diff --git a/server/src/Peripherals/CameraClient.cs b/server/src/Peripherals/CameraClient.cs
index 3bf0ffb..e1f84d7 100644
--- a/server/src/Peripherals/CameraClient.cs
+++ b/server/src/Peripherals/CameraClient.cs
@@ -5,8 +5,11 @@ namespace Peripherals.CameraClient;
static class CameraAddr
{
- public const UInt32 Base = 0x0000_0000;
- public const UInt32 FrameLength = 0x25800;
+ public const UInt32 BASE = 0x7000_0000;
+
+ public const UInt32 STORE_ADDR = BASE + 12;
+ public const UInt32 STORE_NUM = BASE + 13;
+ public const UInt32 CAPTURE_ON = BASE + 14;
}
class Camera
@@ -19,6 +22,295 @@ class Camera
readonly string address;
private IPEndPoint ep;
+
+ const uint CAM_I2C_ADDR = 0x78;
+ const Peripherals.I2cClient.I2cProtocol CAM_PROTO = Peripherals.I2cClient.I2cProtocol.I2c;
+ const UInt16 V_CMOS_DISP = 480;
+ const UInt16 H_CMOS_DISP = 640;
+ const UInt16 TOTAL_H_PIXEL = 2570;
+ const UInt16 TOTAL_V_PIXEL = 980;
+ const UInt32 FrameLength = V_CMOS_DISP * H_CMOS_DISP * 16 / 32;
+
+ static byte[][] data = new byte[][] {
+ // 软件复位寄存器，恢复初始值
+ new byte[] {0x30, 0x0a, 0x00}, // 0x300a = 0x00
+ new byte[] {0x30, 0x0b, 0x00}, // 0x300b = 0x00
+ new byte[] { 0x30, 0x08, 0x82 }, // 0x3008 = 0x82, Bit[7]:复位 Bit[6]:电源休眠
+ new byte[] { 0x30, 0x08, 0x02 }, // 0x3008 = 0x02, 正常工作模式
+ new byte[] { 0x31, 0x03, 0x02 }, // 0x3103 = 0x02, Bit[1]:1 PLL Clock
+
+ // 引脚输入/输出控制
+ new byte[] { 0x30, 0x17, 0xff }, // 0x3017 = 0xff, FREX/VSYNC/HREF/PCLK/D[9:6]
+ new byte[] { 0x30, 0x18, 0xff }, // 0x3018 = 0xff, D[5:0]/GPIO1/GPIO0
+ new byte[] { 0x30, 0x37, 0x13 }, // 0x3037 = 0x13, PLL分频控制
+ new byte[] { 0x31, 0x08, 0x01 }, // 0x3108 = 0x01, 系统根分频器
+ new byte[] { 0x36, 0x30, 0x36 }, // 0x3630 = 0x36
+ new byte[] { 0x36, 0x31, 0x0e }, // 0x3631 = 0x0e
+ new byte[] { 0x36, 0x32, 0xe2 }, // 0x3632 = 0xe2
+ new byte[] { 0x36, 0x33, 0x12 }, // 0x3633 = 0x12
+ new byte[] { 0x36, 0x21, 0xe0 }, // 0x3621 = 0xe0
+ new byte[] { 0x37, 0x04, 0xa0 }, // 0x3704 = 0xa0
+ new byte[] { 0x37, 0x03, 0x5a }, // 0x3703 = 0x5a
+ new byte[] { 0x37, 0x15, 0x78 }, // 0x3715 = 0x78
+ new byte[] { 0x37, 0x17, 0x01 }, // 0x3717 = 0x01
+ new byte[] { 0x37, 0x0b, 0x60 }, // 0x370b = 0x60
+ new byte[] { 0x37, 0x05, 0x1a }, // 0x3705 = 0x1a
+ new byte[] { 0x39, 0x05, 0x02 }, // 0x3905 = 0x02
+ new byte[] { 0x39, 0x06, 0x10 }, // 0x3906 = 0x10
+ new byte[] { 0x39, 0x01, 0x0a }, // 0x3901 = 0x0a
+ new byte[] { 0x37, 0x31, 0x12 }, // 0x3731 = 0x12
+ new byte[] { 0x36, 0x00, 0x08 }, // 0x3600 = 0x08, VCM控制,用于自动聚焦
+ new byte[] { 0x36, 0x01, 0x33 }, // 0x3601 = 0x33, VCM控制,用于自动聚焦
+ new byte[] { 0x30, 0x2d, 0x60 }, // 0x302d = 0x60, 系统控制
+ new byte[] { 0x36, 0x20, 0x52 }, // 0x3620 = 0x52
+ new byte[] { 0x37, 0x1b, 0x20 }, // 0x371b = 0x20
+ new byte[] { 0x47, 0x1c, 0x50 }, // 0x471c = 0x50
+ new byte[] { 0x3a, 0x13, 0x43 }, // 0x3a13 = 0x43, AEC(自动曝光控制)
+ new byte[] { 0x3a, 0x18, 0x00 }, // 0x3a18 = 0x00, AEC增益上限
+ new byte[] { 0x3a, 0x19, 0xf8 }, // 0x3a19 = 0xf8, AEC增益上限
+ new byte[] { 0x36, 0x35, 0x13 }, // 0x3635 = 0x13
+ new byte[] { 0x36, 0x36, 0x03 }, // 0x3636 = 0x03
+ new byte[] { 0x36, 0x34, 0x40 }, // 0x3634 = 0x40
+ new byte[] { 0x36, 0x22, 0x01 }, // 0x3622 = 0x01
+ new byte[] { 0x3c, 0x01, 0x34 }, // 0x3c01 = 0x34
+ new byte[] { 0x3c, 0x04, 0x28 }, // 0x3c04 = 0x28
+ new byte[] { 0x3c, 0x05, 0x98 }, // 0x3c05 = 0x98
+ new byte[] { 0x3c, 0x06, 0x00 }, // 0x3c06 = 0x00, light meter 1 阈值[15:8]
+ new byte[] { 0x3c, 0x07, 0x08 }, // 0x3c07 = 0x08, light meter 1 阈值[7:0]
