source: flair-src/trunk/lib/FlairSensorActuator/src/ParrotCamV.cpp@ 3

Last change on this file since 3 was 3, checked in by Sanahuja Guillaume, 8 years ago

sensoractuator

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[3]1// created: 2014/07/16
2// filename: ParrotCamV.cpp
3//
4// author: Guillaume Sanahuja
5//
6// version: $Id: $
7//
8// purpose: class for ardrone2 horizontal camera
9//
10//
11/*********************************************************************/
12
13//control functions from V4L2 driver:
14
15/*
16 * A V4L2 driver for OmniVision OV7670 cameras.
17 *
18 * Copyright 2006 One Laptop Per Child Association, Inc. Written
19 * by Jonathan Corbet with substantial inspiration from Mark
20 * McClelland's ovcamchip code.
21 *
22 * Copyright 2006-7 Jonathan Corbet <corbet@lwn.net>
23 *
24 * This file may be distributed under the terms of the GNU General
25 * Public License, version 2.
26 */
27
28#include "ParrotCamV.h"
29#include <Unix_I2cPort.h>
30
31#define PI ((float)3.14159265358979323846)
32
33/* Registers */
34#define REG_GAIN 0x00 /* Gain lower 8 bits (rest in vref) */
35#define REG_BLUE 0x01 /* blue gain */
36#define REG_RED 0x02 /* red gain */
37#define REG_VREF 0x03 /* Pieces of GAIN, VSTART, VSTOP */
38#define REG_COM1 0x04 /* Control 1 */
39#define COM1_CCIR656 0x40 /* CCIR656 enable */
40#define REG_BAVE 0x05 /* U/B Average level */
41#define REG_GbAVE 0x06 /* Y/Gb Average level */
42#define REG_AECHH 0x07 /* AEC MS 5 bits */
43#define REG_RAVE 0x08 /* V/R Average level */
44#define REG_COM2 0x09 /* Control 2 */
45#define COM2_SSLEEP 0x10 /* Soft sleep mode */
46#define REG_PID 0x0a /* Product ID MSB */
47#define REG_VER 0x0b /* Product ID LSB */
48#define REG_COM3 0x0c /* Control 3 */
49#define COM3_SWAP 0x40 /* Byte swap */
50#define COM3_SCALEEN 0x08 /* Enable scaling */
51#define COM3_DCWEN 0x04 /* Enable downsamp/crop/window */
52#define REG_COM4 0x0d /* Control 4 */
53#define REG_COM5 0x0e /* All "reserved" */
54#define REG_COM6 0x0f /* Control 6 */
55#define REG_AECH 0x10 /* More bits of AEC value */
56#define REG_CLKRC 0x11 /* Clocl control */
57#define CLK_EXT 0x40 /* Use external clock directly */
58#define CLK_SCALE 0x3f /* Mask for internal clock scale */
59#define REG_COM7 0x12 /* Control 7 */
60#define COM7_RESET 0x80 /* Register reset */
61#define COM7_FMT_MASK 0x38
62#define COM7_FMT_VGA 0x00
63#define COM7_FMT_CIF 0x20 /* CIF format */
64#define COM7_FMT_QVGA 0x00 /* QVGA format */
65#define COM7_FMT_QCIF 0x08 /* QCIF format */
66#define COM7_RGB 0x04 /* bits 0 and 2 - RGB format */
67#define COM7_YUV 0x00 /* YUV */
68#define COM7_BAYER 0x01 /* Bayer format */
69#define COM7_PBAYER 0x05 /* "Processed bayer" */
70#define REG_COM8 0x13 /* Control 8 */
71#define COM8_FASTAEC 0x80 /* Enable fast AGC/AEC */
72#define COM8_AECSTEP 0x40 /* Unlimited AEC step size */
73#define COM8_BFILT 0x20 /* Band filter enable */
74#define COM8_AGC 0x04 /* Auto gain enable */
75#define COM8_AWB 0x02 /* White balance enable */
