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ProfilometerProbe
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Increase resolution, decrease send interval

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main
Adam Prochazka 2 years ago
parent 2007a5de10
commit ae0f8749b5
8 changed files with 137 additions and 96 deletions
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30
Firmware/Core/Cam/Cam.c
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@ -133,7 +133,35 @@ void Cam_Init(I2C_HandleTypeDef *hi2c, SPI_HandleTypeDef *hspi)
Cam_I2C_write(hi2c, (uint16_t)0x3801, 0xb0); // TIMING HORIZONTAL START - ALSO FOR MIRROR Cam_I2C_write(hi2c, (uint16_t)0x3801, 0xb0); // TIMING HORIZONTAL START - ALSO FOR MIRROR
Cam_I2C_write(hi2c, (uint16_t)0x4407, 0x04); // COMPRESSION CONTROL Cam_I2C_write(hi2c, (uint16_t)0x4407, 0x04); // COMPRESSION CONTROL
Cam_I2C_write_bulk(hi2c, ov5642_320x240); //Cam_I2C_write_bulk(hi2c, ov5642_320x240);
//Cam_I2C_write_bulk(hi2c, ov5642_640x480);
Cam_I2C_write_bulk(hi2c, ov5642_1280x960);
// Setup camera, H-sync: High, V-sync:high, Sensor_delay: no Delay, FIFO_mode:FIFO enabled, power_mode:Low_power
Cam_SPI_write(hspi, 0x03, 0x02);
Cam_SPI_write(hspi, 0x01, 0x00); // Capture Control Register - Set to capture n+1 frames
HAL_Delay(5);
}
void Cam_Refresh(I2C_HandleTypeDef *hi2c, SPI_HandleTypeDef *hspi){
Cam_I2C_write(hi2c, (uint16_t)0x3008, 0x80);
Cam_I2C_write_bulk(hi2c, OV5642_QVGA_Preview);
Cam_I2C_write_bulk(hi2c, OV5642_JPEG_Capture_QSXGA);
//Cam_I2C_write_bulk(hi2c, OV5642_720P_Video_setting);
Cam_I2C_write(hi2c, (uint16_t)0x3818, 0xa8); // TIMING CONTROL - ENABLE COMPRESSION, THUMBNAIL MODE DISABLE, VERTICAL FLIP, MIRROR
Cam_I2C_write(hi2c, (uint16_t)0x3621, 0x10); // REGISTER FOR CORRECT MIRROR FUNCTION
Cam_I2C_write(hi2c, (uint16_t)0x3801, 0xb0); // TIMING HORIZONTAL START - ALSO FOR MIRROR
Cam_I2C_write(hi2c, (uint16_t)0x4407, 0x04); // COMPRESSION CONTROL
//Cam_I2C_write_bulk(hi2c, ov5642_320x240);
//ov5642_1024x768
Cam_I2C_write_bulk(hi2c, ov5642_1024x768);
// Setup camera, H-sync: High, V-sync:high, Sensor_delay: no Delay, FIFO_mode:FIFO enabled, power_mode:Low_power // Setup camera, H-sync: High, V-sync:high, Sensor_delay: no Delay, FIFO_mode:FIFO enabled, power_mode:Low_power
Cam_SPI_write(hspi, 0x03, 0x02); Cam_SPI_write(hspi, 0x03, 0x02);

2
Firmware/Core/Cam/Cam.h
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@ -18,6 +18,8 @@ int Cam_I2C_write(I2C_HandleTypeDef *hi2c, uint16_t address, uint8_t data);
int Cam_I2C_write_struct(I2C_HandleTypeDef *hi2c, sensor_reg reg); int Cam_I2C_write_struct(I2C_HandleTypeDef *hi2c, sensor_reg reg);
void Cam_I2C_write_bulk(I2C_HandleTypeDef *hi2c, const struct sensor_reg regList[]); void Cam_I2C_write_bulk(I2C_HandleTypeDef *hi2c, const struct sensor_reg regList[]);
void Cam_Init(I2C_HandleTypeDef *hi2c, SPI_HandleTypeDef *hspi); void Cam_Init(I2C_HandleTypeDef *hi2c, SPI_HandleTypeDef *hspi);