+ new byte[] { 0x3c, 0x08, 0x00 }, // 0x3c08 = 0x00, light meter 2 阈值[15:8]
+ new byte[] { 0x3c, 0x09, 0x1c }, // 0x3c09 = 0x1c, light meter 2 阈值[7:0]
+ new byte[] { 0x3c, 0x0a, 0x9c }, // 0x3c0a = 0x9c, sample number[15:8]
+ new byte[] { 0x3c, 0x0b, 0x40 }, // 0x3c0b = 0x40, sample number[7:0]
+ new byte[] { 0x38, 0x10, 0x00 }, // 0x3810 = 0x00, Timing Hoffset[11:8]
+ new byte[] { 0x38, 0x11, 0x10 }, // 0x3811 = 0x10, Timing Hoffset[7:0]
+ new byte[] { 0x38, 0x12, 0x00 }, // 0x3812 = 0x00, Timing Voffset[10:8]
+ new byte[] { 0x37, 0x08, 0x64 }, // 0x3708 = 0x64
+ new byte[] { 0x40, 0x01, 0x02 }, // 0x4001 = 0x02, BLC(黑电平校准)补偿起始行号
+ new byte[] { 0x40, 0x05, 0x1a }, // 0x4005 = 0x1a, BLC(黑电平校准)补偿始终更新
+ new byte[] { 0x30, 0x00, 0x00 }, // 0x3000 = 0x00, 系统块复位控制
+ new byte[] { 0x30, 0x04, 0xff }, // 0x3004 = 0xff, 时钟使能控制
+ new byte[] { 0x43, 0x00, 0x61 }, // 0x4300 = 0x61, 格式控制 RGB565
+ new byte[] { 0x50, 0x1f, 0x01 }, // 0x501f = 0x01, ISP RGB
+ new byte[] { 0x44, 0x0e, 0x00 }, // 0x440e = 0x00
+ new byte[] { 0x50, 0x00, 0xa7 }, // 0x5000 = 0xa7, ISP控制
+ new byte[] { 0x3a, 0x0f, 0x30 }, // 0x3a0f = 0x30, AEC控制;stable range in high
+ new byte[] { 0x3a, 0x10, 0x28 }, // 0x3a10 = 0x28, AEC控制;stable range in low
+ new byte[] { 0x3a, 0x1b, 0x30 }, // 0x3a1b = 0x30, AEC控制;stable range out high
+ new byte[] { 0x3a, 0x1e, 0x26 }, // 0x3a1e = 0x26, AEC控制;stable range out low
+ new byte[] { 0x3a, 0x11, 0x60 }, // 0x3a11 = 0x60, AEC控制; fast zone high
+ new byte[] { 0x3a, 0x1f, 0x14 }, // 0x3a1f = 0x14, AEC控制; fast zone low
+
+ // LENC(镜头校正)控制 0x5800~0x583d
+ new byte[] { 0x58, 0x00, 0x23 },
+ new byte[] { 0x58, 0x01, 0x14 },
+ new byte[] { 0x58, 0x02, 0x0f },
+ new byte[] { 0x58, 0x03, 0x0f },
+ new byte[] { 0x58, 0x04, 0x12 },
+ new byte[] { 0x58, 0x05, 0x26 },
+ new byte[] { 0x58, 0x06, 0x0c },
+ new byte[] { 0x58, 0x07, 0x08 },
+ new byte[] { 0x58, 0x08, 0x05 },
+ new byte[] { 0x58, 0x09, 0x05 },
+ new byte[] { 0x58, 0x0a, 0x08 },
+ new byte[] { 0x58, 0x0b, 0x0d },
+ new byte[] { 0x58, 0x0c, 0x08 },
+ new byte[] { 0x58, 0x0d, 0x03 },
+ new byte[] { 0x58, 0x0e, 0x00 },
+ new byte[] { 0x58, 0x0f, 0x00 },
+ new byte[] { 0x58, 0x10, 0x03 },
+ new byte[] { 0x58, 0x11, 0x09 },
+ new byte[] { 0x58, 0x12, 0x07 },
+ new byte[] { 0x58, 0x13, 0x03 },
+ new byte[] { 0x58, 0x14, 0x00 },
+ new byte[] { 0x58, 0x15, 0x01 },
+ new byte[] { 0x58, 0x16, 0x03 },
+ new byte[] { 0x58, 0x17, 0x08 },
+ new byte[] { 0x58, 0x18, 0x0d },
+ new byte[] { 0x58, 0x19, 0x08 },
+ new byte[] { 0x58, 0x1a, 0x05 },
+ new byte[] { 0x58, 0x1b, 0x06 },
+ new byte[] { 0x58, 0x1c, 0x08 },
+ new byte[] { 0x58, 0x1d, 0x0e },
+ new byte[] { 0x58, 0x1e, 0x29 },
+ new byte[] { 0x58, 0x1f, 0x17 },
+ new byte[] { 0x58, 0x20, 0x11 },
+ new byte[] { 0x58, 0x21, 0x11 },
+ new byte[] { 0x58, 0x22, 0x15 },
+ new byte[] { 0x58, 0x23, 0x28 },
+ new byte[] { 0x58, 0x24, 0x46 },
+ new byte[] { 0x58, 0x25, 0x26 },
+ new byte[] { 0x58, 0x26, 0x08 },
+ new byte[] { 0x58, 0x27, 0x26 },
+ new byte[] { 0x58, 0x28, 0x64 },
+ new byte[] { 0x58, 0x29, 0x26 },
+ new byte[] { 0x58, 0x2a, 0x24 },
+ new byte[] { 0x58, 0x2b, 0x22 },
+ new byte[] { 0x58, 0x2c, 0x24 },
+ new byte[] { 0x58, 0x2d, 0x24 },
+ new byte[] { 0x58, 0x2e, 0x06 },
+ new byte[] { 0x58, 0x2f, 0x22 },
+ new byte[] { 0x58, 0x30, 0x40 },
+ new byte[] { 0x58, 0x31, 0x42 },
+ new byte[] { 0x58, 0x32, 0x24 },
+ new byte[] { 0x58, 0x33, 0x26 },
+ new byte[] { 0x58, 0x34, 0x24 },
