feat: 添加摄像头初始化的axi寄存器配置

server/src/Peripherals/CameraClient.cs

@@ -5,8 +5,11 @@ namespace Peripherals.CameraClient;
 
 static class CameraAddr
 {
-    public const UInt32 Base = 0x0000_0000;
+    public const UInt32 BASE = 0x7000_0000;
-    public const UInt32 FrameLength = 0x25800;
+
+    public const UInt32 STORE_ADDR = BASE + 12;
+    public const UInt32 STORE_NUM = BASE + 13;
+    public const UInt32 CAPTURE_ON = BASE + 14;
 }
 
 class Camera
@@ -19,32 +22,16 @@ class Camera
     readonly string address;
     private IPEndPoint ep;
 
-    /// <summary>
-    /// 初始化摄像头客户端
-    /// </summary>
-    /// <param name="address">摄像头设备IP地址</param>
-    /// <param name="port">摄像头设备端口</param>
-    /// <param name="timeout">超时时间（毫秒）</param>
-    public Camera(string address, int port, int timeout = 2000)
-    {
-        if (timeout < 0)
-            throw new ArgumentException("Timeout couldn't be negative", nameof(timeout));
-        this.address = address;
-        this.port = port;
-        this.ep = new IPEndPoint(IPAddress.Parse(address), port);
-        this.timeout = timeout;
-    }
 
-    public async ValueTask<Result<bool>> Init()
+    const uint CAM_I2C_ADDR = 0x78;
-    {
+    const Peripherals.I2cClient.I2cProtocol CAM_PROTO = Peripherals.I2cClient.I2cProtocol.I2c;
-        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[][] {
+    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
@@ -323,19 +310,82 @@ class Camera
         new byte[] { 0x30, 0x19, 0x00 }, // 0x3019 = 0x00, 关闭闪光灯
     };
 
+
+    /// <summary>
+    /// 初始化摄像头客户端
+    /// </summary>
+    /// <param name="address">摄像头设备IP地址</param>
+    /// <param name="port">摄像头设备端口</param>
+    /// <param name="timeout">超时时间（毫秒）</param>
+    public Camera(string address, int port, int timeout = 2000)
+    {
+        if (timeout < 0)
+            throw new ArgumentException("Timeout couldn't be negative", nameof(timeout));
+        this.address = address;
+        this.port = port;
+        this.ep = new IPEndPoint(IPAddress.Parse(address), port);
+        this.timeout = timeout;
+    }
+
+    public async ValueTask<Result<bool>> 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);
+
         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,
+            CameraAddr.BASE,
-            (int)CameraAddr.FrameLength,
+            ((int)FrameLength),
             this.timeout);
 
         if (!result.IsSuccessful)