void Cam_Refresh(I2C_HandleTypeDef *hi2c, SPI_HandleTypeDef *hspi);
int Cam_FIFO_length(SPI_HandleTypeDef *hspi); int Cam_FIFO_length(SPI_HandleTypeDef *hspi);
void Cam_Capture(SPI_HandleTypeDef *hspi); void Cam_Capture(SPI_HandleTypeDef *hspi);

105
Firmware/Core/Src/main.c
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@ -271,85 +271,76 @@ int main(void)
// Wait for power stabilization // Wait for power stabilization
//HAL_Delay(1000); //HAL_Delay(1000);
Cam_Init(&hi2c1, &hspi1); #define CDC_BUFF_SIZE 10000
int currentSendingIndex = 0; int last_sent_idx = 0;
int buff_stop_idx = 0;
uint16_t image_size = 0;
uint8_t cdc_buff[CDC_BUFF_SIZE];
Cam_Capture(&hspi1);
uint16_t image_size = Cam_FIFO_length(&hspi1);
uint8_t image_data[10000];
memset(image_data, 0x00, 10000);
Cam_Start_Burst_Read(&hspi1);
//HAL_SPI_Receive_DMA(&hspi1, image_data, 10000);
HAL_SPI_Receive(&hspi1, image_data, 10000, HAL_MAX_DELAY);
LED_On();
while (SPI_Rx_Done_Flag == 0)
{
// Wait for SPI transfer to finish
break;
}
CS_Off();
SPI_Rx_Done_Flag = 0;
/* USER CODE END 2 */ /* USER CODE END 2 */
/* Infinite loop */ /* Infinite loop */
/* USER CODE BEGIN WHILE */ /* USER CODE BEGIN WHILE */
while (1) while (1)
{ {
tud_task(); tud_task();
if(currentSendingIndex >= 9949){ if(buff_stop_idx >= (int)image_size){
//if(false){
currentSendingIndex = 0; buff_stop_idx = 0;
//free(image_data); last_sent_idx = 0;
for(int i = 0; i < 10000; i++) image_data[i] = 0x00;
for(int i = 0; i < CDC_BUFF_SIZE; i++) cdc_buff[i] = 0x00;
CS_Off();
CS_On();
tud_task();
Cam_Init(&hi2c1, &hspi1); Cam_Init(&hi2c1, &hspi1);
tud_task();
Cam_Capture(&hspi1); Cam_Capture(&hspi1);
image_size = Cam_FIFO_length(&hspi1); tud_task();
//image_data = malloc((image_size + (image_size%10)) * sizeof(uint8_t));
//memset(image_data, 0x00, image_size + (image_size%10));
image_size = Cam_FIFO_length(&hspi1);
Cam_Start_Burst_Read(&hspi1); Cam_Start_Burst_Read(&hspi1);
HAL_SPI_Receive(&hspi1, image_data, 10000, HAL_MAX_DELAY); continue;
//Debug_LED_On();
while (SPI_Rx_Done_Flag == 0) //HAL_SPI_Receive(&hspi1, cdc_buff, CDC_BUFF_SIZE, HAL_MAX_DELAY);
{
// Wait for SPI transfer to finish
//tud_task();
break;
}
CS_Off();
//SPI_Rx_Done_Flag = 0;
if(image_size < 1){
currentSendingIndex = 10000;
LED_On();
}
} }
else { else {
//tud_cdc_write("11111111\r\n", 10); int number_to_read = 0;
//tud_cdc_write_flush(); for(int i = 0; i < CDC_BUFF_SIZE; i++) cdc_buff[i] = 0x00;
//tud_cdc_write(&sendT[currentSendingIndex], 50); if((buff_stop_idx + CDC_BUFF_SIZE) > (int) image_size){
tud_cdc_write(&image_data[currentSendingIndex], 50); number_to_read = (int) image_size - buff_stop_idx;
}
else{
number_to_read = CDC_BUFF_SIZE;
}
HAL_SPI_Receive(&hspi1, cdc_buff, number_to_read, HAL_MAX_DELAY);
buff_stop_idx = buff_stop_idx + number_to_read;
}
int current_sending_idx = 0;
do{
tud_task();
tud_cdc_write(&cdc_buff[current_sending_idx], 50);
tud_cdc_write_flush(); tud_cdc_write_flush();
currentSendingIndex = currentSendingIndex + 50; current_sending_idx = current_sending_idx + 50;