+ new byte[] { 0x58, 0x35, 0x22 },
+ new byte[] { 0x58, 0x36, 0x22 },
+ new byte[] { 0x58, 0x37, 0x26 },
+ new byte[] { 0x58, 0x38, 0x44 },
+ new byte[] { 0x58, 0x39, 0x24 },
+ new byte[] { 0x58, 0x3a, 0x26 },
+ new byte[] { 0x58, 0x3b, 0x28 },
+ new byte[] { 0x58, 0x3c, 0x42 },
+ new byte[] { 0x58, 0x3d, 0xce },
+
+ // AWB(自动白平衡控制) 0x5180~0x519e
+ new byte[] { 0x51, 0x80, 0xff },
+ new byte[] { 0x51, 0x81, 0xf2 },
+ new byte[] { 0x51, 0x82, 0x00 },
+ new byte[] { 0x51, 0x83, 0x14 },
+ new byte[] { 0x51, 0x84, 0x25 },
+ new byte[] { 0x51, 0x85, 0x24 },
+ new byte[] { 0x51, 0x86, 0x09 },
+ new byte[] { 0x51, 0x87, 0x09 },
+ new byte[] { 0x51, 0x88, 0x09 },
+ new byte[] { 0x51, 0x89, 0x75 },
+ new byte[] { 0x51, 0x8a, 0x54 },
+ new byte[] { 0x51, 0x8b, 0xe0 },
+ new byte[] { 0x51, 0x8c, 0xb2 },
+ new byte[] { 0x51, 0x8d, 0x42 },
+ new byte[] { 0x51, 0x8e, 0x3d },
+ new byte[] { 0x51, 0x8f, 0x56 },
+ new byte[] { 0x51, 0x90, 0x46 },
+ new byte[] { 0x51, 0x91, 0xf8 },
+ new byte[] { 0x51, 0x92, 0x04 },
+ new byte[] { 0x51, 0x93, 0x70 },
+ new byte[] { 0x51, 0x94, 0xf0 },
+ new byte[] { 0x51, 0x95, 0xf0 },
+ new byte[] { 0x51, 0x96, 0x03 },
+ new byte[] { 0x51, 0x97, 0x01 },
+ new byte[] { 0x51, 0x98, 0x04 },
+ new byte[] { 0x51, 0x99, 0x12 },
+ new byte[] { 0x51, 0x9a, 0x04 },
+ new byte[] { 0x51, 0x9b, 0x00 },
+ new byte[] { 0x51, 0x9c, 0x06 },
+ new byte[] { 0x51, 0x9d, 0x82 },
+ new byte[] { 0x51, 0x9e, 0x38 },
+
+ // Gamma(伽马)控制 0x5480~0x5490
+ new byte[] { 0x54, 0x80, 0x01 },
+ new byte[] { 0x54, 0x81, 0x08 },
+ new byte[] { 0x54, 0x82, 0x14 },
+ new byte[] { 0x54, 0x83, 0x28 },
+ new byte[] { 0x54, 0x84, 0x51 },
+ new byte[] { 0x54, 0x85, 0x65 },
+ new byte[] { 0x54, 0x86, 0x71 },
+ new byte[] { 0x54, 0x87, 0x7d },
+ new byte[] { 0x54, 0x88, 0x87 },
+ new byte[] { 0x54, 0x89, 0x91 },
+ new byte[] { 0x54, 0x8a, 0x9a },
+ new byte[] { 0x54, 0x8b, 0xaa },
+ new byte[] { 0x54, 0x8c, 0xb8 },
+ new byte[] { 0x54, 0x8d, 0xcd },
+ new byte[] { 0x54, 0x8e, 0xdd },
+ new byte[] { 0x54, 0x8f, 0xea },
+ new byte[] { 0x54, 0x90, 0x1d },
+
+ // CMX(彩色矩阵控制) 0x5381~0x538b
+ new byte[] { 0x53, 0x81, 0x1e },
+ new byte[] { 0x53, 0x82, 0x5b },
+ new byte[] { 0x53, 0x83, 0x08 },
+ new byte[] { 0x53, 0x84, 0x0a },
+ new byte[] { 0x53, 0x85, 0x7e },
+ new byte[] { 0x53, 0x86, 0x88 },
+ new byte[] { 0x53, 0x87, 0x7c },
+ new byte[] { 0x53, 0x88, 0x6c },
+ new byte[] { 0x53, 0x89, 0x10 },
+ new byte[] { 0x53, 0x8a, 0x01 },
+ new byte[] { 0x53, 0x8b, 0x98 },
+
+ // SDE(特殊数码效果)控制 0x5580~0x558b
+ new byte[] { 0x55, 0x80, 0x06 },
+ new byte[] { 0x55, 0x83, 0x40 },
+ new byte[] { 0x55, 0x84, 0x10 },
+ new byte[] { 0x55, 0x89, 0x10 },
+ new byte[] { 0x55, 0x8a, 0x00 },
+ new byte[] { 0x55, 0x8b, 0xf8 },
+
+ new byte[] { 0x50, 0x1d, 0x40 }, //ISP MISC
+
+ // CIP(颜色插值)控制 0x5300~0x530c
+ new byte[] { 0x53, 0x00, 0x08 },
+ new byte[] { 0x53, 0x01, 0x30 },
+ new byte[] { 0x53, 0x02, 0x10 },
+ new byte[] { 0x53, 0x03, 0x00 },
+ new byte[] { 0x53, 0x04, 0x08 },
+ new byte[] { 0x53, 0x05, 0x30 },
+ new byte[] { 0x53, 0x06, 0x08 },
+ new byte[] { 0x53, 0x07, 0x16 },
+ new byte[] { 0x53, 0x09, 0x08 },
+ new byte[] { 0x53, 0x0a, 0x30 },
+ new byte[] { 0x53, 0x0b, 0x04 },
+ new byte[] { 0x53, 0x0c, 0x06 },
+ new byte[] { 0x50, 0x25, 0x00 },
+
+ new byte[] { 0x30, 0x35, 0x11 }, // 0x3035 = 0x11, 系统时钟分频 input clock =24Mhz, PCLK = 48Mhz
+ new byte[] { 0x30, 0x36, 0x3c }, // 0x3036 = 0x3c, PLL倍频
+ new byte[] { 0x3c, 0x07, 0x08 }, // 0x3c07 = 0x08
+
