375 lines
18 KiB
C#
375 lines
18 KiB
C#
using System.Net;
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using DotNext;
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namespace Peripherals.CameraClient;
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static class CameraAddr
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{
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public const UInt32 Base = 0x0000_0000;
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public const UInt32 FrameLength = 0x25800;
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}
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class Camera
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{
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private static readonly NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger();
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readonly int timeout = 2000;
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readonly int port;
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readonly string address;
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private IPEndPoint ep;
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/// <summary>
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/// 初始化摄像头客户端
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/// </summary>
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/// <param name="address">摄像头设备IP地址</param>
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/// <param name="port">摄像头设备端口</param>
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/// <param name="timeout">超时时间（毫秒）</param>
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public Camera(string address, int port, int timeout = 2000)
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{
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if (timeout < 0)
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throw new ArgumentException("Timeout couldn't be negative", nameof(timeout));
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this.address = address;
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this.port = port;
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this.ep = new IPEndPoint(IPAddress.Parse(address), port);
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this.timeout = timeout;
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}
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public async ValueTask<Result<bool>> Init()
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{
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var i2c = new Peripherals.I2cClient.I2c(this.address, this.port, this.timeout);
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const uint devAddr = 0x78;
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const Peripherals.I2cClient.I2cProtocol proto = Peripherals.I2cClient.I2cProtocol.I2c;
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const UInt16 V_CMOS_DISP = 480;
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const UInt16 H_CMOS_DISP = 640;
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const UInt16 TOTAL_H_PIXEL = 2570;
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const UInt16 TOTAL_V_PIXEL = 980;
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var data = new byte[][] {
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// 软件复位寄存器，恢复初始值
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new byte[] {0x30, 0x0a, 0x00}, // 0x300a = 0x00
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new byte[] {0x30, 0x0b, 0x00}, // 0x300b = 0x00
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new byte[] {0x30, 0x08, 0x82}, // 0x3008 = 0x82, Bit[7]:复位 Bit[6]:电源休眠
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new byte[] {0x30, 0x08, 0x02}, // 0x3008 = 0x02, 正常工作模式
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new byte[] {0x31, 0x03, 0x02}, // 0x3103 = 0x02, Bit[1]:1 PLL Clock
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// 引脚输入/输出控制
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new byte[] {0x30, 0x17, 0xff}, // 0x3017 = 0xff, FREX/VSYNC/HREF/PCLK/D[9:6]
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new byte[] {0x30, 0x18, 0xff}, // 0x3018 = 0xff, D[5:0]/GPIO1/GPIO0
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new byte[] {0x30, 0x37, 0x13}, // 0x3037 = 0x13, PLL分频控制
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new byte[] {0x31, 0x08, 0x01}, // 0x3108 = 0x01, 系统根分频器
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new byte[] {0x36, 0x30, 0x36}, // 0x3630 = 0x36
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new byte[] {0x36, 0x31, 0x0e}, // 0x3631 = 0x0e
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new byte[] {0x36, 0x32, 0xe2}, // 0x3632 = 0xe2
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new byte[] {0x36, 0x33, 0x12}, // 0x3633 = 0x12
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new byte[] {0x36, 0x21, 0xe0}, // 0x3621 = 0xe0
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new byte[] {0x37, 0x04, 0xa0}, // 0x3704 = 0xa0
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new byte[] {0x37, 0x03, 0x5a}, // 0x3703 = 0x5a
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new byte[] {0x37, 0x15, 0x78}, // 0x3715 = 0x78
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new byte[] {0x37, 0x17, 0x01}, // 0x3717 = 0x01