HAL_Delay(5); last_sent_idx = last_sent_idx + 50;
HAL_Delay(3);
} }
while(last_sent_idx < buff_stop_idx);
LED_On();
/* USER CODE END WHILE */ /* USER CODE END WHILE */

30
Receiver/Displayer.cpp
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@ -11,7 +11,7 @@ int Displayer::createWindow() {
window = SDL_CreateWindow("Image Viewer", SDL_WINDOWPOS_CENTERED, SDL_WINDOWPOS_CENTERED, 1920, 1080, SDL_WINDOW_SHOWN); window = SDL_CreateWindow("Image Viewer", SDL_WINDOWPOS_CENTERED, SDL_WINDOWPOS_CENTERED, 1920, 1080, SDL_WINDOW_SHOWN);
if (!window) { if (!window) {
SDL_LogError(SDL_LOG_CATEGORY_APPLICATION, "Failed to create window: %s", SDL_GetError()); SDL_LogError(SDL_LOG_CATEGORY_APPLICATION, "Failed to create window: %s", SDL_GetError());
SDL_Quit(); //SDL_Quit();
return 1; return 1;
} }
@ -23,15 +23,29 @@ int Displayer::renderWindow(){
if (!renderer) { if (!renderer) {
SDL_LogError(SDL_LOG_CATEGORY_APPLICATION, "Failed to create renderer: %s", SDL_GetError()); SDL_LogError(SDL_LOG_CATEGORY_APPLICATION, "Failed to create renderer: %s", SDL_GetError());
SDL_DestroyWindow(window); //SDL_DestroyWindow(window);
SDL_Quit(); //SDL_Quit();
return 1; return 1;
} }
return 0; return 0;
} }
#define PRINT_BUFFER 0
int Displayer::imageFromVector(std::vector<uint8_t>* img){ int Displayer::imageFromVector(std::vector<uint8_t>* img){
#if PRINT_BUFFER
std::cout << "______________" << std::endl;
for(int i = 0; i<(int)(img)->size(); i++)
{
std::cout << "0x" << std::hex << std::setfill('0') << std::setw(2) << static_cast<int>((*img)[i]) << " ";
}
std::cout << std::endl;
std::cout << "______________" << std::endl;
#endif
imageRwops = SDL_RWFromMem(img->data(), img->size()); imageRwops = SDL_RWFromMem(img->data(), img->size());
return 0; return 0;
} }
@ -40,10 +54,10 @@ int Displayer::createImageSurface(){
imageSurface = IMG_Load_RW(imageRwops, 0); imageSurface = IMG_Load_RW(imageRwops, 0);
if (!imageSurface) { if (!imageSurface) {
SDL_LogError(SDL_LOG_CATEGORY_APPLICATION, "Failed to load image: %s", IMG_GetError()); SDL_LogError(SDL_LOG_CATEGORY_APPLICATION, "Failed to load image: %s", IMG_GetError());
SDL_DestroyRenderer(renderer); //SDL_DestroyRenderer(renderer);
SDL_DestroyWindow(window); //SDL_DestroyWindow(window);
SDL_Quit(); //SDL_Quit();
return 1; //return 1;
} }
return 0; return 0;
@ -130,8 +144,8 @@ int Displayer::windowLoop(){
return 0; return 0;
} }
int Displayer::vectorToTexture(std::vector<uint8_t>* img){ int Displayer::vectorToTexture(std::vector<uint8_t>* img){
imageFromVector(img); imageFromVector(img);
createImageSurface(); createImageSurface();
textureFromSurface(); textureFromSurface();

46
Receiver/Receiver.cpp
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@ -53,9 +53,9 @@ int Receiver::initSerial(){
return 1; return 1;
} }
int Receiver::readCdcData(uint8_t (*character)[50]) { int Receiver::readCdcData(uint8_t (*character)[CDC_FRAME_SIZE]) {
memset(*character, 0x00, 50); memset(*character, 0x00, CDC_FRAME_SIZE);