+ // 时序控制 0x3800~0x3821
+ new byte[] { 0x38, 0x20, 0x46 }, // 0x3820 = 0x46
+ new byte[] { 0x38, 0x21, 0x01 }, // 0x3821 = 0x01
+ new byte[] { 0x38, 0x14, 0x31 }, // 0x3814 = 0x31
+ new byte[] { 0x38, 0x15, 0x31 }, // 0x3815 = 0x31
+ new byte[] { 0x38, 0x00, 0x00 }, // 0x3800 = 0x00
+ new byte[] { 0x38, 0x01, 0x00 }, // 0x3801 = 0x00
+ new byte[] { 0x38, 0x02, 0x00 }, // 0x3802 = 0x00
+ new byte[] { 0x38, 0x03, 0x04 }, // 0x3803 = 0x04
+ new byte[] { 0x38, 0x04, 0x0a }, // 0x3804 = 0x0a
+ new byte[] { 0x38, 0x05, 0x3f }, // 0x3805 = 0x3f
+ new byte[] { 0x38, 0x06, 0x07 }, // 0x3806 = 0x07
+ new byte[] { 0x38, 0x07, 0x9b }, // 0x3807 = 0x9b
+
+ // 设置输出像素个数
+ new byte[] { 0x38, 0x08, unchecked((byte)((H_CMOS_DISP >> 8) & 0x0F)) }, // 0x3808, DVP输出水平像素点数高4位
+ new byte[] { 0x38, 0x09, unchecked((byte)(H_CMOS_DISP & 0xFF)) }, // 0x3809, DVP输出水平像素点数低8位
+ new byte[] { 0x38, 0x0A, unchecked((byte)((V_CMOS_DISP >> 8) & 0x07)) }, // 0x380a, DVP输出垂直像素点数高3位
+ new byte[] { 0x38, 0x0B, unchecked((byte)(V_CMOS_DISP & 0xFF)) }, // 0x380b, DVP输出垂直像素点数低8位
+ new byte[] { 0x38, 0x0C, unchecked((byte)((TOTAL_H_PIXEL >> 8) & 0x1F)) }, // 0x380c, 水平总像素大小高5位
+ new byte[] { 0x38, 0x0D, unchecked((byte)(TOTAL_H_PIXEL & 0xFF)) }, // 0x380d, 水平总像素大小低8位
+ new byte[] { 0x38, 0x0E, unchecked((byte)((TOTAL_V_PIXEL >> 8) & 0x1F)) }, // 0x380e, 垂直总像素大小高5位
+ new byte[] { 0x38, 0x0F, unchecked((byte)(TOTAL_V_PIXEL & 0xFF)) }, // 0x380f, 垂直总像素大小低8位
+
+ new byte[] { 0x38, 0x13, 0x06 }, // 0x3813 = 0x06
+ new byte[] { 0x36, 0x18, 0x00 }, // 0x3618 = 0x00
+ new byte[] { 0x36, 0x12, 0x29 }, // 0x3612 = 0x29
+ new byte[] { 0x37, 0x09, 0x52 }, // 0x3709 = 0x52
+ new byte[] { 0x37, 0x0c, 0x03 }, // 0x370c = 0x03
+ new byte[] { 0x3a, 0x02, 0x17 }, // 0x3a02 = 0x17, 60Hz max exposure
+ new byte[] { 0x3a, 0x03, 0x10 }, // 0x3a03 = 0x10, 60Hz max exposure
+ new byte[] { 0x3a, 0x14, 0x17 }, // 0x3a14 = 0x17, 50Hz max exposure
+ new byte[] { 0x3a, 0x15, 0x10 }, // 0x3a15 = 0x10, 50Hz max exposure
+ new byte[] { 0x40, 0x04, 0x02 }, // 0x4004 = 0x02, BLC(背光) 2 lines
+ new byte[] { 0x47, 0x13, 0x03 }, // 0x4713 = 0x03, JPEG mode 3
+ new byte[] { 0x44, 0x07, 0x04 }, // 0x4407 = 0x04, 量化标度
+ new byte[] { 0x46, 0x0c, 0x22 }, // 0x460c = 0x22
+ new byte[] { 0x48, 0x37, 0x22 }, // 0x4837 = 0x22, DVP CLK divider
+ new byte[] { 0x38, 0x24, 0x02 }, // 0x3824 = 0x02, DVP CLK divider
+ new byte[] { 0x50, 0x01, 0xa3 }, // 0x5001 = 0xa3, ISP控制
+ new byte[] { 0x3b, 0x07, 0x0a }, // 0x3b07 = 0x0a, 帧曝光模式
+
+ // 彩条测试使能
+ new byte[] { 0x50, 0x3d, 0x00 }, // 0x503d = 0x00, 0x00:正常模式 0x80:彩条显示
+
+ // 测试闪光灯功能
+ new byte[] { 0x30, 0x16, 0x02 }, // 0x3016 = 0x02
+ new byte[] { 0x30, 0x1c, 0x02 }, // 0x301c = 0x02
+ new byte[] { 0x30, 0x19, 0x02 }, // 0x3019 = 0x02, 打开闪光灯
+ new byte[] { 0x30, 0x19, 0x00 }, // 0x3019 = 0x00, 关闭闪光灯
+ };
+
+
///
/// 初始化摄像头客户端
///
@@ -37,305 +329,63 @@ class Camera
public async ValueTask> Init()
{
+ {
+ var ret = await UDPClientPool.WriteAddr(this.ep, 2, CameraAddr.STORE_ADDR, 0x00);
+ if (!ret.IsSuccessful)
+ {
+ logger.Error($"Failed to write STORE_ADDR to camera at {this.address}:{this.port}, error: {ret.Error}");
+ return new(ret.Error);
+ }
+ if (!ret.Value)
+ {
+ logger.Error($"STORE_ADDR write returned false for camera at {this.address}:{this.port}");
+ return new(new Exception($"STORE_ADDR write returned false for camera at {this.address}:{this.port}"));
+ }
+ }
+
+ {
+ var ret = await UDPClientPool.WriteAddr(this.ep, 2, CameraAddr.STORE_NUM, FrameLength);