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new byte[] {0x37, 0x0b, 0x60}, // 0x370b = 0x60
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new byte[] {0x37, 0x05, 0x1a}, // 0x3705 = 0x1a
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new byte[] {0x39, 0x05, 0x02}, // 0x3905 = 0x02
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new byte[] {0x39, 0x06, 0x10}, // 0x3906 = 0x10
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new byte[] {0x39, 0x01, 0x0a}, // 0x3901 = 0x0a
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new byte[] {0x37, 0x31, 0x12}, // 0x3731 = 0x12
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new byte[] {0x36, 0x00, 0x08}, // 0x3600 = 0x08, VCM控制,用于自动聚焦
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new byte[] {0x36, 0x01, 0x33}, // 0x3601 = 0x33, VCM控制,用于自动聚焦
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new byte[] {0x30, 0x2d, 0x60}, // 0x302d = 0x60, 系统控制
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new byte[] {0x36, 0x20, 0x52}, // 0x3620 = 0x52
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new byte[] {0x37, 0x1b, 0x20}, // 0x371b = 0x20
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new byte[] {0x47, 0x1c, 0x50}, // 0x471c = 0x50
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new byte[] {0x3a, 0x13, 0x43}, // 0x3a13 = 0x43, AEC(自动曝光控制)
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new byte[] {0x3a, 0x18, 0x00}, // 0x3a18 = 0x00, AEC增益上限
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new byte[] {0x3a, 0x19, 0xf8}, // 0x3a19 = 0xf8, AEC增益上限
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new byte[] {0x36, 0x35, 0x13}, // 0x3635 = 0x13
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new byte[] {0x36, 0x36, 0x03}, // 0x3636 = 0x03
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new byte[] {0x36, 0x34, 0x40}, // 0x3634 = 0x40
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new byte[] {0x36, 0x22, 0x01}, // 0x3622 = 0x01
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new byte[] {0x3c, 0x01, 0x34}, // 0x3c01 = 0x34
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new byte[] {0x3c, 0x04, 0x28}, // 0x3c04 = 0x28
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new byte[] {0x3c, 0x05, 0x98}, // 0x3c05 = 0x98
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new byte[] {0x3c, 0x06, 0x00}, // 0x3c06 = 0x00, light meter 1 阈值[15:8]
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new byte[] {0x3c, 0x07, 0x08}, // 0x3c07 = 0x08, light meter 1 阈值[7:0]
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new byte[] {0x3c, 0x08, 0x00}, // 0x3c08 = 0x00, light meter 2 阈值[15:8]
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new byte[] {0x3c, 0x09, 0x1c}, // 0x3c09 = 0x1c, light meter 2 阈值[7:0]
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new byte[] {0x3c, 0x0a, 0x9c}, // 0x3c0a = 0x9c, sample number[15:8]
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new byte[] {0x3c, 0x0b, 0x40}, // 0x3c0b = 0x40, sample number[7:0]
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new byte[] {0x38, 0x10, 0x00}, // 0x3810 = 0x00, Timing Hoffset[11:8]
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new byte[] {0x38, 0x11, 0x10}, // 0x3811 = 0x10, Timing Hoffset[7:0]
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new byte[] {0x38, 0x12, 0x00}, // 0x3812 = 0x00, Timing Voffset[10:8]
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new byte[] {0x37, 0x08, 0x64}, // 0x3708 = 0x64
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new byte[] {0x40, 0x01, 0x02}, // 0x4001 = 0x02, BLC(黑电平校准)补偿起始行号
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new byte[] {0x40, 0x05, 0x1a}, // 0x4005 = 0x1a, BLC(黑电平校准)补偿始终更新
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new byte[] {0x30, 0x00, 0x00}, // 0x3000 = 0x00, 系统块复位控制
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new byte[] {0x30, 0x04, 0xff}, // 0x3004 = 0xff, 时钟使能控制
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new byte[] {0x43, 0x00, 0x61}, // 0x4300 = 0x61, 格式控制 RGB565
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new byte[] {0x50, 0x1f, 0x01}, // 0x501f = 0x01, ISP RGB
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new byte[] {0x44, 0x0e, 0x00}, // 0x440e = 0x00
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new byte[] {0x50, 0x00, 0xa7}, // 0x5000 = 0xa7, ISP控制
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new byte[] {0x3a, 0x0f, 0x30}, // 0x3a0f = 0x30, AEC控制;stable range in high
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new byte[] {0x3a, 0x10, 0x28}, // 0x3a10 = 0x28, AEC控制;stable range in low
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new byte[] {0x3a, 0x1b, 0x30}, // 0x3a1b = 0x30, AEC控制;stable range out high
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new byte[] {0x3a, 0x1e, 0x26}, // 0x3a1e = 0x26, AEC控制;stable range out low
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new byte[] {0x3a, 0x11, 0x60}, // 0x3a11 = 0x60, AEC控制; fast zone high
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new byte[] {0x3a, 0x1f, 0x14}, // 0x3a1f = 0x14, AEC控制; fast zone low
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// LENC(镜头校正)控制 0x5800~0x583d
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new byte[] {0x58, 0x00, 0x23},
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new byte[] {0x58, 0x01, 0x14},
