Merge branch 'dev_xel' into 'dev'

Add support for sensor autodetect.

See merge request maix_sw/k230_canmv!261

k230_sdk_overlay/src/big/mpp/include/comm/k_vicap_comm.h

@@ -620,9 +620,11 @@ typedef struct
 } k_vicap_mcm_chn_vf_info;
 
 typedef struct {
-    k_u32 adapt_id[16];
-    k_u32 adapt_len;
-}k_vicap_adapt_id;
+    k_u32 csi_num;
+    k_u32 width;
+    k_u32 height;
+    k_u32 fps;
+} k_vicap_probe_config;
 
 #define K_ERR_VICAP_INVALID_DEVID     K_DEF_ERR(K_ID_VICAP, K_ERR_LEVEL_ERROR, K_ERR_INVALID_DEVID)
 #define K_ERR_VICAP_INVALID_CHNID     K_DEF_ERR(K_ID_VICAP, K_ERR_LEVEL_ERROR, K_ERR_INVALID_CHNID)

k230_sdk_overlay/src/big/mpp/userapps/api/mpi_sensor_api.h

@@ -454,8 +454,7 @@ k_s32 kd_mpi_sensor_otpdata_set(k_s32 fd, void *ota_data);
 
 k_s32 kd_mpi_sensor_mirror_set(k_s32 fd, k_vicap_mirror_mode mirror);
 
-
-k_s32 kd_mpi_sensor_adapt_get(k_vicap_adapt_id *csi0_adapt_id, k_vicap_adapt_id *csi1_adapt_id, k_vicap_adapt_id *csi2_adapt_id);
+k_s32 kd_mpi_sensor_adapt_get(k_vicap_probe_config *config, k_vicap_sensor_info *info);
 
 /** @} */ /** <!-- ==== SENSOR End ==== */
 

k230_sdk_overlay/src/big/mpp/userapps/src/sensor/mpi_sensor.c

@@ -1435,81 +1435,153 @@ k_s32 kd_mpi_sensor_mirror_set(k_s32 fd, k_vicap_mirror_mode mirror)
     return ret;
 }
 
+/*
+Sensor Name: Sensor1, FPS: 60, Width: 1920, Height: 1080
+Sensor Name: Sensor2, FPS: 60, Width: 1280, Height: 720
+Sensor Name: Sensor3, FPS: 30, Width: 1920, Height: 1080
+Sensor Name: Sensor4, FPS: 30, Width: 1280, Height: 720
+*/
+static int compare_sensor_info(const void *a, const void *b) {
+    k_vicap_sensor_info *sensorA = (k_vicap_sensor_info *)a;
+    k_vicap_sensor_info *sensorB = (k_vicap_sensor_info *)b;
+
+    // Compare fps
+    if (sensorA->fps != sensorB->fps) {
+        return sensorB->fps - sensorA->fps;
+    }
+    // If fps is the same, compare width
+    if (sensorA->width != sensorB->width) {
+        return sensorB->width - sensorA->width;
+    }
+    // If width is the same, compare height
+    return sensorB->height - sensorA->height;
+}
 
-k_s32 kd_mpi_sensor_adapt_get(k_vicap_adapt_id *csi0_adapt_id, k_vicap_adapt_id *csi1_adapt_id, k_vicap_adapt_id *csi2_adapt_id)
+k_s32 kd_mpi_sensor_adapt_get(k_vicap_probe_config *config, k_vicap_sensor_info *info)
 {
-    k_s32 i = 0, j = 0;
+#define MAX_SENSOR_COUNT (16)
+
     k_s32 ret = 0;
     k_s32 sensor_fd = -1;
     k_u32 chip_id;
-    k_vicap_sensor_info sensor_info;
     k_sensor_mode mode;
 
-    csi0_adapt_id->adapt_len = 0;
-    csi1_adapt_id->adapt_len = 0;
-    csi2_adapt_id->adapt_len = 0;
+    k_u32 sensor_info_count = 0;
+    k_vicap_sensor_info sensor_info, *p_sensor_info = NULL;
+    k_vicap_sensor_info sensor_info_list[MAX_SENSOR_COUNT];
 
-    for (i = 0; i != SENSOR_TYPE_MAX; i++) 
+    if (((void *)0 == config) || ((void *)0 == info))
     {
-       memset(&sensor_info, 0, sizeof(k_vicap_sensor_info));
-       memset(&mode, 0, sizeof(k_sensor_mode));
+        return 2;
+    }
+    sensor_info_count = 0;
+    memset(info, 0, sizeof(k_vicap_sensor_info));
+    memset(&sensor_info_list[0], 0, sizeof(sensor_info_list));
+
+    for (int sensor_idx = 0; sensor_idx != SENSOR_TYPE_MAX; sensor_idx++)
+    {
+        if (sensor_info_count >= MAX_SENSOR_COUNT)
+        {
+            printf("kd_mpi_sensor_adapt_get, too may ids\n");
+            break;
+        }
+
+        memset(&mode, 0, sizeof(k_sensor_mode));
+        memset(&sensor_info, 0, sizeof(k_vicap_sensor_info));
+
+        ret = kd_mpi_vicap_get_sensor_info((k_vicap_sensor_type)sensor_idx, &sensor_info);
+        if (ret)
+        {
+            printf("kd_mpi_vicap_adapt_config, the sensor type not supported! index is %d \n", sensor_idx);
+            continue;
+        }
 