+ if (!ret.IsSuccessful)
+ {
+ logger.Error($"Failed to write STORE_NUM to camera at {this.address}:{this.port}, error: {ret.Error}");
+ return new(ret.Error);
+ }
+ if (!ret.Value)
+ {
+ logger.Error($"STORE_NUM write returned false for camera at {this.address}:{this.port}");
+ return new(new Exception($"STORE_NUM write returned false for camera at {this.address}:{this.port}"));
+ }
+ }
+
+ {
+ var ret = await UDPClientPool.WriteAddr(this.ep, 2, CameraAddr.CAPTURE_ON, 0x01);
+ if (!ret.IsSuccessful)
+ {
+ logger.Error($"Failed to write CAPTURE_ON to camera at {this.address}:{this.port}, error: {ret.Error}");
+ return new(ret.Error);
+ }
+ if (!ret.Value)
+ {
+ logger.Error($"CAPTURE_ON write returned false for camera at {this.address}:{this.port}");
+ return new(new Exception($"CAPTURE_ON write returned false for camera at {this.address}:{this.port}"));
+ }
+ }
+
var i2c = new Peripherals.I2cClient.I2c(this.address, this.port, this.timeout);
- const uint devAddr = 0x78;
- const Peripherals.I2cClient.I2cProtocol proto = Peripherals.I2cClient.I2cProtocol.I2c;
- const UInt16 V_CMOS_DISP = 480;
- const UInt16 H_CMOS_DISP = 640;
- const UInt16 TOTAL_H_PIXEL = 2570;
- const UInt16 TOTAL_V_PIXEL = 980;
- var data = new byte[][] {
- // 软件复位寄存器，恢复初始值
- new byte[] {0x30, 0x0a, 0x00}, // 0x300a = 0x00
- new byte[] {0x30, 0x0b, 0x00}, // 0x300b = 0x00
- new byte[] {0x30, 0x08, 0x82}, // 0x3008 = 0x82, Bit[7]:复位 Bit[6]:电源休眠
- new byte[] {0x30, 0x08, 0x02}, // 0x3008 = 0x02, 正常工作模式
- new byte[] {0x31, 0x03, 0x02}, // 0x3103 = 0x02, Bit[1]:1 PLL Clock
-
- // 引脚输入/输出控制
- new byte[] {0x30, 0x17, 0xff}, // 0x3017 = 0xff, FREX/VSYNC/HREF/PCLK/D[9:6]
- new byte[] {0x30, 0x18, 0xff}, // 0x3018 = 0xff, D[5:0]/GPIO1/GPIO0
- new byte[] {0x30, 0x37, 0x13}, // 0x3037 = 0x13, PLL分频控制
- new byte[] {0x31, 0x08, 0x01}, // 0x3108 = 0x01, 系统根分频器
- new byte[] {0x36, 0x30, 0x36}, // 0x3630 = 0x36
- new byte[] {0x36, 0x31, 0x0e}, // 0x3631 = 0x0e
- new byte[] {0x36, 0x32, 0xe2}, // 0x3632 = 0xe2
- new byte[] {0x36, 0x33, 0x12}, // 0x3633 = 0x12
- new byte[] {0x36, 0x21, 0xe0}, // 0x3621 = 0xe0
- new byte[] {0x37, 0x04, 0xa0}, // 0x3704 = 0xa0
- new byte[] {0x37, 0x03, 0x5a}, // 0x3703 = 0x5a
- new byte[] {0x37, 0x15, 0x78}, // 0x3715 = 0x78
- new byte[] {0x37, 0x17, 0x01}, // 0x3717 = 0x01
- new byte[] {0x37, 0x0b, 0x60}, // 0x370b = 0x60
- new byte[] {0x37, 0x05, 0x1a}, // 0x3705 = 0x1a
- new byte[] {0x39, 0x05, 0x02}, // 0x3905 = 0x02
- new byte[] {0x39, 0x06, 0x10}, // 0x3906 = 0x10
- new byte[] {0x39, 0x01, 0x0a}, // 0x3901 = 0x0a
- new byte[] {0x37, 0x31, 0x12}, // 0x3731 = 0x12
- new byte[] {0x36, 0x00, 0x08}, // 0x3600 = 0x08, VCM控制,用于自动聚焦
- new byte[] {0x36, 0x01, 0x33}, // 0x3601 = 0x33, VCM控制,用于自动聚焦
- new byte[] {0x30, 0x2d, 0x60}, // 0x302d = 0x60, 系统控制
- new byte[] {0x36, 0x20, 0x52}, // 0x3620 = 0x52
- new byte[] {0x37, 0x1b, 0x20}, // 0x371b = 0x20
- new byte[] {0x47, 0x1c, 0x50}, // 0x471c = 0x50
- new byte[] {0x3a, 0x13, 0x43}, // 0x3a13 = 0x43, AEC(自动曝光控制)
- new byte[] {0x3a, 0x18, 0x00}, // 0x3a18 = 0x00, AEC增益上限
- new byte[] {0x3a, 0x19, 0xf8}, // 0x3a19 = 0xf8, AEC增益上限
- new byte[] {0x36, 0x35, 0x13}, // 0x3635 = 0x13
- new byte[] {0x36, 0x36, 0x03}, // 0x3636 = 0x03
- new byte[] {0x36, 0x34, 0x40}, // 0x3634 = 0x40
- new byte[] {0x36, 0x22, 0x01}, // 0x3622 = 0x01
- new byte[] {0x3c, 0x01, 0x34}, // 0x3c01 = 0x34
- new byte[] {0x3c, 0x04, 0x28}, // 0x3c04 = 0x28
