HM01B0_Firmware/main.c

/*
 * The MIT License (MIT)
 *
 * Copyright (c) 2019 Ha Thach (tinyusb.org)
 * Copyright (c) 2022 Charles Kralapp (alfrescocavern.com)
 *
 * 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 <stdio.h>
#include <stdlib.h>
#include <string.h>

#include "arducam/arducam.h"
#include "bsp/board.h"
#include "pico/stdlib.h"
#include "tusb.h"
#include "usb_descriptors.h"

//--------------------------------------------------------------------+
// MACRO CONSTANT TYPEDEF PROTYPES
//--------------------------------------------------------------------+

/* Blink pattern
 * - 250 ms  : device not mounted
 * - 1000 ms : device mounted
 * - 2500 ms : device is suspended
 */
enum {
  BLINK_NOT_MOUNTED = 250,
  BLINK_MOUNTED = 1000,
  BLINK_SUSPENDED = 2500,
};

static uint32_t blink_interval_ms = BLINK_NOT_MOUNTED;
struct arducam_config config;

void led_blinking_task(void);
void video_task(void);

/*------------- MAIN -------------*/
int main(void) {
  board_init();

  // init device stack on configured roothub port
  tud_init(BOARD_TUD_RHPORT);

  uint8_t image_buf[324 * 324];

  config.sccb = i2c0;
  config.sccb_mode = I2C_MODE_16_8;
  config.sensor_address = 0x24;
  config.pin_sioc = PIN_CAM_SIOC;
  config.pin_siod = PIN_CAM_SIOD;
  config.pin_resetb = PIN_CAM_RESETB;
  config.pin_xclk = PIN_CAM_XCLK;
  config.pin_vsync = PIN_CAM_VSYNC;
  config.pin_y2_pio_base = PIN_CAM_Y2_PIO_BASE;

  config.pio = pio0;
  config.pio_sm = 0;

  config.dma_channel = 0;
  config.image_buf = image_buf;
  config.image_buf_size = sizeof(image_buf);

  arducam_init(&config);

  while (1) {
    tud_task(); // tinyusb device task
    led_blinking_task();
    video_task();
  }

  return 0;
}

//--------------------------------------------------------------------+
// Device callbacks
//--------------------------------------------------------------------+

// Invoked when device is mounted
void tud_mount_cb(void) { blink_interval_ms = BLINK_MOUNTED; }

// Invoked when device is unmounted
void tud_umount_cb(void) { blink_interval_ms = BLINK_NOT_MOUNTED; }

// Invoked when usb bus is suspended
// remote_wakeup_en : if host allow us  to perform remote wakeup
// Within 7ms, device must draw an average of current less than 2.5 mA from bus
void tud_suspend_cb(bool remote_wakeup_en) {
  (void)remote_wakeup_en;
  blink_interval_ms = BLINK_SUSPENDED;
}

// Invoked when usb bus is resumed
void tud_resume_cb(void) { blink_interval_ms = BLINK_MOUNTED; }

//--------------------------------------------------------------------+
// USB Video
//--------------------------------------------------------------------+
static unsigned frame_num = 0;
static unsigned tx_busy = 0;
static unsigned interval_ms = 1000 / FRAME_RATE;

static uint8_t frame_buffer[FRAME_WIDTH * FRAME_HEIGHT * 2];
static void get_frame(uint8_t *buffer) {
  uint8_t *ptr = buffer;
  int offset, i, j;
  uint8_t c;

  for (i = 0; i < FRAME_HEIGHT; i++) {
    offset = (-648 * i) + 104370;
    for (j = 0; j < FRAME_WIDTH * 2; j += 4) {
      c = config.image_buf[offset + j];
      *ptr++ = c;
      *ptr++ = 128;
      *ptr++ = c;
      *ptr++ = 128;
    }
  }
}

void video_task(void) {
  static unsigned start_ms = 0;
  static unsigned already_sent = 0;

  if (!tud_video_n_streaming(0, 0)) {
    already_sent = 0;
    frame_num = 0;
    return;
  }

  if (!already_sent) {
    already_sent = 1;
    start_ms = board_millis();
    get_frame(frame_buffer);
    tud_video_n_frame_xfer(0, 0, (void *)frame_buffer,
                           FRAME_WIDTH * FRAME_HEIGHT * 2);
  }

  unsigned cur = board_millis();
  if (cur - start_ms < interval_ms)
    return; // not enough time
  if (tx_busy)
    return;
  start_ms += interval_ms;
  get_frame(frame_buffer);
  tud_video_n_frame_xfer(0, 0, (void *)frame_buffer,
                         FRAME_WIDTH * FRAME_HEIGHT * 2);
}

void tud_video_frame_xfer_complete_cb(uint_fast8_t ctl_idx,
                                      uint_fast8_t stm_idx) {
  (void)ctl_idx;
  (void)stm_idx;
  tx_busy = 0;
  /* flip buffer */
  arducam_capture_frame(&config);
}

int tud_video_commit_cb(uint_fast8_t ctl_idx, uint_fast8_t stm_idx,
                        video_probe_and_commit_control_t const *parameters) {
  (void)ctl_idx;
  (void)stm_idx;
  /* convert unit to ms from 100 ns */
  interval_ms = parameters->dwFrameInterval / 10000;
  return VIDEO_ERROR_NONE;
}

//--------------------------------------------------------------------+
// BLINKING TASK
//--------------------------------------------------------------------+
void led_blinking_task(void) {
  static uint32_t start_ms = 0;
  static bool led_state = false;

  // Blink every interval ms
  if (board_millis() - start_ms < blink_interval_ms)
    return; // not enough time
  start_ms += blink_interval_ms;

  board_led_write(led_state);
  led_state = 1 - led_state; // toggle
}