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new byte[] {0x58, 0x02, 0x0f},
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new byte[] {0x58, 0x03, 0x0f},
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new byte[] {0x58, 0x04, 0x12},
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new byte[] {0x58, 0x05, 0x26},
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new byte[] {0x58, 0x06, 0x0c},
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new byte[] {0x58, 0x07, 0x08},
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new byte[] {0x58, 0x08, 0x05},
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new byte[] {0x58, 0x09, 0x05},
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new byte[] {0x58, 0x0a, 0x08},
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new byte[] {0x58, 0x0b, 0x0d},
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new byte[] {0x58, 0x0c, 0x08},
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new byte[] {0x58, 0x0d, 0x03},
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new byte[] {0x58, 0x0e, 0x00},
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new byte[] {0x58, 0x0f, 0x00},
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new byte[] {0x58, 0x10, 0x03},
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new byte[] {0x58, 0x11, 0x09},
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new byte[] {0x58, 0x12, 0x07},
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new byte[] {0x58, 0x13, 0x03},
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new byte[] {0x58, 0x14, 0x00},
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new byte[] {0x58, 0x15, 0x01},
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new byte[] {0x58, 0x16, 0x03},
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new byte[] {0x58, 0x17, 0x08},
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new byte[] {0x58, 0x18, 0x0d},
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new byte[] {0x58, 0x19, 0x08},
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new byte[] {0x58, 0x1a, 0x05},
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new byte[] {0x58, 0x1b, 0x06},
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new byte[] {0x58, 0x1c, 0x08},
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new byte[] {0x58, 0x1d, 0x0e},
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new byte[] {0x58, 0x1e, 0x29},
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new byte[] {0x58, 0x1f, 0x17},
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new byte[] {0x58, 0x20, 0x11},
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new byte[] {0x58, 0x21, 0x11},
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new byte[] {0x58, 0x22, 0x15},
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new byte[] {0x58, 0x23, 0x28},
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new byte[] {0x58, 0x24, 0x46},
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new byte[] {0x58, 0x25, 0x26},
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new byte[] {0x58, 0x26, 0x08},
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new byte[] {0x58, 0x27, 0x26},
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new byte[] {0x58, 0x28, 0x64},
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new byte[] {0x58, 0x29, 0x26},
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new byte[] {0x58, 0x2a, 0x24},
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new byte[] {0x58, 0x2b, 0x22},
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new byte[] {0x58, 0x2c, 0x24},
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new byte[] {0x58, 0x2d, 0x24},
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new byte[] {0x58, 0x2e, 0x06},
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new byte[] {0x58, 0x2f, 0x22},
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new byte[] {0x58, 0x30, 0x40},
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new byte[] {0x58, 0x31, 0x42},
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new byte[] {0x58, 0x32, 0x24},
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new byte[] {0x58, 0x33, 0x26},
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new byte[] {0x58, 0x34, 0x24},
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new byte[] {0x58, 0x35, 0x22},
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new byte[] {0x58, 0x36, 0x22},
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new byte[] {0x58, 0x37, 0x26},
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new byte[] {0x58, 0x38, 0x44},
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new byte[] {0x58, 0x39, 0x24},
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new byte[] {0x58, 0x3a, 0x26},
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new byte[] {0x58, 0x3b, 0x28},
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new byte[] {0x58, 0x3c, 0x42},
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new byte[] {0x58, 0x3d, 0xce},
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// AWB(自动白平衡控制) 0x5180~0x519e
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new byte[] {0x51, 0x80, 0xff},
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new byte[] {0x51, 0x81, 0xf2},
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new byte[] {0x51, 0x82, 0x00},