- new byte[] {0x3c, 0x05, 0x98}, // 0x3c05 = 0x98
- new byte[] {0x3c, 0x06, 0x00}, // 0x3c06 = 0x00, light meter 1 阈值[15:8]
- new byte[] {0x3c, 0x07, 0x08}, // 0x3c07 = 0x08, light meter 1 阈值[7:0]
- new byte[] {0x3c, 0x08, 0x00}, // 0x3c08 = 0x00, light meter 2 阈值[15:8]
- new byte[] {0x3c, 0x09, 0x1c}, // 0x3c09 = 0x1c, light meter 2 阈值[7:0]
- new byte[] {0x3c, 0x0a, 0x9c}, // 0x3c0a = 0x9c, sample number[15:8]
- new byte[] {0x3c, 0x0b, 0x40}, // 0x3c0b = 0x40, sample number[7:0]
- new byte[] {0x38, 0x10, 0x00}, // 0x3810 = 0x00, Timing Hoffset[11:8]
- new byte[] {0x38, 0x11, 0x10}, // 0x3811 = 0x10, Timing Hoffset[7:0]
- new byte[] {0x38, 0x12, 0x00}, // 0x3812 = 0x00, Timing Voffset[10:8]
- new byte[] {0x37, 0x08, 0x64}, // 0x3708 = 0x64
- new byte[] {0x40, 0x01, 0x02}, // 0x4001 = 0x02, BLC(黑电平校准)补偿起始行号
- new byte[] {0x40, 0x05, 0x1a}, // 0x4005 = 0x1a, BLC(黑电平校准)补偿始终更新
- new byte[] {0x30, 0x00, 0x00}, // 0x3000 = 0x00, 系统块复位控制
- new byte[] {0x30, 0x04, 0xff}, // 0x3004 = 0xff, 时钟使能控制
- new byte[] {0x43, 0x00, 0x61}, // 0x4300 = 0x61, 格式控制 RGB565
- new byte[] {0x50, 0x1f, 0x01}, // 0x501f = 0x01, ISP RGB
- new byte[] {0x44, 0x0e, 0x00}, // 0x440e = 0x00
- new byte[] {0x50, 0x00, 0xa7}, // 0x5000 = 0xa7, ISP控制
- new byte[] {0x3a, 0x0f, 0x30}, // 0x3a0f = 0x30, AEC控制;stable range in high
- new byte[] {0x3a, 0x10, 0x28}, // 0x3a10 = 0x28, AEC控制;stable range in low
- new byte[] {0x3a, 0x1b, 0x30}, // 0x3a1b = 0x30, AEC控制;stable range out high
- new byte[] {0x3a, 0x1e, 0x26}, // 0x3a1e = 0x26, AEC控制;stable range out low
- new byte[] {0x3a, 0x11, 0x60}, // 0x3a11 = 0x60, AEC控制; fast zone high
- new byte[] {0x3a, 0x1f, 0x14}, // 0x3a1f = 0x14, AEC控制; fast zone low
-
- // LENC(镜头校正)控制 0x5800~0x583d
- new byte[] {0x58, 0x00, 0x23},
- new byte[] {0x58, 0x01, 0x14},
- new byte[] {0x58, 0x02, 0x0f},
- new byte[] {0x58, 0x03, 0x0f},
- new byte[] {0x58, 0x04, 0x12},
- new byte[] {0x58, 0x05, 0x26},
- new byte[] {0x58, 0x06, 0x0c},
- new byte[] {0x58, 0x07, 0x08},
- new byte[] {0x58, 0x08, 0x05},
- new byte[] {0x58, 0x09, 0x05},
- new byte[] {0x58, 0x0a, 0x08},
- new byte[] {0x58, 0x0b, 0x0d},
- new byte[] {0x58, 0x0c, 0x08},
- new byte[] {0x58, 0x0d, 0x03},
- new byte[] {0x58, 0x0e, 0x00},
- new byte[] {0x58, 0x0f, 0x00},
- new byte[] {0x58, 0x10, 0x03},
- new byte[] {0x58, 0x11, 0x09},
- new byte[] {0x58, 0x12, 0x07},
- new byte[] {0x58, 0x13, 0x03},
- new byte[] {0x58, 0x14, 0x00},
- new byte[] {0x58, 0x15, 0x01},
- new byte[] {0x58, 0x16, 0x03},
- new byte[] {0x58, 0x17, 0x08},
- new byte[] {0x58, 0x18, 0x0d},
- new byte[] {0x58, 0x19, 0x08},
- new byte[] {0x58, 0x1a, 0x05},
- new byte[] {0x58, 0x1b, 0x06},
- new byte[] {0x58, 0x1c, 0x08},
- new byte[] {0x58, 0x1d, 0x0e},
- new byte[] {0x58, 0x1e, 0x29},
- new byte[] {0x58, 0x1f, 0x17},
- new byte[] {0x58, 0x20, 0x11},
- new byte[] {0x58, 0x21, 0x11},
- new byte[] {0x58, 0x22, 0x15},
- new byte[] {0x58, 0x23, 0x28},
- new byte[] {0x58, 0x24, 0x46},
- new byte[] {0x58, 0x25, 0x26},
- new byte[] {0x58, 0x26, 0x08},
- new byte[] {0x58, 0x27, 0x26},
- new byte[] {0x58, 0x28, 0x64},
- new byte[] {0x58, 0x29, 0x26},
- new byte[] {0x58, 0x2a, 0x24},
- new byte[] {0x58, 0x2b, 0x22},
- new byte[] {0x58, 0x2c, 0x24},
- new byte[] {0x58, 0x2d, 0x24},
- new byte[] {0x58, 0x2e, 0x06},
- new byte[] {0x58, 0x2f, 0x22},
- new byte[] {0x58, 0x30, 0x40},
- new byte[] {0x58, 0x31, 0x42},
- new byte[] {0x58, 0x32, 0x24},
- new byte[] {0x58, 0x33, 0x26},
- new byte[] {0x58, 0x34, 0x24},