-       ret = kd_mpi_vicap_get_sensor_info((k_vicap_sensor_type)i , &sensor_info);
-       if (ret) {
-            printf("kd_mpi_vicap_adapt_config, the sensor type not supported! i is %d \n", i);
+        if (config->csi_num != sensor_info.csi_num)
+        {
             continue;
-       }    
+        }
 
-       // open sensor 
+        // open sensor
         sensor_fd = kd_mpi_sensor_open(sensor_info.sensor_name);
-        if (sensor_fd < 0) {
-            pr_err("%s, sensor open failed.\n", __func__);
+        if (sensor_fd < 0)
+        {
+            printf("%s, sensor open failed.\n", __func__);
+            continue;
         }
 
         mode.sensor_type = sensor_info.sensor_type;
         ret = kd_mpi_sensor_mode_get(sensor_fd, &mode);
-        if (ret) {
-            pr_err("%s, sensor mode get failed. i is %d \n", __func__, i);
+        if (ret)
+        {
+            printf("%s, sensor mode get failed. i is %d \n", __func__, sensor_idx);
+            continue;
         }
 
         // check sensor need mclk
-        for(k_s32 idx = 0; idx < SENSOR_MCLK_MAX - 1; idx++)
+        for (k_s32 idx = 0; idx < SENSOR_MCLK_MAX - 1; idx++)
         {
-            if(mode.mclk_setting[idx].mclk_setting_en)
+            if (mode.mclk_setting[idx].mclk_setting_en)
             {
                 ret = kd_mpi_vicap_sensor_set_mclk(mode.mclk_setting[idx].setting);
             }
         }
 
         // ret = kd_mpi_sensor_power_set(sensor_fd, K_TRUE);
         ret = kd_mpi_sensor_id_get(sensor_fd, &chip_id);
-        if(ret == 0)
+        if (ret == 0)
         {
-            // chip ok
-            switch(sensor_info.csi_num)
-            {
-                case VICAP_CSI0 :
-                    csi0_adapt_id->adapt_id[csi0_adapt_id->adapt_len] = i;
-                    csi0_adapt_id->adapt_len = csi0_adapt_id->adapt_len + 1;
-                    break;
-                case VICAP_CSI1 :
-                    csi1_adapt_id->adapt_id[csi1_adapt_id->adapt_len] = i;
-                    csi1_adapt_id->adapt_len = csi1_adapt_id->adapt_len + 1;
-                    break;
-                case VICAP_CSI2 :
-                    csi2_adapt_id->adapt_id[csi2_adapt_id->adapt_len] = i;
-                    csi2_adapt_id->adapt_len = csi2_adapt_id->adapt_len + 1;
-                    break;
-                default : 
-                    printf("csi num err \n");
-                    break;
-            }
+            memcpy(&sensor_info_list[sensor_info_count], &sensor_info, sizeof(k_vicap_sensor_info));
+            sensor_info_count++;
         }
 
         kd_mpi_sensor_close(sensor_fd);
     }
 
-    return 0;
-}
+    if (sensor_info_count)
+    {
+        qsort(&sensor_info_list[0], sensor_info_count, sizeof(k_vicap_sensor_info), compare_sensor_info);
+
+        /* first find wanted fps */
+        if(0x00 != config->fps)
+        {
+            for (int i = 0; i < sensor_info_count; i++)
+            {
+                p_sensor_info = &sensor_info_list[i];
+
+                if ((config->width == p_sensor_info->width) && (config->height == p_sensor_info->height) && (config->fps == p_sensor_info->fps))
+                {
+                    memcpy(info, p_sensor_info, sizeof(k_vicap_sensor_info));
+                    return 0;
+                }
+            }
+        }
+
+        /* find same resolution */
+        for (int i = 0; i < sensor_info_count; i++)
+        {
+            p_sensor_info = &sensor_info_list[i];
+
+            if ((config->width == p_sensor_info->width) && (config->height == p_sensor_info->height) /* && (config->fps == p_sensor_info->fps) */)
+            {
+                memcpy(info, p_sensor_info, sizeof(k_vicap_sensor_info));
+                return 0;
+            }
+        }
 