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new byte[] {0x51, 0x83, 0x14},
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new byte[] {0x51, 0x84, 0x25},
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new byte[] {0x51, 0x85, 0x24},
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new byte[] {0x51, 0x86, 0x09},
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new byte[] {0x51, 0x87, 0x09},
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new byte[] {0x51, 0x88, 0x09},
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new byte[] {0x51, 0x89, 0x75},
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new byte[] {0x51, 0x8a, 0x54},
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new byte[] {0x51, 0x8b, 0xe0},
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new byte[] {0x51, 0x8c, 0xb2},
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new byte[] {0x51, 0x8d, 0x42},
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new byte[] {0x51, 0x8e, 0x3d},
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new byte[] {0x51, 0x8f, 0x56},
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new byte[] {0x51, 0x90, 0x46},
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new byte[] {0x51, 0x91, 0xf8},
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new byte[] {0x51, 0x92, 0x04},
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new byte[] {0x51, 0x93, 0x70},
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new byte[] {0x51, 0x94, 0xf0},
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new byte[] {0x51, 0x95, 0xf0},
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new byte[] {0x51, 0x96, 0x03},
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new byte[] {0x51, 0x97, 0x01},
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new byte[] {0x51, 0x98, 0x04},
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new byte[] {0x51, 0x99, 0x12},
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new byte[] {0x51, 0x9a, 0x04},
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new byte[] {0x51, 0x9b, 0x00},
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new byte[] {0x51, 0x9c, 0x06},
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new byte[] {0x51, 0x9d, 0x82},
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new byte[] {0x51, 0x9e, 0x38},
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// Gamma(伽马)控制 0x5480~0x5490
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new byte[] {0x54, 0x80, 0x01},
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new byte[] {0x54, 0x81, 0x08},
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new byte[] {0x54, 0x82, 0x14},
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new byte[] {0x54, 0x83, 0x28},
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new byte[] {0x54, 0x84, 0x51},
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new byte[] {0x54, 0x85, 0x65},
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new byte[] {0x54, 0x86, 0x71},
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new byte[] {0x54, 0x87, 0x7d},
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new byte[] {0x54, 0x88, 0x87},
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new byte[] {0x54, 0x89, 0x91},
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new byte[] {0x54, 0x8a, 0x9a},
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new byte[] {0x54, 0x8b, 0xaa},
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new byte[] {0x54, 0x8c, 0xb8},
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new byte[] {0x54, 0x8d, 0xcd},
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new byte[] {0x54, 0x8e, 0xdd},
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new byte[] {0x54, 0x8f, 0xea},
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new byte[] {0x54, 0x90, 0x1d},
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// CMX(彩色矩阵控制) 0x5381~0x538b
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new byte[] {0x53, 0x81, 0x1e},
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new byte[] {0x53, 0x82, 0x5b},
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new byte[] {0x53, 0x83, 0x08},
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new byte[] {0x53, 0x84, 0x0a},
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new byte[] {0x53, 0x85, 0x7e},
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new byte[] {0x53, 0x86, 0x88},
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new byte[] {0x53, 0x87, 0x7c},
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new byte[] {0x53, 0x88, 0x6c},
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new byte[] {0x53, 0x89, 0x10},
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new byte[] {0x53, 0x8a, 0x01},
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new byte[] {0x53, 0x8b, 0x98},
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// SDE(特殊数码效果)控制 0x5580~0x558b
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new byte[] {0x55, 0x80, 0x06},
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new byte[] {0x55, 0x83, 0x40},
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new byte[] {0x55, 0x84, 0x10},
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new byte[] {0x55, 0x89, 0x10},
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new byte[] {0x55, 0x8a, 0x00},
