Merge branch 'main' of github.com:arduino/ArduinoCore-mbed

Author: facchinm

.github/workflows/compile-examples.yml

@@ -76,7 +76,8 @@ jobs:
               - libraries/doom
               - libraries/KernelDebug
               - libraries/MCUboot
-              - libraries/Camera/examples
+              - libraries/Camera/examples/CameraCaptureRawBytes
+              - libraries/Camera/examples/CameraMotionDetect
               - libraries/Portenta_lvgl/examples/Portenta_lvgl
               - libraries/Portenta_SDCARD
               - libraries/Portenta_SDRAM
@@ -115,6 +116,7 @@ jobs:
             additional-sketch-paths: |
               - libraries/PDM
               - libraries/Camera/examples/CameraCaptureRawBytes
+              - libraries/Camera/examples/CameraCaptureZoomPan
               - libraries/SE05X
               - libraries/STM32H747_System
               - libraries/ThreadDebug

libraries/Camera/examples/CameraCaptureRawBytes/CameraCaptureRawBytes.ino

@@ -6,8 +6,14 @@
   Camera cam(galaxyCore);
   #define IMAGE_MODE CAMERA_RGB565
 #elif defined(ARDUINO_PORTENTA_H7_M7)
+  // uncomment the correct camera in use
   #include "hm0360.h"
   HM0360 himax;
+  
+  // #include "himax.h"
+  // HM01B0 himax;
+  // Camera cam(himax);
+
   Camera cam(himax);
   #define IMAGE_MODE CAMERA_GRAYSCALE
 #elif defined(ARDUINO_GIGA)
@@ -60,7 +66,7 @@ void setup() {
 
 void loop() {
   if(!Serial) {    
-    Serial.begin(921600);
+    Serial.begin(115200);
     while(!Serial);
   }
 

libraries/Camera/examples/CameraCaptureZoomPan/CameraCaptureZoomPan.ino

@@ -0,0 +1,126 @@
+/*
+ * This example shows how to use the Nicla Vision to capture images from the camera
+ * with a zoom window and send them over the serial port.
+ * The zoom window will move from left to right and top to bottom 
+ * in the predefined steps of pixels (ZOOM_X_STEP and ZOOM_Y_STEP).
+ * 
+ * Whenever the board sends a frame over the serial port, the blue LED will blink.
+ * 
+ * Instructions:
+ * 1. Upload this sketch to Nicla Vision.
+ * 2. Open the CameraRawBytesVisualizer.pde Processing sketch and change `useGrayScale` to `false`.
+ * 3. Adjust the serial port in the Processing sketch to match the one used by Nicla Vision.
+ * 4. Run the Processing sketch.
+ * 
+ * Initial author: Sebastian Romero @sebromero
+ */
+
+#include "camera.h"
+
+#ifndef ARDUINO_NICLA_VISION
+#error "This sketch only works on Nicla Vision."
+#endif
+
+#include "gc2145.h"
+GC2145 galaxyCore;
+Camera cam(galaxyCore);
+#define IMAGE_MODE CAMERA_RGB565
+
+#define CHUNK_SIZE 512  // Size of chunks in bytes
+#define RESOLUTION CAMERA_R1600x1200 // Zoom in from the highest supported resolution
+#define ZOOM_WINDOW_RESOLUTION CAMERA_R320x240
+
+constexpr uint16_t ZOOM_WINDOW_WIDTH = 320;
+constexpr uint16_t ZOOM_WINDOW_HEIGHT = 240;
+constexpr uint16_t ZOOM_X_STEP = 100;
+constexpr uint16_t ZOOM_Y_STEP = 100;
+
+FrameBuffer frameBuffer;
+uint32_t currentZoomX = 0;
+uint32_t currentZoomY = 0;
+uint32_t maxZoomX = 0; // Will be calculated in setup()
+uint32_t maxZoomY = 0; // Will be calculated in setup()
+
+
+void blinkLED(uint32_t count = 0xFFFFFFFF)
+{
+  pinMode(LED_BUILTIN, OUTPUT);  
+  
+  while (count--) {
+    digitalWrite(LED_BUILTIN, LOW);  // turn the LED on (HIGH is the voltage level)
+    delay(50);                       // wait for a second
+    digitalWrite(LED_BUILTIN, HIGH); // turn the LED off by making the voltage LOW
+    delay(50);                       // wait for a second
+  }
+}
+
+void setup() {
+  // Init the cam QVGA, 30FPS
+  if (!cam.begin(RESOLUTION, IMAGE_MODE, 30)) {
+    blinkLED();
+  }
+
+  blinkLED(5);
+  
+  pinMode(LEDB, OUTPUT);
+  digitalWrite(LEDB, HIGH);
+
+  // Flips the image vertically
+  cam.setVerticalFlip(true);
+
+  // Mirrors the image horizontally
+  cam.setHorizontalMirror(true);
+
+  // Calculate the max zoom window position
+  maxZoomX = cam.getResolutionWidth() - ZOOM_WINDOW_WIDTH;
+  maxZoomY = cam.getResolutionHeight() - ZOOM_WINDOW_HEIGHT;
+
+  // Set the zoom window to 0,0  
+  cam.zoomTo(ZOOM_WINDOW_RESOLUTION, currentZoomX, currentZoomY);
+}
+
+void sendFrame(){
+  // Grab frame and write to serial
+  if (cam.grabFrame(frameBuffer, 3000) == 0) {    
+    byte* buffer = frameBuffer.getBuffer();
+    size_t bufferSize = cam.frameSize();
+    digitalWrite(LEDB, LOW);
+    
+    // Split buffer into chunks
+    for(size_t i = 0; i < bufferSize; i += CHUNK_SIZE) {
+      size_t chunkSize = min(bufferSize - i, CHUNK_SIZE);
+      Serial.write(buffer + i, chunkSize);
+      Serial.flush();
+      delay(1);  // Small delay to allow the receiver to process the data
+    }    
+    
+    digitalWrite(LEDB, HIGH);
+  } else {
+    blinkLED(20);
+  }
+}
+
+void loop() {
+  if(!Serial) {    
+    Serial.begin(115200);
+    while(!Serial);    
+  }
+
+  if(!Serial.available()) return;
+  byte request = Serial.read();
+
+  if(request == 1){
+    sendFrame();
+    currentZoomX += ZOOM_X_STEP;
+
+    if(currentZoomX > maxZoomX){
+      currentZoomX = 0;
+      currentZoomY += ZOOM_Y_STEP;
+      if(currentZoomY > maxZoomY){
+        currentZoomY = 0;
+      }
+    }
+    cam.zoomTo(ZOOM_WINDOW_RESOLUTION, currentZoomX, currentZoomY); 
+  }
+
+}