int bytesRead = read(cdcFile, character, 50); int bytesRead = read(cdcFile, character, CDC_FRAME_SIZE);
if (bytesRead == -1) { if (bytesRead == -1) {
std::cerr << "Error in read" << std::endl; std::cerr << "Error in read" << std::endl;
return -1; return -1;
@ -65,21 +65,24 @@ int Receiver::readCdcData(uint8_t (*character)[50]) {
return -1; return -1;
} }
/* PRINT WHAT IS RECEIVED #if 0 // PRINT WHAT IS RECEIVED
for(int i = 0; i<50; i++)
{ for(int i = 0; i<CDC_FRAME_SIZE; i++)
printHex((*character)[i]); {
//std::cout << unsigned(character[i]); printHex((*character)[i]);
std::cout << " "; //std::cout << unsigned(character[i]);
} std::cout << " ";
std::cout << std::endl << std::endl; }
*/ std::cout << std::endl << std::endl;
#endif
return 0; return 0;
} }
int Receiver::simulateRead(unsigned char (*character)[50]){ int Receiver::simulateRead(unsigned char (*character)[CDC_FRAME_SIZE]){
memset(*character, 0x00, 50); memset(*character, 0x00, CDC_FRAME_SIZE);
int firstLen = (int)t1.size(); int firstLen = (int)t1.size();
int secondLen = (int)t2.size(); int secondLen = (int)t2.size();
@ -93,7 +96,7 @@ int Receiver::simulateRead(unsigned char (*character)[50]){
vecId = 2; vecId = 2;
} }
for(int i=0; i<50; i++){ for(int i=0; i<CDC_FRAME_SIZE; i++){
if(vecId == 1){ if(vecId == 1){
if(simulateIdx > firstLen){ if(simulateIdx > firstLen){
(*character)[i] = 0x00; (*character)[i] = 0x00;
@ -118,7 +121,7 @@ int Receiver::simulateRead(unsigned char (*character)[50]){
} }
int Receiver::fillBuffer(){ int Receiver::fillBuffer(){
unsigned char character[50]; unsigned char character[CDC_FRAME_SIZE];
std::vector<uint8_t> tempVec{}; std::vector<uint8_t> tempVec{};
Receiver::readCdcData(&character); Receiver::readCdcData(&character);
@ -183,6 +186,7 @@ void Receiver::bufferToDisplay(){
currentBufferIndexMutex.lock(); currentBufferIndexMutex.lock();
int buffIdx = currentBufferIndex; int buffIdx = currentBufferIndex;
currentBufferIndexMutex.unlock(); currentBufferIndexMutex.unlock();
std::cout << buffIdx << std::endl;
switch(buffIdx){ switch(buffIdx){
case 0: case 0:
dis->vectorToTexture(&buffer1); dis->vectorToTexture(&buffer1);
@ -205,15 +209,15 @@ void Receiver::initTextures(){
dis->vectorToTexture(&buffer_initial); dis->vectorToTexture(&buffer_initial);
} }
int Receiver::findSequence(unsigned char (*str)[50], unsigned char ch1, unsigned char ch2){ int Receiver::findSequence(unsigned char (*str)[CDC_FRAME_SIZE], unsigned char ch1, unsigned char ch2){
if(sequenceEndedFF){ if(sequenceEndedFF){
sequenceEndedFF = 0; sequenceEndedFF = 0;
if((*str)[0] == ch2){ if((*str)[0] == ch2){
return 0; return 0;
} }
} }
for(int i=0; i<50; i++){ for(int i=0; i<CDC_FRAME_SIZE; i++){
if((*str)[i] == ch1 && i < 50){ if((*str)[i] == ch1 && i < CDC_FRAME_SIZE){
if((*str)[i+1] == ch2){ if((*str)[i+1] == ch2){
return i; return i;
} }
@ -225,12 +229,12 @@ int Receiver::findSequence(unsigned char (*str)[50], unsigned char ch1, unsigned
return -1; return -1;