76#define COM8_AEC 0x01 /* Auto exposure enable */
77#define REG_COM9 0x14 /* Control 9 - gain ceiling */
78#define REG_COM10 0x15 /* Control 10 */
79#define COM10_HSYNC 0x40 /* HSYNC instead of HREF */
80#define COM10_PCLK_HB 0x20 /* Suppress PCLK on horiz blank */
81#define COM10_HREF_REV 0x08 /* Reverse HREF */
82#define COM10_VS_LEAD 0x04 /* VSYNC on clock leading edge */
83#define COM10_VS_NEG 0x02 /* VSYNC negative */
84#define COM10_HS_NEG 0x01 /* HSYNC negative */
85#define REG_HSTART 0x17 /* Horiz start high bits */
86#define REG_HSTOP 0x18 /* Horiz stop high bits */
87#define REG_VSTART 0x19 /* Vert start high bits */
88#define REG_VSTOP 0x1a /* Vert stop high bits */
89#define REG_PSHFT 0x1b /* Pixel delay after HREF */
90#define REG_MIDH 0x1c /* Manuf. ID high */
91#define REG_MIDL 0x1d /* Manuf. ID low */
92#define REG_MVFP 0x1e /* Mirror / vflip */
93#define MVFP_MIRROR 0x20 /* Mirror image */
94#define MVFP_FLIP 0x10 /* Vertical flip */
95
96#define REG_AEW 0x24 /* AGC upper limit */
97#define REG_AEB 0x25 /* AGC lower limit */
98#define REG_VPT 0x26 /* AGC/AEC fast mode op region */
99#define REG_HSYST 0x30 /* HSYNC rising edge delay */
100#define REG_HSYEN 0x31 /* HSYNC falling edge delay */
101#define REG_HREF 0x32 /* HREF pieces */
102#define REG_TSLB 0x3a /* lots of stuff */
103#define TSLB_YLAST 0x04 /* UYVY or VYUY - see com13 */
104#define REG_COM11 0x3b /* Control 11 */
105#define COM11_NIGHT 0x80 /* NIght mode enable */
106#define COM11_NMFR 0x60 /* Two bit NM frame rate */
107#define COM11_HZAUTO 0x10 /* Auto detect 50/60 Hz */
108#define COM11_50HZ 0x08 /* Manual 50Hz select */
109#define COM11_EXP 0x02
110#define REG_COM12 0x3c /* Control 12 */
111#define COM12_HREF 0x80 /* HREF always */
112#define REG_COM13 0x3d /* Control 13 */
113#define COM13_GAMMA 0x80 /* Gamma enable */
114#define COM13_UVSAT 0x40 /* UV saturation auto adjustment */
115#define COM13_UVSWAP 0x01 /* V before U - w/TSLB */
116#define REG_COM14 0x3e /* Control 14 */
117#define COM14_DCWEN 0x10 /* DCW/PCLK-scale enable */
118#define REG_EDGE 0x3f /* Edge enhancement factor */
119#define REG_COM15 0x40 /* Control 15 */
120#define COM15_R10F0 0x00 /* Data range 10 to F0 */
121#define COM15_R01FE 0x80 /* 01 to FE */
122#define COM15_R00FF 0xc0 /* 00 to FF */
123#define COM15_RGB565 0x10 /* RGB565 output */
124#define COM15_RGB555 0x30 /* RGB555 output */
125#define REG_COM16 0x41 /* Control 16 */
126#define COM16_AWBGAIN 0x08 /* AWB gain enable */
127#define REG_COM17 0x42 /* Control 17 */
128#define COM17_AECWIN 0xc0 /* AEC window - must match COM4 */
129#define COM17_CBAR 0x08 /* DSP Color bar */
130
131/*
132 * This matrix defines how the colors are generated, must be
133 * tweaked to adjust hue and saturation.
134 *
135 * Order: v-red, v-green, v-blue, u-red, u-green, u-blue
136 *
137 * They are nine-bit signed quantities, with the sign bit
138 * stored in 0x58. Sign for v-red is bit 0, and up from there.