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new byte[] {0x55, 0x8b, 0xf8},
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new byte[] {0x50, 0x1d, 0x40}, //ISP MISC
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// CIP(颜色插值)控制 0x5300~0x530c
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new byte[] {0x53, 0x00, 0x08},
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new byte[] {0x53, 0x01, 0x30},
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new byte[] {0x53, 0x02, 0x10},
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new byte[] {0x53, 0x03, 0x00},
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new byte[] {0x53, 0x04, 0x08},
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new byte[] {0x53, 0x05, 0x30},
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new byte[] {0x53, 0x06, 0x08},
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new byte[] {0x53, 0x07, 0x16},
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new byte[] {0x53, 0x09, 0x08},
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new byte[] {0x53, 0x0a, 0x30},
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new byte[] {0x53, 0x0b, 0x04},
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new byte[] {0x53, 0x0c, 0x06},
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new byte[] {0x50, 0x25, 0x00},
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new byte[] {0x30, 0x35, 0x11}, // 0x3035 = 0x11, 系统时钟分频 input clock =24Mhz, PCLK = 48Mhz
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new byte[] {0x30, 0x36, 0x3c}, // 0x3036 = 0x3c, PLL倍频
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new byte[] {0x3c, 0x07, 0x08}, // 0x3c07 = 0x08
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// 时序控制 0x3800~0x3821
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new byte[] {0x38, 0x20, 0x46}, // 0x3820 = 0x46
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new byte[] {0x38, 0x21, 0x01}, // 0x3821 = 0x01
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new byte[] {0x38, 0x14, 0x31}, // 0x3814 = 0x31
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new byte[] {0x38, 0x15, 0x31}, // 0x3815 = 0x31
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new byte[] {0x38, 0x00, 0x00}, // 0x3800 = 0x00
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new byte[] {0x38, 0x01, 0x00}, // 0x3801 = 0x00
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new byte[] {0x38, 0x02, 0x00}, // 0x3802 = 0x00
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new byte[] {0x38, 0x03, 0x04}, // 0x3803 = 0x04
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new byte[] {0x38, 0x04, 0x0a}, // 0x3804 = 0x0a
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new byte[] {0x38, 0x05, 0x3f}, // 0x3805 = 0x3f
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new byte[] {0x38, 0x06, 0x07}, // 0x3806 = 0x07
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new byte[] {0x38, 0x07, 0x9b}, // 0x3807 = 0x9b
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// 设置输出像素个数
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new byte[] {0x38, 0x08, unchecked((byte)((H_CMOS_DISP >> 8) & 0x0F))}, // 0x3808, DVP输出水平像素点数高4位
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new byte[] {0x38, 0x09, unchecked((byte)(H_CMOS_DISP & 0xFF))}, // 0x3809, DVP输出水平像素点数低8位
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new byte[] {0x38, 0x0A, unchecked((byte)((V_CMOS_DISP >> 8) & 0x07))}, // 0x380a, DVP输出垂直像素点数高3位
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new byte[] {0x38, 0x0B, unchecked((byte)(V_CMOS_DISP & 0xFF))}, // 0x380b, DVP输出垂直像素点数低8位
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new byte[] {0x38, 0x0C, unchecked((byte)((TOTAL_H_PIXEL >> 8) & 0x1F))}, // 0x380c, 水平总像素大小高5位
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new byte[] {0x38, 0x0D, unchecked((byte)(TOTAL_H_PIXEL & 0xFF))}, // 0x380d, 水平总像素大小低8位
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new byte[] {0x38, 0x0E, unchecked((byte)((TOTAL_V_PIXEL >> 8) & 0x1F))}, // 0x380e, 垂直总像素大小高5位
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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);
|
|
|
|
if (!ret.IsSuccessful)
|
|
{
|
|
logger.Error($"I2C write 0x{devAddr.ToString("X")} failed: {BitConverter.ToString(cmd)} error: {ret.Error}");
|
|
return new(ret.Error);
|
|
}
|
|
|
|
if (!ret.Value)
|
|
{
|
|
logger.Error($"I2C write 0x{devAddr.ToString("X")} returned false: {BitConverter.ToString(cmd)}");
|
|
return false;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
/// <summary>
|
|
/// 读取一帧图像数据
|
|
/// </summary>
|
|
/// <returns>包含图像数据的字节数组</returns>
|
|
public async ValueTask<Result<byte[]>> ReadFrame()
|
|
{
|
|
// 清除UDP服务器接收缓冲区
|
|
await MsgBus.UDPServer.ClearUDPData(this.address, 2);
|
|
|
|
logger.Trace($"Clear up udp server {this.address} receive data");
|
|
|
|
// 使用UDPClientPool读取图像帧数据
|
|
var result = await UDPClientPool.ReadAddr4Bytes(
|
|
this.ep,
|
|
2, // taskID
|
|
CameraAddr.Base,
|
|
(int)CameraAddr.FrameLength,
|
|
this.timeout);
|
|
|
|
if (!result.IsSuccessful)
|
|
{
|
|
logger.Error($"Failed to read frame from camera {this.address}:{this.port}, error: {result.Error}");
|
|
return new(result.Error);
|
|
}
|
|
|
|
logger.Debug($"Successfully read frame from camera {this.address}:{this.port}, data length: {result.Value.Length} bytes");
|
|
return result.Value;
|
|
}
|
|
}
|