} }
int Receiver::findStart(unsigned char (*str)[50]){ int Receiver::findStart(unsigned char (*str)[CDC_FRAME_SIZE]){
int res = findSequence(str, 0xFF, 0xD8); int res = findSequence(str, 0xFF, 0xD8);
return res; return res;
} }
int Receiver::findEnd(unsigned char (*str)[50]){ int Receiver::findEnd(unsigned char (*str)[CDC_FRAME_SIZE]){
int res = findSequence(str, 0xFF, 0xD9); int res = findSequence(str, 0xFF, 0xD9);
return res; return res;
} }

10
Receiver/Receiver.hpp
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@ -57,7 +57,7 @@ class Receiver{
Receiver(Displayer *displayerPtr); Receiver(Displayer *displayerPtr);
void openStream(); void openStream();
int initSerial(); int initSerial();
int readCdcData(unsigned char (*character)[50]); int readCdcData(unsigned char (*character)[CDC_FRAME_SIZE]);
void printHex(unsigned char value); void printHex(unsigned char value);
int fillBuffer(); int fillBuffer();
@ -65,9 +65,9 @@ class Receiver{
void bufferToDisplay(); void bufferToDisplay();
void initTextures(); void initTextures();
int findSequence(unsigned char (*str)[50], unsigned char ch1, unsigned char ch2); int findSequence(unsigned char (*str)[CDC_FRAME_SIZE], unsigned char ch1, unsigned char ch2);
int findStart(unsigned char (*str)[50]); int findStart(unsigned char (*str)[CDC_FRAME_SIZE]);
int findEnd(unsigned char (*str)[50]); int findEnd(unsigned char (*str)[CDC_FRAME_SIZE]);
int simulateRead(unsigned char (*character)[50]); int simulateRead(unsigned char (*character)[CDC_FRAME_SIZE]);
}; };

6
Receiver/main.cpp
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@ -12,7 +12,7 @@ void readLoop(Receiver ** receiverPtr){
(*receiverPtr)->initSerial(); (*receiverPtr)->initSerial();
while (true) { while (true) {
unsigned char character[50]; unsigned char character[CDC_FRAME_SIZE];
(*receiverPtr)->readCdcData(&character); (*receiverPtr)->readCdcData(&character);
if((*receiverPtr)->findStart(&character) != -1) if((*receiverPtr)->findStart(&character) != -1)
{std::cout << "start" << std::endl;} {std::cout << "start" << std::endl;}
@ -21,7 +21,7 @@ void readLoop(Receiver ** receiverPtr){
else{ else{
std::cout << "-"; std::cout << "-";
} }
std::this_thread::sleep_for(std::chrono::milliseconds(5)); std::this_thread::sleep_for(std::chrono::milliseconds(3));
} }
close(cdcFile); close(cdcFile);
@ -36,7 +36,7 @@ void receiverLoop(Receiver ** receiverPtr){
while(1){ while(1){
(*receiverPtr)->fillBuffer(); (*receiverPtr)->fillBuffer();
(*receiverPtr)->bufferToDisplay(); (*receiverPtr)->bufferToDisplay();
std::this_thread::sleep_for(std::chrono::milliseconds(5)); std::this_thread::sleep_for(std::chrono::milliseconds(3));
} }
} }

4
Receiver/main.hpp
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@ -13,4 +13,6 @@
#include <thread> #include <thread>
#include <chrono> #include <chrono>
#include <mutex> #include <mutex>
#include <fstream> #include <fstream>
#define CDC_FRAME_SIZE 50
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