libraries/Camera/examples/CameraMotionDetect/CameraMotionDetect.ino

@@ -1,6 +1,12 @@
 #include "camera.h"
-#include "himax.h"
-HM01B0 himax;
+
+// uncomment the correct camera in use
+#include "hm0360.h"
+HM0360 himax;
+
+// #include "himax.h"
+// HM01B0 himax;
+
 Camera cam(himax);
 
 #ifdef ARDUINO_NICLA_VISION

libraries/Camera/extras/CameraRawBytesVisualizer/CameraRawBytesVisualizer.pde

@@ -20,7 +20,7 @@ final int cameraHeight = 240;
 final boolean useGrayScale = true;
 
 // Must match the baud rate in the Arduino sketch
-final int baudRate = 921600;
+final int baudRate = 115200;
 
 final int cameraBytesPerPixel = useGrayScale ? 1 : 2;
 final int cameraPixelCount = cameraWidth * cameraHeight;

libraries/Camera/src/camera.cpp

@@ -137,6 +137,7 @@ const uint32_t restab[CAMERA_RMAX][2] = {
     {320,   240 }, // QVGA
     {320,   320 },
     {640,   480 }, // VGA
+    {0,       0 }, // Empty entry because there's a jump in the resolution enum initializers
     {800,   600 }, // SVGA
     {1600,  1200}, // UXGA
 };
@@ -504,36 +505,120 @@ int Camera::setFrameRate(int32_t framerate)
     return -1;
 }
 
-int Camera::setResolution(int32_t resolution)
+int Camera::setResolutionWithZoom(int32_t resolution, int32_t zoom_resolution, int32_t zoom_x, int32_t zoom_y)
 {
     if (this->sensor == NULL || resolution >= CAMERA_RMAX
             || pixformat >= CAMERA_PMAX || pixformat == -1) {
         return -1;
     }
 
