/common-hal/camera/Camera.c
+msgid "Size not supported"
+msgstr ""
+
 #: shared-bindings/nvm/ByteArray.c
 msgid "Slice and value different lengths."
 msgstr ""

ports/atmel-samd/common-hal/pulseio/PulseIn.c

@@ -44,12 +44,14 @@
 #include "shared-bindings/pulseio/PulseIn.h"
 #include "supervisor/shared/tick.h"
 #include "supervisor/shared/translate.h"
+#include "supervisor/port.h"
 
 // This timer is shared amongst all PulseIn objects as a higher resolution clock.
 static uint8_t refcount = 0;
 static uint8_t pulsein_tc_index = 0xff;
 
 volatile static uint32_t overflow_count = 0;
+volatile static uint32_t start_overflow = 0;
 
 void pulsein_timer_interrupt_handler(uint8_t index) {
     if (index != pulsein_tc_index) return;
@@ -77,6 +79,8 @@ static void pulsein_set_config(pulseio_pulsein_obj_t* self, bool first_edge) {
 }
 
 void pulsein_interrupt_handler(uint8_t channel) {
+    // Turn off interrupts while in handler
+    common_hal_mcu_disable_interrupts();
     // Grab the current time first.
     uint32_t current_overflow = overflow_count;
     Tc* tc = tc_insts[pulsein_tc_index];
@@ -88,10 +92,8 @@ void pulsein_interrupt_handler(uint8_t channel) {
     uint32_t current_count = tc->COUNT16.COUNT.reg;
 
     pulseio_pulsein_obj_t* self = get_eic_channel_data(channel);
-    if (!supervisor_background_tasks_ok() || self->errored_too_fast) {
-        self->errored_too_fast = true;
-        common_hal_pulseio_pulsein_pause(self);
-        return;
+    if (self->len == 0 ) {
+        start_overflow = overflow_count;
     }
     if (self->first_edge) {
         self->first_edge = false;
@@ -112,6 +114,13 @@ void pulsein_interrupt_handler(uint8_t channel) {
         if (total_diff < duration) {
             duration = total_diff;
         }
+        //check if the input is taking too long, 15 timer overflows is approx 1 second
+        if (current_overflow - start_overflow > 15) {
+            self->errored_too_fast = true;
+            common_hal_pulseio_pulsein_pause(self);
+            common_hal_mcu_enable_interrupts();
+            return;
+        }
 
         uint16_t i = (self->start + self->len) % self->maxlen;
         self->buffer[i] = duration;
@@ -123,6 +132,7 @@ void pulsein_interrupt_handler(uint8_t channel) {
     }
     self->last_overflow = current_overflow;
     self->last_count = current_count;
+    common_hal_mcu_enable_interrupts();
 }
 
 void pulsein_reset() {
@@ -264,9 +274,6 @@ void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
     // Make sure we're paused.
     common_hal_pulseio_pulsein_pause(self);
 
-    // Reset erroring
-    self->errored_too_fast = false;
-
     // Send the trigger pulse.
     if (trigger_duration > 0) {
         gpio_set_pin_pull_mode(self->pin, GPIO_PULL_OFF);
@@ -280,6 +287,7 @@ void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
     self->first_edge = true;
     self->last_overflow = 0;
     self->last_count = 0;
+    self->errored_too_fast = false;
     gpio_set_pin_function(self->pin, GPIO_PIN_FUNCTION_A);
     uint32_t mask = 1 << self->channel;
     // Clear previous interrupt state and re-enable it.
@@ -300,12 +308,15 @@ uint16_t common_hal_pulseio_pulsein_popleft(pulseio_pulsein_obj_t* self) {
     if (self->len == 0) {
         mp_raise_IndexError_varg(translate("pop from empty %q"), MP_QSTR_PulseIn);
     }
+    if (self->errored_too_fast) {
+      self->errored_too_fast = 0;
+      mp_raise_RuntimeError(translate("Input taking too long"));
+    }
     common_hal_mcu_disable_interrupts();
     uint16_t value = self->buffer[self->start];
     self->start = (self->start + 1) % self->maxlen;
     self->len--;
     common_hal_mcu_enable_interrupts();
-
     return value;
 }
 

ports/cxd56/Makefile

@@ -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."

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;
+}

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

ports/cxd56/common-hal/camera/__init__.c

@@ -0,0 +1 @@
+// No camera module functions.

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