- new byte[] {0x58, 0x35, 0x22},
- new byte[] {0x58, 0x36, 0x22},
- new byte[] {0x58, 0x37, 0x26},
- new byte[] {0x58, 0x38, 0x44},
- new byte[] {0x58, 0x39, 0x24},
- new byte[] {0x58, 0x3a, 0x26},
- new byte[] {0x58, 0x3b, 0x28},
- new byte[] {0x58, 0x3c, 0x42},
- new byte[] {0x58, 0x3d, 0xce},
-
- // AWB(自动白平衡控制) 0x5180~0x519e
- new byte[] {0x51, 0x80, 0xff},
- new byte[] {0x51, 0x81, 0xf2},
- new byte[] {0x51, 0x82, 0x00},
- new byte[] {0x51, 0x83, 0x14},
- new byte[] {0x51, 0x84, 0x25},
- new byte[] {0x51, 0x85, 0x24},
- new byte[] {0x51, 0x86, 0x09},
- new byte[] {0x51, 0x87, 0x09},
- new byte[] {0x51, 0x88, 0x09},
- new byte[] {0x51, 0x89, 0x75},
- new byte[] {0x51, 0x8a, 0x54},
- new byte[] {0x51, 0x8b, 0xe0},
- new byte[] {0x51, 0x8c, 0xb2},
- new byte[] {0x51, 0x8d, 0x42},
- new byte[] {0x51, 0x8e, 0x3d},
- new byte[] {0x51, 0x8f, 0x56},
- new byte[] {0x51, 0x90, 0x46},
- new byte[] {0x51, 0x91, 0xf8},
- new byte[] {0x51, 0x92, 0x04},
- new byte[] {0x51, 0x93, 0x70},
- new byte[] {0x51, 0x94, 0xf0},
- new byte[] {0x51, 0x95, 0xf0},
- new byte[] {0x51, 0x96, 0x03},
- new byte[] {0x51, 0x97, 0x01},
- new byte[] {0x51, 0x98, 0x04},
- new byte[] {0x51, 0x99, 0x12},
- new byte[] {0x51, 0x9a, 0x04},
- new byte[] {0x51, 0x9b, 0x00},
- new byte[] {0x51, 0x9c, 0x06},
- new byte[] {0x51, 0x9d, 0x82},
- new byte[] {0x51, 0x9e, 0x38},
-
- // Gamma(伽马)控制 0x5480~0x5490
- new byte[] {0x54, 0x80, 0x01},
- new byte[] {0x54, 0x81, 0x08},
- new byte[] {0x54, 0x82, 0x14},
- new byte[] {0x54, 0x83, 0x28},
- new byte[] {0x54, 0x84, 0x51},
- new byte[] {0x54, 0x85, 0x65},
- new byte[] {0x54, 0x86, 0x71},
- new byte[] {0x54, 0x87, 0x7d},
- new byte[] {0x54, 0x88, 0x87},
- new byte[] {0x54, 0x89, 0x91},
- new byte[] {0x54, 0x8a, 0x9a},
- new byte[] {0x54, 0x8b, 0xaa},
- new byte[] {0x54, 0x8c, 0xb8},
- new byte[] {0x54, 0x8d, 0xcd},
- new byte[] {0x54, 0x8e, 0xdd},
- new byte[] {0x54, 0x8f, 0xea},
- new byte[] {0x54, 0x90, 0x1d},
-
- // CMX(彩色矩阵控制) 0x5381~0x538b
- new byte[] {0x53, 0x81, 0x1e},
- new byte[] {0x53, 0x82, 0x5b},
- new byte[] {0x53, 0x83, 0x08},
- new byte[] {0x53, 0x84, 0x0a},
- new byte[] {0x53, 0x85, 0x7e},
- new byte[] {0x53, 0x86, 0x88},
- new byte[] {0x53, 0x87, 0x7c},
- new byte[] {0x53, 0x88, 0x6c},
- new byte[] {0x53, 0x89, 0x10},
- new byte[] {0x53, 0x8a, 0x01},
- new byte[] {0x53, 0x8b, 0x98},
-
- // SDE(特殊数码效果)控制 0x5580~0x558b
- new byte[] {0x55, 0x80, 0x06},
- new byte[] {0x55, 0x83, 0x40},
- new byte[] {0x55, 0x84, 0x10},
- new byte[] {0x55, 0x89, 0x10},
- new byte[] {0x55, 0x8a, 0x00},
- new byte[] {0x55, 0x8b, 0xf8},
-
- new byte[] {0x50, 0x1d, 0x40}, //ISP MISC
-
- // CIP(颜色插值)控制 0x5300~0x530c
- new byte[] {0x53, 0x00, 0x08},
- new byte[] {0x53, 0x01, 0x30},
- new byte[] {0x53, 0x02, 0x10},
- new byte[] {0x53, 0x03, 0x00},
- new byte[] {0x53, 0x04, 0x08},
- new byte[] {0x53, 0x05, 0x30},
- new byte[] {0x53, 0x06, 0x08},
- new byte[] {0x53, 0x07, 0x16},
- new byte[] {0x53, 0x09, 0x08},
- new byte[] {0x53, 0x0a, 0x30},
- new byte[] {0x53, 0x0b, 0x04},
- new byte[] {0x53, 0x0c, 0x06},
- new byte[] {0x50, 0x25, 0x00},
-
- new byte[] {0x30, 0x35, 0x11}, // 0x3035 = 0x11, 系统时钟分频 input clock =24Mhz, PCLK = 48Mhz
- new byte[] {0x30, 0x36, 0x3c}, // 0x3036 = 0x3c, PLL倍频
- new byte[] {0x3c, 0x07, 0x08}, // 0x3c07 = 0x08
-
- // 时序控制 0x3800~0x3821
- new byte[] {0x38, 0x20, 0x46}, // 0x3820 = 0x46
- new byte[] {0x38, 0x21, 0x01}, // 0x3821 = 0x01
- new byte[] {0x38, 0x14, 0x31}, // 0x3814 = 0x31