+        /* find a bigger resolution */
+        for (int i = 0; i < sensor_info_count; i++)
+        {
+            p_sensor_info = &sensor_info_list[i];
 
+            if ((config->width <= p_sensor_info->width) && (config->height <= p_sensor_info->height) /* && (config->fps == p_sensor_info->fps) */)
+            {
+                memcpy(info, p_sensor_info, sizeof(k_vicap_sensor_info));
+                return 0;
+            }
+        }
+    }
+
+    return 1;
+
+#undef MAX_SENSOR_COUNT
+}

micropython/port/builtin_py/media/sensor.py

@@ -20,8 +20,6 @@
 #      Don't edit it arbitrarily!!!
 
 class Sensor:
-    OV5647 = const(200)
-
     RGB565   = PIXEL_FORMAT_RGB_565
     RGB888   = PIXEL_FORMAT_RGB_888
     RGBP888  = PIXEL_FORMAT_RGB_888_PLANAR
@@ -134,35 +132,6 @@ def _run_mcm_device(cls):
 
                 sensor._is_started = True
 
-    @staticmethod
-    def _get_the_senrsor_type(brd, _type, id):
-        if brd == "k230_canmv":
-            if _type == Sensor.OV5647:
-                if id == CAM_DEV_ID_0:
-                    return OV_OV5647_MIPI_CSI0_1920X1080_30FPS_10BIT_LINEAR, 0
-                elif id == CAM_DEV_ID_1:
-                    return OV_OV5647_MIPI_CSI1_1920X1080_30FPS_10BIT_LINEAR, 0
-                else:
-                    return OV_OV5647_MIPI_CSI2_1920X1080_30FPS_10BIT_LINEAR, 0
-            else:
-                raise NotImplementedError(f"Unsupport Sensor type {_type}")
-        elif brd == "k230_canmv_01studio":
-            if _type == Sensor.OV5647:
-                if id == CAM_DEV_ID_0:
-                    return OV_OV5647_MIPI_CSI0_1920X1080_30FPS_10BIT_LINEAR, 3
-                elif id == CAM_DEV_ID_1:
-                    return OV_OV5647_MIPI_CSI1_1920X1080_30FPS_10BIT_LINEAR, 3
-                else:
-                    return OV_OV5647_MIPI_CSI2_1920X1080_30FPS_10BIT_LINEAR, 3
-            else:
-                raise NotImplementedError(f"Unsupport Sensor type {_type}")
-        elif brd == "k230d_canmv":
-            raise NotImplementedError("TODO")
-        elif brd == "k230_evb":
-            raise NotImplementedError("TODO")
-        else:
-            raise AssertionError(f"invaild board type, please ask for support.")
-
     # id
     # type
     # force
@@ -171,7 +140,6 @@ def __init__(self, **kwargs):
         self._dft_output_buff_num = 6
 
         dft_sensor_id = CAM_DEV_ID_0
-        dft_sensor_type = Sensor.OV5647
 
         brd = os.uname()[-1]
         if brd == "k230d_canmv":
@@ -188,11 +156,23 @@ def __init__(self, **kwargs):
         if not force and Sensor._devs[self._dev_id] is not None:
             raise OSError(f"sensor({self._dev_id}) is already inited.")
 
-        mirror = 0
-        self._type = kwargs.get('type', dft_sensor_type)
+        arg_type = kwargs.get('type', None)
+        if arg_type is not None:
+            self._type = arg_type
+        else:
+            info = k_vicap_sensor_info()
+            cfg = k_vicap_probe_config()
+            cfg.csi = self._dev_id + 1 # convert to csi num
+            cfg.fps = kwargs.get('fps', 30)
+            cfg.width = kwargs.get('width', 1920)
+            cfg.height = kwargs.get('height', 1080)
+
+            ret = kd_mpi_sensor_adapt_get(cfg, info)
+            if 0 != ret:
+                raise RuntimeError(f"Can not found sensor on {self._dev_id}")
 
-        if self._type >= Sensor.OV5647:
-            self._type, mirror = Sensor._get_the_senrsor_type(brd, self._type, self._dev_id) 
+            self._type = info.type
+            print(f"use sensor {info.type}, output {info.width}x{info.height}@{info.fps}")
 
         if (self._type > SENSOR_TYPE_MAX - 1):
             raise AssertionError(f"invaild sensor type {self._type}, should < {SENSOR_TYPE_MAX - 1}")
@@ -206,7 +186,7 @@ def __init__(self, **kwargs):
         self._dev_attr.mode = VICAP_WORK_ONLINE_MODE
         # self._dev_attr.mode = VICAP_WORK_OFFLINE_MODE
         self._dev_attr.input_type = VICAP_INPUT_TYPE_SENSOR
-        self._dev_attr.mirror = mirror
+        self._dev_attr.mirror = 0
 