139 */
140#define REG_CMATRIX_BASE 0x4f
141//#define CMATRIX_LEN 6
142#define REG_CMATRIX_SIGN 0x58
143
144
145#define REG_BRIGHT 0x55 /* Brightness */
146#define REG_CONTRAS 0x56 /* Contrast control */
147
148#define REG_GFIX 0x69 /* Fix gain control */
149
150#define REG_REG76 0x76 /* OV's name */
151#define R76_BLKPCOR 0x80 /* Black pixel correction enable */
152#define R76_WHTPCOR 0x40 /* White pixel correction enable */
153
154#define REG_RGB444 0x8c /* RGB 444 control */
155#define R444_ENABLE 0x02 /* Turn on RGB444, overrides 5x5 */
156#define R444_RGBX 0x01 /* Empty nibble at end */
157
158#define REG_HAECC1 0x9f /* Hist AEC/AGC control 1 */
159#define REG_HAECC2 0xa0 /* Hist AEC/AGC control 2 */
160
161#define REG_BD50MAX 0xa5 /* 50hz banding step limit */
162#define REG_HAECC3 0xa6 /* Hist AEC/AGC control 3 */
163#define REG_HAECC4 0xa7 /* Hist AEC/AGC control 4 */
164#define REG_HAECC5 0xa8 /* Hist AEC/AGC control 5 */
165#define REG_HAECC6 0xa9 /* Hist AEC/AGC control 6 */
166#define REG_HAECC7 0xaa /* Hist AEC/AGC control 7 */
167#define REG_BD60MAX 0xab /* 60hz banding step limit */
168
169using std::string;
170using namespace flair::core;
171
172namespace flair { namespace sensor {
173
174ParrotCamV::ParrotCamV(const FrameworkManager* parent,string name,uint8_t priority) : V4LCamera(parent,name,2,320,240,cvimage::Type::Format::UYVY,priority) {
175 //i2cport
176 //we assume there is no other device on this bus
177 i2cport=new Unix_I2cPort((Thread*)this,"camv-i2c","/dev/i2c-2");
178 i2cport->SetSlave(0x42>>1);
179}
180
181ParrotCamV::~ParrotCamV() {
182
183}
184
185void ParrotCamV::SetGain(float value) {
186 if(ov7670_write(REG_GAIN, (int)(value*255) & 0xff)!=2) {
187 Thread::Err("error writting gain\n");
188 }
189}
190
191void ParrotCamV::SetAutoGain(bool value) {
192 unsigned char com8;
193
194 if(ov7670_read(REG_COM8, &com8)!=1) {
195 Thread::Err("error reading com8\n");
196 return;
197 }
198
199 if (value) com8 |= COM8_AGC;
200 else com8 &= ~COM8_AGC;
201
202 if(ov7670_write(REG_COM8, com8)!=2) {
203 Thread::Err("error writting com8\n");
204 }
205}
206
207void ParrotCamV::SetAutoExposure(bool value) {
208 unsigned char com8;
209
210 if(ov7670_read(REG_COM8, &com8)!=1) {
211 Thread::Err("error reading com8\n");
212 return;
213 }
214
215 if (value) com8 |= COM8_AEC;
216 else com8 &= ~COM8_AEC;
217
218 if(ov7670_write(REG_COM8, com8)!=2) {
219 Thread::Err("error writting com8\n");
220 }
221}
222
223void ParrotCamV::SetExposure(float value) {
224 unsigned char com1,aech, aechh;
225 uint16_t value16=value*255.;//16 bit register but values after 255 does not change anything...