- new byte[] {0x38, 0x15, 0x31}, // 0x3815 = 0x31
- new byte[] {0x38, 0x00, 0x00}, // 0x3800 = 0x00
- new byte[] {0x38, 0x01, 0x00}, // 0x3801 = 0x00
- new byte[] {0x38, 0x02, 0x00}, // 0x3802 = 0x00
- new byte[] {0x38, 0x03, 0x04}, // 0x3803 = 0x04
- new byte[] {0x38, 0x04, 0x0a}, // 0x3804 = 0x0a
- new byte[] {0x38, 0x05, 0x3f}, // 0x3805 = 0x3f
- new byte[] {0x38, 0x06, 0x07}, // 0x3806 = 0x07
- new byte[] {0x38, 0x07, 0x9b}, // 0x3807 = 0x9b
-
- // 设置输出像素个数
- new byte[] {0x38, 0x08, unchecked((byte)((H_CMOS_DISP >> 8) & 0x0F))}, // 0x3808, DVP输出水平像素点数高4位
- new byte[] {0x38, 0x09, unchecked((byte)(H_CMOS_DISP & 0xFF))}, // 0x3809, DVP输出水平像素点数低8位
- new byte[] {0x38, 0x0A, unchecked((byte)((V_CMOS_DISP >> 8) & 0x07))}, // 0x380a, DVP输出垂直像素点数高3位
- new byte[] {0x38, 0x0B, unchecked((byte)(V_CMOS_DISP & 0xFF))}, // 0x380b, DVP输出垂直像素点数低8位
- new byte[] {0x38, 0x0C, unchecked((byte)((TOTAL_H_PIXEL >> 8) & 0x1F))}, // 0x380c, 水平总像素大小高5位
- new byte[] {0x38, 0x0D, unchecked((byte)(TOTAL_H_PIXEL & 0xFF))}, // 0x380d, 水平总像素大小低8位
- new byte[] {0x38, 0x0E, unchecked((byte)((TOTAL_V_PIXEL >> 8) & 0x1F))}, // 0x380e, 垂直总像素大小高5位
- new byte[] {0x38, 0x0F, unchecked((byte)(TOTAL_V_PIXEL & 0xFF))}, // 0x380f, 垂直总像素大小低8位
-
- new byte[] {0x38, 0x13, 0x06}, // 0x3813 = 0x06
- new byte[] {0x36, 0x18, 0x00}, // 0x3618 = 0x00
- new byte[] {0x36, 0x12, 0x29}, // 0x3612 = 0x29
- new byte[] {0x37, 0x09, 0x52}, // 0x3709 = 0x52
- new byte[] {0x37, 0x0c, 0x03}, // 0x370c = 0x03
- new byte[] {0x3a, 0x02, 0x17}, // 0x3a02 = 0x17, 60Hz max exposure
- new byte[] {0x3a, 0x03, 0x10}, // 0x3a03 = 0x10, 60Hz max exposure
- new byte[] {0x3a, 0x14, 0x17}, // 0x3a14 = 0x17, 50Hz max exposure
- new byte[] {0x3a, 0x15, 0x10}, // 0x3a15 = 0x10, 50Hz max exposure
- new byte[] {0x40, 0x04, 0x02}, // 0x4004 = 0x02, BLC(背光) 2 lines
- new byte[] {0x47, 0x13, 0x03}, // 0x4713 = 0x03, JPEG mode 3
- new byte[] {0x44, 0x07, 0x04}, // 0x4407 = 0x04, 量化标度
- new byte[] {0x46, 0x0c, 0x22}, // 0x460c = 0x22
- new byte[] {0x48, 0x37, 0x22}, // 0x4837 = 0x22, DVP CLK divider
- new byte[] {0x38, 0x24, 0x02}, // 0x3824 = 0x02, DVP CLK divider
- new byte[] {0x50, 0x01, 0xa3}, // 0x5001 = 0xa3, ISP控制
- new byte[] {0x3b, 0x07, 0x0a}, // 0x3b07 = 0x0a, 帧曝光模式
-
- // 彩条测试使能
- new byte[] {0x50, 0x3d, 0x00}, // 0x503d = 0x00, 0x00:正常模式 0x80:彩条显示
-
- // 测试闪光灯功能
- new byte[] {0x30, 0x16, 0x02}, // 0x3016 = 0x02
- new byte[] {0x30, 0x1c, 0x02}, // 0x301c = 0x02
- new byte[] {0x30, 0x19, 0x02}, // 0x3019 = 0x02, 打开闪光灯
- new byte[] {0x30, 0x19, 0x00}, // 0x3019 = 0x00, 关闭闪光灯
- };
foreach (var cmd in data)
{
- var ret = await i2c.WriteData(devAddr, cmd, proto);
+ var ret = await i2c.WriteData(CAM_I2C_ADDR, cmd, CAM_PROTO);
if (!ret.IsSuccessful)
{
- logger.Error($"I2C write 0x{devAddr.ToString("X")} failed: {BitConverter.ToString(cmd)} error: {ret.Error}");
+ logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} failed: {BitConverter.ToString(cmd)} error: {ret.Error}");
return new(ret.Error);
}
if (!ret.Value)
{
- logger.Error($"I2C write 0x{devAddr.ToString("X")} returned false: {BitConverter.ToString(cmd)}");
+ logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} returned false: {BitConverter.ToString(cmd)}");
return false;
}
}
@@ -358,8 +408,8 @@ class Camera
var result = await UDPClientPool.ReadAddr4Bytes(
this.ep,
2, // taskID
- CameraAddr.Base,
- (int)CameraAddr.FrameLength,
+ CameraAddr.BASE,
+ ((int)FrameLength),
this.timeout);
if (!result.IsSuccessful)