303 lines
8.7 KiB
Rust
303 lines
8.7 KiB
Rust
#![no_std]
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#![no_main]
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#![feature(type_alias_impl_trait)]
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use embassy_executor::Spawner;
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use embassy_stm32::dcmi::{self, *};
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use embassy_stm32::gpio::{Level, Output, Speed};
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use embassy_stm32::i2c::I2c;
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use embassy_stm32::rcc::{Mco, Mco1Source};
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use embassy_stm32::time::khz;
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use embassy_stm32::{bind_interrupts, i2c, peripherals, Config};
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use embassy_time::{Duration, Timer};
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use ov7725::*;
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use {defmt_rtt as _, panic_probe as _};
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const WIDTH: usize = 100;
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const HEIGHT: usize = 100;
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static mut FRAME: [u32; WIDTH * HEIGHT / 2] = [0u32; WIDTH * HEIGHT / 2];
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bind_interrupts!(struct Irqs {
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I2C1_EV => i2c::InterruptHandler<peripherals::I2C1>;
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DCMI => dcmi::InterruptHandler<peripherals::DCMI>;
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});
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#[embassy_executor::main]
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async fn main(_spawner: Spawner) {
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let mut config = Config::default();
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{
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use embassy_stm32::rcc::*;
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config.rcc.hsi = Some(Hsi::Mhz64);
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config.rcc.csi = true;
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config.rcc.pll_src = PllSource::Hsi;
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config.rcc.pll1 = Some(Pll {
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prediv: 4,
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mul: 50,
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divp: Some(2),
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divq: Some(8), // 100mhz
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divr: None,
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});
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config.rcc.sys = Sysclk::Pll1P; // 400 Mhz
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config.rcc.ahb_pre = AHBPrescaler::DIV2; // 200 Mhz
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config.rcc.apb1_pre = APBPrescaler::DIV2; // 100 Mhz
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config.rcc.apb2_pre = APBPrescaler::DIV2; // 100 Mhz
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config.rcc.apb3_pre = APBPrescaler::DIV2; // 100 Mhz
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config.rcc.apb4_pre = APBPrescaler::DIV2; // 100 Mhz
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config.rcc.voltage_scale = VoltageScale::Scale1;
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}
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let p = embassy_stm32::init(config);
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defmt::info!("Hello World!");
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let mco = Mco::new(p.MCO1, p.PA8, Mco1Source::HSI, 3);
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let mut led = Output::new(p.PE3, Level::High, Speed::Low);
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let cam_i2c = I2c::new(
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p.I2C1,
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p.PB8,
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p.PB9,
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Irqs,
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p.DMA1_CH1,
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p.DMA1_CH2,
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khz(100),
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Default::default(),
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);
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let mut camera = Ov7725::new(cam_i2c, mco);
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defmt::unwrap!(camera.init().await);
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let manufacturer_id = defmt::unwrap!(camera.read_manufacturer_id().await);
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let camera_id = defmt::unwrap!(camera.read_product_id().await);
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defmt::info!("manufacturer: 0x{:x}, pid: 0x{:x}", manufacturer_id, camera_id);
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let config = dcmi::Config::default();
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let mut dcmi = Dcmi::new_8bit(
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p.DCMI, p.DMA1_CH0, Irqs, p.PC6, p.PC7, p.PE0, p.PE1, p.PE4, p.PD3, p.PE5, p.PE6, p.PB7, p.PA4, p.PA6, config,
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);
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defmt::info!("attempting capture");
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defmt::unwrap!(dcmi.capture(unsafe { &mut FRAME }).await);
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defmt::info!("captured frame: {:x}", unsafe { &FRAME });
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defmt::info!("main loop running");
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loop {
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defmt::info!("high");
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led.set_high();
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Timer::after(Duration::from_millis(500)).await;
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defmt::info!("low");
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led.set_low();
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Timer::after(Duration::from_millis(500)).await;
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}
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}
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mod ov7725 {
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use core::marker::PhantomData;
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use defmt::Format;
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use embassy_stm32::rcc::{Mco, McoInstance};
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use embassy_time::{Duration, Timer};
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use embedded_hal_async::i2c::I2c;
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#[repr(u8)]
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pub enum RgbFormat {
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Gbr422 = 0,
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RGB565 = 1,
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RGB555 = 2,
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RGB444 = 3,
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}
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pub enum PixelFormat {
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Yuv,
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ProcessedRawBayer,
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Rgb(RgbFormat),
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RawBayer,
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}
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impl From<PixelFormat> for u8 {
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fn from(raw: PixelFormat) -> Self {
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match raw {
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PixelFormat::Yuv => 0,
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PixelFormat::ProcessedRawBayer => 1,
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PixelFormat::Rgb(mode) => 2 | ((mode as u8) << 2),
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PixelFormat::RawBayer => 3,
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}
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}
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}
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#[derive(Clone, Copy)]
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#[repr(u8)]
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#[allow(unused)]
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pub enum Register {
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Gain = 0x00,
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Blue = 0x01,
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Red = 0x02,
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Green = 0x03,
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BAvg = 0x05,
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GAvg = 0x06,
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RAvg = 0x07,
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Aech = 0x08,
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Com2 = 0x09,
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PId = 0x0a,
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Ver = 0x0b,
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Com3 = 0x0c,
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Com4 = 0x0d,
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Com5 = 0x0e,
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Com6 = 0x0f,
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Aec = 0x10,
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ClkRc = 0x11,
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Com7 = 0x12,
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Com8 = 0x13,