226
227 if(ov7670_read(REG_COM1, &com1)!=1) {
228 Thread::Err("error reading com1\n");
229 return;
230 }
231
232 if(ov7670_read(REG_AECHH, &aechh)!=1) {
233 Thread::Err("error reading aechh\n");
234 return;
235 }
236
237 com1 = (com1 & 0xfc) | (value16 & 0x03);
238 aech = (value16 >> 2) & 0xff;
239 aechh = (aechh & 0xc0) | ((value16 >> 10) & 0x3f);
240
241 if(ov7670_write(REG_COM1, com1)!=2) {
242 Thread::Err("error writting com1\n");
243 }
244 if(ov7670_write(REG_AECH, aech)!=2) {
245 Thread::Err("error writting aech\n");
246 }
247 if(ov7670_write(REG_AECHH, aechh)!=2) {
248 Thread::Err("error writting aechh\n");
249 }
250}
251
252void ParrotCamV::SetBrightness(float value) {
253 uint8_t v;
254 v = ov7670_abs_to_sm(value*255.);
255
256 if(ov7670_write(REG_BRIGHT, v)!=2) {
257 Thread::Err("error writting REG_BRIGHT\n");
258 }
259}
260
261void ParrotCamV::SetSaturation(float value) {
262 int matrix[CMATRIX_LEN];
263
264 sat=value;
265
266 ov7670_calc_cmatrix(matrix);
267 ov7670_store_cmatrix(matrix);
268}
269
270void ParrotCamV::SetHue(float value) {
271 int matrix[CMATRIX_LEN];
272
273 hue = value*2*PI-PI;
274
275 ov7670_calc_cmatrix(matrix);
276 ov7670_store_cmatrix(matrix);
277}
278
279void ParrotCamV::SetContrast(float value) {
280 ov7670_write(REG_CONTRAS, (unsigned char)(value*255));
281}
282
283unsigned char ParrotCamV::ov7670_abs_to_sm(uint8_t v) {
284 if(v==0) v=1;//0 non gére sinon...
285 if (v > 127) return v & 0x7f;
286 return (128 - v) | 0x80;
287}
288
289int ParrotCamV::ov7670_store_cmatrix(int matrix[CMATRIX_LEN]) {
290 int i, ret;
291 unsigned char signbits = 0;
292
293 /*
294 * Weird crap seems to exist in the upper part of
295 * the sign bits register, so let's preserve it.
296 */
297 ret = ov7670_read(REG_CMATRIX_SIGN, &signbits);
298 signbits &= 0xc0;
299
300 for (i = 0; i < CMATRIX_LEN; i++) {
301 unsigned char raw;
302
303 if (matrix[i] < 0) {
304 signbits |= (1 << i);
305 if (matrix[i] < -255)
306 raw = 0xff;
307 else
308 raw = (-1 * matrix[i]) & 0xff;
309 }
310 else {
311 if (matrix[i] > 255)
312 raw = 0xff;
313 else
314 raw = matrix[i] & 0xff;
315 }
316 ret += ov7670_write(REG_CMATRIX_BASE + i, raw);
317 }
318 ret += ov7670_write(REG_CMATRIX_SIGN, signbits);
319 return ret;
320}
321
322void ParrotCamV::ov7670_calc_cmatrix(int matrix[CMATRIX_LEN]) {
323 int i;
324 /*
325 * Apply the current saturation setting first.
326 */
327 for (i = 0; i < CMATRIX_LEN; i++)
328 matrix[i] = (cmatrix[i]*(int)(sat*255)) >> 7;
329 /*
330 * Then, if need be, rotate the hue value.
331 */
332 if (hue != 0) {
333 float sinth, costh;
334
335 sinth = sinf(hue);
336 costh = cosf(hue);
337
338 matrix[0] = matrix[3]*sinth + matrix[0]*costh;
339 matrix[1] = matrix[4]*sinth + matrix[1]*costh;
340 matrix[2] = matrix[5]*sinth + matrix[2]*costh;
341 matrix[3] = matrix[3]*costh - matrix[0]*sinth;
342 matrix[4] = matrix[4]*costh - matrix[1]*sinth;
343 matrix[5] = matrix[5]*costh - matrix[2]*sinth;
344 }
345}
346
347int ParrotCamV::ov7670_write(uint8_t reg,uint8_t value) {
348 uint8_t tx[2];
349
350 tx[0]=reg;
351 tx[1]=value;
352
353 return i2cport->Write(tx, 2);
354}
355
356int ParrotCamV::ov7670_read(uint8_t reg,uint8_t *value) {
357 uint8_t tx=reg;
358
359 if(i2cport->Write(&tx,1)!=1) {
360 Thread::Err("error writing register address\n");
361 }
362 if(i2cport->Read(value,1)!=1) {
363 Thread::Err("error reading register\n");
364 }
365
366 return 1;
367}
368
369} // end namespace sensor
370} // end namespace flair
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