Merge pull request #3369 from kamtom480/camera

Add camera module

Author: dhalbert

locale/circuitpython.pot

@@ -8,7 +8,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: PACKAGE VERSION\n"
 "Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2020-09-13 14:21-0500\n"
+"POT-Creation-Date: 2020-09-11 13:30+0200\n"
 "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
 "Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
 "Language-Team: LANGUAGE <[email protected]>\n"
@@ -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"
@@ -1503,6 +1511,10 @@ 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/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

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 \
 

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

ports/cxd56/spresense-exported-sdk

@@ -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;
     }
@@ -100,11 +110,11 @@ 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;

ports/cxd56/supervisor/port.c

@@ -139,6 +139,9 @@ endif
 ifeq ($(CIRCUITPY_BUSIO),1)
 SRC_PATTERNS += busio/% bitbangio/OneWire.%
 endif
+ifeq ($(CIRCUITPY_CAMERA),1)
+SRC_PATTERNS += camera/%
+endif
 ifeq ($(CIRCUITPY_COUNTIO),1)
 SRC_PATTERNS += countio/%
 endif
@@ -310,6 +313,8 @@ SRC_COMMON_HAL_ALL = \
 	busio/SPI.c \
 	busio/UART.c \
 	busio/__init__.c \
+	camera/__init__.c \
+	camera/Camera.c \
 	countio/Counter.c \
 	countio/__init__.c \
 	digitalio/DigitalInOut.c \
@@ -380,6 +385,7 @@ $(filter $(SRC_PATTERNS), \
 	_bleio/Attribute.c \
 	_bleio/ScanEntry.c \
 	_eve/__init__.c \
+	camera/ImageFormat.c \
 	digitalio/Direction.c \
 	digitalio/DriveMode.c \
 	digitalio/Pull.c \