         self._is_started = False
 

micropython/port/builtin_py/mpp/vicap_def.py

@@ -97,7 +97,7 @@ def k_vicap_isp_pipe_ctrl_parse(s, kwargs):
     s.data = kwargs.get("data", 0)
 
 k_vicap_sensor_info_desc = {
-    "sensor_name": 0 | uctypes.UINT64,
+    "name": 0 | uctypes.UINT64,
     "width": 8 | uctypes.UINT16,
     "height": 10 | uctypes.UINT16,
     "csi_num": 12 | uctypes.UINT32,
@@ -110,11 +110,12 @@ def k_vicap_isp_pipe_ctrl_parse(s, kwargs):
     "flash_mode": 40 | uctypes.UINT32,
     "first_frame": 44 | uctypes.UINT32,
     "glitch_filter": 48 | uctypes.UINT16,
-    "sensor_type": 52 | uctypes.UINT32,
+    "fps": 50 | uctypes.UINT16,
+    "type": 52 | uctypes.UINT32,
 }
 
 def k_vicap_sensor_info_parse(s, kwargs):
-    s.sensor_name = kwargs.get("sensor_name", 0)
+    s.name = kwargs.get("name", 0)
     s.width = kwargs.get("width", 0)
     s.height = kwargs.get("height", 0)
     s.csi_num = kwargs.get("csi_num", 0)
@@ -127,7 +128,8 @@ def k_vicap_sensor_info_parse(s, kwargs):
     s.flash_mode = kwargs.get("flash_mode", 0)
     s.first_frame = kwargs.get("first_frame", 0)
     s.glitch_filter = kwargs.get("glitch_filter", 0)
-    s.sensor_type = kwargs.get("sensor_type", 0)
+    s.fps = kwargs.get("fps", 0)
+    s.type = kwargs.get("type", 0)
 
 k_vicap_chn_attr_desc = {
     "out_win": (0, k_vicap_window_desc),
@@ -324,3 +326,16 @@ def k_vicap_chn_set_info_parse(s, kwargs):
     s.pixel_format = kwargs.get("pixel_format", 0)
     s.buf_size = kwargs.get("buf_size", 0)
     s.alignment = kwargs.get("alignment", 0)
+
+k_vicap_probe_config_desc = {
+    "csi": 0 | uctypes.UINT32,
+    "width": 4 | uctypes.UINT32,
+    "height": 8 | uctypes.UINT32,
+    "fps": 12 | uctypes.UINT32,
+}
+
+def k_vicap_probe_config_parse(s, kwargs):
+    s.csi = kwargs.get("csi", 0)
+    s.width = kwargs.get("width", 0)
+    s.height = kwargs.get("height", 0)
+    s.fps = kwargs.get("fps", 0)

micropython/port/builtin_py/mpp/vicap_struct.py

@@ -200,3 +200,10 @@ def k_vicap_chn_set_info(**kwargs):
     s = uctypes.struct(uctypes.addressof(buf), vicap_def.k_vicap_chn_set_info_desc, layout)
     vicap_def.k_vicap_chn_set_info_parse(s, kwargs)
     return s
+
+def k_vicap_probe_config(**kwargs):
+    layout = uctypes.NATIVE
+    buf = bytearray(uctypes.sizeof(vicap_def.k_vicap_probe_config_desc, layout))
+    s = uctypes.struct(uctypes.addressof(buf), vicap_def.k_vicap_probe_config_desc, layout)
+    vicap_def.k_vicap_probe_config_parse(s, kwargs)
+    return s

micropython/port/builtin_py/mpp_binding/vicap_api.c

@@ -30,7 +30,9 @@
 #include <errno.h>
 #include "py/runtime.h"
 #include "py/obj.h"
+#include "k_vicap_comm.h"
 #include "mpi_vicap_api.h"
+#include "mpi_sensor_api.h"
 
 #define DEF_FUNC_ADD(x) { MP_ROM_QSTR(MP_QSTR_##x), MP_ROM_PTR(&x##_obj) },
 

micropython/port/builtin_py/mpp_binding/vicap_func_def.h

@@ -38,3 +38,4 @@ DEF_INT_FUNC_INT_STRUCTPTR_INT(kd_mpi_vicap_set_vi_drop_frame, k_vicap_drop_fram
 DEF_INT_FUNC_INT_INT(kd_mpi_vicap_set_database_parse_mode)
 DEF_INT_FUNC_INT(kd_mpi_vicap_tpg_enable)
 DEF_INT_FUNC_INT_ARRAY_INT(kd_mpi_vicap_load_image, void)
+DEF_INT_FUNC_STRUCTPTR_STRUCTPTR(kd_mpi_sensor_adapt_get, k_vicap_probe_config, k_vicap_sensor_info)