+    // resolution = the full resolution to set the camera to
+    // zoom_resolution = the resolution to crop to when zooming (set equal to resolution for no zoom)
+    // final_resolution = the resolution to crop to (depends on zoom or not)
+    int32_t final_resolution;
+    // Check if zooming is asked for
+    if (resolution != zoom_resolution)
+    {
+        // Can't zoom into a larger window than the original
+        if (zoom_resolution > resolution)
+        {
+            return -1;
+        }
+        final_resolution = zoom_resolution;
+    }
+    else
+    {
+        final_resolution = resolution;
+    }
+
     /*
      * @param  X0    DCMI window X offset
      * @param  Y0    DCMI window Y offset
      * @param  XSize DCMI Pixel per line
      * @param  YSize DCMI Line number
      */
     HAL_DCMI_EnableCROP(&hdcmi);
-    uint32_t bpl = restab[resolution][0];
+    uint32_t bpl = restab[final_resolution][0];
     if (pixformat == CAMERA_RGB565 ||
        (pixformat == CAMERA_GRAYSCALE && !this->sensor->getMono())) {
         // If the pixel format is Grayscale and sensor is Not monochrome,
         // the actual pixel format will be YUV (i.e 2 bytes per pixel).
         bpl *= 2;
     }
-    HAL_DCMI_ConfigCROP(&hdcmi, 0, 0, bpl - 1, restab[resolution][1] - 1);
+    HAL_DCMI_ConfigCROP(&hdcmi, 0, 0, bpl - 1, restab[final_resolution][1] - 1);
 
-    if (this->sensor->setResolution(resolution) == 0) {
-        this->resolution = resolution;
+    if (this->sensor->setResolutionWithZoom(resolution, zoom_resolution, zoom_x, zoom_y) == 0) {
+        this->resolution = final_resolution;
         return 0;
     }
     return -1;
 }
 
+int Camera::setResolution(int32_t resolution)
+{
+    // Check for resolutions that would cause out-of-bounds indexing of restab
+    // This check is here because original_resolution will be trusted in all other code
+    if ((resolution < 0) || (resolution >= CAMERA_RMAX))
+    {
+        return -1;
+    }
+    original_resolution = resolution;
+    return setResolutionWithZoom(resolution, resolution, 0, 0);
+}
+
+int Camera::zoomTo(int32_t zoom_resolution, uint32_t zoom_x, uint32_t zoom_y)
+{
+    // Check for zoom resolutions that would cause out-of-bounds indexing of restab
+    if ((zoom_resolution < 0) || (zoom_resolution >= CAMERA_RMAX))
+    {
+        return -1;
+    }
+    // Check if the zoom window goes outside the frame on the x axis
+    // Notice that this form prevents uint32_t wraparound, so don't change it
+    if (zoom_x >= (restab[this->original_resolution][0]) - (restab[zoom_resolution][0]))
+    {
+         return -1;
+    }
+    // Check if the zoom window goes outside the frame on the y axis
+    // Notice that this form prevents uint32_t wraparound, so don't change it
+    if (zoom_y >= (restab[this->original_resolution][1]) - (restab[zoom_resolution][1]))
+    {
+        return -1;
+    }
+    return setResolutionWithZoom(this->original_resolution, zoom_resolution, zoom_x, zoom_y);
+}
+
+int Camera::zoomToCenter(int32_t zoom_resolution)
+{
+    // Check for zoom resolutions that would cause out-of-bounds indexing of restab
+    if ((zoom_resolution < 0) || (zoom_resolution >= CAMERA_RMAX))
+    {
+        return -1;
+    }
+    uint32_t zoom_x = (restab[this->original_resolution][0] - restab[zoom_resolution][0]) / 2;
+    uint32_t zoom_y = (restab[this->original_resolution][1] - restab[zoom_resolution][1]) / 2;
+    return setResolutionWithZoom(this->original_resolution, zoom_resolution, zoom_x, zoom_y);
+}
+
+int Camera::setVerticalFlip(bool flip_enable)
+{
+    return (this->sensor->setVerticalFlip(flip_enable));
+}
+
+int Camera::setHorizontalMirror(bool mirror_enable)
+{
+    return (this->sensor->setHorizontalMirror(mirror_enable));
+}
+
+uint32_t Camera::getResolutionWidth()
+{
+    return (restab[this->original_resolution][0]);
+}
+uint32_t Camera::getResolutionHeight()
+{
+    return (restab[this->original_resolution][1]);
+}
+
 int Camera::setPixelFormat(int32_t pixformat)
 {
     if (this->sensor == NULL || pixformat >= CAMERA_PMAX) {