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Com9 = 0x14,
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Com10 = 0x15,
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Reg16 = 0x16,
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HStart = 0x17,
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HSize = 0x18,
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VStart = 0x19,
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VSize = 0x1a,
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PShift = 0x1b,
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MidH = 0x1c,
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MidL = 0x1d,
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Laec = 0x1f,
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Com11 = 0x20,
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BdBase = 0x22,
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BdMStep = 0x23,
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Aew = 0x24,
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Aeb = 0x25,
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Vpt = 0x26,
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Reg28 = 0x28,
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HOutSize = 0x29,
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EXHCH = 0x2a,
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EXHCL = 0x2b,
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VOutSize = 0x2c,
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Advfl = 0x2d,
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Advfh = 0x2e,
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Yave = 0x2f,
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LumHTh = 0x30,
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LumLTh = 0x31,
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HRef = 0x32,
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DspCtrl4 = 0x67,
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DspAuto = 0xac,
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}
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const CAM_ADDR: u8 = 0x21;
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#[derive(Format)]
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pub enum Error<I2cError: Format> {
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I2c(I2cError),
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}
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pub struct Ov7725<'d, Bus: I2c> {
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phantom: PhantomData<&'d ()>,
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bus: Bus,
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}
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impl<'d, Bus> Ov7725<'d, Bus>
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where
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Bus: I2c,
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Bus::Error: Format,
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{
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pub fn new<T>(bus: Bus, _mco: Mco<T>) -> Self
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where
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T: McoInstance,
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{
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Self {
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phantom: PhantomData,
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bus,
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}
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}
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pub async fn init(&mut self) -> Result<(), Error<Bus::Error>> {
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Timer::after(Duration::from_millis(500)).await;
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self.reset_regs().await?;
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Timer::after(Duration::from_millis(500)).await;
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self.set_pixformat().await?;
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self.set_resolution().await?;
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Ok(())
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}
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pub async fn read_manufacturer_id(&mut self) -> Result<u16, Error<Bus::Error>> {
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Ok(u16::from_le_bytes([
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self.read(Register::MidL).await?,
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self.read(Register::MidH).await?,
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]))
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}
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pub async fn read_product_id(&mut self) -> Result<u16, Error<Bus::Error>> {
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Ok(u16::from_le_bytes([
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self.read(Register::Ver).await?,
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self.read(Register::PId).await?,
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]))
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}
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async fn reset_regs(&mut self) -> Result<(), Error<Bus::Error>> {
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self.write(Register::Com7, 0x80).await
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}
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async fn set_pixformat(&mut self) -> Result<(), Error<Bus::Error>> {
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self.write(Register::DspCtrl4, 0).await?;
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let mut com7 = self.read(Register::Com7).await?;
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com7 |= u8::from(PixelFormat::Rgb(RgbFormat::RGB565));
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self.write(Register::Com7, com7).await?;
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Ok(())
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}
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async fn set_resolution(&mut self) -> Result<(), Error<Bus::Error>> {
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let horizontal: u16 = super::WIDTH as u16;
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let vertical: u16 = super::HEIGHT as u16;
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let h_high = (horizontal >> 2) as u8;
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let v_high = (vertical >> 1) as u8;
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let h_low = (horizontal & 0x03) as u8;
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let v_low = (vertical & 0x01) as u8;
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self.write(Register::HOutSize, h_high).await?;
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self.write(Register::VOutSize, v_high).await?;
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self.write(Register::EXHCH, h_low | (v_low << 2)).await?;
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self.write(Register::Com3, 0xd1).await?;
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let com3 = self.read(Register::Com3).await?;
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let vflip = com3 & 0x80 > 0;
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self.modify(Register::HRef, |reg| reg & 0xbf | if vflip { 0x40 } else { 0x40 })
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.await?;
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if horizontal <= 320 || vertical <= 240 {
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self.write(Register::HStart, 0x3f).await?;
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self.write(Register::HSize, 0x50).await?;
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self.write(Register::VStart, 0x02).await?; // TODO vflip is subtracted in the original code
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self.write(Register::VSize, 0x78).await?;
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} else {
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defmt::panic!("VGA resolutions not yet supported.");
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}
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Ok(())
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}
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async fn read(&mut self, register: Register) -> Result<u8, Error<Bus::Error>> {
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let mut buffer = [0u8; 1];
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self.bus
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.write_read(CAM_ADDR, &[register as u8], &mut buffer[..1])
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.await
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.map_err(Error::I2c)?;
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Ok(buffer[0])
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}
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async fn write(&mut self, register: Register, value: u8) -> Result<(), Error<Bus::Error>> {
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self.bus
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.write(CAM_ADDR, &[register as u8, value])
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.await
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.map_err(Error::I2c)
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}
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async fn modify<F: FnOnce(u8) -> u8>(&mut self, register: Register, f: F) -> Result<(), Error<Bus::Error>> {
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let value = self.read(register).await?;
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let value = f(value);
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self.write(register, value).await
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}
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}
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}
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